Self-adaptive full-automatic welding equipment for GIS shell and welding method of self-adaptive full-automatic welding equipment

Abstract

The invention discloses a full-automatic welding device and method for a self-adaptive GIS shell. The full-automatic welding device comprises a guide rail assembly distributed along a connecting seam between the GIS shell and a branch pipe, and the guide rail assembly comprises a plurality of guide rail single bodies of the same structure; each guide rail single body comprises a magnet and an elastically-deformable base, magnetic fluid is sealed in an inner cavity of each base, a traveling groove matched with the electric guide rail vehicle is formed in each base, and each base is deformed through extrusion and is attracted to the inner surface of a GIS shell through the magnet. Therefore, all the bases are attached to the outer surface of the GIS shell, and all the driving grooves are annularly and evenly distributed. The guide rail assembly, the electric guide rail vehicle and the welding mechanical arm are used in cooperation, the technical blank that medium-large GIS shells cannot be automatically welded is filled up, meanwhile, the welding construction efficiency of the GIS shells and the branch pipes is improved, and the labor cost is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of GIS housing manufacturing, and specifically relates to a fully automatic welding device for an adaptive GIS housing and a welding method thereof. Background Art

[0002] The GIS housing is the outer shell of a GIS (gas insulated switchgear), and its shape is mainly a hollow column, also known as a GIS tank. A GIS is an electrical device that encloses all devices or components such as circuit breakers, disconnectors, earthing switches, current transformers, voltage transformers, arresters, busbars, connectors, and outgoing terminals in the GIS housing and fills it with an insulating gas at a certain pressure. Welding is a particularly important process in GIS housing manufacturing, and the weld quality directly affects the airtightness of the GIS housing.

[0003] Existing GIS housing welding types include tungsten inert gas welding, metal inert gas welding, plasma arc welding, shielded metal arc welding, etc., and the welding methods are divided into automatic welding and manual welding. Since the weld quality requirements for GIS housings are high, especially for the welding between the housing and the branch pipe, after welding, it needs to undergo flaw detection process inspection and airtightness inspection. Therefore, manual welding has relatively high requirements for the proficiency and welding experience of welders.

[0004] To solve the problems existing in the above-mentioned manual welding, some manufacturers have introduced automatic welding equipment. The automatic welding equipment can execute welding tasks through precise pre-programmed paths and parameters, avoiding the influence brought by unstable factors such as hand tremors, visual fatigue, and mood swings in manual operations, ensuring the consistency and quality of the welds, reducing the occurrence of welding defects such as pores, slag inclusions, and undercutting, and improving the reliability and stability of the product. However, the existing automatic welding equipment also has deficiencies: Since the sizes of different types of GIS housings are different, and the connection between the medium and large-sized GIS housing and the branch pipe is limited by the maximum processing size of the automatic welding equipment, such medium and large-sized welded housings cannot be processed. In addition, the welding trajectories of the automatic welding equipment are common trajectories such as straight trajectories, circular trajectories, and polygonal trajectories, while the weld between the housing and the branch pipe is not in the same plane or on the same straight line, and this weld belongs to a three-dimensional circular curve in space curves. The automatic welding equipment cannot weld along the three-dimensional circular curve in space. For such welding situations, manual welding is still used at present. Therefore, there is currently a lack of an automatic welding equipment applicable to medium and large-sized or special-shaped housings. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides a fully automatic welding device for an adaptive GIS housing, which includes a guide rail assembly distributed along the connection seam between the GIS housing and the branch pipe. The guide rail assembly includes a plurality of guide rail monomers with the same structure; each guide rail monomer includes a magnet and an elastically deformable base. The inner cavity of the base is sealed with magnetic fluid. A running groove adapted to an electric guide rail vehicle is provided on the upper surface of the base. By squeezing the base to deform, it fits onto the outer surface of the GIS housing and is adsorbed to the inner surface of the GIS housing by the magnet. Thus, all the guide rail monomers are distributed along the outer side of the connection seam and all the running grooves are evenly distributed along a three-dimensional circular curve in space; it includes an electric guide rail vehicle. The electric guide rail vehicle is provided with five driving roller groups. The five driving roller groups run along the running groove through an elastically deformable vehicle bottom plate. The distance between every two adjacent driving roller groups is not less than the distance between two adjacent bases, and each driving roller group is connected to the vehicle bottom plate through an electric telescopic rod; it includes a welding robotic arm connected to the upper surface of the vehicle bottom plate. The electric guide rail vehicle drives the welding robotic arm to move along the running groove, so that the welding gun of the welding robotic arm welds the GIS housing and the branch pipe along the connection seam.

[0006] Preferably, the base is in the shape of an arc tube with a rectangular frame cross-section. The top wall of the base is an elastically deformable rubber layer, and the bottom wall and side walls of the base are both transparent plastic layers. Further, a rubber base is provided on the upper surface of each base. The running groove is opened on the upper surface of the rubber base, and a shaping roadbed for the electric guide rail vehicle to run is provided in each running groove; a heat insulation cushion layer is provided on the lower surface of each base. The top wall of each base and the corresponding rubber base are made of rubber material, with strong toughness and capable of elastic deformation within a certain range. The material of the bottom wall and side walls of the base can be bent arbitrarily. During installation, the bottom wall is first preliminarily fixed on the outer surface of the GIS housing, and then using the characteristic that the magnetic fluid flows in the direction of the magnetic force, the magnetic fluid tightly presses each position of the bottom wall, deforming the bottom wall into a curved surface that fully fits the outer surface of the GIS housing. After the bottom wall of the base fits the GIS housing, it is beneficial for the running groove on the base to be distributed along a three-dimensional circular curve in space that is proportional to the connection seam. This characteristic of the base enables each guide rail monomer to adapt to GIS housings of different sizes and meet the automatic welding requirements between GIS housings and branch pipes of different sizes.

[0007] Preferably, a support frame located below the rubber base is provided inside each base. The function of the support frame is to limit the maximum longitudinal deformation amount of the base, make up for the insufficient toughness of the side walls of the base, and prevent the base from collapsing longitudinally due to excessive magnetic force.

[0008] Preferably, an electric slide rail facing the connection seam is provided on the vehicle bottom plate, and the welding robot arm is installed on the slider of the electric slide rail, and the distance between the welding gun and the connection seam is adjusted by the electric slide rail. The electric telescopic rod cooperates with the electric slide rail to meet the requirements of adjusting the distance between the welding gun and the connection seam during the driving of the electric guide rail vehicle.

[0009] Preferably, each magnet is an electromagnet, and a heat-insulating pad is provided on the side of the magnet in contact with the GIS shell. Since a large amount of heat is generated during welding, the magnet and the base are both provided with a heat-insulating pad to block heat transfer, effectively solving the influence of welding on the magnetic fluid properties and ensuring the adsorption capacity of each base on the GIS shell.

[0010] Preferably, it includes a controller, a signal transceiver and a signal reflection belt; the signal reflection belt is pasted along the connection seam, and the signal transceiver can be detached and connected to the end of the welding gun; the input end of the controller is electrically connected to the signal transceiver, and the output end of the controller is electrically connected to the electric guide rail vehicle, the electric slide rail and all the electric telescopic rods respectively. If the welding gun is facing the signal reflection belt, the signal emitted by the signal transceiver is completely reflected by the signal reflection belt, thereby judging that the welding position of the point is correct. On the contrary, if the signal received by the signal transceiver is incomplete, there is a deviation in the welding position of the point, and the controller then issues an instruction to adjust the position of the welding gun until the welding position is correct.

[0011] The beneficial effects of the fully automatic welding equipment in the present invention are: 1. Select the number of guide rail units according to the different diameters of GIS shells. The larger the diameter of the GIS shell and the longer the length of the connection seam, the more guide rail units there are, and vice versa. Each guide rail unit is used in conjunction with the magnetic fluid in the base through a magnet to adsorb the base on the outer surface of the GIS shell. Since the base can be elastically deformed to adapt to GIS shells of different sizes, the guide rail assembly can meet the welding requirements of GIS shells of different sizes, and is particularly suitable for medium and large GIS shells.

[0012] 2. The guide rail components are distributed along the outside of the joint. The electric guide rail vehicle drives the welding robot arm to move along the joint. During the driving process, the distance between the welding gun and the joint can be adjusted by the electric telescopic rod, which effectively solves the problem of inconsistent distance between the welding gun and the joint at different positions. The distance between the welding gun and the joint is consistent, and the moving speed of the welding gun is automatically controlled by the electric guide rail vehicle, which can simulate conventional welding techniques such as zigzag welding method, crescent welding method, and V-shaped welding method. The possibility of defects such as pores, slag inclusions, and undercuts is greatly reduced, and the welds are consistent at all locations, effectively ensuring the quality of the welds.

[0013] 3. The purpose of using multiple guide rail monomers in the guide rail assembly instead of an integral structure is that a single guide rail monomer is easier to fit the outer surface of the curved GIS housing. However, there are gaps between every two adjacent guide rail monomers. To prevent these gaps from affecting the travel of the electric guide rail vehicle, a structure with five driving roller groups supporting the vehicle floor is adopted. Even if 1-2 driving roller groups are located in the gaps, at least three driving roller groups are in the travel groove, thus not affecting the normal travel of the electric guide rail vehicle and ensuring the normal welding operation of the welding robot arm.

[0014] 4. The guide rail assembly, electric guide rail vehicle, and welding robot arm are used in combination to fill the technical gap of the inability to automatically weld medium and large-sized GIS housings. At the same time, it improves the welding construction efficiency of the GIS housing and branch pipe and reduces labor costs.

[0015] The present invention also provides an automatic welding method for a GIS housing and a branch pipe. Based on the above-mentioned fully automatic welding equipment adapted to the GIS housing, the steps are as follows: First, fix the weld seam. Fix the welding end of the branch pipe at the welding hole on the side of the GIS housing, thereby forming a connection seam between the welding end of the branch pipe and the welding hole of the GIS housing; paste and fix the signal reflection tape along the connection seam.

[0016] Secondly, install the guide rail assembly. First, select the number of guide rail monomers of the guide rail assembly according to the length of the connection seam, then place all the bases in a ring along the connection seam, and press each base one by one so that the bottom wall of the base contacts the outer surface of the GIS housing. Then, make all the electromagnets energized by the controller and adsorb them on the inner surface of the GIS housing corresponding to each base. The magnetorheological fluid deforms by magnetic force to squeeze the bottom wall of the base, and then the bottom wall fits the outer surface of the GIS housing.

[0017] Then, adjust the positions of the electric guide rail vehicle and the welding gun. Place the five driving roller groups of the electric guide rail vehicle in the travel groove, and adjust the angle of the welding gun of the welding robot arm so that the welding gun faces the connection seam.

[0018] Then, perform welding trajectory calibration. The controller makes the electric guide rail vehicle travel one circle along the travel groove. During the travel, the controller controls the telescopic height of the electric telescopic rods of the five driving roller groups according to the information fed back by the signal transceiver so that the welding gun always faces the connection seam, and controls the electric slide rail to slide back and forth so that the distance between the welding gun and the connection seam remains constant. The storage unit of the controller records the actions of the electric telescopic rods and the electric slide rail in this circle. Finally, complete the welding of the connection seam. First, uncover the signal reflection tape and disassemble the signal transceiver. The electric welding gun works. The controller makes the electric guide rail vehicle travel one more circle along the travel groove. During the travel, the controller controls the telescopic of the electric telescopic rods and the sliding of the electric slide rail according to the action records in the storage unit, so that the electric welding gun welds along the connection seam, and the welding is completed.

[0019] The beneficial effects of the automatic welding method in the present invention are as follows: 1. All single guide rail monomers of the guide rail assembly are distributed along a three-dimensional circular ring curve in space that is proportional to the outside of the connection seam, thus overcoming the technical problem that existing automatic welding equipment cannot weld along a three-dimensional circular ring curve in space.

[0020] 2. By using the characteristics of magnetic fluid and then utilizing the deformable base structure, each base can fully fit on the outer surface of the GIS shell with any curvature, there is no size limit for the GIS shell, and it is especially suitable for the welding seam requirements between medium and large GIS shells and branch pipes.

[0021] 3. Compared with existing automatic welding equipment and welding methods, there is no construction site restriction. It can be welded in the production plant area or at the assembly site, both indoors and outdoors. At the same time, the welding experience requirements for welding operators are low, and welding is automatically completed according to the above method.

[0022] 4. The distribution of the guide rail assembly cannot completely coincide with the three-dimensional circular ring curve in space that is proportional to the outside of the connection seam, with an error of 1 - 5%. To address this problem, a signal transceiver and a signal reflection band are used in this method, adding a welding trajectory calibration step, improving the accuracy of the guide rail assembly, that is, enhancing the accuracy of the welding trajectory. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application or in the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings described below are only some embodiments recorded in the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0024] Figure 1 It is a schematic structural diagram of the fully automatic welding equipment in the present invention; Figure 2 Figure 1 It is a partial enlarged view of the electric guide rail vehicle in Figure 3 It is Figure 1 The bottom view after hiding the branch pipe and the welding robotic arm in Figure 4 It is Figure 3 A partial enlarged view of Figure 5 It is a schematic cross-sectional view of the base in the present invention; Figure 6 It is Figure 1 The three-dimensional view of Figure 7 It is Figure 6Partial enlarged view; Figure 8 is Figure 6 Schematic diagram after hiding the branch pipe in Figure 9 is Figure 7 Schematic diagram after adding a signal reflection band in

[0025] Reference numerals: Guide rail unit 1, magnet 2, base 3, heat insulation cushion 4, magnetorheological fluid 5, running groove 6, rubber base 7, shaped roadbed 8, support frame 9, driving roller group 10, vehicle floor 11, welding robotic arm 12, electric slide rail 13, welding gun 14, electric telescopic rod 15, signal transceiver 16, GIS housing 17, branch pipe 18, connection seam 19, signal reflection band 20. Detailed implementation manners

[0026] In view of the deficiencies in the prior art, the inventors of this case have proposed the technical solution of the present invention through long-term research and a large number of practices. The following will further explain the technical solution, its implementation process and principles in combination with the drawings in the embodiments of the present application and specific implementation cases.

[0027] Embodiment 1; Such as Figure 1 , Figure 2 , Figure 6 and Figure 8As shown, Embodiment 1 provides a fully automatic welding device for an adaptive GIS housing, including a guide rail assembly, an electric guide rail vehicle, and a welding robot arm 12. The fully automatic welding device of this embodiment is particularly suitable for welding the spatial three-dimensional circular curve type connection seams 19 between the GIS housing 17 and the branch pipe 18, but is not limited to such weld seams, and can also be applicable to the welding of conventional circular connection seams 19. The guide rail assembly in this embodiment includes a plurality of guide rail monomers 1 with the same structure. The number of guide rail monomers 1 is selected according to the length of the connection seam 19. The specific number is not limited in this embodiment. However, the larger the diameter dimension of the GIS housing 17 and the longer the length of the connection seam 19, the more guide rail monomers 1 there are, and vice versa. Each guide rail monomer 1 includes a magnet 2 and an elastically deformable base 3. Among them, the magnets 2 are all electromagnets, and a heat insulation cushion layer 4 is provided on the side of the magnet 2 in contact with the GIS housing 17. Since a large amount of heat is generated during the welding process, the heat insulation cushion layer 4 is used for both the magnet 2 and the base 3 to block heat transfer, effectively solving the influence of welding on the characteristics of the magnetorheological fluid 5 and ensuring the adsorption capacity of each base 3 to the GIS housing 17. The magnetorheological fluid 5 is sealed in the inner cavity of the base 3. A travel groove 6 adapted to the electric guide rail vehicle is provided on the upper surface of the base 3. Each base 3 is adsorbed on the inner surface of the GIS housing 17 through extrusion deformation and the magnet 2. By extruding the base to deform to fit the outer surface of the GIS housing 17 and using the magnet to adsorb on the inner surface of the GIS housing 17, all the guide rail monomers are distributed along the outside of the connection seam and all the travel grooves 6 are evenly distributed along the spatial three-dimensional circular curve.

[0028] The bases 3 of each guide rail monomer 1 have the same structure. The specific structure of the base 3 is as follows: As Figure 3 、 Figure 4 and 5As shown in the figure, the base 3 is an arc-shaped pipe with a rectangular cross-section. The top wall of the base 3 is a rubber layer that can be elastically deformed, and the bottom wall and side walls of the base 3 are both transparent plastic layers. Further, a rubber base 7 is provided on the top of each base 3. A running groove 6 is formed on the top of the rubber base 7, and a shaped roadbed 8 for the electric guide vehicle to run is provided in each running groove 6. A heat insulation cushion layer 4 is provided under each base 3. The top wall of each base 3 and the corresponding rubber base 7 are both made of rubber material, which has strong toughness and can be elastically deformed within a certain range. This is to avoid excessive deformation of the running groove 6, but the shaped roadbed 8 cannot be deformed. The shaped roadbed 8 ensures that the lateral width of the running groove 6 does not change, further strengthening the structure of the running groove 6 and providing a drivable road surface for the electric guide vehicle. The material of the bottom wall and side walls of the base 3 can be bent arbitrarily, facilitating the magnetic fluid 5 to squeeze the bottom wall to fully fit on the outer surface of the GIS housing 17. The rubber base 7 on the top of the base 3 plays a transitional role, cleverly combining the deformable base 3 with the non-deformable shaped roadbed 8 to form a curved surface that can adapt to the outer surface of the GIS housing 17, meeting the running requirements of the electric guide vehicle, and further meeting the automatic welding requirements between GIS housings 17 of different sizes and the branch pipes 18. In addition, a support frame 9 located below the rubber base 7 is provided inside each base 3. The function of the support frame 9 is to limit the maximum longitudinal deformation amount of the base 3, make up for the insufficient toughness of the side walls of the base 3, and avoid the longitudinal collapse of the base 3 caused by excessive magnetic force.

[0029] As shown in the figure Figure 4 and 7 As shown in the figure, the guide rail assembly in this embodiment is provided with five driving roller groups 10. Each driving roller group 10 is provided with two wheels and a motor for driving the two wheels, so that each driving roller group 10 can work independently. The five driving roller groups 10 run along the running groove 6 through the elastically deformable vehicle bottom plate 11. The distance between every two adjacent driving roller groups 10 is not less than the distance between every two adjacent bases 3, and each driving roller group 10 is connected to the vehicle bottom plate 11 through an electric telescopic rod 15. The structure of the five driving roller groups 10 supporting the vehicle bottom plate 11 is such that even if 1-2 driving roller groups 10 are located in the empty positions, at least three driving roller groups 10 are in the running groove 6, thus not affecting the normal running of the electric guide vehicle and ensuring the normal welding operation of the welding manipulator 12. The vehicle bottom plate 11 is also made of rubber material, which has certain toughness and deformation ability, and is adaptively deformed according to the telescopic amount of the electric telescopic rod 15 for real-time adjustment of the specific position of the welding gun 14.

[0030] As Figure 2 and Figure 7As shown in the figure, the welding robot arm 12 in this embodiment is connected to the upper surface of the vehicle floor 11 through an electric slide rail 13. The electric slide rail 13 faces the direction where the connection seam 19 is located. The welding robot arm 12 is installed on the slider of the electric slide rail 13, and the distance between the welding gun 14 and the connection seam 19 is adjusted through the electric slide rail 13. A welding gun 14 is provided on the welding robot arm 12, and the welding gun 14 also faces the direction where the connection seam 19 is located. The electric telescopic rod 15 cooperates with the electric slide rail 13 to meet the spacing adjustment between the welding gun 14 and the connection seam 19 during the driving process of the electric guide vehicle.

[0031] As Figure 9 shown in the figure, this embodiment further includes a controller, a signal transceiver 16, and a signal reflection band 20, where the controller is not shown in the figure. The signal reflection band 20 is pasted along the connection seam 19, and the signal transceiver 16 is detachably connected to the end of the welding gun 14; the input end of the controller is electrically connected to the signal transceiver 16, and the output end of the controller is electrically connected to the electric guide vehicle, the electric slide rail 13, and all the electric telescopic rods 15 respectively. If the welding gun 14 is directly opposite to the signal reflection band 20, the signal emitted by the signal transceiver 16 is completely reflected by the signal reflection band 20, so it can be judged that the welding position of this point is correct. On the contrary, if the signal received by the signal transceiver 16 is incomplete, there is a deviation in the welding position of this point, and then the controller issues an instruction to adjust the position of the welding gun 14 until the welding position is correct.

[0032] Each guide rail unit 1 in this embodiment is used in cooperation with the magnetorheological fluid 5 in the base 3 through the magnet 2, and the fixing of the base 3 is completed by using the controllability of the magnetorheological fluid 5. Specifically: in the absence of a magnetic field, the magnetorheological fluid 5 is essentially a fluid with good fluidity and can flow freely in the base 3 like ordinary liquid, so as to adapt to the curvature of any position on the outer surface of the GIS housing 17. After the bottom wall of the base 3 is attached to the outer surface of the GIS housing 17, another characteristic of the magnetorheological fluid 5 is utilized: controllability. That is, under the magnetic field of the magnet 2, the fluidity of the magnetorheological fluid 5 is greatly reduced and approaches a non-flowing state, playing a shaping role, so as to firmly fix the base 3 on the outer surface of the GIS housing 17. After the magnet 2 loses its magnetism, the magnetorheological fluid 5 resumes its fluidity and can be reused without loss. Since the base 3 can elastically deform to adapt to GIS housings 17 of different sizes, the guide rail assembly can meet the connection requirements of GIS housings 17 of different sizes. The guide rail assembly, the electric guide vehicle, and the welding robot arm 12 are used in cooperation to make up for the technical gap that large and medium-sized GIS housings 17 cannot be automatically welded, and at the same time improve the welding construction efficiency of the GIS housing 17 and the branch pipe 18 and reduce the labor cost.

[0033] Embodiment Two; Embodiment 2 provides an automatic welding method for a GIS housing and a branch pipe. Based on the full-automatic welding equipment for adaptively welding the GIS housing 17 in Embodiment 1, the method is as follows: First, fix the weld seam. Fix the welding end of the branch pipe 18 at the welding hole on the side of the GIS housing 17, thereby forming a connection seam 19 between the welding end of the branch pipe 18 and the welding hole of the GIS housing 17; paste and fix the signal reflection tape 20 along the connection seam 19. Secondly, install the guide rail assembly. First, select the number of guide rail monomers 1 of the guide rail assembly according to the length of the connection seam 19, then place all the bases 3 in a ring along the connection seam 19, and press each base 3 one by one so that the bottom wall of the base 3 contacts the outer surface of the GIS housing 17, and then make all the electromagnets energized by the controller and adsorb on the inner surface of the GIS housing 17 corresponding to each base 3. The magnetorheological fluid 5 deforms the bottom wall of the base 3 due to magnetism, and then makes the bottom wall fit the outer surface of the GIS housing 17. Then, adjust the positions of the electric guide rail vehicle and the welding gun 14. Place the five driving roller groups 10 of the electric guide rail vehicle in the running groove 6, and adjust the angle of the welding gun 14 of the welding robot arm 12 so that the welding gun 14 faces the connection seam 19. Then, perform welding trajectory calibration. The controller makes the electric guide rail vehicle travel one circle along the running groove 6. During the travel, the controller controls the telescopic height of the electric telescopic rods 15 of the five driving roller groups 10 according to the information fed back by the signal transceiver 16, so that the welding gun 14 always faces the connection seam 19, and controls the electric slide rail 13 to slide back and forth, so that the distance between the welding gun 14 and the connection seam 19 remains unchanged. The storage unit of the controller records the actions of the electric telescopic rods 15 and the electric slide rail 13 in this circle; finally, complete the welding of the connection seam 19. First, uncover the signal reflection tape 20 and disassemble the signal transceiver 16. The electric welding gun works. The controller makes the electric guide rail vehicle travel one more circle along the running groove 6. During the travel, the controller controls the telescopic movement of the electric telescopic rods 15 and the sliding of the electric slide rail 13 according to the action records in the storage unit, so that the electric welding gun welds along the connection seam 19, and the welding is completed.

[0034] The automatic welding method of this embodiment can ensure that the distance between the welding gun 14 and the connection seam 19 is consistent, and the moving speed of the welding gun 14 is automatically controlled by the electric guide rail vehicle, which can simulate conventional welding techniques such as the sawtooth bead welding method, the crescent bead welding method, and the V-shaped bead welding method. The possibility of defects such as porosity, slag inclusion, and undercut is greatly reduced, and the welds at each part are consistent, effectively ensuring the weld quality.

[0035] It should be understood that the above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. It cannot be determined that the specific implementation of the present invention is only limited to these descriptions. For those of ordinary skill in the technical field to which the present invention pertains, without departing from the concept of the present invention, several simple deductions or substitutions can be made. All equivalent changes or modifications made in accordance with the spirit of the present invention should be covered within the protection scope of the present invention.

Claims

1. A fully automatic welding device for adaptive GIS shell, characterized by: The invention comprises a guide rail assembly distributed along the connection seam between the GIS shell and the branch pipe, and the guide rail assembly comprises a plurality of guide rail monomers with the same structure; each guide rail monomer comprises a magnet and an elastically deformable base, a magnetic fluid is sealed in the inner cavity of the base, a running groove adapted to the electric guide rail vehicle is arranged on the upper surface of the base, and the base is deformed by squeezing to fit the outer surface of the GIS shell and is adsorbed on the inner surface of the GIS shell by the magnet, so that all the guide rail monomers are distributed along the outer side of the connection seam and all the running grooves are evenly distributed along the three-dimensional circular curve in space; The electric guide rail vehicle comprises five driving roller groups, which travel along the travel groove through an elastically deformable vehicle bottom plate, the distance between each two adjacent driving roller groups is not less than the distance between two adjacent bases, and each driving roller group is connected to the vehicle bottom plate through an electric telescopic rod; It includes a welding robot arm connected to the vehicle bottom plate, which is driven by an electric guide rail vehicle to move along the travel groove, so that the welding gun of the welding robot arm welds the GIS shell and the branch pipe along the connecting seam.

2. The fully automatic welding equipment for an adaptive GIS shell according to claim 1 is characterized in that: The base is in the shape of an arc tube with a rectangular frame cross section, the top wall of the base is an elastically deformable rubber layer, and the bottom wall and side walls of the base are both transparent plastic layers.

3. The fully automatic welding equipment for an adaptive GIS shell according to claim 2 is characterized in that: A rubber base is arranged on the top of each base, a running groove is opened on the rubber base, and a shaped roadbed for the electric guide rail vehicle to run is arranged in each running groove; a heat insulation cushion layer is arranged under each base.

4. The fully automatic welding equipment for adaptive GIS shell according to claim 3 is characterized in that: The interior of each base features a support frame that sits beneath a rubber base.

5. The fully automatic welding equipment for adaptive GIS shell according to claim 1 is characterized in that: An electric slide rail facing the connection seam is arranged on the vehicle bottom plate, and the welding robot arm is installed on a slider of the electric slide rail, and the distance between the welding gun and the connection seam is adjusted by the electric slide rail.

6. The fully automatic welding equipment for adaptive GIS shell according to claim 5 is characterized in that: Each magnet is an electromagnet, and a heat insulation cushion is provided on the side of the magnet in contact with the GIS shell.

7. The fully automatic welding equipment for adaptive GIS shell according to claim 6 is characterized in that: It includes a controller, a signal transceiver and a signal reflection belt; the signal reflection belt is pasted along the connection seam, and the signal transceiver can be detached and connected to the end of the welding gun; the input end of the controller is electrically connected to the signal transceiver, and the output end of the controller is electrically connected to the electric guide rail vehicle, the electric slide rail and all the electric telescopic rods.

8. An automatic welding method for GIS shell and branch pipe, characterized in that: The fully automatic welding equipment for the adaptive GIS shell according to claim 7 comprises the following steps: S1. Fix the welding end of the branch pipe to the welding hole on the side of the GIS shell, thereby forming a connection seam between the welding end of the branch pipe and the welding hole of the GIS shell; and stick and fix the signal reflection tape along the connection seam; S2. Select the number of guide rail units of the guide rail assembly according to the length of the connection seam; S3, all bases are placed in a circular shape along the connecting seam, and the bases are pressed one by one to make the bottom wall of the base contact with the outer surface of the GIS shell, and then all the electromagnets are energized through the controller and adsorbed on the inner surface of the GIS shell corresponding to each base. The magnetic fluid squeezes the bottom wall of the base due to magnetism, and then the bottom wall is attached to the outer surface of the GIS shell; S4, placing the five driving roller groups of the electric guide rail vehicle in the driving groove, adjusting the angle of the welding gun of the welding robot arm so that the welding gun faces the connection seam; S5, the controller makes the electric guide rail vehicle travel along the travel groove for one circle. During the travel, the controller controls the telescopic height of the electric telescopic rods of the five driving roller groups according to the information fed back by the signal transceiver, so that the welding gun is always facing the connection seam, and controls the electric slide rail to slide back and forth, so that the distance between the welding gun and the connection seam remains unchanged. The storage unit of the controller records the movements of the electric telescopic rod and the electric slide rail in this circle; S6, uncover the signal reflection belt and separate the signal transceiver; S7, the welding gun works, and the controller makes the electric guide rail vehicle travel one more circle along the travel groove. During the travel, the controller controls the extension and retraction of the electric telescopic rod and the sliding of the electric slide rail according to the action record of the storage unit, so that the welding gun welds along the connection seam, and the welding is completed.

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