Weld gap control device and control method thereof

Abstract

The invention relates to a welding seam gap control device and a control method thereof. The welding seam gap control device comprises a base, a supporting plate, a clamping mechanism, an abutting plate, a sleeve, a limiting frame provided with a welding head, a movable rod, a motor and a rotating plate, and the movable rod moves forwards, backwards, leftwards and rightwards in the sleeve in the horizontal direction; the device further comprises two abutting pieces which move in the limiting frame, one abutting piece is fixedly connected to one end of the rotating plate, and the other abutting piece is connected to the other end of the rotating plate in a sliding mode. The other end of the rotating plate is matched with the abutting plate in an abutting mode to drive the supporting plate to switch the position vertically, and multi-degree-of-freedom movement of the welding head is achieved. Through the matching structure of the limiting frame, the abutting piece and the limiting ball, the welding head can do reciprocating motion in the welding seam direction in the welding process and can also do micro-amplitude rapid reciprocating motion in the front-back direction, and a wave type welding seam track is formed. The track can effectively cover the welding trace of the previous layer, welding missing is avoided, and the sealing performance and the welding quality of a welding seam are remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of welding equipment, in particular to a welding gap control device and a control method thereof. BACKGROUND

[0002] In the welding equipment, especially in the welding gap control and welding process, a fixed or simply moved welding head is often used for straight-line welding. However, this welding method often has the problems of single welding seam track and insufficient welding overlap, which makes it difficult to guarantee the tightness and welding quality of the welding seam, especially in the welding of long welding seams or in the occasions with high requirements for the sealing performance of the welding seam. Straight-line welding is prone to cause welding leakage and uneven welding seam, which affects the overall strength and sealing performance of the welded structure.

[0003] In addition, the existing device often cannot realize the multidirectional fine adjustment and wavy movement of the welding head during the welding process, and it is difficult to automatically cover the previous welding track during the welding process, thereby limiting the comprehensiveness of the welding seam and the welding efficiency.

[0004] Therefore, a welding gap control device and a control method thereof are proposed to solve the above problems. SUMMARY

[0005] The purpose of the present application is to provide a welding gap control device and a control method thereof.

[0006] The purpose of the present application is achieved by the following technical solution: a welding gap control device, comprising a base and a supporting plate, a clamping mechanism is arranged on the supporting plate, a pressing plate is connected to the supporting plate through a lifting mechanism, a sleeve is fixedly connected to the base, a limiting frame in which a welding head is arranged is arranged between the two sleeves, movable rods are fixedly connected to the two sides of the limiting frame, the movable rods move horizontally forward, backward, left and right in the sleeve, and the limiting frame is composed of two vertical frames and two arc-shaped frames;

[0007] Two pressing pieces movably arranged in the limiting frame are further included, a motor is fixedly connected to the base, a rotating plate is fixedly connected to the output shaft of the motor, one of the pressing pieces is fixedly connected to one end of the rotating plate, and the other pressing piece is slidably connected to the other end of the rotating plate;

[0008] The other end of the rotating plate is in abutting engagement with the pressing plate to drive the supporting plate to switch positions up and down, thereby realizing the multidirectional movement of the welding head.

[0009] As a further description of the above technical solution: the pressing plate has an arc-shaped structure, the distance between one end of the pressing plate and the output shaft of the motor is greater than the distance between the other end of the pressing plate and the output shaft of the motor, the distance between one end of the rotating plate and the output shaft of the motor is less than the distance between the other end of the rotating plate and the output shaft of the motor, and a guide plate is fixedly connected to one end of the pressing plate to make the lifting process stable and controllable.

[0010] As the further description of the above technical scheme: the lifting mechanism comprises a plurality of vertical rods inserted into the base and fixedly connected with the pressing plate, a compression spring is arranged between the bottom end of the vertical rod and the base, and the vertical rod is fixedly connected with the supporting plate.

[0011] As the further description of the above technical scheme: the base is fixedly connected with an L-shaped plate on both sides, the top surface of the supporting plate is in pressing cooperation with the L-shaped plate, the L-shaped plate is provided with an avoiding groove corresponding to the position of the clamp of the clamping mechanism, and the position of the workpiece to be welded is fixed.

[0012] As the further description of the above technical scheme: the limiting frame is fixedly connected with a limiting ring, the limiting ring is used for limiting the wire harness of the welding head, and the other end of the wire harness is connected with the main body of the welding equipment, so that the interference caused by the wire harness problem is reduced.

[0013] As the further description of the above technical scheme: the pressing part comprises a pressing column, the end of the pressing column is fixedly connected with a pressing ball sliding in the limiting frame, the side surface of the movable rod is provided with a groove, the groove is connected with a smooth plate through an elastic element, the smooth plate is in contact with the inner wall of the sleeve, and a wave-shaped welding seam is formed.

[0014] As the further description of the above technical scheme: a group of limiting balls are fixedly connected in the vertical frame, the two groups of limiting balls are symmetrically and centrally distributed, the diameters of the limiting balls in each group are different, and the automatic adjustment of the welding seam width and the wave amplitude is realized.

[0015] As the further description of the above technical scheme: one pressing column is fixedly connected with the end of the rotating plate, and the other pressing column is fixedly connected with a sliding plate, and the side of the rotating plate close to the limiting frame is provided with a sliding groove in sliding cooperation with the sliding plate.

[0016] A control method of a welding seam gap control device, according to the welding seam gap control device, the specific method comprises the following steps:

[0017] S1, workpiece placement and welding preparation: start the motor, drive the rotating plate to rotate clockwise slowly, the end of the rotating plate contacts the pressing plate, the pressing plate is gradually pressed down, the supporting plate is lowered under the action of the compression spring, and the workpiece that has completed welding on the clamping mechanism is away from the welding head;

[0018] The manipulator takes down the welded workpiece and places a new workpiece to be welded on the supporting plate, and the clamping mechanism clamps and fixes the workpiece;

[0019] S2, welding head positioning and welding seam middle positioning: the rotating plate continues to rotate, the pressing part enters the top arc-shaped frame of the limiting frame, the supporting plate is lifted to press against the L-shaped plate under the reset action of the compression spring, and the position of the workpiece is fixed;

[0020] The welding head is located directly above the welding seam of the workpiece, and is ready to start welding;

[0021] S3, the wave-shaped welding seam welding process: the pressing piece fixed on the rotating plate enters the right vertical frame, pushes the limiting frame to reciprocate to the right, the welding head moves to the right along the welding seam, the pressing ball contacts the limiting ball with different diameters, so that the welding head simultaneously makes the front and back micro-amplitude rapid reciprocating motion, and a wave-shaped welding seam track is formed;

[0022] Then the pressing piece enters the left vertical frame, the welding head moves to the left, and the welding of the whole welding seam is completed.

[0023] S4, workpiece replacement and resetting: the pressing piece enters the top arc-shaped frame again, the end of the rotating plate presses the pressing plate again, the supporting plate descends, the welded workpiece is separated from the welding head, the manipulator takes away the welded workpiece, and places a new round of workpiece to be welded.

[0024] The above process is repeated to realize continuous automatic welding.

[0025] Compared with the prior art, the advantages of the present application are that:

[0026] The present application sets the limiting frame, the pressing piece and the limiting ball cooperation structure, so that the welding head can reciprocate along the welding seam direction and make micro-amplitude rapid reciprocating motion in the front and back directions during welding, forming a wave-shaped welding seam track. This track can effectively cover the welding traces of the previous layer, avoid missed welding, and significantly improve the sealing performance and welding quality of the welding seam.

[0027] And the motor drives the rotating plate and the pressing plate to cooperate to realize the automatic lifting of the supporting plate and the replacement of the workpiece. No manual intervention is needed during welding, and continuous operation of welding, replacement and re-welding can be realized, which greatly improves the welding efficiency and is suitable for batch workpiece welding scenes. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is the overall structure schematic diagram of the present application;

[0029] Figure 2 is the structure side view schematic diagram of the present application;

[0030] Figure 3 is the split structure schematic diagram of the base and the supporting plate of the present application;

[0031] Figure 4 is the split structure schematic diagram of the supporting plate and the vertical rod of the present application;

[0032] Figure 5 is the cooperation structure schematic diagram of the limiting frame and the rotating plate of the present application;

[0033] Figure 6 is the cross-sectional structure schematic diagram of the rotating plate and the sleeve of the present application;

[0034] Figure 7is the split structure diagram of the rotating plate and the limiting frame of the present application;

[0035] Figure 8 is the distribution structure diagram of the limiting ball of the present application.

[0036] Label explanation: 1, base; 2, supporting plate; 3, pressing plate; 4, sleeve; 5, limiting frame; 501, vertical frame; 502, arc-shaped frame; 6, movable rod; 7, motor; 8, rotating plate; 9, vertical rod; 10, compression spring; 11, L-shaped plate; 12, avoiding groove; 13, limiting ring; 14, pressing column; 15, pressing ball; 16, groove; 17, smooth plate; 18, limiting ball; 19, sliding plate; 20, sliding groove; 21, guide plate. DETAILED DESCRIPTION

[0037] The content of the present application will be described in detail below in combination with the drawings and examples of the specification:

[0038] As Figures 1-8 , the embodiment schematic diagram of the weld gap control device provided by the present application is shown, which comprises a base 1 and a supporting plate 2, the supporting plate 2 is provided with a clamping mechanism, the supporting plate 2 is connected with a pressing plate 3 through a lifting mechanism, the base 1 is fixedly connected with a sleeve 4, two sleeves 4 are provided with a limiting frame 5 (the limiting frame 5 is fixedly connected with an elastic sheet, the elastic sheet is fixedly installed with the welding head, through the setting of the elastic sheet, the welding head can be slightly moved, which ensures the close pressing of the welding head and the welding position, and is convenient for welding treatment) installed with a welding head, the limiting frame 5 is fixedly connected with a movable rod 6 on both sides, the movable rod 6 moves horizontally forward and backward in the sleeve 4, the limiting frame 5 is composed of two vertical frames 501 and two arc-shaped frames 502;

[0039] The clamping assembly comprises a motorized telescopic rod fixedly connected to the supporting plate 2, the telescopic end of the motorized telescopic rod is fixedly connected with a movable push plate, the supporting plate 2 is further fixedly connected with a matching plate, the movable push plate is moved by the telescopic end of the motorized telescopic rod, and the clamping of the welded part is realized through the cooperation of the movable push plate and the matching plate. This mode is a conventional technology, and the present application will not be described in detail.

[0040] Further comprising two pressing members moving in the limiting frame 5, the base 1 is fixedly connected with a motor 7, the output shaft of the motor 7 is fixedly connected with a rotating plate 8, one pressing member is fixedly connected to one end of the rotating plate 8, and the other pressing member is slidingly connected to the other end of the rotating plate 8; the other end of the rotating plate 8 is in abutting cooperation with the pressing plate 3, and drives the supporting plate 2 to switch positions up and down, and the supporting plate 2 and the movable limiting frame 5 are arranged to realize the multidirectional movement control of the welding head. The motor 7 drives the rotating plate 8 to rotate, and the pressing member slides in the limiting frame 5, thereby driving the supporting plate 2 to ascend and descend and the welding head to move forward and backward and left and right in the horizontal direction, the supporting plate 2 is used for clamping the workpiece, and the limiting frame 5 is used for guiding the movement track of the welding head, so that the multi-degree-of-freedom movement of the welding head is realized, the complex weld shape can be adapted, and the welding precision and adaptability are improved.

[0041] It is worth noting that: the pressing plate 3 is in an arc structure, the distance between one end of the pressing plate 3 and the output shaft of the motor 7 is greater than the distance between the other end of the pressing plate 3 and the output shaft of the motor 7, the distance between one end of the rotating plate 8 and the output shaft of the motor 7 is less than the distance between the other end of the rotating plate 8 and the output shaft of the motor 7, one end of the pressing plate 3 is fixedly connected with a guide plate 21, the pressing plate 3 is designed to be in an arc structure, cooperates with the end of the rotating plate 8, gradually presses down or releases the pressing plate 3 in the rotating process, thereby realizing the stable ascending and descending of the supporting plate 2, and the guide plate 21 is used for guiding the contact process of the rotating plate 8 and the pressing plate 3; the arc pressing plate 3 makes the ascending and descending process stable and controllable, avoids impact and vibration, and improves the stability and safety of workpiece replacement.

[0042] The lifting mechanism comprises a plurality of vertical rods 9 inserted into the base 1 and fixedly connected with the pressing plate 3, a compression spring 10 is arranged between the bottom end of the vertical rod 9 and the base 1, and the vertical rod 9 is fixedly connected with the supporting plate 2, when the pressing plate 3 is pressed down, the compression spring 10 is compressed, and the supporting plate 2 descends; when the compression spring 10 is released, the supporting plate 2 ascends, the structure is simple and reliable, the elastic reset ensures the position stability of the supporting plate 2, and the structure is suitable for the working condition of frequent lifting.

[0043] The L-shaped plate 11 is fixedly connected on both sides of the base 1, the top surface of the supporting plate 2 is in abutting cooperation with the L-shaped plate 11, the L-shaped plate 11 is provided with an avoiding groove 12, the avoiding groove 12 corresponds to the position of the clamp of the clamping mechanism, the long welded workpiece is located in the avoiding groove 12, the L-shaped plate 11 is in abutting cooperation with the supporting plate 2 and is used for limiting the ascending position of the supporting plate 2. The avoiding groove 12 provides space for the clamp and the long workpiece, ensures the position of the workpiece during welding, and improves the welding precision; the avoiding groove 12 is designed to adapt to workpieces of different lengths and enhance the universality.

[0044] In the application, the limiting frame 5 is fixedly connected with a limiting ring 13, the limiting ring 13 is used for limiting the wire harness of the welding head, the other end of the wire harness is connected with the main body of the welding equipment, the limiting ring 13 is used for fixing the wire harness of the welding head, so as to avoid the wire harness from winding or interfering with the welding process during movement.

[0045] The pressing member comprises a pressing column 14, the end of which is fixedly connected with a pressing ball 15 sliding in the limiting frame 5, the side of the movable rod 6 is provided with a groove 16, the groove 16 is connected with a smooth plate 17 through an elastic member, the smooth plate 17 is in contact with the inner wall of the sleeve 4, the pressing ball 15 rolls in the limiting frame 5, and drives the movable rod 6 to slightly move in the sleeve 4. The smooth plate 17 cooperates with the elastic member to realize the elastic reset and smooth movement of the movable rod 6, realize the slight reciprocating movement of the welding head in the welding process, form a wave-shaped welding seam, and improve the overlap degree and sealing performance of the welding seam.

[0046] It should be noted that: the vertical frame 501 is fixedly connected with a group of limiting balls 18, the two groups of limiting balls 18 are symmetrically and centrally distributed, the diameters of the limiting balls 18 in each group are different, the pressing ball 15 sequentially contacts the limiting balls 18 with different diameters, the motion track and amplitude are changed, and the welding seam coverage is completed.

[0047] It is worth noting that: one pressing column 14 is fixedly connected with the end of the rotating plate 8, and the other pressing column 14 is fixedly connected with a sliding plate 19 at the end, the side of the rotating plate 8 close to the limiting frame 5 is provided with a sliding groove 20 connected with the sliding plate 19 in sliding fit, so that the two pressing members are always in good contact with the limiting frame 5 during movement, the movement is stable, and the structure has strong self-adaptability.

[0048] A control method of a welding seam gap control device, according to the welding seam gap control device, the specific method comprises the following steps:

[0049] S1, workpiece placement and welding preparation: start the motor 7, drive the rotating plate 8 to slowly rotate clockwise, the end of the rotating plate 8 contacts the pressing plate 3, the pressing plate 3 is gradually pressed down, the supporting plate 2 is lowered under the action of the compression spring 10, so that the workpiece which has completed welding on the clamping mechanism is away from the welding head;

[0050] The manipulator takes down the welded workpiece and places a new workpiece to be welded on the supporting plate 2, and the clamping mechanism clamps and fixes the workpiece;

[0051] S2, welding head positioning and welding seam middle positioning: the rotating plate 8 continues to rotate, the pressing member enters the top arc-shaped frame 502 of the limiting frame 5, and the supporting plate 2 is lifted to abut against the L-shaped plate 11 under the reset action of the compression spring 10, so as to ensure that the workpiece position is fixed;

[0052] The welding head is located directly above the welding seam of the workpiece, and is ready to start welding;

[0053] S3, wave-shaped welding seam welding process: the pressing piece fixed on the rotating plate 8 enters the right vertical frame 501, pushes the limiting frame 5 to reciprocate to the right, the welding head moves to the right along the welding seam, the pressing ball 15 contacts the limiting ball 18 with different diameters, so that the welding head simultaneously makes a front and back micro-amplitude rapid reciprocating motion, forming a wave-shaped welding seam track;

[0054] Then the pressing piece enters the left vertical frame 501, the welding head moves to the left, and the welding of the entire welding seam is completed.

[0055] S4, workpiece replacement and resetting: the pressing piece enters the top arc-shaped frame 502 again, the end of the rotating plate 8 presses the pressing plate 3 again, the supporting plate 2 is lowered, the welded workpiece is separated from the welding head, the manipulator takes away the welded workpiece and places a new round of workpiece to be welded;

[0056] The above process is repeated to realize continuous automatic welding.

[0057] Working principle:

[0058] First, start the motor 7, the motor 7 slowly and evenly drives the rotating plate 8 to rotate clockwise, thereby driving the two pressing pieces to make a circular motion, and the two pressing pieces slide in the two arc-shaped frames 502 (the pressing piece fixed on the rotating plate 8 is located in the upper arc-shaped frame 502), at this time the entire limiting frame 5 remains stationary, the movable rod 6 does not move relative to the original position of the sleeve 4, and the sliding plate 19 slides along the sliding groove 20 adaptively;

[0059] In this process, the end of the rotating plate 8 (the end of the movable pressing piece) gradually contacts the pressing plate 3, and since the pressing plate 3 is arc-shaped, the pressing plate 3 gradually moves downward during the rotation of the rotating plate 8, the compression spring 10 is compressed, the supporting plate 2 is moved downward, the top surface of the supporting plate 2 is away from the L-shaped plate 11, at this time the welded steel bars on the clamping mechanism are away from the welding head, the welded steel bars are taken out from the supporting plate 2 by the manipulator cooperating with the clamping mechanism, and the two steel bars are placed on the supporting plate 2 and clamped by the clamping mechanism, at this time the welding position of the two steel bars is below the welding head (the welding head in the application can be adjusted in advance); at this time the top surface of the supporting plate 2 has not pressed on the L-shaped plate 11, and the welding head has not contacted the welding position.

[0060] Then, when the two pressing pieces move into the vertical frame 501, the end of the rotating plate 8 is separated from the pressing plate 3, and under the action of the compression spring 10, the top surface of the supporting plate 2 is pressed on the L-shaped plate 11, thereby ensuring the stable position of the supporting plate 2, so that the welding head contacts the welding position.

[0061] The fixed abutting member with the rotating plate 8 continues to make a circular motion, and acts on the vertical frame 501, so that the vertical frame 501 makes a back-and-forth movement to the right, and the movable rod 6 moves back and forth along the direction of the sleeve 4 (the direction of the channel of the sleeve 4), thereby driving the welding head to make a back-and-forth movement to the right, and welding the steel bars at the welding position;

[0062] It is worth noting that, under the action of the limiting ball 18, the abutting ball 15 contacts the limiting ball 18, so that the limiting frame 5 makes a back-and-forth movement of a small distance in the front-and-rear direction, at this time, the movable rod 6 makes a back-and-forth movement of a small distance along the direction of the vertical sleeve 4 (perpendicular to the direction of the channel of the sleeve 4), thereby making the welding head make a back-and-forth movement of a small distance in the front-and-rear direction at the same time (under the action of the smooth plate 17 and the elastic member), so that the welding seam track is in a wavy shape, which is convenient for the welding seam to overlap, and ensures the tightness of the welding seam;

[0063] It is worth noting that, the abutting ball 15 first contacts the abutting ball 15 with a small diameter (the wavy welding seam is small when the welding head moves from the middle to the right), and then contacts the abutting ball 15 with a large diameter (the wavy welding seam reaches the maximum when the welding head moves from the right to the middle), thereby covering the previous layer of the welding seam, and ensuring the comprehensiveness and tightness of the welding seam;

[0064] In this process, the sliding plate 19 slides along the sliding groove 20 adaptively, so that the abutting member that slides automatically adjusts the position.

[0065] Then, the abutting member fixedly connected with the rotating plate 8 enters the arc-shaped frame 502 located below (the end of the rotating plate 8 fixedly connected with the abutting member does not contact the low-pressure plate), and the position of the limiting frame 5 and the welding head remains unchanged.

[0066] Then, the rotating plate 8 continues to rotate, and the abutting member fixedly connected with the rotating plate 8 enters the vertical slot located on the left side, so that the limiting frame 5 makes a back-and-forth movement to the left, thereby making the welding head weld the welding position on the left, and completing the welding work.

[0067] Finally, the abutting member fixedly connected with the rotating plate 8 enters the arc-shaped frame 502 at the top, and the end of the rotating plate 8 (the end of the rotating plate 8 fixedly connected with the movable abutting member) contacts the abutting plate 3, so that the welded workpiece on which the welding seam is welded and the supporting plate 2 are away from the welding head, the welded workpiece is taken off by the mechanical hand, and a new workpiece to be welded is placed.

[0068] That is, the abutting member fixedly connected with the rotating plate 8 rotates clockwise, passes through the arc-shaped frame 502 at the top, the supporting plate 2 is away from the welding head, the workpiece to be welded is replaced, and the welding head is located above the middle of the welding seam;

[0069] The pressure piece fixedly connected to the rotating plate 8 passes through the right vertical frame 501, the welding head is pressed against the middle of the weld, and then moves a certain distance along the right side of the weld, and then moves back to the middle of the weld;

[0070] The pressure piece fixedly connected to the rotating plate 8 passes through the bottom arc-shaped frame 502, and the welding head is kept pressed against the middle of the weld;

[0071] The pressure piece fixedly connected to the rotating plate 8 passes through the left vertical frame 501, and the welding head moves a certain distance along the left side of the weld, and then moves back to the middle of the weld, thereby completing the welding of the weld.

Claims

1. A weld joint gap control device comprising: Base (1) and the supporting plate (2), the supporting plate (2) is provided with clamping mechanism, it is characterized in that: the supporting plate (2) is connected with the pressing plate (3) through the lifting mechanism, the base (1) is fixedly connected with the sleeve (4), two sleeve (4) between being equipped with the limiting frame (5) of installing the welding head, the limiting frame (5) both sides are fixedly connected with the movable rod (6), the movable rod (6) in the sleeve (4) does the activity of horizontal direction front and back left and right, the limiting frame (5) is communicated with two vertical frames (501) and two arc frames (502) and is formed, the limiting frame (5) is communicated with two vertical frames (501) and two arc frames (502) and is formed; It also includes two in the limiting frame (5) movable pressing piece, the base (1) is fixedly connected with motor (7), the output shaft of motor (7) is fixedly connected with rotating plate (8), one pressing piece is fixedly connected to rotating plate (8) one end, another pressing piece is slidably connected to rotating plate (8) the other end; Rotating plate (8) the other end and pressing plate (3) pressing fit, drive the supporting plate (2) up and down switching position.

2. A weld joint gap control device according to claim 1, wherein: The pressing plate (3) is arc-shaped structure, the distance between the pressing plate (3) one end and the output shaft of motor (7) is greater than the distance between the pressing plate (3) the other end and the output organization of motor (7), the distance between rotating plate (8) one end and the output shaft of motor (7) is less than the distance between rotating plate (8) the other end and the output organization of motor (7), the pressing plate (3) one end is fixedly connected with the guide plate (21).

3. A weld joint gap control device according to claim 1, wherein: The lifting mechanism includes a plurality of vertical rods (9) connected with the pressing plate (3) fixedly inserted into the base (1), the vertical rod (9) bottom and the base (1) between being provided with compression spring (10), the vertical rod (9) is connected with the supporting plate (2) fixedly.

4. A weld joint gap control device according to claim 1, wherein: The base (1) both sides are fixedly connected with L-shaped plate (11), the supporting plate (2) top surface and L-shaped plate (11) pressing fit, L-shaped plate (11) is provided with avoiding slot (12), avoiding slot (12) and the clamp position of clamping mechanism correspond.

5. A weld joint gap control device according to claim 1, wherein: The limiting frame (5) is fixedly connected with the limiting ring (13), the limiting ring (13) is used for limiting the wire harness of welding head, the other end of wire harness is connected with welding equipment main body.

6. A weld joint gap control device according to claim 1, wherein: The pressing piece includes pressing column (14), the end of pressing column (14) is fixedly connected with the pressing ball (15) sliding in the limiting frame (5), the side of movable rod (6) is provided with recess (16), the recess (16) is connected with smooth plate (17) through elastic member, the smooth plate (17) and the inner wall of sleeve (4) contact.

7. A weld joint gap control device as defined in claim 1, wherein: The vertical frame (501) is fixedly connected with a group of limiting balls (18), two groups of limiting balls (18) are symmetrically distributed, and the diameter of each group of limiting balls (18) is different.

8. A weld joint gap control device according to claim 6, wherein: One pressing column (14) is connected with the end of rotating plate (8) fixedly, and the other pressing column (14) is fixedly connected with the sliding plate (19). The side of rotating plate (8) close to the limiting frame (5) is provided with the sliding groove (20) connected with the sliding plate (19) slidingly.

9. A control method of a weld gap control device, characterized by, A kind of welding gap control device according to any one of claims 1-8, specific method includes the following steps: S1, workpiece placement and welding preparation: start the motor (7), drive the rotating plate (8) to rotate clockwise slowly, the end of the rotating plate (8) contacts the pressing plate (3), the pressing plate (3) is gradually pressed down, the supporting plate (2) is lowered under the action of the compression spring (10), the completed welding work on the clamping mechanism is separated from the welding head; The manipulator takes off the welded workpiece and places a new workpiece to be welded on the supporting plate (2), and the clamping mechanism clamps and fixes it; S2, welding head positioning and weld middle positioning: the rotating plate (8) continues to rotate, the pressing member enters the top arc frame (502) of the limiting frame (5), the supporting plate (2) rises to abut against the L-shaped plate (11) under the resetting action of the compression spring (10), and the position of the workpiece is fixed; The welding head is located directly above the weld of the workpiece, and is ready to start welding; S3, wave type weld welding process: the pressing member fixed on the rotating plate (8) enters the right vertical frame (501), pushes the limiting frame (5) to move right and left, the welding head moves right along the weld, the pressing ball (15) contacts the limiting ball (18) of different diameters, and the welding head makes forward and backward micro rapid reciprocating motion at the same time, forming a wave type weld trajectory; Then the pressing member enters the left vertical frame (501), the welding head moves left, and the welding of the whole weld is completed; S4, workpiece replacement and resetting: the pressing member enters the top arc frame (502) again, the end of the rotating plate (8) presses the pressing plate (3) again, the supporting plate (2) is lowered, the welded workpiece is separated from the welding head, the manipulator takes away the welded workpiece, and places a new workpiece to be welded; The above process is repeated to realize continuous automatic welding.

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