Welding gun cable bundle torsion buffer protection device and welding robot

Abstract

The application provides a welding gun cable bundle torsion buffering protection device and a welding robot. The welding gun cable bundle torsion buffering protection device comprises a welding gun mechanism, a wire feeding mechanism and a cable bundle buffering mechanism. The welding gun mechanism comprises a welding gun and a welding gun cable bundle. The welding gun is installed on a clamping joint shaft of a robot body. The welding gun cable bundle is arranged in a mechanical arm of the robot body. The front part of the welding gun cable bundle is connected to the welding gun. The tail part of the welding gun cable bundle extends to the outside of the mechanical arm along the walking direction of the mechanical arm and is connected to the wire feeding mechanism. The cable bundle buffering mechanism comprises a displacement buffering piece which is movable or deformable relative to the robot body. The displacement buffering piece is connected to the tail part of the welding gun cable bundle or the wire feeding mechanism. When the welding gun cable bundle moves with the welding gun, the displacement buffering piece moves or deforms relative to the robot body in a resettable mode, and axial buffering space is provided for the welding gun cable bundle in the extension direction of the welding gun cable bundle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of welding, and particularly relates to a welding gun cable bundle torsion buffering protection device and a welding robot. BACKGROUND

[0002] In a traditional hollow robot automatic arc welding system, a welding gun as a core end effector is rigidly installed on a sixth joint shaft of the robot, and the welding gun is rigidly connected with a wire feeding mechanism fixed on the robot body through a welding gun cable bundle. The connection usually includes two configuration forms: one is that a tail of the welding gun cable bundle is rigidly connected to a wire feeding sleeve end in the wire feeding mechanism, and the other is that the tail is rigidly connected to a wire feeding buffer in the wire feeding mechanism. The rigid connection forms a fixed spatial relative position relationship between the tail of the welding gun cable bundle, the wire feeding mechanism and the robot body.

[0003] When the robot performs a complex trajectory welding task, especially in a working condition requiring large-range posture adjustment, the coordinated movement of the fifth joint shaft and the sixth joint shaft (clamping joint shaft) drives the welding gun to produce multi-directional composite movement. Since the tail of the welding gun cable bundle (including welding power lines, control signal lines, protective gas pipes and wire feeding pipes) is fixed on the robot body through a rigid interface and the wire feeding mechanism, the contradiction between the front end free movement and the tail fixation structure causes the welding gun cable bundle to be forced to bear continuous mechanical stress during the movement. Specifically, when the fifth joint shaft drives the welding gun to move, the welding gun cable bundle is axially stretched or compressed, which causes axial stress and leads to the breakage of the welding gun cable bundle. When the welding gun is rotated by the sixth joint shaft, the cable bundle moves with the welding gun to produce circumferential torsional deformation. In addition, during the linkage of the robot shafts (such as simultaneous driving of the fifth joint shaft and the sixth joint shaft), axial stretching / compression, radial bending and other composite deformations are also accompanied. This periodic mechanical stress causes multiple damages to the internal structure of the welding gun cable bundle: repeated torsion of the metal wire causes fatigue fracture of the copper core; the insulation layer of the cable bundle is separated due to continuous friction; at the same time, the contact wear between the inner wall of the wire feeding pipe and the welding wire increases the wire feeding resistance; furthermore, the metal debris generated by the wear of the cable bundle may also contaminate the precision components inside the welding gun. Especially in long-welding seam and multi-station continuous operation scenes, the cable bundle may experience hundreds of torsional cycles per hour, and the cumulative damage effect will greatly shorten the service life of the cable bundle mechanism and greatly increase the maintenance cost of the cable bundle. SUMMARY

[0004] The present application is provided to overcome the deficiencies of the prior art, and provides a welding gun cable bundle torsion buffering protection device and a welding robot.

[0005] In order to achieve the above object, the present application provides a welding torch cable bundle torsion buffering protection device applied to a welding robot, which comprises a welding torch mechanism, a wire feeding mechanism and a cable bundle buffering mechanism. The welding torch mechanism comprises a welding torch and a welding torch cable bundle, the welding torch is installed on a clamping joint shaft of a robot body, the welding torch cable bundle is arranged in a mechanical arm of the robot body, a front part of the welding torch cable bundle is connected to the welding torch, and a tail part of the welding torch cable bundle extends along a walking direction of the mechanical arm to outside of the mechanical arm and is connected to the wire feeding mechanism. The cable bundle buffering mechanism comprises a displacement buffering piece which is movable or deformable relative to the robot body, and the displacement buffering piece is connected to the tail part of the welding torch cable bundle or the wire feeding mechanism.

[0006] When the welding torch cable bundle moves with the welding torch, the displacement buffering piece is movable or deformable relative to the robot body following the welding torch cable bundle, and axial buffering space is provided for the welding torch cable bundle in the extending direction of the welding torch cable bundle.

[0007] According to an embodiment of the present application, the cable bundle buffering mechanism comprises a base and a displacement buffering piece, the base is fixedly installed on the robot body, and the displacement buffering piece is arranged on the base and movable or elastically deformable relative to the base in the extending direction of the welding torch cable bundle under traction of the welding torch cable bundle.

[0008] According to an embodiment of the present application, the displacement buffering piece is a moving pair which is movable in the extending direction of the welding torch cable bundle, and the tail part of the welding torch cable bundle or the wire feeding mechanism is connected to a slider on the moving pair.

[0009] According to an embodiment of the present application, the displacement buffering piece comprises an elastic piece arranged on the base and elastically deformable in the extending direction of the welding torch cable bundle.

[0010] According to an embodiment of the present application, the wire feeding mechanism is fixed to the robot body, the displacement buffering piece is arranged on the wire feeding mechanism, and the tail part of the welding torch cable bundle is movable relative to the wire feeding mechanism through the displacement buffering piece to provide the axial buffering space.

[0011] According to an embodiment of the present application, the displacement buffering piece is a linear bearing which is movably connected to the wire feeding mechanism, and the tail part of the welding torch cable bundle is connected to the linear bearing.

[0012] According to an embodiment of the present application, the cable bundle buffering mechanism further comprises a rotatable part, the rotatable part is arranged between the tail part of the welding torch cable bundle and the wire feeding mechanism, and the rotatable part is rotationally connected to the welding torch cable bundle and the wire feeding mechanism and electrically connected to both.

[0013] According to an embodiment of the present application, the rotatable component comprises a rotating part made of conductive material and in the shape of a spherical arc arranged on the welding torch cable harness and a rotating matching part made of conductive material and in the shape of a spherical arc arranged on the wire feeding mechanism, the rotating part and the rotating matching part are mutually embedded to rotate 360 degrees relative to each other, and a sealed cavity formed after the embedding of the two parts is filled with a liquid conductive medium to electrically connect.

[0014] In another aspect, the present application also provides a welding robot comprising a robot body and any of the above welding torch cable harness torsion buffering protection devices. The robot body comprises a plurality of joint shafts and a plurality of mechanical arms.

[0015] According to an embodiment of another aspect of the present application, the robot body is a six-axis robot, the welding torch cable harness tail is arranged to pass through the mechanical arm at the fourth joint shaft and is connected to the welding torch interface on the wire feeding mechanism; the wire feeding mechanism is a closed direct current wire feeder or a wire feeding buffer arranged at the front of the wire feeding sleeve.

[0016] In summary, the welding torch cable harness torsion buffering protection device provided by the present application reconfigures the force system of the cable harness by arranging a displacement buffer movable relative to the robot body or deformable on the welding torch cable harness tail or the wire feeding mechanism. An axial buffering space is formed when the welding torch moves, so that the deformation amount of the cable harness in the extension direction is dynamically compensated by the movement stroke or elastic stroke of the displacement buffer, the stretching or compression deformation requirement of the cable harness itself is reduced, the mechanical decoupling of the axial stress of the cable harness is realized, and the torsion and radial bending stress caused by the movement of the welding torch is dispersed from the existing cable harness to the displacement buffer with adjustable stroke; at the same time, the relative friction amount between the cable harness and the inner wall of the mechanical arm is also reduced by the following movement of the displacement buffer. Further, the rotation compensation provided by the rotatable component is matched to effectively reduce the torsion and radial bending stress required to be borne by the welding torch cable harness during the movement of the welding torch, and the fatigue life of the welding torch cable harness is greatly improved.

[0017] In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the following describes a preferred embodiment of the present application with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 Fig. 1 shows a structural schematic diagram of a welding robot provided by an embodiment of the present application.

[0019] Figure 2 Fig. 2 shows a structural schematic diagram of a welding robot provided by another embodiment of the present application. Figure 1 Fig. 3 shows an enlarged schematic diagram of the welding torch cable harness torsion buffering protection device shown in A of Fig. 2.

[0020] Figure 3 Fig. 4 shows a cross-sectional schematic diagram of the welding torch cable harness torsion buffering protection device shown in Fig. 3. Figure 2

[0021] ​Figure 4 A structural diagram of a welding robot is shown. Figure 2 A structural diagram of a welding robot is shown.

[0022] Figure 5 A structural diagram of a welding robot is shown.

[0023] Figure 6 A structural diagram of a welding robot is shown. DETAILED DESCRIPTION

[0024] Embodiment One

[0025] In the existing welding robot system, the tail of the welding torch cable bundle is rigidly connected with the wire feeding mechanism fixed on the robot body, while the front part is freely moved with the welding torch. This connection mode makes the welding torch cable bundle form a contradictory structure of "fixed end - free end", forcing the cable bundle to become the only carrier to absorb the deformation of the multi-axis composite motion of the robot, and further causing it to continuously bear the composite stress of circumferential torsion, axial tension and compression, and radial bending, which specifically manifests as fatigue fracture of the copper core wire due to cumulative torsion angle, peeling of the insulation layer due to friction, and aggravated wear of the wire feeding conduit, etc. systematic damage.

[0026] In view of this, the present embodiment provides a welding torch cable bundle torsion buffer protection device and a welding robot which reconfigure the stress system of the cable bundle.

[0027] As Figure 1 shown, the welding robot provided by the present embodiment includes a robot body 100 and a welding torch cable bundle torsion buffer protection device 200. The robot body 100 includes a plurality of joint axes and a plurality of mechanical arms. In the present embodiment, the robot body 100 is a six-axis welding robot, which includes a first joint axis 101, a second joint axis 102, a third joint axis 103, a fourth joint axis 104, a fifth joint axis 105, and a sixth joint axis (i.e. a clamping joint axis) 106. The welding torch 11 in the welding torch cable bundle torsion buffer protection device 200 is fixedly connected to the sixth joint axis (clamping joint axis) 106. The front part of the welding torch cable 12 is connected to the welding torch 11, and the tail 121 of the welding torch cable 12 extends along the mechanical arm between the fifth joint axis 105 and the fourth joint axis 104 and extends out of the mechanical arm at the fourth joint axis 104 to connect the wire feeding mechanism 2 and the cable bundle buffer mechanism 3 provided on the robot body 100.

[0028] Although the present embodiment takes the application of the welding torch cable bundle torsion buffer protection device 200 on a six-axis welding robot as an example for illustration. However, the present application does not make any limitation in this regard. In other embodiments, the welding torch cable bundle torsion buffer protection device provided by the present application can also be applied to other types of welding robots.

[0029] AsFigures 2 to 4 as shown in the figures, Figure 2 is Figure 1 An enlarged schematic view of the A in the middle, which is a partial enlarged schematic view of the welding torch cable bundle torsion buffer protection device without the welding torch.

[0030] The welding torch cable bundle torsion buffer protection device provided by the embodiment comprises a welding torch mechanism 1, a wire feeding mechanism 2, and a cable bundle buffer mechanism 3. The welding torch mechanism 1 comprises a welding torch 11 and a welding torch cable bundle 12, the welding torch 11 is installed on a clamping joint shaft 106 of a robot body 100, the welding torch cable bundle 12 is arranged in a mechanical arm of the robot body 100, a front part (not shown in the figure due to the angle of view) of the welding torch cable bundle 12 is connected to the welding torch 11, and a tail part 121 of the welding torch cable bundle 12 extends to the outside of the mechanical arm along the walking direction of the mechanical arm and is connected to the wire feeding mechanism 2. The cable bundle buffer mechanism 3 comprises a displacement buffer 32 which is movable or deformable relative to the robot body 100, and the displacement buffer 32 is connected to the tail part 121 of the welding torch cable bundle or the wire feeding mechanism 2.

[0031] When the welding torch cable bundle 12 moves with the welding torch 11, the displacement buffer 32 follows the welding torch cable bundle 12 and is movable or deformable relative to the robot body 1 in a resettable manner, and provides an axial buffer spacing for the welding torch cable bundle 12 in the extension direction of the welding torch cable bundle 12.

[0032] The welding torch cable bundle torsion buffer protection device provided by the present application reconstructs the force system of the welding torch cable bundle 12 by introducing a resettable dynamic buffer mechanism, the core of which is to integrate a displacement buffer 32 which can produce a controllable displacement or deformation relative to the robot body 100 on the tail part 121 of the welding torch cable bundle or the wire feeding mechanism 2. When the welding torch 11 is driven by the robot clamping joint shaft (the sixth joint shaft) or other joint shafts to perform multi-degree-of-freedom compound motion, the displacement buffer 32 follows the traction of the welding torch cable bundle 12 in real time, actively forms an adaptive axial buffer spacing in the extension direction of the welding torch cable bundle 12, so that the axial displacement amount which can only be absorbed by the plastic deformation of the welding torch cable bundle 12 is converted into the mechanical stroke or elastic deformation amount of the displacement buffer 32, thereby greatly reducing the tensile or compressive deformation of the welding torch cable bundle 12. This dynamic compensation mechanism not only realizes mechanical decoupling of the axial stress, but also disperses and eliminates part of the circumferential torsion and radial bending stress through the displacement buffer 32. Specifically, part of the circumferential torsion and radial bending force will be dispersed to the full-contact surface of the moving pair or the circumferential torsion of the elastic element, greatly reducing the required force of the welding torch cable bundle 12 when moving with the welding torch 11 and improving the fatigue life of the welding torch cable bundle 12. In addition, the active following of the displacement buffer 32 converts the relative sliding friction between the welding torch cable bundle 12 and the inner wall of the mechanical arm in the existing welding robot into the rigid friction of the moving pair or the deformation of the elastic element on the displacement buffer 32, reduces the friction coefficient, and significantly reduces the abrasion rate of the insulation layer on the surface of the welding torch cable bundle 12 to further improve its service life.

[0033] In the embodiment, the cable bundle buffer mechanism 3 comprises a base 31 and a displacement buffer 32 arranged on the base 31, the base 31 is fixedly installed on the robot body 100, and the displacement buffer 32 is arranged on the base 31 and moves along the extension direction of the welding gun cable bundle 12 relative to the base 31 under the traction of the welding gun cable bundle 12. As shown in Figure 3 and Figure 4 The displacement buffer 32 is a movable pair that can reciprocate along the extension direction of the welding gun cable bundle 12. Specifically, the movable pair comprises guide rails 321 fixed on the base 31 and arranged along the extension direction of the welding gun cable bundle 12, and a sliding block 322 arranged on the guide rails 321.

[0034] In the embodiment, the tail part 121 of the welding gun cable bundle is connected to the wire feeding mechanism 2 through the welding gun interface 21, and the wire feeding mechanism 2 is arranged on the sliding block 322. When the welding gun 11 is driven to rotate by the fifth joint shaft 105 on the robot body 100, the welding gun 11 will drive the welding gun cable bundle 12 to move forward and backward along its extension direction. At this time, the sliding block 322 will drive the tail part 121 of the welding gun cable bundle to actively follow through the wire feeding mechanism 2 and the welding gun interface 21, and provide an axial buffer space for the welding gun cable bundle 12 to make both ends of the welding gun cable bundle 12 form movable ends. In addition, when the welding gun 11 is driven to rotate by the sixth joint shaft 106 (i.e. the clamping joint shaft) on the robot body 100, the welding gun 11 will drive the welding gun cable bundle 12 to rotate, and part of the circumferential torsion and radial bending force generated by the rotation will be dispersed to the contact surfaces on both sides of the sliding block 322 and the guide rails 321, thereby reducing the stress on the welding gun cable bundle 12 and effectively solving the problem of easy damage of the welding gun cable bundle caused by the contradictory structure of "free end-fixed end" in the prior art. However, the present application does not make any limitation in this regard. In other embodiments, the tail part of the welding gun cable or the welding gun interface can also be directly connected to the sliding block.

[0035] For the guide rails 321, they can be sliding guide rails or ball guide rails. The present application does not make any limitation in this regard.

[0036] In the embodiment, the wire feeding mechanism 2 is a wire feeding buffer connected to the sliding block 322, which comprises a buffer housing 22 and a wire feeding buffer part 23 arranged in the buffer housing 22 for driving the welding wire to move. However, the present application does not make any limitation in this regard. In other embodiments, when the welding gun is a direct current wire drawing welding gun or a direct current wire pushing welding gun, the wire feeding mechanism can also be a closed direct current wire feeder connected to the front part of the wire feeding sleeve, and the closed direct current wire feeder is connected to the tail part of the welding gun cable bundle through the welding gun interface. At this time, the closed direct current wire feeder can also be connected to the sliding block to provide an axial buffer space.

[0037] Although the embodiment is described by taking the displacement buffer 32 as an example of the moving pair, the present application is not limited thereto. In other embodiments, the displacement buffer can also be provided as an elastic member arranged on the base and capable of elastically deforming in the extension direction of the welding torch cable bundle, and the welding torch cable bundle tail or the wire feeder mechanism is connected to the elastic member. When the welding torch cable bundle is pulled, the elastic member actively elastically deforms in the axial direction to provide the welding torch cable bundle tail or the wire feeder mechanism with an axial buffer space, and in addition, the circumferential deformation of the elastic member can also provide it with a circumferential buffer space to achieve double-dimensional buffering.

[0038] Although the moving pair as the displacement buffer 32 can offset part of the torsional and radial bending forces caused when the sixth joint shaft 106 drives the welding torch 11 to rotate, some forces will inevitably act on the welding torch cable bundle 12. In order to further protect the welding torch cable bundle 12 and prolong its service life, the cable bundle buffer mechanism 3 provided in the embodiment further includes a rotatable component 33 arranged between the welding torch cable bundle tail 121 and the wire feeder mechanism 2, which is rotationally connected to the welding torch cable bundle 12 and the wire feeder mechanism 2 and electrically connected to both. Specifically, as shown in Figure 2 the rotatable component 33 is arranged on the welding torch cable bundle tail 121 and connected to the welding torch interface 21, i.e., the welding torch cable bundle tail 121 and the welding torch interface 21 can relatively rotate. In the welding robot provided in the embodiment, the welding torch cable bundle 12 needs to be electrically connected to the welding power source through the power cable terminal 211 on the welding torch interface 21 to realize the electrical signal transmission between the welding torch 11 and the welding power source. Therefore, the rotatable component 33 needs to electrically connect the welding torch cable bundle tail 121 and the welding torch interface 21 in addition to rotationally connecting them.

[0039] Specifically, the rotatable component 33 provided in the embodiment includes a rotation part 331 arranged on the welding torch cable bundle tail 121 and made of a conductive material and in the shape of a spherical arc, and a rotation matching part 332 arranged on the welding torch interface 21 and made of a conductive material and in the shape of a spherical arc. The rotation part 331 and the rotation matching part 332 are mutually embedded to relatively rotate by 360 degrees, and a sealed cavity 330 formed after the embedding of the two is filled with a liquid conductive medium such as mercury. When the rotation part 331 and the rotation matching part 332 relatively rotate, the liquid conductive medium in the sealed cavity 330 electrically connects the rotation part 331 and the rotation matching part 332 both made of a conductive material to realize electrical connection.

[0040] The rotatable component 33 is arranged such that the welding gun cable bundle tail 121 can completely follow the rotation of the welding gun 11, i.e. the whole welding gun cable bundle 12 can follow the axial and circumferential movement, and the welding gun cable bundle 12 does not need to bear any torsion and radial bending force, which greatly prolongs the service life. However, the present application does not make any limitation in this regard. In other embodiments, the rotatable component can also not be arranged in the cable bundle buffer mechanism, but only an axial buffer space is provided in the extension direction of the welding gun cable bundle by the displacement buffer.

[0041] In the present embodiment, the welding gun 11 is a servo welding gun built in the robot body 100. However, the present application does not make any limitation in this regard. In other embodiments, as shown in Figure 5 the welding gun 11' can also be a built-in ordinary welding gun without servo control, such as a direct current wire drawing type welding gun or a direct current wire pushing type welding gun.

[0042] Embodiment Two

[0043] The present embodiment is basically the same as embodiment one and its variations, and the difference lies in the specific structure and connection position of the displacement buffer in the cable bundle buffer mechanism 3.

[0044] As shown in Figure 6 in the present embodiment, the wire feeding mechanism 2 is fixed to the robot body 100, and the displacement buffer 32 is arranged on the wire feeding mechanism 2. The welding gun cable bundle tail 121 moves relative to the wire feeding mechanism 2 through the displacement buffer 32' to provide an axial buffer space.

[0045] In the present embodiment, the displacement buffer 32' is a linear bearing and is movably connected to the welding gun interface 21 on the wire feeding mechanism 2. Specifically, the wire feeding mechanism 2 is a wire feeding buffer, which includes a buffer housing 22 and a wire feeding buffer part 23 arranged in the buffer housing 22 for driving the welding wire to move. The displacement buffer 32' is a flange linear bearing, which is embedded in the side wall of the buffer housing 22 and the flange part 321' of which is connected to the welding gun interface 21. The tail of the flange linear bearing extends into the buffer housing 22 and is movably sleeved on the wire feeding buffer part 23.

[0046] The welding gun cable bundle tail 121 passes out from the four-joint shaft 104 of the robot body and is connected to the displacement buffer 32' through the welding gun interface 21. When the fifth joint shaft 105 of the robot body drives the welding gun 11 to rotate, the welding gun cable bundle 12 will be twisted. Based on the twisting traction of the welding gun cable bundle 12, the flange linear bearing (displacement buffer 32') drives the welding gun interface 21 to slide back and forth along the wire feeding buffer part 23 in the wire feeding mechanism 2, so that the welding gun cable bundle tail 121 becomes a free end following the movement of the front end of the welding gun cable bundle 12, and provides an axial buffer space for the welding gun cable bundle 12 to protect the welding gun cable bundle 12.

[0047] As same as the first embodiment, the present embodiment can also be provided with a rotatable component 33 between the tail 121 of the welding torch cable harness and the welding torch interface 21, when the sixth joint shaft 106 of the robot body rotates to drive the welding torch cable harness to rotate, the rotatable connection between the tail 121 of the welding torch cable harness and the welding torch interface 21 can provide a circumferential rotation space. However, the present application does not make any limitation on this.

[0048] In summary, the welding torch cable harness torsion buffer protection device provided by the present application reconfigures the force system of the cable harness by setting a displacement buffer on the tail of the welding torch cable harness or the wire feeding mechanism, which can be resettable and movable or deformed relative to the robot body. When the welding torch moves, an axial buffer space is formed to dynamically compensate the deformation amount of the extension direction of the cable harness by the movement stroke or elastic stroke of the displacement buffer, which reduces the stretching or compression deformation requirement of the cable harness itself, realizes mechanical decoupling of the axial stress of the cable harness, and disperses the torsion and radial bending stress caused by the welding torch movement from the existing cable harness to the displacement buffer with adjustable stroke. At the same time, the relative friction amount between the cable harness and the inner wall of the robot arm is also reduced by the following movement of the displacement buffer. Further, by cooperating with the rotation compensation provided by the rotatable component, the torsion and radial bending stress required to be borne by the welding torch cable harness with the movement of the welding torch is effectively reduced, and the fatigue life of the welding torch cable harness is greatly improved.

[0049] Although the present application has been disclosed by the preferred embodiments as above, it is not intended to limit the present application, and any person skilled in the art can make some changes and modifications without departing from the spirit and scope of the present application, therefore the protection scope of the present application shall be subject to the scope required by the claims.

Claims

1. A welding torch cable bundle twist cushioning protection device characterized by, The welding gun cable bundle torsion buffering protection device applied to a welding robot comprises: a welding gun mechanism and a wire feeding mechanism, the welding gun mechanism comprises a welding gun and a welding gun cable bundle, the welding gun is mounted on a clamping joint shaft on a robot body, the welding gun cable bundle is arranged in a mechanical arm of the robot body, a front part of the welding gun cable bundle is connected to the welding gun, and a tail part of the welding gun cable bundle extends along a walking direction of the mechanical arm to outside of the mechanical arm and is connected to the wire feeding mechanism; a cable bundle buffering mechanism, comprising a displacement buffer movable or deformable relative to the robot body, the displacement buffer is connected to the tail part of the welding gun cable bundle or the wire feeding mechanism; wherein, when the welding gun cable bundle moves with the welding gun, the displacement buffer moves or deforms relative to the robot body in a resettable manner following the welding gun cable bundle, the displacement buffer follows the traction of the welding gun cable bundle in real time, and actively provides an adaptive axial buffering space for the welding gun cable bundle in an extension direction of the welding gun cable bundle; and part of the circumferential torsion and the radial bending force generated by the torsion of the welding gun cable bundle is transmitted to a full-contact surface of a moving pair in the displacement buffer or a circumferential torsion of an elastic element.

2. The welding torch cable bundle torsion cushioning protection device of claim 1, wherein, The cable bundle buffering mechanism comprises a base and a displacement buffer, the base is fixedly mounted on the robot body, and the displacement buffer is arranged on the base and moves or elastically deforms in an extension direction of the welding gun cable bundle relative to the base under the traction of the welding gun cable bundle.

3. The welding torch cable bundle torsion cushioning protection device of claim 2, wherein, The displacement buffer is a moving pair reciprocally movable in the extension direction of the welding gun cable bundle, and the tail part of the welding gun cable bundle or the wire feeding mechanism is connected to a sliding block on the moving pair.

4. The welding torch cable bundle torsion cushioning protection device of claim 2, wherein, The displacement buffer comprises an elastic element arranged on the base and capable of elastically deforming in the extension direction of the welding gun cable bundle.

5. The welding torch cable bundle torsion cushioning protection device of claim 1, wherein, The wire feeding mechanism is fixed to the robot body, the displacement buffer is arranged on the wire feeding mechanism, and the tail part of the welding gun cable bundle moves relative to the wire feeding mechanism through the displacement buffer to provide an axial buffering space.

6. The welding torch cable bundle torsion cushioning protection device of claim 5, wherein, The displacement buffer is a linear bearing movably connected to the wire feeding mechanism, and the tail part of the welding gun cable bundle is connected to the linear bearing.

7. The welding torch cable bundle torsion cushioning protection device of claim 1, wherein, The cable bundle buffering mechanism further comprises a rotatable component arranged between the tail part of the welding gun cable bundle and the wire feeding mechanism, which is rotationally connected to the welding gun cable bundle and the wire feeding mechanism and electrically connected to both.

8. The welding torch cable bundle torsion cushioning protection device of claim 7, wherein, The rotatable component comprises a rotating part made of a conductive material and in a spherical arc shape arranged on the welding gun cable bundle and a rotating matching part made of a conductive material and in a spherical arc shape arranged at an end of the wire feeding mechanism, the rotating part and the rotating matching part are mutually embedded to rotate relative to each other by 360 degrees, and a sealed cavity formed after the two are embedded is filled with a liquid conductive medium to be electrically connected.

9. A welding robot, characterized in that, The robot body comprises a plurality of joint shafts and a plurality of mechanical arms; The welding gun cable bundle torsion buffering protection device according to any one of claims 1-8. The robot body is a six-axis robot, the tail part of the welding gun cable bundle is arranged to pass through the mechanical arm at the fourth joint shaft and is connected to a welding gun interface on the wire feeding mechanism, and the wire feeding mechanism is a closed direct current wire feeder arranged at a front part of a wire feeding sleeve or a wire feeding buffer.

10. The welding robot of claim 9, wherein, ​

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