Flexible welding robot based on continuum structure

Abstract

The invention belongs to the technical field of welding robots, and discloses a flexible welding robot based on a continuum structure, comprising: a welding assembly including a nozzle, an insulating sleeve, a gun neck, a gun body, a flange plate, a contact tube, and a shunt ring; the flexible welding robot based on the continuum structure aims at overcoming the defects of a traditional welding robot and combining the advantages of the continuum structure, and the problems that an existing welding robot is low in welding freedom degree, poor in environmental adaptability and difficult to meet complex working condition welding and complex track welding are solved. A driving device of the continuum structure is arranged at the rear, the size and the mass of an execution part can be reduced, and operation can be carried out in a narrow space or an environment with scattered objects. The structure of the multi-section joint theoretically has infinite degree of freedom, various complex movement requirements are met, and a welding gun is driven to complete welding of complex tracks such as a steel pipe intersecting line and a shell curved surface intersecting line.

Description

Technical Field

[0001] The invention belongs to the technical field of welding robots, and in particular relates to a flexible welding robot based on a continuum structure. Background Art

[0002] Welding robots are an important branch of the industrial robot field. In recent years, the welding production field has urgently needed breakthroughs in welding robot technology to meet the intelligent welding needs of small batches, multiple varieties, customization, and complex products. At the same time, higher requirements are also placed on the adaptability of welding robots to changing environments. Traditional welding robots are usually six-axis rigid robots composed of rigid connecting rod structures, with low welding freedom and poor environmental adaptability, making it difficult to perform complex trajectory welding under complex working conditions.

[0003] A robot based on a continuum structure is also called a continuum robot and includes a bendable portion provided with a plurality of bending segments having a flexible structure. The shape of the continuum robot is controlled by the deformation of the bending segments. Compared with a rigid link robot including a rigid link, the main advantage of a continuum robot is that it can move along a curve in a narrow space where a rigid link robot is stuck or in an environment with scattered objects. With this feature, a continuum robot is expected to be applied to complex trajectory welding in complex environments. Based on this, we propose a flexible welding robot based on a continuum structure.

[0004] Through the above analysis, the problems and defects of the prior art are as follows:

[0005] Existing welding robots have low welding freedom and poor environmental adaptability, and are unable to meet the problems of welding under complex working conditions and complex trajectories. Summary of the invention

[0006] In view of the problems existing in the prior art, the present invention provides a flexible welding robot based on a continuum structure.

[0007] The present invention is implemented in that a flexible welding robot based on a continuum structure comprises:

[0008] A welding assembly, wherein the welding assembly comprises a nozzle, an insulating sleeve, a gun neck, a gun body, a flange, a conductive nozzle, and a shunt ring; a robot body connected to the welding assembly, the robot body being used to carry the welding assembly;

[0009] The robot body comprises a front base plate, a plurality of supporting base plates, two spacer plates, an end base plate, a plurality of traction ropes, a plurality of limit springs, and a central hose; a driving component connected to the robot body, and the robot body is used to carry the welding component;

[0010] The driving assembly consists of a connecting plate, a screw transmission mechanism, a traction slider, a coupling, a servo motor, a power supply, and a terminal controller.

[0011] Furthermore, the front base plate, the supporting base plate, the spacer plate, the terminal base plate and the connecting plate all have a central through hole, and nine through holes are evenly distributed at equal intervals on the edge of the disk.

[0012] Furthermore, the robot body has three branch segments, and each branch segment is connected end to end through a spacer disk, and from the welding assembly to the driving mechanism, they are the first branch segment, the second branch segment, and the third branch segment in sequence; the first branch segment is composed of the front end base plate and four supporting base plates; the second branch segment is composed of the spacer disk and four supporting base plates; the third branch segment is composed of the spacer disk, four supporting base plates, and the end base plate.

[0013] Furthermore, the connecting plate is fixedly connected to the terminal base plate.

[0014] Furthermore, the plurality of traction ropes: nine traction ropes can pass through the wire holes and penetrate the three branch segments, and are all connected to the traction slider in the driving assembly through the end base and the connecting plate. Three evenly distributed traction ropes form a group, which are used to drive the bending movement of the three branch segments, respectively, and are the first traction rope group, the second traction rope group, and the third traction rope group.

[0015] Furthermore, the first traction rope group passes through the support base of the first branch segment, and the other end is fixedly connected to the front end base; the second traction rope group passes through the support base of the second branch segment, and the other end is fixedly connected to the spacer disk of the second branch segment; the third traction rope group passes through the support base of the third branch segment, and the other end is fixedly connected to the spacer disk of the third branch segment.

[0016] Furthermore, the central hose passes through the front base, several supporting bases, two spacer plates, the terminal base, and the central through hole of the connecting plate, and finally reaches the power supply and terminal controller. The inside of the hose can pass through the welding component power cord, protective gas air duct, etc.; the power supply and terminal controller are located at the end of the driving mechanism; each base and spacer plate are connected by a spring, and the springs are nested on the central hose.

[0017] Furthermore, one end of the lead screw of the lead screw transmission mechanism is fixed on the connecting plate, and the other end is connected to the servo motor through the coupling, and the lead screw transmission mechanism is supported by a circular slide rail.

[0018] Furthermore, the traction slider has a circular hole and a threaded hole, which pass through the circular slide rail and the lead screw respectively; the traction rope is connected to the traction slider; and the servo motor is connected to the terminal controller.

[0019] In combination with the above technical solutions and the technical problems solved, the advantages and positive effects of the technical solutions to be protected by the present invention are as follows:

[0020] First, the purpose of the present invention is to address the shortcomings of traditional welding robots and combine the advantages of continuum structures to provide a flexible welding robot based on a continuum structure to solve the problems of existing welding robots with low welding freedom, poor environmental adaptability, and difficulty in meeting the requirements of complex working conditions and complex trajectory welding. The drive device of the continuum configuration itself is rear-placed, and the execution part can reduce the volume and mass, so it can operate in a narrow space or in an environment with scattered objects. The multi-segment joint structure theoretically has unlimited degrees of freedom, which can meet a variety of complex movement requirements and drive the welding gun to complete complex trajectory welding such as the intersection line of steel pipes and the intersection line of shell surfaces.

[0021] The present invention provides a flexible welding robot based on a continuum structure, wherein the bendable portion of the structure is provided with a plurality of bending segments having a flexible structure. The moving path of the welding gun is controlled by the deformation of the bending segments, so that welding operations can be performed in narrow spaces or in environments with scattered objects. With this feature, the flexible welding robot based on the continuum structure can be applied to complex trajectory welding in complex environments, and has stronger adaptability to working conditions.

[0022] Second, as auxiliary evidence of the inventiveness of the claims of the present invention, it is also reflected in the following important aspects:

[0023] (1) The expected benefits and commercial value of the technical solution of the present invention after transformation are:

[0024] At present, in actual production, the welding of most complex workpieces is still done by manual welding by welders. The present invention can complete the welding of some complex workpieces, replace manual operation to a certain extent, improve production efficiency and yield rate, and reduce labor costs.

[0025] The present invention can replace the six-axis rigid welding robot on the domestic automated welding production line. By utilizing its multi-degree-of-freedom characteristics, it can complete the welding of multiple load workpieces and complex trajectories. A single robot can complete welding operations at multiple workstations, greatly improving the automation level and work efficiency of the welding production line and reducing production costs.

[0026] (2) The technical solution of the present invention fills the technical gap in the industry at home and abroad:

[0027] At present, the rigid six-axis robots commonly used in domestic welding robots have high requirements on the working environment, and the workpiece needs to be clamped, which further limits its adaptability. The present invention provides a new solution for welding robot equipment. The continuum robot can also install actuators at the end like traditional articulated robots, such as arc welding guns, etc., and can use its multi-degree-of-freedom continuous joints to complete complex operating tasks that are difficult or impossible for traditional robots to complete in unstructured environments with small working spaces and numerous obstacles. It can more easily adapt to different welding tasks and workpiece shapes, filling the technical gap in the welding field at home and abroad. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural diagram of a flexible welding robot based on a continuum structure provided in an embodiment of the present invention.

[0029] Figure 2 It is a partial structural schematic diagram of a welding assembly provided in an embodiment of the present invention.

[0030] Figure 3 It is a partial structural cross-sectional view of a welding assembly provided in an embodiment of the present invention.

[0031] Figure 4 It is a schematic diagram of the structure of the robot body provided by an embodiment of the present invention.

[0032] Figure 5 It is a plan view of the first branch section of the robot body provided by an embodiment of the present invention.

[0033] Figure 6 It is a schematic diagram of the local structure of the connecting portion between the first branch segment and the second branch segment of the robot body provided by an embodiment of the present invention.

[0034] Figure 7 It is a plan view of the second branch section of the robot body provided by an embodiment of the present invention.

[0035] Figure 8 It is a schematic diagram of the local structure of the connecting portion between the second branch segment and the third branch segment of the robot body provided by an embodiment of the present invention.

[0036] Fig. 9 It is a plan view of the third branch section of the robot body provided by an embodiment of the present invention.

[0037] Fig.10 It is a schematic diagram of the terminal base structure of the robot body part provided by an embodiment of the present invention.

[0038] Fig.11 It is a partial schematic diagram of the connection part between the robot body and the drive assembly provided by an embodiment of the present invention.

[0039] Fig.12 It is a schematic diagram of the front structure of the driving assembly provided by an embodiment of the present invention.

[0040] Fig.13 It is a schematic diagram of the reverse structure of the driving part provided by an embodiment of the present invention.

[0041] Fig.14 It is a schematic diagram of the structure of a driving unit provided in an embodiment of the present invention.

[0042] Fig.15 It is a schematic diagram of the axial distribution of the central through holes and the wire through holes of each base provided in an embodiment of the present invention.

[0043] Fig.16 It is a schematic diagram of the axial distribution of the traction ropes of each traction rope group provided in an embodiment of the present invention.

[0044] Fig.17 This is a three-dimensional view of a circular trajectory provided by an embodiment of the present invention.

[0045] Fig.18 It is a two-dimensional view of a circular trajectory provided by an embodiment of the present invention.

[0046] Fig.19 It is a three-dimensional view of a straight line trajectory provided by an embodiment of the present invention.

[0047] Fig. 20 It is a two-dimensional view of a straight line trajectory provided by an embodiment of the present invention.

[0048] In the figure: 1, welding assembly; 2, robot body; 3, driving assembly; 4, nozzle; 5, insulating sleeve; 6, gun neck; 7, gun body; 8, flange; 9, conductive nozzle; 10, diverter ring; 11, conductive nozzle seat; 12, front end base; 13, center hose; 14, first branch section; 15, second branch section; 16, third branch section; 17, spring; 18, first traction rope group; 19, supporting base; 20, spacer disk I; 21, second traction rope group; 22, spacer disk II; 23, third traction rope group; 24, end base; 25, driving end disk; 26, wire plate; 27, driving unit; 28, fixing component; 29, terminal controller; 30, driving motor; 31, coupling; 32, slide rod; 33, lead screw; 34, slider; 35, traction rope; 36, bolt; 37, wire hole; 38, center through hole. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0050] like Figure 1 , Figure 2 , Figure 4 , Fig.12 As shown, the flexible welding robot based on the continuum structure provided by the embodiment of the present invention includes three parts: a welding component 1, a robot body 2, and a driving component 3. The body part of the flexible welding robot based on the continuum structure of the present invention is composed of continuum basic units, and the movement and drive of each continuum basic unit and each unit segment are independent of each other, which reduces the control difficulty of the entire continuum robot, facilitates more accurate control of the continuum robot, and enables the continuum robot to have higher positioning and tracking accuracy. Each branch segment has bending freedom in three directions, has stronger deformation ability, can complete more complex welding paths, and adapt to more complex welding conditions. The welding wire enters from the terminal controller 29 in the driving component 4, passes through the robot body 2, and extends from the conductive nozzle 9 of the welding component 1, and the welding wire is heated by the arc to complete the welding operation.

[0051] like Figure 2 , Figure 3 As shown, the welding assembly 1 includes a nozzle 4, an insulating sleeve 5, a gun neck 6, a gun body 7, a flange 8, a conductive nozzle 9, a diverter ring 10, and a conductive nozzle seat 11. Among them, the flange 8 is used to connect with the robot body 2; the gun body 7, the gun neck 6, and the conductive nozzle seat 11 are connected in sequence, the gun neck 6 provides a certain degree of curvature to improve the accessibility of the welding gun, and the conductive nozzle 9 is threadedly connected with the conductive nozzle seat 11; the insulating sleeve 5 and the diverter ring 10 are nested outside the conductive nozzle seat 11, wherein the diverter ring 10 is used for welding shielding gas diversion; the nozzle 4 is threadedly connected with the diverter ring 10. All components of the welding assembly 1 are detachable. During execution, the welding wire passes through the gun body 7, the gun neck 6, the conductive nozzle seat 11, and the conductive nozzle 9 in sequence. The conductive nozzle 9 is used to heat and melt the welding wire by electricity, and the nozzle 4 and the insulating sleeve 5 play a role of safety protection on the outside.

[0052] like Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 As shown, the robot body 2 includes a central hose 13, a first branch section 14, a second branch section 15 and a third branch section 16, wherein the central hose 13 runs through the entire robot body 2, and the hose has wires and air ducts passing through it, and at the same time plays a certain supporting role. The branch sections include a front base plate 12, a terminal base plate 24, spacer plates I 20, spacer plates II 22, a number of support base plates 19, a traction rope group and a spring 17. The springs 17 are all nested on the central hose 13, and the two sections are fixedly connected to the front base plate 12, the support base plate 19, the spacer plates I 20, the spacer plates II 22, and the terminal base plate 24. As shown Fig.15As shown, the front base plate 12, the support base plate 19, the spacer plate I 20, the spacer plate II 22, and the terminal base plate 24 all have 9 wire holes of the same size and 1 central through hole. The central through hole is located at the geometric center of the disk, and the distance between each wire hole and the center of the central through hole is equal. Specifically, the angle between the center of each adjacent wire hole and the center of the disk is 40°. The wire holes are used to pass the traction rope 35, and the central through hole can pass the central hose 13. Fig.16 As shown, each traction rope group is composed of three traction ropes 35, which are respectively used to drive different branch segments, and the line connecting the center of the axial section of adjacent traction ropes and the center of the interface forms an angle of 120 degrees.

[0053] Among them, Figure 4 , Figure 5 As shown, the first branch segment 14 is composed of a front base plate 12, a spring 17, a first traction rope group 18, a plurality of support base plates 19, and a spacer plate 1 20. The front base plate 12 is connected to the flange plate 8 of the welding assembly 1. The front end of the first traction rope group 18 passes through the wire hole of the front base plate 12 and is fixed on the front base plate 12, and the end passes through the end base plate 24 and is fixedly connected to the slider 34. The first traction rope group 18 will pass through the second branch segment 15 and the third branch segment 16, but the traction rope 35 of the first traction rope group 18 is not fixedly connected to the second branch segment 15 and the third branch segment 16.

[0054] like Figure 4 , Figure 6 , Figure 7 As shown, the second branch segment 15 is composed of a spacer disk I 20, a spring 17, a second traction rope group 21, a plurality of supporting base plates 19, and a spacer disk II 22. The front end of the second traction rope group 21 passes through the wire hole of the spacer disk I 20 and is fixed on the spacer disk I 20, and the end passes through the end base plate 24 and is fixedly connected to the slider 34. The second traction rope group 21 will pass through the third branch segment 16, but the traction rope 35 of the second traction rope group 21 is not fixedly connected to the third branch segment 16. The second branch segment 15 is connected to the first branch segment 14 through the spacer disk I 20.

[0055] like Figure 4 , Figure 8 , Fig. 9 As shown, the third branch segment 16 is composed of a spacer disk II 22, a spring 17, a third traction rope group 23, a plurality of support bases 19, and an end base 24. The front end of the second traction rope group 21 passes through the wire hole of the spacer disk I 20 and is fixed on the spacer disk I 20, and the end passes through the end base 24 and is fixedly connected to the slider 34. The second traction rope group 21 will pass through the third branch segment 16, but the traction rope 35 of the second traction rope group 21 is not fixedly connected to the third branch segment 16. The third branch segment 16 is connected to the second branch segment 15 through the spacer disk II 20.

[0056] like Fig.11 , Fig.12 , Fig.13 , Fig.14 As shown, the end base plate 24 of the third branch segment 16 is connected to the wire plate 26 of the driving part 3 by bolts to achieve the connection between the robot body 2 and the driving part 3. The driving part 3 is composed of a driving end plate 25, a wire plate 26, 9 driving units 27 and a terminal controller 29. Fig.14 As shown, the drive unit 27 is composed of a drive motor 30, a coupling 31, a slide bar 32, a lead screw 33, and a slider 34. The drive end plate 25 is fixedly connected to the wire plate 26, and the traction rope 35 can pass through the wire hole of the wire plate 26 and be connected to the slider 34 of the drive unit 27. The traction rope 35 is driven by the drive unit 27 to drive the robot to perform bending movement. The motor 30 is connected to the lead screw 33 through the coupling 31, and the two ends of the slide bar 32 are respectively connected to the drive end plate 25 and the bracket 39 to play a supporting role. The slider 34 is installed on the slide bar 32 but not fixedly connected to it. The terminal controller 29 is connected to the 9 drive motors 30 to control the movement of the motors.

[0057] During execution, the terminal controller 29 transmits a signal to the drive motor 30, driving the lead screw 33 to rotate and drive the slider 34 to move in a straight line, while dragging the traction rope 35. The travel difference between different traction ropes 35 in the same traction rope group forms a bending movement of the corresponding branch segment, completing different welding trajectories and realizing complex trajectory welding in a complex environment. The central hose 13 is built with a welding wire conduit, an air duct and a wire. The welding wire conduit is used to transport the welding wire, and the air duct is used to transport the shielding gas. The welding wire feeder and the shielding gas supply device are outside the robot. The flexible welding robot can be adapted to the existing welding wire feeders and shielding gas supply devices on the market. The number of robot branch segments and the number of traction ropes for each branch segment can be multiple, and the structure described in the present invention is only one of the solutions.

[0058] The flexible welding robot body 2 is composed of a plurality of continuum basic units, including a first branch segment 14, a second branch segment 15 and a third branch segment 16. Each branch segment realizes independent movement through the first traction rope group 18, the second traction rope group 21 and the third traction rope group 23. The driving motor 30 in the driving part 3 drives the lead screw 33 to rotate, and controls the traction rope 35 to move linearly along the slide bar 32 through the slider 34. Through the travel difference of the same group of traction ropes, the branch segment can realize three-degree-of-freedom bending movement such as Figure 4-Figure 8 As shown, the requirements of complex trajectory welding can be met.

[0059] The terminal controller 29 sends a signal to the drive motor 30 to accurately control the movement of the traction rope 35. Each traction rope corresponds to a drive unit 27. The traction rope 35 is connected to the base plates 12 and 24 of the branch segments through the wire plate 26. Each branch segment can achieve accurate positioning by adjusting the travel of the traction rope. Figure 11-Figure 12 This independent drive design reduces the difficulty of system control and improves the welding robot's adaptability to complex paths and welding accuracy.

[0060] The welding assembly 1 is composed of a nozzle 4, an insulating sleeve 5, a gun neck 6, a gun body 7, a flange 8, a conductive nozzle 9, a diverter ring 10, and a conductive nozzle seat 11. Figure 2-Figure 3 As shown. The welding wire is fed from the terminal controller 29 in the driving assembly 3, and extends through the conductive nozzle 9 via the central hose 13 for welding. The conductive nozzle 9 is used to heat the welding wire by electricity, the nozzle 4 provides a protective gas flow to avoid oxidation reaction during welding, and the insulating sleeve 5 protects the safety of external operation. The assembly is designed as a detachable structure for easy maintenance and replacement.

[0061] The central hose 13 runs through the robot body 2 and transmits welding wire, shielding gas and electrical signals. Figure 4 As shown. The hose is provided with a welding wire conduit, an air guide tube and a wire, which realize welding wire conveying, shielding gas conveying and signal transmission respectively. In addition, the central hose 13 provides a mechanical support function, so that the robot can maintain stability under complex motion conditions and seamlessly adapt to the external welding wire feeder and shielding gas supply device.

[0062] The robot body 2 is modularly assembled from base plates 12, 24, a supporting base plate 19, a spacer plate I20, a spacer plate II22 and a spring 17. Figure 5-Figure 8 Each base plate is provided with a through hole and a center hole, allowing the traction rope 35 and the center hose 13 to pass through. The modular design allows the user to adjust the number of branch sections and the number of traction ropes according to actual needs to adapt to different welding tasks, while facilitating the disassembly, assembly and transportation of the equipment.

[0063] During the welding process, the terminal controller 29 transmits a control signal according to the set trajectory, and each drive unit 27 adjusts the bending angle and direction of the branch segment through the traction rope group 35 to achieve welding of complex paths (such as Fig.14 As shown in Figure 1, the robot is suitable for welding tasks with complex shapes, such as narrow spaces or irregular workpiece surfaces. Through modular structure and high-precision control methods, the robot has the characteristics of high efficiency and high adaptability, and has broad application prospects in the field of industrial welding.

[0064] 1. Specific application fields or related products of the present invention.

[0065] At present, in actual production, most of the welding of complex workpieces is still done by manual welding by welders. The present invention can complete the welding of some complex workpieces and replace manual operation to a certain extent.

[0066] The present invention can replace the six-axis rigid welding robot on the domestic automated welding production line. By utilizing its multi-degree-of-freedom characteristics, it can complete the welding of multiple load workpieces and complex trajectories, and can enable a single robot to complete welding operations at multiple stations.

[0067] 2. Relevant evidence of the technical effects obtained by the embodiments of the present invention.

[0068] Typical welding path

[0069] (1) Circular trajectory

[0070] The geometric center position coordinates of the upper surface of the bottom chassis of the robot are set to (0,0,0), and the length of each continuum structure is 0.6m. At the same time, the center coordinates of the target trajectory circle are (0,0,0.2) and the radius is 0.36m. A total of 10 welding points are set for welding this section of the trajectory, and the 10 welding points are evenly distributed.

[0071] As shown in the figure, the simulation diagram of the circular welding trajectory of the continuum robot. Fig.17 A 3D view of a circular trajectory. Fig.18 This is a two-dimensional view of the welding circular trajectory. The green dot is the position of the end welding gun, and the curve is at different times.

[0072] Trajectory morphology of the middle continuum part of the robot.

[0073] It can be seen from the figure that the end welding gun can reach the set trajectory path, and the position of the end welding gun basically coincides with the target path, so the welding task can be completed smoothly.

[0074] (2) Straight line trajectory

[0075] Set the target welding trajectory as a line segment, and evenly select ten target welding points on the line segment. As shown in the figure, the robot arm posture at each moment of the straight line trajectory. Fig.19 A three-dimensional view of the straight line trajectory. Fig. 20 A two-dimensional view of the welding straight line trajectory. The blue dot is the position of the end welding gun, and the curve is the trajectory shape of the middle continuum part of the robot at different times.

[0076] Similarly, the end welding gun can reach the specified trajectory path, and the end welding gun position basically coincides with the target path, so the welding task can be completed smoothly.

[0077] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by any technician familiar with the technical field within the technical scope disclosed by the present invention and within the spirit and principle of the present invention should be covered by the protection scope of the present invention.

Claims

1. A flexible welding robot based on a continuum structure, characterized in that: include: A welding assembly, wherein the welding assembly comprises a nozzle, an insulating sleeve, a gun neck, a gun body, a flange, a conductive nozzle, and a shunt ring; a robot body connected to the welding assembly, the robot body being used to carry the welding assembly; The robot body comprises a front base plate, a plurality of supporting base plates, two spacer plates, an end base plate, a plurality of traction ropes, a plurality of limit springs, and a central hose; a driving component connected to the robot body, and the robot body is used to carry the welding component; The driving assembly consists of a connecting plate, a screw transmission mechanism, a traction slider, a coupling, a servo motor, a power supply, and a terminal controller.

2. The flexible welding robot based on a continuum structure as claimed in claim 1, characterized in that: The front end base plate, the supporting base plate, the spacer plate, the terminal base plate and the connecting plate all have a central through hole, and nine through holes are evenly distributed at equal intervals on the edge of the disk.

3. The flexible welding robot based on a continuum structure as claimed in claim 1, characterized in that: The robot body has three branch segments, and each branch segment is connected end to end through a spacer disk. From the welding assembly to the driving mechanism, they are the first branch segment, the second branch segment, and the third branch segment in sequence; the first branch segment is composed of the front end base plate and four support base plates; the second branch segment is composed of the spacer disk and four support base plates; the third branch segment is composed of the spacer disk, four support base plates, and the end base plate.

4. The flexible welding robot based on a continuum structure as claimed in claim 1, characterized in that: The connecting plate is fixedly connected to the terminal base plate.

5. The flexible welding robot based on a continuum structure as claimed in claim 1, characterized in that: The plurality of traction ropes: nine traction ropes can pass through the wire holes and penetrate the three branch segments, and are all connected to the traction slider in the driving assembly through the end base and the connecting plate. Three evenly distributed traction ropes form a group, which are used to drive the bending movement of the three branch segments, respectively, and they are the first traction rope group, the second traction rope group, and the third traction rope group.

6. The flexible welding robot based on a continuum structure as claimed in claim 5, characterized in that: The first traction rope group passes through the support base of the first branch segment, and the other end is fixedly connected to the front end base; the second traction rope group passes through the support base of the second branch segment, and the other end is fixedly connected to the spacer disk of the second branch segment; the third traction rope group passes through the support base of the third branch segment, and the other end is fixedly connected to the spacer disk of the third branch segment.

7. The flexible welding robot based on a continuum structure as claimed in claim 1, characterized in that: The central hose passes through the front base, several supporting bases, two spacer plates, the terminal base, and the central through hole of the connecting plate, and finally reaches the power supply and the terminal controller. The inside of the hose can pass through the welding component power line, the protective gas air duct, etc.; the power supply and the terminal controller are located at the end of the driving mechanism; each base and the spacer plate are connected by a spring, and the springs are all nested on the central hose.

8. The flexible welding robot based on a continuum structure as claimed in claim 1, characterized in that: One end of the lead screw of the lead screw transmission mechanism is fixed on the connecting plate, and the other end is connected to the servo motor through the coupling. The lead screw transmission mechanism is supported by a circular slide rail.

9. The flexible welding robot based on a continuum structure as claimed in claim 1, characterized in that: The traction slider has a round hole and a threaded hole, which pass through the circular slide rail and the lead screw respectively; the traction rope is connected to the traction slider; and the servo motor is connected to the terminal controller.

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