Welding device and welding assembly based on mechanical arm

Abstract

The utility model relates to the field of welding, and discloses a welding device and a welding assembly based on a mechanical arm, and the welding device comprises a wire feeding device used for conveying a welding wire to a position to be welded; the vibration equipment is connected with the wire feeding equipment and is used for driving the welding wire to vibrate; the detection equipment is used for detecting the gap width of the to-be-welded position; and the welding gun equipment is in communication connection with the detection equipment, and the welding gun equipment can work in an arcing state or an arc quenching state and is continuously and repeatedly switched between the arcing state and the arc quenching state under the condition that the width of the gap is larger than a preset critical value. According to the automatic backing welding technical scheme, labor can be saved through automatic backing welding, the quality of welding seams is improved, meanwhile, large-gap and backing-free backing welding forming and efficiency are effectively considered, and the welding operation adaptability to to-be-welded workpieces with different structural sizes and shapes and different application scenes is improved.

Description

Technical Field

[0001] The present application belongs to the field of welding technology, and specifically relates to a welding device and a welding assembly based on a robot arm. Background Art

[0002] In the welding of large structural parts, due to the mutual influence of multiple processes such as material supply, processing, and assembly, the accuracy cannot be guaranteed, resulting in poor consistency of the gap size of the workpieces to be welded, large gaps, or even super-large gaps, and in the same weld, the gap size changes without any regularity. When welding large gap welds, base welding is usually required.

[0003] Traditional automatic root welding methods mainly rely on forced forming of backing pads, or changing the welding position to adopt vertical welding, horizontal welding and other methods. However, for closed structures such as hollow booms, boiler pressure vessels, and transmission pipelines, it is impossible to pre-install backing pads. In the case of large gaps, the root welding can only be completed manually by welders; and although vertical welding and horizontal welding can ensure that the molten metal is supported by the boundary of the welded material or the solidified weld to achieve root welding, they are easily limited by the size and shape of the structure and have low efficiency.

[0004] In addition, if manual welding (such as manual arc welding or TIG wire welding) is used, the welder needs to adopt a special welding technique and needs to observe the molten pool shape at all times during the welding process, and adjust the welding gun posture, speed, height, etc. in real time to ensure that the molten metal does not collapse, thereby completing single-sided welding and double-sided forming base welding. The main disadvantage is that it is overly dependent on the welder's technical level, has high labor intensity, low welding efficiency, and is prone to weld quality problems due to human factors. Utility Model Content

[0005] The purpose of the present application is to provide a welding device and a welding assembly based on a robotic arm, which can save labor and improve weld quality through automatic root welding, while taking into account the formation and efficiency of large gap root welding, and improving the adaptability of welding operations to workpieces to be welded with different structural sizes and shapes and different application scenarios.

[0006] In order to achieve the above objectives, the present application provides a welding device on one hand, which includes:

[0007] Wire feeding equipment, used to deliver welding wire to the position to be welded;

[0008] A vibration device, connected to the wire feeding device and used to drive the welding wire to vibrate;

[0009] A detection device for detecting the gap width of the position to be welded; and

[0010] A welding gun device is communicatively connected with the detection device, and the welding gun device can operate in an arcing state or an arcing extinguishing state, and continuously and repeatedly switches between the arcing state and the arcing extinguishing state when the gap width is greater than a preset critical value.

[0011] In some embodiments, the welding device further includes a welding gun swinging device for driving the welding gun device to swing, and the welding gun device and the detection device are both connected to the welding gun swinging device.

[0012] In some embodiments, along the gap length direction of the position to be welded, the detection device is located behind the traveling direction of the welding gun device.

[0013] In some embodiments, the welding device further includes a welding wire oscillating device for driving the welding wire to oscillate, and the vibration device connects the welding wire oscillating device and the wire feeding device.

[0014] In some embodiments, the welding device also includes a welding wire swinging device for driving the welding wire to swing and a welding gun swinging device for driving the welding gun device to swing. The welding wire swinging device and the welding gun swinging device are arranged front and back along the gap length direction of the welding position and operate independently of each other.

[0015] In some embodiments, the wire feeding device, the vibration device, the detection device, and the welding gun device are all arranged on the same side of the swing device along the gap width direction of the position to be welded.

[0016] In some embodiments, the wire feeding device is communicatively connected to the detection device, and the wire feeding device is configured to be able to continuously and repeatedly switch between a wire feeding state and a stop state when the gap width is greater than the preset critical value;

[0017] Wherein, in the arcing state of the welding gun device, the wire feeding device is in the wire feeding state; in the arc extinguishing state of the welding gun device, the wire feeding device is in the stopped state.

[0018] In some embodiments, the vibration device is in communication with the detection device, and the vibration device is configured to adjust the magnitude of its own vibration frequency according to the magnitude of the gap width.

[0019] The second aspect of the present application also provides a welding assembly based on a robotic arm, which includes:

[0020] Robotic arms; and

[0021] The above-mentioned welding device is connected to the mechanical arm.

[0022] In some embodiments, the welding assembly also includes a connecting mechanism, which is provided with a connecting rod arranged along the gap length direction of the welding position, and the welding device includes a welding wire swinging device and a welding gun swinging device, and the welding wire swinging device and the welding gun swinging device are both inserted into the connecting rod.

[0023] When the above technical solution is used for automatic backing welding, in addition to saving labor and improving welding quality, the welding gun equipment can be continuously and repeatedly switched between the arcing state and the arc extinguishing state in the case of large gap and backing welding without backing, thereby greatly reducing the heat input of the welding process and ensuring that the molten pool does not collapse. At the same time, the welding wire is continuously vibrated to effectively reduce the surface tension formed by the welding wire during the melting process. The tip of the welding wire can quickly fall off into the molten pool at the moment of being heated to melting, and the amount of welding wire melted per unit time is increased, thereby still improving the welding efficiency under low heat input conditions, and effectively taking into account the formation and efficiency of large gap and backing welding without backing. In addition, the backing-free automatic backing welding operation also improves the adaptability to workpieces to be welded with different structural sizes and shapes and different application scenarios.

[0024] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings:

[0026] Figure 1 A schematic diagram of a welding assembly based on a robot arm in a specific implementation manner of the present application;

[0027] Figure 2 A schematic diagram of a welding wire feeding mode 1 adopted in a specific embodiment of the present application when the gap width is not greater than a preset critical value;

[0028] Figure 3 A schematic diagram of a welding wire feeding mode 2 adopted in a specific embodiment of the present application when the gap width is greater than a preset critical value;

[0029] Figure 4 This is a flowchart of the root welding operation of a welding device in a specific implementation manner of the present application.

[0030] Description of Reference Numerals

[0031] 1Wire feeding equipment 2Welding gun equipment

[0032] 3Vibration equipment 4Welding wire swing equipment

[0033] 5 welding gun swing equipment 6 testing equipment

[0034] 7 Processing equipment 8 Connection mechanism

[0035] 9Robotic arm 10Welding wire

[0036] 11 Position to be welded DETAILED DESCRIPTION

[0037] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0038] Reference Figure 1 A first exemplary embodiment of the present application provides a welding device, which includes a wire feeding device 1, a welding gun device 2, a vibration device 3 and a detection device 6.

[0039] Specifically, the wire feeding device 1 is used to feed the welding wire 10 to the position to be welded 11 (i.e., the position to be welded of the weld to be welded), the vibration device 3 is connected to the wire feeding device 1 and is used to drive the welding wire 10 to vibrate, the detection device 6 is used to detect the gap width w of the position to be welded 11, and the welding gun device 2 is connected to the detection device 6 for communication and can work in an arcing state or an arcing state. In addition, when the gap width w of the position to be welded 11 is greater than a preset critical value w0, the welding gun device 2 can be continuously and repeatedly switched between the arcing state and the arcing state.

[0040] By using the welding device of the present application for automatic root welding, not only can labor be saved and welding quality be improved, but also in the case of large gap and padless root welding operations, the welding gun device 2 can be continuously and repeatedly switched between the arcing state and the arc extinguishing state, thereby greatly reducing the heat input of the welding process and ensuring that the molten pool does not collapse. At the same time, the welding wire 10 is continuously vibrated to effectively reduce the surface tension of the welding wire 10 formed during the melting process. The tip of the welding wire 10 can quickly fall off into the molten pool at the moment of being heated to melting, and the melting amount of the welding wire per unit time is increased, thereby improving the welding efficiency under low heat input conditions.

[0041] It should be noted that during large gap and backing welding without backing, the molten pool is prone to collapse due to gravity, arc blowing force, excessive heat input, etc., resulting in the inability to continue the welding process. However, if the arc energy is reduced to reduce heat input and weaken arc blowing force to ensure that the molten pool does not collapse, the welding efficiency will inevitably be reduced.

[0042] The present application adopts an intermittent arc burning method to ensure that during the welding process, the molten pool forms a bridge weld in the arc burning state and cools in the arc extinguishing state, thereby achieving precise control of the heat input of the welding process. Under large gap and no padding conditions, the molten pool can be guaranteed not to collapse, and the welding process can be ensured to continue. At the same time, through the vibration of the welding wire, the tip of the welding wire can quickly fall into the molten pool at the moment of being heated to melt, which can reduce the energy required for melting the welding wire per unit time, thereby greatly reducing the heat input in the rooting welding process, effectively solving the aforementioned problem of easy collapse of the molten pool, and effectively taking into account the formation and efficiency of large gap and no padding rooting welding. It can be seen that the two technical means of continuous and repeated switching between the arc burning state and the arc extinguishing state of the welding gun device 2 and the continuous vibration of the welding wire interact with each other, reducing the heat input in the rooting welding process while ensuring the welding efficiency.

[0043] As an example, the intermittent arc burning method adopted in the present application can be achieved by non-metallic electrode gas shielded welding (TIG welding) with high-frequency arc ignition process characteristics.

[0044] In addition, when the welding wire vibrates and the arc is intermittently burned, the arc will be subjected to a certain external force, so that the arc will stir the molten pool, which will refine the grains and improve the quality of the weld.

[0045] Furthermore, the padless automatic backing welding operation of the present application also improves the adaptability to workpieces to be welded with different structural sizes and shapes and different application scenarios, such as the welding conditions of closed structures such as hollow booms, boiler pressure vessels, and conveying pipelines.

[0046] In some embodiments, the wire feeding device 1 is connected to the detection device 6 for communication, and the wire feeding device 1 is configured to be able to continuously and repeatedly switch between the wire feeding state and the stop state when the gap width w is greater than a preset critical value w0. In the arcing state of the welding gun device 2, the wire feeding device 1 is in the wire feeding state; in the arc extinguishing state of the welding gun device 2, the wire feeding device 1 is in the stop state. In other words, at this time, the arcing of the welding gun device 2 and the wire feeding of the welding wire 10 are performed synchronously, and the arc extinguishing of the welding gun device 2 and the stopping of the welding wire 10 are performed synchronously.

[0047] Of course, the present application does not exclude the possibility of continuing to feed the welding wire 10 when the arc is extinguished in the welding gun device 2, because when the arc is extinguished in the welding gun device 2, the unsolidified molten pool can still transfer heat to the welding wire 10. At this time, the wire feeding speed can be appropriately reduced so that the tip of the welding wire 10 can remain in a heated and molten state, thereby still being able to perform small-scale welding in the arc extinguished state of the welding gun device 2, thereby improving welding continuity.

[0048] However, it should be noted that, although in theory there will be welding interruptions when the welding wire 10 is continuously and repeatedly switched between the wire feeding state and the stop state, due to the use of high-frequency switching, these welding interruptions are negligible for the entire welding process. Overall, with the cooperation of welding wire vibration, the welding efficiency can still be greatly improved.

[0049] Reference Figure 3 The welding gun device 2 can be further configured to switch between the arcing state and the arc extinguishing state repeatedly, and the welding wire 10 can be further configured to switch between the wire feeding state and the stop state repeatedly and continuously.

[0050] Specifically, the arcing state is switched to the arcing state every time it is maintained for a preset time t1, and the arcing state is switched to the arcing state every time it is maintained for a preset time t2; and correspondingly, the wire feeding state is switched to the stopped state every time it is maintained for a preset time t1, and the stopped state is switched to the wire feeding state every time it is maintained for a preset time t2.

[0051] Figure 3 The figure shows the relationship between the output voltage U of the wire feeding motor and the time t, and the relationship between the wire feeding speed V and the time t when the wire feeding device 1 such as a wire feeding motor controls the welding wire 10 to switch between the wire feeding state and the stop state continuously and repeatedly. It can be seen from the figure that in the time period t1, the wire feeding motor is in the running state, its output voltage is U2, the welding wire 10 is in the wire feeding state and the wire feeding speed is maintained at V2, and the welding gun device 2 is in the arcing state; in the time period t2, the wire feeding motor is in the stop state, its output voltage is 0, the welding wire 10 is in the stop state, the wire feeding speed is 0, and the welding gun device 2 is in the arc extinguishing state.

[0052] By adopting the above-mentioned periodic continuous switching method, the size and quality of each small section of the weld formed by periodic welding can be made uniform and consistent, so that the strength of each position of the entire formed weld is equivalent, thereby improving the welding quality.

[0053] Of course, whether the above-mentioned periodic continuous switching method or the non-periodic continuous switching method (for example, each t1 is not necessarily the same) is adopted, the wire feeding speed of the welding wire 10 in the wire feeding state can be kept constant. In this way, at least the uniform welding of each position of the small weld segment formed within a single t1 time period can be improved, and the wire feeding speed can be kept constant, which can also simplify the control of the wire feeding motor.

[0054] In some embodiments, the welding device may further include a welding gun swinging device 5, in which case the welding gun device 2 and the detection device 6 may be connected to the welding gun swinging device 5. In this way, when the welding gun swinging device 5 swings, the welding gun device 2 and the detection device 6 may be driven to swing synchronously, thereby facilitating adjustment of the relative positions of the welding gun device 2 and the detection device 6 and the position to be welded 11, so that the welding device of the present application can be applied to more different welding operation scenarios.

[0055] Regarding the application of the welding gun swing device 5 to different welding operation scenarios, more specific embodiments will be listed below for illustration and will not be elaborated here for the time being.

[0056] Furthermore, along the gap length direction of the position to be welded 11 , the detection device 6 may be arranged behind the traveling direction of the welding gun device 2 .

[0057] In some embodiments, the welding device may further include a welding wire swinging device 4, and the vibration device 3 may be connected between the welding wire swinging device 4 and the wire feeding device 1. The welding wire swinging device 4 may drive the vibration device 3 and the wire feeding device 1 to swing synchronously, thereby facilitating adjustment of the relative position between the wire feeding device 1 and the position to be welded 11, and also enabling the welding device of the present application to be applicable to more different welding operation scenarios.

[0058] Regarding the application of the welding wire oscillating device 4 to different welding operation scenarios, more specific embodiments will be listed below for illustration and will not be elaborated here.

[0059] In some embodiments, a welding wire oscillating device 4 and a welding gun oscillating device 5 may be simultaneously provided in the welding apparatus, and the welding wire oscillating device 4 and the welding gun oscillating device 5 may be arranged front and back along the gap length direction of the welding position 11 and operate independently of each other.

[0060] It should be noted that when performing the base welding, the welding gun device 2 usually needs to move back and forth between the two boundary positions on both sides of the welding position 11 along the gap width direction, that is, the base welding operation usually welds from the boundary position of the welding position 11 to the middle.

[0061] In order to adapt to the above working conditions, the welding device provided with both the welding wire swing device 4 and the welding gun swing device 5 in this embodiment can realize the following functions during the root welding operation:

[0062] When the gap width w is greater than a preset critical value w0, the welding gun device 2 and the welding wire 10 are synchronously swung back and forth along the gap width direction of the position to be welded 11. For example, when the welding gun device 2 swings to the boundary position of the position to be welded 11, the welding wire 10 also swings to the boundary position synchronously, so as to weld the boundary position; when the welding gun device 2 swings to the middle position of the position to be welded 11, the welding wire 10 also swings to the middle position synchronously, so as to weld the middle position.

[0063] In addition, in actual welding conditions, such as welding conditions of some large structural parts, along the length direction of the position to be welded 11, the gap width at the local position often changes continuously, sometimes with a large gap and sometimes with a small gap, and this change is usually irregular. Although the welding method mentioned above can also be applied to small gap and no-backing welding in theory, under the condition of small gap and no-backing welding, even if the heat input is large, the molten pool is relatively not easy to collapse, so welding can also be carried out by a welding method different from the welding method mentioned above.

[0064] For small gap and no-backing welding conditions, the welding device provided with both the welding wire swing device 4 and the welding gun swing device 5 in this embodiment can also realize the following functions during the root welding:

[0065] When the gap width w is not greater than the preset critical value w0, the welding gun device 2 keeps the arc on, the welding wire 10 is fed uninterruptedly, the welding gun device 2 and the welding wire 10 do not swing, and the welding wire 10 vibrates. In other words, the welding process is continuous at this time, there is no welding interruption time, and the gap width is not large, and it is not necessary to weld from the boundary position to the middle of the position to be welded 11, so the welding wire 10 does not need to swing.

[0066] It can be seen that, if the complete welding process is considered, the welding device of the present application may include two wire feeding modes, namely, wire feeding mode 1 in which the welding wire 10 is fed uninterruptedly, and wire feeding mode 2 in which the welding wire 10 is continuously and repeatedly switched between the wire feeding state and the stop state. During welding, the preset critical value w0 is used as the distinguishing point between the large gap working condition and the small gap working condition. When the gap width w is not greater than the preset critical value w0, the wire feeding mode 1 is adopted. When the gap width w is greater than the preset critical value w0, the wire feeding mode 2 is adopted. This can effectively overcome the problem of molten pool collapse caused by the mismatch between the melting speed of the welding wire and the gap width, and has the advantages of fast response speed and good gap adaptability.

[0067] Figure 2 An optional embodiment of the welding wire feeding mode 1 is shown. As can be seen from the figure, the wire feeding motor keeps running, and its output voltage is divided into three stages, namely the initial boost stage, the mid-term constant voltage stage, and the later step-down stage. More specifically, when the welding gun device 2 enters the arcing state, the output voltage of the wire feeding motor needs to go through the boost stage to rise from zero to U1, and remain at U1 in the constant voltage stage. During this process, the wire feeding speed gradually increases to a certain constant speed V1, and maintains the constant speed V1 for a period of time; then, when the welding process needs to be ended, the output voltage of the wire feeding motor will go through the step-down stage to return to zero. During this process, the wire feeding speed gradually slows down to zero. When the output voltage of the wire feeding motor is zero, the welding gun device 2 enters the arc extinguishing state.

[0068] In some embodiments, the vibration device 3 is in communication connection with the detection device 6 , and the vibration device 3 is configured to be able to adjust the magnitude of its own vibration frequency according to the magnitude of the gap width w.

[0069] More specifically, when welding the welding position 11, the welding device of this embodiment can perform the following functions:

[0070] Determine the wire vibration frequency according to the gap width w;

[0071] The welding wire 10 is vibrated at the above-mentioned welding wire vibration frequency.

[0072] In other words, when the gap width w changes, the wire vibration frequency also changes, and the gap width w is usually proportional to the wire vibration frequency. For example, when the gap width w is not greater than the preset critical value w0, it means that the current welding condition is small gap welding, the molten pool is not easy to collapse, and the allowable heat input is large at this time, so the wire vibration frequency does not need to be high to achieve the molten wire to fall quickly into the molten pool; when the gap width w is greater than the preset critical value w0, it means that the current welding condition is large gap welding, the molten pool is easy to collapse, and the allowable heat input is small at this time, so it is necessary to increase the wire vibration frequency and reduce the energy required for melting the wire, thereby reducing the heat input while ensuring the welding efficiency.

[0073] Furthermore, the welding wire vibration frequency can be determined according to the following relationship:

[0074] f = a*d*w;

[0075] Among them, f is the vibration frequency of the welding wire, a is the empirical constant, d is the welding wire diameter, and w is the gap width of the position to be welded 11. The empirical constant a and the welding wire diameter d can be determined artificially before welding and can be regarded as known parameters.

[0076] According to the above relationship, the gap width w is directly proportional to the welding wire vibration frequency f.

[0077] In some embodiments, reference Figure 1 The positions of the wire feeding device 1, the vibration device 3, the detection device 6 and the welding gun device 2 are shown in the figure. The wire feeding device 1, the vibration device 3, the detection device 6 and the welding gun device 2 can all be arranged on the same side of the swing device (the welding wire swing device 4 and the welding gun swing device 5) along the gap width direction of the position to be welded 11.

[0078] In some embodiments, the welding device may simultaneously integrate a wire feeding device 1, a welding gun device 2, a vibration device 3, a welding wire swing device 4, a welding gun swing device 5, and a detection device 6. The welding wire swing device 4 and the welding gun swing device 5 are arranged along the gap length direction of the position to be welded 11 and operate independently of each other, the vibration device 3 is connected between the welding wire swing device 4 and the wire feeding device 1, and the welding gun device 2 and the detection device 6 are both arranged on the welding gun swing device 5.

[0079] In this way, the welding device has the advantages of high integration, small size, easy operation, various welding modes, and fast response speed, and is suitable for performing the aforementioned function of quickly adjusting welding parameters according to the gap width of the welding position 11.

[0080] It should be noted that the detection equipment 6 in the welding device of the present application can adopt a line laser sensor, a visual detection equipment, etc., the wire feeding equipment 1 can adopt a wire feeding motor, etc., the welding wire oscillating equipment 4 and the welding gun oscillating equipment 5 can adopt existing oscillators on the market, and the present application does not limit the specific selection of various types of equipment in the welding device.

[0081] Continue to refer to Figure 1 The second exemplary embodiment of the present application also provides a robot-based welding assembly, which includes a robot 9 and the above-mentioned welding device. In this case, the welding device can be directly or indirectly connected to the robot 9 and controlled by the robot 9.

[0082] In some embodiments, the welding assembly may further include a connecting mechanism 8, and the welding device is connected to the mechanical arm 9 through the connecting mechanism 8. For example, a connecting rod (such as a screw rod) arranged along the gap length direction of the position to be welded 11 may be provided in the connecting mechanism 8, and the welding device can be installed on the connecting mechanism 8 as a whole by inserting the welding wire swing device 4 and the welding gun swing device 5 on the connecting rod, so that the welding device is controlled by the mechanical arm 9 to perform welding.

[0083] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0084] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0085] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0086] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A welding device, characterized in that: include: A wire feeding device (1) for feeding a welding wire (10) to a position to be welded (11); A vibration device (3) connected to the wire feeding device (1) and used to drive the welding wire (10) to vibrate; A detection device (6) for detecting the gap width of the position to be welded (11); and A welding gun device (2) is communicatively connected to the detection device (6), and the welding gun device (2) is capable of operating in an arcing state or an arcing extinguishing state, and continuously and repeatedly switches between the arcing state and the arcing extinguishing state when the gap width is greater than a preset critical value.

2. The welding device according to claim 1, characterized in that: The welding device also includes a welding gun swinging device (5) for driving the welding gun device (2) to swing, and the welding gun device (2) and the detection device (6) are both connected to the welding gun swinging device (5).

3. The welding device according to claim 2, characterized in that: Along the gap length direction of the position to be welded (11), the detection device (6) is located behind the moving direction of the welding gun device (2).

4. The welding device according to claim 1, characterized in that: The welding device also includes a welding wire oscillating device (4) for driving the welding wire (10) to oscillate, and the vibration device (3) connects the welding wire oscillating device (4) and the wire feeding device (1).

5. The welding device according to claim 1, characterized in that: The welding device also includes a welding wire swinging device (4) for driving the welding wire (10) to swing and a welding gun swinging device (5) for driving the welding gun device (2) to swing. The welding wire swinging device (4) and the welding gun swinging device (5) are arranged front and back along the gap length direction of the position to be welded (11) and operate independently of each other.

6. The welding device according to claim 5, characterized in that: The wire feeding device (1), the vibration device (3), the detection device (6) and the welding gun device (2) are all arranged on the same side of the swing device along the gap width direction of the position to be welded (11).

7. The welding device according to claim 1, characterized in that: The wire feeding device (1) is in communication connection with the detection device (6), and the wire feeding device (1) is configured to be able to continuously and repeatedly switch between a wire feeding state and a stop state when the gap width is greater than the preset critical value; Wherein, when the welding gun device (2) is in the arcing state, the wire feeding device (1) is in the wire feeding state; and when the welding gun device (2) is in the arc extinguishing state, the wire feeding device (1) is in the stopped state.

8. The welding device according to claim 1, characterized in that: The vibration device (3) is communicatively connected to the detection device (6), and the vibration device (3) is configured to be able to adjust the magnitude of its own vibration frequency according to the magnitude of the gap width.

9. A welding assembly based on a robotic arm, characterized in that: include: Robotic arm (9); and The welding device according to any one of claims 1 to 8, connected to the robot arm (9).

10. The robot-based welding assembly according to claim 9, characterized in that: The welding assembly also includes a connecting mechanism (8), wherein the connecting mechanism (8) is provided with a connecting rod arranged along the gap length direction of the position to be welded (11), and the welding device includes a welding wire swinging device (4) and a welding gun swinging device (5), wherein the welding wire swinging device (4) and the welding gun swinging device (5) are both sleeved on the connecting rod.

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