Primary-secondary welding robot

Abstract

The invention relates to the technical field of welding robots, in particular to a child-mother welding robot which comprises a mother vehicle, a child vehicle and a wiring harness connecting the mother vehicle and the child vehicle. A lifting arm, a base, a wire coil frame, a wire winding disc, a power box, a control box, a computer, a visual sensor and an ultrasonic sensor receiving end are integrated on the mother vehicle. A frame, a welding gun, a laser sensor, a welding visual sensor, an ultrasonic sensor transmitting end and a magnetic adsorption track are mainly arranged on the sub-vehicle; during welding, the visual sensor on the lifting arm scans a welding path in real time, the receiving end of the ultrasonic sensor receives information of the transmitting end of the ultrasonic sensor to jointly monitor advancing of the sub-vehicle, the magnetic adsorption track of the sub-vehicle is magnetically adsorbed on the surface of a large welding workpiece to move, and the laser sensor on the sub-vehicle monitors a welding gun and a welding seam. The information is processed by the control box to drive a screw rotating motor, a transverse adjusting motor and a height adjusting motor so as to adjust the front, rear, high, low, left and right positions of the welding gun relative to a welding seam; according to the scheme, the welding gun and the lifting arm are separately arranged, a heavy welding wire, a power box, a control box and the like are placed on the mother vehicle on the ground, only the transmitting ends of the welding gun, the laser sensor, the welding visual sensor and the ultrasonic sensor are arranged on the son vehicle, and the son vehicle is light, convenient and flexible; the magnetic adsorption crawler belt is firmly adsorbed on the surface of a large welding workpiece and does not fall off due to heavy weight, meanwhile, the height which cannot be welded by a ground welding robot can be welded, and particularly, the welding of the large welding workpiece is easier; the welding gun does not have welding errors caused by multiple joints, welding gun arm joints are few and close to a welding seam, welding is easy to control, and welding precision is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of large workpiece welding equipment, in particular to a parent-child welding robot. Background Art

[0002] The ground welding robot is limited by the arm extension length, and some large workpieces cannot be welded; and the welding accuracy will deteriorate as the arm extension of the welding robot increases. There are two main welding methods for large workpiece welding at present: one is manual welding, which uses scaffolding to build a welding work platform before welding, and performs welding operations on a higher platform. This type of welding not only has low welding efficiency, but also makes it difficult to ensure welding quality; the other is to lay tracks along the side of the weld, and then let the welding equipment move along the tracks for welding. This track laying procedure is cumbersome and it is difficult to improve efficiency. Summary of the invention

[0003] In order to make up for the technical deficiency of the existing ground welding robot that the arm span is not long enough to directly weld large welding workpieces, the present invention provides a parent-child welding robot to solve the practical problems raised in the above background technology.

[0004] The technical solution adopted by the present invention to solve the technical problem is: a mother-child welding robot comprises a mother car, a child car and a wiring harness connecting the mother car and the child car;

[0005] To achieve large-scale welding, the mother-child welding robot of the present invention separates the arm span and welding gun of the welding robot into a child car and a mother car, so that the welding gun set on the child car can move on the large workpiece by magnetic adsorption and perform close-range welding. The mother car refers to the ground part of the welding robot, which provides power and welding wire for the child car to move on the workpiece, and monitors the child car through the visual sensor and ultrasonic sensor on the lifting arm, thereby achieving the purpose of both accurate and efficient welding.

[0006] Preferably, the mother car is integrated with a lifting arm, a base, a wire drum rack, a power box, a control box, and a computer for grabbing and releasing the sub-cart; the mother car moves according to the movement of the sub-cart on the large workpiece, and the power box mainly provides power for the welding of the sub-cart, the movement of the mother car, and the motors of the sub-cart and the mother car. The signals of the sensors of the sub-cart and the mother car and the computer command signals are sent to the control box, and the control box outputs the processed execution signals to the components related to the sub-cart and the mother car to execute the commands; before welding, the computer inputs the drawings to be welded, analyzes and plans the path, determines the starting and ending points of welding, and saves them for future use.

[0007] Preferably, the lifting arm is composed of a first joint, a first section, a second joint, a second section, a clamp arm and a visual sensor integrated on the clamp arm, a clamp and an ultrasonic sensor receiving end integrated between the clamp; after the mother-child welding robot arrives at the large welding workpiece site, the lifting arm is raised with an empty arm to scan the large welding workpiece, and the real-life welding route is identified. After comparing the drawing path in the computer and confirming the consistency, the computer determines the welding starting point and end point again, and the lifting arm returns to the original state to grab the sub-carriage and lift the sub-carriage to the large workpiece. The magnetic adsorption track of the sub-carriage is magnetically attracted to the large workpiece, and the clamp releases the sub-carriage. According to the instruction, the sub-carriage magnetically attracts and walks to the starting point of the weld to perform welding. During the welding process, the lifting arm locates, tracks, and monitors the walking direction of the sub-carriage in real time according to the information of the visual sensor and the ultrasonic sensor, continuously compares with the weld path, and sends instructions to the sub-carriage through the controller until the sub-carriage completes the welding task. After the sub-carriage welding operation is completed, the control box instructs the sub-carriage to move to the nearest position of the lifting arm by magnetic adsorption on the large workpiece. According to the ultrasonic guidance of the sub-carriage ultrasonic sensor transmitting end, the gripper arm tends to the position of the sub-carriage, the ultrasonic sensor transmitting end and the receiving end coincide, the gripper grabs the sub-carriage, and according to the set default position, the lifting arm puts the sub-carriage into the sub-carriage parking space on the mother car.

[0008] Preferably, a wire winding drum drive motor is fixed on the wire winding drum frame, and a square shaft is led out of the wire winding drum drive motor, and the wire winding drum and the welding wire drum are coaxially and movably mounted on the square shaft, the inner ring of the wire winding drum is mounted with a first wheel group for welding wire feeding and a first wheel group drive motor, and the outer ring of the wire winding drum is divided into two areas: a connecting wire bundle winding area and a standby wire winding area; the wire winding drum retracts and releases the connecting wire bundle according to the speed at which the lifting arm lifts the sub-trolley and the sub-trolley moves on the large workpiece by magnetic adsorption.

[0009] Preferably, the sub-trolley is based on a frame, an ultrasonic sensor transmitting end and a welding visual sensor are installed on the frame, a screw and a slide rod are arranged in the frame, a screw rotating motor is arranged at the rear of the screw, a slider plate is arranged on the screw and the slide rod, a lateral adjustment motor is fixed at the front end of the slider plate, a left and right swing joint piece is connected above the lateral adjustment motor, a height adjustment motor for raising or lowering the welding gun head and a height adjustment piece driven by the height adjustment motor are fixed on the left and right swing joint pieces, a second wheel group for welding wire conveying and a driving device for the second wheel group for welding wire conveying are fixed on the height adjustment piece The motor, welding gun and the laser sensor integrated on the welding gun; the welding vision sensor is responsible for scanning the weld, and its information is compared with the information of the vision sensor in real time to adjust the travel route of the sub-trolley. The laser sensor monitors the welding gun and the weld, and its scanning information is processed by the control box to drive the screw rotation motor, the height adjustment motor, and the lateral adjustment motor to adjust the front, back, high, low, left and right position of the welding gun relative to the weld; the second wheel group of welding wire feeding relays the welding wire transported by the first wheel group over a long distance to supply the welding gun to achieve the purpose of full-load welding.

[0010] Preferably, a crawler steering motor is fixed to the lower part of the sub-vehicle frame, and the crawler steering motor is connected to the track wheel support frame, and a driven wheel and a driving wheel are installed on the track wheel support frame, and the driving wheel is connected to the crawler driving motor fixed on the track wheel support frame, and a magnetic adsorption crawler is installed outside the driven wheel and the driving wheel, and there is a magnetic adsorption unit on the magnetic adsorption crawler, and one end of the magnetic adsorption unit is provided with a contact convex, and one side of the contact convex is provided with a magnetizing contact piece, a magnetizing long contact piece and a demagnetizing contact piece that can contact the contact convex, and the magnetizing contact piece, the magnetizing long contact piece and the demagnetizing contact piece are respectively fixed on the track wheel support frame and connected to the control circuit; the crawler steering motor plays a role in adjusting the direction of the sub-vehicle, and the magnetic adsorption unit has the characteristics of instantaneous magnetization after instantaneous power-on and demagnetization after instantaneous power-on again. The belt drive motor drives the driving wheel to rotate, and the driving wheel drives the magnetic adsorption crawler to operate. The contact protrusion on the magnetic adsorption unit first contacts the magnetizing contact piece and is instantly energized, and magnetization is instantaneously generated. The bottom surface of the magnetic adsorption unit contacts the welding workpiece surface and is magnetically adsorbed on the surface of the large welding workpiece. Then, the contact protrusion on the running magnetic adsorption unit contacts the long magnetic variable contact piece, slides over the long magnetic variable contact piece, and contacts the demagnetization contact piece. The demagnetization contact piece instantaneously energizes and demagnetizes the magnetic adsorption unit through the contact protrusion, and the bottom surface of the magnetic adsorption unit leaves the surface of the large welding workpiece in a non-magnetic state; when the sub-carriage leaves the surface of the large welding workpiece, the clamp clamps the sub-carriage, and some magnetic adsorption units that contact the contact protrusion and the long magnetic variable contact piece are instantly energized and lose magnetism, and the sub-carriage is clamped and leaves the surface of the large welding workpiece.

[0011] The wiring harness includes a power and signal combination line and a welding wire tube, wherein one end of the power and signal combination line is connected to the sub-trolley, and the other end passes from the wiring harness winding area of ​​the outer ring of the winding drum of the mother car to the standby winding area and then is respectively connected to the power box and the control box. Welding wire is inserted in the welding wire tube, one end of the welding wire tube is connected to the height adjustment plate at the tail of the welding gun on the sub-trolley, and the other end is fixed at the front end of the welding wire conveying first wheel group of the inner ring of the winding drum of the mother car. The welding wire is conveyed by the welding wire conveying first wheel group to the welding wire conveying second wheel group and then relayed to the welding gun for use; the power and signal combination line provides power and command signals for the welding gun, magnetizing contact piece, magnetic variable length contact piece, demagnetizing contact piece, drive motor, ultrasonic sensor transmitting end, laser sensor, and welding vision sensor of the sub-trolley, and transmits the scanning signals of the laser sensor and the welding vision sensor back to the control box on the mother car.

[0012] The beneficial effects of the present invention are as follows: In the above technical scheme, by separating the welding gun and the lifting arm, the heavier welding wire, power box, control box, etc. are placed on the mother car on the ground, and only the welding gun, laser sensor, welding vision sensor, and ultrasonic sensor transmitting end are set on the sub-carriage. The sub-carriage is light and flexible, and the magnetic adsorption track is firmly adsorbed on the surface of the large welding workpiece and will not fall off due to its heavy weight. At the same time, it can weld at heights that ground welding robots cannot weld; the welding gun is free of welding errors caused by multiple joints, the welding gun arm has fewer joints and is close to the weld, the welding is easy to control, and the welding accuracy is greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the welding operation state of the present invention;

[0014] Figure 2 is a side view of the present invention;

[0015] Figure 3 A perspective view of the present invention;

[0016] Figure 4 A top view of the present invention;

[0017] Figure 5 A perspective view of the sub-vehicle of the present invention;

[0018] Figure 6 A partial diagram of the sub-vehicle of the present invention;

[0019] Figure 7 A diagram of a magnetic adsorption track assembly of a sub-vehicle of the present invention;

[0020] Figure 8 It is a schematic diagram of the clamping claw arm of the present invention;

[0021] Fig. 9 It is a partial cutaway schematic diagram of the wire winding drum of the present invention.

[0022] In the figure: 1, mother vehicle; 11, base; 12, lifting arm; 12a, first joint; 12b, first section; 12c, second joint; 12d, second section; 13, winding drum; 13a, connecting wire harness winding area; 13b, standby winding area; 131, winding drum rack; 132, winding drum drive motor; 133, square shaft; 134, welding wire drum; 135, welding wire feeding first wheel group; 136, first wheel group drive motor; 14, power box; 15, control box; 16, computer; 17, clamping claw arm; 18, clamping claw; 19, visual sensor; 2, sub-vehicle; 20, frame; 21, welding gun; 22, laser sensor; 221, welding visual sensor; 23, welding wire feeding second wheel group; 24, second Wheel drive motor; 25, height adjustment motor; 25a, height adjustment plate; 26, lateral adjustment motor; 26a, left and right swing joint plate; 27, screw rotation motor; 28, screw; 28a, slide bar; 29, slide plate; 200, ultrasonic sensor transmitting end; 200a, ultrasonic sensor receiving end; 201, track steering motor; 202, track wheel support frame; 203, track drive motor; 204, magnetic adsorption track; 205, driving wheel; 206, driven wheel; 207, magnetic adsorption unit; 20a, magnetization contact piece; 20b, variable magnetization long contact piece; 20c, demagnetization contact piece; 20d, contact bulge; 3, wiring harness; 31, power and signal combination line; 32, welding wire tube; 33, welding wire. DETAILED DESCRIPTION

[0023] The following is a clear and complete description of the parent-child welding robot provided by the present invention in conjunction with the accompanying drawings and specific embodiments. The described embodiments are only preferred embodiments of the present invention, rather than all embodiments.

[0024] In the description of the present invention, it should be noted that the terms "upper", "upper", "lower", "lower", "first", "second", "left", "right", etc. have directions, sizes or positional relationships based on the directions, sizes or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or structure must have a specific direction, size or positional relationship, and therefore cannot be understood as a limitation on the present invention.

[0025] Reference Figure 1-4 , the mother-child welding robot includes a mother car 1, a child car 2 and a wiring harness 3 connecting the mother car and the child car; the mother car 1 is integrated with a lifting arm 12 for grabbing and releasing the child car 2, a base 11, a wire drum rack 131, a power box 14, a control box 15, and a computer 16; before welding, the computer 16 inputs the drawings to be welded, analyzes and plans the path, determines the welding start and end points, and saves them for future use. The mother car 1 moves according to the movement of the child car 2 on the large workpiece, and the power box 14 mainly provides power to the motors of the child car 2 for welding, the mother car 1 for movement, and the child car 2 and mother car 1. The signals of the sensors of the child car 2 and the mother car 1 and the computer command signals are sent to the control box 15, and the control box 15 outputs the processed execution signals to the components related to the child car 2 and the mother car 1 to execute the commands;

[0026] Reference Figure 1-4 and Figure 8 The lifting arm 12 is composed of a first joint 12a, a first section 12b, a second joint 12c, a second section 12d, a clamp arm 17 and a visual sensor 19 integrated on the clamp arm 17, a clamp 18 and an ultrasonic sensor receiving end 200a integrated in the middle of the clamp;

[0027] Reference Figure 1-8After the mother-and-child welding robot arrives at the large welding workpiece site, the lifting arm 12 is raised with an empty arm to scan the large welding workpiece, and the real-life welding route is identified. After comparing the drawing path in the computer 16 and confirming the consistency, the computer 16 locates the welding starting point and the ending point again, and the lifting arm 16 returns to the original state to grab the sub-carriage 2 and lift it to the large welding workpiece. The magnetic adsorption crawler 204 of the sub-carriage 2 is magnetically attracted on the surface of the large welding workpiece, and the clamp 18 releases the sub-carriage 2. According to the instruction, the sub-carriage 2 is magnetically attracted to the starting point of the weld, and the welding gun head is adjusted to the welding point to start welding; during the welding process, the lifting arm 12 performs real-time positioning, tracking, and monitoring of the walking direction of the sub-carriage 2 according to the information of the visual sensor 19 and the ultrasonic sensor receiving end 200a, and continuously communicates with the weld path. The paths are compared and a command is issued to the sub-carriage 2 through the control box 15 to change the route until the sub-carriage 2 completes the welding task; after the sub-carriage 2 completes the welding operation, the control box 15 instructs the sub-carriage 2 to move to the nearest position of the lifting arm 12 by magnetic adsorption on the large workpiece, and according to the ultrasonic guidance of the ultrasonic sensor transmitting end 200 on the sub-carriage 2, the clamping claw arm 17 tends to the position of the sub-carriage 2, the ultrasonic sensor transmitting end 200 and the ultrasonic sensor receiving end 200a overlap, the clamping claw 18 grabs the sub-carriage 2, and some magnetic adsorption units 207 that are in contact with the variable magnetic long contact piece 20b are instantly energized and lose magnetism, and the sub-carriage 2 is clamped by the lifting arm 12 to leave the surface of the large welding workpiece, and according to the set default position, the lifting arm 12 puts the sub-carriage 2 into the sub-carriage parking space on the mother car 1.

[0028] Reference Figure 1-4 and Fig. 9 During the implementation, the winding drum drive motor 132 fixed on the wire drum frame 131 drives the square shaft 133 to operate, and the square shaft 133 drives the coaxially movable winding drum and welding wire drum to rotate, and the first wheel group drive motor 136 installed on the inner ring of the winding drum 131 drives the first wheel group 135 of welding wire feeding to rotate and feed the welding wire 33, and the winding drum 13 retracts and releases the connecting wire bundle 3 according to the speed at which the lifting arm 12 lifts the sub-trolley 2 and the sub-trolley 2 magnetically absorbs and walks on the large workpiece, and the connecting wire bundle winding area 13a of the outer ring of the winding drum 13 releases the connecting wire bundle 3, and the ready-winding winding area 13b winds the power and signal combination line 31; in the process of the sub-trolley 2 being retracted to the mother car 1, the connecting wire bundle winding area 13a of the outer ring of the winding drum 13 retracts the connecting wire bundle 3, and the ready-winding winding area 13b releases the power and signal combination line 31 and stacks it on the mother car 1;

[0029] Reference Figure 5-7The ultrasonic sensor transmitting end 200 and the welding visual sensor 221 are installed on the frame 20 of the sub-carriage 2. The screw 28 and the slide bar 28a in the frame 20 are driven by the screw rotation motor 27 to move the slider plate 29 back and forth, so that the welding gun 21 also moves back and forth; the front end of the slider plate 29 is fixed with a lateral adjustment motor 26, and the lateral adjustment motor 26 makes the left and right swing joint piece 26a swing laterally, so that the connected welding gun 21 is adjusted laterally, and the height adjustment motor 25 drives the height adjustment piece 25a, and the height adjustment piece 25a drives the welding gun 21 to adjust the height, and the welding visual sensor 221 is ... The sensor 221 is responsible for scanning the weld, and its information is compared with the information of the visual sensor 19 in real time to adjust the travel route of the sub-vehicle 2. The laser sensor 22 monitors the welding gun 21 and the weld, and its scanning information is processed by the control box 15 to drive the screw rotation motor 27, the height adjustment motor 25, and the lateral adjustment motor 26 to adjust the front, back, high, low, left, and right positions of the welding gun 21 relative to the weld; the second wire conveying wheel group 23 relays the welding wire 33 transported over a long distance by the first wire conveying wheel group 135 to supply the welding gun 21 to achieve the purpose of full-load welding.

[0030] Reference Figure 2 , Figure 3 , Figure 5 , Figure 7A crawler steering motor 201 is fixed at the lower part of the frame 20, and the crawler steering motor 201 is connected to the crawler wheel support frame 202. A driven wheel 206 and a driving wheel 205 are installed on the crawler wheel support frame 202. The driving wheel 205 is connected to the crawler drive motor 203 fixed on the crawler wheel support frame 202. A magnetic adsorption crawler 204 is installed outside the driven wheel 206 and the driving wheel 205. The magnetic adsorption crawler 204 has a magnetic adsorption unit 207. The magnetic adsorption unit 207 A contact protrusion 20d is provided at one end of the contact protrusion 20d, and a magnetizing contact piece 20a, a magnetizing long contact piece 20b and a demagnetizing contact piece 20c that can contact the contact protrusion 20d are provided on one side of the contact protrusion 20d. The magnetizing contact piece 20a, the magnetizing long contact piece 20b and the demagnetizing contact piece 20c are respectively fixed on the track wheel support frame 202 and connected to the control circuit; the track steering motor 201 adjusts the direction of the sub-vehicle 2, and the magnetic adsorption unit 207 has the function of instantaneous magnetization after power-on and demagnetization after power-on again. The crawler drive motor 203 drives the driving wheel 205 to rotate, and the driving wheel 205 drives the magnetic adsorption crawler 204 to operate. The contact protrusion 20d on the magnetic adsorption unit 207 first contacts with the magnetizing contact piece 20a and is instantly energized, and magnetization is instantly generated. The bottom surface of the magnetic adsorption unit 207 contacts with the surface of the large welding workpiece and is magnetically adsorbed on the surface of the large welding workpiece. Then, the contact protrusion 20d on the running magnetic adsorption unit 207 contacts with the variable magnetic long contact piece 20b and slides over the variable magnetic long contact piece. After the sheet 20b contacts with the demagnetization contact sheet 20c, the demagnetization contact sheet 20c instantaneously energizes and demagnetizes the magnetic adsorption unit 207 through the contact protrusion 20d, and the bottom surface of the magnetic adsorption unit 207 leaves the surface of the large welding workpiece; when the sub-trolley 2 leaves the surface of the large welding workpiece, the clamp 18 clamps the sub-trolley 2, and some magnetic adsorption units 207 that are in contact with the variable magnetic long contact sheet 20b are instantly energized and lose their magnetism, and the sub-trolley 2 is clamped by the lifting arm 12 and leaves the surface of the large welding workpiece.

[0031] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the subject matter and scope of the technical solutions of the embodiments of the present invention.

Claims

1. The mother-child welding robot is characterized by: The invention comprises a mother vehicle (1), a sub-vehicle (2) and a wiring harness (3) connecting the mother vehicle (1) and the sub-vehicle (2); the mother vehicle (1) is integrated with a lifting arm (12) for grasping and releasing the sub-vehicle (2), a base (11), a wire drum rack (131), a power supply box (14), a control box (15), and a computer (16); wherein the lifting arm (12) is composed of a first joint (12a), a first section (12b), a second joint (12c), a second section (12d), a gripper arm (17), and a visual sensor (19) integrated on the gripper arm (17), a gripper (18), and The clamping jaw (18) is composed of an ultrasonic sensor receiving end (200a) integrated in the middle, a wire winding drum drive motor (132) is fixed on the wire winding drum frame (131), a square shaft (133) is led out of the wire winding drum drive motor (132), a wire winding drum (13) and a welding wire drum (134) are coaxially movably mounted on the square shaft (133), a welding wire conveying first wheel group (135) and a first wheel group drive motor (136) are mounted on the inner ring of the wire winding drum (13), and the outer ring of the wire winding drum (13) is divided into two areas: a connecting wire bundle winding area (13a) and a standby winding wire winding area (13b);The sub-carriage (2) is based on a vehicle frame (20). An ultrasonic sensor transmitting end (200) and a welding visual sensor (221) are installed on the vehicle frame (20). A screw rod (28) and a slide bar (28a) are arranged in the vehicle frame (20). A screw rod rotating motor (27) is arranged at the rear of the screw rod (28). A slide bar plate (29) is arranged on the screw rod (28) and the slide bar (28a). A lateral adjustment motor (26) is fixed at the front end of the slide bar plate (29). A left-right swing joint plate (26a) is connected above the lateral adjustment motor (26). A height adjustment motor (25) for raising or lowering a welding gun head and a height adjustment plate (25a) driven by the height adjustment motor (25) are fixed on the left-right swing joint plate (26a). A welding wire feeding device (25a) is fixed on the height adjustment plate (25a). A second wheel group (23) for conveying welding wire, a driving motor (24) for the second wheel group (23) for conveying welding wire, a welding gun (21) and a laser sensor (22) integrated on the welding gun (21); a track steering motor (201) is fixed to the lower part of the vehicle frame (20); the track steering motor (201) is connected to a track wheel support frame (202); a driven wheel (206) and a driving wheel (205) are installed on the track wheel support frame (202); the driving wheel (205) is connected to a track driving motor (203) fixed to the track wheel support frame (202); a magnetic adsorption track (204) is installed outside the driven wheel (206) and the driving wheel (205); a magnetic adsorption unit (207) is provided on the magnetic adsorption track (204); a contact protrusion (20d) is provided at one end of the magnetic adsorption unit (207); A magnetizing contact piece (20a), a magnetizing long contact piece (20b) and a demagnetizing contact piece (20c) that can contact the contact piece (20d) are arranged on one side of the contact protrusion (20d); the magnetizing contact piece (20a), the magnetizing long contact piece (20b) and the demagnetizing contact piece (20c) are respectively fixed on the track wheel support frame (202) and connected to the control circuit; the wiring harness (3) comprises a power and signal combination line (31) and a welding wire tube (32); one end of the power and signal combination line (31) is connected to the sub-carriage (2); the other end is connected to the wiring harness of the outer ring of the winding drum (13) of the mother car (1) The bundle winding area (13a) passes through the standby winding area (13b) and is then connected to the power box (14) and the control box (15) respectively. The welding wire (33) is inserted into the welding wire tube (32). One end of the welding wire tube (32) is connected to the height adjustment plate (25a) at the rear of the welding gun (21) on the sub-carriage (2), and the other end is fixed to the front end of the welding wire conveying first wheel group (135) on the inner circle of the winding drum (13) of the mother car (1). The welding wire (33) is conveyed by the welding wire conveying first wheel group (135) to the welding wire conveying second wheel group (23) and then relayed to the welding gun (21) for use. ; 2. The parent-child welding robot according to claim 1, characterized in that: The non-operation initial state of the mother-child welding robot is that the clamping claw (18) of the lifting arm (12) clamps the child vehicle (2) and stops on the mother vehicle (1).

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