Curve welding seam welding device

Abstract

The invention discloses a curved weld joint welding device which comprises a welding assembly, a rotary movement part, a first direction movement part and a second direction movement part. The welding assembly comprises a welding gun and a welding wire limiting clamp. The welding wire limiting clamp is used for limiting the position of a welding wire relative to the welding gun. The rotary motion part comprises a rotary element which is detachably connected with the welding assembly; the second direction movement part comprises a second translation element detachably connected with the rotary movement part, and the first direction movement part comprises a first translation element detachably connected with the second direction movement part. By controlling the movement speed of the welding gun in the first direction and the movement speed of the welding gun in the second direction, the welding gun can advance according to a curve welding seam path; the position of the welding wire relative to the welding gun is kept unchanged, meanwhile, the welding gun is controlled to rotate through the rotating movement part, it is guaranteed that the position of the welding wire relative to the welding gun is kept unchanged, meanwhile, the relative position of the welding wire and the curve path is kept unchanged, and therefore curve welding seam welding work can be completed.

Description

Technical Field

[0001] The invention belongs to the technical field of welding equipment, and in particular relates to a curved weld welding device. Background Art

[0002] With the development of the times and technology, the application of special-shaped tubes is becoming more and more extensive. As a special-shaped structure of round tubes, oval tubes have been widely used. In some specific fields, multiple oval tubes need to be combined and applied. Multiple oval tubes are arranged in parallel and a connecting plate is set at their ends. The connecting plate is provided with an oval hole that matches the end of the oval tube. The oval tube needs to be inserted into the oval hole on the connecting plate and fixed in the oval hole by welding.

[0003] Since the welding point between the elliptical tube and the connecting plate is elliptical and has an asymmetric structure, the existing method is generally to use manual argon arc welding. The welding quality is guaranteed by manual labor, which has high requirements for welders and low welding efficiency. The existing equipment is usually for circular welding. The existing equipment usually fixes the welding gun and its motion mechanism on the palletizing robot arm. The robot arm moves the welding gun and its motion mechanism to the specified position by moving. The robot arm does not participate in the formal welding process. The welding gun and its motion mechanism use the visual system to locate the center of the circle and weld along the circular trajectory. It is impossible to weld elliptical tubes with a large aspect ratio. Summary of the invention

[0004] The purpose of the present invention is to provide a curved weld welding device to solve the problems existing in the above-mentioned prior art.

[0005] To achieve the above object, the present invention provides a curved weld welding device, comprising:

[0006] A welding assembly, the welding assembly comprising a welding gun and a welding wire limiting clamp, the welding gun and the welding wire limiting clamp are detachably connected, and the welding wire limiting clamp is used to limit the position of the welding wire relative to the welding gun;

[0007] A rotary motion part, the rotary motion part comprising a rotary element detachably connected to the welding assembly;

[0008] A second direction moving part, the second direction moving part comprising a second translation element detachably connected to the rotation moving part, the second translation element being movable along a second direction;

[0009] A first direction moving part, the first direction moving part comprising a first translation element detachably connected to the second direction moving part; the first translation element can move along a first direction;

[0010] The first direction and the second direction are perpendicular to each other, and both the first direction and the second direction are parallel to the plane where the curved weld is located.

[0011] Optionally, the rotating element is a rotating shaft, the rotating shaft is detachably connected to the welding assembly, and the rotating shaft is driven to rotate by a sixth rotating driving member.

[0012] Optionally, the second translation element is a sliding plate, the sliding plate is detachably connected to the rotational motion part, and the sliding plate is driven to move along the second direction by a second driving member.

[0013] Optionally, the first translation element is a first sliding seat, the first sliding seat is detachably connected to the second direction moving portion, and the first sliding seat is driven to move along the first direction by a first driving member.

[0014] Optionally, it also includes a third directional motion part, which is detachably connected to the rotating element, and the third directional motion part includes a third translation element detachably connected to the welding assembly, and the third translation element can move along a third direction, wherein the first direction, the second direction and the third direction are perpendicular to each other, and the third direction is the axial direction of the welding gun.

[0015] Optionally, the third translation element is a push plate, and the push plate is driven to move along the third direction by a third driving member.

[0016] Optionally, it also includes a fourth direction moving part, which is detachably connected to the rotating element, and the fourth direction moving part includes a fourth translation element detachably connected to the third direction moving part, and the fourth translation element can move along a fourth direction, and the fourth direction and the first direction are set in the same direction.

[0017] Optionally, it also includes a fifth direction moving part, which is detachably connected to the third translation element. The fifth direction moving part includes a fifth translation element detachably connected to the welding assembly. The fifth translation element can move along a fifth direction, and the fifth direction and the second direction are set in the same direction.

[0018] Optionally, a camera is also included, and the camera is used to monitor the positions of the welding gun, welding wire and the workpiece to be welded in real time; the camera is electrically connected to a central processing unit.

[0019] Compared with the prior art, the present invention has the following advantages and technical effects:

[0020] When the curved weld welding device provided by the present invention is working, the second direction moving part controls the rotating moving part and the welding gun to move in the second direction, and the first direction moving part controls the second direction moving part, the rotating moving part and the welding gun to move in the first direction. By controlling the movement speed of the welding gun in the first direction and the second direction, the welding gun can move along the curved weld path; and at the same time, the welding wire limit clamp clamps the welding wire to ensure that the position of the welding wire relative to the welding gun remains unchanged. At the same time, the welding gun is controlled to rotate by the rotating moving part, and the welding wire will rotate synchronously, ensuring that the position of the welding wire relative to the welding gun remains unchanged, and the relative position of the welding wire and the curved path remains unchanged, so that it can complete the curved weld welding work, including the welding work of elliptical tubes with various aspect ratios. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 It is a structural schematic diagram of the curved weld welding device of the present invention;

[0023] Figure 2 It is a schematic structural diagram of the first direction motion part of the present invention;

[0024] Figure 3 It is a schematic diagram of the structure of the second direction motion part and the rotation motion part of the present invention;

[0025] Figure 4 It is a schematic structural diagram of the second direction motion part and the rotation motion part of the present invention from another direction;

[0026] Figure 5 It is a schematic diagram of the structures of the third direction motion part, the fourth direction motion part and the fifth direction motion part of the present invention;

[0027] Figure 6 It is a schematic diagram of the structure of the third direction moving part, the fourth direction moving part and the fifth direction moving part from another direction of view of the present invention;

[0028] Among them, 1. first direction movement part, 11. mounting frame, 12. column, 13. sliding frame, 14. first driving motor, 15. first slide rail, 16. first slider, 17. first sliding seat, 2. second direction movement part, 21. second mounting frame, 22. second lead screw, 23. second nut seat, 24. sliding plate, 25. second slide rail, 26. second slider, 27. second driving motor, 28. second sliding hole, 29. second belt assembly, 3. third direction movement part, 31. Push plate, 32, electric push rod motor, 33, self-aligning slide, 4, fourth directional motion part, 41, fourth sliding seat, 42, fourth lead screw, 43, fourth drive motor, 44, fourth belt assembly, 45, rotating frame, 5, fifth directional motion part, 51, fifth lead screw, 52, fifth sliding seat, 53, welding gun connecting seat, 6, rotating motion part, 61, rotating shaft, 62, gear assembly, 63, sixth drive motor, 64, gear mounting frame, 7, welding gun, 8, welding wire limit clamp, 9, camera. DETAILED DESCRIPTION

[0029] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0030] The present invention provides a curved seam welding device, which is applied to curved seam welding in a plane and is suitable for welding elliptical pipes with a large aspect ratio. It includes a welding assembly, a rotating motion part 6, a first direction motion part 1 and a second direction motion part 2;

[0031] The welding assembly includes a welding gun 7 and a welding wire limiting clamp 8, the welding gun 7 and the welding wire limiting clamp 8 are detachably connected, and the welding wire limiting clamp 8 is used to limit the position of the welding wire relative to the welding gun 7;

[0032] The rotary motion part 6 includes a rotary element detachably connected to the welding assembly;

[0033] The second direction moving part 2 comprises a second translation element detachably connected to the rotation moving part 6, and the second translation element can move along the second direction;

[0034] The first direction moving part 1 comprises a first translation element detachably connected to the second direction moving part 2; the first translation element can move along the first direction;

[0035] The first direction and the second direction are perpendicular to each other, and both the first direction and the second direction are parallel to the plane where the curved weld is located.

[0036] When the curved weld welding device provided by the present invention is working, the second direction moving part 2 controls the rotating moving part 6 and the welding assembly to move in the second direction, and the first direction moving part 1 controls the second direction moving part 2, the rotating moving part 6 and the welding assembly to move in the first direction, and the movement speed of the welding gun 7 in the first direction and the second direction is controlled, so that the welding gun 7 can move along the curved weld path; and at the same time, the welding wire limit clamp 8 clamps the welding wire to ensure that the position of the welding wire relative to the welding gun 7 remains unchanged, and at the same time, the welding gun 7 is controlled to rotate by the rotating moving part 6, and the welding wire will rotate synchronously, ensuring that the position of the welding wire relative to the welding gun 7 remains unchanged, and the relative position of the welding wire and the curved path remains unchanged, so that it can complete the curved weld welding work, including the welding work of elliptical tubes with various aspect ratios. In this embodiment, the welding wire is fed by a wire feeding mechanism, and the wire feeding mechanism is a prior art and will not be described here.

[0037] In a further optimized solution, the rotating element is a rotating shaft 61, which is detachably connected to the welding assembly, and the rotating shaft 61 is driven to rotate by a sixth rotating drive. The rotating shaft 61 is driven to rotate by the sixth rotating drive, thereby driving the welding assembly detachably connected to the rotating shaft 61 to rotate, that is, the rotating shaft 61 drives the welding gun 7 and the welding wire to rotate, and the welding wire limiting clamp 8 ensures that the position of the welding wire relative to the welding gun 7 remains unchanged, while controlling the rotation angle of the rotating shaft 61 so that the relative position of the welding wire and the curved path remains unchanged. Of course, the rotating element in the present application can also be a rotating element such as a rotating disk.

[0038] Among them, the sixth rotating drive member includes a sixth driving motor 63, and a gear assembly 62 is connected between the output shaft of the sixth driving motor 63 and the rotating shaft 61. The gear assembly 62 is driven by the sixth driving motor 63 to work, and then the gear assembly 62 drives the rotating shaft 61 to rotate, so that the rotating shaft 61 drives the welding assembly to rotate. The gear assembly 62 plays a deceleration role by setting the gear ratio between the internal gears, and can more accurately control the rotation angle of the rotating shaft 61, and further ensure that the relative position of the welding wire and the curved path remains unchanged. Of course, the sixth rotating drive member in the present application can also be driven by a cylinder, that is, a gear is fixedly arranged on the rotating shaft 61, and the sixth rotating drive member includes a cylinder, and the telescopic rod of the cylinder is fixedly connected to a sliding plate, and the sliding plate is provided with gear teeth matching the gear on the side of the gear on the rotating shaft. When working, the sliding plate is controlled to slide by the cylinder, and the gear teeth on the sliding plate drive the gear on the rotating shaft to rotate, thereby driving the rotating shaft to rotate.

[0039] In a further optimized solution, the second translation element is a sliding plate 24, which is detachably connected to the rotary motion part 6, and the sliding plate 24 is driven to move in the second direction by the second driving member. The sliding plate 24 is driven to move in the second direction by the second driving member, thereby driving the rotary motion part 6 and the welding assembly to move in the second direction. Of course, the second translation element can also be a structure such as a sliding seat or a sliding frame 13.

[0040] The second drive member includes a second lead screw 22, which is threadedly connected with a second nut seat 23, the second nut seat 23 is fixedly connected to the sliding plate 24, and the sliding plate 24 is detachably connected to the rotating assembly. The second drive member also includes a second drive motor 27, and a second belt assembly 29 is connected between the output shaft of the second drive motor 27 and the second lead screw 22. The second belt assembly 29 is driven by the second drive motor 27 to work, and the second belt assembly 29 drives the second lead screw 22 to rotate, thereby realizing that the second lead screw 22 drives the second nut seat 23 and the sliding plate 24 to slide synchronously, thereby realizing that the rotating motion part 6 and the welding assembly are driven to move in the second direction. Of course, the second drive member can also be a direct drive element such as a cylinder or a hydraulic cylinder.

[0041] In this specific embodiment, the second driving member also includes a second mounting frame 21, the rotating motion part 6 and the second direction motion part 2 are arranged inside the second mounting frame 21, and the two ends of the second lead screw 22 are rotatably connected to the second mounting frame 21 through bearings and support seats. A plurality of groups of second slide rails 25 are arranged inside the second mounting frame 21, and each second slide rail 25 is slidably provided with a second slider 26, and at least one second slider 26 is fixedly connected to the sliding plate 24, and the remaining second sliders 26 are slidably or detachably connected to the rotating motion part 6, thereby ensuring that the second nut seat 23 can move along the second direction while effectively improving the connection strength between the second direction motion part 2 and the second mounting frame 21. Among them, a mounting hole is provided on the sliding plate 24, and the rotating shaft 61 passes through the mounting hole, and a bearing is provided between the mounting hole and the rotating shaft 61 to ensure that the rotating shaft 61 can rotate normally. At the same time, a second sliding hole 28 for the rotating shaft 61 to slide is provided on the second mounting frame 21, and the rotating shaft 61 passes through the second sliding hole 28 and can slide in the second sliding hole 28, so that the rotating shaft 61 can move synchronously with the sliding plate 24 along the second direction. The gear assembly 62 is rotatably mounted with a gear mounting frame 64, and the gear mounting frame 64 is mounted on the second mounting frame 21 through bolts and other connecting parts.

[0042] In a further optimized solution, the first translation element is a first sliding seat 17, which is detachably connected to the second direction moving part 2, and the first sliding seat 17 is driven to move in the first direction by a first driving member. The first sliding seat 17 is driven to move in the first direction by the first driving member, thereby controlling the second direction moving part 2, the rotation moving part 6 and the welding assembly to move in the first direction, and by controlling the movement speed of the welding gun 7 in the first direction and the second direction, the welding gun 7 can move along the curved weld path. Of course, the first translation element in the present application can also be a sliding frame 13, a sliding plate and other structures.

[0043] The first driving member includes a column 12 and a sliding frame 13 sleeved on the outside of the column 12. The column 12 is a hollow structure. The middle part of the column 12 is rotatably connected with a first lead screw, and the first lead screw is threadedly connected with a first sliding seat 17. Sliding grooves are provided on both sides of the column 12. Both sides of the first sliding seat 17 are slidably arranged in the sliding grooves, so that the first sliding seat 17 can slide in the hollow structure of the column 12. After the first sliding seat 17 passes through the sliding groove, it is detachably connected with the sliding frame 13. The first driving member also includes a first driving motor 14. A first belt assembly is arranged between the first driving motor 14 and the first lead screw. When working, the first belt assembly is driven to work by the first driving motor 14, and then the first lead screw is driven to rotate. The first lead screw drives the first sliding seat 17 to move along the first direction, so that the first direction motion part 1 controls the second direction motion part 2, the rotation motion part 6 and the welding assembly to move along the first direction.

[0044] In this specific embodiment, the first driving member also includes a first slider 16 fixedly arranged on both sides of the column 12 and a first slide rail 15 fixedly arranged on the inner side of the sliding frame 13. The first slider 16 and the first slide rail 15 are slidably connected, thereby further limiting that only a sliding connection can be achieved between the column 12 and the sliding frame 13, while ensuring the connection strength between the column 12 and the sliding frame 13. In this embodiment, the sliding frame 13 and the second mounting frame 21 are detachably connected by nuts, ensuring that the first direction moving part 1 controls the second direction moving part 2, the rotation moving part 6 and the welding assembly to move in the first direction. The end of the column 12 away from the sliding frame 13 is fixedly connected to the mounting frame 11, and the mounting frame 11 is used to connect to an external fixed connection structure to fix the entire welding device.

[0045] Further optimization scheme, a curved weld welding device also includes a third directional moving part 3, the third directional moving part 3 is detachably connected to the rotating element, the third directional moving part 3 includes a third translation element detachably connected to the welding assembly, the third translation element can move along the third direction, wherein the first direction, the second direction and the third direction are mutually perpendicular, and the third direction is the axial direction of the welding gun 7. The welding assembly is controlled to move along the third direction by the third translation element, and the third direction is the axial direction of the welding gun 7, so that the welding gun 7 and the welding wire are close to the workpiece to be welded, and the initial position of the welding is determined.

[0046] Preferably, the third translation element is a push plate 31, and the push plate 31 is driven to move along the third direction by the third driving member. The push plate 31 is driven to move along the third direction by the third driving member, so that the welding gun 7 and the welding wire are close to the workpiece to be welded, and the initial position of welding is determined. Of course, the third translation element in the present application can also be a structure such as a sliding block and a sliding plate. Among them, the third driving member includes an electric push rod motor 32, and a push rod is provided at the output end of the electric push rod motor 32. The push rod and the push plate 31 are detachably connected, and the push plate 31 is detachably connected to the welding assembly. During operation, the push rod is controlled by the electric push rod motor 32 to work and extend, driving the push plate 31 to move along the third direction, thereby making the welding gun 7 and the welding wire close to the workpiece to be welded, and determining the initial position of welding.

[0047] A further optimized solution is provided, in which a curved weld welding device further comprises a fourth direction moving part 4, which is detachably connected to the rotating element, and the fourth direction moving part 4 comprises a fourth translation element detachably connected to the third direction moving part 3, and the fourth translation element can move along a fourth direction, and the fourth direction and the first direction are arranged in the same direction. The rotating element and the fourth direction moving part 4 are detachably connected, and when the rotating element rotates, the fourth direction moving part 4, the third direction moving part 3 and the welding assembly are driven to rotate. The fourth translation element drives the third direction moving part 3 and the welding assembly to move along the fourth direction. Before welding, the fourth direction moving part 4 is used to fine-tune the position of the welding gun 7 in the fourth direction.

[0048] Preferably, the fourth translation element is a fourth sliding seat 41, and the fourth sliding seat 41 is detachably connected to the third directional motion part 3, and the fourth sliding seat 41 is driven to move in the fourth direction by a fourth driving member. In this embodiment, the fourth sliding seat 41 is driven to move in the fourth direction by a fourth driving assembly, thereby driving the third directional motion part 3 and the welding assembly to move in the fourth direction. Among them, the fourth driving member includes a rotating frame 45 detachably connected to the rotating shaft 61, and a fourth lead screw 42 is provided on the rotating frame 45, and the two ends of the fourth lead screw 42 are rotatably connected to the rotating frame 45 through bearings and a support seat; the fourth sliding seat 41 is threadedly connected to the fourth lead screw 42, and the fourth sliding seat 41 and the third directional motion part 3 are detachably connected. In this specific embodiment, the fourth sliding seat 41 and the electric push rod motor 32 are detachably connected. The fourth driving member also includes a fourth driving motor 43 and a fourth belt assembly 44. The output shaft of the fourth driving motor 43 is connected to the fourth belt assembly 44 and the fourth lead screw 42 through the fourth driving motor 43. The fourth lead screw 42 is driven to rotate by the fourth driving motor 43, thereby driving the fourth sliding seat 41 to move along the fourth direction, thereby driving the third directional moving part 3 and the welding assembly to move along the fourth direction.

[0049] Further optimizing the scheme, a curved weld welding device also includes a fifth direction moving part 5, the fifth direction moving part 5 is detachably connected to the third translation element, the fifth direction moving part 5 includes a fifth translation element detachably connected to the welding assembly, the fifth translation element can move along the fifth direction, and the fifth direction and the second direction are arranged in the same direction. The welding assembly is driven to move along the fifth direction by the fifth translation element.

[0050] Preferably, the fifth translation element is a fifth sliding seat 52, and the fifth sliding seat 52 is driven to move along the fifth direction by a fifth driving member. The fifth driving member includes a self-aligning slide 33 detachably connected to the push plate 31, a fifth lead screw 51 is rotatably provided on the self-aligning slide 33, the fifth sliding seat 52 is threadedly connected to the fifth lead screw 51, the fifth sliding seat 52 is fixedly connected to a welding gun connecting seat 53, and the welding gun 7 and the welding gun connecting seat 53 are detachably connected. The rotating motion part 6 can be mechanically driven or manually driven to fine-tune the welding gun 7 in the fifth direction. In this embodiment, the third direction motion part 3, the fourth direction motion part 4 and the fifth direction motion part 5 are used to achieve fine-tuning of the welding gun 7 before welding.

[0051] Further optimizing the scheme, a curved seam welding device also includes a camera 9, which is used to monitor the positions of the welding gun 7, welding wire and the parts to be welded in real time; the camera 9 is electrically connected to a central processor, and the central processor is electrically connected to the first drive motor 14, the second drive motor 27, the electric push rod motor 32, the fourth drive motor 43 and other drive parts. The camera 9 is fixedly set on the rotating frame 45, and the camera is set directly opposite the welding gun 7. The camera 9 monitors the relative positions of the welding gun 7, the welding wire and the parts to be welded in real time, and transmits the detected signals to the central processor, which calculates the specific control requirements according to the received signals and welding requirements, and implements them through the first drive motor 14, the second drive motor 27, the electric push rod motor 32, and the fourth drive motor 43.

[0052] The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for a person skilled in the art, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

[0053] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0054] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, 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 do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0055] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A curved seam welding device, characterized in that: include: A welding assembly, the welding assembly comprising a welding gun (7) and a welding wire limiting clamp (8), the welding gun (7) and the welding wire limiting clamp (8) being detachably connected, and the welding wire limiting clamp (8) being used to limit the position of the welding wire relative to the welding gun (7); A rotating motion part (6), the rotating motion part (6) comprising a rotating element detachably connected to the welding assembly; A second direction moving part (2), the second direction moving part (2) comprising a second translation element detachably connected to the rotation moving part (6), the second translation element being movable along a second direction; A first direction moving part (1), the first direction moving part (1) comprising a first translation element detachably connected to the second direction moving part (2); the first translation element can move along a first direction; The first direction and the second direction are perpendicular to each other, and both the first direction and the second direction are parallel to the plane where the curved weld is located.

2. The curved seam welding device according to claim 1, characterized in that: The rotating element is a rotating shaft (61), the rotating shaft (61) is detachably connected to the welding assembly, and the rotating shaft (61) is driven to rotate by a sixth rotating driving member.

3. The curved seam welding device according to claim 1, characterized in that: The second translation element is a sliding plate (24), the sliding plate (24) is detachably connected to the rotational motion part (6), and the sliding plate (24) is driven by a second driving member to move along a second direction.

4. The curved seam welding device according to claim 1, characterized in that: The first translation element is a first sliding seat (17), the first sliding seat (17) is detachably connected to the second direction moving part (2), and the first sliding seat (17) is driven by a first driving member to move along the first direction.

5. The curved seam welding device according to claim 1, characterized in that: The invention also comprises a third directional moving part (3), wherein the third directional moving part (3) is detachably connected to the rotating element, and the third directional moving part (3) comprises a third translation element detachably connected to the welding assembly, and the third translation element can move along a third direction, wherein the first direction, the second direction and the third direction are perpendicular to each other, and the third direction is the axial direction of the welding gun (7).

6. The curved seam welding device according to claim 5, characterized in that: The third translation element is a push plate (31), and the push plate (31) is driven to move along a third direction by a third driving member.

7. The curved seam welding device according to claim 5, characterized in that: It also comprises a fourth direction moving part (4), the fourth direction moving part (4) being detachably connected to the rotating element, the fourth direction moving part (4) comprising a fourth translation element detachably connected to the third direction moving part (3), the fourth translation element being movable along a fourth direction, the fourth direction being arranged in the same direction as the first direction.

8. The curved seam welding device according to claim 7, characterized in that: It also comprises a fifth direction moving part (5), the fifth direction moving part (5) is detachably connected to the third translation element, the fifth direction moving part (5) comprises a fifth translation element detachably connected to the welding assembly, the fifth translation element can move along a fifth direction, and the fifth direction and the second direction are arranged in the same direction.

9. The curved seam welding device according to any one of claims 1 to 8, characterized in that: It also comprises a camera (9), wherein the camera (9) is used to monitor the positions of the welding gun (7), the welding wire and the workpiece to be welded in real time; the camera (9) is electrically connected to a central processing unit.

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