All -round welding device and process suitable for narrow steel structure space

Abstract

The present application relates to the technical field of welding equipment, and discloses a full-range welding device and process suitable for narrow steel structure space, which comprises a base, a mechanical arm fixed on the top of the base, and a welding torch arranged at the lower part of the mechanical arm and used for welding the steel structure, the mechanical arm is used for adjusting the position of the welding torch, and the device further comprises an auxiliary adjusting mechanism arranged at the lower part of the mechanical arm and used for assisting the mechanical arm in adjusting the position of the welding torch, so that the position of the welding torch is adjusted by the auxiliary adjusting mechanism, the position of the welding torch is adjusted in a telescopic manner, the adjustment range is small, and the device is convenient to use in a narrow space, thereby facilitating the welding operation on the steel structure in the narrow space, and the cooperation of the buffer assembly and the monitoring assembly facilitates the grasping of the contact condition between the welding torch and the welding position, thereby improving the welding effect of the welding torch.

Description

Technical Field

[0001] This invention relates to the field of welding equipment technology, specifically to an all-around welding device and process suitable for confined steel structure spaces. Background Technology

[0002] Welding is a manufacturing technique that permanently joins materials to form a structure with a given function. Almost all products, from massive ships weighing hundreds of thousands of tons to microelectronic components weighing less than 1 gram, rely on welding technology to varying degrees in their production. Welding has permeated all areas of manufacturing, directly affecting product quality, reliability, and lifespan, as well as production costs, efficiency, and market responsiveness. Existing welding robots generate a lot of welding slag during welding, which falls onto the workpiece and affects its quality.

[0003] Chinese invention patent CN116851994B discloses an industrial welding robot. The background art addresses the following issues: While pre-applying oil to the workpiece surface facilitates subsequent cleaning of welding slag, this method consumes a significant amount of oil, increasing costs. Furthermore, subsequent wiping, cleaning, degreasing, and drying of the workpiece surface further increases processing steps and cycles, hindering large-scale welding operations. The proposed solution addresses this by installing a slag and fume cleaning sleeve outside the welding torch. This sleeve slides naturally down the torch to approach the workpiece surface. During welding, it draws in air from its inner side, capturing welding slag and fumes. It can also select the welding area and collect welding slag, preventing it from falling onto the workpiece surface and eliminating subsequent cleaning work. It also reduces dust. However, the existing technology presents the following problems.

[0004] While traditional robotic arms can collect welding slag and fumes by setting up cleaning sleeves, they have limitations in actual welding, especially in confined spaces. The large adjustment range of the robotic arm makes it difficult to adjust the welding torch's position in such confined spaces, hindering practical welding. Furthermore, the inability to control the contact between the welding torch and the welding position can lead to insufficient welding, affecting the welding effect. To address these issues, a comprehensive welding device and process suitable for confined steel structure spaces is proposed. Summary of the Invention

[0005] To overcome the shortcomings of the prior art, the present invention provides an all-around welding device and process suitable for narrow steel structure spaces, which facilitates the adjustment of the welding torch position in narrow spaces with a small adjustment range, making it convenient for actual welding use, and making it easy to control the contact between the welding torch and the welding position, thereby improving the welding effect.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solution: an all-around welding device suitable for narrow steel structure spaces, including a base, a robotic arm fixedly mounted on the top of the base, and a welding torch mounted on the lower part of the robotic arm for welding the steel structure. The robotic arm is used to adjust the position of the welding torch. The device also includes an auxiliary adjustment mechanism mounted on the lower part of the robotic arm for assisting the robotic arm in adjusting the position of the welding torch. The auxiliary adjustment mechanism includes:

[0007] A telescopic assembly, located at the lower part of the robotic arm, is used to extend and retract the welding torch to move the welding torch. The telescopic assembly includes:

[0008] The housing is fixedly installed at the lower part of the robotic arm. A mounting shell is fixedly installed on the side of the housing away from the robotic arm. A servo motor is fixedly installed on the inner wall of the housing. The output shaft of the servo motor is fixedly provided with a threaded rod extending into the mounting shell through a coupling. A threaded sleeve extending out of the mounting shell is threadedly connected to the side wall of the threaded rod located inside the mounting shell. A buffer assembly is provided at the end of the threaded sleeve located outside the mounting shell. The buffer assembly is used to cause the welding torch to move in the opposite direction after it comes into contact with the welding position of the steel structure under the reverse force.

[0009] The monitoring component, located on the outer wall of the mounting housing, is used to monitor the contact between the welding torch and the welding position.

[0010] Furthermore, the telescopic component also includes;

[0011] The slide groove is formed on both sides of the inner wall of the mounting shell. The outer walls of the threaded sleeve are fixed with sliders that are adapted to the slide groove, and the sliders are placed in the slide groove to limit the movement of the threaded sleeve.

[0012] Furthermore, the buffer component includes;

[0013] The first fixing member is fixedly installed at one end of the threaded sleeve located outside the mounting shell. A buffer box is fixedly installed on the side of the first fixing member away from the mounting shell. A first spring and a buffer plate are sleeved on the inner wall of the buffer box. The first spring is located on the side of the buffer plate close to the mounting shell.

[0014] The second fixing member is fixedly installed on the side of the buffer plate away from the first spring and extends outside the buffer box. The buffer box has a first through hole for fitting the second fixing member. The side of the second fixing member away from the buffer plate is fixedly provided with a mounting seat for mounting the welding gun. After the welding gun contacts the welding position, it is driven by the reverse force to push the mounting seat, the second fixing member and the buffer plate to squeeze the first spring and move in the opposite direction.

[0015] Furthermore, the monitoring component includes;

[0016] The limiting through groove is mirror-symmetrically opened on the top and bottom of the outer wall of the mounting shell with the center point of the mounting shell. The inner wall of the limiting through groove is fixed with guide rods on both sides by bolts. The side wall of the guide rod is fitted with a second spring, a limiting block and a pressing plate, and the second spring is located between the limiting block and the pressing plate. The pressing plate and the limiting block move along the side wall of the guide rod, and the pressing plate is located on the side of the limiting block closer to the buffer box.

[0017] The substrate is fixedly sleeved on the side wall of the guide rod and located at the end of the guide rod near the buffer box. A pressure sensor is fixedly installed on the side of the substrate near the extrusion plate.

[0018] Furthermore, the monitoring component also includes;

[0019] The connecting plate is fixedly installed on the side of the buffer plate near the first spring and is mirror-symmetrical about the center point of the buffer plate. The connecting plate is located inside the first spring and outside the threaded sleeve. A connecting component for fixing the connecting plate and the limiting block is provided on the side of the connecting plate away from the buffer plate.

[0020] Furthermore, the connection component includes;

[0021] The fixing groove is located on the top side of the connecting plate near the limiting block;

[0022] The fixing block is fixedly installed on the lower end of the side of the limiting block near the connecting plate, and the side wall of the fixing block is adapted to the inner wall of the fixing groove. When the fixing block is embedded in the fixing groove, the top of the fixing block is horizontal with the top of the connecting plate. The top of the fixing block has a screw hole extending into the connecting plate for fixing the connecting plate and the fixing block with bolts to fix the limiting block and the connecting plate.

[0023] Furthermore, the mounting shell has an open design on the side away from the housing, and the inner wall of the groove on the side away from the housing extends to the outside of the mounting shell to allow the threaded sleeve to move outside the mounting shell. The side wall of the threaded rod is rotatably connected to the side wall of the mounting shell.

[0024] Furthermore, the side wall of the limiting block is adapted to the inner wall of the limiting through groove to limit the movement of the limiting block. The side walls of the extrusion plate and the limiting block are both provided with a second through hole for sleeved guide rods. The buffer box is provided with a through groove for sleeved connecting plate on the side near the mounting shell.

[0025] A process for an all-around welding device suitable for confined steel structure spaces, using the aforementioned all-around welding device for confined steel structure spaces, includes the following steps;

[0026] S1: The position and angle of the welding torch are adjusted by the robotic arm and auxiliary adjustment mechanism so that the welding torch can be extended into a narrow space to perform welding operations on the steel structure in the narrow space;

[0027] S2: When the auxiliary adjustment mechanism assists the robotic arm in adjusting the position and angle of the welding torch, the telescopic component drives the welding torch to extend and retract, thereby moving the welding torch and assisting the robotic arm in adjusting the angle and position.

[0028] S3: After adjusting the welding torch to contact the steel structure, the contact status between the welding torch and the welding position is monitored through the cooperation of the buffer component and the monitoring component.

[0029] Furthermore, the robotic arm is a 6-axis robotic arm, used for welding the steel structure using a full-process method.

[0030] This invention provides an omnidirectional welding apparatus and process suitable for confined steel structure spaces. Compared with existing technologies, it has the following advantages:

[0031] 1. This invention uses the telescopic component of the auxiliary adjustment mechanism to assist the robotic arm in adjusting the position of the welding torch. The position of the welding torch is adjusted by telescopic means, with a small adjustment range, which is convenient for use in confined spaces. This facilitates welding operations on steel structures in confined spaces. Furthermore, the cooperation of the buffer component and the monitoring component makes it easy to monitor the contact between the welding torch and the welding position, thereby improving the welding effect.

[0032] 2. In this invention, when the welding torch is moved by the telescopic component, the threaded rod drives the threaded sleeve and the limiting block to compress the second spring. This causes the second spring to drive the extrusion plate to compress the pressure sensor. At this time, the pressure information monitored by the pressure sensor increases. After the welding torch contacts the welding position of the steel structure, it is subjected to a reverse force, causing the welding torch to drive the mounting base and buffer plate to compress the first spring in the opposite direction. This reduces the compressive force of the limiting block on the second spring, thereby reducing the pressure information monitored by the pressure sensor. The difference in pressure information monitored by the pressure sensor before and after the change makes it easy to understand the contact condition between the welding torch and the welding position.

[0033] 3. By using a threaded transmission method for the telescopic component, the present invention has a self-locking function in the telescopic direction of the welding torch, thereby improving the stability of adjustment. When the welding torch is subjected to reverse force to compress the first spring, and the buffer plate compresses the first spring and contacts the buffer box and cannot move, welding can be performed by the welding torch, thus avoiding the impact of buffering on the stability of welding.

[0034] 4. This invention allows the guide rod and second spring to be moved vertically via the connecting components. Simply remove the bolts fixing the fixing block and the connecting plate, and then remove the bolts fixing the guide rod. The guide rod, the second spring, and the pressure sensor can then be removed together, facilitating subsequent maintenance and replacement. Furthermore, the top of the fixing block is level with the top of the connecting plate, avoiding interference with the extension and retraction of the second spring, thus facilitating practical use. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the overall structure of the omnidirectional welding device of the present invention, applicable to confined steel structure spaces.

[0036] Figure 2 This is a schematic diagram of the structure of the telescopic component, buffer component, and monitoring component of the present invention;

[0037] Figure 3 This is a cross-sectional structural diagram of the mounting shell, buffer box, and threaded sleeve of the present invention.

[0038] Figure 4 This is a schematic diagram of the telescopic component structure of the present invention;

[0039] Figure 5 This is a schematic diagram of the buffer component structure of the present invention;

[0040] Figure 6 This is a cross-sectional view of the mounting shell and buffer box of the present invention;

[0041] Figure 7 This is a schematic diagram of the limiting block, connecting plate, and buffer plate structure of the present invention;

[0042] Figure 8 This is a schematic diagram of the guide rod structure of the present invention;

[0043] Figure 9 For the present invention Figure 8 A magnified structural diagram of A in the middle;

[0044] Figure 10 This is a schematic cross-sectional view of the mounting shell structure of the present invention;

[0045] Figure 11 This is a schematic diagram of the connection component structure of the present invention.

[0046] The reference numerals in the above figures are as follows: 1. Base; 2. Robotic arm; 3. Auxiliary adjustment mechanism; 31. Telescopic component; 311. Servo motor; 312. Threaded sleeve; 313. Mounting shell; 314. Threaded rod; 315. Housing; 316. Slide groove; 32. Monitoring component; 321. Limiting block; 322. Second spring; 323. Guide rod; 324. Connecting plate; 325. Extrusion plate; 326. Base plate; 327. Pressure sensor; 328. Limiting through groove; 33. Buffer component; 331. First fixing member; 332. First spring; 333. Buffer plate; 334. Second fixing member; 335. Buffer box; 4. Mounting base; 5. Welding torch; 6. Connecting component; 61. Fixing groove; 62. Fixing block. Detailed Implementation

[0047] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] Example 1; please refer to Figure 1 and Figure 2 A 360-degree welding device suitable for narrow steel structure spaces, including a base 1, a robotic arm 2 fixed on the top of the base 1, and a welding torch 5 set at the lower part of the robotic arm 2 for welding the steel structure. The robotic arm 2 is used to adjust the position of the welding torch 5. It also includes an auxiliary adjustment mechanism 3 set at the lower part of the robotic arm 2 to assist the robotic arm 2 in adjusting the position of the welding torch 5. The auxiliary adjustment mechanism 3 includes:

[0049] Telescopic component 31 is disposed at the lower part of robotic arm 2 and is used to drive welding torch 5 to extend and retract so that welding torch 5 can move. Telescopic component 31 includes:

[0050] The housing 315 is fixedly installed at the lower part of the robotic arm 2. The side of the housing 315 away from the robotic arm 2 is fixedly provided with a mounting shell 313. The inner wall of the housing 315 is fixedly provided with a servo motor 311. The output shaft of the servo motor 311 is fixedly provided with a threaded rod 314 extending into the mounting shell 313 through a coupling. The side wall of the threaded rod 314 located inside the mounting shell 313 is threadedly connected to a threaded sleeve 312 extending outside the mounting shell 313. The end of the threaded sleeve 312 located outside the mounting shell 313 is provided with a buffer assembly 33. The buffer assembly 33 is used to cause the welding torch 5 to move in the opposite direction after it comes into contact with the welding position of the steel structure by a reverse force.

[0051] The monitoring component 32 is disposed on the outer wall of the mounting housing 313 and is used to monitor the contact between the welding torch 5 and the welding position.

[0052] Please see Figure 3 and Figure 4 The telescopic component 31 also includes;

[0053] The slide groove 316 is formed on both sides of the inner wall of the mounting shell 313. The outer walls of the threaded sleeve 312 are fixed with sliders that are adapted to the slide groove 316, and the sliders are placed in the slide groove 316 to limit the threaded sleeve 312 so that the threaded sleeve 312 can move.

[0054] In practical implementation, when the position of the welding torch 5 needs to be adjusted via the telescopic component 31, the servo motor 311 is activated. The output shaft of the servo motor 311 drives the threaded rod 314 to rotate via the coupling. As the threaded rod 314 rotates, it drives the threaded sleeve 312 to move under the limit of the slide groove 316 and the slider, thereby driving the buffer component 33 and the welding torch 5 to move, so that the welding torch 5 can be extended into a narrow space, thus facilitating the welding of steel structures in narrow spaces. The telescopic method assists the robotic arm 2 in adjusting the position of the welding torch 5. The adjustment range is small, which is convenient for use in narrow spaces, thus facilitating the welding of steel structures in narrow spaces. Moreover, the use of threaded transmission means that the welding torch 5 has a self-locking function in the telescopic direction, which improves the stability of adjustment.

[0055] Please see Figure 5 The buffer component 33 includes;

[0056] The first fixing member 331 is fixedly disposed at one end of the threaded sleeve 312 located outside the mounting shell 313. A buffer box 335 is fixedly disposed on the side of the first fixing member 331 away from the mounting shell 313. A first spring 332 and a buffer plate 333 are sleeved on the inner wall of the buffer box 335. The first spring 332 is located on the side of the buffer plate 333 close to the mounting shell 313.

[0057] The second fixing member 334 is fixedly disposed on the side of the buffer plate 333 away from the first spring 332 and extends outside the buffer box 335. The buffer box 335 has a first through hole for fitting the second fixing member 334. The side of the second fixing member 334 away from the buffer plate 333 is fixedly provided with a mounting seat 4 for mounting the welding torch 5. After the welding torch 5 contacts the welding position, it is driven by the reverse force to push the mounting seat 4, the second fixing member 334 and the buffer plate 333 to squeeze the first spring 332 and move in the opposite direction.

[0058] Please see Figure 6 , Figure 7 , Figure 8 , Figure 9 and Figure 10 The monitoring component 32 includes;

[0059] The limiting through groove 328 is mirror-symmetrically opened on the top and bottom of the outer wall of the mounting shell 313 with respect to the center point of the mounting shell 313. The inner wall of the limiting through groove 328 is fixed with guide rods 323 by bolts. The side wall of the guide rod 323 is fitted with a second spring 322, a limiting block 321 and a pressing plate 325. The second spring 322 is located between the limiting block 321 and the pressing plate 325. The pressing plate 325 and the limiting block 321 move along the side wall of the guide rod 323. The pressing plate 325 is located on the side of the limiting block 321 that is close to the buffer box 335.

[0060] The substrate 326 is fixedly sleeved on the side wall of the guide rod 323 and located at the end of the guide rod 323 near the buffer box 335. A pressure sensor 327 is fixedly provided on the side of the substrate 326 near the extrusion plate 325.

[0061] Monitoring component 32 also includes;

[0062] The connecting plate 324 is fixedly disposed on the side of the buffer plate 333 near the first spring 332, and is mirror-symmetrical about the center point of the buffer plate 333. The connecting plate 324 is located inside the first spring 332 and outside the threaded sleeve 312. A connecting assembly 6 for fixing the connecting plate 324 and the limiting block 321 is provided on the side of the connecting plate 324 away from the buffer plate 333.

[0063] In practical implementation, to monitor the contact between the welding torch 5 and the welding position and avoid affecting the welding effect, when the welding torch 5 is moved by the telescopic component 31, the threaded rod 314 drives the threaded sleeve 312, the first fixing component 331, the buffer box 335, the buffer plate 333, the connecting plate 324, and the limiting block 321 to compress the second spring 322. This causes the second spring 322 to drive the compression plate 325 to compress the pressure sensor 327. At this time, the pressure information monitored by the pressure sensor 327 increases. After adjusting the welding torch 5 to contact the welding position of the steel structure, the pressure is released through the buffer component 33 and the monitoring component. The welding torch 5, after contacting the welding position of the steel structure, is subjected to a reverse force, causing the welding torch 5 to drive the mounting base 4, the second fixing component 334, and the buffer plate 333 to squeeze the first spring 332 in the opposite direction. This, in turn, causes the connecting plate 324 and the limiting block 321 to move in the opposite direction, thereby reducing the squeezing force of the limiting block 321 on the second spring 322. As a result, the pressure information monitored by the pressure sensor 327 is reduced. By observing the difference in pressure information monitored by the pressure sensor 327, it is easy to understand the contact status between the welding torch 5 and the welding position, thereby improving the welding effect of the welding torch 5 and facilitating actual welding use.

[0064] When the welding torch 5 is subjected to reverse force to compress the first spring 332 and moves, when the buffer plate 333 compresses the first spring 332 and contacts the buffer box 335 and cannot move, welding can be carried out by the welding torch 5, thus avoiding the impact of buffering on the stability of welding.

[0065] The pressure sensor 327 is a ring-shaped pressure sensor 327, which is suitable for practical use and ensures the pressure monitoring effect;

[0066] The guide rod 323 and the limiting block 321 limit the movement of the limiting block 321 and the connecting plate 324 of the extrusion plate 325, ensuring the stability of the extrusion plate 325 extrusion pressure sensor 327 and facilitating actual monitoring. The second spring 322 is sleeved on the side wall of the guide rod 323, ensuring the stability of the support of the second spring 322.

[0067] The mounting housing 313 has an open design on the side away from the housing 315 to facilitate the movement of the threaded sleeve 312. The inner wall of the sliding groove 316 on the side away from the housing 315 extends to the outside of the mounting housing 313 to allow the threaded sleeve 312 to move outside the mounting housing 313. The side wall of the threaded rod 314 is rotatably connected to the side wall of the mounting housing 313 to ensure the stability of the rotation of the threaded rod 314.

[0068] The side wall of the limiting block 321 is adapted to the inner wall of the limiting through groove 328 to limit the movement of the limiting block 321. The side walls of the extrusion plate 325 and the limiting block 321 are both provided with a second through hole for sleeved guide rod 323. The buffer box 335 is provided with a through groove for sleeved connecting plate 324 on the side near the mounting shell 313.

[0069] Example 2; please refer to Figure 11 The technical difference between this embodiment and embodiment one is that the connecting component 6 includes;

[0070] The fixing groove 61 is opened on the top side of the connecting plate 324 near the limiting block 321;

[0071] The fixing block 62 is fixedly disposed on the lower end of the side of the limiting block 321 near the connecting plate 324, and the side wall of the fixing block 62 is adapted to the inner wall of the fixing groove 61. When the fixing block 62 is embedded in the fixing groove 61, the top of the fixing block 62 is horizontal with the top of the connecting plate 324. The top of the fixing block 62 is provided with a screw hole extending into the connecting plate 324 for fixing the connecting plate 324 and the fixing block 62 by bolts, so as to fix the limiting block 321 and the connecting plate 324.

[0072] In practical implementation, by making the fixing groove 61 open on the top side of the connecting plate 324 near the limiting block 321, the fixing block 62 is fixed to the lower end of the limiting block 321 near the connecting plate 324. Thus, when disassembling the second spring 322 and pressure sensor 327, the bolts fixing the fixing block 62 and the connecting plate 324 can be removed. Then, the bolts fixing the guide rod 323 can be removed, and the guide rod 323, the second spring 322 and the pressure sensor 327 can be removed together, which is convenient for subsequent maintenance and replacement. Moreover, the top of the fixing block 62 is level with the top of the connecting plate 324, so as not to affect the extension and retraction of the second spring 322, which is convenient for actual use.

[0073] A process for an all-around welding apparatus suitable for confined steel structure spaces, comprising the following steps:

[0074] S1: Fix the base 1 in the designated position to facilitate welding with the welding gun 5. Then, connect the welding gun 5 to the external welding equipment so that the welding gun 5 can be used for welding normally. This is existing technology and will not be described in detail here. After the connection is completed, adjust the position and angle of the welding gun 5 through the robotic arm 2 and the auxiliary adjustment mechanism 3 so that the welding gun 5 can be extended into the narrow space to perform welding operations on the steel structure in the narrow space.

[0075] S2: When the auxiliary adjustment mechanism 3 assists the robotic arm 2 in adjusting the position and angle of the welding torch 5, the telescopic component 31 drives the welding torch 5 to extend and retract, thereby moving the welding torch 5 and assisting the robotic arm 2 in adjusting the angle and position, making it easier to extend the welding torch 5 into a narrow space, thus facilitating the welding of steel structures in narrow spaces.

[0076] S3: When the welding torch 5 is moved by the telescopic component 31, the threaded sleeve 312, the buffer box 335, and the connecting plate 324 squeeze the second spring 322 to move, causing the second spring 322 to squeeze the pressure sensor 327 to move. At this time, the pressure information monitored by the pressure sensor 327 increases. After the welding torch 5 is adjusted to contact the welding position of the steel structure, the buffer component 33 and the monitoring component 32 cooperate to make the welding torch 5 receive a reverse force after contacting the welding position of the steel structure, causing the welding torch 5 to squeeze the first spring 332 to move in the opposite direction, thereby driving the connecting plate 324 and the limiting block 321 to move in the opposite direction, that is, reducing the squeezing force of the limiting block 321 on the second spring 322, thereby reducing the pressure information monitored by the pressure sensor 327. By observing the difference in the pressure information monitored by the pressure sensor 327 before and after, it is easy to grasp the contact situation between the welding torch 5 and the welding position, thereby improving the welding effect of the welding torch 5.

[0077] The robotic arm 2 is a 6-axis robotic arm 2, which makes it easy to adjust the position of the welding torch 5 so as to use it for welding steel structures in all methods, which is convenient for actual welding use.

[0078] Furthermore, any content not described in detail in this specification is existing technology known to those skilled in the art.

[0079] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0080] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An omnidirectional welding device suitable for confined steel structure spaces, comprising a base, a robotic arm fixedly mounted on top of the base, and a welding torch disposed at the lower part of the robotic arm for welding the steel structure, wherein the robotic arm is used to adjust the orientation of the welding torch, characterized in that, It also includes an auxiliary adjustment mechanism located at the lower part of the robotic arm to assist the robotic arm in adjusting the position of the welding torch; the auxiliary adjustment mechanism includes: A telescopic assembly, located at the lower part of the robotic arm, is used to extend and retract the welding torch to move the welding torch. The telescopic assembly includes: The housing is fixedly installed at the lower part of the robotic arm. A mounting shell is fixedly installed on the side of the housing away from the robotic arm. A servo motor is fixedly installed on the inner wall of the housing. The output shaft of the servo motor is fixedly provided with a threaded rod extending into the mounting shell through a coupling. A threaded sleeve extending out of the mounting shell is threadedly connected to the side wall of the threaded rod located inside the mounting shell. A buffer assembly is provided at the end of the threaded sleeve located outside the mounting shell. The buffer assembly is used to cause the welding torch to move in the opposite direction after it comes into contact with the welding position of the steel structure under the reverse force. A monitoring component, disposed on the outer wall of the mounting housing, is used to monitor the contact between the welding torch and the welding position; the monitoring component includes: The limiting through groove is mirror-symmetrically opened on the top and bottom of the outer wall of the mounting shell with the center point of the mounting shell. The inner wall of the limiting through groove is fixed with guide rods on both sides by bolts. The side wall of the guide rod is fitted with a second spring, a limiting block and a pressing plate, and the second spring is located between the limiting block and the pressing plate. The pressing plate and the limiting block move along the side wall of the guide rod, and the pressing plate is located on the side of the limiting block closer to the buffer box. A base plate is fixedly sleeved on the side wall of the guide rod and located at the end of the guide rod near the buffer box. A pressure sensor is fixedly installed on the side of the base plate near the extrusion plate. The monitoring component also includes: A connecting plate is fixedly disposed on the side of the buffer plate near the first spring, and is mirror-symmetrical about the center point of the buffer plate. The connecting plates are all located inside the first spring and outside the threaded sleeve. A connecting assembly for fixing the connecting plate and the limiting block is provided on the side of the connecting plate away from the buffer plate. The buffer assembly includes: The first fixing member is fixedly installed at one end of the threaded sleeve located outside the mounting shell. A buffer box is fixedly installed on the side of the first fixing member away from the mounting shell. A first spring and a buffer plate are sleeved on the inner wall of the buffer box. The first spring is located on the side of the buffer plate close to the mounting shell. The second fixing member is fixedly installed on the side of the buffer plate away from the first spring and extends outside the buffer box. The buffer box has a first through hole for fitting the second fixing member. The side of the second fixing member away from the buffer plate is fixedly provided with a mounting seat for mounting the welding gun. After the welding gun contacts the welding position, it is driven by the reverse force to push the mounting seat, the second fixing member and the buffer plate to squeeze the first spring and move in the opposite direction.

2. The omnidirectional welding device suitable for confined steel structure spaces according to claim 1, characterized in that, The telescopic component also includes; The slide groove is formed on both sides of the inner wall of the mounting shell. The outer walls of the threaded sleeve are fixed with sliders that are adapted to the slide groove, and the sliders are placed in the slide groove to limit the movement of the threaded sleeve.

3. The omnidirectional welding device suitable for confined steel structure spaces according to claim 1, characterized in that, The connection component includes; The fixing groove is located on the top side of the connecting plate near the limiting block; The fixing block is fixedly installed on the lower end of the side of the limiting block near the connecting plate, and the side wall of the fixing block is adapted to the inner wall of the fixing groove. When the fixing block is embedded in the fixing groove, the top of the fixing block is horizontal with the top of the connecting plate. The top of the fixing block has a screw hole extending into the connecting plate for fixing the connecting plate and the fixing block with bolts to fix the limiting block and the connecting plate.

4. The omnidirectional welding device suitable for confined steel structure spaces according to claim 2, characterized in that, The mounting shell has an open design on the side away from the housing, and the inner wall of the sliding groove on the side away from the housing extends to the outside of the mounting shell to allow the threaded sleeve to move outside the mounting shell. The side wall of the threaded rod is rotatably connected to the side wall of the mounting shell.

5. The omnidirectional welding device suitable for confined steel structure spaces according to claim 1, characterized in that, The side wall of the limiting block is adapted to the inner wall of the limiting through groove to limit the movement of the limiting block. The side walls of the extrusion plate and the limiting block are both provided with a second through hole for sleeved guide rod. The buffer box is provided with a through groove for sleeved connecting plate on the side near the mounting shell.

6. A process for an omnidirectional welding device suitable for confined steel structure spaces, characterized in that, The process of using the omnidirectional welding apparatus for confined steel structure spaces as described in any one of claims 1-5 includes the following steps; S1: The position and angle of the welding torch are adjusted by the robotic arm and auxiliary adjustment mechanism so that the welding torch can be extended into a narrow space to perform welding operations on the steel structure in the narrow space; S2: When the auxiliary adjustment mechanism assists the robotic arm in adjusting the position and angle of the welding torch, the telescopic component drives the welding torch to extend and retract, thereby moving the welding torch and assisting the robotic arm in adjusting the angle and position. S3: After adjusting the welding torch to contact the steel structure, the contact status between the welding torch and the welding position is monitored through the cooperation of the buffer component and the monitoring component.

7. The process of the omnidirectional welding device suitable for confined steel structure spaces according to claim 6, characterized in that, The robotic arm is a 6-axis robotic arm used for welding steel structures using a full-process method.

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