Walking device and welding system

Abstract

The application relates to a walking device and a welding system. The walking device comprises a supporting mechanism, the supporting mechanism comprising a guide rail and a guide shaft, the guide rail being provided with a fixing groove, the guide shaft being fixed in the fixing groove, and the guide shaft having an exposed surface; a sliding mechanism, the sliding mechanism comprising a sliding piece, the sliding piece being slidably arranged on the guide rail, the sliding piece comprising a roller, the roller being in rolling contact with the exposed surface, and the distance between the roller and the guide shaft being adjustable, and the sliding mechanism being used for supporting a robot. Through the technical scheme provided in the application, the problem that the walking device in the related art is difficult to realize accurate positioning and is prone to damage can be solved.

Description

Technical Field

[0001] This application relates to the field of welding system technology, and in particular to walking devices and welding systems. Background Technology

[0002] With the continuous development of automated welding technology, walking devices have emerged that enable robots to move along predetermined paths, thereby improving the robot's operational flexibility and expanding its working range.

[0003] In related technologies, some walking devices use angle steel as guide rails. However, angle steel rails can only provide basic motion guidance and are difficult to use for precise positioning, failing to meet the high trajectory accuracy requirements of functions such as welding. Some walking devices use high-precision linear guides. The inner cavity of the linear guide slider integrates precision structures such as balls and raceways. During welding, dust particles can enter the inner cavity of the slider through gaps and mix with the balls and raceways. In subsequent operation, this causes wear on the balls and raceways, leading to damage to the linear guide and reducing the guiding accuracy of the walking device. Utility Model Content

[0004] Therefore, it is necessary to provide a walking device and welding system to address the problems of the walking device in the related technology being difficult to achieve precise positioning and being prone to damage.

[0005] A walking device, comprising:

[0006] The support mechanism includes a guide rail and a guide shaft. The guide rail is provided with a fixing groove, and the guide shaft is fixed in the fixing groove. The guide shaft has an exposed surface.

[0007] The sliding mechanism includes a slider that is slidably mounted on a guide rail. The slider includes a roller that makes rolling contact with an exposed surface. The distance between the roller and the guide shaft is adjustable. The sliding mechanism is used to support the robot.

[0008] In one embodiment, the guide rail includes a first groove, the guide rail and the first groove extend along a first direction, and the support mechanism further includes:

[0009] Base;

[0010] The first fixing member is fixedly disposed on the base, and the guide rail is fixed on the first fixing member. The first fixing member includes a first protrusion, which is disposed along a first direction and disposed in a first groove to limit the guide rail.

[0011] In one embodiment, the base, the first fixing member, and the guide rail are made of aluminum.

[0012] In one embodiment, the support mechanism includes multiple bases, with adjacent bases abutting against each other. A second groove is provided on the side of each base facing away from the first fixing member. The support mechanism also includes:

[0013] The connector is disposed between two adjacent bases. Some connectors are fixedly disposed in the second groove of one of the bases, and the remaining connectors are fixedly disposed in the second groove of the other base.

[0014] In one embodiment, the base is provided with first fixing members on both sides along the second direction, and each of the two first fixing members is provided with a guide rail. Each of the guide rails has a fixing groove on both sides along the second direction, and a guide shaft is provided in each of the two fixing grooves of the guide rail. The second direction is perpendicular to the first direction. The sliding mechanism further includes:

[0015] The support component has multiple sliding parts on one side near the base. Some of the sliding parts are slidably mounted on one guide rail, while the remaining sliding parts are slidably mounted on another guide rail. The support component has weight-reducing holes and is used to support the robot.

[0016] In one embodiment, the walking device further includes a drive mechanism, which includes:

[0017] A rack, fixed on a base, is arranged along a first direction;

[0018] The gear is rotatably mounted on the side of the support near the base, and meshes with the rack;

[0019] The drive assembly is located on the side of the support near the base. The drive assembly is connected to the gear drive to drive the gear to rotate.

[0020] In one embodiment, the drive mechanism further includes:

[0021] Support, the support is fixed to the support member;

[0022] A driving component is movably mounted on a support in a second direction. The driving component is driven by a driving assembly, and the driving component drives a gear to move in the second direction via the driving assembly.

[0023] In one embodiment, the support mechanism further includes:

[0024] The stop is fixed to the end of the base and is used to limit the displacement of the sliding mechanism.

[0025] In one embodiment, the support mechanism further includes:

[0026] A magnetic base is fixed on a base and used to attach to the workpiece to be processed.

[0027] A welding system includes a robot and the aforementioned walking device, the robot being fixed on a sliding mechanism.

[0028] In the aforementioned walking device, the guide shaft is positioned within a fixed groove in the guide rail. The exposed surface of the roller of the sliding component rolls in contact with the guide shaft, and the sliding mechanism drives the robot to move along the guide rail. With this structure, the guide shaft and roller are externally mounted, meaning dust particles only adhere to their outer surfaces and do not penetrate the support and sliding mechanisms. This reduces the likelihood of damage to these mechanisms, improves the reliability of the walking device under harsh conditions, and ensures its guiding accuracy. Furthermore, the guide shaft and guide rail work together to guide the sliding component. The adjustable gap between the roller and guide shaft allows operators to adjust the preload as needed, compensating for manufacturing errors and wear, thereby improving the accuracy of the support mechanism's guidance and the accuracy of the sliding mechanism's robot movement. This enables the walking device to meet the high trajectory accuracy requirements of functions such as welding. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of a walking device according to one embodiment;

[0030] Figure 2 for Figure 1 Enlarged view of a portion of point A in the middle;

[0031] Figure 3 This is a schematic diagram of the structure of the guide rail and the sliding member in one embodiment;

[0032] Figure 4 for Figure 3 Enlarged view of a section at point B in the middle;

[0033] Figure 5 This is a schematic diagram of the structure of a slider according to one embodiment;

[0034] Figure 6 This is a front view of a walking device according to an embodiment;

[0035] Figure 7 for Figure 6 A magnified structural diagram of section C in the middle;

[0036] Figure 8 This is a schematic diagram of the structure of a base and a connector in one embodiment.

[0037] Figure 9 This is a schematic diagram of the structure of a base, a first fixing member, and a second fixing member cooperating in one embodiment;

[0038] Figure 10 for Figure 9A magnified structural diagram of part D in the middle;

[0039] Figure 11 for Figure 1 A magnified structural diagram of section E in the middle;

[0040] Figure 12 This is a schematic diagram of the welding system according to another embodiment.

[0041] Explanation of reference numerals in the attached figures:

[0042] 100. Walking device;

[0043] 110. Supporting institutions;

[0044] 111, guide rail; 1111, fixing groove; 1112, first groove;

[0045] 112. Guide shaft;

[0046] 113. Base; 1131. Second groove;

[0047] 114. First fastener; 1141. First protrusion;

[0048] 115. Connector; 116. Stop; 117. Magnetic base;

[0049] 118. Second fastener; 1181. Second protrusion;

[0050] 119. Operations Department;

[0051] 120. Sliding mechanism;

[0052] 121. Sliding component; 1211. Roller; 1212. Support shaft; 1213. Sliding seat;

[0053] 122. Support component; 1221. Weight reduction hole;

[0054] 130. Drive mechanism;

[0055] 131. Rack; 132. Gear; 133. Drive assembly; 134. Support; 135. Drive component;

[0056] 200. Robot. Detailed Implementation

[0057] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0058] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0059] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0060] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0061] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0062] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0063] See Figures 1 to 4 One embodiment of this application provides a walking device, which includes a support mechanism 110 and a sliding mechanism 120. The support mechanism 110 includes a guide rail 111 and a guide shaft 112. The guide rail 111 is provided with a fixing groove 1111, and the guide shaft 112 is fixed in the fixing groove 1111. The guide shaft 112 has an exposed surface. The sliding mechanism 120 includes a slider 121, which is slidably disposed on the guide rail 111. The slider 121 includes a roller 1211, which rolls in contact with the exposed surface. The distance between the roller 1211 and the guide shaft 112 is adjustable. The sliding mechanism 120 is used to support a robot 200.

[0064] Using the technical solution of this application, the guide shaft 112 is set in the fixed groove 1111 of the guide rail 111, and the exposed surface of the roller 1211 of the slider 121 rolls in contact with the guide shaft 112. The sliding mechanism 120 drives the robot 200 to move on the guide rail 111. With the above structure, the guide shaft 112 and the roller 1211 are externally set, and dust particles only adhere to the outer surface of the guide shaft 112 and the roller 1211, without penetrating into the support mechanism 110 and the sliding mechanism 120. This reduces the possibility of damage to the support mechanism 110 and the sliding mechanism 120, improves the reliability of the walking device under harsh working conditions, and ensures the guiding accuracy of the walking device. Furthermore, the guide shaft 112 and the guide rail 111 work together to guide the sliding member 121. At the same time, the gap between the roller 1211 and the guide shaft 112 is adjustable, allowing the operator to adjust the preload between the roller 1211 and the guide shaft 112 as needed. This compensates for manufacturing errors and wear, thereby improving the accuracy of the support mechanism 110's guidance and the accuracy of the sliding mechanism 120 in driving the robot 200's movement. This enables the walking device to meet the high trajectory accuracy requirements of functions such as welding.

[0065] See Figure 5 The sliding member 121 also includes a sliding seat 1213 and a support shaft 1212. The support shaft 1212 is rotatably mounted on the sliding seat 1213. A roller 1211 is sleeved on the support shaft 1212, and the support shaft 1212 is eccentrically positioned. The roller 1211 includes an inner ring and an outer ring. The inner ring is fixedly connected to the support shaft 1212, and the outer ring can rotate relative to the inner ring. The outer ring makes rolling contact with the guide shaft 112. With this configuration, rotating the support shaft 1212 allows for adjustment of the gap between the roller 1211 and the guide shaft 112. Furthermore, using the above structure, the gap between the roller 1211 and the guide shaft 112 can be adjusted to zero; that is, even the thinnest plug gauge cannot be inserted between the roller 1211 and the guide shaft 112 when tested with a plug gauge.

[0066] In general, the guiding accuracy of the guide shaft 112 is significantly better than that of the angle steel.

[0067] In related technologies, some traveling devices employ toothed plate tracks. These tracks are typically machined from thin plates with equidistant holes. The track is fixed to the workpiece, and the protrusions of the drive wheel of the sliding mechanism engage within these holes, controlling the position of the sliding mechanism. However, toothed plate tracks are prone to deformation during use due to factors such as uneven workpiece surfaces and low structural strength, affecting the guiding accuracy of the traveling device and ultimately rendering it unsuitable for welding applications.

[0068] See Figure 1 and Figure 3 The X direction is the first direction.

[0069] See Figure 6 and Figure 7 The guide rail 111 includes a first groove 1112, and the guide rail 111 and the first groove 1112 extend along a first direction. The support mechanism 110 also includes a base 113 and a first fixing member 114. The first fixing member 114 is fixedly disposed on the base 113, and the guide rail 111 is fixed on the first fixing member 114. The first fixing member 114 includes a first protrusion 1141, which is disposed along the first direction and is disposed in the first groove 1112 to limit the guide rail 111. With this configuration, the base 113 and the first fixing member 114 cooperate to improve the structural strength of the support mechanism 110 and prevent the support mechanism 110 from deforming. The guide rail 111 is disposed on the base 113 through the first fixing member 114, avoiding direct placement on the surface of the workpiece to be processed, reducing the impact of the surface flatness of the workpiece on the guide rail 111, and improving the accuracy of the movement of the sliding mechanism 120. Meanwhile, the mating structure of the first protrusion 1141 and the first groove 1112 can quickly perform initial positioning of the guide rail 111 during installation, simplifying the installation and adjustment process of the guide rail 111. Furthermore, the precise fit between the first protrusion 1141 and the first groove 1112 improves the accuracy of the guide rail 111 installation, thereby improving the guiding accuracy of the guide rail 111.

[0070] In related technologies, some walking devices use ground rail, gantry rail and cantilever rail structures. These types of rails are suitable for industrial robots and are usually made of steel. Although the precision of the rails can meet the welding requirements, the rails are large in size and heavy in weight, and can only be transported by overhead crane. After installation, the position is fixed and cannot be adjusted.

[0071] Specifically, the base 113, the first fixing member 114, and the guide rail 111 are made of aluminum. This design ensures the structural strength of the support mechanism 110 while significantly reducing its weight, allowing workers to easily move it to the required position for the robot 200 to process the workpiece.

[0072] In this application, the sliding seat 1213 is made of aluminum, and the guide shaft 112 is made of steel.

[0073] In this application, the base 113 is an aluminum profile, the first fixing member 114 is an aluminum plate, the base 113 and the first fixing member 114 are welded together, and then the whole is precision machined on a machine tool to meet the basic requirement of robot 200 repeatability positioning accuracy ±0.1mm.

[0074] The robot 200 typically weighs around 20kg and can be transported by staff.

[0075] See Figure 8 The support mechanism 110 includes multiple bases 113, with adjacent bases 113 abutting against each other. A second groove 1131 is provided on the side of each base 113 facing away from the first fixing member 114. The support mechanism 110 also includes connectors 115, which are disposed between adjacent bases 113. Part of the connector 115 is fixedly disposed within the second groove 1131 of one base 113, while the remaining connectors 115 are fixedly disposed within the second groove 1131 of the other base 113. This arrangement, using multiple abutting bases 113, allows the walking device to flexibly adjust its length as needed, achieving modularity. Furthermore, the use of connectors 115 in conjunction with the second groove 1131 ensures the connection strength between adjacent bases 113 while reducing the difficulty of connecting adjacent bases 113.

[0076] In this application, since the base 113 and the first fixing member 114 are precision machined, after the two adjacent bases 113 are fixedly connected, the two adjacent first fixing members 114 can abut against each other to ensure the guiding accuracy.

[0077] See Figure 1 and Figure 6 The Y direction is the second direction.

[0078] See Figure 1 , Figure 6 and Figure 9 The base 113 has first fixing members 114 on both sides along the second direction. Each of the two first fixing members 114 has a guide rail 111. Each guide rail 111 has a fixing groove 1111 on both sides along the second direction. Each of the two fixing grooves 1111 of the guide rail 111 contains a guide shaft 112. The second direction is perpendicular to the first direction. The sliding mechanism 120 also includes a support member 122. The support member 122 has multiple sliding members 121 on the side near the base 113. Some of the sliding members 121 are slidably mounted on one of the guide rails 111, and the remaining sliding members 121 are slidably mounted on the other guide rail 111. The support member 122 has weight-reducing holes 1221. The support member 122 is used to support the robot 200. This configuration, with guide rails 111 symmetrically arranged on both sides of the base 113 along the second direction, and guide shafts 112 symmetrically arranged on both sides of the guide rails 111 along the second direction, and sliding members 121 correspondingly arranged on both sides of the support member 122, ensures that the load of the robot 200 is evenly borne by the symmetrically arranged guide rails 111. Furthermore, this structure ensures the stability and safety of the robot 200 during movement. Weight-reducing holes 1221 are provided on the support member 122 to reduce its mass while maintaining structural strength and rigidity, thereby facilitating the movement of the walking device by the operator.

[0079] In some embodiments, the support member 122 is provided with four sliders 121 on the side near the base 113, wherein two sliders 121 are slidably disposed on one of the guide rails 111, and the other two sliders 121 are slidably disposed on the other guide rail 111.

[0080] In some embodiments, the support member 122 is provided with weight reduction holes 1221 on both sides along the second direction.

[0081] See Figure 2 and Figure 6 The walking device also includes a drive mechanism 130. The drive mechanism 130 includes a rack 131, a gear 132, and a drive assembly 133. The rack 131 is fixed to the base 113 and is arranged along a first direction. The gear 132 is rotatably disposed on the side of the support member 122 near the base 113, and meshes with the rack 131. The drive assembly 133 is disposed on the side of the support member 122 near the base 113, and is drivenly connected to the gear 132 to drive the gear 132 to rotate. This arrangement, using direct meshing transmission between the gear 132 and the rack 131, improves power transmission efficiency and provides stable traction, ensuring the stability of the support member 122 and the robot 200 during movement.

[0082] In some embodiments, the drive mechanism 130 includes a servo motor and a planetary reducer, the servo motor being driven and connected to the planetary reducer, and the output shaft of the planetary reducer being fixedly connected to the gear 132.

[0083] See Figure 10 In some embodiments, the support mechanism 110 further includes a second fixing member 118, which is fixed on the base 113 and disposed between two first fixing members 114. The rack 131 is fixed on the second fixing member 118. The second fixing member 118 includes a second protrusion 1181, which extends along a first direction. The second protrusion 1181 is used to limit the rack 131, which facilitates the assembly of the rack 131 and ensures the accuracy of the rack 131's position.

[0084] In some embodiments, after the second fastener 118 is fixed to the base 113, the second fastener 118 is precision machined.

[0085] See Figure 11The drive mechanism 130 also includes a support 134 and a drive member 135. The support 134 is fixed to the support member 122. The drive member 135 is movably disposed on the support 134 along a second direction. The drive member 135 is drivenly connected to the drive assembly 133, and the drive member 135 drives the gear 132 to move along the second direction through the drive assembly 133. With this configuration, by moving the drive member 135, the drive assembly 133 and the gear 132 can be moved synchronously, while the relative position of the gear 132 and the rack 131 can be finely adjusted, so that the gear 132 and the rack 131 can maintain the optimal meshing state, ensuring the smoothness of power transmission and preventing the support member 122 from shifting during movement.

[0086] In some embodiments, the support 134 is provided with two driving members 135, which are threadedly connected to the support 134 and are bolts. This arrangement reduces the assembly difficulty of the support 134 and the driving members 135, facilitates the driving members 135 to drive the driving assembly 133 to move, and ensures the stability of the driving assembly 133 during movement.

[0087] See Figure 2 The support mechanism 110 also includes a stop 116, which is fixed to the end of the base 113 and is used to limit the displacement of the sliding mechanism 120. This arrangement can prevent the sliding mechanism 120 from falling off the support mechanism 110 and ensure the reliability of the sliding mechanism 120 during operation.

[0088] In some embodiments, the stop 116 is made of an elastic material, such as rubber.

[0089] See Figure 1 The support mechanism 110 also includes a magnetic base 117, which is fixed to the base 113 and is used to attach to the workpiece to be processed. With this configuration, opening the magnetic base 117 allows the walking device to connect to the workpiece, and closing the magnetic base 117 allows the walking device to detach from the workpiece. This facilitates quick and flexible repositioning of the walking device, making it easier for workers to disassemble and install it, and reducing the difficulty of disassembling and installing the walking device.

[0090] In some embodiments, an operating part 119 is provided at the end of the base 113 to facilitate the transfer of the walking device by the staff.

[0091] In some embodiments, the operating part 119 is a tilting handle.

[0092] See Figure 12Another embodiment of this application provides a welding system, which includes a robot 200 and the aforementioned walking device 100. The robot 200 is fixed on a sliding mechanism 120. This configuration enables the welding system to automatically move the robot 200 along a predetermined trajectory and automatically execute welding operations. The high-precision guidance provided by the walking device 100 improves the reliability of the robot 200's welding work. Furthermore, the walking device 100 is lightweight and possesses good dustproof properties and structural rigidity, allowing the welding system to adapt to harsh working environments and facilitating the movement of the welding system by operators as needed.

[0093] In some embodiments, taking a walking device 100 with a length of 2 meters along the first direction as an example, the total weight of all the above-mentioned components is about 26 kg, which is lightweight and portable.

[0094] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0095] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A walking device, characterized in that, The walking device includes: The support mechanism (110) includes a guide rail (111) and a guide shaft (112). The guide rail (111) is provided with a fixing groove (1111), and the guide shaft (112) is fixed in the fixing groove (1111). The guide shaft (112) has an exposed surface. A sliding mechanism (120) includes a slider (121) which is slidably disposed on the guide rail (111). The slider (121) includes a roller (1211) which makes rolling contact with the exposed surface. The distance between the roller (1211) and the guide shaft (112) is adjustable. The sliding mechanism (120) is used to support the robot (200).

2. The walking device according to claim 1, characterized in that, The guide rail (111) includes a first groove (1112), the guide rail (111) and the first groove (1112) extend along a first direction, and the support mechanism (110) further includes: Base (113); The first fixing member (114) is fixedly disposed on the base (113), and the guide rail (111) is fixed on the first fixing member (114). The first fixing member (114) includes a first protrusion (1141), which is disposed along the first direction and disposed in the first groove (1112) to limit the guide rail (111).

3. The walking device according to claim 2, characterized in that, The base (113), the first fixing member (114) and the guide rail (111) are made of aluminum.

4. The walking device according to claim 2, characterized in that, The support mechanism (110) includes a plurality of bases (113), with adjacent bases (113) abutting against each other. A second groove (1131) is provided on the side of each base (113) facing away from the first fixing member (114). The support mechanism (110) also includes: A connector (115) is disposed between two adjacent bases (113). Part of the connector (115) is fixedly disposed in the second groove (1131) of one of the bases (113), and the remaining connector (115) is fixedly disposed in the second groove (1131) of the other base (113).

5. The walking device according to claim 2, characterized in that, The base (113) is provided with the first fixing member (114) on both sides along the second direction. Each of the two first fixing members (114) is provided with a guide rail (111). Each of the guide rails (111) is provided with a fixing groove (1111) on both sides along the second direction. Each of the two fixing grooves (1111) of the guide rail (111) is provided with a guide shaft (112). The second direction is perpendicular to the first direction. The sliding mechanism (120) further includes: The support member (122) has multiple sliding members (121) on one side near the base (113). Some of the sliding members (121) are slidably mounted on one of the guide rails (111), and the remaining sliding members (121) are slidably mounted on another guide rail (111). The support member (122) has weight-reducing holes (1221). The support member (122) is used to support the robot (200).

6. The walking device according to claim 5, characterized in that, The walking device further includes a drive mechanism (130), which includes: A rack (131) is fixed on the base (113) and the rack (131) is arranged along the first direction; A gear (132) is rotatably disposed on the side of the support (122) near the base (113), and the gear (132) meshes with the rack (131); A drive assembly (133) is disposed on the side of the support (122) near the base (113). The drive assembly (133) is driven to connect with the gear (132) to drive the gear (132) to rotate.

7. The walking device according to claim 6, characterized in that, The drive mechanism (130) also includes: Support (134), said support (134) is fixed on the support member (122); A drive member (135) is movably disposed on the support (134) in a second direction. The drive member (135) is driven to be connected to the drive assembly (133). The drive member (135) drives the gear (132) to move in the second direction through the drive assembly (133).

8. The walking device according to claim 2, characterized in that, The support mechanism (110) also includes: A stop (116) is fixed to the end of the base (113) and is used to limit the displacement of the sliding mechanism (120).

9. The walking device according to claim 2, characterized in that, The support mechanism (110) also includes: A magnetic base (117) is fixed on the base (113) and is used to adhere to the workpiece to be processed.

10. A welding system, characterized in that, The welding system includes a robot (200) and a walking device (100) according to any one of claims 1 to 9, wherein the robot (200) is fixed on the sliding mechanism (120).

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