Tungsten electrode self-adaptive swing GTAW narrow-gap weld intelligent welding system

Abstract

The invention relates to the field of GTAW narrow-gap welding, in particular to an intelligent welding system and method for a GTAW narrow-gap welding seam with a self-adaptive swing tungsten electrode. The invention provides an intelligent welding system and method for a GTAW narrow-gap welding seam through self-adaptive swing of a tungsten electrode, and aims to solve the problem of how to fully fuse a side wall in a narrow, deep and long welding seam in the GTAW narrow-gap welding process. The swing amplitude of a tungsten electrode is controlled through a tungsten electrode self-adaptive swing GTAW narrow-gap weld joint intelligent welding tungsten electrode swing amplitude control method; the opening size of the gas hood is controlled through a tungsten electrode self-adaptive swing GTAW narrow-gap weld joint intelligent welding gas hood opening size self-adaptive control method; the swing direction of a tungsten electrode is controlled by using a tungsten electrode self-adaptive swing GTAW narrow-gap weld joint intelligent welding tungsten electrode swing direction control method; and the height of the tungsten electrode is controlled through the tungsten electrode height self-adaptive control method for GTAW narrow-gap weld joint intelligent welding through tungsten electrode self-adaptive swing.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of GTAW narrow gap welding, and is a tungsten electrode self-adaptive swing GTAW narrow gap weld intelligent welding system. BACKGROUND

[0002] In recent years, with the continuous improvement of the requirements for the welding quality and efficiency of large thick-walled components in the fields of energy and heavy machinery, the narrow gap GTAW (Gas Tungsten Arc Welding) technology has become a key process for the manufacture of medium-thick plate structures due to its small groove filling amount, low heat input, excellent deformation control and other characteristics. However, the narrow gap welding environment has strong constraints, and the side wall fusion requirement is high, and defects such as side wall unfusion are prone to occur in the deep groove, which poses great challenges to the welding gun posture, arc behavior and molten pool dynamic regulation. The present application proposes a tungsten electrode self-adaptive swing GTAW narrow gap weld intelligent welding system, which realizes weld tracking of the welding gun in the narrow gap weld to avoid the side wall through the fusion of visual and arc sensor information, and realizes small inertia swing in limited space to accurately control the heat source distribution state through the self-adaptive swing of the tungsten electrode. SUMMARY

[0003] The tungsten electrode adaptive swing GTAW narrow gap weld seam intelligent welding system is used for GTAW narrow gap welding, and is characterized by comprising a sliding table system, a welding gun clamp, a tungsten electrode adaptive swing GTAW welding gun, a sensing system and a communication and control system; the sliding table system comprises X-direction guide rails, Y-direction guide rails and Z-direction guide rails; one end of the welding gun clamp is mounted on the Z-direction guide rails and can move in the X, Y and Z directions, and the other end comprises a tungsten electrode adaptive swing GTAW welding gun mounting position; the tungsten electrode adaptive swing GTAW welding gun comprises a gas cover stepless adjustment mechanism, a tungsten electrode swing rotation mechanism and a tungsten electrode telescopic clamping mechanism; the gas cover stepless adjustment mechanism, the tungsten electrode swing rotation mechanism and the tungsten electrode telescopic clamping mechanism are mounted in the order from bottom to top; the gas cover stepless adjustment mechanism comprises four ceramic gas guide plates, four high-temperature spring metal gas guide plates, a gas-tight cylinder, a ceramic gas guide plate umbrella and a metal gas guide plate umbrella; the tungsten electrode swing rotation mechanism comprises an armature, a rotating seat, two transverse magnetic field electromagnets, an electromagnet rotating slide rail and two electromagnet sliding blocks; the tungsten electrode telescopic clamping mechanism comprises a tungsten electrode, a tungsten electrode clamping sliding block, a tungsten electrode clamping slide rail, two telescopic rods, a centering electromagnet and a rotating cylinder; the sensing system comprises a Hall voltage sensor, a structured light vision sensor, a resistance strain gauge and a data acquisition card; the structured light vision sensor comprises a line laser and a CCD camera; the communication and control system comprises an electric control cabinet and a control cabinet; the electric control cabinet is used for distributing and converting external power supply, supplying power to each component and ensuring power safety; after receiving sensor data, the control cabinet precisely controls welding process parameters, coordinates welding timing and links each mechanism component through PLC; the sensing system and the communication and control system establish a data interaction channel through a communication bus to realize the collection of multiple sensor data; the communication and control system realizes the displacement of the tungsten electrode adaptive swing GTAW welding gun in the X, Y and Z directions by controlling the sliding table system. The tungsten electrode adaptive swing GTAW narrow gap weld seam intelligent welding system is shown as Figure 1 .

[0004] The tungsten electrode self-adaptive swing GTAW narrow gap weld intelligent welding system is characterized in that: the tungsten electrode self-adaptive swing GTAW welding torch utilizes a gas shield stepless adjusting mechanism to realize the adjustment of the size of the gas shield opening; utilizes a tungsten electrode swing rotating mechanism to realize the swing of the tungsten electrode, the adjustment of the tungsten electrode swing amplitude, and the adjustment of the tungsten electrode swing direction; utilizes a tungsten electrode telescopic clamping mechanism to realize the adjustment of the tungsten electrode height; the ceramic gas guide plate umbrella and the metal gas guide plate umbrella of the gas shield stepless adjusting mechanism are both provided with two sliding blocks, which can be sequentially slid along the sliding grooves inside the air-tight cylinder, and the sliding direction is parallel to the air-tight cylinder axis direction; the inner side of the ceramic gas guide plate umbrella and the metal gas guide plate umbrella are both hinged with four connecting rods, and the other end of the connecting rods is respectively hinged with the ceramic gas guide plate and the high-temperature spring metal gas guide plate; the movement direction of the ceramic gas guide plate and the high-temperature spring metal gas guide plate is perpendicular to the air-tight cylinder axis direction, and each gas guide plate is at an angle of 45° with each other; one of the four high-temperature spring metal gas guide plates is provided with an embedded resistance strain gauge, which can detect the deformation of the high-temperature spring metal gas guide plate; the rotating seat of the tungsten electrode swing rotating mechanism is fixed below the air-tight cylinder and above the electromagnetic iron rotating slide rail, and the electromagnetic iron rotating slide rail can rotate 360° around the rotating seat axis; the electromagnetic iron rotating slide rail is provided with a structure light visual sensor installation position, and the structure light visual sensor can rotate synchronously with the electromagnetic iron rotating slide rail; the two lateral magnetic field electromagnets are respectively fixed below the two electromagnetic iron sliding blocks, and the two electromagnetic iron sliding blocks can move along the slide rail direction inside the electromagnetic iron rotating slide rail, and the movement direction is perpendicular to the rotating seat axis; the tungsten electrode is provided with an armature in the middle, which moves left and right with the change of the magnetic field of the two lateral magnetic field electromagnets; the rotating cylinder of the tungsten electrode telescopic clamping mechanism is fixed below the electromagnetic iron rotating slide rail of the tungsten electrode swing rotating mechanism and above the rotating cylinder, and the rotating cylinder is provided with openings on both sides, which can make the tungsten electrode clamping slide rail pass through and move up and down along the openings; the tungsten electrode clamping slide rail is provided with a center electromagnetic iron in the upper middle, and is provided with telescopic rods below both ends, and the other end of the telescopic rods is fixed above the outer part of the electromagnetic iron rotating slide rail, the tungsten electrode clamping slide rail can move up and down to change the distance with the electromagnetic iron rotating slide rail, and can rotate synchronously with the electromagnetic iron rotating slide rail; the tungsten electrode is fixed with the tungsten electrode clamping sliding block, and the tungsten electrode clamping sliding block is installed on the tungsten electrode clamping slide rail, which can move with the movement of the armature, and can be attracted by the center electromagnetic iron to be stationary in the middle of the tungsten electrode clamping slide rail. Figure 2 The tungsten electrode self-adaptive swing GTAW welding torch is shown in Figure 3 The tungsten electrode self-adaptive swing GTAW welding torch is shown in

[0005] The tungsten electrode adaptive swing GTAW narrow gap weld intelligent welding system is characterized in that: in the tungsten electrode adaptive swing GTAW narrow gap weld intelligent welding system, the swing amplitude of the tungsten electrode is controlled by a tungsten electrode adaptive swing GTAW narrow gap weld intelligent welding tungsten electrode swing amplitude control method; the tungsten electrode adaptive swing GTAW narrow gap weld intelligent welding tungsten electrode swing amplitude control method adjusts the tungsten electrode swing rotating mechanism through a sensing system and a communication and control system to realize control of the tungsten electrode swing amplitude; before welding starts, the welding torch moves forward, a line laser in the structured light visual sensor projects a laser perpendicular to the welding direction on the workpiece plane, and the weld track and the groove width D0 are detected; the two electromagnet sliders in the tungsten electrode swing rotating mechanism move towards or away from each other on the electromagnet rotating slide rail, so that the distance between the two transverse magnetic field electromagnets is controlled at D1; the two transverse magnetic field electromagnets pass through opposite direction excitation currents, and by controlling the size change of the excitation currents of the two transverse magnetic field electromagnets, the tungsten electrode reciprocally swings under the traction of the armature, so that the tungsten electrode swing amplitude is also controlled at D1; the D1 is the swing amplitude that can make the arc climb to the side wall, does not collide with the gas shield, and well preheats the side wall, and D1 < D0.

[0006] The tungsten electrode adaptive swing GTAW narrow gap weld intelligent welding system is characterized in that: in the tungsten electrode adaptive swing GTAW narrow gap weld intelligent welding system, the swing amplitude of the tungsten electrode is controlled by a tungsten electrode adaptive swing GTAW narrow gap weld intelligent welding tungsten electrode swing amplitude control method; the tungsten electrode adaptive swing GTAW narrow gap weld intelligent welding tungsten electrode swing amplitude control method adjusts the tungsten electrode swing rotating mechanism through a sensing system and a communication and control system to realize control of the tungsten electrode swing amplitude; before welding starts, the welding torch moves forward, a line laser in the structured light visual sensor projects a laser perpendicular to the welding direction on the workpiece plane, and the weld track and the groove width D0 are detected; the two electromagnet sliders in the tungsten electrode swing rotating mechanism move towards or away from each other on the electromagnet rotating slide rail, so that the distance between the two transverse magnetic field electromagnets is controlled at D1; the two transverse magnetic field electromagnets pass through opposite direction excitation currents, and by controlling the size change of the excitation currents of the two transverse magnetic field electromagnets, the tungsten electrode reciprocally swings under the traction of the armature, so that the tungsten electrode swing amplitude is also controlled at D1; the D1 is the swing amplitude that can make the arc climb to the side wall, does not collide with the gas shield, and well preheats the side wall, and D1 < D0. Figure 4

[0007] ​The tungsten electrode self-adaptive swing GTAW narrow gap weld seam intelligent welding system is characterized in that: in the tungsten electrode self-adaptive swing GTAW narrow gap weld seam intelligent welding system, the swing direction of the tungsten electrode is controlled by a tungsten electrode self-adaptive swing GTAW narrow gap weld seam intelligent welding tungsten electrode swing direction control method; the tungsten electrode self-adaptive swing GTAW narrow gap weld seam intelligent welding tungsten electrode swing direction control method adjusts a tungsten electrode swing rotating mechanism through a sensing system and a communication and control system to realize control of the swing direction of the tungsten electrode; a structured light visual sensor detects a weld seam track, and a tungsten electrode self-adaptive swing GTAW welding torch moves along the weld seam track; the tungsten electrode swing rotating mechanism rotates a slide rail through a rotating electromagnet, so that the direction of the electromagnet rotating slide rail is always perpendicular to the weld seam track, and thus the swing direction of the tungsten electrode is also always perpendicular to the weld seam track; the structured light visual sensor is installed outside the electromagnet rotating slide rail, is perpendicular to the direction of the electromagnet rotating slide rail, and rotates synchronously with the electromagnet rotating slide rail, can always scan along the weld seam, and realizes weld seam tracking.

[0008] The tungsten electrode self-adaptive swing GTAW narrow gap weld seam intelligent welding system is characterized in that: in the tungsten electrode self-adaptive swing GTAW narrow gap weld seam intelligent welding system, the height of the tungsten electrode is controlled by a tungsten electrode self-adaptive swing GTAW narrow gap weld seam intelligent welding tungsten electrode height self-adaptive control method; the tungsten electrode self-adaptive swing GTAW narrow gap weld seam intelligent welding tungsten electrode height self-adaptive control method adjusts a tungsten electrode telescopic clamping mechanism through a sensing system and a communication and control system to realize control of the height of the tungsten electrode; a Hall voltage sensor detects an arc voltage U between the tungsten electrode and a workpiece, the arc voltage U is positively correlated with an arc length, when U≤U0, a contraction rod in the tungsten electrode telescopic clamping mechanism is lengthened, a tungsten electrode clamping slide rail is lifted, a tungsten electrode clamping slide block is lifted, the height of the tungsten electrode is increased, and the arc length is stabilized at L; when U≥U0, the contraction rod in the tungsten electrode telescopic clamping mechanism is shortened, the tungsten electrode clamping slide rail is lowered, the tungsten electrode clamping slide block is lowered, the height of the tungsten electrode is lowered, and the arc length is stabilized at L, realizing tungsten electrode height self-adaptation; the U0 is an arc voltage corresponding to the set arc length L.

[0009] Inventive benefits

[0010] This invention relates to the field of GTAW narrow gap welding, specifically a tungsten electrode adaptive oscillation GTAW narrow gap weld intelligent welding system and method. Addressing the problem of sidewall incomplete fusion in GTAW narrow gap welding, a GTAW narrow gap weld welding system and method are proposed. The oscillation amplitude of the tungsten electrode is controlled using a tungsten electrode adaptive oscillation GTAW narrow gap weld intelligent welding method; the opening size of the gas hood is controlled using a tungsten electrode adaptive oscillation GTAW narrow gap weld intelligent welding gas hood opening size adaptive control method; the oscillation direction of the tungsten electrode is controlled using a tungsten electrode adaptive oscillation GTAW narrow gap weld intelligent welding gas hood oscillation direction control method; and the height of the tungsten electrode is controlled using a tungsten electrode adaptive oscillation GTAW narrow gap weld intelligent welding gas hood height adaptive control method. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of a tungsten electrode adaptive oscillation (GTAW) intelligent welding system for narrow gap welds.

[0012] In the diagram, 1 is the X-axis guide rail, 2 is the Y-axis guide rail, 3 is the Z-axis guide rail, 4 is the welding torch fixture, 5 is the GTAW welding torch with adaptive oscillation, 6 is the electrical control cabinet, and 7 is the control cabinet.

[0013] Figure 2 This is a diagram of a tungsten electrode adaptive oscillation GTAW welding torch.

[0014] In the figure, 8 is the stepless adjustment mechanism of the air cover, 9 is the tungsten electrode swing and rotation mechanism, and 10 is the tungsten electrode telescopic clamping mechanism.

[0015] Figure 3 This is a cross-sectional view of a tungsten electrode adaptive oscillating GTAW welding torch.

[0016] In the diagram, 11 is a tungsten electrode, 12 is an air hood, 13 is an airtight cylinder, 14 is a metal air guide plate rib, 15 is a ceramic air guide plate rib, 16 is a rotating base, 17 is an electromagnet rotating slide rail, 18 is an electromagnet slider, 19 is a transverse magnetic field electromagnet, 20 is an armature, 21 is a telescopic rod, 22 is a tungsten electrode clamping slide rail, 23 is a tungsten electrode clamping slider, 24 is a centering electromagnet, 25 is a rotating cylinder, and 26 is a structured light vision sensor.

[0017] Figure 4 These are the top and bottom views of the air hood.

[0018] In the diagram, 27 is a high-temperature spring metal air guide plate, and 28 is a ceramic air guide plate.

[0019] Figure 5 Flowchart for intelligent welding of narrow gap welds using tungsten electrode adaptive oscillation GTAW. Detailed Implementation

[0020] In order to better express the technical solutions and beneficial effects of the present application, the present application will be further described in detail below in conjunction with the drawings and implementation cases. The implementation method of the present application is not limited thereto.

[0021] Step one: tungsten electrode swing amplitude control

[0022] In the process of intelligent welding of tungsten electrode self-adaptive swing GTAW narrow gap weld, the swing amplitude of the tungsten electrode needs to be controlled to accurately control the heat source, so that the side wall is better fused. The present application discloses a tungsten electrode self-adaptive swing GTAW narrow gap weld intelligent welding tungsten electrode swing amplitude control method. Before welding, the welding torch moves forward, Figure 3 The structured light vision sensor in the above scans the weld and detects the groove width D0. Figure 3 The two electromagnet sliders in the above move towards or away from each other on the electromagnet rotating slide rail, and the distance between the two electromagnet sliders is adjusted to D1. The tungsten electrode reciprocates between the two transverse magnetic field electromagnets under the traction of the armature, so as to control the tungsten electrode swing amplitude at D1, D0>D1. In the welding process, the structured light vision sensor detects D0 in real time, and when D0 changes, Figure 1 The control cabinet in the above controls the movement of the transverse magnetic field electromagnet in real time to adjust D1.

[0023] Step two: gas shield opening size control

[0024] In the process of intelligent welding of tungsten electrode self-adaptive swing GTAW narrow gap weld, the opening size of the gas shield needs to be controlled to avoid collision with the tungsten electrode and the side wall while the adaptive tungsten electrode swing amplitude is controlled. The present application discloses a tungsten electrode self-adaptive swing GTAW narrow gap weld intelligent welding gas shield opening size adaptive control method, Figure 3 The ceramic gas guide plate umbrella and metal gas guide plate umbrella in the above move downward at the same time, so that Figure 4 The eight gas guide plates in the above contract towards the welding torch axis to reach the minimum opening of the gas shield. The structured light vision sensor detects the weld trajectory in front of the welding direction, and the welding torch moves to above the weld to make the gas shield part extend into the narrow gap weld. After the structured light vision sensor detects the groove width D0, the ceramic gas guide plate umbrella and the metal gas guide plate umbrella move upward at the same time to expand the eight gas guide plates, so as to control the gas shield diameter at D2, D0>D2>D1. Then the metal gas guide plate umbrella is controlled to move downward to make the high-temperature spring metal gas guide plate contract to cover the edges of the two ceramic gas guide plates. The cooperation of the gas guide plates when forming the gas shield is shown in Figure 4 The deformation of the high-temperature spring metal gas guide plate is detected by the resistance strain gauge, and the contraction is stopped when the deformation is ε, so that the gas shield reaches good airtightness and does not collide with the tungsten electrode and the side wall. In the welding process, the structured light vision sensor detects D0 in real time, and when D0 changes, the control cabinet controls the movement of the ceramic gas guide plate umbrella and the metal gas guide plate umbrella in real time to adjust D2.

[0025] Step three: tungsten electrode swing direction control

[0026] In the process of intelligent welding of tungsten electrode adaptive swing GTAW narrow gap weld, the swing direction of the tungsten electrode needs to be controlled to adapt to the weld track, the present application discloses a tungsten electrode adaptive swing GTAW narrow gap weld intelligent welding tungsten electrode swing direction control method, in the welding process, the structured light vision sensor detects the weld track in front of the weld in real time, when the welding torch moves to the corresponding position of the weld, Figure 3 The electromagnetic iron rotating slide rail rotates to make the direction of the electromagnetic iron rotating slide rail perpendicular to the weld track, the tungsten electrode is dragged by the armature to swing in the direction of the electromagnetic iron rotating slide rail, so the swing direction of the tungsten electrode is also perpendicular to the weld track. The structured light vision sensor is installed outside the electromagnetic iron rotating slide rail and perpendicular to the direction of the electromagnetic iron rotating slide rail, as shown in Figure 2 When entering the broken line weld in Figure 1 , the structured light vision sensor and the swing direction of the tungsten electrode are turned synchronously with the electromagnetic iron rotating slide rail, so the structured light vision sensor can scan the weld all the time to detect the weld track and the groove width D0 in front of the weld, and the swing direction of the tungsten electrode can be perpendicular to the weld track all the time.

[0027] Step four: tungsten electrode height control

[0028] In the process of intelligent welding of tungsten electrode adaptive swing GTAW narrow gap weld, the height of the tungsten electrode needs to be controlled to control the constant arc length and the weld slope of the workpiece under actual working conditions, the present application discloses a tungsten electrode adaptive swing GTAW narrow gap weld intelligent welding tungsten electrode height adaptive control method, after the welding torch is successfully ignited, the Hall voltage sensor detects the arc voltage U between the tungsten electrode and the workpiece in real time, Figure 3 The retractable rod in the tungsten electrode retractable clamping mechanism is elongated or shortened to make the tungsten electrode clamping slide rail rise or lower, and the height of the tungsten electrode is increased or decreased, so that the arc voltage U is controlled at U0 corresponding to the set arc length L. During the welding process, when U≤U0, the retractable rod in the tungsten electrode retractable clamping mechanism is elongated, the tungsten electrode clamping slide rail is raised to make the tungsten electrode clamping slide block rise, the height of the tungsten electrode is increased, and the arc length is stabilized at L; when U≥U0, the retractable rod in the tungsten electrode retractable clamping mechanism is shortened, the tungsten electrode clamping slide rail is lowered to make the tungsten electrode clamping slide block lower, the height of the tungsten electrode is lowered, and the arc length is stabilized at L, realizing the adaptive control of the height of the tungsten electrode.

Claims

1. A tungsten electrode adaptive oscillation GTAW narrow gap weld intelligent welding system, used for GTAW narrow gap welding, characterized in that: The GTAW (Tungsten Inert Gas) adaptive oscillation narrow gap weld intelligent welding system consists of a slide system, a welding torch holder, a GTAW welding torch, a sensing system, and a communication and control system. The slide system comprises X-direction guide rails, Y-direction guide rails, and Z-direction guide rails. One end of the welding torch holder is mounted on the Z-direction guide rail, allowing movement along the X, Y, and Z directions; the other end contains the mounting position for the GTAW welding torch. The GTAW welding torch comprises a gas hood stepless adjustment mechanism, a GTAW oscillation rotation mechanism, and a GTAW telescopic clamping mechanism. These mechanisms are installed from bottom to top. The gas hood stepless adjustment mechanism includes a gas hood, an airtight cylinder, ceramic gas guide plate ribs, and metal gas guide plate ribs. The gas hood includes four ceramic gas guide plates and four high-temperature spring metal gas guide plates. The GTAW oscillation rotation mechanism includes an armature, a rotating base, and two... The system comprises a transverse magnetic field electromagnet, an electromagnet rotating slide rail, and two electromagnet sliders; the tungsten electrode telescopic clamping mechanism includes a tungsten electrode, a tungsten electrode clamping slider, a tungsten electrode clamping slide rail, two telescopic rods, a central electromagnet, and a rotating cylinder; the sensing system consists of a Hall voltage sensor, a structured light vision sensor, a resistance strain gauge, and a data acquisition card; the structured light vision sensor includes a line laser and a CCD camera; the communication and control system consists of an electrical control cabinet and a control cabinet; the electrical control cabinet is used to distribute and convert external power, supply power to various components, and ensure power safety; after receiving sensor data, the control cabinet uses a PLC to precisely control welding process parameters, coordinate welding timing, and link various mechanism components; the sensing system and the communication and control system establish a data interaction channel through a communication bus to realize the acquisition of data from multiple sensors; the communication and control system realizes the displacement of the tungsten electrode adaptive oscillation GTAW welding torch in the X, Y, and Z directions by controlling the slide table system.

2. The tungsten electrode adaptive oscillation GTAW narrow gap weld intelligent welding system according to claim 1, characterized in that: The tungsten electrode adaptive oscillation GTAW welding torch utilizes a stepless gas hood adjustment mechanism to adjust the gas hood opening size; a tungsten electrode oscillation and rotation mechanism to adjust the oscillation of the tungsten electrode, its oscillation amplitude, and its oscillation direction; and a tungsten electrode telescopic clamping mechanism to adjust the tungsten electrode height. Both the ceramic and metal gas guide plate ribs of the stepless gas hood adjustment mechanism have two sliders on their outer surfaces, allowing them to slide sequentially along grooves inside the airtight cylinder, with the sliding direction parallel to the cylinder's axis. Four connecting rods are hinged to the inner sides of both the ceramic and metal gas guide plate ribs. The rod and connecting rod are respectively hinged at the other end to a ceramic air guide plate and a high-temperature spring metal air guide plate; the movement direction of the ceramic air guide plate and the high-temperature spring metal air guide plate is perpendicular to the axis of the airtight cylinder, and each air guide plate is at a 45° angle to the others; one of the four high-temperature spring metal air guide plates has a built-in resistance strain gauge, which can detect the deformation generated by the high-temperature spring metal air guide plate; the lower part of the rotating seat of the tungsten electrode swing rotation mechanism is fixedly connected to the upper part of the airtight cylinder, and an electromagnet rotating slide rail is installed on the upper part of the rotating seat, which can rotate 360° around the axis of the rotating seat; the electromagnet rotating slide rail The structured light vision sensor is mounted externally and can rotate synchronously with the electromagnet rotating rail. The two transverse magnetic field electromagnets are each fixed to two electromagnet sliders, both of which can move along the rail inside the rotating rail, perpendicular to the axis of the rotating base. An armature is mounted in the middle of the tungsten electrode, moving left and right according to the magnetic field changes of the two transverse magnetic field electromagnets. The lower part of the rotating cylinder of the tungsten electrode telescopic clamping mechanism is fixedly connected to the upper part of the electromagnet rotating rail of the tungsten electrode swinging rotation mechanism. Openings on both sides of the rotating cylinder allow for... A tungsten electrode clamping slide rail passes through and moves up and down along the opening; a central electromagnet is installed at the upper center of the tungsten electrode clamping slide rail, and telescopic rods are installed below both ends of the tungsten electrode clamping slide rail. The other end of the telescopic rod is fixedly connected to the upper part of the outside of the electromagnet rotating slide rail. The tungsten electrode clamping slide rail can move up and down to change its distance from the electromagnet rotating slide rail, and can rotate synchronously with the electromagnet rotating slide rail; the end of the tungsten electrode is fixedly connected to the tungsten electrode clamping slider, which is installed on the tungsten electrode clamping slide rail. It can move with the movement of the armature, and can also be attracted by the central electromagnet and remain stationary in the middle of the tungsten electrode clamping slide rail.

3. The tungsten electrode adaptive oscillation GTAW narrow gap weld intelligent welding system according to claim 1, characterized in that: In the aforementioned tungsten electrode adaptive oscillation GTAW narrow gap weld intelligent welding system, the oscillation amplitude of the tungsten electrode is controlled by the tungsten electrode adaptive oscillation GTAW narrow gap weld intelligent welding tungsten electrode oscillation amplitude control method. This method adjusts the tungsten electrode oscillation rotation mechanism through a sensing system and a communication and control system to control the tungsten electrode oscillation amplitude. Before welding begins, the welding torch moves forward, and the line laser in the structured light vision sensor projects a laser perpendicular to the welding direction onto the workpiece plane, detecting... The weld trajectory and bevel width D0 are obtained; the two electromagnet sliders in the tungsten electrode oscillation and rotation mechanism move towards or away from each other on the electromagnet rotation rail, so that the distance between the two transverse magnetic field electromagnets is controlled at D1; the two transverse magnetic field electromagnets are supplied with excitation currents in opposite directions, and by controlling the magnitude of the excitation currents of the two transverse magnetic field electromagnets, the tungsten electrode is pulled by the armature and oscillates back and forth, thereby controlling the oscillation amplitude of the tungsten electrode to D1; D1 is the oscillation amplitude that allows the arc to climb to the side wall without colliding with the gas shield and to preheat the side wall well, and D1 < D0.

4. The tungsten electrode adaptive oscillation GTAW narrow gap weld intelligent welding system according to claim 1, characterized in that: In the aforementioned tungsten inert gas (TIG) adaptive oscillating GTAW narrow gap weld intelligent welding system, the opening size of the gas hood is controlled by an adaptive control method for the gas hood opening size. This method uses a sensing system and a communication and control system to adjust the stepless adjustment mechanism of the gas hood to control the opening size. A structured light vision sensor detects the bevel width D0, and the ceramic gas guide plate ribs first control the four ceramic gas guide plates to retract towards the welding torch axis until the inner circle's diameter reaches D2, at which point the retraction stops. D2 = D0-1mm, D0>D2>D1, to prevent the gas cover from colliding with the tungsten electrode and sidewall; the metal gas guide plate ribs then control the contraction of 4 high-temperature spring metal gas guide plates, which cover the edges of 2 ceramic gas guide plates from the outside to the inside, and the contraction stops when the strain detected by the resistance strain gauge reaches ε; the high-temperature spring metal gas guide plates have a low coefficient of thermal expansion during welding and still have elasticity; ε=ΔR / R, ΔR is the change in resistance value of the resistance strain gauge when airtightness is just achieved, and R is the initial resistance value of the resistance strain gauge. Under this deformation condition, the high-temperature spring metal gas guide plates can form a gas cover with good airtightness with the ceramic gas guide plates.

5. The tungsten electrode adaptive oscillation GTAW narrow gap weld intelligent welding system according to claim 1, characterized in that: In the Tungsten Electrode Adaptive Oscillation (GTAW) Narrow Gap Welding Intelligent Welding System, the oscillation direction of the tungsten electrode is controlled by the Tungsten Electrode Adaptive Oscillation (GTAW) Narrow Gap Welding Intelligent Welding Tungsten Electrode Oscillation Direction Control Method. The Tungsten Electrode Adaptive Oscillation (GTAW) Narrow Gap Welding Intelligent Welding Tungsten Electrode Oscillation Direction Control Method adjusts the tungsten electrode oscillation rotation mechanism through a sensing system and a communication and control system to achieve control of the tungsten electrode oscillation direction. The structured light vision sensor detects the weld seam trajectory, and the tungsten electrode adaptive oscillating GTAW welding torch moves along the weld seam trajectory. The tungsten electrode oscillation and rotation mechanism rotates the electromagnet and the slide rail, ensuring that the direction of the electromagnet's rotation slide rail is always perpendicular to the weld seam trajectory, so that the oscillation direction of the tungsten electrode is also always perpendicular to the weld seam trajectory. The structured light vision sensor is installed outside the electromagnet's rotation slide rail, perpendicular to the direction of the electromagnet's rotation slide rail, and rotates synchronously with the electromagnet's rotation slide rail, enabling it to continuously scan along the weld seam and achieve weld seam tracking.

6. The tungsten electrode adaptive oscillation GTAW narrow gap weld intelligent welding system according to claim 1, characterized in that: In the GTAW (Tungsten Inert Gas) adaptive oscillation narrow gap weld intelligent welding system, the height of the tungsten electrode is controlled by the GTAW height adaptive control method. This method adjusts the tungsten electrode telescopic clamping mechanism through a sensing system and a communication and control system to control the electrode height. A Hall voltage sensor detects the arc voltage U between the tungsten electrode and the workpiece. The arc voltage U is positively correlated with the arc length. When U ≤ U0, the retraction rod in the tungsten electrode telescopic clamping mechanism extends, the tungsten electrode clamping slide rail rises, thereby raising the tungsten electrode clamping slider and increasing the tungsten electrode height, stabilizing the arc length at L. When U ≥ U0, the retraction rod in the tungsten electrode telescopic clamping mechanism shortens, the tungsten electrode clamping slide rail lowers, thereby lowering the tungsten electrode clamping slider and decreasing the tungsten electrode height, stabilizing the arc length at L, thus achieving tungsten electrode height adaptation. U0 is the arc voltage corresponding to the set arc length L.

Images