Magnetically controlled arc GTAW-GMAW composite narrow gap welding system and method

Abstract

The invention discloses a magnetic control arc GTAW-GMAW composite narrow gap welding system and method. The system comprises a GTAW welding gun, a GMAW welding gun, a magnetic conductive iron core, a magnet exciting coil, a magnetic boot, an assembling clamp, a GTAW welding power source, a GMAW welding power source and a magnetic control power source. The GTAW welding gun, the GMAW welding gun, the magnetic conductive iron core, the magnet exciting coil and the magnetic shoe are fixed through the assembling clamp to form a welding assembly, and the welding assembly is connected with an end effector of the robot. The GTAW welding gun is connected with a GTAW welding power source through a cable. The GMAW welding gun is connected with a GMAW welding power supply through a cable; the excitation coil is connected with a magnetic control power supply through a cable; the GTAW welding power source, the GMAW welding power source and the magnetic control power source are in communication connection with the robot control system. The defect of incomplete fusion in narrow-gap welding of thick stainless steel plates and high-strength steel is effectively overcome, the optimized energy distribution not only refines the weld structure and improves the mechanical property of a joint, but also reduces deformation caused by heat input, and a stable and reliable high-quality welding result can be obtained.

Description

Technical Field

[0001] The present invention relates to the field of narrow gap welding, and more particularly to a magnetically controlled arc GTAW-GMAW composite narrow gap welding system and method. Background Art

[0002] In the construction of energy facilities such as oil and natural gas, thick-walled structural welding technology is widely used in the manufacture and installation of equipment such as pipelines and storage tanks. With the rapid development and transformation and upgrading of my country's manufacturing industry, the demand for thick-walled structural welding technology is growing. At the same time, as the service environment becomes more and more harsh, higher requirements are placed on the process and welding quality of thick-walled structural welding manufacturing. The narrow gap welding method is favored because it can significantly reduce the filling area, reduce welding deformation and residual stress, and is especially suitable for efficient welding of materials such as thick-walled stainless steel and high-strength steel.

[0003] However, when using conventional arc narrow gap welding methods, due to the low welding efficiency and difficulty in ensuring effective melting of the groove side wall, it is easy to produce incomplete fusion defects. When the traditional single arc welding method is used to process narrow grooves, the energy distribution during the welding process is uneven, resulting in unstable quality of the welded joint, especially for thick plate materials. This not only affects the welding efficiency, but also may increase the risk of welding deformation.

[0004] In addition, there are magnetically controlled single arc narrow gap welding methods in the prior art to improve the side wall fusion problem in thick plate welding, such as the patent application document with publication number CN118081095A, in which the narrow gap welding system and method for thick marine plates disclosed therein are performed by combining laser beam and swinging arc for narrow gap welding. Although this method can solve the side wall fusion, it has high assembly requirements and poor adaptability to the groove. At the same time, the introduction of laser is likely to cause molten pool fluctuations and keyhole instability, increasing the probability of defects such as pores and poor forming in the weld during multi-layer welding. It cannot achieve the technical effect of arc-arc composite narrow gap welding with strong adaptability to the groove and easy guarantee of good weld formation during multi-layer welding.

[0005] At the same time, the existing technology lacks sufficient flexibility for welding requirements of different materials and sizes, and it is difficult to flexibly respond to changes in various welding conditions.

[0006] Therefore, how to design a magnetron arc GTAW-GMAW composite narrow gap welding system to improve welding efficiency, ensure full fusion of the side walls of thick-walled materials, and avoid unfused defects; at the same time, optimize energy distribution and molten pool flow, reduce heat input and deformation, and enhance system flexibility to adapt to the needs of different materials and specifications is a problem that technical personnel in this field urgently need to solve. Summary of the invention

[0007] In view of this, the present invention provides a magnetically controlled arc GTAW-GMAW composite narrow gap welding system, which can effectively solve the unfusion defects in thick plate welding, while reducing heat input, reducing welding deformation, and achieving uniform distribution of weld structure, thereby meeting the high quality and high efficiency requirements of modern manufacturing industry for thick-walled structure welding.

[0008] In order to achieve the above object, the present invention adopts the following technical solution:

[0009] In a first aspect, the present invention provides a magnetron arc GTAW-GMAW composite narrow gap welding system, comprising: a GTAW welding gun, a GMAW welding gun, a magnetic core, an excitation coil, a magnetic shoe, an assembly fixture, a GTAW welding power supply, a GMAW welding power supply, and a magnetron power supply;

[0010] The GTAW welding gun, GMAW welding gun, magnetic core, excitation coil, and magnetic shoe are fixed by an assembly fixture to form a welding assembly; the welding assembly is connected to the robot end effector;

[0011] The central axis of the GTAW welding gun is perpendicular to the surface of the narrow gap groove weldment and is connected to the GTAW welding power source via a cable;

[0012] The GMAW welding gun is installed on one side of the GTAW welding gun and connected to the GMAW welding power source via a cable;

[0013] The GTAW welding gun and the GMAW welding gun have opposite wiring polarities;

[0014] The magnetic conductive core, the excitation coil and the magnetic shoe are installed on the other side of the GTAW welding gun. The magnetic conductive core is parallel to the central axis of the GTAW welding gun. The excitation coil is evenly wound on the surface of the magnetic conductive core. The excitation coil is connected to the magnetron power supply through a cable. The magnetic shoe is connected to the magnetic conductive core by interference fit and is fastened to the magnetic conductive core in combination with a nut.

[0015] The GTAW welding power source, GMAW welding power source, and magnetron power source establish communication connections with the robot control system.

[0016] Preferably, the central axis of the GTAW welding gun forms a preset angle with the central axis of the GMAW welding gun; the preset angle is 20°-75°.

[0017] Preferably, the distance between the electrode ends of the GTAW welding gun and the GMAW welding gun is 4 mm-8 mm.

[0018] Preferably, the diameter of the tungsten pole of the GTAW welding gun is 1.6 mm-4 mm, and the length of the tungsten pole tip of the GTAW welding gun extending out of the plane where the lower end surface of the magnetic shoe is located is 1 mm-5 mm.

[0019] Preferably, the diameter of the conductive tip end of the GMAW welding gun is 6mm-8mm.

[0020] Preferably, the magnetic conductive core is made of 35W400 cold-rolled non-oriented electrical silicon steel.

[0021] Preferably, the excitation coil uses pure copper enameled wire with a wire diameter of 1.2mm-2.4mm and the number of turns is 300 turns to 750 turns.

[0022] Preferably, the magnetic shoe is made of soft magnetic electrical iron of model DT4C with a thickness ranging from 3mm to 8mm.

[0023] Preferably, a rounded corner transition structure is provided at the corner of the magnetic shoe; the rounded corner radius of the rounded corner transition structure is 5mm-8mm.

[0024] In a second aspect, the present invention provides a magnetic arc GTAW-GMAW composite narrow gap welding method, which is applied to the above-mentioned magnetic arc GTAW-GMAW composite narrow gap welding system, comprising the following steps:

[0025] Assemble the base material to be welded according to welding requirements to ensure that the groove size and gap meet the process requirements;

[0026] Select suitable welding wire and adjust the wire extension length to the preset range;

[0027] Start the GTAW welding power supply, GMAW welding power supply and magnetron power supply, check the line connection, and ensure that the system operates normally without abnormalities;

[0028] Plan the welding trajectory based on the shape of the base material, and verify the accuracy and feasibility of the trajectory through simulation;

[0029] Adjust the output of the magnetron power supply based on the groove width, and measure the magnetic induction intensity with a Gauss meter to ensure the arc swing effect;

[0030] Write the robot welding program according to the welding parameters, run the no-load test program, and verify that the program logic and mechanical actions are correct;

[0031] Start the robot to execute the welding procedure, monitor the welding quality and arc status in real time, and immediately suspend welding and conduct troubleshooting if any abnormal situation occurs;

[0032] After welding is completed, turn off the GTAW welding power supply, GMAW welding power supply and magnetron power supply;

[0033] Perform visual inspection and non-destructive testing on welded joints to ensure the welding quality is qualified, and record important parameters of the entire welding process.

[0034] It can be seen from the above technical solution that, compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0035] 1. Through the magnetron arc GTAW-GMAW composite narrow gap welding system, the alternating magnetic field is used to make the GTAW arc produce periodic deflection, preheat the two side walls of the narrow gap, and reduce the melting threshold of the side walls. At the same time, the polarity difference between GTAW and GMAW welding realizes the alternating heating and filling of the arc in the narrow gap groove, effectively solving the unfusion defects that are easy to occur in thick plate welding and improving the welding quality.

[0036] 2. The system uses the alternating motion of the double arcs to make the welding pool flow more fully. Compared with single arc magnetron welding, the weld grains are further refined, and the mechanical properties of the joint are improved. In addition, the compound staggered periodic swing of the double arcs makes the energy distribution in the welding process more uniform, reduces heat input, reduces welding deformation, and improves welding efficiency.

[0037] 3. It has achieved high automation and precise control. The relevant welding parameters such as current, voltage, magnetron power supply output and shielding gas supply can be precisely controlled by the robot program. By adjusting the current waveform, size and frequency of the magnetron power supply output, it can flexibly respond to the welding needs of different materials and sizes, and can meet the needs of modern manufacturing industry for efficient and high-quality welding processes. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] 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 or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0039] Figure 1 A schematic diagram of the structure of a magnetron arc GTAW-GMAW composite narrow gap welding system provided in an embodiment of the present invention;

[0040] Figure 2 A schematic diagram of a GTAW arc and a GMAW droplet without applying a magnetic field provided in an embodiment of the present invention;

[0041] Figure 3 A schematic diagram of a GTAW arc and a GMAW droplet with a magnetic field applied provided by an embodiment of the present invention;

[0042] Figure 4 A schematic diagram of the motion trajectory of a GTAW arc and a GMAW droplet with a magnetic field applied provided in an embodiment of the present invention;

[0043] Figure 5A schematic diagram showing a change in the flow direction of the molten pool when the welding arc alternately swings once provided by an embodiment of the present invention;

[0044] Figure 6 Schematic diagram of the magnetron arc GTAW-GMAW composite narrow gap welding method provided in an embodiment of the present invention:

[0045] Explanation of the accompanying drawings: 1-GTAW welding gun, 2-GMAW welding gun, 3-magnetic core, 4-excitation coil, 5-magnetic shoe, 6-assembly fixture, 7-GTAW welding power supply, 8-GMAW welding power supply, 9-magnetron power supply, 10-narrow gap groove weldment. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. 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.

[0047] Embodiment 1;

[0048] like Figure 1 As shown, this embodiment provides a magnetron arc GTAW-GMAW composite narrow gap welding system, including: a GTAW welding gun 1, a GMAW welding gun 2, a magnetic core 3, an excitation coil 4, a magnetic shoe 5, an assembly fixture 6, a GTAW welding power supply 7, a GMAW welding power supply 8, and a magnetron power supply 9;

[0049] The GTAW welding gun 1, GMAW welding gun 2, magnetic core 3, excitation coil 4, and magnetic shoe 5 are fixed by an assembly fixture 6 to form a welding assembly; the welding assembly is connected to the robot end effector; the robot end effector is the endmost part of the robot arm, responsible for carrying and operating tools or equipment. Its end effector is equipped with an interface adapted to the welding assembly to ensure that the welding gun and other components can be precisely controlled by the robot. The robot end effector has multiple degrees of freedom (such as rotation, tilt, and translation), which can flexibly adjust the angle and position of the welding gun to adapt to weldments of different shapes and sizes and complex welding paths.

[0050] The central axis of the GTAW welding gun 1 is perpendicular to the surface of the narrow gap groove weldment and is connected to the GTAW welding power source 7 via a cable;

[0051] The GMAW welding gun 2 is installed on one side of the GTAW welding gun 1 and is connected to the GMAW welding power source 8 via a cable;

[0052] The wiring polarity of GTAW welding gun 1 and GMAW welding gun 2 is opposite;

[0053] The permeable core 3, the excitation coil 4, and the magnetic shoe 5 are installed on the other side of the GTAW welding gun 1. The permeable core 3 is parallel to the central axis of the GTAW welding gun 1. The excitation coil 4 is evenly wound on the surface of the permeable core 3. The excitation coil 4 is connected to the magnetron power supply 9 through a cable. The magnetic shoe 5 is connected to the permeable core 3 by an interference fit and is fastened to the permeable core 3 in combination with a nut.

[0054] The GTAW welding power source 7, the GMAW welding power source 8, and the magnetron power source 9 establish communication connection with the robot control system;

[0055] The robot control system establishes communication connection with the GTAW welding power source 7, GMAW welding power source 8, and magnetron power source 9 to ensure that all parameters (such as welding current, voltage, magnetron current, etc.) can be automatically adjusted according to the preset program. The robot not only controls the physical position of the welding gun, but also coordinates the alternating magnetic field generated by the magnetron power source 9, so that the GTAW arc and GMAW droplet can swing according to the set frequency and amplitude, achieving efficient composite welding effect.

[0056] The system significantly improves welding efficiency and the fusion quality of the side walls of thick-walled materials by achieving alternating oscillation of dual arcs at the same frequency, thus avoiding unfused defects. The optimized energy distribution and molten pool flow characteristics not only refine the weld structure and improve the mechanical properties of the joint, but also reduce the deformation caused by heat input. The system is highly automated and flexible and controllable, and can adapt to the welding needs of different materials and specifications, ensuring stable and reliable high-quality welding results under various working conditions. It has improved the level of thick-walled structure welding technology and met the needs of modern industry for efficient and high-quality welding processes.

[0057] The following is a further detailed description of each component of the above system and related technical features:

[0058] In this embodiment, the central axis of the GTAW welding gun 1 forms a preset angle with the central axis of the GMAW welding gun 2; the preset angle is 20°-75°. It can dynamically optimize the relative position between the two arcs according to different welding materials, thicknesses and groove shapes, ensure the best energy distribution and molten pool fluidity, and thus improve welding quality.

[0059] In this embodiment, the distance between the electrode ends of the GTAW welding gun 1 and the GMAW welding gun 2 is 4 mm-8 mm.

[0060] In this embodiment, the diameter of the tungsten pole of the GTAW welding gun 1 is 1.6 mm-4 mm, and the length of the tungsten pole tip of the GTAW welding gun 1 extending out of the plane where the lower end surface of the magnetic shoe 5 is located is 1 mm-5 mm. This helps to maintain a stable arc length, ensure that the arc energy is concentrated in the weld area, reduce unnecessary heat loss, and facilitate the operator to observe the arc state.

[0061] In this embodiment, the diameter of the conductive tip end of the GMAW welding gun 2 is 6mm-8mm. This size ensures sufficient shielding gas coverage without affecting the stability of the arc, plays a key role in the delivery of filler metal, and ensures high-quality weld formation.

[0062] In this embodiment, the magnetic core 3 is made of 35W400 cold-rolled non-oriented electrical silicon steel, which has high magnetic permeability and low loss characteristics, can effectively guide the magnetic field, enhance the effect of the electromagnetic field, and thus improve the arc control accuracy.

[0063] In this embodiment, the excitation coil 4 uses pure copper enameled wire with a wire diameter of 1.2mm-2.4mm and a number of turns of 300-750 turns, which can reduce resistance heating, improve conversion efficiency and extend the service life of the equipment while ensuring sufficient current carrying capacity.

[0064] In this embodiment, the magnetic shoe 5 is made of soft magnetic electrical iron of model DT4C, with a thickness ranging from 3mm to 8mm. This material has good magnetic conductivity and mechanical strength, and with interference fit and nut fastening, it ensures close contact between the magnetic shoe 5 and the magnetic core 3.

[0065] In this embodiment, a rounded transition structure is provided at the corner of the magnetic shoe 5; the rounded transition structure has a radius of 5 mm to 8 mm. This helps to reduce stress concentration and prevent cracks, and is also conducive to the uniform distribution of the magnetic field, thereby enhancing the reliability and durability of the system.

[0066] The working principle of the magnetically controlled arc GTAW-GMAW composite narrow gap welding system in this embodiment is further described in detail below:

[0067] 1) Electromagnetic field generation and arc deflection;

[0068] The excitation coil 4 is wound around the permeable core 3 and connected to the magnetron power supply 9. When the magnetron power supply 9 outputs an alternating current, the excitation coil 4 generates an alternating magnetic field. The magnetic field lines of the alternating magnetic field are parallel to the welding direction, and the magnetic field lines are introduced into the arc space through the magnetic shoe 5.

[0069] Since there are charged particles in the arc, they will be affected by the Lorentz force under the action of the alternating magnetic field, causing the arc to swing periodically. This swing can make the arc cover more groove side wall area, thereby improving the side wall fusion.

[0070] 2) Double arcs alternately heating and filling;

[0071] The GTAW arc has a stable heat source and good controllability, which is suitable for precise heating; while the GMAW droplet provides efficient metal filling capabilities. The combination of the two can make up for the shortcomings of a single arc welding method.

[0072] By utilizing the difference in the connection polarity of the GTAW and GMAW welding power sources, the staggered periodic oscillation of the two arcs at the same frequency is achieved.

[0073] like Figure 2 As shown in the figure, in the absence of an external magnetic field, the GTAW arc and the GMAW droplets are both in the center of the groove. The GTAW arc appears as a stable arc perpendicular to the surface of the weldment, which is characterized by a stable and concentrated arc. The GMAW droplets appear as droplets falling off from the tip of the electrode, detaching from the electrode at a certain frequency and entering the molten pool to form a uniform filling.

[0074] like Figure 3 As shown in the figure, after applying the external magnetic field, the GTAW arc and the GMAW droplet simultaneously swing back to the groove side wall, and the GTAW arc shows a periodic swing, which helps to cover more groove side wall area and improve the side wall fusion. At the same time, the transmission of the GMAW droplet also becomes more uniform, which helps to improve the filling efficiency and welding quality.

[0075] In one cycle, the GTAW arc will first preheat one side of the groove, and then the GMAW droplets will follow to fill it. Then the GTAW arc will turn to the other side for preheating, and then the GMAW droplets will complete the filling of that side.

[0076] like Figure 4 As shown in the figure, under the alternating swing of the composite arc, the black lines show the periodic swinging trajectory of the GTAW arc under the action of the magnetic field. These swinging trajectories cover most of the side wall of the groove, ensuring good side wall fusion. The red lines show the movement trajectory of the GMAW droplets. These trajectories cooperate with the trajectory of the GTAW arc to achieve efficient filling and uniform heat input distribution, thereby significantly improving the welding quality and joint performance.

[0077] 3) Optimization of molten pool flow;

[0078] like Figure 5 As shown in the figure, due to the alternating movement of the double arcs, the flow of liquid metal inside the molten pool is more intense, which promotes the mixing uniformity of alloy elements, reduces the possibility of dendrite formation, and further refines the weld microstructure and improves the mechanical properties of the weld joint.

[0079] 4)Automation control;

[0080] The relevant welding power sources are connected to the robot control system, which can precisely control each welding step by writing a program, from setting the welding trajectory to adjusting the current and frequency, to monitoring various parameters during the welding process, ensuring the consistency and reliability of the entire welding process.

[0081] The magnetically controlled arc GTAW-GMAW composite narrow gap welding system in this embodiment not only solves the problem of unfusion in the narrow gap welding of thick plate stainless steel and high-strength steel, but also improves the welding efficiency, reduces the adverse effects caused by heat input, and enhances the quality and service performance of the welded joint.

[0082] Embodiment 2;

[0083] like Figure 6 As shown, this embodiment provides a magnetic arc GTAW-GMAW composite narrow gap welding method, which is applied to a magnetic arc GTAW-GMAW composite narrow gap welding system in the above embodiment, including the following steps:

[0084] Assemble the base material to be welded according to welding requirements to ensure that the groove size and gap meet the process requirements;

[0085] Select suitable welding wire and adjust the wire extension length to the preset range;

[0086] Start the GTAW welding power supply, GMAW welding power supply and magnetron power supply, check the line connection, and ensure that the system operates normally without abnormalities;

[0087] Plan the welding trajectory based on the shape of the base material, and verify the accuracy and feasibility of the trajectory through simulation;

[0088] Adjust the output of the magnetron power supply based on the groove width, and measure the magnetic induction intensity with a Gauss meter to ensure the arc swing effect;

[0089] Write the robot welding program according to the welding parameters, run the no-load test program, and verify that the program logic and mechanical actions are correct;

[0090] Start the robot to execute the welding procedure, monitor the welding quality and arc status in real time, and immediately suspend welding and conduct troubleshooting if any abnormal situation occurs;

[0091] After welding is completed, turn off the GTAW welding power supply, GMAW welding power supply and magnetron power supply;

[0092] Perform visual inspection and non-destructive testing on welded joints to ensure the welding quality is qualified, and record important parameters of the entire welding process.

[0093] This method ensures the stability and consistency of the welding process by precisely controlling key steps such as pre-welding preparation, system startup and debugging, welding trajectory planning, magnetic field strength adjustment, robot program writing and real-time monitoring. It not only effectively solves the common unfusion defects in narrow gap welding of thick stainless steel and high-strength steel, but also significantly improves welding efficiency and reduces the risk of heat input and welding deformation. In addition, the reliability of the final welding quality is guaranteed by strict visual inspection and non-destructive testing of the welded joints, and the important parameters of the entire welding process are recorded to provide a guarantee for subsequent quality traceability. This method not only improves the welding quality, but also enhances the automation level of the production process, and meets the needs of modern manufacturing for efficient and high-quality welding processes.

[0094] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0095] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A magnetron arc GTAW-GMAW composite narrow gap welding system, characterized in that: include: GTAW welding gun (1), GMAW welding gun (2), magnetic permeability core (3), excitation coil (4), magnetic shoe (5), assembly fixture (6), GTAW welding power supply (7), GMAW welding power supply (8), magnetron power supply (9); The GTAW welding gun (1), the GMAW welding gun (2), the magnetic permeable core (3), the excitation coil (4), and the magnetic shoe (5) are fixed by an assembly fixture (6) to form a welding assembly; the welding assembly is connected to the robot end effector; The central axis of the GTAW welding gun (1) is perpendicular to the surface of the narrow gap groove weldment and is connected to a GTAW welding power source (7) via a cable; The GMAW welding gun (2) is installed on one side of the GTAW welding gun (1) and is connected to a GMAW welding power source (8) via a cable; The connection polarities of the GTAW welding gun (1) and the GMAW welding gun (2) are opposite; The magnetic conductive core (3), the excitation coil (4), and the magnetic shoe (5) are installed on the other side of the GTAW welding gun (1); the magnetic conductive core (3) is parallel to the central axis of the GTAW welding gun (1); the excitation coil (4) is evenly wound on the surface of the magnetic conductive core (3); the excitation coil (4) is connected to the magnetron power supply (9) via a cable; the magnetic shoe (5) is connected to the magnetic conductive core (3) by an interference fit, and is fastened to the magnetic conductive core (3) by a nut; The GTAW welding power source (7), the GMAW welding power source (8), and the magnetron power source (9) establish communication connections with the robot control system.

2. A magnetron arc GTAW-GMAW hybrid narrow gap welding system according to claim 1, characterized in that: The central axis of the GTAW welding gun (1) and the central axis of the GMAW welding gun (2) form a preset angle; the preset angle is 20°-75°.

3. The magnetron arc GTAW-GMAW hybrid narrow gap welding system according to claim 1, characterized in that: The distance between the electrode ends of the GTAW welding gun (1) and the GMAW welding gun (2) is 4 mm to 8 mm.

4. The magnetically controlled arc GTAW-GMAW hybrid narrow gap welding system according to claim 1, characterized in that: The diameter of the tungsten pole of the GTAW welding gun (1) is 1.6 mm to 4 mm, and the length of the tungsten pole tip of the GTAW welding gun (1) extending out of the plane where the lower end surface of the magnetic shoe (5) is located is 1 mm to 5 mm.

5. The magnetron arc GTAW-GMAW hybrid narrow gap welding system according to claim 1, characterized in that: The diameter of the conductive tip end of the GMAW welding gun (2) is 6 mm to 8 mm.

6. The magnetically controlled arc GTAW-GMAW hybrid narrow gap welding system according to claim 1, characterized in that: The magnetic permeable core (3) is made of 35W400 cold-rolled non-oriented electrical silicon steel.

7. The magnetically controlled arc GTAW-GMAW hybrid narrow gap welding system according to claim 1, characterized in that: The excitation coil (4) is made of pure copper enameled wire with a wire diameter of 1.2 mm to 2.4 mm, and the number of turns is 300 to 750 turns.

8. The magnetron arc GTAW-GMAW hybrid narrow gap welding system according to claim 1, characterized in that: The magnetic shoe (5) is made of soft magnetic electrical iron of model DT4C, with a thickness ranging from 3mm to 8mm.

9. The magnetron arc GTAW-GMAW hybrid narrow gap welding system according to claim 1, characterized in that: A rounded transition structure is provided at the corner of the magnetic shoe (5); the rounded transition structure has a rounded corner radius of 5 mm to 8 mm.

10. A magnetron arc GTAW-GMAW composite narrow gap welding method, characterized in that: A magnetically controlled arc GTAW-GMAW composite narrow gap welding system as claimed in any one of claims 1 to 9, comprising the following steps: Assemble the base material to be welded according to welding requirements to ensure that the groove size and gap meet the process requirements; Select suitable welding wire and adjust the wire extension length to the preset range; Start the GTAW welding power supply, GMAW welding power supply and magnetron power supply, check the line connection, and ensure that the system operates normally without abnormalities; Plan the welding trajectory based on the shape of the base material, and verify the accuracy and feasibility of the trajectory through simulation; Adjust the output of the magnetron power supply based on the groove width, and measure the magnetic induction intensity with a Gauss meter to ensure the arc swing effect; Write the robot welding program according to the welding parameters, run the no-load test program, and verify that the program logic and mechanical actions are correct; Start the robot to execute the welding procedure, monitor the welding quality and arc status in real time, and immediately suspend welding and conduct troubleshooting if any abnormal situation occurs; After welding is completed, turn off the GTAW welding power supply, GMAW welding power supply and magnetron power supply; Perform visual inspection and non-destructive testing on welded joints to ensure the welding quality is qualified, and record important parameters of the entire welding process.

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