Self-adaptive floating welding gun device for arc welding robot

Abstract

The invention belongs to the technical field of arc welding robots, and particularly relates to a self-adaptive floating welding gun device for an arc welding robot, the self-adaptive floating welding gun device comprises a mounting frame, a self-adaptive floating mechanism is mounted on the inner side of one end of the mounting frame, and the mounting frame comprises a floating shell and a mounting seat slidably mounted on one side of the floating shell; according to the scheme, the problem to be solved is that although a force sensor is used for sensing during use, a welding gun or a product is still damaged due to sudden contact. According to the scheme, the designed self-adaptive floating mechanism is mounted on the robot through the mounting frame during use, the welding gun mechanism is mounted on the mounting frame through the adjusting frame and the self-adaptive floating mechanism, the welding gun mechanism senses the stress during use, the floating resistance is controlled through the main magnetorheological fluid damper and the auxiliary magnetorheological fluid damper, and the self-adaptive floating mechanism is mounted on the robot through the adjusting frame and the self-adaptive floating mechanism. Therefore, the phenomenon that a welding gun mechanism or a workpiece is damaged during use is reduced, and self-adaptive floating can be carried out according to requirements.

Description

Technical Field

[0001] The invention belongs to the technical field of arc welding robots, and in particular relates to an adaptive floating welding gun device for an arc welding robot. Background Art

[0002] Arc welding robots are key equipment in modern automated welding production lines. The positioning accuracy, adaptability, and reliability of their end effector—the welding gun assembly—directly determine welding quality and efficiency. In actual operations, welding guns often must cope with complex working conditions such as workpiece assembly errors, thermal deformation, and weld trajectory fluctuations. Therefore, possessing a certain degree of floating compensation capability is crucial for protecting the welding gun, preventing rigid collisions with the workpiece, and ensuring a stable arc length.

[0003] At present, common floating compensation solutions mostly use mechanical springs or pneumatic floating mechanisms, combined with force / torque sensors for contact force sensing and control. Although this type of structure can provide basic buffering, its damping characteristics are often fixed, making it difficult to quickly switch between different working modes such as smooth positioning and stable tracking. Especially when encountering sudden contact or large spatter, the fixed buffering characteristics may lead to insufficient response, and there is still a risk of damage to the welding gun or workpiece. In addition, most existing devices lack a convenient welding gun posture adjustment function, making it difficult to quickly adapt to the welding needs of workpieces of different shapes. The adjustment process is cumbersome, affecting work efficiency. Therefore, it is necessary to design an adaptive floating welding gun device for arc welding robots to solve the above problems. Summary of the Invention

[0004] The object of the present invention is to provide an adaptive floating welding gun device for an arc welding robot to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: an adaptive floating welding gun device for an arc welding robot, comprising a mounting frame, an adaptive floating mechanism being mounted on the inner side of one end of the mounting frame; The mounting frame includes a floating shell and a mounting seat slidably mounted on one side of the floating shell, the mounting seat is mounted on the floating shell through an adaptive floating mechanism, an adjustment frame is mounted on one side of the mounting seat, and a welding gun mechanism is mounted on one side of the adjustment frame; The adaptive floating mechanism includes a main sliding seat slidably mounted in a floating housing, a secondary sliding seat slidably mounted on one side of the main sliding seat, a main magneto-rheological fluid damper fixed to one end of the floating housing, and a secondary magneto-rheological fluid damper fixed to one side of the main sliding seat, one end of the main magneto-rheological fluid damper is supported on the main sliding seat, and one end of the secondary magneto-rheological fluid damper is supported on the secondary sliding seat; The main magnetorheological fluid damper includes a damping shell, a damping piston is slidably installed on the inner side of the damping shell, a piston rod is fixedly installed on one side of the damping piston, one end of the piston rod is slidably installed in the damping shell, a damping through hole is opened on one side of the damping piston, the interior of the damping shell is filled with damping fluid, and an electromagnetic coil is provided on the outside of the damping shell. The structure of the secondary magnetorheological fluid damper is the same as that of the main magnetorheological fluid damper.

[0006] Preferably, a connecting arm is fixedly mounted on the lower side of the floating shell, and a mounting flange is fixedly mounted on one side of the lower end of the connecting arm.

[0007] Preferably, guide sliders are fixedly mounted on the lower sides of the main sliding seat and the auxiliary sliding seat, and guide slots are provided on the inner bottoms of the floating housing and the main sliding seat, and the guide sliders are slidably mounted in the guide slots.

[0008] Preferably, the adjustment frame includes a fixed outer ring and a rotating inner ring eccentrically installed in the fixed outer ring, a limiting mechanism is installed on the inner side wall of the fixed outer ring, the limiting mechanism is supported on the rotating inner ring, a locking mechanism is provided on the outer side of the fixed outer ring, and a limiting slot is provided on the outer surface of the rotating inner ring. The fixed outer ring is fixedly connected to the rotating inner ring through the locking mechanism and the limiting slot, and a mounting inner frame is installed on the inner side of the rotating inner ring, and the welding gun mechanism is fixed in the rotating inner ring through the mounting inner frame.

[0009] Preferably, the limiting mechanism includes a sliding column installed in the fixed outer ring and a sliding cylinder slidably installed on the sliding column, a support spring is installed inside the sliding cylinder, and one end of the support spring is supported on the limiting slot.

[0010] Preferably, the locking mechanism includes a rotating seat fixed to the outer surface of the fixed outer ring and an eccentric handle eccentrically mounted on the rotating seat, a positioning pin is slidably mounted on one side of the eccentric handle, one end of the positioning pin is inserted into the limiting slot, a reset slider is fixedly mounted on the outer side of the positioning pin, the reset slider is slidably mounted in the fixed outer ring, a reset spring is mounted on one side of the reset slider, and the reset spring is supported in the fixed outer ring.

[0011] Preferably, a connecting groove is provided on the outer side of one end of the eccentric handle, and a connecting slider is provided at one end of the positioning pin, and the connecting slider is slidably installed in the connecting groove.

[0012] Preferably, the welding gun mechanism includes a welding gun seat and a welding gun head mounted on the welding gun seat, and the welding gun seat is fixedly mounted on the mounting inner frame.

[0013] Preferably, the welding gun head includes a welding gun main rod and a heat-conducting shell installed on the outside of the welding gun main rod, a protective air pipe is provided at one end of the heat-conducting shell, a guide spiral sheet is installed on the inner side of the heat-conducting shell, and an air outlet is provided at the other end of the heat-conducting shell.

[0014] Preferably, the shape of the welding gun head is set to be arc-shaped, and one end of the protective gas pipe passes through the inner side of the adjustment frame.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The adaptive floating mechanism is designed to be mounted on the robot via a mounting bracket. The welding gun mechanism is then mounted on the mounting bracket via an adjustment bracket and the adaptive floating mechanism. During use, the welding gun mechanism senses the force applied and controls the floating resistance via the primary and secondary magnetorheological fluid dampers. This minimizes damage to the welding gun mechanism or workpiece and ensures adaptive floating according to demand.

[0016] 2. Through the designed adjustment frame and locking mechanism, the welding gun mechanism is installed and used through the adjustment frame. During installation and use, the position and angle of the welding gun mechanism can be adjusted according to the shape of the welding workpiece by rotating the rotating inner ring inside the fixed outer ring, and the rotating inner ring is fixed by the locking mechanism, which is more convenient during adjustment and use.

[0017] 3. Through the designed welding gun mechanism, when in use, the heat-conducting shell is installed on the welding gun main rod, the shielding gas is introduced through the heat-conducting shell, the guide spiral blades in the heat-conducting shell guide the shielding gas and absorb the heat of the welding gun main rod, and then blown to the welding area through the outlet for protection. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a structural schematic diagram of the adaptive floating mechanism of the present invention; Figure 3 Schematic diagram of the structure of the magnetorheological fluid damper of the present invention; Figure 4 It is a schematic structural diagram of the locking mechanism of the present invention; Figure 5 This is a schematic structural diagram of the welding gun head of the present invention; Figure 6 For the present invention Figure 4 A in the middle is an enlarged structural diagram; Figure 7 For the present invention Figure 4 The enlarged structural diagram at B in the middle; Figure 8 Schematic diagram of the control process of the magnetorheological fluid damper of the present invention; Figure: 1. Mounting frame; 11. Connecting arm; 12. Mounting flange; 13. Floating housing; 14. Mounting base; 2. Adjusting frame; 21. Fixed outer ring; 22. Rotating inner ring; 23. Limiting mechanism; 24. Mounting inner frame; 25. Limiting slot; 26. Sliding column; 27. Sliding cylinder; 28. Support spring; 3. Locking mechanism; 31. Rotating base; 32. Eccentric handle; 33. Positioning pin; 34. Connecting slide; 35. Connecting slide; 36. Reset slide; 37. Reset spring; 4. Welding gun Structure; 41. Welding gun head; 42. Welding gun seat; 43. Protective gas pipe; 44. Welding gun main rod; 45. Heat-conducting shell; 46. Guide spiral vane; 47. Air outlet; 5. Adaptive floating mechanism; 51. Main magnetorheological fluid damper; 511. Damping shell; 512. Damping fluid; 513. Damping piston; 514. Piston rod; 515. Damping through hole; 516. Electromagnetic coil; 52. Auxiliary magnetorheological fluid damper; 53. Main sliding seat; 54. Auxiliary sliding seat; 55. Guide slider; 56. Guide slide groove. DETAILED DESCRIPTION

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0020] Example 1: Please refer to Figures 1 to 8 The present invention provides a technical solution: an adaptive floating welding gun device for an arc welding robot, comprising a mounting frame 1, an adaptive floating mechanism 5 being mounted on the inner side of one end of the mounting frame 1; the mounting frame 1 comprising a floating shell 13 and a mounting seat 14 slidably mounted on one side of the floating shell 13, the mounting seat 14 being mounted on the floating shell 13 via the adaptive floating mechanism 5, an adjustment frame 2 being mounted on one side of the mounting seat 14, a welding gun mechanism 4 being mounted on one side of the adjustment frame 2, a connecting arm 11 being fixedly mounted on the lower side of the floating shell 13, a mounting flange 12 being fixedly mounted on one side of the lower end of the connecting arm 11, so that the welding gun device can be conveniently mounted on the arc welding robot during use; The adaptive floating mechanism 5 includes a main sliding seat 53 slidably mounted in the floating housing 13, a sub-sliding seat 54 slidably mounted on one side of the main sliding seat 53, a main magnetorheological fluid damper 51 fixed on one end of the floating housing 13, and a sub-magnetorheological fluid damper 52 fixed on one side of the main sliding seat 53. One end of the main magnetorheological fluid damper 51 is supported on the main sliding seat 53, and one end of the sub-magnetorheological fluid damper 52 is supported on the sub-sliding seat 54. The main magnetorheological fluid damper 51 and the sub-magnetorheological fluid damper 52 can be used to perform a large-stroke soft mode and a small-stroke hard mode. The large-stroke soft mode is suitable for positioning, crossing large splashes, and compensating for large deviations of workpieces. It provides soft buffering to protect equipment. The small-stroke hard mode is suitable for precise weld tracking, corner weld welding, etc. during laser tracking. It provides high rigidity to ensure stable tracking of the welding gun at the micron level and eliminate the "nodding" phenomenon. The main magnetorheological fluid damper 51 includes a damping shell 511, a damping piston 513 is slidably mounted on the inner side of the damping shell 511, a piston rod 514 is fixedly mounted on one side of the damping piston 513, one end of the piston rod 514 is slidably mounted in the damping shell 511, a damping through hole 515 is provided on one side of the damping piston 513, the interior of the damping shell 511 is filled with damping fluid 512, and an electromagnetic coil 516 is provided on the outer side of the damping shell 511. The structure of the auxiliary magnetorheological fluid damper 52 is the same as that of the main magnetorheological fluid damper 51. When the controller applies current to the electromagnetic coil 516, the damping The magnetic field around the hole changes, causing the apparent viscosity of the electromagnetic coil 516 flowing through the damping through hole 515 to change dramatically within milliseconds, thereby achieving stepless and rapid adjustment of the damping force, i.e., the "softness and hardness" of the floating; a guide slider 55 is fixedly installed on the lower side of the main sliding seat 53 and the auxiliary sliding seat 54, and a guide groove 56 is provided on the inner bottom of the floating shell 13 and the main sliding seat 53. The guide slider 55 is slidably installed in the guide groove 56. When in use, the guidance of the guide groove 56 and the guide slider 55 can ensure that the main sliding seat 53 and the auxiliary sliding seat 54 slide stably during adaptive floating.

[0021] From the above description, it can be seen that the present invention has the following beneficial effects: when in use, it is installed on the robot through the mounting frame 1, and the welding gun mechanism 4 is installed on the mounting frame 1 through the adjustment frame 2 and the adaptive floating mechanism 5. When in use, the welding gun mechanism 4 senses the magnitude of the force and controls the floating resistance through the main magnetorheological fluid damper 51 and the auxiliary magnetorheological fluid damper 52, thereby ensuring that the welding gun mechanism 4 or the workpiece is damaged during use and ensuring that it can be adaptively floated according to needs.

[0022] Example 2: Please refer to Figures 1 to 8As shown, on the basis of embodiment 1, the present invention provides a technical solution for: the adjustment frame 2 includes a fixed outer ring 21 and a rotating inner ring 22 eccentrically installed in the fixed outer ring 21, so that when in use, it can be positioned at any position within the conical range, thereby achieving an angle adjustment of about ±15°, a limiting mechanism 23 is installed on the inner side wall of the fixed outer ring 21, the limiting mechanism 23 is supported on the rotating inner ring 22, a locking mechanism 3 is provided on the outer side of the fixed outer ring 21, and a limiting groove 25 is provided on the outer surface of the rotating inner ring 22. The fixed outer ring 21 is fixedly connected to the rotating inner ring 22 through the locking mechanism 3 and the limiting groove 25, and the fixed outer ring 21 and the rotating inner ring 22 are locked quickly and conveniently through the engagement of the locking mechanism 3 and the limiting groove 25, and the inner side of the rotating inner ring 22 is installed with a mounting inner frame 24. The welding gun mechanism 4 is fixed in the rotating inner ring 22 by installing the inner frame 24, which makes it more convenient to install the welding gun mechanism 4. The limiting mechanism 23 includes a sliding column 26 installed in the fixed outer ring 21 and a sliding cylinder 27 slidably installed on the sliding column 26. A support spring 28 is installed inside the sliding cylinder 27, and one end of the support spring 28 is supported on the limiting card slot 25. When the rotating inner ring 22 is rotated, one end of the sliding cylinder 27 is engaged with the limiting card slot 25 for positioning, thereby ensuring convenient positioning during rotation.

[0023] Further, see Figures 1 to 7 The locking mechanism 3 includes a rotating seat 31 fixed to the outer surface of the fixed outer ring 21 and an eccentric handle 32 eccentrically mounted on the rotating seat 31. A positioning pin 33 is slidably mounted on one side of the eccentric handle 32. One end of the positioning pin 33 is inserted into the limiting slot 25. A reset slider 36 is fixedly mounted on the outer side of the positioning pin 33. By rotating the eccentric handle 32, the positioning pin 33 is driven to slide in and out of the limiting slot 25, thereby completing the locking and loosening of the rotating inner ring 22. The reset slider 36 is slidably mounted in the fixed outer ring 21. The reset slider 36 A return spring 37 is installed on one side of 6, and the return spring 37 is supported in the fixed outer ring 21. The support of the return spring 37 and the return slider 36 ensures that the positioning pin 33 can stably bounce up when the eccentric handle 32 is moved away, reducing the phenomenon of jamming; a connecting groove 35 is provided on the outside of one end of the eccentric handle 32, and a connecting slider 34 is provided at one end of the positioning pin 33. The connecting slider 34 is slidably installed in the connecting groove 35, and the connection between the connecting slider 34 and the connecting groove 35 ensures that the eccentric handle 32 stably drives the positioning pin 33 to rise and fall.

[0024] The adjusting frame 2 and the locking mechanism 3 of the above-mentioned technical solution are adopted. When in use, the welding gun mechanism 4 is installed and used through the adjusting frame 2. When installed and used, the position and angle of the welding gun mechanism 4 can be adjusted according to the shape of the welding workpiece by rotating the rotating inner ring 22 within the fixed outer ring 21, and the rotating inner ring 22 is fixed by the locking mechanism 3, which is more convenient during adjustment and use.

[0025] Further, see Figures 1 to 5 The welding gun mechanism 4 includes a welding gun seat 42 and a welding gun head 41 mounted on the welding gun seat 42, and a force sensor is provided at the connection between the welding gun head 41 and the welding gun seat 42. The welding gun seat 42 is fixedly mounted on the mounting inner frame 24, which is convenient for installing the welding gun head 41 when in use; the welding gun head 41 includes a welding gun main rod 44 and a heat-conducting shell 45 mounted on the outside of the welding gun main rod 44. A protective gas pipe 43 is provided at one end of the heat-conducting shell 45, and a guide spiral sheet 46 is installed on the inner side of the heat-conducting shell 45. The other end of the heat-conducting shell 45 An air outlet 47 is provided at the end, and the protective argon gas is circulated through the guide spiral 46 and the heat-conducting shell 45, and is discharged from the air outlet 47 to isolate the air at the welding point to prevent metal oxidation and impurities from invading. When the protective argon gas circulates in the heat-conducting shell 45, it can take away the heat on the welding gun main rod 44 and dissipate heat; it is characterized in that: the shape of the welding gun head 41 is set to be arc-shaped, the welding angle is convenient to adjust and control, and one end of the protective gas pipe 43 passes through the inner side of the adjustment frame 2, which is convenient for installing and using the protective gas pipe 43 when in use.

[0026] The welding gun mechanism 4 adopting the above technical solution is mounted on the welding gun main rod 44 through the heat-conducting shell 45 when in use. The shielding gas is introduced through the heat-conducting shell 45, and the shielding gas is guided by the guide spiral blade 46 in the heat-conducting shell 45 and absorbs the heat of the welding gun main rod 44, and then blown to the welding position through the outlet 47 for protection.

[0027] The working principle and use process of the present invention are as follows: when in use, it is installed at the end of the arc welding robot through the connecting arm 11 and the mounting flange 12. According to the shape of the welding workpiece and the welding position requirements, the position angle of the welding gun head 41 is adjusted by rotating the rotating inner ring 22. If the robot program allows, the worker can even make extremely convenient fine adjustments by observation without stopping the machine, which greatly improves the debugging efficiency. During debugging, the elastic force of the support spring 28 pushes the sliding cylinder 27 to engage in the limit slot 25 for positioning, thereby ensuring that the adjustment is more precise. The eccentric handle 32 is rotated to drive the positioning pin 33 to slide in and out of the limiting slot 25, thereby completing the locking and loosening of the rotating inner ring 22 to ensure that it is fixed and stable after adjustment. During welding, arc welding is performed through one end of the welding gun main rod 44. At the same time, the shielding gas pipe 43 is connected to the shielding gas equipment, and shielding gas is introduced into the inner side of the heat-conducting shell 45. After being guided by the guide spiral sheet 46, it is ejected from the gas outlet 47 to protect the welding point. The spiral structure of the guide spiral sheet 46 can take away the heat of the welding gun main rod 44 for heat dissipation when the shielding gas passes through. During welding, the robot moves to the search position, the tip of the welding gun mechanism 4 contacts the workpiece, the force sensor inside the welding gun holder 42 detects the contact force, and the controller uses PID or a more advanced impedance control algorithm to compare the target contact force with the measured contact force.

[0028] If the measured force is greater than the target force, the workpiece bulges or the robot presses down too deeply, the controller reduces the current of the electromagnetic coil 516, reduces the damping, and allows the welding gun mechanism 4 to float upward more "easily" under the action of the contact reaction force, thereby reducing the contact force.

[0029] If the measured force is less than the target force, the workpiece sinks or the robot rises, the controller increases the current of the electromagnetic coil 516, increases the damping, and "locks" the welding gun mechanism 4 to make it difficult to be pushed. The robot continues to move downward until the contact force reaches the target value.

[0030] Crossing obstacles while moving: When encountering a sudden bump or splash, the impact force increases instantly. The controller can instantly reduce the current to zero, making the main magnetorheological fluid damper 51 and the auxiliary magnetorheological fluid damper 52 become the softest state, smoothly crossing the obstacle and avoiding violent collisions, and then quickly restoring the damping to maintain stability.

[0031] Passive basic floating: In the power-off state, the damping fluid 512 behaves as a Newtonian fluid, and the device can still be used as a traditional passive floating device to provide basic cushioning.

[0032] Active damping adjustment: When the controller applies current to the electromagnetic coil 516, the magnetic field around the damping hole changes, causing the apparent viscosity of the electromagnetic coil 516 flowing through the damping through hole 515 to change dramatically within milliseconds, thereby achieving stepless and rapid adjustment of the damping force, i.e., the floating "softness and hardness".

[0033] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0034] The above description is only used to illustrate the technical solution of the present invention and is not intended to limit it. Other modifications or equivalent substitutions made to the technical solution of the present invention by ordinary technicians in this field should be included in the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solution of the present invention.

Claims

1. An adaptive floating welding gun device for an arc welding robot, characterized in that: It comprises a mounting frame (1), wherein an adaptive floating mechanism (5) is mounted on the inner side of one end of the mounting frame (1); The mounting frame (1) includes a floating shell (13) and a mounting seat (14) slidably mounted on one side of the floating shell (13); the mounting seat (14) is mounted on the floating shell (13) via an adaptive floating mechanism (5); an adjustment frame (2) is mounted on one side of the mounting seat (14); and a welding gun mechanism (4) is mounted on one side of the adjustment frame (2); The adaptive floating mechanism (5) includes a main sliding seat (53) slidably mounted in a floating housing (13), a secondary sliding seat (54) slidably mounted on one side of the main sliding seat (53), a main magnetorheological fluid damper (51) fixed at one end of the floating housing (13), and a secondary magnetorheological fluid damper (52) fixed at one side of the main sliding seat (53), one end of the main magnetorheological fluid damper (51) is supported on the main sliding seat (53), and one end of the secondary magnetorheological fluid damper (52) is supported on the secondary sliding seat (54); The main magnetorheological fluid damper (51) comprises a damping shell (511), a damping piston (513) is slidably mounted on the inner side of the damping shell (511), a piston rod (514) is fixedly mounted on one side of the damping piston (513), one end of the piston rod (514) is slidably mounted in the damping shell (511), a damping through hole (515) is provided on one side of the damping piston (513), the interior of the damping shell (511) is filled with damping fluid (512), and an electromagnetic coil (516) is provided on the outer side of the damping shell (511). The structure of the auxiliary magnetorheological fluid damper (52) is the same as that of the main magnetorheological fluid damper (51).

2. The adaptive floating welding gun device for an arc welding robot according to claim 1, characterized in that: A connecting arm (11) is fixedly mounted on the lower side of the floating housing (13), and a mounting flange (12) is fixedly mounted on one side of the lower end of the connecting arm (11).

3. The adaptive floating welding gun device for an arc welding robot according to claim 1, characterized in that: A guide slider (55) is fixedly mounted on the lower side of the main sliding seat (53) and the auxiliary sliding seat (54), and a guide slot (56) is provided on the inner bottom of the floating housing (13) and the main sliding seat (53), and the guide slider (55) is slidably mounted in the guide slot (56).

4. The adaptive floating welding gun device for an arc welding robot according to claim 1, characterized in that: The adjustment frame (2) comprises a fixed outer ring (21) and a rotating inner ring (22) eccentrically mounted inside the fixed outer ring (21); a limiting mechanism (23) is mounted on the inner side wall of the fixed outer ring (21); the limiting mechanism (23) is supported on the rotating inner ring (22); a locking mechanism (3) is provided on the outer side of the fixed outer ring (21); a limiting slot (25) is provided on the outer surface of the rotating inner ring (22); the fixed outer ring (21) is fixedly connected to the rotating inner ring (22) via the locking mechanism (3) and the limiting slot (25); an installation inner frame (24) is mounted on the inner side of the rotating inner ring (22); and the welding gun mechanism (4) is fixed inside the rotating inner ring (22) via the installation inner frame (24).

5. The adaptive floating welding gun device for an arc welding robot according to claim 4, characterized in that: The limiting mechanism (23) comprises a sliding column (26) installed in the fixed outer ring (21) and a sliding cylinder (27) slidably installed on the sliding column (26), a supporting spring (28) is installed inside the sliding cylinder (27), and one end of the supporting spring (28) is supported on the limiting slot (25).

6. The adaptive floating welding gun device for an arc welding robot according to claim 4, characterized in that: The locking mechanism (3) comprises a rotating seat (31) fixed on the outer surface of the fixed outer ring (21) and an eccentric handle (32) eccentrically rotatably mounted on the rotating seat (31), a positioning pin (33) being slidably mounted on one side of the eccentric handle (32), one end of the positioning pin (33) being inserted into the limiting slot (25), a reset slider (36) being fixedly mounted on the outer side of the positioning pin (33), the reset slider (36) being slidably mounted in the fixed outer ring (21), a reset spring (37) being mounted on one side of the reset slider (36), and the reset spring (37) being supported in the fixed outer ring (21).

7. The adaptive floating welding gun device for an arc welding robot according to claim 6, characterized in that: A connecting slide groove (35) is provided on the outer side of one end of the eccentric handle (32), and a connecting slider (34) is provided on one end of the positioning pin (33). The connecting slider (34) is slidably installed in the connecting slide groove (35).

8. The adaptive floating welding gun device for an arc welding robot according to claim 4, characterized in that: The welding gun mechanism (4) comprises a welding gun seat (42) and a welding gun head (41) mounted on the welding gun seat (42); the welding gun seat (42) is fixedly mounted on the mounting inner frame (24).

9. The adaptive floating welding gun device for an arc welding robot according to claim 8, characterized in that: The welding gun head (41) comprises a welding gun main rod (44) and a heat-conducting shell (45) mounted on the outside of the welding gun main rod (44); a protective air pipe (43) is provided at one end of the heat-conducting shell (45); a guide spiral sheet (46) is mounted on the inside of the heat-conducting shell (45); and an air outlet (47) is provided at the other end of the heat-conducting shell (45).

10. The adaptive floating welding gun device for an arc welding robot according to claim 9, characterized in that: The shape of the welding gun head (41) is set to be arc-shaped, and one end of the protective air pipe (43) passes through the inner side of the adjustment frame (2).

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