Side-mounted arc-shaped track redundant degree-of-freedom robot

Abstract

The invention relates to a side-mounted arc-shaped track redundant freedom degree robot which comprises a clamp, an annular track and a mechanical arm. A base at one end of the mechanical arm is arranged on the annular track through a moving mechanism and can be driven by the moving mechanism to move in the circumferential direction of the annular track. According to the side-mounted arc-shaped track redundant degree-of-freedom robot, the moving mechanism capable of surrounding a pipeline by a circle is adopted for the first time in the field of pipeline welding, the moving mechanism is matched with the annular track to move in the circumferential direction, the mechanical arm is driven to do annular motion around the annular track, and angle changes of mechanical arm joints can be reduced; vibration caused by too high joint speed during welding operation after the mechanical arm is connected with the welding gun is avoided, singular points caused by large-range joint angle change can also be avoided, the welding efficiency is improved, meanwhile, the stability of the robot is improved, and the welding quality is improved.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline welding equipment, and in particular to a side-mounted arc-track redundant degree-of-freedom robot. Background Art

[0002] At present, pipeline welding operations are usually carried out using automated welding equipment, such as a pipeline welding robot with a mechanical arm. The existing robot is a mechanical arm with a maximum of 6 degrees of freedom. During the welding process, the base part of the mechanical arm is fixedly installed, and the linkage of each joint on the mechanical arm is required to drive the end welding gun of the mechanical arm to move along the pipeline weld to form a complete motion trajectory; for example, the patent with publication number CN115815951A discloses a pipeline welding robot, including a mounting plate, multiple groups of pipeline clamping components, two mechanical arms and two welding guns, the mounting plate is horizontally arranged in the left and right direction, and multiple groups of the pipeline clamping components are installed on the mounting plate at intervals in the front and rear directions, and their clamps are all facing downward, and the two mechanical arms are respectively installed at both ends of the mounting plate, and the two welding guns and the two mechanical arms One-to-one correspondence, each welding gun is respectively installed at the driving end of the corresponding mechanical arm, the two pipe clamping assemblies are respectively used to clamp the ends of the two pipes to be welded that are close to each other to be coaxially distributed, and the two mechanical arms are respectively used to drive the welding guns to weld the butt joints of the two pipes; the welding guns on both sides of the pipes are respectively driven by the mechanical arms to weld the pipes around the pipe weld seams for half a circle. In actual operation, in order to improve welding efficiency and speed up welding speed, the mechanical arms are usually controlled to drive the welding guns to move quickly along the weld seams. For this kind of robot with a fixed base, the angles of the joints on the mechanical arms change greatly during the welding process, and singular points may appear. In addition, the fast movement speed may cause vibration of the mechanical arm joints, resulting in deviations in the movement trajectory of the welding gun, thereby affecting the welding quality. Summary of the invention

[0003] In order to solve one or more technical problems existing in the prior art, the present invention provides a side-mounted arc track redundant degree of freedom robot.

[0004] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: a side-mounted arc track redundant degree of freedom robot, comprising a clamp, a circular track and a robotic arm, the clamp being connected to one axial end of the circular track, and a base at one end of the robotic arm being arranged on the circular track through a moving mechanism and being able to move circumferentially along the circular track driven by the moving mechanism.

[0005] The beneficial effects of the present invention are as follows: the side-mounted arc track redundant degree of freedom robot of the present invention adopts a moving mechanism that can circle a pipeline for the first time in the field of pipeline welding, and can move circumferentially in conjunction with the circular track, driving the robot arm to make circular movements around the circular track, which can reduce the angle change of the robot arm joint, avoid vibration due to excessive joint speed when the robot arm performs welding operations after connecting the welding gun, and also avoid singular points caused by large-scale joint angle changes. While improving the welding efficiency, it increases the stability of the robot and improves the welding quality.

[0006] Based on the above technical solution, the present invention can also be improved as follows.

[0007] Further, the clamp includes a fixing part, a first hydraulic cylinder, a second hydraulic cylinder, a first clamp and a second clamp, the first clamp and the second clamp are respectively connected to opposite sides of one end of the fixing part by a pin shaft, the first hydraulic cylinder is correspondingly arranged on the outside of the first clamp, the second hydraulic cylinder is correspondingly arranged on the outside of the second clamp, the two ends of the first hydraulic cylinder are respectively hinged to the outer side walls of the fixing part and the first clamp, and the two ends of the second hydraulic cylinder are respectively hinged to the outer side walls of the fixing part and the second clamp.

[0008] The beneficial effect of adopting the above further solution is that by providing the first hydraulic cylinder and the second hydraulic cylinder, the first clamping jaw and the second clamping jaw can be opened or closed by driving the first hydraulic cylinder and the second hydraulic cylinder, thereby achieving clamping or releasing of the pipeline.

[0009] Furthermore, a flexible lining is provided on the inner side wall of the first clamping jaw and the inner side wall of the second clamping jaw.

[0010] The beneficial effect of adopting the above further scheme is that the flexible lining can be matched with the pipe to be welded. When the first jaw and the second jaw clamp the pipe to be welded in the middle, the flexible lining can fit tightly on the outer wall of the pipe to be welded. The relative clamping force applied by the first jaw and the second jaw to the pipe to be welded can be evenly transmitted to the surface of the pipe to be welded through the buffering effect of the flexible lining, thereby preventing the surface of the pipe to be welded from being damaged due to uneven force between the jaws and the pipe when the clamp clamps the pipe, forming an indentation.

[0011] Furthermore, the first clamping jaw and the second clamping jaw are both arc-shaped structures.

[0012] The beneficial effect of adopting the above further solution is that the clamping jaws with an arc-shaped structure can be adapted to the outer side wall of the pipe to be welded, making the clamping more stable and reliable.

[0013] Furthermore, the annular track includes two arc tracks, one end of which is hinged by a hinge shaft; the first clamp is installed on an axial end face of one arc track, and the second clamp is installed on an axial end face of another arc track, and when the first clamp and the second clamp are closed, the other ends of the two arc tracks are butt-jointed or spaced apart.

[0014] The beneficial effect of adopting the above further scheme is: two semicircular arc tracks are butted together, the semicircular arc tracks can match the pipe to be welded, and when installing the circular track, it is also necessary to first open one end of the two semicircular arc tracks so that the opening of the circular track is larger than the outer diameter of the pipe to be welded, and the pipe to be welded is placed in the circular track, and then the two semicircular arc tracks are closed so that they are fit and fixed on the outer wall of the pipe to be welded. The axial installation position of the circular track on the pipe to be welded can be close to the weld position, so that the robotic arm connected to the circular track can adjust the posture so that the welding gun reaches the weld for welding.

[0015] Furthermore, the moving mechanism includes a slider, a driving unit, a gear and an annular rack. The slider is arranged at the end of the annular track away from the clamp, and the slider is in sliding contact or rolling structure with the annular track. One end base of the robotic arm is fixed on the slider, and the robotic arm is located on the side of the slider away from the annular track. A mounting frame is provided on the side of the slider close to the annular track. The driving unit is installed on the mounting frame and a gear is connected to the driving end. The annular rack is arranged on the annular track, and the gear is meshed with the annular rack.

[0016] The beneficial effect of adopting the above further solution is that the gear can be driven by the driving unit to move along the annular rack, thereby driving the entire slider and the mechanical arm on the slider to move.

[0017] Furthermore, the annular rack is fixed on an outer side wall of an end of the annular track away from the clamp, and a central axis of the gear is parallel to a central axis of the annular track.

[0018] Furthermore, the robotic arm is a six-degree-of-freedom robotic arm, and a welding gun is installed at the execution end of the robotic arm.

[0019] The beneficial effect of adopting the above further scheme is that the robot arm and the circular track can together form a 7-degree-of-freedom mechanism, while in normal pipeline full-position welding or other normal movements along the spatial trajectory, only 4 degrees of freedom are required. The redundant degrees of freedom of this device can increase the flexibility and fault tolerance of the system and improve the flexibility and accessibility of the terminal along the trajectory movement process.

[0020] Furthermore, there are two robotic arms, and both robotic arms are arranged on the circular track through a moving mechanism.

[0021] The beneficial effect of adopting the above further scheme is that the two robotic arms can be installed on two semicircular arc tracks respectively, and the two robotic arms can move on the two semicircular arc tracks respectively to complete the welding of the two semicircles of the circumferential weld of the pipe to be welded, thereby completing the welding of a circle of the weld.

[0022] Furthermore, a visual sensor is also provided at the execution end of the robotic arm.

[0023] The beneficial effect of adopting the above further scheme is: the characteristic points of the weld can be identified by the visual sensor, thereby assisting the robotic arm to drive the welding gun to find the weld position; specifically, after the visual sensor identifies the position of the weld characteristic point, it can transmit the signal to the controller, and the controller can analyze the position of the characteristic point and adjust the position of the welding gun through the robotic arm to ensure that a constant distance and angle are maintained between the welding gun and the weld. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The structure of the side-mounted arc track redundant freedom robot of the present invention is shown in FIG. Figure 1 ;

[0025] Figure 2 The structure of the side-mounted arc track redundant freedom robot of the present invention is shown in FIG. Figure 2 ;

[0026] Figure 3 The structure of the side-mounted arc track redundant freedom robot of the present invention is shown in FIG. Figure 3 .

[0027] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0028] 1. Clamp; 11. Fixing part; 12. First hydraulic cylinder; 14. First clamping jaw; 15. Second clamping jaw; 16. Lifting hole;

[0029] 2. Circular track;

[0030] 3. Robotic arm; 31. Base; 4. Welding gun;

[0031] 5. Slider; 51. Drive motor; 52. Gear; 53. Ring rack; 54. Mounting frame; 55. Roller; 56. Circular convex edge;

[0032] 6. Pipelines to be welded. DETAILED DESCRIPTION

[0033] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0034] like Figure 1 to Figure 3As shown, a side-mounted arc track redundant degree of freedom robot of this embodiment comprises a fixture 1, an annular track 2 and a manipulator 3, wherein the fixture 1 is connected to one axial end of the annular track 2, and a base 31 at one end of the manipulator 3 is arranged on the annular track 2 through a moving mechanism and can move circumferentially along the annular track 2 under the drive of the moving mechanism. This embodiment provides a side-mounted arc track redundant degree of freedom robot, which adopts a mobile base to drive the manipulator to move as a whole, so as to solve a series of technical problems caused by the fixed base in the above-mentioned prior art.

[0035] Specifically, the central axis of the annular track 2 is parallel to or coaxial with the central axis of the clamp 1 after closing, which can ensure the stability of clamping.

[0036] like Figure 1 to Figure 3 As shown, the clamp 1 of this embodiment includes a fixing portion 11, a first hydraulic cylinder 12, a second hydraulic cylinder, a first clamping jaw 14 and a second clamping jaw 15. The first clamping jaw 14 and the second clamping jaw 15 are rotatably connected to opposite sides of one end of the fixing portion 11 through a pin shaft, respectively. The first hydraulic cylinder 12 is correspondingly arranged on the outside of the first clamping jaw 14, and the second hydraulic cylinder is correspondingly arranged on the outside of the second clamping jaw 15. The two ends of the first hydraulic cylinder 12 are respectively hinged to the outer side walls of the fixing portion 11 and the first clamping jaw 14, and the two ends of the second hydraulic cylinder are respectively hinged to the outer side walls of the fixing portion 11 and the second clamping jaw 15. By arranging the first hydraulic cylinder and the second hydraulic cylinder, the first clamping jaw and the second clamping jaw can be opened or closed by driving the first hydraulic cylinder and the second hydraulic cylinder, thereby achieving clamping or releasing of the pipeline. The opening and closing action between the first clamping jaw 14 and the second clamping jaw 15 can be driven by the extension and retraction of the hydraulic cylinder. The first clamping jaw 14 and the second clamping jaw 15 can be opened by contracting the hydraulic cylinders connected to each other, and the pipe 6 to be welded can be placed in the fixture 1. The first clamping jaw 14 and the second clamping jaw 15 can be closed by controlling the extension of the hydraulic cylinders connected to each other, so as to clamp the pipe 6 to be welded in the fixture 1. Specifically, the first hydraulic cylinder 12 and the second hydraulic cylinder are also located on opposite sides of the fixing part 11. The first hydraulic cylinder 12 and the fixing part 11 are hinged by the first hinge axis, the first hydraulic cylinder 12 and the outer side wall of the first clamping jaw 14 are hinged by the second hinge axis, the second hydraulic cylinder and the fixing part 11 are hinged by the third hinge axis, and the second hydraulic cylinder and the outer side wall of the second clamping jaw 15 are hinged by the fourth hinge axis; the pin shaft, the first hinge axis, the second hinge axis, the third hinge axis, and the fourth hinge axis are all arranged in parallel.

[0037] Preferably, Figure 2 and Figure 3 As shown, the fixing part 11 is a metal block structure or a metal plate structure. A hoisting hole 16 for hoisting can be provided on the fixing part 11, so that the fixing part 11 can be hoisted to the working position by using a crane in cooperation with the hoisting hole when in use.

[0038] A preferred solution of this embodiment is that a flexible liner is provided on the inner side wall of the first clamping jaw 14 and the inner side wall of the second clamping jaw 15. The flexible liner can match the pipe to be welded, and when the first clamping jaw 14 and the second clamping jaw 15 clamp the pipe to be welded in the middle, the flexible liner can be tightly attached to the outer wall of the pipe to be welded, and the relative clamping force applied by the first clamping jaw 14 and the second clamping jaw 15 to the pipe to be welded can be evenly transmitted to the surface of the pipe to be welded through the buffering effect of the flexible liner, thereby preventing the surface of the pipe to be welded from being clamped and damaged due to uneven force between the clamping jaw and the pipe when the clamp clamps the pipe, forming an indentation.

[0039] like Figure 2 and Figure 3 As shown, a preferred solution of this embodiment is that both the first clamping jaw 14 and the second clamping jaw 15 are arc-shaped structures. The arc-shaped clamping jaws can be adapted to the outer side wall of the pipe to be welded, making the clamping more stable and reliable.

[0040] like Figure 2 and Figure 3 As shown, a preferred solution of this embodiment is that the annular track 2 includes two arc tracks, one end of the two arc tracks is hinged by a hinge shaft; the first clamp 14 is installed on the end face of one end of the arc track in the axial direction, and the second clamp 15 is installed on the end face of one end of the other arc track in the axial direction. When the first clamp 14 and the second clamp 15 are closed, the other ends of the two arc tracks are butted or arranged at intervals. Two semi-circular arc tracks are butted, and the semi-circular arc tracks can match the pipe 6 to be welded. When installing the annular track 2, it is also necessary to first open one end of the two semi-circular arc tracks so that the opening of the annular track 2 is larger than the outer diameter of the pipe 6 to be welded, and the pipe 6 to be welded is placed in the annular track 2, and then the two semi-circular arc tracks are closed so that they are fitted and fixed on the outer wall of the pipe 6 to be welded. The axial installation position of the annular track 2 on the pipe 6 to be welded can be close to the weld position, so that the robot arm 3 connected to the annular track 2 can adjust the posture to make the welding gun reach the weld for welding.

[0041] Specifically, the other ends of the two semicircular arc tracks can be butted, and after butting, they can be fixed by bolt connection. The other ends of the two semicircular arc tracks can also be arranged at intervals, that is, the other ends of the two semicircular arc tracks are not in contact. When in use, when the robot arm rotates along the semicircular arc track to the end point, if there is still a small part of the weld that has not been welded, the robot arm can move by itself to complete the welding of the small part of the weld. When the robot of this embodiment is equipped with a welding machine for welding, the circular track does not need to be completely closed, as long as it can stably clamp the pipe.

[0042] like Figure 1 to Figure 3As shown, a specific solution of this embodiment is that the moving mechanism includes a slider 5, a driving unit, a gear 52 and an annular rack 53. The slider 5 is arranged at the end of the annular track 2 away from the fixture 1. The slider 5 has a sliding contact or rolling structure with the annular track 2. One end base of the mechanical arm 3 is fixed on the slider 5. The mechanical arm 3 is located on the side of the slider 5 away from the annular track 2. A mounting frame 54 is provided on the side of the slider 5 close to the annular track 2. The driving unit is installed on the mounting frame 54 and the driving end is connected to the gear 52. The annular rack 53 is arranged on the annular track 2, and the gear 52 is meshed with the annular rack 53. The gear can be driven by the driving unit to move along the annular rack, thereby driving the entire slider and the mechanical arm on the slider to move.

[0043] Among them, two rows of rollers can be arranged on the side of the slider 5 close to the annular track 2, and a circular annular convex edge 56 can be arranged on the end surface of the annular track 2 away from the fixture 1. The circular annular convex edge 56 can also be formed by connecting two semicircular structures, and the specific structure is adapted to the structure of the annular track 2. The two rows of rollers can be located on the inner and outer sides of the circular annular convex edge 56, respectively, and respectively roll in contact with the inner and outer ring edges of the circular annular convex edge 56. The rolling surface of the roller 55 can adopt a V-shaped structure, and the inner and outer ring edges of the circular annular convex edge 56 can also adopt a convex structure adapted to the V-shaped structure. The number of rollers 55 in each row can be set as needed, for example, 1, 2, 3, 4, etc. can be adopted. The annular rack 53 can be set at a position close to the circular annular convex edge, the mounting frame 54 can adopt a π-shaped structure, the two arms of the mounting frame 54 are respectively connected and fixed to the slider 5, the gear can be set between the two arms of the mounting frame 54, and the driving part can be installed on the horizontal plate of the mounting frame 54.

[0044] Specifically, in order to correspond to the two semicircular tracks, the annular rack 53 may also be two semicircular racks, which may be fixed on the two semicircular tracks respectively, and the two semicircular racks may form a structurally complete annular rack after being butted together. The annular rack may mesh with the gear, and the gear may move circumferentially on the annular track along the annular rack, thereby driving the slider and the robot arm to move along the annular track together.

[0045] Optionally, the driving unit is a driving motor 51.

[0046] like Figure 1 to Figure 3 As shown, a specific solution of this embodiment is that the annular rack 53 is fixed to the outer wall of one end of the annular track 2 away from the clamp 1, and the central axis of the gear 52 is parallel to the central axis of the annular track 2.

[0047] Optionally, the robot arm 3 is a six-degree-of-freedom robot arm, and a welding gun 4 is installed at the execution end of the robot arm 3. By using the circular track to cooperate with the six-axis robot arm, the circular track is equivalent to an external axis, and the robot arm 3 and the circular track 2 can jointly form a 7-degree-of-freedom mechanism, while in the usual full-position welding of pipelines or other normal movements along the space trajectory, only 4 degrees of freedom are required. The redundant degrees of freedom of the device can increase the flexibility and fault tolerance of the system, and improve the flexibility and accessibility of the end along the trajectory movement process.

[0048] like Figure 2 and Figure 3 As shown, a preferred solution of this embodiment is that there are two mechanical arms 3, and both mechanical arms 3 are arranged on the circular track 2 through a moving mechanism. The two mechanical arms 3 can be installed on two semicircular arc tracks respectively, and the two mechanical arms 3 can move on the two semicircular arc tracks respectively to complete the welding of the two semicircles of the circumferential weld of the pipe 6 to be welded, thereby completing the welding of a whole circle of the weld.

[0049] Specifically, the execution end of the robot arm 3 is also provided with a visual sensor. The visual sensor can identify the characteristic points of the weld, thereby assisting the robot arm to drive the welding gun to find the weld position; specifically, after the visual sensor identifies the position of the characteristic point of the weld, it can transmit the signal to the controller, and the controller can adjust the position of the welding gun through the robot arm by analyzing the position of the characteristic point to ensure that the distance and angle between the welding gun and the weld are kept constant. The part about the controller and the visual sensor cooperating to control is a common method in this field.

[0050] The side-mounted arc track redundant degree of freedom robot of this embodiment opens the first clamp and the second clamp by contracting the hydraulic cylinder during clamping, and uses a crane to hoist the welding robot above the pipe to be welded, and slowly lowers the clamp until the pipe to be welded is placed between the first clamp and the second clamp, and then controls the hydraulic cylinder to extend to close the first clamp and the second clamp, so that the pipe to be welded is clamped in the clamp. When installing the circular track, it is also necessary to first open one end of the two semi-circular arc tracks that are connected or spaced apart, so that the opening of the circular track is larger than the outer diameter of the pipe to be welded, and the pipe to be welded is placed in the circular track, and then the two semi-circular arc tracks are closed so that they are fitted and fixed on the outer wall of the pipe to be welded. The axial installation position of the circular track on the pipe to be welded can be close to the weld position, so that the mechanical arm connected to the circular track can adjust the posture to make the welding gun reach the weld for welding. The two semi-circular arc tracks and the clamp do not need to be completely closed, and the precision requirements are not high.

[0051] The side-mounted arc track redundant degree of freedom robot of this embodiment utilizes two arc tracks installed on the side of the fixture. It is the first time in the field of pipeline welding that a moving mechanism that can circle the pipeline is adopted, and can move circumferentially in conjunction with the circular track, thereby driving the robot arm to make circular motion around the circular track. This can reduce the angle change of the robot arm joint, avoid vibration due to excessive joint speed when the robot arm is performing welding operations after connecting the welding gun, and also avoid singular points caused by a large range of joint angle changes. While improving the welding efficiency, it increases the stability of the robot and improves the welding quality.

[0052] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0053] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0054] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0055] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0056] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0057] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A side-mounted arc track redundant degree of freedom robot, characterized in that: It includes a clamp, an annular track and a mechanical arm, wherein the clamp is connected to one axial end of the annular track, and a base at one end of the mechanical arm is arranged on the annular track through a moving mechanism and can move circumferentially along the annular track driven by the moving mechanism.

2. A side-mounted arc track redundant degree of freedom robot according to claim 1, characterized in that: The clamp includes a fixing part, a first hydraulic cylinder, a second hydraulic cylinder, a first clamp and a second clamp. The first clamp and the second clamp are rotatably connected to opposite sides of one end of the fixing part through a pin shaft, the first hydraulic cylinder is correspondingly arranged on the outside of the first clamp, and the second hydraulic cylinder is correspondingly arranged on the outside of the second clamp. Both ends of the first hydraulic cylinder are respectively hinged to the outer side walls of the fixing part and the first clamp, and both ends of the second hydraulic cylinder are respectively hinged to the outer side walls of the fixing part and the second clamp.

3. A side-mounted arc track redundant degree of freedom robot according to claim 2, characterized in that: A flexible lining is provided on the inner side wall of the first clamping jaw and the inner side wall of the second clamping jaw.

4. A side-mounted arc track redundant degree of freedom robot according to claim 2, characterized in that: The first clamping jaw and the second clamping jaw are both arc-shaped structures.

5. A side-mounted arc track redundant degree of freedom robot according to claim 2, characterized in that: The annular track comprises two arc tracks, one end of which is hinged via a hinge shaft; the first clamp is mounted on an axial end face of one arc track, and the second clamp is mounted on an axial end face of the other arc track; when the first clamp and the second clamp are closed, the other ends of the two arc tracks are butt-jointed or spaced apart.

6. The side-mounted arc track redundant degree of freedom robot according to claim 1, characterized in that: The moving mechanism includes a slider, a driving unit, a gear and an annular rack. The slider is arranged at an end of the annular track away from the clamp. The slider is in sliding contact or rolling structure with the annular track. One end base of the robotic arm is fixed on the slider. The robotic arm is located on the side of the slider away from the annular track. A mounting frame is provided on the side of the slider close to the annular track. The driving unit is installed on the mounting frame and a gear is connected to the driving end. The annular rack is arranged on the annular track, and the gear is meshed with the annular rack.

7. A side-mounted arc track redundant degree of freedom robot according to claim 6, characterized in that: The annular rack is fixed on an outer side wall of an end of the annular track away from the clamp, and a central axis of the gear is parallel to a central axis of the annular track.

8. The side-mounted arc track redundant degree of freedom robot according to claim 1, characterized in that: The robotic arm is a six-degree-of-freedom robotic arm, and a welding gun is installed at the execution end of the robotic arm.

9. The side-mounted arc track redundant degree of freedom robot according to claim 1, characterized in that: There are two mechanical arms, and both mechanical arms are arranged on the circular track through a moving mechanism.

10. The side-mounted arc track redundant degree of freedom robot according to claim 1, characterized in that: The execution end of the robotic arm is also provided with a visual sensor.

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