Welding equipment

Abstract

The invention provides welding equipment which comprises a mobile robot, a welding adjusting device, a welding gun and a wire feeding gun, and the welding adjusting device is installed on the mobile robot and used for adjusting the positions of the welding gun and the wire feeding gun; wherein the welding gun can be replaced, the tungsten needle structure, the driving assembly and the limiting component are all installed on the gun body, and the driving assembly is movably connected with the tungsten needle structure so that the tip end of the tungsten needle structure can swing in the revolution process of the tungsten needle structure. According to the scheme, the mobile robot can adjust the welding adjusting device, and the degree of freedom of the welding gun and the wire feeding gun is improved; under the combined action of the driving assembly and the limiting component, the tip end of the tungsten needle structure swings when the tungsten needle structure revolves, the surface tension of liquid solder at a weld joint is damaged, the welding area of single-time welding is enlarged, and the welding efficiency is improved; meanwhile, by means of the arrangement, the rotating arc evenly distributes heat, welding defects are reduced, and the welding seam strength is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of welding equipment, and in particular to a welding equipment. Background Art

[0002] Currently, welding processes are widely used in manufacturing, aerospace, and other fields. More sophisticated equipment requires higher technical requirements for welding. However, existing techniques limit the welding area per weld due to the surface tension of liquid solder during welding, often requiring multiple welds at the weld seam, resulting in low welding efficiency. Multiple welds can also lead to stress concentration and a cumulative effect in the heat-affected zone, resulting in a degradation of the physical properties of the welded area and compromising the overall quality of the welded part. Summary of the Invention

[0003] The present invention provides a welding device to solve the problems of low weld quality and low welding efficiency when welding with a fixed tungsten needle structure in the prior art.

[0004] In order to solve the above problems, the present invention provides a welding device, including a mobile robot, a welding adjustment device, a welding gun and a wire feeding gun, the welding adjustment device is installed on the mobile robot, the welding gun and the wire feeding gun are both installed on the welding adjustment device, and the welding adjustment device is used to adjust the positions of the welding gun and the wire feeding gun; wherein, the welding gun is replaceable, at least one welding gun includes a gun body, a tungsten needle structure, a drive assembly and a limiting component, the tungsten needle structure, the drive assembly and the limiting component are all installed on the gun body, the drive assembly and the tungsten needle structure are movably connected, the drive assembly drives the tungsten needle structure to revolve, and the limiting component limits the tungsten needle structure so that the tip of the tungsten needle structure swings during the revolution of the tungsten needle structure.

[0005] Furthermore, the driving assembly includes a first connecting member, which is rotatably arranged and connected to the tungsten needle structure to drive the tungsten needle structure to revolve; the limiting component and the driving assembly are spaced apart along the axial direction of the gun body, and the limiting component is fitted with the tungsten needle structure. Through the limiting action of the limiting component, the tungsten needle structure is tilted and swings relative to the axis of the gun body during the revolution.

[0006] Furthermore, the limiting component includes an elastic body, which is provided with a through hole. The tungsten needle structure passes through the through hole. During the synchronous rotation of the tungsten needle structure and the first connecting member, the elastic body exerts a radial elastic force on the tungsten needle structure, causing the tip of the tungsten needle structure to swing.

[0007] Furthermore, the hole wall through the hole includes a first wall and a second wall connected to each other, the first wall is a first arc surface, and the second wall is a plane. When the tungsten needle structure is in contact with the plane, the tungsten needle structure is tilted relative to the axis of the gun body.

[0008] Furthermore, the limiting component also includes a deformation gap, which is arranged on the elastic body and located on the side of the through hole, and the deformation gap extends along the circumferential direction of the elastic body; there are multiple deformation gaps, and the multiple deformation gaps are arranged along the circumference of the elastic body.

[0009] Furthermore, the driving assembly also includes: a second connecting member, connected to the first connecting member, a first installation cavity is provided in the second connecting member, at least part of the inner wall surface of the first installation cavity is a second curved surface; a transition component, provided in the first installation cavity, at least part of the outer surface of the transition component is a spherical surface, at least part of the spherical surface is in contact with the second curved surface, so that the tungsten needle structure moves relative to the second connecting member when the first connecting member drives the tungsten needle structure to rotate.

[0010] Furthermore, a pad is provided on the inner wall surface of the first mounting cavity, the second arc-shaped surface is provided on the pad, the pad is an annular structure, and the transition component is passed through the pad, wherein the pad is elastic; and / or the transition component is clearance-fitted with the pad; the transition component includes: a bearing seat, provided in the first mounting cavity, at least part of the outer surface of the bearing seat is a spherical surface; a connecting bearing, provided in the bearing seat and connected to the bearing seat, and the tungsten needle structure is connected to the connecting bearing.

[0011] Furthermore, the first connecting member is an eccentric member, a second installation cavity is provided in the first connecting member, at least part of the second connecting member is passed through the second installation cavity and is connected to the first connecting member; a first positioning portion is provided on the first connecting member, a second positioning portion is provided on the second connecting member, the first positioning portion and the second positioning portion are plugged into each other to connect the first connecting member and the second connecting member; there are multiple first positioning portions, and the multiple first positioning portions are spaced apart along the circumferential direction of the first connecting member, and the second positioning portion can be selectively plugged into one of the multiple first positioning portions.

[0012] Furthermore, the driving assembly also includes a driving component, and the first connecting member includes: a first connecting body, the first connecting body is connected to the tungsten needle structure; a second connecting body, arranged at an end of the first connecting body away from the tungsten needle structure, the second connecting body is connected to the driving component, and the second connecting body is eccentrically arranged relative to the first connecting body; wherein the first connecting body and the second connecting body are an integral structure.

[0013] Furthermore, a second installation cavity and a third connection body are provided in the first connection body, the third connection body is provided in the second installation cavity and extends along the axial direction of the first connection body; the drive assembly also includes: a second connecting member, at least part of the second connecting member is passed through the second installation cavity and connected to the third connection body.

[0014] Furthermore, the welding adjustment device includes a general adjustment mechanism, a first adjustment mechanism and a second adjustment mechanism connected in sequence, the welding gun is installed on the first adjustment mechanism, and the wire feeding gun is installed on the second adjustment mechanism; wherein, the general adjustment mechanism is used to adjust the position of the first adjustment mechanism, the first adjustment mechanism is used to adjust the position of the welding gun, and the second adjustment mechanism is used to adjust the position of the wire feeding gun relative to the welding gun.

[0015] Furthermore, the total adjustment mechanism includes a first linear motion part and a second linear motion part, the first linear motion part is installed on the connecting flange of the mobile robot, and the second linear motion part is installed on the first linear motion part; the first linear motion part drives the first adjustment mechanism to move in the vertical direction, and the second linear motion part drives the first adjustment mechanism to move in the horizontal direction; the first linear motion part and the second linear motion part are both electric linear modules; the first adjustment mechanism and the second adjustment mechanism are electric or manual adjustment mechanisms.

[0016] Furthermore, the first adjustment mechanism includes a first base, an adjustment arm and a first clamping portion, the first base is installed on the main adjustment mechanism, the adjustment arm is adjustably installed on the first base, the first clamping portion is installed on the adjustment arm, and the first clamping portion is used to clamp the welding gun; the second adjustment mechanism includes a translation adjustment portion, an angle adjustment portion and a second clamping portion connected in sequence, and the second clamping portion is used to clamp the wire feeding gun; wherein, the translation adjustment portion is installed on the first clamping portion or the welding gun, the translation adjustment portion is used to adjust the translation position of the wire feeding gun relative to the welding gun, and the angle adjustment portion is used to adjust the angle of the wire feeding gun relative to the welding gun.

[0017] Furthermore, the first adjustment mechanism also includes a first adjustment member and a second adjustment member arranged at intervals, and the adjustment arm is connected through the first adjustment member, the second adjustment member and the first base; the first adjustment member and the second adjustment member can be loosened or tightened, and when the first adjustment member and the second adjustment member are loosened, the adjustment arm can translate or swing relative to the first base, and when the first adjustment member and the second adjustment member are tightened, the adjustment arm is fixed relative to the first base; the first base has an arc-shaped hole, the adjustment arm has a long hole, the first adjustment member passes through the arc-shaped hole and the long hole, and the second adjustment member passes through the long hole and is connected to the first base.

[0018] Furthermore, the first clamping portion includes a first arc block and a second arc block, the first arc block is fixed to the end of the adjusting arm away from the first base, the second arc block and the first arc block are detachably connected, and the first arc block and the second arc block jointly clamp the welding gun; or the first clamping portion is a cylindrical structure, and the side wall of the first clamping portion has a notch that passes through the axial direction of the first clamping portion, and the size of the notch can be adjusted so that the first clamping portion clamps or loosens the welding gun.

[0019] Furthermore, the translation adjustment part includes a second base, a first movable seat and a second movable seat, the second base is installed on the first clamping part or the welding gun, the first movable seat is movably installed on the second base along the first direction, the second movable seat is movably installed on the first movable seat along the second direction, the first direction is perpendicular to the second direction, and the angle adjustment part is installed on the second movable seat.

[0020] Furthermore, a first slide rail is installed on the second base, and the first movable seat has a first slide groove, and the first slide groove and the first slide rail are slidably matched; or, the second base has a first slide groove, and the first slide rail is installed on the first movable seat, and the first slide groove and the first slide rail are slidably matched; a first mounting bracket is installed at one end of the second base, and the first mounting bracket is connected to a first screw, and the first screw and the first movable seat are threadedly connected, and the first movable seat is driven to move by rotating the first screw.

[0021] Furthermore, the angle adjustment part includes a fixed seat and an adjustment structure, the fixed seat is installed on the translation adjustment part, the second clamping part is rotatably connected to the fixed seat, the adjustment structure is installed on the fixed seat and connected to the second clamping part, and the adjustment structure is used to adjust the rotation position of the second clamping part; the adjustment structure includes a first connecting rod, a second connecting rod and a threaded push rod, the first connecting rod is fixed to the fixed seat, the second connecting rod is fixed to the second clamping part, the threaded push rod and the first connecting rod and the second connecting rod are all threadedly connected, and the second clamping part is driven to rotate by rotating the threaded push rod.

[0022] Furthermore, the welding equipment includes a plurality of welding adjustment devices, and the plurality of welding adjustment devices are all installed on the connecting flange of the mobile robot; wherein the welding guns installed on different welding adjustment devices are the same or different.

[0023] Furthermore, the welding equipment also includes a wire feeder and a hot wire machine. The wire feeder feeds welding wire for the wire feeding gun; the hot wire machine is used to heat the welding wire output by the wire feeder, or the hot wire machine is used to heat and vibrate the welding wire output by the wire feeder.

[0024] In this solution, a welding adjustment device is installed on a mobile robot, which can adjust the welding adjustment device, thereby improving the freedom of the welding gun and wire feeding gun installed on the welding adjustment device; by movably connecting the driving component with the tungsten needle structure, the revolution of the tungsten needle structure is realized, and a limiting component is provided to limit the revolving tungsten needle structure, and the driving component and the limiting component act together on the tungsten needle structure, so that the tip of the tungsten needle structure swings when it revolves. Such a setting can realize the swing of the tungsten needle structure in the welding gun during welding, destroying the surface tension of the liquid solder at the weld, and expanding the welding area of a single welding, thereby reducing the number of welds on the weld and improving welding efficiency; at the same time, the tungsten needle structure revolves and swings during welding, and the rotating arc evenly distributes heat, reduces welding defects such as pores and slag inclusions, and improves the density and strength of the weld. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0026] Figure 1 A schematic structural diagram of a welding device provided by an embodiment of the present invention is shown;

[0027] Figure 2 A cross-sectional view of a welding gun in a welding device provided by an embodiment of the present invention is shown;

[0028] Figure 3 Shown Figure 2 Schematic diagram of the rotation trajectory of the gun body of the welding gun;

[0029] Figure 4 Shown Figure 2 A schematic diagram of the structure of the limiting component of the welding gun;

[0030] Figure 5 Shown Figure 2 A schematic structural diagram of the second connecting piece of the welding gun;

[0031] Figure 6 Shown Figure 2 a bottom view of the first connecting member of the welding gun;

[0032] Figure 7 Shown Figure 2 A schematic diagram of the assembly of the first connecting member and the second connecting member of the welding gun;

[0033] Figure 8 Shown Figure 1 Schematic diagram of the structure of the welding adjustment device;

[0034] Figure 9 Shown Figure 2 A schematic structural diagram of the second adjustment mechanism of the welding adjustment device;

[0035] Figure 10 Shown Figure 3 A schematic structural diagram of the second adjustment mechanism from another angle.

[0036] The above drawings include the following reference numerals:

[0037] 100. Mobile robots;

[0038] 200. Welding adjustment device;

[0039] 210. General adjustment mechanism; 211. First linear motion unit; 212. Second linear motion unit;

[0040] 220, first adjustment mechanism; 221, first base; 2211, arc-shaped hole; 222, adjustment arm; 2221, elongated hole; 223, first clamping portion; 2231, first arc-shaped block; 2232, second arc-shaped block; 224, first adjustment member; 225, second adjustment member;

[0041] 230, second adjustment mechanism; 231, translation adjustment portion; 2311, second base; 23111, first mounting bracket; 23112, first screw; 2312, first movable seat; 2313, second movable seat; 2314, first slide; 2315, first slide rail; 232, angle adjustment portion; 2321, fixed seat; 2322, adjustment structure; 23221, first connecting rod; 23222, second connecting rod; 23223, threaded push rod; 233, second clamping portion;

[0042] 300, welding gun;

[0043] 310, gun body;

[0044] 320. Tungsten needle structure; 321. Tungsten needle; 322. Installing the shaft core;

[0045] 330, drive assembly; 331, first connecting member; 3311, second mounting cavity; 3312, first positioning portion; 3313, first connecting body; 3314, second connecting body; 3315, third connecting body; 332, second connecting member; 3321, first mounting cavity; 3322, second positioning portion; 333, transition member; 3331, bearing seat; 3332, connecting bearing; 334, spacer; 335, drive member;

[0046] 340, limiting component; 341, elastic body; 3411, through hole; 3412, first wall; 3413, second wall; 342, deformation gap;

[0047] 400, wire feeding gun; 500, wire feeding machine; 600, hot wire machine. DETAILED DESCRIPTION

[0048] The technical solutions in at least one embodiment will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, rather than all embodiments. The following description of at least one embodiment is merely illustrative and does not limit this application and its applications. Based on the embodiments in this application, other embodiments obtained by ordinary technicians in this field without making creative work are all within the scope of protection of this application.

[0049] like Figures 1 to 10As shown, an embodiment of the present invention provides a welding device, including a mobile robot 100, a welding adjustment device 200, a welding gun 300 and a wire feeding gun 400, the welding adjustment device 200 is installed on the mobile robot 100, the welding gun 300 and the wire feeding gun 400 are both installed on the welding adjustment device 200, and the welding adjustment device 200 is used to adjust the positions of the welding gun 300 and the wire feeding gun 400; wherein, the welding gun 300 is replaceable, and at least one welding gun 300 includes a gun body 310, a tungsten needle structure 320, a drive assembly 330 and a limiting component 340, the tungsten needle structure 320, the drive assembly 330 and the limiting component 340 are all installed on the gun body 310, the drive assembly 330 and the tungsten needle structure 320 are movably connected, the drive assembly 330 drives the tungsten needle structure 320 to revolve, and the limiting component 340 limits the tungsten needle structure 320 so that the tip of the tungsten needle structure 320 swings during the revolution of the tungsten needle structure 320.

[0050] Specifically, the tungsten needle structure 320 includes a tungsten needle 321 and an installation shaft core 322 . The installation shaft core is located in the gun body 310 . The tungsten needle 321 passes through the installation shaft core 322 . The first connecting member 331 is connected to the installation shaft core 322 . The limiting component 340 is sleeved on the installation shaft core 322 .

[0051] In this solution, the welding adjustment device 200 is installed on the mobile robot 100, and the mobile robot 100 can adjust the welding adjustment device 200, thereby improving the freedom of the welding gun 300 and the wire feeding gun 400 installed on the welding adjustment device 200; by movably connecting the driving component 330 with the tungsten needle structure 320, the revolution of the tungsten needle structure 320 is realized, and the limiting component 340 is set to limit the rotating tungsten needle structure 320, and the driving component 330 and the limiting component 340 work together to The tungsten needle structure 320 causes the tip of the tungsten needle structure 320 to swing when it revolves. This configuration allows the tungsten needle structure 320 in the welding gun 300 to swing during welding, thereby destroying the surface tension of the liquid solder at the weld and expanding the welding area of a single weld. This can reduce the number of welds performed on the weld and improve welding efficiency. At the same time, the tungsten needle structure 320 revolves and swings during welding, and the rotating arc evenly distributes heat, reducing welding defects such as pores and slag inclusions, and improving the density and strength of the weld.

[0052] In this embodiment, if Figure 2 and Figure 3As shown, the drive assembly 330 includes a first connector 331, which is rotatably connected to the tungsten needle structure 320 to drive the tungsten needle structure 320 in orbital motion. A stopper 340 is spaced apart from the drive assembly 330 along the axis of the gun body 310. The stopper 340 engages the tungsten needle structure 320. The stopper 340 acts as a stopper, causing the tungsten needle structure 320 to tilt and swing relative to the axis of the gun body 310 during its orbital motion. This arrangement, through the coordinated design of the first connector 331 and the stopper 340, changes the rotational trajectory of the tungsten needle structure 320, enabling it to effectively stir the molten pool during welding. This stirring breaks the surface tension of the molten pool, prompting the liquid metal to flow evenly in all directions, significantly increasing the width of the weld and creating a fuller and smoother weld area. In addition, the increased weld area promotes the refinement and uniform distribution of metal grains, significantly improving the physical properties of the weld area, such as strength, toughness and fatigue resistance, thereby optimizing the overall quality and reliability of the welded parts.

[0053] like Figure 4 As shown, the limiting component 340 includes an elastic body 341 with a through-hole 3411 provided therein. The tungsten needle structure 320 passes through the through-hole 3411. During the synchronous rotation of the tungsten needle structure 320 and the first connecting member 331, the elastic body 341 applies a radial elastic force to the tungsten needle structure 320, causing the tip of the tungsten needle structure 320 to oscillate. The radial elastic force exerted by the limiting component 340 on the tungsten needle structure 320 not only guides the rotation trajectory of the tungsten needle structure 320 but also provides a stable support, reducing vibration and deviation during the welding process. Furthermore, by adjusting the elasticity and position of the limiting component 340, the tilt angle and stirring intensity of the tungsten needle structure 320 can be fine-tuned, enhancing the controllability of the welding process and ensuring the consistency and stability of the welding quality.

[0054] In this embodiment, the wall surface of the hole 3411 includes a first wall surface 3412 and a second wall surface 3413 that are interconnected. The first wall surface 3412 is a first curved surface, and the second wall surface 3413 is a flat surface. When the tungsten needle structure 320 is aligned with the flat surface, the tungsten needle structure 320 is tilted relative to the axis of the gun body 310. The first wall surface 3412 and the second wall surface 3413 are arranged so that when the tungsten needle structure 320 contacts the second wall surface 3413, it tilts due to the transition from the curved surface to the flat surface, thus causing oscillation during the revolution, increasing the welding area and speed.

[0055] In this embodiment, the limiting component 340 further includes a deformation gap 342 disposed on the elastic body 341 and lateral to the through hole 3411. The deformation gap 342 extends along the circumference of the elastic body 341. Multiple deformation gaps 342 are provided, and the plurality of deformation gaps 342 are arranged along the circumference of the elastic body 341. The design of the deformation gaps 342, particularly their extension along the circumference of the elastic body 341, significantly enhances the deformation capability of the elastic body 341 when subjected to pressure or external forces. These deformation gaps 342 allow the elastic body 341 to undergo more flexible local deformation while maintaining structural integrity, thereby better adapting to the dynamic changes of the tungsten needle structure 320 during high-speed rotation and fine-tuning.

[0056] The provision of multiple deformation gaps 342 within the elastic body 341 reduces material usage and weight compared to a solid structure without deformation gaps 342. This also simplifies the manufacturing process and reduces manufacturing costs. Furthermore, the provision of deformation gaps 342 reduces stress concentration within the elastic body 341 during use, lowering material requirements and further reducing costs.

[0057] Optionally, each deformation gap 342 includes a first gap, a second gap, and a third gap that are connected in sequence. The first gap and the third gap extend in the circumferential direction of the elastic body 341, respectively, and the second gap extends in the radial direction of the elastic body 341. The first gap and the third gap in each deformation gap 342 extend in the circumferential direction, while the second gap extends in the radial direction. This composite structural design enables the elastic body 341 to have good deformation capabilities in both the circumferential and radial directions. It can effectively disperse the various stresses that the elastic body 341 is subjected to during operation, avoiding material fatigue or structural damage caused by excessive local stress. This means that the elastic body 341 can not only provide support and elastic feedback for the circumferential fine-tuning of the tungsten needle structure 320, but also adapt to the dynamic changes of the tungsten needle structure 320 in the radial direction, thereby providing more comprehensive positioning and guiding support in three-dimensional space, thereby enhancing the stability and accuracy of welding.

[0058] Optionally, the first gap of one deformable gap 342 and the third gap of another adjacent deformable gap 342 are spaced apart in the radial direction of the elastic body 341. The first gap of each deformable gap 342 extends along an arcuate trajectory, and the arcuate trajectory of each first gap lies on the same circumferential trajectory; the third gap of each deformable gap 342 extends along an arcuate trajectory, and the arcuate trajectory of each third gap lies on the same circumferential trajectory. This unique arrangement of the deformable gaps 342, particularly the first and third gaps, spaced apart in the radial direction of the elastic body 341 and extending along an arcuate trajectory, with these arcuate trajectories lying on the same circumferential trajectory, enables precise control of the swing trajectory of the tungsten needle structure 320 during welding, ensuring that the elastic body 341 is evenly stressed when the tungsten needle structure 320 swings. Furthermore, this design ensures that the tungsten needle structure 320 can swing stably and continuously along a pre-planned path during stirring.

[0059] like Figure 2 、 Figure 5 、 Figure 6 、 Figure 7 As shown, the drive assembly 330 further includes: a second connector 332 connected to the first connector 331. A first mounting cavity 3321 is defined within the second connector 332, with at least a portion of the inner wall of the first mounting cavity 3321 being a second curved surface; and a transition component 333 disposed within the first mounting cavity 3321. At least a portion of the outer surface of the transition component 333 is spherical, with at least a portion of the spherical surface conforming to the second curved surface. This allows the tungsten needle structure 320 to move relative to the second connector 332 during rotation of the tungsten needle structure 320 driven by the first connector 331. This prevents the tungsten needle structure 320 from interacting with the drive end of the tungsten needle structure 320 and potentially breaking the tungsten needle structure 320 under the elastic force of the limiting component 340. The spherical surface of the transition component 333 cooperates with the second curved surface to provide rotational space for the tungsten needle structure 320.

[0060] Specifically, a transition component 333 is introduced, whose outer surface is spherical and mates with the second curved surface on the inner wall of the second connecting member 332, providing the tungsten needle structure 320 with additional rotational space and degrees of freedom. This design allows the tungsten needle structure 320 to swing within a certain range perpendicular to the main axis under the elastic force of the limiting component 340. This swinging ability helps the tungsten needle structure 320 more flexibly adapt to irregular variations in the welding surface, improving welding precision and efficiency. The spherical surface of the transition component 333 mates with the second curved surface to ensure that when the tungsten needle structure 320 moves, its driving end and the second connecting member 332 do not directly and forcefully contact each other. This greatly reduces the local stress experienced by the tungsten needle structure 320 during high-speed rotation and stirring, preventing fracture or other damage to the tungsten needle structure 320 due to stress concentration, significantly improving the load-bearing capacity and durability of the tungsten needle structure 320 and extending the service life of the equipment.

[0061] like Figure 2 As shown, a pad 334 is provided on the inner wall surface of the first mounting cavity 3321, and a second curved surface is provided on the pad 334. The pad 334 is annular in structure, and the transition component 333 is inserted into the pad 334. The pad 334 is elastic and / or the transition component 333 and the pad 334 have a clearance fit. The pad 334 is provided on the inner wall surface of the first mounting cavity 3321, and the second curved surface thereof can form a more snug contact with the outer surface of the tungsten needle structure 320. The provision of the pad 334 allows for fine-tuning when subjected to force to compensate for installation errors or component deformation, thereby ensuring a tight connection between the transition component 333 and the tungsten needle structure 320 during high-speed rotation.

[0062] The second curved surface of the spacer 334 mates with the outer surface of the tungsten needle structure 320 and can be considered a dynamic guide surface for the tungsten needle structure 320 during high-speed rotation. This design helps maintain the accuracy of the tungsten needle structure 320's rotation center, reduces the risk of arc deviation, and improves the accuracy of the arc's positioning on the workpiece.

[0063] The transition component 333 includes a bearing seat 3331 disposed within the first mounting cavity 3321, with at least a portion of its outer surface being spherical; a connecting bearing 3332 disposed within and connected to the bearing seat 3331, and the tungsten needle structure 320 being connected to the connecting bearing 3332. The bearing seat 3331 in the transition component 333 is designed with at least a portion of its outer surface being spherical. This design allows for fine-tuning of the tungsten needle structure 320 in multiple axial directions, improving the adaptability and flexibility of the welding gun 300. The use of the connecting bearing 3332 ensures a low-friction connection between the tungsten needle structure 320 and the bearing seat 3331, especially during high-speed rotation. The precise bearing structure reduces direct contact between moving parts, lowering the coefficient of friction, effectively preventing excessive wear caused by prolonged high-speed operation, and extending the service life of the tungsten needle structure 320.

[0064] In this embodiment, the first connector 331 is an eccentric member. A second mounting cavity 3311 is defined within the first connector 331. At least a portion of the second connector 332 extends through the second mounting cavity 3311 and connects to the first connector 331. A first positioning portion 3312 is provided on the first connector 331, while a second positioning portion 3322 is provided on the second connector 332. The first positioning portion 3312 and the second positioning portion 3322 interlock to connect the first and second connectors 331 and 332. The first connector 331, acting as an eccentric member, has a second mounting cavity 3311 within it to accommodate a portion of the second connector 332. This eccentric design enables precise control of the eccentricity of the tungsten needle structure 320 relative to the spindle, thereby adjusting the arc's rotation radius and welding trajectory. The interlocking design of the first positioning portion 3312 and the second positioning portion 3322 allows the operator to easily adjust the relative position of the first and second connectors 331 and 332, enabling quick fine-tuning and precise positioning.

[0065] In addition, since the first connecting member 331 is an eccentric member, the tungsten needle structure 320 rotates around a predetermined axis under the drive of the first connecting member 331. Under the elastic force of the limiting component 340, the tungsten needle structure 320 tilts relative to the axis of the gun body 310, so that the tungsten needle structure 320 uses the position that cooperates with the limiting component 340 as the positioning point, forming a swing similar to a frustum trajectory, stirring the molten pool, promoting the uniform distribution and flow of liquid metal, and significantly improving the width, flatness and density of the weld, thereby comprehensively improving the welding quality.

[0066] This arrangement allows the tungsten needle structure 320 to cover a larger weld area while stirring the molten pool, significantly increasing welding speed and reducing the welding time required for a single weld, thereby improving production efficiency and capacity. This design is particularly suitable for high-speed, efficient welding operations in large-scale production environments, significantly shortening the cycle time of the entire welding production line.

[0067] There are multiple first positioning portions 3312, spaced apart along the circumference of the first connector 331. The second positioning portion 3322 can selectively engage with one of the multiple first positioning portions 3312. The design of multiple first positioning portions 3312 provides multiple options for adjusting the eccentricity, allowing the operator to flexibly adjust the rotation trajectory and stirring intensity of the tungsten needle structure 320 based on different welding requirements, such as workpiece material, thickness, or welding speed.

[0068] In this embodiment, the drive assembly 330 further includes a drive component 335. The first connector 331 includes a first connecting body 3313, which is connected to the tungsten needle structure 320; and a second connecting body 3314, which is disposed at an end of the first connecting body 3313 away from the tungsten needle structure 320 and connected to the drive component 335. The second connecting body 3314 is eccentrically disposed relative to the first connecting body 3313. The first and second connecting bodies 3313 and 3314 are integrally formed. Preferably, the drive component 335 is a drive motor. By eccentrically disposing the second connecting body 3314 relative to the first connecting body 3313, the first connector 331 forms an eccentric structure, thereby driving the first connecting body 3313 of the tungsten needle structure 320 to rotate about a predetermined axis.

[0069] In this embodiment, the first connecting body 3313 is provided with a second mounting cavity 3311 and a third connecting body 3315. The third connecting body 3315 is disposed within the second mounting cavity 3311 and extends along the axis of the first connecting body 3313. The drive assembly 330 also includes a second connecting member 332, at least partially extending within the second mounting cavity 3311 and connected to the third connecting body 3315. The provision of the second mounting cavity 3311 within the first connecting body 3313 and the axially extending third connecting body 3315 effectively utilize the internal space of the drive assembly 330. This multi-level, nested structural design not only reduces the overall volume of the drive assembly 330, but also makes the welding gun 300 more compact. The second connecting member 332 is partially disposed within the second mounting cavity 3311 and connected to the third connecting body 3315, creating a direct and stable torque transmission path. This design reduces energy loss during torque transmission, improves the efficiency and accuracy of torque transmission, ensures the stability and response speed of the tungsten needle structure 320 when performing complex trajectory welding tasks, and improves welding quality and production efficiency.

[0070] like Figure 8 、 Figure 9 As shown, the welding adjustment device 200 includes a main adjustment mechanism 210, a first adjustment mechanism 220, and a second adjustment mechanism 230 connected in sequence. The welding gun 300 is mounted on the first adjustment mechanism 220, and the wire feeder 400 is mounted on the second adjustment mechanism 230. The main adjustment mechanism 210 is used to adjust the position of the first adjustment mechanism 220, the first adjustment mechanism 220 is used to adjust the position of the welding gun 300, and the second adjustment mechanism 230 is used to adjust the position of the wire feeder 400 relative to the welding gun 300. The welding adjustment device 200 includes a main adjustment mechanism 210, a first adjustment mechanism 220, and a second adjustment mechanism 230 connected in sequence. The first adjustment mechanism 220 and the second adjustment mechanism 230 are used to adjust the position of the welding gun 300 and the position of the wire feeder 400 relative to the welding gun 300, respectively. The main adjustment mechanism 210 can adjust the position of the second adjustment mechanism 230 by adjusting the position of the first adjustment mechanism 220. The first adjustment mechanism 220 and the second adjustment mechanism 230 give the welding gun 300 and the wire feeding gun 400 a higher degree of freedom, and the total adjustment mechanism 210 can adjust the positions of the first adjustment mechanism 220 and the second adjustment mechanism 230, further increasing the degree of freedom of the welding gun 300 and the wire feeding gun 400, so that the welding equipment can adapt to workpieces of different shapes and structures to meet adjustment requirements.

[0071] In this embodiment, the overall adjustment mechanism 210 includes a first linear motion portion 211 and a second linear motion portion 212. The first linear motion portion 211 is mounted on the connection flange of the mobile robot 100, and the second linear motion portion 212 is mounted on the first linear motion portion 211. The first linear motion portion 211 drives the first adjustment mechanism 220 in the vertical direction, while the second linear motion portion 212 drives the first adjustment mechanism 220 in the horizontal direction. By providing the first linear motion portion 211 and the second linear motion portion 212 to drive the movement of the first adjustment mechanism 220, the overall adjustment mechanism 210 further increases the degrees of freedom of the welding gun 300 and the wire feed gun 400, improving the flexibility of the welding adjustment device 200 and meeting adjustment requirements.

[0072] The first and second linear motion units 211, 212 are both powered linear modules; the first and second adjustment mechanisms 220, 230 are either powered or manually adjustable. This improves the automation of the device and allows for more precise adjustment. The power or manual adjustment of the first and second adjustment mechanisms 220, 230 improves the device's adjustment efficiency and flexibility.

[0073] like Figure 8 、 Figure 9 As shown, the first adjustment mechanism 220 includes a first base 221, an adjustment arm 222 and a first clamping portion 223. The first base 221 is installed on the main adjustment mechanism 210, the adjustment arm 222 is adjustably installed on the first base 221, the first clamping portion 223 is installed on the adjustment arm 222, and the first clamping portion 223 is used to clamp the welding gun 300; the second adjustment mechanism 230 includes a translation adjustment portion 231, an angle adjustment portion 232 and a second clamping portion 233 connected in sequence, and the second clamping portion 233 is used to clamp the wire feeding gun 400; wherein, the translation adjustment portion 231 is installed on the first clamping portion 223 or the welding gun 300, the translation adjustment portion 231 is used to adjust the translation position of the wire feeding gun 400 relative to the welding gun 300, and the angle adjustment portion 232 is used to adjust the angle of the wire feeding gun 400 relative to the welding gun 300.

[0074] The first adjustment mechanism 220 and the second adjustment mechanism 230 are responsible for adjusting the position of the welding gun 300 and the wire feeder 400, respectively. The first adjustment mechanism 220 includes a first base 221, an adjustment arm 222, and a first clamping portion 223. The adjustment arm 222 is adjustably mounted on the first base 221, driving the first clamping portion 223 mounted on the adjustment arm 222 to move. The first clamping portion 223 is used to clamp the welding gun 300, thereby adjusting the position of the welding gun 300. The second adjustment mechanism 230 includes a translation adjustment portion 231, an angle adjustment portion 232, and a second clamping portion 233. The translation adjustment portion 231 and the angle adjustment portion 232 are respectively used to adjust the translational position and angular position of the wire feeder 400 relative to the welding gun 300. The first and second adjustment mechanisms 220 and 230 provide the welding gun 300 and the wire feeder 400 with a high degree of freedom, enabling multi-degree-of-freedom adjustment and positioning, adapting to workpieces of varying shapes and structures to meet adjustment requirements.

[0075] In this embodiment, the first adjustment mechanism 220 further includes a first adjustment member 224 and a second adjustment member 225, which are spaced apart. The adjustment arm 222 is connected to the first base 221 via the first adjustment member 224, the second adjustment member 225, and the first base 221. The first adjustment member 224 and the second adjustment member 225 can be loosened or tightened. When the first adjustment member 224 and the second adjustment member 225 are loosened, the adjustment arm 222 can translate or swing relative to the first base 221. When the first adjustment member 224 and the second adjustment member 225 are tightened, the adjustment arm 222 is fixed relative to the first base 221. By loosening or tightening the first and second fasteners, the adjustment arm 222 can be moved or fixed relative to the first base 221, thereby improving the flexibility and adaptability of the welding adjustment device 200 and enhancing the convenience of operation.

[0076] In at least one welding adjustment device 200, the first base 221 has an arcuate hole 2211, the adjustment arm 222 has an elongated hole 2221, the first adjustment member 224 passes through the arcuate hole 2211 and the elongated hole 2221, and the second adjustment member 225 passes through the elongated hole 2221 and is connected to the first base 221. When the first adjustment member 224 and the second adjustment member 225 are loosened, the arcuate hole 2211 and the elongated hole 2221 provide a movement track for the first adjustment member 224 and the second adjustment member 225, facilitating the swinging or translation of the adjustment arm 222 relative to the first base 221, thereby achieving in-plane angle adjustment and vertical position adjustment of the welding gun 300, improving the flexibility of the welding gun 300 and welding quality.

[0077] Optionally, the first base 221 has an arcuate hole 2211, the first adjustment member 224 passes through the adjustment arm 222 and the arcuate hole 2211, and the second adjustment member 225 passes through the adjustment arm 222 and is connected to the first base 221. When the first adjustment member 224 and the second adjustment member 225 are loosened, the arcuate hole 2211 provides a movement track for the first adjustment member 224, facilitating the swinging of the adjustment arm 222 relative to the first base 221, thereby achieving in-plane angle adjustment of the welding gun 300 and improving the flexibility of the welding gun 300 and welding quality.

[0078] In at least one welding adjustment device 200, the first clamping portion 223 includes a first curved block 2231 and a second curved block 2232. The first curved block 2231 is fixed to the end of the adjustment arm 222 away from the first base 221, and the second curved block 2232 is detachably connected to the first curved block 2231. The first curved block 2231 and the second curved block 2232 jointly clamp the welding gun 300. The first curved block 2231 is fixed to the end of the adjustment arm 222 away from the first base 221, and the adjustment arm 222 drives the welding gun 300 for translational or rotational adjustment. The first curved block 2231 and the second curved block 2232 jointly clamp the welding gun 300 and are detachably connected. This facilitates adaptation to welding guns 300 of different specifications, enhancing the versatility of the welding adjustment device 200. Furthermore, when replacing the welding gun 300, only the first curved block 2231 or the second curved block 2232 needs to be removed, saving replacement time.

[0079] Alternatively, the first clamping portion 223 may be a cylindrical structure, and the sidewall of the first clamping portion 223 may have a notch extending axially therethrough. The size of the notch is adjustable, allowing the first clamping portion 223 to tighten or loosen the welding gun 300. Providing the sidewall of the first clamping portion 223 with an adjustable notch extending axially therethrough facilitates adaptability of the first clamping portion 223 to welding guns 300 of varying specifications, thereby enhancing the versatility of the welding adjustment device 200.

[0080] like Figure 9As shown, the translation adjustment unit 231 includes a second base 2311, a first movable base 2312, and a second movable base 2313. The second base 2311 is mounted on the first clamping portion 223 or the welding gun 300. The first movable base 2312 is movably mounted on the second base 2311 along a first direction, and the second movable base 2313 is movably mounted on the first movable base 2312 along a second direction. The first direction is perpendicular to the second direction. The angle adjustment unit 232 is mounted on the second movable base 2313. The second base 2311 is mounted on the first clamping portion 223 to enable coordinated adjustment of the first adjustment mechanism 220 and the second adjustment mechanism 230. The first movable base 2312 and the second movable base 2313 are movable in first and second directions that are perpendicular to each other, respectively. The angle adjustment unit 232 allows the wire feed gun 400 to be adjusted relative to the welding gun 300, solving the problem of limited degrees of freedom in the welding adjustment device 200. The first direction can be set to horizontal, and the second direction can be set to vertical.

[0081] In this embodiment, a first slide rail 2315 is installed on the second base 2311, and the first movable seat 2312 has a first slide groove 2314, and the first slide groove 2314 and the first slide rail 2315 slide together; or, the second base 2311 has a first slide groove 2314, and the first movable seat 2312 is installed with a first slide rail 2315, and the first slide groove 2314 and the first slide rail 2315 slide together; a first mounting bracket 23111 is installed at one end of the second base 2311, and a first screw 23112 is connected to the first mounting bracket 23111, and the first screw 23112 and the first movable seat 2312 are threadedly connected, and the first movable seat 2312 is driven to move by rotating the first screw 23112.

[0082] A first chute 2314 or a first slide rail 2315 is mounted on the second base 2311 and the first movable base 2312, respectively. The first chute 2314 and the first slide rail 2315 slide together to achieve smooth movement and position limiting of the first movable base 2312 relative to the second base 2311, thereby improving the stability and precision of the welding adjustment device 200, reducing welding defects caused by unstable adjustment, and improving welding quality and production efficiency. The threaded connection between the first screw 23112 and the first movable base 2312 enables precise translational adjustment of the first movable base 2312, improving the flexibility of the wire feed gun 400 while ensuring smooth adjustment.

[0083] In this embodiment, the angle adjustment portion 232 includes a fixed seat 2321 and an adjustment structure 2322. The fixed seat 2321 is mounted on the translation adjustment portion 231. The second clamping portion 233 is rotatably connected to the fixed seat 2321. The adjustment structure 2322 is mounted on the fixed seat 2321 and connected to the second clamping portion 233. The adjustment structure 2322 is used to adjust the rotational position of the second clamping portion 233. This arrangement enables angle adjustment of the wire feed gun 400 relative to the welding gun 300, improving the flexibility and adaptability of the welding adjustment device 200.

[0084] like Figure 10 As shown, the adjustment structure 2322 includes a first connecting rod 23221, a second connecting rod 23222, and a threaded push rod 23223. The first connecting rod 23221 is fixed to the fixing base 2321, and the second connecting rod 23222 is fixed to the second clamping portion 233. The threaded push rod 23223 is threadedly connected to the first connecting rod 23221 and the second connecting rod 23222. Rotating the threaded push rod 23223 drives the second clamping portion 233 to rotate. Based on the principle of threaded transmission, by rotating the threaded push rod 23223, the angle of the wire feed gun 400 relative to the welding gun 300 is precisely controlled, achieving precise adjustment of the angle of the wire feed gun 400, improving the control accuracy and device flexibility during the welding process.

[0085] like Figure 1 As shown, the welding equipment includes multiple welding adjustment devices 200, each mounted on a connecting flange of the mobile robot 100. The welding guns 300 mounted on different welding adjustment devices 200 may be the same or different. Optionally, the welding guns 300 may be deep-penetration argon arc welding guns or high-speed rotary argon arc welding guns. By installing multiple welding adjustment devices 200 on the mobile robot 100, the production efficiency and adaptability of the welding equipment can be improved. For example, during root welding, the welding gun 300 on one welding adjustment device 200 may be a deep-penetration argon arc welding gun, while the welding guns 300 on other welding adjustment devices 200 may be high-speed rotary argon arc welding guns. During filler and cap welding, the welding guns 300 on multiple welding adjustment devices 200 may all be high-speed rotary argon arc welding guns.

[0086] In this embodiment, the welding equipment also includes a wire feeder 500 and a hot wire machine 600. The wire feeder 500 feeds welding wire to the wire feeding gun 400; the hot wire machine 600 is used to heat the welding wire output by the wire feeder 500, or the hot wire machine 600 is used to heat and vibrate the welding wire output by the wire feeder 500. Preheating the welding wire in advance can shorten the welding time and improve welding efficiency. Furthermore, vibrating the welding wire can stir the molten pool through the vibration of the welding wire, further reducing welding defects such as pores and slag inclusions, and improving the density and strength of the weld. Specifically, the welding equipment also includes an argon arc welding machine, a cooling water tank, a welding workbench, a control cabinet, an operating handle, etc. Such a setting improves the integrity of the welding equipment and can meet different welding requirements.

[0087] The foregoing description is merely a few embodiments of the present application and is not intended to limit the present application. Persons skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

[0088] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0089] Unless otherwise specifically stated, the relative arrangement of the parts and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0090] In the description of this application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of this application; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0091] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0092] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

Claims

1. A welding device, characterized in that: The invention comprises a mobile robot (100), a welding adjustment device (200), a welding gun (300) and a wire feeding gun (400), wherein the welding adjustment device (200) is installed on the mobile robot (100), the welding gun (300) and the wire feeding gun (400) are both installed on the welding adjustment device (200), and the welding adjustment device (200) is used to adjust the positions of the welding gun (300) and the wire feeding gun (400); wherein the welding gun (300) is replaceable, and at least one of the welding guns (300) comprises a gun body (310), a tungsten needle structure (311), and a tungsten needle structure (312). 20), a driving assembly (330) and a limiting component (340), the tungsten needle structure (320), the driving assembly (330) and the limiting component (340) are all installed on the gun body (310), the driving assembly (330) and the tungsten needle structure (320) are movably connected, the driving assembly (330) drives the tungsten needle structure (320) to revolve, and the limiting component (340) limits the tungsten needle structure (320) so that the tip of the tungsten needle structure (320) swings during the revolution of the tungsten needle structure (320).

2. The welding equipment according to claim 1, characterized in that The driving assembly (330) includes a first connecting member (331), the first connecting member (331) is rotatably arranged, and the first connecting member (331) is connected to the tungsten needle structure (320) to drive the tungsten needle structure (320) to revolve; The limiting component (340) and the driving assembly (330) are spaced apart along the axial direction of the gun body (310), and the limiting component (340) is in contact with the tungsten needle structure (320). Through the limiting effect of the limiting component (340), the tungsten needle structure (320) is tilted and swung relative to the axis of the gun body (310) during the revolution.

3. The welding equipment according to claim 2, characterized in that The limiting component (340) includes an elastic body (341), and a through hole (3411) is provided on the elastic body (341). The tungsten needle structure (320) passes through the through hole (3411). During the synchronous rotation of the tungsten needle structure (320) and the first connecting member (331), the elastic body (341) applies a radial elastic force to the tungsten needle structure (320), so that the tip of the tungsten needle structure (320) swings.

4. The welding equipment according to claim 3, characterized in that The hole wall surface of the through hole (3411) includes a first wall surface (3412) and a second wall surface (3413) connected to each other, the first wall surface (3412) is a first arcuate surface, and the second wall surface (3413) is a plane. When the tungsten needle structure (320) is in contact with the plane, the tungsten needle structure (320) is tilted relative to the axis of the gun body (310).

5. The welding equipment according to claim 3, characterized in that The limiting component (340) further includes a deformation gap (342), which is arranged on the elastic body (341) and located on the side of the through hole (3411), and the deformation gap (342) extends along the circumferential direction of the elastic body (341); there are multiple deformation gaps (342), and the multiple deformation gaps (342) are arranged along the circumference of the elastic body (341).

6. The welding equipment according to claim 2, characterized in that The drive assembly (330) further includes: a second connecting member (332) connected to the first connecting member (331); a first installation cavity (3321) is provided in the second connecting member (332); at least a portion of the inner wall surface of the first installation cavity (3321) is a second arc-shaped surface; A transition component (333) is arranged in the first mounting cavity (3321), and at least a portion of the outer surface of the transition component (333) is a spherical surface, and at least a portion of the spherical surface is in contact with the second arcuate surface, so that when the first connecting member (331) drives the tungsten needle structure (320) to rotate, the tungsten needle structure (320) moves relative to the second connecting member (332).

7. The welding device according to claim 6, characterized in that A pad (334) is provided on the inner wall surface of the first installation cavity (3321), the second arc-shaped surface is provided on the pad (334), the pad (334) is an annular structure, the transition component (333) is passed through the pad (334), wherein the pad (334) is elastic; and / or the transition component (333) and the pad (334) are clearance-matched; The transition component (333) includes: a bearing seat (3331), which is arranged in the first mounting cavity (3321), and at least part of the outer surface of the bearing seat (3331) is a spherical surface; a connecting bearing (3332), which is arranged in the bearing seat (3331) and connected to the bearing seat (3331), and the tungsten needle structure (320) is connected to the connecting bearing (3332).

8. The welding device according to claim 6, characterized in that The first connecting member (331) is an eccentric member, and a second installation cavity (3311) is provided in the first connecting member (331), and at least a portion of the second connecting member (332) is passed through the second installation cavity (3311) and is connected to the first connecting member (331); a first positioning portion (3312) is provided on the first connecting member (331), and a second positioning portion (3322) is provided on the second connecting member (332), and the first positioning portion (3312) and the second positioning portion (3322) are plugged into each other to connect the first connecting member (331) and the second connecting member (332); there are multiple first positioning portions (3312), and the multiple first positioning portions (3312) are spaced apart along the circumferential direction of the first connecting member (331), and the second positioning portion (3322) can be selectively plugged into one of the multiple first positioning portions (3312).

9. The welding equipment according to claim 2, characterized in that The driving assembly (330) further includes a driving component (335), and the first connecting member (331) includes: a first connecting body (3313), wherein the first connecting body (3313) is connected to the tungsten needle structure (320); a second connecting body (3314), disposed at an end of the first connecting body (3313) away from the tungsten needle structure (320), the second connecting body (3314) being connected to the driving component (335), and the second connecting body (3314) being eccentrically disposed relative to the first connecting body (3313); Wherein, the first connecting body (3313) and the second connecting body (3314) are an integrated structure.

10. The welding device according to claim 9, characterized in that A second mounting cavity (3311) and a third connecting body (3315) are provided in the first connecting body (3313), and the third connecting body (3315) is provided in the second mounting cavity (3311) and extends along the axial direction of the first connecting body (3313); the driving assembly (330) further includes: a second connecting member (332), at least a portion of the second connecting member (332) is passed through the second mounting cavity (3311) and is connected to the third connecting body (3315).

11. The welding device according to claim 1, characterized in that The welding adjustment device (200) comprises a general adjustment mechanism (210), a first adjustment mechanism (220) and a second adjustment mechanism (230) connected in sequence, the welding gun (300) is mounted on the first adjustment mechanism (220), and the wire feeding gun (400) is mounted on the second adjustment mechanism (230); wherein the general adjustment mechanism (210) is used to adjust the position of the first adjustment mechanism (220), the first adjustment mechanism (220) is used to adjust the position of the welding gun (300), and the second adjustment mechanism (230) is used to adjust the position of the wire feeding gun (400) relative to the welding gun (300).

12. The welding device according to claim 11, characterized in that The total adjustment mechanism (210) includes a first linear motion part (211) and a second linear motion part (212), wherein the first linear motion part (211) is mounted on a connecting flange of the mobile robot (100), and the second linear motion part (212) is mounted on the first linear motion part (211); the first linear motion part (211) drives the first adjustment mechanism (220) to move in a vertical direction, and the second linear motion part (212) drives the first adjustment mechanism (220) to move in a horizontal direction; the first linear motion part (211) and the second linear motion part (212) are both electric linear modules; the first adjustment mechanism (220) and the second adjustment mechanism (230) are electric or manual adjustment mechanisms.

13. The welding device according to claim 11, characterized in that The first adjustment mechanism (220) comprises a first base (221), an adjustment arm (222) and a first clamping portion (223); the first base (221) is mounted on the overall adjustment mechanism (210); the adjustment arm (222) is positionally adjustable on the first base (221); the first clamping portion (223) is mounted on the adjustment arm (222); and the first clamping portion (223) is used to clamp the welding gun (300); The second adjustment mechanism (230) comprises a translation adjustment portion (231), an angle adjustment portion (232) and a second clamping portion (233) connected in sequence, wherein the second clamping portion (233) is used to clamp the wire feeding gun (400); wherein the translation adjustment portion (231) is mounted on the first clamping portion (223) or the welding gun (300), the translation adjustment portion (231) is used to adjust the translation position of the wire feeding gun (400) relative to the welding gun (300), and the angle adjustment portion (232) is used to adjust the angle of the wire feeding gun (400) relative to the welding gun (300).

14. The welding device according to claim 13, characterized in that The first adjustment mechanism (220) further comprises a first adjustment member (224) and a second adjustment member (225) which are spaced apart from each other; the adjustment arm (222) is connected to the first base (221) via the first adjustment member (224), the second adjustment member (225); the first adjustment member (224) and the second adjustment member (225) can be loosened or tightened; when the first adjustment member (224) and the second adjustment member (225) are loosened, the adjustment arm (222) can be translated relative to the first base (221) or swing, when the first adjusting member (224) and the second adjusting member (225) are fastened, the adjusting arm (222) is fixed relative to the first base (221); the first base (221) has an arc-shaped hole (2211), the adjusting arm (222) has an elongated hole (2221), the first adjusting member (224) passes through the arc-shaped hole (2211) and the elongated hole (2221), and the second adjusting member (225) passes through the elongated hole (2221) and is connected to the first base (221).

15. The welding device according to claim 13, characterized in that The first clamping portion (223) includes a first arc block (2231) and a second arc block (2232), the first arc block (2231) is fixed to an end of the regulating arm (222) away from the first base (221), the second arc block (2232) and the first arc block (2231) are detachably connected, and the first arc block (2231) and the second arc block (2232) jointly clamp the welding gun (300); or the first clamping portion (223) is a cylindrical structure, and the side wall of the first clamping portion (223) has a notch extending through the axial direction of the first clamping portion (223), and the size of the notch is adjustable so that the first clamping portion (223) can clamp or release the welding gun (300).

16. The welding device according to claim 13, characterized in that The translation adjustment portion (231) includes a second base (2311), a first movable seat (2312) and a second movable seat (2313), wherein the second base (2311) is mounted on the first clamping portion (223) or the welding gun (300), the first movable seat (2312) is movably mounted on the second base (2311) along a first direction, the second movable seat (2313) is movably mounted on the first movable seat (2312) along a second direction, the first direction is perpendicular to the second direction, and the angle adjustment portion (232) is mounted on the second movable seat (2313).

17. The welding device according to claim 16, characterized in that The second base (2311) is provided with a first slide rail (2315), the first movable seat (2312) has a first slide groove (2314), and the first slide groove (2314) and the first slide rail (2315) are in sliding engagement; or the second base (2311) has a first slide groove (2314), the first movable seat (2312) is provided with a first slide rail (2315), and the first slide groove (2314) and the first slide rail (2315) are in sliding engagement; A first mounting bracket (23111) is installed at one end of the second base (2311), and a first screw (23112) is connected to the first mounting bracket (23111). The first screw (23112) and the first movable seat (2312) are threadedly connected, and the first movable seat (2312) is driven to move by rotating the first screw (23112).

18. The welding device according to claim 13, characterized in that The angle adjustment portion (232) comprises a fixed seat (2321) and an adjustment structure (2322), wherein the fixed seat (2321) is mounted on the translation adjustment portion (231), the second clamping portion (233) is rotatably connected to the fixed seat (2321), the adjustment structure (2322) is mounted on the fixed seat (2321) and connected to the second clamping portion (233), and the adjustment structure (2322) is used to adjust the rotational position of the second clamping portion (233); the adjustment structure (232 2) includes a first connecting rod (23221), a second connecting rod (23222) and a threaded push rod (23223), wherein the first connecting rod (23221) is fixed to the fixing seat (2321), the second connecting rod (23222) is fixed to the second clamping portion (233), the threaded push rod (23223) and the first connecting rod (23221) and the second connecting rod (23222) are all threadedly connected, and the second clamping portion (233) is driven to rotate by rotating the threaded push rod (23223).

19. The welding device according to claim 1, characterized in that The welding equipment comprises a plurality of welding adjustment devices (200), and the plurality of welding adjustment devices (200) are all installed on the connecting flange of the mobile robot (100); wherein the welding guns (300) installed on different welding adjustment devices (200) are the same or different.

20. The welding device according to claim 1, wherein The welding equipment further comprises a wire feeder (500) and a hot wire machine (600), wherein the wire feeder (500) feeds welding wire to the wire feeding gun (400); the hot wire machine (600) is used to heat the welding wire output by the wire feeder (500), or the hot wire machine (600) is used to heat and vibrate the welding wire output by the wire feeder (500).

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