Trial-teaching-free programming-free welding robot

Abstract

The invention belongs to the technical field of welding, and particularly discloses a teaching-free programming-free welding robot which comprises a driving structure and a mechanical arm body connected to the driving structure, a conveying pipe and a welding wire conveying piece are connected to the mechanical arm body, and a welding wire body penetrates through the interior of the conveying pipe; the welding wire conveying part drives a welding wire body to penetrate through the conveying pipes, the conveying pipes are of olive-shaped cavity structures, connecting pipes are fixed to the ends of the conveying pipes, the multiple conveying pipes are connected end to end through the connecting pipes, cutting strips are fixed to the inner walls of the lower portions of the conveying pipes at equal intervals, and sheet-shaped air bags are fixed to the inner walls of the connecting pipes at equal intervals. A convex ball is fixed to the end, close to the welding wire body, of the sheet-shaped air bag, and the connecting pipe is sleeved with a suction structure. Through the synergistic effect of dynamic supporting, vibration chip removal and the negative pressure structure, abrasion of the welding wire body can be reduced, meanwhile, powder chips are actively removed in the conveying process of the welding wire body, the welding quality is improved, and the equipment maintenance frequency is reduced.

Description

Technical Field

[0001] This invention belongs to the field of welding technology, and specifically discloses a welding robot that requires no testing or programming. Background Technology

[0002] No-teach, no-programming welding robots, as key equipment in the field of automated manufacturing, have been widely used in various industries such as automobile manufacturing, construction machinery, and metal structures. They use robotic arms to drive welding torches or welding wires, completing welding operations according to predetermined trajectories and programs, offering advantages such as high efficiency, stable quality, and favorable working conditions.

[0003] A typical welding robot that requires no trial teaching and no programming usually includes a drive mechanism, a multi-degree-of-freedom robotic arm, a welding torch, and a welding wire feeding device. Among these, the welding wire is continuously and stably fed from the wire spool to the welding point through a dedicated feeding tube. The smoothness and stability of this feeding directly affect the arc stability, weld formation quality, and equipment reliability during the welding process.

[0004] In existing technologies, when welding wire is transported long distances within a conveying pipe, friction with the pipe wall is inevitable. This friction leads to two main problems: first, wear on the welding wire surface, producing metal dust or debris; second, increased frictional resistance, which may cause poor wire feeding, vibration, or even jamming, especially noticeable with small-diameter or flexible welding wires. If the generated dust is not removed promptly, it will gradually accumulate within the conveying pipe, exacerbating friction between the pipe wall and the welding wire, creating a vicious cycle; furthermore, it may enter the welding torch's contact tip with the welding wire, causing blockage and wear, severely impacting welding process performance and equipment lifespan.

[0005] To alleviate the above problems, existing technologies have proposed several solutions. For example, using conveyor pipes with smooth inner walls or coatings with low coefficient of friction; installing cleaning devices such as brushes or air blowers in the conveying path; or optimizing the drive and straightening mechanisms of the wire feeder to reduce wire undulation.

[0006] However, these methods often have limitations: the low-friction coating may wear off; additional cleaning devices increase system complexity and maintenance points; and most of them focus on post-cleaning or passive friction reduction, failing to fundamentally and effectively suppress the generation of dust.

[0007] Furthermore, when feeding wire over long distances or along complex paths, support structures are sometimes installed inside the tube to maintain wire alignment and reduce sag. However, traditional fixed support plates or conduits also increase the contact area with the welding wire, becoming a new source of dust generation.

[0008] Therefore, designing a support structure that can effectively guide and support the welding wire, while also actively reducing friction, stimulating and assisting in the removal of generated debris, has become a technical challenge in improving the performance of the welding robot wire feeding system. Summary of the Invention

[0009] In view of this, the purpose of this invention is to provide a welding robot that requires no testing or programming, in order to solve the problems mentioned above.

[0010] To achieve the above objectives, the present invention provides a welding robot that requires no testing or programming, comprising a drive structure and a robotic arm body connected to the drive structure. The robotic arm body is connected to a conveying pipe and a welding wire conveying component. The welding wire body passes through the inside of the conveying pipe, and the welding wire conveying component drives the welding wire body to pass through the inside of the conveying pipe.

[0011] The delivery pipe has an olive-shaped cavity structure. A connecting pipe is fixed to the end of the delivery pipe. Multiple delivery pipes are connected end to end through the connecting pipe. Dividing strips are fixed at equal intervals on the inner wall of the lower part of the delivery pipe. Sheet-shaped airbags are fixed at equal intervals on the inner wall of the connecting pipe. A convex ball is fixed to one end of the sheet-shaped airbag near the welding wire body. A suction structure is sleeved on the connecting pipe.

[0012] The inner cavity of the conveying pipe is provided with rolling balls distributed between the two dividing strips. The multiple rolling balls support the welding wire body that runs through the inside of the conveying pipe, so that the suction structure can suck up the powder and debris inside the connecting pipe.

[0013] As the welding wire body passes through the inside of the delivery pipe and the connecting pipe, the welding wire body drives the rolling ball to move upward, and the rolling ball, which is subjected to gravity, intermittently impacts the welding wire body.

[0014] In the above technical solution, further, an impact airbag is fixed on the inner wall of the delivery pipe between the connecting pipe and the dividing strip. Multiple impact airbags are distributed around the axis of the connecting pipe, and adjacent impact airbags abut against each other. The inner cavity of the impact airbag is connected to the inner cavity of the sheet-like airbag.

[0015] In the above technical solution, the end face of the sheet-like airbag is triangular, the connecting tube is provided with an air extraction hole between the two sheet-like airbags, and the suction end of the suction structure is connected to the inner cavity of the connecting tube through the air extraction hole.

[0016] In the above technical solution, the suction structure further includes a suction hood sleeved on the outer wall of the connecting pipe, a suction pipe fixed on the suction hood, and a vacuum cleaner connected to the end of the suction pipe away from the suction hood.

[0017] In the above technical solution, the conveying pipe, connecting pipe, air extraction hood, and sheet-like airbag are all elastic, the inner diameter of the connecting pipe is larger than the outer diameter of the welding wire body, and the impact airbag does not contact the welding wire body.

[0018] In the above technical solution, the driving structure further includes a driving horizontal rail, a driving vertical rail is fixed to the driving end of the driving horizontal rail, and the robotic arm body is fixed to the driving end of the driving vertical rail.

[0019] In the above technical solution, a welding wire spool is detachably connected to one side of the drive vertical rail, and the delivery pipe at the end is connected to the outer wall of the welding wire spool through a connecting pipe, and the welding wire body is wound on the welding wire spool.

[0020] In the above technical solution, further, the multiple dividing strips distribute multiple storage spaces on the lower wall of the inner cavity of the conveying pipe, each storage space is used to store the rolling ball, and when the welding wire body passes through the inside of the conveying pipe, the welding wire body drives the rolling ball to move upward inside the storage space.

[0021] In the above technical solution, when the rolling ball impacts the welding wire body under the action of gravity, the welding wire body briefly contacts the convex ball. At this time, the welding wire body squeezes the sheet-like airbag through the convex ball, thereby causing the powder that falls off the welding wire body due to friction to be collected by the suction structure.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] 1. This solution uses rolling balls and dividing strips to support the welding wire body inside the conveying pipe, which can reduce the friction between the welding wire body and the conveying pipe. When the rolling balls intermittently impact the welding wire body, it can prevent the welding wire powder from sticking to the welding wire body. At the same time, the use of sheet-shaped airbags with convex balls for point contact support further reduces the friction area of ​​the welding wire body, thereby extending the service life of the conveying pipe and connecting pipe.

[0024] 2. This solution constructs an active cleaning system that utilizes the mechanical vibration generated by the impact of the rolling ball and the oscillation of the welding wire body to continuously shake off the dust. At the same time, the gas linkage between the impact airbag and the sheet airbag can shake off the dust falling from the welding wire body. When the dust falls into the inside of the connecting pipe, the suspended dust will be sucked away by the air extraction pipe. This ensures that the dust inside the connecting pipe is reduced, greatly reducing the accumulation of dust in the connecting pipe and ensuring that the welding wire body can pass smoothly through the conveying pipe, making it easier for the robotic arm body to drive the welding wire body to weld the workpiece. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of the present invention;

[0026] Figure 2This is a schematic diagram of the welding wire body penetrating the delivery pipe in this invention;

[0027] Figure 3 for Figure 2 Cross-sectional structural diagram;

[0028] Figure 4 This is a diagram showing the connection structure between the dividing strip and the conveying pipe in this invention;

[0029] Figure 5 This is a diagram showing the connection structure between the delivery pipe and the robotic arm body in this invention;

[0030] Figure 6 This is a diagram showing the connection structure between the sheet-like airbag and the connecting tube in this invention;

[0031] Figure 7 This is a diagram showing the connection structure between the convex sphere and the sheet-like airbag in this invention;

[0032] Figure 8 for Figure 3 A magnified view of A in the middle.

[0033] 1. Drive horizontal rail; 11. Drive vertical rail; 12. Welding wire spool; 13. Robotic arm body; 14. Air extraction pipe; 15. Welding wire conveyor; 2. Conveying pipe; 21. Air extraction hood; 22. Dividing strip; 23. Sheet-shaped airbag; 24. Impact airbag; 25. Air extraction port; 26. Connecting pipe; 27. Convex ball; 3. Welding wire body; 4. Rolling ball. Detailed Implementation

[0034] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the invention is not limited to the specific embodiments disclosed below.

[0036] Example 1: Please refer to Figures 1-8 As shown, the present invention provides a technical solution:

[0037] This invention is a welding robot that requires no testing or programming, including a drive structure and a robotic arm body 13 connected to the drive structure. The robotic arm body 13 is connected to a conveying pipe 2 and a welding wire conveying component 15. The welding wire body 3 passes through the inside of the conveying pipe 2, and the welding wire conveying component 15 drives the welding wire body 3 to pass through the inside of the conveying pipe 2.

[0038] The conveying pipe 2 has an olive-shaped cavity structure. A connecting pipe 26 is fixed to the end of the conveying pipe 2. Multiple conveying pipes 2 are connected end to end through the connecting pipe 26. Dividing strips 22 are fixed at equal intervals on the inner wall of the lower part of the conveying pipe 2. Sheet-shaped air bags 23 are fixed at equal intervals on the inner wall of the connecting pipe 26. A convex ball 27 is fixed to one end of the sheet-shaped air bag 23 near the welding wire body 3. A suction structure is sleeved on the connecting pipe 26.

[0039] The inner cavity of the conveying pipe 2 is located between two dividing strips 22, and there are multiple balls 4 distributed therein. The welding wire body 3 that runs through the inside of the conveying pipe 2 supports the welding wire body 3, so that the suction structure can suck up the powder inside the connecting pipe 26.

[0040] When the welding wire body 3 passes through the inside of the conveying pipe 2 and the connecting pipe 26, the welding wire body 3 drives the rolling ball 4 to move upward, and the rolling ball 4, which is subjected to gravity, intermittently impacts the welding wire body 3.

[0041] An impact airbag 24 is fixed on the inner wall of the delivery pipe 2 between the connecting pipe 26 and the dividing strip 22. Multiple impact airbags 24 are distributed around the axis of the connecting pipe 26. At the same time, two adjacent impact airbags 24 abut against each other, forming a ring structure. The inner cavity of the impact airbag 24 is connected to the inner cavity of the sheet-like airbag 23.

[0042] The end face of the sheet-like airbag 23 is triangular, and the connecting tube 26 is located between the two sheet-like airbags 23 with an air extraction hole 25. The suction end of the suction structure is connected to the inner cavity of the connecting tube 26 through the air extraction hole 25.

[0043] The suction structure includes a suction hood 21 sleeved on the outer wall of the connecting pipe 26, a suction pipe 14 fixed on the suction hood 21, and a vacuum cleaner connected to the end of the suction pipe 14 away from the suction hood 21.

[0044] The delivery pipe 2, connecting pipe 26, air extraction hood 21, and sheet-like airbag 23 are all elastic. The inner diameter of the connecting pipe 26 is larger than the outer diameter of the welding wire body 3, and the impact airbag 24 does not contact the welding wire body 3.

[0045] In actual use, the staff first threaded the welding wire body 3 through the pipe fitting composed of multiple conveying pipes 2. When the drive structure drives the welding wire body 3 to the workpiece part to be welded through the robotic arm body 13, the welding wire conveying component 15 on the robotic arm body 13 will drive the welding wire body 3 through the inside of the conveying pipe 2, thereby realizing the welding processing of the part of the workpiece to be welded by the robotic arm body 13 driving the welding wire body 3. It should be noted that the robotic arm body 13 is a six-axis welding robot that is available on the market without trial teaching or programming.

[0046] When the welding wire conveyor 15 drives the welding wire body 3 through the inside of the conveying pipe 2, the drag force of the welding wire conveyor 15 on the welding wire body 3 can drive the ball 4 to move upward instantly through the welding wire body 3. This can realize the movement of the ball 4 on the inner wall of the conveying pipe 2. When the ball 4 moves inside the conveying pipe 2, the two dividing strips 22 can form a limiting channel for the ball 4, thereby realizing the separation of the ball 4 from the welding wire body 3.

[0047] When the welding wire body 3 moves the ball 4 upward within the space formed by the two dividing strips 22, the ball 4 will move downward under the action of gravity. At this time, the ball 4 will hit the welding wire body 3. The weight and diameter of the ball 4 are set according to the actual situation. When the welding wire body 3 passes through the inside of the connecting pipe 26 and the conveying pipe 2, the powder that falls off the welding wire body 3 due to friction will adhere to the inner wall of the conveying pipe 2. This powder will affect the speed at which the ball 4 falls up and down in the conveying pipe 2, which will cause multiple balls 4 to be unable to hit the welding wire body 3 at the same time.

[0048] When multiple balls 4 do not strike the welding wire body 3 at the same time, the welding wire body 3 will swing inside the connecting tube 26. At this time, the dust generated by the friction of the welding wire body 3 will enter the interior of the connecting tube 26 under the swing of the welding wire body 3.

[0049] It should be noted that, under normal conditions, the dividing strip 22 can divide the inner cavity of the conveying pipe 2, which allows multiple rolling balls 4 to support the welding wire body 3, preventing the inner wall of the welding wire body 3 from contacting the sheet-like air bag 23, and thus preventing the surface of the welding wire body 3 from being subjected to excessive friction when the welding wire conveying component 15 transports the welding wire body 3.

[0050] When the welding wire body 3 drives the ball 4 to move upward inside the conveying pipe 2, since the ball 4 can move upward on the inner wall of the conveying pipe 2, this can avoid a lot of friction between the welding wire body 3 and the ball 4, thereby avoiding a lot of powder falling off the welding wire body 3 during conveying. In order to make the powder falling off the welding wire body 3 quickly discharged into the inner wall of the connecting pipe 26, the surfaces of the conveying pipe 2, the impact airbag 24 and the sheet airbag 23, and the ball 4 need to be smooth.

[0051] It should be noted that when the welding wire feeder 15 feeds the welding wire body 3, the feeding method of the welding wire body 3 is not continuous. At the same time, the feeding length of the welding wire body 3 is set according to the welding length of the workpiece. This means that each time the welding wire feeder 15 drives the welding wire body 3 to feed, the ball 4 can move upward under the push of the welding wire body 3. When the welding wire body 3 stops feeding, the ball 4 resets under the action of gravity. In order to avoid the ball 4 from impacting and damaging the welding wire body 3, the diameter and material of the ball 4 are set according to the actual situation. The impact force of the ball 4 only needs to achieve slight vibration on the surface of the welding wire body 3.

[0052] When the ball 4 impacts the welding wire body 3 under the action of gravity, the ball 4 can compress the impact airbag 24. At this time, the air inside the impact airbag 24 can be compressed into the interior of the sheet-like airbag 23, which can achieve the expansion of the volume of the sheet-like airbag 23. At this time, the convex ball 27 on the sheet-like airbag 23 impacts the welding wire body 3. When the convex ball 27 impacts the welding wire body 3, the convex ball 27 can support the welding wire body 3, which can avoid the sheet-like airbag 23 and the welding wire body 3 having a large area of ​​contact, reducing the friction area of ​​the welding wire body 3.

[0053] If multiple rolling balls 4 do not impact the welding wire body 3 at the same time, multiple convex balls 27 can impact the welding wire body 3 at the same time, thereby enabling the welding wire body 3 to swing inside the conveying pipe 2. This allows the convex balls 27 at the ends of multiple sheet-like air bags 23 to support the welding wire body 3, avoiding friction between the welding wire body 3 and the ends of the sheet-like air bags 23, and reducing the frictional wear on the outer wall of the welding wire body 3 when it passes through the conveying pipe 2 and the connecting pipe 26.

[0054] When the powder falling off the welding wire body 3 enters the interior of the connecting pipe 26, the discharge end of the suction pipe 14 is connected to the collection end of the vacuum cleaner. When the operator turns on the vacuum cleaner, the collection end of the vacuum cleaner can suck the air inside the suction hood 21 through the suction pipe 14. At this time, the interior of the suction hood 21 is under negative pressure. When the interior of the suction hood 21 is under negative pressure, the powder inside the connecting pipe 26 can pass through the suction hole 25 and enter the interior of the suction hood 21, thereby enabling the powder inside the connecting pipe 26 to pass through the suction hood 21 and the suction pipe 14 and enter the interior of the vacuum cleaner.

[0055] When the vacuum cleaner sucks air from inside the connecting pipe 26, the inside of the pipe composed of multiple delivery pipes 2 is under negative pressure. In order to prevent external debris from entering the inside of the delivery pipe 2, a sealing ring is placed in the gap between the delivery pipe 2 at the end and the welding wire body 3. The material of the sealing ring should be a material with good air permeability.

[0056] Example 2: Please refer to Figures 1-8 As shown, based on Embodiment 1, the present invention provides a technical solution. Unlike Embodiment 1, in this embodiment, the output end of the drive horizontal rail 1 can drive the lateral position of the robotic arm body 13 to move through the drive vertical rail 11. The output end of the drive vertical rail 11 can move the vertical position of the robotic arm body 13. Then, the operator starts the robotic arm body 13 to work. This can realize the eight-axis adjustment of the welding end of the robotic arm body 13, which makes it easy for the welding end of the robotic arm body 13 to adapt to different welding workpieces.

[0057] The drive structure includes a drive horizontal rail 1, a drive vertical rail 11 fixed to the drive end of the drive horizontal rail 1, and the robotic arm body 13 fixed to the drive end of the drive vertical rail 11.

[0058] A wire spool 12 is detachably connected to one side of the drive vertical rail 11. The delivery pipe 2 at the end is connected to the outer wall of the wire spool 12 through the connecting pipe 26. The wire body 3 is wound on the wire spool 12.

[0059] Multiple dividing strips 22 distribute multiple storage spaces on the lower wall of the inner cavity of the conveying pipe 2. Each storage space is used to store the ball 4. When the welding wire body 3 passes through the inside of the conveying pipe 2, the welding wire body 3 drives the ball 4 to move upward inside the storage space.

[0060] When the rolling ball 4 impacts the welding wire body 3 under the action of gravity, the welding wire body 3 briefly contacts the convex ball 27. At this time, the welding wire body 3 squeezes the sheet-like air bag 23 through the convex ball 27, thereby causing the powder falling off the welding wire body 3 to be collected by the suction structure.

[0061] In actual use, the output end of the drive horizontal rail 1 can drive the horizontal position of the robotic arm body 13 to move through the drive vertical rail 11, and the output end of the drive vertical rail 11 can move the vertical position of the robotic arm body 13. Then the operator starts the robotic arm body 13 to work, which can realize the eight-axis adjustment of the welding end of the robotic arm body 13, making it easy for the welding end of the robotic arm body 13 to adapt to different welding workpieces.

[0062] When the welding end of the robotic arm body 13 is welding the workpiece, the operator places the workpiece to be welded under the robotic arm body 13 in advance. The robotic arm body 13 shown in this document is a commercially available six-axis welding robot that does not require trial teaching or programming. In actual use, the six-axis welding robot automatically identifies the actual position of the weld seam by letting the electrified welding wire body 3 contact the workpiece to be welded and detecting the voltage change. It then compares and corrects the position with the preset program in the computer, thereby compensating for errors caused by workpiece processing or assembly. This avoids the need to teach the six-axis welding robot in advance when welding the workpiece and also avoids the need to pre-program the six-axis welding robot.

[0063] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A trial-free, programming-free welding robot comprising a drive structure and a robot body (13) connected to the drive structure, characterized in that: The mechanical arm body (13) is connected with a conveying pipe (2) and a welding wire conveying element (15), the inside of the conveying pipe (2) is penetrated by a welding wire body (3), and the welding wire conveying element (15) drives the welding wire body (3) to penetrate the inside of the conveying pipe (2). The conveying pipe (2) is an olive-shaped cavity structure, the end of the conveying pipe (2) is fixed with a connecting pipe (26), a plurality of the conveying pipes (2) are connected in a head-to-tail mode through the connecting pipe (26), the inner wall of the lower part of the conveying pipe (2) is fixed with segmentation strips (22) at equal intervals, the inner wall of the connecting pipe (26) is fixed with sheet-shaped air bags (23) at equal intervals, one end of the sheet-shaped air bag (23) close to the welding wire body (3) is fixed with a convex ball (27), and the connecting pipe (26) is sleeved with a suction structure. The inner cavity of the conveying pipe (2) is distributed with rolling balls (4) between the two segmentation strips (22), a plurality of the rolling balls (4) support the welding wire body (3) penetrating the inside of the conveying pipe (2), and the suction structure sucks the powder in the inside of the connecting pipe (26). When the welding wire body (3) penetrates the inside of the conveying pipe (2) and the connecting pipe (26), the welding wire body (3) drives the rolling ball (4) to move upwards, and the rolling ball (4) falling under the action of gravity intermittently impacts the welding wire body (3).

2. A teach-by-examining programming free welding robot according to claim 1, characterized in that The inner wall of the conveying pipe (2) is fixed with impact air bags (24) between the connecting pipe (26) and the segmentation strip (22), the impact air bags (24) are distributed in a plurality of modes, the plurality of impact air bags (24) are distributed around the axis of the connecting pipe (26), meanwhile, the adjacent two impact air bags (24) abut against each other, and the inner cavity of the impact air bag (24) is communicated with the inner cavity of the sheet-shaped air bag (23).

3. The teach-by-examining programming-free welding robot of claim 1, wherein, The end surface of the sheet-shaped air bag (23) is triangular, the connecting pipe (26) is provided with an air extraction hole (25) between the two sheet-shaped air bags (23), and the suction end of the suction structure is communicated with the inner cavity of the connecting pipe (26) through the air extraction hole (25).

4. The teach-by-examining programming-free welding robot of claim 2, wherein, The suction structure comprises an air extraction cover (21) sleeved on the outer wall of the connecting pipe (26), the air extraction cover (21) is fixed with an air extraction pipe (14), and one end of the air extraction pipe (14) away from the air extraction cover (21) is connected with a dust collector.

5. A teach-by-examining programming free welding robot according to claim 4, characterized in that The conveying pipe (2), the connecting pipe (26), the air extraction cover (21) and the sheet-shaped air bag (23) are all elastic, the inner diameter of the connecting pipe (26) is greater than the outer diameter of the welding wire body (3), and the impact air bag (24) does not contact the welding wire body (3).

6. The teach-by-examining, programming-free welding robot of claim 1, wherein, The driving structure comprises a driving cross rail (1), the driving end of the driving cross rail (1) is fixed with a driving vertical rail (11), and the mechanical arm body (13) is fixed at the driving end of the driving vertical rail (11).

7. A teach-by-examining programming free welding robot according to claim 6, characterized in that One side of the driving vertical rail (11) is detachably connected with a welding wire disc (12), the conveying pipe (2) at the tail end is connected to the outer wall of the welding wire disc (12) through the connecting pipe (26), and the welding wire body (3) is wound on the welding wire disc (12).

8. The teach-by-examining, programming-free welding robot of claim 1, wherein, The plurality of the segmentation strips (22) distribute the lower wall of the inner cavity of the conveying pipe (2) into a plurality of receiving spaces, each of which is used for receiving the rolling ball (4), and when the welding wire body (3) penetrates from the inside of the conveying pipe (2), the rolling ball (4) is driven by the welding wire body (3) to move upwards in the receiving space.

9. The teach-by-examining, programming-free welding robot of claim 1, wherein, When the rolling ball (4) hits the welding wire body (3) under the action of gravity, the welding wire body (3) is in temporary contact with the convex ball (27), at this time, the welding wire body (3) is pressed against the sheet-shaped air bag (23) through the convex ball (27), so that the welding wire body (3) rubs off the powder collected by the suction structure.

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