Narrow gap welding manipulator

Abstract

The utility model relates to the field of welding equipment, in particular to a narrow gap welding manipulator which comprises a vertical frame, a welding gun supporting assembly, a welding gun, a laser distance measuring sensor and a controller, and an anti-collision ring groove is formed in the side wall of a cantilever; the welding gun comprises a handle sleeve, a gun head and a rotary driving mechanism, one end of the gun head is rotationally connected with the inner side wall of the handle sleeve, a nozzle is formed in the other end of the gun head, and the discharging end of the nozzle inclines in the direction away from the axis of the handle sleeve. And the rotary driving mechanism is mounted on the side wall of the handle sleeve and is in transmission connection with the gun head. The gun head can rotate to enable a nozzle to correspond to a welding seam, an anti-collision annular groove is formed in the cantilever, a welding gun can enter conveniently, the angle of the welding gun is adjusted, the welding gun is prevented from colliding with a workpiece, and after the welding gun enters and the laser distance measuring sensor measures the corresponding size, the controller controls the welding gun position coarse adjustment mechanism and the welding gun position fine adjustment mechanism to be started to enable the welding gun to reach a welding position. The welding device is easy to operate, high in welding precision and suitable for operation in narrow gaps.

Description

TECHNICAL FIELD

[0001] The utility model relates to welding equipment technical field more specifically relates to a narrow gap welding operation machine. BACKGROUND

[0002] Welding is commonly used in the connection of various mechanical structures, limited by the size of some workpieces, the connection forms a narrow gap, the operation space is small, the conventional welding torch is usually a standard tool, the welding torch cannot be inserted into the narrow space, it is difficult to reach the welding position, the welding difficulty is big, and the welding quality is not up to standard, unstable and other defects are easily caused during welding; moreover, when the welding torch enters the space, the welding torch and the workpiece are easy to collide due to the small space, and the welding torch or the workpiece is easy to be damaged by collision.

[0003] Therefore, it is an urgent problem for those skilled in the art to provide a welding operation machine suitable for narrow gap. SUMMARY

[0004] Therefore, the utility model aims at providing a narrow gap welding operation machine to at least solve the technical problems of narrow welding space of workpiece, difficulty of welding torch entering, difficulty of welding and inability to guarantee welding quality in the prior art.

[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme:

[0006] A narrow gap welding operation machine, comprising:

[0007] An upright frame;

[0008] A welding torch supporting assembly, the welding torch supporting assembly comprises a welding torch position coarse adjustment mechanism, a cantilever and a welding torch position fine adjustment mechanism, the welding torch position coarse adjustment mechanism is fixed on the upright frame; the cantilever is arranged vertically to the upright frame and is fixed on the adjustment end of the welding torch position coarse adjustment mechanism, an anti-collision ring groove is formed in the side wall of the cantilever; the welding torch position fine adjustment mechanism is fixed on the cantilever;

[0009] A welding torch, the welding torch comprises a handle sleeve, a torch head and a rotary drive mechanism, the handle sleeve is arranged axially vertically to the cantilever and is fixed on the adjustment end of the welding torch position fine adjustment mechanism, one end of the torch head is rotationally connected to the inner side wall of the handle sleeve, the other end is provided with a spout, and the discharge end of the spout is inclined away from the axis of the handle sleeve; the rotary drive mechanism is installed on the side wall of the handle sleeve and is in transmission connection with the torch head;

[0010] A laser ranging sensor, the laser ranging sensor is installed on the handle sleeve to measure the distance between the handle sleeve and the workpiece to be processed;

[0011] A controller electrically connected to the welding gun position coarse adjustment mechanism, the welding gun position fine adjustment mechanism, the torch head, the rotary drive mechanism and the laser ranging sensor.

[0012] The utility model discloses can realize beneficial effect: torch head part can rotate, the convenient adjustment spout direction and the corresponding welding seam, the cantilever is provided with the anti -collision ring groove, the convenient welding torch enters and adjusts the welding torch angle, prevents the welding torch and workpiece from colliding, after the laser ranging sensor measures corresponding size, the controller controls welding gun position fine adjustment mechanism to open, makes welding torch reach the welding position, carries out welding, and its operation is simple, and welding precision is high, is applicable to narrow gap space operation in.

[0013] Preferably, the welding gun position coarse adjustment mechanism comprises a vertical coarse adjustment mechanism, the vertical coarse adjustment mechanism comprises a first vertical slide rail, a first vertical drive motor, a first vertical lead screw and a first vertical transmission nut seat, the first vertical slide rail is arranged along the height direction of the stand, the first vertical lead screw is arranged in parallel with the first vertical slide rail and is rotationally connected with the stand, the input end thereof is in transmission connection with the output end of the first vertical drive motor, one side of the first vertical transmission nut seat is slidingly connected with the first vertical slide rail and is in transmission connection with the first vertical lead screw, and the cantilever is arranged perpendicularly to the stand and is installed on the other side of the first vertical transmission nut seat to drive the welding gun to move along the height direction of the stand.

[0014] Preferably, the welding gun position coarse adjustment mechanism further comprises a horizontal coarse adjustment mechanism, the horizontal coarse adjustment mechanism comprises a slide rod, a first horizontal drive motor, a first horizontal lead screw and a first horizontal transmission nut seat, the slide rod is arranged perpendicularly to the first vertical slide rail and is in sliding connection with the first vertical transmission nut seat, the first horizontal lead screw is arranged in parallel with the slide rod and is in transmission connection with the output end of the first horizontal drive motor, one side of the first vertical transmission nut seat, away from the first vertical slide rail, is in transmission connection with the first vertical lead screw, and the cantilever is arranged perpendicularly to the stand and is fixed with the slide rod to drive the welding gun to move along the height direction perpendicular to the stand.

[0015] Preferably, the cantilever comprises a support rod and an anti-collision rod, the support rod is arranged perpendicularly to the stand and is fixedly connected with the slide rod at one end, the anti-collision rod is coaxially arranged with the support rod and is fixed at the other end of the support rod at one end, the anti-collision ring groove is formed in the side wall of the anti-collision rod, and the welding gun position fine adjustment mechanism is fixed at the other end of the anti-collision rod.

[0016] Preferably, the welding torch position fine adjustment mechanism comprises a vertical fine adjustment mechanism for driving the welding torch to move along the height direction of the stand, the vertical fine adjustment mechanism comprises a fixed seat, a second vertical drive motor, a second vertical screw rod and a second vertical transmission nut seat, the fixed seat is fixed at the other end of the anti-collision rod and is provided with a vertical sliding groove arranged along the height direction of the stand, the second vertical drive motor is fixed on the fixed seat, the second vertical screw rod is rotatably installed in the vertical sliding groove and is in transmission connection with the second vertical drive motor, the second vertical transmission nut seat is in sliding connection with the inner side wall of the vertical sliding groove and is in transmission connection with the second vertical screw rod, and the handle sleeve is installed on the second vertical transmission nut seat.

[0017] Preferably, the welding torch position fine adjustment mechanism further comprises a horizontal fine adjustment mechanism for driving the welding torch to move along the direction perpendicular to the height direction of the stand, the horizontal fine adjustment mechanism comprises a sliding seat, a second horizontal drive motor, a second horizontal screw rod and a second horizontal transmission nut seat, the sliding seat is fixedly connected with the second vertical transmission nut seat and is provided with a horizontal sliding groove arranged perpendicularly to the vertical sliding groove, the second horizontal drive motor is fixed on the sliding seat, the second horizontal screw rod is rotatably installed in the horizontal sliding groove and is in transmission connection with the output end of the second horizontal drive motor, the horizontal transmission nut seat is in sliding connection with the horizontal sliding groove and is in transmission connection with the second horizontal screw rod, and the handle sleeve is fixedly connected with the second horizontal transmission nut seat.

[0018] Preferably, the second vertical drive motor comprises a first hollow shaft stepper motor, and the second vertical screw rod is connected with a first hand wheel through the first hollow shaft stepper motor.

[0019] Preferably, the second horizontal drive motor is a second hollow shaft stepper motor, and the second horizontal screw rod is connected with a second hand wheel through the second hollow shaft stepper motor.

[0020] Preferably, the rotary drive mechanism is a hollow rotary motor.

[0021] Preferably, the torch head is a goose neck welding torch head.

[0022] According to the above technical scheme, compared with the prior art, the utility model discloses a narrow gap welding operation machine, and the position of the welding torch can be accurately adjusted to the corresponding welding position by using a laser ranging sensor, a welding torch position coarse adjustment mechanism and a welding torch position fine adjustment mechanism, welding quality is improved, the orientation of the torch head can be adjusted by rotation, thereby adapting to the welding of each connecting portion of a workpiece, an anti-collision ring groove is arranged on the portion of the cantilever close to the welding torch, the structure strength is guaranteed, the outer diameter of the front end of the cantilever is reduced, and collision with the workpiece is avoided. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced. Obviously, the accompanying drawings in the following description only constitute the embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of the provided drawings.

[0024] Figure 1 A structure schematic diagram of a narrow gap welding operation machine is provided.

[0025] Figure 2 A structure schematic diagram of a welding gun is provided.

[0026] Figure 3 A structure schematic diagram of a welding gun position fine adjustment mechanism is provided.

[0027] Figure 4 A structure schematic diagram of a narrow gap welding operation machine when welding workpiece outside is provided.

[0028] Figure 5 A structure schematic diagram of a narrow gap welding operation machine when welding internal weld is provided Figure 1 .

[0029] Figure 6 A structure schematic diagram of a narrow gap welding operation machine when welding internal weld is provided.

[0030] Figure 7 A structure schematic diagram of a narrow gap welding operation machine when welding internal weld is provided.

[0031] Figure 8 A structure schematic diagram of a narrow gap welding operation machine when welding internal weld in narrow space is provided.

[0032] Figure 9 A structure schematic diagram of a narrow gap welding operation machine when welding internal weld in narrow space is provided.

[0033] In the drawings:

[0034] 1, stand, 2, cantilever, 21, support rod, 22, anti-collision rod, 221, anti-collision ring groove, 3, welding gun position fine adjustment mechanism, 31, vertical fine adjustment mechanism, 311, fixed seat, 3111, vertical sliding groove, 312, second vertical drive motor, 313, second vertical lead screw, 314, first hand wheel, 32, horizontal fine adjustment mechanism, 321 sliding seat, 3211, horizontal sliding groove, 322, second horizontal drive motor, 323, second horizontal lead screw, 324, second horizontal transmission nut seat, 325, second hand wheel, 4, welding gun, 41, handle sleeve, 42, gun head, 5, laser ranging sensor, 6, vertical coarse adjustment mechanism, 61, first vertical sliding rail, 62, first vertical drive motor, 63, first vertical lead screw, 64, first vertical transmission nut seat, 7, horizontal coarse adjustment mechanism, 71, sliding rod, 72, first horizontal drive motor, 73, first horizontal lead screw. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0036] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0037] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0038] Please refer to Figures 1-3 The embodiment of the present application discloses a narrow gap welding operation machine, which comprises a stand 1, a welding gun supporting assembly, a welding gun 4, a laser ranging sensor 5 and a controller,

[0039] The welding gun supporting assembly comprises a welding gun position coarse adjustment mechanism, a cantilever 2 and a welding gun position fine adjustment mechanism 3, the welding gun position coarse adjustment mechanism is fixed on the stand 1, the cantilever 2 is arranged vertically to the stand 1 and is fixed on the adjusting end of the welding gun position coarse adjustment mechanism, an anti-collision ring groove 221 is formed on the side wall of the cantilever 2, and the welding gun position fine adjustment mechanism 3 is fixed on the cantilever 2.

[0040] The welding gun 4 comprises a handle sleeve 41, a gun head 42 and a rotary drive mechanism 43, the handle sleeve 41 is arranged axially and vertically to the cantilever 2 and is fixed on the adjusting end of the welding gun position fine adjustment mechanism 3, the gun head 42 is rotationally connected to the inner side wall of the handle sleeve 41 at one end, a spout is formed at the other end, and the discharge end of the spout is inclined away from the axis of the handle sleeve 41, and the rotary drive mechanism 43 is installed on the side wall of the handle sleeve 41 and is in transmission connection with the gun head 42.

[0041] The laser ranging sensor 5 is installed on the handle sleeve 41 to measure the distance between the handle sleeve 41 and the workpiece to be processed, and the controller is electrically connected with the welding gun position coarse adjustment mechanism, the welding gun position fine adjustment mechanism 3, the gun head 42, the rotary drive mechanism 43 and the laser ranging sensor 5.

[0042] The gun head 42 part of the embodiment can rotate freely, which is convenient for adjusting the direction of the spout to correspond to the weld, the anti-collision ring groove 221 is formed on the cantilever 2, which is convenient for the welding gun 4 to enter to prevent the welding gun 4 from colliding with the workpiece, after the welding gun 4 enters, the laser ranging sensor 5 measures the corresponding size, and then the controller controls the welding gun position fine adjustment mechanism 3 to be opened, so that the welding gun 4 reaches the welding position to perform welding, which is simple in operation, high in welding precision and suitable for operation in narrow gap space.

[0043] In a specific embodiment, the welding gun position coarse adjustment mechanism comprises a vertical coarse adjustment mechanism 6, the vertical coarse adjustment mechanism 6 comprises a first vertical slide rail 61, a first vertical drive motor 62, a first vertical lead screw 63 and a first vertical transmission nut seat 64, the first vertical slide rail 61 is arranged along the height direction of the stand 1, the first vertical lead screw 63 is arranged parallel to the first vertical slide rail 61 and is in rotational connection with the stand 1, the input end of the first vertical lead screw 63 is in transmission connection with the output end of the first vertical drive motor 62, the first vertical transmission nut seat 64 is in sliding connection with the first vertical slide rail 61 at one side and is in transmission connection with the first vertical lead screw 63, and the cantilever 2 is arranged vertically to the stand 1 and is installed on the other side of the first vertical transmission nut seat 64 to drive the welding gun 4 to move along the height direction of the stand 1. According to the distance measured by the laser ranging sensor 5 from the workpiece in the vertical direction, the height of the welding gun 4 is conveniently adjusted quickly.

[0044] In an embodiment, the welding gun position coarse adjustment mechanism further comprises a transverse coarse adjustment mechanism 7, the transverse coarse adjustment mechanism 7 comprising a slide rod 71, a first transverse drive motor 72, a first transverse lead screw 73 and a first transverse transmission nut seat, the slide rod 71 being arranged perpendicularly to the first vertical slide rail 61 and being in sliding connection with the first vertical transmission nut seat 64, the first transverse lead screw 73 being arranged in parallel to the slide rod 71 and being in transmission connection with the output end of the first transverse drive motor 72, the first vertical transmission nut seat 64 being in transmission connection with the first vertical lead screw 63 on the side away from the first vertical slide rail 61, and the cantilever 2 being arranged perpendicularly to the stand 1 and being fixed to the slide rod 71 to drive the welding gun 4 to move along the height direction of the stand 1. The horizontal position of the welding gun 4 is quickly adjusted according to the horizontal distance from the workpiece measured by the laser ranging sensor 5.

[0045] In an embodiment, the cantilever 2 comprises a support rod 21 and a collision prevention rod 22, the support rod 21 being made of light aluminum alloy and being arranged perpendicularly to the stand 1 and being fixedly connected to the slide rod 71 at one end, the collision prevention rod 22 being made of stainless steel and being coaxially arranged with the support rod 21 and being fixed at the other end of the support rod 21, and a collision prevention ring groove 221 being formed on the side wall of the collision prevention rod 22. A collision prevention pad can be arranged in the collision prevention ring groove 221, and the collision prevention ring groove 221 can prevent the welding gun 4 from colliding with the workpiece when the welding gun 4 is operated in a narrow space of the workpiece.

[0046] In an embodiment, the welding gun position fine adjustment mechanism 3 comprises a vertical fine adjustment mechanism 31 for driving the welding gun 4 to move along the height direction of the stand 1, the vertical fine adjustment mechanism 31 comprising a fixed seat 311, a second vertical drive motor 312, a second vertical lead screw 313 and a second vertical transmission nut seat, the fixed seat 311 being fixed at the other end of the collision prevention rod 22 and being provided with a vertical sliding groove 3111 arranged along the height direction of the stand 1, the second vertical drive motor 312 being fixed on the fixed seat 311, the second vertical lead screw 313 being rotatably installed in the vertical sliding groove 3111 and being in transmission connection with the second vertical drive motor 312, the second vertical transmission nut seat being in sliding connection with the inner side wall of the vertical sliding groove 3111 and being in transmission connection with the second vertical lead screw 313, and the handle sleeve 41 being installed on the second vertical transmission nut seat. The height of the welding gun 4 is finely adjusted to improve the welding precision.

[0047] In a specific embodiment, the welding torch position fine adjustment mechanism 3 further comprises a transverse fine adjustment mechanism 32 for driving the welding torch 4 to move along the height direction of the vertical stand 1, the transverse fine adjustment mechanism 32 comprising a sliding base 321, a second transverse driving motor 322, a second transverse lead screw 323 and a second transverse transmission nut base 324, the sliding base 321 being fixedly connected with the second vertical transmission nut base, and a transverse sliding groove 3211 being arranged on the sliding base 321, the second transverse driving motor 322 being fixed on the sliding base 321, the second transverse lead screw 323 being rotatably installed in the transverse sliding groove 3211 and being in transmission connection with the output end of the second transverse driving motor 322, the transverse transmission nut base being slidably connected with the transverse sliding groove 3211 and being in transmission connection with the second transverse lead screw 323, and the handle sleeve 41 being fixedly connected with the second transverse transmission nut base 324. The horizontal position of the welding torch 4 is fine adjusted, and the welding precision is improved.

[0048] In a specific embodiment, the second vertical driving motor 312 is a first hollow shaft step motor, and the second vertical lead screw 313 is connected with the first hand wheel 314 through the first hollow shaft step motor. The second transverse driving motor 322 is a second hollow shaft step motor, and the second transverse lead screw 323 is connected with the second hand wheel 325 through the second hollow shaft step motor. When the motors are turned off, the fine adjustment can be manually performed by using the hand wheels.

[0049] In a specific embodiment, the torch head 42 is a goose neck welding torch head, and an inclination angle is formed between the nozzle and the axis of the handle sleeve 41. When the torch head 42 is rotated, the direction of the nozzle can be changed, so that different parts of the workpiece can be conveniently welded, and the welding time is saved. The length of the torch head 42 can be customized according to the welding needs. At least two welding torches with different lengths can be prepared for use, so as to adapt to the welding needs of most workpieces. The total length of the long welding torch is 535 mm, and the total length of the short welding torch is 395 mm. The machine can be matched with a welding machine and a welding roller frame to form an automatic welding center, and is widely used in the welding of various welding seams and other cylindrical components in the manufacturing industries of boilers, pressure vessels, petroleum, chemical industry, machinery and the like. The machine has advanced structure, complete functions and convenient operation, and plays a reliable guarantee role in improving the welding quality.

[0050] When the welding operation machine is used for welding, for welding external welding seams, as shown in Figure 4 , the welding torch 4 is adjusted to the welding position, and then the welding can be performed; for welding internal welding seams, if the diameter of the workpiece entrance is greater than the length of the welding torch 4, as shown in Figure 5 , the welding torch 4 can directly pass through the workpiece entrance to reach the welding position; if the diameter of the workpiece entrance is smaller than the length of the welding torch, as shown in Figures 6-7If the welding gun 4 cannot enter directly, the gun head 42 is rotated before welding to make the jet direction parallel to the weld, preventing the gun head 42 from colliding with the workpiece when the welding gun enters, and making the workpiece tilt, the welding gun 4 enters the entrance at a certain angle, and then rotates the workpiece to make it stand upright, and then opens the rotating drive mechanism 43 to make the gun head 42 rotate to the corresponding weld position for welding.

[0051] As Figures 8-9 For some workpieces, the distance between adjacent plates is small, and the gun head cannot rotate in this narrow space, so the jet of the gun head 42 needs to be adjusted to correspond to the weld before welding, and then the welding gun 4 enters the space directly and then reaches the welding position through fine adjustment.

[0052] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the device disclosed by the embodiments, since it corresponds to the method disclosed by the embodiments, the description is relatively simple, and the related parts can be referred to the method part.

[0053] The above description of the disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to the embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A narrow gap welding manipulator characterized by, It includes: A stand (1); A welding gun support assembly, which includes a welding gun position coarse adjustment mechanism, a cantilever (2) and a welding gun position fine adjustment mechanism (3), the welding gun position coarse adjustment mechanism is fixed on the stand (1); The cantilever (2) is arranged vertically to the stand (1) and is fixed on the adjustment end of the welding gun position coarse adjustment mechanism, and an anti-collision ring groove (221) is formed in the side wall thereof; The welding gun position fine adjustment mechanism (3) is fixed on the cantilever (2); A welding gun (4), which includes a handle sleeve (41), a gun head (42) and a rotary drive mechanism (43), the handle sleeve (41) is arranged axially vertically to the cantilever (2) and is fixed on the adjustment end of the welding gun position fine adjustment mechanism (3), one end of the gun head (42) is rotatably connected to the inner side wall of the handle sleeve (41), the other end is provided with a spout, and the discharge end of the spout is inclined away from the axis of the handle sleeve (41); The rotary drive mechanism (43) is installed on the side wall of the handle sleeve (41) and is in transmission connection with the gun head (42); A laser ranging sensor (5) is installed on the handle sleeve (41) to measure the distance between the handle sleeve (41) and the workpiece to be processed; A controller, which is electrically connected with the welding gun position coarse adjustment mechanism, the welding gun position fine adjustment mechanism (3), the gun head (42), the rotary drive mechanism (43) and the laser ranging sensor (5).

2. A narrow gap welding manipulator according to claim 1 wherein, The welding gun position coarse adjustment mechanism includes a vertical coarse adjustment mechanism (6), which includes a first vertical slide rail (61), a first vertical drive motor (62), a first vertical lead screw (63) and a first vertical transmission nut seat (64), the first vertical slide rail (61) is arranged along the height direction of the stand (1), the first vertical lead screw (63) is arranged parallel to the first vertical slide rail (61) and is in transmission connection with the output end of the first vertical drive motor (62), the first vertical transmission nut seat (64) is in sliding connection with the first vertical slide rail (61) on one side and is in transmission connection with the first vertical lead screw (63), and the cantilever (2) is installed on the other side of the first vertical transmission nut seat (64) to drive the welding gun (4) to move along the height direction of the stand (1).

3. A narrow gap welding manipulator according to claim 2 wherein, The welding torch position coarse adjustment mechanism further comprises a transverse coarse adjustment mechanism (7), the transverse coarse adjustment mechanism (7) comprises a slide rod (71), a first transverse drive motor (72), a first transverse lead screw (73) and a first transverse transmission nut seat, the slide rod (71) is arranged perpendicularly to the first vertical slide rail (61) and is in sliding connection with the first vertical transmission nut seat (64), the first transverse lead screw (73) is arranged in parallel to the slide rod (71) and is in transmission connection with the output end of the first transverse drive motor (72), the first vertical transmission nut seat (64) is in transmission connection with the first vertical lead screw (63) away from one side of the first vertical slide rail (61), and the cantilever (2) is fixed with the slide rod (71) to drive the welding torch (4) to move along the height direction of the stand (1).

4. A narrow gap welding manipulator according to claim 3 wherein, The cantilever (2) comprises a support rod (21) and a collision prevention rod (22), the support rod (21) is arranged perpendicularly to the stand (1) and is fixedly connected at one end to the slide rod (71), the collision prevention rod (22) is coaxially arranged with the support rod (21) and is fixed at one end to the other end of the support rod (21), the collision prevention ring groove (221) is formed in the side wall of the collision prevention rod (22), and the welding torch position fine adjustment mechanism (3) is fixed at the other end of the collision prevention rod (22).

5. A narrow gap welding manipulator according to claim 4 wherein, The welding torch position fine adjustment mechanism (3) comprises a vertical fine adjustment mechanism (31) for driving the welding torch (4) to move along the height direction of the stand (1), the vertical fine adjustment mechanism (31) comprises a fixed seat (311), a second vertical drive motor (312), a second vertical lead screw (313) and a second vertical transmission nut seat, the fixed seat (311) is fixed at the other end of the collision prevention rod (22) and is provided with a vertical sliding groove (3111) arranged along the height direction of the stand (1), the second vertical drive motor (312) is fixed on the fixed seat (311), the second vertical lead screw (313) is rotatably installed in the vertical sliding groove (3111) and is in transmission connection with the second vertical drive motor (312), and the second vertical transmission nut seat is in sliding connection with the inner side wall of the vertical sliding groove (3111) and is in transmission connection with the second vertical lead screw (313), and the handle sleeve (41) is installed on the second vertical transmission nut seat.

6. A narrow gap welding manipulator according to claim 5 wherein, The welding torch position fine adjustment mechanism (3) further comprises a transverse fine adjustment mechanism (32) for driving the welding torch (4) to move along a direction perpendicular to the height direction of the stand (1), the transverse fine adjustment mechanism (32) comprising a sliding base (321), a second transverse driving motor (322), a second transverse lead screw (323) and a second transverse transmission nut base (324), the sliding base (321) being fixedly connected with the second vertical transmission nut base, and a transverse sliding groove (3211) being arranged on the sliding base (321) and being perpendicular to the vertical sliding groove (3111), the second transverse driving motor (322) being fixed on the sliding base (321), the second transverse lead screw (323) being rotatably installed in the transverse sliding groove (3211) and being in transmission connection with the output end of the second transverse driving motor (322), the transverse transmission nut base being in sliding connection with the transverse sliding groove (3211) and being in transmission connection with the second transverse lead screw (323), and the handle sleeve (41) being fixedly connected with the second transverse transmission nut base (324).

7. A tight-gap welding manipulator as defined in claim 5 wherein, The second vertical driving motor (312) is a first hollow shaft stepping motor, and the second vertical lead screw (313) is connected with a first hand wheel (314) through the first hollow shaft stepping motor.

8. A tight-gap welding manipulator according to claim 6 wherein, The second transverse driving motor (322) is a second hollow shaft stepping motor, and the second transverse lead screw (323) is connected with a second hand wheel (325) through the second hollow shaft stepping motor.

9. A tight-gap welding manipulator as defined in claim 1 wherein, The rotary driving mechanism (43) is a hollow rotary motor.

10. The tight-clearance welding manipulator of claim 1 wherein, The torch head (42) is a goose neck welding torch head.

Images