A welding robot

Abstract

The present invention relates to the technical field of welding robots, and discloses a welding robot, including a mounting base, a support frame is mounted on the top of the mounting base, a left connecting base is mounted on the inner cavity on the left side of the support frame, and a right connecting base is arranged on the right side of the left connecting base. Through the arrangement of a five-axis auxiliary robot arm and a rotating and moving mechanism assembly, the five-axis auxiliary robot arm drives the rotating and moving mechanism assembly to move, and the rotating and moving mechanism assembly drives the steel plate to move on the left roller and the right roller, and can also drive the pipe to rotate on the left roller and the right roller, thereby solving the problem that there will be a dead angle at the bottom of the steel pipe during the welding process, and the welding robot cannot weld to this dead angle, so manual intervention is required, and the steel pipe is rotated and the steel plate is moved manually. At this time, the manual operation will enter the operating range of the robot arm, which will lead to safety problems and time-consuming and labor-intensive problems in the production process.

Description

Technical Field

[0001] The invention relates to the technical field of welding robots, in particular to a welding robot. Background Art

[0002] Welding robots are industrial robots that perform welding. According to the definition of the International Organization for Standardization, industrial robots belong to standard welding robots. Industrial robots are multi-purpose, reprogrammable automatic control manipulators with three or more programmable axes, used in the field of industrial automation. In order to adapt to different uses, the mechanical interface of the last axis of the robot is usually a connecting flange that can be connected to different tools or end effectors. The welding robot is an industrial robot with a welding tongs or welding gun installed on the end axis flange, so that it can perform welding, cutting or thermal spraying.

[0003] Since steel pipes and steel plates are relatively heavy, they need to be placed on brackets during welding and then welded by a welding robot. However, during the welding process, there will be a dead corner at the bottom of the steel pipe, which the welding robot cannot weld to. Therefore, manual intervention is required to manually rotate the steel pipe and move the steel plate. At this time, the manual operation will enter the operating range of the robotic arm, resulting in safety issues and time-consuming and labor-intensive problems during the production process. Summary of the invention

[0004] The present invention provides a welding robot which solves the problems raised by the above-mentioned background technology.

[0005] The present invention provides the following technical solutions: a welding robot comprises a mounting base, a supporting frame is mounted on the top of the mounting base, a left connecting base is mounted in the inner cavity on the left side of the supporting frame, a right connecting base is arranged on the right side of the left connecting base, a five-axis welding robot arm and a five-axis auxiliary robot arm are mounted on the inner walls of the right connecting base and the left connecting base respectively, a rotating and moving mechanism assembly and a welding gun are mounted on the heads of the five-axis auxiliary robot arm and the five-axis welding robot arm respectively, a left gear disc and a right gear disc are fixedly sleeved on the inner walls of the bottoms of the five-axis welding robot arm and the five-axis auxiliary robot arm respectively, and a driving and adjusting mechanism is meshed on the outer edge of the left gear disc.

[0006] As a preferred technical solution of the present invention, a material support frame is installed at the front end of the mounting base, a left roller is provided on the left side of the top of the material support frame, and a right roller is provided on the right side of the left roller.

[0007] As a preferred technical solution of the present invention, the top and bottom of the support frame are penetrated by limiting grooves, and the limiting grooves are located on the side of the driving and adjusting mechanism.

[0008] As a preferred technical solution of the present invention, the drive adjustment mechanism includes a motor support frame, the outer wall of the motor support frame is fixedly equipped with a mobile servo motor, the power output shaft of the mobile servo motor is fixedly sleeved with a moving screw, the outer edge of the moving screw is threadedly connected to a connecting ball block, and the outer edge of the connecting ball block is fixedly equipped with a mounting bracket.

[0009] As a preferred technical solution of the present invention, the bottoms of both ends of the mounting bracket are fixedly equipped with sliders, the inner walls of the sliders are slidably connected with guide rails, and the guide rails are installed on the top of the support frame.

[0010] As a preferred technical solution of the present invention, a driving motor is fixedly installed on the outer edge of the mounting bracket, a driving gear disk is fixedly sleeved on the outer edge of the bottom of the driving motor power output shaft, the driving motor power output shaft is slidably connected to the limiting groove, and a protective tube is provided on the outer edge of the driving motor power output shaft.

[0011] As a preferred technical solution of the present invention, the rotating and moving mechanism assembly includes a connecting plate, a fixed bracket is fixedly installed at the bottom of the connecting plate, a mounting frame is fixedly installed at the bottom of the fixed bracket, a driving servo motor is fixedly installed on the back of the fixed bracket, a power output shaft of the driving servo motor is fixedly sleeved with a worm, a rotating gear is meshed on the outer edge of the worm, a connecting rod is fixedly sleeved on the inner wall of the rotating gear, and the outer edges of both ends of the connecting rod are fixedly installed with driving wheels.

[0012] As a preferred technical solution of the present invention, a positioning block is movably sleeved on one end of the worm away from the driving servo motor, the outer edge of the positioning block is mounted on a fixed bracket, the outer edge of the driving wheel is rotatably connected to a rubber contact belt, and the inner wall of the top of the mounting frame is movably sleeved on the outer edge of the connecting rod.

[0013] As a preferred technical solution of the present invention, mounting grooves are provided at the four corners of the bottom of the mounting frame, and the inner walls of the four mounting grooves are provided with circular holes, the inner wall of the mounting groove is slidably connected with a connecting shaft, the outer edge of the connecting shaft is fixedly equipped with a limiting rod, the end of the limiting rod away from the connecting shaft is fixedly equipped with a blocking plate, the outer edge of the connecting shaft is installed with a supporting wheel, and the limiting rod is slidably connected to the circular hole.

[0014] As a preferred technical solution of the present invention, a support spring is movably sleeved on the outer edge of the limit rod, an auxiliary rod is movably sleeved on one end of the connecting shaft away from the support wheel, and an auxiliary wheel is installed on the outer edge of the auxiliary rod.

[0015] The present invention has the following beneficial effects:

[0016] 1. The welding robot is provided with a five-axis auxiliary robot arm and a rotating and moving mechanism component. The five-axis auxiliary robot arm drives the rotating and moving mechanism component to move. The rotating and moving mechanism component drives the steel plate to move on the left roller and the right roller, and can also drive the pipe to rotate on the left roller and the right roller, thereby solving the problem that there will be a dead angle at the bottom of the steel pipe during the welding process. The welding robot cannot weld to this dead angle, so manual intervention is required to rotate the steel pipe and move the steel plate manually. At this time, the manual operation will enter the operating range of the robot arm, which will cause safety problems and time-consuming and labor-intensive problems in the production process.

[0017] 2. The welding robot uses a five-axis auxiliary robotic arm to press the connecting plate, fixed bracket, mounting frame and rubber contact belt toward the pipeline. The contact surface of the rubber contact belt and the pipeline gradually bends, and the two ends of the rubber contact belt gradually drive the connecting shaft to move in the mounting groove. At this time, the contact area between the rubber contact belt and the pipeline becomes larger, which greatly improves the stability of pipeline rotation.

[0018] 3. The welding robot, through the setting of the drive adjustment mechanism, the drive motor in the drive adjustment mechanism can be moved, so that the transmission between the drive gear disc and the left gear disc and the right gear disc can be switched. The five-axis welding robot arm and the five-axis auxiliary robot arm can be driven to rotate separately by one power source, which can reduce the maintenance and use costs of the equipment and the energy loss. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the front three-dimensional structure of the present invention;

[0020] Figure 2 It is a schematic diagram of the back three-dimensional structure of the present invention;

[0021] Figure 3 For the present invention Figure 2 A is an enlarged structural diagram;

[0022] Figure 4 This is a schematic diagram of the toothed disc position structure of the present invention;

[0023] Figure 5 For the present invention Figure 4 The enlarged structural diagram at B in FIG.

[0024] Figure 6 It is a schematic diagram of the structure of the five-axis auxiliary robot arm and the rotating movement mechanism assembly of the present invention;

[0025] Figure 7 It is a schematic diagram of the structure of the rotating and moving mechanism assembly of the present invention;

[0026] Figure 8This is a schematic diagram of the installation framework structure of the present invention;

[0027] Fig. 9 For the present invention Figure 8 The enlarged structural diagram at C in the figure.

[0028] In the figure: 1. Installation base; 2. Support frame; 3. Left connecting base; 4. Right connecting base; 5. Five-axis welding robot arm; 6. Five-axis auxiliary robot arm; 7. Limiting groove; 8. Drive adjustment mechanism; 9. Material support frame.

[0029] 51. Left gear disc; 52. Welding gun;

[0030] 61. right gear disc; 62. rotating movement mechanism assembly;

[0031] 6201, connecting plate; 6202, fixing bracket; 6203, mounting frame; 6204, mounting slot; 6205, round hole; 6206, driving servo motor; 6207, worm; 6208, positioning block; 6209, rotating gear; 6210, connecting rod; 6211, driving wheel; 6212, connecting shaft; 6213, supporting wheel; 6214, limiting rod; 6215, supporting spring; 6216, blocking piece; 6217, rubber contact belt; 6218, auxiliary rod; 6219, auxiliary wheel;

[0032] 801, motor support frame; 802, mobile servo motor; 803, mobile lead screw; 804, connecting ball block; 805, mounting bracket; 806, driving motor; 807, driving gear disc; 808, slider; 809, guide rail;

[0033] 91. Left roller; 92. Right roller. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] See also Figure 1 - Fig. 9A welding robot comprises a mounting base 1, a supporting frame 2 is mounted on the top of the mounting base 1, a left connecting base 3 is mounted on the inner cavity on the left side of the supporting frame 2, a right connecting base 4 is arranged on the right side of the left connecting base 3, a five-axis welding robot arm 5 and a five-axis auxiliary robot arm 6 are mounted on the inner walls of the right connecting base 4 and the left connecting base 3 respectively, a rotating and moving mechanism assembly 62 and a welding gun 52 are mounted on the heads of the five-axis auxiliary robot arm 6 and the five-axis welding robot arm 5 respectively, a left gear disc 51 and a right gear disc 61 are fixedly sleeved on the inner walls of the bottoms of the five-axis welding robot arm 5 and the five-axis auxiliary robot arm 6 respectively, a driving and adjusting mechanism 8 is meshed on the outer edge of the left gear disc 51, the welding gun 52 is driven to move by the five-axis welding robot arm 5, the welding gun 52 is moved to the weld seam to be welded, welding is performed by the welding gun 52, and then the rotating and moving mechanism assembly is driven by the five-axis auxiliary robot arm 6 The rotating and moving mechanism component 62 is moved to the weld that has been welded. The rotating and moving mechanism component 62 is operated to drive the steel pipe to rotate or the steel plate to move. The rotation of the steel pipe can save the intervention of the staff, which greatly improves the safety of welding. The movement of the steel plate can make the weld located at a suitable position below the welding gun 52, which can solve the problem of limited range of motion of the five-axis welding robot 5. Through the setting of the driving and adjusting mechanism 8, the driving and adjusting mechanism 8 has a power source, which can be adjusted. After the five-axis welding robot 5 is adjusted to a suitable position by the power source, it is switched to the five-axis auxiliary robot 6 by moving the power source. At this time, the five-axis auxiliary robot 6 is adjusted to a suitable position by the power source, and welding is performed by the welding gun 52. The rotating and moving mechanism component 62 drives the steel pipe to rotate, which greatly improves the safety of welding.

[0036] In a preferred embodiment, a material support frame 9 is installed at the front end of the mounting base 1, and a left roller 91 is provided on the left side of the top of the material support frame 9, and a right roller 92 is provided on the right side of the left roller 91. By placing one section of the steel pipe on the left roller 91 and then placing the other section of the steel pipe on the right roller 92, the joint of the two sections of the steel pipe is located in the middle of the left roller 91 and the right roller 92. Because rollers are provided on the left roller 91 and the right roller 92, the steel pipe can rotate in conjunction with the rotating and moving mechanism assembly 62. When a steel plate is placed above the left roller 91 and the right roller 92, the steel plate can move in conjunction with the rotating and moving mechanism assembly 62.

[0037] In a preferred embodiment, the top and bottom of the support frame 2 are penetrated by a limiting groove 7, and the limiting groove 7 is located on the side of the driving adjustment mechanism 8. By utilizing the setting of the limiting groove 7, the limiting groove 7 plays a limiting role, so that when the driving motor 806 moves, the protective tube on the driving motor 806 moves in the limiting groove 7, which plays a role in positioning the driving gear disc 807, ensuring that the driving gear disc 807 can engage with the left gear disc 51 and the right gear disc 61 respectively.

[0038] In a preferred embodiment, the driving and adjusting mechanism 8 includes a motor support frame 801, the outer wall of the motor support frame 801 is fixedly equipped with a mobile servo motor 802, the power output shaft of the mobile servo motor 802 is fixedly sleeved with a moving screw rod 803, the outer edge of the moving screw rod 803 is threadedly connected with a connecting ball block 804, and the outer edge of the connecting ball block 804 is fixedly equipped with a mounting bracket 805. The moving servo motor 802 is rotated to drive the moving screw rod 803 to rotate, and the connecting ball block 804 and the mounting bracket 805 are driven to move by the moving screw rod 803, so that the driving motor 806 and the driving gear plate 807 installed on the mounting bracket 805 can move.

[0039] In a preferred embodiment, the bottom of both ends of the mounting bracket 805 are fixedly equipped with sliders 808, and the inner wall of the slider 808 is slidably connected to a guide rail 809, which is installed on the top of the support frame 2. By installing the guide rail 809 at the bottom of the mounting bracket 805, the movable screw 803 cannot be connected to the ball block 804 and the mounting bracket 805 for rotation during rotation, and the mounting bracket 805 and the connected ball block 804 can only move horizontally, thereby improving the rationality of the device while improving the stability of the device.

[0040] In a preferred embodiment, the outer edge of the mounting bracket 805 is fixedly equipped with a driving motor 806, and the outer edge of the bottom of the power output shaft of the driving motor 806 is fixedly sleeved with a driving gear disc 807. The power output shaft of the driving motor 806 is slidably connected to the limiting groove 7, and the outer edge of the power output shaft of the driving motor 806 is provided with a protective tube. The driving gear disc 807 is driven to rotate by the rotation of the driving motor 806, so the driving gear disc 807 can drive the left gear disc 51 or the right gear disc 61 to rotate. The rotation of the left gear disc 51 and the right gear disc 61 can rotate the five-axis welding robot arm 5 and the five-axis auxiliary robot arm 6.

[0041] In a preferred embodiment, the rotating and moving mechanism assembly 62 includes a connecting disk 6201, a fixed bracket 6202 is fixedly installed at the bottom of the connecting disk 6201, a mounting frame 6203 is fixedly installed at the bottom of the fixed bracket 6202, a driving servo motor 6206 is fixedly installed on the back of the fixed bracket 6202, a worm 6207 is fixedly sleeved on the power output shaft of the driving servo motor 6206, a rotating gear 6209 is meshed on the outer edge of the worm 6207, a connecting rod 6210 is fixedly sleeved on the inner wall of the rotating gear 6209, and a driving wheel 6211 is fixedly installed on the outer edges of both ends of the connecting rod 6210. The servo motor 6206 is driven to rotate to drive the worm 6207 to rotate, and the worm 6207 rotates to drive the rotating gear 6209 and the connecting rod 6210 to rotate, and the driving wheel 6211 rotates at this time.

[0042] In a preferred embodiment, one end of the worm 6207 away from the driving servo motor 6206 is movably connected with a positioning block 6208, and the outer edge of the positioning block 6208 is installed on the fixed bracket 6202. The outer edge of the driving wheel 6211 is rotatably connected with a rubber contact belt 6217. The inner wall of the top of the mounting frame 6203 is movably connected with the outer edge of the connecting rod 6210. The rubber contact belt 6217 is driven to rotate by the rotation of the driving wheel 6211, so that the steel pipe in contact with the rubber contact belt 6217 can be rotated. The connecting rod 6210 is movably connected to the mounting frame 6203, so that the connecting rod 6210 will not be affected by the mounting frame 6203 when rotating, thereby improving the rationality of the device.

[0043] In a preferred embodiment, mounting grooves 6204 are provided at the four corners of the bottom of the mounting frame 6203, and the inner walls of the four mounting grooves 6204 are provided with round holes 6205, the inner walls of the mounting grooves 6204 are slidably connected with a connecting shaft 6212, the outer edge of the connecting shaft 6212 is fixedly equipped with a limiting rod 6214, the end of the limiting rod 6214 away from the connecting shaft 6212 is fixedly installed with a blocking piece 6216, the outer edge of the connecting shaft 6212 is installed with a supporting wheel 6213, the limiting rod 6214 is slidably connected with the round hole 6205, and when in use, the five-axis auxiliary machine is used to The mechanical arm 6 presses the connecting plate 6201, the fixing bracket 6202, the mounting frame 6203 and the rubber contact belt 6217 toward the pipeline. At this time, the surface of the rubber contact belt 6217 in contact with the pipeline gradually bends. At this time, the two ends of the rubber contact belt 6217 gradually drive the connecting shaft 6212 to move in the mounting groove 6204, so that the rubber contact belt 6217 will not be subjected to a large tension. The contact area between the rubber contact belt 6217 and the pipeline becomes larger, so that the pipeline can be rotated better, which is suitable for steel pipes of different diameters and improves the flexibility and service life of the device.

[0044] In a preferred embodiment, a support spring 6215 is movably sleeved on the outer edge of the limiting rod 6214, an auxiliary rod 6218 is movably sleeved on one end of the connecting shaft 6212 away from the supporting wheel 6213, and an auxiliary wheel 6219 is installed on the outer edge of the auxiliary rod 6218. By utilizing the setting of the support spring 6215, when the rubber contact belt 6217 is not in contact with the steel pipe, the connecting shaft 6212 and the supporting wheel 6213 are reset by the elastic force of the support spring 6215, and the rubber contact belt 6217 is supported by the supporting wheel 6213, so that the bottom of the rubber contact belt 6217 is a plane. At this time, the rubber contact belt 6217 can be placed on the steel plate to drive the steel plate to move.

[0045] Working principle: when in use, the driving gear disc 807 is meshed with the left gear disc 51, and the driving motor 806 rotates to drive the driving gear disc 807 to rotate, and the driving gear disc 807 rotates to drive the left gear disc 51 to rotate, and the five-axis welding robot arm 5 and the welding gun 52 are controlled to the welding seam to be welded by the controller, and the welding gun 52 is used to weld, and then the moving servo motor 802 is rotated to drive the moving screw 803 to rotate, and the moving screw 803 drives the connecting ball block 804 and the mounting bracket 805 to rotate. The drive motor 806 and the drive gear disc 807 installed on the mounting bracket 805 can move, and the drive gear disc 807 is in contact with the right gear disc 61. The drive motor 806 drives the drive gear disc 807 to rotate, and the drive gear disc 807 rotates to drive the right gear disc 61 to rotate. The five-axis auxiliary robot arm 6 and the rotating and moving mechanism assembly 62 are controlled by the controller to the weld that has been welded. At this time, the five-axis auxiliary robot arm 6 connects the connecting plate 6201, the fixed bracket 6202, and the mounting frame 62 03 and the rubber contact belt 6217 are pressed toward the pipeline, the contact surface of the rubber contact belt 6217 and the pipeline gradually bends, and the two ends of the rubber contact belt 6217 gradually drive the connecting shaft 6212 to move in the installation groove 6204, at this time, the contact area between the rubber contact belt 6217 and the pipeline becomes larger, and then the servo motor 6206 is driven to rotate and drive the worm 6207 to rotate, and the rotation of the worm 6207 drives the rotating gear 6209 and the connecting rod 6210 to rotate, and at this time the driving wheel 6211 rotates, and the driving wheel 62 The rotation of 11 drives the rubber contact belt 6217 to rotate, and the steel pipe in contact with the rubber contact belt 6217 cooperates with the left roller 91 and the right roller 92 to rotate. When there is a steel plate under the rubber contact belt 6217, the rubber contact belt 6217 is in contact with the surface of the steel plate, and the connecting shaft 6212 and the support wheel 6213 are reset by the elastic force of the support spring 6215. At this time, the bottom of the rubber contact belt 6217 is completely in contact with the surface of the steel plate, and the steel plate can be displaced by cooperating with the left roller 91 and the right roller 92.

[0046] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0047] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A welding robot, comprising a mounting base (1), characterized in that: A support frame (2) is installed on the top of the mounting base (1); a left connecting base (3) is installed in the inner cavity on the left side of the supporting frame (2); a right connecting base (4) is provided on the right side of the left connecting base (3); a five-axis welding robot arm (5) and a five-axis auxiliary robot arm (6) are installed on the inner walls of the right connecting base (4) and the left connecting base (3), respectively; a rotating movement mechanism assembly (62) and a welding gun (52) are installed on the heads of the five-axis auxiliary robot arm (6) and the five-axis welding robot arm (5), respectively; a left toothed disc (51) and a right toothed disc (61) are fixedly sleeved on the inner walls of the bottoms of the five-axis welding robot arm (5) and the five-axis auxiliary robot arm (6), respectively; and a driving adjustment mechanism (8) is meshed on the outer edge of the left toothed disc (51); The rotating and moving mechanism assembly (62) comprises a connecting disk (6201), a fixing bracket (6202) is fixedly mounted on the bottom of the connecting disk (6201), a mounting frame (6203) is fixedly mounted on the bottom of the fixing bracket (6202), a driving servo motor (6206) is fixedly mounted on the back of the fixing bracket (6202), a worm (6207) is fixedly sleeved on the power output shaft of the driving servo motor (6206), a rotating gear (6209) is meshed on the outer edge of the worm (6207), a connecting rod (6210) is fixedly sleeved on the inner wall of the rotating gear (6209), and driving wheels (6211) are fixedly mounted on the outer edges of both ends of the connecting rod (6210); The end of the worm (6207) away from the driving servo motor (6206) is movably sleeved with a positioning block (6208), the outer edge of the positioning block (6208) is mounted on the fixed bracket (6202), the outer edge of the driving wheel (6211) is rotatably connected with a rubber contact belt (6217), and the inner wall of the top of the mounting frame (6203) is movably sleeved with the outer edge of the connecting rod (6210); The four corners of the bottom of the installation frame (6203) are all provided with installation grooves (6204), and the inner walls of the four installation grooves (6204) are all provided with round holes (6205), the inner walls of the installation grooves (6204) are slidably connected with a connecting shaft (6212), the outer edge of the connecting shaft (6212) is fixedly equipped with a limiting rod (6214), a blocking piece (6216) is fixedly installed at one end of the limiting rod (6214) away from the connecting shaft (6212), a supporting wheel (6213) is installed on the outer edge of the connecting shaft (6212), and the limiting rod (6214) is slidably connected with the round hole (6205); The outer edge of the limiting rod (6214) is movably sleeved with a support spring (6215), the end of the connecting shaft (6212) away from the support wheel (6213) is movably sleeved with an auxiliary rod (6218), and the outer edge of the auxiliary rod (6218) is mounted with an auxiliary wheel (6219).

2. A welding robot according to claim 1, characterized in that: A material support frame (9) is installed at the front end of the mounting base (1); a left roller (91) is provided on the left side of the top of the material support frame (9); and a right roller (92) is provided on the right side of the left roller (91).

3. A welding robot according to claim 1, characterized in that: The top and bottom of the support frame (2) are penetrated by a limiting groove (7), and the limiting groove (7) is located on the side of the driving adjustment mechanism (8).

4. A welding robot according to claim 1, characterized in that: The driving adjustment mechanism (8) comprises a motor support frame (801), the outer wall of the motor support frame (801) being fixedly mounted with a mobile servo motor (802), the power output shaft of the mobile servo motor (802) being fixedly sleeved with a mobile lead screw (803), the outer edge of the mobile lead screw (803) being threadedly connected with a connecting ball block (804), and the outer edge of the connecting ball block (804) being fixedly mounted with a mounting bracket (805).

5. A welding robot according to claim 4, characterized in that: The bottoms of both ends of the mounting bracket (805) are fixedly equipped with sliders (808), the inner wall of the slider (808) is slidably connected to a guide rail (809), and the guide rail (809) is mounted on the top of the support frame (2).

6. A welding robot according to claim 5, characterized in that: A driving motor (806) is fixedly mounted on the outer edge of the mounting bracket (805); a driving gear disc (807) is fixedly sleeved on the outer edge of the bottom of the power output shaft of the driving motor (806); the power output shaft of the driving motor (806) is slidably connected to the limiting groove (7); and a protective tube is arranged on the outer edge of the power output shaft of the driving motor (806).

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