Seven-axis robot welding equipment

Abstract

The utility model belongs to the field of automatic welding, and relates to seven-axis robot welding equipment, a seventh-axis sliding table comprises a sliding table frame and a sliding table bottom plate, the sliding table frame is a rectangular square pipe frame, and the rectangular sliding table bottom plate extending forwards is installed at the front end of the sliding table frame; a welding power source installation base, a control cabinet installation base and a welding wire barrel installation base are arranged on the upper surface of the sliding table frame from the rear end to the front end, a speed reducer installation base and a welding robot installation base bottom plate are installed on the upper surface of the sliding table bottom plate, and a welding gun cleaner installation base is installed above the front end of the sliding table bottom plate. The welding robot mounting seat is mounted on the welding robot mounting seat bottom plate, the welding robot is mounted on the welding robot mounting seat, the welding power source is mounted on the welding power source mounting seat, the control cabinet is mounted on the control cabinet mounting seat, the welding wire barrel is mounted on the welding wire barrel mounting seat, and the welding gun cleaner is mounted on the welding gun cleaner mounting seat. The utility model solves the problem of long-distance wire feeding and the problem that long-distance movement and wiring are needed before gun cleaning.

Description

TECHNICAL FIELD

[0001] The utility model belongs to automatic welding technical field, especially a kind of seven-axis robot welding equipment. BACKGROUND

[0002] The seventh axis of seven-axis robot, also known as external axis or extended axis, is a kind of industrial robot auxiliary walking mechanism, which is widely used in the field of industrial automation. The seventh axis usually includes ground rail, sliding table, gear driving mechanism and control system.

[0003] At present, in the field of automatic welding, the seventh axis track stroke of seven-axis welding robot is usually short. If the seven-axis robot with long track is applied to automatic welding, the following problems exist:

[0004] 1. The welding wire feeding mechanism of welding torch cannot be transported for a long distance. Taking the common push-type wire feeding system as an example, the welding wire feeding mechanism continuously pushes the welding wire to the welding torch head through the wire feeding hose. The longer the wire feeding hose is, the greater the pushing resistance is. At present, the length of wire feeding hose of welding robot is generally 3-4 meters. If the distance between welding wire barrel and welding torch is too far, the wire feeding cannot be normal.

[0005] 2. During the welding process, the welding gun needs to be cleaned frequently. The existing technology usually uses welding gun cleaner to clean the gun. For welding robots with fixed position, only the cleaning action of mechanical arm is designed, and the welding gun can be cleaned by inserting the welding gun into the welding gun cleaner. However, for seven-axis welding robots with long distance movement, since the welding gun cleaner is installed at a fixed position, the welding robot must be moved back to the vicinity of the welding gun cleaner to complete the cleaning, which will greatly increase the moving distance of the welding process and reduce the welding efficiency.

[0006] 3. The welding power supply, welding control cabinet and other components of the existing equipment are installed at a fixed position, and the welding torch is installed on the mechanical arm and moves with the sliding table. Therefore, for long-distance seventh axis, the welding torch is far away from the welding power supply and other equipment, which makes it difficult to connect the power supply and control.

[0007] Therefore, the existing technology cannot meet the needs of long-stroke welding. SUMMARY

[0008] In order to solve the above technical problems, the utility model provides a kind of seven-axis robot welding equipment,

[0009] A seven-axis robotic welding device includes a ground rail and a seventh-axis slide table movably mounted on the ground rail, and a welding robot fixedly mounted on the seventh-axis slide table. The seventh-axis slide table includes a slide table frame and a slide table base plate. The slide table frame is a rectangular trapezoidal square tube frame. A rectangular slide table base plate extending forward is fixedly mounted on the lower front surface of the slide table frame. From the rear end to the front end, a welding power supply mounting base, a control cabinet mounting base, and a welding wire hopper mounting base are sequentially arranged on the upper surface of the slide table frame. A reducer mounting base and a welding robot mounting base plate are fixedly mounted on the upper surface of the slide table base plate. A welding torch cleaner mounting base is fixedly mounted above the front end of the slide table base plate. The welding robot mounting base is fixedly mounted on the welding robot mounting base plate. The welding robot is fixedly mounted on the welding robot mounting base. The welding power supply is fixedly mounted on the welding power supply mounting base. The control cabinet is fixedly mounted on the control cabinet mounting base. The welding wire hopper is fixedly mounted on the welding wire hopper mounting base. The welding torch cleaner is fixedly mounted on the welding torch cleaner mounting base.

[0010] Preferably, the welding torch cleaner mounting base has an upwardly angled L-shaped structure. The lower end of the welding torch cleaner mounting base is fixedly mounted on the front side of the welding robot mounting base through a connecting base plate and reinforcing ribs. The welding torch cleaner is fixedly mounted on the mounting base plate at the top of the welding torch cleaner mounting base.

[0011] Preferably, the welding power supply mounting base includes a pair of inverted T-shaped plates arranged in parallel along the width direction and welded to the upper surface of the slide frame, with the welding power supply fixedly mounted between the pair of inverted T-shaped plates.

[0012] Preferably, the control cabinet mounting base includes a pair of parallel rectangular plates welded to the upper surface of the slide frame in the width direction, and the control cabinet is fixedly mounted on the pair of rectangular plates.

[0013] Preferably, the welding wire hopper mounting base includes a rectangular welding wire hopper mounting base plate welded to the upper surface of the slide frame. A limiting support foot is fixedly installed at each of the four corners of the upper surface of the welding wire hopper mounting base plate. The limiting support foot includes a rectangular limiting plate that is processed and bent into three sections by sheet metal processing and a reinforcing rib. A waist-shaped screw hole is opened on each side of the lower horizontal section of the limiting plate. The uppermost inclined section of the limiting plate is processed with rounded corners. The vertical section of the limiting plate is close to the outer surface of the welding wire hopper.

[0014] Preferably, several outwardly extending wire groove support members are fixedly installed on the outer side of the slide frame along its length. A welding wire groove is fixedly installed above the wire groove support members. The inner side of the welding wire groove has two openings, and the front end of the welding wire groove is connected to the wiring port on one side of the welding robot mounting base.

[0015] Preferably, several horizontally arranged sliding grooves are fixedly installed along the edge of the lower surface of the slide base plate along its length. The sliding grooves are slidably connected to the guide rail of the ground rail. The shaft of the drive gear passes through the slide base plate. The limit switch is fixedly installed on the lower surface of the slide base plate. The connection wire of the limit switch passes through the limit switch wiring hole on the slide base plate and is electrically connected to the junction box. The junction box is installed on the front side of the welding wire hopper mounting base plate. The reducer is fixedly installed above the reducer mounting base. The slide drive motor is fixedly installed above the reducer. The output shaft of the reducer is fixedly connected to the shaft of the drive gear. The drive gear is meshed with the rack of the ground rail for transmission.

[0016] Preferably, the upper surface of the slide base plate is provided with L-shaped connector one and L-shaped connector two that are perpendicular to each other. The lubricating oil distributor is fixedly installed on one side of L-shaped connector two, and the track lubrication pump is fixedly installed on one side of L-shaped connector one. The lubricating oil distributor is connected to the track lubrication pump.

[0017] Preferably, a gear lubricator is installed near the drive gear. The gear lubricator includes a felt wheel, a felt wheel fixing component, and a lubricating oil inlet pipe 44. A slot for installing the gear lubricator is opened on the slide base plate. The felt wheel fixing component has a three-section bent structure. After the top of the felt wheel fixing component passes through the slot, it is fixed to the upper surface of the slide base plate by bolts. The felt wheel and the lubricating oil inlet pipe are fixed to the bottom end of the felt wheel fixing component by bolts. The felt wheel meshes with the rack of the ground rail.

[0018] Preferably, the ground track is a multi-section standard component splicing structure.

[0019] The beneficial effects of this utility model are:

[0020] This invention designs a novel seventh-axis slide, on which the welding power supply, control cabinet, wire hopper, and welding torch cleaner are all mounted, moving synchronously with the welding robot. The wire hopper and wire feeding mechanism move with the seventh-axis slide, solving the problem of long-distance wire feeding; the welding torch cleaner moves synchronously with the seventh-axis slide, allowing the robotic arm to directly perform the torch cleaning action, eliminating the need for long-distance movement before cleaning. The welding power supply and control cabinet are mounted on the slide, close to the welding robot and in a fixed relative position, solving the difficulties of long-distance power and control wiring for the welding torch. Attached Figure Description

[0021] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0022] Figure 1 This is a schematic diagram of the overall structure of the seven-axis robot welding equipment according to an embodiment of the present invention;

[0023] Figure 2 This is a partial structural diagram of the ground track according to an embodiment of the present utility model;

[0024] Figure 3 This is a schematic diagram of the cable chain installation according to an embodiment of the present utility model;

[0025] Figure 4 This is a top view of the structure of the seventh-axis slide table according to an embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of the seventh-axis slide from a bottom-view perspective according to an embodiment of the present invention.

[0027] Figure 6 This is a partial structural diagram of the seventh-axis slide table according to an embodiment of the present invention;

[0028] Figure 7 This is a partial structural diagram of the limiting support leg according to an embodiment of the present utility model;

[0029] Figure 8 This is a schematic diagram of the structure of the gear lubricator according to an embodiment of the present invention;

[0030] Among them, 1 is the welding power source, 2 is the control cabinet, 3 is the welding wire hopper, 4 is the welding robot, 5 is the welding torch cleaner, 6 is the leveling component, 7 is the guard plate, 8 is the cable chain, 9 is the rack and pinion, 10 is the cable chain trough, 11 is the guide rail, 12 is the leveling bolt, 13 is the leveling plate, 14 is the ground fixing plate, 15 is the ground fixing bolt, 16 is the ground rail frame, 17 is the idler roller, 18 is the support beam, 19 is the cable chain connector, 20 is the welding power source mounting base, 21 is the welding wire trough, 22 is the reducer, 23 is the lubricating oil distributor, and 24 is the welding torch cleaner mounting base. 25 is the control cabinet mounting base, 26 is the welding wire hopper mounting base, 27 is the junction box, 28 is the track lubrication pump, 29 is the welding robot mounting base, 30 is the limit switch, 31 is the slide, 32 is the gear lubricator, 33 is the drive gear, 34 is the wire trough support, 35 is the reducer mounting base, 36 is the first L-shaped connector, 37 is the welding robot mounting base base plate, 38 is the limit switch wiring hole, 39 is the second L-shaped connector, 40 is the limit plate, 41 is the reinforcing rib, 42 is the felt wheel, 43 is the felt wheel fixing component, and 44 is the lubricating oil inlet pipe. Detailed Implementation

[0031] The technical solution of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this utility model, but not all embodiments.

[0032] like Figures 1-8As shown, the seven-axis robotic welding equipment includes a ground rail fixedly mounted on the ground via a leveling component 6, and a welding robot 4, a welding power supply 1, a control cabinet 2, a welding wire hopper 3, and a welding torch cleaner 5 movably mounted on the ground rail via a seventh-axis slide. The leveling component 6 includes leveling bolts 12, a leveling plate 13, a ground fixing plate 14, and ground fixing bolts 15. The ground fixing bolts 15 and the ground fixing plate 14 are fixedly mounted on the ground, and the leveling bolts 12 and the leveling plate 13 are fixedly mounted on the ground fixing plate 14. A pair of parallel ground rail frames 16 are fixedly mounted on the leveling plate 13. Guide rails 11 are fixedly mounted on the upper surface of both ground rail frames 16. A rack 9 is fixedly mounted on the upper surface of one of the ground rail frames 16, and guard plates 7 are fixedly mounted on the outer sides of the upper surfaces of both ground rail frames 16. Several support beams 18 perpendicular to the direction of the ground rail frame 16 are fixedly installed between a pair of ground rail frames 16. A drag chain groove 10 is fixedly installed above the support beams 18. Several idlers 17 parallel to the support beams 18 are fixedly installed on the upper surface of the drag chain groove 10. A drag chain connector 19 is fixedly installed on the upper surface of the drag chain groove 10 at the far end of the welding robot 4. The end of the drag chain 8 is fixedly connected to the drag chain connector 19.

[0033] The ground rail is a mature and standardized product. The ground rail in this embodiment of the utility model adopts a conventional design. The ground rail is a structure of splicing multiple standard parts. It can be spliced ​​and installed according to different required lengths to achieve a seventh axis of different lengths to meet welding needs.

[0034] The seventh-axis slide table includes a slide table frame and a slide table base plate. The slide table frame is a rectangular trapezoidal square tube frame with two longer parallel square tubes arranged along its length. The two long square tubes are welded together with six shorter square tubes to form a single unit. A rectangular slide table base plate extending forward is fixedly installed on the lower front surface of the slide table frame. From the rear end to the front end, the upper surface of the slide table frame is provided with a welding power supply mounting base 20, a control cabinet mounting base 25, and a welding wire hopper mounting base 26. A reducer mounting base 35 and a square welding robot mounting base plate 37 are fixedly installed on the upper surface of the slide table base plate by welding. The welding robot mounting base 29 is fixedly installed on the welding robot mounting base plate 37 by bolts, and the welding robot 4 is fixedly installed on the welding robot mounting base 29 by bolts. The welding torch cleaner mounting base 24 has an upward-sloping L-shaped structure. The lower end of the welding torch cleaner mounting base 24 is fixed to the front side of the welding robot mounting base 29 by bolts through the connecting base plate and reinforcing rib. The top end of the welding torch cleaner mounting base 24 is fixed to the welding torch cleaner 5 by bolts through the mounting base plate.

[0035] The welding power supply mounting base 20 includes a pair of parallel inverted T-shaped plates welded to the upper surface of the slide frame in the width direction. The welding power supply 1 is fixedly mounted between the pair of inverted T-shaped plates by bolts. The control cabinet mounting base 25 includes a pair of parallel rectangular plates welded to the upper surface of the slide frame in the width direction. The control cabinet 2 is fixedly mounted on the pair of rectangular plates by bolts. The welding wire hopper mounting base 26 includes a rectangular welding wire hopper mounting base plate welded to the upper surface of the slide frame. A limiting support foot is fixedly installed at each of the four corners of the upper surface of the welding wire hopper mounting base plate. A notch is machined at one corner of the welding wire hopper mounting base plate near the reducer 22 to facilitate the installation of the reducer 22 and drive motor. The welding wire hopper 3 is fixedly placed between the four limiting support feet on the welding wire hopper mounting base plate. Each limiting support foot includes a rectangular limiting plate 40 formed by bending sheet metal into three sections and a reinforcing rib 41. A slotted screw hole is opened on each side of the horizontal section of the limiting plate 40, and the limiting support foot is fixedly installed to the welding wire hopper mounting base plate through the slotted screw holes and bolts. The uppermost inclined section of the limiting plate 40 is machined with rounded corners to facilitate the installation and placement of the welding wire hopper 3. The vertical section of the limiting plate 40 is close to the outer surface of the welding wire hopper 3. The four limiting plates 40 ensure the stability of the welding wire hopper 3.

[0036] Several outwardly extending cable tray supports 34 are fixedly installed on the outer side of the slide frame along its length. A welding cable tray 21 is fixedly installed above the cable tray supports 34. The inner side of the welding cable tray 21 has two openings, which are used for wiring the welding power supply 1 and the control cabinet 2, respectively. The front end of the welding cable tray 21 is connected to the wiring port on one side of the welding robot mounting base 29.

[0037] Several horizontally arranged grooves 31 are fixedly installed along the edge of the lower surface of the slide base plate. The grooves 31 are slidably connected to the guide rail 11, and the shaft of the drive gear 33 passes through the slide base plate. A limit switch 30 (existing equipment) is used to monitor the running position of the seventh-axis slide. The limit switch 30 is fixedly installed on the lower surface of the slide base plate. The connecting wire of the limit switch 30 passes through the limit switch wiring hole 38 on the slide base plate and is electrically connected to the junction box 27. The junction box 27 is installed on the front side of the welding wire hopper mounting base plate. The junction box 27 (existing equipment) receives the monitoring signal from the limit switch 30 and is electrically connected to or wirelessly communicates with the seventh-axis control system.

[0038] The reducer 22 is fixedly installed above the reducer mounting base 35. The slide table drive motor is fixedly installed above the reducer 22. The output shaft of the reducer 22 is fixedly connected to the shaft of the drive gear 33. The drive gear 33 is meshed with the rack 9 of the ground rail for transmission. The slide table drive motor and the reducer 22 drive the seventh axis slide table to move horizontally.

[0039] The upper surface of the slide base plate is also equipped with L-shaped connectors 36 and 39, which are perpendicular to each other. L-shaped connector 39 is fixedly installed on the rear side of the welding robot mounting base plate 37, and L-shaped connector 36 is fixedly installed on the right side of the welding robot mounting base plate 37. A lubricating oil distributor 23 is fixedly installed on one side of L-shaped connector 39, and a track lubrication pump 28 is fixedly installed on one side of L-shaped connector 36. The track lubrication pump 28 (existing equipment) uses an NSR-RD900.01 type oil pump, which avoids lubrication contamination caused by prolonged standby. The track lubrication pump 28 is fixedly connected to the slide base plate via L-shaped connector 36, and the lubricating oil distributor 23 (existing equipment, used for quantitatively delivering lubricating oil to the lubrication point) is fixedly connected to the slide base plate via L-shaped connector 39. The oil outlet pipe of the track lubrication pump 28 is connected to the oil inlet pipe of the lubricating oil distributor 23 via a hose, and the oil outlet pipe of the lubricating oil distributor 23 is connected to the oil inlet pipe of the track lubrication pump 28 via a hose.

[0040] A gear lubricator 32 is installed near the drive gear 33. The gear lubricator 32 (i.e., the felt wheel mechanism, which is an existing device) includes a felt wheel 42, a felt wheel fixing member 43, and a lubricating oil inlet pipe 44. A slot for installing the gear lubricator 32 is provided on the slide base plate. The felt wheel fixing member 43 has a three-section bent structure. After the top of the felt wheel fixing member 43 passes through the slot, it is fixed to the upper surface of the slide base plate by bolts. The felt wheel 42 and the lubricating oil inlet pipe 44 are fixed to the bottom end of the felt wheel fixing member 43 by bolts. The felt wheel 42 meshes with the rack 9 of the ground rail. Lubricating grease is introduced into the gear lubricator 32 through a hose, and then the lubricating grease is evenly applied to the rack 9 through the felt wheel 42, thereby achieving continuous lubrication of the gear and rack mechanism.

[0041] Welding robot 4 (existing equipment) includes a six-axis robotic arm, with the welding torch located at the front end of the robotic arm (not shown in the figure). Welding robot 4 integrates a wire feeding mechanism, which allows for continuous wire feeding by connecting the welding wire from the wire hopper 3 to the wire feeding mechanism via a wire feeding hose. The welding torch cleaner 5 is existing equipment.

[0042] The control box 3 includes a PLC control system or an industrial computer. The control box 3 is electrically connected to the welding robot 4, the seventh-axis slide drive motor, and the lubrication system. The entire system is driven in an orderly manner to complete the welding work according to the pre-programmed drive.

[0043] The seventh-axis slide designed in this embodiment integrates the welding torch cleaner 5 and the welding wire hopper 3 on the seventh-axis slide. The welding torch cleaner 5 and the welding wire hopper 3 move together with the welding robot 4. When performing torch cleaning and welding wire replacement operations, the welding robot 4 does not need to repeatedly move back to the initial position, thereby optimizing the welding process, reducing unnecessary equipment movement, reducing equipment wear and tear, and improving welding efficiency.

[0044] In this embodiment of the utility model, all technical features not described in detail are existing technologies or conventional technical means, and will not be repeated here.

[0045] Finally, it should be noted that the above embodiments are merely specific implementations of this utility model, used to illustrate the technical solution of this utility model, and not to limit it. The protection scope of this utility model is not limited thereto. Those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the technical scope disclosed in this utility model; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model, and should all be covered within the protection scope of this utility model.

Claims

1. A seven-axis robotic welding device, comprising a ground rail and a seventh-axis slide movably mounted on the ground rail, and a welding robot (4) fixedly mounted on the seventh-axis slide, characterized in that, The seventh axis slide table includes a slide table frame and a slide table base plate. The slide table frame is a rectangular trapezoidal square tube frame. A rectangular slide table base plate extending forward is fixedly installed on the lower surface of the front end of the slide table frame. The upper surface of the slide table frame is provided with a welding power supply mounting seat (20), a control cabinet mounting seat (25), and a welding wire hopper mounting seat (26) in sequence from the rear end to the front end. The upper surface of the slide table base plate is fixedly installed with a reducer mounting seat (35) and a welding robot mounting seat base plate (37). A welding torch cleaner mounting seat (24) is fixedly installed above the front end of the slide table base plate. A welding robot mounting seat (29) is fixedly installed on the welding robot mounting seat base plate (37). A welding robot (4) is fixedly installed on the welding robot mounting seat (29). A welding power supply (1) is fixedly installed on the welding power supply mounting seat (20). A control cabinet (2) is fixedly installed on the control cabinet mounting seat (25). A welding wire hopper (3) is fixedly installed on the welding wire hopper mounting seat (26). A welding torch cleaner (5) is fixedly installed on the welding torch cleaner mounting seat (24).

2. The seven-axis robot welding equipment according to claim 1, characterized in that, The welding torch cleaner mounting base (24) is an L-shaped structure with an upward slant. The lower end of the welding torch cleaner mounting base (24) is fixedly mounted on the front side of the welding robot mounting base (29) through a connecting base plate and reinforcing ribs. The welding torch cleaner (5) is fixedly mounted on the mounting base plate at the top of the welding torch cleaner mounting base (24).

3. The seven-axis robot welding equipment according to claim 1, characterized in that, The welding power supply mounting base (20) includes a pair of inverted T-shaped plates arranged in parallel in the width direction welded to the upper surface of the slide frame, and the welding power supply (1) is fixedly installed between the pair of inverted T-shaped plates.

4. The seven-axis robot welding equipment according to claim 1, characterized in that, The control cabinet mounting base (25) includes a pair of parallel rectangular plates welded to the upper surface of the slide frame in the width direction, and the control cabinet (2) is fixedly mounted on the pair of rectangular plates.

5. The seven-axis robot welding equipment according to claim 1, characterized in that, The welding wire drum mounting base (26) includes a rectangular welding wire drum mounting base plate welded to the upper surface of the slide frame. A limiting foot is fixedly installed at each of the four corners of the upper surface of the welding wire drum mounting base plate. The limiting foot includes a rectangular limiting plate (40) formed by sheet metal processing and bending into three sections and a reinforcing rib (41). A waist-shaped screw hole is opened on each side of the lower horizontal section of the limiting plate (40). The uppermost inclined section of the limiting plate (40) is processed with rounded corners. The vertical section of the limiting plate (40) is close to the outer surface of the welding wire drum (3).

6. The seven-axis robot welding equipment according to claim 1, characterized in that, Several outwardly extending wire groove support members (34) are fixedly installed on the outer side of the slide frame along its length. A welding wire groove (21) is fixedly installed above the wire groove support members (34). The inner side of the welding wire groove (21) has two openings. The front end of the welding wire groove (21) is connected to the connection port on one side of the welding robot mounting base (29).

7. The seven-axis robot welding equipment according to claim 1, characterized in that, Several horizontally arranged slide grooves (31) are fixedly installed along the edge of the lower surface of the slide base plate. The slide grooves (31) are slidably connected to the guide rail (11) of the ground rail. The shaft of the drive gear (33) passes through the slide base plate. The limit switch (30) is fixedly installed on the lower surface of the slide base plate. The connection wire of the limit switch (30) passes through the limit switch wiring hole (38) on the slide base plate and is electrically connected to the junction box (27). The junction box (27) is installed on the front side of the welding wire bucket mounting base plate. The reducer (22) is fixedly installed above the reducer mounting base (35). The slide drive motor is fixedly installed above the reducer (22). The output shaft of the reducer (22) is fixedly connected to the shaft of the drive gear (33). The drive gear (33) meshes with the rack (9) of the ground rail for transmission.

8. The seven-axis robot welding equipment according to claim 7, characterized in that, The upper surface of the slide base plate is provided with L-shaped connector one (36) and L-shaped connector two (39) with mutually perpendicular directions. The lubricating oil distributor (23) is fixedly installed on one side of L-shaped connector two (39), and the track lubrication pump (28) is fixedly installed on one side of L-shaped connector one (36). The lubricating oil distributor (23) is connected to the track lubrication pump (28).

9. The seven-axis robot welding equipment according to claim 8, characterized in that, A gear lubricator (32) is installed near the drive gear (33). The gear lubricator (32) includes a felt wheel (42), a felt wheel fixing member (43), and a lubricating oil inlet pipe (44). A slot for installing the gear lubricator (32) is opened on the slide base plate. The felt wheel fixing member (43) has a three-section bending structure. After the top of the felt wheel fixing member (43) passes through the slot, it is fixed to the upper surface of the slide base plate by bolts. The felt wheel (42) and the lubricating oil inlet pipe (44) are fixed to the bottom end of the felt wheel fixing member (43) by bolts. The felt wheel (42) meshes with the rack (9) of the ground rail.

10. The seven-axis robotic welding equipment according to any one of claims 1-9, characterized in that, The ground track is a structure composed of multiple standard components spliced ​​together.

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