Gantry upside-down hanging robot welding device

Abstract

The invention discloses a gantry upside-down hanging robot welding device, and aims to solve the technical problem that a current guide rail is possibly heated to deform in the welding process, the gantry upside-down hanging robot welding device structurally comprises a transverse slide way, and a transverse moving assembly is mounted in the transverse slide way. The six-axis robot continuously extrudes a sealing plug at one end of an extrusion rod to extrude cooling water in an extrusion tank, the cooling water in the extrusion tank is extruded into protective covers, when the six-axis robot continuously welds a workpiece, the protective covers distributed on the two sides of the six-axis robot can protect two sets of electric sliding rails, and the welding efficiency is improved. After cooling water is continuously guided into the protective cover, original cooling water in the protective cover can be guided into the extrusion tank, so that the cooling water in the protective cover circularly flows, the temperature of the electric sliding rail on one side of the protective cover can be greatly reduced, and the situation that in the welding process of the six-axis robot, splashed sparks are splashed to the surface of the electric sliding rail and possibly deform due to heating is avoided; the welding precision is influenced.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic welding, and particularly to a gantry inverted robotic welding device. Background Art

[0002] Currently, in modern industrial production, the gantry inverted robotic welding technology is widely used in welding operations of various metal structures due to its high efficiency and precision. However, during the welding process, due to the heat generated by welding and the flying sparks, the welding equipment and its surrounding components, especially the guide rail part, are easily affected by high temperature, resulting in thermal deformation of the guide rail. The deformation of the guide rail will not only affect the motion accuracy of the welding robot, thereby reducing the welding quality, but also may shorten the service life of the equipment and increase the maintenance cost.

[0003] Traditional welding cooling methods mostly use external fans for blowing or simple water cooling systems, but these methods have obvious limitations. The cooling effect of external fan blowing is limited and it is difficult to effectively reduce the temperature of key components such as the guide rail; while the simple water cooling system may cause problems such as water accumulation and corrosion inside the equipment due to uneven cooling or improper water flow control, which also affects the stability and service life of the equipment;

[0004] In addition, the vibration generated during the welding process is also an important factor affecting the welding accuracy and the service life of the equipment. Traditional welding equipment often lacks effective design in shock absorption, resulting in problems such as loosening and wear of the equipment during long-term high-load operation, further affecting the welding quality and equipment performance.

[0005] Therefore, it is necessary to design a new technical solution to solve this problem. Through an innovative cooling circulation system and a dynamic shock absorption mechanism, efficient cooling of the electric slide rail and stable shock absorption during the operation of the robot are achieved. This device not only solves the influence of high temperature and vibration on the welding accuracy, but also significantly improves the service life and welding efficiency of the equipment. Summary of the Invention

[0006] The purpose of the present invention is to provide a gantry inverted robotic welding device to solve the technical problem that the current guide rail may be thermally deformed during the welding process.

[0007] To achieve the above object, the present invention provides the following technical solution: A gantry inverted robot welding device, including a horizontal slideway, a horizontal moving component is installed in the horizontal slideway, both bottoms of two sides of the horizontal slideway move back and forth through longitudinal moving components, a six-axis robot is installed at the bottom of the horizontal moving component, a welding head is installed at the port of the six-axis robot, a swing extrusion mechanism is installed at the base of the six-axis robot, the swing extrusion mechanism is connected and installed with a protection component through a conduit, damping seats are movably installed at four corners of the base of the six-axis robot, the damping seats are fixedly connected with the horizontal moving component through bolts, and a damping mechanism is installed between the damping seats and the base.

[0008] As a preferred embodiment of the present invention, the horizontal moving component includes an inner cavity opened in the middle of the bottom of the horizontal slideway, a screw rod rotatably installed inside the inner cavity, a moving block threadedly installed on one side of the screw rod, and a base fixedly installed on the moving block through bolts. The bases are distributed on one side of the six-axis robot, and the moving block is slidably connected with the inner cavity.

[0009] As a preferred embodiment of the present invention, a motor is fixedly installed on the side wall of the horizontal slideway, the driving output end of the motor is in transmission connection with a transmission shaft, and the other end of the transmission shaft is fixedly installed with one end of the screw rod.

[0010] As a preferred embodiment of the present invention, the longitudinal moving component includes connection seats fixedly installed on both sides of the bottom of the horizontal slideway through bolts, brackets welded in the middle of the other sides of the two groups of connection seats, electric sliders fixedly installed at the bottoms of the two groups of brackets, and electric slide rails slidably installed with the two groups of electric sliders. Outer covers are fixedly installed on the outer sides of the two groups of electric sliders.

[0011] As a preferred embodiment of the present invention, the swing extrusion mechanism includes a base rotatably installed on the top of the six-axis robot through a connecting shaft, connection frames fixedly installed at both ends of the side wall of the base, support covers fixedly installed at the other ends of the two groups of connection frames, rotating shafts rotatably installed on the central axes inside the two groups of support covers, extrusion tanks fixedly installed in the middle of the two groups of rotating shafts, sealing plugs hermetically connected inside the two groups of extrusion tanks, extrusion rods fixedly installed in the middle of the outer sides of the two groups of sealing plugs, bushings fixedly installed at the other ends of the two groups of extrusion rods, fixed shafts rotatably installed inside the two groups of bushings, and an extrusion seat fixedly installed on one side of the two groups of fixed seats. The extrusion seat is fixedly installed on the top of the six-axis robot.

[0012] As a preferred embodiment of the present invention, the protection component includes conduits that are connected and installed at both ends on one side of the outer wall of the extrusion tank, a joint that is connected and installed to the other ends of the two conduits, and a protective cover that is connected and installed to the two joints. The two joints are respectively distributed at the top and bottom of the protective cover.

[0013] As a preferred embodiment of the present invention, a one-way valve is installed on each conduit. The one-way valve installed on the conduit at the top has a flow direction from the extrusion tank to the support cover, and the one-way valve installed on the conduit at the bottom has a flow direction from the support cover to the extrusion tank.

[0014] As a preferred embodiment of the present invention, the interiors of the two protective covers are cavity-shaped. Positioning frames are welded to the side walls of the two protective covers, and the two positioning frames are respectively installed at the bottoms of the side walls of the two brackets through bolts.

[0015] As a preferred embodiment of the present invention, first positioning plates are fixedly installed at one ends of the side walls of the two extrusion rods. Springs are fixedly installed on the side walls of the two first positioning plates. Second positioning plates are fixedly installed on the other sides of the two springs. One sides of the two second positioning plates are fixedly installed with the inner walls of the two support covers respectively.

[0016] As a preferred embodiment of the present invention, the vibration damping mechanism includes piston rods fixedly installed at the four corners of the base, vibration damping seats slidably installed with the four piston rods, vibration damping pads fixedly installed inside the vibration damping seats, cavities opened inside the vibration damping pads, pressure pumps connected and installed through pressure pipes on one side of the cavities, water inlet pipes connected and installed at the inlet ports of the pressure pumps, and water tanks connected and installed with the water inlet pipes. The water tanks and the pressure pumps are both fixedly installed on the side walls of the base through bolts, and pressure sensors are connected and installed inside the cavities.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] 1. When the six-axis robot continuously adjusts its horizontal position left and right, it will continuously squeeze the sealing plug at one end of the extrusion rod, squeeze the cooling water inside the extrusion tank, and squeeze the cooling water inside the extrusion tank into the protective cover. Since the protective cover is installed on the side wall of the bracket through the positioning frame and is on the same plane as the six-axis robot, when the six-axis robot continuously welds the workpiece, the protective covers distributed on both sides of the six-axis robot can protect the two electric slide rails. And as the cooling water is continuously introduced into the protective cover, the original cooling water inside the protective cover will be introduced into the extrusion tank, making the cooling water inside the protective cover circulate. This can greatly reduce the temperature of the electric slide rail on one side of the protective cover, avoid the splashing sparks during the welding process of the six-axis robot from splashing onto the surface of the electric slide rail, and prevent it from being deformed by heat, which may affect the welding accuracy.

[0019] 2. The present invention has shock-absorbing seats movably installed at the four corners of the base of the six-axis robot, and a vibration-damping mechanism is installed between the shock-absorbing seat and the base. The vibration-damping pads in the vibration-damping mechanism are distributed between the shock-damping seat and the base, and the pressure pump installed on the outside of the base is driven to pressurize the cooling water inside the water tank and introduce it into the vibration-damping pad. Combined with the vibration-damping effect of the vibration-damping pad itself and the cooling water buffering inside the vibration-damping pad cavity, the vibration-damping effect of the six-axis robot during operation can be greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0021] Figure 1 It is a schematic diagram of the main structure of the present invention;

[0022] Figure 2 It is a schematic diagram of the structure of the lateral moving assembly and the longitudinal moving assembly of the present invention;

[0023] Figure 3 It is a schematic diagram of the structure of the swing extrusion mechanism of the present invention;

[0024] Figure 4 It is a schematic diagram of the structure of the protection component of the present invention;

[0025] Figure 5 It is a schematic diagram of the spring distribution structure of the present invention;

[0026] Figure 6 It is a schematic diagram of the structure of the vibration reduction mechanism of the present invention;

[0027] In the figure: 1. electric slide rail; 11. electric slider; 12. outer cover; 13. bracket; 14. connecting seat; 15. horizontal slide; 16. inner cavity; 17. screw; 18. moving block; 2. six-axis robot; 21. extrusion seat; 22. base; 23. connecting frame; 24. support cover; 25. rotating shaft; 26. extrusion tank; 27. conduit; 28. joint; 29. protective cover; 210. bushing; 211. fixed shaft; 212. positioning frame; 213. one-way valve; 214. first positioning plate; 215. spring; 216. second positioning plate; 3. vibration damping seat; 31. vibration damping pad; 32. pressurized pipe; 33. pressure pump; 34. water tank. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0029] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0030] A gantry inverted robot welding device, see Figures 1 to 6 , including a transverse slideway 15, a transverse moving component is installed in the transverse slideway 15, both bottoms of the two sides of the transverse slideway 15 move back and forth through longitudinal moving components, a six-axis robot 2 is installed at the bottom of the transverse moving component, a welding head 28 is installed at the port of the six-axis robot 2, a swinging extrusion mechanism is installed on the base 22 of the six-axis robot 2, the swinging extrusion mechanism is connected and installed with a protection component through a conduit 27, damping seats 3 are movably installed at the four corners of the base 22 of the six-axis robot 2, the damping seats 3 are fixedly connected with the transverse moving component through bolts, and a damping mechanism is installed between the damping seats 3 and the base 22.

[0031] During use, first combine the swinging extrusion mechanism with the protection component. When the transverse moving component and the longitudinal moving component are driven to move the six-axis robot 2 to an ideal welding position, then drive the six-axis robot 2 to dock the welding head with the workpiece for efficient welding of the workpiece. At the same time, as the six-axis robot 2 continuously adjusts its horizontal position left and right, it will continuously squeeze the sealing plug at one end of the extrusion rod, squeezing the cooling water inside the extrusion tank 26, and squeezing the cooling water inside the extrusion tank 26 into the protective cover 29. Since the protective cover 29 is installed on the side wall of the support 13 through the positioning frame 212 and is on the same plane as the six-axis robot 2, when the six-axis robot 2 continuously welds the workpiece, the protective covers 29 distributed on both sides of the six-axis robot 2 can protect the two groups of electric slide rails 1. And as the cooling water is continuously introduced into the protective cover 29, the original cooling water inside the protective cover 29 will be introduced into the extrusion tank 26, making the cooling water inside the protective cover 29 circulate, which can greatly reduce the temperature of the electric slide rail 1 on one side of the protective cover 29, avoiding that during the welding process of the six-axis robot 2, the splashed sparks splash onto the surface of the electric slide rail 1 and may be deformed by heat, affecting the welding accuracy. At the same time, damping seats 3 are movably installed at the four corners of the base 22 of the six-axis robot 2, and a damping mechanism is installed between the damping seats 3 and the base 22. The damping pads 31 in the damping mechanism are distributed between the damping seats 3 and the base 22, and by driving the pressure pump 33 installed outside the base 22, the cooling water inside the water tank 34 can be pressurized and introduced into the damping pads 31, cooperating with the damping effect of the damping pads 31 itself and the buffering of the cooling water inside the cavities of the damping pads 31, which can greatly improve the damping effect of the six-axis robot 2 during the working process.

[0032] Specifically, the lateral movement component includes an inner cavity 16 opened in the middle of the bottom of the lateral slideway 15, a screw rod 17 rotatably installed inside the inner cavity 16, a moving block 18 threadedly installed on one side of the screw rod 17, and a base 22 fixedly installed on the moving block 18 by bolts. The bases 22 are distributed on one side of the six-axis robot 2. The moving block 18 is slidably connected to the inner cavity 16. A motor is fixedly installed on the side wall of the lateral slideway 15. The driving output end of the motor is in transmission connection with a transmission shaft, and the other end of the transmission shaft is fixedly installed with one end of the screw rod 17.

[0033] By driving the screw rod 17 to rotate by the driving motor, the moving block 18 threadedly installed on the screw rod 17 will move left and right in the horizontal direction along the inner cavity 16 of the lateral slideway 15. And a six-axis robot 2 is installed at the bottom of the moving block 18, which can synchronously drive the six-axis robot 2 to move left and right in the horizontal direction. Since the moving block 18 is slidably connected to the inner cavity 16, the moving block 18 can be limited to ensure the horizontal movement of the moving block 18.

[0034] Furthermore, the longitudinal movement component includes connecting seats 14 fixedly installed on both sides of the bottom of the lateral slideway 15 by bolts, brackets 13 welded to the middle of the other sides of the two groups of connecting seats 14, electric sliders 11 fixedly installed at the bottoms of the two groups of brackets 13, and electric slide rails 1 slidably installed with the two groups of electric sliders 11. Outer covers 12 are fixedly installed on the outer sides of the two groups of electric sliders 11.

[0035] By driving the electric sliders 11 inside the two groups of electric slide rails 1, the brackets 13 at the tops of the two groups of electric sliders 11 can be pushed to move longitudinally with the lateral slideway 15. Since the six-axis robot 2 is installed at the bottom of the lateral slideway 15, the six-axis robot 2 can be longitudinally adjusted. At the same time, outer covers 12 are installed on the outer sides of the electric sliders 11, which can protect the outer sides of the electric sliders 11 and prevent foreign impurities from entering the inside of the electric sliders 11 and affecting the sliding between the electric sliders 11 and the electric slide rails 1.

[0036] Furthermore, the swing extrusion mechanism includes a base 22 rotatably installed on the top of the six-axis robot 2 through a connecting shaft, connecting brackets 23 fixedly installed at both ends of the side wall of the base 22, support covers 24 fixedly installed at the other ends of the two groups of connecting brackets 23, rotating shafts 25 rotatably installed at the central axes of the two groups of support covers 24, extrusion tanks 26 fixedly installed in the middle of the two groups of rotating shafts 25, sealing plugs hermetically connected inside the two groups of extrusion tanks 26, extrusion rods fixedly installed in the middle of the outer sides of the two groups of sealing plugs, bushings 210 fixedly installed at the other ends of the two groups of extrusion rods, fixed shafts 211 rotatably installed inside the two groups of bushings 210, and extrusion seats 21 fixedly installed on one side of the two groups of fixed seats. The extrusion seat 21 is fixedly installed on the top of the six-axis robot 2.

[0037] When the six-axis robot 2 is continuously driven to adjust its horizontal position left and right, the sealing plugs at one end of the extrusion rods will be continuously squeezed, squeezing the cooling water inside the extrusion tank 26, and squeezing the cooling water inside the extrusion tank 26 into the protective cover 29. Since the protective cover 29 is installed on the side wall of the support 13 through the positioning bracket 212 and is on the same plane as the six-axis robot 2, when the six-axis robot 2 continuously welds the workpiece, the protective covers 29 distributed on both sides of the six-axis robot 2 can protect the two groups of electric slide rails 1. And as the cooling water is continuously introduced into the protective cover 29, the original cooling water inside the protective cover 29 will be introduced into the extrusion tank 26, making the cooling water inside the protective cover 29 circulate, which can greatly reduce the temperature of the electric slide rail 1 on one side of the protective cover 29, avoiding the splashing sparks during the welding process of the six-axis robot 2 from splashing onto the surface of the electric slide rail 1 and possibly being deformed by heat, affecting the welding accuracy.

[0038] It should be additionally noted that since one end of the extrusion tank 26 is rotatably connected to the extrusion seat 21 through the bushing 210 and the fixed shaft 211, and the middle of the extrusion tank 26 is rotatably installed on the support cover 24 through the rotating shaft 25, when the extrusion rod on one side of the extrusion tank 26 is squeezed, it ensures that the extrusion tank 26 has a certain rotation angle, enabling the extrusion rod to squeeze the sealing plug inside the extrusion tank 26.

[0039] It is worth noting that the protection component includes conduits 27 communicated and installed at both ends of one side of the outer wall of the extrusion tank 26, connectors 28 communicated and installed at the other ends of the two groups of conduits 27, and a protective cover 29 communicated and installed with the two groups of connectors 28. The two groups of connectors 28 are respectively distributed at the top and bottom of the protective cover 29, and a one-way valve 213 is installed on each group of conduits 27. The one-way valve 213 installed on the conduit 27 at the top has a flow direction from the extrusion tank 26 to the support cover 24, and the one-way valve 213 installed on the conduit 27 at the bottom has a flow direction from the support cover 24 to the extrusion tank 26.

[0040] When the cooling water inside the extrusion tank 26 is extruded into the protective cover 29, in cooperation with the one-way valves 213 installed on the two groups of conduits 27, as the cooling water is continuously introduced into the protective cover 29, the original cooling water inside the protective cover 29 will be introduced into the extrusion tank 26, enabling the cooling water inside the protective cover 29 to circulate, which can greatly reduce the temperature of the electric slide rail 1 on one side of the protective cover 29.

[0041] It should be noted that the interiors of the two groups of protective covers 29 are cavity-shaped, positioning brackets 212 are welded to the side walls of the two groups of protective covers 29, and the two groups of positioning brackets 212 are respectively installed at the bottoms of the side walls of the two groups of brackets 13 through bolts.

[0042] When longitudinally adjusting the six-axis robot 2 by driving the longitudinal movement assembly, since the protective cover 29 is installed at the bottom of the side wall of the bracket 13 through the positioning bracket 212, it can ensure that the protective cover 29 installed on the bracket 13 is on the same plane as the six-axis robot 2, effectively blocking the sparks splashed out by the six-axis robot 2.

[0043] It is worth introducing that first positioning plates 214 are fixedly installed at one ends of the side walls of the two groups of extrusion rods, springs 215 are fixedly installed on the side walls of the two groups of first positioning plates 214, second positioning plates 216 are fixedly installed on the other sides of the two groups of springs 215, and one sides of the two groups of second positioning plates 216 are fixedly installed with the inner walls of the two groups of support covers 24 respectively.

[0044] When the base 22 of the six-axis robot 2 continuously drives the extrusion seat 21 to swing back and forth, it will continuously extrude the extrusion rod installed in the extrusion tank 26. In cooperation with the spring 215 installed between the first positioning plate 214 installed on the extrusion rod and the second positioning plate 216 installed inside the support cover 24, the extrusion rod can be supported and cushioned.

[0045] It should be emphasized that the damping mechanism includes piston rods fixedly installed at the four corners of the base 22, damping seats 3 slidably installed with the four groups of piston rods, damping pads 31 fixedly installed inside the damping seats 3, cavities opened inside the damping pads 31, pressure pumps connected and installed through pressure pipes 32 on one side of the cavities, water inlet pipes connected and installed at the inlet ports of the pressure pumps, and water tanks 34 connected and installed with the water inlet pipes. The water tanks 34 and the pressure pumps are both fixedly installed on the side walls of the base 22 through bolts, and pressure sensors are connected and installed inside the cavities.

[0046] The shock-absorbing pads 31 within the shock-absorbing mechanism are distributed between the shock-absorbing seat 3 and the base 22, and drive the pressure pump 33 installed on the outer side of the base 22. With a pressure sensor installed in communication with the interior of the cavity, the cooling water in the water tank 34 can be introduced into the interior of the shock-absorbing pads 31 at a constant pressure, so that a certain water pressure is maintained inside the shock-absorbing pads 31. Combining the shock-absorbing effect of the shock-absorbing pads 31 themselves with the buffering of the cooling water inside the cavities of the shock-absorbing pads 31 can greatly improve the shock-absorbing effect of the six-axis robot 2 during operation.

[0047] The foregoing has shown and described the basic principles, main features and advantages of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention. Any reference signs in the claims should not be construed as limiting the claims involved.

[0048] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A gantry inverted robot welding device, including a transverse slideway (15), characterized in that: A lateral moving assembly is installed in the lateral slideway (15). Both bottom sides of the lateral slideway (15) move back and forth through longitudinal moving assemblies. A six-axis robot (2) is installed at the bottom of the lateral moving assembly. A welding head (28) is installed at the port of the six-axis robot (2). A swing extrusion mechanism is installed on the base (22) of the six-axis robot (2). The swing extrusion mechanism is connected and installed with a protection assembly through a conduit (27). Damping seats (3) are movably installed at the four corners of the base (22) of the six-axis robot (2). The damping seats (3) are fixedly connected to the lateral moving assembly through bolts. A damping mechanism is installed between the damping seats (3) and the base (22).

2. The gantry inverted robot welding device according to claim 1, characterized in that: The lateral moving assembly includes an inner cavity (16) opened in the middle of the bottom of the lateral slideway (15), a screw rod (17) rotatably installed inside the inner cavity (16), a moving block (18) threadedly installed on one side of the screw rod (17), and a base (22) fixedly installed on the moving block (18) through bolts. The bases (22) are distributed on one side of the six-axis robot (2). The moving block (18) is slidably connected to the inner cavity (16).

3. The gantry inverted robot welding device according to claim 2, characterized in that: A motor is fixedly installed on the side wall of the lateral slideway (15). The driving output end of the motor is in transmission connection with a transmission shaft, and the other end of the transmission shaft is fixedly installed with one end of the screw rod (17).

4. A gantry inverted robot welding device according to claim 1, characterized in that: The longitudinal moving assembly includes connection seats (14) fixedly installed on both bottom sides of the lateral slideway (15) through bolts, brackets (13) welded to the middle parts of the other sides of the two groups of connection seats (14), electric sliders (11) fixedly installed at the bottoms of the two groups of brackets (13), and electric slide rails (1) slidably installed with the two groups of electric sliders (11). Outer covers (12) are fixedly installed on the outer sides of the two groups of electric sliders (11).

5. The gantry inverted robot welding device according to claim 1, characterized in that: The swing extrusion mechanism includes a base (22) rotatably installed on the top of the six-axis robot (2) through a connecting shaft, connection frames (23) fixedly installed at both ends of the side wall of the base (22), support covers (24) fixedly installed at the other ends of the two groups of connection frames (23), rotating shafts (25) rotatably installed at the central axes inside the two groups of support covers (24), extrusion cans (26) fixedly installed in the middle parts of the two groups of rotating shafts (25), sealing plugs hermetically connected inside the two groups of extrusion cans (26), extrusion rods fixedly installed in the middle parts of the outer sides of the two groups of sealing plugs, bushings (210) fixedly installed at the other ends of the two groups of extrusion rods, fixed shafts (211) rotatably installed inside the two groups of bushings (210), and extrusion seats (21) fixedly installed on one side of the two groups of fixed seats. The extrusion seats (21) are fixedly installed on the top of the six-axis robot (2).

6. The gantry inverted robot welding device according to claim 5, characterized in that: The protective component includes conduits (27) connected and installed at both ends on one side of the outer wall of the extrusion tank (26), connectors (28) connected and installed at the other ends of the two groups of conduits (27), and a protective cover (29) connected and installed with the two groups of connectors (28). The two groups of connectors (28) are respectively distributed at the top and bottom of the protective cover (29).

7. The gantry inverted robot welding device according to claim 6, characterized in that: One-way valves (213) are installed on each group of conduits (27). The one-way valve (213) installed on the conduit (27) at the top flows from the extrusion tank (26) to the support cover (24), and the one-way valve (213) installed on the conduit (27) at the bottom flows from the support cover (24) to the extrusion tank (26).

8. The gantry inverted robot welding device according to claim 6, characterized in that: The interiors of the two groups of protective covers (29) are cavity-shaped. Positioning frames (212) are welded on the side walls of the two groups of protective covers (29). The two groups of positioning frames (212) are respectively installed at the bottoms of the side walls of the two groups of brackets (13) by bolts.

9. The gantry inverted robot welding device according to claim 5, characterized in that: First positioning plates (214) are fixedly installed at one ends of the side walls of the two groups of extrusion rods. Springs (215) are fixedly installed on the side walls of the two groups of first positioning plates (214). Second positioning plates (216) are fixedly installed on the other sides of the two groups of springs (215). One sides of the two groups of second positioning plates (216) are fixedly installed with the inner walls of the two groups of support covers (24) respectively.

10. The gantry inverted robot welding device according to claim 1, characterized in that: The damping mechanism includes piston rods fixedly installed at the four corners of the base (22), damping seats (3) slidably installed with the four groups of piston rods, damping pads (31) fixedly installed inside the damping seats (3), cavities opened inside the damping pads (31), pressure pumps connected and installed through pressure pipes (32) on one side of the cavities, water inlet pipes connected and installed at the inlet ports of the pressure pumps, and water tanks (34) connected and installed with the water inlet pipes. The water tanks (34) and the pressure pumps are fixedly installed on the side walls of the base (22) by bolts. A pressure sensor is connected and installed inside the cavity.

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