A submerged arc welding trolley and method for automatic compensation of weld seam deflection based on visual detection

Abstract

The invention discloses a submerged arc welding trolley and method for automatic compensation of weld deflection based on visual detection, comprising a welding trolley body equipped with a visual weld sensing unit, a three-dimensional position compensation device, a welding unit and a control unit, wherein the three-dimensional position compensation device is located above the welding trolley body, and adjusts the position deviation of the welding unit gun head relative to the weld center; the welding unit is located above the three-dimensional position compensation device, and the welding of the weld is realized by the control unit; the visual weld sensing unit is located on the side of the welding unit, and identifies and tracks the weld of the welding unit; the control unit is used to obtain the weld information of the visual weld sensing unit, set the process parameters of the welding unit, control the welding operation, control the three-dimensional position compensation device to implement the deviation correction of the self-adaptive material feeding error, the grouping and clamping error, and the welding trajectory error of the workpiece to be welded, and control the movement of the welding trolley. The trolley has a high degree of automation, a large adjustment range, strong versatility, and a low degree of manual intervention.

Description

Technical Field

[0001] The invention belongs to the technical field of submerged arc welding, and in particular relates to a method for realizing a submerged arc welding trolley with a weld position automatic compensation function. Background Art

[0002] As a common welding method in industrial production, submerged arc welding is widely used in the fields of building steel structure, shipbuilding, nuclear power, wind power, etc. At present, the submerged arc welding trolley is usually manually controlled by the operator to perform submerged arc welding operations. The working modes of the submerged arc welding trolley are mainly divided into two types: trackless and tracked welding trolleys.

[0003] In order to ensure the welding quality during the actual welding process, the welding gun tip of the trackless welding trolley must be aligned with the center of the weld in real time. This method mainly relies on the operator's eyes to stare at the position of the gun tip. When the operator finds that the gun tip has a position deviation relative to the weld center, the operator manually adjusts the position of the welding gun tip relative to the weld center. This adjustment method is highly related to human vision and is prone to quality defects. Long-term work can easily cause operator fatigue and is not suitable for mass production. Existing tracking methods for trackless trolleys mainly include laser trackers and arc voltage tracking, but currently this method has poor tracking effect, small adjustment range, large operator intervention workload and poor versatility.

[0004] The method commonly used in the actual welding process of track-type welding trolleys is to make the welding trolley track the same as the shape of the weld, and the welding trolley moves along the track so that the welding gun trajectory is the same as the weld to perform welding operations. However, the installation and correction of the track of this welding trolley is cumbersome, and it is difficult to move. The length of the track cannot meet the welding requirements of various long welds. In order to avoid welding defects, the operator needs to manually fine-tune the direction of the submerged arc welding trolley during the welding process. The labor intensity of the operator is high and the production efficiency is low. In addition, welds with different trajectories require corresponding welding trolley tracks.

[0005] Therefore, it is of great significance to develop a submerged arc welding trolley with automatic compensation for weld deflection, which has high automation, large adjustment range, strong versatility and low manual intervention. Summary of the invention

[0006] In order to solve the above-mentioned defects existing in the prior art, the purpose of the present invention is to provide a submerged arc welding trolley with automatic compensation for weld deflection based on visual detection. The trolley has good tracking effect, a large adjustment range, good automatic compensation performance for weld deflection, a low degree of manual intervention, good welding effect and strong versatility.

[0007] The objectives of the present invention are achieved through the following technical solutions.

[0008] The present invention provides a submerged arc welding trolley for automatic compensation of weld deflection based on visual detection, comprising:

[0009] The welding carriage body is equipped with a visual weld sensing unit, a three-dimensional position compensation device, a welding unit and a control unit;

[0010] The three-dimensional position compensation device is located above the welding carriage body to adjust the position deviation of the welding unit gun head relative to the center of the weld;

[0011] The welding unit is located above the three-dimensional position compensation device and is controlled by the control unit to achieve weld seam welding;

[0012] The visual weld seam sensing unit is located on the side of the welding unit to identify and track the weld seams of the welding unit;

[0013] The control unit is used to obtain the weld information of the visual weld sensing unit, set the process parameters of the welding unit, control the welding operation, control the three-dimensional position compensation device to implement adaptive deviation correction of the material feeding error, grouping and clamping error and welding trajectory error of the workpiece to be welded, and control the movement of the welding carriage.

[0014] Preferably, a control unit, a machine head, a visual weld sensing unit and a welding unit are fixed on the welding trolley body; the machine head is located above the three-dimensional position compensation device, the control unit is located on the machine head, and the visual weld sensing unit and the welding unit are connected to the machine head.

[0015] Preferably, the welding unit comprises a wire reel, a wire feeding wheel, a wire guide wheel, a flux hopper, a leakage hopper and a welding gun fixed on the machine head; the wire reel, wire feeding wheel and wire guide wheel are connected to the welding gun through a welding wire transmission, the leakage hopper is connected below the flux hopper, and the leakage hopper is connected to the welding gun.

[0016] Preferably, the visual weld seam sensing unit is fixed on the welding gun through a welding gun clamp and an adapter plate, and the visual weld seam sensing unit includes a laser and a camera inside.

[0017] Preferably, the three-dimensional position compensation device includes a horizontal adjustment mechanism and an up-and-down adjustment mechanism, each adjustment mechanism includes an adjustment substrate and a servo motor, a transmission mechanism and a moving mechanism fixed thereon; the servo motor is connected to the moving mechanism via the transmission mechanism;

[0018] The moving mechanism of the up-down adjusting mechanism is connected to the machine head, and the moving mechanism of the horizontal adjusting mechanism is connected to the adjusting base plate of the up-down adjusting mechanism.

[0019] Preferably, the transmission mechanism includes a servo motor, a driving pulley, a V-type synchronous belt and a driven pulley fixed on an adjustment base plate, the servo motor is connected to the driving pulley, the driving pulley is connected to the driven pulley through the V-type synchronous belt, and the driven pulley is connected to the moving mechanism.

[0020] Preferably, the moving mechanism includes a lead screw and a pair of guide rails fixed on an adjustment substrate, and a slider is slidably connected to the lead screw and the pair of guide rails. The slider of the up and down adjustment mechanism is connected to the machine head, and the slider of the horizontal adjustment mechanism is connected to the adjustment substrate of the up and down adjustment mechanism.

[0021] Accordingly, the present invention provides a submerged arc welding method for automatically compensating for weld deflection of a trolley, comprising:

[0022] Step 1, initializing the three-dimensional position compensation device, the control unit and the visual weld sensing unit;

[0023] Step 2, moving the welding carriage body, the weld seam of the workpiece to be welded is located within the field of view of the visual weld seam sensor unit, and inputting the welding process parameters of the workpiece to be welded into the control unit;

[0024] Step 3, the visual weld seam sensing unit transmits the starting point information of the weld seam of the workpiece to the control unit, and the control unit controls the three-dimensional position compensation device to make the laser stripe of the laser coincide with the center of the weld seam; the welding unit performs the welding operation;

[0025] Step 4: When the weld feature point identified by the laser stripes of the visual weld sensing unit changes in the Z-direction field of view and the horizontal and vertical deviations of the weld are ≥1 mm, the visual weld sensing unit sends a signal to the control unit to control the three-dimensional position compensation device to adjust the alignment between the welding gun and the weld within time t;

[0026] Step 5, when the visual weld sensing unit detects the end point of the current weld, the control unit controls the hopper to automatically stop filling the flux, the submerged arc welding power supply is cut off, and the current weld welding operation is completed.

[0027] Among them, in step 4, at the same time in the same coordinate system, it is assumed that the current position coordinates of the intersection of the midpoint of the laser stripe of the visual weld sensor unit and the length direction of the weld are M (X1, Y1, Z1), and the current coordinates of the welding gun along the end of the welding wire and the center of the weld are N (X2, Y2, Z2). When there is no deviation in the weld, Y1 = Y2, Z1 = Z2, where |X1-X2| is the lag distance between the welding gun and the laser stripe; when the horizontal and vertical deviations of the weld are ≥ 1 mm, that is, when

[0028]

[0029] The control unit controls the three-dimensional position compensation device to adjust the welding gun and the weld seam alignment within time t as follows:

[0030]

[0031] Among them, V refers to the forward speed of the submerged arc welding trolley, t is the real-time adjustment time, t≥0.

[0032] When flux or welding wire is lacking or abnormality occurs during welding, the control unit sets voice or alarm light prompts.

[0033] The present invention adopts the above technical solution, which has the following beneficial effects:

[0034] The present invention is provided with a three-dimensional position full-automatic compensation device to quickly adjust the position of the welding gun left and right and up and down. The distances of left and right and up and down adjustment of the welding gun are both ±135mm. The two adjustment mechanisms of left and right adjustment and up and down adjustment of the welding gun do not affect each other. Combined with the trolley moving along the direction of the weld, the welding gun can achieve three-dimensional full-position automatic compensation. The visual weld sensing unit can detect the actual position of the weld by vision, automatically adapt to a certain material deviation, and automatically compensate for the position deviation between the welding gun and the weld, so that the center of the welding gun is aligned with the weld in real time.

[0035] The submerged arc welding trolley for automatic compensation of weld deviation based on visual detection of the present invention has the advantages of high degree of automation, large-range automatic compensation of weld deviation, strong versatility, low degree of manual intervention, and can improve welding efficiency and quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The drawings described herein are used to provide a further understanding of the present invention, constitute a part of the present application, and do not constitute an improper limitation of the present invention. In the drawings:

[0037] Figure 1 It is a structural schematic diagram of the trolley of the present invention;

[0038] Figure 2 It is a structural schematic diagram of the three-dimensional position compensation device of the present invention;

[0039] Figure 3 It is a structural schematic diagram of the visual weld sensing unit of the present invention;

[0040] Figure 4 This is a schematic diagram of visual weld sensing tracking of the present invention;

[0041] Figure 5 The figure is a flow chart of the method of the present invention.

[0042] In the figure: 1. Welding trolley body; 2. Three-dimensional position compensation device; 3. Control unit; 4. Visual weld seam sensing unit; 5. Welding trolley wheel; 6. Wire reel; 7. Flux hopper; 8. Wire feed wheel; 9. Machine head; 10. Wire guide wheel; 11. Leakage hopper; 12. Welding wire; 13. Clutch; 14. Emergency stop switch; 15. Trolley handle; 16. Flange; 17. Servo motor; 18. Driving pulley; 19. V-type synchronous belt; 20. Driven pulley; 21. Screw; 22. Guide rail; 23. Slider; 24. Dust cover; 25. Welding gun; 26. Welding gun fixture; 27. Adapter plate; 28. Laser stripes; 29. ​​Camera field of view; 30. Workpiece; 31. Weld seam. DETAILED DESCRIPTION

[0043] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. The exemplary embodiments and descriptions of the present invention are used to explain the present invention but are not intended to limit the present invention.

[0044] like Figure 1 to Figure 4 As shown, the present invention is a submerged arc welding trolley with automatic compensation for weld deflection based on visual detection, comprising: a welding trolley body 1, a three-dimensional position compensation device 2, a control unit 3, a visual weld sensor unit 4 and a welding unit. The three-dimensional position compensation device 2, the visual weld sensor unit 4 and the welding unit are arranged on the welding trolley body 1, and the control unit 3 is connected to the welding trolley body 1, the three-dimensional position compensation device 2, the visual weld sensor unit 4 and the welding unit.

[0045] Among them, the welding trolley body 1 is the executor of submerged arc welding, which walks along the weld track and performs the corresponding submerged arc welding task. The three-dimensional position compensation device 2 is a three-dimensional fully automatic device, which is located above the welding trolley body. When the gun head has a position deviation relative to the weld center, the three-dimensional position compensation device 2 can adjust the position of the welding gun gun head relative to the weld center within a certain range through the feedback system, so that the welding gun 25 gun head is always located at the weld center position to ensure the welding quality. The visual weld sensor unit is located on the side of the welding unit, and the visual weld sensor unit 4 is mainly responsible for weld identification and weld tracking. The welding unit is located above the three-dimensional position compensation device, and the weld is realized by the control unit; the control unit 3 obtains the weld information of the visual weld sensor unit, which is mainly responsible for welding operation control, welding process parameter setting, and controlling the three-dimensional position compensation device to implement the deviation correction of the self-adaptive material unloading, assembly and clamping of the workpiece to be welded and the welding trajectory error, as well as the motion control of the welding trolley.

[0046] like Figure 1As shown, the welding trolley body 1 includes welding trolley wheels 5 and a clutch 13 for moving along the weld track. The clutch 13 is located on the trolley body 1 and is used to control the braking and operation of the welding trolley. An emergency stop switch 14 and a trolley handle 15 are provided above the control unit 3. When an emergency occurs, the emergency stop switch 14 is pressed and the entire device will stop running. The trolley handle 15 is mainly used to facilitate the operator to move the welding trolley.

[0047] The three-dimensional position compensation device 2 arranged on the top of the welding carriage body 1 is controlled by the control unit 3, and can adjust the center position of the welding gun 25 head relative to the weld seam up, down, left, and right within a certain range.

[0048] A control unit 3, a machine head 9, a visual weld seam sensing unit 4 and a welding unit are fixed on the welding carriage body 1. The welding unit includes a welding wire reel 6, a flux hopper 7, a wire feeding wheel 8, a wire guide wheel 10, a hopper 11 and a welding gun 25 fixed on the machine head 9; the welding wire reel 6 and the wire feeding wheel 8 are fixed on the front side of the machine head 9 and are connected to each other by transmission. The welding wire is connected from the welding wire reel 6 to the wire feeding wheel 8. The flux hopper 7 is fixed on the rear side of the machine head 9. The hopper 11 is connected below the flux hopper 7. The welding gun 25 is connected below the hopper 11. The flux material is transported from the flux hopper 7 and the hopper 11 to the gun head of the welding gun 25. The welding wire 12 of the welding wire reel 6 enters the welding gun 25 through the wire feeding wheel 8 and the wire guide wheel 10 for welding. The visual weld seam sensing unit 4 is connected to the same side of the gun head of the welding gun 25.

[0049] like Figure 2 As shown, the three-dimensional position compensation device 2 includes a horizontal adjustment mechanism and an up and down adjustment mechanism for adjusting the head 9 left and right and up and down. Each adjustment mechanism includes an adjustment base plate and a servo motor, a transmission mechanism and a moving mechanism fixed thereon; the servo motor is connected to the moving mechanism through a transmission mechanism.

[0050] The transmission mechanism includes a servo motor 17 with a brake, a driving pulley 18, a V-type synchronous belt 19 and a driven pulley 20 fixed on an adjustment base plate. A servo motor 17 is provided on the adjustment mechanism base plate side. The output shaft of the servo motor 17 is connected to the driving pulley 18, which is connected to the driven pulley 20 through the V-type synchronous belt 19, and the driven pulley 20 is connected to the moving mechanism.

[0051] The moving mechanism includes a lead screw 21, a guide rail 22 and a slider 23 fixed on the adjustment base plate, wherein a dust cover 24 is installed around the V-shaped synchronous belt 19, the lead screw 21 and a pair of guide rails 22 are arranged on the adjustment mechanism base plate, and the slider 23 moves up and down on the adjustment mechanism base plate along the guide rails 22 and the lead screw 21. The up and down adjustment mechanism and the left and right adjustment mechanism are connected through the flange 16, the slider 23 of the up and down adjustment mechanism is connected to the machine head 9, and the slider 23 of the horizontal adjustment mechanism is connected to the adjustment base plate of the up and down adjustment mechanism to achieve up and down and left and right adjustment.

[0052] like Figure 3 and Figure 4 As shown, the visual weld sensing unit 4 is fixed on the welding gun 25 through the welding gun clamp 26 and the adapter plate 27. The visual weld sensing unit 4 includes a laser and a camera, which are used to identify and track the laser stripes 28 and the weld 31 in the camera field of view 29 online.

[0053] Figure 4 A schematic diagram is shown of the welding wire 12 on the welding gun 25 welding the weld 31 of the workpiece 30 .

[0054] like Figure 5 As shown, the present invention accordingly provides a workflow of a submerged arc welding trolley for automatic compensation of weld deflection based on visual detection, and the steps are as follows:

[0055] Step 1, the equipment is powered on and started, and the three-dimensional position compensation device 2, the control unit 3 and the visual weld seam sensing unit 4 are initialized in sequence, and the clutch 13 is manually opened after the initialization is completed;

[0056] Step 2, moving the welding carriage body 1 so that the weld 31 of the workpiece 30 to be welded is located within the field of view of the visual weld sensing unit 4, and then inputting the welding process parameters of the workpiece to be welded into the control unit 3;

[0057] Step 3, when the visual weld seam sensing unit 4 identifies the starting point of the weld seam of the workpiece, the visual weld seam sensing unit 4 sends a feedback signal to the control unit 3, and the control unit 3 controls the three-dimensional position compensation device 2 so that the center of the weld seam feature identified by the laser stripe 28 of the laser is located at the midpoint of the field of view; then, the welding trolley body 1 starts to move along the weld seam, and when the flux hopper 7 reaches the starting point of the weld seam, the hopper 11 automatically flows out the flux to fill the weld seam, and when the welding gun 25 reaches the starting point of the weld seam, the welding operation starts;

[0058] Step 4, online real-time tracking of the weld. Since there is a lag distance between the welding gun 25 and the visual weld sensing unit 4, the laser detects the lateral deflection displacement of the weld during the actual welding operation, and the camera calculates the depth information of the weld while collecting the point cloud data of the weld, and reads the midpoint position information of the laser stripe 28 in the field of view in real time. When the weld is tilted, transversely bent or warped, the weld feature center identified by the laser stripe 28 of the visual weld sensing unit 4 will deviate from the midpoint of the field of view, and the weld feature point will also change in the Z-direction field of view of the visual weld sensing unit 4. When the comprehensive deviation of the weld (including horizontal and vertical directions) is ≥1mm, the visual weld sensing unit 4 sends a feedback signal to the control unit 3, and the control unit 3 controls the three-dimensional position compensation device 2 to adjust the position of the welding gun 25 within time t so that the welding gun 25 is still aligned with the weld at the weld tilt, transverse bending or warping.

[0059] At the same time in the same coordinate system, assuming that the current position coordinates of the midpoint of the laser stripe 28 of the visual weld sensor unit 4 and the intersection of the length direction of the weld are M (X1, Y1, Z1), and the current coordinates of the welding gun 25 along the direction of the welding wire 12 (the end of the welding wire) and the center of the weld are N (X2, Y2, Z2). When the weld has no deviation, Y1 = Y2, Z1 = Z2, where |X1-X2| is the lag distance between the welding gun 25 and the laser stripe 28. Since the detection frequency of the laser stripe 28 of the visual weld sensor unit 4 is very high during the movement of the welding trolley along the weld, and the sudden changes of the weld deflection or warping are extremely rare in actual situations, when the comprehensive deviation of the weld (including the horizontal and vertical directions) is ≥ 1mm, that is, when

[0060]

[0061] The visual weld seam sensing unit 4 sends a feedback signal to the control unit 3, and the control unit 3 controls the three-dimensional position compensation device 2 to adjust the position of the welding gun 25 within the time t, so that the welding gun 25 is still aligned with the weld seam 31 at the weld seam tilt, transverse bending or warping.

[0062]

[0063] Among them, V refers to the forward speed of the submerged arc welding trolley, t is the real-time adjustment time, t≥0.

[0064] Step 5, when the visual weld sensing unit 4 detects the end point of the current weld, the control unit 3 obtains the position information of the end point of the weld. When the flux hopper 7 reaches the end point of the weld, the hopper 11 automatically stops filling the flux. When the welding gun 25 approaches the end point of the weld, the submerged arc welding power supply is cut off, and the current weld welding operation is completed. When all welding tasks are completed, the control unit 3 is turned off and the entire welding carriage 1 is turned off.

[0065] If there is a lack of flux or welding wire or other abnormalities occur during the welding process, a prompt will appear on the screen of the control unit 3, and a buzzer or alarm light will be emitted to remind the user to deal with the abnormality.

[0066] The invention discloses a submerged arc welding trolley with automatic compensation for weld deflection based on visual detection, which solves the problems of poor tracking effect, small adjustment range, large workload for operator intervention and poor versatility in the existing trackless trolley tracking method. It automatically compensates for the position deviation between the welding gun and the weld according to the deviation of the incoming material, so that the center of the welding gun and the weld are aligned in real time, realizing three-dimensional full-position automatic compensation.

[0067] The present invention is not limited to the above-mentioned embodiments. On the basis of the technical solution disclosed in the present invention, technicians in this field can make some substitutions and deformations to some technical features therein according to the disclosed technical content without creative labor, and these substitutions and deformations are all within the protection scope of the present invention.

Claims

1. A submerged arc welding method for automatic compensation of weld deflection based on visual detection, characterized in that: The method adopts a trolley comprising: The welding carriage body is equipped with a visual weld sensing unit, a three-dimensional position compensation device, a welding unit and a control unit; The three-dimensional position compensation device is located above the welding carriage body to adjust the position deviation of the welding unit gun head relative to the center of the weld; The welding unit is located above the three-dimensional position compensation device and is controlled by the control unit to achieve weld seam welding; The visual weld seam sensing unit is located on the side of the welding unit to identify and track the weld seams of the welding unit; The control unit is used to obtain the weld information of the visual weld sensor unit, set the process parameters of the welding unit, control the welding operation, control the three-dimensional position compensation device to implement the deviation correction of the self-adaptive material feeding error, grouping and clamping error, welding trajectory error of the workpiece to be welded, and control the movement of the welding carriage; The submerged arc welding method for automatic compensation of weld deflection comprises: Step 1, initializing the three-dimensional position compensation device, the control unit and the visual weld sensing unit; Step 2, moving the welding carriage body, the weld seam of the workpiece to be welded is located within the field of view of the visual weld seam sensor unit, and the welding process parameters of the workpiece to be welded are input into the control unit; Step 3, the visual weld seam sensing unit transmits the starting point information of the weld seam of the workpiece to the control unit, and the control unit controls the three-dimensional position compensation device to make the laser stripe of the laser coincide with the center of the weld seam; the welding unit performs the welding operation; Step 4: When the weld feature points identified by the laser stripes of the visual weld sensor unit change in the Z-direction field of view and the horizontal and vertical deviations of the weld are ≥ 1 mm, the visual weld sensor unit sends a signal to the control unit to control the three-dimensional position compensation device to adjust the position of the weld in time. t Internally adjust the welding gun to align with the weld; In step 4, at the same time in the same coordinate system, it is assumed that the current position coordinates of the intersection of the laser stripe midpoint of the visual weld sensor unit and the weld length direction are M ( X 1, Y 1, Z 1) The current coordinates of the welding gun along the end of the welding wire and the center of the weld are N ( X 2, Y 2, Z 2) When the weld has no deviation, Y 1 =Y 2, Z 1 =Z 2, where is the lag distance between the welding gun and the laser stripe; when the horizontal and vertical deviations of the weld are ≥1mm, that is, when The control unit controls the three-dimensional position compensation device in time t The internal adjustment welding gun is aligned with the weld seam as follows: in, V Refers to the forward speed of the submerged arc welding trolley. t To adjust the time in real time, t ≥0; Step 5, when the visual weld sensing unit detects the end point of the current weld, the control unit controls the hopper to automatically stop filling the flux, the submerged arc welding power supply is cut off, and the current weld welding operation is completed.

2. The submerged arc welding method for automatic compensation of weld deflection according to claim 1, characterized in that: When flux or welding wire is lacking or abnormality occurs during welding, the control unit sets voice or alarm light prompts.

3. The submerged arc welding method for automatic compensation of weld deflection based on visual detection according to claim 1 is characterized in that: A control unit, a machine head, a visual weld seam sensing unit and a welding unit are fixed on the welding carriage body; the machine head is located above the three-dimensional position compensation device, the control unit is located on the machine head, and the visual weld seam sensing unit and the welding unit are connected to the machine head.

4. The submerged arc welding method for automatic compensation of weld deflection based on visual detection according to claim 1 is characterized in that: The welding unit comprises a welding wire reel, a wire feeding wheel, a wire guide wheel, a flux hopper, a leakage hopper and a welding gun fixed on the machine head; the welding wire reel, the wire feeding wheel and the wire guide wheel are connected to the welding gun through welding wire transmission, the leakage hopper is connected below the flux hopper, and the leakage hopper is connected to the welding gun.

5. The submerged arc welding method for automatic compensation of weld deflection based on visual detection according to claim 1 is characterized in that: The visual weld seam sensing unit is fixed on the welding gun through a welding gun clamp and an adapter plate. The visual weld seam sensing unit includes a laser and a camera.

6. The submerged arc welding method for automatic compensation of weld deflection based on visual detection according to claim 1 is characterized in that: The three-dimensional position compensation device includes a horizontal adjustment mechanism and an up-and-down adjustment mechanism, each adjustment mechanism includes an adjustment substrate and a servo motor, a transmission mechanism and a moving mechanism fixed thereon; the servo motor is connected to the moving mechanism through the transmission mechanism; The moving mechanism of the up-and-down adjusting mechanism is connected to the machine head, and the moving mechanism of the horizontal adjusting mechanism is connected to the adjusting base plate of the up-and-down adjusting mechanism.

7. The submerged arc welding method for automatic compensation of weld deflection based on visual detection according to claim 6 is characterized in that: The transmission mechanism includes a servo motor, a driving pulley, a V-shaped synchronous belt and a driven pulley fixed on an adjustment base plate. The servo motor is connected to the driving pulley, the driving pulley is connected to the driven pulley through the V-shaped synchronous belt, and the driven pulley is connected to the moving mechanism.

8. The submerged arc welding method for automatic compensation of weld deflection based on visual detection according to claim 6 is characterized in that: The moving mechanism includes a lead screw and a pair of guide rails fixed on an adjustment substrate, and sliders are slidably connected to the lead screw and the pair of guide rails. The slider of the up and down adjustment mechanism is connected to the machine head, and the slider of the horizontal adjustment mechanism is connected to the adjustment substrate of the up and down adjustment mechanism.

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