All-position welding equipment and welding method

Abstract

The invention discloses all-position welding equipment and a welding method.The all-position welding equipment comprises a trolley chassis, four walking wheels are arranged at the bottom of the trolley chassis, and the four walking wheels are rotationally connected with the trolley chassis; the walking mechanism is arranged at the bottom of the trolley chassis; the rail adaptation module is used for being arranged on one side of a welding seam and is parallel to the welding seam; the welding gun swinging mechanism is arranged on the trolley chassis and used for driving the welding gun to swing; the wire feeding system is arranged on the trolley chassis; the welding gun adjusting mechanism is arranged at the movable end of the welding gun swinging mechanism; the welding gun is arranged on the welding gun adjusting mechanism, and the welding gun is connected with the wire feeding system; the carbon dioxide gas supply module is connected with the welding gun and used for supplying carbon dioxide gas. According to the all-position welding equipment and the welding method, automatic high-precision all-position welding is achieved, and the all-position welding equipment and the welding method belong to the technical field of welding.

Description

Technical Field

[0001] The present invention relates to the field of welding technology, and in particular to a full-position welding device and a welding method. Background Art

[0002] With the continuous development of the shipbuilding industry and the increasing production capacity, the traditional welding process flow is difficult to meet the growing production demand. For example, in the case of the straight-section of a 693TEU container ship, a large amount of welding work is required to complete the construction. However, in CO2 gas shielded welding, Class I welders can only weld flat butt joints and flat fillet welds. Class II welders can weld vertical, horizontal butt joints and fillet welds. Only Class III welders can perform full-position welding. However, the number of Class I and Class II welders on the production site is much larger than that of Class III welders, and the training and certification of Class III welders are difficult. Therefore, the number of Class III welders cannot meet the on-site welding production demand.

[0003] Therefore, the current production efficiency of shipbuilding is low, the labor cost is high, and the labor intensity is high. Summary of the Invention

[0004] In view of the above deficiencies, the present invention provides a full-position welding device and a welding method to achieve automated high-precision full-position welding.

[0005] The specific technical solutions are as follows:

[0006] A full-position welding device includes:

[0007] A trolley chassis, the bottom of the trolley chassis is provided with traveling wheels, the number of traveling wheels is four, and all four traveling wheels are rotatably connected to the trolley chassis;

[0008] A traveling mechanism, the traveling mechanism is arranged at the bottom of the trolley chassis;

[0009] An orbital adaptation module, the orbital adaptation module is used to be arranged on one side of the weld and is arranged parallel to the weld;

[0010] A welding torch swing mechanism, the welding torch swing mechanism is arranged on the trolley chassis to drive the welding torch to swing;

[0011] A wire feeding system, the wire feeding system is arranged on the trolley chassis;

[0012] A welding torch adjustment mechanism, the welding torch adjustment mechanism is arranged at the movable end of the welding torch swing mechanism;

[0013] A welding torch, the welding torch is arranged on the welding torch adjustment mechanism, and the welding torch is connected to the wire feeding system;

[0014] A carbon dioxide gas supply module, the carbon dioxide gas supply module is connected to the welding torch to supply carbon dioxide gas.

[0015] Preferably, the traveling mechanism includes a servo motor, a reducer, a driving wheel, and a driven wheel. The servo motor is fixed on the chassis of the trolley. The reducer is connected to the output shaft of the servo motor. Both the driving wheel and the driven wheel are rotatably connected to the chassis of the trolley. The driving wheel and the driven wheel are meshed. The driving wheel is connected to the output shaft of the reducer. Every two traveling wheels are connected by a linkage shaft, and the driven wheel is sleeved on the linkage shaft.

[0016] Preferably, the track adaptation module includes a track body. The track body is a flexible track or a rigid track. When the weld seam is a straight weld seam, the track body is a rigid track, and the rigid track is fixedly arranged in parallel on one side of the weld seam. The chassis of the trolley is connected to the rigid track through a limit connecting piece. The limit connecting piece is connected with a slider, and a guide wheel is arranged in the slider. The guide wheel is in rolling connection with the rigid track. When the weld seam is a planar curve weld seam or a space curve weld seam, the track body is a flexible track, and the flexible track is fixedly arranged in parallel on one side of the weld seam. A guiding groove is formed on the surface of the flexible track, and the driving wheel is embedded in the guiding groove. Or, rollers are rotatably arranged on the chassis of the trolley, and the rollers are embedded in the guiding groove, and the rollers are in rolling connection with the guiding groove.

[0017] Preferably, the welding torch swinging mechanism includes a driving motor, a ball screw, a guide rail, and a sliding plate. The driving motor is installed on the chassis of the trolley. The ball screw is connected to the output shaft of the driving motor. The guide rail is arranged in parallel with the ball screw. The sliding plate is slidably connected to the guide rail. The sliding plate is in threaded connection with the ball screw. The welding torch adjusting mechanism is installed on the sliding plate.

[0018] Preferably, the wire feeding system includes a wire feeder, a wire feeding hose, and a wire spool. A welding wire is wound on the wire spool. One end of the welding wire on the wire spool sequentially passes through the wire feeder and the wire feeding hose and is connected to the welding torch. The wire feeder is used for driving the welding wire to unwind from the wire spool and feed it into the wire feeding hose, and the wire feeding hose is used for guiding the welding wire to the welding torch.

[0019] Preferably, the welding torch adjusting mechanism includes a welding torch clamping assembly and a connecting piece. The welding torch clamping assembly includes a first clamping block, a second clamping block, and a locking handle. One ends of the first clamping block and the second clamping block are connected by a hinge. Convex blocks are arranged at the other ends of the first clamping block and the second clamping block. Connecting holes are formed in both convex blocks. One end of the locking handle is connected with a screw rod. The screw rod sequentially passes through the two connecting holes, and a nut is connected to the screw rod. A connecting block is rotatably arranged on the side wall of the first clamping block or the second clamping block. The connecting piece is provided with an adjusting groove. The connecting block is inserted into the adjusting groove. The connecting piece is provided with a positioning hole. The positioning hole communicates with the adjusting groove. A positioning pin shaft is connected to the positioning hole. The positioning pin shaft cooperates with the connecting block to lock the connecting block. The connecting piece is connected to the sliding plate.

[0020] Preferably, a laser weld seam tracker is arranged on the welding torch. The laser weld seam tracker is used for scanning the shape of the weld seam groove in real time.

[0021] Preferably, the carbon dioxide gas supply module includes a carbon dioxide gas storage tank, an air pump, a flow meter, and an air delivery pipe. The carbon dioxide gas storage tank is placed on the chassis of the trolley. The air pump is connected to the air outlet of the carbon dioxide gas storage tank through a pipeline. The air outlet end of the air pump is connected to one end of the air delivery pipe, and the other end of the air delivery pipe is connected to the air inlet of the welding torch. The flow meter is arranged on the air delivery pipe.

[0022] Preferably, a magnetic attraction component is provided on the chassis of the trolley.

[0023] A welding method uses a full-position welding device and includes the following steps:

[0024] S1: Install the track adaptation module according to the weld seam and detect the parallelism between the track adaptation module and the weld seam;

[0025] S2: Connect the chassis of the trolley to the track adaptation module and adjust the orientation of the welding torch towards the starting welding point of the weld seam;

[0026] S3: Adjust the height position and angle of the welding torch according to the weld seam;

[0027] S4: Set the power of the servo motor and the power of the drive motor;

[0028] S5: The laser tracker scans the weld seam to generate an initial path;

[0029] S6: Start welding. During the welding process, check the position of the welding torch and the arc parameters. If welding deviation or arc breakage is detected, stop the machine for adjustment. If there is no abnormality, continue until welding is completed.

[0030] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0031] The full-position welding device of the present invention does not need to distinguish the types of welders. Ordinary welders can operate after only short-term training, realizing automated welding, reducing manual intervention, significantly improving welding efficiency, and ensuring stable and reliable welding quality. It can be applied to flat, horizontal, vertical butt welds and fillet butt welds on planes and curved surfaces. It is powered by a storage battery. During welding, the fixture fixes the welding torch, deflects a certain angle along the welding direction, and swings left and right along the welding direction during welding to meet the welding requirements of all positions. Description of the Drawings

[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for description in the embodiments. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to actual scale.

[0033] Figure 1 It is a perspective view of a full-position welding device.

[0034] Figure 2 It is a perspective three-dimensional view of another angle of a full-position welding device.

[0035] Figure 3 It is a three-dimensional view of the full-position welding device after removing the track adaptation module.

[0036] Figure 4 It is a three-dimensional view of the trolley chassis, the traveling mechanism and the welding torch swing mechanism.

[0037] Figure 5 It is a perspective three-dimensional view of another angle of the full-position welding device after removing the track adaptation module.

[0038] Figure 6 It is a three-dimensional view of the flexible track.

[0039] 1 is the trolley chassis, 11 are the traveling wheels, 2 is the track adaptation module, 21 is the rigid track, 211 is the positioning groove, 22 are the sliders, 23 are the guide wheels, 24 is the limit connecting piece, 25 is the rotating motor, 26 are the rollers, 27 is the guiding groove, 3 is the welding torch swing mechanism, 31 is the driving motor, 32 is the ball screw, 33 is the guide rail, 34 is the slide plate, 4 is the traveling mechanism, 41 is the servo motor, 42 are the driving wheels, 43 are the driven wheels, 44 is the linkage shaft, 5 is the wire feeding system, 51 is the wire reel, 52 is the wire feeder, 53 is the wire feeding hose, 6 is the carbon dioxide gas supply module, 61 is the carbon dioxide gas storage tank, 62 is the gas supply pipe, 7 is the welding torch, 8 is the welding torch adjustment mechanism, 81 is the locking handle, 82 is the welding torch clamping assembly, 83 are the bumps, 84 is the connecting piece, 9 is the magnetic attraction component. Specific embodiments

[0040] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0041] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0042] In the description of the present invention, the meaning of several is one or more, the meaning of multiple is more than two, and understandings such as greater than, less than, exceeding, etc. do not include the present number, and understandings such as above, below, within, etc. include the present number. If there are descriptions of the terms "first", "second", "third", etc., they are only for descriptive purposes and for distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0043] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0044] Embodiment 1

[0045] As Figures 1-6 shown, a full-position welding device provided in this embodiment includes:

[0046] A trolley chassis 1, the bottom of the trolley chassis 1 is provided with traveling wheels 11, the number of the traveling wheels 11 is four, and all four traveling wheels 11 are rotatably connected to the trolley chassis 1; specifically, the trolley chassis 1 is made of lightweight aluminum alloy or high-strength steel, has the ability to resist deformation, and a magnetic adsorption / vacuum adsorption device is integrated at the bottom to adapt to the fixation on the curved surface or vertical wall surface of the hull.

[0047] A traveling mechanism 4, the traveling mechanism 4 is arranged at the bottom of the trolley chassis 1;

[0048] An orbital adaptation module 2, the orbital adaptation module 2 is used to be arranged on one side of the weld seam and is arranged parallel to the weld seam;

[0049] A welding torch swinging mechanism 3, the welding torch swinging mechanism 3 is arranged on the trolley chassis 1 to drive the welding torch to swing;

[0050] A wire feeding system 5, the wire feeding system 5 is arranged on the trolley chassis 1;

[0051] A welding torch adjusting mechanism 8, the welding torch adjusting mechanism 8 is arranged at the movable end of the welding torch swinging mechanism 3;

[0052] A welding torch 7, the welding torch 7 is arranged on the welding torch adjusting mechanism 8, and the welding torch 7 is connected to the wire feeding system 5;

[0053] The carbon dioxide gas supply module 6 is connected to the welding torch to supply carbon dioxide gas.

[0054] The all-position welding equipment further includes a controller.

[0055] The traveling mechanism 4 includes a servo motor 41, a reducer, a driving wheel 42, and a driven wheel 43. The servo motor 41 is fixed on the trolley chassis 1. The reducer is connected to the output shaft of the servo motor 41. Both the driving wheel 42 and the driven wheel 43 are rotatably connected to the trolley chassis 1. The driving wheel 42 and the driven wheel 43 mesh with each other. The driving wheel 42 is connected to the output shaft of the reducer. Every two traveling wheels 11 are connected by a linkage shaft 44. The driven wheel 43 is sleeved on the linkage shaft 44. The driving wheel 42 is controlled by the servo motor 41 and the reducer to ensure smooth movement on the track (the speed range is usually 50 - 600 mm / min).

[0056] In some embodiments, an encoder may be connected to the driving wheel 42 to detect the rotation angle of the driving wheel 42 and measure the traveling distance.

[0057] The track adaptation module 2 includes a track body, and the track body is a flexible track or a rigid track 21. When the weld seam is a straight weld seam, the track body is the rigid track 21, and the rigid track 21 is fixedly arranged in parallel on one side of the weld seam. The trolley chassis 1 is connected to the rigid track 21 through a limit connecting piece 8424. The limit connecting piece 8424 is connected with a slider 22, and a guide wheel 23 is arranged in the slider 22. The guide wheel 23 is in rolling connection with the rigid track 21. When the weld seam is a plane curve weld seam or a space curve weld seam, the track body is a flexible track, and the flexible track is fixedly arranged in parallel on one side of the weld seam. A guide groove 27 is formed on the surface of the flexible track, and a driving wheel 42 is embedded in the guide groove 27. Or, a roller 26 is rotatably arranged on the trolley chassis 1, the roller 26 is embedded in the guide groove 27, and the roller 26 is in rolling connection with the guide groove 27. The roller 26 is driven by a rotation motor 25 to roll in the guide groove 27. Specifically, the flexible track is a key component for adapting to the welding of complex curved surfaces (such as the outer plate of a ship and a pipeline). Its core requirements are to have both flexibility and rigidity, and at the same time, it needs to meet the performance requirements such as wear resistance, high temperature resistance, and corrosion resistance. The flexible track can be prepared from polyurethane (PU)-based composite materials, nylon (PA)-based composite materials, and metal-based flexible materials. The polyurethane (PU)-based composite material has high elasticity, wear resistance (low friction coefficient), and impact resistance, and is suitable for frequently bent working conditions. It can be enhanced by adding glass fiber or carbon fiber to improve the tensile strength (up to 50-80 MPa). The nylon (PA)-based composite material has high temperature resistance (short-term temperature resistance of 150 °C) and self-lubrication, and is suitable for high-speed welding scenarios. The friction coefficient can be further reduced by filling graphite or molybdenum disulfide. The metal-based flexible material such as a stainless steel spring steel strip with a thickness of 0.5-1.2 mm is surface nickel-plated for rust prevention, and the flexibility is achieved through a corrugated structure. The flexible track usually adopts a modular design. The width of the track main body is 50-100 mm, the thickness is 3-8 mm, and high-strength fibers (such as aramid or carbon fiber) are embedded inside as a skeleton. A guide groove 27 or a rack is formed on the surface, and it meshes with the driving wheel 42 of the welding trolley (tooth pitch 2-5 mm). The track main body can be formed by splicing multiple splicing units. The length of a single section is 200-500 mm, and it is quickly connected through a mortise and tenon structure or a magnetic interface to adapt to different weld seam lengths.

[0058] The rigid track 21 and the flexible track can adopt a stainless steel spring buckle, which supports the angular deflection of ±15° between track units and adapts to continuously varying curvature surfaces. The guide wheel 23 or the roller 26 can adopt a ceramic or hardened steel roller 26, which is embedded in the positioning groove 211 of the rigid track 21 to ensure that the deviation of the trolley running track is <0.5 mm.

[0059] The welding torch swing mechanism 3 includes a driving motor 31, a ball screw, a guide rail 33 and a slide plate 34. The driving motor 31 is installed on the chassis 1 of the trolley. The ball screw is connected to the output shaft of the driving motor 31. The guide rail 33 is arranged parallel to the ball screw. The slide plate 34 is slidably connected to the guide rail 33 and is threadedly connected to the ball screw. The welding torch adjustment mechanism 8 is installed on the slide plate 34. Specifically, the controller is responsible for receiving welding parameters and controlling the actions of the welding torch swing mechanism 3. The controller usually uses a single-chip microcomputer or a PLC for program control, and adjusts swing parameters such as swing amplitude, swing speed and midpoint position through a liquid crystal display screen. The driving motor 31 is used to drive the ball screw 32 or a rack and pinion drive system to drive the slide plate 34 to move. The ball screw 32 cooperates with the driving motor 31 to convert rotational motion into linear motion, enabling the slide plate 34 to move smoothly. The slide plate 34 slides on the guide rail 33 to ensure the stability and accuracy of the motion. The adjustment mechanism is fixed thereto and realizes swinging by being driven by the driving motor 31, that is, drives the welding torch to swing.

[0060] The driving motor 31 can adopt an existing stepper motor or a brushless DC motor, whose service life is 5 to 8 times that of an ordinary motor, and at the same time has a stepless speed regulation function, capable of meeting the requirements of different welding processes.

[0061] In some embodiments, the welding torch swing mechanism 3 further includes a limit switch, a Hall sensor, a signal conditioning unit and a signal processing unit. The limit switch is used to detect the extreme position of the welding torch to protect the driving motor 31 and prevent overload. The Hall sensor is used to detect parameters such as the arc state and magnetic field during the welding process, and feedback the data to the signal conditioning unit and the signal processing unit, and after being processed by the signal conditioning unit and the signal processing unit, it is sent to the controller.

[0062] The wire feeding system 5 includes a wire feeder 52, a wire feeding hose 53 and a wire reel 51. A welding wire is wound on the wire reel 51. One end of the welding wire on the wire reel 51 sequentially passes through the wire feeder 52 and the wire feeding hose 53 and is connected to the welding torch. The wire feeder 52 is used to drive the welding wire to unwind from the wire reel 51 and feed it into the wire feeding hose 53. The wire feeding hose 53 is used to guide the welding wire to the welding torch. The wire feeding system 5 is of an existing structure and will not be elaborated here.

[0063] The torch adjustment mechanism 8 includes a torch clamping assembly 82 and a connecting member 84. The torch clamping assembly 82 includes a first clamping block, a second clamping block, and a locking handle 81. One ends of the first clamping block and the second clamping block are connected by a hinge. Protrusions 83 are provided at the other ends of the first clamping block and the second clamping block. Connecting holes are provided on both protrusions 83. One end of the locking handle 81 is connected with a screw rod. The screw rod sequentially passes through the two connecting holes and is connected with a nut. A connecting block is rotatably provided on the side wall of the first clamping block or the second clamping block. The connecting member 84 is provided with an adjustment groove. The connecting block is inserted into the adjustment groove. The connecting member 84 is provided with a positioning hole which communicates with the adjustment groove. A positioning pin shaft is connected to the positioning hole. The positioning pin shaft cooperates with the connecting block to lock the connecting block. The connecting member 84 is connected with the slide plate 34. Specifically, the area enclosed between the first clamping block and the second clamping block is a clamping area, which can be used to clamp torches of different specifications. The hinge can be that the connecting rods are respectively in shaft-hole fit with the first clamping block and the second clamping block and are locked at both ends connected by nuts. Through the cooperation between the adjustment groove and the connecting block, the position of the torch, such as the height position, can be adjusted. Then, by inserting the positioning pin shaft into the positioning hole and the connecting block, locking is achieved. An arc-shaped groove can be provided on the connecting member 84. An angle adjustment rod is movably connected in the arc-shaped groove. Through the cooperation between the arc-shaped groove, the angle adjustment rod and the slide plate 34, the angle of the torch can be adjusted.

[0064] A laser weld tracker is provided on the torch. The laser weld tracker is used to scan the shape of the weld groove in real time. The laser weld tracker is installed in front of the torch, scans the shape of the weld groove in real time (accuracy ±0.2 mm), and feeds back to the controller to correct the path to ensure the accuracy of welding.

[0065] The carbon dioxide gas supply module 6 includes a carbon dioxide gas storage tank 61, an air pump, a flow meter, and a gas delivery pipe 62. The carbon dioxide gas storage tank 61 is placed on the trolley chassis 1. The air pump is connected to the air outlet of the carbon dioxide gas storage tank 61 through a pipeline. The air outlet end of the air pump is connected to one end of the gas delivery pipe 62. The other end of the gas delivery pipe 62 is connected to the air inlet of the torch. The flow meter is arranged on the gas delivery pipe 62. Specifically, in carbon dioxide gas shielded welding, carbon dioxide gas is used as a shielding medium during the welding process to prevent the contamination of the molten pool by oxygen and nitrogen in the air. When the welding wire contacts the workpiece and ignites the arc, carbon dioxide gas is ejected from the nozzle of the torch at a certain flow rate to form a protective layer, so that the molten pool is protected from harmful effects such as oxidation and dehydrogenation reactions, thereby ensuring the quality of the weld. During welding, the welding wire is sent out by the wire feeder 52 through a hose and a contact tip. Carbon dioxide gas is ejected from the nozzle at a certain flow rate. After the arc is ignited, the end of the welding wire, the arc, and the molten pool are surrounded by carbon dioxide gas, which can prevent the harmful effects of air on the metal.

[0066] It should be noted that the welding torch includes a nozzle and a contact tip. The contact tip is connected to the wire feeding hose 53, and the nozzle is connected to the gas supply pipe 62. The nozzle and the contact tip are coaxially arranged, with part of the contact tip located inside the nozzle, and there is a gap between the contact tip and the inner wall of the nozzle. With such an arrangement, the structural integration is high, and at the same time, it is convenient for carbon dioxide gas and the welding wire to be melted and combined and ejected from the welding torch simultaneously.

[0067] It should be noted that the power supply adopted by the welding torch in this embodiment is powered by a lithium battery, which improves safety and simplifies the power supply configuration.

[0068] A magnetic adsorption component 9 is provided on the trolley chassis 1. Through the magnetic adsorption function, the trolley can run stably on the track, while reducing the dependence on the track and adapting to different working conditions. Specifically, the magnetic adsorption component 9 is an internally installed neodymium iron boron (NdFeB) permanent magnet, and the magnetic suction force ≥ 200 N / cm 2 , and it can fit curved workpieces (such as ship hulls).

[0069] In some embodiments, a sub-region magnetic adsorption design can be adopted, and the local magnetic force can be independently turned off to reduce the disassembly resistance.

[0070] Embodiment 2

[0071] A welding method provided in this embodiment uses a full-position welding device, including the following steps:

[0072] S1: Install the track adaptation module 2 according to the weld seam and detect the parallelism between the track adaptation module 2 and the weld seam;

[0073] S2: Connect the trolley chassis 1 to the track adaptation module 2 and adjust the orientation of the welding torch towards the starting welding point of the weld seam;

[0074] S3: Adjust the height position and angle of the welding torch according to the weld seam;

[0075] S4: Set the power of the servo motor 41 and the power of the drive motor 31;

[0076] S5: The laser tracker scans the weld seam to generate an initial path;

[0077] S6: Start welding. During the welding process, check the position of the welding torch and the arc parameters. If welding deviation or arc interruption is detected, stop the machine for adjustment. If there is no abnormality, continue until welding is completed.

[0078] Parts not mentioned in this embodiment are the same as those in Embodiment 1.

[0079] As described above, it is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the said claims.

Claims

1. An all-position welding device, characterized in that: include: The trolley chassis has four running wheels at the bottom, and all of the four running wheels are rotatably connected to the trolley chassis; A traveling mechanism, which is arranged at the bottom of the trolley chassis; A track adapter module, the track adapter module is used to be arranged on one side of the weld and parallel to the weld; A welding gun swing mechanism, which is arranged on the trolley chassis to drive the welding gun to swing; Wire feeding system, the wire feeding system is arranged on the chassis of the trolley; A welding gun adjusting mechanism, the welding gun adjusting mechanism is arranged at the movable end of the welding gun swinging mechanism; A welding gun, which is arranged on a welding gun adjustment mechanism and is connected to a wire feeding system; The carbon dioxide gas supply module is connected to the welding gun to supply carbon dioxide gas.

2. The all-position welding equipment according to claim 1, characterized in that: The traveling mechanism includes a servo motor, a reducer, a driving wheel and a driven wheel. The servo motor is fixed on the trolley chassis, the reducer is connected to the output shaft of the servo motor, the driving wheel and the driven wheel are both rotatably connected to the trolley chassis, the driving wheel and the driven wheel are meshed, the driving wheel is connected to the output shaft of the reducer, every two traveling wheels are connected by a linkage shaft, and the driven wheel is sleeved on the linkage shaft.

3. The all-position welding equipment according to claim 1, characterized in that: The track adaptation module includes a track body, which is a flexible track or a rigid track. When the weld is a straight weld, the track body is a rigid track, which is fixed in parallel to one side of the weld, and the trolley chassis is connected to the rigid track through a limiting connector, and the limiting connector is connected to a slider, and a guide wheel is arranged in the slider, and the guide wheel is rollingly connected to the rigid track; when the weld is a plane curve weld or a space curve weld, the track body is a flexible track, which is fixed in parallel to one side of the weld, and a guide groove is opened on the surface of the flexible track, and the driving wheel is embedded in the guide groove; or, a roller is rotatably provided on the trolley chassis, and the roller is embedded in the guide groove, and the roller is rollingly connected to the guide groove.

4. The all-position welding equipment according to claim 1, characterized in that: The welding gun swing mechanism includes a driving motor, a ball screw, a guide rail and a slide plate. The driving motor is installed on the trolley chassis, the ball screw is connected to the output shaft of the driving motor, the guide rail and the ball screw are arranged in parallel, the slide plate is slidingly connected to the guide rail, the slide plate is threadedly connected to the ball screw, and the welding gun adjustment mechanism is installed on the slide plate.

5. The all-position welding equipment according to claim 1, characterized in that: The wire feeding system includes a wire feeder, a wire feeding hose and a wire reel. The wire reel is wound with welding wire. One end of the welding wire on the wire reel passes through the wire feeder and the wire feeding hose in sequence and is connected to the welding gun. The wire feeder is used to drive the welding wire to be unwound from the wire reel and fed into the wire feeding hose. The wire feeding hose is used to guide the welding wire to the welding gun.

6. The all-position welding equipment according to claim 4, characterized in that: The welding gun adjustment mechanism includes a welding gun clamping assembly and a connecting piece. The welding gun clamping assembly includes a first clamping block, a second clamping block and a locking handle. One end of the first clamping block and the second clamping block are connected by a hinge, and the other ends of the first clamping block and the second clamping block are each provided with a protrusion, and the two protrusions are each provided with a connecting hole. One end of the locking handle is connected to a screw rod, and the screw rod passes through the two connecting holes in sequence, and the screw rod is connected to a nut; a connecting block is rotatably provided on the side wall of the first clamping block or the second clamping block, and the connecting piece is provided with an adjusting groove, and the connecting block is inserted into the adjusting groove. The connecting piece is provided with a positioning hole, and the positioning hole is connected to the adjusting groove. The positioning hole is connected to a positioning pin shaft, and the positioning pin shaft cooperates with the connecting block to lock the connecting block, and the connecting piece is connected to the slide plate.

7. The all-position welding equipment according to claim 1, characterized in that: The welding gun is provided with a laser weld tracker, which is used to scan the weld groove shape in real time.

8. The all-position welding equipment according to claim 1, characterized in that: The carbon dioxide gas supply module includes a carbon dioxide gas storage tank, an air pump, a flow meter and an air supply pipe. The carbon dioxide gas storage tank is placed on the chassis of the trolley. The air pump is connected to the air outlet of the carbon dioxide gas storage tank through a pipeline. The air outlet end of the air pump is connected to one end of the air supply pipe, and the other end of the air supply pipe is connected to the air inlet of the welding gun. The flow meter is arranged on the air supply pipe.

9. The all-position welding equipment according to claim 1, characterized in that: There are magnetic suction components on the chassis of the trolley.

10. A welding method, characterized in that: The all-position welding equipment according to any one of claims 1 to 9 comprises the following steps: S1: Install the track adapter module according to the weld and detect the parallelism between the track adapter module and the weld; S2: Connect the trolley chassis to the track adapter module and adjust the welding gun toward the starting welding point of the weld; S3: Adjust the height and angle of the welding gun according to the weld; S4: Set the power of the servo motor and the power of the drive motor; S5: The laser tracker scans the weld and generates the initial path; S6: Start welding. During the welding process, check the welding gun position and arc parameters. If welding deviation or arc breakage is detected, stop the machine for adjustment. If there is no abnormality, continue until the welding is completed.

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