A welding robot with a spherical joint

Abstract

The application discloses a welding robot with a spherical joint, which comprises a base and a mounting frame, a torsional spring is mounted between the outer wall of the mounting shaft on the two sides of the mounting frame and the side of the mounting frame, a sphere is fixed on the outer wall of the mounting shaft by embedding, a welding mechanism for welding is mounted on the bottom of the sphere, an electric telescopic rod is fixed on the outer wall of one side of the mounting frame by bolts, a pressure sensor is fixed on the output end of the electric telescopic rod, and a driving mechanism for driving the sphere is fixed on the pressure sensor. The electric telescopic rod drives the roller to adhere to the spherical surface of the sphere, then the driving motor drives the sphere and the mounting shaft to rotate through the friction force, the stepless accurate adjustment of the inclination angle of the welding mechanism is realized, the pressure value between the rubber sleeve and the spherical surface is monitored by the pressure sensor, the stable and controllable friction driving force is ensured, and the high-precision positioning requirement of the inclination angle of the welding gun for different welding processes is met.

Description

Technical Field

[0001] This invention relates to the field of welding robot technology, and more particularly to a welding robot with ball joints. Background Technology

[0002] Welding robots, as core processing equipment in current industry, are widely used in automobile manufacturing, shipbuilding, steel structure processing and other fields, which can effectively improve welding efficiency and quality. Existing welding robots typically include a base, upper arm, lower arm and end welding mechanism. Each joint is driven by a servo motor through a reducer, which can realize multi-degree-of-freedom movements such as base rotation, upper arm pitch and lower arm swing, and can cover the spatial point welding needs of most working conditions.

[0003] Current welding robots, in the process of welding operations, have a single welding function in their end-effector welding mechanism. However, in dealing with various subsequent problems that may occur in the welding scenario, such as the welding spatter generated during the welding operation easily adhering to the joint moving surface, which will aggravate wear and jamming in the long term, the operator needs to handle the problem independently, which will prolong the welding time and affect the welding efficiency.

[0004] Therefore, there is an urgent need for a welding robot that can be optimized and improved in terms of structure to make it more flexible in dealing with various problems in welding scenarios, thereby effectively improving welding efficiency. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing a welding robot with ball joints.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A welding robot with a ball joint includes a mounting frame and a base with a controller mounted on its side. Torsion springs are installed between the outer circumferential wall of the mounting shaft on both sides of the mounting frame and the side of the mounting frame. A ball is fixed to the outer circumferential wall of the mounting shaft by an embedding method, and a welding mechanism for welding is installed at the bottom of the ball. An electric telescopic rod is fixed to one outer wall of the mounting frame. A pressure sensor is fixed to the output end of the electric telescopic rod, and a drive mechanism for driving the ball is fixed to the pressure sensor.

[0007] As a further embodiment of the present invention: the driving mechanism includes a frame fixed to the pressure sensor and a driving shaft rotatably connected between the two sides of the frame. A roller is fixed to the outer circumference of the driving shaft, and a rubber sleeve is fitted onto the outer circumference of the roller.

[0008] As a further embodiment of the present invention: a drive motor is fixed to the side of the frame, and the output end of the drive motor is connected to one end of the drive shaft through a coupling. The drive motor can drive the roller and the rubber sleeve to rotate.

[0009] As a further embodiment of the present invention: a bottom frame is welded to the bottom of the frame, a sliding rod is rotatably connected between the two sides of the bottom frame, a bracket is fixed to the bottom of the mounting frame, a rotating shaft is rotatably connected to the sides of the two brackets, and the same swing arm is fixed to the ends of the two rotating shafts, and the sliding rod and the swing arm are slidably connected, and a nozzle is installed at the bottom of the swing arm.

[0010] As a further embodiment of the present invention: a vertical plate is fixed to the top outer wall of the mounting frame, a storage cylinder and a mounting shell are fixed to one side outer wall of the vertical plate, a cover plate is threaded to the top of the storage cylinder, and an intermediate pipe is installed on the side of the mounting shell through a joint, and the intermediate pipe and the storage cylinder are connected by a one-way valve.

[0011] As a further embodiment of the present invention: the mounting shell is provided with a compression bladder that communicates with the intermediate tube, and a connecting pipe is fixed on the back of the compression bladder, and the connecting pipe and the nozzle are connected by a one-way valve.

[0012] As a further embodiment of the present invention: a square plate is fixed to the top outer wall of the frame, and a compression block is fixed to one side outer wall of the square plate by a compression rod. During the return motion of the frame, the compression block compresses the compression bladder inside the mounting shell, causing the compressed bladder to spray the anti-splash agent stored inside through the nozzle.

[0013] As a further embodiment of the present invention: the square plate is rotatably connected to the two sides by a rotating shaft, and a fixing column is fixed between the two sides of the mounting arm. A housing is installed on the outer circumference of the fixing column, and a scraping rubber ring is embedded in the outer circumference of the housing. A magnet is installed inside the housing, and multiple magnets are arranged in a strip shape inside the spherical surface of the sphere.

[0014] As a further aspect of the present invention: the first magnet and the second magnet are used together, and by utilizing their magnetic attraction, the shell with the scraping rubber ring is always elastically attached to the spherical surface of the sphere. The scraping rubber ring slides relative to the spherical surface of the sphere under the magnetic attachment of the shell, and scrapes off the spattered welding slag adhering to the spherical surface.

[0015] As a further embodiment of the present invention: a base rotation mechanism is installed on the top of the base, and a large arm mechanism is installed on the side of the base rotation mechanism, and a small arm mechanism is installed on the side of the large arm mechanism. A connecting frame that is fixedly connected to the mounting frame is fixed at one end of the small arm mechanism.

[0016] Compared with the prior art, the present invention provides a welding robot with a ball joint, which has the following advantages: 1. The roller is driven by an electric telescopic rod to fit against the spherical surface of the ball, and then the drive motor drives the ball and the mounting shaft to rotate through friction, so as to realize stepless and precise adjustment of the tilt angle of the welding mechanism. The pressure sensor is used to monitor the pressure value between the rubber sleeve and the spherical surface to ensure that the friction driving force is stable and controllable, and to meet the high-precision positioning requirements of the welding gun tilt angle for different welding processes.

[0017] 2. Simultaneously, during the return stroke of the electric telescopic rod, the linear motion of the frame is converted into the arc motion of the nozzle through the motion conversion mechanism composed of the slide rod and the swing arm, achieving large-area coverage spraying of the anti-splatter agent; and during the spraying process, the rubber sleeve separates from the ball, the welding mechanism remains unchanged in its initial position, and the angle adjustment and anti-splatter spraying are completed by the same set of electric telescopic rods, reducing the number of drive sources and making the structure compact.

[0018] 3. The compression bladder is automatically squeezed by the extrusion block during the frame return stroke. The negative pressure when the compression bladder resets is used to draw anti-splash agent from the storage cylinder through one-way valve one. During the second extrusion, the anti-splash agent is guided into the nozzle by positive pressure through one-way valve two and sprayed out. One-way valve one and one-way valve two prevent backflow during spraying and air backflow during suction, respectively. The entire liquid supply process is automatically completed by mechanical linkage.

[0019] 4. Multiple magnets of the same polarity are embedded in a strip inside the sphere, while magnets of opposite polarity are embedded inside the shell. The attraction between the opposite magnetic poles ensures that the scraping rubber ring always fits tightly and elastically against the sphere's surface. When the sphere rotates to adjust its angle under the drive of the roller, the scraping rubber ring slides relative to the sphere's surface under the magnetic force of the shell, automatically scraping away the spattered welding slag adhering to the sphere's surface, ensuring a smooth sphere surface and flexible rotation. The magnetic attraction method makes installation and disassembly convenient, and it can maintain a fit regardless of the sphere's angle, providing a stable and reliable scraping effect.

[0020] The parts of this device not covered herein are the same as or can be implemented using existing technologies. This invention has a simple structure and is easy to operate. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of a welding robot with a ball joint proposed in this invention; Figure 2 This is a schematic diagram of the lateral structure of a welding robot with a ball joint proposed in this invention. Figure 3 This is a schematic diagram of the overall structure of the welding assembly of a welding robot with a ball joint proposed in this invention; Figure 4 This is a schematic diagram of the lateral structure of a welding component of a welding robot with a ball joint proposed in this invention. Figure 5This is a schematic diagram of the overall structure of the protection mechanism for a welding robot with a ball joint proposed in this invention. Figure 6 This is a schematic diagram of the drive mechanism structure of a welding robot with a ball joint proposed in this invention. Figure 7 This is a schematic diagram of the spraying mechanism of a welding robot with a ball joint proposed in this invention. Figure 8 This is a schematic diagram of the main structure of the welding component of a welding robot with a ball joint proposed in this invention.

[0022] In the diagram: 1. Base; 2. Base rotation mechanism; 3. Large arm mechanism; 4. Small arm mechanism; 5. Mounting frame; 6. Ball; 7. Connecting frame; 8. Storage cylinder; 9. Cover plate; 10. Torsion spring; 11. Mounting shaft; 12. Nozzle; 13. Connecting pipe one; 14. Vertical plate; 15. Drive motor; 16. Welding mechanism; 17. Swing arm; 18. Compression bladder; 19. Mounting shell; 20. Intermediate pipe; 21. One-way valve one; 22. Extrusion rod; 23. Extrusion block; 24. Electric telescopic rod; 25. Frame; 26. Drive shaft; 27. Roller; 28. Fixed column; 29. ​​Rubber sleeve; 30. Housing; 31. Scraper rubber ring; 32. Mounting arm; 33. Square plate; 34. Slide rod; 35. One-way valve two; 36. Rotating shaft; 37. Bracket; 38. Controller; 39. Magnet; 40. Bottom frame. Detailed Implementation

[0023] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0024] A welding robot with ball joints, such as Figures 1 to 8 As shown, it includes a base 1, a base rotation mechanism 2 is installed on the top of the base 1, a large arm mechanism 3 is installed on the side of the base rotation mechanism 2, and a small arm mechanism 4 is installed on the side of the large arm mechanism 3. A connecting frame 7 is fixed to one end of the small arm mechanism 4 by bolts, and a mounting frame 5 is welded to the end of the connecting frame 7. Mounting shafts 11 are rotatably connected to both sides of the mounting frame 5, and a torsion spring 10 is installed between the outer circumference of the mounting shaft 11 and the side of the mounting frame 5. A ball 6 is fixed to the outer circumference of the mounting shaft 11 by embedding, and a welding mechanism 16 for welding is installed at the bottom of the ball 6. The base rotation mechanism 2, the boom mechanism 3, and the forearm mechanism 4 are typically driven sequentially by AC servo motors. The power is amplified and reduced in speed by a high-precision reducer, such as a harmonic reducer or an RV reducer, through the motor output shaft. The power then drives the base to rotate, the boom to pitch via a connecting rod or transmission shaft, and the forearm to swing via a connecting rod or a parallelogram-type connecting rod group. This achieves precise angle positioning and linkage control of each joint. The welding mechanism 16 includes a welding torch, a conductive nozzle, a nozzle, a wire feeding interface, a protective gas channel, and connecting cables. It is installed at the bottom of the ball 6 and is used to perform arc welding or spot welding operations after the ball has adjusted the tilt angle to complete the weld filling. Its working principle is existing technology and will not be described in detail here.

[0025] An electric telescopic rod 24 is fixed to one side of the outer wall of the mounting frame 5 by bolts. A pressure sensor is fixed to the output end of the electric telescopic rod 24, and a frame 25 is fixed to the pressure sensor. A drive shaft 26 is rotatably connected between the two sides of the frame 25. A roller 27 is fixed to the outer circumference of the drive shaft 26, and a rubber sleeve 29 is fitted into the outer circumference of the roller 27. A drive motor 15 is fixed to the side of the frame 25 by screws, and the output end of the drive motor 15 is connected to one end of the drive shaft 26 through a coupling. When the tilt angle of the welding mechanism 16 relative to the mounting bracket 5 needs to be adjusted, initially, when there is no power source driving the outer wall of the spherical surface of the ball 6, the ball 6 and the mounting shaft 11 are stationary under the restoring force of the torsion spring 10. During adjustment, the electric telescopic rod 24 drives the roller 27 and the fixed column 28 to move linearly through the frame 25. After the rubber sleeve 29 and the outer wall of the spherical surface of the ball 6 are in contact, the drive motor 15 drives the roller 27 and the rubber sleeve 29 to rotate. The friction force applied by the rubber sleeve 29 to the outer wall of the spherical surface of the ball 6 drives the ball 6 and the mounting shaft 11 to rotate relative to the side of the mounting bracket 5, thereby achieving the adjustment of the tilt angle of the welding mechanism 16 relative to the mounting bracket 5. Regarding the adjustment of the tilt angle of the welding mechanism 16, in terms of circuit control, the tilt angle of the welding mechanism 16 is based on the number of pulses or speed command corresponding to the drive motor 15. At the same time, it uses the encoder on the mounting shaft 11 or the indirect angle estimation based on the number of rotations of the roller 27 to provide real-time feedback on the actual rotation angle of the ball 6. The controller uses a closed-loop PID algorithm to compare the deviation between the target angle and the actual angle and dynamically adjust the output speed and torque of the drive motor 15. The pressure sensor can be used to dynamically monitor the pressure value between the rubber sleeve 29 and the outer wall of the ball 6. The pressure sensor can be selected as K-C9C-200N-01M5-VA2-S. The bottom of the frame 25 is welded to a bottom frame 40, and a sliding rod 34 is rotatably connected between the two sides of the bottom frame 40. The bottom of the mounting frame 5 is fixed with a bracket 37 by screws. The two brackets 37 are rotatably connected to the sides of the two brackets 37, and the same swing arm 17 is fixed to the ends of the two swing arms 36. The sliding rod 34 and the swing arm 17 are slidably connected. The bottom of the swing arm 17 is equipped with a nozzle 12. Before welding, the welding mechanism 16 needs to spray anti-spatter agent on the surface around the welding operation point that is prone to being contaminated with welding slag and spatter. Its function is to form a protective film on the metal surface so that the welding slag cannot stick to it. The anti-spatter liquid is mainly used to spray on the base material, tooling fixtures and worktable on both sides of the weld before welding to form a protective film to prevent welding slag from sticking. It can also be used on the outer wall of the welding gun nozzle. When anti-splatter agent needs to be sprayed, the electric telescopic rod 24 can be used to drive the frame 25 to make a return motion. During this process, the linear motion of the frame 25 is converted into the arc motion of the nozzle 12 by the slide rod 34 and the swing arm 17. During this process, the rubber sleeve 29 and the outer wall of the sphere 6 are separated from each other, so the welding mechanism 16 at the bottom of the sphere 6 can remain in the initial position. Therefore, when the nozzle 12 is making an arc motion, it can spray anti-splatter agent, thereby covering a larger area.

[0026] The top outer wall of the mounting frame 5 is fixed with a vertical plate 14 by screws. A storage cylinder 8 and a mounting shell 19 are fixed with screws on one side of the outer wall of the vertical plate 14. A cover plate 9 is threadedly connected to the top of the storage cylinder 8. An intermediate pipe 20 is installed on the side of the mounting shell 19 through a connector. The intermediate pipe 20 and the storage cylinder 8 are connected by a one-way valve 21. A compression bladder 18 communicating with the intermediate pipe 20 is provided inside the mounting shell 19. A connecting pipe 13 is fixed to the back of the compression bladder 18. The connecting pipe 13 and the nozzle 12 are connected by a one-way valve 35. The anti-splatter agent can be stored in the storage cylinder 8, and the pipeline used for injecting the anti-splatter agent can be sealed with the cover plate 9. When it is necessary to introduce the anti-splatter agent into the nozzle 12, the compression bladder 18 can be squeezed. During the process of the compression bladder 18 being squeezed and then reset, the anti-splatter agent in the storage cylinder 8 is drawn in by negative pressure. The drawn anti-splatter agent is drawn into the compression bladder 18 through the one-way valve 21 and the intermediate pipe 20. When the compression bladder 18 is squeezed a second time, the anti-splatter agent drawn in the compression bladder 18 is introduced into the nozzle 12 through the connecting pipe 13 and the one-way valve 35 under pressure. Finally, it is sprayed onto the welding head through the nozzle 12. One-way valve 21 ensures that the anti-splash agent in the compression bladder 18 flows back into the storage cylinder 8 during the process of being squeezed out, while one-way valve 35 ensures that outside air is drawn into the compression bladder 18 through the nozzle 12 during the process of drawing the anti-splash agent in the storage cylinder 8 using negative pressure.

[0027] A square plate 33 is fixed to the top outer wall of the frame 25 by screws, and an extrusion block 23 is fixed to one side outer wall of the square plate 33 by an extrusion rod 22. By providing a compression block 23 to compress the compression bladder 18 inside the mounting shell 19 during the return motion following the frame 25, the compressed compression bladder 18 sprays the anti-splash agent stored inside through the nozzle 12.

[0028] The square plate 33 is rotatably connected to the two sides by a rotating shaft with mounting arms 32, and a fixing column 28 is fixed between the two sides of the mounting arms 32. A housing 30 is installed on the outer circumference of the fixing column 28, and a scraping rubber ring 31 is embedded in the outer circumference of the housing 30. A magnet is installed inside the housing 30. The sphere 6 has multiple magnets 39 arranged in a strip inside the sphere. When installing magnet 39 inside housing 30, it is embedded and fixed in a strip shape along the inside of the spherical surface of sphere 6. Utilizing the magnetic attraction of the magnet, housing 30 with scraping rubber ring 31 is rotatably connected to square plate 33 via fixing post 28 and mounting arm 32, and remains elastically fitted to the spherical surface of sphere 6. When sphere 6 rotates due to roller 27 to adjust the tilt angle of welding mechanism 16, scraping rubber ring 31 slides relative to the spherical surface of sphere 6 under magnetic adhesion, thereby removing spatter weld spatter adhering to the spherical surface. To ensure a smooth surface and flexible rotation of the sphere 6, the second magnet 39, which is embedded in the sphere 6 in a strip shape, is set to have the same magnetic pole (e.g., N pole facing the center of the sphere) and the other magnetic pole (S pole facing outwards). At the same time, a magnet with opposite polarity is embedded in the corresponding position inside the housing 30. This ensures that no matter what angle the sphere 6 rotates to, the scraping rubber ring 31 on the housing 30 will always be tightly attached to the sphere 6 surface under the attraction of opposite magnetic poles or the attraction of the magnetized magnetic material, thus ensuring a stable and reliable scraping effect.

[0029] A controller 38 is installed on the side of the base 1; As the control core of the welding robot, the controller 38 receives feedback signals from pressure sensors, servo motors, and encoders via an integrated PLC or industrial PC. Based on preset program logic, it performs real-time calculations and decisions, then outputs PWM pulses or bus signals to precisely drive the servo motors of the base rotation mechanism 2, the upper arm mechanism 3, and the lower arm mechanism 4 for spatial positioning. Simultaneously, it coordinates the extension and retraction of the electric telescopic rod 24 to maintain optimal contact pressure between the rubber sleeve 29 and the ball 6, triggers the drive motor 15 to adjust the welding torch angle, and the pressure sensor monitors the actual contact pressure between the rubber sleeve 29 and the spherical surface of the ball 6 in real time, feeding back the pressure signal to the controller 38. The controller 38 compares this feedback value with a preset optimal clamping force threshold and dynamically adjusts the output thrust of the electric telescopic rod 24 using a closed-loop PID algorithm. If the pressure is too high, the telescopic rod is slightly retracted; if it is too low, it is slightly extended, thus precisely maintaining a constant frictional driving force between the rubber sleeve and the spherical surface.

[0030] Working principle: First, the welding mechanism 16 is roughly positioned to the target area by the servo motors driven by the base rotation mechanism 2, the upper arm mechanism 3, and the lower arm mechanism 4. Then, the controller 38 controls the electric telescopic rod 24 to extend, so that the rubber sleeve 29 on the roller 27 adheres to the ball 6 under the pressure monitored by the pressure sensor. The drive motor 15 drives the ball 6 to rotate around the mounting shaft 11 through friction, and precisely adjusts the tilt angle of the welding mechanism 16. Before and after the welding operation, the electric telescopic rod 24 returns to its original position. The linkage between the slide rod 34 and the swing arm 17 makes the nozzle 12 swing in an arc. The compression block 23 on the square plate 33 squeezes the compression bladder 18 to spray the anti-splatter agent in the storage cylinder 8.

[0031] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A welding robot with ball joints, comprising a mounting frame (5) and a base (1) on which a controller (38) is mounted on the side, characterized in that, A torsion spring (10) is installed between the outer circumference of the mounting shaft (11) rotating on both sides of the mounting frame (5) and the side of the mounting frame (5). A ball (6) is fixed to the outer circumference of the mounting shaft (11) by embedding. A welding mechanism (16) for welding is installed at the bottom of the ball (6). An electric telescopic rod (24) is fixed to one side of the outer wall of the mounting frame (5). A pressure sensor is fixed to the output end of the electric telescopic rod (24), and a driving mechanism for driving the ball (6) is fixed to the pressure sensor.

2. The welding robot with a ball joint according to claim 1, characterized in that, The drive mechanism includes a frame (25) fixed to the pressure sensor and a drive shaft (26) rotatably connected between the two sides of the frame (25). A roller (27) is fixed on the outer circumference of the drive shaft (26), and a rubber sleeve (29) is fitted on the outer circumference of the roller (27).

3. A welding robot with a ball joint according to claim 2, characterized in that, The frame (25) is fixed with a drive motor (15) on its side, and the output end of the drive motor (15) is connected to one end of the drive shaft (26) through a coupling. The drive motor (15) can drive the roller (27) and the rubber sleeve (29) to rotate.

4. A welding robot with a ball joint according to claim 3, characterized in that, The bottom of the frame (25) is welded with a bottom frame (40), and a sliding rod (34) is rotatably connected between the two sides of the bottom frame (40). The bottom of the mounting frame (5) is fixed with a bracket (37), and a rotating shaft (36) is rotatably connected to the sides of the two brackets (37). The ends of the two rotating shafts (36) are fixed with the same swing arm (17), and the sliding rod (34) and the swing arm (17) are slidably connected. A nozzle (12) is installed at the bottom of the swing arm (17).

5. A welding robot with a ball joint according to claim 4, characterized in that, The mounting bracket (5) has a vertical plate (14) fixed on its top outer wall. A storage cylinder (8) and a mounting shell (19) are fixed on one side outer wall of the vertical plate (14). A cover plate (9) is threaded onto the top of the storage cylinder (8). An intermediate pipe (20) is installed on the side of the mounting shell (19) through a connector. The intermediate pipe (20) and the storage cylinder (8) are connected through a one-way valve (21).

6. A welding robot with a ball joint according to claim 5, characterized in that, The mounting housing (19) is provided with a compression bladder (18) that communicates with the intermediate tube (20), and a connecting pipe (13) is fixed on the back of the compression bladder (18), and the connecting pipe (13) and the nozzle (12) are connected by a one-way valve (35).

7. A welding robot with a ball joint according to claim 6, characterized in that, A square plate (33) is fixed to the top outer wall of the frame (25). A compression block (23) is fixed to one side outer wall of the square plate (33) by a compression rod (22). During the return motion of the frame (25), the compression block (23) compresses the compression bladder (18) inside the mounting shell (19), causing the compressed bladder (18) to spray the anti-splash agent stored inside through the nozzle (12).

8. A welding robot with a ball joint according to claim 7, characterized in that, The square plate (33) is rotatably connected to the two sides by a rotating shaft with mounting arms (32), and a fixing column (28) is fixed between the two sides of the mounting arm (32). A housing (30) is installed on the outer circumference of the fixing column (28), and a scraping rubber ring (31) is embedded in the outer circumference of the housing (30). A magnet is installed inside the housing (30), and multiple magnets (39) are arranged in a strip inside the sphere (6).

9. A welding robot with a ball joint according to claim 8, characterized in that, The first magnet and the second magnet (39) are used together. By utilizing their magnetic attraction, the shell (30) with the scraping rubber ring (31) is always elastically attached to the spherical surface of the sphere (6). The scraping rubber ring (31) slides relative to the spherical surface of the sphere (6) under the magnetic attachment of the shell (30), scraping off the spattered welding slag adhering to the spherical surface.

10. A welding robot with a ball joint according to claim 1, characterized in that, The base (1) is equipped with a base rotation mechanism (2) on its top, and a large arm mechanism (3) is installed on the side of the base rotation mechanism (2), and a small arm mechanism (4) is installed on the side of the large arm mechanism (3). One end of the small arm mechanism (4) is fixed with a connecting frame (7) that is fixedly connected to the mounting frame (5).

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