CN117245298B

CN117245298B - Multi-degree-of-freedom mobile automobile welding robot

Info

Publication number: CN117245298B
Application number: CN202311545683.4A
Authority: CN
Inventors: 陈曦; 陈朝远; 唐正勇; 张少英; 高强; 路麒宇
Original assignee: Chongqing Yanshu Automation Equipment Co ltd; Ningbo Zhixin Auto Parts Manufacturing Co ltd
Current assignee: Chongqing Yanshu Automation Equipment Co ltd; Ningbo Zhixin Auto Parts Manufacturing Co ltd
Priority date: 2023-11-20
Filing date: 2023-11-20
Publication date: 2024-02-06
Anticipated expiration: 2043-11-20
Also published as: CN117245298A

Abstract

The invention discloses a multi-degree-of-freedom mobile automobile welding robot, which belongs to the technical field of automobile processing and comprises a ground rail, a sliding table and a welding robot, wherein the welding robot comprises a main frame, a plurality of welding arms arranged on two sides of the main frame and clamping arms arranged on the top of the main frame; the welding arm consists of a welding rear arm, a welding front arm, a telescopic arm and a welding gun seat; the clamping arm comprises a clamping swivel mount, a clamping rear arm, a clamping front arm and a clamp, wherein the clamp comprises a clamping plate and a first clamping block and a second clamping block which are movably arranged inside the clamping plate. According to the invention, the welding gun can simultaneously process the automobile parts from a plurality of angles on two sides through the design of the plurality of welding arms, and the welding arms can be matched with the clamping arms to weld the parts. And the welding angle and the circumferential movement of the welding gun can be freely adjusted through the design of the rotating frame, so that the time cost and the labor cost are greatly reduced while the smooth operation is ensured.

Description

Multi-degree-of-freedom mobile automobile welding robot

Technical Field

The invention relates to the technical field of automobile processing, in particular to a multi-degree-of-freedom mobile automobile welding robot.

Background

Welding, also known as fusion welding, is a process and technique for joining metals or other thermoplastic materials, such as plastics, by means of heat, high temperature or high pressure. The automobile self-body component is mainly manufactured by assembling and welding cold-rolled steel sheet stamping parts with good stamping and welding process, the welding production batch is large, the production speed is high, the requirement on the assembly and welding precision of welded parts is high, the production mode of flow production is adopted, the degree of mechanization and automation is high, a large amount of special equipment and tool fixtures are adopted, and the welding work is more and more completed by an automatic welding machine and a welding robot.

However, the existing automobile welding robot has low machining efficiency, general freedom degree, and cannot weld automobiles simultaneously through a single machine at multiple angles, and the clamp cannot adaptively adjust the degree of fit between the clamp and the parts in general for irregular part clamping capacity. Therefore, in view of the above situation, there is an urgent need to develop a multi-degree-of-freedom mobile welding robot for an automobile, so as to overcome the shortcomings in the current practical application.

Disclosure of Invention

The invention aims at: the multi-degree-of-freedom mobile automobile welding robot aims at solving the problems that the existing automobile welding robot is general in degree of freedom, automobiles cannot be welded simultaneously through a single machine at multiple angles, the clamp cannot be adjusted in a self-adaptive mode, the fitting degree between parts is not good, and the like.

In order to achieve the above purpose, the technical scheme of the invention is as follows: the multi-degree-of-freedom mobile automobile welding robot comprises a ground rail, a sliding table and a welding robot, wherein the sliding table is arranged on the ground rail in a sliding manner, and the welding robot is arranged at the top of the sliding table through a universal seat; the welding robot comprises a main frame, a plurality of welding arms arranged on two sides of the main frame, and clamping arms arranged on the top of the main frame; the welding arm comprises a welding gun seat, an L-shaped mounting plate is fixedly mounted at the bottom of the welding gun seat, a first swinging groove is formed in the bottom of the L-shaped mounting plate, a second swinging groove and a through hole are formed in the side face of the L-shaped mounting plate, vertical plates are arranged on two sides of the first swinging groove, and a rotating frame is arranged between the vertical plates in a rotating mode; a welding gun is arranged in the rotating frame, a convex ring is arranged on the side face of the welding gun, the welding gun is rotatably arranged in the rotating frame through the convex ring, and a driven bevel gear is further arranged at the upper part of the welding gun; the side surface of the L-shaped mounting plate is rotatably provided with a swinging plate, the swinging plate is provided with a rotating motor, and an output shaft of the rotating motor penetrates through the through hole and is connected with a drive bevel gear; the clamping arm comprises a clamping swivel mount, a clamping rear arm, a clamping front arm and a clamp, wherein the clamp comprises a clamping plate and a first clamping block and a second clamping block which are movably arranged inside the clamping plate.

As still further aspects of the invention: the front side of L type mounting panel fixed mounting has the cylinder board, fixed mounting has the second cylinder on the cylinder board, the output shaft of second cylinder has the push pedal, the push pedal with swing board and rotation frame are connected.

As still further aspects of the invention: the welding arm further comprises a welding rear arm, a welding front arm and a telescopic arm, wherein a plurality of welding supports are arranged on two sides of the main frame, a welding swivel mount is rotatably arranged at the top of each welding support, the welding arm is rotatably arranged on two sides of the main frame through the welding swivel mount, a rotating motor is arranged on the side face of the welding front arm, and the welding front arm rotates relative to the welding rear arm through the rotating motor; a walking motor is arranged on the side face of the telescopic arm, and the telescopic arm stretches and contracts relative to the welding forearm through the walking motor; the two sides of the welding front arm are provided with walking grooves, the top of the inner wall of the welding front arm is provided with a walking toothed plate, the rear part of the telescopic arm is provided with a gear bin, a walking gear is rotationally arranged in the gear bin, and the walking motor moves along the walking grooves; the welding forearm is internally provided with a telescopic slot, and the upper side and the lower side of the telescopic arm are also provided with bosses matched with the telescopic slot.

As still further aspects of the invention: the ground rail consists of rails on two sides and sliding rollers arranged between the rails, a double-shaft motor is arranged in the middle of the sliding rollers, and the double-shaft motor drives the sliding rollers to rotate.

As still further aspects of the invention: the sliding table is characterized in that walking frames are arranged on two sides of the sliding table, a plurality of rollers are arranged in the walking frames in a rotating mode, a sliding motor is arranged at the top of the sliding table, and the sliding motor is connected with the rollers.

As still further aspects of the invention: the right end of the telescopic arm is provided with a rotating groove, and the welding gun seat is movably arranged in the rotating groove; the inner side of the rotating groove is provided with a first air cylinder, and an output shaft of the first air cylinder is movably connected with the welding gun seat.

As still further aspects of the invention: the top of the main frame is provided with a clamping support, the bottom of the clamping arm is provided with a clamping swivel mount, the clamping swivel mount is rotatably arranged on the clamping support, the clamp is movably arranged on the clamping forearm, and the clamp comprises two mounting plates which are arranged in parallel up and down; a driving gear is rotatably arranged in the mounting plate, a clamping motor is arranged at the top of the mounting plate, and the driving gear is driven by the clamping motor; the driving gear is meshed with one of the driven gears.

As still further aspects of the invention: the driven gear is fixedly connected with a connecting plate, a clamping plate is arranged on the inner side of the connecting plate, the connecting plate is movably connected with the back of the clamping plate, a connecting rod is movably connected with the side face of the clamping plate, and the connecting rod is movably connected with the top of the mounting plate.

As still further aspects of the invention: offer a plurality of first centre gripping grooves on the splint, the both sides of first centre gripping groove are provided with first stopper, first centre gripping inslot activity is provided with first grip block, the side of first grip block is provided with first spacing groove, the middle part of first spacing groove is provided with first limiting plate, first stopper with first limiting plate mutually support and right first grip block carries out spacingly.

As still further aspects of the invention: a plurality of second clamping grooves are formed in the first clamping block, second limiting blocks are arranged on two sides of the second clamping grooves, second clamping blocks are movably arranged in the second clamping grooves, second limiting grooves are formed in the side faces of the second clamping blocks, second limiting plates are arranged in the middle of the second limiting grooves, and the second limiting blocks are mutually matched with the second limiting plates to limit the second limiting blocks.

As still further aspects of the invention: the width of the through hole is the same as that of the second swing groove.

As still further aspects of the invention: the clamping rear arm can rotate freely relative to the clamping swivel base.

The invention provides a multi-degree-of-freedom mobile automobile welding robot through improvement, which has the following improvement and advantages compared with the prior art:

the method comprises the following steps: according to the invention, the welding gun can simultaneously process the automobile parts from a plurality of angles on two sides through the design of the plurality of welding arms, and the welding arms can be matched with the clamping arms to weld the parts. And the welding angle and the circumferential movement of the welding gun can be freely adjusted through the design of the rotating frame, so that the response speed and the processing efficiency are greatly improved, and the time cost and the labor cost are also greatly reduced while the smooth operation is ensured.

And two,: according to the invention, the clamping fit degree of the special-shaped part can be greatly improved by designing the multiple clamping blocks on the clamping plate, and the stability of clamping the part can be improved, so that welding failure caused by loosening of clamping can be effectively avoided, the time cost is further reduced, and the working efficiency is improved.

Drawings

Fig. 1 is a front view of the structure of the present invention.

Fig. 2 is a schematic view of the structure of the ground rail in the structure of the present invention.

Fig. 3 is a side view of the slide in the structure of the invention.

Fig. 4 is a bottom view of the welding robot of the present invention.

Fig. 5 is an exploded top view of a welding arm of the present invention.

Fig. 6 is an exploded bottom view of the welding arm of the present invention.

Fig. 7 is a front view of a welding gun of the present invention.

Fig. 8 is a side view of a welding gun of the present invention.

Fig. 9 is a cross-sectional view of a welding gun of the present invention.

Fig. 10 is an enlarged view of the structure of the clamp arm in the present invention.

Fig. 11 is an exploded view of the splint according to the present invention.

Fig. 12 is an exploded side view of the splint of the present invention.

Reference numerals illustrate:

1. a ground rail; 101. a track; 102. a slide roller; 103. a biaxial motor; 2. a sliding table; 201. a walking frame; 202. a roller; 203. a slide motor; 204. a universal seat; 3. a welding robot; 301. a main frame; 302. a welding arm; 303. a clamping arm; 304. welding a support; 305. clamping the support; 306. welding a swivel base; 307. clamping the swivel base; 308. welding the rear arm; 309. welding a forearm; 310. a rotating motor; 311. a walking groove; 312. a walking toothed plate; 313. a telescoping arm; 314. a telescopic slot; 315. a boss; 316. a gear bin; 317. a traveling gear; 318. a walking motor; 319. a welding gun seat; 320. a rotating groove; 321. a first cylinder; 322. an L-shaped mounting plate; 323. a first swing groove; 324. a second swing groove; 325. a riser; 326. a rotating frame; 327. a welding gun; 328. a convex ring; 329. a swinging plate; 330. a rotating electric machine; 331. a through hole; 332. a drive bevel gear; 333. a driven bevel gear; 334. a cylinder plate; 335. a second cylinder; 336. a push plate; 337. clamping the rear arm; 338. clamping the forearm; 339. a clamp; 340. a mounting plate; 341. a drive gear; 342. a driven gear; 343. clamping the motor; 344. a connecting plate; 345. a clamping plate; 346. a connecting rod; 347. a first clamping groove; 348. a first limiting block; 349. a first clamping block; 350. a second clamping block; 351. a first limit groove; 352. the second limit groove; 353. a first limiting plate; 354. a second limiting plate; 355. a second clamping groove; 356. and a second limiting block.

Detailed Description

The technical solutions of the embodiments of the present invention will be clearly and completely described below in detail with reference to fig. 1 to 12, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The invention provides a multi-degree-of-freedom mobile automobile welding robot by improvement, and as shown in fig. 1-4, the multi-degree-of-freedom mobile automobile welding robot 3 is mainly divided into three parts: ground rail 1, slip table 2 and welding robot 3, slip table 2 slip setting are on ground rail 1, and welding robot 3 passes through universal seat 204 to be set up at the top of slip table 2. The welding robot 3 includes a main frame 301, a plurality of welding arms 302 provided on both sides of the main frame 301, and a grip arm 303 provided on the top of the main frame 301. In use, the biaxial motor 103 and the slide motor 203 are turned on, driving the slide table 2 to move to the operating position along the ground rail 1. When moved to the desired position, turning motor 310 is turned on to rotate welding forearm 309 relative to welding rear arm 308, and then turning on travel motor 318 to extend and retract arm 313 along welding forearm 309.

Referring to fig. 7 to 9, a cylinder plate 334 is fixedly installed at the front side of the l-shaped mounting plate 322, and a second cylinder 335 is fixedly installed on the cylinder plate 334 in order to freely adjust the angle of the welding gun 327. The push plate 336 is connected to the output shaft of the second cylinder 335 by the push plate 336, and the push plate 336 is connected to the swing plate 329 and the rotating frame 326. Wherein the swing plate 329 and the rotating frame 326 are swung in synchronization, the design ensures the rotating operation of the welding gun 327.

Referring to fig. 4 to 6, in order to integrally rotate the welding arm 302, the welding arm 302 is rotatably disposed on the welding holder 304 of the main frame 301 by the welding swivel 306. The welding front arm 309 rotates relative to the welding rear arm 308 through the rotating motor 310, walking grooves 311 are formed in two sides of the welding front arm 309, a walking toothed plate 312 is arranged on the top of the inner wall of the welding front arm 309, a gear bin 316 is arranged at the rear of the telescopic arm 313, a walking gear 317 is rotatably arranged in the gear bin 316, and the walking motor 318 moves along the walking grooves 311. In order to increase the degree of freedom of the welding arm 302 and to allow the welding gun 327 to freely extend and retract forward, the extension and retraction arm 313 is extended and retracted with respect to the welding forearm 309. In order to improve stability during extension and retraction, an extension groove 314 is provided in the welding front arm 309, and bosses 315 are provided on the upper and lower sides of the extension arm 313, which fit into the extension groove 314.

Referring to fig. 1-2, the ground rail 1 is composed of rails 101 on both sides and sliding rollers 102 arranged between the rails 101, and a biaxial motor 103 is arranged in the middle of the sliding rollers 102. In order to reduce the friction force when the slide table 2 slides on the ground rail 1, slide rollers 102 are provided between the rails 101. The slide rollers 102 are rotatably provided at the side surfaces of the rail 101, and the slide rollers 102 are in rolling contact with the bottom of the slide table 2, so that a biaxial motor 103 is provided in the middle of the slide rollers 102 in order to drive the rotation of the slide rollers 102 at both sides.

Referring to fig. 3 to 4, walking frames 201 are arranged on two sides of the sliding table 2, and a plurality of rollers 202 are rotatably arranged on the walking frames 201. In order to ensure smooth movement of the slide table 2 along the ground rail 1, traveling frames 201 are provided on both sides of the slide table 2. The roller 202 reciprocates in the rails 101 on both sides of the ground rail 1, and a plurality of slide motors 203 are provided on the top of the slide table 2 for driving the roller 202 to rotate

Referring to fig. 5 to 9, a rotation groove 320 is provided at the right end of the telescopic arm 313, and a gun holder 319 is movably disposed in the rotation groove 320. The inner side of the rotating groove 320 is provided with a first air cylinder 321, and an output shaft of the first air cylinder 321 is movably connected with the welding gun seat 319. In order to freely adjust the rotation angle of the torch holder 319, the torch holder 319 is movably provided in the rotation groove 320 of the telescopic arm 313. In order to drive the gun holder 319 to automatically rotate, a first cylinder 321 is provided inside the rotation groove 320, and an output shaft of the first cylinder 321 is movably connected to the gun holder 319.

Referring to fig. 4 and 10, in order to rotate the entire clamp arm 303, the clamp arm 303 is rotatably disposed on the clamp holder 305 of the main frame 301 through the clamp swivel 307. The clamp swivel 307 is rotatably provided on the clamp holder 305, and the clamp 339 is movably provided on the clamp forearm 338 in order to freely adjust the angle of the clamp 339. The clamp 339 includes two mounting plates 340 arranged in parallel up and down. A driving gear 341 is rotatably arranged on the mounting plate 340, a clamping motor 343 is arranged on the top of the mounting plate 340, and the driving gear 341 is driven by the clamping motor 343. Driven gears 342 are also rotatably arranged in the mounting plate 340, two driven gears 342 are symmetrically arranged in the mounting plate 340, the driven gears 342 are meshed with each other, and the driving gear 341 is meshed with one driven gear 342. The driven gear 342 is fixedly connected with a connecting plate 344, and a clamping plate 345 is arranged on the inner side of the connecting plate 344. In order to drive the clamping plates 345 at both sides to clamp the components, the clamping plates 345 are clamped by the mutual cooperation of the driving gear 341 and the driven gear 342, so that the connecting plate 344 is movably connected with the back of the clamping plates 345, the side surfaces of the clamping plates 345 are movably connected with the connecting rod 346, and the connecting rod 346 is movably connected with the top of the mounting plate 340.

Referring to fig. 10-12, the clamping arm 303 is composed of a clamping swivel 307, a clamping rear arm 337, a clamping front arm 338 and a clamp 339, the clamp 339 includes a clamping plate 345 and a first clamping block 349 and a second clamping block 350 movably disposed inside the clamping plate 345. In order to improve the fitting degree of the clamping plate 345, the clamp 339 is prevented from being able to stably clamp the special-shaped parts, and therefore multiple clamping blocks are provided on the clamping plate. The clamping plate 345 is provided with a plurality of first clamping grooves 347, and first clamping blocks 349 are movably arranged in the first clamping grooves 347. And a plurality of second clamping grooves 355 are formed in the first limiting block 348, and second clamping blocks 350 are movably arranged in the second clamping grooves 355. The clamping can be adaptively adjusted according to the specifications of the parts by the mutual matching of the clamping plate 345, the first clamping block 349 and the second clamping block 350, so that the clamping fitting degree can be greatly improved. In order to limit the first clamping block 349 and the second clamping block 350 and ensure free rotation in the clamping grooves, first limiting blocks 348 are arranged on two sides of the first clamping groove 347, second limiting blocks 356 are arranged on two sides of the second clamping groove 355, and the first clamping block 349 and the second clamping block 350 can be limited through matching of limiting plates. The side of the first clamping block 349 is provided with a first limiting groove 351, the middle part of the first limiting groove 351 is provided with a first limiting plate 353, and the first limiting block 348 and the first limiting plate 353 are mutually matched to limit the first clamping block 349. A plurality of second clamping grooves 355 are formed in the first clamping blocks 349, second limiting blocks 356 are arranged on two sides of the second clamping grooves 355, second clamping blocks 350 are movably arranged in the second clamping grooves 355, second limiting grooves 352 are formed in the side faces of the second clamping blocks 350, second limiting plates 354 are arranged in the middle of the second limiting grooves 352, and the second limiting blocks 356 and the second limiting plates 354 are matched with each other to limit the second limiting blocks 356.

Example 1: when the multi-degree-of-freedom mobile automobile welding robot is used, the double-shaft motor 103 and the sliding motor 203 are started at first, and the sliding table 2 is driven to move to an operation position along the ground rail 1. When moved to the desired position, turning motor 310 is turned on to rotate welding forearm 309 relative to welding rear arm 308, and then turning on travel motor 318 to extend and retract arm 313 along welding forearm 309. When the angle of the welding gun holder 319 needs to be adjusted, the first cylinder 321 is started for adjustment. When the swing angle of the welding gun 327 needs to be adjusted, the second cylinder 335 is opened, and the rotating frame 326 and the swing plate 329 are pushed to swing along the first swing groove 323 and the second swing groove 324 by the push plate 336. When the welding gun 327 needs to be rotated for circumferential welding operation, the rotating motor 330 is turned on, and the welding gun 327 is driven to freely rotate by the cooperation of the drive bevel gear 332 and the driven bevel gear 333. When other parts are required to be clamped, the clamping motor 343 is turned on, and the parts are clamped to the positions required to be welded under the mutual cooperation among the clamping plate 345, the first clamping block 349 and the second clamping block 350. And the two sides of the first swing groove 323 are provided with risers 325, and a rotating frame 326 is rotatably arranged between the risers 325; the welding gun 327 is rotatably disposed in the rotating frame 326 by a collar 328, and an output shaft of the rotating motor 330 is connected to the drive bevel gear 332 through a through hole 331.

Example 2: the invention can make the welding gun 327 process the automobile parts from a plurality of angles at two sides by the design of the plurality of welding arms 302, and the welding arms 302 can cooperate with the clamping arms 303 to weld the parts. And the welding angle and the circumferential movement of the welding gun 327 can be freely adjusted through the design of the rotating frame 326, so that the response speed and the processing efficiency are greatly improved, and the time cost and the labor cost are greatly reduced while the smooth operation is ensured. According to the invention, the clamping fit degree of the special-shaped part can be greatly improved by designing the multiple clamping blocks on the clamping plate 345, and the stability of clamping the part can be improved, so that welding failure caused by loosening of clamping can be effectively avoided, the time cost is further reduced, and the working efficiency is further improved.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The utility model provides a multi freedom removes car welding robot, includes ground rail (1), slip table (2) and welding robot (3), its characterized in that: the sliding table (2) is arranged on the ground rail (1) in a sliding manner, and the welding robot (3) is arranged at the top of the sliding table (2) through a universal seat (204);

the welding robot (3) comprises a main frame (301), a plurality of welding arms (302) arranged on two sides of the main frame (301), and clamping arms (303) arranged on the top of the main frame (301); the welding arm (302) comprises a welding gun seat (319), an L-shaped mounting plate (322) is fixedly mounted at the bottom of the welding gun seat (319), a first swinging groove (323) is formed in the bottom of the L-shaped mounting plate (322), a second swinging groove (324) and a through hole (331) are formed in the side face of the L-shaped mounting plate (322), vertical plates (325) are arranged on two sides of the first swinging groove (323), and a rotating frame (326) is arranged between the vertical plates (325) in a rotating mode; a welding gun (327) is arranged in the rotating frame (326), a convex ring (328) is arranged on the side surface of the welding gun (327), the welding gun (327) is rotatably arranged in the rotating frame (326) through the convex ring (328), and a driven bevel gear (333) is further arranged at the upper part of the welding gun (327); a swinging plate (329) is rotatably arranged on the side surface of the L-shaped mounting plate (322), a rotating motor (330) is arranged on the swinging plate (329), and an output shaft of the rotating motor (330) penetrates through the through hole (331) and is connected with a driving bevel gear (332); the clamping arm (303) consists of a clamping swivel seat (307), a clamping rear arm (337), a clamping front arm (338) and a clamp (339), wherein the clamp (339) comprises a clamping plate (345) and a first clamping block (349) and a second clamping block (350) which are movably arranged in the clamping plate (345); a plurality of first clamping grooves (347) are formed in the clamping plate (345), first limiting blocks (348) are arranged on two sides of the first clamping grooves (347), first clamping blocks (349) are movably arranged in the first clamping grooves (347), first limiting grooves (351) are formed in the side faces of the first clamping blocks (349), first limiting plates (353) are arranged in the middle of the first limiting grooves (351), and the first limiting blocks (348) and the first limiting plates (353) are mutually matched to limit the first clamping blocks (349); a plurality of second clamping grooves (355) are formed in the first clamping block (349), second limiting blocks (356) are arranged on two sides of the second clamping grooves (355), second clamping blocks (350) are movably arranged in the second clamping grooves (355), second limiting grooves (352) are formed in the side faces of the second clamping blocks (350), second limiting plates (354) are arranged in the middle of the second limiting grooves (352), and the second limiting blocks (356) are mutually matched with the second limiting plates (354) to limit the second limiting blocks (356).

2. The multi-degree of freedom mobile automotive welding robot of claim 1 wherein: the front side of L type mounting panel (322) fixed mounting has cylinder board (334), fixed mounting has second cylinder (335) on cylinder board (334), the output shaft of second cylinder (335) has push pedal (336), push pedal (336) with swing board (329), rotating frame (326) are connected.

3. The multi-degree of freedom mobile automotive welding robot of claim 1 wherein: the welding arm (302) further comprises a welding rear arm (308), a welding front arm (309) and a telescopic arm (313), a plurality of welding supports (304) are arranged on two sides of the main frame (301), a welding swivel mount (306) is rotatably arranged at the top of each welding support (304), the welding arm (302) is rotatably arranged on two sides of the main frame (301) through the welding swivel mount (306), a rotating motor (310) is arranged on the side face of the welding front arm (309), and the welding front arm (309) rotates relative to the welding rear arm (308) through the rotating motor (310); a traveling motor (318) is arranged on the side surface of the telescopic arm (313), and the telescopic arm (313) stretches and contracts relative to the welding forearm (309) through the traveling motor (318); the two sides of the welding front arm (309) are provided with walking grooves (311), the top of the inner wall of the welding front arm (309) is provided with a walking toothed plate (312), the rear part of the telescopic arm (313) is provided with a gear bin (316), the gear bin (316) is rotationally provided with a walking gear (317), and the walking motor (318) moves along the walking grooves (311); a telescopic groove (314) is formed in the welding forearm (309), and bosses (315) matched with the telescopic groove (314) are further formed in the upper side and the lower side of the telescopic arm (313).

4. A multi-degree of freedom mobile automotive welding robot according to any one of claims 1-3, wherein: the ground rail (1) is composed of rails (101) on two sides and sliding rollers (102) arranged between the rails (101), a double-shaft motor (103) is arranged in the middle of each sliding roller (102), and the double-shaft motor (103) drives the sliding rollers (102) to rotate.

5. A multi-degree of freedom mobile automotive welding robot according to any one of claims 1-3, wherein: the sliding table is characterized in that walking frames (201) are arranged on two sides of the sliding table (2), a plurality of rollers (202) are rotatably arranged on the walking frames (201), a sliding motor (203) is arranged at the top of the sliding table (2), and the sliding motor (203) is connected with the rollers (202).

6. A multi-degree of freedom mobile automotive welding robot as claimed in claim 3, wherein: a rotating groove (320) is formed in the right end of the telescopic arm (313), and the welding gun seat (319) is movably arranged in the rotating groove (320); the inner side of the rotating groove (320) is provided with a first air cylinder (321), and an output shaft of the first air cylinder (321) is movably connected with the welding gun seat (319).

7. The multi-degree of freedom mobile automotive welding robot of claim 1 wherein: the top of the main frame (301) is provided with a clamping support (305), the bottom of the clamping arm (303) is provided with a clamping swivel seat (307), the clamping swivel seat (307) is rotatably arranged on the clamping support (305), the clamp (339) is movably arranged on the clamping forearm (338), and the clamp (339) comprises two mounting plates (340) which are arranged in parallel up and down; a driving gear (341) is rotationally arranged on the mounting plate (340), a clamping motor (343) is arranged at the top of the mounting plate (340), and the driving gear (341) is driven by the clamping motor (343); the automatic transmission device is characterized in that driven gears (342) are further rotationally arranged in the mounting plate (340), the two driven gears (342) are symmetrically arranged in the mounting plate (340), the two driven gears (342) are meshed with each other, and the driving gear (341) is meshed with one of the driven gears (342).

8. The multi-degree of freedom mobile automotive welding robot of claim 7 wherein: the driven gear (342) fixedly connected with connecting plate (344), the inboard of connecting plate (344) is provided with splint (345), connecting plate (344) with the back swing joint of splint (345), the side swing joint of splint (345) has connecting rod (346), connecting rod (346) with the top swing joint of mounting panel (340).