A double ended welding gun and method of use

Abstract

The application relates to the technical field of welding equipment and discloses a double-head welding gun and a using method thereof, which comprises a sheath pipe, a connecting bridge, two main outer pipes, two secondary outer pipes and two welding gun heads; the connecting bridge is arranged at the end of the sheath pipe; the two main outer pipes are arranged in parallel and rotatably installed on the connecting bridge; a reversing motor is arranged on the connecting bridge and used for driving the two main outer pipes to synchronously rotate in the same direction or in the opposite direction around the axes of the two main outer pipes, and the rotating angle range is 0 DEG to 90 DEG; the scheme has the ability of flexible and accurate positioning of each welding gun head in a complex space with multiple degrees of freedom, can dynamically and timely compensate according to a welding seam track, significantly improves the adaptability to poor space such as the inside of a box girder, and effectively avoids debugging collision accidents.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of welding equipment, in particular to a double-head welding gun and a method for using the same. BACKGROUND

[0002] The double-head welding gun is an automatic welding equipment integrating two independent welding gun heads, usually installed on an industrial robot or a special welding machine, aiming to significantly improve welding efficiency through synchronous or alternating welding;

[0003] At present, the traditional double-head welding gun adopts a rigid bridge structure to connect the two welding gun heads, and the spacing adjustment usually relies on manual mechanical adjustment. The operator needs to use a wrench or the like to loosen a plurality of fastening bolts, and then make coarse displacement adjustment through a sliding groove or a threaded pair, and then lock again. This adjustment method not only consumes time and effort, but also seriously slows down the production changeover rhythm, and is difficult to adapt to the needs of flexible production. Moreover, the adjustment precision is extremely low, and it is seriously dependent on the experience of the operator, and it is impossible to guarantee the consistency of the spacing parameters in batch production. When welding symmetrical welds, the deviation of the spacing will directly cause the asymmetry of the heat input on both sides, causing the workpiece to twist and deform, or the weld on one side to be insufficient in penetration and the weld on the other side to be excessively burned through, resulting in welding quality defects.

[0004] In addition, in the traditional equipment, the angle adjustment mechanism of each welding gun head is also simple and rigid, and usually needs to loosen an additional locking device and manually turn the welding gun head to the desired angle. This process has the following problems:

[0005] 1. Many traditional welding guns only provide single-dimensional angle adjustment, and cannot flexibly and accurately position in multiple spatial angles required by complex workpieces;

[0006] 2. Once locked, the angle is fixed and cannot be dynamically compensated during the welding process according to the changes in the weld trajectory or the micro-deformation of the workpiece;

[0007] 3. For spaces with poor accessibility, such as the inside of a box beam or scenes that need to avoid fixture obstacles, the adjustment process is extremely dependent on repeated trial and error, the debugging period is long, and collision accidents caused by posture estimation errors are likely to occur;

[0008] It is worth noting that if a common steering motor is simply added to the traditional welding gun head to realize electric angle adjustment, there are still significant limitations: the volume and weight of the motor itself will also increase the inertia of the welding gun, affecting the motion accuracy and dynamic performance of the robot, and the harsh working conditions such as strong electromagnetic interference, high temperature and vibration during the welding process can easily affect the stability of the motor control, which may cause positioning deviation or loss of control. SUMMARY

[0009] The present application aims to provide a double-head welding gun and a method for using the same, and aims to solve the problems in the prior art.

[0010] The present application is achieved in a double-head welding gun, which comprises a sheath pipe, a connecting bridge, two main outer pipes, two secondary outer pipes and two welding gun heads.

[0011] The connecting bridge is arranged at the end of the sheath pipe.

[0012] The two main outer pipes are arranged in parallel and rotatably mounted on the connecting bridge.

[0013] The connecting bridge is provided with a reversing motor for driving the two main outer pipes to synchronously rotate in the same direction or in the opposite direction around their own axes, with a rotation angle range of 0° to 90°.

[0014] The end of each main outer pipe is hinged to a secondary outer pipe, and a first angle motor is mounted on the outer sidewall of the main outer pipe for driving the secondary outer pipe to rotate at the hinged point, with a rotation angle range of 0° to 180°.

[0015] The end of each secondary outer pipe is hinged to a welding gun head, and a second angle motor is mounted on the outer sidewall of the main outer pipe for driving the welding gun head to rotate at the hinged point, with a rotation angle range of 0° to 180°.

[0016] Preferably, the inside of the main outer pipe and the secondary outer pipe is provided with a limiting piece.

[0017] The inside of the sheath pipe is provided with a cable, which is guided by the limiting piece and introduces a gas pipe and a water cooling pipe to the welding gun head, and the cable is provided with a Foniex quick plug, a gas connector and a water connector at the other end of the sheath pipe.

[0018] Preferably, the connecting bridge is provided with a cover plate on the surface, the end of each main outer pipe is provided with a reversing gear outside, the reversing gears abut the inside of the cover plate, and the two reversing gears are meshed with each other.

[0019] The reversing motor is mounted on the outside of the connecting bridge, and the output shaft thereof is drivingly connected to one of the main outer pipes through a belt.

[0020] Preferably, the inside of the main outer pipe is supported by a sleeve rod and an inner rod nested with each other through a bearing, and the output shaft of the first angle motor is drivingly connected to the end of the sleeve rod through a belt.

[0021] The end of the inner rod extends outwardly and out of the sleeve rod, and the output shaft of the second angle motor is drivingly connected to the extension of the inner rod through a belt.

[0022] Preferably, the first transmission tooth groove is arranged on the side of the secondary outer tube where the secondary outer tube is hinged to the primary outer tube, and the end of the sleeve rod extends to the hinged position of the primary outer tube and is connected with a driving tooth ring through a connecting rod, and the driving tooth ring is engaged with the first transmission tooth groove.

[0023] Preferably, the universal joint is arranged at the hinged position of the secondary outer tube and the primary outer tube, and the driving rod extends into the secondary outer tube through the universal joint.

[0024] The universal joint comprises two groups of telescopic rods inserted into the ends of the inner rod and the driving rod respectively, and the telescopic rods are provided with limiting grooves, and the inner sides of the ends of the inner rod and the driving rod are provided with limiting plates and springs, the limiting plates are slidingly fitted into the limiting grooves, and the springs abut against the ends of the telescopic rods.

[0025] Preferably, the end of the welding gun head is provided with a connecting block hinged to the end of the secondary outer tube, and the end of the connecting block is provided with an arc-shaped second transmission tooth groove.

[0026] The end of the driving rod is sleeved with a driving gear, and the driving gear is engaged with the second transmission tooth groove.

[0027] Preferably, the outer part of each primary outer tube is sleeved with a clamping sleeve.

[0028] The clamping sleeve of one of the primary outer tubes is fixedly connected with a fluorine tube, and the outer periphery of the fluorine tube is covered with a braided tube.

[0029] A method for using a double-head welding gun, applied to the double-head welding gun, comprising the following steps:

[0030] Step one: according to the interval and space direction of the two welds on the workpiece to be welded, the target horizontal interval, target deflection angle and target pitch angle of the two welding gun heads are determined;

[0031] Step two: the reversing motor is started to drive the two primary outer tubes to rotate synchronously around their own axes in the same direction or in opposite directions, thereby driving the two secondary outer tubes to spin in the horizontal plane and adjusting the included angle between the two welding gun heads and the welding points;

[0032] Step three: each first angle motor is started to drive the secondary outer tube to rotate around the hinged point of the secondary outer tube and the primary outer tube through the sleeve rod and the driving tooth ring transmission, thereby adjusting the deflection angle of the welding gun head;

[0033] Step four: each second angle motor is started to drive the welding gun head to rotate around the hinged point of the welding gun head and the secondary outer tube through the inner rod, the universal joint, the driving rod and the driving gear transmission, thereby adjusting the pitch angle of the welding gun head;

[0034] Step five: during the welding process, according to the preset program or the real-time feedback of the welding position information of the sensor, the reversing motor, the first angle motor and the second angle motor are dynamically controlled to realize the real-time tracking and adaptive adjustment of the distance, deflection angle and pitch angle of the two welding gun heads, so as to adapt to the change of the welding seam track.

[0035] The beneficial effects of the double-head welding gun and the use method thereof disclosed by the application are:

[0036] 1、The scheme automatically adjusts the distance between the welding gun heads, discards the traditional manual wrench adjustment, realizes the motorization, precision and programmed control of the distance, pitch angle and deflection angle of the welding gun heads through the reversing motor, the first angle motor and the second angle motor, greatly improves the adjustment efficiency and precision, adapts to the flexible production demand, and fundamentally avoids the quality defects caused by the distance deviation;

[0037] 2、The scheme has the ability of flexible and accurate positioning of each welding gun head in a complex space, and can dynamically and real-time compensate according to the welding seam track, significantly improves the adaptability to poor accessibility space such as the inside of a box beam, and effectively avoids the debugging collision accident;

[0038] 3、The scheme assembles the motors for adjusting the welding gun heads on the main outer pipe, and through the compact mechanical design thereof, the system inertia is controlled as much as possible while realizing the multifunction, and the dynamic performance of the movement of the double-head welding gun is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 is a schematic view of a double-head welding gun provided by an embodiment of the application;

[0040] Figure 2 is a schematic view of a second state of a double-head welding gun provided by an embodiment of the application;

[0041] Figure 3 is a schematic view of another perspective view of a double-head welding gun provided by an embodiment of the application;

[0042] Figure 4 is a schematic view of a double-head welding gun provided by an embodiment of the application Figure 3 is a partial internal view schematic view of A in the double-head welding gun;

[0043] Figure 5 is a partial internal structure schematic view of the double-head welding gun Figure 3 provided by an embodiment of the application;

[0044] Figure 6 is a partial internal view schematic view of B in the double-head welding gun Figure 3 provided by an embodiment of the application;

[0045] Figure 7is a partial internal view schematic diagram of a universal joint of a double-head welding gun provided by an embodiment of the present application.

[0046] Figure 8 is a partial structure schematic diagram of a secondary outer tube of a double-head welding gun provided by an embodiment of the present application.

[0047] Figure 9 is a partial internal view schematic diagram of a double-head welding gun provided by an embodiment of the present application. Figure 3

[0048] Label description:

[0049] 1, sheath pipe; 2, connecting bridge; 3, main outer tube; 4, secondary outer tube; 5, welding gun head; 6, cable; 7, tetrafluoro tube;

[0050] 21, cover plate; 22, reversing motor;

[0051] 31, reversing gear; 32, sleeve rod; 321, first angle motor; 322, connecting rod; 323, driving gear ring;

[0052] 33, inner rod; 331, second angle motor; 332, universal joint; 333, driving rod; 334, driving gear;

[0053] 34, clamping sleeve;

[0054] 3321, telescopic rod; 3331, limiting plate; 3332, spring;

[0055] 41, first transmission gear slot; 51, connecting block; 52, second transmission gear slot;

[0056] 61, Fournier quick plug; 62, gas connector; 63, water connector;

[0057] 71, braided tube. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application is further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application.

[0059] ​The same or similar reference numerals in the drawings of the embodiments correspond to the same or similar components; in the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the terms describing the positional relationship in the drawings are only used for exemplary illustration, and cannot be understood as a limitation on the present application, for those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0060] The implementation of the present application is described in detail below in combination with specific embodiments.

[0061] In the present embodiment:

[0062] Referring to Figures 1-3 , a preferred embodiment of the present application is provided.

[0063] The double-head welding gun of the present embodiment comprises a sheath pipe 1, a connecting bridge 2, two main outer pipes 3, two secondary outer pipes 4 and two welding gun heads 5;

[0064] The connecting bridge 2 is arranged at the end of the sheath pipe 1, and the sheath pipe 1 is used to assemble the double-head welding gun on the welding machine gantry;

[0065] The two main outer pipes 3 are arranged in parallel and are rotatably mounted on the connecting bridge 2, and the connecting bridge 2 is provided with a reversing motor 22 for driving the two main outer pipes 3 to synchronously rotate in opposite directions or in reverse directions about their own axes, with a rotation angle range of 0° to 90°, so as to switch the two welding gun heads 5 to realize same-side welding or opposite-side welding on the workpiece, or to adjust the included angle between the welding gun heads 5 and the welding points;

[0066] The end of each main outer pipe 3 is hingedly connected with a secondary outer pipe 4, and the outer side wall of the main outer pipe 3 is provided with a first angle motor 321 for driving the secondary outer pipe 4 to rotate at the hinged connection point, with a rotation angle range of 0° to 180°, and the end of each secondary outer pipe 4 is hingedly connected with a welding gun head 5, and the outer side wall of the main outer pipe 3 is provided with a second angle motor 331 for driving the welding gun head 5 to rotate at the hinged connection point, with a rotation angle range of 0° to 180°, so as to determine the target horizontal distance, target deflection angle and target pitch angle of the two welding gun heads 5 according to the distance and spatial trend of the two welds on the workpiece to be welded; at the same time, the reversing motor 22, the first angle motor 321 and the second angle motor 331 can be dynamically controlled according to the preset program or the real-time feedback of the weld position information by the sensor, so as to realize real-time tracking and adaptive adjustment of the distance, deflection angle and pitch angle of the two welding gun heads 5, so as to adapt to the change of the weld trajectory.

[0067] Wherein, the inside of the main outer tube 3 and the secondary outer tube 4 are provided with limit pieces; the inside of the sheath tube 1 is provided with a cable 6, the cable 6 is guided by the limit pieces, and the cable 6 introduces the air pipe and the water cooling pipe to the welding torch head 5, the other end of the cable 6 in the sheath tube 1 is provided with a Foniex quick plug 61, an air joint 62 and a water joint 63, the Foniex quick plug 61 is used for quick connection of power supply, the air joint 62 is used for access of protective gas, and the water joint 63 is used for access of cooling water, so as to cool the welding torch head 5, prevent overheating due to long time work, and through the guiding effect of the limit pieces, the cable 6, the air pipe and the water cooling pipe are orderly arranged in the inside of the main outer tube 3 and the secondary outer tube 4, so as to avoid mutual entanglement, and ensure the stability and reliability of the welding and adjustment process.

[0068] Referring to Figure 4 As shown in the figure, in order to realize the above-mentioned switching of the two welding torch heads 5 to realize the same side welding or opposite side welding of the workpiece, and adjust the angle between the welding torch head 5 and the welding point, the surface of the connecting bridge 2 is provided with a cover plate 21, the outer side of the end of the two main outer tubes 3 is provided with a reversing gear 31, the reversing gear 31 abuts the inner side of the cover plate 21, and the two reversing gears 31 are meshed with each other, the reversing motor 22 is installed outside the connecting bridge 2, the output shaft of the reversing motor 22 is drivingly connected with one of the main outer tubes 3 through a belt, when the output shaft of the reversing motor 22 drives one of the main outer tubes 3 to rotate through the belt, the other main outer tube 3 will realize synchronous reverse rotation due to the meshing of the reversing gears 31, so as to accurately control the adjustment of the angle between the welding torch head 5 and the welding point, so as to meet the requirements of different welding processes on the welding angle, and improve the welding quality and flexibility;

[0069] At the same time, when the two welding torch heads 5 are rotated to the relative position, the inside and outside synchronous welding of the welding points of the front and rear parts of the workpiece can be realized.

[0070] Referring to Figure 5 As shown in the figure, the inside of the main outer tube 3 is supported by a sleeve rod 32 and an inner rod 33 which are nested with each other, and the output shaft of the first angle motor 321 is drivingly connected with the end of the sleeve rod 32 through a belt; the end of the inner rod 33 extends outward and out of the sleeve rod 32, and the output shaft of the second angle motor 331 is drivingly connected with the extension through a belt, so that the first angle motor 321 and the second angle motor 331 can independently complete the rotation control of the sleeve rod 32 and the inner rod 33 which are nested with each other through the belt of the output shaft;

[0071] Further, referring to Figures 6-8As shown, the side of the secondary outer tube 4 hinged with the primary outer tube 3 is provided with a first transmission gear slot 41, the end of the sleeve rod 32 extends to the hinge of the primary outer tube 3 and is connected with a driving gear ring 323 through a connecting rod 322, the driving gear ring 323 is engaged with the first transmission gear slot 41, the sleeve rod 32 drives the driving gear ring 323 to rotate through the connecting rod 322, drives the first transmission gear slot 41 engaged with it in turn, and drives the secondary outer tube 4 hinged with the primary outer tube 3 to rotate;

[0072] Notably, the inner rod 33 is connected with a universal joint 332 at the hinge of the secondary outer tube 4 and the primary outer tube 3, and is connected with a driving rod 333 extending into the inside of the secondary outer tube 4 through the universal joint 332, the universal joint 332 includes two groups of telescopic rods 3321 inserted into the ends of the inner rod 33 and the driving rod 333 respectively, the telescopic rods 3321 are provided with limiting grooves, the inner side of the end of the inner rod 33 and the driving rod 333 is provided with a limiting plate 3331 and a spring 3332, the limiting plate 3331 is slidingly fitted in the limiting groove, and the spring 3332 abuts against the end of the telescopic rod 3321, which makes the inner rod 33 drive the driving rod 333 to rotate without affecting the rotation of the secondary outer tube 4 along the hinge of the primary outer tube 3, at the same time, the telescopic rods 3321 are arranged to slide inside the inner rod 33 and the driving rod 333 on the universal joint 332, which has a certain redundant space during the adjustment of the angle of the secondary outer tube 4, avoids the situation of being locked, and improves the adjustment reliability of the double-head welding gun, the limiting plate 3331 and the limiting groove can ensure that the inner rod 33 can still drive the driving rod 333 to rotate when the universal joint 332 slides through the telescopic rods 3321 at the ends of the inner rod 33 and the driving rod 333;

[0073] Among them, Figure 9 The end of the welding gun head 5 is provided with a connecting block 51 hinged with the end of the secondary outer tube 4, the end of the connecting block 51 is provided with an arc-shaped second transmission gear slot 52, the end of the driving rod 333 is sleeved with a driving gear 334, the driving gear 334 is engaged with the second transmission gear slot 52, the driving rod 333 drives the connecting block 51 with the second transmission gear slot 52 to rotate along the hinge thereof through the driving gear 334, thereby adjusting the angle of the welding gun head 5.

[0074] The clamping sleeve 34 is sleeved on the outside of each main outer pipe 3, one of the clamping sleeves 34 is fixedly connected with a Teflon pipe 7, the Teflon pipe 7 is wrapped with a braided pipe 71, the Teflon pipe 7 is used for guiding a welding wire, the following property and flexibility of the Teflon pipe 7 in the adjusting process prevent the Teflon pipe 7 from being blocked in internal welding wire conveying due to excessive bending or twisting, and the smoothness of the wire feeding process is further ensured; moreover, the braided pipe 71 has good flexibility and tensile strength, can effectively protect the Teflon pipe 7 from being abraded and damaged by the external environment, prolongs the service life of the Teflon pipe 7, and reduces equipment maintenance cost and replacement frequency.

[0075] The application drives the two main outer pipes 3 to synchronously rotate or reversely rotate by 0-90° through the reversing motor 22, so that the two welding gun heads 5 are switched between the same side welding and opposite side welding modes and the horizontal included angle is adjusted; further, the first angle motor 321 installed on the main outer pipe 3 drives the sleeve rod 32, the driving gear ring 323 is engaged with the first transmission gear groove 41 on the secondary outer pipe 4, the secondary outer pipe 4 is controlled to swing by 0-180°, at the same time, the second angle motor 331 drives the inner rod 33, the power is transmitted to the driving gear 334 through the universal joint 332 and the driving rod 333, and finally the 0-180° deflection adjustment of the welding gun head 5 is realized through the engagement with the second transmission gear groove 52 on the welding gun head 5; the system can dynamically control the three motors according to the preset program or sensor feedback, so that the distance, deflection angle and pitch angle of the two welding gun heads 5 can track the change of the weld seam track in real time, and adaptive welding is realized.

[0076] The scheme discards the traditional manual wrench adjustment by automatically adjusting the distance between the welding gun heads 5, realizes the motorization, precision and programmed control of the distance, pitch angle and deflection angle of the welding gun heads 5 through the reversing motor 22, the first angle motor 321 and the second angle motor 331, greatly improves the adjustment efficiency and precision, adapts to the flexible production demand, and fundamentally avoids the quality defects caused by the distance deviation;

[0077] The scheme has the ability of flexible and accurate positioning of each welding gun head 5 in a complex space, can dynamically and real-timely compensate according to the weld seam track, significantly improves the adaptability to poor accessibility space such as the inside of a box beam, and effectively avoids the debugging collision accidents.

[0078] The scheme assembles the motors for adjusting the welding gun heads 5 on the main outer pipe 3, and controls the system inertia as much as possible while realizing the multifunction through the compact mechanical design (adopting the nested sleeve rod 32 and inner rod 33, universal joint 332 transmission and the like), and guarantees the dynamic performance of the movement of the double-head welding gun.

[0079] The embodiment also comprises a method for using the double-head welding gun, which is applied to the double-head welding gun and comprises the following steps: determining the target horizontal distance, the target deflection angle and the target pitch angle of the two welding heads 5 according to the distance and the space trend of the two welds on the workpiece to be welded; starting the reversing motor 22 to drive the two main outer pipes 3 to rotate synchronously towards or reversely around the axes thereof, drive the two secondary outer pipes 4 to spin in the horizontal plane, and adjust the included angle between the two welding heads 5 and the welding points; starting the first angle motor 321 respectively to drive the secondary outer pipe 4 to rotate around the hinge joint between the secondary outer pipe 4 and the main outer pipe 3 through the sleeve rod 32 and the driving gear ring 323, and adjust the deflection angle of the welding head 5; starting the second angle motor 331 respectively to drive the welding head 5 to rotate around the hinge joint between the welding head 5 and the secondary outer pipe 4 through the inner rod 33, the universal joint 332, the driving rod 333 and the driving gear 334, and adjust the pitch angle of the welding head 5; during the welding process, dynamically controlling the reversing motor 22, the first angle motor 321 and the second angle motor 331 according to the preset program or the real-time feedback of the weld position information of the sensor, and realizing the real-time tracking and adaptive adjustment of the distance, the deflection angle and the pitch angle of the two welding heads 5 to adapt to the change of the weld track.

[0080] The above merely describes the preferred embodiments of the present application and is not used to limit the present application, and any modification, equivalent replacement and improvement within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A double head welding gun characterized by, It comprises a sheath pipe (1), a connecting bridge (2), two main outer pipes (3), two secondary outer pipes (4) and two welding torch heads (5); The connecting bridge (2) is arranged at the end of the sheath pipe (1); The two main outer pipes (3) are arranged in parallel and rotatably mounted on the connecting bridge (2); The connecting bridge (2) is provided with a reversing motor (22) for driving the two main outer pipes (3) to synchronously rotate in the same direction or in the opposite direction around their own axes, with the rotation angle ranging from 0° to 90°; The end of each main outer pipe (3) is hingedly connected with a secondary outer pipe (4), and a first angle motor (321) is mounted on the outer side wall of the main outer pipe (3) for driving the secondary outer pipe (4) to rotate at the hinged joint, with the rotation angle ranging from 0° to 180°; The end of each secondary outer pipe (4) is hingedly connected with a welding torch head (5), and a second angle motor (331) is mounted on the outer side wall of the main outer pipe (3) for driving the welding torch head (5) to rotate at the hinged joint, with the rotation angle ranging from 0° to 180°; The inside of the main outer pipe (3) is supported by a bearing with a sleeve rod (32) and an inner rod (33) nested with each other, and the output shaft of the first angle motor (321) is in transmission connection with the end of the sleeve rod (32) through a belt; The end of the inner rod (33) extends outward and out of the sleeve rod (32), and the output shaft of the second angle motor (331) is in transmission connection with the extension of the inner rod (33) through a belt; The side of the secondary outer pipe (4) hingedly connected with the main outer pipe (3) is provided with a first transmission gear slot (41), the end of the sleeve rod (32) extends to the hinged joint of the main outer pipe (3), and a driving gear ring (323) is connected through a connecting rod (322), and the driving gear ring (323) is in mesh with the first transmission gear slot (41); The inner rod (33) is connected with a universal joint (332) at the hinged joint of the secondary outer pipe (4) and the main outer pipe (3), and a driving rod (333) extending into the inside of the secondary outer pipe (4) is connected through the universal joint (332); The universal joint (332) comprises two groups of telescopic rods (3321) inserted into the ends of the inner rod (33) and the driving rod (333) respectively, the telescopic rods (3321) are provided with limiting grooves, the inner sides of the ends of the inner rod (33) and the driving rod (333) are provided with limiting plates (3331) and springs (3332), the limiting plates (3331) are slidingly fitted in the limiting grooves, and the springs (3332) abut against the ends of the telescopic rods (3321); The end of the welding torch head (5) is provided with a connecting block (51) hingedly connected with the end of the secondary outer pipe (4), and the end of the connecting block (51) is provided with an arc-shaped second transmission gear slot (52); The end of the driving rod (333) is sleeved with a driving gear (334), and the driving gear (334) is in mesh with the second transmission gear slot (52).

2. A double head welding gun as claimed in claim 1, characterized in that The inside of the main outer pipe (3) and the secondary outer pipe (4) is provided with a limiting piece. The sheath pipe (1) is internally provided with a cable (6) which is guided by a limiting sheet and introduces air pipe and water cooling pipe to the welding gun head (5), and the cable (6) is provided with a Foni fast plug (61), an air joint (62) and a water joint (63) at the other end of the sheath pipe (1).

3. A double head welding gun as defined in claim 1, characterized in that The connecting bridge (2) is provided with a cover plate (21) on the surface, the outer side of the end of the two main outer pipes (3) is provided with a reversing gear (31), the reversing gear (31) abuts with the inner side of the cover plate (21), and the two reversing gears (31) are engaged with each other; The reversing motor (22) is installed outside the connecting bridge (2), and the output shaft is drivingly connected with one of the main outer pipes (3) through a belt.

4. A double head welding gun as defined in claim 1, characterized in that The outer part of each main outer pipe (3) is provided with a clamping sleeve (34); The clamping sleeve (34) of one of the main outer pipes (3) is fixedly connected with a Teflon pipe (7), and the outer periphery of the Teflon pipe (7) is covered with a braided tube (71).

5. A method of using a double ended welding gun, characterized by, The double-head welding gun is applied to any one of claims 1-4, and comprises the following steps: Step one: according to the interval and space direction of the two welds on the workpiece to be welded, the target horizontal interval, target deflection angle and target pitch angle of the two welding gun heads (5) are determined; Step two: the reversing motor (22) is started to drive the two main outer pipes (3) to synchronously rotate around the axis in the same direction or in the opposite direction, thereby driving the two secondary outer pipes (4) to spin in the horizontal plane, and adjusting the included angle between the two welding gun heads (5) and the welding points; Step three: each first angle motor (321) is started to drive the secondary outer pipe (4) to rotate around the hinge point of the secondary outer pipe (4) and the main outer pipe (3) through the sleeve rod (32) and the driving gear ring (323), thereby adjusting the deflection angle of the welding gun head (5); Step four: each second angle motor (331) is started to drive the welding gun head (5) to rotate around the hinge point of the welding gun head (5) and the secondary outer pipe (4) through the inner rod (33), the universal joint (332), the driving rod (333) and the driving gear (334), thereby adjusting the pitch angle of the welding gun head (5); Step five: during the welding process, the reversing motor (22), the first angle motor (321) and the second angle motor (331) are dynamically controlled according to the preset program or the real-time feedback of the weld position information, so as to realize the real-time tracking and adaptive adjustment of the interval, deflection angle and pitch angle of the two welding gun heads (5), thereby adapting to the change of the weld trajectory.

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