An apparatus and method for twin oscillating hot wire twin tungsten electrode surfacing and build-up welding

Abstract

The application provides a double-oscillation hot wire double-tungsten electrode surfacing and assembly welding equipment and welding method, and relates to the technical field of TIG welding. The double-oscillation hot wire double-tungsten electrode surfacing and assembly welding equipment comprises an equipment rack, a multi-axis motion assembly arranged on the equipment rack, the multi-axis motion assembly being configured to drive at least a component mounted thereon to realize two kinds of motions, i.e., rotational swinging around an axis parallel to a welding travel direction and transverse swinging perpendicular to the welding travel direction, a gun arm assembly mounted on the multi-axis motion assembly and driven by the multi-axis motion assembly, and a welding torch mounted at the end of the gun arm assembly, wherein the welding torch comprises a welding torch body and at least a double-tungsten electrode arranged on the welding torch body, and the welding torch body is provided with a plurality of mounting surfaces, and the plurality of mounting surfaces comprise a surfacing mounting surface and an assembly welding mounting surface. The application can significantly improve welding efficiency and welding quality.

Description

Technical Field

[0001] This invention relates to the field of TIG welding technology, and more specifically, to an equipment and welding method for dual-oscillating hot-wire dual-tungsten electrode overlay and assembly welding. Background Technology

[0002] In the pressure vessel, pipeline, and heavy equipment manufacturing industries, stainless steel, nickel-based alloys, and other materials are often deposited on the surface of products to improve their corrosion and wear resistance. Furthermore, large-groove welding of thick-walled structures is also a common process requirement. In these applications, welding quality and efficiency are key production indicators.

[0003] Among related technologies, automated TIG (tungsten inert gas) welding is widely used in applications with strict welding quality requirements due to its advantages such as stable arc, controllable molten pool, and high weld purity, especially suitable for welding materials such as stainless steel and nickel-based alloys. However, TIG welding in related technologies suffers from prominent problems such as low efficiency and slow welding speed, which limits production efficiency and increases costs when performing large-area surfacing or thick plate assembly welding. Summary of the Invention

[0004] The problem that this invention aims to solve is that TIG welding in related technologies suffers from low efficiency and slow welding speed, which limits production efficiency and increases costs when performing large-area surfacing or thick plate assembly welding.

[0005] To address the aforementioned problems, in a first aspect, the present invention provides equipment for dual-oscillating hot-wire dual-tungsten electrode overlay welding and assembly welding, comprising: Equipment stand; A multi-axis motion assembly is disposed on the equipment stand, and the multi-axis motion assembly is configured to drive at least two components mounted thereon to achieve the following two movements: rotational oscillation about an axis parallel to the welding travel direction, and lateral oscillation perpendicular to the welding travel direction; a gun arm assembly is mounted on the multi-axis motion assembly and is driven by the multi-axis motion assembly; A welding torch is mounted at the end of the torch arm assembly. The welding torch includes a torch body and at least two tungsten electrodes disposed on the torch body. The torch body has multiple mounting surfaces, including a welding overlay mounting surface and a welding assembly mounting surface. When the welding torch is mounted through the welding overlay mounting surface, the line connecting a pair of equal-high points on the two axes of the two tungsten electrodes forms a first angle with the axis of rotation. When the welding torch is mounted through the welding assembly mounting surface, the line connecting the equal-high points on the two tungsten electrodes forms a second angle with the axis of rotation, the second angle being smaller than the first angle. A wire feeding mechanism is used to feed at least one heated welding wire into the molten pool corresponding to the ends of the dual tungsten electrodes in an oscillating manner.

[0006] Optionally, the multi-axis motion assembly includes a welding motion axis unit and a welding rocking axis unit; the welding motion axis unit is used to drive the welding torch through the gun arm assembly to achieve at least the lateral swing; the welding rocking axis unit is used to drive the welding torch through the gun arm assembly to achieve the rotational rocking.

[0007] Optionally, the welding torch assembly includes a swing arm and an extension arm. The extension arm is connected to the equipment stand via a welding motion shaft unit to enable the welding torch to swing laterally, adjust along the welding travel direction, and adjust perpendicular to the surface of the equipment stand. The swing arm is connected to the extension arm via the welding rocking shaft unit to enable the welding torch to rotate. The welding torch is mounted on the swing arm.

[0008] Optionally, the welding rocking shaft unit includes a welding rocking shaft and a rocking shaft connecting frame. One end of the extension arm is configured to be telescopically connected to the welding motion shaft unit, and one end of the rocking shaft connecting frame is configured to be rotatably connected to the other end of the extension arm. The end of the rocking arm away from the welding torch is connected to the other end of the rocking shaft connecting frame through the welding rocking shaft.

[0009] Optionally, the opposite ends of the swing shaft connecting frame and the extension arm are respectively provided with connecting flanges. The connecting flange of the swing shaft connecting frame is provided with a plurality of circumferentially arranged arc-shaped grooves, and the connecting flange of the extension arm is provided with a plurality of mounting holes. The arc-shaped grooves and the mounting holes cooperate to adjust the welding position of the welding torch.

[0010] Optionally, the welding torch body is provided with at least one welding overlay mounting surface and one welding assembly mounting surface. When the welding overlay mounting surface and the welding assembly mounting surface are in the corresponding mounting state, they are perpendicular to the axis of rotation and rocking. The line connecting a pair of equal height points on the two axes of the dual tungsten electrodes forms a third angle with the welding overlay mounting surface. The third angle is complementary to the first angle, and the second angle is greater than or equal to 0.

[0011] Optionally, the welding torch body is in the shape of a polygonal prism, the welding overlay mounting surface and the assembly welding mounting surface are provided on the side of the welding torch body, the assembly welding mounting surface and the welding overlay mounting surface are arranged at a preset angle, the dual tungsten electrodes are provided at the end of the welding torch body, and when there are two welding overlay mounting surfaces, the two welding overlay mounting surfaces are arranged in parallel.

[0012] Optionally, the dual tungsten electrodes are arranged at an angle toward the axis of the welding torch body, and the extensions of the two discharge ends of the dual tungsten electrodes converge in the same molten pool region. This ensures that the arcs drawn from the two discharge ends converge in the same corresponding region of the molten pool.

[0013] Optionally, the welding torch body is configured to be pitch-mounted to the torch arm assembly along the axis of the rotation.

[0014] The equipment for dual-oscillating hot-wire dual-tungsten electrode cladding and assembly welding provided by this invention includes a multi-axis motion assembly mounted on a machine frame. This assembly drives the welding torch to rotate and oscillate around a direction parallel to the welding direction and to oscillate laterally perpendicular to the welding direction, thus providing a suitable motion trajectory for different welding modes. A torch arm assembly is mounted on the multi-axis motion assembly to stably transmit motion and support the welding torch, ensuring motion accuracy. The welding torch includes a torch body and dual tungsten electrodes at its ends. The side of the torch body has a cladding mounting surface and an assembly welding mounting surface. By switching the mounting surfaces, the angle between the dual tungsten electrodes and the oscillation axis can be quickly changed, thereby achieving different cladding and assembly welding motions. Welding in both surfacing and assembly welding modes; the wire feeding mechanism includes two independent oscillating wire feeding units, which stir the molten pool and increase the wire feeding speed by oscillating the wire and heating the hot wire. After selecting the appropriate mounting surface to fix the welding torch according to the welding task, the surfacing mode can use, for example, double oscillating hot wires combined with the lateral oscillation of the welding torch, which can expand the molten pool and fill the bevel with a wide range and high efficiency; the assembly welding mode can use a single oscillating hot wire combined with the rotation and shaking of the welding torch, which can achieve high penetration and high quality precise filling in narrow bevels. Both main welding modes can achieve a significant increase in the filling metal per unit time, while taking into account both welding efficiency and welding quality.

[0015] On the other hand, a welding method for dual-oscillating hot-wire dual-tungsten electrode overlay and assembly welding includes: According to the target welding process, select either the overlay mounting surface or the assembly mounting surface on the welding torch body, and install the welding torch onto the torch arm assembly; welding starts, and the multi-axis motion assembly is controlled to drive the welding torch to move along the welding travel direction, while simultaneously performing the following operations: feeding at least one heated welding wire to the molten pool corresponding to the end of the dual tungsten electrodes in an oscillating manner via the wire feeding mechanism; and synchronously executing the corresponding composite motion mode according to the selected overlay mounting surface or assembly mounting surface: When the welding mounting surface is selected, the multi-axis motion assembly is controlled to drive the welding torch to perform a lateral swing perpendicular to the welding travel direction, and the line connecting the two tungsten electrodes forms a first angle with the axis of the rotation. When the welding mounting surface is selected, the multi-axis motion assembly is controlled to drive the welding torch to perform a rotational rocking motion about an axis parallel to the welding travel direction. The line connecting the two tungsten electrodes forms a second angle with the axis of the rotational rocking motion, and the second angle is smaller than the first angle.

[0016] The welding method for dual-oscillating hot-wire dual-tungsten electrode cladding and assembly welding provided by this invention selects and installs the corresponding welding torch mounting surface according to the welding task, realizing rapid switching and mode adaptation of the basic posture of the welding torch; then, welding is started and the welding torch is controlled to move automatically along the set direction to ensure the continuity and stability of the welding path; at the same time, the wire is fed by oscillating heating, which improves the weld quality while stirring the molten pool and significantly increases the deposition rate; finally, the system automatically executes the corresponding composite motion according to the selected mode: in the cladding mode, the welding torch swings laterally and the dual tungsten electrodes are at a large angle, realizing a wide molten pool and efficient surface coverage; in the assembly welding mode, the welding torch shakes axially and the dual tungsten electrodes are at a small angle, realizing a deep molten pool and precise bevel filling, which can improve welding efficiency while ensuring welding quality. Attached Figure Description

[0017] Figure 1 This diagram shows the structural schematic of the welding arm assembly and welding torch in the equipment for dual-oscillating hot wire dual tungsten electrode welding and group welding in an embodiment of the present invention; Figure 2 This diagram illustrates the structural operation of the equipment for dual-oscillating hot-wire dual-tungsten electrode overlay welding and assembly welding in an embodiment of the present invention. Figure 3 A schematic diagram of the mounting structure of the mounting surface and the tungsten electrode in the welding torch is shown in an embodiment of the present invention; Figure 4 This invention presents a three-dimensional structural schematic diagram of the operation of the rocker arm and welding gun in the overlay welding mode in an embodiment of the invention. Figure 5 This shows a front view schematic diagram of the working structure of the rocker arm and welding gun in the overlay welding mode in an embodiment of the present invention; Figure 6 This diagram shows a top view of the working structure of the rocker arm and welding gun in the overlay welding mode according to an embodiment of the present invention. Figure 7 This shows a side view of the working structure of the rocker arm and welding gun in the overlay welding mode in an embodiment of the present invention; Figure 8 This invention presents a three-dimensional structural schematic diagram of the operation of the rocker arm and welding torch in the group welding mode in an embodiment of the present invention; Figure 9 This shows a front view of the working structure of the sway arm and welding gun in the assembly welding mode of an embodiment of the present invention; Figure 10 This shows a top view of the working structure of the rocker arm and welding torch in the group welding mode of an embodiment of the present invention; Figure 11 A side view of the working structure of the rocker arm and welding gun in the group welding mode of an embodiment of the present invention is shown.

[0018] Explanation of reference numerals in the attached figures: 1. First hot wire TIG power supply; 2. Second hot wire TIG power supply; 3. Cooling water tank; 4. Control cabinet; 5. First oscillating wire feeder; 6. Second oscillating wire feeder; 7. Wire feeder bracket; 8. Equipment frame; 9. Welding platform; 10. Welding positioner; 11. Welding speed axis; 12. Arc voltage tracking axis; 13. Welding oscillation assembly; 14. Welding rocking axis; 15. First wire feeding device; 16. Second wire feeding device; 17. Welding torch; 171. Welding torch body; 172. Dual tungsten electrodes; 18. First concave plate; 19. Second concave plate; 20. Concave plate screw; 21. Extension arm; 22. Oscillating shaft connecting bracket; 23. Fixed handle; 24. Oscillating arm; 25. Wire feeding mounting plate; 26. Welding torch mounting plate; 27. Locking component; 28. Water cooling fixing component; 29. ​​Wire feeding tube. Detailed Implementation

[0019] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0020] In the attached diagram, the Z-axis represents the vertical direction, i.e., up and down, with the positive direction of the Z-axis representing upward and the negative direction representing downward. The X-axis represents the horizontal direction and is designated as front and back, with the positive direction of the Y-axis representing the front and the negative direction representing the back. The X-axis also represents the left and right position, with the positive direction representing the left and the negative direction representing the right. It should be noted that the aforementioned representations of the Z, Y, and X axes are merely for the convenience of describing the invention and for simplifying the description, and do not 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 invention.

[0021] In the description of this specification, references to terms such as "embodiment," "one embodiment," and "one implementation" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or implementation is included in at least one embodiment or illustrative implementation of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or implementation. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or implementations.

[0022] Overlay welding is a surface modification process used to deposit one or more layers of metal with specific properties (such as wear resistance, corrosion resistance, and high temperature resistance) on the surface of a workpiece substrate, aiming to improve or repair the surface properties of the workpiece or restore its dimensions. Assembly welding, on the other hand, is a welding process that connects multiple workpieces into a whole.

[0023] Reference Figure 1 , Figure 2 , Figure 5 , Figure 6 and Figure 10 As shown, this embodiment of the invention proposes an apparatus for dual-oscillating hot-wire dual-tungsten electrode welding and assembly welding, comprising: 8 equipment racks; A multi-axis motion assembly is disposed on the equipment stand 8, and the multi-axis motion assembly is configured to drive at least the components mounted thereon to achieve the following two movements: rotational rocking about an axis parallel to the welding travel direction, and lateral swinging perpendicular to the welding travel direction; a gun arm assembly is mounted on the multi-axis motion assembly and is driven by the multi-axis motion assembly; A welding torch 17 is mounted at the end of the torch arm assembly. The welding torch 17 includes a welding torch body 171 and at least two tungsten electrodes 172 disposed on the welding torch body 171. The welding torch body 171 has multiple mounting surfaces, including a welding overlay mounting surface and a welding assembly mounting surface. When the welding torch 17 is mounted through the welding overlay mounting surface, the line connecting a pair of equal height points on the two axes of the two tungsten electrodes 172 forms a first angle α1 with the axis of rotation. When the welding torch 17 is mounted through the welding assembly mounting surface, the line connecting the equal height points on the two tungsten electrodes 172 forms a second angle α2 with the axis of rotation, and the second angle α2 is smaller than the first angle α1. A wire feeding mechanism is used to feed at least one heated welding wire to the molten pool corresponding to the end of the double tungsten electrode 172 in an oscillating manner.

[0024] Specifically, the equipment is based on the equipment stand 8 and integrates a multi-axis motion assembly. The multi-axis motion assembly is designed to drive its end effector to achieve at least two key motion modes: one is to make the welding torch 17 rotate around an axis parallel to the welding travel direction (indicated by L in the figure, e.g.) Figure 5 The first type involves rotating and oscillating the welding torch (e.g., using a stepper motor) to control the molten pool within the bevel for high-precision hot wire filling; the second type involves lateral oscillation of the welding torch perpendicular to the welding direction (e.g., using a crank-slider structure) to control the molten pool within the bevel for high-precision hot wire filling. Figure 5 (to widen the molten pool.)

[0025] The gun arm assembly, as the direct load and execution extension of the multi-axis motion assembly, is used to mount and position the welding gun 17. By selecting the rocking or oscillating mode, the two core motion modes of rotational rocking or lateral oscillation are stably transmitted to the welding gun 17 at its end to realize the welding action.

[0026] The welding torch 17 is the core functional component of the equipment. Its core design lies in the multiple functional mounting surfaces pre-set on the welding torch body 171, especially distinguishing the welding overlay mounting surface (indicated by A1 in the figure, such as...). Figure 6 ) and the assembly mounting surface (indicated by A2 in the figure, such as Figure 6 When different mounting surfaces are selected and fixed to the gun arm assembly, the spatial orientation of the double tungsten electrodes 172 on the welding gun will be changed, so that the line connecting a pair of equal height points on the two axes of the double tungsten electrodes 172 and the axis of rotation and rocking form two targeted fixed angles (the first angle α1 can be used for surfacing welding, and the smaller second angle α2 can be used for group welding), thereby simplifying the switching of welding modes into a mechanical installation action.

[0027] When the welding torch 17 is installed through the welding mounting surface, the fixed angle of the welding torch 17 relative to the torch arm assembly is determined. At this time, the line connecting the two corresponding points of equal height on the dual tungsten electrodes 172 (usually referring to points of equal height with their axes on the same horizontal plane) and the rotation axis of the welding torch 17 (i.e., the drive axis of the welding rocking shaft 14) forms a first included angle α1 in the horizontal plane. This included angle is relatively large (usually in the range of 45°–60°). In the welding mode, the welding torch mainly performs a lateral oscillation perpendicular to the welding travel direction, rather than a rotational rocking motion around its own axis. At this time, the large first included angle α1 causes the dual tungsten electrodes 172 to... During lateral oscillation welding, the generated double electric arcs alternately cover and periodically converge on the surface of the molten pool, thereby significantly widening the molten pool width (the alternating coverage of the double electric arcs generated by the double tungsten electrodes 172 causes the heat energy to be distributed alternately in the width direction of the molten pool, expanding the heated area of ​​the base material; while the periodic convergence forms an instantaneous high-heat zone in the center of the molten pool, significantly enhancing the fluidity of the molten pool metal. The two work together to overcome the surface tension contraction tendency of the molten pool through the expansion of the thermal field and the driving force of the molten pool flow, thereby achieving an active and effective widening of the molten pool width), which is conducive to increasing the single-pass weld width and achieving efficient surface surfacing.

[0028] When the welding torch is switched to be installed through the assembly welding mounting surface, the posture of the welding torch 17 undergoes a structural adjustment. At this time, the line connecting the same pair of equal height points on the double tungsten electrodes 172 and the rotation axis form a second included angle α2 in the horizontal plane. This included angle is significantly smaller than the first included angle α1 (usually ≤10°, or even close to 0°), so that the double electric arc generated by the double tungsten electrodes when the welding torch 17 is rotated is always concentrated in the narrow area deep in the groove. The energy is concentrated, which is conducive to enhancing the penetration ability of the electric arc in the depth direction of the groove and realizing high-precision fusion deposition (precise filling and filling of the groove after the welding wire melts).

[0029] The first included angle α1 is larger, corresponding to the requirement of "wide coverage"; the second included angle α2 is smaller, corresponding to the requirement of "deep seam penetration". By changing the mounting surface, the operator can directly switch the welding mode without adjusting the tungsten electrode itself, which greatly improves the adaptability and operating efficiency of the equipment while ensuring process consistency.

[0030] In the surfacing welding mode, the lateral oscillation widens the weld bead, reducing the number of overlaps and interlayer defects; in the group welding mode, the rotational rocking concentrates the arc energy at the root of the bevel, enhancing sidewall fusion and preventing incomplete penetration. Both improve quality from the source by matching the optimal motion trajectory to specific welding tasks.

[0031] The wire feeding mechanism is responsible for providing filler metal for the welding process. It adopts a wire feeding method that combines "oscillation" and "heating". Oscillating wire feeding can stir the molten pool, refine the grains and allow for higher wire feeding speeds. It can use dual-oscillation hot wire (such as in surfacing mode) or single-oscillation wire feeding (such as in group welding mode), which significantly improves the wire deposition efficiency. This mechanism works in conjunction with the dual tungsten arc and the movement of the welding torch to achieve efficient surfacing and group welding.

[0032] In this embodiment, the multi-axis motion assembly is mounted on the equipment frame 8 to drive the welding torch 17 to rotate and rock around a direction parallel to the welding direction and to swing laterally perpendicular to the welding direction, thereby providing a suitable motion trajectory for different welding modes. The torch arm assembly is mounted on the multi-axis motion assembly to stably transmit motion and support the welding torch 17, ensuring motion accuracy. The welding torch 17 includes a torch body 171 and a double tungsten electrode 172 at its end. The side of the torch body 171 is provided with a welding overlay mounting surface and a welding assembly mounting surface. By switching the mounting surfaces, the angle between the double tungsten electrode 172 and the rocking axis can be quickly changed, thereby achieving the desired motion. Welding in both surfacing and assembly welding modes; the wire feeding mechanism includes two independent oscillating wire feeding units, which stir the molten pool and increase the wire feeding speed by oscillating wire feeding and heating the hot wire. After selecting the appropriate mounting surface to fix the welding torch 17 according to the welding task, the surfacing mode can use, for example, dual oscillating hot wires in conjunction with the lateral oscillation of the welding torch 17, which can expand the molten pool and fill the bevel with a wide range and high efficiency; the assembly welding mode can use a single oscillating hot wire in conjunction with the rotation and shaking of the welding torch 17, which can achieve high penetration and high quality precise filling in narrow bevels. Both main welding modes can achieve a significant increase in the amount of metal filled per unit time, while taking into account both welding efficiency and welding quality.

[0033] This invention, through the coordinated design of structure, motion, and process, systematically solves the problem of insufficient tungsten electrode welding efficiency while ensuring welding quality. In actual production and manufacturing, it improves the efficiency by more than 3 times compared with traditional single tungsten electrode welding.

[0034] It should be noted that the TIG welding process of this invention is equipped with an inert gas protection system to isolate air during the welding process and prevent oxidation of the molten pool and high-temperature metal; specifically, the gas system includes: Gas source and pipelines: Provide and transport high-purity inert gas (usually argon or a helium-argon mixture); Welding torch gas path: Inert gas passes through the gas guide channel inside the welding torch 17 and is ejected from its nozzle to form a protective gas shield covering the electric arc and the molten pool. Trailer or tail cover (optional): When welding long seams or special materials, an additional gas cover can be installed behind the welding torch to extend the protection area and prevent high-temperature oxidation at the tail of the weld.

[0035] This part (inert gas protection system) is a relatively mature and common technology, and will not be described in detail here.

[0036] like Figure 1 and Figure 2 As shown, in an optional embodiment of the present invention, the multi-axis motion assembly includes a welding motion axis unit and a welding rocking axis unit; the welding motion axis unit is used to drive the welding torch 17 through the torch arm assembly to at least achieve the lateral swing; the welding rocking axis unit is used to drive the welding torch 17 through the torch arm assembly to achieve the rotational rocking.

[0037] Specifically, the multi-axis motion assembly includes a welding motion axis unit (including at least a welding swing axis 13) and a welding rocking axis unit (including at least a welding rocking axis 14); the welding swing axis 13 is used to drive the gun arm assembly and the welding torch 17 to swing laterally, and the welding rocking axis 14 can be set on the gun arm assembly to drive the welding torch 17 to achieve the rotational rocking.

[0038] The welding swing shaft 13 serves as the output shaft of the welding motion shaft unit, directly driving the gun arm assembly and the welding gun 17 to perform lateral reciprocating motion perpendicular to the welding direction. Its motion trajectory is a linear swing, making it a dedicated shaft for achieving molten pool widening and weld bead widening in the surfacing process.

[0039] The welding rocking shaft 14 serves as the drive shaft of the welding rocking shaft unit, directly driving the end of the gun arm assembly and the welding gun 17 to rotate and reciprocate around an axis parallel to the welding direction. Its motion trajectory is a swing around the axis, which is a special shaft for achieving arc convergence, increased penetration depth and precise bevel filling in the welding process.

[0040] In this embodiment, the welding swing shaft 13 and the welding rocking shaft 14 independently drive the lateral swing and rotational rocking of the welding torch 17, respectively, realizing the decoupling and coordination of trajectory accuracy and molten pool control. With the dual-oscillating hot wire first oscillating wire feeder 5, second oscillating wire feeder 6 and hot wire first hot wire TIG power supply 1 and second hot wire TIG power supply 2 technologies, high-speed wide-width deposition is achieved during surfacing welding, and precise filling of deep and narrow grooves is achieved during assembly welding. Ultimately, while ensuring welding quality, the efficiency is increased to more than three times that of the traditional single tungsten electrode process.

[0041] like Figure 1 and Figure 2As shown, in an optional embodiment of the present invention, the gun arm assembly includes a swing arm 24 and an extension arm 21. The extension arm 21 is connected to the equipment stand 8 via a welding motion shaft unit, so that the welding gun 17 can achieve the lateral swing, the adjustment along the welding travel direction, and the adjustment perpendicular to the surface of the equipment stand 8. The swing arm 24 is connected to the extension arm 21 via the welding rocking shaft unit, so that the welding gun 17 can achieve the rotational rocking. The welding gun 17 is mounted on the swing arm 24.

[0042] Specifically, the welding motion axis unit includes a welding swing axis 13, a welding speed axis 11, and an arc pressure tracking axis 12. The welding speed axis 11 is horizontally mounted on the equipment frame 8 (on which a welding platform 9 is provided) to provide the welding torch with translational movement along the welding travel direction (X direction) for setting the welding speed and stroke. The arc pressure tracking axis 12 is vertically mounted on the sliding plate of the welding speed axis 11, providing the welding torch with vertical lifting motion (Z direction) perpendicular to the table surface for pre-welding height coarse adjustment and arc pressure adaptive tracking during welding. The welding swing shaft 13 is mounted on the slide plate of the arc voltage tracking shaft 12 in the horizontal direction (Y direction), providing the welding torch to swing laterally perpendicular to the welding direction (Y direction). It is mainly used for controlling the width of the weld pool during surfacing, increasing the width of a single pass weld, and achieving efficient surface surfacing.

[0043] The axes included in the welding motion axis unit (such as welding speed axis 11, arc pressure tracking axis 12, and welding swing axis 13) are essentially standard linear motion axes or rotary motion axes commonly found in automated equipment, and they belong to existing technology.

[0044] The gun arm assembly includes an extension arm 21 and a swing arm 24; the extension arm 21 is connected to the equipment frame 8 through a welding motion shaft unit, enabling the welding gun to achieve basic movements such as feeding along the welding direction, height tracking, and lateral swinging; the swing arm 24 is connected to the end of the extension arm 21 through a welding rocking shaft unit, enabling the welding gun to rotate and rock around its own axis; the welding gun 17 is directly mounted on the end of the swing arm 24.

[0045] Therefore, the extension arm 21 and the welding motion axis unit are responsible for adjusting parameters such as welding path, arc length stability and molten pool width; the swing arm 24 and the welding rocking axis unit are dedicated to the axial rocking of the welding torch to optimize the penetration and filling effect of the molten pool. The two work together to achieve wide and efficient welding through lateral swinging in the surfacing mode, and to achieve precise penetration of deep and narrow grooves through axial rocking in the group welding mode.

[0046] The extension arm 21 is connected to the welding motion axis unit via the welding swing shaft 13 and is then mounted on the equipment stand 8. This allows the welding torch 17 to achieve, in addition to the previously mentioned lateral swing perpendicular to the welding direction (driven by the welding swing shaft 13), position adjustment along the welding travel direction (driven by the welding speed shaft 11), height adjustment perpendicular to the stand surface, and arc voltage tracking (driven by the arc voltage tracking shaft 12). The swing arm 24 is connected to the end of the extension arm 21 via the welding rocking shaft 14 and its connecting bracket, enabling the welding torch 17 to achieve precise rotational rocking around its own axis (driven by the welding rocking shaft 14).

[0047] In this optional embodiment, the welding motion axis unit is responsible for the macroscopic positioning and lateral oscillation of the welding torch in the X, Y, and Z directions, ensuring the stability of the welding path, molten pool width, and arc length. The welding rocking axis unit specifically drives the welding torch to rotate and rock around its axis, optimizing the flow and filling of the molten pool within the bevel. The two units are mechanically connected through an extension arm and a rocking arm, allowing the welding torch to perform high-frequency local rocking motion while completing a large-scale spatial trajectory movement. The structural connection sequence is as follows: equipment platform 8 → welding speed axis 11 (X direction) → arc pressure tracking axis 12 (Z direction) → welding oscillation axis 13 (Y direction) → extension arm 21 → welding rocking axis 14 → rocking arm 24 and subsequent welding torch 17. This structure enables the welding torch 17 to achieve independent and compound movements in the X, Y, and Z axes, providing a complete spatial trajectory and attitude control foundation for automated welding.

[0048] like Figure 1 and Figure 2 As shown, in an optional embodiment of the present invention, the welding rocking shaft unit includes a welding rocking shaft 14 and a rocking shaft connecting frame 22. One end of the extension arm 21 is configured to be telescopically connected to the welding motion shaft unit, and one end of the rocking shaft connecting frame 22 is configured to be rotatably connected to the other end of the extension arm 21. The end of the rocking arm 24 away from the welding torch 17 is connected to the other end of the rocking shaft connecting frame 22 through the welding rocking shaft 14.

[0049] Specifically, the welding rocking shaft unit includes a welding rocking shaft 14 and a rocking shaft connecting frame 22. One end of the extension arm 21 is connected to the sliding plate of the welding motion shaft unit through a first concave plate 18, a second concave plate 19 and a concave plate screw 20 to form a telescopic sliding connection, so that the extension arm 21 can be longitudinally adjusted and fixed in the concave plate groove. One end of the rocking shaft connecting frame 22 is connected to the other end of the extension arm 21 through a flange with an arc groove to achieve a circumferentially rotatable connection. The end of the rocking arm 24 away from the welding torch 17 is connected to the other end of the rocking shaft connecting frame 22 through the welding rocking shaft 14 to form a complete rocking transmission chain.

[0050] Thus, the longitudinal telescopic adjustment of the extension arm 21 enables flexible adaptation of the welding torch working distance; the circumferential rotatable connection of the swing shaft connecting frame enables rapid switching of the welding torch welding position, improving the spatial adaptability of complex workpieces and multi-position welding processes.

[0051] like Figure 1 and Figure 2 As shown, in an optional embodiment of the present invention, the opposite ends of the swing shaft connecting frame 22 and the extension arm 21 are respectively provided with connecting flanges. The connecting flange of the swing shaft connecting frame 22 is provided with a plurality of circumferentially arranged arc-shaped grooves, and the connecting flange of the extension arm 21 is provided with a plurality of mounting holes. The arc-shaped grooves and the mounting holes cooperate to adjust the welding position of the welding torch 17.

[0052] Specifically, the opposite ends of the swing shaft connecting frame 22 and the extension arm 21 are respectively provided with connecting flanges. The connecting flange of the swing shaft connecting frame 22 is machined with multiple arc-shaped grooves evenly distributed along the circumference, and the connecting flange of the extension arm 21 is provided with multiple threaded mounting holes. During installation, the fixing handle 23 can be passed through the arc-shaped grooves in sequence and screwed into the corresponding mounting holes to achieve connection and fixation of the two. The fixing handle 23 consists of a threaded screw and a head that is easy to tighten by hand. When in use, the screw passes through the arc-shaped groove on the flange of the swing shaft connecting frame 22 and is screwed into the threaded mounting hole of the flange of the extension arm 21.

[0053] Thus, the combination of the arc groove and the mounting hole provides a continuously adjustable circumferential angle positioning capability, allowing operators to precisely adjust the circumferential welding position of the welding torch 17 (e.g., quickly switching between 1G flat welding and 2G horizontal welding positions) without disassembling the components by loosening the bolts, rotating the swing shaft connecting bracket 22 along the arc groove relative to the extension arm 21 to the target angle, and then locking it. This retains the flexibility and precision of angle adjustment, while ensuring the rigidity of the connection parts during welding through multi-point bolt locking, significantly improving the equipment's adaptability to different welding positions.

[0054] like Figure 3 , Figure 4 , Figure 7 , Figure 9 and Figure 10 As shown, in an optional embodiment of the present invention, the welding torch body 171 is provided with at least one welding overlay mounting surface and one welding assembly mounting surface. When the welding overlay mounting surface or the welding assembly mounting surface is in the installation state, it is perpendicular to the axis of rotation and rocking. The line connecting a pair of equal height points on the two axes of the dual tungsten electrodes 172 forms a third included angle λ with the welding overlay mounting surface. The third included angle λ is complementary to the first included angle α1, and the second included angle α2 is greater than or equal to 0.

[0055] Specifically, the first included angle α1, the second included angle α2, and the third included angle λ are definitely related through the welding torch structure. The third included angle λ is defined as a fixed angle between the line connecting the two tungsten electrodes and the welding mounting surface. Since the welding torch body 171 is mounted through the welding mounting surface, its welding mounting surface is perpendicular to the rotation axis. Therefore, the angle between the line connecting the two tungsten electrodes and the rotation axis (i.e., the first included angle α1) and the third included angle λ are complementary angles, i.e., α1 = 90° - λ. This geometric constraint means that once the tilt arrangement of the tungsten electrodes on the torch body (i.e., angle λ) is determined during the manufacturing of the welding torch, the key working angle in the welding mode, the first included angle α1, is determined accordingly and does not need to be adjusted during the welding process. The second included angle α2 is independent of this relationship, and its value range is α2≥0°. It corresponds to the welding mounting surface, which makes the double tungsten electrode connection line offset from a small angle to the rotation axis, and then completely coincide with it. Overall, λ is the manufacturing angle, α1 is the derived welding working angle, and α2 is the independently adjustable welding working angle. The three of them form a set of definite and predictable welding posture control system through the perpendicular relationship between the mounting surface and the axis.

[0056] In this optional embodiment, the coordinated design of the first included angle α1 and the second included angle α2 enables precise switching and optimized control of the welding posture between the assembly welding and surfacing welding modes. The first included angle α1 is uniquely determined by the manufacturing angle λ through geometric relationships (α1=90°-λ). As a core parameter of the surfacing welding mode, its larger angle (e.g., 45°-60°) allows the dual tungsten electrodes to form a staggered arc layout during lateral oscillation, effectively widening the molten pool and achieving efficient surface surfacing welding. The second included angle α2 is independently adjustable (α2≥0°). As a key variable of the assembly welding mode, its extremely small angle (near 0°-10°) allows the dual tungsten electrodes to maintain arc convergence during axial rocking, ensuring that energy is concentrated deep into the bevel and achieving high-quality filling of narrow seams. The two have a clear division of labor: α1 ensures stable surfacing welding efficiency with its fixed angle, while α2 provides process adaptability for assembly welding with its adjustable angle, together constituting a mode-adaptive welding posture control system.

[0057] like Figure 1 As shown, in an optional embodiment of the present invention, the equipment also includes a welding positioner 10, which is an independent mechanism for clamping and driving the workpiece. Its core function is to provide the workpiece with the required positioning and motion freedom during the welding process, such as rotating (for circumferential welding) or tilting (for welding in different positions) the tubular workpiece. Through coordinated linkage with the multi-axis motion components of the welding torch, it can achieve welding of complex spatial trajectories, such as the surfacing welding of the inner wall of a container or the assembly welding of pipes, greatly expanding the process adaptability range of the equipment.

[0058] like Figure 3 , Figure 6 and Figure 10As shown, in an optional embodiment of the present invention, the welding torch body 171 is in the shape of a polygonal prism, the welding overlay mounting surface and the assembly welding mounting surface are provided on the side of the welding torch body 171, the assembly welding mounting surface and the welding overlay mounting surface are arranged at a preset angle, the dual tungsten electrodes 172 are provided at the end of the welding torch body 171, and when there are two welding overlay mounting surfaces, the two welding overlay mounting surfaces are arranged in parallel.

[0059] Specifically, the welding torch body adopts a polygonal prism structure, with specific mounting reference surfaces on its sides: one set is a surfacing mounting surface (suitable for planar surfacing and wide-groove welding), and the other set is a group welding mounting surface (suitable for narrow-groove welding). These two types of mounting surfaces are distributed at a preset fixed angle. Dual tungsten electrodes are mounted at the end of the welding torch body, and their spatial orientation is directly related to the selection of the mounting surfaces. When there are two surfacing mounting surfaces, they are arranged in parallel, providing optional mounting positions or fine-tuning margins for the same welding mode.

[0060] Two welding mounting surfaces (such as) are provided on the welding torch body 171. Figure 6 Both (as shown) are used in the surfacing mode, and both make the line connecting the two tungsten electrodes 172 form a large first included angle α1 with the rotation axis. The difference between the two mounting surfaces is: one mounting surface makes the welding torch 17 tilt outward, with the opening of the two tungsten electrodes facing the welding direction, and the arc heat field spreads forward and to both sides, which is conducive to the wide laying of the molten pool and is suitable for conventional planar surfacing; the other mounting surface makes the welding torch 17 tilt inward, with the opening of the two tungsten electrodes 172 converging or facing the welding rear, and the arc energy is more concentrated in the center of the molten pool, which is conducive to controlling the penetration depth and reducing flow, and is suitable for surfacing modes in special positions (such as matching according to the placement of the equipment) or with higher constraints on the forming. This design, which achieves different tilting postures through two parallel surfacing mounting surfaces, also facilitates installation according to actual needs.

[0061] In the welding mode of the equipment, the two welding mounting surfaces correspond to two different dual tungsten electrode spatial layouts, and their trajectory shape when the welding gun rotates and shakes is similar to a "V" or an inverted "V".

[0062] In this optional embodiment, the design of the polygonal prism geometry and the preset angle mounting surface enables the same welding torch body to have a predictable and repeatable attitude positioning reference. The fixed angle between the surfacing mounting surface and the assembly mounting surface ensures the determinism of the welding torch's spatial attitude when switching between the two welding modes; the parallel double surfacing mounting surfaces provide alternative or fine-tuned mounting positions for the same welding mode; and the double tungsten electrodes mounted at the end ensure a stable arc exit position. This integrated multi-faceted torch body design achieves rapid and precise switching of welding attitude through mechanical constraints, avoiding the problem of complex calibration required for each adjustment.

[0063] like Figure 3 , Figure 7 and Figure 9 As shown, in an optional embodiment of the present invention, the dual tungsten electrodes 172 are arranged obliquely toward the axial direction of the welding torch body 171, and the extension lines of the two discharge ends of the dual tungsten electrodes 172 converge in the same molten pool area, so that the electric arcs drawn from the two discharge ends converge in the same corresponding area of ​​the molten pool.

[0064] Specifically, the dual tungsten electrodes 172 are arranged at an angle towards the axis of the welding torch body 171. The discharge ends of the two tungsten electrodes 172 are arranged at an angle towards each other, so that the extended lines of the discharge ends of the two tungsten electrodes intersect in the same area of ​​the molten pool. This structure ensures that the two electric arcs drawn from the dual tungsten electrodes can be precisely focused on the same preset area of ​​the molten pool, forming an energy superposition effect (the plasma arc columns of the two electric arcs will also naturally converge towards this intersection area, which means that the core area with the highest energy density and strongest thermal effect of the dual electric arcs will be superimposed in the same small area, rather than being dispersed to different parts of the molten pool). Furthermore, the cooling water tank 3 and the water-cooled mounting component 28 on the welding torch 17 form a closed-loop cooling circuit, ensuring the thermal stability of the welding torch and key components under long-term high-load welding. The water-cooled mounting component 28 is a composite functional component on the welding torch 17 that integrates mechanical fixing, fluid conduction, and electrical insulation. Its main body is a metal processing part, equipped with a fixing interface that matches the welding torch mounting plate 26 and inlet and outlet water ports that connect to external water pipes. The internal design includes mutually isolated inlet and return water channels, which are connected to the internal cooling pipes of the welding torch through a sealing ring, forming a closed-loop circulation in which the cooling water pumped from the cooling water tank 3 flows into the welding torch, cools the tungsten electrode and torch head, and then flows back to the water tank. This component usually also includes an insulation design between it and the mounting plate to prevent the cooling system from becoming electrified.

[0065] Therefore, by tilting and converging the electric arcs, the energy of the two arcs is concentrated on a single molten pool area, which significantly improves the heat input density and penetration capability per unit area. This ensures efficient deposition during the welding process and avoids energy loss or molten pool instability caused by arc dispersion. Thus, while increasing the welding speed, it ensures the fusion quality and uniformity of the weld.

[0066] like Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 As shown, when the surfacing mode is selected, the connection line of the two tungsten electrodes forms a large first angle α1 (e.g., 45°–60°) with the axis of rotation. This angle causes the two tungsten electrodes to form a staggered layout when the welding gun swings laterally, and the two arcs sweep across a wider strip area, thereby efficiently achieving surface spreading of the molten pool and wide weld bead formation. like Figure 9 , Figure 10 and Figure 11 As shown, when switching to the group welding mode, the connection line of the two tungsten electrodes forms a very small second included angle α2 (e.g., ≤10°) with the rotation axis. At this time, the two tungsten electrodes are almost aligned. During the axial rotation of the welding torch, the two electric arcs are always focused on the same narrow area deep in the groove, so that the energy is concentrated on the depth of the molten pool, achieving high penetration depth filling of the narrow groove.

[0067] The wire feeding mechanism comprises two independent and identical wire feeding units, corresponding to the first wire feeding device 15 and the second wire feeding device 16, respectively. Each unit includes: Oscillating wire feeders: First oscillating wire feeder 5 and second oscillating wire feeder 6 are used to drive the welding wire to reciprocate oscillating motion at a preset frequency and amplitude to achieve oscillating wire feeding. Oscillating wire feeders (such as first oscillating wire feeder 5 and second oscillating wire feeder 6) are known wire feeding devices in the prior art. They achieve reciprocating feeding of welding wire by driving the wire feeding wheel with a motor and superimposing mechanical or electronic oscillation control.

[0068] The wire feeder bracket 7 externally mounts the first oscillating wire feeder 5 and the second oscillating wire feeder 6 to isolate their vibrations and avoid affecting the stability of the welding process.

[0069] The wire feeder bracket 7 externally mounts the first oscillating wire feeder 5 and the second oscillating wire feeder 6, isolating their vibrations and preventing them from affecting the stability of the welding process. The wire feeding mounting plate 25 is provided with multiple sets of mounting holes for flexibly adjusting the extension position and angle of the first wire feeding device 15 and the second wire feeding device 16 to ensure that the welding wire is accurately guided into the molten pool.

[0070] Wire feeding device: refers to the first wire feeding device 15 and the second wire feeding device 16, which are mounted on the wire feeding device mounting plate 25 and are used to guide the welding wire and accurately deliver it to the molten pool area at the end of the double tungsten electrode 172. The first wire feeding device 15 and the second wire feeding device 16 are conventional welding wire guiding and feeding mechanisms, which typically include a wire feeding hose, a wire guide nozzle, and an insulation structure.

[0071] The wire feeder mounting plate 25 is a key adjustment component at the end of the welding gun arm. It has multiple sets of mounting holes machined in a specific arrangement, allowing the first wire feeder 15 and the second wire feeder 16 to be installed and fixed in different relative positions. The main function of this design is to achieve modular installation and position adjustment of the wire feeders: in surfacing mode, the first wire feeder 15 and the second wire feeder 16 can be installed simultaneously, and their spacing can be adjusted through different hole positions to match the layout of the dual tungsten electrodes 172; in group welding mode, a single wire feeder is installed in the center hole position to ensure precise wire feeding into the narrow bevel center. By selecting different mounting holes, the extension length, height, and offset of the wire feeders can be mechanically fine-tuned, thereby optimizing the wire feeding angle and landing point, ensuring stable and accurate wire introduction into the molten pool. This is an important structural guarantee for achieving efficient and stable operation of the dual-mode welding process.

[0072] As the end-effector of the wire feeding mechanism, the core design of the wire feed tube 29 lies in its spatial coordination with the dual tungsten electrodes 172 and its own axial adjustability. The outlet of the wire feed tube is positioned according to the welding mode: during surfacing welding, it corresponds to the dual tungsten electrode layout to achieve synchronous filling of the two wires; during assembly welding, it is centrally positioned for precise single-wire feeding. Its telescopic adjustment function allows for real-time adjustment of the extension length to adapt to different welding torch pitch postures, optimize the angle and landing point of the welding wire entering the molten pool, and match changing welding process parameters. The telescopic adjustment function of the wire feed tube 29 is usually achieved through mechanical structures such as sliding sleeve linear guide, threaded fine adjustment, or elastic clamping and positioning holes. For example, the wire feed tube can be fixed in a sliding inner sleeve with a linear bearing, and its length can be changed by manually pulling and locking; or precise and continuous adjustment can be achieved by rotating the threaded pair; or it can be quickly positioned by a fixing block with elastic clamps. This structure allows for manual or fine-tuning of the axial extension of the wire feed tube when switching welding modes or adjusting processes, thereby ensuring that the wire outlet always maintains the optimal relative position with the dual tungsten electrodes 172 and optimizing its angle and landing point in the molten pool. It is a key adjustable mechanism for achieving stable and precise wire feeding.

[0073] Hot wire module: Integrated into the first hot wire TIG power supply 1 and the second hot wire TIG power supply 2, it is used to resistance heat the welding wire before it enters the molten pool. (Integrated into the first hot wire TIG power supply 1 and the second hot wire TIG power supply 2) It belongs to the mature resistance heating technology, which preheats the welding wire by establishing a circuit between the welding wire and the power supply and using the resistance heat generated by the current passing through the welding wire.

[0074] Control path: The control system in control cabinet 4 can independently select and control the working mode of any one or two sets of wire feeding units, including the selection and parameter setting of single / double wire feeding and single / double oscillating wire feeding.

[0075] Work process: The oscillating wire feeder pushes out the welding wire, which is then guided by the wire feeding device; the welding wire forms a circuit with the hot wire power supply at the contact point at the end of the wire feeding device and is heated; finally, the heated welding wire is fed into the molten pool below the double tungsten arc in an oscillating manner.

[0076] In surfacing mode, the system typically employs a dual-oscillating hot wire synchronous feeding method, where the first oscillating wire feeder 5 and the second oscillating wire feeder 6 operate simultaneously. Two heated welding wires are fed into the molten pool via the first wire feeding device 15 and the second wire feeding device 16, respectively, in an oscillating manner. This, combined with the lateral oscillation of the welding torch, achieves wide-area, high-efficiency deposition. In group welding mode, a single oscillating hot wire feeding method is used. Depending on the bevel width, one of the first or second wire feeding units is selected to operate, precisely feeding a heated welding wire into the narrow bevel via an oscillating manner. This, combined with the rotation and oscillation of the welding torch, achieves deep penetration and bevel filling. Both modes can be flexibly switched via the control cabinet 4 to adapt to the different welding process requirements for deposition efficiency and forming accuracy.

[0077] like Figure 5 and Figure 9 As shown, in an optional embodiment of the present invention, the welding torch body 17 is configured to be pitchably mounted on the torch arm assembly along the axis of rotation.

[0078] Specifically, the welding torch body is designed to be adjustable in pitch along its rotational axis and is mounted on the torch arm assembly; this structure allows for fine-tuning of the welding torch's tilt angle even after it is fixed in place. Specifically: like Figure 7 As shown, during the surfacing welding operation, the welding oscillating shaft 14 is adjusted to make the welding torch 17 form a certain angle γ with the vertical, generally within 10° (during the surfacing welding operation, the welding oscillating shaft 14 is not used to perform rotational oscillation during the welding process, but its mechanical structure can still be used to determine the static angle of the welding torch posture); Figure 5 As shown, the welding torch mounting plate 26 is fixed to the rocker shaft connecting frame 22 by two inner and outer angle fixing screws 27. The front and rear tilt angle β of the welding torch 17 is adjusted by loosening the locking part 27 (locking screw), which is generally within 10°. After adjustment, the welding torch mounting plate 26 is fixed. Thus, the flow direction of the molten pool and the arc pressure distribution can be controlled by adjusting the pitch angle of the welding torch (i.e., the front and rear tilt angle β), so that the molten pool can be better spread on the surface of the workpiece. Automated surfacing welding can perform either oscillating welding or non-oscillating welding. In non-oscillating welding mode, the welding oscillating shaft 13 is used for shift welding after the welding torch 17 completes the set single-pass welding length. In oscillating welding mode, the control system drives the welding oscillating shaft 13 according to set parameters such as oscillation amplitude, oscillation frequency, and pause time on both sides, driving the welding torch 17 to perform oscillating welding in a single pass. At the same time, after the welding torch 17 completes the set single-pass welding length, it is used for shift welding (the welding oscillating shaft 13 is horizontally mounted and fixed on the arc voltage tracking shaft 12 along the Y direction, used for adjusting the welding torch 17 in the Y direction in the non-welding state and providing automatic Y-direction movement in the welding state).

[0079] like Figure 9 As shown, during the assembly welding operation, the welding torch mounting plate 26 is fixed to the rocker shaft connecting frame 22 by two inner and outer angle fixing screws 27. The front and rear tilt angle θ of the welding torch 17 is adjusted by these screws, generally within 10°. After adjustment, the welding torch mounting plate 26 is fixed by the locking piece 27 (the electric arc needs to be perpendicular to the ramp). Thus, by adjusting the pitch angle (i.e., the front and rear tilt angle θ), the arc axis is ensured to maintain an ideal angle with the side wall of the bevel, improving the fusion effect of the bevel edge.

[0080] Automated welding assembly can perform non-shaking welding, single-sided shaking welding, or double-sided shaking welding. The welding oscillation axis 13 is only used for Y-axis adjustment. In the non-shaking welding state, the welding oscillation axis 14 does not shake during the welding process of the welding torch 17. In the single-sided shaking welding state, the shaking angle δ or ε is set according to the welding position. Figure 11 The shaking frequency, stopping time, etc. are set for single-sided shaking welding of the shaking shaft 14. In the double-sided shaking welding state, the shaking angle δ and ε, shaking frequency, stopping time, etc. are set according to the welding position, and the shaking shaft 14 is used for double-sided shaking welding. The shaking angle δ and ε can be set to equal or different values.

[0081] This invention improves welding quality while increasing welding speed through the following synergistic mechanism: Precise control of heat source and molten pool: By using the pre-set welding mounting surface and assembly mounting surface on the welding torch body 171, the process parameters are solidified into a repeatable mechanical mounting posture. The symmetrical layout of the dual tungsten electrodes 172 and the stirring effect of the oscillating wire feeding of the first oscillating wire feeder 5 and the second oscillating wire feeder 6 on the molten pool jointly promote the uniform distribution of heat and molten metal in the molten pool, effectively refine the weld grains, and reduce defects such as porosity and slag inclusions.

[0082] Adaptive and stable process: The arc pressure tracking axis 12 adjusts the welding torch height in real time to maintain a constant arc length, avoiding problems such as arc drift and uneven penetration caused by uneven workpiece or thermal deformation. The precise coordinated drive of the welding speed axis 11, welding oscillation axis 13 and welding rocking axis 14 ensures the repeatability of the welding torch's composite motion trajectory, thereby guaranteeing the uniformity and consistency of weld formation.

[0083] Targeted optimization of the modular process: In the surfacing mode, the lateral oscillation driven by the welding oscillation axis 13 widens the single weld pass, reducing the number of overlaps and interlayer defects; in the group welding mode, the rotational oscillation driven by the welding rocking axis 14 concentrates the energy of the double arcs at the root of the bevel, enhancing sidewall fusion and preventing incomplete penetration. Both improve quality from the root of the process by matching the optimal motion trajectory to specific welding tasks.

[0084] In summary, this invention, through structured process pre-setting (mounting surface), closed-loop control of process parameters (arc voltage tracking), and intelligent coordinated motion of multi-axis motion components, achieves efficiency improvement while systematically ensuring and enhancing welding quality.

[0085] Targeted optimization of the modular process: In the surfacing mode, the lateral oscillation widens the weld bead, reducing the number of overlaps and interlayer defects; in the group welding mode, the rotational rocking concentrates the arc energy at the root of the bevel, enhancing sidewall fusion and preventing incomplete penetration. Both improve quality from the root of the process by matching the optimal motion trajectory to specific welding tasks.

[0086] In summary, this invention does not simply pursue speed, but rather improves efficiency while achieving systematic and repeatable assurance and enhancement of welding quality through structured process pre-setting, closed-loop control of process parameters, and intelligent motion coordination.

[0087] As an optional embodiment of the present invention, a welding method for dual-oscillating hot-wire dual-tungsten inert gas (TTIG) overlay and assembly welding, based on the equipment for dual-oscillating hot-wire TTIG overlay and assembly welding as described in any of the above embodiments, includes: According to the target welding process, select the overlay mounting surface or the assembly mounting surface on the welding torch body 171, and install the welding torch 17 onto the torch arm assembly; welding starts, control the multi-axis motion assembly to drive the welding torch 17 to move along the welding travel direction, and simultaneously perform the following operations: through the wire feeding mechanism, feed at least one heated welding wire to the molten pool corresponding to the end of the double tungsten electrode 172 in an oscillating manner; according to the selected overlay mounting surface or the assembly mounting surface, synchronously execute the corresponding composite motion mode: When the welding mounting surface is selected, the multi-axis motion assembly is controlled to drive the welding torch 17 to perform a lateral swing perpendicular to the welding direction. The line connecting the two tungsten electrodes 172 forms a first angle α1 with the axis of the rotation. When the welding mounting surface is selected, the multi-axis motion assembly is controlled to drive the welding torch 17 to perform a rotational rocking motion around an axis parallel to the welding travel direction. The line connecting the two tungsten electrodes 172 forms a second angle α2 with the axis of the rotational rocking motion, and the second angle α2 is smaller than the first angle α1.

[0088] Specifically, as explained above, depending on the welding task—whether it's large-area surface coverage welding or narrow-gauge filling assembly welding—a fully adapted physical posture and motion program will be invoked. The entire process begins with a crucial prerequisite: installation. Based on the target process, the corresponding "surfacing mounting surface" or "assembly mounting surface" on the welding torch is selected and fixed. This physical switching action sets the basic working coordinate system for the system, determining the fundamental angle of the welding torch relative to the workpiece and the wire feeding device. After welding starts, the system enters a highly coordinated automated process: the welding torch moves along the welding direction under the drive of the multi-axis motion components, while the wire feeding mechanism precisely feeds the preheated welding wire into the molten pool in an oscillating manner. At this time, the system automatically executes a matching composite motion mode based on the previously selected mounting surface. In surfacing mode, the system controls the welding torch to perform a lateral oscillation perpendicular to the direction of travel to widen the weld bead. At this time, the line connecting the two tungsten electrodes forms a large angle (e.g., 45° to 60°) with the oscillation axis to achieve efficient coverage of the welding surface. In assembly welding mode, the system controls the welding torch to rotate around an axis parallel to the direction of travel (the rocking axis) to control the flow and filling of the molten pool in the groove. At this time, the line connecting the two tungsten electrodes is almost coincident with the rocking axis or forms a very small angle (usually within 10°), ensuring that the arc energy can be concentrated on the depth of the narrow groove. Through this integrated process of "selection-installation-automatic execution", the equipment successfully combines the high energy of the two tungsten electrodes, the high deposition efficiency of the oscillating hot wire, and the adaptive welding torch movement, ultimately achieving a significant improvement in welding efficiency and quality.

[0089] The welding method for dual-oscillating hot-wire dual-tungsten electrode cladding and assembly welding provided by this invention selects and installs the corresponding welding torch mounting surface according to the welding task, realizing rapid switching and mode adaptation of the basic posture of the welding torch; then, welding is started and the welding torch is controlled to move automatically along the set direction to ensure the continuity and stability of the welding path; at the same time, the wire is fed by oscillating heating, which improves the weld quality while stirring the molten pool and greatly increases the deposition rate; finally, the system automatically executes the corresponding composite motion according to the selected mode: in the cladding mode, the welding torch swings laterally and the dual tungsten electrodes are at a large angle, realizing a wide molten pool and efficient surface coverage; in the assembly welding mode, the welding torch shakes axially and the dual tungsten electrodes are at a small angle, realizing a deep molten pool and precise bevel filling, which can greatly improve efficiency while ensuring welding quality.

[0090] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features of the invention herein.

[0091] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. An apparatus for dual-oscillating hot-wire dual-tungsten electrode welding and assembly welding, characterized in that, include: Equipment stand (8); A multi-axis motion assembly is disposed on the equipment stand (8). The multi-axis motion assembly is configured to drive at least two components mounted thereon to achieve the following two movements: rotational rocking about an axis parallel to the welding travel direction, and lateral swinging perpendicular to the welding travel direction; a gun arm assembly is mounted on the multi-axis motion assembly and driven by the multi-axis motion assembly; a welding torch (17) is mounted at the end of the gun arm assembly. The welding torch (17) includes a welding torch body (171) and at least two tungsten electrodes (172) disposed on the welding torch body (171). The welding torch body (171) is provided with multiple A mounting surface, the plurality of mounting surfaces including a welding overlay mounting surface and a welding assembly mounting surface, wherein when the welding torch (17) is mounted through the welding overlay mounting surface, the line connecting a pair of equal height points on the two axes of the double tungsten electrode (172) forms a first angle with the axis of rotation and rocking; when the welding torch (17) is mounted through the welding assembly mounting surface, the line connecting the equal height points on the double tungsten electrode (172) forms a second angle with the axis of rotation and rocking, the second angle being smaller than the first angle; a wire feeding mechanism for feeding at least one heated welding wire to the molten pool corresponding to the end of the double tungsten electrode (172) in an oscillating manner.

2. The equipment for dual-oscillating hot-wire dual-tungsten electrode welding and assembly welding according to claim 1, characterized in that, The multi-axis motion assembly includes a welding motion axis unit and a welding rocking axis unit; the welding motion axis unit is used to drive the welding torch (17) through the gun arm assembly to achieve at least the lateral swing; the welding rocking axis unit is used to drive the welding torch (17) through the gun arm assembly to achieve the rotational rocking.

3. The equipment for dual-oscillating hot-wire dual-tungsten electrode welding and assembly welding according to claim 2, characterized in that, The gun arm assembly includes a swing arm (24) and an extension arm (21). The extension arm (21) is connected to the equipment stand (8) via a welding motion shaft unit so that the welding gun (17) can swing laterally, be adjusted along the welding travel direction, and be adjusted perpendicular to the surface of the equipment stand (8). The swing arm (24) is connected to the extension arm (21) via the welding rocking shaft unit so that the welding gun (17) can rotate. The welding gun (17) is mounted on the swing arm (24).

4. The equipment for dual-oscillating hot-wire dual-tungsten electrode welding and assembly welding according to claim 3, characterized in that, The welding rocking shaft unit includes a welding rocking shaft (14) and a rocking shaft connecting frame (22). One end of the extension arm (21) is configured to be telescopically connected to the welding motion shaft unit. One end of the rocking shaft connecting frame (22) is configured to be rotatably connected to the other end of the extension arm (21). The end of the rocking arm (24) away from the welding torch (17) is connected to the other end of the rocking shaft connecting frame (22) through the welding rocking shaft (14).

5. The equipment for dual-oscillating hot-wire dual-tungsten electrode welding and assembly welding according to claim 4, characterized in that, The swing shaft connecting frame (22) and the extension arm (21) are respectively provided with connecting flanges at their opposite ends. The connecting flange of the swing shaft connecting frame (22) is provided with multiple circumferentially arranged arc-shaped grooves, and the connecting flange of the extension arm (21) is provided with multiple mounting holes. The arc-shaped grooves and the mounting holes cooperate to adjust the welding position of the welding torch (17).

6. The equipment for dual-oscillating hot-wire dual-tungsten electrode welding and assembly welding according to any one of claims 1-5, characterized in that, The welding torch body (171) is provided with at least one welding mounting surface and one assembly mounting surface. When the welding mounting surface and the assembly mounting surface are in the corresponding mounting state, they are perpendicular to the axis of rotation and rocking. The line connecting a pair of equal height points on the two axes of the double tungsten electrode (172) forms a third angle with the welding mounting surface. The third angle is complementary to the first angle, and the second angle is greater than or equal to 0.

7. The equipment for dual-oscillating hot-wire dual-tungsten electrode welding and assembly welding according to claim 6, characterized in that, The welding torch body (171) is in the shape of a polygonal prism. The welding overlay mounting surface and the assembly welding mounting surface are located on the side of the welding torch body (171). The assembly welding mounting surface and the welding overlay mounting surface are arranged at a preset angle. The dual tungsten electrodes (172) are located at the end of the welding torch body (171). When there are two welding overlay mounting surfaces, the two welding overlay mounting surfaces are arranged in parallel.

8. The equipment for dual-oscillating hot-wire dual-tungsten electrode welding and assembly welding according to claim 6, characterized in that, The dual tungsten electrodes (172) are arranged at an angle toward the axis of the welding torch body (171), and the extension lines of the two discharge ends of the dual tungsten electrodes (172) converge in the same molten pool area, so that the electric arcs drawn from the two discharge ends converge in the same corresponding area of ​​the molten pool.

9. The equipment for dual-oscillating hot-wire dual-tungsten electrode welding and assembly welding according to any one of claims 1-5, characterized in that, The welding torch body (171) is configured to be mounted on the torch arm assembly in a pitchable manner along the axis of the rotation.

10. A welding method for double-oscillating hot-wire double tungsten electrode overlay and assembly welding, characterized in that, The equipment for dual-oscillating hot-wire dual-tungsten electrode welding and assembly as described in any one of claims 1-9 includes: According to the target welding process, select the welding torch body (171) on the surfacing mounting surface or the assembly welding mounting surface, and install the welding torch (17) onto the torch arm assembly; welding starts, control the multi-axis motion assembly to drive the welding torch (17) to move along the welding travel direction, and simultaneously perform the following operations: through the wire feeding mechanism, feed at least one heated welding wire to the molten pool corresponding to the end of the double tungsten electrodes (172) in an oscillating manner; according to the selected surfacing mounting surface or the assembly welding mounting surface, synchronously execute the corresponding composite motion mode: when the surfacing mounting surface is selected, control the multi-axis motion assembly to drive the welding torch (17) to perform a lateral swing perpendicular to the welding travel direction, and the line connecting the double tungsten electrodes (172) forms a first angle with the axis of rotation and rocking; when the assembly welding mounting surface is selected, control the multi-axis motion assembly to drive the welding torch (17) to perform the rotation and rocking around the axis parallel to the welding travel direction, and the line connecting the double tungsten electrodes (172) forms a second angle with the axis of rotation and rocking, and the second angle is smaller than the first angle.

Images