A welding device

Abstract

The application discloses a welding device, which comprises a first support, a driving assembly, a welding gun assembly, a second support and a weld seam tracking sensor; the weld seam tracking sensor is fixed on the first support, and the driving assembly is fixed on the first support; the welding gun assembly is arranged on the second support, and the driving assembly is configured to drive the second support to rotate relative to the first support, so as to drive the welding gun assembly to swing relative to the weld seam tracking sensor; since the weld seam tracking sensor on the first support is fixed during the swinging of the welding gun assembly, the detection accuracy of the weld seam tracking sensor is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of welding, in particular to a welding device. BACKGROUND

[0002] During the welding process, the welding head of the welding torch needs to swing back and forth between the two sides of the weld while the welding torch moves along the weld (swing from one side of the weld to the other side of the weld, and then swing back from the other side of the weld). The back-and-forth swinging of the welding head is to control the flow of the welding molten metal and obtain the necessary weld width, and to improve the welding quality.

[0003] With the development of production, the requirements for the welding quality of products are getting higher and higher, while the labor intensity of workers is required to be improved. Automatic welding is the current development direction. In the automatic welding process, a weld tracking sensor is needed to detect the weld, so as to guide the movement of the welding torch.

[0004] In the automatic welding process, how to control the flow of the welding molten metal and obtain the necessary weld width without affecting the detection accuracy of the weld tracking sensor due to the swinging of the welding head is a technical problem to be solved in the field. SUMMARY

[0005] One of the embodiments of the present application provides a welding device, which comprises a first support, a driving assembly, a welding torch assembly, a second support and a weld tracking sensor; the weld tracking sensor is fixed on the first support, and the driving assembly is fixed on the first support; the welding torch assembly is arranged on the second support, and the driving assembly is configured to drive the second support to rotate relative to the first support, so as to drive the welding torch assembly to swing relative to the weld tracking sensor.

[0006] In some embodiments, the weld tracking sensor comprises a laser for emitting laser light, and the second support has a hollow inner cavity, and the laser is at least partially accommodated in the inner cavity.

[0007] In some embodiments, the second support comprises an arc-shaped portion, the arc-shaped portion has an inner arc surface facing the first support, and the inner cavity is formed between the inner arc surface and the first support.

[0008] In some embodiments, one end of the first support close to the welding torch assembly is provided with a first mounting portion, the first mounting portion is provided with an accommodation hole, the laser is accommodated in the accommodation hole, and the arc-shaped portion surrounds the outside of the first mounting portion.

[0009] In some embodiments, the first support is provided with an accommodation groove, and the driving assembly is at least partially accommodated in the accommodation groove.

[0010] In some embodiments, the weld seam tracking sensor further comprises a camera located at an end of the first support away from the welding gun assembly, the camera being configured to receive the laser light emitted by the laser and reflected.

[0011] In some embodiments, the second support further comprises a ring-shaped portion connected to the arc-shaped portion, the welding gun assembly being fixed to the ring-shaped portion.

[0012] In some embodiments, the arc-shaped portion is located above the first support, and the ring-shaped portion is located in front of the first support.

[0013] In some embodiments, an inner surface of the ring-shaped portion has the same curvature as an inner surface of the arc-shaped portion.

[0014] In some embodiments, the welding gun assembly comprises a welding head seat and a welding head, the welding head seat comprising a second mounting portion and a third mounting portion connected to each other, the second mounting portion being configured to connect to the second support, and the third mounting portion being configured to connect to the welding head.

[0015] In some embodiments, the third mounting portion is in a tubular shape; the welding gun assembly further comprises a welding wire conduit for a welding wire to pass through, the welding wire conduit passing through an inner tube of the third mounting portion and into the welding head.

[0016] In some embodiments, an insulating member is provided between the second mounting portion and the second support.

[0017] In some embodiments, the driving assembly comprises a motor, an encoder connected to the motor, and a speed reducer connected between the motor and the second support; wherein the encoder is configured to detect at least a rotation angle of an output shaft of the motor. BRIEF DESCRIPTION OF DRAWINGS

[0018] The present application will be further described in the form of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting, and in these embodiments, the same reference numbers represent the same structures, wherein:

[0019] Figure 1 is a perspective view of a welding device according to some embodiments of the present application;

[0020] Figure 2 is a cross-sectional view of a welding device according to some embodiments of the present application;

[0021] Figure 3 is a structural view of a second support of a welding device according to some embodiments of the present application;

[0022] Figure 4 This is a schematic diagram of the structure of the first support and the laser according to some embodiments of this application;

[0023] Figure 5 This is a schematic diagram of the structure of the first support according to some embodiments of this application;

[0024] Figure 6 This is a schematic diagram of the welding torch assembly shown in some embodiments of this application.

[0025] Explanation of reference numerals in the attached drawings: 100, first bracket; 200, second bracket; 300, drive assembly; 400, welding torch assembly; 500, weld seam tracking sensor; 110, first mounting part; 111, receiving hole; 120, receiving groove; 210, arc-shaped part; 211, inner arc surface; 220, annular part; 310, motor; 320, reducer; 330, encoder; 410, welding head holder; 411, second mounting part; 412, third mounting part; 420, welding head; 430, welding wire guide; 510, laser; 520, camera. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0027] Conversely, this application covers any substitutions, modifications, equivalent methods, and schemes made within the spirit and scope of this application as defined in the claims. Furthermore, to provide the public with a better understanding of this application, certain specific details are described in detail below. However, this application can be fully understood by those skilled in the art even without these detailed descriptions.

[0028] During the welding process, as the welding torch assembly moves along the weld seam, the welding head of the torch assembly often needs to oscillate back and forth between the two sides of the weld seam (oscillating from one side of the weld seam to the other side and then back). This oscillation of the welding head is necessary to control the flow of molten metal and achieve the required weld seam width, thereby improving weld quality. In the welding of thick steel plates, this oscillation is required for flat welding, overhead welding, or vertical welding of butt joints, as well as vertical welding of fillet joints. In automated welding, in addition to the welding torch assembly, a weld seam tracking sensor is also needed to track the weld seam. Both the weld seam tracking sensor and the welding torch assembly can be mounted on a robotic arm or industrial robot. The control equipment of the robotic arm or industrial robot can control the movement of the welding torch assembly based on the detection data from the weld seam tracking sensor. In some embodiments, to achieve the oscillation of the welding head of the welding torch assembly, both the welding torch assembly and the weld seam tracking sensor are mounted on a rotatable support. When the rotatable support causes the welding torch assembly to oscillate, the weld seam tracking sensor oscillates along with the welding torch assembly. However, the oscillation of the weld seam tracking sensor may affect its detection accuracy of the weld seam. Some embodiments of this application provide a welding apparatus. The apparatus mounts a weld seam tracking sensor on a first support and a welding torch assembly on a second support. When a drive assembly rotates the second support relative to the first support, the welding torch assembly oscillates while the weld seam tracking sensor remains relatively fixed. This satisfies welding requirements while ensuring the detection accuracy of the weld seam tracking sensor. The welding apparatus of this application can be installed on devices such as robotic arms or industrial robots (e.g., mounted on a robotic arm or industrial robot via the first support) to achieve automated welding.

[0029] Figure 1 This is a three-dimensional structural schematic diagram of a welding apparatus according to some embodiments of this application; Figure 2 This is a cross-sectional view of a welding apparatus according to some embodiments of this application. The following will be combined with... Figures 1-2 The welding apparatus involved in the embodiments of this application will be described in detail. It should be noted that the following embodiments are only used to explain this application and do not constitute a limitation on this application.

[0030] In the embodiments of this application, such as Figures 1-2 As shown, this application provides a welding apparatus, which includes a first support 100, a drive assembly 300, a welding torch assembly 400, a second support 200, and a weld seam tracking sensor 500. The weld seam tracking sensor 500 is fixed to the first support 100, and the drive assembly 300 is fixed to the first support 100; the welding torch assembly 400 is disposed on the second support 200, and the drive assembly 300 is configured to drive the second support 200 to rotate relative to the first support 100, thereby causing the welding torch assembly 400 to swing relative to the weld seam tracking sensor 500.

[0031] In this embodiment, the welding torch assembly 400 may include a welding head holder 410 and a welding head 420. The welding torch assembly 400 may be for electric welding or for gas welding. Preferably, the welding torch assembly 400 is used for gas-shielded electric welding. When the welding head 420 is a gas-shielded welding head 420, the welding head 420 may include a nozzle, a conductive nozzle holder, a conductive nozzle, a gas diffusion structure, and a welding wire guide connected to the second support 200. The conductive nozzle holder, the conductive nozzle, and the gas diffusion structure are all disposed within the nozzle. The welding wire guide 430 is used for the welding wire to pass through, thereby allowing the welding wire to reach the conductive nozzle of the welding head 420. The welding wire is delivered from the welding head holder 410 to the conductive nozzle of the welding head 420 through the welding wire guide. The welding head holder 410 may be connected to a power source, and the conductive nozzle holder and the conductive nozzle guide the current to the welding wire. During the melting process of the welding wire, the welding head ejects a flame, and the direction of the flame ejection is consistent with the length direction of the welding head. A gas diffusion device can diffuse inert gas so that the inert gas can protect the electric arc.

[0032] The drive assembly 300 may have an output shaft connected to the second bracket 200, causing the second bracket 200 to rotate along the output shaft. This output shaft serves as the pivot of the second bracket, which in turn drives the welding torch assembly 400 to oscillate. When the welding torch assembly oscillates, the welding head oscillates accordingly, allowing the tip of the welding head (e.g., the contact tip) to oscillate back and forth between the two sides of the weld (oscillating from one side of the weld to the other and then back). In some embodiments, the length direction of the welding head 420 is not parallel to the pivot of the second bracket 200, so that the end of the welding head 420 furthest from the second bracket 200 is not located on the pivot of the second bracket 200. Therefore, during the oscillation of the welding torch assembly 400, the end of the welding head 420 furthest from the second bracket 200 oscillates in an arc around the pivot of the second bracket 200. For example, as... Figure 2 As shown, the length direction of the welding head ( Figure 2 The direction of the slanted dashed line) and the extension direction of the pivot of the second bracket 200 ( Figure 2 The angle α between the direction of the horizontal dashed line and the direction of the horizontal dashed line can be 30° to 100°. Preferably, the angle α can be 60°. In some embodiments, the drive assembly 300 is configured to drive the second support 200 to reciprocate relative to the first support 100, so that the welding gun assembly 400 oscillates back and forth, thereby forming a weld with a certain width as the welding gun assembly 400 moves along the weld.

[0033] In some embodiments, the weld seam tracking sensor 500 and the drive device can be connected to the first bracket 100 by means of snap-fit, threaded connection, bonding or welding, and the welding torch assembly 400 can also be connected to the second bracket 200 by means of snap-fit, threaded connection, bonding or welding, etc. This application does not impose further restrictions on this.

[0034] In some embodiments, the first support 100 may be connected to a robotic arm or industrial robot, which can drive the entire welding device to move. In other embodiments, the drive assembly 300 may not be fixed to the first support 100, and the first support 100 and the second support 200 may be respectively mounted on two robotic arms or two industrial robots.

[0035] In this embodiment, the weld seam tracking sensor 500 is used to track the weld seam. Since the welding torch assembly can be connected to a robotic arm or industrial robot, the control device of the robotic arm or industrial robot can control the movement of the welding torch assembly based on the detection data of the weld seam tracking sensor. The weld seam tracking sensor 500 may include a camera 520 and a laser 510. The laser 510 emits a laser beam onto the weld seam of the workpiece being welded, and the camera 520 receives the laser beam reflected from the workpiece. The laser beam returning from the weld seam of the workpiece is reflected by the camera 520, thereby acquiring an image of the weld seam to achieve weld seam tracking. The camera 520 may include a camera, video camera, or other imaging device. The weld seam tracking sensor may also include a reflector and a laser exit window. The reflector is configured to reflect the laser beam emitted by the laser 510 through the laser exit window, thereby illuminating the weld seam on the workpiece. In some embodiments, to prevent the camera 520 from being subjected to high-temperature shock during welding, the camera 520 may be located at the end of the first support 100 away from the welding torch assembly. While ensuring imaging quality, the camera 520 can be positioned as close as possible to the drive components to make the welding device structure more compact.

[0036] In some embodiments, the second support 200 has a hollow inner cavity. The laser 510 is at least partially housed within the inner cavity; that is, the laser 510 may be completely housed within the inner cavity, or only partially housed within the inner cavity, with the other part located outside the inner cavity. The inner cavity protects the laser 510 housed within it, effectively preventing the laser 510 from being subjected to high-temperature impacts during the welding process. The shape of the inner cavity can be arc-shaped, square, or any other shape. The shape of the inner cavity is preferably arc-shaped (such as a circular arc or an elliptical arc). When the second support 200 rotates, the arc-shaped inner cavity can reduce the volume of the second support 200, provided that the second support 200 does not interfere with the laser 510. In some embodiments, when the shape of the inner cavity is arc-shaped (such as a circular arc or an elliptical arc), the axis of rotation of the second support 200 can be parallel to the axis of the cylinder corresponding to the circular arc surface, or parallel to the axis of the elliptical cylinder corresponding to the elliptical arc surface. In some alternative embodiments, when the inner cavity is arc-shaped (such as a circular arc or an elliptical arc), the rotation axis of the second support 200 can have a small angle with the axis of the cylinder corresponding to the circular arc surface, or it can have a small angle parallel to the axis of the elliptical cylinder corresponding to the elliptical arc surface, for example, an angle of less than 5°.

[0037] In some embodiments, a predetermined width gap exists between the first support 100 and the second support 200, allowing the second support 200 to rotate within a predetermined angle range. The predetermined angle range can be understood as the interval of the maximum angle of the second support 200. Those skilled in the art can set this predetermined angle range according to welding requirements (such as weld width requirements). For example, in some embodiments, the predetermined angle range can be -10° to 10°. That is, the predetermined angle range of rotation of the second support 200 can be controlled by setting the width of the gap. The aforementioned gap can be understood as the shortest distance between the first support 100 and the second support 200. In other embodiments, the gap between the first support 100 and the second support 200 can be larger. In this case, the rotation angle range of the second support 200 can be controlled by the drive assembly 300.

[0038] Figure 3 This is a schematic diagram of the structure of the second support of the welding apparatus shown in some embodiments of this application. For example... Figure 3 As shown, the second support 200 includes an arcuate portion 210, which has an inner arcuate surface 211 facing the first support 100. The inner arcuate surface 211 is a circular arc surface or an elliptical arc surface, and an inner cavity is formed between the inner arcuate surface 211 and the first support 100. In some embodiments, the arcuate portion 210 may also have an outer arcuate surface that matches the shape of the inner arcuate surface 211. Alternatively, the shape of the outer surface of the arcuate portion 210 may be different from the shape of the inner arcuate surface 211; for example, the outer surface of the arcuate portion 210 may include a planar or irregular surface.

[0039] Figure 4 This is a schematic diagram of the structure of the first support and the laser according to some embodiments of this application. Figure 4 As shown, a first mounting portion 110 is provided at one end of the first bracket 100 near the welding torch assembly 400. The first mounting portion 110 has a receiving hole 111, in which the laser 510 is received, and an arc-shaped portion 210 surrounds the first mounting portion 110. In some embodiments, the first mounting portion 110 may be a boss protruding from the surface of the first bracket 100. For example, it may be a boss protruding upward from the upper surface or a boss protruding forward from the front surface.

[0040] In some embodiments, in order to ensure that the laser emitted by the laser 510 is emitted smoothly, the first mounting part 110 is provided with an emission hole that communicates with the receiving hole 111, so that the laser emitted by the laser 510 can be directed from the emission hole to the welding workpiece.

[0041] Figure 5 This is a schematic diagram of the structure of the first support according to some embodiments of this application. For example... Figure 1 and Figure 5 As shown, the first support 100 is provided with a receiving groove 120, and the drive component 300 is at least partially received in the receiving groove 120. By providing the receiving groove 120 on the first support 100, the structure of the entire welding device can be made more compact and smaller in size, and the receiving groove 120 can also protect the drive component 300, effectively reducing the high temperature impact on the drive component 300 during the welding process.

[0042] In some embodiments, the welding apparatus may further include a housing, within which the first support 100, the second support 200, the weld seam tracking sensor 500, and the drive assembly 300 may be housed. The housing may have openings that allow laser light to be directed toward the weld seam of the workpiece and allow laser light returning from the weld seam of the workpiece to illuminate the camera 520. The housing provides better protection for the various components of the welding apparatus.

[0043] In some embodiments, such as Figure 3 As shown, the second support 200 also includes an annular portion 220 connected to the arc-shaped portion 210, and the welding torch assembly 400 is fixed to the annular portion 220. The design of the annular portion 220 increases the contact area between the second support 200 and the welding torch assembly, allowing the welding torch assembly to be more stably connected to the second support 200. The annular portion 220 and the arc-shaped portion 210 can be connected together by welding, bonding, or other methods; alternatively, the entire second support 200 can be integrally formed.

[0044] In some embodiments, the arc-shaped portion 210 is located above the first support 100, and the annular portion 220 is located in front of the first support 100. By setting the relative positions of the first support 100 and the second support 200 in this way, while ensuring that the arc-shaped portion 210 can surround the laser 510 to protect the laser 510, the annular portion 220 and the welding torch assembly 400 will not interfere with the first support 100 during the rotation of the second support 200. The entire welding device has a compact structure and can stably perform welding operations.

[0045] In some embodiments, the inner annular surface of the annular portion 220 and the inner arc surface 211 of the arcuate portion 210 have the same curvature. Same curvature can be understood as the inner annular surface and the inner arc surface having the same degree of curvature. In some embodiments, the outer contour of the annular portion 220 is circular, and the outer arc surface of the arcuate portion 210 is an arc surface. The curvature of the outer contour of the annular portion 220 and the outer arc surface of the arcuate portion 210 can also be the same. When the curvature of the inner annular surface of the annular portion 220 and the inner arc surface 211 of the arcuate portion 210 is the same, the inner surface of the second bracket 200 (including the inner annular surface and the inner arc surface 211) can be more easily processed. Similarly, when the curvature of the outer contour of the annular portion and the outer arc surface of the arcuate portion 211 is the same, the outer surface of the second bracket 200 (including the outer contour of the annular portion 220 and the outer arc surface) can also be more easily processed.

[0046] When the inner arc surface 211 of the arc-shaped portion 210 is a circular arc surface, the axis of the annular portion 220 is parallel to the axis of the cylinder corresponding to the circular arc surface. Preferably, the axis of the annular portion 220 coincides with the axis of the cylinder corresponding to the circular arc surface. When the inner arc surface 211 of the arc-shaped portion 210 is an elliptical arc surface, the axis of the annular portion 220 is parallel to the axis of the elliptical cylinder corresponding to the elliptical arc surface. Preferably, the axis of the annular portion 220 coincides with the axis of the elliptical cylinder corresponding to the elliptical arc surface. The curvature and relative position settings of the annular portion 220 and the arc-shaped portion 210 facilitate the manufacturing and structural stability of the entire second support 200. In particular, when the curvature of the annular portion 220 and the arc-shaped portion 210 are the same, and the axis of the annular portion 220 coincides with the axis of the cylinder (elliptical cylinder) corresponding to the circular arc surface (elliptical arc), the second support 200 can be integrally formed and manufactured more conveniently.

[0047] Figure 6 These are schematic diagrams of the welding torch assembly shown in some embodiments of this application, such as... Figure 6As shown, the welding torch assembly 400 also includes a welding head holder 410 and a welding head 420. The welding head holder 410 includes a second mounting portion 411 and a third mounting portion 412 connected to each other. The second mounting portion 411 is detachably connected to the second bracket 200, and the third mounting portion 412 is used to connect the welding head 420. By making the second mounting portion 411 and the second bracket 200 detachably connected, the welding torch assembly 400 can be easily repaired or replaced. The welding head 420 can be connected to the third mounting portion 412 by means of snap-fit, threaded connection, bonding, welding, etc. In some embodiments, the outer contour of the second mounting portion 411 can match the outer contour of the annular portion 220 to maximize the contact area between the second mounting portion 411 and the annular portion 220. For example, when the annular portion 220 of the second bracket 200 is a ring, the second mounting portion 411 can be disc-shaped.

[0048] In some embodiments, the third mounting portion 412 is tubular; the welding head 420 is connected to the tubular third mounting portion 412. Preferably, the welding head 420 is mounted on the third mounting portion 412 by means of snap-fit ​​or threaded connection. In some embodiments, a welding wire guide can be provided that passes through the third mounting portion 412 and enters the welding head 420. The welding wire passes through the tube of the third mounting portion 412 and enters the welding head 420, and the welding wire reaches the welding head 420 through the welding wire guide. By providing the tubular third mounting portion 412, the third mounting portion 412 can effectively protect the welding wire passing through it.

[0049] In some embodiments, a cooling structure may be provided on the tubular third mounting portion 412. For example, a cooling pipe may be provided around the inner surface of the tubular third mounting portion 412. When coolant is introduced into the cooling pipe, the third mounting portion 412 can be cooled.

[0050] In some embodiments, the angle between the axis of the tubular third mounting portion 412 and the direction of rotation of the second bracket 200 can be less than 180°, and the welding head 420 can be inserted into the third mounting portion 412, so that the angle ∠a between the length direction of the welding head 420 and the rotation axis of the second bracket 200 can be 30~100°.

[0051] In some embodiments, the third mounting portion 412 can be connected to a power source, and the welding head 420 is powered by it. An insulating member is provided between the second mounting portion 411 and the second support 200. The insulating member serves to insulate, thereby separating the various conductors. The insulating member can be made of ceramic, rubber, or the like. In this embodiment, since both the welding head holder 410 and the second support 200 may be conductors, the insulating member can effectively prevent current from being transmitted from the welding head holder 410 to the second support 200, thereby ensuring the safety of the operator and ensuring the stable operation of the various components of the welding device.

[0052] In some embodiments, the drive assembly 300 includes a motor 310, an encoder 330 connected to the motor 310, and a reducer connected between the motor 310 and the second bracket 200. In some embodiments, the motor and reducer are coaxially arranged, making the drive assembly 300 simple in structure and easy to arrange. In this embodiment, the motor 310 serves as the drive source of the drive assembly 300. In other embodiments, hydraulic cylinders, pneumatic cylinders, etc., can also be used as the drive source. The encoder 330 is used at least to detect the rotation angle of the output shaft of the motor 310. The encoder 330 connected to the motor 310 can be understood as a rotary sensor that converts rotational displacement into digital pulse signals, which can be used to detect and control the angular displacement of the output shaft of the motor 310. By setting the encoder 330 connected to the motor 310, the rotational speed of the output shaft of the motor 310 can be measured, and the rotation angle of the output shaft of the motor 310 can also be detected. For example, the encoder 330 can be used for zero-position correction at the start of welding. Preferably, the reducer 320 can be a planetary gear reducer 320, which allows for a more compact structure of the drive assembly 300, thereby reducing the size of the welding device. In other embodiments, the reducer 320 can also be a helical gear reducer 320, a worm gear reducer 320, etc. In some embodiments, the reducer 320 and the hollow support can be connected via bearings and flanges.

[0053] The beneficial effects that the welding device disclosed in this application may bring include, but are not limited to: (1) the driving component drives the second support to rotate, thereby causing the welding torch assembly to swing, while the first support does not swing with the second support, which can ensure the detection accuracy of the weld seam tracking sensor set on the first support; (2) the weld seam tracking sensor is better protected, effectively preventing the weld seam tracking sensor from being subjected to high temperature impact; (3) the welding device has a compact structure and small size, and can realize welding operations in a narrow space. It should be noted that different embodiments may produce different beneficial effects. In different embodiments, the beneficial effects that may be produced can be any one or a combination of the above, or any other possible beneficial effects.

[0054] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A welding apparatus, characterized in that, Includes a first support, a drive assembly, a welding torch assembly, a second support, and a weld seam tracking sensor; The weld seam tracking sensor is fixed on the first bracket. The weld seam tracking sensor includes a laser for emitting laser light and a camera located on the first bracket at the end away from the welding torch assembly. The camera is used to receive the laser light emitted by the laser and reflected from it. The drive assembly is fixed to the first bracket, and the drive assembly has an output shaft connected to the second bracket so that the second bracket rotates along the output shaft; The welding torch assembly is mounted on the second support, which has a hollow inner cavity in which the laser is at least partially housed; the second support includes an arcuate portion having an inner arcuate surface facing the first support, and the inner cavity is formed between the inner arcuate surface and the first support. The first bracket has a first mounting portion at one end near the welding torch assembly. The first mounting portion has a receiving hole, the laser is housed in the receiving hole, and the arc-shaped portion surrounds the first mounting portion. The drive assembly is configured to drive the second bracket to rotate relative to the first bracket, thereby causing the welding torch assembly to oscillate relative to the weld seam tracking sensor.

2. The welding apparatus as described in claim 1, characterized in that, The first bracket is provided with a receiving groove, and the drive assembly is at least partially received in the receiving groove.

3. The welding apparatus as described in claim 1, characterized in that, The second bracket also includes an annular portion connected to the arcuate portion, and the welding torch assembly is fixed to the annular portion.

4. The welding apparatus as described in claim 3, characterized in that, The arc-shaped portion is located above the first bracket, and the annular portion is located in front of the first bracket.

5. The welding apparatus as described in claim 4, characterized in that, The inner annular surface of the annular portion has the same curvature as the inner arc surface of the arc-shaped portion.

6. The welding apparatus as described in claim 1, characterized in that, The welding torch assembly includes a welding head holder and a welding head. The welding head holder includes a second mounting portion and a third mounting portion connected to each other. The second mounting portion is used to connect to the second bracket, and the third mounting portion is used to connect to the welding head.

7. The welding apparatus as described in claim 6, characterized in that, The third mounting part is tubular; the welding gun assembly also includes a welding wire conduit through which the welding wire passes, the welding wire conduit passing through the tube of the third mounting part and entering the welding head.

8. The welding apparatus as described in claim 6, characterized in that, An insulating component is provided between the second mounting part and the second bracket.

9. The welding apparatus as claimed in claim 1, characterized in that, The drive assembly includes a motor, an encoder connected to the motor, and a reducer connected between the motor and the second bracket; wherein the encoder is used at least to detect the rotation angle of the output shaft of the motor.

Images