A full-automatic welding device for adaptive GIS shell and a welding method thereof

Abstract

The application discloses a kind of full-automatic welding equipment of self-adapting GIS shell and welding method thereof, wherein full-automatic welding equipment includes guide rail assembly distributed along the connecting seam between GIS shell and branch pipe, and guide rail assembly includes multiple guide rail monomers with same structure;Each guide rail monomer includes magnet and elastically deformable base, the inner cavity of the base is sealed with magnetic fluid, the upper surface of the base is provided with a travel groove adapted to the electric rail car, each base is deformed by extrusion and is adsorbed to the inner surface of GIS shell with magnet, and then all bases are attached to the outer surface of GIS shell and all travel grooves are evenly distributed in a ring shape.In the present application, guide rail assembly, electric rail car and welding mechanical arm are used in cooperation to make up for the technical gap that medium and large GIS shells cannot be automatically welded, improve the welding construction efficiency of GIS shell and branch pipe, and reduce labor costs.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of GIS shell manufacturing, in particular, relates to a full-automatic welding equipment for adaptive GIS shell and a welding method thereof. BACKGROUND

[0002] The GIS shell is the outer shell of GIS (gas insulated switchgear), and its shape is mainly hollow columnar, also known as GIS tank. GIS is an electrical device in which a circuit breaker, disconnector, grounding switch, current transformer, voltage transformer, surge arrester, bus, connecting piece and outgoing terminal are all enclosed in the GIS shell and filled with a certain pressure of insulating gas. Welding is a particularly important process in the manufacturing of GIS shell, and the quality of the weld directly affects the air tightness of the GIS shell.

[0003] The existing GIS shell welding types include tungsten argon arc welding, consumable electrode argon arc welding, plasma arc welding, stick electrode arc welding, etc., and the welding methods are divided into automatic welding and manual welding. Since the weld quality of GIS shell is required to be high, especially the welding between the shell and the branch pipe, after welding, the detection process and air tightness detection are required, so the manual welding requires high proficiency and welding experience of the welding personnel.

[0004] In order to solve the above problems existing in manual welding, some manufacturers introduce automatic welding equipment. The automatic welding equipment can execute the welding task through the precise path and parameters programmed in advance, avoid the influence of unstable factors such as hand shaking, visual fatigue and emotional fluctuation in manual operation, ensure the consistency and quality of the weld, reduce the occurrence of welding defects such as pores, slag inclusion and undercut, and improve the reliability and stability of the product. However, the existing automatic welding equipment also has some deficiencies: since the sizes of different types of GIS shells are different, the connection between the medium and large GIS shell and the branch pipe is limited by the maximum processing size of the automatic welding equipment, and this type of medium and large welding shell cannot be processed. In addition, the welding trajectory of the automatic welding equipment is a straight line trajectory, a ring trajectory, a polygon trajectory and other common trajectories, and the welding seam between the shell and the branch pipe is not in the same plane or the same straight line. This welding seam belongs to a three-dimensional circular curve in a space curve, and the automatic welding equipment cannot weld along the three-dimensional circular curve in the space. For this type of welding, manual welding is still used. Therefore, there is a lack of an automatic welding equipment applicable to medium and large or special-shaped shells. SUMMARY

[0005] In view of the deficiencies of the prior art, the present application provides a full-automatic welding equipment for adaptive GIS shell, which comprises a guide rail assembly distributed along the connecting joint between the GIS shell and the branch pipe, and the guide rail assembly comprises a plurality of guide rail units with the same structure; each guide rail unit comprises a magnet and an elastically deformable base, a magnetic fluid is sealed in the inner cavity of the base, the upper surface of the base is provided with a running groove matched with an electric guide rail vehicle, the base is deformed by extrusion to fit the outer surface of the GIS shell and is adsorbed to the inner surface of the GIS shell by the magnet, thereby enabling all the guide rail units to be distributed along the outer side of the connecting joint and all the running grooves to be uniformly distributed along a spatial three-dimensional circular curve; the electric guide rail vehicle is provided with five drive roller groups, the five drive roller groups run along the running groove through an elastically deformable vehicle bottom plate, the distance between each adjacent two drive roller groups is not less than the distance between the adjacent two bases, and each drive roller group is connected to the vehicle bottom plate through an electric telescopic rod; the welding mechanical arm is connected to the upper surface of the vehicle bottom plate, the welding mechanical arm is moved along the running groove by the electric guide rail vehicle, and thereby the welding gun of the welding mechanical arm welds the GIS shell and the branch pipe along the connecting joint.

[0006] Preferably, the base has an arc-shaped tube with a rectangular frame in cross section, the top wall of the base is an elastically deformable rubber layer, and the bottom wall and the side wall of the base are transparent plastic layers. Further, the upper surface of each base is provided with a rubber pedestal, the running groove is opened on the upper surface of the rubber pedestal, and a shaped roadbed for the electric guide rail vehicle to run is arranged in each running groove; the lower surface of each base is provided with a heat insulation pad layer. The top wall of each base and the corresponding rubber pedestal are made of rubber material, which has strong toughness and can elastically deform within a certain range. The material of the bottom wall and the side wall of the base can be arbitrarily bent, and the bottom wall is preliminarily fixed to the outer surface of the GIS shell during installation, and then the magnetic fluid is flowed in the direction of the magnetic force by using the flowing characteristic of the magnetic fluid in the direction of the magnetic force, so that the magnetic fluid tightly presses each position of the bottom wall to make the bottom wall deform into a curved surface fully fitted to the outer surface of the GIS shell. After the bottom wall of the base is fitted to the GIS shell, it is beneficial to the distribution of the running groove on the base along the spatial three-dimensional circular curve in proportion to the connecting joint. The characteristics of the base enable each guide rail unit to adapt to GIS shells of different sizes and meet the automatic welding requirements between GIS shells and branch pipes of different sizes.

[0007] Preferably, the inside of each base is provided with a support frame below the rubber pedestal. The support frame functions to limit the maximum longitudinal deformation of the base, compensate for the insufficient toughness of the side wall of the base, and avoid the longitudinal collapse of the base caused by excessive magnetic force.

[0008] Preferably, the upper surface of the vehicle floor is provided with an electric sliding rail towards the connecting seam, and the welding mechanical arm is mounted on the sliding block of the electric sliding rail, and the distance between the welding gun and the connecting seam is adjusted by the electric sliding rail. The electric telescopic rod cooperates with the electric sliding rail to meet the adjustment of the distance between the welding gun and the connecting seam during the driving of the electric rail vehicle.

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

[0010] Preferably, the controller, the signal transceiver and the signal reflection belt are included; the signal reflection belt is pasted along the connecting seam, the signal transceiver is detachably connected to the end of the welding gun; the input end of the controller is electrically connected with the signal transceiver, and the output end of the controller is electrically connected with the electric rail vehicle, the electric sliding rail and all the electric telescopic rods. If the welding gun is directly opposite the signal reflection belt, the signal emitted by the signal transceiver is completely reflected by the signal reflection belt, so that it can be judged that the welding position at this point is correct. On the contrary, if the signal received by the signal transceiver is incomplete, the welding position at this point is deviated, and the controller sends an instruction to adjust the position of the welding gun until the welding position is correct.

[0011] The full-automatic welding equipment has the following advantages:

[0012] 1. The number of guide rail monomers is selected according to the diameter of the GIS shell. The larger the diameter of the GIS shell, the longer the length of the connecting seam, and the more the guide rail monomers, and vice versa. Each guide rail monomer is used in cooperation with the magnetic fluid in the base through a magnet, and is used to adsorb the base to 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.

[0013] 2. The guide rail assembly is distributed along the outer side of the connecting seam, and drives the welding mechanical arm to move along the connecting seam under the drive of the electric rail vehicle. The distance between the welding gun and the connecting seam can be adjusted by the electric telescopic rod during driving, effectively solving the problem that the distance between the welding gun and the connecting seam is inconsistent at different positions. The distance between the welding gun and the connecting seam is consistent, and the moving speed of the welding gun is automatically controlled by the electric rail vehicle, which can simulate conventional welding methods such as sawtooth-shaped strip method, crescent-shaped strip method and V-shaped strip method, so that the possibility of defects such as pores, slag inclusion and undercut is greatly reduced, and the welding seams at different positions are consistent, effectively ensuring the welding quality.

[0014] 3. The guide rail assembly uses a structure of multiple individual guide rail units, rather than a single structure, so that individual guide rail units can more easily fit the outer surface of the curved GIS shell. However, there are gaps between every two adjacent guide rail units. To avoid these gaps affecting the movement of the electric guide rail vehicle, a structure with five drive roller sets supporting the vehicle's base plate is used. Even if one or two drive roller sets are located in gaps, at least three drive roller sets are in the travel slot, thus not affecting the normal movement of the electric guide rail vehicle and ensuring the normal welding operation of the welding robotic arm.

[0015] 4. The guide rail assembly, electric guide rail trolley and welding robotic arm are used together to fill the technical gap that medium and large GIS shells cannot be automatically welded, while improving the welding construction efficiency of GIS shells and branch pipes and reducing labor costs.

[0016] This invention also provides an automatic welding method for GIS shells and branch pipes, based on the aforementioned fully automatic welding equipment for adaptive GIS shells, with the following steps:

[0017] First, fix the weld seam by fixing the welded end of the branch pipe to the weld hole on the side of the GIS housing, thereby forming a connection seam between the welded end of the branch pipe and the weld hole of the GIS housing; then stick and fix the signal reflection strip along the connection seam.

[0018] Next, complete the installation of the guide rail assembly. First, select the number of guide rail units according to the length of the connecting seam. Then, place all the bases in a ring along the connecting seam and press each base one by one to make the bottom wall of the base contact the outer surface of the GIS shell. Then, use the controller to energize all the electromagnets and attract them to the inner surface of the GIS shell corresponding to each base. The magnetohydrodynamic fluid squeezes the bottom wall of the base due to magnetism, thereby making the bottom wall fit against the outer surface of the GIS shell.

[0019] Then adjust the positions of the electric guide rail cart and the welding gun, place the five drive rollers of the electric guide rail cart in the travel groove, and adjust the angle of the welding gun of the welding robot arm so that the welding gun is facing the joint seam.

[0020] Next, the welding trajectory is calibrated. The controller makes the electric guide car travel around the travel groove once. During the journey, the controller controls the extension and retraction height of the electric telescopic rods of the five drive roller groups according to the information fed back by the signal transceiver, so that the welding gun is always facing the joint seam, and controls the electric slide rail to slide back and forth so that the distance between the welding gun and the joint seam remains unchanged. The controller's storage unit records the movements of the electric telescopic rods and electric slide rails in this circle.

[0021] Finally, the welding of the joint is completed, the signal reflection belt is first uncovered, and the signal transceiver is disassembled. The electric welding gun works, the controller makes the electric guide rail vehicle run along the running groove again, and the controller controls the extension and retraction of the electric telescopic rod and the sliding of the electric sliding rail according to the action record of the storage unit during the running, so as to make the electric welding gun weld along the joint, and the welding is completed.

[0022] The automatic welding method in the application has the following beneficial effects:

[0023] 1. All single guide rail units of the guide rail assembly are distributed along a space three-dimensional circular curve which is proportional to the outside of the joint, thereby overcoming the technical difficulty that the existing automatic welding equipment cannot weld along a space three-dimensional circular curve.

[0024] 2. The characteristics of the magnetic fluid are used, and the deformable base structure is used again, so that each base can fully fit the outer surface of the GIS shell with any curvature, and there is no size limit for the GIS shell, which is especially suitable for the welding seam requirement between the medium and large GIS shell and the branch pipe.

[0025] 3. Compared with the existing automatic welding equipment and welding method, there is no construction site restriction, and the welding can be carried out in the production plant area or in the assembly site, and it can be carried out indoors or outdoors, and the welding experience requirement of the welding operator is low, and the welding is automatically completed according to the above method.

[0026] 4. The distribution of the guide rail assembly cannot completely coincide with the space three-dimensional circular curve which is proportional to the outside of the joint with an error of 1-5%, and in view of this problem, the signal transceiver and the signal reflection belt are used in the method to increase the welding track calibration step and improve the accuracy of the guide rail assembly, that is, to improve the accuracy of the welding track. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are only some embodiments described in the present application, and those skilled in the art can also obtain other drawings according to these drawings without creating any creative labor.

[0028] Figure 1 It is a structural schematic view of the full-automatic welding equipment in the application;

[0029] Figure 2 Figure 1 It is an enlarged view of the electric guide rail vehicle;

[0030] Figure 3 It is Figure 1 It is a bottom view hidden behind the branch pipe and the welding mechanical arm;

[0031] Figure 4 is a sectional view of the base in the present application; Figure 3

[0032] Figure 5 is a schematic view of the cross section of the base in the present application;

[0033] Figure 6 is a perspective view of the base in the present application; Figure 1

[0034] Figure 7 is a sectional view of the base in the present application; Figure 6

[0035] Figure 8 is a schematic view of the hidden branch pipe in the present application; Figure 6

[0036] Figure 9 is a schematic view of the signal reflection band in the present application. Figure 7 The drawings show: guide rail monomer 1, magnet 2, base 3, heat insulation cushion layer 4, magnetic fluid 5, running groove 6, rubber base 7, shaped roadbed 8, support frame 9, driving roller group 10, vehicle bottom plate 11, welding mechanical arm 12, electric sliding rail 13, welding gun 14, electric telescopic rod 15, signal transceiver 16, GIS shell 17, branch pipe 18, connecting seam 19, signal reflection band 20.

[0037] DETAILED DESCRIPTION

[0038] In view of the deficiencies in the prior art, the present inventors have long studied and practiced to come up with the technical solution of the present application. The technical solution, its implementation process and principles will be further explained below in combination with the drawings in the embodiments of the present application and specific implementation cases.

[0039] Example 1

[0040] As Figure 1 , Figure 2 , Figure 6 and Figure 8 ​​​​​As shown, the embodiment one provides a full-automatic welding device for adaptive GIS shell, including guide rail assembly, electric guide rail vehicle and welding mechanical arm 12. The full-automatic welding device of the embodiment is particularly suitable for the welding of space three-dimensional circular curve type connecting joint 19 between GIS shell 17 and branch pipe 18, but is not limited to this type of welding seam, and can also be applied to the welding of conventional circular connecting joint 19. The guide rail assembly in the embodiment includes a plurality of guide rail units 1 with the same structure, and the number of guide rail units 1 is selected according to the length of the connecting joint 19, and the specific number is not limited in the embodiment. However, the larger the diameter size of the GIS shell 17, the longer the length of the connecting joint 19, the more the guide rail units 1, and vice versa. Each guide rail unit 1 includes a magnet 2 and an elastically deformable base 3, wherein the magnet 2 is an electromagnet, and the side of the magnet 2 in contact with the GIS shell 17 is provided with a heat insulation pad layer 4. Because a large amount of heat is generated during welding, the magnet 2 and the base 3 both use the heat insulation pad layer 4 to block heat transfer, effectively solving the influence of welding on the characteristics of the magnetic fluid 5 and ensuring the adsorption capacity of each base 3 to the GIS shell 17. The inner cavity of the base 3 is sealed with magnetic fluid 5, and the upper surface of the base 3 is provided with a running groove 6 adapted to the electric guide rail vehicle. Each base 3 is adsorbed to the inner surface of the GIS shell 17 by extrusion deformation and magnet 2, and is deformed by extrusion of the base to fit the outer surface of the GIS shell 17 and is adsorbed to the inner surface of the GIS shell 17 by the magnet, so that all the guide rail units are distributed along the outer side of the connecting joint, and all the running grooves 6 are uniformly distributed along the space three-dimensional circular curve.

[0041] The base 3 of each guide rail unit 1 has the same structure, and the specific structure of the base 3 is as follows:

[0042] As Figure 3 , Figure 4 and 5As shown, the base 3 is shaped as an arc-shaped tube with a rectangular frame in cross section, the top wall of the base 3 is an elastically deformable rubber layer, and the bottom wall and the side wall of the base 3 are transparent plastic layers. Further, the upper surface of each base 3 is provided with a rubber base 7, the travel groove 6 is formed on the upper surface of the rubber base 7, and a shaped roadbed 8 for the travel of the electric rail vehicle is arranged in each travel groove 6; the lower surface of each base 3 is provided with a heat insulation pad 4. The top wall of each base 3 and the corresponding rubber base 7 are made of rubber material, which has strong toughness and can be elastically deformed within a certain range. This is to avoid too much deformation of the travel groove 6, but the shaped roadbed 8 cannot be deformed. The shaped roadbed 8 ensures that the lateral width of the travel groove 6 does not change, further strengthens the structure of the travel groove 6, and provides a drivable road surface for the electric rail vehicle. The material of the bottom wall and the side wall of the base 3 can be arbitrarily bent, which facilitates the extrusion of the magnetic fluid 5 on the bottom wall to fully adhere to the outer surface of the GIS shell 17. The rubber base 7 on the top of the base 3 serves as a transition, which ingeniously combines the deformable base 3 with the non-deformable shaped roadbed 8, forms a curved surface that can adapt to the outer surface of the GIS shell 17, meets the travel requirements of the electric rail vehicle, and further meets the automatic welding requirements between the GIS shell 17 and the branch pipe 18 of different sizes. In addition, the inside of each base 3 is provided with a support frame 9 located below the rubber base 7. The support frame 9 limits the maximum longitudinal deformation of the base 3, makes up for the insufficient toughness of the side wall of the base 3, and avoids the collapse of the base 3 caused by excessive magnetic force.

[0043] As shown in FIGS. Figure 4 and 7 The rail assembly in the embodiment is provided with five drive roller groups 10, each of which is provided with two wheels and a motor for driving the two wheels, so that each drive roller group 10 can work independently. The five drive roller groups 10 travel along the travel groove 6 through the elastically deformable vehicle floor 11, the distance between each adjacent two drive roller groups 10 is not less than the distance between the adjacent two bases 3, and each drive roller group 10 is connected with the vehicle floor 11 through an electric telescopic rod 15. The structure of the five drive roller groups 10 supporting the vehicle floor 11 ensures that even if 1-2 drive roller groups 10 are located at the empty position, there are at least three drive roller groups 10 in the travel groove 6, so as not to affect the normal travel of the electric rail vehicle and ensure the normal welding operation of the welding robot 12. The vehicle floor 11 is also made of rubber material and has certain toughness and deformation ability, which can adaptively deform according to the extension amount of the electric telescopic rod 15, and is used to adjust the specific position of the welding gun 14 in real time.

[0044] As shown in FIGS. Figure 2 and Figure 7As shown, in this embodiment, the welding robotic arm 12 is connected to the vehicle floor 11 via an electric slide rail 13. The electric slide rail 13 faces the direction of the connecting seam 19. The welding robotic arm 12 is mounted on the slider of the electric slide rail 13, and the distance between the welding gun 14 and the connecting seam 19 is adjusted by the electric slide rail 13. The welding robotic arm 12 is equipped with a welding gun 14, which also faces the direction of the connecting seam 19. The electric telescopic rod 15 cooperates with the electric slide rail 13 to allow for adjustment of the distance between the welding gun 14 and the connecting seam 19 during the operation of the electric guide vehicle.

[0045] like Figure 9 As shown, this embodiment also includes a controller, a signal transceiver 16, and a signal reflection strip 20, where the controller is not shown in the figure. The signal reflection strip 20 is pasted along the connecting seam 19. The signal transceiver 16 is detachably connected to the end of the welding gun 14. The input terminal of the controller is electrically connected to the signal transceiver 16, and the output terminal of the controller is electrically connected to the electric guide rail trolley, the electric slide rail 13, and all the electric telescopic rods 15, respectively. If the welding gun 14 is directly facing the signal reflection strip 20, the signal emitted by the signal transceiver 16 is completely reflected by the signal reflection strip 20, thus indicating that the welding position at that point is correct. Conversely, if the signal received by the signal transceiver 16 is incomplete, the welding position at that point is deviated, and the controller then issues an instruction to adjust the position of the welding gun 14 until the welding position is correct.

[0046] In this embodiment, each guide rail unit 1 works in conjunction with a magnet 2 and a magnetorheological fluid 5 within the base 3. The controllability of the magnetorheological fluid 5 secures the base 3. Specifically, in the absence of a magnetic field, the magnetorheological fluid 5 is essentially a fluid with excellent flowability, allowing it to flow freely within the base 3 like a regular liquid, thus adapting to the curvature of any position on the outer surface of the GIS housing 17. When the bottom wall of the base 3 is in contact with the outer surface of the GIS housing 17, another characteristic of the magnetorheological fluid 5—controllability—is utilized. Under the magnetic field of the magnet 2, the flowability of the magnetorheological fluid 5 is greatly reduced, approaching a state of immobility, thus acting as a shape stabilizer and firmly fixing the base 3 to the outer surface of the GIS housing 17. After the magnet 2 loses its magnetism, the magnetorheological fluid 5 regains its flowability and can be reused without loss. Because the base 3 can elastically deform to adapt to GIS housings 17 of different sizes, the guide rail assembly is suitable for connecting GIS housings 17 of different sizes. The guide rail assembly, electric guide rail vehicle and welding robotic arm 12 are used together to fill the technical gap that medium and large GIS shells 17 cannot be automatically welded, while improving the welding construction efficiency of GIS shells 17 and branch pipes 18 and reducing labor costs.

[0047] Example 2;

[0048] The embodiment two provides an automatic welding method of GIS shell and branch pipe, based on the automatic welding equipment of adaptive GIS shell 17 of the embodiment one, the method is as follows:

[0049] Firstly, the welding seam is fixed, the welding end of the branch pipe 18 is fixed at the welding hole of the side surface of the GIS shell 17, and then the connecting seam 19 is formed between the welding end of the branch pipe 18 and the welding hole of the GIS shell 17; the signal reflection band 20 is fixed along the connecting seam 19. Secondly, the installation of the guide rail assembly is completed, the number of guide rail units 1 of the guide rail assembly is selected according to the length of the connecting seam 19, all the bases 3 are placed in a ring shape along the connecting seam 19, and the bases 3 are pressed one by one to make the bottom wall of the base 3 contact with the outer surface of the GIS shell 17, and then the controller is used to make all the electromagnets be electrified and be adsorbed to the inner surface of the GIS shell 17 corresponding to each base 3, the magnetic fluid 5 is deformed by extruding the bottom wall of the base 3 due to magnetism, and then the bottom wall is attached to the outer surface of the GIS shell 17. Then, the position of the electric rail car and the welding gun 14 is adjusted, the five drive roller groups 10 of the electric rail car are placed in the running groove 6, the angle of the welding gun 14 of the welding mechanical arm 12 is adjusted, and the welding gun 14 is directed towards the connecting seam 19. Then, the welding track is calibrated, the controller makes the electric rail car run a circle along the running groove 6, the controller controls the extension and retraction height of the electric telescopic rod 15 of the five drive roller groups 10 according to the information fed back by the signal transceiver 16 during the running, so that the welding gun 14 is always directed towards the connecting seam 19, and the electric slide rail 13 is controlled to slide back and forth, so that the distance between the welding gun 14 and the connecting seam 19 is always unchanged, and the storage unit of the controller records the actions of the electric telescopic rod 15 and the electric slide rail 13 in this circle. Finally, the welding of the connecting seam 19 is completed, the signal reflection band 20 is removed, and the signal transceiver 16 is disassembled. The electric welding gun works, the controller makes the electric rail car run another circle along the running groove 6, the controller controls the extension and retraction of the electric telescopic rod 15 and the sliding of the electric slide rail 13 according to the action record of the storage unit during the running, so that the electric welding gun welds along the connecting seam 19, and the welding is completed.

[0050] The automatic welding method of the embodiment can ensure that the distance between the welding gun 14 and the connecting seam 19 is consistent, the moving speed of the welding gun 14 is automatically controlled by the electric rail car, the conventional welding methods such as the zigzag welding method, the crescent welding method and the V-shaped welding method can be simulated, the possibility of defects such as pores, slag inclusion and undercut is greatly reduced, the welding seams at different positions are consistent, and the welding quality is effectively ensured.

[0051] It should be understood that the above embodiments are only to illustrate the technical concept and characteristics of the present application, and the purpose is to enable those skilled in the art to understand the content of the present application and to implement it, and it cannot be considered that the specific implementation of the present application is limited to these descriptions. For ordinary skilled in the art to which the present application belongs, without departing from the concept of the present application, some simple deductions or substitutions can be made, and any equivalent changes or modifications made according to the spirit and essence of the present application should be covered within the protection scope of the present application.

Claims

1. A fully automatic welding equipment for adaptive GIS shells, characterized in that: The system includes guide rail assemblies distributed along the connection seam between the GIS shell and the branch pipe. Each guide rail assembly comprises multiple identical guide rail units. Each guide rail unit includes a magnet and an elastically deformable base. The inner cavity of the base is sealed with a magnetic fluid. The base has a travel groove adapted to an electric guide rail vehicle. By squeezing the base, it deforms to fit against the outer surface of the GIS shell and is attracted to the inner surface of the GIS shell by the magnet. This results in all guide rail units being distributed along the outer side of the connection seam and all travel grooves being evenly distributed along a three-dimensional circular curve in space. The electric guide rail vehicle is equipped with five drive roller sets. The five drive roller sets travel along the travel groove via an elastically deformable chassis plate. The distance between any two adjacent drive roller sets is not less than the distance between any two adjacent bases. Each drive roller set is connected to the chassis plate via an electric telescopic rod. This includes a welding robotic arm connected to the vehicle floor. The welding robotic arm is driven by an electric guide rail vehicle to move along the travel groove, thereby enabling the welding gun of the welding robotic arm to weld the GIS shell and branch pipe along the connection seam.

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

3. The fully automatic welding equipment for adaptive GIS shells according to claim 2, characterized in that: Each base is equipped with a rubber base, and a travel groove is opened on the rubber base. Each travel groove is equipped with a shaped roadbed for the electric guide vehicle to travel in. Each base is equipped with a heat insulation pad layer on the bottom.

4. The fully automatic welding equipment for adaptive GIS shells according to claim 3, characterized in that: Each base has an internal support frame located below the rubber base.

5. The fully automatic welding equipment for adaptive GIS shells according to claim 1, characterized in that: The vehicle floor is equipped with an electric slide rail facing the joint. The welding robot arm is mounted on the slider of the electric slide rail and the distance between the welding gun and the joint is adjusted by the electric slide rail.

6. The fully automatic welding equipment for adaptive GIS shells according to claim 5, characterized in that: Each magnet is an electromagnet, and each magnet has a heat insulation pad on the side that contacts the GIS shell.

7. The fully automatic welding equipment for adaptive GIS shells according to claim 6, characterized in that: It includes a controller, a signal transceiver, and a signal reflector strip; the signal reflector strip is pasted along the joint; the signal transceiver is detachably 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.

8. An automatic welding method for GIS housing and branch pipes, characterized in that: The fully automated welding equipment for adaptive GIS shells 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 housing, thereby forming a connection seam between the welding end of the branch pipe and the welding hole of the GIS housing; attach and fix the signal reflection strip along the connection seam. S2. Select the number of guide rail units in the guide rail assembly based on the length of the connecting seam; S3. Place all the bases in a ring along the connecting seam, and press the bases one by one so that the bottom wall of the base contacts the outer surface of the GIS shell. Then, through the controller, energize all the electromagnets and attract them to the inner surface of the GIS shell corresponding to each base. The magnetohydrodynamic fluid squeezes the bottom wall of the base due to magnetism, thereby making the bottom wall adhere to the outer surface of the GIS shell. S4. Place the five drive roller sets 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 is facing the joint seam. S5. The controller makes the electric guide rail trolley travel one circle along the travel groove. During the journey, the controller controls the extension and retraction height of the electric telescopic rods of the five drive roller groups according to the information fed back by the signal transceiver, so that the welding gun is always facing the joint seam, and controls the electric slide rail to slide back and forth so that the distance between the welding gun and the joint seam remains unchanged. The controller's storage unit records the actions of the electric telescopic rods and electric slide rails in this circle. S6. Remove the signal reflection strip and disassemble the signal transceiver; S7. The welding gun is working. The controller makes the electric guide rail car travel one more circle along the travel groove. During the journey, 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 can weld along the joint and the welding is completed.

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