Thick plate welding manipulator with self-adaptive floating compensation mechanism

Abstract

The invention discloses a thick plate welding manipulator with a self-adaptive floating compensation mechanism, and relates to the technical field of welding devices.The thick plate welding manipulator comprises a portal frame, a welding mechanical arm is mounted at the moving end of the portal frame, a fixed rail is arranged at the bottom of the portal frame, and transverse rails are arranged at the two ends of the top of the fixed rail; moving blocks are slidably connected to the two sides of the interior of the transverse rail, supporting plates are fixedly connected to the tops of the moving blocks, sliding rails are fixedly connected to the tops of the supporting plates, moving plates are slidably connected to the interiors of the sliding rails, fixing shafts are fixedly connected to the tops of the moving plates, and intermediate gears are rotatably connected to the outer sides of the fixing shafts; according to the thick plate welding mechanical arm with the self-adaptive floating compensation mechanism, the welding centering precision and adaptability are improved, and self-adaptive floating compensation of the width difference of thick plates is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of welding device, and particularly relates to a thick plate welding manipulator with a self-adaptive floating compensation mechanism. BACKGROUND

[0002] In the prior art, a plate welding fixing device is disclosed in Chinese Patent No. CN109746610A, which comprises a base, first sliding grooves are formed in the upper surfaces of the two sides of the base, first sliding blocks are movably connected to the inner walls of the two first sliding grooves, fixed plates are fixedly connected to the upper surfaces of the two first sliding blocks, adjusting plates are fixedly connected to the upper surfaces of the two sides of the base, adjusting blocks are fixedly connected to the opposite sides of the two adjusting plates, clamping blocks are fixedly connected to the opposite sides of the two fixed plates, clamping circular grooves are formed in the opposite sides of the two clamping blocks.

[0003] The two sides of some metal thick plates are in a stepped shape, and the widths vary at different positions. In the plate welding process, positioning is difficult and clamping is unstable due to the inconsistent widths or the stepped differences of the plates, which affects the welding precision and quality. Most existing welding manipulators adopt rigid clamping or fixed spacing positioning methods, which are difficult to adapt to the floating compensation requirements of plates with different widths, and are prone to cause welding deviation or equipment damage. SUMMARY

[0004] The present application aims to provide a thick plate welding manipulator with a self-adaptive floating compensation mechanism to solve the problems in the background art.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a thick plate welding manipulator with a self-adaptive floating compensation mechanism, comprising a portal frame, a welding manipulator arm is installed at the moving end of the portal frame, a fixed rail is arranged at the bottom of the portal frame, horizontal rails are arranged at the top of the two ends of the fixed rail, moving blocks are slidably connected to the two sides of the inside of the horizontal rails, support plates are fixedly connected to the top of the moving blocks, slide rails are fixedly connected to the top of the support plates, a moving plate is slidably connected to the inside of the slide rails, a fixed shaft is fixedly connected to the top of the moving plate, an intermediate gear is rotatably connected to the outside of the fixed shaft, support rails are fixedly connected to the top of the two sides of the support plate, a first guide tooth plate and a second guide tooth plate are respectively slidably connected to the inside of the two support rails, the first guide tooth plate and the second guide tooth plate are respectively meshingly connected to the two sides of the intermediate gear, and L-shaped plates are fixedly connected to one end of the first guide tooth plate and the second guide tooth plate.

[0006] Preferably, the support plate top fixedly connected with a cover plate, the cover plate inside both sides are provided with an empty slot guide slot, two the empty slot guide slot is respectively connected in two empty slot guide slot inside, the slide rail inside rotatably connected with first threaded rod, the slide rail one end fixedly connected with first motor, the first motor output end and first threaded rod fixedly connected, the first threaded rod penetrates the moving plate and is connected with the moving plate screw, through the first motor starts to drive the first threaded rod rotation, and drives the moving plate to move.

[0007] Preferably, the horizontal rail inside both sides are rotatably connected with third threaded rod, the third threaded rod penetrates the moving block and is connected with the moving block screw, the horizontal rail inside both sides are fixedly connected with third motor, two the third motor output end and third threaded rod fixedly connected, through the third motor starts to drive the third threaded rod rotation, makes third threaded rod when rotating drive the moving block to move, makes the moving block drive the support plate to move.

[0008] Preferably, the fixed rail inside both sides are slidably connected with moving sleeve, the fixed rail inside rotatably connected with second threaded rod, the second threaded rod penetrates the moving sleeve and is connected with the moving sleeve screw, the moving sleeve one side wall rotatably connected with rotating ring, the rotating ring inside both sides are fixedly connected with limiting plate, the second threaded rod both sides are provided with limiting slot, two the limiting plate is respectively slidably connected in two limiting slot inside, the fixed rail inside both sides are fixedly connected with second motor, two the second motor output end is respectively connected with two second threaded rod fixedly, makes the second motor start to drive the second threaded rod rotation, the second threaded rod when rotating drive the moving sleeve to slide in the fixed rail inside.

[0009] Preferably, the moving sleeve inside rotatably connected with rotating rod, the rotating ring one side fixedly connected with first bevel gear, the rotating rod bottom fixedly connected with second bevel gear, the first bevel gear and second bevel gear meshing connection, the rotating rod top fixedly connected with transmission gear, makes rotating ring when rotating drive first bevel gear rotation, and drives second bevel gear rotation through first bevel gear, to this to drive rotating rod and transmission gear rotation.

[0010] Preferably, the horizontal rail middle part is provided with transmission gear, the transmission gear one side meshing connection has transmission toothed plate, the transmission toothed plate penetrates the horizontal rail and is connected with the horizontal rail sliding, the transmission gear other side is provided with limiting rod, the limiting rod penetrates the horizontal rail and is connected with the horizontal rail sliding, the transmission toothed plate and limiting rod one end fixedly connected with fixed plate, makes transmission gear when rotating drive transmission toothed plate to move, makes transmission toothed plate drive fixed plate to move.

[0011] Preferably, the fixed plate is fixedly connected with two sliding sleeves on one side, the piston plate is slidably connected in the sliding sleeve, the sliding sleeve is filled with buffer solution, and a plurality of through holes are formed in the piston plate, so that the buffer solution flows through the through holes in the piston plate when the piston plate moves in the sliding sleeve, and a damping effect is formed.

[0012] Preferably, the piston plate is fixedly connected with a push rod on one side, the push rod penetrates through the end wall of the sliding sleeve and the fixed plate and is slidably connected with the sliding sleeve and the fixed plate, one end of the push rod extending to the outside of the fixed plate is fixedly connected with a baffle, a buffer spring is arranged on the outside of the push rod, and the buffer spring is fixedly connected with the baffle and the fixed plate at both ends, and the baffle is fixedly connected with a lifting plate on one side.

[0013] Preferably, the horizontal rail is fixedly connected with a first fixed table in the middle of the top, and the sliding sleeve is located in the middle groove of the first fixed table.

[0014] Preferably, the fixed rail is fixedly connected with a second fixed table in the middle of the top, and the fixed rail is fixedly connected with a support plate on both sides of both ends, so as to support the fixed rail.

[0015] Compared with the prior art, the application has the following advantages: 1、The application is beneficial to self-adaptive floating fitting according to the width difference of the plate, automatically compensating the width difference, through the meshing transmission structure of the intermediate gear and the first guide tooth plate and the second guide tooth plate, cooperating with the contact sensing of the L-shaped plate to the edge of the plate, when one side of the L-shaped plate first contacts the wide edge of the plate, the intermediate gear rotates in the movement, pushing the other side of the L-shaped plate to continue moving until it is fitted with the narrow edge of the plate. This mechanism can automatically compensate the thick plate with different width steps, realize self-adaptive floating clamping, improve the welding centering accuracy and adaptability, and realize self-adaptive floating compensation of the width difference of the thick plate.

[0016] 2、The third motor in the horizontal rail drives the moving block and the support plate to move through the third threaded rod, the first motor in the slide rail drives the moving plate to move through the first threaded rod, and the L-shaped plate is accurately positioned in the horizontal and vertical directions. At the same time, the fixed rail is provided with a support plate at both ends, a second fixed table in the middle, and a first fixed table on the horizontal rail, which together enhances the rigidity and stability of the overall structure, ensures the movement accuracy and reliability of the manipulator during welding.

[0017] 3,The application buffers the push rod, so as to buffer the baffle and the lifting plate, installs and fixes the periphery of the plate, so as to fit the plate, moves the welding mechanical arm through the gantry control welding mechanical arm, and makes the welding mechanical arm drive the welding head to weld the plate, drives the moving sleeve to move in the fixed rail through the second motor driving the second threaded rod, and then drives the transmission gear to rotate through the bevel gear transmission, moves the transmission tooth plate and the fixed plate, finally makes the lifting plate and the baffle contact with the end of the plate. The buffer liquid in the sliding sleeve and the piston plate through hole structure are matched, the damping buffer effect is formed, the flexible clamping and stable support of the plate are realized in combination with the buffer spring. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is the overall structure schematic diagram of the application; Figure 2 It is the structure schematic diagram of the second fixed table of the application; Figure 3 It is the structure schematic diagram of the fixed rail of the application; Figure 4 It is the structure schematic diagram of the first fixed table of the application; Figure 5 It is the structure schematic diagram of the support plate of the application; Figure 6 It is the structure schematic diagram of the cover plate of the application; Figure 7 It is the structure schematic diagram of the sliding rail of the application; Figure 8 It is the structure schematic diagram of the L-shaped plate of the application; Figure 9 It is the structure schematic diagram of the second guide tooth plate of the application; Figure 10 It is the structure schematic diagram of the cross rail of the application; Figure 11 It is the structure schematic diagram of the moving sleeve of the application; Figure 12 It is the structure schematic diagram of the second threaded rod of the application; Figure 13 It is the structure schematic diagram of the rotating ring of the application; Figure 14 It is the structure schematic diagram of the sliding sleeve of the application.

[0019] The figure label: 1, gantry; 2, welding mechanical arm; 3, fixed rail; 4, cross rail; 5, moving block; 6, support plate; 7, slide rail; 8, moving plate; 9, fixed shaft; 10, intermediate gear; 11, support rail; 12, first guide toothed plate; 13, second guide toothed plate; 14, L-shaped plate; 15, cover plate; 16, guide groove; 17, first threaded rod; 18, first motor; 19, moving sleeve; 20, second threaded rod; 21, rotating ring; 22, rotating rod; 23, transmission gear; 24, first bevel gear; 25, second bevel gear; 26, limiting groove; 27, limiting plate; 28, transmission toothed plate; 29, limiting rod; 30, fixed plate; 31, slide sleeve; 32, piston plate; 33, push rod; 34, buffer spring; 35, baffle; 36, lifting plate; 37, second motor; 38, first fixed table; 39, second fixed table; 40, support plate; 41, third threaded rod; 42, third motor. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0021] Embodiment: as Figures 1-14As shown, the present application provides a thick plate welding manipulator with adaptive floating compensation mechanism, including gantry 1, the welding manipulator arm 2 is installed at the moving end of gantry 1, the fixed rail 3 is arranged at the bottom of gantry 1, the cross rail 4 is arranged at the top of both ends of fixed rail 3, the moving block 5 is slidably connected at both sides of the inside of cross rail 4, the support plate 6 is fixedly connected at the top of moving block 5, the slide rail 7 is fixedly connected at the top of support plate 6, the moving plate 8 is slidably connected in the inside of slide rail 7, the fixed shaft 9 is fixedly connected at the top of moving plate 8, the intermediate gear 10 is rotatably connected at the outside of fixed shaft 9, the support rail 11 is fixedly connected at both sides of the top of support plate 6, the first guide toothed plate 12 and the second guide toothed plate 13 are respectively slidably connected in the inside of two support rails 11, the first guide toothed plate 12 and the second guide toothed plate 13 are respectively meshingly connected at both sides of intermediate gear 10, the L-shaped plate 14 is fixedly connected at one end of first guide toothed plate 12 and second guide toothed plate 13, the cover plate 15 is fixedly connected at the top of support plate 6, the empty slot guide groove 16 is formed at both sides of the inside of cover plate 15, two empty slot guide grooves 16 are respectively slidably connected in the inside of two empty slot guide grooves 16, the first threaded rod 17 is rotatably connected in the inside of slide rail 7, the first motor 18 is fixedly connected at one end of slide rail 7, the output end of first motor 18 is fixedly connected with first threaded rod 17, the first threaded rod 17 penetrates through moving plate 8 and is threadedly connected with moving plate 8, the first motor 18 is started to drive the rotation of first threaded rod 17, and moving plate 8 is moved.

[0022] The third threaded rods 41 are rotatably connected to the inner sides of the cross rails 4, the third threaded rods 41 penetrate through the moving blocks 5 and are threadedly connected with the moving blocks 5, the third motors 42 are fixedly connected to the inner sides of the cross rails 4, the output ends of the two third motors 42 are fixedly connected with the third threaded rods 41, the third motors 42 are started to drive the third threaded rods 41 to rotate, the third threaded rods 41 drive the moving blocks 5 to move when rotating, the moving blocks 5 drive the supporting plates 6 to move, the moving sleeves 19 are slidably connected to the inner sides of the fixed rails 3, the second threaded rods 20 are rotatably connected in the fixed rails 3, the second threaded rods 20 penetrate through the moving sleeves 19 and are threadedly connected with the moving sleeves 19, the rotating rings 21 are rotatably connected to the inner side walls of the moving sleeves 19, the limiting plates 27 are fixedly connected to the inner sides of the rotating rings 21, the limiting grooves 26 are formed in the two sides of the second threaded rods 20, the two limiting plates 27 are slidably connected in the two limiting grooves 26 respectively, the second motors 37 are fixedly connected to the inner sides of the fixed rails 3, the output ends of the two second motors 37 are fixedly connected with the two second threaded rods 20, the second motors 37 are started to drive the second threaded rods 20 to rotate, the second threaded rods 20 drive the moving sleeves 19 to slide in the fixed rails 3 when rotating, the rotating rods 22 are rotatably connected in the moving sleeves 19, the first bevel gears 24 are fixedly connected to one side of the rotating rings 21, the second bevel gears 25 are fixedly connected to the bottom ends of the rotating rods 22, the first bevel gears 24 and the second bevel gears 25 are meshingly connected, the driving gears 23 are fixedly connected to the top ends of the rotating rods 22, the rotating rings 21 are driven to rotate when the first bevel gears 24 are rotated, and the second bevel gears 25 are rotated through the first bevel gears 24, so as to drive the rotating rods 22 and the driving gears 23 to rotate.

[0023] The middle part of the cross rail 4 is provided with a transmission gear 23, one side of the transmission gear 23 is engaged with a transmission tooth plate 28, the transmission tooth plate 28 penetrates the cross rail 4 and is in sliding connection with the cross rail 4, the other side of the transmission gear 23 is provided with a limiting rod 29, the limiting rod 29 penetrates the cross rail 4 and is in sliding connection with the cross rail 4, the transmission tooth plate 28 and the limiting rod 29 are fixedly connected with a fixed plate 30 at one end, so that the transmission gear 23 drives the transmission tooth plate 28 to move when rotating, the transmission tooth plate 28 drives the fixed plate 30 to move, the fixed plate 30 is fixedly connected with two sliding sleeves 31 at one side, the sliding sleeves 31 are in sliding connection with a piston plate 32 inside, the sliding sleeves 31 are filled with buffer liquid, a plurality of through holes are formed in the piston plate 32, so that the buffer liquid flows through the through holes in the piston plate 32 when the piston plate 32 moves in the sliding sleeves 31, forming a damping effect, the piston plate 32 is fixedly connected with a push rod 33 at one side, the push rod 33 penetrates the end wall of the sliding sleeve 31 and the fixed plate 30 and is in sliding connection with the sliding sleeve 31 and the fixed plate 30, the push rod 33 is fixedly connected with a baffle 35 at one end outside the fixed plate 30, a buffer spring 34 is arranged outside the push rod 33, the buffer spring 34 is fixedly connected with the baffle 35 and the fixed plate 30 at both ends, the baffle 35 is fixedly connected with a lifting plate 36 at one side, the cross rail 4 is fixedly connected with a first fixed table 38 at the top middle, the sliding sleeve 31 is located in the middle groove of the first fixed table 38, the fixed rail 3 is fixedly connected with a second fixed table 39 at the top middle, the fixed rail 3 is fixedly connected with a support plate 40 at both ends and both sides, supporting the fixed rail 3.

[0024] In use, the plate to be welded is placed on the top of the first fixing table 38, the second motor 37 is started to drive the two second threaded rods 20 to rotate, the second threaded rod 20 drives the moving sleeve 19 to move, when the moving sleeve 19 moves, the cross rail 4 moves, the two cross rails 4 move relative to each other, the cross rail 4 drives the moving block 5 and the supporting plate 6 to move, the supporting plate 6 drives the L-shaped plate 14 to move, the L-shaped plate 14 moves to the width step of the plate, the two L-shaped plates 14 above the same supporting plate 6 move to the short side and the long side outside of the plate respectively, the third motor 42 is started to drive the third threaded rod 41 to rotate, the third threaded rod 41 drives the moving block 5 to move when rotating, the moving block 5 drives the supporting plate 6 to move when moving, the L-shaped plate 14 moves towards the plate, after being attached to the vicinity of the plate, the first motor 18 is started to drive the first threaded rod 17 to rotate, the moving plate 8 moves when the first threaded rod 17 rotates, the moving plate 8 drives the fixing shaft 9 to move, the fixing shaft 9 drives the intermediate gear 10 to move synchronously when moving, the intermediate gear 10 drives the two first guide toothed plates 12 and the second guide toothed plate 13 to slide in the supporting rail 11 at the same time in the process of moving, the first guide toothed plate 12 and the second guide toothed plate 13 drive the two L-shaped plates 14 to move towards the plate at the same time, when the L-shaped plate 14 at the edge of the wider section of the plate contacts the plate first, the plate blocks and limits this L-shaped plate 14, and at this time the first threaded rod 17 continues to rotate to drive the moving plate 8 to move, the moving plate 8 drives the fixing shaft 9 to move, thereby driving the fixing shaft 9 to move towards the plate, the fixing shaft 9 drives the intermediate gear 10 to move when moving, the L-shaped plate 14 on one side of the second guide toothed plate 13 is blocked and limited and cannot move, the second guide toothed plate 13 limits the intermediate gear 10 and makes the intermediate gear 10 rotate when moving on one side of the second guide toothed plate 13, thereby driving the first guide toothed plate 12 to move, conversely, after the L-shaped plate 14 on one side of the first guide toothed plate 12 is limited, the second guide toothed plate 13 drives the L-shaped plate 14 on the same side to move towards the plate, thereby making the L-shaped plate 14 that contacts the wide edge of the plate first not move when the intermediate gear 10 moves, and the L-shaped plate 14 at the narrow edge of the plate continues to move under the rotation of the intermediate gear 10, thereby making the two L-shaped plates 14 respectively attach and fix the wide edge and the narrow edge of the plate, which is favorable for adaptive floating attachment according to the different widths of the plate, automatically compensating the width difference, through the meshing transmission structure of the intermediate gear 10 and the first guide toothed plate 12 and the second guide toothed plate 13, the contact sensing of the L-shaped plate 14 to the edge of the plate, when the L-shaped plate 14 on one side contacts the wide edge of the plate first, the intermediate gear 10 rotates in the process of moving, pushing the L-shaped plate 14 on the other side to continue to move until attaching to the narrow edge of the plate.The mechanism can automatically compensate the thick plate with different width steps, realize self-adaptive floating clamping, improve the welding centering accuracy and adaptability, and realize self-adaptive floating compensation of the width difference of the thick plate. The third motor 42 in the cross rail 4 drives the third threaded rod 41 to move the moving block 5 and the support plate 6, the first motor 18 in the sliding rail 7 drives the first threaded rod 17 to move the moving plate 8, and realizes the accurate positioning of the L-shaped plate 14 in the horizontal and vertical directions. At the same time, the fixed rail 3 is provided with a support plate 40 at both ends and a second fixed table 39 in the middle, and the cross rail 4 is provided with a first fixed table 38, which together enhances the rigidity and stability of the overall structure and ensures the movement accuracy and reliability of the welding robot during welding.

[0025] When the second motor 37 is started, the second threaded rod 20 is rotated, the moving sleeve 19 is moved, and the second threaded rod 20 is limited by the limiting groove 26 on both sides of the second threaded rod 20 when rotating, and the rotating ring 21 drives the first bevel gear 24 to rotate, and the second bevel gear 25 is driven to rotate by the first bevel gear 24, so that the second bevel gear 25 drives the rotating rod 22 to rotate, and at the same time drives the transmission gear 23 to rotate, and the transmission gear 23 drives the transmission tooth plate 28 to move, so that the transmission tooth plate 28 drives the fixed plate 30 to move, and the sliding sleeve 31 moves when the fixed plate 30 moves, and the baffle 35 and the lifting plate 36 move to the both ends of the plate, so that the lifting plate 36 and the baffle 35 are attached to the both ends of the plate, and after the baffle 35 is attached to the plate, the push rod 33 is moved by the baffle 35, so that the piston plate 32 is moved in the sliding sleeve 31 by the push rod 33, so that the buffer liquid in the sliding sleeve 31 flows through the multiple through holes in the piston plate 32, and the piston plate 32 forms a damping effect when moving, and the push rod 33 is buffered by the elastic force of the buffer spring 34, so as to buffer the baffle 35 and the lifting plate 36, and install and fix the plate around, so as to attach the plate, move the welding robot 2 through the gantry 1, and drive the welding head to weld the plate through the welding robot 2, drive the moving sleeve 19 in the fixed rail 3 through the second motor 37 driving the second threaded rod 20, and finally drive the transmission gear 23 to rotate through the bevel gear transmission, drive the transmission tooth plate 28 and the fixed plate 30 to move, and finally make the lifting plate 36 and the baffle 35 contact with the end of the plate. The buffer liquid in the sliding sleeve 31 and the through hole structure of the piston plate 32 form a damping buffer effect, and the buffer spring 34 realizes flexible clamping and stable support of the plate.

[0026] It will be apparent to those skilled in the art that the application is not limited to the details of the above-exemplified embodiments and that the present application can be implemented in other particular forms without departing from the spirit or essential characteristics of the present application. The embodiments should therefore be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the above description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. No reference signs in the claims should be considered as limiting the scope of the claims with respect to the figures of the patent document.

Claims

1. A thick plate welding robot with adaptive floating compensation mechanism, comprising a portal frame (1), a welding robot arm (2) is installed at the moving end of the portal frame (1), characterized in that: The portal frame (1) bottom is provided with a fixed rail (3), both ends of the fixed rail (3) top are provided with a cross rail (4), both sides of the cross rail (4) inside are slidably connected with a moving block (5), the moving block (5) top is fixedly connected with a support plate (6), the support plate (6) top is fixedly connected with a slide rail (7), the slide rail (7) inside is slidably connected with a moving plate (8), the moving plate (8) top is fixedly connected with a fixed shaft (9), the fixed shaft (9) outside is rotatably connected with an intermediate gear (10), both sides of the support plate (6) top are fixedly connected with a support rail (11), the two support rails (11) inside are slidably connected with a first guide toothed plate (12) and a second guide toothed plate (13), the first guide toothed plate (12) and the second guide toothed plate (13) are meshingly connected on both sides of the intermediate gear (10), and one end of the first guide toothed plate (12) and the second guide toothed plate (13) is fixedly connected with an L-shaped plate (14).

2. The thick plate welding robot with self-adaptive floating compensation mechanism according to claim 1, characterized in that: The support plate (6) top is fixedly connected with a cover plate (15), both sides of the cover plate (15) inside are provided with an empty slot guide groove (16), and two empty slot guide grooves (16) are slidably connected in the two empty slot guide grooves (16) respectively. The slide rail (7) inside is rotatably connected with a first threaded rod (17), and the slide rail (7) one end is fixedly connected with a first motor (18). The output end of the first motor (18) is fixedly connected with the first threaded rod (17), and the first threaded rod (17) penetrates through the moving plate (8) and is threadedly connected with the moving plate (8).

3. The thick plate welding robot with self-adaptive floating compensation mechanism according to claim 1, characterized in that: The cross rail (4) inside both sides are rotatably connected with a third threaded rod (41), the third threaded rod (41) penetrates through the moving block (5) and is threadedly connected with the moving block (5), and the cross rail (4) inside both sides are fixedly connected with a third motor (42). The output end of the two third motors (42) is fixedly connected with the third threaded rod (41).

4. The thick plate welding robot with self-adaptive floating compensation mechanism according to claim 1, characterized in that: The fixed rail (3) inside both sides are slidably connected with a moving sleeve (19), and the fixed rail (3) inside is rotatably connected with a second threaded rod (20). The second threaded rod (20) penetrates through the moving sleeve (19) and is threadedly connected with the moving sleeve (19), and the moving sleeve (19) one side wall inside is rotatably connected with a rotating ring (21). The rotating ring (21) inside both sides are fixedly connected with a limiting plate (27), and the second threaded rod (20) both sides are provided with a limiting groove (26). The two limiting plates (27) are slidably connected in the two limiting grooves (26) respectively, and the fixed rail (3) inside both sides are fixedly connected with a second motor (37). The output end of the two second motors (37) is fixedly connected with the two second threaded rods (20) respectively.

5. The thick plate welding robot with self-adaptive floating compensation mechanism according to claim 4, characterized in that: The rotating ring (21) is fixedly connected with a first bevel gear (24) on one side, the rotating rod (22) is fixedly connected with a second bevel gear (25) at the bottom end, the first bevel gear (24) and the second bevel gear (25) are meshed, and the rotating rod (22) is fixedly connected with a transmission gear (23) at the top end.

6. The thick plate welding robot with self-adaptive floating compensation mechanism according to claim 1, characterized in that: The transmission gear (23) is arranged in the middle of the cross rail (4), the transmission gear (23) is meshed with a transmission tooth plate (28) on one side, the transmission tooth plate (28) penetrates through the cross rail (4) and is slidably connected with the cross rail (4), the transmission gear (23) is provided with a limiting rod (29) on the other side, the limiting rod (29) penetrates through the cross rail (4) and is slidably connected with the cross rail (4), and the transmission tooth plate (28) and the limiting rod (29) are fixedly connected with a fixed plate (30) at one end.

7. The thick plate welding robot with adaptive float compensating mechanism according to claim 6, characterized in that: The fixed plate (30) is fixedly connected with two sliding sleeves (31) on one side, the sliding sleeve (31) is slidably connected with a piston plate (32) inside, the sliding sleeve (31) is filled with a buffer solution, and a plurality of through holes are formed in the piston plate (32).

8. The thick plate welding robot with adaptive float compensating mechanism according to claim 7, characterized in that: The piston plate (32) is fixedly connected with a push rod (33) on one side, the push rod (33) penetrates through the end wall of the sliding sleeve (31) and the fixed plate (30) and is slidably connected with the sliding sleeve (31) and the fixed plate (30), the push rod (33) extends to one end outside the fixed plate (30) and is fixedly connected with a baffle (35), a buffer spring (34) is arranged outside the push rod (33), the buffer spring (34) is fixedly connected with the baffle (35) and the fixed plate (30) at both ends, and the baffle (35) is fixedly connected with a lifting plate (36) on one side.

9. The thick plate welding robot with adaptive float compensating mechanism according to claim 7, characterized in that: The cross rail (4) is fixedly connected with a first fixed table (38) at the top middle, and the sliding sleeve (31) is located in the middle hollow groove of the first fixed table (38).

10. The thick plate welding robot with self-adaptive floating compensation mechanism according to claim 1, characterized in that: The fixed rail (3) is fixedly connected with a second fixed table (39) at the top middle, and the fixed rail (3) is fixedly connected with a support plate (40) on both sides at both ends.

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