Electro-gas welding apparatus and method of use

Abstract

The application provides a gas-electric vertical welding device and a use method thereof. The gas-electric vertical welding device comprises a walking mechanism, a construction platform, a control center, at least one welding mechanism and at least one visual sensor. The welding mechanism is movably connected to the walking mechanism. The construction platform is arranged below the welding mechanism and is used for placing a workpiece to be welded. The visual sensor is arranged on the welding mechanism and is communicatively connected to the control center. The visual sensor is used for acquiring weld information of the workpiece to be welded. The control center is used for receiving the weld information and controlling the movement of the walking mechanism and the movement of the welding mechanism according to the weld information. The gas-electric vertical welding device and the use method thereof provided by the application introduce visual detection technology by arranging the visual sensor, so as to automatically detect the weld information, thereby realizing few-person production and flexible production.

Description

Technical Field

[0001] This application relates to the field of welding technology, and in particular to a gas-electric vertical welding device and its method of use. Background Technology

[0002] As intelligent manufacturing continues to advance, higher demands are being placed on the reduction of manpower and the increase in flexibility in the equipment manufacturing industry.

[0003] Electro-gas welding (EGW) is a gas-shielded arc welding technology developed from conventional gas metal arc welding and electroslag welding. It is widely used in medium and heavy plate welding operations in shipbuilding, steel structures, and special equipment industries. During welding, a water-cooled copper slider is placed on the front side of the weld, and a water-cooled baffle (or backing) is placed on the back side. The welding wire is then molten and fed into the groove formed by the workpiece and the baffle.

[0004] However, existing gas-fired vertical welding equipment has difficulty accurately positioning the welding wire above the groove, requiring manual adjustment of the welding torch slider position in real time, resulting in a large workload for welding personnel. Summary of the Invention

[0005] This application provides a gas-electric vertical welding device and its usage method to solve the problem that existing gas-electric vertical welding devices are difficult to accurately position the welding wire above the groove, requiring manual real-time adjustment of the welding mechanism slider position, resulting in a large workload for welding personnel.

[0006] On the one hand, this application provides a gas-electric vertical welding device, which includes a walking mechanism, a construction platform, a control center, at least one welding mechanism and at least one vision sensor;

[0007] The welding mechanism is located on the traveling mechanism, and the construction platform is located below the welding mechanism and is used to place the workpiece to be welded.

[0008] The vision sensor is actively connected to the welding mechanism and communicatively connected to the control center. The vision sensor is used to acquire weld seam information of the workpiece to be welded. The control center is used to receive the weld seam information and control the movement of the walking mechanism and the welding mechanism based on the weld seam information.

[0009] The gas-electric vertical welding equipment provided in this application introduces visual inspection technology by setting up a visual sensor to automatically detect the information of the seam to be welded. If the position of the workpiece to be welded is deviated, the weld seam can be automatically located. Combined with mechanical structures such as the walking mechanism, the welding torch position is automatically adjusted to improve the accessibility of gas-electric vertical welding. There is no need for manual adjustment of the welding torch slider position in real time, which can effectively reduce the workload of construction personnel and realize less-manned and flexible production.

[0010] Specifically, the gas-electric vertical welding equipment includes a traveling mechanism, a construction platform, a control center, at least one welding mechanism, and at least one vision sensor. The welding mechanism is movably connected to the traveling mechanism so that the traveling mechanism can move the welding mechanism. The construction platform is located below the welding mechanism and is used to place the workpiece to be welded. Thus, the traveling mechanism can move the welding mechanism above the workpiece. The vision sensor is located on the welding mechanism and is communicatively connected to the control center. The vision sensor is used to acquire weld seam information of the workpiece to be welded. The control center is used to receive the weld seam information and control the movement of the traveling mechanism and the welding mechanism based on the weld seam information. In this way, the gas-electric vertical welding equipment can accurately adjust the welding mechanism without the need for manual real-time adjustment of the welding torch slider position.

[0011] In one possible implementation, the traveling mechanism includes at least one ground rail, at least one vertical rail, and at least one horizontal rail. The ground rail and the horizontal rail are parallel to the platform surface of the construction platform. The vertical rail is at an angle to the platform surface of the construction platform. The vertical rail is slidably connected to the ground rail along the extension direction of the ground rail. One end of the horizontal rail is slidably connected to the vertical rail along the extension direction of the vertical rail. The welding mechanism is slidably connected to the horizontal rail along the extension direction of the horizontal rail.

[0012] In one possible implementation, the vertical rail includes a sliding section and a rotating section. The sliding section is slidably connected to the ground rail along the extension direction of the ground rail, and the rotating section is rotatably connected to the sliding section. One end of the horizontal rail is slidably connected to the rotating section along the extension direction of the vertical rail.

[0013] In one possible implementation, the welding mechanism includes a slider, a lifting rail, a welding torch, a drive unit, a first fine-tuner, and a second fine-tuner.

[0014] The slider is slidably connected to the horizontal rail along the extension direction of the horizontal rail, and the lifting rail is oscillating around the extension direction of the horizontal rail and connected to the slider; the first fine adjuster and the second fine adjuster are spaced apart along the extension direction of the lifting rail, the feed end of the welding gun is connected to the first fine adjuster, and the middle section of the welding gun is connected to the second fine adjuster; the driving component is set on the lifting rail, and the driving component is used to drive the first fine adjuster and the second fine adjuster to move along the extension direction of the lifting rail.

[0015] In one possible implementation, the tube wall of the welding torch includes an inner ring and an outer ring sleeved around the outer periphery of the inner ring. The inner ring, the outer ring, and the walls at both ends of the welding torch form a cooling cavity, which is used to contain a first coolant.

[0016] The first fine-tuner is equipped with a liquid inlet and a liquid outlet, both of which are connected to the cooling chamber.

[0017] The inner ring is a metal layer, and the outer ring is a wear-resistant insulating layer.

[0018] In one possible implementation, the inner layer includes a first layer and a second layer that are disposed inside and outside each other and in contact with each other, wherein the first layer is disposed away from the outer layer and the second layer is disposed close to the outer layer.

[0019] The first layer is a thermally conductive metal layer, and the second layer is a reinforcing metal layer.

[0020] In one possible implementation, the welding end of the welding torch is equipped with a ceramic nozzle, and the first fine-tuner is equipped with an air inlet connected to the ceramic nozzle.

[0021] In one possible implementation, a composite stop is also included, which is used to block the opening side of the weld.

[0022] The composite block includes a liquid-cooled block, a core rod, and at least one coil. The liquid-cooled block has a liquid-cooled cavity for containing a second coolant. The two ends of the liquid-cooled block are respectively provided with an inlet and an outlet, both of which are connected to the liquid-cooled cavity.

[0023] The two sides opposite to the liquid cooling block are the first side and the second side, respectively. When the composite block is placed on the opening side of the weld, the first side faces the weld and the second side is away from the weld.

[0024] The core rod extends toward the liquid cooler block and has a connecting part. The connecting part is connected to the second side. The coil is wound on the remaining part of the core rod that does not extend beyond the connecting part. The coil is used to generate an alternating magnetic field when energized.

[0025] In one possible implementation, the liquid cooler is a high thermal conductivity block, and / or the core rod is a high magnetic permeability rod.

[0026] In one possible implementation, a slag discharge channel is provided on the first side of the liquid cooling block, and the slag discharge channel extends along the length of the liquid cooling block.

[0027] On the other hand, this application also provides a method of using a gas-electric vertical welding equipment, applicable to the gas-electric vertical welding equipment provided in any of the above implementations, the method of use including:

[0028] Place the workpiece to be welded on the construction platform;

[0029] The welding torch is adjusted to be above and parallel to the weld seam of the workpiece to be welded by means of a walking mechanism, a welding mechanism and a vision sensor, and the swing parameters of the welding torch are determined.

[0030] Determine the lifting parameters of the welding torch;

[0031] Welding begins;

[0032] Welding completed.

[0033] The method of using the gas-electric vertical welding equipment provided in this application introduces visual inspection technology to automatically detect weld information. If the position of the workpiece to be welded is deviated, the weld can be automatically located. Combined with mechanical structures such as the walking mechanism, the welding gun position is automatically adjusted. There is no need for manual adjustment of the welding gun slider position in real time, which can effectively reduce the workload of construction personnel and realize less-manned and flexible production.

[0034] Specifically, the method of using the gas-electric vertical welding equipment includes: placing the workpiece to be welded on the construction platform for subsequent processing; adjusting the welding torch to be above and parallel to the weld seam of the workpiece through the walking mechanism, welding mechanism, and vision sensor, and determining the swing parameters of the welding torch so that the welding torch swings according to the swing parameters during subsequent welding; determining the lifting parameters of the welding torch so that the welding torch is lifted according to the lifting parameters during subsequent welding; starting welding; and completing welding.

[0035] In one possible implementation, the welding torch is adjusted to be above and parallel to the weld seam of the workpiece to be welded by means of a walking mechanism, a welding mechanism and a vision sensor, and the oscillation parameters of the welding torch are determined, including;

[0036] Control the walking mechanism to adjust the welding mechanism to be above the workpiece to be welded;

[0037] Control the welding mechanism to adjust the welding torch to be parallel to the weld seam of the workpiece to be welded.

[0038] The cross-sectional information of the weld is obtained through a vision sensor, and the welding torch is moved above the center of the weld.

[0039] Along the swing direction of the welding torch, swing the welding torch to both ends of the weld seam respectively, and obtain the swing coordinate parameters of the welding torch;

[0040] Based on the thickness of the workpiece to be welded, determine the oscillation time parameters of the welding torch.

[0041] In one possible implementation, before determining the lifting parameters of the welding torch, the method further includes:

[0042] The composite stop is placed on the open side of the weld;

[0043] Connect the welding torch's liquid inlet to the welding torch's liquid supply pipe, and connect the welding torch's liquid outlet to the welding torch's liquid return pipe.

[0044] Connect the liquid inlet of the composite baffle to the baffle supply pipe, and connect the liquid outlet of the composite baffle to the baffle return pipe.

[0045] The coil of the conductive composite stop block;

[0046] Connect the welding wire to the feed end of the welding gun;

[0047] Connect the air intake port to the protective gas supply pipe.

[0048] The structure of this application, as well as its other inventive objectives and beneficial effects, will become more apparent from the description of the preferred embodiments taken in conjunction with the accompanying drawings. Attached Figure Description

[0049] The above and other objects, features, and advantages of embodiments of this application will become more readily understood through the following detailed description with reference to the accompanying drawings. In the drawings, several embodiments of this application will be described by way of example and non-limitation, wherein:

[0050] Figure 1 A schematic diagram of the gas-electric vertical welding equipment provided in the embodiments of this application;

[0051] Figure 2 for Figure 1 A schematic diagram of the welding mechanism;

[0052] Figure 3 for Figure 2 Enlarged view of part A in the middle;

[0053] Figure 4 A schematic cross-sectional view of the welding torch provided in an embodiment of this application;

[0054] Figure 5 A schematic diagram of the workpiece to be welded and the composite stop provided in an embodiment of this application;

[0055] Figure 6 for Figure 5 A schematic diagram of the first side view of the composite block;

[0056] Figure 7 for Figure 5 A schematic diagram of the second side view of the composite block;

[0057] Figure 8 for Figure 7 A schematic diagram of the circuit principle of the intermediate coil;

[0058] Figure 9 for Figure 7 A schematic diagram of the forces acting on the molten droplet during the operation of the intermediate coil;

[0059] Figure 10 A flowchart illustrating the method of using the gas-electric vertical welding equipment provided in this application embodiment.

[0060] Figure label:

[0061] 100-Gas-Electric Vertical Welding Equipment;

[0062] 110-Traveling mechanism; 111-Ground rail; 112-Vertical rail; 1121-Sliding section; 1122-Rotating section; 113-Horizontal rail;

[0063] 120-Welding mechanism; 121-Slider; 122-Lifting rail; 123-Welding torch; 1231-Inner ring; 1231a-First ring; 1231b-Second ring; 1232-Outer ring; 1233-Cooling chamber; 1234-Ceramic nozzle; 1235-Welding wire guide connector; 124-Driver; 125-First fine adjuster; 1251-Liquid inlet; 1252-Liquid outlet; 1253-Air inlet; 126-Second fine adjuster; 127-Insulating plate; 128-Longitudinal locking adjustment component; 129-Transverse locking adjustment component; 1210-Longitudinal anti-vibration linkage;

[0064] 130 - Vision sensor;

[0065] 140 - Construction platform;

[0066] 150 - Composite baffle; 151 - Liquid cooling block; 1511 - Liquid inlet; 1512 - Liquid outlet; 1513 - Slag discharge trough; 152 - Core rod; 1521 - Connecting part; 153 - Coil;

[0067] 200 - Workpiece to be welded; 210 - Weld; 211 - Open side. Detailed Implementation

[0068] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0069] As the country deepens its strategy of building a manufacturing powerhouse and the promotion of intelligent manufacturing continues, higher demands are being placed on the reduction of manpower and the increasing flexibility of the equipment manufacturing industry.

[0070] Electro-gas welding (EGW) is a gas shielded arc welding technology developed from conventional gas metal arc welding and electroslag welding. It is widely used in medium and heavy plate welding operations in shipbuilding, steel structure, special equipment and other fields.

[0071] During welding, a water-cooled copper slider is set on the front side of the weld and a water-cooled baffle (or pad) is set on the back side of the weld. Then, the welding wire is melted and fed into the groove formed by the workpiece to be welded and the baffle. The molten pool is constrained on all four sides, which can realize single-sided welding and double-sided forming in one go, resulting in high welding efficiency.

[0072] However, existing gas-fired vertical welding equipment still has the following technical problems:

[0073] 1. Gas-electric vertical welding equipment has poor flexibility. If the position of the workpiece to be welded is deviated, the gas-electric vertical welding equipment has difficulty accurately positioning the welding wire above the groove. It is necessary to manually adjust the position of the welding gun slider in real time, which results in a large workload for the welding personnel.

[0074] 2. Gas-electric vertical welding has a large heat input, resulting in coarse grains in the weld joint and poor mechanical properties, which is the shortcoming of the entire workpiece.

[0075] A welded joint refers to the point where two or more parts are joined by welding. Alternatively, it refers to a joint where two or more parts are connected by welding, including the weld, fusion zone, and heat-affected zone.

[0076] 3. During welding operations, the welding torch is prone to wear and electrical damage from contact with the workpiece.

[0077] 4. The required cooling degree for the welded joint differs from that required for the welding torch.

[0078] In view of this, the present application provides a gas-electric vertical welding equipment and its usage method. By setting up a vision sensor and introducing vision detection technology, the equipment can automatically detect the information of the weld seam. If the position of the workpiece to be welded is deviated, the weld seam can be automatically located. Combined with mechanical structures such as the walking mechanism, the position of the welding torch can be automatically adjusted to improve the accessibility of gas-electric vertical welding. There is no need for manual adjustment of the position of the welding torch slider in real time, which can effectively reduce the workload of construction personnel and realize less-manned and flexible production.

[0079] The gas-electric vertical welding equipment and its usage method provided in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0080] Example 1

[0081] Figure 1 This is a schematic diagram of the gas-electric vertical welding equipment provided in an embodiment of this application. Figure 1 As shown, this application embodiment provides a gas-electric vertical welding equipment 100, which includes a walking mechanism 110, a construction platform 140, a control center, at least one welding mechanism 120 and at least one vision sensor 130. The welding mechanism 120 is disposed on the walking mechanism 110 so that the walking mechanism 110 can drive the welding mechanism 120 to move. The construction platform 140 is disposed below the welding mechanism 120 and is used to place the workpiece 200 to be welded. Thus, the walking mechanism 110 can drive the welding mechanism 120 to move above the workpiece 200 to be welded.

[0082] A vision sensor 130 is movably connected to a welding mechanism 120. The welding mechanism 120 can move the vision sensor 130 above the workpiece 200 to be welded, so as to collect weld seam 210 information of the workpiece 200 at close range. The vision sensor 130 is also communicatively connected to a control center. The vision sensor 130 is used to acquire weld seam 210 information of the workpiece 200, and the control center is used to receive the weld seam 210 information and control the movement of the walking mechanism 110 and the welding mechanism 120 based on the weld seam 210 information.

[0083] Thus, with the introduction of visual inspection technology, the gas-electric vertical welding equipment 100 can automatically detect the information of the weld seam 210 and accurately adjust the welding mechanism 120. If the position of the workpiece to be welded is deviated, the weld seam 210 can also be automatically located without the need for manual real-time adjustment of the position of the welding gun 123 slider 121. This can effectively reduce the workload of construction personnel and realize less-manned and flexible production.

[0084] For example, the vision sensor 130 can be a 3D camera. 3D cameras are mainly used for 3D positioning and 3D measurement of products in three-dimensional space. Structurally, they can be monocular, binocular, laser line scan, TOF, etc.; or, the vision sensor 130 can be other types of vision sensors 130, which is not limited in this embodiment.

[0085] like Figure 1 As shown, the traveling mechanism 110 may include at least one ground rail 111, at least one vertical rail 112, and at least one horizontal rail 113. The ground rail 111 and the horizontal rail 113 are parallel to the platform surface of the construction platform 140. The vertical rail 112 forms an angle with the platform surface of the construction platform 140. The vertical rail 112 is slidably connected to the ground rail 111 along its extension direction. One end of the horizontal rail 113 is slidably connected to the vertical rail 112 along its extension direction. The welding mechanism 120 is slidably connected to the horizontal rail 113 along its extension direction. Thus, the welding mechanism 120 can be adjusted in three directions, thereby achieving adjustment of the welding mechanism 120 at any position in three-dimensional space.

[0086] For example, the vertical rail 112 may include a sliding section 1121 and a rotating section 1122. The sliding section 1121 is slidably connected to the ground rail 111 along the extension direction of the ground rail 111, and the rotating section 1122 is rotatably connected to the sliding section 1121. One end of the horizontal rail 113 is slidably connected to the rotating section 1122 along the extension direction of the vertical rail 112. In this way, the rotating section 1122 can drive the horizontal rail 113 to rotate. During welding, the horizontal rail 113 can rotate to be above the workpiece 200 to be welded, so that the welding mechanism 120 on the horizontal rail 113 can move above the workpiece 200 to be welded. After welding is completed, the horizontal rail 113 can rotate to be parallel to the ground rail 111 to avoid the workpiece and facilitate the removal and placement of the workpiece.

[0087] In practical applications, the traveling mechanism 110 may include two ground rails 111, two vertical rails 112, and two horizontal rails 113. The two ground rails 111, two vertical rails 112, and two horizontal rails 113 may be symmetrically distributed to process simultaneously and improve work efficiency, or they may operate independently.

[0088] Figure 2 for Figure 1 A schematic diagram of the welding mechanism; Figure 3 for Figure 2 A magnified view of part A in the middle. (See image below.) Figure 2 and Figure 3 As shown, the welding mechanism 120 may include a slider 121, a lifting rail 122, a welding torch 123, a drive unit 124, a first fine adjuster 125, and a second fine adjuster 126. The slider 121 is slidably connected to the horizontal rail 113 along its extension direction to move the welding torch 123. The lifting rail 122 is oscillatingly connected to the slider 121 about the extension direction of the horizontal rail 113 to oscillate the welding torch 123. The first fine adjuster 125 and the second fine adjuster 126 are spaced apart along the extension direction of the lifting rail 122. The welding torch 123 is configured such that its feed end is connected to a first fine adjuster 125, and its middle section is connected to a second fine adjuster 126. The first fine adjuster 125 and the second fine adjuster 126 can adjust the parallelism between the welding torch 123 and the lifting rail 122, thereby adjusting the angle of the welding torch 123 so that the welding torch 123 can be adjusted to be parallel to the weld seam 210. The driving member 124 is disposed on the lifting rail 122 and is used to drive the first fine adjuster 125 and the second fine adjuster 126 to move along the extension direction of the lifting rail 122.

[0089] It should be noted that the welding gun 123 has a feeding end and a welding end at its two ends, respectively. The feeding end is used to introduce the welding wire. The feeding end of the welding gun 123 has a welding wire guide connection port 1235 to introduce the welding wire into the welding gun 123. The welding end is used to discharge the molten welding wire.

[0090] In practical applications, the welding end of the welding torch 123 can be equipped with a ceramic nozzle 1234, and the first fine-tuner 125 is equipped with an air inlet 1253, which is connected to the ceramic nozzle 1234 to provide shielding gas during welding. Furthermore, the ceramic nozzle 1234 has good wear resistance, preventing wear and electrical damage to the welding end of the welding torch 123. The shielding gas can be CO2, or it can be other gases such as argon, helium, or nitrogen; this embodiment does not impose any limitations.

[0091] For example, the wall thickness of the ceramic nozzle 1234 can be greater than the wall thickness of the middle section of the welding torch 123 to further improve wear resistance and prevent wear and electrical damage to the welding end of the welding torch 123.

[0092] For example, the drive unit 124 can be a low-speed lifting motor to control the welding torch 123 to rise and fall at an appropriate speed. Alternatively, the drive unit 124 can be located at the top of the lifting rail 122. In this case, the first fine-tuning device 125, which is closer to the drive unit 124, can be the driving element, and the second fine-tuning device 126, which is farther from the drive unit 124, can be the driven element.

[0093] Additionally, the welding mechanism 120 may be equipped with a longitudinal locking adjustment member 128 and a transverse locking adjustment member 129 to manually adjust the longitudinal (i.e.,) position of the lifting rail 122. Figure 3 The z-axis direction) position and the lateral direction (i.e. Figure 3 The welding torch 123 can be precisely adjusted to be directly above the workpiece 200 to be welded by using the y-axis position in the welding mechanism 120 together. The welding mechanism 120 can also be equipped with a longitudinal anti-vibration linkage 1210 and a lifting rail 122 to prevent longitudinal vibration, thus ensuring welding stability.

[0094] To improve the safety of the welding torch, an insulating plate 127 may be provided between the welding torch 123 and the lifting rail 122 to prevent short circuits. For example, the insulating plate 127 may be a blank circuit board without any circuits or components.

[0095] Figure 4 This is a cross-sectional schematic diagram of the welding torch provided in an embodiment of this application. Figure 4 As shown, the tube wall of the welding torch 123 may include an inner ring layer 1231 and an outer ring layer 1232 sleeved around the outer periphery of the inner ring layer 1231. The inner ring layer 1231, the outer ring layer 1232 and the walls at both ends of the welding torch 123 form a cooling chamber 1233. The cooling chamber 1233 is used to contain the first coolant. The first fine adjuster 125 is provided with a liquid inlet 1251 and a liquid outlet 1252. Both the liquid inlet 1251 and the liquid outlet 1252 are connected to the cooling chamber 1233 to dissipate heat for the welding torch 123.

[0096] For example, the first coolant can be deionized water. The cooling chamber 1233 of the welding torch 123 is relatively narrow, and the diameters of the inlet and outlet ports are also small. Deionized water is less prone to scale formation, thus preventing blockage. Alternatively, the first coolant can also be ethylene glycol-based coolant or other scale-inhibiting coolants; this embodiment does not impose any limitations.

[0097] The inner ring 1231 of the welding torch 123 can be a metal layer for heat conduction; the outer ring 1232 of the welding torch 123 can be a wear-resistant insulating layer to improve the safety of the welding torch 123.

[0098] like Figure 4As shown, the inner ring 1231 may include a first ring 1231a and a second ring 1231b that are disposed inside and outside each other and in contact with each other. The first ring 1231a is disposed away from the outer ring 1232, and the second ring 1231b is disposed close to the outer ring 1232. The first ring 1231a is a heat-conducting metal layer for heat conduction, and the second ring 1231b is a reinforcing metal layer to enhance the structural strength of the welding torch 123.

[0099] For example, the thermally conductive metal layer can be a metal layer with a high thermal conductivity, such as copper or silver, and the reinforcing metal layer can be a high-strength alloy layer.

[0100] Figure 5 A schematic diagram of the workpiece to be welded and the composite stop provided in an embodiment of this application; Figure 6 for Figure 5 A schematic diagram of the first side view of the composite block; Figure 7 for Figure 5 A schematic diagram of the second side view of the composite stop. (See diagram below.) Figures 5-7 As shown, the gas-electric vertical welding equipment 100 may also include a composite block 150, which is used to block the opening side 211 of the weld 210 to prevent the molten welding wire from flowing out of the weld 210 and form a good welded joint.

[0101] The composite baffle 150 includes a liquid-cooled block 151, a core rod 152, and at least one coil 153. The liquid-cooled block 151 has a liquid-cooling cavity for containing a second coolant. An inlet 1511 and an outlet 1512 are respectively provided at both ends of the liquid-cooled block 151, both connected to the liquid-cooling cavity to dissipate heat from the welding joint. Separate heat dissipation for the welding joint and the welding torch 123 satisfies their different heat dissipation requirements, achieving a good heat dissipation effect.

[0102] For example, the second coolant can be an ethylene glycol-based coolant, which is formulated using ethylene glycol as an antifreeze and with the addition of small amounts of anti-foaming, anti-corrosion, and other comprehensive additives. The weld 210 joint has a high temperature, and this coolant has characteristics such as a high boiling point, low foaming tendency, good viscosity-temperature performance, corrosion resistance, and scale prevention, thus achieving a good cooling effect. Alternatively, the second coolant can also be other types of coolants such as glycerin-based coolants; this embodiment does not impose any limitations.

[0103] For ease of description, the two opposite sides of the liquid cooling block 151 are defined as the first side and the second side, respectively. When the composite stop 150 is positioned on the opening side 211 of the weld 210, the first side faces the weld 210, and the second side faces away from the weld 210. The mandrel 152 extends towards the liquid cooling block 151 with a connecting portion 1521, which is connected to the second side. The coil 153 is wound around the remaining portion of the mandrel 152 that does not extend beyond the connecting portion 1521. The coil 153 is used to generate an alternating magnetic field when energized. The magnetic field generated by the coil 153 can break dendrites and refine grains during the cooling process of the weld pool, forming more equiaxed crystals, while simultaneously changing the direction of the electric arc.

[0104] For example, the liquid cooling block 151 can be a high thermal conductivity block, specifically made of high thermal conductivity materials such as copper and silver to improve heat dissipation; and / or, the core rod 152 can be a high magnetic permeability rod, specifically made of high magnetic permeability materials such as iron and ferrite to enhance the strength of the generated magnetic field.

[0105] In practical applications, a slag discharge groove 1513 may be provided on the first side of the liquid cooling block 151. The slag discharge groove 1513 extends along the length of the liquid cooling block 151 to facilitate slag discharge. For example, the slag discharge groove 1513 may be an arc-shaped groove, or it may be a rectangular groove. This embodiment does not impose any limitations.

[0106] Figure 8 for Figure 7 A schematic diagram of the circuit principle of the intermediate coil. (For example...) Figure 7 As shown, the circuit is connected to an external AC power supply, then the AC power supply is replaced with a dedicated DC power supply, and then relays, transformers and capacitors are connected to generate an alternating magnetic field that passes longitudinally through the gas-electric vertical welding molten pool, stirs the molten pool, refines the grains, and changes the direction and strength of the generated alternating magnetic field at the same time, making the magnetic deflection of the electric arc more intense, thus achieving the effect of rotating the electric arc.

[0107] In addition, the circuit can also be connected to an alarm and an emergency stop button to issue an alarm in case of an accident, disconnect the circuit in time, and improve circuit safety.

[0108] A relay is an electrical control device that causes a predetermined step change in the controlled quantity in the electrical output circuit when the change in the input quantity (excitation quantity) reaches a specified requirement. It is an "automatic switch" that uses a small current to control a large current, playing roles in automatic adjustment, safety protection, and circuit switching. A time relay is an automatic switching device that uses electromagnetic or mechanical principles to achieve time-delay control. An inverter is a converter that transforms direct current (DC) energy into constant frequency and voltage or frequency and voltage modulated alternating current (AC). The cooling devices used for these components can include fans.

[0109] For example, multiple coils 153 can be connected in parallel, specifically two coils 153 can be connected in parallel to enhance the magnetic field.

[0110] Based on Ampere's circuital law, we have:

[0111]

[0112] in, B represents the number of turns in the coil (153); H represents the magnetic flux density; and B represents the magnetic field strength. The effective magnetic circuit length; Relative (vacuum) permeability of magnetic materials; ρ is the magnetic permeability in vacuum.

[0113] It is known that when the magnetic material and the effective magnetic circuit length are determined, the magnetic field strength is directly proportional to the number of turns of coil 153. Therefore, the magnetic field strength can be effectively adjusted by manually adjusting the number of turns of coil 153 according to the thickness of the workpiece 200 to be welded.

[0114] Figure 9 for Figure 7 A schematic diagram of the forces acting on the molten droplet during the operation of the intermediate coil. (See diagram below.) Figure 9 As shown, no transition occurs before the welding droplet comes into contact with the weld pool. After the alternating magnetic field B1 is added, the droplet is subjected to gravity, electromagnetic force, plasma flow force, electrode spot force, and Lorentz force F1 generated by the magnetic field. Among these, the plasma flow force and electrode spot force are relatively small and have almost no effect, so they are not considered.

[0115] The alternating magnetic field B1 excited by the composite water-cooled copper block and the circumferential magnetic field B2 generated by the self-induction phenomenon will both cause the welding wire droplets to generate Lorentz magnetic force. Since the alternating magnetic field B1 is added, the generated Lorentz magnetic force F1 is perpendicular to the paper plane. It is a high-frequency directional force that will cause magnetic deflection of the droplets before growth and transition, disturbing the arc and causing the arc trajectory to deflect, reducing defects such as incomplete fusion.

[0116] Meanwhile, the circumferential magnetic field B2 generated by the self-induction phenomenon of the alternating magnetic field B1 will cause the molten droplet to be subjected to a pair of interaction forces F2 pointing towards the necking point. This interaction force will accelerate the droplet's shedding, refine the grains, form more equiaxed crystals, increase the short-circuit transition frequency, and make the arc more stable.

[0117] Example 2

[0118] Figure 10 A flowchart illustrating the method of using the gas-electric vertical welding equipment provided in this application embodiment. Figure 10 As shown, this application embodiment also provides a method of using the gas-electric vertical welding equipment 100, applied to the gas-electric vertical welding equipment 100 provided in Embodiment 1. The method of use includes:

[0119] S01. Place the workpiece to be welded on the construction platform so that it can be processed later.

[0120] S02. Using the walking mechanism, welding mechanism, and vision sensor, adjust the welding torch to be above the weld seam of the workpiece to be welded and parallel to the extension direction of the weld seam, and determine the oscillation parameters of the welding torch. This ensures that the welding torch 123 oscillates according to the oscillation parameters during subsequent welding.

[0121] In practical applications, the welding torch 123 is adjusted to be above and parallel to the weld seam 210 of the workpiece 200 to be welded, using the walking mechanism 110, welding mechanism 120, and vision sensor 130, and the oscillation parameters of the welding torch 123 are determined, including:

[0122] The control mechanism 110 adjusts the welding mechanism 120 to be above the workpiece 200 to be welded. The vertical rail 112 and horizontal rail 113 of the control mechanism 110 are adjusted to drive the welding mechanism 120 to be above the workpiece 200 to be welded.

[0123] The welding mechanism 120 is controlled to adjust the welding torch 123 to be parallel to the weld seam 210 of the workpiece 200 to be welded. Specifically, the lifting rail 122 can be controlled to rotate around the extension direction of the horizontal rail 113 to automatically make the welding torch 123 parallel to the weld seam 210 of the workpiece 200 to be welded; if the adjustment cannot be completed automatically, it can be manually adjusted by controlling the first fine adjuster 125, the second fine adjuster 126, the longitudinal locking adjustment component 128, and the transverse locking adjustment component 129.

[0124] The cross-sectional information of weld 210 is acquired by vision sensor 130, and welding torch 123 is moved above the center of weld 210. The contour recognition of weld 210 is performed by vision sensor 130 to determine the corner points of weld 210 cross-section, and the welding start center is determined after calculation.

[0125] Along the swing direction of the welding torch 123, swing the welding torch 123 to both ends of the weld 210 to obtain the swing coordinate parameters of the welding torch 123.

[0126] Based on the thickness of the workpiece 200, determine the oscillation time parameters of the welding torch 123. Considering the thickness of the plate to be welded, determine the approximate dwell time of the welding torch 123; the thicker the plate, the longer the dwell time, thus completing the oscillation cycle setting. Specifically, the plate thickness information can be determined by comparing it with the diameter of the welding torch 123.

[0127] S03. A composite baffle is placed on the open side of the weld to prevent the molten welding wire from flowing out of the weld 210, to dissipate heat, and to apply an alternating magnetic field to improve crystallization.

[0128] S04. Connect the welding torch's inlet port to the welding torch's supply pipe, and connect the welding torch's outlet port to the welding torch's return pipe. This provides coolant to the welding torch 123 for heat dissipation.

[0129] S05. Connect the liquid inlet of the composite baffle to the baffle supply pipe, and connect the liquid outlet of the composite baffle to the baffle return pipe. This provides coolant to the composite baffle 150 for heat dissipation.

[0130] S06, the coil of the conductive composite stop block is activated to generate an alternating magnetic field.

[0131] S07. Connect the welding wire to the feed end of the welding torch. Ensure a supply of welding materials.

[0132] S08. Connect the air inlet to the protective gas supply pipe to provide protective gas.

[0133] S09. Determine the lifting parameters of the welding torch. Click the touch sensor of the gas-electric vertical welding equipment 100 to find the welding start point, lower the welding torch 123 to the bottom position of the weld 210, turn on the swing setting, and confirm the lifting trajectory.

[0134] S10. Start welding. After confirming that the lifting trajectory is correct, turn on the welding switch and begin welding.

[0135] S11. Welding completed. After welding is completed, adjust the welding torch 123 above the workpiece and adjust the horizontal rail 113 of the traveling mechanism 110 to be parallel to the ground rail 111 in order to remove the workpiece.

[0136] In addition, the structure and function of the gas-electric vertical welding equipment 100 have been described in detail in Example 1, and will not be repeated here.

[0137] It should be understood that the above embodiments do not limit the execution order of the steps in the method protected by this application. The steps of the method of this application can be executed in any possible order and in a cyclic manner without contradicting each other.

[0138] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0139] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature.

[0140] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between components; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0141] In the description of this specification, the references to the terms "embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0142] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A gas-electric vertical welding device, characterized in that, It includes a walking mechanism, a construction platform, a control center, at least one welding mechanism, and at least one vision sensor; The welding mechanism is movably connected to the traveling mechanism, and the construction platform is located below the welding mechanism and is used to place the workpiece to be welded; The vision sensor is disposed on the welding mechanism and is communicatively connected to the control center. The vision sensor is used to acquire weld information of the workpiece to be welded. The control center is used to receive the weld information and control the movement of the walking mechanism and the movement of the welding mechanism according to the weld information. The walking mechanism includes at least one horizontal rail, and the welding mechanism is slidably connected to the horizontal rail along the extension direction of the horizontal rail; The welding mechanism includes a slider, a lifting rail, a welding torch, a driving component, a first fine-tuning device, and a second fine-tuning device. The slider is slidably connected to the horizontal rail along its extension direction, and the lifting rail is oscillatingly connected to the slider about the extension direction of the horizontal rail. The first fine-tuning device and the second fine-tuning device are spaced apart along the extension direction of the lifting rail. The feed end of the welding torch is connected to the first fine-tuning device, and the middle section of the welding torch is connected to the second fine-tuning device. The driving component is disposed on the lifting rail and is used to drive the first fine-tuning device and the second fine-tuning device to move along the extension direction of the lifting rail. The welding torch tube wall includes an inner ring layer and an outer ring layer sleeved around the outer periphery of the inner ring layer. The inner ring layer is a metal layer, and the outer ring layer is a wear-resistant insulating layer. The inner ring layer includes a first ring layer and a second ring layer that are inner and outer ring layers in contact with each other. The first ring layer is disposed away from the outer ring layer, and the second ring layer is disposed close to the outer ring layer. The first ring layer is a thermally conductive metal layer, and the second ring layer is a reinforcing metal layer.

2. The gas-electric vertical welding equipment according to claim 1, characterized in that, The traveling mechanism further includes at least one ground rail and at least one vertical rail. The ground rail and the horizontal rail are both parallel to the platform surface of the construction platform. The vertical rail has an angle with the platform surface of the construction platform. The vertical rail is slidably connected to the ground rail along the extension direction of the ground rail. One end of the horizontal rail is slidably connected to the vertical rail along the extension direction of the vertical rail.

3. The gas-electric vertical welding equipment according to claim 2, characterized in that, The vertical rail includes a sliding section and a rotating section. The sliding section is slidably connected to the ground rail along the extension direction of the ground rail, and the rotating section is rotatably connected to the sliding section. One end of the horizontal rail is slidably connected to the rotating section along the extension direction of the vertical rail.

4. The gas-electric vertical welding equipment according to claim 1, characterized in that, The inner ring layer, the outer ring layer, and the walls at both ends of the welding torch form a cooling cavity, which is used to contain the first coolant. The first fine-tuner is provided with a liquid inlet and a liquid outlet, both of which are connected to the cooling chamber.

5. The gas-electric vertical welding equipment according to claim 1, characterized in that, The welding end of the welding torch is equipped with a ceramic nozzle, and the first fine adjuster is equipped with an air inlet, which is connected to the ceramic nozzle.

6. The gas-electric vertical welding equipment according to any one of claims 1-3, characterized in that, It also includes a composite stop block, which is used to block the opening side of the weld. The composite block includes a liquid-cooled block, a core rod, and at least one coil. The liquid-cooled block has a liquid-cooled cavity for containing a second coolant. The two ends of the liquid-cooled block are respectively provided with an inlet and an outlet, and both the inlet and the outlet are connected to the liquid-cooled cavity. The liquid cooling block has two opposite sides, namely the first side and the second side. When the composite block is placed on the opening side of the weld, the first side faces the weld and the second side is away from the weld. The mandrel extends toward the liquid-cooled block and has a connecting part, which is connected to the second side. The coil is wound around the remaining part of the mandrel that does not extend beyond the connecting part, and the coil is used to generate an alternating magnetic field when energized.

7. The gas-electric vertical welding equipment according to claim 6, characterized in that, The liquid cooling block is a high thermal conductivity block, and / or the core rod is a high magnetic permeability rod.

8. The gas-electric vertical welding equipment according to claim 6, characterized in that, A slag discharge trough is provided on the first side of the liquid-cooled block, and the slag discharge trough extends along the length of the liquid-cooled block.

9. A method of using a gas-electric vertical welding device, characterized in that, The method of using the gas-electric vertical welding equipment according to any one of claims 1-8 includes: Place the workpiece to be welded on the construction platform; The welding torch is adjusted to be above and parallel to the weld seam of the workpiece to be welded by means of a walking mechanism, a welding mechanism and a vision sensor, and the swing parameters of the welding torch are determined. Determine the lifting parameters of the welding torch; Welding begins; Welding completed.

10. The method of use according to claim 9, characterized in that, The welding torch is adjusted to be above and parallel to the weld seam of the workpiece to be welded, using a walking mechanism, a welding mechanism, and a vision sensor, and the oscillation parameters of the welding torch are determined, including: The control walking mechanism adjusts the welding mechanism to be above the workpiece to be welded; The welding mechanism is controlled to adjust the welding torch to be parallel to the weld seam of the workpiece to be welded. The cross-sectional information of the weld is obtained by a visual sensor, and the welding torch is moved above the center of the weld. Along the swing direction of the welding torch, swing the welding torch to both ends of the weld seam respectively, and determine the swing coordinate parameters of the welding torch; Based on the thickness of the workpiece to be welded, the oscillation time parameter of the welding torch is determined.

11. The method of use according to claim 9, characterized in that, Before determining the lifting parameters of the welding torch, the process also includes: The composite stop is placed on the opening side of the weld; Connect the liquid inlet of the welding torch to the liquid supply pipe of the welding torch, and connect the liquid outlet of the welding torch to the liquid return pipe of the welding torch. Connect the liquid inlet of the composite baffle to the baffle supply pipe, and connect the liquid outlet of the composite baffle to the baffle return pipe. The coil of the composite stop is turned on; Connect the welding wire to the feed end of the welding gun; Connect the air intake port to the protective gas supply pipe.

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