A side-mounted arc rail redundant degree of freedom robot

Abstract

The present application relates to a kind of side-mounted arc rail redundant degree of freedom robot, including clamp, annular track and mechanical arm, the clamp is connected in the axial end of the annular track, and the base of the one end of the mechanical arm is set on the annular track by moving mechanism and can be moved along the annular track circumferentially under the driving of the moving mechanism.The side-mounted arc rail redundant degree of freedom robot of the present application first uses the moving mechanism capable of around pipe in the field of pipe welding, and cooperates annular track and can move circumferentially, drives mechanical arm to do annular motion around annular track, can reduce the angle change of mechanical arm joint, avoid vibration when mechanical arm is connected welding torch and carries out welding operation due to joint speed is too fast, also can avoid the singular point of wide range of joint angle change, improve welding efficiency, increase the stability of robot, improve welding quality.

Description

Technical Field

[0001] This invention relates to the field of pipeline welding equipment technology, and specifically to a side-mounted arc-shaped track redundant degree-of-freedom robot. Background Technology

[0002] Current pipe welding operations typically employ automated welding equipment, such as pipe welding robots with robotic arms. Existing robots typically have a maximum of 6 degrees of freedom (DOF) robotic arms. During welding, the base of the robotic arm is fixed, requiring the coordinated movement of various joints to move the welding torch at the end of the arm along the pipe weld seam, forming a complete motion trajectory. For example, patent CN115815951A discloses a pipe welding robot comprising a mounting plate, multiple sets of pipe clamping assemblies, two robotic arms, and two welding torches. The mounting plate is horizontally arranged in the left-right direction, and the multiple sets of pipe clamping assemblies are spaced apart in the front-back direction on the mounting plate, with their clamping openings facing downwards. The two robotic arms are respectively mounted at both ends of the mounting plate, and the two welding torches are connected to the two robotic arms. In a one-to-one correspondence, each welding torch is mounted on the drive end of the corresponding robotic arm. The two pipe clamping assemblies are used to clamp the two pipes to be welded at their closest points to each other, making them coaxially distributed. The two robotic arms are used to drive the welding torches to weld the butt joint of the two pipes. The welding torches on both sides of the pipe are driven by the robotic arms to weld the pipe by circling half a circumference around the weld seam. In actual operation, in order to improve welding efficiency and speed, the robotic arms are usually controlled to move the welding torches quickly along the weld seam. However, for this type of robot with a fixed base, the angle of change of the joints on the robotic arm is large during the welding process, which may cause singularities. In addition, the excessively fast movement speed may cause vibration of the robotic arm joints, resulting in deviation of the welding torch's movement trajectory, 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-shaped 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-shaped track redundant degree of freedom robot, including a gripper, a ring track and a robotic arm, wherein the gripper is connected to one end of the ring track in the axial direction, and one end of the robotic arm is mounted on the ring track through a moving mechanism and can move circumferentially along the ring track under the drive of the moving mechanism.

[0005] The beneficial effects of this invention are as follows: The side-mounted arc-shaped track redundant degree-of-freedom robot of this invention is the first in the field of pipe welding to adopt a moving mechanism capable of rotating around a pipe once, and in conjunction with a circular track, it can move circumferentially, driving the robotic arm to make circular motion around the circular track. This can reduce the angle changes of the robotic arm joints, avoid vibration caused by excessive joint speed when the robotic arm is connected to the welding gun and performing welding operations, and also avoid singularities caused by large-scale joint angle changes. While improving welding efficiency, it also increases the stability of the robot and improves the welding quality.

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

[0007] Furthermore, the clamp includes a fixing part, a first hydraulic cylinder, a second hydraulic cylinder, a first gripper, and a second gripper. The first gripper and the second gripper are rotatably connected to opposite sides of one end of the fixing part via pins. The first hydraulic cylinder is correspondingly disposed on the outer side of the first gripper, and the second hydraulic cylinder is correspondingly disposed on the outer side of the second gripper. The two ends of the first hydraulic cylinder are respectively hinged to the outer side walls of the fixing part and the first gripper, and the two ends of the second hydraulic cylinder are respectively hinged to the outer side walls of the fixing part and the second gripper.

[0008] The beneficial effect of adopting the above-mentioned further solution is that by setting the first hydraulic cylinder and the second hydraulic cylinder, the first gripper and the second gripper can be opened or closed by driving the first hydraulic cylinder and the second hydraulic cylinder, thereby realizing the clamping or release of the pipeline.

[0009] Furthermore, both the inner walls of the first gripper and the inner walls of the second gripper are provided with flexible linings.

[0010] The beneficial effects of adopting the above-mentioned further solution are: the flexible liner can be matched with the pipe to be welded. When the first and second clamps hold the pipe to be welded in the middle, the flexible liner can fit tightly against the outer wall of the pipe to be welded. The relative clamping force applied by the first and second clamps 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. This can prevent the surface of the pipe to be welded from being damaged and forming indentations due to uneven force between the clamps and the pipe when the clamp is clamped.

[0011] Furthermore, both the first gripper and the second gripper have an arc-shaped structure.

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

[0013] Furthermore, the annular track includes two arc-shaped tracks, one end of which is hinged together by a hinge shaft; the first gripper is mounted on one end face of the arc-shaped track along its axial direction, and the second gripper is mounted on one end face of the other arc-shaped track along its axial direction. When the first gripper and the second gripper are closed, the other ends of the two arc-shaped tracks are either joined together or spaced apart.

[0014] The beneficial effects of adopting the above-mentioned further solution are as follows: Two semi-circular arc-shaped tracks are connected, and the semi-circular arc-shaped tracks can match the pipe to be welded. When installing the ring track, it is also necessary to first open one end of the two semi-circular arc-shaped tracks to make the opening of the ring track larger than the outer diameter of the pipe to be welded. Place the pipe to be welded in the ring track, and then close the two semi-circular arc-shaped tracks so that they fit and fix to the outer wall of the pipe to be welded. The axial installation position of the ring track on the pipe to be welded can be close to the weld position, so that the robotic arm connected to the ring track can adjust its posture to make the welding torch reach the weld for welding.

[0015] Furthermore, the moving mechanism includes a slider, a drive unit, a gear, and a ring rack. The slider is disposed at the end of the ring track away from the clamp. The slider has a sliding contact or rolling structure with the ring track. One end of the robotic arm is fixed to the slider. The robotic arm is located on the side of the slider away from the ring track. A mounting bracket is provided on the side of the slider close to the ring track. The drive unit is mounted on the mounting bracket and the drive end is connected to the gear. The ring rack is arranged around the ring track, and the gear meshes with the ring rack.

[0016] The beneficial effect of adopting the above-mentioned further solution is that the drive unit can drive the gear to move along the ring rack, thereby driving the entire slider and the robotic arm on the slider to move.

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

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

[0019] The beneficial effects of adopting the above-mentioned further scheme are: the robotic arm and the circular track can together form a 7-DOF mechanism, while only 4-DOF is required for normal pipe welding or other movements along the spatial trajectory normal. The redundant degrees of freedom of this device can increase the flexibility and fault tolerance of the system, and improve the compliance and accessibility of the end effector movement along the trajectory.

[0020] Furthermore, there are two robotic arms, both of which are mounted on the circular track via a moving mechanism.

[0021] The beneficial effect of adopting the above-mentioned further solution is that two robotic arms can be installed on two semi-circular arc tracks respectively, and the two robotic arms can move on the two semi-circular arc tracks respectively to complete the welding of the two semi-circles of the circumferential weld of the pipe to be welded, thereby completing the welding of the weld around the whole circle.

[0022] Furthermore, the robotic arm is equipped with a vision sensor at its end effector.

[0023] The beneficial effects of adopting the above-mentioned further solution are: the visual sensor can identify the weld feature points, thereby assisting the robotic arm to drive the welding torch to find the weld position; specifically, after the visual sensor identifies the weld feature point position, it can transmit the signal to the controller, and the controller can adjust the position of the welding torch through the robotic arm by analyzing the feature point position to ensure that the welding torch and the weld maintain a constant distance and angle. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the side-mounted arc-shaped track redundant degree-of-freedom robot of the present invention. Figure 1 ;

[0025] Figure 2 This is a schematic diagram of the side-mounted arc-shaped track redundant degree-of-freedom robot of the present invention. Figure 2 ;

[0026] Figure 3 This is a schematic diagram of the side-mounted arc-shaped track redundant degree-of-freedom robot of the present invention. Figure 3 .

[0027] The attached diagram lists the components represented by each number as follows:

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

[0029] 2. Circular track;

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

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

[0032] 6. Pipes to be welded. Detailed Implementation

[0033] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0034] like Figures 1-3As shown, this embodiment of a side-mounted arc-shaped track redundant degree-of-freedom robot includes a gripper 1, a circular track 2, and a robotic arm 3. The gripper 1 is connected to one axial end of the circular track 2. One end of the robotic arm 3, with a base 31, is mounted on the circular track 2 via a moving mechanism and can move circumferentially along the circular track 2 under the drive of the moving mechanism. This embodiment provides a side-mounted arc-shaped track redundant degree-of-freedom robot that uses a movable base to drive the entire robotic arm to move, thereby solving a series of technical problems caused by the fixed base in the prior art.

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

[0036] like Figures 1-3 As shown, the clamp 1 in this embodiment includes a fixing part 11, a first hydraulic cylinder 12, a second hydraulic cylinder, a first gripper 14, and a second gripper 15. The first gripper 14 and the second gripper 15 are rotatably connected to opposite sides of one end of the fixing part 11 via pins. The first hydraulic cylinder 12 is correspondingly disposed on the outer side of the first gripper 14, and the second hydraulic cylinder is correspondingly disposed on the outer side of the second gripper 15. The two ends of the first hydraulic cylinder 12 are hinged to the outer side walls of the fixing part 11 and the first gripper 14, respectively, and the two ends of the second hydraulic cylinder are respectively hinged to the outer side walls of the fixing part 11 and the second gripper 15. By providing the first hydraulic cylinder and the second hydraulic cylinder, the first gripper and the second gripper can be opened or closed by driving the first hydraulic cylinder and the second hydraulic cylinder, thereby achieving the clamping or release of the pipeline. The opening and closing action between the first gripper 14 and the second gripper 15 can be driven by the extension and retraction of hydraulic cylinders. Retracting the respective connected hydraulic cylinders opens the first gripper 14 and the second gripper 15, allowing the pipe 6 to be welded to be placed into the fixture 1. Extending the respective connected hydraulic cylinders closes the first gripper 14 and the second gripper 15, thereby clamping 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 is hinged to the fixing part 11 via a first hinge shaft, the first hydraulic cylinder 12 is hinged to the outer wall of the first gripper 14 via a second hinge shaft, the second hydraulic cylinder is hinged to the fixing part 11 via a third hinge shaft, and the second hydraulic cylinder is hinged to the outer wall of the second gripper 15 via a fourth hinge shaft. The pin, the first hinge shaft, the second hinge shaft, the third hinge shaft, and the fourth hinge shaft are all arranged in parallel.

[0037] Preferred, such as 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 can be provided on the fixing part 11 for hoisting, so that it can be hoisted to the working position by using a crane in conjunction with the hoisting hole.

[0038] In a preferred embodiment, flexible liners are provided on the inner walls of both the first gripper 14 and the second gripper 15. The flexible liners can be matched with the pipe to be welded. When the first gripper 14 and the second gripper 15 clamp the pipe to be welded in the middle, the flexible liners can tightly adhere to the outer wall of the pipe. The relative clamping forces applied by the first gripper 14 and the second gripper 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 liners. This prevents the surface of the pipe to be welded from being damaged or indented due to uneven force between the grippers and the pipe when the clamps are clamping it.

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

[0040] like Figure 2 and Figure 3 As shown, in a preferred embodiment, the annular track 2 includes two arc-shaped tracks, one end of which is hinged together by a hinge shaft. The first gripper 14 is mounted on one end face of the arc-shaped track along its axial direction, and the second gripper 15 is mounted on one end face of the other arc-shaped track along its axial direction. When the first gripper 14 and the second gripper 15 are closed, the other ends of the two arc-shaped tracks are joined together or spaced apart. Alternatively, two semi-circular tracks can be joined together, matching the pipe 6 to be welded. When installing the annular track 2, the joined end of the two semi-circular tracks must first be opened so that the opening of the annular track 2 is larger than the outer diameter of the pipe 6 to be welded. The pipe 6 to be welded is placed in the annular track 2, and then the two semi-circular tracks are closed, fitting and fixing them to the outer wall of the pipe 6. The axial installation position of the annular track 2 on the pipe 6 to be welded can be close to the weld seam, allowing the robotic arm 3 connected to the annular track 2 to adjust its position so that the welding torch reaches the weld seam for welding.

[0041] Specifically, the other ends of the two semi-circular tracks can be joined together and then fixed with bolts. Alternatively, the other ends of the two semi-circular tracks can be spaced apart, meaning they do not touch. During use, when the robotic arm rotates along the semi-circular track to its endpoint, if a small portion of the weld seam remains unwelded, the robotic arm can automatically weld that portion. In this embodiment, when the robot is equipped with a welding machine for welding, the annular track does not need to be completely closed; it only needs to be able to stably clamp the pipe.

[0042] like Figures 1-3As shown, in one specific embodiment, the moving mechanism includes a slider 5, a drive unit, a gear 52, and a ring rack 53. The slider 5 is disposed at the end of the ring track 2 away from the clamp 1. The slider 5 has a sliding contact or rolling structure with the ring track 2. One end of the robotic arm 3 is fixed to the slider 5, and the robotic arm 3 is located on the side of the slider 5 away from the ring track 2. A mounting bracket 54 is provided on the side of the slider 5 closest to the ring track 2. The drive unit is mounted on the mounting bracket 54, and the drive end is connected to the gear 52. The ring rack 53 is arranged around the ring track 2, and the gear 52 meshes with the ring rack 53. The drive unit can drive the gear to move along the ring rack, thereby driving the entire slider and the robotic arm on the slider to move.

[0043] The slider 5 can be equipped with two rows of rollers on the side near the annular track 2. A circular protrusion 56 can be provided on the end face of the annular track 2 away from the clamp 1. The circular protrusion 56 can also be formed by connecting two semi-circular structures, with the specific structure 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 protrusion 56, respectively, and roll in contact with the inner and outer ring edges of the circular protrusion 56. The rolling surface of the roller 55 can adopt a V-shaped structure, and the inner and outer ring edges of the circular protrusion 56 can also adopt a protruding 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, or 4. The annular rack 53 can be positioned near the circular protrusion. The mounting frame 54 can adopt a π-shaped structure, with its two arms connected and fixed to the slider 5. A gear can be positioned between the two arms of the mounting frame 54, and the drive unit can be mounted on the horizontal plate of the mounting frame 54.

[0044] Specifically, to correspond with the two semi-circular tracks, the annular rack 53 can also be composed of two semi-circular racks. The two semi-circular racks can be fixed on the two semi-circular tracks respectively, and the two semi-circular racks can be joined together to form a complete annular rack. The annular rack can mesh with a gear, and the gear can move circumferentially along the annular rack on the annular track, thereby driving the slider and the robotic arm to move together along the annular track.

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

[0046] like Figures 1-3 As shown, in a specific embodiment, the annular rack 53 is fixed on the outer wall 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 robotic arm 3 is a six-degree-of-freedom robotic arm, and a welding torch 4 is installed at the end effector of the robotic arm 3. Utilizing a circular track in conjunction with the six-axis robotic arm, the circular track acts as an external axis, and the robotic arm 3 and the circular track 2 together constitute a seven-degree-of-freedom mechanism. In contrast, typical pipeline welding in all positions or other movements along the normal to a spatial trajectory only require four degrees of freedom. This redundant degree of freedom increases the system's flexibility and fault tolerance, and improves the compliance and accessibility of the end effector's movement along the trajectory.

[0048] like Figure 2 and Figure 3 As shown, in a preferred embodiment, there are two robotic arms 3, both of which are mounted on the annular track 2 via a moving mechanism. The two robotic arms 3 can be installed on two semi-circular tracks respectively, and can move on the two semi-circular tracks to complete the welding of the two semi-circles of the circumferential weld of the pipe 6 to be welded, thereby completing the welding of one circumference of the weld.

[0049] Specifically, the end effector of the robotic arm 3 is also equipped with a vision sensor. The vision sensor can identify weld feature points, thereby assisting the robotic arm in locating the weld by moving the welding torch. Specifically, after the vision sensor identifies the location of the weld feature points, it transmits the signal to the controller. The controller can analyze the feature point locations and adjust the position of the welding torch via the robotic arm to ensure a constant distance and angle between the welding torch and the weld. The control mechanism involving the controller and the vision sensor is a common practice in this field.

[0050] In this embodiment, the side-mounted arc-shaped track redundant degree-of-freedom robot opens the first and second grippers during clamping by retracting the hydraulic cylinder. A crane is used to hoist the welding robot above the pipe to be welded, and the clamps are slowly lowered until the pipe is placed between the first and second grippers. Then, the hydraulic cylinder is extended to close the first and second grippers, thus clamping the pipe in the clamps. When installing the ring track, one end of the two semi-circular arc-shaped tracks (either joined or spaced apart) must first be opened so that the opening of the ring track is larger than the outer diameter of the pipe to be welded. The pipe is placed in the ring track, and then the two semi-circular arc-shaped tracks are closed, fitting snugly against the outer wall of the pipe. The axial installation position of the ring track on the pipe is close to the weld seam, allowing the robotic arm connected to the ring track to adjust its posture so that the welding torch reaches the weld seam for welding. The two semi-circular arc-shaped tracks and the clamps do not need to be completely closed, and the precision requirements are not high.

[0051] This embodiment of the side-mounted arc-shaped track redundant degree-of-freedom robot utilizes two arc-shaped tracks installed on the side of the fixture. It is the first time in the field of pipe welding that a moving mechanism capable of circumferentially moving around a pipe has been adopted. Combined with the circular track, it can move circumferentially, driving the robotic arm to make circular motion around the circular track. This can reduce the angle changes of the robotic arm joints, avoid vibration caused by excessive joint speed when the robotic arm is connected to the welding gun and performing welding operations, and also avoid singularities caused by large-scale joint angle changes. While improving welding efficiency, it also increases the stability of the robot and improves the welding quality.

[0052] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0053] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0054] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0055] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0056] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0057] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A side-mounted redundant degree-of-freedom robot with an arc-shaped track, characterized in that, The device comprises a clamp, a ring track and mechanical arms, the clamp is connected to one end of the ring track in the axial direction, one end of the mechanical arm is arranged on the ring track through a moving mechanism and can move along the ring track in the circumferential direction under the driving of the moving mechanism; the mechanical arm is two, both of which are arranged on the ring track through a moving mechanism; the mechanical arm is a six-degree-of-freedom mechanical arm, and a welding gun is installed on the execution end of the mechanical arm; The execution end of the mechanical arm is also provided with a visual sensor; after the visual sensor identifies the position of the weld feature point, the signal is transmitted to the controller, the controller adjusts the position of the welding gun through the analysis of the feature point position to ensure that the welding gun and the weld maintain a constant distance and angle; The moving mechanism comprises a sliding block, a driving part, a gear and a ring rack, the sliding block is arranged at one end of the ring track away from the clamp, the sliding block is in sliding contact or rolling structure with the ring track, one end base of the mechanical arm is fixed on the sliding block, the mechanical arm is located on the side of the sliding block away from the ring track, the side of the sliding block close to the ring track is provided with a mounting frame, the driving part is mounted on the mounting frame and the driving end is connected with the gear, the ring rack is annularly arranged on the ring track, and the gear is in meshing with the ring rack; Two rows of rollers are arranged on the side of the sliding block close to the ring track, a circular convex edge is arranged on the end face of the end of the ring track away from the clamp, the circular convex edge is also formed by butt joint of two semicircular structures, and the specific structure is adapted to the structure of the ring track; the two rows of rollers are respectively located on the inner and outer sides of the circular convex edge and are respectively in rolling contact with the inner and outer ring edges of the circular convex edge; the rolling surface of the roller adopts a V-shaped structure, and the inner and outer ring edges of the circular convex edge also adopt a convex structure adapted to the V-shaped structure; The ring rack is fixed on the outer side wall of the end of the ring track away from the clamp, and the central axis of the gear is parallel to the central axis of the ring track; The clamp comprises a fixed part, a first hydraulic cylinder, a second hydraulic cylinder, a first clamping jaw and a second clamping jaw, the first clamping jaw and the second clamping jaw are respectively rotatably connected to the opposite sides of one end of the fixed part through a pin shaft, the first hydraulic cylinder is correspondingly arranged on the outer side of the first clamping jaw, the second hydraulic cylinder is correspondingly arranged on the outer side of the second clamping jaw, and the two ends of the first hydraulic cylinder are respectively hinged to the outer side wall of the fixed part and the first clamping jaw; the two ends of the second hydraulic cylinder are respectively hinged to the outer side wall of the fixed part and the second clamping jaw; The ring track comprises two circular arc tracks, one end of the two circular arc tracks is hingedly connected through a hinge shaft; the first clamping jaw is mounted on the end face of one end of one circular arc track in the axial direction, and the second clamping jaw is mounted on the end face of one end of the other circular arc track in the axial direction; when the first clamping jaw and the second clamping jaw are folded, the other ends of the two circular arc tracks are arranged in abutment or spacing. In the installation of the annular track, firstly, the two half circular arc tracks are opened at one end, the opening of the annular track is larger than the outer diameter of the pipe to be welded, the pipe to be welded is placed in the annular track, then the two half circular arc tracks are closed and fixed on the outer wall of the pipe to be welded, and the axial installation position of the annular track on the pipe to be welded is close to the welding seam position; the other end of the two half circular arc tracks is butted or arranged at intervals, when the mechanical arm rotates to the end point along the half circular arc track, if there is still a welding seam to be welded, the mechanical arm itself acts to weld the welding seam to be welded.

2. The side-mounted redundant degree-of-freedom robot according to claim 1, wherein, The inner side wall of the first clamping jaw and the inner side wall of the second clamping jaw are both provided with a flexible lining.

3. The side-mounted redundant degree-of-freedom robot of claim 1, wherein, The first clamping jaw and the second clamping jaw are both in a circular arc structure.

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