Welding robot

Abstract

The invention discloses a welding robot. The welding robot comprises a robot body; the mechanical arm assembly is integrated on the robot body, and a welding gun is installed at the front end of the mechanical arm assembly; the position and angle of the welding gun are adjusted through the mechanical arm assembly. The welding robot further comprises a stabilizing assembly. The stabilizing assembly is arranged below the mechanical arm assembly and keeps the state of the mechanical arm assembly through a piston. According to the welding robot, the welding position and angle can be adjusted through rotation of the multiple mechanical arms, the movement range is larger, large workpieces or welding seams with the farther welding position distance can be easily and effectively touched, and the device is better in flexibility and wide in application range.

Description

Technical Field

[0001] The present invention relates to the technical field of welding, and in particular to a welding robot. Background Art

[0002] A welding robot is a robotic device used for welding operations in industrial production. It is usually composed of a robot body, a control cabinet, and a welding gun. The robot body has multiple programmable robotic arms. The welding position and angle are adjusted by programming the robotic arms to rotate, and the welding task can be performed automatically.

[0003] At present, the robotic arms of most welding robots are fixed in length, and the welding position and angle are mainly adjusted by rotating multiple robotic arms, resulting in a limited range of motion. Large workpieces or welds that are far away from the welding position cannot be effectively reached, resulting in the inability to complete the welding task, which limits the scope of application and flexibility of the welding robot.

[0004] Therefore, based on the above technical problems, technicians in this field are in urgent need of developing a welding robot. Summary of the Invention

[0005] The purpose of the present invention is to provide a welding robot that can adjust the welding position and angle through the rotation of multiple mechanical arms, so that the range of activity is larger, and large workpieces or welds that are far away from the welding position can be easily and effectively reached. The device has better flexibility and a wide range of applications.

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

[0007] A welding robot according to the present invention comprises:

[0008] Robot body;

[0009] A mechanical arm assembly integrated with the robot body, with a welding gun installed at the front end of the mechanical arm assembly;

[0010] The position and angle of the welding gun are adjusted by the mechanical arm assembly;

[0011] The welding robot also includes:

[0012] Stable components;

[0013] The stabilizing component is arranged below the mechanical arm component and maintains the state of the mechanical arm component through a piston.

[0014] Furthermore, the robot body is the base of the welding robot;

[0015] The robot arm assembly is divided into a first robot arm connected to the robot body; and

[0016] a second robotic arm disposed at an upper end of the first robotic arm;

[0017] The second robotic arm is connected to the welding gun via an adjustment structure;

[0018] The adjustment structure is used to adjust the position of the welding gun;

[0019] The first robotic arm is rotatably connected to the base and flipped relative to the base via a driving structure;

[0020] The second robotic arm is rotatably connected to the first robotic arm and flipped relative to the first robotic arm via a driving structure;

[0021] The angle of the welding gun is adjusted by flipping the first robotic arm and the second robotic arm.

[0022] Furthermore, the adjustment structure includes a telescopic component and an adjustment component, and a support component located below the telescopic component and the adjustment component;

[0023] The front end of the telescopic assembly is connected to a welding gun seat, and the welding gun is arranged on the welding gun seat;

[0024] The support assembly is connected to the lower portion of the welding gun seat;

[0025] The adjusting assembly is used to drive the telescopic assembly and the supporting assembly to move so as to adjust the position of the welding gun seat.

[0026] Furthermore, the adjustment component includes:

[0027] a mounting bracket extending along a first direction;

[0028] a drive motor disposed at one end of the mounting frame; and

[0029] a bidirectional screw connected to the output end of the drive motor, wherein the screw portions at both ends of the bidirectional screw have opposite spiral directions;

[0030] Both ends of the bidirectional screw are threadedly connected to the corresponding screw parts with sleeves, the mounting frame is provided with a guide groove, and the sleeve protrudes to form a guide plate slidably connected to the guide groove;

[0031] A connecting plate is protruded from the side surface of the sleeve.

[0032] Furthermore, the telescopic assembly includes:

[0033] Two groups of connecting rod structures, and the two groups of connecting rod structures are symmetrically arranged along the adjustment assembly;

[0034] One end of one set of the connecting rod structures is connected to the second robotic arm, and the other end thereof is rotatably connected to the two connecting plates respectively through two connecting rods;

[0035] Another set of connecting rod structures has one end connected to the welding gun holder, and the other end thereof is rotatably connected to the two connecting plates respectively through two connecting rods;

[0036] The adjustment assembly drives the connecting rod structure to rotate to adjust the position of the welding gun seat at the front end.

[0037] Furthermore, the two connecting rods of the connecting rod structure are connected to each other at one end through an expansion plate, the connecting rods are rotatably connected to the expansion plate, and the expansion plate is further provided with a third connecting seat;

[0038] One end of the connecting rod is rotatably connected to the connecting plate through a first connecting seat, and the other end of the connecting rod is rotatably connected to the expansion plate through a second connecting seat.

[0039] Furthermore, the support assembly extends in a direction perpendicular to the adjustment assembly;

[0040] The support assembly comprises:

[0041] a fixing plate connected to the second robot arm, wherein the fixing plate is hollow inside to form a receiving cavity; and

[0042] A synchronization plate slidably connected to the accommodating cavity of the fixed plate, wherein the synchronization plate is connected to the bottom of the welding gun seat via a protrusion;

[0043] The synchronization plate is provided with an anti-slip plate at one end inside the fixed plate, and the synchronization plate cooperates with the folded edge of the open end of the fixed plate through the anti-slip plate to prevent the synchronization plate from being separated from the fixed plate.

[0044] Furthermore, the stabilizing assembly includes four groups of stabilizing units;

[0045] One end of the two groups of stabilizing units is movably connected to the bottom of the mounting frame, and the other end is movably connected to the side of the synchronization plate;

[0046] One end of the other two groups of stabilizing units is movably connected to the bottom of the mounting frame, and the other end is movably connected to the side of the fixing plate.

[0047] Furthermore, the stabilizing unit includes:

[0048] A guide cylinder and a piston rod slidably connected to the guide cylinder;

[0049] A fourth connecting seat is provided at the end of the guide cylinder, and the guide cylinder is rotatably connected to the fourth connecting seat;

[0050] A fifth connecting seat is provided at the end of the piston rod, and the piston rod is rotatably connected to the fifth connecting seat;

[0051] A spring is sleeved on the piston rod, and a piston plate is provided at the end of the piston rod located at one end inside the guide cylinder.

[0052] In the above technical solution, the present invention provides a welding robot with the following beneficial effects:

[0053] The welding robot of the present invention can adjust the welding position and angle by rotating multiple mechanical arms, so that the range of movement is larger. Large workpieces or welds at a long distance from the welding position can be easily and effectively reached. The device has better flexibility and a wide range of applications.

[0054] The present invention provides a telescopic assembly between the second robotic arm and the welding gun, which can effectively change the extension length of the welding gun relative to the robot body, thereby expanding the welding range of the welding robot and enabling the welding gun to reach welds at a greater distance. This solves the problem that existing welding robots have a limited range of motion and are unable to complete welding of large workpieces or distant welds, greatly improving the applicability and flexibility of the welding robot.

[0055] The present invention can stably drive the two sleeves to move in opposite or opposite directions by adjusting the mutual cooperation of parts such as the bidirectional screw, mounting frame, guide plate and guide groove in the assembly, thereby realizing stable extension and retraction of the telescopic assembly, ensuring the smooth movement of the welding gun during the extension and retraction process, reducing jitter and deviation during welding, and helping to improve welding quality. The bidirectional screw relies on the thread to move the sleeves in opposite or opposite directions, ensuring the progress of the sleeve's linear motion, thereby ensuring that the telescopic distance of the welding gun is accurate and controllable.

[0056] The present invention further enhances the stability of the connection between the second robotic arm and the welding gun by arranging a support assembly and a stabilizing assembly, thereby providing more stable support for the welding gun. When the welding gun is extended, the length of the support assembly changes together. At the same time, when the support assembly is extended, the stabilizing assembly provides buffering through hydraulic oil and springs, ensuring that the telescopic assembly runs smoothly and moves steadily, and can buffer and compensate for tiny vibrations of the welding gun, reducing the influence of external interference on welding accuracy, so that the welding gun can maintain a stable posture during the welding process, and effectively avoiding welding defects caused by shaking of the welding gun. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments described in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0058] Figure 1 This is a schematic structural diagram of a welding robot disclosed in an embodiment of the present invention;

[0059] Figure 2 This is a schematic structural diagram of a telescopic assembly of a welding robot disclosed in an embodiment of the present invention;

[0060] Figure 3 This is a schematic structural diagram of an adjustment component of a welding robot disclosed in an embodiment of the present invention;

[0061] Figure 4 This is a schematic structural diagram of a support assembly and a stabilizing assembly of a welding robot disclosed in an embodiment of the present invention;

[0062] Figure 5 A cross-sectional view of a support assembly of a welding robot disclosed in an embodiment of the present invention;

[0063] Figure 6 This is a structural cross-sectional view of a stabilization unit of a welding robot disclosed in an embodiment of the present invention.

[0064] Description of reference numerals:

[0065] 1. Robot body; 2. Telescopic assembly; 3. Adjustment assembly; 4. Support assembly; 5. Stabilization assembly;

[0066] 101. First robotic arm; 102. Second robotic arm; 103. Welding gun;

[0067] 201, sleeve; 202, connecting plate; 203, first connecting seat; 204, connecting rod; 205, second connecting seat; 206, expansion plate; 207, third connecting seat;

[0068] 301, bidirectional screw; 302, mounting bracket; 303, guide plate; 304, guide groove; 305, mounting plate; 306, drive motor;

[0069] 401, fixing plate; 402, accommodating cavity; 403, anti-slip plate; 404, synchronization plate; 405, protrusion;

[0070] 501, fourth connecting seat; 502, first mounting platform; 503, guide cylinder; 504, piston plate; 505, piston rod; 506, second mounting platform; 507, fifth connecting seat; 508, piston hole; 509, spring. DETAILED DESCRIPTION

[0071] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0072] See also Figures 1 to 6 As shown;

[0073] A welding robot according to this embodiment includes:

[0074] Robot body 1;

[0075] A robotic arm assembly integrated into the robot body 1, with a welding gun 103 installed at the front end of the robotic arm assembly;

[0076] The position and angle of the welding gun 103 are adjusted by the robotic arm assembly;

[0077] The welding robot also includes:

[0078] Stabilizing component 5;

[0079] The stabilizing assembly 5 is disposed below the robotic arm assembly and maintains the state of the robotic arm assembly through a piston.

[0080] Specifically, this embodiment discloses a multi-degree-of-freedom, multi-angle, and position-adjustable welding robot, which includes a robot body 1, a robotic arm assembly integrated in the robot body 1, and a welding gun 103 integrated in the front end of the device; wherein the robotic arm assembly is connected to the welding gun seat of the welding gun 103 at the front end through an adjustment structure and a stabilization assembly. The device of this embodiment can achieve position and angle adjustment of the welding gun seat and the welding gun 103 through the robotic arm assembly and the adjustment structure, and can meet the welding requirements of welds within different ranges.

[0081] Preferably, the robot body 1 of this embodiment is the base of the welding robot; the robot arm assembly is divided into a first robot arm 101 connected to the robot body 1; and a second robot arm 102 arranged at the upper end of the first robot arm 101; the second robot arm 102 and the welding gun 103 are connected through an adjustment structure; the adjustment structure is used to adjust the position of the welding gun 103; the first robot arm 101 is rotatably connected to the base and flipped relative to the base through the driving structure; the second robot arm 102 is rotatably connected to the first robot arm 101 and flipped relative to the first robot arm 101 through the driving structure; the angle of the welding gun 103 is adjusted by flipping the first robot arm 101 and the second robot arm 102.

[0082] The robotic arm of this embodiment mainly adopts the angle adjustment method to change the angle of the welding gun 103. It can select the conventional electric drive adjustment device in the prior art, so that the first robotic arm 101 and the base, as well as the second robotic arm 102 and the first robotic arm 101 are all connected by rotation to facilitate angle adjustment.

[0083] Preferably, the adjustment structure of this embodiment includes a telescopic component 2 and an adjustment component 3, and a support component 4 located below the telescopic component 2 and the adjustment component 3;

[0084] The front end of the telescopic assembly 2 is connected to the welding gun seat, and the welding gun 103 is set on the welding gun seat;

[0085] The support assembly 4 is connected to the lower part of the welding gun seat;

[0086] The adjusting assembly 3 is used to drive the telescopic assembly 2 and the supporting assembly 4 to move so as to adjust the position of the welding gun seat.

[0087] Preferably, the adjustment assembly 3 of this embodiment includes: a mounting frame 302 extending along a first direction; a drive motor 306 disposed at one end of the mounting frame 302; and a bidirectional screw 301 connected to an output end of the drive motor 306, wherein the screw portions at both ends of the bidirectional screw 301 have opposite spiral directions.

[0088] Both ends of the bidirectional screw 301 are threadedly connected to the corresponding screw parts with sleeves 201, the mounting frame 302 is provided with a guide groove 304, and the sleeve 201 is protruded to form a guide plate 303 that is slidably connected to the guide groove 304;

[0089] A connecting plate 202 is formed on the side surface of the sleeve 201 .

[0090] This embodiment further defines the structure of the adjustment component 3, which is the power source part for adjusting the position of the welding gun 103 of this application. The adjustment component 3 of this embodiment includes a mounting frame 302 and a bidirectional screw 301 arranged on the mounting frame 302. The spiral directions of the screw threads at both ends of the bidirectional screw 301 of this embodiment are opposite. Therefore, when the bidirectional screw 301 rotates under the drive of the drive motor 306, it can drive the sleeves 201 at both ends to move synchronously in opposite directions.

[0091] Based on the structure of the above-mentioned adjustment component 3, this embodiment further defines the structure of the telescopic component 2, specifically:

[0092] The telescopic assembly 2 includes two sets of connecting rod structures, and the two sets of connecting rod structures are symmetrically arranged along the adjustment assembly 3;

[0093] One end of one set of connecting rod structures is connected to the second robotic arm 102, and the other end thereof is rotatably connected to the two connecting plates 202 respectively through two connecting rods 204;

[0094] Another set of connecting rod structures has one end connected to the welding gun holder, and the other end thereof is rotatably connected to the two connecting plates 202 through two connecting rods 204;

[0095] The adjustment component 3 drives the connecting rod structure to rotate to adjust the position of the welding gun seat at the front end.

[0096] Based on the driving principle of the sleeve 201 of the above-mentioned adjustment component 3, this embodiment further limits the structure of the telescopic component 2, which is mainly used to cooperate with the adjustment component 3 to adjust the position of the welding gun seat at the front end. Specifically, it is connected to the sleeve 201 through a connecting rod structure, and one end of the telescopic component 2 moves with the sleeve 201, thereby changing the angle of the connecting rod 204 to ultimately change the position of the welding gun seat.

[0097] Preferably, the two connecting rods 204 of the connecting rod structure of this embodiment are connected to each other at one end through an extension plate 206, and the connecting rod 204 is rotatably connected to the extension plate 206. The extension plate 206 is also provided with a third connecting seat 207; one end of the connecting rod 204 is rotatably connected to the connecting plate 202 through the first connecting seat 203, and the other end of the connecting rod 204 is rotatably connected to the extension plate 206 through the second connecting seat 205.

[0098] Preferably, the support assembly 4 of this embodiment extends in a direction perpendicular to the adjustment assembly 3;

[0099] The support assembly 4 includes:

[0100] A fixing plate 401 connected to the second robot arm 102 , wherein the fixing plate 401 is hollow inside to form a receiving chamber 402 ; and

[0101] A synchronization plate 404 is slidably connected to the receiving cavity 402 of the fixed plate 401, and the synchronization plate 404 is connected to the bottom of the welding gun holder through the protrusion 405;

[0102] The synchronizing plate 404 is located inside the fixed plate 401 and is provided with an anti-slip plate 403 at one end. The synchronizing plate 404 cooperates with the folded edge of the open end of the fixed plate 401 through the anti-slip plate 403 to prevent the synchronizing plate 404 from detaching from the fixed plate 401.

[0103] During long-term operation, the EMU body skin may suffer local damage or cracks due to collisions, foreign object impacts, etc. This welding robot can accurately weld the damaged parts. Through the telescopic component 2, this welding robot can extend the welding gun 103 into the interior of the EMU body or close to the hard-to-reach skin area, use the welding gun 103 to repair the damage, restore the integrity and airtightness of the skin, and ensure the safety and stability of the EMU body during high-speed operation. The consistency of its welding quality is better than manual welding, and it can effectively avoid the stress concentration problem caused by uneven welding.

[0104] During the maintenance of EMUs, it is found that the inner wall of the hole-shaped parts is damaged or deformed due to wear. This welding robot can repair the hole-shaped parts by internal hole surfacing welding, restoring the hole size to the design requirements, avoiding the scrapping of the entire component due to hole wear, and extending the service life of high-value or difficult-to-replace parts.

[0105] Preferably, the stabilizing assembly 5 of this embodiment includes four groups of stabilizing units;

[0106] One end of the two stabilizing units is movably connected to the bottom of the mounting frame 302, and the other end is movably connected to the side of the synchronization plate 404;

[0107] One end of the other two groups of stabilizing units is movably connected to the bottom of the mounting frame 302 , and the other end is movably connected to the side of the fixing plate 401 .

[0108] The stabilization unit of this embodiment includes:

[0109] A guide cylinder 503 and a piston rod 505 slidably connected to the guide cylinder 503;

[0110] A fourth connecting seat 501 is provided at the end of the guide cylinder 503, and the guide cylinder 503 is rotatably connected to the fourth connecting seat 501;

[0111] A fifth connecting seat 507 is provided at the end of the piston rod 505, and the piston rod 505 is rotatably connected to the fifth connecting seat 507;

[0112] A spring 509 is sleeved on the piston rod 505 , and a piston plate 504 is provided at one end of the piston rod 505 located inside the guide cylinder 503 .

[0113] The stabilizing assembly 5 of this embodiment includes a fourth connecting seat 501, which is rotatably connected to the first mounting platform 502, and the first mounting platform 502 is fixedly connected to the guide cylinder 503. The guide cylinder 503 provides a guiding and sealing environment for the piston plate 504 to ensure that the piston plate 504 can reciprocate smoothly. The piston plate 504 is slidably connected in the guide cylinder 503, and the piston plate 504 is fixedly connected to the piston rod 505. The end of the piston rod 505 away from the piston plate 504 extends out of the guide cylinder 503, and the end of the piston rod 505 away from the piston plate 504 is fixedly connected to the second mounting platform 506. The second mounting platform 506 is rotatably connected to the It is connected to the fifth connecting seat 507, and the piston plate 504 is provided with a piston hole 508. Several piston holes 508 are arranged in a circular array. Hydraulic oil is provided in the guide cylinder 503. When the total length of the fixed plate 401 and the synchronous plate 404 changes, the synchronous plate 404 moves with the fourth connecting seat 501. At this time, the piston rod 505 and the piston plate 504 move in the guide cylinder 503, and the hydraulic oil flows from one side of the piston hole 508 to the other side. The fluidity of the hydraulic oil is used to generate a buffering force, thereby reducing the vibration of the synchronous plate 404. During the welding process, it can also reduce the vibration amplitude of the welding gun 103 and improve the stability of the welding process.

[0114] Secondly, the stabilizing assembly 5 of this embodiment also includes a spring 509, which is sleeved on the circumferential side of the piston rod 505. One end of the spring 509 is fixedly connected to the second mounting platform 506, and the other end of the spring 509 is fixedly connected to the guide cylinder 503. By setting the spring 509, when the piston rod 505 moves, the spring 509 produces elastic deformation, absorbs energy, and prepares for the piston rod 505 to reset. At the same time, the elastic force of the spring 509 and the buffering force of the hydraulic oil work together to enhance the shock absorption effect, improve the stability of the welding gun 103, reduce jitter and deviation during welding, and ensure the quality and consistency of the weld.

[0115] When the adjustment component 3 is working, the adjustment component 3 deforms the telescopic component 2, thereby adjusting the position of the welding gun 103. During this process, the synchronous plate 404 moves together with the welding gun 103, and the synchronous plate 404 moves together with the fourth connecting seat 501. At this time, the piston rod 505 and the piston plate 504 move along the length direction of the guide cylinder 503, and the hydraulic oil is compressed and flows from one side of the piston hole 508 to the other side. The fluidity of the hydraulic oil is used to generate a buffering force, thereby reducing the vibration of the synchronous plate 404 movement, ensuring that the synchronous plate 404 moves steadily and smoothly. During the welding process, it can also buffer and compensate for the slight vibration of the welding gun 103, reduce the vibration amplitude of the welding gun 103, and improve the stability of the welding process. The elastic force of the spring 509 and the buffering force of the hydraulic oil work together to enhance the shock absorption effect and improve the stability of the welding gun 103.

[0116] In the above technical solution, the present invention provides a welding robot with the following beneficial effects:

[0117] The welding robot of the present invention can adjust the welding position and angle by rotating multiple mechanical arms, so that the range of movement is larger. Large workpieces or welds at a long distance from the welding position can be easily and effectively reached. The device has better flexibility and a wide range of applications.

[0118] By arranging a telescopic assembly 2 between the second robotic arm 102 and the welding gun 103, the present invention can effectively change the extension length of the welding gun 103 relative to the robot body 1, thereby expanding the welding range of the welding robot and enabling the welding gun 103 to reach welds at a greater distance. This solves the problem that the existing welding robots have a limited range of motion and are unable to complete welding of large workpieces or welds at a distance, thereby greatly improving the applicability and flexibility of the welding robots.

[0119] The present invention can stably drive the two sleeves 201 to move in opposite directions by adjusting the mutual cooperation of parts such as the bidirectional screw 301, the mounting frame 302, the guide plate 303 and the guide groove 304 in the assembly, thereby realizing stable extension and retraction of the telescopic assembly 2, ensuring the smooth movement of the welding gun 103 during the extension and retraction process, reducing jitter and deviation during welding, and helping to improve welding quality. The bidirectional screw 301 relies on the thread to move the sleeve 201 in opposite directions, ensuring the progress of the linear motion of the sleeve 201, thereby ensuring that the extension and retraction distance of the welding gun 103 is accurate and controllable.

[0120] The present invention further enhances the stability of the connection between the second robotic arm 102 and the welding gun 103 by setting a support assembly 4 and a stabilizing assembly 5, thereby providing a more stable support for the welding gun 103. When the welding gun 103 is extended, the length of the support assembly 4 also changes. At the same time, when the support assembly 4 is extended, the stabilizing assembly 5 provides a buffer through the hydraulic oil and the spring 509, ensuring that the telescopic assembly 2 runs smoothly and moves steadily, and can buffer and compensate for the slight vibration of the welding gun 103, reduce the influence of external interference on welding accuracy, and enable the welding gun 103 to maintain a stable posture during the welding process, effectively avoiding welding defects caused by shaking of the welding gun 103.

[0121] The above description is merely illustrative of certain exemplary embodiments of the present invention. It goes without saying that those skilled in the art will be able to modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and description are illustrative in nature and should not be construed as limiting the scope of protection of the claims.

Claims

1. A welding robot, characterized in that: The welding robot includes: Robot body (1); A mechanical arm assembly integrated with the robot body (1), a welding gun (103) being installed at the front end of the mechanical arm assembly; The position and angle of the welding gun (103) are adjusted by the mechanical arm assembly; The welding robot also includes: Stabilizing components (5); The stabilizing component (5) is arranged below the mechanical arm component and maintains the state of the mechanical arm component through a piston.

2. A welding robot according to claim 1, characterized in that: The robot body (1) is the base of the welding robot; The robot arm assembly is divided into a first robot arm (101) connected to the robot body (1); and a second robotic arm (102) disposed at the upper end of the first robotic arm (101); The second mechanical arm (102) and the welding gun (103) are connected via an adjustment structure; The adjustment structure is used to adjust the position of the welding gun (103); The first mechanical arm (101) is rotatably connected to the base and is flipped relative to the base via a driving structure; The second robotic arm (102) is rotationally connected to the first robotic arm (101) and is flipped relative to the first robotic arm (101) via a driving structure; The angle of the welding gun (103) is adjusted by flipping the first robotic arm (101) and the second robotic arm (102).

3. A welding robot according to claim 2, characterized in that: The regulating structure comprises a telescopic component (2) and an adjusting component (3), and a supporting component (4) located below the telescopic component (2) and the adjusting component (3); The front end of the telescopic assembly (2) is connected to a welding gun seat, and the welding gun (103) is arranged on the welding gun seat; The support assembly (4) is connected to the lower part of the welding gun seat; The adjustment component (3) is used to drive the telescopic component (2) and the support component (4) to move so as to adjust the position of the welding gun seat.

4. A welding robot according to claim 3, characterized in that: The adjustment component (3) comprises: a mounting frame (302) extending along a first direction; A drive motor (306) disposed at one end of the mounting frame (302); and a bidirectional screw (301) connected to the output end of the drive motor (306), wherein the screw portions at both ends of the bidirectional screw (301) have opposite spiral directions; Both ends of the bidirectional screw (301) are threadedly connected to corresponding screw parts with sleeves (201), the mounting frame (302) is provided with a guide groove (304), and the sleeve (201) is protruded to form a guide plate (303) slidably connected to the guide groove (304); A connecting plate (202) is formed on the side surface of the sleeve (201) in a protruding manner.

5. A welding robot according to claim 4, characterized in that: The telescopic assembly (2) comprises: Two groups of connecting rod structures, wherein the two groups of connecting rod structures are symmetrically arranged along the adjustment assembly (3); One end of one set of the connecting rod structures is connected to the second mechanical arm (102), and the other end thereof is rotatably connected to the two connecting plates (202) respectively through two connecting rods (204); Another group of connecting rod structures has one end connected to the welding gun seat, and the other end is rotatably connected to the two connecting plates (202) via two connecting rods (204); The adjustment component (3) drives the connecting rod structure to rotate to adjust the position of the welding gun seat at the front end.

6. A welding robot according to claim 5, characterized in that: The two connecting rods (204) of the connecting rod structure are connected to each other at one end by an expansion plate (206), the connecting rod (204) is rotatably connected to the expansion plate (206), and the expansion plate (206) is further provided with a third connection seat (207); One end of the connecting rod (204) is rotatably connected to the connecting plate (202) via a first connecting seat (203), and the other end of the connecting rod (204) is rotatably connected to the expansion plate (206) via a second connecting seat (205).

7. The welding robot according to claim 4, characterized in that: The supporting assembly (5) extends in a direction perpendicular to the adjusting assembly (3); The support assembly (5) comprises: a fixing plate (401) connected to the second robot arm (102), wherein the fixing plate (401) is hollow inside and forms a receiving chamber (402); and a synchronous plate (404) slidably connected to the accommodating cavity (402) of the fixed plate (401), wherein the synchronous plate (404) is connected to the bottom of the welding gun seat via a protrusion (405); The synchronization plate (404) is located inside the fixed plate (401) and is provided with an anti-slip plate (403) at one end thereof. The synchronization plate (404) cooperates with the folded edge of the open end of the fixed plate (401) through the anti-slip plate (403) to prevent the synchronization plate (404) from being separated from the fixed plate (401).

8. The welding robot according to claim 7, characterized in that: The stabilizing assembly (5) includes four groups of stabilizing units; One end of the two groups of stabilizing units is movably connected to the bottom of the mounting frame (302), and the other end is movably connected to the side of the synchronization plate (404); One end of the other two groups of stabilizing units is movably connected to the bottom of the mounting frame (302), and the other end is movably connected to the side of the fixing plate (401).

9. The welding robot according to claim 8, characterized in that: The stabilization unit comprises: A guide cylinder (503) and a piston rod (505) slidably connected to the guide cylinder (503); A fourth connecting seat (501) is provided at the end of the guide cylinder (503), and the guide cylinder (503) is rotatably connected to the fourth connecting seat (501); A fifth connecting seat (507) is provided at the end of the piston rod (505), and the piston rod (505) is rotatably connected to the fifth connecting seat (507); The piston rod (505) is sleeved with a spring (509), and a piston plate (504) is provided at the end of the piston rod (505) located inside one end of the guide cylinder (503).

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