Arc welding device and welding method

Abstract

The present invention relates to the field of welding technology, and specifically discloses an arc welding device and a welding method. The arc welding device includes a moving shaft, a welding gun head, a rotary encoder, a first position sensor, a wire feeding device, an actuator, and a second position sensor. The rotary encoder is used to measure the actual rotation angle of the welding gun head when welding along the welding path; the first position sensor is used to measure the actual position of the welding gun head; the wire feeding nozzle of the wire feeding device is used to feed welding wire to the welding gun head; the actuator is used to drive the wire feeding device to rotate according to the correction angle; the second position sensor is used to measure the actual position of the actuator. The correction angle is obtained according to the actual rotation angle information, the actual position information of the welding gun head, and the actual position information of the actuator. The arc welding device can adjust the position of the wire feeding nozzle relative to the welding gun head in real time during the welding process, thereby improving the stability, uniformity and continuity of the wire feeding of the wire feeding nozzle, thereby improving the welding quality.

Description

Technical Field

[0001] The present invention relates to the technical field of welding, and in particular to an arc welding device and a welding method. Background Art

[0002] With the development of automation technology and the reduction of costs, welding robots have entered a new stage of robot automation. At present, welding robots can perform complex welding tasks such as multi-axis welding, special-shaped parts welding and adaptive welding.

[0003] However, in actual applications, it is found that when performing curve welding, the angle of the welding gun will change, which will cause the relative position of the welding gun and the wire feeding nozzle to change, and then cause problems such as unstable, uneven and discontinuous wire feeding, which seriously affects the welding quality.

[0004] Therefore, it is urgent to provide an arc welding device and a welding method to solve the above technical problems. Summary of the invention

[0005] According to one aspect of the present invention, the present invention provides an arc welding device that can adjust the position of a wire feed nozzle relative to a welding gun head in real time during welding, thereby improving the stability, uniformity and continuity of wire feeding by the wire feed nozzle, thereby improving welding quality.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] An arc welding device comprises: a moving axis;

[0008] A welding gun head, disposed at one end of the motion shaft, the motion shaft being used to drive the welding gun head to move along a welding path;

[0009] A rotary encoder, arranged on the motion axis, for measuring an actual rotation angle of the welding gun head when welding along the welding path;

[0010] A first position sensor, disposed on the welding gun head, for measuring an actual position of the welding gun head;

[0011] A wire feeding device, comprising a wire feeding nozzle, wherein the wire feeding nozzle is used to feed welding wire to the welding gun head;

[0012] An actuator is connected to the motion shaft, the actuator moves along the welding path under the drive of the motion shaft, and the output end of the actuator is connected to the wire feeding device, and is used to drive the wire feeding device to rotate according to the correction angle to adjust the position of the wire feeding nozzle relative to the welding gun head;

[0013] A second position sensor, disposed on the actuator, for measuring an actual position of the actuator;

[0014] The correction angle is obtained according to the actual rotation angle information, the actual position information of the welding gun head and the actual position information of the actuator.

[0015] Optionally, the wire feeding device further comprises:

[0016] A fixed plate, the actuator being drivingly connected to the fixed plate;

[0017] A first position adjustment mechanism is arranged on the fixing plate;

[0018] A second position adjustment mechanism is arranged on the first position adjustment mechanism, and the first position adjustment mechanism is used to drive the second position adjustment mechanism to move along a first direction;

[0019] A third position adjustment mechanism is arranged on the second position adjustment mechanism, and the second position adjustment mechanism is used to drive the third position adjustment mechanism to move along a second direction;

[0020] A wire feeding nozzle fixing seat, used for installing the wire feeding nozzle, the wire feeding nozzle fixing seat is arranged on the third position adjustment mechanism and is rotatably connected with the third position adjustment mechanism, and the third position adjustment mechanism is used to drive the wire feeding nozzle fixing seat to move along the third direction;

[0021] An angle adjustment mechanism, connected to the wire feeding nozzle fixing seat, used to drive the wire feeding nozzle fixing seat to rotate relative to the third position adjustment structure to adjust the angle between the wire feeding nozzle and the axis of the welding gun head;

[0022] The first direction, the second direction and the third direction are perpendicular to each other.

[0023] Optionally, the first position adjustment mechanism comprises a fixed plate, a screw seat and a first screw, the screw seat is mounted on the fixed plate, and the first screw is mounted on the screw seat along the first direction;

[0024] The second position adjustment mechanism comprises a first nut and a second lead screw, the first nut is connected to the first lead screw, and the second lead screw is installed on the first nut along the second direction;

[0025] The third position adjustment mechanism comprises a second nut, a third lead screw and a third nut, wherein the second nut is connected to the second lead screw, the third lead screw is installed on the second nut along the third direction, the third nut is connected to the third lead screw, a connecting arm is provided on the third nut, and a connecting hole is provided on the connecting arm;

[0026] The wire feeding nozzle fixing seat is rotatably connected to the third nut, and a threaded hole is provided on the wire feeding nozzle fixing seat;

[0027] The angle adjustment mechanism includes an angle adjustment knob, which passes through the connecting hole and is connected to the threaded hole. By rotating the angle adjustment knob, the wire feeding nozzle fixing seat can be rotated relative to the third nut to adjust the angle between the wire feeding nozzle and the axis of the welding gun head.

[0028] Optionally, an elastic member is sleeved on the angle adjustment knob, one end of the elastic member abuts against the connecting arm, and the other end of the elastic member abuts against the wire feeding nozzle fixing seat.

[0029] Optionally, the arc welding device further comprises a mounting frame, the motion axis passes through the mounting frame, and the actuator is arranged on the mounting frame.

[0030] Optionally, the wire feeding nozzles are provided with one, two or three.

[0031] According to another aspect of the present invention, the present invention further provides an arc welding method, which is applied to the arc welding device described in any of the above technical solutions, and the arc welding method comprises:

[0032] The control system determines the welding path of the welding gun head according to the received welding instruction, and controls the motion axis to move along the welding path;

[0033] The control system receives actual rotation angle information from the rotary encoder;

[0034] The control system receives actual position information of the welding gun head measured by the first position sensor;

[0035] The control system receives actual position information of the actuator measured by a second position sensor;

[0036] The control system determines the correction angle of the wire feeding device according to the actual rotation angle information, the actual position information of the welding gun head and the actual position information of the actuator;

[0037] The control system controls the actuator to drive the wire feeding device to rotate according to the correction angle to adjust the position of the wire feeding nozzle relative to the welding gun head.

[0038] Optionally, if the correction angle is greater than a preset value, the control system controls the actuator to drive the wire feeding device to rotate according to the correction angle.

[0039] Optionally, after the control system controls the actuator to drive the wire feeding device to rotate according to the correction angle, the welding wire fed by the wire feeding nozzle is located directly below the welding gun head.

[0040] Optionally, the control system controls the welding gun head to be fixed just above the arc starting point, and the distance between the welding gun head and the arc starting point is a first preset distance;

[0041] After pausing for a first preset time, the control system controls the welding gun head to descend until the distance between the welding gun head and the arc starting point is a second preset distance;

[0042] The control system controls the welding gun head to ignite the pilot arc, and after the arc light of the pilot arc is maintained for a second preset time, the control system controls the welding gun head to ignite the main welding arc;

[0043] After the arc of the main welding arc is maintained for a third preset time, the control system controls the motion axis to drive the welding gun head to weld along the welding path.

[0044] The beneficial effects of the present invention are:

[0045] The present invention provides an arc welding device, comprising a motion shaft, a welding gun head, a rotary encoder, a first position sensor, a wire feeding device, an actuator and a second position sensor. When the arc welding device is welding, the control system determines the correction angle of the wire feeding device according to the actual rotation angle information of the welding gun head measured by the rotary encoder, the actual position information of the welding gun head measured by the first position sensor and the actual position information of the actuator measured by the second position sensor, and controls the actuator to execute, so that the wire feeding nozzle can always maintain the relative position with the welding gun head, thereby improving the stability, uniformity and continuity of wire feeding of the wire feeding nozzle, thereby improving the welding quality.

[0046] The present invention also provides an arc welding method, which is applied to the above-mentioned arc welding device. The use of this arc welding method can improve the welding quality of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A schematic structural diagram of an arc welding device provided in an embodiment of the present invention;

[0048] Figure 2 A flow chart of an arc welding method provided by an embodiment of the present invention;

[0049] Figure 3 A schematic diagram of the operation of an arc welding device provided by an embodiment of the present invention;

[0050] Figure 4 A schematic structural diagram of a welding gun head provided in an embodiment of the present invention.

[0051] In the figure:

[0052] 10. Welding robot;

[0053] 100, mounting bracket; 200, moving axis; 300, welding gun head; 310, tungsten electrode; 311, electric arc; 320, cooling liquid chamber; 330, plasma chamber; 330, protective gas chamber; 400, rotary encoder; 500, wire feeding device; 510, wire feeding nozzle fixing seat; 511, wire feeding nozzle; 520, fixing plate; 530, first position adjustment mechanism; 531, screw seat; 532, first screw; 540, second position adjustment mechanism; 541, first nut; 542, second screw; 550, third position adjustment mechanism; 551, second nut; 552, third screw; 553, third nut; 5531, connecting arm; 560, angle adjustment mechanism; 561, angle adjustment knob; 600, actuator; 700, welding gun support seat. DETAILED DESCRIPTION

[0054] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and the first feature "above", "above" and "above" the second feature include the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature "below", "below" and "below" the second feature include the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0056] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0057] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0058] Embodiment 1

[0059] This embodiment provides an arc welding device, which can adjust the position of the wire feeding nozzle relative to the welding gun head in real time during the welding process, thereby improving the stability, uniformity and continuity of wire feeding by the wire feeding nozzle, thereby improving the welding quality.

[0060] Specifically, Figure 1 As shown, the arc welding device includes a moving shaft 200, a welding gun head 300, a rotary encoder 400, a first position sensor, a wire feeding device 500, an actuator 600 and a second position sensor. The welding gun head 300 is arranged at one end of the moving shaft 200, and the moving shaft 200 is used to drive the welding gun head 300 to move along the welding path. The rotary encoder 400 is arranged on the moving shaft 200, and is used to measure the actual rotation angle of the welding gun head 300 when welding along the welding path. The first position sensor is arranged on the welding gun head 300, and is used to measure the actual position of the welding gun head 300. The wire feeding device 500 includes a wire feeding nozzle 511, and the wire feeding nozzle 511 is used to feed welding wire to the welding gun head 300. The actuator 600 is connected to the motion shaft 200. The actuator 600 moves along the welding path driven by the motion shaft 200. The output end of the actuator 600 is connected to the wire feeding device 500, and is used to drive the wire feeding device 500 to rotate according to the correction angle to adjust the position of the wire feeding nozzle 511 relative to the welding gun head 300. The second position sensor is arranged on the actuator 600, and is used to measure the actual position of the actuator 600. The correction angle is obtained according to the actual rotation angle information, the actual position information of the welding gun head 300, and the actual position information of the actuator 600. For example, the actual position information of the welding gun head 300, the actual position information of the actuator 600, and the rotation angle information can be converted into the same coordinate system, and the correction angle is determined based on the relationship between the trigonometric functions and the actual rotation angle information, the actual position information of the welding gun head 300, and the actual position information of the actuator 600.

[0061] It is worth noting that the actual rotation angle directly measured by the rotary encoder 400 is the actual rotation angle of the moving shaft 200, but since the welding gun head 300 is set on the moving shaft 200, the actual rotation angle of the welding gun head 300 is the same as the actual rotation angle of the moving shaft 200, that is, the rotary encoder 400 can measure the actual rotation angle of the welding gun head 300 when welding along the welding path.

[0062] When the arc welding device is performing welding, the control system determines the correction angle of the wire feeding device 500 according to the actual rotation angle information of the welding gun head 300 measured by the rotary encoder 400, the actual position information of the welding gun head 300 measured by the first position sensor and the actual position information of the actuator 600 measured by the second position sensor, and controls the actuator 600 to execute so that the wire feeding nozzle 511 can always maintain its relative position with the welding gun head 300. This solves the problems of unstable, uneven and discontinuous wire feeding caused by the change in the relative position of the welding gun head 300 and the wire feeding nozzle 511 to a certain extent, thereby improving the welding quality.

[0063] It is worth noting that the relative position of the wire feeding nozzle 511 and the welding gun head 300 should be such that the welding wire fed by the wire feeding nozzle 511 is located directly below the welding gun head 300, so that the welding gun head 300 can reliably melt the welding wire and weld it at the position where the product needs to be welded. Under ideal conditions, after the arc welding device is installed, the relative position of the welding gun head 300 and the wire feeding nozzle 511 will not change during the welding process. However, in actual use, the welding gun head 300 moves too fast, and the wire feeding nozzle 511 sometimes has difficulty keeping up with the movement of the welding gun head 300, which will cause the relative position between the wire feeding nozzle 511 and the welding gun head 300 to change, resulting in the welding wire fed by the wire feeding nozzle 511 not being directly below the welding gun head 300.

[0064] When the arc welding device provided in this embodiment is performing welding, if the wire feeding nozzle 511 is shifted in position, the wire feeding device 500 will be driven to rotate according to the correction angle to correct the position of the wire feeding nozzle 511, so as to ensure that the welding wire fed by the wire feeding nozzle 511 is always located directly below the welding gun head 300, thereby improving the wire feeding stability, continuity and uniformity of the wire feeding nozzle 511, and thus improving the welding quality.

[0065] Exemplarily, the rotary encoder 400 may be an incremental encoder.

[0066] Optionally, the arc welding device further comprises a mounting frame 100, and a moving shaft 200 for fixing the welding gun head 300 and an actuator 600 for driving the wire feeding device 500 to rotate are mounted together through the mounting frame 100, so that the wire feeding device 500 can move along the welding path with the welding gun head 300, with a simple structure and convenient control. Specifically, the moving shaft 200 is penetrated through the mounting frame 100, and the actuator 600 is arranged on the mounting frame 100.

[0067] Further, see Figure 1The wire feeding device 500 includes a fixing plate 520 , a first position adjustment mechanism 530 , a second position adjustment mechanism 540 , a third position adjustment mechanism 550 , a wire feeding nozzle fixing seat 510 and an angle adjustment mechanism 560 .

[0068] Specifically, the actuator 600 is drivingly connected to the fixing plate 520, the first position adjustment mechanism 530 is arranged on the fixing plate 520, the second position adjustment mechanism 540 is arranged on the first position adjustment mechanism 530, and the third position adjustment mechanism 550 is arranged on the second position adjustment mechanism 540. The wire feeding nozzle fixing seat 510 is used to install the wire feeding nozzle 511, and the wire feeding nozzle fixing seat 510 is arranged on the third position adjustment mechanism 550 and is rotatably connected to the third position adjustment mechanism 550. The angle adjustment mechanism 560 is connected to the wire feeding nozzle fixing seat 510, and is used to drive the wire feeding nozzle fixing seat 510 to rotate relative to the third position adjustment mechanism 550, so as to adjust the angle between the wire feeding nozzle 511 and the axis of the welding gun head.

[0069] The first direction, the second direction and the third direction are perpendicular to each other.

[0070] The first position adjustment mechanism 530 is used to drive the second position adjustment mechanism 540 to move along the first direction; the second position adjustment mechanism 540 is used to drive the third position adjustment mechanism 550 to move along the second direction; the third position adjustment mechanism 550 is used to drive the wire feeding nozzle fixing seat 510 to move along the third direction, that is, through the first position adjustment mechanism 530, the second position adjustment mechanism 540 and the third position adjustment mechanism 550, the position of the wire feeding nozzle 511 can be adjusted along the first direction, the second direction and the third direction as needed, and in conjunction with the angle adjustment mechanism 560, it can be ensured that the relative position of the wire feeding nozzle 511 and the welding gun head 300 before welding meets the welding requirements.

[0071] Optionally, continue to see Figure 1 In this embodiment, the first position adjustment mechanism 530 includes a screw seat 531 and a first screw 532. The second position adjustment mechanism 540 includes a first nut 541 and a second screw 542. The third position adjustment mechanism 550 includes a second nut 551, a third screw 552 and a third nut 553. The angle adjustment mechanism 560 includes an angle adjustment knob 561.

[0072] Specifically, the screw seat 531 is installed on the fixing plate 520. The first screw 532 is installed on the screw seat 531 along the first direction, and the first nut 541 is connected to the first screw 532. The first screw 532 is rotated to move the first nut 541 along the first direction.

[0073] The second lead screw 542 is installed on the first nut 541 along the second direction, and the second nut 551 is installed on the second lead screw 542 . The second lead screw 542 is rotated to move the second nut 551 along the second direction.

[0074] The third lead screw 552 is installed on the second nut 551 along the third direction, and the third nut 553 is installed on the third lead screw 552 . The third lead screw 552 is rotated to move the third nut 553 along the third direction.

[0075] The third nut 553 is provided with a connecting arm 5531, and the connecting arm 5531 is provided with a connecting hole. The wire feeding nozzle fixing seat 510 is used to install the wire feeding nozzle 511, and the wire feeding nozzle fixing seat 510 is rotatably connected to the third nut 553, and the wire feeding nozzle fixing seat 510 is provided with a threaded hole. The angle adjustment knob 561 is provided with a connecting hole and connected to the threaded hole. By rotating the angle adjustment knob 561, the wire feeding nozzle fixing seat 510 can be rotated relative to the third nut 553 to adjust the angle between the wire feeding nozzle 511 and the axis of the welding gun head 300.

[0076] The wire feeding device 500 can adjust the position of the wire feeding nozzle 511 through the first lead screw 532, the second lead screw 542, the third lead screw 552 and the angle adjustment knob 561 to ensure that before welding begins, the relative position of the wire feeding nozzle 511 and the welding gun head 300 meets the requirements, so that the welding wire fed by the wire feeding nozzle 511 is located directly below the welding gun head 300, and the angle between the welding wire and the axis of the welding gun head 300 meets the requirements.

[0077] It is worth noting that before welding begins, the relative position of the wire feeding nozzle 511 and the welding gun head 300 needs to be adjusted by the first lead screw 532, the second lead screw 542, the third lead screw 552 and the angle adjustment knob 561. However, during the welding process, the first lead screw 532, the second lead screw 542, the third lead screw 552 and the angle adjustment knob 561 will not be adjusted.

[0078] The wire feeding device 500 has a simple structure, and it is convenient to adjust the wire feeding nozzle 511. Moreover, the lead screw nut structure enables the adjustment accuracy of the position of the wire feeding nozzle 511 to be higher.

[0079] Optionally, in this embodiment, the fixing plate 520 is perpendicular to the mounting frame 100. Such an arrangement is beneficial to improving the structural compactness of the above-mentioned arc welding device.

[0080] Optionally, in this embodiment, one of the first nut 550 and the screw seat 530 is provided with a first slide groove extending along the first direction, and the other is provided with a first slide rail matching the first slide groove. Such a configuration can improve the smoothness and stability of the movement of the first nut 550.

[0081] One of the second nut 570 and the first nut 550 is provided with a second chute extending in the second direction, and the other is provided with a second slide rail matching with the second chute. With such a setting, the smoothness and stability of the movement of the second nut 570 can be improved.

[0082] One of the third nut 590 and the second nut 570 is provided with a third chute extending in the third direction, and the other is provided with a third slide rail matching with the third chute. With such a setting, the smoothness and stability of the movement of the third nut 590 can be improved.

[0083] Further, an elastic member (not shown in the figure) is sleeved on the angle adjustment knob 512. One end of the elastic member abuts against the connecting arm, and the other end abuts against the wire feeding nozzle fixing seat 510. When the position of the wire feeding nozzle fixing seat 510 is adjusted by the angle adjustment knob 512, the elastic member always remains in a compressed state. With such a setting, after the position of the wire feeding nozzle fixing seat 510 is adjusted, the elastic member can assist the wire feeding nozzle fixing seat 510 to maintain the position through the elastic restoring force, improving the reliability of the position of the wire feeding nozzle fixing seat 510, and further ensuring the stability of wire feeding to a certain extent.

[0084] Optionally, one or two wire feeding nozzles 511 can be provided to meet the requirements of single - double combination wire feeding welding. Of course, the number of wire feeding nozzles 511 can also be other numbers, such as three, etc., which can be set according to actual needs, and the present application does not make specific limitations.

[0085] Further, continue to refer to Figure 1 , in this embodiment, the above - mentioned arc welding device further includes a welding torch support seat 700. One end of the welding torch support seat 700 is connected to the moving shaft 200, and the other end is connected to the welding gun head 300. By providing the welding torch support seat 700 to realize the connection between the moving shaft 200 and the welding gun head 300, it is not necessary to set a moving shaft 200 with a special structure, reducing the processing difficulty.

[0086] Optionally, in this embodiment, the welding torch support seat 700 is in a "C" shape, and the welding torch support seat 700 makes the moving shaft 200 and the welding gun head 300 coaxial.

[0087] Further, the arc welding device further includes a hot wire system (not shown in the figure). The hot wire system is used to pre - heat the welding wire by resistance heating, which can realize the welding or additive manufacturing of welding wires with the same or different specifications and different materials, and can also reduce the energy required for the welding wire to enter the molten pool, reduce holes and impurities, and further achieve the purpose of improving the welding quality.

[0088] Embodiment Two

[0089] Such as Figure 2As shown, this embodiment provides an arc welding method, which is applied to the arc welding device of embodiment 1. The use of this arc welding method can improve the welding quality of the product.

[0090] Specifically, the arc welding method comprises:

[0091] S100 , the control system determines the welding path of the welding gun head 300 according to the received welding instruction, and controls the motion axis 200 to move along the welding path.

[0092] The welding instruction may be transmitted by the operator to the control system according to welding requirements. The welding instruction includes a welding path, and the welding path is determined according to welding requirements.

[0093] S200 , the control system receives actual rotation angle information from the rotary encoder 400 .

[0094] S300 , the control system receives actual position information of the welding gun head 300 measured by the first position sensor.

[0095] S400 , the control system receives actual position information of the actuator 600 measured by the second position sensor.

[0096] It should be noted that there is no sequence between the above S200, S300 and S400. The above sequence is only a possible example and the present application does not limit it.

[0097] S500 , the control system determines the correction angle of the wire feeding nozzle 511 according to the actual rotation angle information, the actual position information of the welding gun head 300 and the actual position information of the actuator 600 .

[0098] Optionally, if the correction angle determined by the control system is greater than a preset value, the control system controls the actuator 600 to drive the wire feeding device 500 to rotate according to the correction angle.

[0099] Optionally, the preset value may be 0.5°-1°, for example, the preset value may be 0.5°, or the preset value may be 0.55°, or the preset value may be 0.6°, or the preset value may be 0.62°, or the preset value may be 0.8°, or the preset value may be 0.9°, or the preset value may be 1°.

[0100] If the correction angle determined by the control system is less than or equal to 0.5°, it indicates that the positional offset between the wire feeding nozzle 511 and the welding gun head 300 will not affect the welding quality and no adjustment is required.

[0101] It is worth noting that, before welding, the wire feeding speed of the wire feeding nozzle 511 can be set on the control system. Exemplarily, the wire feeding speed can be 100 cm / min.

[0102] It is worth noting that when there are two wire feeding nozzles 511, the diameters of the welding wires fed by the two wire feeding nozzles 511 may be different. For example, the diameter of the welding wire fed by one wire feeding nozzle 511 is 1 mm, and the diameter of the welding wire fed by the other wire feeding nozzle 511 is 1.2 mm.

[0103] S600 , the control system controls the actuator 600 to drive the wire feeding device 500 to rotate along the correction angle to adjust the position of the wire feeding nozzle 511 relative to the welding gun head 300 .

[0104] It is worth noting that after the relative positions of the wire feeding nozzle 511 and the welding gun head 300 are adjusted, the welding wire fed by the wire feeding nozzle 511 is located directly below the welding gun head 300 .

[0105] Furthermore, before welding begins, it is necessary to manually adjust the first lead screw 532 , the second lead screw 542 , the third lead screw 552 and the angle adjustment knob 561 to ensure the relative position of the wire feeding nozzle 511 and the welding gun head 300 .

[0106] After adjusting the relative positions of the wire feeding nozzle 511 and the welding gun head 300, it is necessary to start the hot wire system to perform resistance pretreatment on the welding wire.

[0107] Afterwards, the control system controls the welding gun head 300 to be fixed just above the arc starting point, and the distance between the welding gun head 300 and the arc starting point is a first preset distance. The first preset distance is greater than or equal to 5 mm to stabilize the welding gun head 300.

[0108] After pausing for the first preset time, the control system controls the welding gun head 300 to descend to a distance from the arc starting point that is a second preset distance. The first preset time does not need to be too long, and can be 3s, and the second preset distance is a distance that can be directly welded, such as 5mm.

[0109] The control system controls the welding gun head 300 to ignite the pilot arc, and after the arc light of the pilot arc is maintained for a second preset time, the control system controls the welding gun head 300 to ignite the main welding arc. The second preset time may be 5s-8s to stabilize the arc light.

[0110] After the arc of the main welding arc is maintained for a third preset time, the control system controls the motion axis to drive the welding gun head to weld along the welding path. The third preset time does not need to be too long, for example, 1 second.

[0111] Alternatively, if Figure 3 As shown, the manipulator of the welding robot 10 is connected to the moving shaft 200, which is used to drive the moving shaft 200 to move along the welding path. In addition, the manipulator has a telescopic function, which can drive the moving shaft 200 to rise and fall, so that the moving shaft 200 drives the welding gun head 300 to rise and fall, so as to adjust the distance between the welding gun head 300 and the arc starting point.

[0112] It is worth mentioning that the main welding arc is the arc used for normal welding. The arc light of the pilot arc is smaller than the arc light of the main welding arc. Igniting the pilot arc first and then the main welding arc can increase the success rate of igniting the main welding arc.

[0113] Furthermore, if Figure 4 As shown, the welding gun head 300 includes a tungsten electrode 310 for generating an arc 311 , a coolant chamber 320 wrapped outside the tungsten electrode 310 , a plasma chamber 330 wrapped outside the coolant chamber 320 , and a shielding gas chamber 340 wrapped outside the plasma chamber 330 .

[0114] The welding power source is electrically connected to the tungsten electrode 310 for delivering current to the tungsten electrode 310. During welding, the welding power source is maintained at 380V, the input current is maintained at 35A, and the output current is maintained at 80A.

[0115] Furthermore, during the welding process, it is necessary to deliver coolant into the cooling liquid chamber 320, deliver ion gas into the plasma chamber 330, deliver shielding gas into the shielding gas chamber 340, and adjust the flow rate of the ion gas to 2L / min, while ensuring that the flow rate of the shielding gas is maintained at 18L / min.

[0116] Optionally, argon with a purity of 99.99% can be used as the shielding gas.

[0117] Further, when welding is finished, the welding gun head 300 pauses at the end point of welding and waits for a fourth preset time. During the fourth preset time, the wire feed nozzle 511 stops feeding wire and the main welding arc is extinguished. Afterwards, the control system controls the welding gun head 300 to return to the initial position. The fourth preset time can be 1s-3s.

[0118] The arc welding method improves the stability, uniformity and continuity of wire feeding by the wire feeding nozzle 511 by adjusting the position of the wire feeding nozzle 511 relative to the welding gun head 300 in real time during the welding process, thereby improving the welding quality.

[0119] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An arc welding device, characterized in that include: MovementAxis(200); A welding gun head (300) is arranged at one end of the moving shaft (200), and the welding gun head (300) moves along a welding path driven by the moving shaft (200); A rotary encoder (400), arranged on the motion shaft (200), for measuring an actual rotation angle of the welding gun head (300) when welding along the welding path; A first position sensor, arranged on the welding gun head (300), and used for measuring the actual position of the welding gun head (300); A wire feeding device (500), comprising a wire feeding nozzle (511), wherein the wire feeding nozzle (511) is used to feed welding wire to the welding gun head (300); an actuator (600) connected to the motion shaft (200); the actuator (600) moves along the welding path driven by the motion shaft (200); an output end of the actuator (600) is connected to the wire feeding device (500) and is used to drive the wire feeding device (500) to rotate at a correction angle so as to adjust the position of the wire feeding nozzle (511) relative to the welding gun head (300); A second position sensor, arranged on the actuator (600) and used to measure the actual position of the actuator (600); The correction angle is obtained by converting the actual rotation angle information, the actual position information of the welding gun head (300) and the actual position information of the actuator (600) into the same coordinate system and based on the relationship of trigonometric functions.

2. The arc welding device according to claim 1, characterized in that: The wire feeding device (500) further comprises: A fixed plate (520), wherein the actuator (600) is drivingly connected to the fixed plate (520); A first position adjustment mechanism (530) is arranged on the fixing plate (520); a second position adjustment mechanism (540), arranged on the first position adjustment mechanism (530), the first position adjustment mechanism (530) being used to drive the second position adjustment mechanism (540) to move along a first direction; a third position adjustment mechanism (550), arranged on the second position adjustment mechanism (540), the second position adjustment mechanism (540) being used to drive the third position adjustment mechanism (550) to move along a second direction; A wire feeding nozzle fixing seat (510) for installing the wire feeding nozzle (511), wherein the wire feeding nozzle fixing seat (510) is arranged on the third position adjustment mechanism (550) and is rotationally connected to the third position adjustment mechanism (550), and the third position adjustment mechanism (550) is used to drive the wire feeding nozzle fixing seat (510) to move along a third direction; An angle adjustment mechanism connected to the wire feeding nozzle fixing seat (510) and used for driving the wire feeding nozzle fixing seat (510) to rotate relative to the third position adjustment mechanism (550) so as to adjust the angle between the wire feeding nozzle (511) and the axis of the welding gun head (300); The first direction, the second direction and the third direction are perpendicular to each other.

3. The arc welding device according to claim 2, characterized in that: The first position adjustment mechanism (530) comprises a fixed plate (520), a screw seat (531) and a first screw (532), wherein the screw seat (531) is mounted on the fixed plate (520), and the screw (532) is mounted on the screw seat (531) along the first direction; The second position adjustment mechanism (540) comprises a first nut (541) and a second lead screw (542), the first nut (541) is connected to the first lead screw (532), and the second lead screw (542) is installed on the first nut (541) along the second direction; The third position adjustment mechanism (550) comprises a second nut (551), a third lead screw (552) and a third nut (553), wherein the second nut (551) is connected to the second lead screw (542), the third lead screw (552) is installed on the second nut (551) along the third direction, the third nut (553) is connected to the third lead screw (552), and the third nut (553) is provided with a connecting arm (5531), and the connecting arm (5531) is provided with a connecting hole; The wire feeding nozzle fixing seat (510) is rotatably connected to the third nut (553), and a threaded hole is provided on the wire feeding nozzle fixing seat (510); The angle adjustment mechanism (560) comprises an angle adjustment knob (561), and the angle adjustment knob (561) is passed through the connection hole and connected to the threaded hole. By rotating the angle adjustment knob (561), the wire feeding nozzle fixing seat (510) can be rotated relative to the third nut (553) to adjust the angle between the wire feeding nozzle (511) and the axis of the welding gun head (300).

4. The arc welding device according to claim 3, characterized in that: An elastic member is sleeved on the angle adjustment knob (561), one end of the elastic member abuts against the connecting arm (5531), and the other end abuts against the wire feeding nozzle fixing seat (510).

5. The arc welding device according to claim 1, characterized in that: The arc welding device also includes a mounting frame (100), the moving shaft (200) is inserted through the mounting frame (100), and the actuator is arranged on the mounting frame (100).

6. An arc welding method, applied to the arc welding device according to any one of claims 1 to 5, characterized in that: The arc welding method comprises: The control system determines a welding path of the welding gun head (300) according to the received welding instruction, and controls the motion axis (200) to move along the welding path; The control system receives actual rotation angle information from a rotary encoder (400); The control system receives actual position information of the welding gun head (300) measured by a first position sensor; The control system receives actual position information of the actuator (600) measured by a second position sensor; The control system determines a correction angle of the wire feeding device (500) according to the actual rotation angle information, the actual position information of the welding gun head (300) and the actual position information of the actuator (600); The control system controls the actuator (600) to drive the wire feeding device (500) to rotate at the correction angle, so as to adjust the position of the wire feeding nozzle (511) relative to the welding gun head (300).

7. The arc welding method according to claim 6, characterized in that: If the correction angle is greater than a preset value, the control system controls the actuator (600) to drive the wire feeding device (500) to rotate according to the correction angle.

8. The arc welding method according to claim 7, characterized in that: After the control system controls the actuator (600) to drive the wire feeding device (500) to rotate according to the correction angle, the welding wire fed by the wire feeding nozzle (511) is located directly below the welding gun head (300).

9. The arc welding method according to claim 6, characterized in that: The control system controls the welding gun head (300) to be fixed directly above the arc starting point, and the distance between the welding gun head (300) and the arc starting point is a first preset distance; After pausing for a first preset time, the control system controls the welding gun head (300) to descend until the distance between the welding gun head (300) and the arc starting point is a second preset distance; The control system controls the welding gun head (300) to ignite the pilot arc, and after the arc light of the pilot arc is maintained for a second preset time, the control system controls the welding gun head (300) to ignite the main welding arc; After the arc light of the main welding arc is maintained for a third preset time, the control system controls the motion axis (200) to drive the welding gun head (300) to weld along the welding path.

Images