A method and apparatus for adjusting the angle of a non-consumable electrode welding torch

Abstract

A method and apparatus for adjusting the angle of a non-consumable electrode welding torch are provided. The adjustment method includes the following steps: dividing the circumferential weld seam into a first welding zone, a second welding zone, a third welding zone, and a fourth welding zone along the circumferential direction; within the first, second, third, and fourth welding zones, ensuring that the angle between the welding torch and the vertical line perpendicular to the welding direction satisfies a specific relationship. This automatic welding torch angle adjustment method uses a welding position sensor to change the arc direction in real time at specific positions during the welding process, allowing the welding torch to apply arc force at specific angles at different positions. This alters the force direction and solidification morphology of the molten pool during all-position welding, thereby changing the weld seam morphology and effectively reducing the probability of concave or excessive weld reinforcement defects during the root pass, thus improving welding quality.

Description

Technical Field

[0001] This invention relates to the field of welding, and more specifically to the field of non-consumable electrode welding torch angle adjustment process. Background Technology

[0002] Gas tungsten inert gas (GTAW) welding is an arc welding method that uses a non-consumable tungsten electrode. In existing welding processes, when welding pipes in a fixed horizontal position upwards or downwards, the tungsten electrode of the welding torch is generally perpendicular to the direction of arc movement, and the tungsten electrode maintains a fixed relative position with the direction of arc movement throughout the circumferential welding process.

[0003] To reduce the probability of incomplete fusion of the sidewalls during welding, some processes involve pointing the tungsten electrode of the welding torch towards the edge of the bevel. However, for circumferential all-position pipe welds, the direction of the electric arc remains unchanged throughout the welding process, always pointing towards the center of the pipe at a certain angle. Therefore, during the root pass, defects such as concave weld or excessive weld reinforcement are prone to occur.

[0004] It is necessary to propose an automatic adjustment method for the welding torch angle to avoid this problem. Summary of the Invention

[0005] One objective of this invention is to provide an automatic welding torch angle adjustment method that can improve the welding quality of circumferential all-position pipe welds.

[0006] To achieve the above objective, a welding torch angle adjustment method is used to adjust the tilt angle of the welding torch at different positions on a pipe circumferential weld, comprising the following steps: dividing the circumferential weld into a first welding zone, a second welding zone, a third welding zone, and a fourth welding zone along the circumferential direction; within the first welding zone, the second welding zone, the third welding zone, and the fourth welding zone, ensuring that the angle between the welding torch and the vertical line perpendicular to the welding direction satisfies the following relationship:

[0007] ;

[0008] Where α is the circumferential angle, and θ is the angle between the tungsten electrode of the welding torch and the vertical line perpendicular to the welding direction. When θ is positive, the component of the tungsten electrode pointing direction in the welding direction is the same as the welding travel direction. When θ is negative, the component of the tungsten electrode pointing direction in the welding direction is opposite to the welding travel direction.

[0009] In one or more embodiments, the relative angle between the tungsten electrode and the welding wire is kept consistent within the first welding zone, the second welding zone, the third welding zone, and the fourth welding zone.

[0010] In one or more embodiments, the angle between the tungsten electrode and the welding wire is set to be adjustable within the first welding zone, the second welding zone, the third welding zone, and the fourth welding zone.

[0011] Another object of the present invention is to provide a welding torch angle adjustment device for performing the above-described method, comprising a walking body, an angle adjustment mechanism, and a welding mechanism. The walking body is used to move circumferentially around the annular weld seam and is equipped with a position sensor for real-time feedback of the circumferential angle of the device. The angle adjustment mechanism includes a base and a rotating disk located on the base, the base being connected to the walking body. The welding mechanism includes a connecting frame and a wire guide adjustment structure, the connecting frame being connected to the rotating disk, the connecting frame being used to support the welding torch, and the wire guide adjustment structure being used to support the welding wire. The angle of the welding torch is adjusted by means of the rotation of the rotating disk.

[0012] In one or more embodiments, the welding mechanism further includes a molten pool camera, which is disposed on the connecting frame and disposed on both sides of the welding torch, respectively, along with the wire guide adjustment structure.

[0013] In one or more embodiments, the angle of the wire adjustment structure relative to the welding torch is adjustable.

[0014] In one or more embodiments, the device further includes an arc pressure adjustment mechanism installed between the angle adjustment mechanism and the walking body.

[0015] The above-mentioned automatic welding torch angle adjustment method changes the angle of the tungsten electrode in a timely manner during the welding process, so that the welding torch applies arc force at a specific angle in different areas. This changes the force direction of the liquid pool and the solidification morphology of the pool during all-position welding, thereby changing the weld morphology and effectively reducing the probability of defects such as concavity or excessive weld reinforcement during the welding process, thus improving the welding quality. Attached Figure Description

[0016] The above and other features, properties and advantages of the present invention will become more apparent from the following description taken in conjunction with the accompanying drawings and embodiments, wherein:

[0017] Figure 1 This is a schematic diagram illustrating the principle of tungsten inert gas welding;

[0018] Figure 2 This describes the stress conditions of liquid metal at different locations;

[0019] Figure 3 This is a schematic diagram of a pipe circumferential weld.

[0020] Figure 4A This is a schematic diagram of the tilt angle of the tungsten electrode of the welding torch within the first welding zone;

[0021] Figure 4B This is a schematic diagram illustrating the principle of the tungsten electrode tilting backward;

[0022] Figure 5A This is a schematic diagram of the backward tilt angle of the tungsten electrode of the welding torch within the second welding zone;

[0023] Figure 5B This is a schematic diagram of the forward tilt angle of the tungsten electrode of the welding torch in the second welding zone;

[0024] Figure 6 This is a schematic diagram showing the tilt angle of the tungsten electrode of the welding torch within the third welding zone;

[0025] Figure 7A This is a schematic diagram showing the forward tilt angle of the tungsten electrode of the welding torch within the fourth welding zone.

[0026] Figure 7B This is a schematic diagram of the backward tilt angle of the tungsten electrode of the welding torch within the fourth welding zone;

[0027] Figure 8 This is a schematic diagram showing the tungsten electrode angle of the welding torch at different positions on the circumferential weld.

[0028] Figure 9 This is a schematic diagram of one embodiment of the automatic welding torch angle device;

[0029] Figure 10 This is a bottom view of one embodiment of the automatic welding torch angle device;

[0030] Figure 11 This is a schematic diagram of the angle adjustment mechanism. Detailed Implementation

[0031] The present invention will be further described below with reference to specific embodiments and accompanying drawings. More details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention can obviously be implemented in many other ways different from those described herein. Those skilled in the art can make similar extensions and derivations based on actual application situations without departing from the spirit of the present invention. Therefore, the scope of protection of the present invention should not be limited by the content of this specific embodiment.

[0032] It should be noted that these and other accompanying drawings are merely examples and are not drawn to scale, and should not be construed as limiting the scope of protection of the present invention.

[0033] Currently, commonly used arc welding methods include gas tungsten inert gas welding (GTAW) and gas metal arc welding (GMAW). GMAW welding uses a consumable electrode, which forms a coalescing weld by consuming the arc between the electrode and the conductive base metal to melt the joint surface and filler metal. The arc burns between the consumable electrode (welding wire) and the workpiece.

[0034] GTAW welding uses a non-consumable electrode. The welding wire 10 is fed into the bevel independently of the welding torch 20, forming an arc between the conductive substrate 30 and the non-consumable tungsten electrode, i.e., the tungsten wire 21, thereby forming a molten pool A, as shown below. Figure 1 As shown. In traditional welding processes, the tungsten electrode of the welding torch is generally perpendicular to the welding direction E, such as... Figure 1 The axis P of the welding torch is perpendicular to the welding direction E.

[0035] Since GMAW is a gas metal arc welding method, its droplet transfer is either short-circuit transfer or spray transfer. The arc melting of the base material and the formation of the molten pool are both achieved by the welding wire. Chinese patent CN117001106A discloses a pipeline welding method based on gas metal arc welding (GMAW). The method divides the circumference of the pipe into two semicircles, and then further divides each semicircle into different welding areas. A welding carriage moves between these areas, and angle sensors transmit position signals for each area. Upon receiving these position signals, the central signal processing unit of the welding machine issues commands to drive the welding torch angle adjustment mechanism and the gas flow regulating valve. This adjusts the welding torch tilt angle and shielding gas flow to preset values ​​in the control unit based on the parameters for each welding area, thereby achieving precise control of welding at different positions on the circumferential weld seam of the pipeline. In this GMAW-based pipe circumferential welding method, the change in the welding torch angle causes a change in the direction of the over-arc force, i.e., the axial pressure or electromagnetic contraction force, thereby achieving welding through the unstable transition of the molten droplets to the weld, but without affecting the flow and solidification process of the molten pool.

[0036] GTAW (Glass Wire Welding) involves no droplet transfer and relies primarily on a stable arc generated by the tungsten electrode. The arc force N is mainly an axial force centered on the tungsten electrode. Simultaneously, the molten wire droplet is also affected by gravity G, centripetal force Fa, and surface tension Fn. Figure 2 As shown, these forces work together to affect the fusion of the molten wire droplet with the base metal. For example, gravity G produces corresponding components Gr and Gt in the radial (r) and tangential (t) directions of the pipe. The radial component Gr acts in conjunction with the centripetal force Fa and the arc force N. This mechanism of force action differs significantly from the GMAW method.

[0037] The aforementioned forces are not always in equilibrium during the welding of circumferential welds. For example, when the welding position is vertical or overhead, gravity is greater than the arc force under traditional welding methods. The resulting molten droplets are more likely to fall under the influence of gravity, thus affecting the weld quality.

[0038] To address the issue of low welding quality in circumferential welds, Hu Zhiwen described a rotary arc narrow gap GTAW welding process in his paper "Research on Clamp-Type All-Position Rotary Arc Narrow Gap GTAW Automatic Welding System" (Shandong University, 2024). This process employed a front-feed wire method, determining the optimal parameters as follows: the angle α between the tungsten electrode and the wire feed nozzle was 70°; the distance D from the end of the welding wire to the intersection of the extension line perpendicular to the workpiece along the edge of the tungsten electrode and the tangent in the horizontal direction of the workpiece was 2 mm; and the height H of the tungsten electrode from the workpiece was 2 mm. Based on these parameters, welding processes were studied at the twelve o'clock, three o'clock, six o'clock, and nine o'clock positions on the pipeline. Ultimately, the welding process was optimized by adjusting parameters such as welding current, wire feed speed, and wire feed amount.

[0039] Chinese patent CN117066657A discloses a welding process for HT700P nickel-based alloy pipe, based on mechanical tungsten inert gas welding (GTAW). The welding carriage moves along the track via gears meshing with a rack on the track. A welding head is connected to the welding carriage, and a welding torch is mounted on the welding head. The welding torch can be fixed at any position between -10° and 5° from the vertical centerline of the pipe. For the first layer of welding, the tungsten electrode in the welding torch is placed in the bevel, aligned with the center of the bevel, and 5-15mm away from the root of the bevel. During welding, the tip of the tungsten electrode relative to the centerline of the bevel does not move or the moving angle is ≤6°. For the second layer of welding, the tungsten electrode in the welding torch is placed in the bevel, aligned with the center of the weld, and 5-15mm away from the weld surface. During welding, the tip of the tungsten electrode relative to the centerline of the bevel moves at an angle Ф1 = 15-25°. When welding the filler layer in two passes, if welding the left side, shift the welding torch to the left until it is centered between the weld centerline and the bevel edge. Rotate the tungsten electrode to the left by Ф2 = 15-30° to use as the center of the tungsten electrode movement, with a movement angle Ф1 = 15-25°. If welding the right side, shift the welding torch to the right until it is centered between the weld centerline and the bevel edge. Rotate the tungsten electrode to the right by Ф2 = 15-30° to use as the center of the tungsten electrode movement, with a movement angle Ф1 = 15-25°. However, this welding torch angle Ф is 0° with the bevel center as the reference point. When welding the cap coat, the welding torch position is shifted to the left or right, provided that the overlap and sidewall fusion are satisfied. The tungsten electrode does not need to be rotated. This method adjusts the relative angle between the welding torch and the bevel to form multiple weld passes. It also addresses the problems of hot cracking, poor fusion, and inclusions that easily occur in HT700P nickel-based alloys by controlling the selection of welding materials, bevel preparation, interpass temperature, and welding parameters.

[0040] To address the problem of low welding quality in circumferential welds, this disclosure proposes a welding torch angle adjustment method. By adjusting the tungsten electrode during the welding process to change the arc direction in a timely manner and applying arc force at a specific angle, the stress direction of the molten pool and the solidification morphology of the molten pool during the welding process can be changed, thereby improving the weld quality.

[0041] Figure 3 A circumferential schematic diagram of a pipe circumferential weld is shown, the circumferential weld having a highest point T and a lowest point D. In this method, the circumferential weld is divided into a first welding section 101, a second welding section 102, a third welding section 103, and a fourth welding section 104 along the circumferential direction s.

[0042] Along the circumferential direction s of the circumferential weld, different positions are represented by the circumferential direction angle α. For example, the α value at the highest point T of the weld is 0° and 360°, and the α value at the lowest point D of the weld is 180°. In the embodiments described below, the circumferential direction is clockwise. It can be understood that the welding direction E is equal to the circumferential direction s.

[0043] The first welding zone 101 has an interval of 0°≤α<90°, the second welding zone 102 has an interval of 90°≤α<180°, the third welding zone 103 has an interval of 180°≤α<270°, and the fourth welding zone 104 has an interval of 270°≤α<360°.

[0044] Within the first welding zone 101, the second welding zone 102, the third welding zone 103, and the fourth welding zone 104, the angle θ between the welding torch tungsten wire 21 and the perpendicular line F to the welding direction E satisfies the following relationship:

[0045] ;

[0046] When θ is positive, the component of the tungsten electrode pointing direction in the welding direction is the same as the welding travel direction; when θ is negative, the component of the tungsten electrode pointing direction in the welding direction is opposite to the welding travel direction.

[0047] That is, the above formula satisfies , where a, b, and c are all constants.

[0048] It should be noted that, Since it is a continuous function, the coefficients a, b, and c are the integer coefficients in the above piecewise function. Therefore, the values ​​obtained by directly calculating this formula need to be rounded down.

[0049] Further, continue to refer to Figure 3 As shown, the circumferential weld seam is divided into 12 points, with the α angle between any two adjacent points ranging from 30°. For example, the α angle at point 1 is 30°, and the α angle at point 2 is 60°. Table 1 shows the tungsten electrode angle values ​​for different points.

[0050] Table 1. Distribution of tungsten electrode angles at different locations in the circumferential weld:

[0051]

[0052] Furthermore, Figures 4A to 7BThe diagrams show partial welding schematics of the tungsten electrode in the first welding zone 101, the second welding zone 102, the third welding zone 103, and the fourth welding zone 104, respectively. Figure 8 This diagram shows the tungsten electrode angle at different positions in the circumferential weld.

[0053] like Figure 4A As shown, within the first welding zone 101, the calculated range of θ is [-3, -3). For example, if the calculation point is 2, substitute it into the formula. After calculating the value and rounding it down, we get θ as -4°.

[0054] Within the first welding zone 101, the values ​​of θ are all negative, and the component of the tungsten electrode pointing direction in the welding direction is opposite to the welding travel direction e. Figure 4B As shown. Figure 4A The component of the axial direction P of the tungsten electrode 21 in the welding direction E is opposite to that in the direction perpendicular to the welding travel direction e. The welding travel direction e refers to the direction of advancement towards the unformed weld.

[0055] Within the first welding zone 101, the included angle θ1 is backward tilted. (Refer to...) Figure 2 Understanding this, at this point, the surface tension Fn in one flow direction of the molten pool droplets causes the molten pool A to tend to flow backward, while the liquid metal, under the influence of gravity Gt, tends to flow forward in the other flow direction; the centripetal force Fa points towards the center, and the radial component of the arc force N also blows the molten pool metal towards the back of the weld bead, causing the molten metal to flow towards the back of the weld bead as well. At the same time, the component of the arc force in the welding direction is the same as the surface tension Fn. The combined effect of these two factors allows for a better weld depth and back reinforcement height with a smaller heat input.

[0056] As the welding torch gradually moves along the circumferential direction e, it enters the second welding zone 102. The tungsten electrode angle is adjusted in real time, and a dividing point for the forward and backward tilt of the tungsten electrode appears. For example, at point 5, α=150° is substituted into... We get 0.85, which is rounded to 1°. Substituting α=140°, we get -0.03°, which is rounded to 0°.

[0057] Figure 5A A schematic diagram showing the tungsten electrode tilted backward at an angle of θ2 is shown. Figure 5B A schematic diagram of the tungsten electrode tilting forward at an angle of θ2' is shown.

[0058] Figure 6 A schematic diagram showing the tungsten wire angle θ3 of the welding torch within the third welding zone 103 is shown. Figures 7A-7B This diagram illustrates the angle θ4 of the tungsten wire in the welding torch within the fourth welding zone 104. After the welding torch passes its lowest point, the forward tilt angle gradually increases until, in the fourth welding zone 104, at the 11 o'clock position, the tungsten electrode is perpendicular to the welding direction E. Subsequently, the tungsten electrode tilts backward, as shown... Figure 7Bθ4' is shown.

[0059] Repeat the above cycle during the welding process until the weld is completed.

[0060] The relative angle between the welding wire 10 and the tungsten electrode 21 can remain constant or be adjusted in real time as needed.

[0061] The above method divides a circumferential weld of the pipeline into different areas. During the welding process, the angle of the welding torch is continuously adjusted according to the above rules, thereby changing the angle of the tungsten electrode and the electric arc during the fusion process. This, in turn, changes the stress state of the liquid metal in the molten pool and its original flow direction and solidification state, causing the liquid metal to undergo morphological changes during solidification. This effectively avoids the generation of concave defects on the back of the root pass weld, thus obtaining a high-quality weld.

[0062] This method does not change the angle of the welding wire, thereby causing changes in welding process parameters such as the arc and wire feed speed. Instead, the arc and welding wire are independent structures. In actual use, the changes in the arc direction and the wire feed angle can be controlled independently or changed independently in sequence.

[0063] Based on the above description, we can also understand an automatic welding torch angle adjustment device, such as... Figures 9 to 11 As shown, it includes a walking body 1, an angle adjustment mechanism 2, a welding mechanism 3, a wire feeding mechanism 7, and a wire feeding reel 6. The walking body 1 runs along the track.

[0064] exist Figure 9 In the diagram, direction Y represents the circumferential direction s, the axis P of the tungsten electrode is the Z direction, and the X direction is orthogonal to both the Y and Z directions.

[0065] The walking body 1 moves around the circumference of the annular weld seam, and a position sensor 11 is provided on it to provide real-time feedback of the circumferential direction angle α of the device.

[0066] The angle adjustment mechanism 2 includes a base 22 and a rotating disk 23 located on the base 22. The base 22 is connected to the walking body 1. It also includes a rotary motor 24 and a manual rotary handle 25, such as... Figure 11 As shown. The welding mechanism 3 includes a connecting frame 31 and a wire guide adjustment structure 32. The connecting frame 31 is connected to the rotating disk 23. The welding torch 20 is mounted on the connecting frame 31, and the welding wire 10 is mounted on the wire guide adjustment structure 32. The wire guide adjustment mechanism adjusts the relative position of the welding wire, the tungsten electrode, and the molten pool during and before welding, ensuring accurate feeding of the welding wire into the weld and forming a beautiful weld.

[0067] By rotating the rotary disk 23, the angle of the welding torch 20 relative to the welding direction is adjusted, thereby adjusting the tilt angle of the tungsten electrode.

[0068] exist Figure 9In the illustrated embodiment, the welding mechanism further includes a molten pool camera 4 mounted on the connecting frame 31. The molten pool camera 4 and the wire guide adjustment structure 32 are respectively mounted on both sides of the welding torch 20. The molten pool camera enables image acquisition of the weld pool during the welding process, allowing operators to remotely operate the welding equipment and avoid injury from arc light.

[0069] Furthermore, the automatic welding torch angle adjustment device also includes an arc voltage adjustment mechanism 5, which is set between the angle adjustment mechanism 2 and the traveling body 1 to ensure that the welding torch angle is adjusted together with the welding torch, and at the same time ensure that the adjustment direction of the arc voltage mechanism is parallel to the welding torch direction, so as to achieve stable control of the arc voltage during the welding process.

[0070] The welding torch angle adjustment mechanism is electrically controlled. During the welding process, the angle of the welding torch is automatically adjusted by the different positions of the traveling body on the circular track.

[0071] The angle rotary table base is connected to the equipment's traveling and swinging mechanism, and the turntable is connected to the arc pressure mechanism, as well as the welding torch mechanism, wire guide adjustment mechanism, and molten pool camera mechanism. When the equipment detects that it has moved to different positions on the pipeline during welding, the system automatically issues a command to cause the angle rotary table to rotate accordingly. The angle rotary table drives the front-end components of the equipment, such as the arc pressure mechanism, welding torch mechanism, wire guide adjustment mechanism, and molten pool camera mechanism, to rotate, ensuring that the welding wire position and camera angle remain unchanged and move synchronously, so that the image of the welding process does not change. This allows the operator to perform welding operations smoothly, while ensuring that the welding torch angle forms a corresponding process angle with the radial direction of the pipeline.

[0072] It should be noted that the use of terms such as "first" and "second" to define the components in the above content is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application.

[0073] This application uses specific terms to describe embodiments of the application. Terms such as "an embodiment," "one embodiment," and / or "some embodiments" refer to a particular feature, structure, or characteristic associated with at least one embodiment of the application. Therefore, it should be emphasized and noted that references to "an embodiment," "one embodiment," or "an alternative embodiment" in different locations throughout this specification do not necessarily refer to the same embodiment. Furthermore, certain features, structures, or characteristics in one or more embodiments of the application can be appropriately combined.

[0074] In some embodiments, numbers describing the quantity of components and attributes are used. It should be understood that such numbers used in the description of embodiments are modified in some examples with the terms "approximately," "approximately," or "generally." Unless otherwise stated, "approximately," "approximately," or "generally" indicates that the numbers are allowed to vary by ±20%. Accordingly, in some embodiments, the numerical parameters used in the specification and claims are approximate values, which may be changed depending on the characteristics required by individual embodiments. In some embodiments, numerical parameters should take into account specified significant digits and employ a general method of digit reservation. Although the numerical ranges and parameters used to confirm their breadth of scope in some embodiments of this application are approximate values, in specific embodiments, such values ​​are set as precisely as feasible.

[0075] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Any variations and modifications can be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, any modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention, without departing from the scope of the invention, fall within the protection scope defined by the claims of the present invention.

Claims

1. A welding torch angle adjustment method, used to adjust the tilt angle of the welding torch at different positions on a pipe circumferential weld, characterized in that, Includes the following steps: The welding wire is fed into the bevel independently of the welding gun, forming an electric arc between the conductive substrate and the tungsten electrode of the welding gun, thereby forming a molten pool; The annular weld is divided into a first welding zone, a second welding zone, a third welding zone, and a fourth welding zone along the circumferential direction. The annular weld has a highest point and a lowest point. Within the first, second, third, and fourth welding zones, the angle between the welding torch and the vertical line perpendicular to the welding direction satisfies the following relationship: Where α is the circumferential angle, and θ is the angle between the tungsten electrode of the welding torch and the vertical line perpendicular to the welding direction. When θ is positive, the component of the tungsten electrode pointing direction in the welding direction is the same as the welding travel direction. When θ is negative, the component of the tungsten electrode pointing direction in the welding direction is opposite to the welding travel direction. The circumferential direction is clockwise, the welding direction is equal to the circumferential direction, the α value at the highest point is 0° and 360°, and the α value at the lowest point is 180°.

2. The welding torch angle adjustment method as described in claim 1, characterized in that, Within the first welding zone, the second welding zone, the third welding zone, and the fourth welding zone, the relative angle between the tungsten electrode and the welding wire is kept consistent.

3. The welding torch angle adjustment method as described in claim 1, characterized in that, Within the first welding zone, the second welding zone, the third welding zone, and the fourth welding zone, the angle between the tungsten electrode and the welding wire is set to be adjustable.

4. A welding torch angle adjustment device, characterized in that, For performing the method as described in any one of claims 1-3, comprising: The walking body is used to move around the circumference of the annular weld seam. It is equipped with a position sensor to provide real-time feedback on the circumferential direction angle of the device. Angle adjustment mechanism, including a base and a rotating disk located on the base, the base being connected to the walking body; and The welding mechanism includes a connecting frame and a wire guide adjustment structure. The connecting frame is connected to the rotating disk and is used to support the welding torch. The angle of the welding torch is adjusted by rotating the rotating disk. The wire guide adjustment structure is used to support the welding wire.

5. The welding torch angle adjustment device as described in claim 4, characterized in that, The welding mechanism also includes a molten pool camera, which is mounted on the connecting frame and is located on both sides of the welding torch, respectively, along with the wire guide adjustment structure.

6. The welding torch angle adjustment device as described in claim 4, characterized in that, The angle of the wire guide adjustment structure relative to the welding gun is adjustable.

7. The welding torch angle adjustment device as described in claim 4, characterized in that, The device also includes an arc pressure adjustment mechanism, which is installed between the angle adjustment mechanism and the walking body.

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