Lateral molten pool morphology control device for electric arc additive welding gun and using method of lateral molten pool morphology control device

Abstract

The invention discloses a side-type molten pool morphology control device for an electric arc additive welding gun and a using method of the side-type molten pool morphology control device, and belongs to the technical field of metal additive manufacturing. The side-type molten pool morphology control device comprises a machine arm, a connecting base, a camera, a welding gun assembly and a scraper assembly; the scraper assembly comprises a distance adjusting mechanism installed on the connecting base, a rotating mechanism connected with the distance adjusting mechanism, a rotating base connected with the rotating mechanism and at least two scrapers arranged on the rotating base and corresponding to different welding gap specifications. The method comprises the steps that S1, welding is conducted through the welding gun assembly; s2, obtaining transformation information; s3, the scraping plates are switched; and S4, welding continues, by arranging a scraping plate following a welding gun, the shape of a molten pool can be subjected to flatness control, molten drop splashing can be controlled, meanwhile, when the width of a welding gap changes, disassembly and assembly of the scraping plate or transfer of a structural part do not need to be conducted, and the overall welding efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of metal additive manufacturing technology, specifically to a side-type molten pool morphology control device for an arc additive welding torch and its usage method. Background Technology

[0002] Wafer Additive Manufacturing (WAAM) is widely used in the manufacturing of large metal components due to its high efficiency and low cost. Traditional methods indirectly control the molten pool by adjusting the current, voltage or path planning, but cannot actively intervene in the edge morphology of the molten pool, resulting in a significant interlayer step effect and a surface roughness (Ra) that is usually greater than 50 μm, requiring a lot of subsequent machining. At the same time, the surface unevenness formed by molten droplet spatter also requires a lot of subsequent machining. The material removal rate of conventional milling post-processing is more than 30%, resulting in serious waste. In addition, during welding, some structures may have inconsistent weld gap widths in different locations due to their stress requirements, accessibility and processability requirements or limitations.

[0003] Therefore, there is an urgent need to design a side-mounted molten pool morphology control device for arc additive welding torches and its usage method, so as to control the molten pool morphology machine through a scraper. At the same time, when the width of the weld gap changes, there is no need to replace the scraper by disassembly or transfer the structural component to another platform for subsequent welding, thus avoiding the time extension caused by disassembly and the instability of the weld structure caused by possible unstable stress during transfer. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to improve the overall welding efficiency and reduce the occurrence of weld instability due to transfer by setting a scraper that follows the welding torch to control the smoothness of the molten pool morphology and the spatter of molten droplets. At the same time, when the width of the weld gap changes, there is no need to disassemble or reassemble the scraper or transfer the structural components.

[0005] The technical solution adopted by the present invention to solve the technical problem is: a side-type molten pool morphology control device for an arc additive welding torch, comprising: a robotic arm, a connecting seat, a camera, a welding torch assembly, and a scraper assembly;

[0006] The robotic arm is driven to connect to the connecting seat;

[0007] The scraper assembly includes a near-far adjustment mechanism mounted on a connecting seat, a rotating mechanism connected to the near-far adjustment mechanism, a rotating seat connected to the rotating mechanism, and at least two scrapers corresponding to different welding gap specifications disposed on the rotating seat.

[0008] The welding torch assembly and the camera are both mounted on the connecting base. The scraper assembly is located on the side of the welding torch assembly. The proximity adjustment mechanism is used to move the scraper closer to or further away from the welding torch assembly.

[0009] The connecting base is equipped with a control center, and the robotic arm, welding torch assembly, camera, and scraper assembly are all electrically connected to the control center;

[0010] During welding, the welding torch assembly, driven by the robotic arm, welds the weld seam. The scraper controls the smoothing of the weld pool's edge. When the weld seam changes from the first seam specification to the second seam specification, the control center identifies image information from the camera and outputs a scraper switching signal to the scraper assembly. Simultaneously, it controls the robotic arm and welding assembly to enter a standby state. The proximity adjustment mechanism in the scraper assembly moves the scraper away from the welding torch assembly, and the rotation mechanism drives the rotating seat to rotate, causing the rotating seat to switch the scraper to the scraper that conforms to the second seam specification. Subsequently, the proximity adjustment mechanism drives the scraper to reset, and the robotic arm and welding torch assembly enter the working state. The scraper conforming to the second seam specification continues to control the smoothing of the weld pool's edge.

[0011] As a preferred embodiment of the present invention, the near-far adjustment mechanism includes a longitudinal adjustment part and a lateral adjustment part. The longitudinal adjustment part includes a longitudinal guide rail and a linear motor. The linear motor is driven and connected to the longitudinal guide rail, and the linear motor is electrically connected to the control center.

[0012] As a preferred embodiment of the present invention, the lateral adjustment part includes a lateral push cylinder, which is mounted on a linear motor. The output end of the lateral push cylinder is connected to a lateral push rod, the movement direction of the lateral push rod is perpendicular to the extension direction of the longitudinal guide rail, and the lateral push cylinder is electrically connected to the control center.

[0013] As a preferred embodiment of the present invention, the rotating mechanism includes a rotating motor, which is connected to a transverse push rod. The output end of the rotating motor is connected to a rotating shaft, which is connected to a rotating seat. The rotating motor is electrically connected to a control center.

[0014] As a preferred embodiment of the present invention, the rotating seat includes a turntable and connecting arms corresponding to the scrapers. A plurality of connecting arms are disposed on the outer periphery of the turntable, and the plurality of connecting arms are respectively connected to scrapers corresponding to different welding gap specifications. The rotating mechanism is connected to the turntable and the connection position is located at the center of the turntable.

[0015] As a preferred embodiment of the present invention, the welding torch assembly includes a welding torch holder and a welding torch. The welding torch holder is disposed on a connecting base, and the welding torch is detachably installed in the welding torch holder. The welding torch is electrically connected to a control center.

[0016] As a preferred embodiment of the present invention, the rotating motor is a brake motor.

[0017] As a preferred embodiment of the present invention, the surfaces of several scrapers are all coated with an anti-oxidation coating.

[0018] As a preferred embodiment of the present invention, the camera is located above the welding torch assembly and the scraper, and the camera is used to capture the width of the weld gap.

[0019] A method for controlling the molten pool morphology using the aforementioned side-type molten pool morphology control device for an arc additive welding torch includes the following steps:

[0020] S1: The welding torch assembly welds the weld seam under the drive of the robotic arm, and the scraper controls the smoothing of the weld pool morphology edge.

[0021] S2: When the camera changes the weld gap from the current first gap specification to the second gap specification, the camera transmits the image information to the control center;

[0022] S3: After acquiring image information, the control center outputs a scraper switching signal to the scraper assembly, and simultaneously controls the robotic arm and welding torch assembly to enter the standby state. The distance adjustment mechanism in the scraper assembly moves the scraper away from the welding torch assembly, and controls the rotation mechanism to drive the rotating seat to rotate, so that the rotating seat switches the scraper and switches the scraper that meets the second gap specification to the working position. The distance adjustment mechanism drives the scraper to reset.

[0023] S4: The robotic arm and welding torch assembly enter the working state, and the scraper that conforms to the second gap specification continues to smooth and control the edge of the weld pool morphology.

[0024] The beneficial effects of this invention are reflected in:

[0025] 1. By setting up a rotating mechanism to cooperate with at least two corresponding scrapers of different weld gap specifications, when the width of the weld gap changes and the gap specification changes, there is no need to disassemble or reassemble the scraper or transfer the welded structural components, thereby improving the overall welding efficiency and reducing the occurrence of weld structure instability due to transfer.

[0026] 2. By setting up a distance adjustment mechanism, the welding torch or welding part can be prevented from affecting the switching process when the scraper is switched.

[0027] 3. The scraper and welding components are both mounted on the connecting seat so that the scraper and welding components can move together under the action of the robotic arm. This allows the scraper to follow the welding process of the welding head in the welding component to control the smoothness of the edge of the molten pool and to shield the splashing of molten droplets, thereby reducing the error of the edge of the molten pool, improving the surface smoothness of the welded part, reducing the machining allowance during design, and reducing material waste. Attached Figure Description

[0028] Figure 1 This is a front view schematic diagram of one state of the present invention;

[0029] Figure 2 This is a front view schematic diagram of another state of the present invention;

[0030] Figure 3 This is a schematic diagram of the rotating seat and scraper of the present invention;

[0031] Figure 4 This is a schematic diagram of the rotating seat portion of the present invention;

[0032] Figure 5 This is a flowchart of the steps of the present invention.

[0033] In the diagram: 1. Robotic arm; 2. Connecting seat; 3. Welding torch holder; 4. Welding torch; 5. Control center; 6. Camera; 7. Longitudinal guide rail; 8. Linear motor; 9. Lateral push cylinder; 10. Lateral push rod; 11. Rotary motor; 12. Rotary shaft; 13. Rotary seat; 131. Turntable; 132. Connecting arm; 14. Scraper. Detailed Implementation

[0034] The invention will now be described in further detail with reference to the accompanying drawings.

[0035] Combined with appendix Figure 1-5 As shown, a side-type weld pool morphology control device for an arc additive welding torch and its usage method include a robotic arm 1, a connecting seat 2, a welding torch holder 3, a welding torch 4, a control center 5, a camera 6, a longitudinal guide rail 7, a linear motor 8, a transverse push cylinder 9, a transverse push rod 10, a rotary motor 11, a rotary shaft 12, a rotary seat 13, a turntable 131, a connecting arm 132, and a scraper 14.

[0036] Combined with appendix Figure 1-4 As shown, a side-mounted molten pool morphology control device for an arc additive welding torch includes: a robotic arm 1, a connecting seat 2, a camera 6, a welding torch assembly, and a scraper assembly. The robotic arm 1 is driven to connect with the connecting seat 2. Preferably, the robotic arm 1 is a high-precision robotic arm corresponding to a high-precision motion platform. The robotic arm 1 can drive the connecting seat 2 to perform dynamic adjustments with multiple degrees of freedom in the horizontal (x-axis / y-axis), vertical (z-axis), and angular (θ-axis) directions.

[0037] The scraper assembly includes a proximity adjustment mechanism mounted on the connecting seat 2, a rotation mechanism connected to the proximity adjustment mechanism, a rotating seat 13 connected to the rotation mechanism, and at least two scrapers 14 corresponding to different welding gap specifications disposed on the rotating seat 13. Preferably, for a welding gap specification of 2mm-3mm width, the selected scraper 14 has an inclination angle of 27-32° relative to the vertical direction, and the designed distance from the scraper 14 to the welding gap is 1mm-3mm. For a welding gap specification of 3mm-4mm width, the selected scraper has an inclination angle of 33-37° relative to the vertical direction, and the designed distance from the scraper 14 to the welding gap is 2mm-4mm. For a welding gap specification of 4mm-5mm width, the selected scraper has an inclination angle of 33-37° relative to the vertical direction, and the designed distance from the scraper 14 to the welding gap is 2mm-4mm. The vertical tilt angle is 38-42°, and the designed distance from the scraper 14 to the welding gap is 3mm-4mm. For a welding gap width of 5mm-6mm, the selected scraper has a vertical tilt angle of 43-47°, and the designed distance from the scraper 14 to the welding gap is 3mm-4mm. The scraper 14 is detachably mounted on the rotating base 13. The welding torch assembly and camera 6 are both mounted on the connecting base 2. The scraper assembly is located on the side of the welding torch assembly. The proximity adjustment mechanism is used to move the scraper 14 closer to or further away from the welding torch assembly. Specifically, the proximity adjustment mechanism is used to move the scraper 14 closer to or further away from the welding part of the welding torch assembly. The proximity adjustment mechanism includes a longitudinal adjustment part and a transverse adjustment part. The adjustment section includes a longitudinal guide rail 7 and a linear motor 8, the linear motor 8 being driven and connected to the longitudinal guide rail 7. The lateral adjustment section includes a lateral push cylinder 9, which is mounted on the linear motor 8. A lateral push rod 10 is connected to the output end of the lateral push cylinder 9. The movement direction of the lateral push rod 10 is perpendicular to the extension direction of the longitudinal guide rail 7. Specifically, the extension direction of the longitudinal guide rail 7 is parallel to the z-axis in the spatial rectangular coordinate system where the connecting seat 2 is located. The lateral push cylinder 9 drives the lateral push rod 10 to move in a direction parallel to the x-axis in the spatial rectangular coordinate system where the connecting seat 2 is located. The spatial rectangular coordinate system where the connecting seat 2 is located is determined using conventional coordinate settings. By setting the longitudinal guide rail 7 in conjunction with the linear motor 8 and the lateral push cylinder 9, from... The rotating seat 13 can be moved closer to or away from the welding part of the welding torch assembly, thereby moving the scraper 14 closer to or away from the welding part of the welding torch assembly. Preferably, the stroke of the rotating seat 13 moving closer to or away from the welding part of the welding torch assembly remains consistent throughout the same processing flow. The distance between the scraper and the welding gap for different gap specifications is adjusted and selected by the scraper's own design. The rotating mechanism includes a rotating motor 11, which is connected to a transverse push rod 10. The output end of the rotating motor 11 is connected to a rotating shaft 12, which is connected to the rotating seat 13. Specifically, the direction of the rotation axis of the rotating shaft 12 is consistent with the direction of movement of the transverse push rod 10 driven by the transverse push cylinder 9.The rotation axis of the rotating shaft 12 extends parallel to the x-axis of the spatial rectangular coordinate system where the connecting seat 2 is located. A rotating motor 11 drives the rotating seat 13 to rotate. Preferably, the rotating motor 11 is a brake motor. The rotating seat 13 includes a turntable 131 and connecting arms 132 corresponding to the scraper 14. Several connecting arms 132 are disposed on the outer periphery of the turntable 131. Preferably, the several connecting arms 132 are evenly disposed on the outer periphery of the turntable 131. The several connecting arms 132 correspond to different welding points. Scrapers 14 of varying joint gap specifications are connected one-to-one. The rotating mechanism is connected to the turntable 131, with the connection position located at the center of the turntable 131. Specifically, the rotating shaft 12 is connected to the turntable 131, with the connection position located at the center of the turntable 131. The rotating seat 13 can switch the scraper 14 closer to the welding part. The welding torch assembly includes a welding torch holder 3 and a welding torch 4. The welding torch holder 3 is mounted on the connecting seat 2, and the welding torch 4 is detachably installed in the welding torch holder 3. Preferably, the welding torch 4 is installed in the welding torch holder 3 using a detachable clamp.

[0038] The camera 6 is located above the welding torch assembly and the scraper 14. The camera 6 is used to capture the width of the weld gap and obtain image information. A control center 5 is installed on the connecting base 2. The robotic arm 1, welding torch assembly, camera 6, and scraper assembly are all electrically connected to the control center 5. Specifically, the linear motor 8, the transverse push cylinder 9, the rotary motor 11, and the welding torch 4 are all electrically connected to the control center 5. The control center 5 is used for signal information coordination and processing of different components. The control center 5 is pre-loaded with the scraper parameters required for different weld gap widths. The specifications of the plate 14 are specified, and a corresponding scraper switching signal is set to switch to the corresponding scraper 14. The scraper switching signal includes a distance travel signal for the distance adjustment mechanism to move the scraper 14 away from or towards the welding torch assembly based on the image information obtained by the camera 6, and a rotation travel signal for the rotating seat 13 to rotate to the corresponding scraper 14. Some of the scrapers 14 are ceramic scrapers, and the surfaces of some of the scrapers 14 are covered with an anti-oxidation coating. The edges of the scrapers 14 of different specifications are arc-shaped or wedge-shaped to control the smoothness of the molten pool morphology and to handle molten droplet spatter. The specific edge shape of the scrapers 14 of different specifications is based on historical experience or experimental summary so that the corresponding specifications can be adapted for weld widths of different gap specifications. The design is optimized to meet the requirements for smooth molten pool morphology control for corresponding weld gap specifications. Camera 6 captures the changes in weld gap width. When the weld gap changes from the current first gap specification to the second gap specification, preferably, the first and second gap specifications are determined according to specific processing requirements. Similarly, a third, fourth, etc., gap specification can be added. Camera 6 transmits the image information of the gap specification change to control center 5. Control center 5 selects the corresponding scraper switching signal based on the image information and pre-recorded weld gap width information. Control center 5 transmits the corresponding scraper switching signal to the scraper assembly, and simultaneously controls the robotic arm 1 and welding torch assembly to enter the standby state. The adjustment mechanism moves the rotating seat 13 away from the welding part of the welding torch assembly to the switching position, and the rotation mechanism drives the rotating seat 13 to rotate, selecting the corresponding specification scraper 14 for the corresponding gap size and switching it to the working position. That is, the scraper 14 that meets the first gap size is switched to the scraper 14 that meets the second gap size. After the switching is completed, the distance adjustment mechanism moves the rotating seat 13 closer to the welding part of the welding torch assembly and resets it to the shape flatness control position. The robotic arm 1 and the welding torch 4 in the welding torch assembly enter the working state and continue welding. The scraper 14 of the corresponding specification is used to control the flatness of the edge of the molten pool. The switching position is a position where the position of the welding part is not affected when the rotating seat 13 switches the scraper 14. The specific position is selected based on actual working experience.The working position, designed based on its corresponding gap specifications, is the position of the scraper 14 relative to the rotation axis of the rotating seat 13 when it is close to the welding part and can control the smoothing of the weld pool morphology edge. Normally, the working position is the position where the scraper 14 can move closest to the end of the welding torch 4 within the reference system of the rotating seat 13, i.e., the downward-facing position. The morphology smoothing control position is the position where the scraper 14, designed based on its corresponding gap specifications, controls the smoothing of the weld pool morphology edge during welding. The rotation of the rotating seat 13 away from and near the welding part of the welding torch assembly is based on the near and far travel signals. The rotation of the rotating seat 13 switches the scraper 14 based on the rotation travel signal. To reduce the impact of the difference between the scraper 14's own temperature and the welding temperature on welding, the scraper 14 is preheated before welding to a temperature close to the welding temperature, usually above 2000℃. Before welding begins, the preheated scraper 14 is installed on the rotating seat 13.

[0039] Regarding the control center 5 as a signal control relay, it can include industrial control computers, PLC I / O ports, motion control cards, etc. At the algorithm level, the vision algorithm layer can use OpenCV (C++ / Python), Halcon, VisionPro, PyTorch / TensorFlow, etc.; the logic control layer can use C++, C#, Python, LabVIEW, etc.; the motion control layer can use SDKs (C++ / C#) provided by controller manufacturers, MoveIt from ROS (Robot Operating System), etc.; and the hardware communication layer can use communication with the PLC (such as the Modbus library), communication with the camera (such as GigE Vision, USB3 Vision protocol), and communication with the motor driver (such as EtherCAT, CANopen), etc.

[0040] Combined with appendix Figure 1-5 As shown, a method for controlling the molten pool morphology using the aforementioned side-type molten pool morphology control device for an arc additive welding torch includes the following steps:

[0041] S1: The welding torch assembly welds the weld seam under the drive of the robotic arm 1, and the scraper 14 controls the smoothing of the edge of the weld pool morphology.

[0042] Specifically:

[0043] S1.1: The structural components that need to be welded are placed on the worktable of the high-precision motion platform corresponding to the robotic arm 1 and fixed by the corresponding fixture;

[0044] S1.2: The robotic arm 1 drives the welding gun 4 in the welding gun assembly to weld the weld seam. At the same time, the scraper 14 smooths and controls the edge of the weld pool after welding.

[0045] S2: When the welding gap acquired by the camera 6 changes from the current first gap specification to the second gap specification, the camera 6 transmits the image information to the control center 5;

[0046] S3: After acquiring image information, the control center 5 outputs a scraper switching signal to the scraper assembly, and simultaneously controls the robotic arm 1 and the welding torch assembly to enter the standby state. The near-far adjustment mechanism in the scraper assembly moves the scraper 14 away from the welding torch assembly, and controls the rotation mechanism to drive the rotating seat 13 to rotate, so that the rotating seat 13 switches the scraper 14, and switches the scraper 14 that meets the second gap specification to the working position. The near-far adjustment mechanism drives the scraper 14 to reset.

[0047] S4: The robotic arm 1 and the welding torch assembly enter the working state, and the scraper 14, which conforms to the second gap specification, continues to control the smoothing of the edge of the weld pool morphology.

[0048] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A side pool morphology control device for an electric arc additive welding torch, comprising: The machine arm (1), the connecting seat (2), the camera (6), the welding gun assembly and the scraper assembly are characterized in that: The machine arm (1) is drivingly connected with the connecting seat (2); The scraper assembly comprises a distance adjustment mechanism mounted on the connecting seat (2), a rotating mechanism connected with the distance adjustment mechanism, a rotating seat (13) connected with the rotating mechanism, and at least two scrapers (14) of different specifications corresponding to different welding gaps provided on the rotating seat (13); The welding gun assembly and the camera (6) are both provided on the connecting seat (2), the scraper assembly is located on the side of the welding gun assembly, and the distance adjustment mechanism is used to drive the scraper (14) to approach or move away from the welding gun assembly; The connecting seat (2) is provided with a control center (5), and the machine arm (1), the welding gun assembly, the camera (6) and the scraper assembly are all electrically connected with the control center (5); During welding, the welding gun assembly is driven by the machine arm (1) to weld the welding gap, the scraper (14) controls the edge of the welding pool, when the welding gap is changed from the first gap specification to the second gap specification, the control center (5) identifies the image information from the camera (6), outputs a scraper switching signal to the scraper assembly, controls the machine arm (1) and the welding assembly to enter a standby state, the distance adjustment mechanism in the scraper assembly moves the scraper (14) away from the welding gun assembly, the rotating mechanism drives the rotating seat (13) to rotate, the rotating seat (13) switches the scraper (14) to the one that meets the second gap specification, then the distance adjustment mechanism resets the scraper (14), the machine arm (1) and the welding assembly enter the working state, and the scraper (14) that meets the second gap specification continues to control the edge of the welding pool.

2. A side pool geometry control device for an electric arc additive welding torch according to claim 1, characterized in that: The distance adjustment mechanism comprises a longitudinal adjustment part and a transverse adjustment part, the longitudinal adjustment part comprises a longitudinal guide rail (7) and a linear motor (8), the linear motor (8) is drivingly connected with the longitudinal guide rail (7), and the linear motor (8) is electrically connected with the control center (5).

3. A side pool geometry control device for an electric arc additive welding torch according to claim 2, characterized in that: The transverse adjustment part comprises a transverse pushing cylinder (9), the transverse pushing cylinder (9) is provided on the linear motor (8), a transverse pushing rod (10) is connected to the output end of the transverse pushing cylinder (9), the movement direction of the transverse pushing rod (10) is perpendicular to the extension direction of the longitudinal guide rail (7), and the transverse pushing cylinder (9) is electrically connected with the control center (5).

4. A side pool geometry control device for an electric arc additive welding torch according to claim 3, characterized in that: The rotating mechanism comprises a rotating motor (11), the rotating motor (11) is connected with the transverse pushing rod (10), a rotating shaft (12) is connected to the output end of the rotating motor (11), the rotating shaft (12) is connected with the rotating seat (13), and the rotating motor (11) is electrically connected with the control center (5).

5. A side pool geometry control device for an electric arc additive welding torch according to claim 1, characterized in that: The rotating seat (13) comprises a rotating disc (131) and a connecting arm (132) corresponding to the scraper (14), a plurality of the connecting arms (132) are arranged on the outer periphery of the rotating disc (131), and a plurality of the connecting arms (132) are respectively connected with the scrapers (14) corresponding to different welding gap specifications, and the rotating mechanism is connected with the rotating disc (131) and the connection position is located at the center of the rotating disc (131).

6. A side pool geometry control device for an electric arc additive welding torch according to claim 1, characterized in that: The welding gun assembly comprises a welding gun holder (3) and a welding gun (4), the welding gun holder (3) is arranged on the connecting seat (2), the welding gun (4) is detachably installed in the welding gun holder (3), and the welding gun (4) is electrically connected with the control center (5).

7. A side pool geometry control device for an electric arc additive welding torch according to claim 4, characterized in that: The rotating motor (11) is a brake motor.

8. A side pool geometry control device for an electric arc additive welding torch according to claim 1, characterized in that: The surfaces of the plurality of scrapers (14) are coated with an oxidation-resistant plating layer.

9. A side pool geometry control device for an electric arc additive welding torch according to claim 1, characterized in that: The camera (6) is located above the welding gun assembly and the scraper (14), and the camera (6) is used for capturing the width of the welding gap.

10. A use method of the side type molten pool morphology control device for the electric arc additive welding gun according to any one of claims 1-9 for molten pool morphology control, comprising the following steps: S1: the welding gun assembly is driven by the robot arm (1) to weld the welding gap, and the scraper (14) controls the edge of the welding molten pool morphology; S2: when the camera (6) obtains that the welding gap is changed from the first gap specification to the second gap specification, the camera (6) transmits image information to the control center (5); S3: after the control center (5) obtains the image information, a scraper switching signal is output to the scraper assembly, the robot arm (1) and the welding gun assembly are controlled to enter a standby state, the distance adjusting mechanism in the scraper assembly drives the scraper (14) to move away from the welding gun assembly, the rotating mechanism drives the rotating seat (13) to rotate, the rotating seat (13) switches the scraper (14) to the working position, and the distance adjusting mechanism drives the scraper (14) to reset; S4: the robot arm (1) and the welding gun assembly enter the working state, and the scraper (14) corresponding to the second gap specification continues to control the edge of the welding molten pool morphology.

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