Curve welding seam welding device

Abstract

The utility model discloses a curved welding seam welding device which comprises a welding assembly, a rotary moving part, a first direction moving part and a second direction moving part. The welding assembly comprises a welding gun and a welding wire limiting clamp. The welding wire limiting clamp is used for limiting the position of a welding wire relative to the welding gun. The rotary motion part comprises a rotary element which is detachably connected with the welding assembly; the second direction movement part comprises a second translation element detachably connected with the rotary movement part, and the first direction movement part comprises a first translation element detachably connected with the second direction movement part. By controlling the movement speed of the welding gun in the first direction and the movement speed of the welding gun in the second direction, the welding gun can advance according to a curve welding seam path; the position of the welding wire relative to the welding gun is kept unchanged, meanwhile, the welding gun is controlled to rotate through the rotating movement part, it is guaranteed that the position of the welding wire relative to the welding gun is kept unchanged, meanwhile, the relative position of the welding wire and the curve path is kept unchanged, and therefore curve welding seam welding work can be completed.

Description

TECHNICAL FIELD

[0001] The utility model belongs to welding equipment technical field, especially, it relates to a curve weld welding device. BACKGROUND

[0002] With the development of the times and science and technology, the application of special-shaped pipes is more and more extensive, and the oval pipe, as a special-shaped structure of the round pipe, has been widely applied. In some specific fields, multiple oval pipes need to be combined together for application, the multiple oval pipes are arranged side by side and an connecting plate is arranged at the end thereof, the connecting plate is provided with an oval hole matched with the end of the oval pipe, and then the oval pipe needs to be inserted into the oval hole on the connecting plate and fixed in the oval hole through welding.

[0003] Since the welding position of the oval pipe and the connecting plate is oval, it is a special-shaped structure, so the existing mode is generally manual argon arc welding, the welding quality is guaranteed by manual work, the requirement for the welder is high, and the welding efficiency is low. The existing equipment is generally for circular welding, the welding gun and the movement mechanism thereof are generally fixed on a stacking mechanical arm, the mechanical arm moves the welding gun and the movement mechanism thereof to a specified position, the mechanical arm does not participate in the formal welding process, and the welding gun and the movement mechanism thereof use the visual system to position the center and weld along the circular track, and cannot weld the oval pipe with a large length-width ratio. CONTENT OF THE UTILITY MODEL

[0004] The utility model aims at providing a curve weld welding device to solve the problems in the prior art.

[0005] To achieve the above-mentioned purpose, the utility model provides a curve weld welding device, which comprises:

[0006] A welding assembly, the welding assembly comprises a welding gun and a welding wire limiting clamp, the welding gun and the welding wire limiting clamp are detachably connected, and the welding wire limiting clamp is used for limiting the position of the welding wire relative to the welding gun;

[0007] A rotary motion part, the rotary motion part comprises a rotary element detachably connected with the welding assembly;

[0008] A second direction motion part, the second direction motion part comprises a second translation element detachably connected with the rotary motion part, and the second translation element can move along a second direction;

[0009] A first direction motion part, the first direction motion part comprises a first translation element detachably connected with the second direction motion part, and the first translation element can move along a first direction;

[0010] Wherein, the first direction and the second direction are perpendicular to each other, and the first direction and the second direction are parallel to the plane where the curve weld is located.

[0011] Optionally, the rotating element is a rotating shaft, the rotating shaft is detachably connected with the welding assembly, and the rotating shaft is driven to rotate by a sixth rotating driver.

[0012] Optionally, the second translating element is a sliding plate, the sliding plate is detachably connected with the rotating motion part, and the sliding plate is driven to move in the second direction by a second driving element.

[0013] Optionally, the first translating element is a first sliding seat, the first sliding seat is detachably connected with the second direction motion part, and the first sliding seat is driven to move in the first direction by a first driving element.

[0014] Optionally, the third direction motion part is further provided, the third direction motion part is detachably connected with the rotating element, the third direction motion part comprises a third translating element which is detachably connected with the welding assembly and can move in a third direction, wherein the first direction, the second direction and the third direction are perpendicular to each other, and the third direction is the axial direction of the welding gun.

[0015] Optionally, the third translating element is a push plate, and the push plate is driven to move in the third direction by a third driving element.

[0016] Optionally, the fourth direction motion part is further provided, the fourth direction motion part is detachably connected with the rotating element, the fourth direction motion part comprises a fourth translating element which is detachably connected with the third direction motion part and can move in a fourth direction, and the fourth direction and the first direction are arranged in the same direction.

[0017] Optionally, the fifth direction motion part is further provided, the fifth direction motion part is detachably connected with the third translating element, the fifth direction motion part comprises a fifth translating element which is detachably connected with the welding assembly and can move in a fifth direction, and the fifth direction and the second direction are arranged in the same direction.

[0018] Optionally, a camera is further provided, the camera is used for monitoring the positions of the welding gun, the welding wire and the to-be-welded piece in real time, and the camera is electrically connected with a central processing unit.

[0019] Compared with the prior art, the welding gun has the advantages and technical effects that:

[0020] The curve welding seam welding device provided by the utility model works, the rotating motion part and the welding gun are controlled to move along the second direction through the second direction motion part, the second direction motion part, the rotating motion part and the welding gun are controlled to move along the first direction through the first direction motion part, the movement speed of the welding gun in the first direction and the second direction is controlled, so that the welding gun can move along the curve welding seam path; the welding wire limiting clamp clamps the welding wire, so that the position of the welding wire relative to the welding gun remains unchanged, the welding gun is controlled to rotate through the rotating motion part, the welding wire is rotated synchronously, so that the position of the welding wire relative to the welding gun remains unchanged, the relative position of the welding wire and the curve path also remains unchanged, so that the curve welding seam welding work can be completed, including the welding work of an elliptical pipe with various length-width ratio sizes. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained according to these drawings without creative labor for those skilled in the art.

[0022] Figure 1 It is a structure schematic view of the curve welding seam welding device of the utility model.

[0023] Figure 2 It is a structure schematic view of the first direction motion part of the utility model.

[0024] Figure 3 It is a structure schematic view of the second direction motion part and the rotating motion part of the utility model.

[0025] Figure 4 It is another direction view structure schematic view of the second direction motion part and the rotating motion part of the utility model.

[0026] Figure 5 It is a structure schematic view of the third direction motion part, the fourth direction motion part and the fifth direction motion part of the utility model.

[0027] Figure 6 It is another direction view structure schematic view of the third direction motion part, the fourth direction motion part and the fifth direction motion part of the utility model.

[0028] Wherein, 1, first direction movement part, 11, mounting frame, 12, stand, 13, sliding frame, 14, first drive motor, 15, first sliding rail, 16, first sliding block, 17, first sliding seat, 2, second direction movement part, 21, second mounting frame, 22, second screw, 23, second nut seat, 24, sliding plate, 25, second sliding rail, 26, second sliding block, 27, second drive motor, 28, second sliding hole, 29, second belt assembly, 3, third direction movement part, 31, push plate, 32, electric push rod motor, 33, aligning sliding table, 4, fourth direction movement part, 41, fourth sliding seat, 42, fourth screw, 43, fourth drive motor, 44, fourth belt assembly, 45, rotating frame, 5, fifth direction movement part, 51, fifth screw, 52, fifth sliding seat, 53, welding gun connecting seat, 6, rotating movement part, 61, rotating shaft, 62, gear assembly, 63, sixth drive motor, 64, gear mounting frame, 7, welding gun, 8, welding wire limiting clamp, 9, camera. DETAILED DESCRIPTION

[0029] It should be noted that the embodiments in the utility model and the features in the embodiments can be combined with each other without conflict. The described embodiments are only part of the embodiments of the utility model, not all the embodiments. All other embodiments obtained by the person skilled in the art without creative labor belong to the protection scope of the utility model. The utility model will be described in detail below with reference to the drawings and in combination with the embodiments.

[0030] The utility model provides a kind of curve weld welding device, it is applied to curve weld welding in plane, it is suitable for the welding work of the elliptical pipe of large length-width ratio, comprising welding assembly, rotating movement part 6, first direction movement part 1 and second direction movement part 2;

[0031] Welding assembly includes welding gun 7 and welding wire limiting clamp 8, welding gun 7 and welding wire limiting clamp 8 can be detachably connected, and welding wire limiting clamp 8 is used to limit the position of welding wire relative to welding gun 7;

[0032] Rotating movement part 6 includes rotatable element detachably connected with welding assembly;

[0033] Second direction movement part 2 includes second translational element detachably connected with rotating movement part 6, and the second translational element can move along second direction;

[0034] First direction movement part 1 includes first translational element detachably connected with second direction movement part 2, and the first translational element can move along first direction;

[0035] Wherein, first direction and second direction are perpendicular to each other, and first direction and second direction are parallel to the plane where curve weld is located.

[0036] The welding device for the curved welding seam provided by the utility model works, the rotating motion part 6 and the welding assembly are controlled to move in the second direction through the second direction motion part 2, the second direction motion part 2, the rotating motion part 6 and the welding assembly are controlled to move in the first direction through the first direction motion part 1, the movement speed of the welding torch 7 in the first direction and the second direction is controlled, so that the welding torch 7 can move according to the curved welding seam path; and the welding wire limiting clamp 8 clamps the welding wire, so that the position of the welding wire relative to the welding torch 7 remains unchanged, the rotating motion part 6 is controlled to rotate the welding torch 7, the welding wire is rotated synchronously, so that the position of the welding wire relative to the welding torch 7 remains unchanged, and the relative position of the welding wire and the curved path also remains unchanged, so that the curved welding seam welding work can be completed, including the welding work of the elliptical pipe with various length-width ratio sizes. In the embodiment, the welding wire is fed through the wire feeding mechanism, the wire feeding mechanism is prior art, and will not be repeated here.

[0037] Further optimization scheme, the rotating element is a rotating shaft 61, the rotating shaft 61 is detachably connected with the welding assembly, and the rotating shaft 61 is driven to rotate by a sixth rotating drive. The rotating shaft 61 is driven to rotate by the sixth rotating drive, so that the welding assembly detachably connected with the rotating shaft 61 is driven to rotate, that is, the rotating shaft 61 drives the welding torch 7 and the welding wire to rotate, the welding wire limiting clamp 8 ensures that the position of the welding wire relative to the welding torch 7 remains unchanged, and the relative position of the welding wire and the curved path also remains unchanged by controlling the rotation angle of the rotating shaft 61. Of course, the rotating element in the application can also select a rotating disc and other rotating elements.

[0038] The sixth rotating drive includes a sixth drive motor 63, a gear assembly 62 is connected between the output shaft of the sixth drive motor 63 and the rotating shaft 61, the gear assembly 62 is driven to work by the sixth drive motor 63, and then the gear assembly 62 drives the rotating shaft 61 to rotate, so that the rotating shaft 61 drives the welding assembly to rotate. The gear assembly 62 can more accurately control the rotation angle of the rotating shaft 61 by setting the gear ratio between the gears in the gear assembly 62, while achieving the function of speed reduction, and further ensures that the relative position of the welding wire and the curved path remains unchanged. Of course, the sixth rotating drive in the application can also be a pneumatic cylinder, that is, a gear is fixedly arranged on the rotating shaft 61, the pneumatic cylinder includes a sliding plate fixedly connected to the telescopic rod of the pneumatic cylinder, a gear adapted to the gear on the rotating shaft is arranged on the side of the sliding plate close to the gear, and in working, the sliding plate is controlled to slide by the pneumatic cylinder, and the gear on the rotating shaft is driven to rotate by the gear on the sliding plate, so that the rotating shaft is driven to rotate.

[0039] Further optimization scheme, the second translation element is a sliding plate 24, the sliding plate 24 is detachably connected with the rotating movement part 6, and the sliding plate 24 is driven to move in the second direction by the second driving element. The second driving element drives the sliding plate 24 to move in the second direction, and in turn drives the rotating movement part 6 and the welding assembly to move in the second direction. Of course, the second translation element can also be a sliding seat or a sliding frame 13 structure.

[0040] The second driving element includes a second lead screw 22, the second lead screw 22 is threadedly connected with a second nut seat 23, the second nut seat 23 is fixedly connected with the sliding plate 24, the sliding plate 24 is detachably connected with the rotating assembly, and the second driving element further includes a second driving motor 27. The output shaft of the second driving motor 27 is connected with the second lead screw 22 through a second belt assembly 29. The second driving motor 27 drives the second belt assembly 29 to work, the second belt assembly 29 drives the second lead screw 22 to rotate, and in turn realizes the synchronous sliding of the second lead screw 22, the second nut seat 23 and the sliding plate 24, and in turn realizes the driving of the rotating movement part 6 and the welding assembly to move in the second direction. Of course, the second driving element can also be a direct driving element such as a gas cylinder or a hydraulic cylinder.

[0041] In the embodiment, the second driving element further includes a second mounting frame 21, the rotating movement part 6 and the second direction movement part 2 are arranged in the second mounting frame 21, both ends of the second lead screw 22 are rotatably connected with the second mounting frame 21 through bearings and support seats, and the second mounting frame 21 is internally provided with a plurality of groups of second sliding rails 25. Each second sliding rail 25 is slidably provided with a second sliding block 26, and no less than one second sliding block 26 is fixedly connected with the sliding plate 24, and the remaining second sliding blocks 26 are slidably or detachably connected with the rotating movement part 6, so as to ensure that the second nut seat 23 can move in the second direction, and effectively improve the connection strength between the second direction movement part 2 and the second mounting frame 21. The sliding plate 24 is provided with a mounting hole, the rotating shaft 61 penetrates the mounting hole, and a bearing is arranged between the mounting hole and the rotating shaft 61, so as to ensure that the rotating shaft 61 can normally rotate. Meanwhile, the second mounting frame 21 is provided with a second sliding hole 28 for the sliding of the rotating shaft 61, the rotating shaft 61 penetrates the second sliding hole 28 and can slide in the second sliding hole 28, so that the rotating shaft 61 can move in the second direction synchronously with the sliding plate 24. The gear assembly 62 is rotatably installed on the gear mounting frame 64, and the gear mounting frame 64 is installed on the second mounting frame 21 through bolts or other connecting members.

[0042] Further optimization scheme, the first translation element is a first sliding seat 17, the first sliding seat 17 is detachably connected with the second direction movement part 2, and the first sliding seat 17 is driven to move in the first direction by the first driving element. The first sliding seat 17 is driven to move in the first direction by the first driving element, and then the second direction movement part 2, the rotary movement part 6 and the welding assembly are controlled to move in the first direction, and the welding torch 7 can move along the curved welding seam path by controlling the movement speed of the welding torch 7 in the first direction and the second direction. Of course, the first translation element in the application can also be a sliding frame 13, a sliding plate or the like.

[0043] The first driving element includes a column 12 and a sliding frame 13 sleeved outside the column 12, the column 12 is a hollow structure, a first lead screw is rotatably connected to the middle of the column 12, and the first lead screw is threadedly connected with the first sliding seat 17; sliding grooves are formed in the two sides of the column 12, and the two sides of the first sliding seat 17 are slidably arranged in the sliding grooves, so that the first sliding seat 17 can slide in the hollow structure of the column 12, the first sliding seat 17 is detachably connected with the sliding frame 13 after penetrating through the sliding grooves, and the first driving element further includes a first driving motor 14, and the first driving motor 14 is provided with a first belt assembly between the first lead screw. When working, the first driving motor 14 drives the first belt assembly to work, and then drives the first lead screw to rotate, the first lead screw drives the first sliding seat 17 to move in the first direction, so that the first direction movement part 1 controls the second direction movement part 2, the rotary movement part 6 and the welding assembly to move in the first direction.

[0044] In the embodiment, the first driving element further includes first sliding blocks 16 fixedly arranged on the two sides of the column 12 and a first sliding rail 15 fixedly arranged on the inner side of the sliding frame 13, the first sliding blocks 16 and the first sliding rail 15 are slidably connected, so as to further limit that the column 12 and the sliding frame 13 can only be slidably connected, and the connection strength between the column 12 and the sliding frame 13 is ensured. In the embodiment, the sliding frame 13 and the second mounting frame 21 are detachably connected through nuts, so as to ensure that the first direction movement part 1 controls the second direction movement part 2, the rotary movement part 6 and the welding assembly to move in the first direction. The mounting frame 11 is fixedly connected to the end of the column 12 away from the sliding frame 13, and the mounting frame 11 is used to be connected with an external fixed connection structure and is used to fix the whole welding device.

[0045] Further optimization scheme, the curve weld welding device further comprises a third direction movement part 3, the third direction movement part 3 is detachably connected with the rotating element, the third direction movement part 3 includes the third translation element detachably connected with the welding assembly, the third translation element can move along the third direction, wherein the first direction, the second direction and the third direction are perpendicular to each other, and the third direction is the axial direction of the welding torch 7. The welding assembly is controlled to move along the third direction by the third translation element, and the third direction is the axial direction of the welding torch 7, so that the welding torch 7 and the welding wire are close to the workpiece to be welded, and the initial position of welding is determined.

[0046] Preferably, the third translation element is a push plate 31, and the push plate 31 is driven to move along the third direction by a third driving element. The welding torch 7 and the welding wire are close to the workpiece to be welded by driving the push plate 31 to move along the third direction by the third driving element, and the initial position of welding is determined. Of course, the third translation element in the present application can also be a sliding block, a sliding plate or the like. The third driving element includes an electric push rod motor 32, the output end of the electric push rod motor 32 is provided with a push rod, the push rod and the push plate 31 are detachably connected, and the push plate 31 is detachably connected with the welding assembly. When working, the push rod is controlled to work by the electric push rod motor 32, the push plate 31 is driven to move along the third direction, and then the welding torch 7 and the welding wire are close to the workpiece to be welded, and the initial position of welding is determined.

[0047] Further optimization scheme, the curve weld welding device further comprises a fourth direction movement part 4, the fourth direction movement part 4 is detachably connected with the rotating element, the fourth direction movement part 4 includes the fourth translation element detachably connected with the third direction movement part 3, the fourth translation element can move along the fourth direction, and the fourth direction and the first direction are arranged in the same direction. The fourth direction movement part 4 is detachably connected with the rotating element, and the rotating element is rotated to drive the fourth direction movement part 4, the third direction movement part 3 and the welding assembly to rotate. The fourth translation element drives the third direction movement part 3 and the welding assembly to move along the fourth direction. Before welding, the welding torch 7 is adjusted in position in the fourth direction by the fourth direction movement part 4.

[0048] Preferably, the fourth translation element is a fourth sliding seat 41, the fourth sliding seat 41 is detachably connected with the third direction moving part 3, and the fourth sliding seat 41 is driven to move in the fourth direction by a fourth driving member. In this embodiment, the fourth driving member drives the fourth sliding seat 41 to move in the fourth direction, thereby driving the third direction moving part 3 and the welding assembly to move in the fourth direction. The fourth driving member includes a rotating frame 45 detachably connected with the rotating shaft 61, and the fourth rotating frame 45 is provided with a fourth lead screw 42, both ends of the fourth lead screw 42 are rotatably connected with the rotating frame 45 through bearings and support seats, and the fourth sliding seat 41 is threadedly connected with the fourth lead screw 42, and the fourth sliding seat 41 is detachably connected with the third direction moving part 3. In this specific embodiment, the fourth sliding seat 41 is detachably connected with the electric push rod motor 32. The fourth driving member further includes a fourth driving motor 43 and a fourth belt assembly 44, the output shaft of the fourth driving motor 43 is drivingly connected with the fourth lead screw 42 through the fourth belt assembly 44, and the fourth driving motor 43 drives the fourth lead screw 42 to rotate, thereby driving the fourth sliding seat 41 to move in the fourth direction, thereby driving the third direction moving part 3 and the welding assembly to move in the fourth direction.

[0049] Further optimization scheme, a kind of curve weld welding device further includes the fifth direction moving part 5, the fifth direction moving part 5 is detachably connected with the third translation element, the fifth direction moving part 5 includes the fifth translation element detachably connected with the welding assembly, the fifth translation element can move in the fifth direction, and the fifth direction and the second direction are arranged in the same direction. The welding assembly is driven to move in the fifth direction by the fifth translation element.

[0050] Preferably, the fifth translation element is a fifth sliding seat 52, and the fifth sliding seat 52 is driven to move in the fifth direction by a fifth driving member. The fifth driving member includes a self-aligning sliding table 33 detachably connected with the push plate 31, the self-aligning sliding table 33 is rotatably provided with a fifth lead screw 51, the fifth sliding seat 52 is threadedly connected with the fifth lead screw 51, the fifth sliding seat 52 is fixedly connected with a welding gun connecting seat 53, and the welding gun 7 is detachably connected with the welding gun connecting seat 53. The rotating moving part 6 can be mechanically driven or manually driven to fine-tune the welding gun 7 in the fifth direction. In this embodiment, the third direction moving part 3, the fourth direction moving part 4 and the fifth direction moving part 5 are used to fine-tune the welding gun 7 before welding.

[0051] Further optimization scheme, a kind of curve weld welding device further includes camera 9, camera 9 is used to monitor the position of welding torch 7, welding wire and the piece to be welded in real time;Camera 9 is electrically connected with central processing unit, and central processing unit and first drive motor 14, second drive motor 27, electric push rod motor 32, fourth drive motor 43 etc. Driving piece electrically connected.Cameras 9 are fixedly arranged on rotating frame 45, and the camera is opposite welding torch 7 arrangement.Cameras 9 monitor the relative position of welding torch 7, welding wire and the piece to be welded in real time, and the detected signal is transmitted to central processing unit, and central processing unit calculates the specific control requirement according to the received signal and welding requirement etc., and is implemented by first drive motor 14, second drive motor 27, electric push rod motor 32, fourth drive motor 43.

[0052] The above description of the embodiments is only used to help understand the method and its core idea of the application; meanwhile, for those skilled in the art, according to the idea of the application, the specific implementation and application range can be changed, and the content of the description should not be understood as a limitation of the application.

[0053] It should be understood that the term "and / or" used herein only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone. In addition, the character " / " in this paper generally represents that the front and rear associated objects are a "or" relationship.

[0054] In the description of the utility model, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the utility model, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation of the utility model.

[0055] The above-described embodiments are only used to describe the preferred mode of the utility model, and do not limit the scope of the utility model, and various modifications and improvements of the technical scheme of the utility model made by those skilled in the art without departing from the design spirit of the utility model, all should fall within the protection scope determined by the claims of the utility model.

Claims

1. A curved weld seam welding device, characterized in that, The welding assembly comprises a welding gun (7) and a welding wire limiting clamp (8), the welding gun (7) and the welding wire limiting clamp (8) are detachably connected, and the welding wire limiting clamp (8) is used for limiting the position of the welding wire relative to the welding gun (7); The rotating motion part (6) comprises a rotating element which is detachably connected with the welding assembly; The second direction motion part (2) comprises a second translation element which is detachably connected with the rotating motion part (6) and can move in a second direction; The first direction motion part (1) comprises a first translation element which is detachably connected with the second direction motion part (2) and can move in a first direction; The first direction and the second direction are perpendicular to each other, and both the first direction and the second direction are parallel to the plane where the curved welding seam is located. The rotating element is a rotating shaft (61), the rotating shaft (61) is detachably connected with the welding assembly, and the rotating shaft (61) is driven to rotate by a sixth rotating driving member.

2. A curve seam welding device according to claim 1, characterized in that The second translation element is a sliding plate (24), the sliding plate (24) is detachably connected with the rotating motion part (6), and the sliding plate (24) is driven to move in the second direction by a second driving member.

3. The curved weld welding apparatus of claim 1, wherein, The first translation element is a first sliding seat (17), the first sliding seat (17) is detachably connected with the second direction motion part (2), and the first sliding seat (17) is driven to move in the first direction by a first driving member.

4. The curved weld welding apparatus of claim 1, wherein, The third direction motion part (3) is detachably connected with the rotating element, the third direction motion part (3) comprises a third translation element which is detachably connected with the welding assembly and can move in a third direction, wherein the first direction, the second direction and the third direction are perpendicular to each other, and the third direction is the axial direction of the welding gun (7).

5. The curved weld welding apparatus of claim 1, wherein, The third translation element is a push plate (31), and the push plate (31) is driven to move in the third direction by a third driving member.

6. A curve seam welding apparatus according to claim 5, wherein, The fourth direction motion part (4) is detachably connected with the rotating element, the fourth direction motion part (4) comprises a fourth translation element which is detachably connected with the third direction motion part (3) and can move in a fourth direction, and the fourth direction and the first direction are arranged in the same direction.

7. The curved weld welding apparatus of claim 5, wherein, The fifth direction motion part (5) is detachably connected with the third translation element, the fifth direction motion part (5) comprises a fifth translation element which is detachably connected with the welding assembly and can move in a fifth direction, and the fifth direction and the second direction are arranged in the same direction.

8. A curve seam welding device according to claim 7, characterized in that The camera (9) is used for monitoring the positions of the welding gun (7), the welding wire and the workpiece to be welded in real time, and the camera (9) is electrically connected with a central processing unit.

9. A curve seam welding device according to any one of claims 1-8, characterized in that, ​

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