Movable welding device

Abstract

The invention provides a movable welding device, and relates to the technical field of welding. The movable welding device comprises a rack, a positioning sliding rail is arranged on the surface of the rack and slidably connected with a positioning table through a positioning sliding block, a first driver is arranged on one side of the positioning sliding rail and connected with the positioning sliding block through a ball screw, a second driver is arranged in the positioning sliding block, and an output shaft of the second driver is fixedly connected with the positioning table. A limiting ring is arranged on the positioning table and matched with a to-be-welded workpiece in shape, a welding sliding rail is arranged on the rack and arranged in the length direction of the rack, the welding sliding rail is slidably connected with two welding frames through welding sliding blocks, and third drivers are arranged on the two sides of the welding sliding rail. An output shaft of the third drive is connected with a welding frame through a ball screw, a welding head is arranged on the welding frame, an infrared camera is arranged on the welding frame, a central controller is arranged on the machine frame, and the central controller can receive image data of the infrared camera.

Description

Technical Field

[0001] This application relates to the field of welding technology, and in particular to a mobile welding apparatus. Background Technology

[0002] In scenarios other than large workpieces or fixed production lines, mobile welding equipment can flexibly move the welding system to the work position, thereby improving the mobility and applicability of welding operations.

[0003] In related technologies, a typical mobile welding device features a rigid gantry frame with a large beam that can move along the X-axis spanning the frame. A welding torch that can slide along the Y-axis is mounted on the large beam. The workpiece is pre-placed and fixed on a central platform within the device's working area. The platform is a cast iron plate with grid-like positioning holes, and the workpiece is mechanically and rigidly fixed using clamps. However, existing mobile welding devices still have the following shortcomings: the entire welding process relies on the workpiece being pre-installed, precisely, and fixedly on a central platform. If the workpiece changes in size or its initial placement deviates, tedious repositioning, clamping, and trajectory programming must be performed. During welding, the workpiece is completely passive, and its position cannot be dynamically adjusted according to the welding path. When dealing with welds with complex spatial curves or workpieces requiring multi-angle welding, the welding torch's movement path becomes extremely complex, sometimes requiring the torch to reach certain positions in difficult-to-achieve postures, while the workpiece cannot rotate to provide a better, more convenient welding position, affecting the efficiency of the welding process. Summary of the Invention

[0004] This application provides a mobile welding device that solves the problem that the welding efficiency is affected when the workpiece is rigidly fixed, resulting in deviations in the workpiece size or initial placement position.

[0005] The technical solution adopted in the embodiments of this application is as follows: In a first aspect, embodiments of this application provide a mobile welding device, comprising a frame, a positioning slide rail on the surface of the frame, a positioning table slidably connected to the positioning slide rail via a positioning slider, a first drive on one side of the positioning slide rail, the first drive being connected to the positioning slider via a ball screw, a second drive inside the positioning slider, the output shaft of the second drive being fixedly connected to the positioning table to drive the positioning table to rotate, a limit ring on the positioning table matching the shape of the workpiece to be welded, a welding slide rail on one side of the frame, the welding slide rail being arranged along the length of the frame, two welding frames slidably connected to the welding slide rail via a welding slider, a third drive on both sides of the welding slide rail, the output shaft of the third drive being connected to the welding frames via a ball screw, a welding head on the welding frame, an infrared camera on the welding frame, and a central controller on the frame, the central controller being able to receive image data from the infrared camera to adjust the position of the welding frame and the welding head.

[0006] By adopting the above technical solution, the first drive, in conjunction with the ball screw, drives the positioning table to precisely translate along the positioning slide rail. This solves the limitation that the workpiece can only be fixed at a single point, allowing different sections of the weld to be moved sequentially to the optimal welding position. The second drive directly drives the positioning table to rotate, enabling the circumferential weld of circular workpieces or complex workpieces requiring multi-angle welding to be coordinated with the welding torch through the rotation of the workpiece itself. This transforms the complex spatial curve weld into a relatively simple relative motion, greatly improving welding accessibility. The limiting ring is customized according to the workpiece shape, providing rapid initial positioning and circumferential limiting, reducing workpiece clamping and adjustment time. At the same time, the welding frame moves on an independent welding slide rail controlled by the third drive. Combined with the infrared camera's recognition of weld or workpiece features, the central controller can coordinate the movement / rotation of the positioning table and the movement of the welding frame, dynamically planning the optimal and most efficient relative motion trajectory between the welding torch and the workpiece, achieving the effect of adaptability of the lifting device to complex workpieces and complex welds.

[0007] In one alternative implementation, a damping plate is provided on the positioning platform, the damping plate is connected to the positioning platform through a helical compression spring, a hydraulic damper is provided inside the helical compression spring, and the damping plate is located inside a limiting ring.

[0008] By adopting the above technical solution, the damping plate, as the direct bearing surface of the workpiece, is elastically connected to the rigid positioning platform below through a helical compression spring. The spring mainly serves as a buffer and energy storage mechanism, capable of absorbing most of the high-frequency, low-amplitude impact energy transmitted from the welding process. The hydraulic damper located inside the spring provides a damping force proportional to the vibration velocity. Its key function is to rapidly dissipate the vibration energy absorbed by the spring, suppressing the continuous reciprocating oscillations of the damping plate and workpiece after impact. During welding, even with various disturbances, the workpiece can remain relatively stable, achieving the effect of improving the internal uniformity of the weld appearance.

[0009] In one alternative implementation, the surface of the damping plate is provided with anti-slip texture.

[0010] By adopting the above technical solution, when the workpiece is placed in the limiting ring, its bottom contacts the surface of the damping plate, and the anti-slip texture on the surface significantly increases the static friction coefficient of the contact surface. During the second drive cycle, which rotates the positioning table and the workpiece, especially during acceleration and deceleration, the anti-slip texture provides additional tangential resistance, effectively suppressing the workpiece's tendency to slip relative to the positioning table due to inertia. This suppression of slippage ensures that the relative positional relationship between the workpiece and the positioning table remains unchanged after the initial positioning process during dynamic posture adjustment, thus improving the consistency and repeatability of the entire welding process.

[0011] In one optional implementation, the positioning platform is provided with several adjustable feet, each adjustable foot including a fixed base and a telescopic rod. A fourth drive is provided inside the fixed base, the output shaft of the fourth drive is fixedly connected to the telescopic rod, a receiving plate is fixedly connected to the end of the telescopic rod away from the fixed base, the receiving plate is detachably connected to the shock-absorbing plate, and the fourth drive is electrically connected to the central controller.

[0012] By adopting the above technical solution, multiple adjustable legs are distributedly installed under the positioning platform. The telescopic rod of each leg can independently and precisely extend and retract under the drive of the fourth drive mechanism. When the device moves to an uneven working surface, the central controller can instruct the fourth drive mechanism of each leg to compensate for differences in ground height by extending the telescopic rod by varying amounts, thereby adjusting the positioning platform above to a horizontal position or a specific tilt angle required by the process. The detachable connection between the support plate and the shock-absorbing plate ensures the stability of the support force transmission and facilitates maintenance or replacement of components, achieving the effect of compensating for level differences.

[0013] In one alternative implementation, an angle sensor is provided inside the receiving plate. The angle sensor is electrically connected to the central controller, which can receive angle data transmitted by the angle sensor and dynamically adjust the length of the telescopic rod to ensure the levelness of the positioning platform.

[0014] By adopting the above technical solution, angle sensors are embedded in the support plate, enabling direct and accurate measurement of the tilt angle of the supported local area, and feeding this data back to the central controller in real time. The central controller integrates a control algorithm that fuses data from angle sensors at all support feet to calculate the overall real-time attitude of the positioning platform. Once a tilt angle exceeding the allowable tolerance is detected, the controller automatically generates control commands without manual intervention, driving the corresponding fourth drive to fine-tune the length of the telescopic rod, thus ensuring the levelness of the positioning platform during the welding process.

[0015] In one alternative implementation, the welding head is connected to the welding frame via a six-axis robotic arm.

[0016] By adopting the above technical solution, the six-axis robotic arm mimics the human arm, possessing six rotational degrees of freedom. Its end effector can reach the target point at almost any angle and position within its workspace. When dealing with complex workpieces, even if a weld seam is located in a deep cavity, behind a boss, or has a continuously changing normal direction, the six-axis robotic arm can flexibly adjust the spatial posture of the welding head through the coordinated movement of multiple joints. This ensures that the welding torch can always be aligned with and track the weld seam at the optimal angle required by the process, thereby enhancing the flexibility of the welding torch.

[0017] In one alternative implementation, a force sensor is provided at the end of the six-axis robotic arm. The force sensor is electrically connected to a central controller, which can adjust the feed degree of the six-axis robotic arm according to the force data from the force sensor to achieve constant force welding.

[0018] By adopting the above technical solution, the force sensor detects the contact force applied by the welding torch to the workpiece surface or weld in real time and feeds back the precise force signal to the central controller. The controller compares the measured value with the preset optimal force value for the process. Once a deviation is detected, it immediately calculates and issues adjustment commands through the control algorithm, dynamically adjusting the movement of the corresponding joints of the six-axis robotic arm, thereby changing the feed degree of the welding torch and compensating in real time for pressure fluctuations caused by changes in the geometric shape of the workpiece surface, achieving the effect of constant force welding.

[0019] In one alternative implementation, the welding head has a built-in current sensor, and the upper surface of the positioning platform has a built-in piezoelectric sensor. Both the current sensor and the piezoelectric sensor are electrically connected to the central controller. The central controller can dynamically adjust the arc parameters based on the current data to adjust the welding intensity. The central controller can also identify defects such as cracks or pores on the workpiece to be welded based on the piezoelectric data.

[0020] By adopting the above technical solution, the current sensor built into the welding head monitors the transient current value of the welding arc in real time with high precision. The arc current is a core parameter reflecting the welding heat input and droplet transfer stability. The central controller analyzes the current waveform characteristics, can determine whether the arc state is stable in real time, and dynamically adjusts the output parameters of the welding power supply to achieve precise fine-tuning of the welding intensity, ensuring stable heat input. The piezoelectric sensor embedded in the surface of the positioning platform can sensitively sense the stress wave signal transmitted through the workpiece structure during the welding process. When defects such as micro-cracks, porosity, or slag inclusions occur in the welding area, acoustic emission signals with characteristic frequencies are released. By analyzing the acoustic emission signal characteristics transmitted from the piezoelectric sensor, the central controller can identify and locate the defects at the same time or in their early stages, achieving the effect of dual monitoring of the welding process and results.

[0021] In summary, this application includes at least one of the following beneficial technical effects: Integrating a three-dimensional positioning stage and an independent welding frame, and introducing a central controller for coordinated motion planning, this technology changes the traditional welding mode where the workpiece is fixed and the welding torch passively adapts. The workpiece can be precisely translated and rotated on the positioning stage, actively presenting different weld sections or the optimal welding position to the welding torch. This simplifies complex spatial path planning into efficient relative motion, significantly improving welding accessibility, adaptability, and overall work efficiency. By incorporating anti-slip textures, a spring-hydraulic damping system, and electrically adjustable leveling feet with angle feedback, a highly stable workpiece bearing environment is created. These measures effectively suppress workpiece slippage during dynamic adjustments, isolate external vibration interference during the welding process, and automatically compensate for uneven ground, ensuring the long-term accuracy and stability of the workpiece's spatial reference, thus providing a solid physical foundation for high-quality welding. Integrating a six-axis robotic arm, end effector force sensor, current sensor, and piezoelectric sensor, all controlled in a closed-loop manner by a central controller, the system achieves intelligent and adaptive welding processes. The welding torch features omnidirectional posture adjustment and constant pressure tracking capabilities. Simultaneously, the system can monitor the arc state and internal defect signals of the workpiece online, optimize process parameters in real time, and provide early warnings of quality issues. This elevates welding quality control from passive inspection to a new level of proactive prevention and real-time regulation. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of a mobile welding device.

[0023] Figure 2 This is a structural diagram of the positioning stage.

[0024] Explanation of reference numerals in the attached drawings: 1. Frame; 2. Positioning slide rail; 3. Welding slide rail; 4. Welding frame; 5. Six-axis robotic arm; 6. Welding head; 7. Infrared camera; 8. Positioning table; 9. Shock absorber; 10. Helical compression spring; 11. Hydraulic damper; 12. Fixed base; 13. Telescopic rod; 14. Limiting ring. Detailed Implementation

[0025] The present application will be further described in detail below with reference to all the accompanying drawings in the embodiments of the present application.

[0026] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. "Fixed connection" refers to a connection where the relative positional relationship remains unchanged after the connection. It should be understood that when component A is fixedly connected to component C via component B, changes in the relative positional relationship due to deformation of components A, B, and C are permissible. The integrated structure obtained by the two components through a one-piece molding process means that during the formation of one of the two components, that component is connected to the other component, without requiring further processing (such as bonding, welding, snap-fit ​​connections, or screw connections) to connect the two components.

[0027] The directional terms mentioned in the embodiments of this application, such as "upper", "lower", "side", etc., are only for reference to the direction of the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of this application, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0028] The term "multiple" refers to at least two. The term "more than" includes the stated number. The term "and / or" describes a relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The terms "first," "second," etc., are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0029] This application discloses a mobile welding device.

[0030] Reference Figure 1A mobile welding device includes a frame 1, which serves as the load-bearing foundation for the entire device. The frame 1 is constructed from welded steel sections to form a stable frame structure. A central controller, which is a programmable logic controller, is also installed on the frame 1.

[0031] A positioning slide rail 2 is fixedly installed on the upper surface of the frame 1. The positioning slide rail 2 is a linear guide rail, and its length direction is parallel to the length direction of the frame 1. The positioning slider and the positioning slide rail 2 form a sliding pair, which can slide precisely along it.

[0032] Reference Figure 1 and Figure 2 A positioning table 8 for supporting the workpiece is rotatably connected to a positioning slider, so that the positioning table 8 can move together with the positioning slider. On one side of the positioning slide rail 2, a first drive, which is a servo motor, is installed. The output shaft of the first drive is connected to one end of a ball screw via a coupling, and the axis of the ball screw is parallel to the positioning slide rail 2.

[0033] The nut seat of the ball screw is fixedly connected to the aforementioned positioning slider. When the first drive is running, the rotational motion is converted into precise linear motion of the nut seat, positioning slider, and positioning table 8 along the positioning slide rail 2 through the transmission of the ball screw.

[0034] Reference Figure 2 Inside the positioning slider, a second drive, also a servo motor, is installed. The output shaft of the second drive extends vertically upward and is fixedly connected to the center position of the positioning table 8 above via a rigid coupling or flange. When the second drive is working, it can directly drive the entire positioning table 8 to rotate around its central axis.

[0035] A limiting ring 14 is fixedly installed on the upper surface of the positioning stage 8. The shape of the limiting ring 14 matches the shape of the workpiece to be welded.

[0036] A shock-absorbing plate 9 is provided above the positioning platform 8. The shock-absorbing plate 9 is made of metal sheet and its area is slightly smaller than the area surrounded by the limiting ring 14, and it is located inside the limiting ring 14.

[0037] The damping plate 9 is connected to the positioning platform 8 below it by four helical compression springs 10, which are evenly distributed below the damping plate 9. Inside each helical compression spring 10, a hydraulic damper 11 is coaxially arranged.

[0038] The cylinder of the hydraulic damper 11 is fixed on the positioning table 8, while its piston rod is connected to the damping plate 9. During operation, the workpiece is placed on the damping plate 9. When the welding arc burns, the wire feeding mechanism moves, or other parts of the equipment vibrate, this vibration energy attempts to be transmitted to the workpiece through the positioning table 8. At this time, the helical compression spring 10 first undergoes elastic deformation, absorbing and storing most of the high-frequency, low-amplitude impact energy.

[0039] The built-in hydraulic damper 11 begins to function. The resistance generated by the piston moving in the oil is proportional to the speed of movement. It can quickly convert the vibration kinetic energy stored in the spring into heat energy and dissipate it, thereby effectively suppressing the continuous reciprocating oscillation that may occur after the shock absorber 9 and the workpiece are impacted.

[0040] On the upper surface of the damping plate 9, which is the bearing surface that directly contacts the workpiece, anti-slip textures are machined. These anti-slip textures are intersecting grid-like grooves, dense dot-like protrusions, or serrated stripes. This increases the roughness of the contact surface, thereby significantly increasing the static friction coefficient.

[0041] Once the workpiece is placed within the limiting ring 14, its bottom surface makes close contact with these textured patterns. During the second drive activation, which rotates the positioning stage 8 and the workpiece, especially during acceleration and deceleration, the workpiece experiences tangential inertial forces. At this time, the anti-slip textured patterns provide additional micro-mechanical engagement and greater frictional resistance, effectively suppressing the workpiece's tendency to slide relative to the surface of the positioning stage 8. This allows the workpiece to rotate synchronously with the positioning stage 8, ensuring that the set values ​​for the workpiece's position and angle remain consistent with the actual values. This provides a reliable positional reference for subsequent high-precision collaborative welding, improving the consistency and repeatability of the entire welding process.

[0042] Four adjustable feet are provided below the positioning platform 8. These adjustable feet are distributed around the center of the positioning platform 8. Each adjustable foot includes a fixing seat 12 that is fixed to the bottom frame of the positioning platform 8 by bolts.

[0043] The fixed base 12 houses a fourth drive, which is a micro servo motor. The output shaft of the fourth drive is fixedly connected to one end of a telescopic rod 13, which is a lead screw and nut pair structure, enabling it to perform precise linear telescopic motion under the action of the fourth drive.

[0044] At the end of the telescopic rod 13 furthest from the fixed base 12, a support plate is fixedly connected. The upper surface of the support plate is connected to the bottom of the aforementioned shock-absorbing plate 9 by bolts, which not only ensures the effective transmission of support force, but also facilitates the maintenance and replacement of the shock-absorbing plate 9 or the support legs in the future.

[0045] All fourth drives are connected to the central controller via electrical wiring. When the device is moved to a new work location, the central controller can send commands to control each fourth drive to operate independently and adjust the extension length of the corresponding telescopic rod 13, thereby compensating for the height differences of each support point caused by uneven ground, so that the positioning platform 8, the shock absorber 9 and the workpiece above are restored to a horizontal state or a specific tilt angle required by the process, realizing the device's adaptive leveling capability.

[0046] An angle sensor, specifically a dual-axis tilt sensor, is embedded within the aforementioned support plate. This sensor monitors the tilt angle of a localized area of ​​the support plate in real time and transmits the data to the central controller via a signal line.

[0047] The central controller runs a leveling control program that receives and integrates the angle data uploaded by all adjustable feet, and calculates the real-time attitude of the positioning stage 8 as a whole through geometric calculation.

[0048] The central controller compares the calculated actual attitude angle with the preset horizontal zero point or process angle. Once the deviation exceeds the set threshold, the control program will automatically generate an adjustment command.

[0049] These instructions are sent to one or more associated fourth drives, which in turn fine-tune the length of the telescopic rod 13 to correct the tilt of the positioning stage 8 in real time.

[0050] This closed-loop feedback system can not only quickly level the platform during initial installation, but also continuously compensate for the slow deformation of the platform that may be caused by temperature changes, mechanical stress release or load changes during long-term welding operations, ensuring the long-term stability and accuracy of the spatial reference during the welding process.

[0051] Reference Figure 1 On one side of the frame 1 along its length, a welding slide rail 3 is provided parallel to the frame 1. The welding slide rail 3 is also a linear guide rail.

[0052] Two welding sliders form sliding pairs with the welding slide rail 3. A welding bracket 4 is fixedly connected to each welding slider.

[0053] The welding frame 4 is a vertical structure used to support the welding actuator. A third drive, a servo motor, is located at both ends of the welding slide rail 3. Its output shaft is connected to another ball screw via a coupling. The nut seat of this ball screw is fixedly connected to the corresponding welding frame 4 or welding slider, allowing the third drive to independently move the welding frame 4 along the length of the welding slide rail 3.

[0054] Reference Figure 1 and Figure 2Each welding rack 4 is equipped with a welding head 6. An infrared camera 7 is also installed on the welding rack 4. The lens of the infrared camera 7 is facing the positioning table 8 and the workpiece to capture the temperature field or contour image of the weld area. The surface of the infrared camera 7 is provided with a protective cover.

[0055] Reference Figure 1 The infrared camera 7 is connected to the central controller via a data cable, transmitting the captured image data to the central controller.

[0056] Reference Figure 1 and Figure 2 The central controller runs image processing and control programs, which analyze image data to identify weld seam positions or workpiece features, and then generate control commands. These control commands are sent to the drivers of the first, second, and third drives via electrical circuits, thereby coordinating the translation and rotation of the positioning stage 8 and the movement of the welding frame 4, ultimately adjusting the spatial position of the welding head 6 relative to the weld seam to achieve dynamic tracking welding.

[0057] The welding head 6 is connected to the welding frame 4 via a six-axis robotic arm 5. The six-axis robotic arm 5 includes a base that is fixed to the welding frame 4.

[0058] Starting from the base, the six-axis robotic arm 5 consists of six rotary joints connected in series. Each joint is driven by a servo motor and equipped with a high-precision reducer. The six rotary joints give the robotic arm's end effector six degrees of freedom.

[0059] Reference Figure 1 The welding head 6 is fixed to the end flange of the robotic arm via a mounting flange. This structure allows the welding head 6 to reach the target point in almost any spatial position and orientation within the workspace of the robotic arm.

[0060] When welding complex workpieces, such as welds located inside grooves, behind obstacles, or on curved surfaces, the six-axis robotic arm 5 can flexibly adjust the spatial position and attitude angle of the welding head 6 through the coordinated movement of its multiple joints, ensuring that the welding torch nozzle is always aligned with the weld centerline at the optimal angle required by the process and maintains a suitable arc length.

[0061] A force sensor is integrated between the end flange of the six-axis robotic arm 5 and the mounting base of the welding head 6. This force sensor is a torque sensor, capable of simultaneously detecting the contact force applied to the workpiece by the welding torch in multiple directions.

[0062] The force sensor is connected to the central controller via a data cable, feeding back the detected force signals to the central controller in real time. The central controller runs a force control program internally.

[0063] During the welding process, such as when contact sensing is used or constant pressure is required, the program compares the actual contact force fed back by the force sensor with the preset ideal process force value.

[0064] Once a force deviation is detected, the control program will immediately calculate based on the magnitude and direction of the force deviation using a specific control law, and generate joint motion correction commands.

[0065] These instructions are sent to the joint servo drivers of the six-axis robotic arm 5, which drive the corresponding joints to perform minute compensating movements, thereby adjusting the feed of the welding torch and offsetting pressure fluctuations caused by uneven workpiece surfaces, changes in assembly gaps, or thermal deformation in real time.

[0066] This allows the contact force between the welding torch and the workpiece to be kept within a constant and optimal range, which is beneficial for obtaining uniform penetration and good weld formation, achieving constant force welding and improving the stability of welding quality.

[0067] The welding head 6 has a built-in current sensor that uses the Hall effect principle and is non-contactly mounted on the power cable of the welding torch to detect the instantaneous current value in the welding circuit in real time with high precision.

[0068] Reference Figure 2 A piezoelectric sensor, made of piezoelectric ceramic material, is embedded inside the damping plate 9 and is highly sensitive to stress wave signals.

[0069] Both the current sensor and the piezoelectric sensor are connected to the central controller via signal lines. During welding, the current sensor continuously transmits the collected arc current waveform data to the central controller. The monitoring program within the central controller analyzes the current waveform, observing its fluctuation range, short-circuit frequency, and other characteristics to determine in real time whether the arc stability and droplet transfer mode are normal.

[0070] Once an anomaly is detected, the monitoring program will immediately generate adjustment instructions, dynamically adjusting the output current, voltage, or pulse parameters through the digital interface of the welding power supply to stabilize the heat input and achieve precise control over the welding intensity.

[0071] Reference Figure 2 On the other hand, if micro-cracks, pores, or slag inclusions occur during welding, stress waves of a characteristic frequency will be released the instant the defects form. This signal is transmitted to the piezoelectric sensor through the workpiece and the damping plate 9, and is converted into an electrical signal.

[0072] The signal processing program in the central controller filters, amplifies, and extracts features from the signals transmitted by the piezoelectric sensor. By comparing them with a preset defect feature spectrum library, it can identify the type of defect and roughly locate it at the same time or in the early stage of its occurrence.

[0073] The implementation principle of the mobile welding device in this application embodiment is as follows: the workpiece is translated and rotated around an axis on the slide rail via the positioning table 8, presenting different sections of the weld or the optimal welding position to the welding torch; simultaneously, the six-axis robotic arm 5, mounted on an independent slide rail, moves and adjusts its posture flexibly with the welding torch. The central controller, based on infrared visual feedback, plans and coordinates the control of these two motion systems to achieve the optimal relative motion path. Furthermore, the shock-absorbing and anti-slip structure ensures the dynamic stability of the workpiece, the closed-loop leveling system maintains spatial reference accuracy, and the force sensor, current sensor, and piezoelectric sensor monitor and provide feedback in real time on the force, heat input, and defect signals applied during the welding process, enabling the controller to dynamically adjust welding parameters and robotic arm movements, thereby achieving high-quality, adaptive welding.

[0074] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of this application can be combined with each other, and any combination of features in different embodiments is also within the protection scope of this application. That is to say, the multiple embodiments described above can also be arbitrarily combined according to actual needs.

[0075] It should be noted that all the above-mentioned figures are exemplary illustrations of this application and do not represent the actual size of the product. Furthermore, the dimensional proportions between the components in the figures are not intended to limit the actual product of this application. The above are all preferred embodiments of this application and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A mobile welding device, comprising a frame (1), characterized in that: The frame (1) is provided with a positioning slide rail (2). The positioning slide rail (2) is slidably connected to a positioning table (8) via a positioning slider. A first drive is provided on one side of the positioning slide rail (2). The first drive is connected to the positioning slider via a ball screw. A second drive is provided inside the positioning slider. The output shaft of the second drive is fixedly connected to the positioning table (8) to drive the positioning table (8) to rotate. A limit ring (14) is provided on the positioning table (8). The limit ring (14) matches the shape of the workpiece to be welded. A welding slide rail (3) is provided on one side of the frame (1). The welding slide rail (3) is arranged along the length of the frame (1). The welding slide rail (3) is slidably connected to two welding frames (4) through a welding slider. A third drive is provided on both sides of the welding slide rail (3). The output shaft of the third drive is connected to the welding frame (4) through a ball screw. A welding head (6) is provided on the welding frame (4). An infrared camera (7) is provided on the welding frame (4). A central controller is provided on the frame (1). The central controller can receive image data from the infrared camera (7) to adjust the position of the welding frame (4) and the welding head (6).

2. The mobile welding device as described in claim 1, characterized in that: A damping plate (9) is provided on the positioning platform (8). The damping plate (9) is connected to the positioning platform (8) through a helical compression spring (10). A hydraulic damper (11) is provided inside the helical compression spring (10). The damping plate (9) is located inside the limiting ring (14).

3. The mobile welding device as described in claim 2, characterized in that: The surface of the damping plate (9) is provided with anti-slip texture.

4. The mobile welding device as described in claim 2, characterized in that: The positioning platform (8) is provided with several adjustable feet. The adjustable feet include a fixed base (12) and a telescopic rod (13). A fourth drive is provided in the fixed base (12). The output shaft of the fourth drive is fixedly connected to the telescopic rod (13). A receiving plate is fixedly connected to one end of the telescopic rod (13) away from the fixed base (12). The receiving plate is detachably connected to the shock absorber plate (9). The fourth drive is electrically connected to the central controller.

5. A mobile welding device as described in claim 4, characterized in that: An angle sensor is installed inside the receiving plate. The angle sensor is electrically connected to the central controller. The central controller can receive the angle data transmitted by the angle sensor and dynamically adjust the length of the telescopic rod (13) to ensure the levelness of the positioning platform (8).

6. A mobile welding device as described in claim 1, characterized in that: The welding head (6) is connected to the welding frame (4) via a six-axis robotic arm (5).

7. A mobile welding device as described in claim 6, characterized in that: The six-axis robotic arm (5) is equipped with a force sensor at its end. The force sensor is electrically connected to the central controller. The central controller can adjust the feed degree of the six-axis robotic arm (5) according to the force data of the force sensor to achieve constant force welding.

8. A mobile welding device as described in claim 1, characterized in that: The welding head (6) has a built-in current sensor, and the upper surface of the positioning table (8) has a built-in piezoelectric sensor. Both the current sensor and the piezoelectric sensor are electrically connected to the central controller. The central controller can dynamically adjust the arc parameters according to the current data to adjust the welding strength. The central controller can identify defects such as cracks or pores on the workpiece to be welded according to the piezoelectric data.

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