High-integration narrow-space rare metal material TIG welding device

Abstract

The invention provides a high-integration narrow-space rare metal material TIG welding device, and belongs to the technical field of welding equipment. Comprising a mechanical arm and a controller host, a main beam is fixed to the movable end of the mechanical arm, the cross section area of the main beam is smaller than the end face area of the movable end of the mechanical arm, a tracking camera assembly is fixed to the end of the main beam, an argon arc welding gun is arranged at the position, close to the end, of the main beam, and a tungsten electrode is fixed in the argon arc welding gun and extends out of the bottom of the argon arc welding gun. The main beam, the argon arc welding gun and the tracking camera assembly are arranged, the overall size of the main beam, the argon arc welding gun and the tracking camera assembly is small, and compared with the mode that the argon arc welding gun and the tracking camera assembly are directly fixed to the end of the mechanical arm, the mode that the argon arc welding gun and the tracking camera assembly are connected with the mechanical arm through the main beam is adopted; the argon arc welding gun can enter a narrow space more easily to carry out welding operation, and operation is more convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of welding equipment, and particularly relates to a highly integrated TIG welding device for rare metal materials in a narrow space. Background Art

[0002] TIG welding (Tungsten Inert Gas Welding), also known as non - consumable gas shielded arc welding, is used for welding rare metals because they are prone to oxidation during the welding process. Usually, tungsten inert gas arc welding is adopted, and special attention should be paid to the argon gas protection during argon arc welding, requiring uniform argon gas distribution. Since rare metals are relatively precious and the application environment is complex, many structures are in narrow spaces. The cost of overall numerical control machining of forgings is too high. When using block welding, most welding machines cannot enter the narrow space for welding due to the large volume of the operating end. Therefore, the present application provides a highly integrated TIG welding device for rare metal materials in a narrow space to meet the requirements. Summary of the Invention

[0003] The present invention provides a highly integrated TIG welding device for rare metal materials in a narrow space to solve the technical problem that the welding machine cannot enter the narrow space for welding due to the large volume of the welding end.

[0004] To solve the above - mentioned technical problem, the present invention provides the following technical solutions: A highly integrated TIG welding device for rare metal materials in a narrow space, comprising a robotic arm and a controller host. A main beam is fixed at the movable end of the robotic arm. The cross - sectional area of the main beam is smaller than the end - face area of the movable end of the robotic arm. A tracking camera assembly is fixed at the end of the main beam. An argon arc welding torch is arranged near the end of the main beam. A tungsten electrode is fixed inside the argon arc welding torch, and the tungsten electrode extends out of the bottom of the argon arc welding torch. The inner wall of the argon arc welding torch is provided with a torch body. A cooling medium cavity and an argon gas cavity are arranged inside the torch body. The cooling medium cavity and the argon gas cavity are connected. The cooling medium cavity is arranged in a spiral shape. The argon gas first passes through the cooling medium cavity and then through the argon gas cavity and is ejected from the bottom of the argon arc welding torch. A wire feeding nozzle is arranged at the argon arc welding torch, and the wire feeding nozzle is connected to a wire feeder. The controller host is used to control the wire feeder, the robotic arm, and the argon arc welding torch to work.

[0005] Preferably, an adjusting nozzle is provided at the bottom of the TIG welding torch. The adjusting nozzle includes a mounting seat threadedly connected to the bottom of the TIG welding torch. An inner cavity is formed inside the mounting seat, and two through slots are formed at the bottom of the mounting seat. Two curved rods that are symmetric about the center of the mounting seat are arranged inside the inner cavity. Sliders are fixed to the bottoms of the two curved rods, and the sides of the two sliders are slidably connected to the inner walls of the through slots. Curved plates are fixed to the bottoms of the two sliders, and the tops of the two curved plates abut against the bottom of the mounting seat. Elastic plates are fixed to the ends of the two curved plates, and the tops of the elastic plates abut against the bottom of the mounting seat. The movable ends of the elastic plates are in contact with the inner walls of the curved plates. Under normal conditions, the two curved plates and the elastic plates form a closed ring.

[0006] Preferably, vertical portions are provided at the ends of the two curved rods, and a gear transmission mechanism is arranged between the two vertical portions. The gear transmission mechanism is used to drive the two curved rods to approach or separate from each other.

[0007] Preferably, an inner nozzle is threadedly connected inside the mounting seat, and the bottom of the inner nozzle is at the same horizontal plane as the bottoms of the elastic plates and the curved plates.

[0008] Preferably, a support mechanism is provided at the top of the vertical portion. The support mechanism includes a connecting plate fixed to the top of the vertical portion. A support plate is rotatably connected to the top of the connecting plate. The tops of the two support plates are rotatably connected. A flat plate is arranged at the top of the support plate. The connection between the tops of the two support plates abuts against the bottom of the flat plate. Two pressing wheels are fixed to the top of the flat plate. A support member is arranged above the flat plate. A housing is fixed to the side of the tracking camera assembly close to the TIG welding torch. The support member is fixed to the side of the housing by screws. The two pressing wheels are attached to the bottom of the support member. A fixing ring is fixedly sleeved on the surface of the TIG welding torch. A fixing rod is fixed to the outer circumferential surface of the fixing ring. The fixing rod is arranged inside the housing. The support member supports the bottom of the fixing rod. A driving assembly is arranged inside the housing. The driving assembly is used to drive the fixing rod to move horizontally back and forth.

[0009] Preferably, the support member includes a horizontal portion and bent portions arranged on both sides of the horizontal portion. Under normal conditions, the fixing rod slides on the top of the horizontal portion.

[0010] Preferably, two round rods are fixed to the top of the flat plate, and a support seat is movably sleeved on the surface of the round rods. The support seat is fixed to the surface of the housing.

[0011] Preferably, the driving assembly includes a servo motor fixed on the surface of the housing. The output end of the servo motor movably penetrates through the housing and is provided with a belt conveyor mechanism. A rotating shaft is fixed on the inner wall of the housing, and a cam is rotatably connected to the surface of the rotating shaft. During the rotation of the servo motor, the cam can be driven to rotate through the belt conveyor mechanism. A rectangular hole is formed on the surface of the housing. The fixing rod is located in the rectangular hole, and a driving ring is movably sleeved on the surface of the fixing rod. The end of the driving ring is slidably connected to the inner wall of the housing. The cam abuts against the surface of the driving ring, and the cam drives the fixing rod to reciprocate through the driving ring.

[0012] Preferably, a plug rod movably penetrates through the surface of the driving ring, and the plug rod is fixed on the surface of the fixing rod.

[0013] Preferably, a guide rod is fixed on the surface of the driving ring, and a guide seat is movably sleeved on the surface of the guide rod. The guide seat is fixed on the inner wall of the housing, and a spring is fixed between the guide seat and the driving ring. The spring is sleeved on the surface of the guide rod.

[0014] Compared with the prior art, the present invention has at least the following beneficial effects: In the above solution, by providing the main beam, the argon arc welding gun and the tracking camera assembly, the overall volume of the main beam, the argon arc welding gun and the tracking camera assembly is relatively small. Compared with directly fixing the argon arc welding gun and the tracking camera assembly at the end of the robotic arm, the method of connecting the argon arc welding gun and the tracking camera assembly to the robotic arm via the main beam can make the argon arc welding gun more easily enter a narrow space for welding operations, and the operation is also more convenient.

[0015] In the above solution, by providing the welding gun body and the cooling medium cavity, the cooling medium cavity is communicated with the argon cavity. The argon first flows in the cooling medium cavity. During the flowing process, the argon can effectively cool the tungsten electrode, prevent the tungsten electrode from being damaged due to excessive temperature, and thus realize the protection of the tungsten electrode; the cooling medium cavity adopts an internal and external double-group spiral channel design. This structure makes the flowing distance of the cooling medium in the internal and external spiral channels increase, and can significantly improve the cooling effect, especially suitable for large-current welding scenarios.

[0016] In the above solution, by providing the curved plate and the elastic plate, when facing a deep V-shaped and narrow welding gap, the curved plate can slide along the inner wall of the gap. During this process, the two curved plates can move towards each other, causing the diameter of the annular structure formed by the curved plate and the elastic plate to shrink. In this way, the curved plate and the elastic plate can smoothly insert into the gap, effectively avoiding the situation that the argon arc welding gun cannot extend into the gap due to the too large bottom size of the argon arc welding gun, and further improving the convenience of the operation.

[0017] In the above solution, by setting up a support mechanism, when the curved plate and the elastic plate approach each other, the flat plate will move upward synchronously. The flat plate will drive the extrusion wheel to move upward, so that it tightly presses against the bottom of the support member. Under the action of the extrusion wheel, the two sides of the support member will bend upward and deform, and an arc-shaped guiding surface will be formed on the inner wall of the support member. At the same time, by cooperating with the driving assembly, when the fixing rod slides on the inner wall of the support member, it can cause the bottom of the tungsten electrode to move in a curved line, and the opening direction of the curved line faces the opening direction of the V-shaped gap. In this way, the movement space of the tungsten electrode during fish-scale welding is guaranteed, and the tungsten electrode can be effectively prevented from colliding with the inside of the gap during the movement process, and the protection of the tungsten electrode is effectively realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings incorporated herein and constituting a part of this specification illustrate embodiments of the present disclosure and, together with the specification, further serve to explain the principles of the present disclosure and enable those skilled in the relevant art to implement and use the present disclosure.

[0019] Figure 1 It is a schematic three-dimensional structure diagram of the whole of the present invention; Figure 2 It is a schematic three-dimensional structure diagram at the tracking camera assembly of the present invention; Figure 3 It is a schematic three-dimensional structure diagram inside the housing of the present invention; Figure 4 It is a schematic three-dimensional structure diagram at the connecting plate of the present invention; Figure 5 It is a schematic three-dimensional structure diagram at the flat plate of the present invention; Figure 6 It is a cross-sectional view of the argon arc welding torch of the present invention; Figure 7 It is a schematic three-dimensional structure diagram at the mounting seat of the present invention; Figure 8 It is a schematic three-dimensional structure diagram at the inner nozzle of the present invention; Figure 9 It is a cross-sectional view of the mounting seat of the present invention; Figure 10 It is a schematic three-dimensional structure diagram at the curved rod of the present invention; Figure 11 It is a schematic three-dimensional structure diagram at the curved plate and the elastic plate of the present invention.

[0020] Reference numerals: 1, robotic arm; 2, main beam; 3, tracking camera assembly; 4, wire feeding nozzle; 5, argon arc welding torch; 6, welding torch body; 7, cooling medium cavity; 8, argon gas cavity; 9, tungsten electrode; 10, adjusting nozzle; 11, mounting seat; 12, inner nozzle; 13, inner cavity; 14, through groove; 15, slider; 16, curved rod; 17, vertical part; 18, curved plate; 19, elastic plate; 20, gear transmission mechanism; 21, support mechanism; 22, connecting plate; 23, support plate; 24, flat plate; 25, round rod; 26, support base; 27, pressing wheel; 28, support member; 29, horizontal part; 30, bending part; 31, fixing ring; 32, fixing rod; 33, housing; 34, drive assembly; 35, belt conveyor mechanism; 36, servo motor; 37, rotating shaft; 38, cam; 39, rectangular hole; 40, guide seat; 41, guide rod; 42, spring; 43, drive ring; 44, plug rod.

[0021] As shown in the figure, in order to clearly implement the structure of the embodiments of the present invention, specific structures and devices are marked in the figure. However, this is only for illustrative purposes and is not intended to limit the present invention to this specific structure, device, and environment. According to specific needs, those of ordinary skill in the art can adjust or modify these devices and environments, and the adjustments or modifications still fall within the scope of the appended claims. Detailed implementation manners

[0022] The following describes in detail a TIG welding device for rare metal materials in a highly integrated narrow space provided by the present invention with reference to the accompanying drawings and specific embodiments. At the same time, it should be noted here that in order to make the embodiments more detailed, the following embodiments are the best and preferred embodiments. For some well-known technologies, those skilled in the art can also adopt other alternative methods for implementation; moreover, the drawings are only for more specific description of the embodiments and are not intended to specifically limit the present invention.

[0023] It should be pointed out that in the specification, references to "an embodiment", "embodiments", "exemplary embodiments", "some embodiments", etc. indicate that the described embodiments may include specific features, structures, or characteristics, but not necessarily every embodiment includes such specific features, structures, or characteristics. Additionally, when combining embodiments to describe specific features, structures, or characteristics, implementing such features, structures, or characteristics in combination with other embodiments (whether explicitly described or not) should be within the knowledge of those skilled in the relevant art.

[0024] Generally, terms can be understood, at least in part, from their use in context. For example, depending at least in part on the context, the term "one or more" as used herein can be used to describe any feature, structure, or characteristic in a singular sense, or can be used to describe a combination of features, structures, or characteristics in a plural sense. Additionally, the term "based on" can be understood to not necessarily be intended to convey a set of exclusive factors, but rather, can alternatively, at least in part depending on the context, allow for the presence of other factors that are not necessarily explicitly described.

[0025] Such as Figures 1-11As shown in the figure, an embodiment of the present invention provides a TIG welding device for rare metal materials in a highly integrated narrow space, including a robotic arm 1 and a controller host (not shown in the figure). The controller host is used to uniformly control the operation of the wire feeder, the robotic arm 1, and the argon arc welding torch 5, coordinate the actions of each component, and precisely adjust the welding parameters according to the data fed back by the tracking camera assembly 3, so as to achieve automated and intelligent welding operations, improve the welding efficiency and quality. The movable end of the robotic arm 1 is fixed with a main beam 2. The robotic arm 1 provides flexible movement ability and can precisely adjust the position and angle of the welding device. The cross-sectional area of the main beam 2 is smaller than the end face area of the movable end of the robotic arm 1. This design makes the overall structure more compact, and the main beam 2 can effectively connect the tracking camera assembly 3 and the argon arc welding torch 5, enabling them to operate stably driven by the robotic arm 1. At the same time, compared with directly fixing the relevant components at the end of the robotic arm 1, this device is easier to enter narrow spaces, greatly improving the space adaptability of the device. The cross-sectional area of the main beam 2 is smaller than the end face area of the movable end of the robotic arm 1. The end of the main beam 2 is fixed with a tracking camera assembly 3. Structures such as a camera are arranged in the tracking camera assembly 3. Before welding, the weld area can be scanned for position finding to provide data for the controller host to calculate the welding trajectory; during the welding process, the weld position can be tracked in real time and the molten pool state can be monitored to help the operator adjust the welding parameters in time, ensure the welding quality, and effectively prevent welding deviations caused by workpiece movement, welding deformation, etc. An argon arc welding torch 5 is arranged at a position near the end of the main beam 2. A tungsten electrode 9 is fixed inside the argon arc welding torch 5, and the tungsten electrode 9 extends out of the bottom of the argon arc welding torch 5. The inner wall of the argon arc welding torch 5 is provided with a torch body 6. A cooling medium cavity 7 and an argon cavity 8 are arranged inside the torch body 6. The cooling medium cavity 7 and the argon cavity 8 are connected and communicated. Low-temperature argon is used as the cooling medium for cooling, and a circular atmosphere protection cover is formed by using low-temperature argon. The cooling medium cavity 7 is arranged in a spiral shape. After the argon passes through the argon cavity 8, it is ejected from the bottom of the argon arc welding torch 5. The cooling medium cavity 7 not only plays the role of transporting argon but also realizes the cooling of the tungsten electrode 9. The cooling medium cavity 7 realizes two functions, further reducing the volume, optimizing the outlet of low-temperature argon, and forming a good circular atmosphere protection cover. The temperature of the argon is lower than that of the conventional cooling medium. When adding argon as the cooling medium, the cooling medium cavity 7 with a corresponding diameter is selected according to the actual demand (refrigeration capacity selection). A wire feeding nozzle 4 is arranged at the argon arc welding torch 5. The wire feeding nozzle 4 is connected to the wire feeder. The controller host is used to control the wire feeder (not shown in the figure), the robotic arm 1, and the argon arc welding torch 5 to work. The wire feeding nozzle 4 is connected to the wire feeder and can precisely control the delivery of the welding wire, provide filling materials for the welding process, meet the requirements of different welding processes for the wire feeding speed and amount, and ensure the quality and strength of the welded joint.

[0026] As Figures 7-11As shown in the figure, an adjustment nozzle 10 is provided at the bottom of the TIG welding torch 5. The adjustment nozzle 10 includes a mounting seat 11 threadedly connected to the bottom of the TIG welding torch 5. An inner cavity 13 is formed inside the mounting seat 11. Two through slots 14 are formed at the bottom of the mounting seat 11. Two curved rods 16 that are centrosymmetric about the center of the mounting seat 11 are arranged inside the inner cavity 13. Sliders 15 are fixed to the bottoms of the two curved rods 16. The sides of the two sliders 15 are slidably connected to the inner walls of the through slots 14. Curved plates 18 are fixed to the bottoms of the two sliders 15. The tops of the two curved plates 18 abut against the bottom of the mounting seat 11. Elastic plates 19 are fixed to the ends of the two curved plates 18. The tops of the elastic plates 19 abut against the bottom of the mounting seat 11. The movable ends of the elastic plates 19 are in contact with the inner walls of the curved plates 18. Under normal conditions, the two curved plates 18 and the elastic plates 19 form a closed ring, which plays a certain role in protection and guidance under normal conditions. When welding special gaps, the curved plates 18 can slide along the inner walls of the gaps, and the two curved plates 18 can move towards each other, causing the diameter of the annular structure formed by the curved plates 18 and the elastic plates 19 to shrink, effectively avoiding the situation where the TIG welding torch 5 cannot extend into the gap due to its too large bottom size, improving the operation convenience of the device when welding narrow and special-shaped gaps, and the elasticity of the elastic plates 19 can buffer the external force received by the curved plates 18 to a certain extent, protecting the structure of the device.

[0027] As Figure 10 shown in the figure, vertical portions 17 are provided at the ends of the two curved rods 16. A gear transmission mechanism 20 is arranged between the two vertical portions 17. The gear transmission mechanism 20 is used to drive the two curved rods 16 to approach or move away from each other. By connecting the vertical portions 17 of the two curved rods 16 through the gear transmission mechanism 20, when one of the curved rods 16 moves due to the curved plate 18 being squeezed by the inner wall of the gap, it can drive the other curved rod 16 to move synchronously and symmetrically through the gear transmission, ensuring that the two curved plates 18 can accurately approach or move away from each other, realizing the adaptive adjustment to gaps of different widths, improving the accuracy and stability of the adjustment. Compared with controlling the two curved rods 16 separately, this transmission method is more efficient, reliable, and has a compact structure and small occupied space.

[0028] As Figure 7 and Figure 8 shown in the figure, an inner nozzle 12 is threadedly connected inside the mounting seat 11. The bottom of the inner nozzle 12 is at the same horizontal plane as the bottoms of the elastic plates 19 and the curved plates 18. Threadedly connecting inside the mounting seat 11 is convenient for installation and replacement. The bottom of the inner nozzle 12 is at the same horizontal plane as the bottoms of the elastic plates 19 and the curved plates 18. During the welding process, the spraying direction and range of argon gas can be further restricted and guided, making the argon gas more accurately cover the welding area, enhancing the protection effect on the welding area, and at the same time helping to concentrate the arc energy and improve the welding quality. Secondly, the inner nozzle 12 can also play a role in blocking the heat of the tungsten electrode 9, realizing the protection of the adjustment nozzle 10 and preventing the adjustment nozzle 10 from being damaged by overheating.

[0029] As Figure 4 shown, a support mechanism 21 is provided at the top of the vertical portion 17. When the curved plate 18 and the elastic plate 19 approach each other, a series of components can be driven to move, realizing the adjustment of the movement trajectory of the tungsten electrode 9. The support mechanism 21 includes a connecting plate 22 fixed to the top of the vertical portion 17. The top of the connecting plate 22 is rotatably connected to a support plate 23. The tops of the two support plates 23 are rotatably connected. When the vertical portion 17 of the curved rod 16 moves, the connecting plate 22 is driven to move, and then the support plate 23 is actuated. The bending deformation of the two support plates 23 can push the flat plate 24 upward, providing power for the subsequent movement of the extrusion wheel 27. A flat plate 24 is provided at the top of the support plate 23. The connection between the tops of the two support plates 23 abuts against the bottom of the flat plate 24. Two extrusion wheels 27 are fixed to the top of the flat plate 24. The flat plate 24 drives the extrusion wheels 27 to squeeze the bottom of the support member 28 upward, causing the two sides of the support member 28 to bend upward, changing the movement trajectory of the fixing rod 32, and finally causing the bottom of the tungsten electrode 9 to move in a curve, avoiding the impact of the tungsten electrode 9 on the inner wall of the gap, realizing the protection of the tungsten electrode 9. At the same time, the support member 28 is fixed to the side of the housing 33 by screws, with firm installation and convenient disassembly and maintenance. A support member 28 is provided above the flat plate 24. A housing 33 is fixed to the side of the tracking camera assembly 3 close to the argon arc welding torch 5. The support member 28 is fixed to the side of the housing 33 by screws. The two extrusion wheels 27 are attached to the bottom of the support member 28. A fixing ring 31 is fixedly sleeved on the surface of the argon arc welding torch 5. The fixing ring 31 is sleeved on the surface of the argon arc welding torch 5. The fixing rod 32 is connected to the fixing ring 31 and is located inside the housing 33. The support member 28 supports the bottom of the fixing rod 32, providing support and guidance for the movement of the argon arc welding torch 5, and cooperating with the driving assembly 34 to realize the horizontal reciprocating movement of the argon arc welding torch 5, making the welding position in a fish-scale pattern, improving the welding stability. The outer circumferential surface of the fixing ring 31 is fixed with a fixing rod 32. The fixing rod 32 is arranged inside the housing 33. The support member 28 supports the bottom of the fixing rod 32. A driving assembly 34 is arranged inside the housing 33, which can drive the fixing rod 32 to move horizontally back and forth, and then drive the argon arc welding torch 5 to move, realizing fish-scale pattern welding, increasing the bonding strength of the welded part, and improving the welding quality. The driving assembly 34 is used to drive the fixing rod 32 to move horizontally back and forth.

[0030] As another embodiment of the present invention, an electromagnet is installed on one of the connecting plates 22. The telescopic end of the electromagnet is connected to the other connecting plate 22. The electromagnet is arranged on the side where the two connecting plates 22 are close to each other. When two plate-shaped workpieces need to be welded to form a V-shaped member, there is a case where the welding joint is a deep V-shaped and narrow-width groove. When the electromagnet is energized, the two connecting plates 22 approach each other, thereby realizing the electric control of the two connecting plates 22. Through the approaching action of the connecting plates 22, the curved plates 18 approach each other, and the elastic plates 19 actively contract inward, reducing the probability of the curved plates 18 contacting the inner wall of the deep V-shaped and narrow-width groove, reducing the wear of the curved plates 18, and improving the service life of the curved plates 18.

[0031] As Figure 5 shown, the support member 28 includes a horizontal portion 29 and bending portions 30 provided on both sides of the horizontal portion 29. Under normal conditions, the fixing rod 32 slides on the top of the horizontal portion 29. The horizontal portion 29 provides a stable support and sliding plane for the fixing rod 32 under normal conditions, ensuring the smooth movement of the TIG welding torch 5 during normal welding. When the pressing wheel 27 presses the bottom of the support member 28, the bending portions 30 on both sides of the horizontal portion 29 are forced to bend upward, forming an arc-shaped guiding surface on the inner wall of the support member 28, guiding the fixing rod 32 to move in a curved path, thereby driving the bottom of the tungsten electrode 9 to move in a curved path, avoiding the collision of the tungsten electrode 9 with the inner wall of the gap. At the same time, this structural design enhances the strength and stability of the support member 28, enabling it to withstand greater external forces.

[0032] As Figure 2 and Figure 4 shown, two round rods 25 are fixed on the top of the flat plate 24. The surface of the round rods 25 is movably sleeved with support seats 26, and the support seats 26 are fixed on the surface of the housing 33. When the flat plate 24 moves upward, the round rods 25 slide in the support seats 26, providing a guiding function for the movement of the flat plate 24, ensuring the accuracy and stability of the movement of the flat plate 24, avoiding the flat plate 24 from shifting or shaking during the movement, thereby ensuring that the pressing wheel 27 can accurately press the bottom of the support member 28, making the actions of the entire support mechanism 21 coordinated and reliable.

[0033] As Figure 3As shown, the driving assembly 34 includes a servo motor 36 fixed on the surface of the shell 33, the output end of the servo motor 36 movably penetrates the shell 33 and is provided with a belt conveying mechanism 35, the inner wall of the shell 33 is fixed with a rotating shaft 37, the surface of the rotating shaft 37 is rotatably connected with a cam 38, and the servo motor 36 can drive the cam 38 to rotate through the belt conveying mechanism 35 during rotation, a rectangular hole 39 is opened on the surface of the shell 33, the fixing rod 32 is located in the rectangular hole 39, and the surface of the fixing rod 32 is movably sleeved with a driving ring 43, the end of the driving ring 43 is slidably connected to the inner wall of the shell 33, the cam 38 is against the surface of the driving ring 43, and the cam 38 is driven by the driving The moving ring 43 drives the fixed rod 32 to move back and forth. The servo motor 36 serves as a power source and can accurately control the speed and direction. The rotational motion of the servo motor 36 is transmitted to the cam 38 through the belt conveyor mechanism 35, thereby realizing efficient transmission of power and speed regulation. The operating speed of the drive assembly 34 can be flexibly adjusted according to the requirements of the welding process. During the rotation process, the eccentric structure of the cam 38 contacts the surface of the driving ring 43 and generates an extrusion force, which pushes the driving ring 43 to move back and forth horizontally. The driving ring 43 drives the fixed rod 32 to move synchronously, thereby realizing the horizontal reciprocating motion of the argon arc welding gun 5, making the welding position fish-scale-shaped, and improving the strength and stability of the welded joint.

[0034] like Figure 3 As shown, a rod 44 is movably penetrated through the surface of the driving ring 43, and the rod 44 is fixed on the surface of the fixed rod 32. The rod 44 is used to connect the driving ring 43 and the fixed rod 32 to ensure that the driving ring 43 can reliably drive the fixed rod 32 to move synchronously when moving horizontally back and forth, avoiding relative sliding or displacement deviation between the two, ensuring the accuracy of power transmission of the driving component 34, and enabling the argon arc welding gun 5 to perform horizontal reciprocating motion according to a predetermined trajectory to achieve stable fish-scale welding.

[0035] like Figure 3 As shown, a guide rod 41 is fixed to the surface of the drive ring 43, and a guide seat 40 is movably sleeved on the surface of the guide rod 41. The guide seat 40 is fixed to the inner wall of the shell 33, and a spring 42 is fixed between the guide seat 40 and the drive ring 43. The spring 42 is sleeved on the surface of the guide rod 41. The guide rod 41 and the guide seat 40 provide guidance for the movement of the drive ring 43 to ensure that the drive ring 43 can stably reciprocate in the horizontal direction to avoid shaking or deviation during the movement, thereby ensuring the movement accuracy of the drive assembly 34 and further ensuring the accuracy of the movement trajectory of the argon arc welding gun 5. When the raised part of the cam 38 is away from the drive ring 43, the elastic force of the spring 42 can quickly reset the drive ring 43 to achieve smooth reciprocating motion of the drive ring 43. At the same time, the spring 42 can also buffer the cam 38 to a certain extent.

[0036] In the device provided by the present invention, before welding, the tracking camera assembly 3 transmits a detection signal to scan the weld area to obtain information such as the spatial position and shape of the weld, and transmits these data to the controller host in the form of an electrical signal. After receiving the data, the controller host calculates the motion trajectory required for the robot arm 1 to drive the argon arc welding gun 5 to complete welding, thereby providing path guidance for subsequent welding operations; The robot arm 1 follows the trajectory calculated by the controller host, and accurately controls the rotation and movement of each joint through the internal motor drive and transmission mechanism, thereby driving the main beam 2 and the argon arc welding gun 5 connected thereto and other components to move to the specified position; Based on the control signal sent by the controller host, the wire feeder starts the motor to run, and pushes the welding wire through the wire feed nozzle 4 through gear transmission and other means. At the same time, the power of the argon arc welding gun 5 is turned on to generate an arc. Under the action of pressure, the argon gas in the argon gas tank passes through the cooling medium cavity 7 and the argon gas cavity 8 and is ejected from the bottom of the argon arc welding gun 5, forming an inert gas protection atmosphere in the welding area to prevent oxidation of the welding part. When the argon gas passes through the cooling medium cavity 7, it flows along the spiral cavity and takes away the heat generated by the tungsten electrode 9 through heat conduction, thereby preventing the tungsten electrode 9 from being damaged due to high temperature, and ensuring the stable operation of the argon arc welding gun 5; The tracking camera assembly 3 continuously collects weld position images during the welding process, and compares them with the initial planned trajectory using an image recognition algorithm. If a position deviation caused by workpiece movement, welding deformation, etc. is detected, the deviation data is fed back to the controller host, and the controller host adjusts the motion parameters of the robot arm 1 in real time to ensure that the argon arc welding gun 5 is always aimed at the weld area. At the same time, the tracking camera assembly 3 detects the temperature, shape, size and other states of the molten pool, converts this information into electrical signals and transmits them to the display. After observing the display, the operator manually adjusts the welding current, voltage, wire feeding speed and other parameters to ensure the welding quality; When the driving assembly 34 is turned on, the servo motor 36 is powered on and the rotation of its output shaft is transmitted to the cam 38 through the belt conveyor mechanism 35. During the rotation process, the eccentric structure of the cam 38 contacts the surface of the driving ring 43 and generates an extrusion force. When the raised part of the cam 38 is close to the driving ring 43, the driving ring 43 is pushed to overcome the elastic force of the spring 42 and move away from the cam 38; when the raised part of the cam 38 is away from the driving ring 43, the elastic force of the spring 42 causes the driving ring 43 to move toward the cam 38, thereby realizing the horizontal reciprocating movement of the driving ring 43. The driving ring 43 is connected to the fixed rod 32 through the insertion rod 44, driving the fixed rod 32, the fixed ring 31 and the argon arc welding gun 5 to synchronously reciprocate horizontally, so that the welding part forms a fish scale pattern, thereby increasing the bonding strength of the welding part and improving the welding stability. When facing a welded seam with a deep V shape and a narrow width, during the movement of the argon arc welding torch 5 towards the seam, the curved plate 18 first contacts the inner wall of the seam. As the argon arc welding torch 5 penetrates deeper, the curved plate 18 is squeezed by the inner wall of the seam and slides along its inner wall. The movement of the curved plate 18 drives the connected slider 15 to slide on the inner wall of the through groove 14, and further drives the curved rod 16 to move in the inner cavity 13. The vertical part 17 at the end of the curved rod 16 is connected through the gear transmission mechanism 20. The movement of one curved rod 16 drives the other curved rod 16 to move towards each other through the gear-rack transmission, causing the two curved plates 18 to approach each other. The diameter of the annular structure formed by the curved plate 18 and the elastic plate 19 decreases, enabling it to be smoothly inserted into the seam. The movement of the curved rod 16 also drives the connecting plate 22 to move, and the connecting plate 22 drives the support plate 23 to rotate, causing the tops of the two support plates 23 to approach and bend upward, thereby pushing the flat plate 24 upward. The pressing wheel 27 on the flat plate 24 rises with the flat plate 24 and presses the bottom of the support member 28. The connection between the horizontal part 29 and the bent part 30 of the support member 28 is stressed and undergoes bending deformation. At this time, the fixing rod 32 slides on the inner wall of the support member 28. Due to the change in the shape of the support member 28, the movement trajectory of the fixing rod 32 becomes a curve, driving the bottom of the argon arc welding torch 5 and the tungsten electrode 9 to move in a curve through the fixing ring 31, preventing the tungsten electrode 9 from colliding with the inner wall of the seam when penetrating the seam for welding; The cooling medium cavity 7 adopts a double-group spiral channel design inside and outside. The argon gas first passes through the cooling medium cavity 7. During the welding process, the heat generated by the tungsten electrode 9 is transferred to the surrounding cooling medium through heat conduction. The cooling medium continuously takes away the heat during the flow, preventing the tungsten electrode 9 from being damaged due to excessive temperature, such as melting and deformation, and realizing the protection of the tungsten electrode 9. After that, the argon gas is ejected from the argon gas cavity 8 and forms a continuous inert gas protection layer in the welding area, isolating the air, avoiding the chemical reaction between the metal at the welding part and oxygen, preventing the welding part from oxidation, and ensuring the welding quality.

[0037] This invention covers any substitutions, modifications, equivalent methods, and solutions made within the essence and scope of this invention. For the public to have a thorough understanding of this invention, specific details have been elaborated in the above preferred embodiments of this invention. However, those skilled in the art can also fully understand this invention without the description of these details.

[0038] The above are only the preferred embodiments of this invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of this invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of this invention.

Claims

1. A TIG welding device for rare metal materials in a highly integrated narrow space, characterized in that Including: A robotic arm (1) and a controller host. A main beam (2) is fixed to the movable end of the robotic arm (1). The cross-sectional area of the main beam (2) is smaller than the end face area of the movable end of the robotic arm (1). A tracking camera assembly (3) is fixed to the end of the main beam (2). A tungsten inert gas (TIG) welding gun (5) is provided at a position near the end of the main beam (2). A tungsten electrode (9) is fixed inside the TIG welding gun (5), and the tungsten electrode (9) extends out of the bottom of the TIG welding gun (5). The inner wall of the TIG welding gun (5) is provided with a welding gun body (6). A cooling medium cavity (7) and an argon cavity (8) are arranged inside the welding gun body (6). The cooling medium cavity (7) and the argon cavity (8) are communicated with each other. The cooling medium cavity (7) is arranged in a spiral shape. Argon first passes through the cooling medium cavity (7) and then passes through the argon cavity (8) and is ejected from the bottom of the TIG welding gun (5). A wire feeding nozzle (4) is arranged at the TIG welding gun (5). The wire feeding nozzle (4) is connected to a wire feeder. The controller host is used to control the wire feeder, the robotic arm (1), and the TIG welding gun (5) to work.

2. The TIG welding device for rare metal materials in a highly integrated narrow space according to claim 1, characterized in that An adjusting nozzle (10) is arranged at the bottom of the TIG welding gun (5). The adjusting nozzle (10) includes a mounting seat (11) threadedly connected to the bottom of the TIG welding gun (5). An inner cavity (13) is formed inside the mounting seat (11). Two through slots (14) are formed at the bottom of the mounting seat (11). Two curved rods (16) that are centrosymmetric about the center of the mounting seat (11) are arranged inside the inner cavity (13). Sliders (15) are fixed to the bottoms of the two curved rods (16). The sides of the two sliders (15) are slidably connected to the inner walls of the through slots (14). Curved plates (18) are fixed to the bottoms of the two sliders (15). The tops of the two curved plates (18) are abutted against the bottom of the mounting seat (11). Elastic plates (19) are fixed to the ends of the two curved plates (18). The tops of the elastic plates (19) are abutted against the bottom of the mounting seat (11). The movable ends of the elastic plates (19) are in contact with the inner walls of the curved plates (18). Under normal conditions, the two curved plates (18) and the elastic plates (19) form a closed ring.

3. The TIG welding device for rare metal materials in a highly integrated narrow space according to claim 2, wherein, Vertical portions (17) are arranged at the ends of the two curved rods (16). A gear transmission mechanism (20) is arranged between the two vertical portions (17). The gear transmission mechanism (20) is used to drive the two curved rods (16) to approach or move away from each other.

4. The TIG welding device for rare metal materials in a highly integrated narrow space according to claim 2, wherein, An inner nozzle (12) is threadedly connected inside the mounting seat (11). The bottom of the inner nozzle (12) is at the same horizontal plane as the bottoms of the elastic plates (19) and the curved plates (18).

5. The TIG welding device for rare metal materials in a highly integrated narrow space according to claim 3, characterized in that A support mechanism (21) is provided at the top of the vertical part (17). The support mechanism (21) includes a connecting plate (22) fixed to the top of the vertical part (17). A support plate (23) is rotatably connected to the top of the connecting plate (22). The tops of the two support plates (23) are rotatably connected. A flat plate (24) is provided at the top of the support plate (23). The connection part at the tops of the two support plates (23) abuts against the bottom of the flat plate (24). Two pressing wheels (27) are fixed to the top of the flat plate (24). A support member (28) is provided above the flat plate (24). A housing (33) is fixed to the side of the tracking camera assembly (3) close to the argon arc welding torch (5). The support member (28) is fixed to the side surface of the housing (33) by screws. The two pressing wheels (27) are attached to the bottom of the support member (28). A fixing ring (31) is fixedly sleeved on the surface of the argon arc welding torch (5). A fixing rod (32) is fixed to the outer circumferential surface of the fixing ring (31). The fixing rod (32) is arranged inside the housing (33). The support member (28) supports the bottom of the fixing rod (32). A driving component (34) is arranged inside the housing (33). The driving component (34) is used to drive the fixing rod (32) to move horizontally back and forth.

6. The TIG welding device for rare metal materials in a highly integrated narrow space according to claim 5, wherein, The support member (28) includes a horizontal part (29) and bending parts (30) arranged on both sides of the horizontal part (29). Under normal conditions, the fixing rod (32) slides on the top of the horizontal part (29).

7. The TIG welding device for rare metal materials in a highly integrated narrow space according to claim 5, characterized in that Two round rods (25) are fixed to the top of the flat plate (24). A support seat (26) is movably sleeved on the surface of the round rod (25). The support seat (26) is fixed to the surface of the housing (33).

8. The TIG welding device for rare metal materials in a highly integrated narrow space according to claim 5, characterized in that, The driving component (34) includes a servo motor (36) fixed to the surface of the housing (33). The output end of the servo motor (36) movably penetrates through the housing (33) and is provided with a belt conveying mechanism (35). A rotating shaft (37) is fixed to the inner wall of the housing (33). A cam (38) is rotatably connected to the surface of the rotating shaft (37). The servo motor (36) drives the cam (38) to rotate through the belt conveying mechanism (35). A rectangular hole (39) is formed in the surface of the housing (33). The fixing rod (32) is located in the rectangular hole (39). A driving ring (43) is movably sleeved on the surface of the fixing rod (32). The end of the driving ring (43) is slidably connected to the inner wall of the housing (33). The cam (38) abuts against the surface of the driving ring (43). The cam (38) drives the fixing rod (32) to move back and forth through the driving ring (43).

9. The TIG welding device for rare metal materials in a highly integrated narrow space according to claim 8, wherein A plug rod (44) movably penetrates through the surface of the driving ring (43). The plug rod (44) is fixed to the surface of the fixing rod (32).

10. The TIG welding device for rare metal materials in a highly integrated narrow space according to claim 8, wherein A guide rod (41) is fixed to the surface of the driving ring (43). A guide seat (40) is movably sleeved on the surface of the guide rod (41). The guide seat (40) is fixed to the inner wall of the housing (33). A spring (42) is fixed between the guide seat (40) and the driving ring (43). The spring (42) is sleeved on the surface of the guide rod (41).

Images