Flexible moving device for welding

Abstract

The invention relates to the technical field of steel member machining equipment, and discloses a welding flexible moving device which comprises a rail, a movable device and a movable device. The welding robot is connected with the track, the welding robot at least comprises a robot body, the robot body is provided with a driving wheel, the driving wheel is in matched transmission with the track, the welding robot further comprises a guide assembly, and the guide assembly is rotationally connected with the robot body; and the rail fixing assembly is connected with the rail so that the rail can be fixed to the surface of the workpiece. The flexible track solves the problem that a traditional fixed track cannot be matched with a special-shaped steel structure; the guide assembly ensures that the welding robot is always tightly attached to the rails in different forms; the rail fixing assembly achieves reliable fixing of the rail on the surface of a workpiece, the applicability of the device is greatly improved, and the industrial requirements of welding of various steel structures are met through one machine.

Description

Technical Field

[0001] This invention relates to the field of steel component processing equipment technology, and specifically to a flexible welding moving device. Background Technology

[0002] As the modern steel structure industry accelerates its upgrade towards higher efficiency, precision, and intelligence, the market demand for intelligent welding equipment on construction sites continues to rise, and its application scenarios are becoming increasingly widespread. In steel structure construction, box welding and circular tube welding are core processes, and the welding processes differ for different types of steel structures.

[0003] In related technologies, track-based welding robots used in construction sites generally employ a fixed track design with a fixed diameter. This design cannot be flexibly adjusted according to the diameter variations of the components being welded, resulting in extremely poor equipment applicability. In actual construction site scenarios, circular steel structures are commonly used components, often exhibiting a variable diameter structure with a thicker bottom and a thinner top. To ensure welding accuracy by tightly adhering the fixed track to the surface of the variable-diameter circular pipe, multiple sets of tracks with different diameters must be equipped for the same robot. These tracks are typically large and heavy, increasing not only transportation costs and on-site storage pressure but also requiring significant manpower and time for track replacement. The cumbersome operation process severely impacts construction progress and fails to meet the actual needs of efficient construction on-site. Summary of the Invention This invention provides a flexible welding mobile device to solve the problem in related technologies that welding robots cannot simultaneously adapt to both planar and curved surfaces.

[0004] This invention provides a flexible welding moving device, comprising: The track is a flexible structure designed to adapt to the surface of workpieces of different shapes. The welding robot is connected to a track. The welding robot includes at least a robot body, which is equipped with drive wheels. The drive wheels cooperate with the track for transmission, which is suitable for driving the robot body to move along the extension direction of the track. The welding robot also includes a guide component, which is rotatably connected to the robot body. The guide component is rotated by a preset angle to make the guide component roll and fit against the track. A track fixing assembly connects to the track to fix the track on the workpiece surface.

[0005] Beneficial effects: The flexible track design can adapt to workpiece surfaces of different shapes, such as flat and curved surfaces, completely solving the problem that traditional fixed tracks cannot adapt to irregularly shaped steel structures, such as round tubes that are thick at the bottom and thin at the top; the guide component rotates at a preset angle to roll and fit with the track, ensuring that the welding robot always maintains a close fit on different shaped tracks, ensuring travel stability; the track fixing component ensures that the track is reliably fixed on the workpiece surface, providing a stable travel carrier for the welding robot. The combination of these three components enables the device to meet the welding needs of various steel structures, greatly improving the applicability of the device and realizing the industry needs of welding various steel structures with one machine.

[0006] In one alternative embodiment, the track fixing components are spaced apart along the extension direction of the track and located on the side of the track facing the workpiece, and the track fixing components are connected to the workpiece. Beneficial effects: The track fixing components are distributed at intervals along the track extension direction, which can form a multi-point uniform fixation of the track, enhance the connection between the track and the workpiece surface, and effectively prevent the track from shifting or loosening during the movement of the welding robot; it is especially suitable for curved workpieces or long-distance welding scenarios, avoiding track deformation or detachment caused by single-point fixation, further ensuring the continuity and stability of the welding process, and making up for the defect of unreliable fixation of traditional track fixing methods on irregular workpieces.

[0007] In one alternative implementation, the welding robot further includes a buffer assembly connected to the side of the robot body near the track.

[0008] Beneficial effects: The buffer component can cushion the impact force caused by the slight undulations on the track surface or the unevenness of the workpiece surface when the welding robot moves, reducing the impact of vibration on the robot body and welding operation; at the same time, it can ensure that the welding robot and the track always keep in close contact, avoiding welding deviation caused by vibration and improving the stability of welding quality.

[0009] In one optional embodiment, the guide assembly includes multiple sets of guide wheels, which are symmetrically arranged on the upper and lower sides of the track. The rotation axis of the guide wheels is perpendicular to the extension direction of the track, and the guide wheels roll and fit against the surface of the track.

[0010] Beneficial effects: Multiple sets of guide wheels symmetrically clamp the upper and lower sides of the track, and together with the rotation axis perpendicular to the extension direction of the track, the direction of travel of the welding robot can be precisely limited, effectively avoiding deviation; the rolling contact between the guide wheels and the track reduces the travel resistance and the wear of the track and guide wheels, improving the smoothness of the device's operation and service life; this structure is adaptable to flexible tracks with different curvatures, ensuring the travel stability of complex-shaped workpieces during welding.

[0011] In one alternative embodiment, the welding robot further includes a drive mechanism and a worm gear assembly, the drive mechanism and the worm gear assembly being fixed to the robot body, the output end of the drive mechanism being drivenly connected to the worm gear assembly, and the drive wheel being drivenly connected to the worm gear assembly.

[0012] Beneficial effects: The drive mechanism, in conjunction with the worm gear assembly, enables precise power transmission and torque reduction, increasing the driving torque of the drive wheel and ensuring sufficient travel power for the welding robot on various tracks. Furthermore, the transmission characteristics of the worm gear assembly further improve the robot's positioning accuracy, ensuring the precise positioning of welding operations, meeting the demands of high-precision welding, and effectively improving welding quality.

[0013] In one alternative embodiment, the welding robot further includes a transmission belt and an adjusting wheel. The robot body is also provided with an adjusting arm, the adjusting wheel is disposed on the adjusting arm, and the transmission belt is wound between the drive wheel, the worm gear assembly and the adjusting wheel, forming an adjusting mechanism for adjusting the tension of the transmission belt.

[0014] Beneficial effects: The transmission belt tension adjustment mechanism, consisting of the adjusting wheel and the adjusting support arm, can flexibly adjust the tension of the transmission belt, ensuring reliable engagement between the transmission belt and the drive wheel and worm gear assembly, and avoiding power transmission failure caused by slippage. This mechanism is adaptable to the transmission requirements under different working conditions. Whether it is a change in track curvature or wear of the transmission belt, it can ensure the stability of power transmission through adjustment, further improving the smoothness of the welding robot's movement and positioning accuracy.

[0015] In one alternative embodiment, an elastic element is provided between the adjusting wheel and the robot body. One end of the elastic element is connected to the robot body, and the other end is connected to the adjusting arm to apply a continuous tension force to the adjusting wheel.

[0016] Beneficial effects: The elastic element applies a continuous tension force to the adjusting wheel, realizing automatic tensioning of the transmission belt without the need for frequent manual adjustments, thus simplifying the maintenance of the device; the continuous tension force ensures that the transmission belt always maintains a suitable tension, effectively avoiding transmission deviation or positioning errors caused by belt slack, ensuring long-term stable operation of the device, improving the ease of use and reliability of the device, and reducing the risk of failure caused by improper human maintenance.

[0017] In one alternative implementation, the two ends of the track are provided with matching splicing parts, which are detachable connection structures, and the length of multiple track segments can be extended by the cooperation of the splicing parts.

[0018] Beneficial effects: The detachable splicing parts at both ends of the track can realize the rapid splicing of multiple track segments, and the total length of the track can be flexibly expanded according to the welding length requirements of the workpiece, which solves the problem of the fixed length of traditional track and its inability to adapt to long-distance welding; the detachable design makes the track easy to disassemble, carry and store, avoiding the defects of traditional multi-diameter track that is large and heavy and inconvenient to carry, and reducing transportation and use costs.

[0019] In one alternative embodiment, the guide assembly further includes a guide housing and a rotating part. The guide housing is adapted to be fitted with a guide wheel, and the rotating part is disposed on the guide housing and rotatably connected to the robot body.

[0020] Beneficial effects: The guide housing provides a stable mounting carrier for the guide wheel, ensuring the installation accuracy and operational stability of the guide wheel and avoiding guide failure caused by loose guide wheel; the rotating part enables flexible rotation of the guide housing and the robot body, allowing the guide wheel to adjust its angle in real time according to the track shape, ensuring that the guide wheel always rolls and fits the track, further improving the adaptability and walking stability of the welding robot on complex track shapes.

[0021] In one alternative implementation, multiple guide components are provided, evenly arranged on the side of the robot body near the track.

[0022] Beneficial effects: Multiple guide components are evenly arranged on the side of the robot body near the track, forming multi-point guide support, which enhances the fit stability between the welding robot and the track and avoids deviation or shaking caused by uneven force on a single guide component; the multi-point uniform guidance enables the welding robot to maintain stable movement in complex scenarios such as large-arc curved track, further expanding the adaptability of the device and ensuring the consistency of welding quality for workpieces of different shapes. Attached Figure Description

[0023] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the welding flexible moving device of the present invention; Figure 2 This is a side view of the welding flexible moving device of the present invention; Figure 3 Side view of the welding robot; Figure 4 for Figure 3 Enlarged view of point A in the middle; Figure 5 This is a schematic diagram of the drive components for a welding robot. Figure 6 This is a schematic diagram of a welding robot on a planar track. Figure 7 This is a schematic diagram of a welding robot on a curved track.

[0025] Explanation of reference numerals in the attached figures: 1. Welding robot; 11. Robot body; 12. Guide assembly; 121. Guide housing; 122. Guide wheel; 123. Rotating part; 13. Worm gear assembly; 14. Adjustable support arm; 15. Drive wheel; 16. Elastic element; 17. Transmission belt; 18. Adjustable wheel; 19. Buffer assembly; 2. Track; 3. Track fixing assembly. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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, 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.

[0027] The following is combined Figures 1 to 7 The following describes embodiments of the present invention.

[0028] According to an embodiment of the present invention, a flexible welding mobile device is provided, comprising: a track 2, the track 2 being configured as a flexible structure adaptable to the surface of workpieces of different shapes; a welding robot 1, the welding robot 1 being connected to the track 2, the welding robot 1 including at least a robot body 11, the robot body 11 being provided with a drive wheel 15, the drive wheel 15 cooperating with the track 2 for transmission, suitable for driving the robot body 11 to move along the extension direction of the track 2, the welding robot 1 also including a guide component 12, the guide component 12 being rotatably connected to the robot body 11, the guide component 12 being rotated by a preset angle to make the guide component 12 roll and fit against the track 2; and a track fixing component 3, the track fixing component 3 being connected to the track 2 to fix the track 2 on the surface of the workpiece.

[0029] The flexible track 2 is designed to adapt to workpiece surfaces of different shapes, such as flat and curved surfaces, completely solving the problem that the traditional fixed track 2 cannot adapt to irregular steel structures, such as round tubes that are thick at the bottom and thin at the top. The guide component 12 rotates and rolls to fit the track 2 at a preset angle, ensuring that the welding robot 1 always maintains a close fit on the track 2 of different shapes, thus ensuring travel stability. The track fixing component 3 reliably fixes the track 2 on the workpiece surface, providing a stable travel carrier for the welding robot 1. The three components work together to enable the device to meet the welding needs of various steel structures, greatly improving the applicability of the device and realizing the industry needs of welding various steel structures with one machine.

[0030] Track 2 is made of a special material with good toughness and high strength that has been repeatedly tested and screened. It can be flexibly bent while maintaining structural stability, and is suitable for flat and curved surfaces, such as irregular curved surfaces with thick bottoms and thin tops of round tube steel structures. Furthermore, a magnet assembly is pre-installed on the bottom side of track 2 facing the workpiece. The attraction force of the magnet achieves the initial fixation of track 2 to the workpiece surface, providing a basis for the precise fixation of track fixing assembly 3 in the later stage, and preventing track 2 from shifting before welding. At the same time, the magnet adsorption method is compatible with various steel component materials, without the need for additional drilling or bonding, thus protecting the integrity of the workpiece surface.

[0031] The track fixing component 3 can be an adjustable magnetic buckle or bolt connector, which is adapted to the preset mounting hole on the side of the track 2 facing the workpiece. This further enhances the fixing effect on the basis of the initial magnetic attraction. For curved workpieces, the track fixing component 3 can adapt to the curvature of the workpiece surface through its own fine-tuning structure, ensuring that each fixing component can fit tightly with the workpiece surface and avoid the welding robot 1 from bumping when moving due to the partial suspension of the track 2.

[0032] In one embodiment, combined Figure 2 As shown, the track fixing components 3 are spaced apart along the extension direction of the track 2 and located on the side of the track 2 facing the workpiece. The track fixing components 3 are connected to the workpiece. The spaced distribution of the track fixing components 3 along the extension direction of the track 2 can form a multi-point uniform fixation of the track 2, enhance the connection between the track 2 and the workpiece surface, and effectively prevent the track 2 from shifting or loosening during the movement of the welding robot 1. It is especially suitable for curved workpieces or long-distance welding scenarios, avoiding deformation or detachment of the track 2 caused by single-point fixation, further ensuring the continuity and stability of the welding process, and making up for the defect of unreliable fixation of the traditional track 2 fixing method on irregularly shaped workpieces.

[0033] In one embodiment, combined Figure 5As shown, the welding robot 1 also includes a buffer assembly 19, which is connected to the side of the robot body 11 closest to the track 2. The buffer assembly 19 can buffer the impact force generated by the slight undulations on the surface of the track 2 or the unevenness of the workpiece surface when the welding robot 1 moves, reducing the impact of vibration on the robot body 11 and the welding operation; at the same time, it can ensure that the welding robot 1 and the track 2 always maintain a close fit, avoiding welding deviations caused by vibration and improving the stability of welding quality.

[0034] Furthermore, the welding robot 1 also includes a drive mechanism and a worm gear assembly 13. The drive mechanism and the worm gear assembly 13 are fixed to the robot body 11. The output end of the drive mechanism is connected to the worm gear assembly 13, and the drive wheel 15 is connected to the worm gear assembly 13. The drive mechanism and the worm gear assembly 13 work together to achieve precise power transmission and speed reduction and torque increase, thereby increasing the driving torque of the drive wheel 15 and ensuring that the welding robot 1 has sufficient traveling power on various tracks 2. Through the transmission characteristics of the worm gear assembly 13, the traveling and positioning accuracy of the welding robot 1 is further improved, ensuring the positional accuracy of the welding operation, meeting the requirements of high-precision welding, and effectively improving the welding quality.

[0035] In one embodiment, combined Figure 4 As shown, the guide assembly 12 includes multiple sets of guide wheels 122, which are symmetrically arranged on the upper and lower sides of the track 2. The rotation axis of the guide wheels 122 is perpendicular to the extension direction of the track 2, and the guide wheels 122 roll in contact with the surface of the track 2. The multiple sets of guide wheels 122 symmetrically clamp the upper and lower sides of the track 2, and in conjunction with the rotation axis perpendicular to the extension direction of the track 2, the travel direction of the welding robot 1 can be precisely limited, effectively preventing deviation. The rolling contact between the guide wheels 122 and the track 2 reduces travel resistance and wear on the track 2 and guide wheels 122, improving the smoothness of the device's operation and service life. This structure is adaptable to flexible tracks 2 with different curvatures, ensuring the travel stability when welding workpieces with complex shapes.

[0036] The guide assembly 12 contains four sets of guide wheels 122. Two sets are symmetrically arranged on both sides of the upper surface of the track 2, and the other two sets are symmetrically arranged on both sides of the lower surface of the track 2, forming an upper and lower clamping structure for the track 2. Each set of guide wheels 122 is made of high wear-resistant polyurethane material, and its wheel surface is designed to match the curvature of the track 2 surface, increasing the contact area with the track 2, reducing the pressure per unit area, and preventing wear on the track 2 surface from long-term use. The rotation axis of the guide wheel 122 is connected to the guide housing 121 through a bearing. The bearing is a high-precision deep groove ball bearing, which reduces the coefficient of friction when the guide wheel 122 rotates, ensuring the smooth operation of the guide wheel 122. The 22 can rotate flexibly as the robot moves, reducing travel resistance; the coordinated action of the four sets of guide wheels 122 can not only accurately limit the direction of travel of the welding robot 1 and prevent the robot from deviating laterally along the track 2, but also maintain the relative position stability between the robot body 11 and the track 2 through the adaptive adjustment of the guide wheels 122 when the track 2 is slightly bent or deviated. Especially in the circumferential welding scenario of circular tube steel structure, the clamping and guiding of the four sets of guide wheels 122 can ensure that the robot moves smoothly along the circumference of the circular tube and the weld trajectory remains uniform and consistent.

[0037] The guide assembly 12 also includes a guide housing 121 and a rotating part 123. The guide housing 121 is adapted to embed and install a guide wheel 122, and the rotating part 123 is disposed on the guide housing 121 and rotatably connected to the robot body 11. The guide housing 121 provides a stable mounting carrier for the guide wheel 122, ensuring the installation accuracy and operational stability of the guide wheel 122 and avoiding guidance failure caused by loosening of the guide wheel 122. The rotating part 123 enables flexible rotation of the guide housing 121 and the robot body 11, allowing the guide wheel 122 to adjust its angle in real time according to the shape of the track 2, ensuring that the guide wheel 122 always rolls and fits against the track 2, further improving the adaptability and walking stability of the welding robot 1 on the complex shape track 2.

[0038] Multiple guide components 12 are provided and evenly arranged on the side of the robot body 11 near the track 2. The multiple guide components 12 evenly arranged on the side of the robot body 11 near the track 2 form a multi-point guiding support, which enhances the fit stability between the welding robot 1 and the track 2 and avoids deviation or shaking caused by uneven force on a single guide component 12. The multi-point uniform guidance enables the welding robot 1 to maintain stable movement even in complex scenarios such as the large-arc curved surface track 2, further expanding the adaptability of the device and ensuring the consistency of welding quality for workpieces of different shapes.

[0039] In one embodiment, combined Figure 3As shown, the welding robot 1 also includes a transmission belt 17 and an adjusting wheel 18. The robot body 11 is also equipped with an adjusting arm 14, and the adjusting wheel 18 is mounted on the adjusting arm 14. The transmission belt 17 is wound between the drive wheel 15, the worm gear assembly 13, and the adjusting wheel 18, forming an adjusting mechanism for adjusting the tension of the transmission belt 17. The transmission belt 17 tension adjusting mechanism, composed of the adjusting wheel 18 and the adjusting arm 14, can flexibly adjust the tension of the transmission belt 17, ensuring that the transmission belt 17 is always reliably engaged with the drive wheel 15 and the worm gear assembly 13, avoiding power transmission failure caused by slippage. This mechanism is adaptable to the transmission requirements under different working conditions. Whether it is a change in the curvature of the track 2 or wear of the transmission belt 17, it can ensure the stability of power transmission through adjustment, further improving the smoothness of the welding robot 1's movement and its positioning accuracy.

[0040] The transmission belt 17 in the welding robot 1 is a synchronous belt. The inner side of the synchronous belt has a toothed structure that matches the teeth of the drive wheel 15, the output wheel of the worm gear assembly 13, and the adjusting wheel 18, ensuring the stability and accuracy of power transmission. The adjusting arm 14 has a foldable structure. One end is connected to the bracket at the bottom of the robot body 11 via a hinge, and the other end has a mounting shaft for the adjusting wheel 18. The working principle of the adjusting mechanism is as follows: when the synchronous belt becomes loose due to long-term use or changes in length due to temperature changes, the folding angle of the adjusting arm 14 can be manually adjusted to move the adjusting wheel 18 closer to or further away from the line connecting the drive wheel 15 and the output wheel of the worm gear assembly 13, thereby adjusting the tension of the synchronous belt. This adjusting mechanism has a simple structure, is easy to operate, and can be adjusted without professional tools. It is suitable for quick maintenance on the construction site, ensuring that the synchronous belt is always in the best tension state and guaranteeing power transmission efficiency.

[0041] Furthermore, an elastic element 16 is provided between the adjusting wheel 18 and the robot body 11. One end of the elastic element 16 is connected to the robot body 11, and the other end is connected to the adjusting arm 14 to apply a continuous tension force to the adjusting wheel 18. The elastic element 16 applies a continuous tension force to the adjusting wheel 18, realizing the automatic tensioning of the transmission belt 17 without frequent manual adjustments, simplifying the maintenance operation of the device. The continuous tension force ensures that the transmission belt 17 always maintains a suitable tension, effectively avoiding transmission deviation or positioning errors caused by the looseness of the transmission belt 17, ensuring long-term stable operation of the device, improving the ease of use and reliability of the device, and reducing the risk of failure caused by improper human maintenance.

[0042] The elastic element 16 between the adjusting wheel 18 and the robot body 11 is specifically a spring. One end of the spring is fixedly connected to the bracket at the bottom of the robot body 11 through a spring seat, and the other end is connected to the preset hanging hole of the adjusting arm 14 through a hook and a hanging rope. The elastic coefficient of the cylindrical helical compression spring is precisely calculated, and its initial compression is set to maintain the synchronous belt with appropriate tension. When the synchronous belt becomes slightly loose, the spring pushes the adjusting arm 14 through its own elastic restoring force, causing the adjusting wheel 18 to move away from the drive wheel 15, automatically compensating for the looseness of the synchronous belt and realizing real-time automatic tensioning of the synchronous belt. The design of the automatic tensioning structure not only reduces the workload of manually checking and adjusting the tension of the synchronous belt periodically, but also avoids transmission deviation caused by the loosening of the synchronous belt due to human forgetting to adjust it, ensuring the stability of the welding robot 1 in long-term operation. Especially in continuous long-term welding operations, the automatic tensioning function can significantly improve the continuous working capacity of the equipment.

[0043] In one embodiment, the two ends of the track 2 are provided with matching splicing parts, which are detachable connection structures. The length of multiple sections of the track 2 can be extended through the cooperation of the splicing parts. The detachable splicing parts at both ends of the track 2 can realize the rapid splicing of multiple sections of the track 2, and flexibly extend the total length of the track 2 according to the welding length requirements of the workpiece. This solves the problem that the traditional track 2 has a fixed length and cannot be adapted to long-distance welding. The detachable design makes the track 2 easy to disassemble, carry and store, avoiding the defects of traditional multi-diameter tracks 2 being large and heavy and inconvenient to carry, thus reducing transportation and usage costs.

[0044] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and all such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A welded flexible mobile device, characterized by, include: Track (2), the track (2) is constructed as a flexible structure that adapts to the surface of workpieces of different shapes; A welding robot (1) is connected to the track (2). The welding robot (1) includes at least a robot body (11). The robot body (11) is provided with a drive wheel (15). The drive wheel (15) is connected to the track (2) for transmission and is suitable for driving the robot body (11) to move along the extension direction of the track (2). The welding robot (1) also includes a guide component (12). The guide component (12) is rotatably connected to the robot body (11). The guide component (12) is rotated by a preset angle to make the guide component (12) roll and fit against the track (2). The track fixing component (3) is connected to the track (2) to fix the track (2) on the surface of the workpiece.

2. The welding flexible mobility device of claim 1, wherein, The track fixing components (3) are distributed at intervals along the extension direction of the track (2) and are located on the side of the track (2) facing the workpiece. The track fixing components (3) are connected to the workpiece.

3. The welding flexible mobility device of claim 1, wherein, The welding robot (1) also includes a buffer assembly (19), which is connected to the side of the robot body (11) near the track (2).

4. The welding flexible mobility device of claim 1, wherein, The guide assembly (12) includes multiple sets of guide wheels (122), which are symmetrically arranged on the upper and lower sides of the track (2). The rotation axis of the guide wheel (122) is perpendicular to the extension direction of the track (2), and the guide wheel (122) rolls and fits against the surface of the track (2).

5. The welding flexible mobility device of claim 1, wherein, The welding robot (1) also includes a drive mechanism and a worm gear assembly (13). The drive mechanism and the worm gear assembly (13) are fixed to the robot body (11). The output end of the drive mechanism is connected to the worm gear assembly (13) in a transmission connection. The drive wheel (15) is connected to the worm gear assembly (13) in a transmission connection.

6. The flexible welding moving device according to claim 5, characterized in that, The welding robot (1) also includes a transmission belt (17) and an adjusting wheel (18). The robot body (11) is also provided with an adjusting arm (14). The adjusting wheel (18) is disposed on the adjusting arm (14). The transmission belt (17) is wound between the drive wheel (15), the worm gear assembly (13) and the adjusting wheel (18), forming an adjusting mechanism for adjusting the tension of the transmission belt (17).

7. The flexible welding moving device according to claim 6, characterized in that, An elastic element (16) is provided between the adjusting wheel (18) and the robot body (11). One end of the elastic element (16) is connected to the robot body (11), and the other end is connected to the adjusting arm (14) to apply a continuous tension force to the adjusting wheel (18).

8. The flexible welding moving device according to claim 1, characterized in that, The two ends of the track (2) are provided with matching splicing parts. The splicing parts are detachable connection structures. The length of the multiple track (2) can be extended through the cooperation of the splicing parts.

9. The flexible welding moving device according to claim 4, characterized in that, The guide assembly (12) further includes a guide housing (121) and a rotating part (123). The guide housing (121) is adapted to be embedded with the guide wheel (122). The rotating part (123) is disposed on the guide housing (121) and is rotatably connected to the robot body (11).

10. The flexible welding moving device according to claim 1, characterized in that, Multiple guide components (12) are provided and are evenly arranged on the side of the robot body (11) near the track (2).

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