Ground rail type cantilever robot structure

Abstract

The invention discloses a ground rail type cantilever robot structure, and relates to the technical field of welding robots. Comprising a welding installation part, and a gap checking piece is installed on the welding installation part and used for checking the transverse movement gap of the welding installation part; a welding device is mounted on the welding mounting part; the welding device is externally connected with a welding machine; a welding wire cutting piece is mounted on the welding device; the welding wire cutting part is used for cutting off the head end of a welding wire; an air pressure auxiliary part is mounted on the welding wire cutting part; by adopting the welding wire cutting piece, the head end of the welding wire can be rapidly controlled to be cut off after welding is completed, and particularly for a welding path with a large welding pool, it can be guaranteed that the end of the welding wire is consistent in standard at the beginning of next-time welding; the problems that according to an existing ground rail type cantilever robot ground rail driving structure, abrasion gaps are prone to being generated, accurate verification is difficult, the head end of a welding wire is inconvenient to cut off quickly, and the consistency of the welding initial end of the welding wire is inconvenient to maintain are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of welding robots, in particular to a ground rail type cantilever robot structure. BACKGROUND

[0002] The ground rail type cantilever welding robot is an automatic welding equipment combining track moving system and multi-axis mechanical arm, which can realize flexible welding through the automatic electric arc welding gun head at the first end of the mechanical arm, and is mainly used for welding work of large components; thanks to the advantages of more stable and more efficient of the ground rail type cantilever robot compared with manual welding, it is widely used in the welding work of I-beams and other workpieces; although the current ground rail type cantilever robot can guide the lateral movement of the robot through the ground rail, the ground rail driving structure is prone to wear gap after long-term use, which is difficult to accurately check; at the same time, in the actual welding work, after the welding wire is moved out in the welding pool, the end of the welding wire is easy to attach the metal melt of the welding pool, which is called welding wire molten ball, and the surface is easy to oxidize, which affects the subsequent arc starting quality and welding process effect, and it is not convenient to quickly cut off the head end of the welding wire to maintain the consistency of the initial end of the welding wire.

[0003] Therefore, we propose a ground rail type cantilever robot structure. SUMMARY

[0004] The present application relates to the technical field of welding robots, in particular to a ground rail type cantilever robot structure.

[0005] To achieve the above purpose, the present application provides the following technical scheme: a ground rail type cantilever robot structure, comprising a welding installation part, a gap checking part is installed on the welding installation part, and the gap checking part is used to check the lateral movement gap of the welding installation part; a welding device is installed on the welding installation part; and a welding machine is connected to the welding device;

[0006] A welding wire cutting part is installed on the welding device; the welding wire cutting part is used to cut off the head end of the welding wire; and a gas pressure auxiliary part is installed on the welding wire cutting part;

[0007] A cutting detection part is installed on the welding device, and the cutting detection part is used to control the air supply of the gas pressure auxiliary part;

[0008] The welding installation part comprises: a mounting ground rail, two sliding rails are arranged on the mounting ground rail; a sliding seat is slidably installed on the two sliding rails of the mounting ground rail; a cantilever robot is fixedly installed on the sliding seat; and the sliding seat is used to adjust the welding position laterally.

[0009] Preferably, the welding installation part further includes: a mounting base, wherein a row of mounting bases is fixedly installed on both sides of the installation rail, and a through groove is opened on each row of mounting bases.

[0010] Preferably, the gap calibration component includes: a motor mounting plate, which is fixedly welded to a mounting rail; a drive screw is rotatably mounted on the motor mounting plate, with its end rotatably mounted on the mounting rail; a servo motor is fixedly mounted on the motor mounting plate, with the output shaft of the servo motor fixedly mounted on the end of the drive screw; a gap switch is fixedly mounted on the motor mounting plate, with its end protruding from the motor mounting plate; and the drive screw is threadedly connected to a sliding seat.

[0011] Preferably, the gap verification component further includes: a push shaft, two push shafts are slidably sleeved on the motor mounting plate, and each of the two push shafts has a rubber pad at its end; a push-pull spring is sleeved on each of the two push shafts; one end of each of the two push-pull springs is fixedly connected to the two push shafts, and the other end of each push-pull spring is fixedly connected to the motor mounting plate; the two push shafts and the gap switch are respectively aligned with the sliding seat; a gap indicator light is fixedly installed on the motor mounting plate; and the gap switch is electrically connected to the gap indicator light.

[0012] Preferably, the welding device includes: a welding torch mounting plate, which is fixedly mounted on the front end of the cantilever robot; a fixing sleeve is fixedly mounted on the welding torch mounting plate; a welding torch body is fixedly mounted on the fixing sleeve, and the front end of the welding torch body passes through the fixing sleeve; and a welding machine is externally connected to the welding torch body.

[0013] Preferably, the welding device further includes: a pull-back cylinder, two pull-back cylinders are fixedly installed on the fixed sleeve; a drive sleeve is slidably sleeved on the fixed sleeve; the output shafts of the two pull-back cylinders are respectively fixedly installed on the side of the drive sleeve; two extrusion inclined blocks are fixedly installed on the drive sleeve, and the two extrusion inclined blocks are respectively slidably installed on the fixed sleeve; the outer sides of the two extrusion inclined blocks are inclined structures.

[0014] Preferably, the welding wire cutting component includes: two swing arms, each with a rotating shaft fixedly mounted on it, and the two rotating shafts rotatably mounted on a fixed sleeve; one end of each swing arm has an inclined structure; the inclined ends of the two swing arms are respectively attached to two extrusion inclined blocks; the upper and lower sides of the swing arms are attached to the fixed sleeve; the other ends of the two swing arms are respectively fixedly mounted with cutting heads, and the ends of the two cutting heads are sharpened; the two cutting heads are used to cut the end of the welding wire on the welding gun body; each of the two rotating shafts is provided with a torsion spring; one end of each torsion spring is fixedly connected to the rotating shaft, and the other end of each torsion spring is fixedly connected to the fixed sleeve.

[0015] Preferably, the pneumatic auxiliary component includes: an air supply pipe, the end of which is fixedly installed at the end of the welding torch body; the air supply pipe is connected to an external air pump via a flexible hose; a solenoid valve is fixedly installed on the air supply pipe; and the air supply pipe communicates with the interior of the welding torch body.

[0016] Preferably, the cutting detection element includes: a sliding shaft seat, which is fixedly installed on the side of the fixed sleeve; a retractable shaft is slidably inserted into the sliding shaft seat; the retractable shaft aligns with the driving sliding sleeve.

[0017] Preferably, the cutting detection element further includes: a micro switch, which is fixedly installed at the end of the retraction shaft; a gap is provided between the micro switch and the drive sleeve; the micro switch is electrically connected to a solenoid valve; a retraction spring is sleeved on the retraction shaft; one end of the retraction spring is fixedly connected to the slide seat, and the other end of the retraction spring is connected to the retraction shaft.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] This invention employs a gap switch to detect the displacement play of the sliding seat. Combined with the elastic push of the push shaft, it ensures detection accuracy and prevents the sliding seat from affecting welding accuracy due to inertia and other factors. By detecting the play gap of the sliding seat, it avoids failing to detect excessive wear play between the sliding seat and the drive screw in a timely manner. The elastic push of the push shaft onto the sliding seat prevents the sliding seat from accidentally touching the gap switch due to inertia when it moves close to the gap switch, thus avoiding detection interference.

[0020] Using a wire cutter allows for quick and easy control of cutting the wire tip after welding, especially for welds with large molten pools. This ensures that the wire tip is uniformly cut and free of molten metal from the pool at the start of the next weld. Cutting the wire tip also prevents molten wire balls from affecting arc initiation. Using a cut-off detection device in conjunction with a pneumatic auxiliary device automatically detects wire tip cutting and automatically controls the supply air pressure, preventing cut wire scrap from falling into the sleeve at the front of the welding torch. This ensures the welding torch can continue welding normally, especially in overhead welding, guaranteeing the normal operation of the welding torch. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of a ground-rail cantilever robot according to the present invention;

[0022] Figure 2 This is a schematic diagram of the front end structure of a ground-rail cantilever robot according to the present invention;

[0023] Figure 3 This is a schematic diagram of the welding and mounting structure of the present invention;

[0024] Figure 4 For the present invention Figure 3 Enlarged view of the structure of region B in the middle;

[0025] Figure 5 This is a sectional view of the mounting position of the push shaft of the present invention;

[0026] Figure 6 This is a schematic diagram of the welding device structure of the present invention;

[0027] Figure 7 This is a schematic diagram of the welding wire cutting component of the present invention;

[0028] Figure 8 For the present invention Figure 7 Enlarged view of the structure of region E in the middle;

[0029] Figure 9 For the present invention Figure 2 Enlarged view of the structure of the middle F region;

[0030] Figure 10 For the present invention Figure 2 Enlarged view of the structure of region G in the middle.

[0031] In the diagram: 1. Welding installation unit; 101. Installation rail; 102. Sliding seat; 103. Cantilever robot; 104. Mounting base; 2. Gap calibration component; 201. Motor mounting plate; 202. Drive screw; 203. Servo motor; 204. Gap switch; 205. Push shaft; 206. Push tension spring; 207. Gap indicator light; 3. Welding device; 301. Welding torch mounting plate; 302. Fixing sleeve; 303. Welding torch body; 304. Retracting cylinder; 305. Drive sleeve; 3051. Extrusion inclined block; 4. Welding wire cutter; 401. Swing arm; 4011. Rotating shaft; 4012. Cutting head; 402. Torsion spring; 5. Pneumatic auxiliary component; 501. Air supply pipe; 502. Solenoid valve; 6. Cutting detection component; 601. Slide seat; 602. Retraction shaft; 603. Micro switch; 604. Retraction tension spring. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] Example 1: Please refer to Figures 1 to 10 As shown:

[0034] This invention provides a technical solution: a ground-rail type cantilever robot structure, including a welding mounting part 1, on which a gap verification component 2 is installed, used to verify the lateral movement gap of the welding mounting part 1; a welding device 3 is installed on the welding mounting part 1; a welding machine is externally connected to the welding device 3; a welding wire cutter 4 is installed on the welding device 3; the welding wire cutter 4 is used to cut off the welding wire tip; a pneumatic auxiliary component 5 is installed on the welding wire cutter 4; a cutting detection component 6 is installed on the welding device 3, and the cutting detection component 6 is used to control the air supply of the pneumatic auxiliary component 5; the welding mounting part 1 includes: a mounting ground rail 101, a sliding seat 102, and a cantilever robot 103, the mounting ground rail 101 is provided with two slide rails; the sliding seat 102 is slidably installed on the two slide rails on the mounting ground rail 101; the cantilever robot 103 is fixedly installed on the sliding seat 102; the sliding seat 102 is used to adjust the welding position laterally.

[0035] The welding installation part 1 further includes: a mounting base 104, with a row of mounting bases 104 fixedly installed on both sides of the mounting rail 101, and each row of mounting bases 104 having a through groove; the gap calibration component 2 includes: a motor mounting plate 201, a drive screw 202, a servo motor 203, and a gap switch 204. The motor mounting plate 201 is fixedly welded to the mounting rail 101; the drive screw 202 is rotatably mounted on the motor mounting plate 201, and the end of the drive screw 202 is rotatably mounted on the mounting rail 101; the servo motor 203 is fixedly mounted on the motor mounting plate 201, and the output shaft of the servo motor 203 is fixedly mounted on the end of the drive screw 202; the gap switch 204 is fixedly mounted on the motor mounting plate 201. The gap switch 204 protrudes from the motor mounting plate 201; the drive screw 202 is threaded onto the sliding seat 102; the gap calibration component 2 also includes: a push shaft 205, a push spring 206, and a gap indicator light 207. Two push shafts 205 are slidably sleeved on the motor mounting plate 201, and each of the two push shafts 205 has a rubber pad at its end; each of the two push shafts 205 is sleeved with a push spring 206; one end of each push spring 206 is fixedly connected to the two push shafts 205, and the other end of each push spring 206 is fixedly connected to the motor mounting plate 201; the two push shafts 205 and the gap switch 204 are respectively aligned with the sliding seat 102; the motor mounting plate 201 is fixedly mounted with a push shaft 205, a push spring 206, and a gap indicator light 207. Equipped with a gap indicator light 207; a gap switch 204 electrically connects to the gap indicator light 207; the gap calibration component 2 controls the lateral movement of the welding mounting part 1, making it easier to control the lateral displacement of the cantilever robot 103 and adjust the welding position, making it more suitable for welding large workpieces. Simultaneously, this structure utilizes the gap switch 204 to detect the displacement play of the sliding seat 102. Combined with the elastic pushing of the push shaft 205, it ensures detection accuracy and prevents the sliding seat 102 from affecting welding accuracy due to inertia and other factors. By detecting the play of the sliding seat 102, it avoids failing to detect excessive wear play between the sliding seat 102 and the drive screw 202 in a timely manner; thus ensuring welding accuracy and reducing costs. Low wear impact: If the wear gap between the sliding seat 102 and the drive screw 202 exceeds the standard, when the control sliding seat 102 moves to the thread end of the drive screw 202, due to the large gap, the push shaft 205, under the elastic pull of the push spring 206, can elastically push the control sliding seat 102 outward. At this time, because the gap exceeds the standard, the control sliding seat 102 cannot touch the squeeze gap switch 204, and the gap indicator light 207 will not light up. By using the push shaft 205 to elastically push the sliding seat 102, it can be avoided that when the drive sliding seat 102 moves close to the gap switch 204, the sliding seat 102 with gap will accidentally touch the gap switch 204 due to inertia, causing detection interference.

[0036] The welding device 3 includes: a welding torch mounting plate 301, a fixing sleeve 302, and a welding torch body 303. The welding torch mounting plate 301 is fixedly mounted on the front end of the cantilever robot 103. The fixing sleeve 302 is fixedly mounted on the welding torch mounting plate 301. The welding torch body 303 is fixedly mounted on the fixing sleeve 302, and the front end of the welding torch body 303 passes through the fixing sleeve 302. A welding machine is externally connected to the welding torch body 303. The welding device 3 also includes: a pull-back cylinder 304, a drive sliding sleeve 305, and a pressing inclined block 3051. Two pull-back cylinders 304 are fixedly mounted on the fixing sleeve 302. A drive sleeve 305 is slidably sleeved on the fixed sleeve 302; the output shafts of the two pull-back cylinders 304 are respectively fixedly installed on the side of the drive sleeve 305; two extrusion inclined blocks 3051 are fixedly installed on the drive sleeve 305, and the two extrusion inclined blocks 3051 are slidably installed on the fixed sleeve 302; the outer sides of the two extrusion inclined blocks 3051 are inclined structures; the welding wire cutting component 4 includes: a swing arm 401, a rotating shaft 4011, a cutting head 4012, and a torsion spring 402. Two swing arms 401 are provided, and the rotating shaft 401 is fixedly installed on each of the two swing arms 401. 1. Two rotating shafts 4011 are rotatably mounted on fixed sleeves 302; one end of each of the two swing arms 401 has an inclined structure; the inclined ends of the two swing arms 401 are respectively attached to two extrusion inclined blocks 3051; the upper and lower sides of the swing arms 401 are attached to the fixed sleeves 302; the other ends of the two swing arms 401 are respectively fixedly mounted with cutting heads 4012, and the ends of the two cutting heads 4012 are sharpened; the two cutting heads 4012 are used to cut the ends of the welding wire on the welding torch body 303; torsion springs 402 are respectively provided on the two rotating shafts 4011; one end of each of the two torsion springs 402 is respectively fixed Connected to the rotating shaft 4011, the other ends of the two torsion springs 402 are respectively fixedly connected to the fixed sleeve 302. The use of the welding wire cutter 4 can facilitate the quick control of cutting off the welding wire head after welding is completed. Especially for welds with large weld pools, it can ensure that the welding wire ends are standardized and there is no molten metal adhering to the weld pool at the start of the next welding. By cutting off the welding wire head, the problem of welding wire molten balls affecting arc initiation is avoided, which can further improve the welding quality, make arc initiation smoother, and make the weld pool at the arc initiation point more beautiful. At the same time, this structure is compact and does not affect the normal welding wire output.

[0037] In Example 2, based on Example 1, the pneumatic auxiliary component 5 includes: an air supply pipe 501 and a solenoid valve 502. The end of the air supply pipe 501 is fixedly installed at the end of the welding torch body 303; the air supply pipe 501 is connected to an external air pump through a hose; the solenoid valve 502 is fixedly installed on the air supply pipe 501; the air supply pipe 501 connects to the inside of the welding torch body 303; the cutting detection component 6 includes: a sliding shaft seat 601 and a retraction shaft 602. The sliding shaft seat 601 is fixedly installed on the side of the fixed sleeve 302; the retraction shaft 602 is slidably inserted into the sliding shaft seat 601; the retraction shaft 602 is aligned with the drive sliding sleeve 305; the cutting detection component 6 further includes: a micro switch 603 and a retraction spring 604. The micro switch 603 is fixedly installed at the end of the retraction shaft 602; a gap is provided between the micro switch 603 and the drive sliding sleeve 305; the micro switch 603 is electrically connected to the solenoid valve 502; the retraction spring 604 is sleeved on the retraction shaft 602; The end of the tension spring 604 is fixedly connected to the sliding shaft seat 601, and the other end of the retraction spring 604 is connected to the retraction shaft 602. The cutting detection component 6 and the air pressure auxiliary component 5 are used to automatically detect the cutting of the welding wire tip and automatically control the supply air pressure to prevent the cut welding wire waste from falling into the sleeve at the front end of the welding torch body 303. This ensures that the welding torch body 303 can perform subsequent wire feeding welding normally, especially for overhead welding and other situations. It ensures the normal operation of the welding torch body 303. The structure is simple to control and automatically detects. It also plays a role in cleaning the welding torch body 303 and helps to blow away the metal particles that splash during welding. When the drive sleeve 305 moves to control the cutting of the welding wire, the displacement of the drive sleeve 305 will also squeeze the micro switch 603, controlling the solenoid valve 502 to open. At this time, the air pressure of the air pump connected to the air supply pipe 501 will be introduced into the welding torch body 303 and sprayed out from the front end of the welding torch body 303.

[0038] The working principle of this embodiment is as follows: A bolt is passed through the through slot on the mounting base 104, and the base is securely installed on the ground. The welding position is adjusted by controlling the displacement of the welding torch body 303 via the cantilever robot 103. Simultaneously, while the welding torch body 303 is welding, the drive screw 202 is rotated via the servo motor 203, driving the sliding seat 102 to move, thus displacing the welding torch body 303 for welding. After the welding torch body 303 finishes welding and is removed from the molten pool, molten metal remains. The output shaft of the pull-back cylinder 304 retracts, causing the drive sleeve 305 to move. At this time, the extrusion inclined block 3051 on the drive sleeve 305 moves to extrude the swing arm 401, controlling the rotation of both swing arms 401, which in turn rotates the two cutting heads 4012, cutting off the welding wire tip. Then the output shaft of the pull-back cylinder 304 can be extended and reset. At this time, the squeezing inclined block 3051 no longer squeezes the swing arm 401. With the elastic force of the torsion spring 402, the two cutting heads 4012 can expand without affecting the subsequent normal wire feeding and welding. When the drive sleeve 305 moves to control the cutting of the welding wire, the displacement of the drive sleeve 305 will also squeeze the micro switch 603. When the micro switch 603 is squeezed, the retraction shaft 602 can retract and stretch the retraction spring 604. When the micro switch 603 is squeezed, it will control the solenoid valve 502 to open. At this time, the air pressure of the air pump connected to the air supply pipe 501 will be introduced into the welding gun body 303 and sprayed out from the front end of the welding gun body 303. Through air pressure spray, the cut welding wire tip is prevented from falling into the welding gun body 303.

[0039] When it is necessary to detect the wear clearance of the sliding seat 102, the servo motor 203 can be used to control the rotation of the drive screw 202, driving the sliding seat 102 to move to the threaded end of the drive screw 202. When the wear clearance is within the acceptable range, the side of the sliding seat 102 will press the gap switch 204, controlling the gap indicator light 207 to light up. If the wear clearance between the sliding seat 102 and the drive screw 202 exceeds the acceptable range, the sliding seat 102 will be moved to the threaded end of the drive screw 202. When the gap is large, the push shaft 205, under the elastic pull of the push spring 206, can elastically push the control slide seat 102 outward. At this time, because the gap exceeds the standard, the control slide seat 102 cannot touch the squeeze gap switch 204, and the gap indicator light 207 will not light up. By using the push shaft 205 to elastically push the slide seat 102, it can be avoided that when the drive slide seat 102 moves close to the gap switch 204, the slide seat 102 with the gap will accidentally touch the gap switch 204 due to inertia, causing detection interference.

[0040] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0041] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A ground rail type cantilever robot structure comprising a welded mounting part (1) on which a gap checking member (2) is mounted, characterized in that: The gap checking part (2) is used for checking the transverse gap of the welding installation part (1); the welding installation part (1) is provided with a welding device (3); the welding device (3) is connected with a welding machine; The welding device (3) is provided with a welding wire cutting part (4); the welding wire cutting part (4) is used for cutting the head end of the welding wire; the welding wire cutting part (4) is provided with a pneumatic auxiliary part (5); The welding device (3) is provided with a cutting detection part (6), and the cutting detection part (6) is used for controlling the air supply of the pneumatic auxiliary part (5); The welding installation part (1) comprises a mounting ground rail (101), two slide rails are arranged on the mounting ground rail (101); a sliding seat (102) is slidably arranged on the two slide rails of the mounting ground rail (101); a cantilever robot (103) is fixedly arranged on the sliding seat (102); and the sliding seat (102) is used for transversely adjusting the welding position.

2. The ground rail type of cantilever robot structure according to claim 1, characterized in that: The welding installation part (1) further comprises a mounting seat (104), one row of mounting seats (104) is fixedly arranged on the two sides of the mounting ground rail (101), and a through slot is formed in each mounting seat (104).

3. The ground rail type of cantilever robot structure according to claim 1, wherein: The gap checking part (2) comprises a motor mounting plate (201), the motor mounting plate (201) is fixedly welded on the mounting ground rail (101); a drive screw (202) is rotatably arranged on the motor mounting plate (201), and the end of the drive screw (202) is rotatably arranged on the mounting ground rail (101); a servo motor (203) is fixedly arranged on the motor mounting plate (201), and the output shaft of the servo motor (203) is fixedly arranged on the end of the drive screw (202); a gap switch (204) is fixedly arranged on the motor mounting plate (201), and the end of the gap switch (204) protrudes from the motor mounting plate (201); and the drive screw (202) is threadedly connected to the sliding seat (102).

4. The ground rail type of cantilever robot structure according to claim 3, wherein: The gap checking part (2) further comprises a pushing shaft (205), two pushing shafts (205) are slidably sleeved on the motor mounting plate (201), and the ends of the two pushing shafts (205) are respectively provided with rubber pads; a pushing spring (206) is sleeved on each of the two pushing shafts (205); one end of each of the two pushing springs (206) is fixedly connected to the corresponding pushing shaft (205), and the other end of each of the two pushing springs (206) is fixedly connected to the motor mounting plate (201); the two pushing shafts (205) and the gap switch (204) are respectively aligned with the sliding seat (102); a gap prompt lamp (207) is fixedly arranged on the motor mounting plate (201); and the gap switch (204) is electrically connected to the gap prompt lamp (207).

5. The ground rail type of cantilever robot structure according to claim 1, wherein: The welding device (3) comprises a welding gun mounting plate (301) fixedly installed at the front end of a cantilever robot (103); a fixed sleeve (302) is fixedly installed on the welding gun mounting plate (301); a welding gun body (303) is fixedly installed on the fixed sleeve (302), and the front end of the welding gun body (303) penetrates through the fixed sleeve (302); and the welding gun body (303) is connected with a welding machine.

6. The ground rail type of cantilever robot structure according to claim 5, wherein: The welding device (3) further comprises two pullback air cylinders (304) fixedly installed on the fixed sleeve (302); a driving sliding sleeve (305) is slidingly sleeved on the fixed sleeve (302); the output shafts of the two pullback air cylinders (304) are fixedly installed on the side surfaces of the driving sliding sleeve (305); two extrusion inclined surface blocks (3051) are fixedly installed on the driving sliding sleeve (305), and the two extrusion inclined surface blocks (3051) are slidingly installed on the fixed sleeve (302); and the outer sides of the two extrusion inclined surface blocks (3051) are respectively provided with inclined surfaces.

7. The ground rail type of cantilever robot structure according to claim 6, characterized in that: The welding wire cutting member (4) comprises two swing arms (401), the two swing arms (401) are respectively provided with a rotating shaft (4011) fixedly installed thereon, and the two rotating shafts (4011) are respectively rotationally installed on the fixed sleeve (302); one end of each of the two swing arms (401) is provided with an inclined surface; the end inclined surfaces of the two swing arms (401) are respectively attached to the two extrusion inclined surface blocks (3051); the upper and lower sides of the swing arms (401) are attached to the fixed sleeve (302); the other end of each of the two swing arms (401) is fixedly provided with a cutter head (4012), and the end of each of the two cutter heads (4012) is provided with a blade; the two cutter heads (4012) are used for cutting the end of the welding wire on the welding gun body (303); each of the two rotating shafts (4011) is provided with a torsion spring (402); one end of each of the two torsion springs (402) is fixedly connected to the rotating shaft (4011), and the other end of each of the two torsion springs (402) is fixedly connected to the fixed sleeve (302).

8. The ground rail type of cantilever robot structure according to claim 6, wherein: The air pressure auxiliary member (5) comprises a gas supply pipe (501), the end of the gas supply pipe (501) is fixedly installed on the end of the welding gun body (303); the gas supply pipe (501) is connected with a gas pump through a hose; the gas supply pipe (501) is fixedly provided with an electromagnetic valve (502); and the gas supply pipe (501) is connected with the inside of the welding gun body (303).

9. The ground rail cantilever robot structure of claim 8, wherein: The cutting detection member (6) comprises a sliding shaft seat (601) fixedly installed on the side surface of the fixed sleeve (302); a retraction shaft (602) is slidingly inserted into the sliding shaft seat (601); and the retraction shaft (602) is aligned with the driving sliding sleeve (305).

10. The ground rail cantilever robot structure of claim 9, wherein: The cutting-off detection piece (6) further comprises a micro switch (603) fixedly installed at the end of the retraction shaft (602); a gap is arranged between the micro switch (603) and the driving sliding sleeve (305); the micro switch (603) is electrically connected with the electromagnetic valve (502); the retraction shaft (602) is sleeved with a retraction tension spring (604); the end of the retraction tension spring (604) is fixedly connected with the sliding shaft seat (601), and the other end of the retraction tension spring (604) is connected with the retraction shaft (602).

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