A welding device for processing parts of a steam turbine

Abstract

The present application relates to the technical field of part welding, in particular to a welding device for steam turbine part machining. It comprises a welding vehicle, a mechanical arm is arranged on the welding vehicle, a power line is arranged in the mechanical arm, a welding head is arranged at the end of the power line, and the welding head is a micro laser welding device. A rolling assembly is fixedly connected to the end of the welding head, a flexible joint assembly is fixedly connected to the end of the rolling assembly away from the welding head, the rolling assembly is divided into an upper adsorption area and a lower adsorption area with the connecting axis of the welding head and the flexible joint assembly as the symmetry axis, and magnetic strips are embedded on the surfaces of the upper adsorption area and the lower adsorption area. The rolling assembly selectively adsorbs the surface of a steel part through the embedded magnetic strips of the symmetrical upper and lower adsorption areas, and forms rolling contact and maintains a gap while being magnetically positioned with the help of the ball protruding from the base. The flexible joint assembly is directionally bent and transmits the force of the mechanical arm relying on the multi-joint hinged structure, and drives the rolling assembly and the welding head to laterally extend into a narrow space.

Description

Technical Field

[0001] This invention relates to the field of parts welding technology, and more specifically, to a welding apparatus for processing steam turbine parts. Background Technology

[0002] Steam turbines are key power equipment that uses steam as power to convert thermal energy into mechanical energy. Their core components, such as rotors, cylinders, and blades, typically operate under harsh conditions of high temperature, high pressure, and high speed for extended periods. These parts are mostly made of high-strength heat-resistant alloys and often feature complex structures including curved surfaces, deep grooves, and irregularly shaped cavities.

[0003] During the welding process of steam turbine components, the corresponding welding process must be selected according to the structural dimensions of the components and the type of weld. Common welding processes include tungsten inert gas welding (TIG) and gas metal arc welding (GMAW). The core requirements of welding operations are to ensure the uniformity of weld penetration, consistent forming, and low deformation rate of the components.

[0004] In the existing technology, welding carriages are commonly used as automated welding equipment for circumferential and long straight seam welding of large steam turbine components. This device is equipped with a welding torch, wire feeding mechanism and weld seam tracking component. It can travel along a preset circular or linear guide rail and, together with a welding positioner, drive the workpiece to rotate, so as to realize continuous automated welding of the weld seam. Compared with manual welding, it improves welding efficiency and accuracy.

[0005] However, when existing welding trolleys are used for welding operations in narrow, enclosed spaces such as grooves and annular grooves of turbine components, the welding torch actuator is usually composed of multi-stage linkages, swing units and protective components, with a large overall radial dimension. This makes it inconvenient for the welding torch to enter the groove or cavity through the narrow side opening. As a result, the welding torch cannot reach the position to be welded, nor can it be adjusted to the optimal welding posture inside the cavity, thus limiting the application range of automated welding processes.

[0006] Therefore, there is an urgent need for a welding device for processing steam turbine parts to solve the above problems. Summary of the Invention

[0007] This invention provides a welding device for processing steam turbine components. By combining a selectively magnetically adsorbed rolling assembly with a directionally bendable flexible joint assembly, a miniature laser welding head can be indirectly driven by an external robotic arm to laterally enter and adapt to the inner wall of narrow spaces such as grooves and annular grooves, thereby solving the problems mentioned in the background art.

[0008] The welding torch actuator of existing welding equipment is too large to enter the interior of parts through narrow side openings, which limits the application of automated welding processes in critical parts such as deep cavities and narrow grooves.

[0009] To achieve the above objectives, the welding device for processing turbine components includes a welding carriage, on which a robotic arm is mounted. A power cable is threaded through the robotic arm, and a welding head is provided at the end of the power cable. The welding head is a miniature laser welding device.

[0010] A rolling assembly is fixedly connected to the end of the welding head, and a flexible joint assembly is fixedly connected to the end of the rolling assembly away from the welding head. The flexible joint assembly is fixedly connected to the end of the robotic arm.

[0011] The rolling assembly is divided into an upper adsorption area and a lower adsorption area with the connection axis between the welding head and the flexible joint assembly as the axis of symmetry. Magnetic strips are embedded on the surface of both the upper and lower adsorption areas to enable the rolling assembly to selectively adsorb onto the steel surface of the turbine components.

[0012] The flexible joint assembly is a multi-joint structure that can be directionally bent, used to transmit the axial thrust or pull provided by the robotic arm to the rolling assembly, and drive the rolling assembly and the welding head on it to move laterally into the narrow welding space.

[0013] The power cord is sequentially threaded through the inside of the robotic arm, the flexible assembly, and the rolling assembly, and is electrically connected to the welding head.

[0014] In the above technical solution, by setting the welding head as a miniature laser welding device, the radial dimension of the execution end can be greatly reduced. Combined with the directional bending multi-joint flexible component, the lateral opening restriction of narrow spaces can be avoided. The flexible component, through the internal joint hinge structure, can not only stably transmit the pushing or pulling force of the robotic arm, but also adaptively bend according to the inner wall shape of the groove and annular groove, so as to drive the welding head to flexibly extend into narrow spaces from the side, solving the problem that traditional bulky welding gun execution mechanisms cannot enter.

[0015] Meanwhile, the rolling assembly adopts symmetrically arranged upper and lower adsorption areas and embedded magnetic strips, which can selectively adsorb onto the surface of steam turbine steel parts. Combined with the ball structure protruding from the base, it forms rolling contact and maintains gap while magnetically positioning. This can avoid movement jamming caused by the rigid fixation of the rolling assembly and the workpiece, and ensure that the welding head stably fits the welding trajectory in space.

[0016] In addition, the power cord and other pipelines are run through continuous channels inside the robotic arm, flexible components and rolling components, which can prevent the pipelines from being exposed and tangled or damaged by welding spatter, and ensure the stable operation of the device; it can enable the miniature laser welding head to reach the position to be welded in a narrow space and adjust to the optimal posture, so as to realize the automated welding of key parts such as deep cavities and narrow grooves.

[0017] Based on this, the rolling assembly includes a base, and a magnetic strip and a plurality of beads are movably connected to the outer wall of the base. Part of the spheres of the beads protrudes from the outer wall surface of the base, so as to form rolling contact with the workpiece surface when the magnetic strip generates an adsorption force, while maintaining a gap between the magnetic strip and the workpiece surface.

[0018] The base has an overall elliptical ring structure, and its two ends of the arc-shaped outer wall are fixedly connected to the end of the welding head and the end of the flexible assembly, respectively.

[0019] Preferably, the arc-shaped outer wall of the base is divided into an upper adsorption area and a lower adsorption area by the connection baseline between the welding head and the flexible assembly. The upper adsorption area and the lower adsorption area are symmetrically provided with mounting holes and mounting grooves. A ball is movably connected in the mounting hole and the magnetic strip is embedded in the mounting groove.

[0020] The volume of the bead inside the base is larger than its volume outside the base to prevent the bead from falling out of the mounting hole.

[0021] In another technical solution, the flexible assembly includes a flexible tube, which is fixedly connected between the end of the robotic arm and the base. The flexible tube has multiple joints inside, which are sequentially and movably engaged. The joint at the first end is connected to the end of the robotic arm, and the joint at the tail end is movably connected to the interior of the base.

[0022] Preferably, each of the joint components and the base has a through circular hole along the axial direction. All the circular holes together form a continuous cable channel, in which the power cord, the protective gas pipe and the cooling water pipe required for welding are all installed.

[0023] In this technical solution, the joint component includes a support block, one end of which is fixedly connected to a cone head, the end of which is fixedly connected to a support rod, and the end of which is fixedly connected to a ball. The other end of the support block is provided with a spherical groove that matches the ball. Two adjacent joint components are hinged by movably engaging the ball of one joint component into the spherical groove of the other joint component.

[0024] The volume of the sphere inside the support block is larger than its volume outside the support block, in order to prevent two adjacent joints from disengaging and to ensure that they can bend relative to each other at multiple angles around the sphere.

[0025] The hose is made of a high-temperature resistant and wear-resistant flexible corrugated material and is used to seal and wrap all joint components, providing physical protection against dust and welding spatter at their hinge points.

[0026] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0027] By embedding magnetic strips in the symmetrical upper and lower adsorption areas of the rolling assembly, it can selectively adsorb onto the surface of steam turbine steel parts. Combined with the ball structure protruding from the base, it forms rolling contact and maintains gap while magnetically positioning. This avoids movement jamming caused by the rigid fixation of the rolling assembly and the workpiece, and also ensures that the welding head is stably attached along the welding trajectory by relying on the magnetic force.

[0028] The flexible joint assembly achieves directional bending through its multi-joint hinge structure and can transmit the pushing or pulling force of the robotic arm, driving the rolling assembly and welding head to extend laterally into the narrow and enclosed spaces such as grooves and annular grooves of turbine components. Through the linkage between the multi-joint hinge structure of the flexible joint assembly and the magnetic rolling function of the rolling assembly, combined with the control of the robotic arm, the welding head can reach the position to be welded in a confined space, making it suitable for welding operations in narrow spaces. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0030] Figure 2 This is a schematic diagram of the pushing direction of the welding head according to the present invention;

[0031] Figure 3 This is a schematic diagram of the rolling component structure of the present invention;

[0032] Figure 4 This is a schematic diagram of the ball-joint structure of the present invention;

[0033] Figure 5 This is a schematic diagram of the flexible joint component structure of the present invention;

[0034] Figure 6 This is a schematic diagram of the power line connection structure of the present invention;

[0035] Figure 7 This is a schematic diagram of the joint structure of the present invention;

[0036] Figure 8 This is a schematic diagram of the spherical snap-fit ​​structure of the present invention.

[0037] The meanings of the labels in the diagram are as follows:

[0038] 1. Welding vehicle; 11. Robotic arm; 12. Welding head; 13. Power cord;

[0039] 14. Scrolling component; 140. Base; 141. Ball;

[0040] 15. Magnetic strip;

[0041] 16. Flexible joint components;

[0042] 160. Joint component; 1601. Support block; 1602. Cone head; 1603. Support rod; 1604. Sphere;

[0043] 161. Hose. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] Currently, welding trolleys cannot enter confined spaces such as deep cavities and narrow slots for automated welding due to the large radial dimension of the welding torch actuator. This invention provides a welding device for processing turbine components. (See [link]). Figures 1-2 As shown, the device includes a welding vehicle 1, on which a robotic arm 11 is mounted. A power cable 13 is threaded through the inside of the robotic arm 11. A welding head 12 is mounted at the end of the power cable 13. The welding head 12 is a miniature laser welding device. A rolling assembly 14 is fixedly connected to the end of the welding head 12. A flexible assembly 16 is fixedly connected to the end of the rolling assembly 14 away from the welding head 12. The flexible assembly 16 is fixedly connected to the end of the robotic arm 11.

[0046] During operation, the robotic arm 11, mounted on the welding vehicle 1, provides basic support and control. The robotic arm 11 moves the flexible joint assembly 16, the rolling assembly 14, and the welding head 12 as a whole to the welding area. Relying on the structural characteristics of the flexible joint assembly 16, directional bending is achieved, and the push or pull force of the robotic arm 11 is stably transmitted to the rolling assembly 14, which drives the welding head 12 to extend from the side into the grooves, annular grooves, and other narrow enclosed spaces of the turbine components, solving the problem that traditional welding torch actuators cannot enter due to size limitations.

[0047] It should be noted that the welding vehicle 1, robotic arm 11 and welding head 12 in this invention are all implemented using existing technology. They are not the focus of improvement in this invention, but only serve as conventional components for basic load-bearing and welding execution, working in conjunction with the innovative structure of this invention.

[0048] Among them, the welding vehicle 1 is a conventional mobile welding carrier in the existing automated welding field. It has a walking and positioning function and can drive the components carried on it to the designated welding station to meet the welding operation requirements of large steam turbine components. The robotic arm 11 is an existing multi-degree-of-freedom industrial robotic arm 11, which can realize multi-directional extension and rotation adjustment, providing precise position control and power transmission for the end welding structure. Its internal reserved pipeline channel is used to run the power line 13, which is adapted to the wiring requirements of automated welding.

[0049] The welding head 12 adopts an existing miniature laser welding device. Compared with the traditional welding gun, it has the characteristics of small size, high welding precision and small heat-affected zone. It can be adapted to welding operations in narrow spaces. The laser welding function is realized by connecting to the power supply 13. The specific structure and working principle of the above-mentioned existing components are all existing technologies and will not be described in detail here.

[0050] For implementation, see Figure 3 As shown, the rolling assembly 14 includes a base 140, with a magnetic strip 15 and multiple beads 141 movably connected to the outer wall of the base 140. Parts of the spherical parts of the beads 141 protrude from the outer wall surface of the base 140. The base 140 adopts an elliptical ring structure, so that its arc-shaped outer wall can naturally adapt to the curved inner walls of the turbine components such as grooves and annular grooves, reducing interference between the structure and the workpiece and facilitating the lateral insertion of the assembly into narrow spaces. At the same time, the two ends of the base 140 are coaxially fixed with the welding head 12 and the flexible assembly 16 to ensure that the welding direction of the welding head 12 is consistent with the movement trajectory of the rolling assembly 14.

[0051] See Figure 4 As shown, based on the elliptical structure of the base 140, its arc-shaped outer wall is divided into an upper adsorption area and a lower adsorption area by the connection baseline between the welding head 12 and the flexible assembly 16, realizing bidirectional adsorption and multi-posture adaptation of the rolling assembly 14; the ball bearings and magnetic strips 15 in the upper or lower adsorption area are selectively activated according to the actual posture of the space to be welded, so that in the actual welding work, whether it is the inner wall of the groove, the upper wall of the annular groove or the lower wall, the workpiece surface can be adsorbed by the magnetic strips 15 in the corresponding adsorption area, driving the welding head 12 to fit the position to be welded from different angles, improving the versatility of the assembly;

[0052] By symmetrically opening mounting holes and mounting grooves in each adsorption zone, a magnetic strip 15 is embedded in the mounting groove, and a round bead 141 is movably embedded in the mounting hole. The volume of the round bead 141 inside the base 140 is larger than the volume outside, which ensures that the round bead 141 can rotate freely around its own center while preventing the round bead 141 from falling off the mounting hole due to lateral force or vibration during the rolling process.

[0053] During operation, the robotic arm 11 moves the rolling assembly 14 to the welding area via the flexible joint assembly 16. The magnetic strip 15 in the corresponding adsorption area generates an adsorption force, causing the rolling assembly 14 to adhere to the surface of the turbine steel parts. At this time, the ball 141 protruding from the outer wall of the base 140 first contacts the workpiece surface. With the help of the movable connection between the ball 141 and the mounting hole, under the action of the push or pull force transmitted by the robotic arm 11 and the flexible joint assembly 16, the ball 141 rolls freely along the workpiece surface, thereby driving the entire rolling assembly 14 and the welding head 12 to move along the welding trajectory, realizing the position adjustment and welding of the welding head 12 in a narrow space.

[0054] In addition, the rolling contact between the ball 141 and the workpiece creates a certain gap between the magnetic strip 15 and the workpiece surface, preventing the magnetic strip 15 from directly contacting and rubbing against the workpiece surface. This avoids wear on the magnetic strip 15 and ensures the adsorption effect. Furthermore, the rolling contact replaces the sliding contact, significantly reducing the moving resistance and allowing the rolling assembly 14 to adapt to the workpiece trajectory, thus balancing stability and flexibility.

[0055] Additionally, see Figure 5 As shown, the flexible assembly 16 includes a flexible hose 161, and the interior of the flexible hose 161 is provided with multiple joints 160. During operation, the axial thrust or tension provided by the robotic arm 11 is transmitted to the joints 160 at the head end of the flexible assembly 16. Since the multiple joints 160 are sequentially engaged, they can adaptively bend along the direction of force and spatial shape. The overall posture is adjusted by the relative rotation of adjacent joints 160, which in turn drives the rolling assembly 14 and welding head 12 connected to the tail end to flexibly extend into the narrow enclosed spaces such as grooves and annular grooves of the turbine components from the side. At the same time, the bending angle is adjusted in real time according to the shape of the inner wall of the channel to ensure that the welding head 12 can reach the position to be welded and maintain the appropriate posture.

[0056] Among them, the flexible tube 161 is made of a high temperature resistant and wear resistant flexible corrugated tube material. Its material properties and structural design can form a dual protection function. Its flexible corrugated tube can adapt to the multi-angle bending action of the joint 160. It can stretch, extend and bend synchronously with the deformation of the joint 160 without affecting the posture adjustment function of the flexible joint component 16. At the same time, the sealed wrapping structure of the corrugated tube can completely cover all joints 160 and hinge parts to form a closed protective space.

[0057] By fixing the flexible hose 161 between the end of the robotic arm 11 and the base 140, it deforms synchronously with the joint 160 when it bends and deforms, forming a sealed enclosure for the internal joint 160, preventing welding spatter and dust from entering the hinge area, and avoiding joint jamming that affects the flexibility of movement; at the same time, it also provides a certain degree of support and protection for the joint 160, reducing the direct impact of high welding temperatures on the joint 160, and ensuring the long-term stable operation of the flexible joint assembly 16.

[0058] Figure 6 In order to meet the pipeline requirements of automated welding, each joint 160 and the base 140 are provided with through circular holes along the axial direction. All the circular holes are aligned coaxially to form a continuous cable channel. The cable channel enables the internal storage and orderly installation of the pipeline, and the power cord 13, the protective gas pipe and cooling water pipe required for welding are uniformly stored in it, so as to avoid the pipeline being exposed outside the flexible assembly 16.

[0059] Meanwhile, the power cord 13 itself is a flexible structure. When the joint 160 adapts to the shape of the narrow space and bends, it can bend and deform synchronously. It will not be damaged by the stretching or squeezing of the joint 160 due to deformation, nor will it limit the bending adjustment range of the flexible assembly 16, thus ensuring the continuity of pipeline transportation and the flexibility of the attitude adjustment of the flexible assembly 16.

[0060] In the above technical solutions, see Figure 7 As shown, each joint 160 is composed of a support block 1601, a cone head 1602, a support rod 1603, and a ball 1604, forming a modular splicing structure. Adjacent joints 160 are hinged through the cooperation of the ball 1604 and the spherical slot. The ball 1604 of one joint 160 is movably engaged in the spherical slot at the end of the support block 1601 of another joint 160, forming a relatively rotatable connection structure.

[0061] During operation, when the robotic arm 11 transmits pushing or pulling force to the first joint 160, the force is transmitted sequentially along the support block 1601 to the cone 1602, support rod 1603 and sphere 1604. The sphere 1604 rotates around its own center in the spherical groove, causing the adjacent joints 160 to shift relative to each other. Multiple joints 160 are linked and adjusted in sequence, so that the flexible assembly 16 can bend at multiple angles along the direction of force and spatial shape, thereby causing the rolling assembly 14 and welding head 12 to adapt to the inner wall contour of the groove and annular groove and adjust to the optimal welding posture.

[0062] The cone head 1602 adopts a cone-shaped structure design, which evenly transmits the axial force borne by the support block 1601 to the support rod 1603 and the sphere 1604, avoiding the accumulation of force at the connection and causing excessive local stress, thus preventing the joint component 160 from breaking or being damaged. At the same time, the cone-shaped structure is smaller than the columnar structure, which can effectively reduce the radial dimension at the connection of the joint component 160, reduce the mutual interference of adjacent joint components 160 when bending, and reduce the overall space occupied by the joint component 160.

[0063] Additionally, see Figure 8 As shown, the volume of the sphere 1604 inside the support block 1601 is larger than its volume outside. The sphere 1604 is wrapped by the spherical groove to resist the lateral force generated when the joint 160 is bent, and to prevent the two adjacent joints 160 from disengaging during multi-angle rotation or under force.

[0064] Working principle:

[0065] During operation, the welding vehicle 1 moves the robotic arm 11, the flexible assembly 16 at the end of the arm, the rolling assembly 14, and the welding head 12 together to the area to be welded for the turbine components. The robotic arm 11 completes basic positioning by virtue of its multi-directional adjustment capability, providing position control and power support for subsequent operations in confined spaces. The welding head 12, as a miniature laser welding device, adapts to the needs of confined space operations due to its small size. It is connected to power through built-in pipelines to complete the pre-welding preparation work.

[0066] The robotic arm 11 transmits axial thrust or tension to the flexible joint assembly 16, triggering the attitude adjustment action of the flexible joint assembly 16. Multiple joints 160 inside the flexible joint assembly 16 are connected by a spherical sphere 1604 and a spherical slot, which adaptively bends at multiple angles along the direction of force and the groove shape of the space to be welded. Adjacent joints 160 are linked in sequence to generate relative angle offset, which drives the rolling assembly 14 and the welding head 12 to flexibly extend into the narrow closed space such as the groove and annular groove from the side. At the same time, the bending angle is finely adjusted in real time according to the inner wall contour to ensure that the welding head 12 is accurately aligned with the position to be welded.

[0067] During this process, the high-temperature and wear-resistant flexible corrugated tube on the outside of the flexible joint assembly 16 deforms synchronously with the joint component 160, forming a closed protection for the internal joint component 160 and the hinged part, blocking welding spatter and dust from entering and preventing joint jamming; while the through circular hole inside the joint component 160 and the base 140 forms a continuous cable channel, and the power cord 13, protective air pipe and cooling water pipe bend adaptively with the bending of the joint component 160.

[0068] When the rolling assembly 14 is located on the surface of the workpiece, the magnetic strip 15 of the upper or lower adsorption area is selectively activated according to its placement direction. The magnetic strip 15 generates an adsorption force to make the rolling assembly 14 fit tightly against the surface of the steel part. At this time, the ball 141 protruding from the base 140 first contacts the surface of the workpiece. Under the continuous power transmitted by the robotic arm 11 and the flexible assembly 16, the ball 141 rolls freely around its own center along the surface of the workpiece, thereby driving the entire rolling assembly 14 and the welding head 12 to move along the welding trajectory.

[0069] 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 present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A welding device for processing steam turbine parts, comprising a welding carriage (1), wherein a robotic arm (11) is provided on the welding carriage (1), a power cable (13) is threaded through the inside of the robotic arm (11), and a welding head (12) is provided at the end of the power cable (13), characterized in that: The welding head (12) is a miniature laser welding device; A rolling assembly (14) is fixedly connected to the end of the welding head (12), and a flexible assembly (16) is fixedly connected to the end of the rolling assembly (14) away from the welding head (12). The flexible assembly (16) is fixedly connected to the end of the robotic arm (11). The rolling assembly (14) is divided into an upper adsorption area and a lower adsorption area with the connection axis between the welding head (12) and the flexible assembly (16) as the axis of symmetry. Magnetic strips (15) are embedded on the surface of both the upper and lower adsorption areas to enable the rolling assembly (14) to selectively adsorb onto the steel surface of the turbine components. The flexible joint assembly (16) is a multi-joint structure that can be directionally bent, used to transmit the axial thrust or pull provided by the robotic arm (11) to the rolling assembly (14), and drive the rolling assembly (14) and the welding head (12) on it to move laterally into the narrow welding space; the power line (13) is sequentially passed through the inside of the robotic arm (11), the flexible joint assembly (16) and the rolling assembly (14), and is electrically connected to the welding head (12); The rolling assembly (14) includes a base (140), and a magnetic strip (15) and a plurality of beads (141) are movably connected to the outer wall of the base (140). Part of the spheres of the beads (141) protrude from the outer wall surface of the base (140) to form a rolling contact with the workpiece surface when the magnetic strip (15) generates an adsorption force, while maintaining a gap between the magnetic strip (15) and the workpiece surface. The base (140) is an elliptical ring structure, and its two ends of the arc-shaped outer wall are fixedly connected to the end of the welding head (12) and the end of the flexible assembly (16), respectively. The flexible assembly (16) includes a flexible tube (161), which is fixedly connected between the end of the robotic arm (11) and the base (140). The flexible tube (161) has multiple joints (160) inside, which are sequentially and movably engaged. The joint (160) at the first end is connected to the end of the robotic arm (11), and the joint (160) at the tail end is movably connected to the inside of the base (140). The hose (161) is made of a high-temperature resistant and wear-resistant flexible corrugated material, used to seal and wrap all joint parts (160), to provide physical protection against dust and welding spatter at their hinges, and to deform synchronously with the joint parts (160) when they bend and deform.

2. The welding apparatus for processing steam turbine components according to claim 1, characterized in that: The arc-shaped outer wall of the base (140) is divided into an upper adsorption area and a lower adsorption area by the connecting axis of the welding head (12) and the flexible assembly (16). The upper adsorption area and the lower adsorption area are symmetrically provided with mounting holes and mounting grooves. A ball (141) is movably connected in the mounting hole, and the magnetic strip (15) is embedded in the mounting groove.

3. The welding apparatus for processing steam turbine components according to claim 2, characterized in that: The volume of the bead (141) inside the base (140) is greater than its volume outside, to prevent the bead (141) from falling out of the mounting hole.

4. The welding apparatus for processing steam turbine components according to claim 1, characterized in that: Each of the joint components (160) and the base (140) has a through circular hole along the axial direction. All the circular holes together form a continuous cable channel. The power line (13) and the protective gas pipe and cooling water pipe required for welding are all installed in the cable channel.

5. The welding apparatus for processing steam turbine components according to claim 1, characterized in that: The joint component (160) includes a support block (1601), one end of which is fixedly connected to a cone head (1602), the end of which is fixedly connected to a support rod (1603), the end of which is fixedly connected to a ball (1604), and the other end of the support block (1601) is provided with a spherical groove that matches the ball (1604). Two adjacent joint components (160) are hinged by movably engaging the ball (1604) of one joint component (160) into the spherical groove of the other joint component (160).

6. The welding apparatus for processing steam turbine components according to claim 5, characterized in that: The volume of the sphere (1604) inside the support block (1601) is greater than its volume outside the support block (1601) to prevent two adjacent joints (160) from disengaging and to ensure that they can bend relative to each other at multiple angles around the sphere (1604).

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