CN120816101A - Welding device and welding method - Google Patents

Abstract

The invention provides a welding device and a welding method, and belongs to the technical field of pipe fitting welding. The welding device includes a welding body. The welding body comprises a welding mechanism, a first moving mechanism and a second moving mechanism. The welding mechanism comprises a welding gun and a wire guiding structure, wherein the welding gun is provided with a tungsten electrode, the wire guiding structure is used for guiding welding wires to the vicinity of the tungsten electrode, and a molten pool is formed between the welding wires and the tungsten electrode, so that TIG welding is realized. The first movement mechanism is connected with the welding structure and used for driving the welding mechanism to move along the saddle-shaped welding seam. The second movement mechanism comprises a welding gun adjusting structure and a guide wire adjusting structure, wherein the welding gun adjusting structure is connected with the welding gun and used for driving the welding gun to move relative to a welding line, and the guide wire frame adjusting structure is connected with the guide wire structure and used for driving the guide wire structure to move relative to a tungsten electrode, so that welding wires on the guide wire structure are all positioned on the front side of the tungsten electrode in the advancing direction when the welding gun is positioned at different welding positions, and welding forming is guaranteed.

Description

Welding device and welding method

Technical Field

The invention relates to the technical field of pipe fitting welding, in particular to a welding device and a welding method.

Background

The welding process is a common connecting process at present, and welding seams with different shapes are formed according to the structures of welding parts, for example, a saddle-shaped welding seam 1 is mainly a connecting welding seam formed by intersecting a branch pipe 2 and a main pipe 3 along an axial lead (as shown in figure 1), and in practical application, the diameter and the wall thickness of the branch pipe are large in specification, the size of the main pipe is large in specification, and the position of the branch pipe is not a single 12 o' clock position and is changeable. The main pipe and the branch pipe are mainly made of stainless steel and carbon steel, for thin-wall pipes, the welding bead forms are mostly single-pass welding, for thick-wall pipes, the welding bead forms are mostly multi-layer multi-pass welding, the branch pipe and the main pipe are connected in a plug-in mode and a placement mode, the plug-in mode is that the branch pipe is inserted into the main pipe, the groove is formed in the main pipe, the placement mode is that the branch pipe is placed on the main pipe, and the groove is formed in the branch pipe.

For pressure-bearing welding seam requirement, a TIG (non-melt inert gas shielded arc welding) welding method is usually adopted, however, because the TIG welding requires that a line segment formed by a welding wire and a Tungsten electrode is parallel to the welding seam as much as possible in the welding process, the existing automatic welding device is difficult to achieve the requirement, so that manual welding is generally adopted for welding saddle-shaped welding seams, the existing automatic welding device is mainly applied to submerged arc welding and CO2 gas shielded welding methods for the saddle-shaped welding seams, the submerged arc welding is mainly applied to the welding work of saddle-shaped welding joints with larger size, the welding seam quality of CO2 welding cannot be applied to pipelines with higher requirements on pressure vessels and welding seam quality at present, and most workpieces are welded by means of workpiece shifting devices. How to adopt a TIG welding method to realize the automatic welding of the saddle-shaped welding seam becomes a key problem for improving the welding efficiency and quality of the saddle-shaped welding seam.

Disclosure of Invention

The invention aims to provide a welding device which can realize automatic welding of saddle-shaped welding seams by adopting a TIG welding method.

The invention also aims to provide a welding method which can realize automatic welding of saddle-shaped welding seams by adopting a TIG welding method.

Embodiments of the present invention may be implemented by:

A welding device comprising a welding body; the welding body includes:

The welding mechanism comprises a welding gun and a wire guide structure, wherein the welding gun is provided with a tungsten electrode, the wire guide structure is used for guiding welding wires to the vicinity of the tungsten electrode, and a molten pool is formed between the welding wires and the tungsten electrode;

A first movement mechanism connected with the welding structure and used for driving the welding mechanism to move along the welding seam, and

The welding gun comprises a welding gun adjusting structure and a wire guide frame adjusting structure, wherein the welding gun adjusting structure is connected with the welding gun and used for driving the welding gun to move relative to a welding seam, the wire guide frame adjusting structure is connected with the wire guide structure and used for driving the wire guide structure to move relative to a tungsten electrode, and when the welding gun is used for welding different positions, welding wires on the wire guide structure are located on the front side of the tungsten electrode in the advancing direction.

Optionally, the first movement mechanism comprises a first rotation structure, a first sliding structure and a second sliding structure, wherein the first rotation structure is used for driving the welding structure to rotate around a first direction, the first sliding structure is used for driving the welding structure to slide along the first direction, and the second sliding structure is used for driving the welding structure to slide along a second direction;

wherein the first direction and the second direction are perpendicular to each other.

Optionally, the first revolving structure comprises a mounting seat and a revolving member, and the revolving member is rotatably mounted on the mounting seat;

The rotary member is provided with a vertical guide rail, the vertical guide rail extends along the first direction, the vertical guide rail is provided with a first sliding frame, and the first sliding frame is slidably matched with the vertical guide rail to form the first sliding structure;

The second sliding structure comprises a horizontal guide rail and a second sliding frame, the horizontal guide rail extends along the second direction, the second sliding frame is matched with the horizontal guide rail in a sliding manner, and the horizontal guide rail is fixedly connected with the first sliding frame.

Optionally, the welding gun adjusting structure comprises a second rotating structure, and the second rotating structure is used for driving the welding gun to rotate around a third direction;

the first direction, the second direction and the third direction are perpendicular to each other.

Optionally, the welding device further comprises a connecting frame, wherein the connecting frame comprises a first connecting arm and a second connecting arm, the first connecting arm is connected with the second sliding structure and extends along the second direction;

the second sliding structure drives the second rotary structure to slide along the second direction through the connecting frame.

Optionally, the welding gun adjusting structure comprises a second rotating structure, an OSC structure and an AVC structure, wherein the second rotating structure is used for driving the welding gun to rotate around a third direction, the OSC structure is used for driving the welding gun to swing and adjusting the swing center up and down, and the AVC structure is used for adjusting the working height of the welding gun.

The wire guide frame adjusting structure comprises an adjusting frame, a driving motor and a rotating gear ring, wherein the adjusting frame is arranged on the welding gun adjusting structure and moves synchronously with a welding gun under the drive of the welding gun adjusting structure, the driving motor is arranged on the adjusting frame, the rotating gear ring is in sliding fit with the adjusting frame and rotates relative to the adjusting frame under the drive of the driving motor, and the wire guide structure is connected with the rotating gear ring so as to rotate around the axis of the tungsten electrode under the drive of the rotating gear ring.

Optionally, the guide wire frame adjusting structure further comprises a cross sliding table, the rotating gear ring is connected with the guide wire structure through the cross sliding table, and the cross sliding table is used for driving the guide wire structure to perform position fine adjustment relative to the tungsten electrode.

Optionally, the welding device further comprises a robot body, wherein the welding body is connected with the robot body, and the robot body is used for driving the welding body to move to the upper side of the saddle-shaped welding seam.

The welding method is realized by adopting the welding device, and comprises the following steps:

Placing the welding body on the upper side of the saddle-shaped welding seam, and aligning the rotation center of the first moving structure with the center of the saddle-shaped welding seam;

Controlling a welding gun to move to the shoulder vertex of the saddle-shaped welding seam;

controlling the first moving structure to drive the welding mechanism to move along the track of the saddle-shaped welding seam so as to weld the saddle-shaped welding seam;

In the saddle-shaped welding seam welding process, the welding gun adjusting structure is controlled to adjust the position of the welding gun, and the wire guide frame adjusting structure is controlled to adjust the position of the wire guide structure, so that welding wires conveyed by the wire guide structure are located at the front side of the advancing direction of the tungsten electrode.

The welding device and the welding method provided by the embodiment of the invention have the beneficial effects that:

the embodiment of the invention provides a welding device, which realizes the position adjustment of a welding gun through a welding gun adjusting structure, and is provided with a wire guide frame adjusting structure to realize the position adjustment of the wire guide structure, so that on one hand, the relative position of a welding wire and the welding gun is controllable, the line segment formed by the welding wire and a tungsten electrode is parallel to a welding line as much as possible, and on the other hand, when the welding gun is used for welding different positions, the welding wire on the wire guide structure is positioned at the front side of the tungsten electrode in the advancing direction, thereby being beneficial to welding formation, and further realizing TIG automatic welding of a saddle-shaped welding line through the welding device.

The embodiment of the invention also provides a welding method which is realized based on the welding device, so that the method has the beneficial effect of realizing the TIG automatic welding of the saddle-shaped welding seam.

Drawings

The above features and advantages of the present invention will be better understood after reading the detailed description of embodiments of the present disclosure in conjunction with the following drawings. In the drawings, the components are not necessarily to scale and components having similar related features or characteristics may have the same or similar reference numerals.

FIG. 1 shows a schematic view of a welded structure having saddle-shaped welds;

FIG. 2 illustrates a general structural schematic of a welding device provided in accordance with an aspect of the present invention;

fig. 3 is a schematic perspective view showing a welding body in a welding apparatus according to an aspect of the present invention;

fig. 4 is a schematic front view showing a structure of a welding body in a welding apparatus according to an aspect of the present invention;

FIG. 5 illustrates a schematic side view of a welding body in a welding apparatus provided in accordance with an aspect of the present invention;

FIG. 6 illustrates a partial structural schematic view of a welding apparatus at a guide wire frame adjustment structure provided in accordance with an aspect of the present invention;

FIG. 7 illustrates a schematic view of a weld gun provided in accordance with an aspect of the present invention as it moves to the shoulder apex of a saddle weld;

FIG. 8 illustrates a schematic view of a wire guide structure not rotated relative to a welding gun as the welding mechanism moves along the saddle-shaped weld to an included angle of 45 with the shoulder in accordance with an aspect of the present invention;

FIG. 9 illustrates a schematic view of a first view of a wire guide structure rotated relative to a welding gun as the welding mechanism moves along a saddle-shaped weld to an included angle of 45 with respect to a shoulder, in accordance with an aspect of the present invention;

Fig. 10 illustrates a schematic view of a second view of a wire guide structure rotated relative to a welding gun as the welding mechanism moves along a saddle-shaped weld to an angle of 45 ° to the shoulder, in accordance with an aspect of the present invention.

Reference numerals:

10-welding device, 100-welding body, 110-welding mechanism, 111-welding gun, 112-tungsten electrode, 113-wire guide structure, 120-first moving mechanism, 121-first rotating structure, 1211-mounting seat, 1212-rotating member, 122-first sliding structure, 1221-vertical guide rail, 1222-first carriage, 123-second sliding structure, 1231-horizontal guide rail, 1232-second carriage, 130-connecting frame, 131-first connecting arm, 132-second connecting arm, 140-second moving mechanism, 141-welding gun adjusting structure, 142-second rotating structure, 143-OSC structure, 144-AVC structure, 145-wire guide frame adjusting structure, 1451-adjusting frame, 1452-driving motor, 1453-rotating gear ring, 1454-cross sliding table, 1455-first sliding table portion, 1456-second sliding table portion, 1457-third sliding table portion and 200-robot body.

Detailed Description

The invention is described in detail below with reference to the drawings and the specific embodiments. It is noted that the aspects described below in connection with the drawings and the specific embodiments are merely exemplary and should not be construed as limiting the scope of the invention in any way.

In the description of the present invention, it should be noted that, if the terms "upper," "lower," "inner," "outer," "vertical," and the like indicate an orientation or a positional relationship based on that shown in the drawings or that the inventive product is conventionally put in place when used, it does not indicate or imply that the apparatus or element in question must have a specific orientation or be constructed and operated in a specific orientation, and therefore, the present invention should not be construed as being limited thereto.

Meanwhile, it should be noted that the terms "first," "second," and the like, if any, are used solely for distinguishing descriptions and not to be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless explicitly specified or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, integrally connected or detachably connected, mechanically connected or electrically connected, directly connected or indirectly connected through an intermediate medium, or connected between two elements internally, or the like. The specific meaning of the above terms in the present invention can be understood as appropriate by those of ordinary skill in the art.

Fig. 2 shows an overall schematic diagram of the welding device 10 according to the present embodiment, fig. 3 shows a schematic perspective diagram of the welding body 100 in the welding device 10 according to the present embodiment, fig. 4 shows a schematic front view of the welding body 100 in the welding device 10 according to the present embodiment, and fig. 5 shows a schematic side view of the welding body 100 in the welding device 10 according to the present embodiment. Referring to fig. 2-5 in combination, a welding apparatus 10 is provided in this embodiment, and the welding apparatus 10 includes a welding body 100. The welding body 100 includes a welding mechanism 110, a first movement mechanism 120, and a second movement mechanism 140. The welding mechanism 110 includes a welding gun 111 having a tungsten electrode 112, and a wire guide structure 113 for guiding a welding wire to the vicinity of the tungsten electrode 112 and for forming a molten pool between the welding wire and the tungsten electrode 112, thereby realizing TIG welding. The first movement mechanism 120 is connected to the welding structure and is used for driving the welding mechanism 110 to move along the welding seam. The second movement mechanism 140 comprises a welding gun adjusting structure 141 and a guide wire adjusting structure, the welding gun adjusting structure 141 is connected with the welding gun 111 and is used for driving the welding gun 111 to move relative to a welding line, the guide wire frame adjusting structure 145 is connected with the guide wire structure 113 and is used for driving the guide wire structure 113 to move relative to the tungsten electrode 112, so that welding wires on the guide wire structure 113 are all positioned on the front side of the tungsten electrode 112 in the advancing direction when the welding gun 111 is positioned at different welding positions, and welding forming is guaranteed.

The welding apparatus 10 provided in this embodiment will be further described below by taking a process of welding a saddle-shaped weld as an example:

With continued reference to fig. 2-5, in this embodiment, the welding apparatus 10 further includes a robot main body 200, the welding main body 100 is connected to the robot main body 200, and the robot main body 200 drives the welding main body 100 to move to the upper side of the saddle-shaped welding seam, so as to position the welding main body 100 and the saddle-shaped welding seam. It will be appreciated that the specific configuration of the robot body 200 may be a conventional medium load high repeatability industrial robot configuration, or other 6-axis robot configuration, and the configuration of the robot body 200 will not be described in detail herein, while in other embodiments, other mobile machines may be used to achieve positioning of the welding body 100 and saddle-shaped weld.

The first movement mechanism 120 includes a first swing structure 121, a first slip structure 122, and a second slip structure 123. The first rotating structure 121 is used for driving the welding structure to rotate around the first direction, the first sliding structure 122 is used for driving the welding structure to slide along the first direction, and the second sliding structure 123 is used for driving the welding structure to slide along the second direction. Wherein the first direction and the second direction are perpendicular to each other. Specifically, in the present embodiment, the parent pipe to be welded is placed horizontally, and the branch pipes are placed vertically. The first direction is the axial direction of the branch pipe, and correspondingly, the first direction is the vertical direction, i.e., the up-down direction shown in fig. 4 and 5, and the second direction is the horizontal direction perpendicular to the vertical direction, i.e., the left-right direction shown in fig. 4, i.e., the radial direction of the branch pipe. It will be appreciated that in other embodiments, the specific directions corresponding to the first direction and the second direction may also vary when the manifold is in other positions.

Alternatively, the first rotating structure 121, the first sliding structure 122 and the second sliding structure 123 are sequentially connected, while the first rotating structure 121 is connected to the robot body 200, and the first moving mechanism 120 and the welding mechanism 110 connected thereto are driven to move synchronously by the robot body 200. Meanwhile, when the robot main body 200 drives the welding main body 100 to move to position the welding main body 100 and the saddle-shaped weld joint, the welding main body 100 is moved to a position where the rotation axis of the first rotation structure 121 coincides with the axis of the branch pipe.

The first swivel structure 121 includes a mount 1211 and a swivel 1212, the swivel 1212 being rotatably mounted on the mount 1211. While the swivel 1212 is provided with a vertical rail 1221, the vertical rail 1221 extends in a first direction, while the vertical rail is provided with a first carriage 1222, the first carriage 1222 slidably engaging the vertical rail 1221, thereby forming the first glide structure 122. The second sliding structure 123 includes a horizontal rail 1231 and a second carriage 1232, the horizontal rail 1231 extending in the second direction, the second carriage 1232 slidably engaging the horizontal rail 1231. The horizontal guide rail 1231 is fixedly connected to the first carriage 1222, so that the second sliding structure 123 can slide along the first direction as a whole under the driving of the first carriage 1222. Through the cooperation of the first rotation structure 121 and the first sliding structure 122, the movement from top to bottom, from bottom to top, from top to bottom and from bottom to top can be realized while the rotation is performed around the branch pipe, the drop adjustment along with the saddle-shaped welding seam is realized, each movement corresponds to 1/4 circumference, and the movement along the saddle-shaped track is realized. Meanwhile, through the arrangement of the second sliding structure 123, the welding mechanism 110 can move along the radial direction of the branch pipe so as to adapt to the welding of the branch pipes with different sizes or the transverse movement of the same pipe diameter in different filling layers.

Optionally, the first slewing mechanism can be driven by a servo motor and is matched with a precise speed reducing mechanism for transmission, and an absolute value positioning system is used for positioning. The first sliding structure 122 can be driven by a servo motor and is matched with a precise linear module for transmission, and is positioned by an absolute value positioning system. The second sliding structure 123 can be driven by a servo motor and is matched with the transmission of a precise linear module to be positioned by an absolute value positioning system.

In this embodiment, the welding gun adjusting structure 141 includes a second rotating structure 142, where the second rotating structure 142 is used to drive the welding gun 111 to rotate around a third direction, so as to adjust the working angle of the welding gun 111, so as to continuously adapt to the requirements of different welding positions on the working angle of the welding gun 111 in the welding process, and avoid the occurrence of an unfused welding phenomenon. The third direction is perpendicular to the first direction and the second direction.

Further, the welding gun adjusting structure 141 further includes an OSC structure 143 and an AVC structure 144, where the OSC structure 143 is used to drive the welding gun 111 to swing and adjust the swing center up and down, and the AVC structure 144 is used to adjust the working height of the welding gun 111, so as to control the height of the tungsten electrode 112 and the molten pool, ensure welding quality, and avoid the problem of poor consistency of the welding seam due to improper height of the welding gun 111, such as welding defects of welding pool due to too low tungsten electrode 112, or air holes and undercuts due to too high tungsten electrode 112. Note that the OSC structure 143 and the AVC structure 144 may be conventional structures, and the structures thereof are not described in detail herein. Alternatively, the OSC structure 143 may be servo motor driven and positioned with an absolute value positioning system in conjunction with a precision linear die set drive. The AVC structure 144 may be servo motor driven and positioned with an absolute positioning system in conjunction with a precision linear modular drive.

Specifically, the second rotating structure 142, the OSC structure 143 and the AVC structure 144 are sequentially connected, the welding gun 111 is installed on the AVC structure 144, the second rotating structure 142 is installed on the second sliding structure 123, and when the first moving mechanism 120 works, the welding gun adjusting structure 141 is driven to move synchronously, so that the welding gun 111 installed on the welding gun adjusting structure 141 is driven to move, and meanwhile, the position of the welding gun 111 is finely adjusted through the welding gun adjusting structure 141, so that welding requirements are met.

Optionally, the welding device 10 further includes a connecting frame 130, the connecting frame 130 includes a first connecting arm 131 and a second connecting arm 132 connected to each other, the first connecting arm 131 and the second sliding structure 123 are connected, the first connecting arm 131 extends along a second direction, the second connecting arm 132 is connected to the second rotating structure 142, and the second connecting arm 132 extends along the first direction. The second sliding structure 123 drives the second rotating structure 142 to slide along the second direction through the connecting frame 130.

Fig. 6 shows a schematic partial structure of the welding apparatus 10 according to the present embodiment at the guide wire frame adjusting structure 145. Referring to fig. 2-6 in combination, in the present embodiment, the second movement mechanism 140 further includes a guide wire rack adjusting structure 145, and the guide wire rack adjusting structure 145 includes an adjusting rack 1451, a driving motor 1452 and a rotating gear ring 1453. The adjusting frame 1451 is mounted on the welding gun adjusting structure 141 and moves synchronously with the welding gun 111 under the driving of the welding gun adjusting structure 141. The driving motor 1452 is mounted on the adjusting frame 1451, and the rotating ring gear 1453 is slidably engaged with the adjusting frame 1451 and rotates relative to the adjusting frame 1451 under the ground hole of the driving motor 1452. The wire guide 113 is connected to the rotating ring gear 1453, so as to rotate around the axis of the tungsten electrode 112 under the driving of the rotating ring gear 1453.

Specifically, since the adjusting bracket 1451 is mounted on the welding gun adjusting structure 141 and moves synchronously with the welding gun 111 under the driving of the welding gun adjusting structure 141, the adjusting bracket 1451 can also be used as a mounting bracket for the welding gun 111. The guide wire frame adjusting structure 145 is mounted on the welding gun adjusting structure 141, so that when the welding gun adjusting structure 141 adjusts the position of the welding gun 111, the guide wire structure 113 synchronously adjusts the position, the relative position of the welding gun 111 and the guide wire structure 113 is kept unchanged, and the relative position of the guide wire structure 113 and the welding gun 111 is adjusted only through the guide wire frame adjusting structure 145. The rotating gear ring 1453 is an arc-shaped member, the adjusting frame 1451 is in a substantially fan-shaped structure, a sliding groove is formed at the radial outer end of the adjusting frame, the rotating gear ring 1453 is slidably arranged in the sliding groove, meanwhile, the rotating gear ring 1453 is meshed with a driving gear of the driving motor 1452, and when the driving motor 1452 operates, the rotating gear ring 1453 is driven to rotate through the driving gear, so that sliding in the sliding groove is realized. The axis of the driving motor 1452 passes through the tungsten electrode 112, so that the axis of rotation of the driving motor 1452 when driving the rotating gear ring 1453 to rotate passes through the tungsten electrode 112, the purpose of driving the wire guide structure 113 to rotate around the axis of the tungsten electrode 112 is achieved, and the reciprocating sliding of the rotating gear ring 1453 in the sliding groove is achieved through the forward and reverse rotation of the driving motor 1452.

Alternatively, in this embodiment, the range of rotation of the guidewire structure 113 is [ -15,90], it being understood that in other embodiments, the range of rotation of the guidewire structure 113 may be set as desired, such as [ -90,90].

Further, the wire guide frame adjusting structure 145 further includes a cross sliding table 1454, the rotating gear ring 1453 is connected with the wire guide structure 113 through the cross sliding table 1454, and the cross sliding table 1454 is used for driving the wire guide structure 113 to perform fine adjustment on the position of the wire guide structure 113 relative to the tungsten electrode 112, so as to ensure that the distance and the position between the welding wire on the wire guide structure 113 and the tungsten electrode 112 meet TIG welding requirements.

Specifically, the cross slide 1454 includes a first slide 1455, a second slide 1456, and a third slide 1457, the first slide 1455 being fixedly coupled to the rotary ring gear 1453, while the first slide 1455 being slidably coupled to the second slide 1456 to adjust the up and down position of the wire on the wire guide 113 relative to the tungsten electrode 112 by the sliding fit of the first slide 1455 and the second slide 1456, the second slide 1456 being slidably coupled to the third slide 1457 to adjust the left and right position of the wire on the wire guide 113 relative to the tungsten electrode 112 by the sliding fit of the second slide 1456 and the third slide 1457, and the third slide 1457 being fixedly coupled to the wire guide 113.

Further, in order to ensure accurate operation of the welding process, an arc monitoring camera may be installed between the tungsten electrode 112 and the wire guide structure 113, through which arc observation is achieved, so that an operator can assist in manual operation through an operation interface according to the observed arc condition.

The embodiment of the invention also provides a welding method, which adopts the welding device 10 to realize the welding of the saddle-shaped weld joint, so that the welding method is also a saddle-shaped weld joint welding method. Specifically, the welding method includes:

and S01, placing the welding main body 100 on the upper side of the saddle-shaped welding seam, and aligning the rotation center of the first moving structure with the center of the saddle-shaped welding seam.

Specifically, the control robot body 200 drives the welding body 100 to move to the upper side of the saddle-shaped welding seam, and aligns the rotation axis of the first rotation structure 121 in the welding body 100 with the axis of the branch pipe, and the center of the saddle-shaped welding seam is located on the axis of the branch pipe, so that the rotation center of the first movement structure is aligned with the center of the saddle-shaped welding seam.

And S02, controlling the welding gun 111 to move to the shoulder vertex of the saddle-shaped welding seam.

Fig. 7 shows a schematic view of the structure of the welding gun 111 when it moves to the shoulder apex of the saddle-shaped weld. In the execution of step S02, the welding gun 111 is moved to the position of the shoulder vertex of the saddle-shaped weld joint as shown in fig. 2 by controlling the operation of the first moving structure and the cooperation of the second moving structure, so that the welding starts from the shoulder vertex of the saddle-shaped weld joint.

And S03, controlling the first moving structure to drive the welding mechanism 110 to move along the track of the saddle-shaped weld joint so as to weld the saddle-shaped weld joint.

The welding mechanism 110 is driven to rotate around the axis of the branch pipe through the first rotary structure 121, and the welding mechanism 110 is driven to move up and down by being matched with the first sliding assembly, so that the welding mechanism 110 moves along the track of the saddle-shaped welding seam and is suitable for the drop adjustment of the saddle-shaped welding seam.

Meanwhile, during welding, the welding gun adjusting structure 141 is controlled to adjust the position of the welding gun 111, and the wire guide frame adjusting structure 145 is controlled to adjust the position of the wire guide structure 113 so that the welding wire fed by the wire guide structure 113 is positioned at the front side of the traveling direction of the tungsten electrode 112.

In the welding process, on one hand, the position of the welding gun 111 is adjusted by the welding gun adjusting structure 141 so as to meet the welding requirement. Specifically, the working angle of the welding gun 111 is controlled by the second revolving structure 142 to meet the angle change requirements of different positions, and meanwhile, arc swinging required by a welding process can be realized, so that different welding seam forming quality can be obtained by process control. The OSC structure 143 meets the need for a welding process that requires an increase in weld width by linear oscillation during welding, and also allows for proper fine tuning of the adjustment of the gun 111 in the direction of the branch pipe axis and the direction of the main pipe axis during welding. The height of the welding gun 111 is adjusted through the AVC structure 144, so that the heights of the tungsten electrode 112 and the molten pool are always kept at a stable value, and the welding seam forming quality is stable.

On the other hand, the position of the wire guide structure 113 is adjusted by the wire guide frame adjusting structure 145 so that the welding wire fed by the wire guide structure 113 is located on the front side in the traveling direction of the tungsten electrode 112. Specifically, when the welding structure moves along the saddle-shaped welding seam under the driving of the first moving mechanism 120, the relative positions of the wire guiding structure 113, the branch pipe and the welding gun 111 are changed, as shown in fig. 8, when the welding mechanism 110 moves along the saddle-shaped welding seam to an included angle of 45 ° with the shoulder, the wire guiding structure 113 does not rotate relative to the welding gun 111, and at this time, the wire guiding frame is not located right in front of the tungsten electrode 112, but is closer to the branch pipe, so that by driving the wire guiding structure 113 to rotate relative to the tungsten electrode 112 by a certain angle, the welding wire fed by the wire guiding structure 113 can be adjusted to be located right in front of the tungsten electrode 112 (as shown in fig. 9 and 10), and comparing fig. 8 and 10 can clearly see that the position of the wire guiding structure 113 rotates relative to the tungsten electrode 112.

The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the technical scope of the present invention should be included in the scope of the present invention.

Claims (10)

1. A welding device is characterized by comprising a welding main body, wherein the welding main body comprises:

The welding mechanism comprises a welding gun and a wire guide structure, wherein the welding gun is provided with a tungsten electrode, the wire guide structure is used for guiding welding wires to the vicinity of the tungsten electrode, and a molten pool is formed between the welding wires and the tungsten electrode;

a first movement mechanism connected with the welding mechanism and used for driving the welding mechanism to move along the welding seam, and

The welding gun comprises a welding gun adjusting structure and a wire guide frame adjusting structure, wherein the welding gun adjusting structure is connected with the welding gun and used for driving the welding gun to move relative to a welding seam, the wire guide frame adjusting structure is connected with the wire guide structure and used for driving the wire guide structure to move relative to a tungsten electrode, and when the welding gun is used for welding different positions, welding wires on the wire guide structure are located on the front side of the tungsten electrode in the advancing direction.

2. The welding apparatus of claim 1 wherein,

The first moving mechanism comprises a first rotary structure, a first sliding structure and a second sliding structure, wherein the first rotary structure is used for driving the welding structure to rotate around a first direction, the first sliding structure is used for driving the welding structure to slide along the first direction, and the second sliding structure is used for driving the welding structure to slide along a second direction;

wherein the first direction and the second direction are perpendicular to each other.

3. A welding device as defined in claim 2, wherein,

The first rotary structure comprises a mounting seat and a rotary member, and the rotary member is rotatably mounted on the mounting seat;

The rotary member is provided with a vertical guide rail, the vertical guide rail extends along the first direction, the vertical guide rail is provided with a first sliding frame, and the first sliding frame is slidably matched with the vertical guide rail to form the first sliding structure;

The second sliding structure comprises a horizontal guide rail and a second sliding frame, the horizontal guide rail extends along the second direction, the second sliding frame is matched with the horizontal guide rail in a sliding manner, and the horizontal guide rail is fixedly connected with the first sliding frame.

4. A welding device as defined in claim 2, wherein,

The welding gun adjusting structure comprises a second rotating structure, and the second rotating structure is used for driving the welding gun to rotate around a third direction;

the first direction, the second direction and the third direction are perpendicular to each other.

5. The welding apparatus according to claim 4, wherein,

The welding device further comprises a connecting frame, wherein the connecting frame comprises a first connecting arm and a second connecting arm, the first connecting arm is connected with the second sliding structure and extends along the second direction;

the second sliding structure drives the second rotary structure to slide along the second direction through the connecting frame.

6. The welding apparatus of claim 1 wherein,

The welding gun adjusting structure comprises a second rotating structure, an OSC structure and an AVC structure, wherein the second rotating structure is used for driving the welding gun to rotate around a third direction, the OSC structure is used for driving the welding gun to swing and vertically adjust the swing center, and the AVC structure is used for adjusting the working height of the welding gun.

7. The welding apparatus of claim 1 wherein,

The wire guide frame adjusting structure comprises an adjusting frame, a driving motor and a rotating gear ring, wherein the adjusting frame is arranged on the welding gun adjusting structure and moves synchronously with a welding gun under the drive of the welding gun adjusting structure, the driving motor is arranged on the adjusting frame, the rotating gear ring is in sliding fit with the adjusting frame and rotates relative to the adjusting frame under the drive of the driving motor, and the wire guide structure is connected with the rotating gear ring so as to rotate around the axis where the tungsten electrode is located under the drive of the rotating gear ring.

8. The welding apparatus of claim 7, wherein the welding apparatus comprises a welding head,

The wire guide frame adjusting structure further comprises a cross sliding table, the rotating gear ring is connected with the wire guide structure through the cross sliding table, and the cross sliding table is used for driving the wire guide structure to conduct position fine adjustment relative to the tungsten electrode.

9. The welding apparatus of claim 1 wherein,

The welding device further comprises a robot main body, wherein the welding main body is connected with the robot main body, and the robot main body is used for driving the welding main body to move to the upper side of the welding seam.

10. A welding method, characterized in that it is carried out with a welding device according to any one of claims 1-9, said welding method comprising:

Placing the welding body on the upper side of the saddle-shaped welding seam, and aligning the rotation center of the first moving structure with the center of the saddle-shaped welding seam;

Controlling a welding gun to move to the shoulder vertex of the saddle-shaped welding seam;

controlling the first moving structure to drive the welding mechanism to move along the track of the saddle-shaped welding seam so as to weld the saddle-shaped welding seam;

In the saddle-shaped welding seam welding process, the welding gun adjusting structure is controlled to adjust the position of the welding gun, and the wire guide frame adjusting structure is controlled to adjust the position of the wire guide structure, so that welding wires conveyed by the wire guide structure are located at the front side of the advancing direction of the tungsten electrode.