A system and method for GTAW-GMAW hybrid narrow gap welding using a magnetic field

Abstract

The application discloses a kind of magnetron arc GTAW-GMAW composite narrow gap welding system and method, the system includes: GTAW welding torch, GMAW welding torch, magnetic core, excitation coil, magnetic shoe, assembly fixture, GTAW welding power supply, GMAW welding power supply, magnetic power supply;GTAW welding torch, GMAW welding torch, magnetic core, excitation coil, magnetic shoe are fixed by assembly fixture and form welding assembly, connect robot end effector;GTAW welding torch is connected by cable GTAW welding power supply;GMAW welding torch is connected by cable GMAW welding power supply;Excitation coil is connected by cable magnetic power supply;GTAW welding power supply, GMAW welding power supply, magnetic power supply and robot control system establish communication connection.It effectively solves the unfused defect in the narrow gap welding of thick plate stainless steel and high-strength steel, and the optimized energy distribution not only refines the weld structure and improves the joint mechanical properties, but also reduces the deformation caused by heat input, so that stable and reliable high-quality welding results can be obtained.

Description

Technical Field

[0001] This invention relates to the field of narrow gap welding, and more specifically to a magnetically controlled arc welding (GTAW-GMAW) composite narrow gap welding system and method. Background Technology

[0002] In the construction of energy facilities such as oil and natural gas, thick-walled structure welding technology is widely used in the manufacturing 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 structure welding technology is increasing. At the same time, as service environments become increasingly harsh, higher requirements are being placed on the manufacturing processes and welding quality of thick-walled structures. Narrow-gap welding methods are favored because they can significantly reduce the filler area, reduce welding deformation and residual stress, and are particularly suitable for the efficient welding of materials such as thick-walled stainless steel and high-strength steel.

[0003] However, when using conventional narrow-gap arc welding methods, incomplete fusion defects are prone to occur due to low welding efficiency and difficulty in ensuring effective melting of the bevel sidewalls. Traditional single-arc welding methods suffer from uneven energy distribution during the welding process when dealing with narrow bevels, leading to unstable weld joint quality, especially for thick plates. This not only affects welding efficiency but may also increase the risk of welding deformation.

[0004] Furthermore, existing technologies include magnetically controlled single-arc narrow-gap welding methods to improve sidewall fusion in thick plate welding. For example, patent application CN118081095A discloses a welding system and method for narrow gap welding of thick marine plates, which utilizes a combination of laser beam and oscillating arc for narrow-gap welding. Although this method can solve sidewall fusion, it has high assembly requirements and poor adaptability to bevels. Additionally, the introduction of laser can easily cause molten pool fluctuations and keyhole instability, increasing the likelihood of defects such as porosity and poor weld formation in multi-layer welding. It cannot achieve the technical advantages of arc-arc composite narrow-gap welding, which offers strong bevel adaptability and ensures good weld formation in multi-layer welding.

[0005] At the same time, existing technologies lack sufficient flexibility to meet the welding requirements of different materials and sizes, making it difficult to flexibly cope with changes in various welding conditions.

[0006] Therefore, how to design a magnetically controlled arc welding (GTAW)-GMAW composite narrow gap welding system to improve welding efficiency, ensure full fusion of the sidewalls of thick-walled materials, and avoid incomplete fusion 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 are problems that urgently need to be solved by those skilled in the art. Summary of the Invention

[0007] In view of this, the present invention provides a magnetically controlled arc welding (GTAW)-GMAW composite narrow gap welding system, which can effectively solve the lack of fusion 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 for thick-walled structure welding.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] In a first aspect, the present invention provides a magnetically controlled arc GTAW-GMAW composite narrow gap welding system, comprising: a GTAW welding torch, a GMAW welding torch, a magnetic core, an excitation coil, a magnetic shoe, an assembly fixture, a GTAW welding power source, a GMAW welding power source, and a magnetically controlled power source.

[0010] The GTAW welding gun, GMAW welding gun, magnetic core, excitation coil, and magnetic shoe are fixed together 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 torch is perpendicular to the surface of the narrow-gap bevel workpiece and is connected to the GTAW welding power source via a cable.

[0012] The GMAW welding torch is mounted on one side of the GTAW welding torch and is connected to the GMAW welding power supply via a cable.

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

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

[0015] The GTAW welding power supply, GMAW welding power supply, and magnetic control power supply establish a communication connection with the robot control system.

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

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

[0018] Preferably, the tungsten electrode diameter of the GTAW welding torch is 1.6mm-4mm, and the length of the tungsten electrode tip extending out of the plane containing the lower end face of the magnetic shoe is 1mm-5mm.

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

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

[0021] Preferably, the excitation coil uses pure copper enameled wire with a wire diameter of 1.2mm-2.4mm and 300-750 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, the corner of the magnetic boot is provided with a rounded corner transition structure; the radius of the rounded corner transition structure is 5mm-8mm.

[0024] Secondly, the present invention provides a magnetically controlled arc GTAW-GMAW composite narrow gap welding method, applied to the aforementioned magnetically controlled arc GTAW-GMAW composite narrow gap welding system, comprising the following steps:

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

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

[0027] Turn on the GTAW welding power supply, GMAW welding power supply and magnetic control power supply, check the wiring connections and ensure that the system is running normally without any abnormalities.

[0028] Based on the shape of the base material, the welding trajectory is planned, and the accuracy and feasibility of the trajectory are verified through simulation;

[0029] The magnetic power output is adjusted based on the bevel width, and the magnetic induction intensity is measured by a gaussmeter to ensure the arc oscillation effect.

[0030] Based on the welding parameters, write a robot welding program, 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 program, monitor the welding quality and arc status in real time, and immediately stop welding and troubleshoot if any abnormality is found.

[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 the welded joints to ensure that the welding quality is up to standard, and record the important parameters of the entire welding process.

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

[0035] 1. The GTAW-GMAW composite narrow gap welding system utilizes an alternating magnetic field to cause the GTAW arc to deflect periodically, preheating both sides of the narrow gap and reducing the melting threshold of the sidewalls. At the same time, the polarity difference between GTAW and GMAW welding enables alternating heating and filling of the arc within the narrow gap groove, effectively solving the incomplete fusion defect that is prone to occur in thick plate welding and improving welding quality.

[0036] 2. This system utilizes the alternating motion of two electric arcs to ensure more complete flow of the weld pool. Compared to single-arc magnetron welding, this results in finer weld grains and improved joint mechanical properties. Furthermore, the combined staggered cyclic oscillation of the two arcs leads to a more uniform energy distribution during welding, reducing heat input, minimizing welding deformation, and increasing welding efficiency.

[0037] 3. It achieves a high degree of automation and precise control. Relevant welding parameters such as current, voltage, magnetic power supply output, and shielding gas supply can all be precisely controlled by programming the robot. By adjusting the waveform, magnitude, and frequency of the magnetic power supply output current, it can flexibly meet the welding requirements of different materials and sizes, and adapt to the demands of modern manufacturing for efficient and high-quality welding processes. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0039] Figure 1 A schematic diagram of the magnetic 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 an applied magnetic field provided in an embodiment of the present invention;

[0041] Figure 3 A schematic diagram of a GTAW arc and a GMAW molten droplet subjected to an applied magnetic field, provided for an embodiment of the present invention;

[0042] Figure 4 A schematic diagram of the motion trajectories of a GTAW arc and a GMAW droplet under an applied magnetic field, provided for an embodiment of the present invention;

[0043] Figure 5A schematic diagram illustrating the change in the flow direction of the molten pool during one alternating oscillation of the welding arc, provided in an embodiment of the present invention;

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

[0045] Explanation of reference numerals in the attached drawings: 1-GTAW welding torch, 2-GMAW welding torch, 3-magnetic core, 4-excitation coil, 5-magnetic shoe, 6-assembly fixture, 7-GTAW welding power source, 8-GMAW welding power source, 9-magnetic control power source, 10-narrow gap bevel weldment. Detailed Implementation

[0046] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0047] Example 1;

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

[0049] A GTAW welding torch 1, a GMAW welding torch 2, a magnetic core 3, an excitation coil 4, and a magnetic shoe 5 are fixed together by an assembly fixture 6 to form a welding assembly. This welding assembly is connected to a robot end effector. The robot end effector is the distal end 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, ensuring that the welding torch 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), allowing for flexible adjustment of the welding torch's angle and position to adapt to different shapes and sizes of workpieces and complex welding paths.

[0050] The central axis of the GTAW welding torch 1 is perpendicular to the surface of the narrow-gap bevel workpiece and is connected to the GTAW welding power supply 7 via a cable.

[0051] The GMAW welding torch 2 is mounted on one side of the GTAW welding torch 1 and is connected to the GMAW welding power supply 8 via a cable.

[0052] GTAW welding torch 1 and GMAW welding torch 2 have opposite wiring polarities;

[0053] The magnetic core 3, excitation coil 4, and magnetic shoe 5 are installed on the other side of the GTAW welding gun 1. The magnetic 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 core 3. The excitation coil 4 is connected to the magnetic control power supply 9 through a cable. The magnetic shoe 5 is connected to the magnetic core 3 with an interference fit and is fastened to the magnetic core 3 with a nut.

[0054] The GTAW welding power supply 7, GMAW welding power supply 8, and magnetic control power supply 9 establish a communication connection with the robot control system.

[0055] The robot control system establishes communication connections with the GTAW welding power source 7, GMAW welding power source 8, and magnetron power source 9, ensuring that all parameters (such as welding current, voltage, and magnetron current) can be automatically adjusted according to preset programs. The robot not only controls the physical position of the welding torch but also coordinates the alternating magnetic field generated by the magnetron power source 9, enabling the GTAW arc and GMAW droplets to oscillate according to the set frequency and amplitude, achieving a highly efficient composite welding effect.

[0056] This system significantly improves welding efficiency and the fusion quality of thick-walled material sidewalls by achieving alternating oscillation of dual electric arcs at the same frequency, thus avoiding incomplete fusion defects. Optimized energy distribution and molten pool flow characteristics not only refine the weld microstructure and improve the joint's mechanical properties but also reduce deformation caused by heat input. The system is highly automated and flexibly controllable, adaptable to welding requirements of different materials and specifications, ensuring stable and reliable high-quality welding results under various working conditions. It elevates the level of thick-walled structure welding technology, meeting the demands of modern industry for efficient and high-quality welding processes.

[0057] The following provides a more detailed description of the various components and related technical features of the above system:

[0058] In this embodiment, the central axis of the GTAW welding torch 1 and the central axis of the GMAW welding torch 2 form a preset angle; the preset angle is 20°-75°. This angle can dynamically optimize the relative position between the two arcs according to different welding materials, thicknesses, and bevel shapes, ensuring optimal energy distribution and molten pool fluidity, thereby improving welding quality.

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

[0060] In this embodiment, the tungsten electrode diameter of the GTAW welding torch 1 is 1.6mm-4mm, and the length of the tungsten electrode tip extending beyond the plane of the lower end face of the magnetic shoe 5 is 1mm-5mm. This helps maintain a stable arc length, ensures that the arc energy is concentrated in the weld area, reduces unnecessary heat loss, and facilitates the operator's observation of the arc status.

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

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

[0063] In this embodiment, the excitation coil 4 uses pure copper enameled wire with a wire diameter of 1.2mm-2.4mm and 300-750 turns. This ensures sufficient current carrying capacity while reducing resistance heating, improving conversion efficiency, and extending the service life of the equipment.

[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 permeability and mechanical strength, and together with the interference fit and nut tightening method, it ensures a tight contact between the magnetic shoe 5 and the magnetic core 3.

[0065] In this embodiment, the corner of the magnetic boot 5 is provided with a rounded transition structure; the radius of the rounded corner of the transition structure is 5 mm-8 mm. This helps to reduce stress concentration, prevent crack formation, and also facilitates the uniform distribution of the magnetic field, thereby enhancing the reliability and durability of the system.

[0066] The working principle of the magnetic arc GTAW-GMAW composite narrow gap welding system in this embodiment will be further explained in detail below:

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

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

[0069] Because of the charged particles present in the electric arc, these particles are affected by the Lorentz force under the influence of the alternating magnetic field, causing the arc to oscillate periodically. This oscillation allows the arc to cover a larger area of ​​the bevel sidewall, thereby improving the sidewall fusion.

[0070] 2) Alternating heating and filling with dual electric arcs;

[0071] GTAW arcs offer a stable heat source and excellent controllability, making them suitable for precise heating; while GMAW droplets provide highly efficient metal filling capabilities. Combining the two can compensate for the shortcomings of single arc welding methods.

[0072] By utilizing the difference in polarity of the 8-wire connection between GTAW and GMAW welding power supplies, staggered periodic oscillations of the two arcs at the same frequency were achieved.

[0073] like Figure 2 As shown, without the application of an external magnetic field, both the GTAW arc and the GMAW droplet are located in the center of the bevel. The GTAW arc is a stable arc perpendicular to the surface of the workpiece, characterized by its stability and concentration. The GMAW droplet, on the other hand, is a droplet that falls off the electrode tip, detaches from the electrode at a certain frequency, and enters the molten pool to form a uniform filling.

[0074] like Figure 3 As shown, after applying an external magnetic field, the GTAW arc and GMAW droplets simultaneously swing backwards towards the bevel sidewall. The GTAW arc exhibits periodic oscillations, which help cover a larger area of ​​the bevel sidewall and improve sidewall fusion. Simultaneously, the transport of the GMAW droplets becomes more uniform, contributing to improved filling efficiency and weld quality.

[0075] Within one cycle, the GTAW arc preheats one side of the bevel, and then the GMAW droplets follow to fill it. Then the GTAW arc turns to the other side to preheat, and the GMAW droplets complete the filling of that side.

[0076] like Figure 4 As shown, under the alternating oscillation of the composite arc, the black lines represent the periodic oscillation trajectory of the tungsten inert gas (GTAW) arc under the influence of a magnetic field. These oscillation trajectories cover most of the bevel sidewall, ensuring good sidewall fusion. The red lines represent the movement trajectory of the molten droplets in gas metal arc welding (GMAW). These trajectories, in conjunction with the GTAW arc trajectory, achieve efficient filling and uniform heat input distribution, thereby significantly improving weld quality and joint performance.

[0077] 3) Optimization of molten pool flow;

[0078] like Figure 5 As shown, the alternating motion of the two electric arcs makes the flow of liquid metal inside the molten pool more intense, which promotes the uniformity of alloying elements, reduces the possibility of dendrite formation, and thus refines the weld microstructure and improves the mechanical properties of the welded joint.

[0079] 4) Automated control;

[0080] All welding power sources are connected to the robot control system. The system can be programmed to precisely control each welding step, from setting the welding trajectory to adjusting the current magnitude and frequency, and monitoring various parameters during the welding process, ensuring the consistency and reliability of the entire welding process.

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

[0082] Example 2;

[0083] like Figure 6 As shown, this embodiment provides a magnetically controlled arc GTAW-GMAW composite narrow gap welding method, applied to a magnetically controlled 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 the welding requirements, and ensure that the bevel size and gap meet the process requirements.

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

[0086] Turn on the GTAW welding power supply, GMAW welding power supply and magnetic control power supply, check the wiring connections and ensure that the system is running normally without any abnormalities.

[0087] Based on the shape of the base material, the welding trajectory is planned, and the accuracy and feasibility of the trajectory are verified through simulation;

[0088] The magnetic power output is adjusted based on the bevel width, and the magnetic induction intensity is measured by a gaussmeter to ensure the arc oscillation effect.

[0089] Based on the welding parameters, write a robot welding program, 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 program, monitor the welding quality and arc status in real time, and immediately stop welding and troubleshoot if any abnormality is found.

[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 the welded joints to ensure that the welding quality is up to standard, and record the 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 programming, and real-time monitoring. It not only effectively solves the common incomplete fusion defects in narrow-gap welding of thick stainless steel and high-strength steel plates, but also significantly improves welding efficiency and reduces the risks of heat input and welding deformation. Furthermore, rigorous visual inspection and non-destructive testing of the welded joints guarantee the reliability of the final weld quality, while recording key parameters throughout the welding process provides assurance for subsequent quality traceability. This method improves welding quality while enhancing the automation level of the production process, meeting the demands of modern manufacturing for efficient and high-quality welding processes.

[0094] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section.

[0095] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those 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 invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A magnetron-arc GTAW-GMAW hybrid narrow gap welding system characterized by, The application relates to a welding assembly and a welding method thereof. The GTAW welding gun (1), the GMAW welding gun (2), the magnetic conductive core (3), the excitation coil (4) and the magnetic shoe (5) are fixed to form a welding assembly through the assembling clamp (6); the welding assembly is connected with a robot end effector; a round corner transition structure is arranged at the corner of the magnetic shoe (5); the round corner radius of the round corner transition structure is 5mm-8mm; The central axis of the GTAW welding gun (1) is perpendicular to the surface of a narrow gap groove welding part, and the GTAW welding gun (1) is connected with a GTAW welding power supply (7) through a cable; The GMAW welding gun (2) is installed on one side of the GTAW welding gun (1) and connected with a GMAW welding power supply (8) through a cable; The GTAW welding gun (1) and the GMAW welding gun (2) have opposite wiring polarities; 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 degrees; 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 uniformly wound on the surface of the magnetic conductive core (3); the excitation coil (4) is connected with a magnetic control power supply (9) through a cable; the magnetic shoe (5) is connected with the magnetic conductive core (3) through interference fit and is tightly combined with the magnetic conductive core (3) through a nut; The magnetic control power supply (9) outputs an alternating current to make the excitation coil (4) generate an alternating magnetic field; the magnetic force line direction of the alternating magnetic field is parallel to the welding direction and is guided to the GTAW arc area through the magnetic shoe (5) to make the GTAW arc periodically swing under the action of the Lorentz force; The GTAW arc and the GMAW droplet realize same-frequency alternate swinging under the action of the alternating magnetic field; in one period, the GTAW arc first preheats one side of the groove, then the GMAW droplet fills, then the GTAW arc turns to the other side to preheat, and then the GMAW droplet fills the other side; The GTAW welding power supply (7), the GMAW welding power supply (8) and the magnetic control power supply (9) are connected with a robot control system. The electrode end-to-end distance of the GTAW welding gun (1) and the GMAW welding gun (2) is 4mm-8mm.

2. A system for GTAW-GMAW hybrid narrow gap welding according to claim 1, wherein The diameter of the tungsten electrode of the GTAW welding gun (1) is 1.6mm-4mm, and the length of the tungsten electrode tip of the GTAW welding gun (1) extending out of the plane of the lower end surface of the magnetic shoe (5) is 1mm-5mm.

3. A system for GTAW-GMAW hybrid narrow gap welding according to claim 1, wherein The diameter of the electrode nozzle end of the GMAW welding gun (2) is 6mm-8mm.

4. The magneto-arc GTAW-GMAW hybrid narrow gap welding system of claim 1, wherein, The magnetic conductive core (3) adopts a cold-rolled non-oriented electrical steel with a model number of 35W400.

5. A magneto-arc GTAW-GMAW hybrid narrow gap welding system according to claim 1, wherein The excitation coil (4) adopts pure copper enameled wire with a wire diameter of 1.2mm-2.4mm and a number of turns of 300-750.

6. A magneto-arc GTAW-GMAW hybrid narrow gap welding system according to claim 1, wherein ​ 7. A system for GTAW-GMAW hybrid narrow gap welding according to claim 1, wherein The magnetic shoe (5) adopts soft magnetic electrical steel of model DT4C, and the thickness ranges from 3mm to 8mm.

8. A method of GTAW-GMAW hybrid narrow gap welding with a magnetic control arc, characterized in that, The method is applied to the magnetic control arc GTAW-GMAW composite narrow gap welding system according to any one of claims 1-7, and comprises the following steps: Assembling the base material to be welded according to the welding requirements, ensuring that the groove size and gap meet the process requirements; Selecting a suitable welding wire and adjusting the dry elongation of the welding wire to the preset range; Starting the GTAW welding power supply, GMAW welding power supply and magnetic control power supply, checking the circuit connection and ensuring that the system is running normally without any abnormality; Planning the welding trajectory in combination with the shape of the base material, and verifying the accuracy and feasibility of the trajectory through simulation; Adjusting the output of the magnetic control power supply based on the groove width, measuring the magnetic induction intensity by a gauss meter, and ensuring the arc swing effect; According to the welding parameters, writing the robot welding program, performing the no-load test program operation, verifying the program logic and mechanical action, and ensuring that there is no error; Starting the robot to execute the welding program, monitoring the welding quality and arc state in real time, and if there is an abnormal situation, immediately pausing the welding and troubleshooting; After completing the welding, turning off the GTAW welding power supply, GMAW welding power supply and magnetic control power supply; Performing appearance inspection and non-destructive testing on the welded joint to ensure that the welding quality is qualified, and recording important parameters of the entire welding process.

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