Industrial welding robot

Abstract

The utility model relates to the technical field of welding, in particular to an industrial welding robot which comprises a robot base. The six-axis driving assembly is arranged above the robot base, and one end of the six-axis driving assembly is fixedly connected with the robot base; the laser welding gun is arranged at the other end of the six-axis driving assembly, fixedly connected with the six-axis driving assembly and used for welding a workpiece; and the protection device is arranged on the outer side of the laser welding gun and used for protecting the laser welding gun. By operating the protection device, the laser welding gun can be wrapped by the protection device, the side face of the laser welding gun is prevented from impacting a workpiece in the debugging process, and therefore the welding gun is prevented from being damaged.

Description

Technical Field

[0001] This utility model relates to the field of welding technology, specifically to an industrial welding robot. Background Technology

[0002] Industrial welding robots are industrial robots that perform welding work. An industrial robot is a multi-purpose, reprogrammable, automatic control manipulator with three or more programmable axes, used in the field of industrial automation. A welding robot is an industrial robot with a welding clamp or welding gun attached to the end flange of the axis, enabling it to perform welding.

[0003] However, when using existing industrial welding robots, it is necessary to modify the internal program of the industrial welding robot and make precise fine adjustments when welding different workpieces. However, because the side of the welding torch is not protected during the fine adjustment process, the welding torch often hits the workpiece, causing damage to the welding torch. Utility Model Content

[0004] The purpose of this invention is to solve the problem that industrial welding robots often damage their welding torches by colliding with workpieces during fine-tuning because the sides of the torch are not protected.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] An industrial welding robot, comprising:

[0007] Robot base;

[0008] A six-axis drive assembly is disposed above the robot base, and one end of the six-axis drive assembly is fixedly connected to the robot base;

[0009] A laser welding gun is located at the other end of the six-axis drive assembly and is fixedly connected to the six-axis drive assembly for welding workpieces.

[0010] A protective device is installed on the outside of the laser welding gun to protect the laser welding gun.

[0011] Preferably, the protective device includes:

[0012] A movable ring is fitted onto the outer surface of the laser welding gun;

[0013] The movable component is fixedly connected to the movable ring;

[0014] The first fixing block is located directly above the moving ring and is fixedly connected to the laser welding gun;

[0015] Four sets of racks are evenly distributed on the edge of the moving ring and are fixedly connected to the moving ring;

[0016] Four sets of spur gears, each set of spur gears meshing with the rack;

[0017] Multiple sets of support members, with one end of two adjacent sets of support members rotatably connected to the shaft of the spur gear and the other end fixedly connected to the first fixing block;

[0018] Four sets of protective components are arranged directly above the spur gear, and the bottom end of each protective component is fixedly connected to the shaft of the spur gear.

[0019] Preferably, the moving component includes:

[0020] A through rod passes through the corresponding position of the first fixed block and is slidably connected to the first fixed block; the bottom end of the through rod is fixedly connected to the upper end face of the moving ring.

[0021] The lower end face of the first connector is fixedly connected to the top end of the through rod;

[0022] The first electric actuator has its output end fixedly connected to the upper end face of the first connector.

[0023] Preferably, the distance from the upper end face of the protective component to the center of the spur gear shaft is equal to the distance from the center of the spur gear shaft to the lower end face of the laser welding gun.

[0024] Preferably, the six-axis drive assembly includes:

[0025] The S-axis drive assembly consists of a rotating base and a first servo motor, with the output end of the first servo motor fixedly connected to the bottom end of the rotating base.

[0026] The L-axis drive assembly consists of a boom extension device and a second servo motor. The output end of the second servo motor is fixedly connected to one end of the boom extension device. The outer wall of the second servo motor is fixedly connected to the top of the rotating base.

[0027] The U-axis drive assembly consists of a forearm component and a third servo motor. The output end of the third servo motor is fixedly connected to one end of the forearm component, and the outer wall of the third servo motor is fixedly connected to the other end of the upper arm extension device.

[0028] The R-axis drive assembly consists of a wrist rotating component and a fourth servo motor. The output end of the fourth servo motor is fixedly connected to one end of the wrist rotating component, and the outer wall of the fourth servo motor is fixedly connected to the other end of the forearm component.

[0029] The B-axis drive assembly consists of a wrist swing component and a fifth servo motor. The output end of the fifth servo motor is fixedly connected to one end of the wrist swing component, and the outer wall of the fifth servo motor is fixedly connected to the other end of the wrist rotation component.

[0030] The T-axis drive assembly consists of a wrist circumferential component and a sixth servo motor. The output end of the sixth servo motor is fixedly connected to one end of the wrist circumferential component; the outer wall of the sixth servo motor is fixedly connected to the other end of the wrist swing component; and the other end of the wrist circumferential component is fixedly connected to the laser welding gun.

[0031] Preferably, the boom extension device includes:

[0032] A boom extension component, wherein a groove is provided inside the boom extension component;

[0033] A boom fixing member, one end of which extends into the groove and is slidably connected to the boom extension member through the groove;

[0034] The movable component is fixedly connected to the upper arm extension component;

[0035] A threaded rod passes through the corresponding position of the moving part and is threadedly connected to the moving part;

[0036] A stepper motor, the output end of which is fixedly connected to the bottom end of the threaded rod.

[0037] Preferably, it further includes: a smoke removal device; the smoke removal device is located on the side of the laser welding gun away from the fifth servo motor, and is used to remove smoke and dust.

[0038] Preferably, the smoke removal device includes:

[0039] Smoke duct;

[0040] The second fixing block is sleeved on the surface of the smoke removal pipe and is fixedly connected to the smoke removal pipe;

[0041] The second connector consists of two sets of round rods and two sets of connecting plates. The two ends of the two sets of round rods are respectively fixedly connected to the two sets of connecting plates, and one set of connecting plates is fixedly connected to the second fixing block.

[0042] The second electric push rod, the output end of which is fixedly connected to another set of the connecting plates;

[0043] The smoke and dust collection assembly is fixedly connected to one end of the smoke removal pipe.

[0044] Preferably, the smoke removal pipe consists of a dust removal hood, a connecting pipe, and a flexible hose, with both ends of the connecting pipe connected to the dust removal hood and the flexible hose, respectively.

[0045] Preferably, the dust collection assembly consists of a fan and a dust collector bag, with the output end of the fan connected to the dust collector bag and the input end of the fan connected to the flexible hose.

[0046] The beneficial effect proposed by this utility model is that by operating the protective device, the protective device will wrap around the laser welding gun, preventing the side of the laser welding gun from hitting the workpiece during the debugging process, thereby avoiding damage to the welding gun. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of the structure of this utility model;

[0048] Figure 2 for Figure 1 Rear-view 3D schematic diagram of the central connection structure;

[0049] Figure 3 for Figure 2 Enlarged schematic diagram of the connection structure at point A in the middle;

[0050] Figure 4 for Figure 2 Enlarged 3D schematic diagram of the central connecting structure;

[0051] Figure 5 for Figure 3 Enlarged 3D schematic diagram of the central connecting structure;

[0052] Figure 6 for Figure 5 Enlarged 3D schematic diagram of the central connecting structure;

[0053] Figure 7 for Figure 6 A three-dimensional diagram of the central connecting structure viewed from below;

[0054] Figure 8 for Figure 1 Enlarged 3D schematic diagram of the connecting structure in the middle section.

[0055] In the diagram: 1. Robot base; 2. S-axis drive assembly; 3. L-axis drive assembly; 4. U-axis drive assembly; 5. R-axis drive assembly; 6. B-axis drive assembly; 7. T-axis drive assembly; 8. Laser welding gun; 9. Arm fixing component; 10. Arm extension component; 11. Moving component; 12. Threaded rod; 13. Stepper motor; 14. Moving ring; 15. First fixing block; 16. Through rod; 17. First connecting component; 18. First electric push rod; 19. Rack; 20. Spur gear; 21. Support component; 22. Protective component; 23. Smoke removal pipe; 24. Second fixing block; 25. Second connecting component; 26. Second electric push rod; 27. Smoke and dust collection assembly. Detailed Implementation

[0056] The present invention will be further described below with reference to the accompanying drawings:

[0057] This embodiment:

[0058] Please see Figure 1-8 In this embodiment: an industrial welding robot includes: a robot base 1, a six-axis drive assembly, a laser welding gun 8, and a protective device.

[0059] In this embodiment, the six-axis drive assembly is disposed above the robot base 1, and one end of the six-axis drive assembly is fixedly connected to the robot base 1.

[0060] In this embodiment, an operating platform is provided on the robot base 1, which can control the operation of the six-axis drive assembly.

[0061] The laser welding gun 8 is located at the other end of the six-axis drive assembly and is fixedly connected to the six-axis drive assembly for welding workpieces.

[0062] In this embodiment, the laser welding gun 8 uses laser welding to perform welding, which has the advantages of fast welding speed and small weld points.

[0063] The protective device is located on the outside of the laser welding gun 8 and is used to protect the laser welding gun 8.

[0064] In this embodiment, the laser welding gun 8 can be wrapped around by operating the protective device, thereby preventing it from being hit on the side of the laser welding gun 8 during the debugging process and avoiding damage to the welding gun. At the same time, since the bottom end of the protective device is flush with the bottom end of the laser welding gun 8, it can also ensure that there will be no errors in the debugging.

[0065] like Figure 5 and 7 As shown, the protective device includes: a movable ring 14, a movable component, a first fixed block 15, four sets of racks 19, four sets of spur gears 20, multiple sets of support members 21, and four sets of protective members 22.

[0066] The movable ring 14 is sleeved on the outer surface of the laser welding gun 8; the movable component is fixedly connected to the movable ring 14.

[0067] In this embodiment, the moving ring 14 can be pushed to move vertically by the moving component; the moving ring 14 does not contact the laser welding gun 8.

[0068] The first fixing block 15 is located directly above the moving ring 14 and is fixedly connected to the laser welding gun 8; four sets of racks 19 are evenly arranged on the edge of the moving ring 14 and are fixedly connected to the moving ring 14; each set of spur gears 20 is meshed with the rack 19.

[0069] In this embodiment, when the moving ring 14 moves, it will drive the rack 19 to move synchronously, and the rack 19 will cause the spur gear 20 to rotate; after the rack 19 moves from the bottom to the top, it will cause the spur gear 20 to rotate half a turn.

[0070] One end of each of the two adjacent sets of support members 21 is rotatably connected to the shaft of the spur gear 20, and the other end is fixedly connected to the first fixing block 15.

[0071] In this embodiment, the support member 21 can support the rotation of the spur gear 20 and prevent the spur gear 20 from moving.

[0072] Each set of protective components 22 is positioned directly above the spur gear 20, and the bottom end of the protective component 22 is fixedly connected to the rotating shaft of the spur gear 20.

[0073] In this embodiment, when the spur gear 20 rotates, it will drive the protective member 22 to rotate, thereby rotating the protective member 22 located above to the bottom.

[0074] When protection is required, the moving ring 14 is pushed vertically upward by the moving component. The moving ring 14 drives the rack 19 to move from the bottom to the top. During this process, the rack 19 will cause the spur gear 20 to rotate half a turn. The spur gear 20 rotates under the support of the support member 21 and drives the protective member 22 to rotate, so that the protective member 22 rotates from the top to the bottom. The four sets of mating protective members 22 enclose the laser welding gun 8 to prevent it from hitting the side of the laser welding gun 8 during the debugging process and to prevent damage to the welding gun.

[0075] like Figure 5 and 6 As shown, the moving assembly includes: a through rod 16, a first connector 17, and a first electric push rod 18.

[0076] Specifically, the through rod 16 passes through the corresponding position of the first fixing block 15 and is slidably connected to the first fixing block 15.

[0077] In this embodiment, the first fixing block 15 can restrict the through rod 16 to move only vertically.

[0078] The bottom end of the through rod 16 is fixedly connected to the upper end face of the moving ring 14; the lower end face of the first connector 17 is fixedly connected to the top end of the through rod 16.

[0079] In this embodiment, the first connector 17 can pull the moving ring 14 to move vertically through the through rod 16.

[0080] The output end of the first electric push rod 18 is fixedly connected to the upper end face of the first connector 17.

[0081] In this embodiment, the model of the first electric push rod 18 is selected according to actual needs, as long as it meets the working conditions; when the output end of the first electric push rod 18 retracts, it will pull the first connecting piece 17 to move vertically upward.

[0082] When it is necessary to move the moving ring 14, the first electric push rod 18 is adjusted so that the output end of the first electric push rod 18 retracts, thereby pulling the first connecting member 17 to move vertically upward. The first connecting member 17 drives the moving ring 14 to move vertically upward through the through rod 16.

[0083] like Figure 2 and 3 As shown, the distance from the upper end face of the protective component 22 to the axis of the spur gear 20 is equal to the distance from the axis of the spur gear 20 to the lower end face of the laser welding gun 8.

[0084] In this embodiment, after the wrapping is completed, the bottom end of the protective component 22 is flush with the bottom end of the laser welding gun 8, which can ensure that there will be no error in the debugging.

[0085] like Figure 1 As shown, the six-axis drive assembly includes: S-axis drive assembly 2, L-axis drive assembly 3, U-axis drive assembly 4, R-axis drive assembly 5, B-axis drive assembly 6, and T-axis drive assembly 7.

[0086] The S-axis drive assembly 2 consists of a rotating base and a first servo motor, with the output end of the first servo motor fixedly connected to the bottom end of the rotating base.

[0087] In this embodiment, the S-axis drive assembly 2 can bear the weight of the entire robot and the large-amplitude horizontal swing of the robot.

[0088] The L-axis drive assembly 3 consists of a boom extension device and a second servo motor. The output end of the second servo motor is fixedly connected to one end of the boom extension device; the outer wall of the second servo motor is fixedly connected to the top of the rotating seat.

[0089] In this embodiment, the L-axis drive assembly 3 is an important axis for controlling the robot's forward and backward swinging and extension.

[0090] The U-axis drive assembly 4 consists of a forearm component and a third servo motor. The output end of the third servo motor is fixedly connected to one end of the forearm component, and the outer wall of the third servo motor is fixedly connected to the other end of the upper arm extension device.

[0091] In this embodiment, the U-axis drive component 4 is also an axis that controls the robot's back-and-forth swing, but the swing amplitude is much smaller than that of the L-axis drive component 3.

[0092] The R-axis drive assembly 5 consists of a wrist rotating component and a fourth servo motor. The output end of the fourth servo motor is fixedly connected to one end of the wrist rotating component; the outer wall of the fourth servo motor is fixedly connected to the other end of the forearm component.

[0093] In this embodiment, the R-axis drive assembly 5 is an axis that controls the upper arm part to rotate freely by 180°.

[0094] The axis drive assembly 6 consists of a wrist swing component and a fifth servo motor. The output end of the fifth servo motor is fixedly connected to one end of the wrist swing component; the outer wall of the fifth servo motor is fixedly connected to the other end of the wrist rotation component.

[0095] In this embodiment, the axis drive assembly 6 can also control the robot's back-and-forth swing, but its swing amplitude is much smaller than that of the U-axis drive assembly 4.

[0096] The T-axis drive assembly 7 consists of a wrist circumferential component and a sixth servo motor. The output end of the sixth servo motor is fixedly connected to one end of the wrist circumferential component; the outer wall of the sixth servo motor is fixedly connected to the other end of the wrist swing component; and the other end of the wrist circumferential component is fixedly connected to the laser welding gun 8.

[0097] In this embodiment, the T-axis drive assembly 7 is equivalent to a turntable that can rotate 360° horizontally, which can drive the laser welding gun 8 to rotate.

[0098] Because welding robots are heavy and inconvenient to move, and their welding range is limited, workpieces may be located outside the welding range during installation, making it impossible to increase the welding range of the welding robot and making it inconvenient to use.

[0099] like Figure 8 As shown, the boom extension device includes: boom extension component 10, boom fixing component 9, moving component 11, threaded rod 12 and stepper motor 13.

[0100] Specifically, the upper arm extension 10 has a groove inside; one end of the upper arm fixing member 9 extends into the groove and is slidably connected to the upper arm extension 10 through the groove.

[0101] In this embodiment, the upper arm extension 10 can move vertically along the surface of the upper arm fixing member 9.

[0102] The movable part 11 is fixedly connected to the boom extension part 10; the threaded rod 12 passes through the corresponding position of the movable part 11 and is threadedly connected to the movable part 11.

[0103] In this embodiment, when the threaded rod 12 rotates, the moving part 11 will move, and the moving part 11 will drive the arm extension 10 to move.

[0104] The output end of the stepper motor 13 is fixedly connected to the bottom end of the threaded rod 12.

[0105] In this embodiment, the model of stepper motor 13 is selected according to actual needs, as long as it meets the working conditions.

[0106] When it is necessary to increase the welding range of the welding robot, the stepper motor 13 is started. The output end of the stepper motor 13 drives the threaded rod 12 to rotate. The threaded rod 12 causes the moving part 11 to move away from the stepper motor 13, and at the same time drives the upper arm extension 10 to move, thereby increasing the distance between the upper arm extension 10 and the upper arm fixing part 9. This significantly increases the swing distance when the L-axis drive assembly 3 is operating, thereby increasing the welding range.

[0107] The welding process generates a large amount of fumes, which contain metal particles that can be harmful to the human body.

[0108] To address the aforementioned issues, this embodiment proposes an implementation method in which the industrial welding robot further includes a fume removal device. The fume removal device is located on the side of the laser welding torch 8 away from the fifth servo motor and is used to remove fumes and dust.

[0109] like Figure 4 As shown, the smoke removal device includes: a smoke removal pipe 23, a second fixing block 24, a second connector 25, a second electric push rod 26, and a smoke and dust collection assembly 27.

[0110] The second fixing block 24 is sleeved on the surface of the smoke removal pipe 23 and is fixedly connected to the smoke removal pipe 23.

[0111] In this embodiment, when the second fixing block 24 moves horizontally, it will cause the smoke removal pipe 23 to bend.

[0112] The second connector 25 consists of two sets of round rods and two sets of connecting plates. The two ends of the two sets of round rods are fixedly connected to the two sets of connecting plates respectively, and one set of connecting plates is fixedly connected to the second fixing block 24.

[0113] In this embodiment, the laser welding gun 8 is located between the two sets of round rods, so that the second connector 25 will not hinder the rotation of the laser welding gun 8; when the second connector 25 moves horizontally, it will push the second fixing block 24 to move.

[0114] The output end of the second electric push rod 26 is fixedly connected to another set of connecting plates; the smoke and dust collection assembly 27 is fixedly connected to one end of the smoke removal pipe 23.

[0115] In this embodiment, the model of the second electric push rod 26 is selected according to actual needs, as long as it meets the working conditions; the output end of the second electric push rod 26 can pull the second connecting piece 25 to move horizontally.

[0116] The smoke removal pipe 23 consists of a dust removal hood, a connecting pipe, and a flexible hose. The two ends of the connecting pipe are connected to the dust removal hood and the flexible hose, respectively.

[0117] In this embodiment, the connecting pipe is a rigid pipe and is connected to the second fixing block 24; the flexible hose can be bent; the dust hood can increase the range of dust absorption.

[0118] The dust collection assembly 27 consists of a fan and a dust collector bag. The output end of the fan is connected to the dust collector bag, and the input end of the fan is connected to a flexible hose.

[0119] In this embodiment, the internal structure of the smoke and dust collection component 27 is a common device on the market, and it does not need to be explicitly specified, as long as it can absorb smoke and dust.

[0120] During dust removal, the second electric push rod 26 is adjusted so that its output end extends, thereby pushing the second connector 25 to move away from the smoke removal pipe 23. The second connector 25 simultaneously drives the second fixing block 24 to move, and the second fixing block 24 applies a lateral force to the connecting pipe, causing the connecting pipe to bend the hose, thus aligning the dust removal direction of the dust hood with the welding position. When protection is required, the output end of the second electric push rod 26 is retracted, causing the dust hood and connecting pipe to bend away from the laser welding gun 8, without obstructing the protective device.

[0121] Working principle:

[0122] When the industrial welding robot is in use, it is moved to a designated position. When it is necessary to increase the welding range of the welding robot, the stepper motor 13 is started. The output end of the stepper motor 13 drives the threaded rod 12 to rotate. The threaded rod 12 causes the moving part 11 to move away from the stepper motor 13, and at the same time drives the arm extension 10 to move. This increases the distance between the arm extension 10 and the arm fixing part 9, so that when the L-axis drive assembly 3 is operating, the swing distance is greatly increased, thereby increasing the welding range.

[0123] When protection is required, the output end of the second electric push rod 26 is retracted, causing the dust cover and connecting pipe to bend away from the laser welding gun 8, so as not to obstruct the protective device.

[0124] Next, the first electric push rod 18 is adjusted so that its output end retracts, thereby pulling the first connecting piece 17 vertically upward. The first connecting piece 17 drives the moving ring 14 vertically upward through the through rod 16. The moving ring 14 drives the rack 19 to move from the bottom to the top. During this process, the rack 19 will cause the spur gear 20 to rotate half a turn. The spur gear 20 rotates under the support of the support member 21 and drives the protective member 22 to rotate, so that the protective member 22 rotates from the top to the bottom. The laser welding gun 8 is wrapped with four sets of mating protective members 22 to prevent it from hitting the side of the laser welding gun 8 during the debugging process and to prevent damage to the welding gun.

[0125] After the machine is debugged, welding begins. At this time, the second electric push rod 26 is adjusted so that its output end extends, thereby pushing the second connector 25 to move away from the smoke removal pipe 23. The second connector 25 simultaneously drives the second fixing block 24 to move. The second fixing block 24 applies a lateral force to the connecting pipe, causing the connecting pipe to bend the hose, thus aligning the dust removal direction of the dust removal hood with the welding position, completing the use of this device.

[0126] Although the present invention has been illustrated and described with reference to preferred embodiments, those skilled in the art should understand that various changes in form and detail are possible within the scope of the claims.

Claims

1. An industrial welding robot, characterized in that: include: Robot base (1); A six-axis drive assembly is disposed above the robot base (1), and one end of the six-axis drive assembly is fixedly connected to the robot base (1); A laser welding gun (8) is located at the other end of the six-axis drive assembly and is fixedly connected to the six-axis drive assembly for welding workpieces; A protective device is provided on the outside of the laser welding gun (8) to protect the laser welding gun (8).

2. The industrial welding robot according to claim 1, characterized in that: The protective device includes: The movable ring (14) is fitted onto the outer surface of the laser welding gun (8); The movable component is fixedly connected to the movable ring (14); The first fixing block (15) is located directly above the moving ring (14) and is fixedly connected to the laser welding gun (8); Four sets of racks (19) are evenly arranged on the edge of the moving ring (14) and are fixedly connected to the moving ring (14); Four sets of spur gears (20), each set of spur gears (20) meshing with the rack (19); Multiple sets of support members (21), one end of two adjacent sets of support members (21) is rotatably connected to the shaft of the spur gear (20), and the other end is fixedly connected to the first fixing block (15); Four sets of protective components (22) are arranged directly above the spur gear (20), and the bottom end of the protective component (22) is fixedly connected to the shaft of the spur gear (20).

3. The industrial welding robot according to claim 2, characterized in that: The moving component includes: A through rod (16) passes through the corresponding position of the first fixed block (15) and is slidably connected to the first fixed block (15); the bottom end of the through rod (16) is fixedly connected to the upper end face of the moving ring (14); The lower end face of the first connector (17) is fixedly connected to the top end of the through rod (16); The first electric push rod (18) is fixedly connected to the upper end face of the first connector (17) at its output end.

4. The industrial welding robot according to claim 2, characterized in that: The distance from the upper end face of the protective component (22) to the axis of the spur gear (20) is equal to the distance from the axis of the spur gear (20) to the lower end face of the laser welding gun (8).

5. The industrial welding robot according to claim 1, characterized in that: The six-axis drive assembly includes: The S-axis drive assembly (2) consists of a rotating base and a first servo motor, wherein the output end of the first servo motor is fixedly connected to the bottom end of the rotating base. The L-axis drive assembly (3) consists of a boom extension device and a second servo motor. The output end of the second servo motor is fixedly connected to one end of the boom extension device. The outer wall of the second servo motor is fixedly connected to the top of the rotating seat. The U-axis drive assembly (4) consists of a forearm piece and a third servo motor. The output end of the third servo motor is fixedly connected to one end of the forearm piece. The outer wall of the third servo motor is fixedly connected to the other end of the upper arm extension device. The R-axis drive assembly (5) consists of a wrist rotating component and a fourth servo motor. The output end of the fourth servo motor is fixedly connected to one end of the wrist rotating component. The outer wall of the fourth servo motor is fixedly connected to the other end of the forearm component. The B-axis drive assembly (6) consists of a wrist swing component and a fifth servo motor. The output end of the fifth servo motor is fixedly connected to one end of the wrist swing component; the outer wall of the fifth servo motor is fixedly connected to the other end of the wrist rotation component. The T-axis drive assembly (7) consists of a wrist circumferential component and a sixth servo motor. The output end of the sixth servo motor is fixedly connected to one end of the wrist circumferential component. The outer wall of the sixth servo motor is fixedly connected to the other end of the wrist swing component. The other end of the wrist circumferential component is fixedly connected to the laser welding gun (8).

6. The industrial welding robot according to claim 5, characterized in that: The boom extension device includes: The upper arm extension (10) has a groove inside; The upper arm fixing member (9) has one end extending into the groove and is slidably connected to the upper arm extension member (10) through the groove; The movable part (11) is fixedly connected to the upper arm extension (10); A threaded rod (12) passes through the corresponding position of the moving part (11) and is threadedly connected to the moving part (11); A stepper motor (13) is fixedly connected to the bottom end of the threaded rod (12).

7. The industrial welding robot according to claim 5, characterized in that: Also includes: Smoke removal device; the smoke removal device is located on the side of the laser welding gun (8) away from the fifth servo motor and is used to remove smoke and dust.

8. The industrial welding robot according to claim 7, characterized in that: The smoke removal device includes: Smoke removal pipe (23); The second fixing block (24) is sleeved on the surface of the smoke removal pipe (23) and is fixedly connected to the smoke removal pipe (23); The second connector (25) consists of two sets of round rods and two sets of connecting plates. The two ends of the two sets of round rods are respectively fixedly connected to the two sets of connecting plates, and one set of connecting plates is fixedly connected to the second fixing block (24). The output end of the second electric push rod (26) is fixedly connected to another set of connecting plates; The smoke and dust collection assembly (27) is fixedly connected to one end of the smoke removal pipe (23).

9. The industrial welding robot according to claim 8, characterized in that: The smoke removal pipe (23) consists of a dust removal hood, a connecting pipe and a flexible hose, with the two ends of the connecting pipe connected to the dust removal hood and the flexible hose respectively.

10. The industrial welding robot according to claim 9, characterized in that: The dust collection assembly (27) consists of a fan and a dust collection bag. The output end of the fan is connected to the dust collection bag, and the input end of the fan is connected to the hose.

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