Gas-electric vertical welding device and gas-electric vertical welding system

Abstract

The present application provides a gas-electric vertical welding device and a gas-electric vertical welding system. The gas-electric vertical welding device includes a crawling welding robot, a welding machine and a driving structure. The welding machine is installed on the crawling welding robot. The welding machine includes a wire feeder and a welding gun. The outlet of the wire feeder is connected to the inlet of the welding gun. The driving structure is connected to the welding gun to drive the welding gun to move. Compared with the prior art, the device does not need to lay tracks, realizes trackless automatic welding, and ensures that the gas-electric vertical welding system is relatively simple and lightweight. At the same time, since there is no need to lay tracks, the time for laying and adjusting tracks is saved, and the track installation time caused by the movement of the welding position is also saved, ensuring that the gas-electric vertical welding device has a high welding efficiency. In addition, the gas-electric vertical welding device does not have the space limitation required for installing tracks, ensuring that the gas-electric vertical welding device is highly practical.

Description

Technical Field

[0001] The present application relates to the field of gas-electric vertical welding, and in particular, to a gas-electric vertical welding device and a gas-electric vertical welding system. Background Art

[0002] The gas-electric vertical welding trolley in the existing gas-electric vertical welding system needs to lay tracks, and the various components of the trolley are complicated to connect, which is inconvenient to transport and install, and the preparation time before welding is very long.

[0003] The above information disclosed in the background technology section is only used to enhance the understanding of the background technology of the technology described in this article. Therefore, the background technology may contain certain information that does not form the prior art known in this country for those skilled in the art. Utility Model Content

[0004] The main purpose of the present application is to provide a gas-electric vertical welding device and a gas-electric vertical welding system to solve the problem that the gas-electric vertical welding trolley in the electric vertical welding system in the prior art needs to lay tracks, which makes the gas-electric vertical welding system more complicated.

[0005] According to one aspect of an embodiment of the utility model, a gas-electric vertical welding device is provided, comprising a crawling welding robot, a welding machine and a driving structure, wherein the welding machine is installed on the crawling welding robot, the welding machine comprises a wire feeder and a welding gun, the outlet of the wire feeder is connected to the inlet of the welding gun, and the driving structure is connected to the welding gun to drive the welding gun to move.

[0006] Optionally, the gas-electric vertical welding device further includes a laser tracking module, which is installed on the crawling welding robot and is used to detect weld information, wherein the weld information includes position information of the weld and size information of the weld.

[0007] Optionally, the gas-electric vertical welding device also includes a cooling structure for cooling the molten iron.

[0008] Optionally, the gas-electric vertical welding device further includes an arc sensor for collecting the voltage between the positive and negative electrodes of the welding machine.

[0009] Optionally, the driving structure includes three driving shafts, the three driving shafts are perpendicular to each other, and the three driving shafts are respectively a first driving shaft, a second driving shaft and a third driving shaft. The first driving shaft is used to drive the welding gun to move along the length direction of the weld, the second driving shaft is used to drive the welding gun to move along the width direction of the weld, and the third driving shaft is used to drive the welding gun to move along the depth direction of the weld.

[0010] Optionally, the gas-electric vertical welding device further includes a posture sensor, and the posture sensor is located on the crawling welding robot.

[0011] According to another aspect of the embodiment of the utility model, a gas-electric vertical welding system is also provided, and the gas-electric vertical welding system includes any one of the gas-electric vertical welding devices described above.

[0012] The gas-electric vertical welding device of the present application includes a crawling welding robot, a welding machine and a driving structure, wherein the welding machine includes a wire feeder and a welding gun, and the wire feeder is used for continuous filling of welding wire. Since the crawling welding robot does not need a guide rail, compared with the prior art, the gas-electric vertical welding device does not need to lay tracks, thus realizing trackless automatic welding, and ensuring that the gas-electric vertical welding system is relatively simple and lightweight. At the same time, since there is no need to lay tracks, the time for laying and adjusting tracks is saved, and the track installation time caused by moving the welding position is also saved, thus ensuring that the welding efficiency of the gas-electric vertical welding device is high, and the gas-electric vertical welding device does not have the space limitation required for installing tracks, thus ensuring that the gas-electric vertical welding device is highly practical. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0014] Figure 1 A schematic diagram of a gas-electric vertical welding device according to an embodiment of the present application is shown;

[0015] Figure 2 A schematic diagram showing a flow chart of a control method for a gas-electric vertical welding device according to an embodiment of the present application is shown;

[0016] Figure 3 A schematic diagram of a control device for a gas-electric vertical welding device according to an embodiment of the present application is shown.

[0017] The above drawings include the following reference numerals:

[0018] 10. Crawling welding robot; 20. Welding machine; 30. Driving structure; 40. Laser tracking module; 50. Cooling structure; 60. Slider; 70. Gas-electric vertical welding device; 80. Parts to be welded; 100. Cables; 200. Wire feeder; 201. Welding gun. DETAILED DESCRIPTION

[0019] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0020] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0021] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0022] It should be understood that when an element (such as a layer, film, region, or substrate) is described as being "on" another element, the element may be directly on the other element, or there may be intermediate elements. Moreover, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element, or "connected" to the other element through a third element.

[0023] As mentioned in the background technology, the gas-electric vertical welding trolley in the electric vertical welding system in the prior art needs to lay tracks, which makes the gas-electric vertical welding system more complicated. In order to solve the above problem, a typical embodiment of the present application provides a gas-electric vertical welding device and a gas-electric vertical welding system.

[0024] According to a typical embodiment of the present application, a gas-electric vertical welding device 70 is provided, such as Figure 1 As shown, the gas-electric vertical welding device 70 is used to weld a workpiece 80, and the gas-electric vertical welding device 70 includes a crawling welding robot 10, a welding machine 20 and a driving structure 30. The welding machine 20 is installed on the crawling welding robot 10 (not limited to the positional relationship in the figure), and the welding machine 20 includes a wire feeder 200 and a welding gun 201. The outlet of the wire feeder 200 is connected to the inlet of the welding gun 201, and the driving structure 30 is connected to the welding gun 201 to drive the welding gun 201 to move.

[0025] The above-mentioned gas-electric vertical welding device includes a crawling welding robot, a welding machine and a driving structure. The above-mentioned welding machine includes a wire feeder and a welding gun. The above-mentioned wire feeder is used for continuous filling of welding wire. Since the above-mentioned crawling welding robot does not need a guide rail, compared with the prior art, the above-mentioned gas-electric vertical welding device does not need to lay tracks, thereby realizing trackless automatic welding, and ensuring that the gas-electric vertical welding system is relatively simple and lightweight. At the same time, since there is no need to lay tracks, the time for laying and adjusting tracks is saved, and the track installation time caused by the movement of the welding position is also saved, ensuring that the welding efficiency of the above-mentioned gas-electric vertical welding device is high, and the above-mentioned gas-electric vertical welding device does not have the space limitation required for installing tracks, ensuring that the above-mentioned gas-electric vertical welding device is highly practical.

[0026] In actual application, the crawling welding robot can be the crawling welding robot described in the utility model patent with application number 201920946737.0 and application name “Crawling Welding Robot”. Of course, the crawling welding robot can also be other feasible trackless crawling welding robots in the prior art.

[0027] In order to more accurately locate the weld and thus ensure a better welding effect, according to a specific embodiment of the present application, Figure 1 As shown, the above-mentioned gas-electric vertical welding device also includes a laser tracking module 40, which is installed on the above-mentioned crawling welding robot 10 and is used to detect weld information, and the weld information includes the weld position information and the weld size information.

[0028] According to another specific embodiment of the present application, Figure 1 As shown, the gas-electric vertical welding device further includes a cooling structure 50 for cooling the molten iron. The cooling structure cools the molten iron, thereby preventing the molten iron from falling during welding, facilitating the formation of the weld, and further ensuring a better welding effect of the weld.

[0029] In a specific embodiment of the present application, the cooling structure shapes the molten iron during the welding process by contact cooling.

[0030] In order to further ensure a good welding effect of the weld, in actual application, the gas-electric vertical welding device further includes an arc sensor for collecting the voltage between the positive and negative electrodes of the welding machine. The arc sensor collects the voltage between the positive and negative electrodes of the welding machine, further ensuring the monitoring of the voltage of the welding machine.

[0031] In another specific embodiment of the present application, Figure 1As shown, the driving structure includes three driving shafts, and the figure shows the sliders 60 of the three driving shafts. The three driving shafts are perpendicular to each other, and the three driving shafts are respectively the first driving shaft, the second driving shaft and the third driving shaft. The first driving shaft is used to drive the welding gun to move along the length direction of the weld, the second driving shaft is used to drive the welding gun to move along the width direction of the weld, and the third driving shaft is used to drive the welding gun to move along the depth direction of the weld. Through the driving structure, the welding gun can move flexibly along the length direction, width direction and depth direction of the weld, which further ensures that the weld can be welded well.

[0032] In a specific embodiment, Figure 1 As shown, the above-mentioned gas-electric vertical welding device also includes a cable 100, and the above-mentioned cable is used to connect the above-mentioned welding machine 20 and the above-mentioned crawling welding robot 10, and to connect the above-mentioned driving structure 30 and the above-mentioned crawling welding robot 10.

[0033] According to another specific embodiment of the present application, the gas-electric vertical welding device further includes a posture sensor, and the posture sensor is located on the crawling welding robot. The posture sensor is used to determine the welding mode of the crawling welding robot. This facilitates the subsequent crawling welding robot to perform efficient welding according to the welding mode.

[0034] According to an embodiment of the present application, a control method for a gas-electric vertical welding device is provided.

[0035] Figure 2 1 is a flow chart of a control method for a gas-electric vertical welding device according to an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0036] Step S101, obtaining weld information, the weld information including position information of the weld and size information of the weld;

[0037] Step S102, obtaining welding parameters, the welding parameters including process parameters of the welding machine and operating parameters of the crawling welding robot;

[0038] Step S103, according to the welding parameters and the weld information, controlling the welding gun to reach the initial welding position of the first weld and starting welding;

[0039] Step S104, when it is detected that the length of the current welding arc is less than a predetermined threshold, the welding gun is controlled to move to the next welding position for welding until the welding is completed.

[0040] The control method of the above-mentioned gas-electric vertical welding device first obtains the weld information, then obtains the welding parameters, and then controls the welding gun to reach the initial welding position of the first weld and start welding based on the above-mentioned welding parameters and the above-mentioned weld information. After that, when it is detected that the length of the current welding arc is less than a predetermined threshold, it indicates that the current welding position of the weld has been welded. The length of the above-mentioned welding arc is the distance between the welding gun and the molten iron in the weld. The above-mentioned welding gun is controlled to move to the next welding position for welding until the welding is completed. This method realizes trackless automatic welding, ensures that the gas-electric vertical welding system is relatively simple and lightweight, and saves the time for laying and adjusting the track, and also saves the track installation time caused by the movement of the welding position, ensuring that the welding efficiency of the above-mentioned gas-electric vertical welding device is high.

[0041] In actual application, the process parameters of the welding machine include parameters such as the input voltage, output current, output voltage, input capacity and load duration of the welding machine, and the operating parameters of the crawling welding robot include parameters such as the vehicle running speed and rotation angular velocity. Of course, the process parameters of the welding machine may also include other parameters, and the operating parameters of the crawling welding robot may also include other parameters.

[0042] In a specific embodiment, an arc sensor is used to detect the length of the welding arc. The arc sensor is installed at the output end of the welding machine to collect the output voltage of the welding machine. The arc sensor detects the weld height and left and right deviations through the changes in welding parameters caused by the changes in the length of the welding arc.

[0043] According to another specific embodiment of the present application, when it is detected that the length of the current welding arc is less than a predetermined threshold, the welding gun is controlled to move to the next welding position for welding until the welding is completed, including: a first welding process, when it is detected that the length of the current welding arc is less than the predetermined threshold, the welding gun is controlled to move along the depth direction of the weld to the next welding position of the current weld to perform welding until the welding gun moves to the last welding position of the current weld; a second welding process, when it is detected that the length of the current welding arc is less than the predetermined threshold, the welding gun is controlled to move along the height direction of the weld to the initial welding position of the next weld to perform welding; the first welding process and the second welding process are repeated in sequence until the welding of the weld is completed. The above method ensures a good welding effect of the weld through the above first welding process and the above second welding process.

[0044] In order to ensure that the last welding position of the weld can be determined more accurately and the welding machine can be controlled to move to the last welding position more accurately, in actual application, the size information of the weld includes the depth of the weld, and the first welding process also includes: obtaining a moving distance, where the moving distance is the distance that the welding gun moves in the depth direction of the current weld; when the difference between the depth of the weld and the moving distance is a predetermined value, determining that the welding gun moves to the last welding position of the current weld.

[0045] According to another specific embodiment of the present application, according to the welding parameters and the weld information, the welding gun is controlled to reach the initial welding position of the first weld and start welding, including: according to the position information of the weld, the welding gun is controlled to move so that the welding gun is aimed at the first weld; the welding gun is controlled to move in the depth direction of the weld until the initial welding position of the first weld is reached. This ensures that the initial welding position of the first weld can be determined more accurately, and the welding machine is controlled to move more accurately to the initial welding position of the first weld.

[0046] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0047] The embodiment of the present application also provides a control device for a gas-electric vertical welding device. It should be noted that the control device for a gas-electric vertical welding device in the embodiment of the present application can be used to execute the control method for a gas-electric vertical welding device provided in the embodiment of the present application. The control device for a gas-electric vertical welding device provided in the embodiment of the present application is introduced below.

[0048] Figure 3 Schematic diagram of a control device for a gas-electric vertical welding device according to an embodiment of the present application. Figure 3As shown, the device includes a first acquisition unit 800, a second acquisition unit 801, a first control unit 802 and a second control unit 803, wherein the first acquisition unit 800 is used to acquire weld information, the weld information includes the position information of the weld and the size information of the weld; the second acquisition unit 801 is used to acquire welding parameters, the welding parameters include the process parameters of the welding machine and the operating parameters of the crawling welding robot; the first control unit 802 is used to control the welding gun to reach the initial welding position of the first weld and start welding according to the welding parameters and the weld information; the second control unit 803 is used to control the welding gun to move to the next welding position for welding when it is detected that the length of the current welding arc is less than a predetermined threshold value, until the welding is completed.

[0049] The control device of the gas-electric vertical welding device acquires the weld information through the first acquisition unit, acquires the welding parameters through the second acquisition unit, controls the welding gun to reach the initial welding position of the first weld and starts welding according to the welding parameters and the weld information through the first control unit, and when the second control unit detects that the length of the current welding arc is less than a predetermined threshold, it indicates that the welding position of the weld has been completed, and the length of the welding arc is the distance between the welding gun and the molten iron in the weld, controls the welding gun to move to the next welding position for welding until the welding is completed. The device realizes trackless automatic welding, ensures that the gas-electric vertical welding system is relatively simple and lightweight, saves the time for laying and adjusting the track, and saves the track installation time caused by the movement of the welding position, ensuring that the welding efficiency of the gas-electric vertical welding device is high.

[0050] The control device of the above-mentioned gas-electric vertical welding device includes a processor and a memory. The above-mentioned first acquisition unit, the above-mentioned second acquisition unit, the above-mentioned first control unit and the above-mentioned second control unit are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize corresponding functions.

[0051] In actual application, the process parameters of the welding machine include parameters such as the input voltage, output current, output voltage, input capacity and load duration of the welding machine, and the operating parameters of the crawling welding robot include parameters such as the vehicle running speed and rotation angular velocity. Of course, the process parameters of the welding machine may also include other parameters, and the operating parameters of the crawling welding robot may also include other parameters.

[0052] In a specific embodiment, an arc sensor is used to detect the length of the welding arc. The arc sensor is installed at the output end of the welding machine to collect the output voltage of the welding machine. The arc sensor detects the weld height and left and right deviations through the changes in welding parameters caused by the changes in the length of the welding arc.

[0053] According to another specific embodiment of the present application, the second control unit includes a first welding module, a second welding module and a repeating module, wherein the first welding module is used in the first welding process, and when it is detected that the length of the current welding arc is less than the predetermined threshold, the welding gun is controlled to move along the depth direction of the weld to the next welding position of the current weld to perform welding, until the welding gun moves to the last welding position of the current weld; the second welding module is used in the second welding process, and when it is detected that the length of the current welding arc is less than the predetermined threshold, the welding gun is controlled to move along the height direction of the weld to the initial welding position of the next weld to perform welding; the repeating module is used to repeat the first welding process and the second welding process in sequence until the weld is completed. The above device ensures a good welding effect of the weld through the first welding process and the second welding process.

[0054] In a specific embodiment, an arc sensor can be used to detect the length of the welding arc. The arc sensor is installed at the output end of the welding machine to collect the output voltage of the welding machine. The arc sensor detects the weld height and left and right deviations through the changes in welding parameters caused by the changes in the distance between the welding gun and the welding wire.

[0055] In order to ensure that the last welding position of the weld is determined more accurately and control the welding machine to move to the last welding position more accurately, in actual application, the size information of the weld includes the depth of the weld, and the first welding module includes a first acquisition submodule and a determination submodule, wherein the first acquisition submodule is used to acquire the moving distance, and the moving distance is the distance that the welding gun moves in the depth direction of the current weld; the determination submodule is used to determine that the welding gun moves to the last welding position of the current weld when the difference between the depth of the weld and the moving distance is a predetermined value.

[0056] According to another specific embodiment of the present application, the first control unit includes a first control module and a second control module, wherein the first control module is used to control the movement of the welding gun according to the position information of the weld so that the welding gun is aligned with the first weld; the second control module is used to control the movement of the welding gun in the depth direction of the weld until the initial welding position of the first weld is reached. This further ensures that the weld after welding has no gaps and further ensures a better welding effect. This ensures that the initial welding position of the first weld can be determined more accurately, and controls the welding machine to move more accurately to the initial welding position of the first weld.

[0057] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the kernel parameters can be adjusted to solve the problem that the gas-electric vertical welding trolley in the electric vertical welding system in the prior art needs to lay tracks, which makes the gas-electric vertical welding system more complicated.

[0058] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0059] The embodiment of the utility model provides a storage medium, on which a program is stored. When the program is executed by a processor, the control method of the gas-electric vertical welding device is implemented.

[0060] An embodiment of the utility model provides a processor, and the processor is used to run a program, wherein the control method of the gas-electric vertical welding device is executed when the program is run.

[0061] The present invention provides a device, including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, at least the following steps are implemented:

[0062] Step S101, obtaining weld information, the weld information including position information of the weld and size information of the weld;

[0063] Step S102, obtaining welding parameters, the welding parameters including process parameters of the welding machine and operating parameters of the crawling welding robot;

[0064] Step S103, according to the welding parameters and the weld information, controlling the welding gun to reach the initial welding position of the first weld and starting welding;

[0065] Step S104, when it is detected that the length of the current welding arc is less than a predetermined threshold, the welding gun is controlled to move to the next welding position for welding until the welding is completed.

[0066] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0067] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing at least the following method steps:

[0068] Step S101, obtaining weld information, the weld information including position information of the weld and size information of the weld;

[0069] Step S102, obtaining welding parameters, the welding parameters including process parameters of the welding machine and operating parameters of the crawling welding robot;

[0070] Step S103, according to the welding parameters and the weld information, controlling the welding gun to reach the initial welding position of the first weld and starting welding;

[0071] Step S104, when it is detected that the length of the current welding arc is less than a predetermined threshold, the welding gun is controlled to move to the next welding position for welding until the welding is completed.

[0072] According to another typical embodiment of the present application, a gas-electric vertical welding system is also provided, and the gas-electric vertical welding system includes any one of the gas-electric vertical welding devices described above.

[0073] The above-mentioned gas-electric vertical welding system includes any one of the above-mentioned gas-electric vertical welding devices. Since the above-mentioned crawling welding robot does not need a guide rail, compared with the prior art, the above-mentioned gas-electric vertical welding system does not need to lay tracks, thus realizing trackless automatic welding, and ensuring that the gas-electric vertical welding system is relatively simple and lightweight. At the same time, since there is no need to lay tracks, the time for laying and adjusting tracks is saved, and the time for track installation caused by moving the welding position is also saved, thus ensuring that the welding efficiency of the above-mentioned gas-electric vertical welding system is high, and the above-mentioned gas-electric vertical welding system does not have the space limitation required for installing tracks, thus ensuring that the above-mentioned gas-electric vertical welding system is highly practical.

[0074] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0075] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the above-mentioned units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0076] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0077] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0078] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the utility model, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the above-mentioned methods of each embodiment of the utility model. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0079] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0080] 1) The gas-electric vertical welding device of the present application includes a crawling welding robot, a welding machine and a driving structure. The welding machine includes a wire feeder and a welding gun. The wire feeder is used for continuous filling of welding wire. Since the crawling welding robot does not require a guide rail, compared with the prior art, the gas-electric vertical welding device does not require the laying of tracks, thereby realizing trackless automatic welding and ensuring that the gas-electric vertical welding system is relatively simple and lightweight. At the same time, since there is no need to lay tracks, the time for laying and adjusting tracks is saved, and the track installation time caused by the movement of the welding position is also saved, ensuring that the welding efficiency of the gas-electric vertical welding device is high, and the gas-electric vertical welding device does not have the space limitation required for installing tracks, ensuring that the gas-electric vertical welding device is highly practical.

[0081] 2) The control method of the gas-electric vertical welding device of the present application first obtains the weld information, then obtains the welding parameters, and then controls the welding gun to reach the initial welding position of the first weld and start welding based on the welding parameters and the weld information. After that, when it is detected that the length of the current welding arc is less than a predetermined threshold, it indicates that the current welding position of the weld has been welded. The length of the welding arc is the distance between the welding gun and the molten iron in the weld. The welding gun is controlled to move to the next welding position for welding until the welding is completed. This method realizes trackless automatic welding, ensures that the gas-electric vertical welding system is relatively simple and lightweight, and saves the time for laying and adjusting the track, and also saves the track installation time caused by the movement of the welding position, ensuring that the welding efficiency of the gas-electric vertical welding device is high.

[0082] 3) The control device of the gas-electric vertical welding device of the present application obtains the weld information through the above-mentioned first acquisition unit, obtains the welding parameters through the above-mentioned second acquisition unit, and controls the welding gun to reach the initial welding position of the first weld and start welding according to the above-mentioned welding parameters and the above-mentioned weld information through the above-mentioned first control unit. When the above-mentioned second control unit detects that the length of the current welding arc is less than the predetermined threshold value, it indicates that the current welding position of the weld has been welded. The length of the above-mentioned welding arc is the distance between the welding gun and the molten iron in the weld. The above-mentioned welding gun is controlled to move to the next welding position for welding until the welding is completed. The device realizes trackless automatic welding, ensures that the gas-electric vertical welding system is relatively simple and lightweight, and saves the time for laying and adjusting the track, and also saves the track installation time caused by the movement of the welding position, ensuring that the welding efficiency of the above-mentioned gas-electric vertical welding device is high.

[0083] 4) The gas-electric vertical welding system of the present application includes any one of the above-mentioned gas-electric vertical welding devices. Since the above-mentioned crawling welding robot does not require a guide rail, compared with the prior art, the above-mentioned gas-electric vertical welding system does not need to lay tracks, thus realizing trackless automatic welding, and ensuring that the gas-electric vertical welding system is relatively simple and lightweight. At the same time, since there is no need to lay tracks, the time for laying and adjusting tracks is saved, and the time for track installation caused by moving the welding position is also saved, thus ensuring that the welding efficiency of the above-mentioned gas-electric vertical welding system is high, and the above-mentioned gas-electric vertical welding system does not have the space limitation required for installing tracks, thus ensuring that the above-mentioned gas-electric vertical welding system is highly practical.

[0084] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A gas-electric vertical welding device, characterized in that: The invention comprises a crawling welding robot, a welding machine and a driving structure. The welding machine is installed on the crawling welding robot. The welding machine comprises a wire feeder and a welding gun. The outlet of the wire feeder is connected to the inlet of the welding gun. The driving structure is connected to the welding gun to drive the welding gun to move.

2. The gas-electric vertical welding device according to claim 1, characterized in that: The gas-electric vertical welding device also includes: The laser tracking module is installed on the crawling welding robot and is used to detect the information of the weld, wherein the information of the weld includes the position information of the weld and the size information of the weld.

3. The gas-electric vertical welding device according to claim 1, characterized in that: The gas-electric vertical welding device also includes: The cooling structure is used to cool the molten iron.

4. The gas-electric vertical welding device according to claim 1, characterized in that: The gas-electric vertical welding device also includes: The arc sensor is used to collect the voltage between the positive electrode and the negative electrode of the welding machine.

5. The gas-electrode vertical welding device according to any one of claims 1 to 4, characterized in that: The driving structure includes three driving shafts, and the three driving shafts are perpendicular to each other in pairs. The three driving shafts are respectively a first driving shaft, a second driving shaft and a third driving shaft. The first driving shaft is used to drive the welding gun to move along the length direction of the weld, the second driving shaft is used to drive the welding gun to move along the width direction of the weld, and the third driving shaft is used to drive the welding gun to move along the depth direction of the weld.

6. The gas-electrode vertical welding device according to any one of claims 1 to 4, characterized in that: The gas-electric vertical welding device also includes: A posture sensor is located on the crawling welding robot.

7. A gas-electric vertical welding system, characterized in that: include: The gas-electrode vertical welding device according to any one of claims 1 to 6.

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