A synchronous offset pendulum dual-welding gun welding device and method

Abstract

The application discloses a synchronous offset pendulum type double-welding-gun welding device and method, which comprises driving devices, pose adjusting devices and welding devices connected in sequence; the driving devices are fixed on the periphery of a workpiece to be welded, and the driving devices drive the driving devices to move along the periphery of the workpiece to be welded; the pose adjusting devices comprise first adjusting mechanisms arranged on the driving devices and used for axial adjustment and second adjusting mechanisms arranged on the first adjusting mechanisms and used for radial adjustment; the welding devices are arranged on the second adjusting mechanisms, two welding guns are arranged on the welding devices, the two welding guns are synchronously offset through the driving of the welding devices, and two molten pool monitors used for monitoring the welding processes of the two welding guns are further arranged on the welding devices; and a weld scanning device used for scanning the weld form is arranged on the driving device; the scheme can improve the welding efficiency, improve the welding precision and realize high-precision welding.

Description

Technical Field

[0001] This invention relates to the field of welding technology, and specifically to a synchronous offset pendulum double welding torch welding device and method. Background Technology

[0002] Currently, traditional manual welding and single-gun multi-layer welding technologies are limited by problems such as concentrated heat input and low welding efficiency, making it difficult to meet the production needs of large or high-precision components. While the introduction of dual welding guns can improve welding efficiency and save manpower and resources, dual welding gun devices mostly use independent drive systems, resulting in the two welding guns having basically the same swing trajectory. The adjustment of the distance between the welding guns, the angular distance, and the angle between the welding guns and the weld seam mostly depends on manual operation, which is difficult to meet the requirements of high-precision welding. Existing dual-gun equipment lacks a dynamic offset compensation mechanism when swinging synchronously, which is prone to stress concentration due to mechanical errors, affecting the welding strength. At the same time, existing dual-gun welding technologies mostly use fixed protective shells, which cannot dynamically follow the movement of the welding guns, making the equipment components susceptible to spatter contamination and shortening their service life.

[0003] Therefore, there is an urgent need for a dual-welding gun welding device that is suitable for multiple pipe diameters, has movable protection, and can perform synchronous offset swing welding. This device is of great significance for improving welding efficiency, enhancing welding accuracy, and achieving high-precision welding. Summary of the Invention

[0004] To address the aforementioned shortcomings of the prior art, this invention provides a synchronous offset swing-type dual welding gun welding device and method, aiming to solve the technical problems mentioned in the background art and achieve efficient, high-precision, and high-quality welding.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0006] In a first aspect, a synchronous offset pendulum-type dual welding torch welding device is provided, comprising a driving device, a posture adjustment device, and a welding device connected in sequence; the driving device is fixed to the periphery of the workpiece to be welded, and the driving device drives itself to move in a circular motion along the periphery of the workpiece to be welded; the posture adjustment device includes a first adjustment mechanism disposed on the driving device for axial adjustment and a second adjustment mechanism disposed on the first adjustment mechanism for radial adjustment; the welding device is disposed on the second adjustment mechanism, and two welding torches are disposed on the welding device, and the two welding torches are synchronously offset by the driving of the welding device; the welding device is also provided with two molten pool monitors for monitoring the welding process of the two welding torches respectively; the driving device is provided with a weld scanning device for scanning the weld morphology; the driving device, the posture adjustment device, the welding device, and the weld scanning device are all electrically connected to a control terminal.

[0007] Furthermore, the drive device includes a ring track and a movable base disposed on the ring track. The ring track is fixedly installed on the periphery of the workpiece to be welded, and the movable base is provided with a drive wheel that rolls with the outer wall of the ring track and a clamping wheel that rolls with the inner wall of the ring track.

[0008] Furthermore, the first adjustment mechanism includes a housing, on which a first telescopic cylinder is provided, and the telescopic direction of the first telescopic cylinder is parallel to the axis of the workpiece to be welded. The second adjustment mechanism includes a second telescopic cylinder provided at the telescopic end of the first telescopic cylinder, and the telescopic direction of the second telescopic cylinder is located in the radial direction of the workpiece to be welded. The telescopic end of the second telescopic cylinder is provided with a sliding component for fixing and installing the welding device.

[0009] Furthermore, the sliding assembly includes an L-shaped sliding plate, which includes a first rib and a second rib that are perpendicular to each other. The first rib is connected to the telescopic end of the second telescopic cylinder. A slide rail is provided on one side of the second telescopic cylinder. The second rib slides in cooperation with the slide rail. The welding device is fixed on the second rib.

[0010] Furthermore, the welding device includes a back plate, one end of which is rotatably connected to one end of the first horizontal plate via a hinge. The back plate is provided with an electric push rod for driving the first horizontal plate to swing. The other end of the first horizontal plate is provided with a first side plate, on which a rotary motor is provided. A second side plate parallel to the first side plate is provided on the shaft of the rotary motor. One end of the second side plate is provided with a second horizontal plate parallel to the first horizontal plate. Two angle adjusters are provided on the second horizontal plate, and clamping plates are provided on the angle adjusters. Two welding torches are respectively fixed on the two clamping plates. The rotation axis of the angle adjuster is perpendicular to the rotation axis of the rotary motor.

[0011] Furthermore, a transmission slide rail is provided on the first horizontal plate, and a transmission slider is slidably mounted on the transmission slide rail. The telescopic end of the electric push rod is pivotally connected to the transmission slider.

[0012] Furthermore, the two welding torches are surrounded by a protective shell, which includes a top plate, a left side plate, a right side plate, and a front plate that are fixedly connected to the back plate. The front plate, left side plate, and right side plate are all provided with light-transmitting sheets, and the front plate and back plate are all provided with spring sheets. The top plate is provided with a smoke exhaust hole.

[0013] Furthermore, two molten pool monitors are movably mounted on the left and right side plates, respectively, and are connected to an electric push rod via two linkage mechanisms. The linkage mechanisms include a first transverse slide rail and a longitudinal slide rail mounted on the back plate. A first slider is slidably mounted on the first transverse slide rail and is connected to the telescopic end of the electric push rod via a hinged rod. A second slider and a third slider are slidably mounted on the longitudinal slide rail and are connected to each other via a connecting rod. The second and third sliders are respectively provided with a first inclined groove and a second inclined groove. One end of the first slider is connected to the first push rod, and the other end of the first push rod is provided with a sliding head that slidably engages with the first inclined groove. A second transverse slide rail and a circular tube are provided on both the left and right side plates. A fourth slider is slidably mounted on the second transverse slide rail and is slidably engaged with the second inclined groove. The fourth slider is connected to the molten pool monitor via the second push rod, and the molten pool monitor is rotatably mounted on the end of the second push rod via a rotating head. A spiral groove is provided on the circular tube, and the rotating head is slidably mounted on the spiral groove.

[0014] Furthermore, the weld scanning device includes an L-shaped adapter plate fixed on the drive device, a movable slide is provided on the L-shaped adapter plate, and the moving direction of the movable slide is parallel to the axis of the workpiece to be welded. A rotary table is provided at the front end of the movable slide, and the rotary table is connected to the laser vision sensor through a mounting plate.

[0015] Secondly, a welding method for a synchronous offset swing-type dual welding gun welding device is provided, which includes the following steps:

[0016] S1: Grind the workpiece before welding and install a synchronous offset swing double welding gun welding device on its periphery.

[0017] S2: Adjust the position and angle of the two welding torches by using the drive device, posture adjustment device and welding device until the two welding torches are at the lowest end of the weld bevel and the line connecting the two welding torches forms a certain angle with the weld.

[0018] S3: The weld seam shape is scanned by the weld seam scanning device, and the weld seam position data is collected by the image processing algorithm. The control terminal plans the welding path of the two welding guns according to the weld seam position data.

[0019] S4: Drive the two welding torches to perform synchronous offset swing welding according to the planned route through the drive device, posture adjustment device and welding device. At the same time, the molten pool morphology and the relative positions of the molten pool, welding wire and weld are monitored by two molten pool monitors during the welding process. If the molten pool is detected to deviate from the weld, step S5 is executed. Otherwise, the welding task continues until the welding filling at the weld bevel is completed, and then step S6 is executed.

[0020] S5: Stop the welding task and repeat steps S2-S4;

[0021] S6: Repeat steps S2-S4 to fill the weld bevel at the next location until all weld bevels are filled. Finally, remove the synchronous offset swing double welding gun welding device.

[0022] The beneficial effects of this invention are as follows:

[0023] 1. This solution achieves synchronous oscillation of two welding torches through a rotary motor, and drives the first horizontal plate to rotate around the hinge through a push rod motor, realizing dynamic and synchronous offset of the two welding torches in the vertical welding direction. This composite motion mechanism of synchronous oscillation and dynamic offset breaks the limitation of traditional dual welding torches that can only move along the same trajectory. It allows the molten pool generated by the two arcs to cover a wider bevel section, and can complete the multi-layer filling of a large bevel in one welding stroke, thereby greatly improving welding efficiency. In addition, the composite trajectory can optimize the heat source distribution and stir the molten pool, making the molten pool metal filling more uniform and sufficient, significantly reducing defects such as porosity and lack of fusion, and improving the weld formation quality and mechanical properties.

[0024] 2. This solution uses a laser vision sensor in conjunction with a molten pool monitor to create a closed-loop control system of "perception-decision-execution" for the welding process. This allows the solution to automatically adapt to changes in weld processing errors, assembly misalignment, and bevel dimensions, adjusting the welding torch position in real time to ensure the arc is always in the optimal welding position. This achieves high-precision adaptive welding, greatly reducing reliance on operator experience and ensuring the stability of the welding process and the consistency of results.

[0025] 3. The two weld pool monitors in this solution can adaptively adjust their positions according to the offset of the two welding torches. When the telescopic end of the electric push rod extends and drives the two welding torches to offset, it can drive the first slider and the first push rod to slide laterally. The cooperation between the first push rod and the first inclined groove can convert the lateral sliding into the longitudinal sliding of the second slider and the third slider. The cooperation between the fourth slider and the second inclined groove can convert the longitudinal sliding into the lateral sliding of the fourth slider, thereby pushing the weld pool monitor to move. Furthermore, the weld pool monitor can undergo angular deflection under the limiting action of the spiral groove. Through the stroke design of the first inclined groove, the second inclined groove, and the spiral groove, the weld pool monitor can adaptively move and deflect in the direction of welding torch offset, so that the two weld pool monitors can always monitor the welding process of the two welding torches to prevent welding deviation.

[0026] 4. This solution forms a dynamically moving protective zone through the protective shell, effectively blocking the contamination and burns of various components by splashes, greatly extending the service life of each component; at the same time, it avoids interference from the external environment on welding, and achieves the visibility of welding through the light-transmitting sheet. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the first structure of a synchronous offset pendulum double welding gun welding device.

[0028] Figure 2 This is a schematic diagram of the second structure of the synchronous offset swing-type double welding gun welding device.

[0029] Figure 3 This is a schematic diagram of the third structure of a synchronous offset pendulum double welding gun welding device.

[0030] Figure 4 This is a schematic diagram of the first structure of the welding device.

[0031] Figure 5 This is a schematic diagram of the second structure of the welding device.

[0032] Figure 6 This is a schematic diagram of the linkage mechanism.

[0033] Figure 7 A three-dimensional point cloud diagram of the working space of a synchronous offset pendulum double welding gun welding device.

[0034] Figure 8 This is a cloud diagram of the welding points of a synchronous offset pendulum double welding gun welding device.

[0035] Among them, 1. drive device, 11. movable base, 12. drive wheel, 13. clamping wheel;

[0036] 2. Posture adjustment device; 21. Housing; 22. First telescopic cylinder; 23. Second telescopic cylinder; 24. First rib; 25. Second rib; 26. Slide rail.

[0037] 3. Welding device; 31. Welding torch; 32. Molten pool monitor; 33. Back plate; 34. First horizontal plate; 35. Hinge; 36. Electric push rod; 37. First side plate; 38. Rotary motor; 39. Second side plate; 310. Second horizontal plate; 311. Angle adjuster; 312. Clamping plate; 313. Transmission slide rail; 314. Transmission slider.

[0038] 4. Protective outer shell; 41. Top plate; 42. Left side plate; 43. Right side plate; 44. Front plate; 45. Light-transmitting sheet; 46. Spring sheet;

[0039] 5. Linkage mechanism; 51. First transverse slide rail; 52. Longitudinal slide rail; 53. First slider; 54. Hinge rod; 55. Connecting rod; 56. Second slider; 57. Third slider; 58. First inclined groove; 59. Second inclined groove; 510. First push rod; 511. Second transverse slide rail; 512. Round tube; 513. Fourth slider; 514. Second push rod; 515. Rotating head; 516. Spiral groove.

[0040] 6. Weld seam scanning device; 61. L-shaped adapter plate; 62. Moving slide table; 63. Rotary table; 64. Mounting plate; 65. Laser vision sensor. Detailed Implementation

[0041] The specific embodiments of the present invention are described below to enable those skilled in the art to understand the present invention. However, it should be understood that the present invention is not limited to the scope of the specific embodiments. For those skilled in the art, various changes are obvious as long as they are within the spirit and scope of the present invention as defined and determined by the appended claims. All inventions utilizing the concept of the present invention are protected.

[0042] Example 1

[0043] like Figures 1 to 6 As shown, the synchronous offset swing-type dual welding torch welding device 3 of this scheme includes a driving device 1, a posture adjustment device 2, and a welding device 3 connected in sequence. The driving device 1 is fixed on the periphery of the workpiece to be welded, and the driving device 1 drives itself to move in a circular motion along the periphery of the workpiece to be welded. The posture adjustment device 2 includes a first adjustment mechanism set on the driving device 1 for axial adjustment and a second adjustment mechanism set on the first adjustment mechanism for radial adjustment. The welding device 3 is set on the second adjustment mechanism, and two welding torches 31 are set on the welding device 3. The two welding torches 31 are synchronously offset by the driving of the welding device 3. The welding device 3 is also equipped with two molten pool monitors 32 for monitoring the welding process of the two welding torches 31 respectively. The driving device 1 is equipped with a weld scanning device 6 for scanning the weld morphology. The driving device 1, posture adjustment device 2, welding device 3, and weld scanning device 6 are all electrically connected to a control terminal.

[0044] Example 2

[0045] like Figure 1 As shown, this embodiment, based on embodiment 1, provides a specific scheme for the driving device 1. The driving device 1 includes an annular track and a movable base 11 disposed on the annular track. The annular track is fixedly installed on the periphery of the workpiece to be welded. The movable base 11 is provided with a driving wheel 12 that rolls with the outer wall of the annular track and a clamping wheel 13 that rolls with the inner wall of the annular track. Under the combined action of the driving wheel 12 and the clamping wheel 13, the driving device 1 is limited to the annular track, and under the drive of the driving wheel 12, the driving device 1 can perform circumferential motion along the annular track.

[0046] Example 3

[0047] like Figure 2 and Figure 3As shown, this embodiment, based on embodiment 1, provides a specific scheme for the posture adjustment device 2. The first adjustment mechanism includes a housing 21, on which a first telescopic cylinder 22 is provided, and the telescopic direction of the first telescopic cylinder 22 is parallel to the axis of the workpiece to be welded. The second adjustment mechanism includes a second telescopic cylinder 23 provided at the telescopic end of the first telescopic cylinder 22, and the telescopic direction of the second telescopic cylinder 23 is located in the radial direction of the workpiece to be welded. The telescopic end of the second telescopic cylinder 23 is provided with a sliding assembly for fixing and installing the welding device 3. The sliding assembly includes an L-shaped sliding plate, which includes a first rib 24 and a second rib 25 that are perpendicular to each other. The first rib 24 is connected to the telescopic end of the second telescopic cylinder 23. A slide rail 26 is provided on one side of the second telescopic cylinder 23, and the second rib 25 slides in cooperation with the slide rail 26. The welding device 3 is fixed on the second rib 25.

[0048] This solution uses the first telescopic cylinder 22 and the second telescopic cylinder 23 to drive the two welding torches 31 to move along the axial and radial directions of the workpiece to be welded. At the same time, in conjunction with the drive device 1, the two welding torches 31 can be spatially adjusted around the workpiece to be welded.

[0049] Example 4

[0050] like Figure 4 and Figure 5 As shown, this embodiment, based on embodiment 1, provides a specific scheme for the welding device 3. The welding device 3 includes a back plate 33 disposed on the second rib 25. One end of the back plate 33 is rotatably connected to one end of the first horizontal plate 34 via a hinge 35. An electric push rod 36 for driving the first horizontal plate 34 to swing is disposed on the back plate 33. Specifically, a transmission slide rail 313 is disposed on the first horizontal plate 34, and a transmission slider 314 is slidably disposed on the transmission slide rail 313. The telescopic end of the electric push rod 36 is pivotally connected to the transmission slider 314. The other end of 34 is provided with a first side plate 37, on which a rotary motor 38 is provided. The rotating shaft of the rotary motor 38 is provided with a second side plate 39 parallel to the first side plate 37. One end of the second side plate 39 is provided with a second horizontal plate 310 parallel to the first horizontal plate 34. Two angle adjusters 311 are provided on the second horizontal plate 310. Clamping plates 312 are provided on the angle adjusters 311. Two welding guns 31 are fixed on the two clamping plates 312 respectively. The rotation axis of the angle adjuster 311 is perpendicular to the rotation axis of the rotary motor 38.

[0051] This solution achieves synchronous oscillation of two welding torches 31 through a rotary motor 38, and drives the first horizontal plate 34 to rotate around the hinge 35 through a push rod motor, realizing dynamic and synchronous offset of the two welding torches 31 in the vertical welding direction. By adjusting the angle adjuster 311, the focal point of the two welding torches 31 can be changed to adapt to different bevel angles and welding process requirements. This composite motion mechanism of synchronous oscillation and dynamic offset breaks the limitation of traditional double welding torches 31 only being able to move along the same trajectory. It allows the molten pool generated by the two arcs to cover a wider bevel cross section, and can complete the multi-layer filling of a large bevel in one welding stroke, thereby greatly improving welding efficiency. In addition, the composite trajectory can optimize the heat source distribution and stir the molten pool, making the molten pool metal filling more uniform and sufficient, significantly reducing defects such as porosity and lack of fusion, and improving the weld formation quality and mechanical properties.

[0052] Example 5

[0053] like Figure 2 and Figure 3 As shown, this embodiment is a further limitation based on embodiment 1. The two welding torches 31 are surrounded by a protective shell 4. The protective shell 4 includes a top plate 41, a left side plate 42, a right side plate 43 and a front plate 44, which are fixedly connected to the back plate 33. The front plate 44, the left side plate 42 and the right side plate 43 are all provided with light-transmitting sheets 45. The front plate 44 and the back plate 33 are all provided with spring sheets 46. The top plate 41 is provided with a smoke exhaust hole.

[0054] This solution forms a dynamically moving protective zone through the protective shell 4, effectively blocking the contamination and burns of various components by splashes, greatly extending the service life of each component; at the same time, it avoids interference from the external environment on welding, and achieves the visibility of welding through the light-transmitting sheet 45.

[0055] Example 6

[0056] like Figure 6As shown, this embodiment, based on embodiment 5, provides a specific scheme for the arrangement of the molten pool monitor 32. Two molten pool monitors 32 are respectively movably mounted on the left side plate 42 and the right side plate 43, and the two molten pool monitors 32 are respectively connected to the electric push rod 36 via two linkage mechanisms 5. The linkage mechanism 5 includes a first transverse slide rail 51 and a longitudinal slide rail 52 mounted on the back plate 33. A first slider 53 is slidably mounted on the first transverse slide rail 51, and the first slider 53 is connected to the telescopic end of the electric push rod 36 via a hinge rod 54. A second slider and a third slider 57 are slidably mounted on the longitudinal slide rail 52, connected to each other via a connecting rod 55. The second slider and the third slider 57 are respectively provided with… The first inclined groove 58 and the second inclined groove 59 are connected to one end of the first slider 53 and the first push rod 510. The other end of the first push rod 510 is provided with a sliding head that slides in cooperation with the first inclined groove 58. The left side plate 42 and the right side plate 43 are each provided with a second transverse slide rail 511 and a round tube 512. A fourth slider 513 is slidably arranged on the second transverse slide rail 511 and slides in cooperation with the second inclined groove 59. The fourth slider 513 is connected to the molten pool monitor 32 through the second push rod 514. The molten pool monitor 32 is rotatably arranged at the end of the second push rod 514 through the rotating head 515. The round tube 512 is provided with a spiral groove 516 and the rotating head 515 is slidably arranged on the spiral groove 516.

[0057] The two weld pool monitors 32 in this design can be adaptively adjusted in position according to the offset of the two welding torches 31. When the telescopic end of the electric push rod 36 extends and drives the two welding torches 31 to offset, it can drive the first slider 53 and the first push rod 510 to slide laterally. The cooperation between the first push rod 510 and the first inclined groove 58 can convert the lateral sliding into the longitudinal sliding of the second slider and the third slider 57. The cooperation between the fourth slider 513 and the second inclined groove 59 can convert the longitudinal sliding into the lateral sliding of the fourth slider 513, thereby pushing the weld pool monitors 32 to move. Furthermore, the weld pool monitors 32 can be deflected at an angle under the limiting action of the spiral groove 516. Through the stroke design of the first inclined groove 58, the second inclined groove 59 and the spiral groove 516, the weld pool monitors 32 can be adaptively moved and deflected in the offset direction of the welding torches 31, so that the two weld pool monitors 32 can always monitor the welding process of the two welding torches 31 to prevent welding deviation.

[0058] The molten pool monitor 32 in this solution has the following functions: 1. Real-time observation: Under strong arc light environment, it can clearly display the relative positions of the molten pool, welding wire, and weld; 2. Weld tracking: Automatically identify the weld position through image processing algorithms, thereby guiding the welding torch 31 to make adaptive adjustments to prevent weld deviation; 3. Defect detection: Predict or identify defects such as undercut, hump, burn-through, and porosity by monitoring the shape and oscillation of the molten pool; 4. Process recording and backtracking: Record video and data of the entire welding process for quality traceability and process analysis; 5. Temperature field monitoring: The molten pool monitor 32 can also provide the relative temperature distribution of the molten pool area.

[0059] Specifically, the molten pool monitor 32 in this solution needs to be aligned with the molten pool area at a specific angle and distance to obtain a clear image. Therefore, the molten pool monitor 32 is not directly mounted on the welding torch 31. If the molten pool monitor 32 were mounted on the welding torch 31, the vibration of the two welding torches 31 would affect the image stability of the molten pool monitor 32. The two welding torches 31 generate a large amount of heat during welding, making the molten pool monitor 32 closer to the welding torch 31 more susceptible to damage from high-temperature radiation, fumes, and splashed metal. Furthermore, the monitoring area of ​​the molten pool monitor 32 closer to the welding torch 31 is smaller, making it difficult to monitor the molten pool formation and weld condition during welding.

[0060] Example 7

[0061] like Figure 3 As shown, this embodiment provides a specific scheme for the weld scanning device 6 based on embodiment 1. The weld scanning device 6 includes an L-shaped adapter plate 61 fixed on the drive device 1. A movable slide 62 is provided on the L-shaped adapter plate 61, and the moving direction of the movable slide 62 is parallel to the axis of the workpiece to be welded. A rotary table 63 is provided at the front end of the movable slide 62. The rotary table 63 is connected to the laser vision sensor 65 through a mounting plate 64.

[0062] In conjunction with embodiments 1-7 above, this solution also provides a welding method for a synchronous offset swing-type double welding torch 31 welding device 3, which includes the following steps:

[0063] S1: Grind the workpiece before welding and install a synchronous offset swing double welding gun 31 welding device 3 on its periphery;

[0064] S2: Adjust the position and angle of the two welding torches 31 by driving device 1, posture adjustment device 2 and welding device 3 until the two welding torches 31 are located at the lowest end of the weld bevel and the line connecting the two welding torches 31 forms a certain angle with the weld.

[0065] S3: The weld shape is scanned by the weld scanning device 6, and the weld position data is collected by the image processing algorithm. The control terminal plans the welding path of the two welding guns 31 according to the weld position data.

[0066] S4: Drive the two welding torches 31 to perform synchronous offset swing welding according to the planned route through the drive device 1, the posture adjustment device 2 and the welding device 3. At the same time, the two molten pool monitors 32 monitor the molten pool shape and the relative position of the molten pool, welding wire and weld during the welding process of the two welding torches 31. If the molten pool is detected to deviate from the weld, then step S5 is executed. Otherwise, the welding task continues until the welding filling at the weld bevel is completed, and then step S6 is executed.

[0067] S5: Stop the welding task and repeat steps S2-S4;

[0068] S6: Repeat steps S2-S4 to fill the weld bevel for the next weld, until all weld bevels are filled. Finally, remove the synchronous offset swing double welding gun 31 welding device 3.

[0069] This solution utilizes a laser vision sensor 65 in conjunction with a molten pool monitor 32 to create a closed-loop control system for the welding process, encompassing "perception-decision-execution." This allows the solution to automatically adapt to variations in weld processing errors, assembly misalignments, and bevel dimensions, adjusting the welding torch 31's position in real time to ensure the arc is always in the optimal welding position. This achieves high-precision adaptive welding, significantly reducing reliance on operator experience and guaranteeing the stability and consistency of the welding process. This solution is widely applicable to various materials such as carbon steel, stainless steel, and aluminum alloys, and meets high-quality welding requirements for various bevel types, including V-groove and U-groove, demonstrating its strong practicality.

[0070] This scheme utilizes MATLAB mathematical tools to simulate the calculations involved in the control terminal, thereby solving for its working range. For example, selecting welding torch 31 as the end effector of the device, and taking the horizontal welding of the workpiece to be welded as the experimental requirement, the Monte Carlo method of MATLAB is used to simulate and calculate the working space of the device, which can yield a three-dimensional point cloud diagram of the working space of a synchronous offset pendulum double welding torch 31 welding device 3, such as... Figure 7 As shown; simultaneously, the working space of the welding range of this device is established, and the results are as follows: Figure 8 The approximately annular weld point cloud diagram shown provides a reliable simulation of the welding oscillation effect.

[0071] Although specific embodiments of the invention have been described in detail with reference to the accompanying drawings, this should not be construed as limiting the scope of protection of this patent. Various modifications and variations that can be made by a person skilled in the art without inventive effort within the scope described in the claims still fall within the scope of protection of this patent.

Claims

1. A synchronous offset swing-type double welding gun welding device, characterized in that, It includes a drive unit, a position adjustment unit, and a welding unit connected in sequence; The driving device is fixed to the periphery of the workpiece to be welded, and the driving device drives itself to make a circular motion along the periphery of the workpiece to be welded. The posture adjustment device includes a first adjustment mechanism disposed on the drive device for axial adjustment and a second adjustment mechanism disposed on the first adjustment mechanism for radial adjustment; The welding device is mounted on the second adjustment mechanism. The welding device is equipped with two welding torches, and the two welding torches are synchronously offset by the drive of the welding device. The welding device is also equipped with two molten pool monitors for monitoring the welding process of the two welding torches respectively. The drive device is equipped with a weld scanning device for scanning the weld morphology. The drive device, posture adjustment device, welding device, and weld scanning device are all electrically connected to the control terminal. The welding device includes a back plate, one end of which is rotatably connected to one end of a first horizontal plate via a hinge. The back plate is provided with an electric push rod for driving the first horizontal plate to swing. The other end of the first horizontal plate is provided with a first side plate. A rotary motor is provided on the first side plate. A second side plate parallel to the first side plate is provided on the rotating shaft of the rotary motor. One end of the second side plate is provided with a second horizontal plate parallel to the first horizontal plate. Two angle adjusters are provided on the second horizontal plate. Clamping plates are provided on the angle adjusters. Two welding torches are respectively fixed on the two clamping plates. The rotation axis of the angle adjuster is perpendicular to the rotation axis of the rotary motor. The two welding torches are surrounded by a protective shell, which includes a top plate, a left side plate, a right side plate and a front plate that are fixedly connected to the back plate. The front plate, the left side plate and the right side plate are each provided with a light-transmitting sheet. The front plate and the back plate are each provided with a spring sheet. The top plate is provided with a smoke exhaust hole. Two molten pool monitors are respectively movably mounted on the left and right side plates, and are connected to an electric push rod via two linkage mechanisms. Each linkage mechanism includes a first transverse slide rail and a longitudinal slide rail mounted on the back plate. A first slider is slidably mounted on the first transverse slide rail and is connected to the telescopic end of the electric push rod via a hinged rod. A second slider and a third slider are slidably mounted on the longitudinal slide rail and connected to each other via a connecting rod. The second and third sliders are respectively provided with a first inclined groove and a second inclined groove. One end of the first slider is connected to the first push rod, and the other end of the first push rod is provided with a sliding head that slidably engages with the first inclined groove. A second transverse slide rail and a circular tube are provided on both the left and right side plates. A fourth slider is slidably mounted on the second transverse slide rail and slidably engages with the second inclined groove. The fourth slider is connected to the molten pool monitor via the second push rod, and the molten pool monitor is rotatably mounted on the end of the second push rod via a rotating head. A spiral groove is provided on the circular tube, and the rotating head is slidably mounted on the spiral groove.

2. The synchronous offset swing-type double welding gun welding device according to claim 1, characterized in that, The driving device includes a ring track and a movable base mounted on the ring track. The ring track is fixedly installed around the workpiece to be welded. The movable base is provided with a drive wheel that rolls with the outer wall of the ring track and a clamping wheel that rolls with the inner wall of the ring track.

3. The synchronous offset swing-type double welding gun welding device according to claim 1, characterized in that, The first adjustment mechanism includes a housing, on which a first telescopic cylinder is provided, and the telescopic direction of the first telescopic cylinder is parallel to the axis of the workpiece to be welded. The second adjustment mechanism includes a second telescopic cylinder provided at the telescopic end of the first telescopic cylinder, and the telescopic direction of the second telescopic cylinder is located in the radial direction of the workpiece to be welded. The telescopic end of the second telescopic cylinder is provided with a sliding component for fixing and installing the welding device.

4. The synchronous offset swing-type double welding gun welding device according to claim 3, characterized in that, The sliding assembly includes an L-shaped sliding plate, which includes a first rib and a second rib that are perpendicular to each other. The first rib is connected to the telescopic end of the second telescopic cylinder. A slide rail is provided on one side of the second telescopic cylinder. The second rib slides in cooperation with the slide rail. The welding device is fixed on the second rib.

5. The synchronous offset swing-type double welding gun welding device according to claim 1, characterized in that, The first horizontal plate is provided with a transmission slide rail, and a transmission slider is slidably disposed on the transmission slide rail. The telescopic end of the electric push rod is pivotally connected to the transmission slider.

6. The synchronous offset swing-type double welding gun welding device according to claim 1, characterized in that, The weld scanning device includes an L-shaped adapter plate fixed on a drive device. A movable slide is provided on the L-shaped adapter plate, and the moving direction of the movable slide is parallel to the axis of the workpiece to be welded. A rotary table is provided at the front end of the movable slide, and the rotary table is connected to a laser vision sensor through a mounting plate.

7. A welding method using the synchronous offset pendulum double welding torch welding device according to any one of claims 1-6, characterized in that, Includes the following steps: S1: Grind the workpiece before welding and install a synchronous offset swing double welding gun welding device on its periphery. S2: Adjust the position and angle of the two welding torches by using the drive device, posture adjustment device and welding device until the two welding torches are at the lowest end of the weld bevel and the line connecting the two welding torches forms a certain angle with the weld. S3: The weld seam shape is scanned by the weld seam scanning device, and the weld seam position data is collected by the image processing algorithm. The control terminal plans the welding path of the two welding guns according to the weld seam position data. S4: Drive the two welding torches to perform synchronous offset swing welding according to the planned route through the drive device, posture adjustment device and welding device. At the same time, the molten pool morphology and the relative positions of the molten pool, welding wire and weld are monitored by two molten pool monitors during the welding process. If the molten pool is detected to deviate from the weld, step S5 is executed. Otherwise, the welding task continues until the welding filling at the weld bevel is completed, and then step S6 is executed. S5: Stop the welding task and repeat steps S2-S4; S6: Repeat steps S2-S4 to fill the weld bevel for the next weld, until all weld bevels are filled. Finally, remove the synchronous offset swing double welding gun welding device.

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