Vertical and horizontal girth welding equipment

Abstract

The invention relates to the technical field of welding equipment, in particular to vertical and horizontal type girth welding equipment which comprises a supporting base. The supporting frame mechanism is arranged on the supporting seat, and the supporting frame mechanism comprises a first supporting frame and a second supporting frame; the mounting mechanism comprises a first base and a second base, the second base is rotationally connected to the first base, the first base is rotationally arranged between the first supporting frame and the second supporting frame, and a first clamping assembly is connected to the first base; the stand column is arranged on the first base, and a second clamping assembly is arranged on the stand column; the rotation driving mechanism is arranged on the first supporting frame, the rotation driving mechanism is in transmission connection with the first base, and the rotation driving mechanism is used for driving the first base to rotate relative to the supporting seat; and the welding gun mechanism is connected with the second base, and the second base drives the welding gun mechanism to rotate relative to the first base.

Description

Technical Field

[0001] This invention relates to the field of welding equipment technology, and in particular to a vertical and horizontal circumferential welder. Background Technology

[0002] In industrial production, the demand for manufacturing various mechanical equipment, pressure vessels, pipeline systems, and other products is increasing daily. These products often require the connection of multiple components along the circumferential direction to form a complete structure, in which circumferential welding technology plays a crucial role. Traditional circumferential welding processes typically employ manual or semi-automatic welding methods. While manual welding offers flexibility and can adapt to complex welding environments and shapes, the weld quality is heavily influenced by the operator's skill level, and its low efficiency makes it difficult to meet the demands of large-scale production. Semi-automatic welding, although improving efficiency to some extent, still requires some manual operation, and the automation level and welding precision of the equipment still need improvement. With continuous technological advancements, automated welding technology has gradually emerged and gained widespread application. Automated circumferential welding equipment can achieve fully automated control of the welding process, significantly improving welding efficiency and quality stability.

[0003] For example, patent number 2023229188193 discloses a vertical circumferential seam welding machine. A second motor drives a ball screw to rotate, causing a connecting plate to move a housing over the top of the workpiece via a connecting rod. The welding torch is positioned opposite the weld seam. A first motor drives the workpiece to rotate via a support plate. Because multiple welding torches are used, the workpiece only needs to rotate a certain angle to complete the circumferential seam welding, resulting in high welding efficiency. However, for long workpieces, using a vertical circumferential seam welding machine would exceed its welding range; purchasing a horizontal welding machine would increase costs. Therefore, there is an urgent need to develop a vertical and horizontal circumferential seam welding device. Summary of the Invention

[0004] To address the shortcomings or problems existing in the prior art, this disclosure provides a vertical and horizontal circumferential seam welding device. This device can flexibly adjust its posture according to the shape, size, and welding position requirements of the workpiece, thereby improving the flexibility and efficiency of welding operations.

[0005] The technical solution adopted by this disclosure to solve the above-mentioned technical problem is: a vertical and horizontal circumferential weldment device, comprising: Support base; A support frame mechanism is mounted on a support base, and the support frame mechanism includes a first support frame and a second support frame; The mounting mechanism includes a first base and a second base, the second base being rotatably connected to the first base, the first base being rotatably disposed between the first support frame and the second support frame, and a first clamping assembly being connected to the first base. A column is mounted on the first base, and a second clamping assembly is provided on the column; A rotary drive mechanism is mounted on a first support frame. The rotary drive mechanism is connected to the first base in a transmission manner. The rotary drive mechanism is used to drive the first base to rotate relative to the support frame. The welding torch mechanism is connected to the second base, and the second base drives the welding torch mechanism to rotate relative to the first base.

[0006] In a preferred embodiment, a rotating shaft assembly is provided between the support frame mechanism and the first base. The rotating shaft assembly includes a first rotating shaft and a second rotating shaft. The second rotating shaft and the first rotating shaft are arranged along the same rotation center axis. One end of the first rotating shaft is connected to a rotation drive mechanism, and the other end is connected to the first base. The rotation drive mechanism is used to drive the first rotating shaft to rotate. One end of the second rotating shaft is connected to the second support frame, and the other end is connected to the first base.

[0007] In a preferred embodiment, the rotary drive mechanism includes a drive assembly and a reducer. The drive assembly is connected to the reducer in a transmission manner. The first rotary shaft is connected to the output end of the reducer. The drive assembly drives the first rotary shaft to rotate around its axis through the reducer.

[0008] In a preferred embodiment, the drive component is a stepper motor or a servo motor; the reducer is a worm gear reducer.

[0009] In a preferred embodiment, the device further includes a controller. The reducer includes a rotating shaft that rotates synchronously with a first rotating shaft. A mounting bearing is coaxially disposed on the outer side of the rotating shaft. An initial position positioning sensor is disposed on the mounting bearing. A rotation angle sensing sensor is disposed on the rotating shaft. The initial position positioning sensor and the rotation angle sensing sensor are respectively connected to the controller. The initial position positioning sensor is used to establish the mechanical zero point of the first rotating shaft, and the rotation angle sensing sensor is used to acquire the rotation angle of the first rotating shaft in real time.

[0010] In a preferred embodiment, the initial position positioning sensor is a Hall sensor and the rotation angle sensing sensor is an absolute encoder; or the initial position positioning sensor is a mechanical limit switch and the rotation angle sensing sensor is a rotary transformer.

[0011] In a preferred embodiment, the support base includes a first platform and two second platforms, which are respectively disposed on both sides of the first platform. The upper surface of the second platform is higher than the upper surface of the first platform. The first base is disposed above the first platform, and a clearance gap is formed between the bottom surface of the first base and the upper surface of the first platform. The first support frame and the second support frame are respectively disposed on the two second platforms.

[0012] In a preferred embodiment, the welding torch mechanism is connected to a displacement mechanism, which includes a rotation mechanism, an axial displacement mechanism, and a radial displacement mechanism. The rotation mechanism is used to drive the welding torch mechanism to rotate around the central axis of the first clamping assembly, the axial displacement mechanism is used to drive the welding torch mechanism to translate parallel to the axial direction, and the radial displacement mechanism is used to drive the welding torch mechanism to translate parallel to the radial direction.

[0013] In a preferred embodiment, the rotating mechanism includes a rotating drive member, a driving gear, and a driven gear. The rotating drive member is connected inside the first base and is used to drive the second base to rotate around the central axis of the first base. The driving gear is connected to the output shaft of the rotating drive member, and the driven gear meshes with the driving gear and is sleeved on the second base.

[0014] In a preferred embodiment, the welding torch mechanism includes a welding head, a wire feeding mechanism, and a conveying mechanism. The welding head includes a tungsten needle and a gas outlet channel, with the gas outlet channel arranged around the tungsten needle. The wire feeding mechanism is used to feed conductive welding wire into the welding area, and the conveying mechanism is used to supply power to the welding head and to convey argon gas and cooling liquid.

[0015] In a preferred embodiment, the mounting mechanism further includes a fixing column, a bearing assembly, and a limiting part. The fixing column is used to connect the first clamping assembly to the first base. The bearing assembly is disposed between the first base and the second base and includes at least two bearings distributed along the axial direction. The limiting part is disposed on the first base and is used to limit the bearing assembly axially and radially.

[0016] In a preferred embodiment, the installation mechanism further includes a rotating sleeve and a connecting bracket. The rotating sleeve is sleeved around the fixed column and is used to connect the welding head. One end of the rotating sleeve is rotatably connected to the first clamping assembly, and the other end is rotatably connected to the first base. The connecting bracket is used to fix the end of the fixed column away from the welding head to the first base. The rotating drive component is fixedly connected to the connecting bracket.

[0017] In a preferred embodiment, the first clamping component includes: The clamping and mounting component is rotatably connected to the rotating sleeve via a fourth bearing. At least three clamping blocks are equidistantly arranged along the same circumference of the clamping and mounting component and are radially slidably connected to the clamping and mounting component for clamping the workpiece. The clamping drive unit is connected to each clamping block and is used to drive each clamping block to move synchronously in the radial direction. The clamping block is provided with a first clamping surface and a second clamping surface. The first clamping surface forms a first clamping opening, and the second clamping surface forms a second clamping opening. The diameter of the first clamping opening is larger than the diameter of the second clamping opening.

[0018] In a preferred embodiment, the clamping mounting component has a through hole in the middle, and at least three clamping blocks are arranged around the through hole; both the first clamping surface and the second clamping surface are oriented toward the through hole, and both sides of the first clamping surface and the second clamping surface are inclined surfaces.

[0019] In a preferred embodiment, a stepped surface is formed between the first clamping surface and the second clamping surface, the width of the first clamping surface is greater than the width of the second clamping surface; the second clamping surface has an arc-shaped surface structure; and the first clamping surface has a planar structure.

[0020] In a preferred embodiment, the column is provided with a first driving member and a first slider. The output end of the first driving member is connected to the first slider in a transmission manner. The first driving member is used to drive the first slider to move along the axial direction of the column. The first slider is connected to a second clamping assembly.

[0021] In a preferred embodiment, the second clamping assembly includes a third driving member, a first gripper assembly, and a second gripper assembly. The third driving member is used to drive the first gripper assembly and the second gripper assembly to move towards each other or away from each other. The third driving member is connected to a first slider. The first gripper assembly includes at least one first clamping plate, and the second gripper assembly includes at least two second clamping plates spaced apart along the axial direction. In the vertical direction, the projection of the first clamping plate is located between the projections of two adjacent second clamping plates. The first clamping plate has a first clamping groove, and the second clamping plate has a second clamping groove, with the first clamping groove and the second clamping groove being arranged opposite to each other.

[0022] In a preferred embodiment, the sum of the number of the first clamping plate and the second clamping plate is an odd number; both the first clamping groove and the second clamping groove are V-shaped grooves.

[0023] In a preferred embodiment, the second clamping assembly further includes an adjustment assembly. The third driving member is connected to the first slider via the adjustment assembly. The adjustment assembly includes a second driving member and a second slider. The second driving member is connected to the first slider, and the third driving member is connected to the second slider. The second slider is driven by the output end of the second driving member. The second driving member is used to drive the second slider to move. The displacement direction of the second slider is perpendicular to the displacement direction of the first slider.

[0024] In a preferred embodiment, a first sensor and a second sensor are spaced apart along the axial direction of the column. The first and second sensors are used to acquire the distance the second clamping assembly moves along the axial direction of the column in real time. The first and second sensors are respectively connected to the controller. A third sensor and a fourth sensor are spaced apart along the axial direction of the second driving member. The third and fourth sensors are used to acquire the distance the second slider moves along the second driving member in real time. The third and fourth sensors are respectively connected to the controller.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows: the first base is driven to rotate by the rotary drive mechanism, thereby causing the mounting mechanism to rotate relative to the support base, so that the welding equipment can flexibly switch between vertical and horizontal postures. This setting enables the welding equipment to adapt to the welding of long and short workpieces, as well as welding requirements in various directions and positions. In traditional welding production, if vertical and horizontal welding of workpieces are required, vertical welding equipment and horizontal welding equipment are usually used separately, or the workpiece position and welding equipment posture are frequently adjusted on one machine. The vertical and horizontal circumferential seam welding equipment of this application can realize rapid switching between vertical and horizontal welding on the same machine, which greatly reduces the time for equipment switching, equipment debugging and workpiece handling. Attached Figure Description

[0026] Figure 1 This is one of the structural schematic diagrams of a vertical and horizontal circumferential weldment device according to this application; Figure 2 This is the second structural schematic diagram of a vertical / horizontal circumferential welder according to this application; Figure 3 This is the third structural schematic diagram of a vertical / horizontal circumferential welder according to this application; Figure 4 This is the fourth structural schematic diagram of a vertical and horizontal circumferential welder according to this application; Figure 5 For this application Figure 4 A magnified view of a section at point X; Figure 6 For this application Figure 4 A magnified view of the area at point W in the middle; Figure 7 This is a schematic diagram of the installation mechanism of this application; Figure 8 This is one of the sectional views of the installation mechanism in this application; Figure 9 This is the second sectional view of the installation mechanism in this application; Figure 10 For this application Figure 7 A magnified view of a section at point A in the middle; Figure 11 For this application Figure 8A magnified view of a section at point B in the middle; Figure 12 This is one of the structural schematic diagrams of the first clamping component of this application; Figure 13 This is the second structural schematic diagram of the first clamping component of this application; Figure 14 This is a schematic diagram of the structure of the clamping block in this application; Figure 15 This is a schematic diagram of the connection between the second clamping component and the column in this application; Figure 16 This is a schematic diagram of the structure of the second clamping component of this application; Figure 17 This is a cross-sectional view of the second clamping component of this application.

[0027] In the diagram: 1. Welding torch mechanism; 2. First clamping assembly; 3. Rotation mechanism; 4. Axial displacement mechanism; 5. Radial displacement mechanism; 6. Mounting mechanism; 7. Mounting base; 8. Welding head; 9. Wire feeding mechanism; 10. Water-air conductive slip ring; 11. Connecting rod; 12. Cooling block; 13. Air outlet block; 14. Wire feeding nozzle; 15. Wire feeding drive component; 16. Clamping mounting component; 17. Clamping block; 18. Rotation drive component; 19. Driving gear; 20. Driven gear; 21. First base; 22. Second base; 23. Fixed column; 24. Bearing assembly; 25. Rotating sleeve; 26. Connecting bracket; 27. Third bearing; 28. Second bearing; 31. Sliding block; 32. First clamping surface; 33. Second clamping surface; 34. Stepped surface; 35. Mounting groove; 36. Protrusion; 37. Anti-slip groove; 4 1. Column; 42. Second clamping assembly; 43. Third driving component; 44. Second driving component; 45. Second slider; 46. First driving component; 47. First slider; 48. First clamping plate; 49. Second clamping plate; 50. First piston rod; 51. Second piston rod; 52. Cylinder body; 53. Protective layer; 100. Support base; 110. First platform; 120. Second platform; 130. First support frame; 140. Second support frame; 150. First rotating shaft; 160. Second rotating shaft; 170. Driving assembly; 180. Reducer; 190. Rotating shaft; 200. Mounting bearing; 210. Initial position positioning sensor; 220. Rotation angle sensing sensor; 230. First sensor; 240. Second sensor; 250. Third sensor; 260. Fourth sensor. Detailed Implementation

[0028] To enable those skilled in the art to better understand the technical solutions of this disclosure, the following detailed, clear, and complete description of this disclosure is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this disclosure and are not intended to limit it.

[0029] Those skilled in the art should understand that, in the disclosure of this invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limiting this invention.

[0030] Please refer to Figure 1 , Figure 5 , Figure 7 and Figure 9As shown, this application provides a vertical and horizontal circumferential welding device, including a support base 100, a support frame mechanism, a mounting mechanism 6, a column 41, a rotary drive mechanism, and a welding torch mechanism 1. The support frame mechanism is mounted on the support base 100 and includes a first support frame 130 and a second support frame 140. The mounting mechanism 6 includes a first base 21 and a second base 22, with the second base 22 rotatably connected to the first base 21. The first base 21 is rotatably positioned between the first support frame 130 and the second support frame 140, and a first clamping assembly 2 is connected to the first base 21. The column 41 is mounted on the first base 21, and the second clamping assembly 42 is mounted on the column 41. The rotary drive mechanism is mounted on the first support frame 130 and is connected to the first base 21. The rotary drive mechanism is used to drive the first base 21 to rotate relative to the support base 100. The welding torch mechanism 1 is connected to the second base 22, and the second base 22 drives the welding torch mechanism 1 to rotate relative to the first base 21. The first base 21 is rotated by a rotary drive mechanism, which in turn drives the mounting mechanism 6 to rotate relative to the support base 100. This allows the welding equipment to flexibly switch between vertical and horizontal positions. This configuration enables the welding equipment to adapt to welding of long and short workpieces, as well as welding requirements in various directions and positions. In traditional welding production, if vertical and horizontal welding of workpieces are required, separate vertical and horizontal welding equipment are usually needed, or the workpiece position and welding equipment posture must be frequently adjusted on a single machine. The vertical and horizontal circumferential seam welding equipment of this application can achieve rapid switching between vertical and horizontal welding on the same machine. This greatly reduces the time spent on equipment switching, equipment debugging, and workpiece handling. The mounting mechanism 6 includes a first base 21 and a second base 22. The first clamping component 2 and the column 41 are mounted on the first base 21. At the same time, the second clamping component 42 is mounted on the column 41, so that the first clamping component 2 and the second clamping component 42 can rotate together with the first base 21, thereby ensuring that the first clamping component 2 and the second clamping component 42 always maintain a precise relative position during the welding process. The welding gun mechanism 1 is connected to the second base 22. The second base 22 drives the welding gun mechanism 1 to rotate relative to the first base 21, and the welding gun mechanism 1 also rotates with the first base 21.

[0031] Please refer to the following: Figure 2 and Figure 3As shown, a rotating shaft assembly is further provided between the support frame mechanism and the first base 21. The rotating shaft assembly includes a first rotating shaft 150 and a second rotating shaft 160. The second rotating shaft 160 and the first rotating shaft 150 are arranged along the same rotation center axis to ensure the coaxiality of the first rotating shaft 150 and the second rotating shaft 160. One end of the first rotating shaft 150 is connected to a rotating drive mechanism, and the other end is connected to the first base 21. The rotating drive mechanism is used to drive the first rotating shaft 150 to rotate. One end of the second rotating shaft 160 is connected to the second support frame 140, and the other end is connected to the first base 21. The support base 100 includes a first platform 110 and two second platforms 120, which are respectively located on both sides of the first platform 110. The upper surface of the second platform 120 is higher than the upper surface of the first platform 110. The first base 21 is located above the first platform 110. A clearance gap is formed between the bottom surface of the first base 21 and the upper surface of the first platform 110. This clearance gap allows the mounting mechanism 6 to rotate from 0 to 90 degrees under the drive of the rotary drive mechanism. It can be understood that when changing from a vertical to a horizontal position, the mounting mechanism 6 and the column 41 should rotate in the opposite direction to the second clamping assembly 42. The first support frame 130 and the second support frame 140 are respectively located on the two second platforms 120.

[0032] Furthermore, the rotary drive mechanism is located within the internal cavity of the first support frame 130. One end of the first rotating shaft 150 is located within the internal cavity of the first support frame 130, and the other end is connected to the first base 21. A first bearing is provided in the second support frame 140. One end of the second rotating shaft 160 is rotatably supported by the first bearing, and the other end is connected to the first base 21. The first bearing is coaxially sleeved on the outside of the second rotating shaft 160. This arrangement not only makes the structure more compact but also gives the equipment better stability. Preferably, the first bearing is a deep groove ball bearing.

[0033] like Figure 4 and Figure 6As shown, specifically, the rotary drive mechanism includes a drive assembly 170 and a reducer 180. The drive assembly 170 is a stepper motor or a servo motor; the reducer 180 is a worm gear reducer. The worm gear reducer has a reduction function and a self-locking function. When the stepper motor or servo motor is powered off or stops driving, the mounting mechanism 6 and the column 41 will not be displaced due to gravity or external force, thus enhancing the stability of the equipment. It can be understood that the vertical and horizontal circumferential welding equipment of this application can not only achieve both vertical and horizontal postures, but also steplessly adjust between vertical and horizontal postures. The small-angle rotation of the servo motor or stepper motor is amplified into a large-angle rotation of the rotary shaft assembly, thereby achieving smooth and precise rotation of the mounting mechanism 6. Moreover, the servo motor can achieve continuous, arbitrary-angle rotation control, which enables the mounting mechanism 6 to be steplessly adjusted between vertical and horizontal postures, rather than simply being in either vertical or horizontal state. To make the mounting mechanism 6 and the column 41 more stable during rotation and in both vertical and horizontal positions, a tripod assembly is provided below the connection surface between the column 41 and the mounting mechanism 6.

[0034] It is understood that the vertical and horizontal circumferential welding equipment of this application also includes a controller. The reducer 180 includes a rotating shaft 190, which rotates synchronously with the first rotating shaft 150. A mounting bearing 200 is coaxially arranged on the outer side of the rotating shaft 190. An initial position positioning sensor 210 is arranged on the mounting bearing 200, and a rotation angle sensing sensor 220 is arranged on the rotating shaft 190. The mounting bearing 200 always remains stationary and does not rotate with the first rotating shaft 150. The initial position positioning sensor 210 and the rotation angle sensing sensor 220 are respectively connected to the controller. The initial position positioning sensor 210 is used to establish the mechanical zero point of the first rotating shaft 150, and the rotation angle sensing sensor 220 is used to obtain the rotation angle of the first rotating shaft 150 in real time. The initial position positioning sensor 210 provides a unique absolute position reference each time the equipment is powered on or reset, eliminating the accumulated error of the rotation angle sensing sensor 220. Specifically, the initial position positioning sensor 210 is a Hall sensor, and the rotation angle sensing sensor 220 is an absolute encoder; or the initial position positioning sensor 210 is a mechanical limit switch, and the rotation angle sensing sensor 220 is a rotary transformer.

[0035] Please refer to Figure 2 , Figure 4 and Figure 5As shown, a first driving member 46 and a first slider 47 are provided on the column 41. The output end of the first driving member 46 is connected to the first slider 47 for transmission. The first driving member 46 is used to drive the first slider 47 to move axially along the column 41. The first slider 47 is connected to the second clamping assembly 42. The first driving member 46 is a linear motor, an electric push rod, or a cylinder. The second clamping assembly 42 is connected to the first slider 47. Driven by the first driving member 46, the vertical displacement of the second clamping assembly 42 on the column 41 is adjusted to accommodate workpieces of different lengths.

[0036] Please refer to the following: Figures 15-17 As shown, the second clamping assembly 42 further includes a third driving member 43, a first gripper assembly, and a second gripper assembly. The third driving member 43 is used to drive the first gripper assembly and the second gripper assembly to move towards each other (clamping the workpiece) or move away from each other (releasing the workpiece). The third driving member 43 is connected to the first slider 47. The first gripper assembly includes at least one first clamping plate 48, and the second gripper assembly includes at least two second clamping plates 49 arranged axially spaced apart. The sum of the number of first clamping plates 48 and second clamping plates 49 is odd. In the vertical direction, the projection of the first clamping plate 48 is located between the projections of two adjacent second clamping plates 49. The first clamping plate 48 has a first clamping groove, and the second clamping plate 49 has a second clamping groove. The first clamping groove and the second clamping groove are arranged opposite to each other. Due to the cooperation of the first and second gripper assemblies, the clamping force is distributed across the workpiece through multiple clamping points. This multi-point clamping method significantly improves the stability and reliability of clamping, and is especially suitable for clamping long tube workpieces. The distribution of clamping force across multiple clamping points reduces the risk of surface damage (such as indentation) caused by excessive clamping force at a single or two clamping points. In addition, the first clamping plate 48 and two adjacent second clamping plates 49 form a stable triangular structure. The first clamping plate 48 and the two adjacent second clamping plates 49 can provide support from different positions to ensure the stability of the workpiece during welding.

[0037] The third driving component 43 is a bidirectional driving cylinder. Preferably, the bidirectional driving cylinder is a double-acting double-piston rod cylinder. The double-acting double-piston rod cylinder includes a cylinder body 52, within which a first piston rod 50 and a second piston rod 51 are disposed. The first piston rod 50 is used to connect to the first gripper assembly, and the second piston rod 51 is used to connect to the second gripper assembly. The first piston rod 50 and the second piston rod 51 extend or retract synchronously and at the same speed under air pressure, eliminating any risk of asynchrony caused by electrical or control delays, and preventing the workpiece from being pushed or pulled skewed during clamping.

[0038] It should be noted that the first clamping plate 48 and the second clamping plate 49 have the same thickness, and the distance between two adjacent second clamping plates 49 is greater than the thickness of the second clamping plate 49. Both the first clamping groove and the second clamping groove are V-shaped grooves. In the vertical direction, the projection of the first clamping plate 48 lies between the projections of two adjacent second clamping plates 49. This allows the inner side of the first clamping plate 48 to at least partially enter between the corresponding two second clamping plates 49 when clamping smaller workpieces (such as small-diameter pipes), thereby providing stable clamping of the workpiece. That is, when clamping smaller workpieces, the first clamping plate 48 and the second clamping plate 49 will not interfere with each other. Preferably, both the first clamping groove and the second clamping groove are provided with a protective layer 53; specifically, the protective layer 53 is made of copper.

[0039] In one embodiment of this disclosure, the second clamping assembly 42 further includes an adjustment assembly. A third driving member 43 is connected to the first slider 47 via the adjustment assembly. The adjustment assembly includes a second driving member 44 and a second slider 45. The second driving member 44 is connected to the first slider 47, and the third driving member 43 is connected to the second slider 45. The second slider 45 is drively connected to the output end of the second driving member 44. The second driving member 44 drives the second slider 45 to move; the displacement direction of the second slider 45 is perpendicular to the displacement direction of the first slider 47. Specifically, the second driving member 44 is a linear motor, an electric push rod, or a cylinder. The second driving member 44 is used to achieve lateral position adjustment; longitudinally, the vertical displacement of the first gripper assembly and the second gripper assembly is adjusted by the drive of the first driving member 46. When using the welding equipment of this application, the first clamping assembly 2 clamps workpiece one, and the second clamping assembly 42 clamps workpiece two. The welding torch mechanism 1 welds workpiece one and workpiece two together through circumferential welding. During welding, it is necessary to strictly maintain the concentricity of workpiece one and workpiece two. The lateral adjustment of the first and second clamping assemblies is mainly to align workpiece one and workpiece two to maintain their concentricity. The lateral adjustment of the first and second clamping assemblies is mainly to accommodate workpieces of different lengths.

[0040] Please refer to Figure 2 , Figure 4 , Figure 5 and Figure 15As shown, a first sensor 230 and a second sensor 240 are spaced apart along the axial direction of the side of the column 41. The first sensor 230 and the second sensor 240 are used to acquire in real-time the distance the second clamping assembly 42 moves along the axial direction of the column 41. The first sensor 230 is located above the second sensor 240. The first sensor 230 and the second sensor 240 are respectively connected to the controller. A third sensor 250 and a fourth sensor 260 are spaced apart along the axial direction of the second driving member 44. The third sensor 250 and the fourth sensor 260 are used to acquire in real-time the distance the second slider 45 moves along the second driving member 44. The third sensor 250 and the fourth sensor 260 are respectively connected to the controller. The arrangement of the first sensor 230 and the second sensor 240 enables the welding equipment to achieve highly automated control. The first sensor 230 and the second sensor 240 transmit the monitored position information to the controller in real-time. The controller automatically controls the movement of the first driving member 46 according to a preset program and algorithm, achieving precise adjustment of the workpiece position. Furthermore, in actual production, it may be necessary to frequently change workpieces of different lengths or shapes for welding. The first sensor 230 and the second sensor 240 can quickly and accurately monitor the positional changes of the second clamping assembly 42, enabling the equipment to rapidly adjust the position of the workpiece and achieve rapid switching between different workpieces. The third sensor 250 and the fourth sensor 260 are used to acquire the distance the second slider 45 moves along the second drive member 44 in real time. Through the precise monitoring of the third sensor 250 and the fourth sensor 260, high-precision lateral adjustment can be achieved. In addition, the setting of the third sensor 250 and the fourth sensor 260 enables the welding equipment to achieve highly automated lateral adjustment. The third sensor 250 and the fourth sensor 260 transmit the monitored position information to the controller in real time. The controller automatically controls the movement of the second drive member 44 according to the preset program and algorithm to achieve precise movement of the second slider 45. Specifically, the first sensor 230, the second sensor 240, the third sensor 250, and the fourth sensor 260 are grating displacement sensors, inductive displacement sensors, or capacitive displacement sensors.

[0041] The vertical / horizontal circumferential welding equipment of this application also includes a welding torch mechanism 1 and a displacement mechanism mounted on the mounting mechanism 6. The welding torch mechanism 1 is used for argon arc welding of the workpiece. The displacement mechanism is connected to the welding torch mechanism 1 and is used to drive the welding torch mechanism 1 to move parallel to the axial direction and radial direction, as well as to rotate around the central axis of the first clamping assembly 2. In this application, the workpiece does not need to rotate; the welding torch mechanism 1 is used for multi-directional welding of the workpiece by displacement. The welding torch mechanism 1 is small in size, lightweight, and simple in structure. The displacement does not affect the stability of the workpiece, thereby improving the positioning accuracy and centering between the welding torch and the workpiece, and thus improving welding quality and welding efficiency. It can be understood that, based on rotation around the center line, the welding torch mechanism 1 can be finely adjusted parallel to the axial direction and radial direction, thereby ensuring the positioning accuracy and centering between the welding torch mechanism 1 and the workpiece, and improving welding quality.

[0042] like Figures 7-11 As shown, the mounting mechanism 6 further includes a first base 21, a second base 22, a connecting bracket 26, and a fixing column 23. The column 41 is mounted on the first base 21, which is a sleeve structure. The fixing column 23 is a columnar structure. The first base 21, the fixing column 23, and the second base 22 are coaxially arranged. The upper end of the fixing column 23 is fixedly connected to the first clamping assembly 2, and the lower end of the fixing column 23 is connected to the first base 21 through the connecting bracket 26, thereby achieving a relatively fixed connection between the first clamping assembly 2 and the first base 21, allowing the first clamping assembly 2 to... The first base 21 provides a stable clamping mechanism for the welded parts. The second base 22 is sleeved on the outside of the fixed column 23, and there is a gap between the inner wall of the second base 22 and the outer wall of the fixed column 23. The connecting bracket 26 is sleeved on the outside of the second base 22, and a bearing assembly 24 is provided between the connecting bracket 26 and the second base 22, so that the second base 22 can rotate relative to the first base 21. The welding gun mechanism 1 is connected to the second base 22, so that the second base 22 can drive the welding gun mechanism 1 to rotate relative to the first clamping assembly 2, so as to realize the circumferential welding of the welded parts on the first clamping assembly 2 around the central axis.

[0043] The bearing assembly 24 includes a third bearing 27 and a second bearing 28. The third bearing 27 is disposed at one end of the second base 22 near the first clamping assembly 2, and the second bearing 28 is disposed at the other end of the second base 22. The second base 22 has a limiting groove for mounting the third bearing 27. The limiting groove has an L-shaped structure and provides radial and axial limiting for the inner ring of the third bearing 27. The first base 21 has a limiting ring groove, which provides axial and radial limiting for the outer ring of the third bearing 27. This ensures that the third bearing 27 can be stably connected between the second base 22 and the first base 21, guaranteeing the connection stability between the second base 22 and the first base 21. Preferably, the third bearing 27 and the second bearing 28 are deep groove ball bearings.

[0044] The outer side of the second base 22 is provided with a receiving groove for mounting the second bearing 28, which is used to limit the inner ring of the second bearing 28 axially and radially; the inner ring of the connecting bracket 26 is provided with a limiting part, the L-shaped annular groove of the limiting part, the limiting part limits the outer ring of the second bearing 28 axially and radially, thereby enabling the second bearing 28 to be stably connected between the second base 22 and the connecting bracket 26, and relatively fixed in the radial and axial directions, ensuring the rotational stability of the second base 22 around the central axis.

[0045] The mounting mechanism 6 also includes a rotating sleeve 25, which is sleeved on the outside of the fixed post 23. The rotating sleeve 25 and the first base 21 are axially distributed, and the second base 22 is located close to the first clamping assembly 2. One end of the rotating sleeve 25 is rotatably connected to the first clamping assembly 2, and the other end is fixedly connected to the first base 21, thereby making the rotating sleeve 25 and the first base 21 indirectly rotatably connected. A fourth bearing is provided between the rotating sleeve 25 and the first clamping assembly 2. The rotating sleeve 25 limits the outer ring of the fourth bearing axially and radially, and the first clamping assembly 2 limits the inner ring of the fourth bearing axially and radially, thereby enabling the rotating sleeve 25 and the first clamping assembly 2 to be stably rotatably connected through the fourth bearing.

[0046] The connecting bracket 26 includes a connecting plate and a connecting frame; the connecting plate has a through hole for the second base 22 to pass through, the connecting plate is disposed inside the first base 21, the outer side of the connecting plate is connected to the inner side wall of the first base 21, and the inner side wall of the connecting plate is connected to the second base 22 through a third bearing 27; the connecting frame has an inverted n-shaped structure, the axial support of the connecting frame is fixedly connected to the connecting plate, and the middle of the radial support of the connecting frame is fixedly connected to the bottom of the fixing column 23, thereby connecting the fixing column 23 to the first base 21.

[0047] The displacement mechanism includes a rotation mechanism 3, an axial displacement mechanism 4, and a radial displacement mechanism 5. The rotation mechanism 3 is disposed within the first base 21, and the axial displacement mechanism 4 and the radial displacement mechanism 5 are disposed within the rotating sleeve 25. The rotation mechanism 3 is used to drive the welding torch mechanism 1 to rotate around the central axis of the first clamping assembly 2. The axial displacement mechanism 4 is used to drive the welding torch mechanism 1 to translate parallel to the axis. The radial displacement mechanism 5 is used to drive the welding torch mechanism 1 to translate parallel to the radial direction.

[0048] The rotating mechanism 3 includes a rotating drive 18, a driving gear 19, and a driven gear 20. The fixed part of the rotating drive 18 is fixedly connected to the connecting plate of the connecting bracket 26. The output end of the rotating drive 18 can rotate relative to the connecting bracket 26. The output end of the rotating drive 18 is connected to the driving gear 19. The driven gear 20 is fixedly sleeved on the outside of the second base 22. The driving gear 19 meshes with the driven gear 20. Then, with the cooperation of the driving gear 19 and the driven gear 20, the power transmitted by the rotating drive 18 can be transmitted to the second base 22 to realize the rotation of the second base 22. Then, the second base 22 drives the welding torch mechanism 1 to rotate.

[0049] The radial displacement mechanism 5 is fixedly connected to the rotating sleeve 25 via a mounting base 7. The fixed part of the axial displacement mechanism 4 is connected to the sliding part of the radial displacement mechanism 5, and the welding torch mechanism 1 is connected to the sliding part of the axial displacement mechanism 4. This allows the radial displacement mechanism 5 to simultaneously drive the axial displacement mechanism 4 and the welding torch mechanism 1 to move radially, while the axial displacement mechanism 4 can drive the welding torch mechanism 1 to move axially independently.

[0050] The axial displacement mechanism 4 is fixedly connected to the rotating sleeve 25 via a mounting base 7. The fixed part of the radial displacement mechanism 5 is connected to the sliding part of the axial displacement mechanism 4, and the welding torch mechanism 1 is connected to the sliding part of the radial displacement mechanism 5. This allows the axial displacement mechanism 4 to simultaneously drive the radial displacement mechanism 5 and the welding torch mechanism 1 to move axially, while the radial displacement mechanism 5 can independently drive the welding torch mechanism 1 to move radially. The rotary drive component 18 is a servo motor; the axial displacement mechanism 4 and the radial displacement mechanism 5 are driven by linear drive motors, preferably lead screw motors.

[0051] The welding torch mechanism 1 includes a welding head 8, a wire feeding mechanism 9, and a conveying mechanism. The welding head 8 extends into the rotating sleeve 25 via an L-shaped connecting rod 11 and is connected to the radial displacement mechanism 5 and the axial displacement mechanism 4. This allows the welding head 8 to be indirectly and fixedly connected to the second base 22, enabling it to rotate with the second base 22 while simultaneously being driven independently by the radial displacement mechanism 5 and the axial displacement mechanism 4. This avoids other devices moving axially or radially together, achieving precise fine-tuning of the welding head 8 and ensuring its positioning accuracy. In this embodiment, the wire feeding mechanism 9 is used to feed welding wire at the welding point to complete the welding; the conveying mechanism is used to supply power to the welding head 8 and deliver argon gas and cooling liquid to ensure the welding head 8 can operate normally.

[0052] The welding head 8 includes a tungsten needle, an exhaust block 13, and a cooling block 12. The exhaust block 13 is provided with an exhaust channel for argon gas to flow through. The exhaust channel is arranged around the tungsten needle so that the argon gas can exit around the tungsten needle to isolate the air around the tungsten needle, stabilize the electric arc, and ensure welding quality. The cooling block 12 is provided with a cooling channel and an air inlet channel, which are connected to the exhaust channel. Two connectors are connected to both ends of the cooling channel for liquid inlet or liquid outlet. The air inlet end of the air inlet channel is connected to an air inlet connector for argon gas to enter.

[0053] The conveying mechanism may include both gas conductive slip rings and liquid conductive slip rings, or it may only include water-gas conductive slip ring 10. In this embodiment, the conveying mechanism includes water-gas conductive slip ring 10, which simultaneously conveys electricity, gas, and cooling liquid. The water-gas conductive slip ring 10 is sleeved on the outside of the fixed column 23 and is rotatably connected to the fixed column 23, but is fixedly connected to the bottom of the second base 22. The water-gas conductive slip ring 10 can transmit electricity, gas, and liquid simultaneously, has a high degree of integration, and can reduce the structural complexity of the conveying mechanism. Furthermore, it can rotate with the welding head 8, thereby avoiding pipe entanglement when the welding head 8 rotates, and improving the stability of electricity, gas, and liquid output.

[0054] Specifically, the water-gas conductive slip ring 10 is provided with a gas flow path, a liquid inlet flow path, a liquid return flow path, and a reserved flow path. The gas flow path is used to guide gas, the liquid inlet flow path and the liquid return flow path are used to guide liquid, and the reserved flow path can provide an additional alternative for the liquid flow path. When the liquid inlet flow path or the liquid return flow path is blocked, the reserved flow path can be used instead, thereby ensuring reduced maintenance costs.

[0055] The conveying mechanism also includes a power connector, an air inlet connector, an air outlet connector, a first liquid inlet connector, a first liquid outlet connector, a second liquid inlet connector, and a second liquid outlet connector. The power connector is located at the axial end of the water-gas conductive slip ring 10 near the welding head 8 and is used to connect to the welding head 811. The air inlet connector is located at the radial end of the water-gas conductive slip ring 10 and is connected to the air inlet end of the gas flow path, enabling it to guide gas into the gas flow path. The air outlet connector is located at the axial end of the water-gas conductive slip ring near the welding head 8 and is connected to the air outlet end of the gas flow path, discharging gas out of the gas flow path to supply gas to the welding torch mechanism 1. The first liquid inlet connector is located at the radial end of the water-gas conductive slip ring 10 and is connected to the first liquid outlet connector. The inlet end of the liquid inlet flow path is connected to guide the fluid into the liquid inlet flow path; the first outlet connector is located at the axial end of the water-air guide slip ring near the welding head 8, and is connected to the outlet end of the liquid inlet flow path, for guiding the cooling liquid in the liquid inlet flow path to the cooling block 12 of the welding head 8; the second inlet connector is located at the axial end of the water-air guide slip ring near the welding head 8, and is connected to the inlet end of the return flow path, for guiding the used cooling liquid in the cooling block 12 of the welding head 8 to the return flow path; the second outlet connector is located at the radial side end of the water-air conductive slip ring 10, and is connected to the outlet end of the return flow path, for guiding the liquid in the return flow path back to the liquid storage location.

[0056] It should be noted that each joint in the conveying mechanism is connected to each joint on the welding head 8 via a corresponding conduit.

[0057] The wire feeding mechanism 9 includes a wire feeding nozzle 14 and a wire feeding drive 15. The wire feeding nozzle 14 is used to clamp the welding wire and is connected to the welding head 8. The wire feeding drive 15 is disposed inside the rotating sleeve 25 and is fixedly connected to the rotating sleeve 25. The wire feeding drive 15 is connected to the welding wire and can store the welding wire. The wire feeding drive 15 can drive the welding wire to move towards the welding point to realize automatic supply of welding wire to the welding point.

[0058] Please refer to Figures 12-14As shown, in one embodiment of this disclosure, the first clamping assembly 2 includes a clamping mounting member 16, at least three clamping blocks 17, and a clamping drive member. The clamping mounting member 16 is rotatably connected to the rotating sleeve 25 via a fourth bearing. Each clamping block 17 corresponds to a clamping drive member. The at least three clamping blocks 17 are equidistantly arranged along the same circumference of the clamping mounting member 16 and are radially slidably connected to the clamping mounting member 16 for clamping the workpiece. The clamping drive member is connected to each clamping block 17 and is used to drive each clamping block 17 to move synchronously in the radial direction to achieve clamping or releasing of the workpiece. The clamping block 17 is provided with a first clamping surface 32 and a second clamping surface 33. The clamping aperture formed by the first clamping surface 32 is larger than the clamping aperture formed by the second clamping surface 33. The clamping drive unit drives each clamping block 17 to move synchronously in the radial direction, thereby adjusting the size of the clamping opening formed by each clamping block 17 to accommodate workpieces of different sizes. The clamping block 17 is provided with a first clamping surface 32 and a second clamping surface 33. The clamping opening formed by the first clamping surface 32 is larger than the clamping opening formed by the second clamping surface 33 to accommodate workpieces with different diameter ranges. For large-sized workpieces (such as flanges, cylinders, and plates), the first clamping surface 32 is used for clamping; for small-sized workpieces (such as pipes), the second clamping surface 33 is used for clamping. It is only necessary to adjust the clamping position of the clamping block 17 (selecting to use the first clamping surface 32 or the second clamping surface 33) to quickly adapt, which greatly improves the versatility and production flexibility of the equipment, reduces the time for changing fixtures when switching products, and improves production efficiency.

[0059] The clamping mounting component 16 has a disc-shaped structure with a through hole in its center, and at least three clamping blocks 17 are arranged around the through hole. The first clamping surface 32 and the second clamping surface 33 both face the through hole. Both sides of the first clamping surface 32 and the second clamping surface 33 are inclined surfaces, which guide the workpiece more smoothly into the clamping position, facilitating workpiece assembly. The arrangement of at least three clamping blocks 17 around the through hole ensures that the clamping blocks 17 are subjected to uniform force when clamping the workpiece. Each clamping block 17 provides the same clamping force, thus ensuring that the workpiece does not tilt or shift during clamping. This arrangement also contributes to the overall balance of the first clamping assembly 2, reducing vibration and wobbling.

[0060] Furthermore, the first clamping surface 32 is located above the second clamping surface 33, and a stepped surface 34 is formed between the first clamping surface 32 and the second clamping surface 33. The stepped surface 34 serves as a support, supporting the workpiece clamped on the first clamping surface 32. The width of the first clamping surface 32 is greater than the width of the second clamping surface 33; the height of the first clamping surface 32 is less than the height of the second clamping surface 33. The clamping aperture formed by the first clamping surface 32 is larger than that formed by the second clamping surface 33. The first clamping surface 32 is mainly used to clamp large-sized workpieces (such as flanges, cylinders, and plates). These workpieces generally have a small length (or thickness) but a large radial dimension. Therefore, the width of the first clamping surface 32 is set to be larger to increase the contact area with the workpiece. For small-sized workpieces (such as pipes), the second clamping surface 33 is used for clamping. Pipes usually have a long length and a small radial dimension. Therefore, the height of the second clamping surface 33 is set to be larger to enhance the axial contact area and thus increase the clamping force. When clamping slender pipes, the lower part of the pipe enters the through hole, and the upper part is clamped in the clamping opening formed by the second clamping surface 33.

[0061] To better fit the workpiece, the second clamping surface 33 has an arc-shaped structure, while the first clamping surface 32 has a planar structure. Since the second clamping surface 33 is primarily used for clamping pipe fittings, it is designed with an arc-shaped structure to better conform to the curved surface of the fittings. The first clamping surface 32 is primarily used for clamping flanges and plates. Furthermore, the lower part of the first clamping surface 32 has a stepped surface 34 that effectively supports the workpiece, allowing the first clamping surface 32 to firmly clamp the workpiece. This makes the first clamping surface 32 more stable and reliable when clamping large workpieces such as flanges and plates.

[0062] To further improve the clamping stability of the second clamping surface 33, multiple anti-slip grooves 37 are equidistantly arranged along the axial direction of the second clamping surface 33. Specifically, the anti-slip grooves 37 are slots opened laterally along the second clamping surface 33. Since the second clamping surface 33 is usually used to clamp slender pipes, during the clamping process, the anti-slip grooves 37 can engage with the surface of the pipe, increasing the friction between the clamping surface and the workpiece, effectively preventing the workpiece from sliding due to insufficient clamping force, thereby improving the clamping stability.

[0063] like Figure 13As shown, in an embodiment of the present disclosure, the clamping and mounting member 16 is a disc-shaped structure. At least three mounting grooves 35 are circumferentially arranged at intervals on the clamping and mounting member 16. The number of mounting grooves 35 corresponds to the number of clamping blocks 17 one by one. A sliding block 31 is arranged in the mounting groove 35. The clamping block 17 is arranged on the sliding block 31, and the clamping driving member is drivingly connected to the sliding block 31. Specifically, the end of the mounting groove 35 is communicated with the through hole; the clamping driving member is a cylinder. The clamping block 17 is connected to the clamping driving member through the sliding block 31. The mounting groove 35 is equivalent to a sliding groove. The mounting groove 35 is arranged radially along the clamping and mounting member 16. The sliding block 31 is slidably arranged in the mounting groove 35. Under the action of the clamping driving member, the sliding block 31 slides along the mounting groove 35.

[0064] Furthermore, two convex blocks 36 are oppositely arranged on the two side walls of the mounting groove 35. Slide rails are formed on the upper and lower sides of each convex block 36. The cross-sections on both sides of the mounting groove 35 are in a "convex" shape structure. Concavities are provided on the corresponding two sides of the sliding block 31, so that the cross-sections on both sides of the sliding block 31 are in a "concave" shape structure. The "concave" shape structure of the sliding block 31 is adapted to the "convex" shape structure of the mounting groove 35, so that the sliding block 31 is slidably arranged on the slide rails. The "concave" shape structure on both sides of the sliding block 31 cooperates with the "convex" shape structure (i.e., the slide rails) on the side walls of the mounting groove 35, so that the sliding block 31 can move smoothly and accurately along the radial direction in the mounting groove 35. Such a setting can ensure that when the clamping block 17 clamps or releases the workpiece, the movement trajectory of the clamping block 17 is relatively accurate, thereby improving the stability and reliability of clamping.

[0065] The above has introduced the present application in detail. Specific examples are used in this article to elaborate on the principle and implementation manner of the present application. The description of the above embodiments is only used to help understand the present application and its core idea. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the protection scope of the claims of the present application.

Claims

1. A vertical / horizontal circumferential welder, characterized in that, include: Support base (100); A support frame mechanism is provided on a support base (100), the support frame mechanism including a first support frame (130) and a second support frame (140). The mounting mechanism (6) includes a first base (21) and a second base (22). The second base (22) is rotatably connected to the first base (21). The first base (21) is rotatably disposed between the first support frame (130) and the second support frame (140). A first clamping assembly (2) is connected to the first base (21). A column (41) is provided on the first base (21), and a second clamping assembly (42) is provided on the column (41). A rotary drive mechanism is provided on the first support frame (130). The rotary drive mechanism is connected to the first base (21) in a transmission manner. The rotary drive mechanism is used to drive the first base (21) to rotate relative to the support (100). The welding torch mechanism (1) is connected to the second base (22), and the second base (22) drives the welding torch mechanism (1) to rotate relative to the first base (21).

2. The vertical and horizontal circumferential weldment equipment according to claim 1, characterized in that, A rotating shaft assembly is provided between the support frame mechanism and the first base (21). The rotating shaft assembly includes a first rotating shaft (150) and a second rotating shaft (160). The second rotating shaft (160) and the first rotating shaft (150) are arranged along the same rotation center axis. One end of the first rotating shaft (150) is connected to a rotating drive mechanism, and the other end is connected to the first base (21). The rotating drive mechanism is used to drive the first rotating shaft (150) to rotate. One end of the second rotating shaft (160) is connected to the second support frame (140), and the other end is connected to the first base (21).

3. The vertical and horizontal circumferential weldment equipment according to claim 2, characterized in that, The rotary drive mechanism includes a drive assembly (170) and a reducer (180). The drive assembly (170) is connected to the reducer (180) in a transmission connection. The first rotating shaft (150) is connected to the output end of the reducer (180). The drive assembly (170) drives the first rotating shaft (150) to rotate around its axis through the reducer (180).

4. The vertical and horizontal circumferential weldment equipment according to claim 3, characterized in that, It also includes a controller. The reducer (180) includes a rotating shaft (190). The rotating shaft (190) rotates synchronously with the first rotating shaft (150). A mounting bearing (200) is coaxially arranged on the outer side of the rotating shaft (190). An initial position positioning sensor (210) is arranged on the mounting bearing (200). A rotation angle sensing sensor (220) is arranged on the rotating shaft (190). The initial position positioning sensor (210) and the rotation angle sensing sensor (220) are respectively connected to the controller. The initial position positioning sensor (210) is used to establish the mechanical zero point of the first rotating shaft (150). The rotation angle sensing sensor (220) is used to obtain the rotation angle of the first rotating shaft (150) in real time.

5. The vertical and horizontal circumferential weldment equipment according to claim 4, characterized in that, The initial position positioning sensor (210) is a Hall sensor, and the rotation angle sensing sensor (220) is an absolute encoder; or the initial position positioning sensor (210) is a mechanical limit switch, and the rotation angle sensing sensor (220) is a rotary transformer.

6. The vertical and horizontal circumferential weldment equipment according to claim 1, characterized in that, The support base (100) includes a first platform (110) and two second platforms (120). The two second platforms (120) are respectively located on both sides of the first platform (110). The upper surface of the second platform (120) is higher than the upper surface of the first platform (110). The first base (21) is located above the first platform (110). A clearance gap is formed between the bottom surface of the first base (21) and the upper surface of the first platform (110). The first support frame (130) and the second support frame (140) are respectively located on the two second platforms (120).

7. The vertical and horizontal circumferential weldment equipment according to claim 1, characterized in that, The welding torch mechanism (1) is connected to a displacement mechanism, which includes a rotation mechanism (3), an axial displacement mechanism (4), and a radial displacement mechanism (5). The rotation mechanism (3) is used to drive the welding torch mechanism (1) to rotate around the central axis of the first clamping assembly (2). The axial displacement mechanism (4) is used to drive the welding torch mechanism (1) to translate parallel to the axis. The radial displacement mechanism (5) is used to drive the welding torch mechanism (1) to translate parallel to the radial direction.

8. The vertical and horizontal circumferential weldment equipment according to claim 7, characterized in that, The rotating mechanism (3) includes a rotating drive (18), a driving gear (19), and a driven gear (20). The rotating drive (18) is connected to the first base (21) and is used to drive the second base (22) to rotate around the central axis of the first base (21). The driving gear (19) is connected to the output shaft of the rotating drive (18). The driven gear (20) meshes with the driving gear (19) and is sleeved on the second base (22).

9. The vertical and horizontal circumferential weldment equipment according to claim 7, characterized in that, The welding torch mechanism (1) includes a welding head (8), a wire feeding mechanism (9), and a conveying mechanism. The welding head (8) includes a tungsten needle and an exhaust channel. The exhaust channel is arranged around the tungsten needle. The wire feeding mechanism (9) is used to feed conductive welding wire into the welding area. The conveying mechanism is used to supply power to the welding head (8) and to convey argon gas and cooling liquid.

10. The vertical and horizontal circumferential weldment equipment according to claim 1, characterized in that, The mounting mechanism (6) also includes a fixing column (23), a bearing assembly (24) and a limiting part. The fixing column (23) is used to connect the first clamping assembly (2) to the first base (21). The bearing assembly (24) is located between the first base (21) and the second base (22). The bearing assembly (24) includes at least two bearings distributed along the axial direction. The limiting part is located on the first base (21) and is used to limit the bearing assembly (24) axially and radially.

11. The vertical / horizontal circumferential welder according to claim 8, 9, or 10, characterized in that, The mounting mechanism (6) also includes a rotating sleeve (25) and a connecting bracket (26). The rotating sleeve (25) is sleeved on the outside of the fixed post (23) and is used to connect the welding head (8). One end of the rotating sleeve (25) is rotatably connected to the first clamping assembly (2) and the other end is rotatably connected to the first base (21). The connecting bracket (26) is used to fix the end of the fixed post (23) away from the welding head (8) to the first base (21). The rotating drive (18) is fixedly connected to the connecting bracket (26).

12. The vertical and horizontal circumferential weldment equipment according to claim 11, characterized in that, The first clamping component (2) includes: The clamping mounting component (16) is rotatably connected to the rotating sleeve (25) via a fourth bearing; At least three clamping blocks (17) are equidistantly arranged along the same circumference of the clamping mounting member (16) and are radially slidably connected to the clamping mounting member (16) for clamping the workpiece; The clamping drive is connected to each clamping block (17) and is used to drive each clamping block (17) to move synchronously in the radial direction; The clamping block (17) is provided with a first clamping surface (32) and a second clamping surface (33). The first clamping surface (32) forms a first clamping opening, and the second clamping surface (33) forms a second clamping opening. The diameter of the first clamping opening is larger than the diameter of the second clamping opening.

13. The vertical and horizontal circumferential weldment equipment according to claim 12, characterized in that, The clamping mounting component (16) has a through hole in the middle, and at least three clamping blocks (17) are arranged around the through hole; the first clamping surface (32) and the second clamping surface (33) are both facing the through hole, and both sides of the first clamping surface (32) and the second clamping surface (33) are inclined surfaces.

14. The vertical and horizontal circumferential weldment equipment according to claim 12, characterized in that, A stepped surface (34) is formed between the first clamping surface (32) and the second clamping surface (33). The width of the first clamping surface (32) is greater than the width of the second clamping surface (33). The second clamping surface (33) is an arc-shaped surface structure. The first clamping surface (32) is a planar structure.

15. The vertical and horizontal circumferential weldment equipment according to claim 1, characterized in that, The column (41) is provided with a first driving member (46) and a first slider (47). The output end of the first driving member (46) is connected to the first slider (47) in a transmission connection. The first driving member (46) is used to drive the first slider (47) to move along the axial direction of the column (41). The first slider (47) is connected to the second clamping assembly (42).

16. The vertical and horizontal circumferential weldment equipment according to claim 15, characterized in that, The second clamping assembly (42) includes a third driving member (43), a first gripper assembly, and a second gripper assembly. The third driving member (43) is used to drive the first gripper assembly and the second gripper assembly to move towards each other or away from each other. The third driving member (43) is connected to the first slider (47). The first gripper assembly includes at least one first clamping plate (48), and the second gripper assembly includes at least two second clamping plates (49) spaced apart along the axial direction. In the vertical direction, the projection of the first clamping plate (48) is located between the projections of two adjacent second clamping plates (49). The first clamping plate (48) has a first clamping groove, and the second clamping plate (49) has a second clamping groove. The first clamping groove and the second clamping groove are arranged opposite to each other.

17. The vertical / horizontal circumferential welder according to claim 16, characterized in that, The sum of the number of the first clamping plate (48) and the second clamping plate (49) is an odd number; both the first clamping groove and the second clamping groove are V-shaped grooves.

18. The vertical and horizontal circumferential weldment equipment according to claim 16, characterized in that, The second clamping assembly (42) further includes an adjustment assembly. The third drive member (43) is connected to the first slider (47) through the adjustment assembly. The adjustment assembly includes a second drive member (44) and a second slider (45). The second drive member (44) is connected to the first slider (47), and the third drive member (43) is connected to the second slider (45). The second slider (45) is connected to the output end of the second drive member (44). The second drive member (44) is used to drive the second slider (45) to move. The displacement direction of the second slider (45) is perpendicular to the displacement direction of the first slider (47).

19. The vertical / horizontal circumferential welder according to claim 4 or 18, characterized in that, The column (41) is provided with a first sensor (230) and a second sensor (240) at intervals along its axial direction. The first sensor (230) and the second sensor (240) are used to obtain the distance of the second clamping assembly (42) moving along the axial direction of the column (41) in real time. The first sensor (230) and the second sensor (240) are respectively connected to the controller. The second drive member (44) is provided with a third sensor (250) and a fourth sensor (260) at intervals along its axial direction. The third sensor (250) and the fourth sensor (260) are used to obtain the distance of the second slider (45) moving along the second drive member (44) in real time. The third sensor (250) and the fourth sensor (260) are respectively connected to the controller.

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