Saddle-shaped welding seam welding robot

Abstract

The utility model provides a saddle-shaped weld seam welding robot, relates to robot technical field, the utility model provides a saddle-shaped weld seam welding robot, it includes robot body, first connecting plate and welding gun, robot body includes chucking mechanism, the clamping mechanism fixes welding robot on the inner wall of pressure pipeline, one side of chucking mechanism is equipped with the cross-shaped moving mechanism, one side of chucking mechanism is equipped with the cross-shaped moving mechanism, and the other side of chucking mechanism is equipped with the welding gun. The welding robot is used, the welding robot can be fixed to the inner wall of the pressure pipeline through the clamping mechanism, then the wrist mechanism is driven to move through the cross-shaped moving mechanism, the welding robot can be fixed to the inner wall of the pressure pipeline through the clamping mechanism, the welding robot can be fixed to the inner wall of the pressure pipeline through the clamping mechanism, and then the welding robot can be fixed to the inner wall of the pressure pipeline through the cross-shaped moving mechanism. And then the wrist mechanism rotates to adjust the angle of the welding gun, so that the welding gun welds the pipeline of the pressure container to form a saddle-shaped welding seam, and the problems that the welding efficiency is low and the welding quality cannot be guaranteed due to the fact that a worker is influenced by a severe environment during welding are avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a saddle-shaped weld welding robot. Background Art

[0002] A welding robot is an automated mechanical equipment specially used for welding operations. It can complete welding tasks in various environments, including saddle weld welding robots.

[0003] Pressure vessels are widely used in industry, petrochemicals, medicine, construction, agriculture, and other fields, making irreplaceable contributions to the development of the national economy. Saddle welds are a common weld type in pressure vessel welding. Currently, these welds are primarily welded manually, which is characterized by harsh working environments, low efficiency, and difficulty in ensuring weld quality. Therefore, the development of a welding robot specifically designed for these welds is urgently needed. Utility Model Content

[0004] The utility model proposes a saddle-shaped weld welding robot to solve the problems that the welding of this type of weld is currently mainly completed manually, the manual welding working environment is poor, the welding efficiency is low, and it is difficult to ensure the welding quality.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solution: a saddle-shaped weld welding robot, including a robot body, a first connecting plate and a welding gun, the robot body including a clamping mechanism, the clamping mechanism fixes the welding robot to the inner wall of the pressure pipe, a cross moving mechanism is provided on one side of the clamping mechanism, a wrist mechanism is provided on one side of the cross moving mechanism, the cross moving mechanism drives the wrist mechanism to move, and the wrist mechanism rotates to adjust the angle of the welding gun.

[0006] The above components achieve the following: When using a welding robot, a clamping mechanism secures the robot to the inner wall of a pressure pipe. A cross-movement mechanism then drives the wrist mechanism to move. The wrist mechanism then rotates to adjust the angle of the welding torch, allowing it to weld the pressure vessel pipe, creating a saddle weld. This prevents the harsh welding environment from impacting workers, leading to low welding efficiency and poor welding quality.

[0007] Preferably, the clamping mechanism includes a progressive motor, one side of the progressive motor is provided with a first coupling fixedly connected, the upper end of the first coupling is threadedly connected to a first screw rod, one side of the first screw rod is threadedly connected to a transmission nut, the outer wall of the transmission nut is fixedly connected to a cross horizontal connecting rod, the side of the cross horizontal connecting rod away from the transmission nut is rotatably connected to a support rod movable sleeve, the interior of the support rod movable sleeve is provided with a clamping support rod, the outer layer of the end of the clamping support rod is covered with an anti-slip rubber material, one end of the clamping support rod is hinged and rotatably connected to a base, the base is fixedly connected to the progressive motor, the upper end of the base is fixedly connected to a transmission gear, the upper end of the base is provided with a motor support seat, and the upper end of the motor support seat is fixedly connected to the first motor.

[0008] The above components achieve the following effect: when the clamping mechanism is activated, the progressive motor on the base is activated, which drives the first screw through the first coupling to rotate. The first screw then drives the cross-shaped horizontal connecting rod downward via the transmission nut. The cross-shaped horizontal connecting rod then drives one end of the clamping support rod to rotate on the base via the supporting movable sleeve. The clamping support rod then expands outward, squeezing the inner wall of the pressure pipe to complete the clamping and fixing of the robot body. The first motor on the motor support base drives the cross-shaped movable mechanism through the transmission gear for rotation and adjustment.

[0009] Preferably, a protective cover is detachably connected to the upper end of the base, and the size of the protective cover is adapted to the size of the transmission gear.

[0010] The effect achieved by the above components is: by using the protective cover, the transmission gear can be protected to avoid damage to the transmission gear.

[0011] Preferably, the cross moving mechanism includes a second coupling, the second coupling is connected to the center column of the transmission gear, the upper end of the second coupling is provided with a base plate, the interior of the base plate is provided with a second screw rod, both sides of the second screw rod are rotatably connected to vertical support plates, the end of the vertical support plate away from the second coupling is fixedly connected to the second motor, one side of the second screw rod is threadedly connected to a moving slider, one side of the moving slider is fixedly connected to a horizontal support plate, the internal structure of the horizontal support plate is the same as the internal structure of the vertical support plate, one end of the horizontal support plate is also fixedly connected to the second motor, and one end of the moving slider inside the horizontal support plate is fixedly connected to the first connecting plate.

[0012] The above components achieve the following effect: when changing the vertical position of the wrist mechanism, the second motor on the vertical support plate can be activated to rotate the second screw inside the vertical support plate, thereby driving the movable slide inside the vertical support plate to move, causing the horizontal support plate to move up and down, and then driving the vertical position of the wrist mechanism through the first connecting plate. When changing the horizontal position of the wrist mechanism, the second motor at one end of the horizontal support plate can be activated to cause the second screw inside the horizontal support plate to drive the movable slide inside the horizontal support plate to move, and then the movable slide inside the horizontal support plate will drive the wrist mechanism to change its horizontal position through the first connecting plate.

[0013] Preferably, circular tube guide rails are fixedly connected to the interior of the vertical support plate and the horizontal support plate, and the circular tube guide tube is slidably connected to the movable slider.

[0014] The effect achieved by the above components is that by using the circular tube, the moving track of the moving slider can be restricted, thereby improving the stability of the moving slider.

[0015] Preferably, the wrist mechanism includes a first connecting plate and a fixed plate, the fixing plate is fixedly connected to the first connecting plate, one side of the fixing plate is fixedly connected to the first servo motor, the output end of the first servo motor is fixedly connected to the first bevel gear set, the inner wall of the fixing plate is rotatably connected to the first intermediate rod, one side of the first intermediate rod is fixedly connected to the first gear, the inner wall of the fixing plate is slidably connected to the first arc rack, the first gear is meshed with the first arc rack, the lower end of the first arc rack is fixedly connected to the second connecting plate, one side of the second connecting plate is fixedly connected to the second servo motor, the output end of the second servo motor is provided with a second bevel gear set, the inner wall of the second connecting plate is rotatably connected to the second intermediate rod, one side of the second intermediate rod is fixedly connected to the second gear, one side of the second connecting plate is slidably connected to the second arc rack, the second gear is meshed with the second arc rack, and the inside of the second arc rack is fixedly connected to the welding gun.

[0016] The above components achieve the following effect: When adjusting the welding gun angle using the hand mechanism, the first servo motor on the fixed plate on the side of the first connecting plate is activated. This servo motor drives the first gear on the end of the first intermediate rod via the first bevel gear set. This first gear then drives the first arc-shaped rack to rotate. This arc-shaped rack then drives the welding gun to move via the second connecting plate. The second servo motor on the side of the second connecting plate then drives the second gear on the side of the second center rod via the second bevel gear set. The rotation of the second gear drives the second arc-shaped rack to slide on the second connecting plate. This second arc-shaped rack then drives the welding gun to move a second time, thus completing the adjustment of the welding gun angle, allowing the welding gun to weld seams at different angles.

[0017] Preferably, the first bevel gear set and the second bevel gear set are composed of two mutually perpendicular bevel gears, the two bevel gears of the first vertical bevel gear set are respectively fixed to the first servo motor and the first intermediate rod of the first gear, and the two bevel gears of the second vertical bevel gear set are respectively fixed to the second servo motor and the second intermediate rod of the second gear.

[0018] The effect achieved by the above components is that by using the first bevel gear set and the second bevel gear set, the first servo motor and the second servo motor can drive the angles of the first arc-shaped rack and the second arc-shaped rack to change.

[0019] In summary, the beneficial effects of the present invention are as follows:

[0020] By using a welding robot, the welding robot can be fixed to the inner wall of the pressure pipe through a clamping mechanism, and then the wrist mechanism is driven to move by the cross moving mechanism. The wrist mechanism is then rotated to adjust the angle of the welding gun so that the welding gun welds the pipe of the pressure vessel to form a saddle-shaped weld, thereby avoiding the impact of the harsh environment on the workers during welding, resulting in low welding efficiency and unguaranteed welding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the three-dimensional structure of the robot body in the welding state of the utility model;

[0022] Figure 2 For this utility model Figure 1 Schematic diagram of the local three-dimensional structure;

[0023] Figure 3 This is a schematic diagram of the three-dimensional structure of the clamping mechanism of the utility model;

[0024] Figure 4 This is a schematic diagram of the three-dimensional structure of the cross moving mechanism of the utility model;

[0025] Figure 5 This is a schematic diagram of the three-dimensional structure of the first servo motor of the present invention;

[0026] Figure 6 It is a schematic diagram of the three-dimensional structure of the welding gun of the present invention.

[0027] Legend: 1. Robot body; 2. Clamping mechanism; 21. Advance motor; 22. Coupling; 23. Clamping support rod; 24. Support rod movable sleeve; 25. Cross horizontal connecting rod; 26. Transmission nut; 27. Base; 28. Protective cover; 29. ​​Transmission gear; 210. Motor support base; 211. First screw rod; 212. First motor; 3. Cross moving mechanism; 31. Coupling; 32. Bottom plate; 33. Second screw rod; 34. Vertical Support plate; 35. Moving slider; 36. Circular tube guide rail; 37. Second motor; 38. Horizontal support plate; 4. Wrist mechanism; 41. First connecting plate; 42. Fixed plate; 43. First servo motor; 44. First bevel gear set; 45. First gear; 46. First arc-shaped rack; 47. Second connecting plate; 48. Second servo motor; 49. Second bevel gear set; 410. Second gear; 411. Second arc-shaped rack; 412. Welding gun;. DETAILED DESCRIPTION

[0028] Reference Figure 1-6 As shown, this embodiment discloses a saddle weld welding robot, including a robot body 1, a first connecting plate 41 and a welding gun 412. The robot body 1 includes a clamping mechanism 2, which fixes the welding robot to the inner wall of the pressure pipe. A cross moving mechanism 3 is provided on one side of the clamping mechanism 2, and a wrist mechanism 4 is provided on one side of the cross moving mechanism 3. The cross moving mechanism 3 drives the wrist mechanism 4 to move, and the wrist mechanism rotates to adjust the angle of the welding gun 412. When using the welding robot, the welding robot can be fixed to the inner wall of the pressure pipe by the clamping mechanism 2, and then the wrist mechanism 4 is driven to move by the cross moving mechanism 3, and then the wrist mechanism 4 rotates to adjust the angle of the welding gun 412, so that the welding gun 412 welds the pipe of the pressure vessel to form a saddle weld, thereby avoiding the adverse environment during welding that affects the workers, resulting in low welding efficiency and the inability to ensure welding quality.

[0029] Reference Figure 1-6As shown, this embodiment discloses a clamping mechanism 2 including a progressive motor 21, a first coupling 22 fixedly connected to one side of the progressive motor 21, a first screw rod 211 threadedly connected to the upper end of the first coupling 22, a transmission nut 26 threadedly connected to one side of the first screw rod 211, a cross horizontal connecting rod 25 fixedly connected to the outer wall of the transmission nut 26, the cross horizontal connecting rod 25 is composed of four connecting rods, the end of the connecting rod is processed with a hinge hole, the side of the cross horizontal connecting rod 25 away from the transmission nut 26 is rotatably connected to the support rod movable sleeve 24, the interior of the support rod movable sleeve 24 is provided with The clamping support rod 23, the outer layer of the end of the clamping support rod 23 is covered with anti-slip rubber material, one end of the clamping support rod 23 is connected to the base 27 through a hinge, the clamping support rod 23 is assembled with a linear bearing, and rolling bearings are installed on both sides of the support rod movable sleeve 24. The rolling bearings are connected with the hinge holes at the ends of the cross horizontal connecting rod 25 with pins. The base 27 is fixedly connected to the progressive motor 21, and the upper end of the base 27 is fixedly connected to the transmission gear 29. The upper end of the base 27 is provided with a motor support seat 210, and the upper end of the motor support seat 210 is fixedly connected to the first motor 212. When the clamping mechanism 2 is used, the progressive motor 21 on the base 27 can be started, so that the progressive motor 21 drives the first screw rod 211 to rotate through the first coupling 22, and then the first screw rod 211 drives the cross horizontal connecting rod 25 to move downward through the transmission nut 26, and then the cross horizontal connecting rod 25 drives one end of the clamping support rod 23 to rotate on the base 27 through the supporting movable sleeve, and then the clamping support rod 23 expands outward to squeeze the inner wall of the pressure pipe to complete the clamping and fixation of the robot body 1. The first motor 212 on the motor support seat 210 can drive the cross moving mechanism 3 to rotate and adjust through the transmission gear 29.

[0030] Reference Figure 1-6 As shown, this embodiment discloses that a protective cover 28 is detachably connected to the upper end of the base 27, and the size of the protective cover 28 is adapted to the size of the transmission gear 29. By using the protective cover 28, the transmission gear 29 can be protected to avoid damage to the transmission gear 29.

[0031] Reference Figure 1-6As shown, this embodiment discloses a cross moving mechanism 3 including a second coupling 31, the second coupling 31 is connected to the central column of the transmission gear 29, the upper end of the second coupling 31 is provided with a base plate 32, the interior of the base plate 32 is provided with a second screw rod 33, both sides of the second screw rod 33 are rotatably connected with vertical support plates 34, one end of the vertical support plate 34 away from the second coupling 31 is fixedly connected to a second motor 37, one side of the second screw rod 33 is threadedly connected to a moving slider 35, one side of the moving slider 35 is fixedly connected to a horizontal support plate 38, the internal structure of the horizontal support plate 38 is the same as the internal structure of the vertical support plate 34, one end of the horizontal support plate 38 is also fixedly connected to the second motor 37, and one end of the moving slider 35 inside the horizontal support plate 38 is fixedly connected to the first connecting plate 41. When changing the vertical position of the wrist mechanism 4, the second motor 37 on the vertical support plate 34 can be started to rotate the second screw rod 33 inside the vertical support plate 34 to drive the moving slide inside the vertical support plate 34 to move, so that the horizontal support plate 38 moves up and down, and then the first connecting plate 41 is used to drive the vertical position of the wrist mechanism 4. When changing the horizontal position of the wrist mechanism 4, the second motor 37 at one end of the horizontal support plate 38 can be started to make the second screw rod 33 inside the horizontal support plate 38 drive the moving slider 35 inside the horizontal support plate 38 to move, and then the moving slider 35 inside the horizontal support plate 38 will drive the wrist mechanism 4 to change its horizontal position through the first connecting plate 41.

[0032] Reference Figure 1-6 As shown, this embodiment discloses that the vertical support plate 34 and the horizontal support plate 38 are fixedly connected to the internal circular tube guide rail 36, and the circular tube guide is slidably connected to the movable slider 35. By using the circular tube guide, the movement trajectory of the movable slider 35 can be restricted, thereby improving the stability of the movement of the movable slider 35.

[0033] Reference Figure 1-6As shown, this embodiment discloses that the wrist mechanism 4 includes a first connecting plate 41 and a fixed plate 42, the fixed plate 42 is fixedly connected to the first connecting plate 41, one side of the fixed plate 42 is fixedly connected to a first servo motor 43, the output end of the first servo motor 43 is fixedly connected to a first bevel gear set 44, the inner wall of the fixed plate 42 is rotatably connected to a first intermediate rod, one side of the first intermediate rod is fixedly connected to a first gear 45, the inner wall of the fixed plate 42 is slidably connected to a first arc-shaped rack 46, the first gear 45 is meshed with the first arc-shaped rack 46, and the first The lower end of the arc-shaped rack 46 is fixedly connected to a second connecting plate 47, one side of the second connecting plate 47 is fixedly connected to a second servo motor 48, the output end of the second servo motor 48 is provided with a second bevel gear set 49, the inner wall of the second connecting plate 47 is rotatably connected to a second intermediate rod, one side of the second intermediate rod is fixedly connected to a second gear 410, one side of the second connecting plate 47 is slidably connected to a second arc-shaped rack 411, the second gear 410 is engaged with the second arc-shaped rack 411, and the interior of the second arc-shaped rack 411 is fixedly connected to the welding gun 412. When the angle of the welding gun 412 is changed by the hand mechanism, the first servo motor 43 on the fixed plate 42 on one side of the first connecting plate 41 can be started, so that the first servo motor 43 drives the first gear 45 at one end of the first intermediate rod to rotate through the first bevel gear set, and then the first gear 45 drives the first arc rack 46 to rotate, and then the first arc rack 46 drives the welding gun 412 to move through the second connecting plate 47, and then the second servo motor 48 on the side of the second connecting plate 47 will drive the second gear 410 on the side of the second center rod to rotate through the second bevel gear set 49, and then when the second gear 410 rotates, it will drive the second arc rack 411 to slide on the second connecting plate 47, and then the second arc rack 411 drives the welding gun 412 to move twice, and then the adjustment change of the angle of the welding gun 412 is completed, so that the welding gun 412 can weld welds of different angles.

[0034] Reference Figure 1-6 As shown, this embodiment discloses that the first bevel gear set 44 and the second bevel gear set 49 are composed of two mutually perpendicular bevel gears. The two bevel gears of the first perpendicular bevel gear set are respectively fixed to the first servo motor 43 and the first intermediate rod of the first gear 45. The two bevel gears of the second perpendicular bevel gear set are respectively fixed to the second servo motor 48 and the second intermediate rod of the second gear 410. By using the first bevel gear set 44 and the second bevel gear set 49, the first servo motor 43 and the second servo motor 48 can drive the angles of the first arc rack 46 and the second arc rack 411 to change.

[0035] Reference Figure 1-6 As shown, this embodiment discloses the selection of the main motor;

[0036] 1. Clamping mechanism (2) Selection of motor;

[0037] The motor of the clamping mechanism (2) is directly connected to the first screw rod (211) via the first coupling (22) to transmit spiral motion to drive the trapezoidal hinge mechanism to clamp the support rod (23), thereby clamping the entire robot and fixing it on the branch pipe.

[0038] If the motor's acceleration / deceleration torque is ignored, the stepper motor's motor torque (T) = load torque (TL) × safety factor. The load torque can be calculated using the same method as the ball screw's load torque. The estimating formula for a vertical ball screw is:

[0039]

[0040] Where m is the load mass;

[0041] PB is the lead of the screw;

[0042] η is efficiency (0.85-0.95);

[0043] i is the reduction ratio

[0044] The overall mass of the robot is preset to be 45 kg, the lead of the first screw rod (211) of the clamping mechanism (2) is 4 mm, the efficiency is taken as 0.9, and since the output shaft of the first motor (212) and the first screw rod (211) are connected through a coupling, the reduction ratio is 1. Substituting into formula 4.5, the approximate value of the load torque Tl=0.57 (N·m) can be obtained. The safety factor is taken as 0.9, and the stepping motor torque T=0.57×0.9=0.51 (N·m). Therefore, the HSTM57-1.8-S-41-4-2.8 two-phase high-torque hybrid stepping motor can be selected, and its step angle is 1.8°.

[0045] 2. Selection of motor for vertical movement mechanism;

[0046] The vertical moving mechanism also uses the second coupling (31) to connect the second motor (37) and the second screw (33). The calculation is performed in the same way using formula 4.1. The load mass is the sum of the mass of the horizontal moving mechanism and the mass of the two parts of the welding gun (412) wrist. The preset value is 30 kg, the pitch is 4 mm, and the efficiency is 0.9. Substituting it into formula 4.1, the load torque Tl = 0.42 (N·m) is calculated. The safety factor is 0.9, and the stepper motor torque is T = 0.42×0.9 = 0.38 (N·m). The HSTM57-1.8-S-41-6-2 two-phase high-torque hybrid stepper motor can be selected, and its step angle is 1.8°.

[0047] 3. Selection of motor for horizontal movement mechanism;

[0048] The same method is used to calculate using formula 4.5. The load mass is the mass of the welding gun (412) wrist, which is preset to 10 kg. The pitch of the second screw (33) is 4 mm, and the efficiency is 0.9. Substituting it into formula 4.5, the load torque Tl = 0.15 (N·m) is calculated. Then, the HSTM57-1.8-S-41-6-2 two-phase high-torque hybrid stepper motor can be selected, and its step angle is 1.8°. Working principle: When using the welding robot, the progressive motor 21 on the base 27 can be started, so that the progressive motor 21 drives the first screw rod 211 to rotate through the first coupling 22, and then the first screw rod 211 drives the cross horizontal connecting rod 25 to move downward through the transmission nut 26, and then the cross horizontal connecting rod 25 drives one end of the clamping support rod 23 to rotate on the base 27 through the supporting movable sleeve, and then the clamping support rod 23 expands outward to squeeze the inner wall of the pressure pipe to complete the clamping and fixing of the robot body 1. The first motor 212 on the motor support seat 210 can be driven by the transmission nut 26. The gear 29 is driven to drive the cross moving mechanism 3 to rotate and adjust. Then, when changing the vertical position of the wrist mechanism 4, the second motor 37 on the vertical support plate 34 can be started to rotate the second screw rod 33 inside the vertical support plate 34 to drive the moving slide inside the vertical support plate 34 to move, so that the horizontal support plate 38 moves up and down. Then, through the first connecting plate 41, the vertical position of the wrist mechanism 4 is driven. When changing the horizontal position of the wrist mechanism 4, the second motor 37 at one end of the horizontal support plate 38 can be started to make the second screw rod 33 inside the horizontal support plate 38 drive the moving slide inside the horizontal support plate 38 The block 35 moves, and then the moving slider 35 inside the transverse support plate 38 will drive the wrist mechanism 4 to change its lateral position through the first connecting plate 41. When the angle of the welding gun 412 is changed by the hand mechanism, the first servo motor 43 on the fixed plate 42 on one side of the first connecting plate 41 can be started, so that the first servo motor 43 drives the first gear 45 at one end of the first intermediate rod to rotate through the first bevel gear set, and then the first gear 45 drives the first arc rack 46 to rotate, and then the first arc rack 46 drives the welding gun 412 to move through the second connecting plate 47, and then the second servo motor on the side of the second connecting plate 47 48, will drive the second gear 410 on the side of the second center rod to rotate through the second bevel gear set 49, and then when the second gear 410 rotates, it will drive the second arc rack 411 to slide on the second connecting plate 47, and then the second arc rack 411 drives the welding gun 412 to move a second time, and then completes the adjustment change of the angle of the welding gun 412, so that the welding gun 412 can weld welds of different angles, and then the welding gun 412 welds the pipes of the pressure vessel to form a saddle-shaped weld, so as to avoid the adverse environment during welding affecting the workers, resulting in low welding efficiency and the problem that the welding quality cannot be guaranteed.

Claims

1. A saddle-shaped welding robot, comprising a robot body (1), a first connecting plate (41) and a welding gun (412), characterized in that: The robot body (1) includes a clamping mechanism (2), which fixes the welding robot to the inner wall of the pressure pipe. A cross moving mechanism (3) is provided on one side of the clamping mechanism (2), and a wrist mechanism (4) is provided on one side of the cross moving mechanism (3). The cross moving mechanism (3) drives the wrist mechanism (4) to move, and the wrist mechanism rotates to adjust the angle of the welding gun (412).

2. The saddle weld welding robot according to claim 1, characterized in that: The clamping mechanism (2) includes a progressive motor (21), one side of the progressive motor (21) is provided with a first coupling (22) fixedly connected, the upper end of the first coupling (22) is threadedly connected to a first screw rod (211), one side of the first screw rod (211) is threadedly connected to a transmission nut (26), the outer wall of the transmission nut (26) is fixedly connected to a cross horizontal connecting rod (25), the side of the cross horizontal connecting rod (25) away from the transmission nut (26) is rotatably connected to a support rod movable sleeve (24), the support A clamping support rod (23) is provided inside the support rod movable sleeve (24), and the outer layer of the end of the clamping support rod (23) is coated with anti-slip rubber material. One end of the clamping support rod (23) is hingedly connected to a base (27), and the base (27) is fixedly connected to the progressive motor (21). The upper end of the base (27) is fixedly connected to a transmission gear (29), and the upper end of the base (27) is provided with a motor support seat (210), and the upper end of the motor support seat (210) is fixedly connected to a first motor (212).

3. The saddle weld welding robot according to claim 2, characterized in that: The upper end of the base (27) is detachably connected to a protective cover (28), and the size of the protective cover (28) is adapted to the size of the transmission gear (29).

4. The saddle weld welding robot according to claim 3, characterized in that: The cross moving mechanism (3) includes a second coupling (31), the second coupling (31) is connected to the central column of the transmission gear (29), the upper end of the second coupling (31) is provided with a base plate (32), the interior of the base plate (32) is provided with a second screw rod (33), both sides of the second screw rod (33) are rotatably connected to vertical support plates (34), one end of the vertical support plate (34) away from the second coupling (31) is fixedly connected to a second motor (37), one side of the second screw rod (33) is threadedly connected to a moving slider (35), one side of the moving slider (35) is fixedly connected to a transverse support plate (38), the internal structure of the transverse support plate (38) is the same as the internal structure of the vertical support plate (34), one end of the transverse support plate (38) is also fixedly connected to the second motor (37), and one end of the moving slider (35) inside the transverse support plate (38) is fixedly connected to the first connecting plate (41).

5. The saddle weld welding robot according to claim 4, characterized in that: The vertical support plate (34) and the horizontal support plate (38) are fixedly connected with a circular tube guide rail (36) inside, and the circular tube guide rail is slidably connected with a movable slider (35).

6. The saddle weld welding robot according to claim 5, characterized in that: The wrist mechanism (4) includes a first connecting plate (41) and a fixed plate (42), wherein the fixed plate (42) is fixedly connected to the first connecting plate (41), a first servo motor (43) is fixedly connected to one side of the fixed plate (42), an output end of the first servo motor (43) is fixedly connected to a first bevel gear set (44), an inner wall of the fixed plate (42) is rotatably connected to a first intermediate rod, a first gear (45) is fixedly connected to one side of the first intermediate rod, and a first arc-shaped rack (46) is slidably connected to the inner wall of the fixed plate (42), the first gear (45) is meshed with the first arc-shaped rack (46), and the first arc-shaped rack (46) is engaged with the first gear (45). The lower end of the rack (46) is fixedly connected to a second connecting plate (47), one side of the second connecting plate (47) is fixedly connected to a second servo motor (48), the output end of the second servo motor (48) is provided with a second bevel gear set (49), the inner wall of the second connecting plate (47) is rotatably connected to a second intermediate rod, one side of the second intermediate rod is fixedly connected to a second gear (410), one side of the second connecting plate (47) is slidably connected to a second arc-shaped rack (411), the second gear (410) is meshed with the second arc-shaped rack (411), and the interior of the second arc-shaped rack (411) is fixedly connected to a welding gun (412).

7. The saddle weld welding robot according to claim 6, characterized in that: The first bevel gear set (44) and the second bevel gear set (49) are composed of two mutually perpendicular bevel gears. The two bevel gears of the first bevel gear set are respectively fixed to the first servo motor (43) and the first intermediate rod of the first gear (45), and the two bevel gears of the second bevel gear set are respectively fixed to the second servo motor (48) and the second intermediate rod of the second gear (410).

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