Welding robot based on flexible continuum and operation method thereof

Abstract

The invention provides a welding robot based on a flexible continuum and an operation method of the welding robot, and belongs to the technical field of flexible robots. The robot comprises a machine movable arm, flexible continuum modules are connected to the working end of the machine movable arm, the flexible continuum modules are connected through universal shaft modules, and the flexible continuum modules and a welding gun module are connected through universal shaft modules. A driving rope is arranged in the flexible body module and penetrates through the shell to be connected with the universal shaft module, and the driving rope is driven to move through a motor and a guide wheel assembly, so that the driving rope drags the universal shaft module to complete multi-degree-of-freedom rotation, the spatial posture of the welding gun module can be accurately adjusted, and the welding gun module can flexibly reach a narrow or special-shaped welding area; therefore, the problem of blind areas caused by structural limitation of a traditional rigid mechanical arm is solved.

Description

Technical Field

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

[0002] In the field of industrial automated welding, traditional rigid robotic arm welding systems have long played a key role in the manufacturing industry due to their mature technical architectures. Relying on high-rigidity mechanical structures, through the coordinated cooperation of servo motors, precision reducers, and rigid connecting rods, they perform excellently in aspects such as the accuracy of the motion trajectory, dynamic response performance, and load-bearing capacity. Based on the articulated configuration design with fixed degrees of freedom, combined with inverse kinematics algorithms for programmed control, it can accurately and efficiently complete straight or circular weld welding tasks in standardized production scenarios such as automobile manufacturing and steel structure processing.

[0003] With the development of modern industry towards refinement and complexity, welding operation scenarios have become increasingly diverse, and the inherent defects of traditional rigid robotic arm welding systems have gradually become bottlenecks in the industry's development. The problem of insufficient spatial adaptability is particularly prominent. When facing welding tasks in narrow spaces and unstructured environments, it is difficult to achieve flexible operation. In multi-obstacle scenarios with dense frame structures such as ship cabins and vehicle frame welding, the robotic arm is limited by its own structure and often cannot reach the target weld position due to the risk of collision, resulting in the stagnation of welding work. To overcome the above spatial limitations, in practical applications, additional auxiliary equipment such as positioners and guide rails often needs to be equipped, which not only significantly increases the equipment procurement, installation, and maintenance costs, but also significantly improves the complexity of the system and reduces the overall production efficiency. Summary of the Invention

[0004] The present invention aims to at least partly solve one of the technical problems in the related technologies. For this purpose, the present invention proposes a welding robot based on a flexible continuum and its working method.

[0005] The technical solution for the present invention to solve the technical problem is: A welding robot based on a flexible continuum is proposed, including: a machine moving arm configured to be capable of performing multi-degree-of-freedom motion; not less than one group of flexible continuum modules, at least one group of flexible continuum modules is connected to the mechanical moving arm, the flexible continuum module includes a housing, and a plurality of groups of motors placed on one side inside the housing, the output shafts of the motors are wound with drive ropes, and on the other side inside the housing, a guide wheel assembly corresponding to the motors and used to guide the drive ropes out of the housing is connected; a welding torch module connected to one side of the flexible continuum module, and the flexible continua, as well as between the flexible continuum and the welding torch module, are all connected through a universal shaft module; a plurality of groups of the drive ropes pass through the housing and are connected to the universal shaft module to pull the universal shaft module to complete two degrees of freedom of rotation.

[0006] Preferably, the guide wheel assembly is connected to the other side of the housing in an annular array, and includes a first longitudinally arranged guide wheel, a first transversely arranged guide wheel, a second longitudinally arranged guide wheel, and a second transversely arranged guide wheel that are fixed in sequence from outside to inside. The drive rope passes through the rope passing hole in the housing under the guidance of the guide wheel assembly and is connected to the universal shaft module.

[0007] Preferably, the housing includes a protective shell, and a protective cover plate and a protective bottom plate are respectively arranged on both sides of the protective shell; several groups of the motors are connected to the inner wall of the protective bottom plate, and several groups of corresponding guide wheel assemblies are connected to the inner wall of the protective cover plate. A rope passing hole corresponding to the guide wheel assembly is opened on the protective cover plate.

[0008] Preferably, the universal shaft module includes two bearing bases. A bearing ear plate is arranged on the opposite side of the bearing base. The bearing ear plates are arranged in a rectangular shape. Rotatable bearing bodies are respectively connected to the inner walls of the bearing ear plates. Several groups of the bearing bodies are arranged in a "cross" shape. A bearing disc is commonly connected to the centers of several groups of the bearing bodies. The drive rope is connected to the bearing disc, and the bearing disc is driven to drive the flexible continuous body module or the welding torch module to complete two-degree-of-freedom rotation.

[0009] Preferably, a through first welding wire and shielding gas conduit through hole is opened in the housing, and the first welding wire and shielding gas conduit through hole is located at the central position of the motor and the guide wheel assembly; a second welding wire and shielding gas conduit through hole is opened on the bearing disc. The welding wire and shielding gas conduit body sequentially passes through the first welding wire and shielding gas conduit through hole and the second welding wire and shielding gas conduit through hole and is then connected to the welding torch module.

[0010] Preferably, four groups of connection rope through holes corresponding to the bearing bodies are opened on the bearing disc. The connection rope through holes and the rope passing hole are on the same central axis. The other end of the drive rope passes through the rope passing hole and the connection rope through hole and is then fixed to the bearing disc.

[0011] Preferably, several groups of winch bases are fixed to the inner wall of the protective bottom plate. A motor and a winch wing plate are fixed on the winch base at intervals. The output shaft of the motor is connected to a winch shaft. The other end of the winch shaft is rotatably connected to the winch wing plate. Two limiting plates are connected to the winch shaft at intervals. The drive rope is wound around the winch shaft and is located between the two limiting plates.

[0012] Preferably, the welding torch module includes a welding torch chassis connected to the outside of the flexible continuous body module. A welding torch fixture is connected to the outside of the welding torch chassis. A welding torch body is connected to the outside of the welding torch fixture; the welding torch fixture is used to fix the welding wire and shielding gas conduit body and provide working conditions for the welding torch body through the welding wire and shielding gas conduit body.

[0013] Preferably, the movable robotic arm includes a robotic arm base, and a robotic arm body is fixedly connected above the robotic arm base. The robotic arm body is connected to at least one group of flexible continuum modules.

[0014] The present invention also proposes an operation method for a welding robot based on a flexible continuum, which is characterized in that it is applied to any of the above-mentioned welding robots based on a flexible continuum, and the steps include: Controlling the machine movable arm to perform multi-degree-of-freedom movement, so as to drive the flexible continuum module and the welding torch module connected to the machine movable arm to reach the working position, and then the welding operation can be directly carried out; When in a narrow environment, the precise welding operation cannot be completed only by the machine movable arm; then, according to the adjustment requirement, two sets of symmetric motors in at least one group of flexible continuum module casings are started. One set of motors rotates to continuously wind the driving rope onto the winch shaft, and the other set of motors rotates in the opposite direction to release the driving rope; at this time, the two sets of driving ropes pass through the rope through holes and the connecting rope through holes on the casing and are positioned at both ends of the bearing disc, tightening and loosening at the same time, so as to drive the flexible continuum module and / or the welding torch module to perform micro-adjustment; During the adjustment process, since the welding wire and the protection gas conduit body can freely pass through the flexible continuum module and the universal joint module and are located at the central position, during the movement of the flexible continuum module and the universal joint module, it will not interfere with providing working conditions for the welding torch body.

[0015] Compared with the prior art, the above technical solution has the following advantages or beneficial effects: 1. In the present invention, two sets of flexible continuum modules are provided. Through this multi-degree-of-freedom control, the flexibility of welding can be improved. The universal joint module cooperates with the symmetric winding and unwinding mechanism of the driving rope, which can accurately adjust the spatial attitude of the welding torch module, and can flexibly reach narrow or special-shaped welding areas (such as the inner wall of a pipeline, a curved weld), solving the blind area problem caused by the structural limitation of the traditional rigid robotic arm.

[0016] 2. In the present invention, the flexible continuum module is driven by a driving rope and combined with a guide wheel assembly, which can reduce mechanical friction and clearance error. It can absorb high-frequency vibrations during the welding process and avoid defects such as false welding and undercut caused by the shaking of the welding torch body; the low-wear transmission method of the flexible continuum module is more fatigue-resistant than the traditional gear / rack structure and is suitable for long-term high-load operations. Description of the Drawings

[0017] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention, and do not constitute a limitation to the present invention.

[0018] Figure 1 It is a three-dimensional structural schematic diagram of the present invention.

[0019] Figure 2 It is a three-dimensional structural schematic diagram of the connection between the flexible continuum mold and the welding torch module through the universal shaft module in the present invention.

[0020] Figure 3 It is Figure 2 a three-dimensional structural schematic diagram of the connection between the flexible continuum mold in another direction and the welding torch module through the universal shaft module in

[0021] Figure 4 a schematic diagram of the internal motor layout structure in the flexible continuum module of the present invention.

[0022] Figure 5 a schematic diagram of the internal guide wheel assembly layout structure in the flexible continuum module of the present invention.

[0023] Figure 6 an internal cross-sectional view of the connection between the flexible continuum mold and the welding torch module through the universal shaft module.

[0024] Marking description in the figure: 1. Welding torch module; 2. Flexible continuum module; 3. Manipulator body; 4. Manipulator base; 5. Welding torch body; 6. Welding torch fixture; 7. Welding torch base; 8. Bearing base; 9. Bearing ear plate; 10. Bearing body; 11. Bearing disc; 12. Protection housing; 13. Protection cover plate; 14. Protection bottom plate; 15. Connecting rope through hole; 16. Rope through hole; 17. Motor; 18. Winch wing plate; 19. Limiting plate; 20. Driving rope; 21. Winch base; 22. First longitudinally arranged guide wheel; 23. First horizontally arranged guide wheel; 34. Second longitudinally arranged guide wheel; 25. Second horizontally arranged guide wheel; 26. First wire and shielding gas conduit through hole; 27. Second wire and shielding gas conduit through hole; 28. Wire and shielding gas conduit body. Specific embodiments

[0025] To make the objectives, features, and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the embodiments described below are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0026] It should be noted that in the description of the present invention, the terms indicating the direction or positional relationship such as "upper", "lower", "left", "right", "inner", "outer", etc. are based on the direction or positional relationship shown in the drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0027] In addition, it should also be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "mounted", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0028] The following will describe in detail some embodiments of the present application with reference to the drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0029] As Figures 1 to 6 shown, this embodiment provides a welding robot based on a flexible continuum, which includes a mechanical moving arm that is configured to be capable of multi-degree-of-freedom movement; it also includes not less than one group of flexible continuum modules 2, and at least one group of flexible continuum modules 2 located at the initial end is connected to the mechanical moving arm. The flexible continuum module 2 includes a housing, and several groups of motors 17 placed on one side inside the housing. The output shaft of the motor 17 is wound with a driving rope 20. On the other side inside the housing, there is a guide wheel assembly connected corresponding to the motor 17 for guiding the driving rope 20 to pass through the housing; it also includes a welding torch module 1, and the welding torch module 1 is connected to one side of the flexible continuum module 2. Between adjacent flexible continuum modules 2, and between the flexible continuum and the welding torch module 1, they are all connected through a universal joint module. The above-mentioned driving rope 20 passes through the housing and is connected to the universal joint module, and traction drives the universal joint module to complete two degrees of freedom of rotation.

[0030] In this design, taking Figure 1 as an example, a total of two groups of flexible continuum modules 2 are provided, and the angle between these two groups of flexible continuum modules 2 is 45 degrees. The whole can add four degrees of freedom of rotation to the welding torch. Through this multi-degree-of-freedom control, the flexibility of welding can be improved. The universal joint module cooperates with the symmetric retraction and release mechanism of the driving rope 20, which can accurately adjust the spatial attitude of the welding torch module 1, and can flexibly reach narrow or irregular welding areas (such as the inner wall of a pipe, a curved weld), solving the blind area problem caused by the structural limitation of the traditional rigid robotic arm.

[0031] Furthermore, this modular flexible design can enhance anti-interference and durability. The flexible continuum module 2 is driven by a drive rope 20 and combined with a guide wheel assembly to reduce mechanical friction and clearance errors. It can absorb high-frequency vibrations during the welding process and avoid defects such as false soldering and edge biting caused by the shaking of the welding torch body 5. This low-wear drive method of the flexible continuum module 2 is more fatigue-resistant than the traditional gear / rack structure and is suitable for long-term high-load operations.

[0032] In some embodiments, the guide wheel assembly is connected to the other side of the housing in an annular array, which includes a first longitudinally arranged guide wheel 22, a first transversely arranged guide wheel 23, a second longitudinally arranged guide wheel 34, and a second transversely arranged guide wheel 25 that are sequentially fixed from the outside to the inside (the "inside" is the central position of the housing). Refer to Figure 5 The drive rope 20 passes through the rope through-hole 16 in the housing under the guidance of the guide wheel assembly and is connected to the universal shaft.

[0033] In some embodiments, the housing includes a protective shell 12, and protective covers 13 and a protective bottom plate 14 are respectively arranged on both sides of the protective shell 12. The above-mentioned several groups of motors 17 are connected to the inner wall of the protective bottom plate 14 in an annular array, and the above-mentioned several groups of corresponding guide wheel assemblies are connected to the inner wall of the protective cover 13, and the two are arranged at intervals. The protective cover 13 is provided with a rope through-hole 16 corresponding to the guide wheel assembly.

[0034] In this design, the motor 17 is used to drive the drive rope 20 to achieve retraction and extension. During the retraction and extension process of the drive rope 20, it needs to pass through the rope through-hole 16 on the housing smoothly and vertically. Therefore, the above-mentioned guide wheel assembly is used to control the drive rope 20. Through the staggered arrangement of the transversely arranged guide wheels and the longitudinally arranged guide wheels, the traction force direction received by the drive rope 20 can be tangent to the above-mentioned guide wheels (or perpendicular to the guide wheel axle, so that the traction force acts completely on the fixing bolts of the guide wheel base and the winch base 21), avoiding the generation of a component force parallel to the guide wheel axle (avoiding the generation of torque acting on the fixing bolts of the guide wheel base and the winch base 21), and ensuring the service life of the above-mentioned guide wheels. At the same time, using two groups of transversely arranged guide wheels and longitudinally arranged guide wheels can make the drive rope 20 pass through the rope through-hole 16 vertically and smoothly, avoiding friction between the drive rope 20 and the rope through-hole 16.

[0035] In some embodiments, the universal joint module includes two bearing bases 8. The bearing bases 8 are provided with holes corresponding to the rope holes 16 and the first welding wire and shielding gas conduit holes 26 for the drive rope 20 and the welding wire and shielding gas conduit body 28 to pass through. Two sets of bearing ear plates 9 are provided on opposite sides of the bearing bases 8. A total of four sets of bearing ear plates 9 are arranged in a rectangular shape. The inner walls of the bearing ear plates 9 are respectively connected to rotatable bearing bodies 10. These four sets of bearing bodies 10 are arranged in a "cross" shape. A bearing disk 11 is commonly connected to the center of these bearing bodies 10. The drive rope 20 is connected to these bearing disks 11, and the bearing disk 11 is pulled to drive the flexible continuum module 2 or the welding gun module 1 to complete the rotation of two degrees of freedom. In this design, the drive rope 20 is more convenient to control the adjacent flexible continuum module 2 or welding gun module 1 by means of the bearing disk 11; Figure 6 For example, by starting the upper and lower motors 17 in the rightmost flexible continuum module 2, the upper motor 17 tightens the corresponding drive rope 20, and the lower motor 17 loosens the corresponding drive rope 20, the bearing disk 11 can be controlled to rotate upward, thereby driving the flexible continuum module 2 connected to the other side of the bearing disk 11 to complete the upward rotation action; through this design, the coordinated control of symmetrical forces is formed, the purpose of continuously adjustable welding angle is achieved, and the high-precision welding requirements under complex working conditions can be met.

[0036] In some embodiments, the bearing disc 11 is provided with four sets of connecting rope through holes 15 corresponding to the bearing body 10. These connecting rope through holes 15 and the rope through hole 16 are coaxial. The other end of the drive rope 20 passes through the rope through holes 16 and the connecting rope before being secured to the bearing disc 11. This layout ensures that the force applied to the drive rope 20 is highly consistent with the rotational axis of the bearing disc 11, effectively reducing wear and vibration caused by loads and improving structural stability. It also simplifies routing, facilitates assembly and maintenance, and reduces energy loss due to rope friction.

[0037] In some embodiments, a plurality of capstan bases 21 are fixed to the inner wall of the protective base plate 14. Separate motors 17 and capstan wing plates 18 are fixed to the capstan bases 21. The output shaft of the motor 17 is connected to the capstan shaft, and the other end of the capstan shaft is rotatably connected to the capstan wing plate 18 to ensure that the capstan shaft can rotate smoothly under the drive of the motor 17. Two limit plates 19 are connected to the capstan shaft at intervals. The drive rope 20 is wound around the agitator shaft and located between the two limit plates 19. The design of the limit plates 19 can standardize the winding path of the drive rope 20, ensure the regular arrangement of the drive rope 20, and significantly improve the efficiency and stability of the retraction and release of the drive rope 20 when the capstan shaft rotates.

[0038] When the motor 17 starts, the winch shaft rotates driven by the motor 17, orderly winding and unwinding the drive rope 20. After being guided by the guide wheel assembly, the pulling force is transmitted to the bearing plate 11 of the universal shaft assembly, thereby driving the flexible continuum module 2 or the welding torch module 1 to complete angle adjustment and attitude transformation, realizing precise operation of the welding robot in a complex space.

[0039] In some embodiments, a through first welding wire and shielding gas conduit through-hole 26 is provided in the housing. The first welding wire and shielding gas conduit through-hole 26 is located at the central position of the guide wheel assembly of the motor 17. A second welding wire and shielding gas conduit through-hole 27 is provided on the bearing plate 11. The welding wire and shielding gas conduit body sequentially passes through the first welding wire and shielding gas conduit through-hole 26 and the second welding wire and shielding gas conduit through-hole 27 and then is connected to the welding torch module 1. In this design, due to the central alignment design of the two groups of through-holes, even when the flexible continuum module 2 pulls the universal shaft assembly to rotate with degrees of freedom through the drive rope 20, the welding wire and shielding gas conduit body 28 always maintains a smooth conveying state and will not be bent, squeezed or wound due to the swinging or rotation of the flexible continuum module 2 or the universal shaft module, thus ensuring that the welding torch module 1 stably obtains the materials and gases required for welding and providing a reliable guarantee for continuous and efficient welding operations. In some embodiments, the welding torch module 1 includes a welding torch base 7 connected to the outside of the flexible continuum module 2. A welding torch clamp 6 is connected to the outside of the welding torch base 7. A welding torch body 5 is connected to the outside of the welding torch clamp 6. The welding torch clamp 6 is used to fix the welding wire and shielding gas conduit body 28 and provide operating conditions for the welding torch body 5 through the welding wire and shielding gas conduit body 28. This hierarchical connection structure design enables each part of the welding torch module 1 to have clear division of labor and work together, providing a reliable guarantee for the welding robot to achieve efficient and stable welding operations.

[0040] In some embodiments, the movable robotic arm includes a robotic arm base 4. A robotic arm body 3 is fixedly connected above the robotic arm base 4. The robotic arm body 3 is connected to at least one group of flexible continuum modules 2. The robotic arm body 3 cooperates with the flexible continuum modules 2 and the welding torch module 1 to perform welding operations, so as to achieve multi-degree-of-freedom movement in a large space and complete the purpose of welding operations.

[0041] In the present invention, to ensure the stable connection and coordinated operation among key components, a fixing method using bolts and threaded holes in cooperation is adopted. Specifically, threaded holes are correspondingly provided on components such as the protective housing 12, the protective cover plate 13, the protective bottom plate 14, the bearing base 8, the welding chassis, and the winch base 21. Through the threaded holes provided at these positions, when assembly is required, simply screwing the bolts accurately into the corresponding threaded holes can achieve the tight fixation between components. During the use of this robot, it is inevitable that component damage or maintenance is needed. Adopting this connection method facilitates the easy separation of each component for repair, replacement, or improvement, and can effectively reduce the maintenance cost and time.

[0042] In the present invention, an operation method of a welding robot based on a flexible continuum is also proposed, which is applied to any one of the above-mentioned welding robots based on a flexible continuum. The steps include: Controlling the machine moving arm to perform multi-degree-of-freedom movement, thereby driving the flexible continuum module 2 and the welding torch module 1 connected to the machine moving arm to reach the working position, and then the welding operation can be directly carried out; When in a narrow environment, the precise welding operation cannot be completed only by the machine moving arm; then, according to the adjustment requirement, at least a group of two symmetric motors 17 in the flexible continuum module 2 housing are started. One group of motors 17 rotates to continuously wind the driving rope 20 onto the winch shaft, and the other group of motors 17 rotates in the opposite direction to release the driving rope 20; at this time, the two driving ropes 20 pass through the rope through holes 16 and the connecting rope through holes 15 on the housing and are positioned at both ends of the bearing disc 11, tightening and relaxing at the same time, so as to drive the flexible continuum module 2 and / or the welding torch module 1 to perform micro-adjustment; During the adjustment process, since the welding wire and the protective gas conduit body 28 can freely pass through the flexible continuum module 2 and the universal shaft module and are located at the central position, during the movement of the flexible continuum module 2 and the universal shaft module, it will not interfere with the working conditions provided for the welding torch body 5.

[0043] Although the specific implementation manners of the invention are described above in conjunction with the drawings, it is not a limitation to the protection scope of the present invention. Based on the technical solutions of the present invention, various modifications or deformations that can be made by those skilled in the art without creative efforts are still within the protection scope of the present invention.

Claims

1. A welding robot based on a flexible continuum, characterized in that, Comprising: A robotic manipulator arm configured to be capable of multi-degree-of-freedom movement; Not less than one set of flexible continuum modules (2), at least one set of flexible continuum modules (2) being connected to the robotic manipulator arm. The flexible continuum module (2) includes a housing, and a plurality of sets of motors (17) disposed on one side inside the housing. A drive rope (20) is wound around the output shaft of the motor (17), and on the other side inside the housing, a guide wheel assembly corresponding to the motor (17) and used to guide the drive rope (20) out of the housing is connected; A welding torch module (1) connected to one side of the flexible continuum module (2). Between the flexible continua and between the flexible continuum and the welding torch module (1), they are all connected by a universal shaft module; A plurality of sets of the drive ropes (20) pass through the housing and are connected to the universal shaft module, pulling the universal shaft module to complete rotation in two degrees of freedom.

2. The welding robot based on a flexible continuum according to claim 1, wherein The guide wheel assembly is connected to the other side of the housing in an annular array, and includes a first longitudinally disposed guide wheel (22), a first transversely disposed guide wheel (23), a second longitudinally disposed guide wheel (34), and a second transversely disposed guide wheel (25) fixed in sequence from the outside to the inside. The drive rope (20) passes through a rope passing hole (16) in the housing under the guidance of the guide wheel assembly and is connected to the universal shaft module.

3. The welding robot based on a flexible continuum according to claim 1, wherein The housing includes a protective outer shell (12), and a protective cover plate (13) and a protective bottom plate (14) are respectively disposed on both sides of the protective outer shell (12); A plurality of sets of the motors (17) are connected to the inner wall of the protective bottom plate (14), and a plurality of corresponding guide wheel assemblies are connected to the inner wall of the protective cover plate (13). A rope passing hole (16) corresponding to the guide wheel assembly is provided on the protective cover plate (13).

4. A welding robot based on a flexible continuum according to claim 1, characterized in that, The universal shaft module includes two bearing bases (8). On the opposite surfaces of the bearing bases (8), bearing ear plates (9) are provided. The bearing ear plates (9) are arranged in a rectangular shape. Rotatable bearing bodies (10) are respectively connected to the inner walls of the bearing ear plates (9). A plurality of sets of the bearing bodies (10) are arranged in a "cross" shape. A bearing disc (11) is commonly connected at the centers of a plurality of sets of the bearing bodies (10). The drive rope (20) is connected to the bearing disc (11), pulling the bearing disc (11) to drive the flexible continuum module (2) or the welding torch module (1) to complete rotation in two degrees of freedom.

5. The welding robot based on a flexible continuum according to claim 4, wherein A first welding wire and shielding gas conduit through hole (26) that penetrates is provided inside the housing, and the first welding wire and shielding gas conduit through hole (26) is located at the center positions of the motor (17) and the guide wheel assembly; A second welding wire and shielding gas conduit through hole (27) is provided on the bearing disc (11). The welding wire and shielding gas conduit body (28) passes through the first welding wire and shielding gas conduit through hole (26) and the second welding wire and shielding gas conduit through hole (27) in sequence and is then connected to the welding torch module (1).

6. The welding robot based on a flexible continuum according to claim 4, wherein Four connection rope through holes (15) corresponding to the bearing bodies (10) are provided on the bearing disc (11). The connection rope through holes (15) and the rope passing holes (16) are on the same central axis. The other end of the drive rope (20) passes through the rope passing hole (16) and the connection rope through hole (15) and is then fixed to the bearing disc (11).

7. A welding robot based on a flexible continuum according to claim 3, characterized in that, A plurality of groups of winch bases (21) are fixed to the inner wall of the protection base plate (14). Motors (17) and winch wing plates (18) are fixed to the winch bases (21) at intervals. A winch shaft is connected to the output shaft of the motor (17), and the other end of the winch shaft is rotatably connected to the winch wing plate (18). Two limit plates (19) are connected to the winch shaft at intervals. The driving rope (20) is wound around the winch shaft and is located between the two limit plates (19).

8. A welding robot based on a flexible continuum according to claim 1, characterized in that, The welding torch module (1) includes a welding torch base (7) connected to the outside of the flexible continuum module (2). A welding torch clamp (6) is connected to the outside of the welding torch base (7), and a welding torch body (5) is connected to the outside of the welding torch clamp (6); the welding torch clamp (6) is used to fix the welding wire and the protection gas conduit body (28), and provides operating conditions for the welding torch body (5) through the welding wire and the protection gas conduit body (28).

9. The welding robot based on a flexible continuum according to claim 1, characterized in that, The movable robotic arm includes a robotic arm base (4), and a robotic arm body (3) is fixedly connected above the robotic arm base (4). The robotic arm body (3) is connected to at least one group of flexible continuum modules (2).

10. An operating method of a welding robot based on a flexible continuum, characterized in that, Applied to the flexible continuum-based welding robot according to any one of claims 1 to 9, the steps include: Controlling the robotic arm to perform multi-degree-of-freedom movements, so as to drive the flexible continuum module (2) and the welding torch module (1) connected to the robotic arm to reach the working position, and then the welding operation can be directly carried out; When in a narrow environment, the precise welding operation cannot be completed only by the robotic arm; then, according to the adjustment requirements, two symmetric motors (17) in the housing of at least one group of flexible continuum modules (2) are started. One group of motors (17) rotates to continuously wind the driving rope (20) onto the winch shaft, and the other group of motors (17) rotates in the opposite direction to release the driving rope (20); at this time, the two driving ropes (20) pass through the rope passing holes (16) and the connecting rope through holes (15) on the housing and are positioned at both ends of the bearing plate (11), tightening and relaxing at the same time, so as to drive the flexible continuum module (2) and / or the welding torch module (1) to perform micro-adjustment; During the adjustment process, since the welding wire and the protection gas conduit body (28) can freely pass through the flexible continuum module (2) and the universal shaft module and are located at the central position, during the movement of the flexible continuum module (2) and the universal shaft module, it will not interfere with providing operating conditions for the welding torch body (5).

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