CN211490208U - Suspension type robot and assembly line - Google Patents

Abstract

The utility model belongs to the technical field of industrial equipment, in particular to a suspension type robot and an assembly line, wherein the suspension type robot comprises a bracket, a mounting seat, a connecting seat, a driving motor, a first swing mechanism, a second swing mechanism, a rotating mechanism and a welding mechanism; the top of the mounting seat is connected with the top of the support, the connecting seat is rotatably connected with the bottom of the mounting seat, the driving motor is mounted on the connecting seat and used for driving the connecting seat to rotate, the input end of the first swinging mechanism is rotatably connected with the connecting seat, the input end of the second swinging mechanism is rotatably connected with the output end of the first swinging mechanism, the input end of the rotating mechanism is rotatably connected with the output end of the second swinging mechanism, and the welding mechanism is mounted at the output end of the rotating mechanism; therefore, the welding mechanism can realize swing and rotation with multiple degrees of freedom, and when the welding mechanism is applied to an industrial robot, the processing range of the industrial robot can be improved.

Description

Suspension type robot and assembly line

Technical Field

The utility model belongs to the technical field of industrial equipment, especially, relate to a suspension type robot and assembly line.

Background

With the development of industrial automation, intellectualization and modernization, advanced robots gradually enter modern industries, particularly advanced manufacturing factories, and industrial robots are multipurpose programmable automatic control operation devices and widely applied to various fields of industrial automation. With the development of innovative technology, in recent years, the automation degree of a welding machine is greatly developed, and the initial manipulator welding is developed into program-controlled automatic welding, so that the robot intelligent welding of the present day is developed. The welding robot is one of industrial robots and is mainly used for replacing manual work to carry out welding work; the welding robot that uses at present is vertical welding robot mainly, and this type of robot structure is complicated, poor stability and the scope of processing is less moreover, meets some complicated mechanical equipment and is difficult to process, causes user of service's inconvenience.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a suspension type robot, it is less to aim at solving the industrial robot application of labour scope among the prior art, can not carry out the technical problem of diversified processing to some complicated mechanical equipment than.

In order to achieve the above object, an embodiment of the present invention provides a suspension type robot, which includes a bracket, a mounting seat, a connecting seat, a driving motor, a first swing mechanism, a second swing mechanism, a rotating mechanism, and a welding mechanism; the top of mount pad with the top of support is connected, the connecting seat with the bottom of mount pad is rotated and is connected, driving motor install in on the connecting seat and be used for driving the connecting seat to rotate, first swing mechanism's input with the connecting seat rotates and is connected, second swing mechanism's input with the output of first swing mechanism rotates and is connected, rotary mechanism's input with the output of second swing mechanism rotates and is connected, welding mechanism install in rotary mechanism's output.

Optionally, the bottom of the mounting seat is provided with a first limiting mechanism, a second limiting mechanism corresponding to the first limiting mechanism is arranged beside the connecting seat, and the first limiting mechanism and the second limiting mechanism are mutually abutted in the circumferential direction to limit the rotation range of the connecting seat.

Optionally, first swing mechanism includes first swing arm, welding wire fixing base and first motor, the input of first swing arm with the connecting seat rotates to be connected, the welding wire fixing base with the opposite side fixed connection of the input of first swing arm, first motor body with connecting seat fixed connection, the output shaft of first motor with the input meshing of first swing arm is connected.

Optionally, the input end of the first swing arm is further provided with a third limiting mechanism, a fourth limiting mechanism corresponding to the third limiting mechanism is arranged beside the connecting seat, and the third limiting mechanism and the fourth limiting mechanism are abutted to each other in the circumferential direction to limit the rotation range of the first swing arm.

Optionally, the second swing mechanism includes a second swing arm, a first shield, a second shield, and a second motor, an input end of the second swing arm is rotatably connected to an output end of the first swing arm, a body of the second motor is fixedly connected to the other side of the input end of the second swing arm, an output shaft of the second motor is engaged with the output end of the first swing arm, the first shield is disposed on a side wall of the second swing arm close to one side of the second motor, and the second shield is disposed on the other side wall of the second swing arm.

Optionally, an input end of the second swing arm is provided with a fifth limiting mechanism, a sixth limiting mechanism corresponding to the fifth limiting mechanism is arranged beside an output end of the first swing arm, and the fifth limiting mechanism and the sixth limiting mechanism are circumferentially abutted to each other to limit a rotation range of the second swing arm.

Optionally, rotary mechanism includes swinging boom and third motor, the input of swinging boom with the output of second swing arm rotates to be connected, third motor body with the opposite side fixed connection of the output of second swing arm, the output shaft of third motor with the input meshing of swinging boom is connected, welding mechanism with the swinging boom is connected.

Optionally, the welding mechanism includes a welding arm, a welding head, and a fourth motor, an input end of the welding arm is rotatably connected to an output end of the rotating arm, an input end of the welding head is rotatably connected to an output end of the welding arm, the fourth motor body is fixedly connected to the other side of the input end of the welding arm, and an output shaft of the fourth motor is engaged with the input end of the welding head.

Optionally, a ground wire interface and two power line interfaces are arranged on the side wall of the mounting seat, the ground wire interface is arranged at the left end of the side wall of the mounting seat, and the two power line interfaces are arranged on the right side of the ground wire interface.

The embodiment of the utility model provides an among the suspension type robot above-mentioned one or more technical scheme have one of following technological effect at least: the utility model discloses a suspension type robot, in operation, firstly, place the mechanical equipment that needs processing in suspension type robot's processing position, start external power supply, at this moment, owing to be provided with driving motor, driving motor drive rotates the connecting seat that connects on the mount pad and rotates, carry out first step location, after first step location is accomplished, the first swing mechanism who rotates with the connecting seat and connect begins to carry out preliminary height adjustment, after preliminary height adjustment is accomplished, the second swing mechanism who rotates with first swing mechanism and connects begins to carry out secondary height adjustment, at this moment, welding mechanism basically realizes the location with the part of being processed, at this moment, through rotatory rotary mechanism with second swing mechanism connection, can realize the switching of the processing angle of welding mechanism, finally, through rotating the welding mechanism who connects with rotary mechanism, make and install in welding mechanism can accurately reach the working range of the part of being processed, and realize the course of working to the part by processing, whole processing location flow can be realized through the first swing mechanism that sets up, the second swing mechanism, rotary mechanism and welding mechanism, make welding mechanism can reach the range of working of the part by processing and realize its processing according to the adjustment, and install the suspension type robot on the support with the form that hangs, like this, welding mechanism can realize multi freedom's swing and rotation, the workable scope is bigger, it is more nimble to use, when it is applied to industrial robot, industrial robot's range of working can be improved greatly.

Another embodiment of the present invention provides a welding assembly line including the above-described overhead robot.

The embodiment of the utility model provides an above-mentioned one or more technical scheme in the welding assembly line have one of following technological effect at least: the utility model discloses a welding assembly line, owing to use there is foretell suspension type robot, welding mechanism through rotating and rotary mechanism connection, make and install in welding mechanism can accurate arrival by the working range of processing part, and realize the course of working by the processing part, whole processing positioning flow is through the first swing mechanism that sets up, the second swing mechanism, rotary mechanism and welding mechanism can realize, make welding mechanism can arrive by the processing range of processing part and realize processing to it according to the adjustment, and install suspension type robot on the support with the form that hangs, and thus, welding mechanism can realize multi freedom's swing and rotation, the workable scope is bigger, it is more nimble to use, when it is applied to industrial robot, industrial robot's processing range can be improved greatly.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.

Fig. 1 is a schematic structural diagram of a suspension type robot according to an embodiment of the present invention.

Fig. 2 is a schematic partial structure diagram of a suspension type robot according to an embodiment of the present invention.

Fig. 3 is another schematic partial structure diagram of a suspension type robot according to an embodiment of the present invention.

Fig. 4 is a schematic structural diagram of a mounting seat of a suspension type robot according to an embodiment of the present invention.

Fig. 5 is a schematic structural diagram of a connection seat of a suspension type robot according to an embodiment of the present invention.

Fig. 6 is a schematic structural diagram of a first swing mechanism of a suspension robot according to an embodiment of the present invention.

Fig. 7 is a schematic structural diagram of a second swing mechanism of a suspension robot according to an embodiment of the present invention.

Fig. 8 is a schematic structural diagram of a rotating mechanism of a suspension robot according to an embodiment of the present invention.

Fig. 9 is a schematic structural diagram of a welding mechanism of a suspension robot according to an embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

10-mounting seat 11-first limiting mechanism 12-ground wire interface

13-power cord interface 20-connecting seat 21-second limiting mechanism

22-fourth limiting mechanism 30-driving motor 40-first swinging mechanism

41-first swing arm 42-welding wire fixing seat 43-first motor

44-third limiting mechanism 45-sixth limiting mechanism 50-second swinging mechanism

51-second swing arm 52-first shield 53-second shield

54-second motor 55-fifth limiting mechanism 60-rotating mechanism

61-rotating arm 62-third motor 70-welding mechanism

71-welding arm 72-welding head 73-fourth motor

80-bracket.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below by referring to the drawings are exemplary and intended to explain the embodiments of the present invention and are not to be construed as limiting the present invention.

In the description of the embodiments of the present invention, it should be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings, which is only for convenience in describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the device or element so indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as fixed or detachable connections or as an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the embodiments of the present invention can be understood by those skilled in the art according to specific situations.

In an embodiment of the present invention, as shown in fig. 1-2, a suspension type robot is provided, which includes a bracket 80, a mounting seat 10, a connecting seat 20, a driving motor 30, a first swing mechanism 40, a second swing mechanism 50, a rotation mechanism 60, and a welding mechanism 70; the top of the mounting seat 40 is connected with the top of the bracket 80, the connecting seat 20 is rotatably connected with the bottom of the mounting seat 10, the driving motor 30 is installed on the connecting seat 20 and used for driving the connecting seat 20 to rotate, the input end of the first swing mechanism 40 is rotatably connected with the connecting seat 20, the input end of the second swing mechanism 50 is rotatably connected with the output end of the first swing mechanism 40, the input end of the rotating mechanism 60 is rotatably connected with the output end of the second swing mechanism 50, and the welding mechanism 70 is installed at the output end of the rotating mechanism 60.

Specifically, the utility model discloses a suspension type robot, in operation, at first, place the mechanical equipment that needs processing in suspension type robot's processing position, start external power source, at this moment, owing to be provided with driving motor 30, driving motor 30 drive rotates connecting seat 20 of connection on mount pad 10 and rotates, carry out the location of first step, after the location of first step is accomplished, first swing mechanism 40 with connecting seat 20 rotation connection begins to carry out preliminary height adjustment, after preliminary height adjustment is accomplished, second swing mechanism 50 with first swing mechanism 40 rotation connection begins to carry out the secondary height adjustment, welding mechanism 70 basically realizes the location with the part processed at this moment, through rotatory mechanism 60 with second swing mechanism 50 connection, can realize the switching of the processing angle of welding mechanism 70, and finally, through rotating welding mechanism 70 with rotary mechanism 60 connection, the welding mechanism 70 can accurately reach the working range of the processed part, the processing process of the processed part is realized, the whole processing positioning process is realized through the arranged first swing mechanism 40, the second swing mechanism 50, the rotating mechanism 60 and the welding mechanism 70, the welding mechanism 70 can reach the processing range of the processed part according to adjustment and process the processed part, and the suspension type robot is arranged on the support 80 in a suspension mode, so that the welding mechanism 70 can swing and rotate with multiple degrees of freedom, the processing range is larger, the use is more flexible, and when the welding mechanism is applied to the industrial robot, the processing range of the industrial robot can be greatly improved.

In another embodiment of the present invention, as shown in fig. 1-2, the bottom of the mounting seat 10 is provided with a first limiting mechanism 11, the side of the connecting seat 20 is provided with a second limiting mechanism 21 corresponding to the position of the first limiting mechanism 11, and the first limiting mechanism 11 and the second limiting mechanism 21 abut against each other in the circumferential direction to limit the rotation range of the connecting seat 20. Specifically, first stop gear 11 is fixed in the bottom of mount pad 10, be provided with a second stop gear 21 that corresponds with first stop gear 11 position on the side of the input of connecting seat 20, when connecting seat 20 rotated a certain position on mount pad 10, second stop gear 21 on connecting seat 20 can with the mutual butt of first stop gear 11 on the mount pad 10, at this moment, first stop gear 11 on the mount pad 10 can block connecting seat 20 and continue to rotate, such being provided with does benefit to the protection circuit, can not lead to the line body to damage because the rotation range is too big, be favorable to improving the life of whole equipment.

In another embodiment of the present invention, as shown in fig. 1-2, the first swing mechanism 40 includes a first swing arm 41, a welding wire fixing seat 42 and a first motor 43, the input end of the first swing arm 41 is rotatably connected to the connecting seat 20, the welding wire fixing seat 42 is fixedly connected to the other side of the input end of the first swing arm 41, the first motor body 41 is fixedly connected to the connecting seat 20, and the output shaft of the first motor 41 is engaged with the input end of the first swing arm 41. Specifically, because the input end of first swing arm 41 is connected with the output of connecting seat 20 is rotated, consequently, first swing arm 41 can swing in vertical direction, just so can adjust the robot from the primary position of machined part, the first motor 43 that sets up is servo motor, first swing arm 41 passes through servo motor drive, can reach the requirement of high accuracy, ensure the accuracy nature of the turned angle of first swing arm 41, install a welding wire fixing base 42 on first swing arm 41, install welding wire (not shown) on the welding wire fixing base 42, in the welded time, the welding wire fixing base 42 that sets up on first swing arm 41 just can be used for fixed welding wire, it installs in other places to have solved the welding wire, the problem of extravagant occupation of land space.

In another embodiment of the present invention, as shown in fig. 1 to 2, the input end of the first swing arm 41 is further provided with a third limiting mechanism 44, the side of the connecting seat 20 is provided with a fourth limiting mechanism 22 corresponding to the third limiting mechanism 44, and the third limiting mechanism 44 and the fourth limiting mechanism 22 abut against each other in the circumferential direction to limit the rotation range of the first swing arm 41. Specifically, the third stop gear 44 is fixed at the side of the input end of the first swing arm 41, a fourth stop gear 22 corresponding to the third stop gear 44 is arranged at the side of the output end of the connecting base 20, when the first swing arm 41 rotates to a certain position on the connecting base 20, the fourth stop gear 22 on the connecting base 20 can abut against the third stop gear 44 on the first swing arm 41, at this time, the fourth stop gear 22 on the connecting base 20 can block the first swing arm 41 to continue rotating, such arrangement is favorable for protecting the line, the line body cannot be damaged due to overlarge rotating amplitude, and the service life of the whole equipment is favorably prolonged.

In another embodiment of the present invention, as shown in fig. 1-2, the second swing mechanism 50 includes a second swing arm 51, a first shield 52, a second shield 53 and a second motor 54, an input end of the second swing arm 51 is rotatably connected to an output end of the first swing arm 41, a body of the second motor 54 is fixedly connected to the other side of the input end of the second swing arm 51, an output shaft of the second motor 54 is connected to an output end of the first swing arm 41 in a meshed manner, the first shield 52 is disposed on a side wall of the second swing arm 51 close to one side of the second motor 54, and the second shield 53 is disposed on the other side wall of the second swing arm 51. Specifically, the input end of the second swing arm 51 is pivotally connected to the output end of the first swing arm 41, so that the second swing arm 51 can also swing in the vertical direction, and thus the position of the robot from the processed part can be further adjusted, the provided second motor 54 is a servo motor, the second swing arm 51 is driven by the servo motor, the requirement of high precision can be met, and the accuracy of the rotation angle of the second swing arm 51 is ensured, the first shield 52 and the second shield 53 are respectively arranged on two sides of the second swing arm 51, and both the first shield 52 and the second shield 53 are used for protecting a line from being damaged, which is beneficial to ensuring the safety of the device.

In another embodiment of the present invention, as shown in fig. 1 to 2, a fifth limiting mechanism 55 is disposed at an input end of the second swing arm 51, a sixth limiting mechanism 45 corresponding to the position of the fifth limiting mechanism 55 is disposed at a side of an output end of the first swing arm 41, and the fifth limiting mechanism 55 and the sixth limiting mechanism 45 abut against each other in the circumferential direction to limit the rotation range of the second swing arm 51. Specifically, the fifth limiting mechanism 55 is fixed at the side of the input end of the second swing arm 51, the sixth limiting mechanism 45 corresponding to the fifth limiting mechanism 55 is arranged at the side of the output end of the first swing arm 41, when the second swing arm 51 rotates to a certain position on the first swing arm 41, the sixth limiting mechanism 45 on the first swing arm 41 and the fifth limiting mechanism 55 on the second swing arm 51 abut against each other, at this time, the sixth limiting mechanism 45 on the first swing arm 41 can block the second swing arm 51 from continuing to rotate, such arrangement is favorable for protecting the line, the damage to the line body due to the overlarge rotation amplitude can be avoided, and the service life of the whole equipment can be prolonged.

In another embodiment of the present invention, as shown in fig. 1-2, the rotating mechanism 60 includes a rotating arm 61 and a third motor 62, the input end of the rotating arm 61 is rotatably connected to the output end of the second swing arm 51, the third motor 62 is fixedly connected to the other side of the output end of the second swing arm 51, the output shaft of the third motor 62 is engaged with the input end of the rotating arm 61, and the welding mechanism is connected to the rotating arm. Specifically, because the input end of the rotating arm 61 is rotatably connected with the output end of the second swing arm 51, the rotating arm 61 can rotate in the vertical direction, so that the three-dimensional angle of the robot from the processed part can be adjusted, the third motor 62 is a servo motor, the rotating arm 61 is driven by the servo motor, the requirement of high precision can be met, and the precision of the rotating angle of the rotating arm 61 is ensured.

In another embodiment of the present invention, as shown in fig. 1-2, the welding mechanism 70 includes a welding arm 71, a welding head 72 and a fourth motor 73, the input end of the welding arm 71 is connected to the output end of the rotating arm 61 in a rotating manner, the input end of the welding head 72 is connected to the output end of the welding arm 71 in a rotating manner, the body of the fourth motor 73 is fixedly connected to the other side of the input end of the welding arm 71, and the output shaft of the fourth motor 73 is connected to the input end of the welding head 72 in a meshing manner. Specifically, because the input of welding arm 71 rotates with the output of swinging boom 61 to be connected, consequently welding arm 71 can swing in vertical direction, just so can adjust the robot from the accurate position of being processed the part, the fourth motor 73 that sets up is servo motor, welding arm 71 passes through servo motor drive, can reach the requirement of high accuracy, ensures the accuracy nature of the turned angle of welding arm 71, installs a soldered connection 72 on welding arm 71, soldered connection 72 can be used for welding mechanical equipment, reaches the welding effect of high accuracy.

In another embodiment of the present invention, as shown in fig. 1-2, the sidewall of the mounting base 10 is provided with a ground wire interface 12 and two power line interfaces 13, the ground wire interface 12 is disposed at the left end and two power line interfaces 13 on the sidewall of the mounting base 10, and the power line interfaces 13 are disposed at the right side of the ground wire interface 12. Specifically, the power supply to the suspension type robot is realized in two power cord interfaces 13 that set up on the lateral wall that external power cord can insert mount pad 10, and two power cord interfaces 13 set up on mount pad 10, because mount pad 10 can not rotate at the in-process of work, so the power cord can not lead to cracked phenomenon to take place because of rotating yet, still be provided with a ground wire interface 12 in the left side of two power cord interfaces 13, also be provided with another ground wire interface 12 on connecting seat 20, communicate two ground wire interfaces 12, rethread line is connected to external equipment, can guarantee the security performance of suspension type robot like this, the phenomenon that can not take place the electric leakage and cause the casualties takes place.

In another embodiment of the present invention, a welding assembly line is provided that includes the above-described overhead robot. In particular to a welding assembly line of the utility model, because the suspension type robot is used, the welding mechanism 70 connected by the rotating and rotating mechanism 60 is rotated, so that the welding mechanism 70 can accurately reach the working range of the processed part, and realizes the processing process of the processed parts, the whole processing and positioning process is realized by the arranged first swinging mechanism 40, the second swinging mechanism 50, the rotating mechanism 60 and the welding mechanism 70, so that the welding mechanism 70 can reach the processing range of the processed part according to the adjustment and process the processed part, and the suspension type robot is installed on the support 80 in a suspended manner, so that the welding mechanism 70 can perform swing and rotation with multiple degrees of freedom, the processing range is larger, the use is more flexible, and when the processing device is applied to an industrial robot, the processing range of the industrial robot can be greatly improved.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims (10)

1. A suspension type robot, includes support, its characterized in that: the welding device comprises a mounting seat, a connecting seat, a driving motor, a first swing mechanism, a second swing mechanism, a rotating mechanism and a welding mechanism; the top of mount pad with the top of support is connected, the connecting seat with the bottom of mount pad is rotated and is connected, driving motor install in on the connecting seat and be used for driving the connecting seat to rotate, first swing mechanism's input with the connecting seat rotates and is connected, second swing mechanism's input with the output of first swing mechanism rotates and is connected, rotary mechanism's input with the output of second swing mechanism rotates and is connected, welding mechanism install in rotary mechanism's output.

2. The suspension robot of claim 1, wherein: the bottom of mount pad is provided with first stop gear, the side of connecting seat is provided with the second stop gear that first stop gear position corresponds, first stop gear with second stop gear is in the mutual butt of circumference in order to restrict the rotation range of connecting seat.

3. The suspension robot of claim 2, wherein: first swing mechanism includes first swing arm, welding wire fixing base and first motor, the input of first swing arm with the connecting seat rotates to be connected, the welding wire fixing base with the opposite side fixed connection of the input of first swing arm, first motor body with connecting seat fixed connection, the output shaft of first motor with the input meshing of first swing arm is connected.

4. The suspension robot of claim 3, wherein: the input end of the first swing arm is further provided with a third limiting mechanism, a fourth limiting mechanism corresponding to the third limiting mechanism in position is arranged beside the connecting seat, and the third limiting mechanism and the fourth limiting mechanism are mutually abutted in the circumferential direction to limit the rotation range of the first swing arm.

5. The suspension robot of claim 3, wherein: the second swing mechanism comprises a second swing arm, a first shield, a second shield and a second motor, the input end of the second swing arm is rotatably connected with the output end of the first swing arm, the body of the second motor is fixedly connected with the other side of the input end of the second swing arm, the output shaft of the second motor is meshed with the output end of the first swing arm, the first shield is arranged on the side wall of the second swing arm close to one side of the second motor, and the second shield is arranged on the other side wall of the second swing arm.

6. The suspension robot of claim 5, wherein: the input end of the second swing arm is provided with a fifth limiting mechanism, a sixth limiting mechanism corresponding to the fifth limiting mechanism is arranged beside the output end of the first swing arm, and the fifth limiting mechanism and the sixth limiting mechanism are mutually abutted in the circumferential direction to limit the rotation range of the second swing arm.

7. The suspension robot of claim 5, wherein: the rotary mechanism comprises a rotary arm and a third motor, the input end of the rotary arm is connected with the output end of the second swing arm in a rotating mode, the third motor body is fixedly connected with the other side of the output end of the second swing arm, the output shaft of the third motor is connected with the input end of the rotary arm in a meshed mode, and the welding mechanism is connected with the rotary arm.

8. The suspension robot of claim 7, wherein: the welding mechanism comprises a welding arm, a welding head and a fourth motor, the input end of the welding arm is rotatably connected with the output end of the rotating arm, the input end of the welding head is rotatably connected with the output end of the welding arm, the fourth motor body is fixedly connected with the other side of the input end of the welding arm, and the output shaft of the fourth motor is meshed with the input end of the welding head.

9. A suspended robot as claimed in any one of claims 1 to 6, wherein: the side wall of the mounting seat is provided with a ground wire interface and two power line interfaces, the ground wire interface is arranged at the left end of the side wall of the mounting seat, and the two power line interfaces are arranged on the right side of the ground wire interface.

10. A welding assembly line which characterized in that: comprising a suspension robot according to any of claims 1-9.

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