A self-resetting welding device and method

Abstract

This invention relates to the field of robotic welding technology, specifically to a self-resetting welding device and method. The self-resetting welding device includes: a housing assembly having at least one opening; a tilting assembly located within the housing assembly, at least a portion of which is rotatable relative to the housing assembly; the tilting assembly is detachably connected to the housing assembly; a welding assembly extending axially, at least a portion of which is located within the housing assembly; wherein the tilting assembly is sleeved on at least a portion of the welding assembly; a first reset assembly, with both ends perpendicularly connected to at least a portion of the tilting assembly and the housing assembly, respectively; and a protective assembly disposed on the outer periphery of the housing assembly and extending radially to cover the opening; the protective assembly and the first reset assembly extending radially and spaced axially by a predetermined distance. This addresses the problem of how to rationally arrange the reset assembly and the protective assembly to avoid mutual interference while simultaneously achieving dual protection of the welding assembly's reset and internal safeguards.

Description

Technical Field

[0001] This invention relates to the field of robotic welding technology, and more specifically, to a self-resetting welding device and a self-resetting method. Background Technology

[0002] In automated welding operations, the welding torch is typically integrated into the end effector of a robotic arm. Its front end features a welding head that can tilt relative to the housing to adapt to minor surface irregularities on the workpiece or avoid rigid collisions. To prevent spatter, dust, and other impurities from entering the internal precision components through openings in the housing during welding, existing technologies often incorporate an axially extending dustproof structure on the outer periphery of the housing, creating a shield. Simultaneously, to ensure the welding torch automatically returns to its centered position after being deflected by a lateral impact, guaranteeing the accuracy of the welding trajectory, the welding device also requires a corresponding reset component (such as a spring) to restore the tilted welding assembly.

[0003] However, when the reset component and dustproof structure extend axially and are arranged side-by-side radially, the limited space within the welding torch and the small radial spacing between them create a risk of interference. Furthermore, high-temperature metal spatter from welding easily adheres to the surface of the dustproof structure, compromising its sealing effect. During the repositioning process of the reset component, the dustproof structure may deform or displace and become trapped in the spring gap, leading to increased repositioning resistance, poor return, or even jamming. Therefore, how to rationally arrange the reset component and dustproof structure within a limited space to avoid physical interference while achieving both repositioning of the welding assembly and internal protection has become a pressing technical problem. Summary of the Invention

[0004] To address the challenge of rationally arranging reset and protection components to avoid mutual interference while simultaneously achieving dual protection for both welding component reset and internal safeguards, this invention provides a self-resetting welding device and method.

[0005] In a first aspect, the present invention provides a self-resetting welding apparatus, comprising:

[0006] A housing assembly having at least one opening;

[0007] A yaw assembly is located within a housing assembly and at least a portion of the yaw assembly is rotatable relative to the housing assembly; the yaw assembly is detachably connected to the housing assembly.

[0008] A welding assembly, extending axially and at least partially located within a housing assembly; wherein a yaw assembly is fitted onto at least a portion of the welding assembly;

[0009] The first reset component is perpendicularly connected at both ends to at least a portion of the yaw component and the housing component, respectively.

[0010] A protective component is disposed on the outer periphery of the housing assembly and extends radially to cover the opening; the protective component and the first reset component extend radially and are spaced apart by a predetermined distance axially.

[0011] During the reset process of the welding device, based on the first offset position of the welding component, the first reset component undergoes elastic deformation and provides a force to pull the oscillating component and the welding component to swing back to the initial position.

[0012] Optionally, the yaw assembly includes a fixed unit and a rotating unit; the fixed unit is connected to the inner wall of the housing assembly and has a receiving cavity extending axially along the housing assembly; at least a portion of the rotating unit is sleeved on the welding assembly, and another portion is located in the receiving cavity; the rotating unit is rotatably connected to the fixed unit; wherein the radial thickness of the at least portion of the rotating unit sleeved on the welding assembly gradually decreases in the direction away from the fixed unit.

[0013] Optionally, it also includes:

[0014] The second reset assembly includes a limiting unit and a driving unit; the limiting unit is sleeved on the rotating unit and can be gapped or fitted with the rotating unit; the driving unit is connected to the housing assembly and the limiting unit respectively and can drive the limiting unit to move axially; during the reset process of the welding device, based on the second offset position, the driving limiting unit moves on the rotating unit in a direction close to the fixed unit, the limiting unit fits with the rotating unit, and the limiting unit corrects the rotating unit and the welding assembly to return to the initial position; wherein, the radial distance between the second offset position and the initial position is less than the radial distance between the first offset position and the initial position.

[0015] Optionally, the limiting unit is located on the side of the rotating unit away from the first reset component and the protective component; the limiting unit and the protective component are arranged in parallel and both the limiting unit and the protective component are spaced apart from the first reset component.

[0016] Optionally, the drive unit includes a telescopic part and a drive part; multiple telescopic parts are arranged circumferentially inside the housing assembly and extend axially; one end of the telescopic part is connected to the housing assembly and the other end is connected to the limiting unit; the drive part is driven to connect with the telescopic part; during the reset process, the drive telescopic part extends and retracts axially, causing the limiting unit to move on the rotating unit in a direction closer to or further away from the fixed unit.

[0017] Optionally, the limiting unit includes a limiting part and a rolling part; the limiting part extends radially and is arranged perpendicularly to the welding assembly; both ends of the limiting part are connected to the driving unit respectively; the limiting part is sleeved on the welding assembly and has a preset gap with the welding assembly; the rolling part is located on the side of the limiting part close to the welding assembly; during the reset process, based on the movement of the limiting unit on the rotating unit in the direction close to the fixed unit, the preset gap gradually decreases until the rolling part fits against the welding assembly.

[0018] Optionally, the drive unit includes a meshing wheel, a first sliding part, a second sliding part, a first connecting part, and a second connecting part; one end of the first connecting part is connected to the housing assembly, and the other end extends axially and is movably connected to the second connecting part; multiple meshing wheels are disposed on the second connecting part; the first sliding part and the second sliding part are arranged alternately at intervals within the housing assembly; multiple first sliding parts and second sliding parts are disposed on the telescopic part and extend axially; each first sliding part and second sliding part is provided with a meshing wheel; during the reset process, based on the second offset position, the meshing wheel is driven to rotate on the first sliding part and the second sliding part, causing the telescopic part to move on the rotating unit towards or away from the fixed unit.

[0019] Optionally, the tooth surface orientation of the first sliding part is opposite to that of the tooth surface orientation of the second sliding part in the axial direction; during the reset process, the driving engagement wheel rotates on the first sliding part, causing the telescopic part to move towards the fixed unit on the rotating unit; or, the driving engagement wheel rotates on the second sliding part, causing the telescopic part to move away from the fixed unit on the rotating unit.

[0020] Optionally, the yaw assembly further includes a detection unit; the detection unit includes an elastic part and a detection part; multiple detection parts are arranged circumferentially on the side of the fixing unit facing the first reset assembly; the elastic part is sleeved on the outer periphery of the yaw assembly and can be spaced apart from or abut against the detection parts; during the reset process, based on the yaw of the yaw assembly and the welding assembly and the first offset position being greater than or equal to a preset reference amount, the detection part abuts against the elastic part and issues an alarm, drives the yaw assembly and the welding assembly to move to the reference offset position, and the limiting unit corrects the rotation unit and the welding assembly to return to the initial position; wherein, the radial distance between the reference offset position and the initial position is less than the radial distance between the first offset position and the initial position and greater than the radial distance between the second offset position and the initial position.

[0021] In a second aspect, the present invention provides a self-resetting method for a self-resetting welding apparatus, comprising, as optional in any of the first aspects, a self-resetting welding apparatus, wherein the self-resetting method for the self-resetting welding apparatus includes:

[0022] The first offset position is obtained based on the initial position of the welding device;

[0023] Based on the first offset position, the first reset component undergoes elastic deformation and provides a force to pull the oscillating component and the welding component to swing back to the initial position.

[0024] Optionally, a self-resetting method for a self-resetting welding device further includes:

[0025] Based on the fact that the first offset position is less than a preset reference value, the second offset position is obtained from the initial position;

[0026] Based on the second offset position, the drive limiting unit moves on the rotating unit in a direction close to the fixed unit, the limiting unit is in contact with the rotating unit, and the limiting unit corrects the rotating unit and the welding assembly to return to the initial position; wherein, the radial distance between the second offset position and the initial position is less than the radial distance between the first offset position and the initial position; wherein, the radial distance between the second offset position and the initial position is less than the radial distance between the first offset position and the initial position.

[0027] Optionally, a self-resetting method for a self-resetting welding device further includes:

[0028] Based on the first offset position being greater than or equal to a preset reference value, the first reset component is driven to undergo elastic deformation and provide a force to pull the oscillating component and the welding component to swing from the initial position to the reference offset position.

[0029] Based on the yaw component and welding component being located at the reference offset position, the drive limiting unit moves on the rotating unit in a direction close to the fixed unit. The limiting unit is in contact with the rotating unit, and the limiting unit corrects the rotating unit and welding component to return to their initial positions.

[0030] To address the challenge of how to rationally arrange the reset and protection components to avoid mutual interference while simultaneously achieving dual protection for the welding assembly's reset and internal safeguards, this invention offers the following advantages:

[0031] The first reset component is perpendicularly connected to the oscillation component and the housing component at both ends, respectively. The protective component is located on the outer periphery of the housing component and extends radially to cover the opening. The protective component and the first reset component are radially parallel and spaced apart by a preset distance. By extending radially and parallel axially, while being spaced apart by a preset distance, the first reset component and the protective component are radially misaligned. This avoids the protective component from contacting or getting caught in the deformation gap of the first reset component during the oscillation reset of the welding component, ensuring that the first reset component can freely expand and contract and provide a stable reset pull. It also allows the protective component to effectively block welding spatter and dust from entering the housing component axially, protecting the oscillation component and the welding component from contamination and avoiding the problem of welding spatter damaging the axially set dustproof structure in related technologies. When the welding component shifts, the first reset component undergoes elastic deformation based on the first shift position and generates a pull, pulling the oscillation component and the welding component to swing back to the initial position, achieving automatic reset. Within a limited space, the spatial layout of the reset function and the protective function is reasonably coordinated, taking into account both reset reliability and internal protection durability. Attached Figure Description

[0032] Figure 1 A three-dimensional structural schematic diagram of a self-resetting welding device according to an embodiment is shown;

[0033] Figure 2 A cross-sectional view of the reset process of a self-resetting welding apparatus according to an embodiment is shown;

[0034] Figure 3 A cross-sectional view of the reset process of the first reset component of a self-resetting welding apparatus according to an embodiment is shown.

[0035] Figure 4 A cross-sectional view of the second reset component of a self-resetting welding apparatus according to an embodiment is shown.

[0036] Figure 5 A cross-sectional view of another reset process of the second reset component of a self-resetting welding apparatus according to an embodiment is shown;

[0037] Figure 6 A flowchart of a self-resetting method for a self-resetting welding apparatus according to an embodiment is shown.

[0038] Figure label:

[0039] 10. Housing assembly; 11. First housing unit; 12. Second housing unit; 20. Welding assembly; 21. Welding unit; 22. Wire feeding unit; 221. First wire feeding section; 222. Second wire feeding section; 30. Oscillating assembly; 31. Fixing unit; 311. Upper fixing section; 312. Lower fixing section; 313. Buffer section; 32. Rotating unit; 321. First rotating section; 322. Second rotating section; 323. Third rotating section; 33. Detection unit; 3 31. Elastic part; 332. Detection part; 40. First reset assembly; 41. Connecting unit; 42. Elastic unit; 50. Second reset assembly; 51. Limiting unit; 511. Limiting part; 512. Rolling part; 52. Driving unit; 521. Telescopic part; 522. Driving part; 5221. Engaging wheel; 5222. First sliding part; 5223. Second sliding part; 5224. First connecting part; 5225. Second connecting part; 60. Protective assembly. Detailed Implementation

[0040] The invention will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are described merely to enable those skilled in the art to better understand and thus implement the invention, and are not intended to imply any limitation on the scope of the invention.

[0041] As used herein, the term "comprising" and its variations are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "at least partially based on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". The term "another embodiment" is to be interpreted as "at least one other embodiment". The terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These terms are primarily for the purpose of better describing the invention and its embodiments and are not intended to limit the indicated devices, elements, or components to having a specific orientation or to be constructed and operated in a specific orientation. Furthermore, some of the above terms may be used to indicate other meanings besides orientations or positional relationships; for example, the term "upper" may in some cases indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this invention according to the specific circumstances. In addition, the terms "installed", "set", "equipped with", "connected", and "linked" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, elements, or components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. Furthermore, the terms "first," "second," etc., are mainly used to distinguish different devices, elements, or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance or quantity of the indicated devices, elements, or components. Unless otherwise stated, "a plurality of" means two or more.

[0042] In automated welding operations, the welding torch is integrated into the end effector of a robotic arm. Its front end features a welding head that can tilt relative to the housing to adapt to workpiece surface irregularities and avoid rigid collisions. Simultaneously, an axial dustproof structure is required on the outer periphery of the housing to prevent spatter and dust from entering the interior, and a reset component (such as a spring) is configured to ensure the welding head automatically returns to center after lateral impact. However, if the reset component and dustproof structure extend axially and are arranged radially side-by-side with a narrow gap, problems arise such as high-temperature spatter adhesion damaging the seal, and deformation of the dustproof structure trapping it in the spring gap, leading to increased reset resistance or jamming. Simply increasing the distance between them would lengthen the axial dimension and affect passage through confined spaces. Therefore, how to rationally arrange the reset component and dustproof structure within a limited space, avoiding physical interference while achieving dual protection for both welding component reset and internal safeguards, has become a pressing technical problem.

[0043] Example 1

[0044] Please refer to Figure 1 and Figure 2 This embodiment provides a self-resetting welding device, including:

[0045] Housing assembly 10 has at least one opening;

[0046] The yaw component 30 is located inside the housing assembly 10 and at least part of the yaw component 30 is rotatable relative to the housing assembly 10; the yaw component 30 is detachably connected to the housing assembly 10.

[0047] Welding assembly 20 extends axially and is at least partially located within housing assembly 10; wherein, yaw assembly 30 is sleeved on at least part of welding assembly 20, such that the yaw motion of welding assembly 20, which can rotate relative to housing assembly 10, can be transmitted to first reset assembly 40 through yaw assembly 30, thereby minimizing the force transmission path.

[0048] The first reset component 40 is perpendicularly connected at both ends to at least a portion of the yaw component 30 and the housing component 10, respectively.

[0049] A protective component 60 is disposed on the outer peripheral side of the housing component 10 and extends radially to cover the opening; the protective component 60 and the first reset component 40 extend radially and are spaced apart by a predetermined distance in the axial direction.

[0050] During the reset process of the welding device, based on the first offset position of the welding component 20, the first reset component 40 undergoes elastic deformation and provides a force to pull the oscillating component 30 and the welding component 20 to swing back to the initial position.

[0051] Understandably, the first reset component 40 is connected perpendicularly (i.e. radially) to the oscillation component 30 and the housing component 10 at both ends. The protective component 60 is disposed on the outer periphery of the housing component 10 and extends radially to cover the opening. The protective component 60 and the first reset component 40 extend radially and are parallel to each other in the axial direction, while being spaced apart by a preset distance. That is, the two are arranged side by side in the radial direction and staggered by a preset distance in the axial direction, so that the protective component 60 does not encroach on the deformation space of the first reset component 40 when covering the opening, and the first reset component 40 will not come into contact or rub against the protective component 60 during the extension and retraction process. The preset distance is greater than the distance between the axially arranged dustproof structure and the spring structure in the related art.

[0052] In related technologies, an axially extending dustproof structure is provided on the outer periphery of the housing to form protection. A spring structure is used for repositioning and is arranged axially and radially alongside the dustproof structure inside the housing. The spring structure and the dustproof structure are arranged with a small radial distance, which poses a risk of mutual interference. High-temperature metal spatter generated during welding can easily adhere to the surface of the dustproof structure axially, damaging its sealing effect. Furthermore, during the repositioning process of the repositioning component, the dustproof structure may become trapped in the gap of the spring due to deformation or displacement, resulting in increased repositioning resistance, poor return, or even jamming.

[0053] In this embodiment, the arrangement of the first reset component 40 and the protective component 60 avoids the protective component 60 getting caught in the spring gap of the first reset component 40 during the tilting reset of the welding component 20, ensuring that the first reset component 40 can freely undergo elastic deformation without being constrained by the protective component 60 and providing a stable reset pulling force. Simultaneously, the protective component 60 effectively blocks welding spatter and dust from axially intruding into the housing component 10, protecting the tilting component 30 and the welding component 20 from contamination and avoiding the problem of welding spatter damaging the axially arranged dustproof structure in related technologies. Furthermore, when the welding component 20 shifts, the first reset component 40 undergoes elastic deformation based on the first shift position and generates a pulling force, pulling the tilting component 30 and the welding component 20 to swing back to the initial position, achieving automatic reset. This arrangement rationally coordinates the spatial layout of the reset and protective functions within a limited space, balancing reset reliability and internal protection durability.

[0054] Specifically, the first reset assembly 40 includes a connecting unit 41 and an elastic unit 42; wherein, the connecting unit 41 surrounds at least a portion of the welding assembly 20 and is connected to the side of the housing assembly 10 away from the deflection assembly 30; at least a portion of the connecting unit 41 is located within the housing assembly 10 and provides a connection position for the elastic unit 42, and another portion of the connecting unit 41 extends from within the housing assembly 10 toward the opening to provide a connection position for the protective assembly 60. The elastic unit 42 is, for example, a spring, and multiple elastic units 42 are circumferentially arranged within the housing assembly 10 and connected to the deflection assembly 30; one end of the elastic unit 42 is connected to the inner peripheral wall of the housing assembly 10 and covers the opening, and the other end is connected to the connecting assembly. Based on a force that causes the elastic unit 42 to elastically deform, the welding assembly 20 deflects to a first offset position or a second offset position. The elastic unit 42 continues to elastically deform and provides a force opposite to the applied force, pulling the deflection assembly 30 and the welding assembly 20 to swing back to the initial position.

[0055] For example, the number of elastic elements 42 is, for example, 4, 8 or 12, and the multiple elastic elements 42 are evenly spaced to provide a uniform restoring force.

[0056] Specifically, the housing assembly 10 includes a first housing unit 11 and a second housing unit 12; the yaw assembly 30, at least a portion of the welding assembly 20, and the first reset assembly 40 are located within the first housing unit 11. The welding assembly 20 includes a welding unit 21 and a wire feeding unit 22. The wire feeding unit 22 includes a first wire feeding section 221 and a second wire feeding section 222 connected sequentially along the axial direction. The first wire feeding section 221 and the second wire feeding section 222 are filled with welding wire or other welding materials. One end of the first wire feeding section 221 is connected to an external mechanical device, and the other end passes through the first housing unit 11 and the second housing unit 12 and is connected to the welding unit 21. The second wire feeding section 222 is connected to the end of the first wire feeding section 221 away from the housing assembly 10, and the other end is connected to the welding unit 21, which is, for example, a welding head.

[0057] Furthermore, the first shell unit 11 and the second shell unit 12 have a gap along the axial direction. The first shell unit 11 and the second shell unit 12 are connected by a connecting unit 41. The connecting unit 41 and the first shell unit 11 have an opening along the radial direction. The protective component 60 is radially disposed on the side of the first shell unit 11 facing the second shell unit 12 and covers the opening, forming an internally sealed chamber. Based on the above structure, welding spatter is not easily splashed onto the protective component 60 along the axial direction. The gap between the first shell unit 11 and the second shell unit 12 along the axial direction forms an annular, rectangular or other shaped cavity, further preventing welding spatter from damaging the protective component 60.

[0058] Furthermore, the yaw assembly 30 includes a fixed unit 31 and a rotating unit 32; the fixed unit 31 is connected to the inner wall of the housing assembly 10 and has a receiving cavity that extends axially along the housing assembly 10; at least a portion of the rotating unit 32 is sleeved on the welding assembly 20, and the other portion is located in the receiving cavity; the rotating unit 32 is rotatably connected to the fixed unit 31, and the fixed unit 31 provides stable rotational support for the rotating unit 32, allowing the rotating unit 32 to swing within the receiving cavity, thereby realizing the relative rotation between the yaw assembly 30 and the housing assembly 10; wherein, the radial thickness of the at least portion of the rotating unit 32 sleeved on the welding assembly 20 gradually decreases in the direction away from the fixed unit 31, for example, forming a conical structure.

[0059] For details, please refer to Figure 2 and Figure 3The fixing unit 31 includes an upper fixing part 311, a lower fixing part 312, and a buffer part 313. The upper fixing part 311 and the lower fixing part 312 are axially connected and fixed in the housing assembly 10. The middle part of the upper fixing part 311 and the lower fixing part 312 forms a spherical receiving cavity that extends axially. At least part of the rotating component is located in the spherical receiving cavity to achieve multi-angle rotation. The buffer part 313 is made of rubber, for example, and is located between the upper fixing part 311 and the lower fixing part 312. The buffer part 313 provides a preload when the upper fixing part 311 and the lower fixing part 312 begin to lock. After the rotating unit 32 is worn, the upper fixing part 311 and the lower fixing part 312 still form a spherical receiving cavity that adapts to the shape or volume of the rotating unit 32, so that the rotating unit 32 can rotate relative to each other in the spherical receiving cavity and achieve normal return.

[0060] Specifically, the rotating unit 32 includes a first rotating part 321, a second rotating part 322, and a third rotating part 323 integrally formed along the axial direction; the first rotating part 321 is spherical and located in a spherical receiving cavity, thereby realizing the rotation of the rotating unit 32; the second rotating part 322 is sleeved on at least part of the first wire feeding part 221 and the radial thickness of the second rotating part 322 gradually decreases in the direction away from the fixed unit 31, forming a conical structure; the third rotating part 323 covers the other first wire feeding parts 221 located in the housing assembly 10, and based on the rotation of the first rotating part 321, it drives the second rotating part 322, the first rotating part 321, and part of the first wire feeding part 221 to swing or return.

[0061] Further, please refer to Figure 3 , Figure 4 and Figure 5 A self-resetting welding device further includes:

[0062] The second reset assembly 50 includes a limiting unit 51 and a driving unit 52. The inner peripheral wall of the middle part of the limiting unit 51 is sleeved on the rotating unit 32 and can be gapped or fitted with the outer peripheral wall of the rotating unit 32. The driving unit 52 is connected to the housing assembly 10 and the limiting unit 51 respectively and can drive the limiting unit 51 to move axially. During the reset process of the welding device, based on the second offset position, the driving limiting unit 51 moves on the rotating unit 32 in a direction close to the fixed unit 31, the limiting unit 51 fits with the rotating unit 32, and the limiting unit 51 corrects the rotating unit 32 and the welding assembly 20 to return to the initial position. The distance between the second offset position and the initial position in the radial direction is less than the distance between the first offset position and the initial position in the radial direction.

[0063] Understandably, when the welding assembly 20 is in the second offset position, the driving unit 52 drives the limiting unit 51 to move on the rotating unit 32 toward the fixed unit 31. The gap between the limiting unit 51 and the rotating unit 32 gradually decreases until they fit together. The limiting unit 51 applies a radial correction force by fitting the rotating unit 32, which returns the rotating unit 32 and the welding assembly 20 to their initial positions. Since the radial distance between the second offset position and the initial position is less than the distance between the first offset position and the initial position, the second reset component 50 intervenes when only a small deviation remains after the first reset component 40 returns to its original position, forming a two-stage reset mechanism of coarse reset and fine correction. That is, the first reset component 40 is responsible for coarse reset after a large offset, and the second reset component 50 slides axially along the surface of the rotating unit 32 through the limiting unit 51 during a small offset, gradually narrowing the gap until it fits. By utilizing the conical surface fit or frictional guidance between the limiting unit 51 and the rotating unit 32, the rotating unit 32 is pushed towards the center through the wedge action of the conical surface during movement, and the rotating unit 32 is corrected to the initial position. This effectively solves the contradiction that a single reset component cannot simultaneously handle large-scale rapid return and small-scale high-precision centering.

[0064] Specifically, the fit can be such that the inner wall of the limiting unit 51 and the outer wall of the rotating unit 32 are in full or at least partially contact in the circumferential direction, with no radial gap between them, thereby achieving the limiting and guiding correction functions.

[0065] Furthermore, the limiting unit 51 is located axially on the side of the rotating unit 32 away from the first reset component 40 and the protective component 60; the limiting unit 51 and the protective component 60 extend radially and are arranged parallel to each other in the axial direction, and both the limiting unit 51 and the protective component 60 are spaced apart from the first reset component 40 to avoid interference between the first reset component 40 and the second reset component 50 in the axial or radial direction; the limiting unit 51 and the first reset component 40 are spaced apart to ensure that the first reset component 40 will not touch the limiting unit 51 when it is stretched or deformed, thus ensuring the independence of their respective actions.

[0066] Furthermore, the drive unit 52 includes a telescopic part 521 and a drive part 522; a plurality of telescopic parts 521 are arranged circumferentially inside the housing assembly 10 and extend axially; one end of the telescopic part 521 is connected to the housing assembly 10 and the other end is connected to the limiting unit 51; the drive part 522 is drivenly connected to the telescopic part 521; during the reset process, the drive telescopic part 521 is driven to extend and retract axially, causing the limiting unit 51 to move on the rotating unit 32 in a direction close to or away from the fixed unit 31.

[0067] Specifically, by evenly distributing multiple telescopic portions 521 circumferentially, the limiting unit 51 is subjected to a uniform driving force in the circumferential direction, preventing the limiting unit 51 from deviating or jamming during axial movement. The telescopic portions 521 extend axially and are connected at both ends to the housing assembly 10 and the limiting unit 51, respectively, converting the rotational or linear motion of the driving unit 522 into the axial displacement of the limiting unit 51, thereby achieving position control of the limiting unit 51 on the rotating unit 32. When the welding device is in the reset process, based on the second offset position, the driving unit 522 drives the telescopic portions 521 to extend and retract axially, causing the limiting unit 51 to move on the rotating unit 32 towards or away from the fixed unit 31. Utilizing the conical surface fit or frictional guiding effect between the limiting unit 51 and the rotating unit 32, the rotating unit 32 is corrected to its initial position.

[0068] Understandably, the yaw component 30 or welding component 20 may have a built-in position sensor. Based on the position sensor, the first offset position, second offset position, initial position, and reference offset position are obtained (see below). The yaw amount corresponding to the first offset position, second offset position, initial position, and reference offset position is obtained through an external device. When the welding device is in the reset process, based on the second offset position, the drive unit 522 drives the telescopic unit 521 to extend and retract axially, causing the limiting unit 51 to move on the rotating unit 32 towards the fixed unit 31. The gap between the two gradually becomes zero, achieving contact between the two, thereby achieving a small-amplitude initial correction of the rotating unit 32 and the welding component 20. Based on the limiting unit 51 moving to the top, the limiting unit 51 moves on the rotating unit 32 away from the fixed unit 31. The contact surface between the two changes from contact to gap. During the contact process, the position of the rotating unit 32 and the welding component 20 can be corrected again, achieving a further improvement in the small-amplitude correction.

[0069] For example, the telescopic part 521 may be four or eight evenly distributed along the circumference; the telescopic part 521 and the limiting unit 51 may be connected by a ball joint or a universal joint.

[0070] Furthermore, the limiting unit 51 includes a limiting part 511 and a rolling part 512; the limiting part 511 extends radially and is arranged perpendicularly to the welding assembly 20; both ends of the limiting part 511 are connected to the driving unit 52 respectively; the limiting part 511 is sleeved on the welding assembly 20 and has a preset gap with the welding assembly 20; the rolling part 512 is disposed on the side of the limiting part 511 close to the welding assembly 20; during the reset process, based on the movement of the limiting unit 51 on the rotating unit 32 in the direction close to the fixed unit 31, the preset gap gradually decreases until the rolling part 512 fits against the welding assembly 20.

[0071] Specifically, during the reset process, based on the movement of the limiting unit 51 on the rotating unit 32 towards the fixed unit 31, the preset gap between the limiting part 511 and the welding assembly 20 gradually decreases until the rolling part 512 comes into contact with the welding assembly 20. The rolling part 512 contacts the welding assembly 20 in a rolling manner, converting sliding friction into rolling friction, reducing the friction between the limiting part 511 and the welding assembly 20 during the correction process, preventing scratches or wear on the surface of the welding assembly 20, and ensuring that the welding assembly 20 can be smoothly guided back to the initial position, thus improving the smoothness and repeatability of the fine reset process.

[0072] Understandably, the preset gap is the radial distance that allows the second rotating part 322, the third rotating part 323 and the first wire feeding part 221 to swing within the limiting unit 51. The preset gap ensures that the limiting unit 51 is completely separated from the welding assembly 20 in the non-calibration state, without affecting the free swing of the welding assembly 20. During the calibration process, the gap gradually decreases, and the rolling part 512 gradually contacts and guides the welding assembly 20 back to its original position.

[0073] For example, the rolling part 512 may be a plurality of balls, rollers or needles evenly distributed circumferentially along the limiting part 511; the rolling part 512 may be embedded in the inner wall groove of the limiting part 511.

[0074] Further, please refer to Figure 2 , Figure 3 and Figure 4 The drive unit 522 includes a meshing wheel 5221, a first sliding part 5222, a second sliding part 5223, a first connecting part 5224, and a second connecting part 5225. One end of the first connecting part 5224 is connected to the housing assembly 10, and the other end extends axially and is movably connected to the second connecting part 5225. A plurality of meshing wheels 5221 are disposed on the second connecting part 5225. The first sliding part 5222 and the second sliding part 5223 are arranged alternately and at intervals within the housing assembly 10. A plurality of first sliding parts 5222 and the second sliding part 5223 are disposed on the telescopic part 521 and extend axially. Each first sliding part 5222 and the second sliding part 5223 is provided with a meshing wheel 5221. During the reset process, based on the second offset position, the meshing wheel 5221 is driven to rotate on the first sliding part 5222 and the second sliding part 5223, thereby driving the telescopic part 521 to move on the rotating unit 32 toward or away from the fixed unit 31.

[0075] For example, the meshing wheel 5221 adopts a ratchet structure, and the first sliding part 5222 and the second sliding part 5223 are ratchet racks that cooperate with the ratchet. The resetting of the rotating unit 32 will generate a reverse torque or axial reaction force, which can achieve self-limiting based on the ratchet and ratchet rack. Among them, multiple meshing wheels 5221 are spaced apart on the second connecting part 5225, and multiple first sliding parts 5222 and second sliding parts 5223 are provided on the telescopic part 521 and extend axially. Each ratchet meshes with a ratchet rack. During the resetting process, based on the second offset position, the meshing wheel 5221 rotates and drives the first sliding part 5222, the second sliding part 5223 and the telescopic part 521 to move on the rotating unit 32 toward or away from the fixed unit 31 through the unidirectional meshing of the ratchet and the sliding part, driving the limiting unit 51 to move upward and push the rotating unit 32 back to the center position.

[0076] Specifically, the second connecting portion 5225 is adapted to the shape of the radial cross-section of the housing assembly 10, and can be annular, rectangular, or other shapes. A plurality of meshing wheels 5221 are evenly spaced on the second connecting portion 5225, and the second connecting portion 5225 is movably connected to the first connecting portion 5224. By providing an external drive source to drive the second connecting portion 5225 to rotate, the meshing wheels 5221 move on the first sliding portion 5222 and the second sliding portion 5223.

[0077] Furthermore, the tooth surface orientation of the first sliding part 5222 is opposite to that of the tooth surface orientation of the second sliding part 5223 in the axial direction; during the reset process, the driving engagement wheel 5221 is rotated on the first sliding part 5222, causing the telescopic part 521 to move on the rotating unit 32 towards the fixed unit 31; or, the driving engagement wheel 5221 is rotated on the second sliding part 5223, causing the telescopic part 521 to move on the rotating unit 32 away from the fixed unit 31.

[0078] Understandably, the ratchet extension direction of the first sliding part 5222 is opposite to that of the ratchet extension direction of the second sliding part 5223. During upward movement, the meshing wheel 5221 cooperating with the first sliding part 5222 is driven to rotate, thereby achieving upward reset; the meshing wheel 5221 cooperating with the second sliding part 5223 does not provide upward driving force; during downward reset, the meshing wheel 5221 cooperating with the second sliding part 5223 is driven to rotate, and the meshing wheel 5221 cooperating with the first sliding part 5222 does not provide downward driving force. Because the ratchet teeth of the first sliding part 5222 and the second sliding part 5223 are opposite in direction and fixed to the telescopic part 521, during the reciprocating motion of the telescopic part 521, one meshing wheel 5221 is always in an actively driven, locked, and ready state, while the other meshing wheel 5221 is in a follow-up idling state, and their roles automatically switch. When the reverse force of the rotating unit 32 attempts to retract the telescopic part 521, the retraction direction corresponds exactly to the locking direction of the active side ratchet, and the ratchet locking surface immediately provides rigid blocking to prevent loosening; while the ratchet on the idle side is also in the locking direction due to the opposite tooth direction in the retraction direction, providing double anti-loosening protection.

[0079] Furthermore, the yaw assembly 30 also includes a detection unit 33; the detection unit 33 includes an elastic part 331 and a detection part 332; multiple detection parts 332 are arranged circumferentially on the side of the fixing unit 31 facing the first reset assembly 40; the elastic part 331 is sleeved on the outer periphery of the yaw assembly 30 and can be spaced apart from or abut against the detection part 332; during the reset process, based on the yaw of the yaw assembly 30 and the welding assembly 20 and the first offset position being greater than or equal to a preset reference amount, the detection part 332 abuts against the elastic part 331 and issues an alarm, driving the yaw assembly 30 and the welding assembly 20 to move to the reference offset position, and the limiting unit 51 corrects the rotation unit 32 and the welding assembly 20 to return to the initial position; wherein, the radial distance between the reference offset position and the initial position is less than the radial distance between the first offset position and the initial position and greater than the radial distance between the second offset position and the initial position.

[0080] Specifically, the detection unit 332 is, for example, a pressure sensor, and is mounted on the fixed unit 31. The preset reference value is the maximum amount of deflection allowed by the limiting unit 51 for the welding assembly 20 and the rotating assembly. When the rotating unit 32 deflects, the elastic part 331 deflects together with the rotating assembly, and achieves contact or separation with the detection unit 332 based on the degree of deflection. When the deflection amplitude is larger (for example, the deflection amount corresponding to the first offset position is greater than or equal to the preset reference value), the elastic part 331 contacts the detection unit 332 and triggers an alarm detection signal. This detection signal can control the movement of the second reset assembly 50 in advance to achieve rapid reset. Specifically, when the deflection amount corresponding to the first offset position is greater than or equal to the preset reference value, the limiting unit 51 may be in close contact with one side of the rotating unit 32, resulting in greater resistance when the limiting unit 51 moves upward. Therefore, the first reset component 40 is used first to reset the rotating component and the welding component 20 to the reference offset position, providing space for the movement of the limiting unit 51. Based on the reference offset position, the second reset component 50 is further driven to move. That is, the movement of the second reset component 50 can be driven during the reset process of the first reset component 40, further improving the reset speed and accuracy. When the deflection is small, the elastic part 331 does not contact the detection part 332, and there is no signal output.

[0081] Example 2

[0082] Please refer to Figure 6 This embodiment provides a self-resetting method for a self-resetting welding device, including the following steps S10-S20:

[0083] Step S10: Obtain the first offset position based on the initial position of the welding device;

[0084] In step S20, based on the first offset position, the first reset component 40 undergoes elastic deformation and provides a force to pull the oscillating component 30 and the welding component 20 to swing back to the initial position.

[0085] For example, steps S10 and S20 are executed sequentially.

[0086] Specifically, when the welding component 20 wobbles due to an impact, the deviation between the current actual position and the initial position of the welding component 20 is first obtained as the first offset position. The first reset component 40 generates elastic deformation, and the elastic deformation of the first reset component 40 generates a restoring force. This restoring force pulls the wobbling component 30 and the welding component 20 sleeved on it to swing back to the initial position, realizing a rapid return from a large offset state to the initial position.

[0087] Furthermore, it also includes steps S30-S40:

[0088] Step S30: Based on the fact that the first offset position is less than a preset reference value, obtain the second offset position through the initial position;

[0089] In step S40, based on the second offset position, the driving limiting unit 51 moves on the rotating unit 32 in a direction close to the fixed unit 31, the limiting unit 51 is in contact with the rotating unit 32, and the limiting unit 51 corrects the rotating unit 32 and the welding assembly 20 to return to the initial position; wherein, the radial distance between the second offset position and the initial position is less than the radial distance between the first offset position and the initial position.

[0090] For example, steps S10, S20, S30 and S40 are executed sequentially.

[0091] Specifically, when the offset of the welding component 20 is small (less than the preset reference amount), the first reset component 40 may be unable to completely correct the welding component 20 to the initial position due to elastic hysteresis or friction. At this time, the second reset component 50 is introduced, which moves on the rotating unit 32 towards the fixed unit 31 through the limiting unit 51. The residual small deviation is accurately corrected to zero by using the contact guiding effect between the limiting unit 51 and the rotating unit 32.

[0092] The preset reference value is the maximum amount of sway allowed by the limit unit 51 for the welding assembly 20 and the rotating assembly.

[0093] Furthermore, it also includes steps S50-S60:

[0094] Step S50: Based on the first offset position being greater than or equal to a preset reference amount, drive the first reset component 40 to undergo elastic deformation and provide a force to pull the oscillating component 30 and the welding component 20 to swing from the initial position to the reference offset position.

[0095] In step S60, based on the yaw component 30 and the welding component 20 being located at the reference offset position, the driving limiting unit 51 moves on the rotating unit 32 in a direction close to the fixed unit 31, the limiting unit 51 is in contact with the rotating unit 32, and the limiting unit 51 corrects the rotating unit 32 and the welding component 20 to return to the initial position; wherein, the radial distance between the reference offset position and the initial position is less than the radial distance between the first offset position and the initial position and greater than the radial distance between the second offset position and the initial position.

[0096] For example, steps S10, S20, S50 and S60 are executed sequentially.

[0097] Specifically, steps S50 and S60 employ a two-stage reset strategy when the first offset position exceeds a preset reference value. First, the first reset component 40 performs a coarse elastic reset, pulling the welding component 20 from the large offset position back to the reference offset position (an intermediate deviation between the first and second offset positions). Then, at this intermediate deviation position, the second reset component 50 is activated, and the limiting unit 51 performs fine correction until complete return to the original position. The principle of this strategy is that during a large offset, the travel of the limiting unit 51 of the second reset component 50 may be insufficient to complete the correction in one go, or forced correction may cause impact between the limiting unit 51 and the rotating unit 32. Therefore, the first reset component 40 first reduces the offset to a range within which the second reset component 50 can effectively operate, and then the second reset component 50 completes the final precise correction. Since the reference offset position is smaller than the first offset position but larger than the second offset position, this method achieves a hierarchical coordinated control of large-scale return during coarse reset and precise alignment during fine reset. This avoids the problems of insufficient travel or excessive force on the fine reset mechanism during large offsets and ensures high precision in the final reset.

[0098] Those skilled in the art will understand that the above embodiments are specific examples of implementing the present invention, and in practical applications, various changes can be made in form and detail without departing from the scope of the present invention.

Claims

1. A self-resetting welding device, characterized in that, include: A housing assembly having at least one opening; A yaw assembly is located within the housing assembly and at least a portion of the yaw assembly is rotatable relative to the housing assembly; The yaw component is detachably connected to the housing component; A welding assembly extending axially and at least partially located within the housing assembly; wherein the yaw assembly is sleeved on at least a portion of the welding assembly; The first reset component is perpendicularly connected at both ends to at least a portion of the oscillation component and the housing component, respectively. A protective component is disposed on the outer periphery of the housing assembly and extends radially to cover the opening; the protective component and the first reset component extend radially and are spaced apart by a predetermined distance along the axial direction. During the reset process of the welding device, based on the first offset position of the welding component, the first reset component undergoes elastic deformation and provides a force to pull the oscillating component and the welding component to swing back to the initial position.

2. The self-resetting welding device according to claim 1, characterized in that, The yaw assembly includes a fixed unit and a rotating unit; the fixed unit is connected to the inner wall of the housing assembly and has a receiving cavity extending axially along the housing assembly; at least a portion of the rotating unit is sleeved on the welding assembly, and another portion is located within the receiving cavity; the rotating unit is rotatably connected to the fixed unit; wherein, the radial thickness of at least a portion of the rotating unit sleeved on the welding assembly gradually decreases in the direction away from the fixed unit.

3. The self-resetting welding device according to claim 2, characterized in that, Also includes: The second reset assembly includes a limiting unit and a driving unit; the limiting unit is sleeved on the rotating unit and can be gapped or fitted with the rotating unit; the driving unit is connected to the housing assembly and the limiting unit respectively and can drive the limiting unit to move axially; during the reset process of the welding device, based on the second offset position, the limiting unit is driven to move on the rotating unit in a direction close to the fixed unit, the limiting unit is fitted with the rotating unit, and the limiting unit corrects the rotating unit and the welding assembly to return to the initial position; wherein, the radial distance between the second offset position and the initial position is less than the radial distance between the first offset position and the initial position.

4. The self-resetting welding device according to claim 3, characterized in that, The limiting unit is located on the side of the rotating unit away from the first reset component and the protective component; the limiting unit and the protective component are arranged parallel to each other and are spaced apart from the first reset component.

5. The self-resetting welding device according to claim 3, characterized in that, The drive unit includes a telescopic part and a drive part; a plurality of telescopic parts are arranged circumferentially inside the housing assembly and extend axially; one end of the telescopic part is connected to the housing assembly and the other end is connected to the limiting unit; the drive part is drivenly connected to the telescopic part; during the reset process, the telescopic part is driven to extend and retract axially, causing the limiting unit to move on the rotating unit in a direction closer to or further away from the fixed unit.

6. The self-resetting welding device according to claim 5, characterized in that, The limiting unit includes a limiting part and a rolling part; the limiting part extends radially and is perpendicular to the welding assembly; both ends of the limiting part are respectively connected to the driving unit; the limiting part is sleeved on the welding assembly and has a preset gap with the welding assembly; the rolling part is located on the side of the limiting part close to the welding assembly; during the reset process, based on the movement of the limiting unit on the rotating unit in a direction close to the fixed unit, the preset gap gradually decreases until the rolling part fits against the welding assembly.

7. The self-resetting welding device according to claim 5, characterized in that, The driving unit includes a meshing wheel, a first sliding part, a second sliding part, a first connecting part, and a second connecting part; one end of the first connecting part is connected to the housing assembly, and the other end extends axially and is movably connected to the second connecting part; a plurality of meshing wheels are disposed on the second connecting part; the first sliding part and the second sliding part are alternately arranged in the housing assembly; a plurality of the first sliding part and the second sliding part are disposed on the telescopic part and extend axially; each of the first sliding part and the second sliding part is provided with a meshing wheel; during the reset process, based on the second offset position, the meshing wheel is driven to rotate on the first sliding part and the second sliding part, thereby driving the telescopic part to move on the rotating unit toward or away from the fixed unit.

8. A self-resetting welding device according to claim 7, characterized in that, The tooth surface of the first sliding part is oriented opposite to that of the tooth surface of the second sliding part in the axial direction; during the reset process, the meshing wheel is driven to rotate on the first sliding part, causing the telescopic part to move towards the fixed unit on the rotating unit; or, the meshing wheel is driven to rotate on the second sliding part, causing the telescopic part to move away from the fixed unit on the rotating unit.

9. A self-resetting welding device according to claim 3, characterized in that, The yaw assembly further includes a detection unit; the detection unit includes an elastic part and a detection part; multiple detection parts are arranged circumferentially on the side of the fixing unit facing the first reset assembly; the elastic part is sleeved on the outer periphery of the yaw assembly and can be spaced apart from or abut against the detection part; during the reset process, based on the yaw of the yaw assembly and the welding assembly and the determination that the first offset position is greater than or equal to a preset reference amount, the detection part abuts against the elastic part and issues an alarm, drives the yaw assembly and the welding assembly to move to the reference offset position, and the limiting unit corrects the rotation unit and the welding assembly to return to the initial position; wherein, the radial distance between the reference offset position and the initial position is less than the radial distance between the first offset position and the initial position and greater than the radial distance between the second offset position and the initial position.

10. A self-resetting method for a self-resetting welding device, characterized in that, Including a self-resetting welding apparatus as described in any one of claims 1-9, the self-resetting method of the self-resetting welding apparatus includes: The first offset position is obtained based on the initial position of the welding device; Based on the first offset position, the first reset component undergoes elastic deformation and provides a force to pull the oscillating component and the welding component to swing back to the initial position.

11. The self-resetting method of a self-resetting welding device according to claim 10, characterized in that, Also includes: Based on the fact that the first offset position is less than a preset reference value, the second offset position is obtained through the initial position; Based on the second offset position, the drive limiting unit moves on the rotating unit in a direction close to the fixed unit, the limiting unit is in contact with the rotating unit, and the limiting unit corrects the rotating unit and the welding assembly to return to the initial position; wherein, the radial distance between the second offset position and the initial position is less than the radial distance between the first offset position and the initial position; wherein, the radial distance between the second offset position and the initial position is less than the radial distance between the first offset position and the initial position.

12. The self-resetting method of a self-resetting welding device according to claim 10, characterized in that, Also includes: Based on the first offset position being greater than or equal to a preset reference amount, the first reset component is driven to undergo elastic deformation and provide a force to pull the oscillating component and the welding component to swing towards the initial position to the reference offset position; Based on the fact that the yaw component and the welding component are located at the reference offset position, the driving limiting unit moves on the rotating unit in a direction close to the fixed unit, the limiting unit is in contact with the rotating unit, and the limiting unit corrects the rotating unit and the welding component to return to the initial position.

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