An industrial welding robot

Abstract

The present invention discloses an industrial welding robot, which relates to the technical field of industrial welding; it includes: a central seat, a turntable is rotatably installed on the outside of the central seat; a robotic arm main body, the robotic arm main body is installed on the central seat, and a welding torch assembly is arranged at one end of the robotic arm main body; a mounting seat, the mounting seat is arranged on the turntable, and a plurality of mounting seats are arranged in a circumferential distribution; a carrier seat, a chute is provided on the mounting seat. By setting structures such as the carrier seat and the mounting seat, the present invention can place the curved pipe to be welded on the carrier seat, and position one side of the curved pipe to be welded through the positioning column. By screwing the adjusting screw, the arc center of the curved pipe to be welded coincides with the rotation center of the turntable. Based on the operation of the rotation driving part, the turntable is driven to rotate, so that the welding position of the curved pipe to be welded passes through the welding torch assembly of the robotic arm main body. Since the arc center of the curved pipe to be welded coincides with the rotation center of the turntable, the welding torch assembly remains in a working state, and the rotation of the turntable is utilized to achieve complete welding processing.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial welding, and particularly to an industrial welding robot. Background Art

[0002] With the continuous development of modern industrial production, the requirements for welding processes are also getting higher and higher. The traditional manual welding method can no longer meet the high-efficiency and precise production needs. Especially when welding some parts with complex shapes, such as arc-shaped parts like the curved pipe to be welded and the arc-shaped channel, manual welding is more difficult and inefficient.

[0003] Although the existing industrial welding robots have improved the welding efficiency and precision to a certain extent, there are still some deficiencies. For example, most of the existing welding robots can only be applied to welding parts with planar or linear shapes, and it is difficult to weld parts with arc-shaped or other complex shapes. In addition, when the existing welding robots weld arc-shaped parts such as the curved pipe to be welded, they often need to adjust the position of the clamping assembly multiple times to adapt to parts of different sizes, which not only increases the complexity of the operation but also reduces the production efficiency.

[0004] After retrieval, the application solution with the Chinese patent application number CN201721085097.6 discloses a welding manipulator, including a frame, on which an X-axis linear module, a Y-axis linear module and a Z-axis linear module are provided. The X-axis linear module includes an X-axis guide rail provided on the frame. The X-axis guide rail is connected to a transmission component and a driving component. A sliding block is provided at the end of the X-axis guide rail, and a welding machine is fixed on the sliding block. A fixed block is provided on the other side of the X-axis guide rail. A welding hose is connected to the welding machine. The end of the welding hose is provided with a welding head. The middle part of the welding hose is connected to the top of the fixed block through an upper fixing foot. A first movable hinge is provided at a position near the end of the welding hose, and a second movable hinge is provided at the bottom of the fixed block. The first movable hinge is movably connected to the second movable hinge. The welding manipulator in the above document has the following deficiencies: it cannot well handle the arc trajectory welding of arc-shaped parts with different radii. Summary of the Invention

[0005] The purpose of the present invention is to solve the deficiencies existing in the prior art, and to propose an industrial welding robot.

[0006] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0007] An industrial welding robot, comprising:

[0008] A central seat, on the outside of which a turntable is rotatably installed;

[0009] The main body of the robotic arm is installed on the central seat, and a welding torch assembly is provided at one end of the main body of the robotic arm;

[0010] The mounting seat is arranged on the turntable, and a plurality of mounting seats are arranged in a circumferential distribution;

[0011] The carrier seat is provided with a sliding groove on the mounting seat, the carrier seat is slidably connected in the sliding groove, the carrier seat is provided with positioning columns for positioning the curved pipe to be welded, and the mounting seat is provided with scale lines for determining the position of the carrier seat;

[0012] The adjusting screw is rotatably installed on the mounting seat, and the adjusting screw is threadedly connected to the inner wall of the carrier seat;

[0013] The clamping assembly is installed on the mounting seat;

[0014] The rotation driving part is installed on the central seat and is used to control the rotation of the turntable.

[0015] As a preferred embodiment of the present invention: the rotation driving part includes:

[0016] The rotation driving motor is installed on the outer wall of one side of the central seat;

[0017] The convex teeth are arranged on the circumferential outer wall of the turntable;

[0018] The rotation driving gear, the shaft of the rotation driving gear is in transmission connection with the output end of the rotation driving motor, and the rotation driving gear is meshed with the convex teeth.

[0019] As a preferred embodiment of the present invention: the clamping assembly includes:

[0020] The fixing frame is arranged on the outer wall of the top of the mounting seat;

[0021] The transverse positioning frame is fixed with a sliding sleeve at the bottom, the sliding sleeve is slidably connected to the outer wall of the fixing frame, and limiting wheels are fixed at both ends of the two transverse positioning frames, and an anti-slip rubber sleeve is arranged on the outside of the limiting wheels;

[0022] The locking part is installed on the fixing frame and is used to fix the transverse positioning frame.

[0023] As a preferred embodiment of the present invention: the locking part includes:

[0024] The column is slidably connected up and down to the inner wall of one end of the transverse positioning frame;

[0025] The pressing plate is slidably connected up and down to the outer wall of the top of the fixing frame; the pressing plate and the fixing frame are connected by a spring;

[0026] The anti-slip pads are respectively arranged on the outer wall of the top of the mounting seat and the bottom outer wall of the pressing plate, and the column is located between the two anti-slip pads.

[0027] As a preferred embodiment of the present invention: A plurality of vertical rods are fixed to the top of the pressing plate, a ball seat is arranged at the top of the vertical rod, and a rolling ball is movably installed in the ball seat; A limiting frame is fixed to the center seat through a bracket, the limiting frame is located outside the main body of the robotic arm, the limiting frame is in a C-shaped structure, and the center of the limiting frame is adapted to the rotation center of the turntable, and both ends of the limiting frame are bent upward.

[0028] As a preferred embodiment of the present invention: The clamping assembly further includes:

[0029] A mounting frame, the mounting frame is mounted on the mounting seat, and an upper limiting rod and a lower limiting rod are slidably connected up and down at the top of the mounting frame;

[0030] A transverse roller, the transverse roller is mounted at the ends of the upper limiting rod and the lower limiting rod, a spring is connected between the upper limiting rod and the mounting frame, and a fixing knob for fixing the lower limiting rod is connected by thread on one inner wall of the mounting frame.

[0031] As a preferred embodiment of the present invention: A plurality of positioning holes are arranged at the top of the mounting seat, the positioning holes are adapted to the bottom end of the mounting frame, and the mounting frame is detachably clamped in the positioning holes.

[0032] As a preferred embodiment of the present invention: A roller frame is detachably mounted on the outer side of the end of the main body of the robotic arm, rollers are rotatably mounted on the roller frame, and when the welding torch assembly of the main body of the robotic arm is at the welding position, the positions of the two rollers are respectively adapted to the positions of the two welding surfaces of the curved pipe to be welded.

[0033] As a preferred embodiment of the present invention: A ball head rod is fixed on the transverse positioning frame close to the center seat, and a positioning component cooperating with the ball head rod is arranged on one side of the center seat away from the main body of the robotic arm.

[0034] As a preferred embodiment of the present invention: The positioning component includes an electric telescopic cylinder, the electric telescopic cylinder is mounted on the center seat through a bracket, a limiting plate is fixed at the output end of the electric telescopic cylinder, and the position of the limiting plate is adapted to the end of the ball head rod.

[0035] The beneficial effects of the present invention are:

[0036] 1. By setting structures such as a carrier seat and a mounting seat, the present invention can place the curved pipe to be welded on the carrier seat, position one side of the curved pipe to be welded through a positioning column, and by screwing the adjusting screw rod, make the arc center of the curved pipe to be welded coincide with the rotation center of the turntable. Based on the operation of the rotation driving part, the turntable is driven to rotate, so that the position to be welded of the curved pipe to be welded passes through the welding torch assembly of the main body of the robotic arm. Since the arc center of the curved pipe to be welded coincides with the rotation center of the turntable, the welding torch assembly remains in a working state, and by using the rotation of the turntable, complete welding processing is realized.

[0037] 2. By providing structures such as a limit frame, a vertical rod, and a rolling ball, when the locking part moves to the limit frame during the movement of the turntable, the rolling ball rolls on the bottom surface of the limit frame, so that the pressure plate is pressed and limited by the limit frame, and then the vertical rod is clamped, thereby fixing the two transverse positioning frames and completing the fixing of the pipe to be welded, ensuring the stability during welding.

[0038] 3. By providing structures such as an upper limit rod and a lower limit rod, after fixing one side of the pipe to be welded through a limit wheel, the upper limit rod and the transverse roller of the lower limit rod are used to fix the other side of the pipe to be welded, ensuring the stability of the two welding surfaces and improving the reliability during welding.

[0039] 4. By providing a positioning component, when machining the corresponding pipe to be welded, based on the operation of the electric telescopic cylinder, the limit plate can be adjusted to a suitable position, thereby limiting the transverse positioning frame. Based on the limitation of the transverse positioning frame, combined with the positioning column and the scale line, the pipe to be welded can be accurately installed, realizing the positioning of the position of the pipe to be welded. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a schematic structural diagram of an industrial welding robot proposed by the present invention;

[0041] Figure 2 is a schematic structural diagram of another angle of an industrial welding robot proposed by the present invention;

[0042] Figure 3 is a schematic structural diagram of the cooperation between the ball head rod and the limit plate of an industrial welding robot proposed by the present invention;

[0043] Figure 4 is a schematic structural diagram of an industrial welding robot's manipulator welding a pipe to be welded;

[0044] Figure 5 is the present invention Figure 4 schematic structural diagram of another angle;

[0045] Figure 6 is a schematic structural diagram of the mounting frame of an industrial welding robot removed from the positioning hole;

[0046] Figure 7 is a schematic structural diagram of the mounting frame and the transverse positioning frame of an industrial welding robot proposed by the present invention.

[0047] In the figure: 1 central seat, 2 curved pipe to be welded, 3 limiting frame, 4 turntable, 5 positioning hole, 6 mounting seat, 7 adjusting screw, 8 scale line, 9 rotating drive gear, 10 rotating drive motor, 11 convex tooth, 12 spring, 13 limiting plate, 14 electric telescopic cylinder, 15 ball head rod, 16 transverse positioning frame, 17 mounting frame, 18 transverse roller, 19 upper limiting rod, 20 pressing plate, 21 main body of robotic arm, 22 positioning column, 23 upright column, 24 anti-slip pad, 25 roller, 26 carrier seat, 27 fixing knob, 28 lower limiting rod, 29 limiting wheel, 30 fixing frame, 31 vertical rod, 32 rolling ball, 33 sliding sleeve, 34 roller frame. Detailed implementation mode

[0048] The technical solution of the present invention will be further described in detail below in conjunction with the specific implementation mode.

[0049] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, in which the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0050] Embodiment 1: An industrial welding robot, as Figure 1-7 shown, includes:

[0051] A central seat 1, and a turntable 4 is rotatably installed on the outer side of the central seat 1;

[0052] The main body of the robotic arm 21, the main body of the robotic arm 21 is installed on the central seat 1, and a welding torch assembly is arranged at one end of the main body of the robotic arm 21;

[0053] A mounting seat 6, the mounting seat 6 is arranged on the turntable 4, and a plurality of mounting seats 6 are arranged in a circumferential distribution;

[0054] A carrier seat 26, a chute is provided on the mounting seat 6, the carrier seat 26 is slidably connected in the chute, a positioning column 22 for positioning the curved pipe 2 to be welded is arranged on the carrier seat 26, and a scale line 8 for determining the position of the carrier seat 26 is arranged on the mounting seat 6;

[0055] An adjusting screw 7, the adjusting screw 7 is rotatably installed on the mounting seat 6, and the adjusting screw 7 is threadedly connected to the inner wall of the carrier seat 26;

[0056] A clamping assembly, the clamping assembly is installed on the mounting seat 6;

[0057] A rotating drive part, the rotating drive part is installed on the central seat 1 and is used to control the rotation of the turntable 4;

[0058] By setting up structures such as the carrier base 26 and the mounting base 6, the curved pipe 2 to be welded can be placed on the carrier base 26, and one side of the curved pipe 2 to be welded can be positioned by the positioning post 22. By screwing the adjusting screw rod 7, the arc center of the curved pipe 2 to be welded is made to coincide with the rotation center of the turntable 4. Based on the operation of the rotation driving part, the turntable 4 is driven to rotate, and then the welding position of the curved pipe 2 to be welded passes through the welding torch assembly of the robotic arm main body 21. Since the arc center of the curved pipe 2 to be welded coincides with the rotation center of the turntable 4, the welding torch assembly is kept in the working state, and the rotation of the turntable 4 is utilized to achieve the complete welding process;

[0059] In addition, a lifting module for adjusting the height of the robotic arm main body 21 can also be provided between the robotic arm main body 21 and the central base 1 to better control the welding points;

[0060] This method is applicable to arc-shaped parts such as the curved pipe 2 to be welded, and since the position of the carrier base 26 can be adjusted based on the adjusting screw rod 7, it can be adapted to the welding of arc-shaped parts of different sizes.

[0061] For facilitating the rotation of the turntable 4; as Figure 2 shown, the rotation driving part includes:

[0062] A rotation driving motor 10, which is installed on the outer wall of one side of the central base 1;

[0063] Convex teeth 11, which are arranged on the circumferential outer wall of the turntable 4;

[0064] A rotation driving gear 9, the shaft of which is in transmission connection with the output end of the rotation driving motor 10, and the rotation driving gear 9 meshes with the convex teeth 11.

[0065] For facilitating the fixation of the curved pipe 2 to be welded; as Figures 3-7 shown, the clamping assembly includes:

[0066] A fixing frame 30, which is arranged on the outer wall of the top of the mounting base 6;

[0067] A transverse positioning frame 16, a sliding sleeve 33 is fixed at the bottom of the transverse positioning frame 16, the sliding sleeve 33 is slidably connected to the outer wall of the fixing frame 30, and limiting wheels 29 are fixed at both ends of the two transverse positioning frames 16, and an anti-slip rubber sleeve is arranged on the outside of the limiting wheels 29;

[0068] A locking part, which is installed on the fixing frame 30 and is used for fixing the transverse positioning frame 16;

[0069] Among them, the limiting wheels 29 are located on both sides of the arc surface of the curved pipe 2 to be welded away from the positioning post 22.

[0070] For facilitating the fixation of the transverse positioning frame 16; as Figure 7 shown, the locking part includes:

[0071] The vertical column 23 is slidably connected to the inner wall of one end of the horizontal positioning frame 16 in the vertical direction;

[0072] The pressing plate 20 is slidably connected to the outer wall of the top of the fixing frame 30 in the vertical direction; the pressing plate 20 and the fixing frame 30 are connected by a spring 12;

[0073] The anti-slip pads 24 are respectively arranged on the outer wall of the top of the mounting seat 6 and the outer wall of the bottom of the pressing plate 20, and the vertical column 23 is located between the two anti-slip pads 24.

[0074] For facilitating the pressing of the pressing plate 20; as Figure 5 、 Figure 7 shown, a plurality of vertical rods 31 are fixed on the top of the pressing plate 20, a ball seat is arranged on the top of the vertical rod 31, and a rolling ball 32 is movably installed in the ball seat; a limiting frame 3 is fixed on the center seat 1 through a bracket, the limiting frame 3 is located outside the main body 21 of the robotic arm, the limiting frame 3 has a C-shaped structure, and the center of the limiting frame 3 is adapted to the rotation center of the turntable 4, and both ends of the limiting frame 3 are bent upward;

[0075] By arranging structures such as the limiting frame 3, the vertical rods 31, and the rolling ball 32, when the locking part moves to the position of the limiting frame 3 during the movement of the turntable 4, the rolling ball 32 rolls on the bottom surface of the limiting frame 3, so that the pressing plate 20 is pressed and limited by the limiting frame 3, and then the vertical column 23 is clamped, thereby realizing the fixation of the two horizontal positioning frames 16 and completing the fixation of the to-be-welded curved pipe 2, ensuring the stability during welding.

[0076] For facilitating the further limiting and fixing of the to-be-welded curved pipe 2; as Figure 5 、 Figure 6 、 Figure 7 shown, the clamping assembly further includes:

[0077] The mounting frame 17 is mounted on the mounting seat 6, and an upper limiting rod 19 and a lower limiting rod 28 are slidably connected to the top of the mounting frame 17 in the vertical direction;

[0078] The transverse roller 18 is mounted on the ends of the upper limiting rod 19 and the lower limiting rod 28, the upper limiting rod 19 and the mounting frame 17 are connected by a spring 12, and a fixing knob 27 for fixing the lower limiting rod 28 is connected to the inner wall of one side of the mounting frame 17 by a thread;

[0079] By arranging structures such as the upper limiting rod 19 and the lower limiting rod 28, after one side of the to-be-welded curved pipe 2 is fixed by the limiting wheel 29, the transverse rollers 18 of the upper limiting rod 19 and the lower limiting rod 28 can be used to fix the other side of the to-be-welded curved pipe 2, ensuring the stability of the two welding surfaces and improving the reliability during welding.

[0080] For easy disassembly and assembly; as Figure 6 shown, a plurality of positioning holes 5 are provided at the top of the mounting base 6, the positioning holes 5 are adapted to the bottom end of the mounting frame 17, and the mounting frame 17 is detachably clamped in the positioning holes 5.

[0081] For improving welding stability; as Figure 5 shown, a roller frame 34 is detachably mounted on the outer side of the end of the robot arm main body 21, and rollers 25 are rotatably mounted on the roller frame 34. When the welding torch assembly of the robot arm main body 21 is at the welding position, the positions of the two rollers 25 are respectively adapted to the positions of the two welding surfaces of the curved pipe 2 to be welded.

[0082] For easy positioning; as Figure 6 shown, a ball head rod 15 is fixed on the transverse positioning frame 16 close to the center seat 1, and a positioning component cooperating with the ball head rod 15 is provided on the side of the center seat 1 away from the robot arm main body 21.

[0083] For easy positioning; as Figure 2 shown, the positioning component includes an electric telescopic cylinder 14, the electric telescopic cylinder 14 is mounted on the center seat 1 through a bracket, a limiting plate 13 is fixed at the output end of the electric telescopic cylinder 14, and the position of the limiting plate 13 is adapted to the end of the ball head rod 15;

[0084] By providing the positioning component, when machining the corresponding curved pipe 2 to be welded, based on the operation of the electric telescopic cylinder 14, the limiting plate 13 can be adjusted to a suitable position, thereby limiting the transverse positioning frame 16. Based on the limitation of the transverse positioning frame 16, combined with the positioning column 22 and the scale line 8, the curved pipe 2 to be welded can be accurately installed to realize the positioning of the position of the curved pipe 2 to be welded;

[0085] The specific positioning method can be: producing a curved pipe 2 to be welded with a radius of X, through the system program, controlling the electric telescopic cylinder 14 to work, driving the limiting plate 13 to move to the corresponding position, adjusting the position of the transverse positioning frame 16, making the end of the ball head rod 15 closely adhere to the limiting plate 13, installing the curved pipe 2 to be welded, using the two transverse positioning frames 16 to limit the curved pipe 2 to be welded, and screwing the adjusting screw 7 to make the positioning column 22 abut against the other side of the curved pipe 2 to be welded to realize reinforcement, and then using the mounting frame 17 to assist in fixing the curved pipe 2 to be welded;

[0086] Other methods or steps can also be used to achieve this, which will not be elaborated here.

[0087] For the parts not fully disclosed in the present invention, those skilled in the art can ensure the smooth implementation of the solution of the present invention based on common sense, normal thinking logic and existing technologies.

[0088] The above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, making equivalent substitutions or changes, shall be covered by the protection scope of the present invention.

Claims

1. An industrial welding robot, characterized in that, include: A central seat (1), wherein a turntable (4) is rotatably mounted on the outer side of the central seat (1); A mechanical arm body (21), the mechanical arm body (21) being mounted on the center seat (1), and a welding gun assembly being arranged at one end of the mechanical arm body (21); A mounting seat (6), the mounting seat (6) being arranged on the turntable (4), and a plurality of mounting seats (6) being arranged in a circumferential distribution; A carrier (26), a mounting seat (6) having a slide groove, the carrier (26) being slidably connected in the slide groove, a positioning column (22) for positioning the curved pipe (2) to be welded is provided on the carrier (26), and a scale line (8) for determining the position of the carrier (26) is provided on the mounting seat (6); An adjusting screw (7), the adjusting screw (7) being rotatably mounted on the mounting seat (6), and the adjusting screw (7) being connected to the inner wall of the carrier seat (26) via a thread; A clamping assembly, the clamping assembly being mounted on a mounting seat (6); A rotation drive unit, which is mounted on the center seat (1) and is used to control the rotation of the turntable (4); The clamping assembly comprises: A fixing frame (30), the fixing frame (30) being arranged on the top outer wall of the mounting seat (6); A transverse positioning frame (16), a sliding sleeve (33) is fixed at the bottom of the transverse positioning frame (16), the sliding sleeve (33) is slidably connected to the outer wall of the fixed frame (30), and the ends of the two transverse positioning frames (16) are fixed with limiting wheels (29), and the outer side of the limiting wheels (29) is provided with an anti-slip rubber sleeve; A locking portion, the locking portion being mounted on the fixing frame (30) and used to fix the lateral positioning frame (16); The locking portion comprises: A column (23), the column (23) is slidably connected to the inner wall of one end of the transverse positioning frame (16) in an up-and-down manner; A pressing plate (20), the pressing plate (20) being slidably connected to the top outer wall of the fixing frame (30) in an upward and downward manner; the pressing plate (20) and the fixing frame (30) are connected via a spring (12); Anti-skid pads (24), two anti-skid pads (24) are respectively arranged on the top outer wall of the mounting seat (6) and the bottom outer wall of the pressure plate (20), and the column (23) is located between the two anti-skid pads (24); A plurality of vertical rods (31) are fixed on the top of the pressure plate (20), a ball seat is arranged on the top of the vertical rod (31), and a rolling ball (32) is movably installed in the ball seat; a limit frame (3) is fixed on the central seat (1) through a bracket, the limit frame (3) is located outside the mechanical arm body (21), the limit frame (3) is in a C-shaped structure, and the center of the limit frame (3) is adapted to the rotation center of the turntable (4), and both ends of the limit frame (3) are bent upward.

2. The industrial welding robot according to claim 1, wherein, The rotation driving unit comprises: A rotation drive motor (10), wherein the rotation drive motor (10) is mounted on an outer wall of one side of the center seat (1); A convex tooth (11), the convex tooth (11) being arranged on the circumferential outer wall of the turntable (4); The rotating drive gear (9) has a shaft which is drivingly connected to the output end of the rotating drive motor (10), and the rotating drive gear (9) is meshed with the convex teeth (11).

3. An industrial welding robot according to claim 1, characterized in that, The clamping assembly also includes: A mounting frame (17), the mounting frame (17) being mounted on the mounting seat (6), and the top of the mounting frame (17) being slidably connected to an upper limit rod (19) and a lower limit rod (28); The horizontal roller (18) is installed at the ends of the upper limit rod (19) and the lower limit rod (28). A spring (12) is connected between the upper limit rod (19) and the mounting bracket (17). A fixing knob (27) for fixing the lower limit rod (28) is connected to the inner wall of one side of the mounting bracket (17) by a thread.

4. An industrial welding robot according to claim 3, wherein, A plurality of positioning holes (5) are provided at the top of the mounting seat (6). The positioning holes (5) are adapted to the bottom end of the mounting bracket (17). The mounting bracket (17) is detachably clamped in the positioning holes (5).

5. An industrial welding robot according to claim 1, characterized in that, A roller frame (34) is detachably installed on the outer side of the end of the robotic arm main body (21). Rollers (25) are rotatably installed on the roller frame (34). When the welding torch assembly of the robotic arm main body (21) is at the welding position, the positions of the two rollers (25) are respectively adapted to the positions of the two welding surfaces of the curved pipe (2) to be welded.

6. An industrial welding robot according to claim 1, characterized in that, A ball head rod (15) is fixed on the horizontal positioning frame (16) close to the center seat (1). A positioning assembly cooperating with the ball head rod (15) is provided on the side of the center seat (1) away from the robotic arm main body (21).

7. An industrial welding robot according to claim 6, characterized in that, The positioning assembly includes an electric telescopic cylinder (14). The electric telescopic cylinder (14) is installed on the center seat (1) through a bracket. A limit plate (13) is fixed to the output end of the electric telescopic cylinder (14). The position of the limit plate (13) is adapted to the end of the ball head rod (15).

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