All-position welding equipment

Abstract

The utility model discloses all-position welding equipment and a welding method, the all-position welding equipment comprises a trolley chassis, the bottom of the trolley chassis is provided with four walking wheels, and the four walking wheels are all rotatably connected with the trolley chassis; the walking mechanism is arranged at the bottom of the trolley chassis; the rail adaptation module is used for being arranged on one side of a welding seam and is parallel to the welding seam; the welding gun swinging mechanism is arranged on the trolley chassis and used for driving the welding gun to swing; the wire feeding system is arranged on the trolley chassis; the welding gun adjusting mechanism is arranged at the movable end of the welding gun swinging mechanism; the welding gun is arranged on the welding gun adjusting mechanism, and the welding gun is connected with the wire feeding system; the carbon dioxide gas supply module is connected with the welding gun and used for supplying carbon dioxide gas. According to the all-position welding equipment and the welding method, automatic high-precision all-position welding is achieved, and the all-position welding equipment and the welding method belong to the technical field of welding.

Description

TECHNICAL FIELD

[0001] The utility model belongs to welding technical field, and particularly relates to a full position welding equipment. BACKGROUND

[0002] With the continuous development of shipbuilding industry and the continuous increase of production capacity, the traditional welding process is difficult to meet the growing production demand, for example, in the face of 693TEU container ship line straight section, a large number of welding work is needed to complete the construction, but in CO2 gas shielded welding, class I welder can only weld flat butt joint and flat corner welding. Class II welder can weld vertical, horizontal butt joint and corner welding, only class III welder can carry out full position welding, but the number of class I and class II welders in the production site is much more than that of class III welder, and the cultivation and examination difficulty of class III welder is great, therefore, the number of class III welder cannot meet the welding production demand of the site.

[0003] Therefore, the production efficiency of the current shipbuilding production is low, the labor cost is high, and the labor intensity is high. INVENTION CONTENTS

[0004] The utility model aims at providing a full position welding equipment and welding method, which realizes automatic high-precision full position welding.

[0005] The specific technical scheme is as follows:

[0006] A full position welding equipment, comprising:

[0007] A trolley chassis, the bottom of the trolley chassis is provided with walking wheels, the number of the walking wheels is four, and the four walking wheels are all rotationally connected with the trolley chassis;

[0008] A walking mechanism, which is arranged at the bottom of the trolley chassis;

[0009] A track adaptation module, which is arranged on one side of a weld and parallel to the weld;

[0010] A welding gun swinging mechanism, which is arranged on the trolley chassis to drive the welding gun to swing;

[0011] A wire feeding system, which is arranged on the trolley chassis;

[0012] A welding gun adjusting mechanism, which is arranged at the movable end of the welding gun swinging mechanism;

[0013] A welding gun, which is arranged on the welding gun adjusting mechanism and connected with the wire feeding system;

[0014] A carbon dioxide gas supply module, which is connected with the welding gun to supply carbon dioxide gas.

[0015] Preferably, the walking mechanism comprises a servo motor, a speed reducer, a driving wheel and a driven wheel, the servo motor is fixed on the trolley chassis, the speed reducer is connected with the output shaft of the servo motor, the driving wheel and the driven wheel are both rotatably connected on the trolley chassis, the driving wheel and the driven wheel are engaged, the driving wheel is connected with the output shaft of the speed reducer, and every two walking wheels are connected through a linkage shaft, and the driven wheel is sleeved on the linkage shaft.

[0016] Preferably, the track adapting module comprises a track body, the track body is a flexible track or a rigid track, when the weld is a straight weld, the track body is a rigid track, the rigid track is fixed in parallel on one side of the weld, the trolley chassis is connected with the rigid track through a limiting connecting piece, the limiting connecting piece is connected with a sliding block, a guide wheel is arranged in the sliding block, and the guide wheel is in rolling connection with the rigid track; when the weld is a planar curve weld or a spatial curve weld, the track body is a flexible track, the flexible track is fixed in parallel on one side of the weld, a guide groove is formed on the surface of the flexible track, and a driving wheel is embedded in the guide groove; or, the trolley chassis is rotatably provided with a roller, the roller is embedded in the guide groove, and the roller is in rolling connection with the guide groove.

[0017] Preferably, the welding gun swinging mechanism comprises a driving motor, a ball screw, a guide rail and a sliding plate, the driving motor is installed on the trolley chassis, the ball screw is connected with the output shaft of the driving motor, the guide rail is arranged in parallel with the ball screw, the sliding plate is in sliding connection with the guide rail, the sliding plate is in threaded connection with the ball screw, and the welding gun adjusting mechanism is installed on the sliding plate.

[0018] Preferably, the wire feeding system comprises a wire feeder, a wire feeding hose and a welding wire reel, the welding wire is wound on the welding wire reel, one end of the welding wire on the welding wire reel passes through the wire feeder and the wire feeding hose in sequence and is connected with the welding gun, the wire feeder is used for driving the welding wire to be unwound from the welding wire reel and fed into the wire feeding hose, and the wire feeding hose is used for guiding the welding wire to the welding gun.

[0019] Preferably, the welding gun adjusting mechanism comprises a welding gun clamping assembly and a connecting piece, the welding gun clamping assembly comprises a first clamping block, a second clamping block and a locking handle, one end of the first clamping block and the second clamping block is connected through a hinge, the other end of the first clamping block and the second clamping block is provided with a protruding block, the two protruding blocks are provided with connecting holes, one end of the locking handle is connected with a screw rod, the screw rod passes through the two connecting holes in sequence, and the screw rod is connected with a nut; a connecting block is rotatably arranged on the side wall of the first clamping block or the second clamping block, the connecting piece is provided with an adjusting groove, the connecting block is inserted into the adjusting groove, the connecting piece is provided with a positioning hole, the positioning hole is communicated with the adjusting groove, the positioning hole is connected with a positioning pin shaft, the positioning pin shaft is matched with the connecting block to lock the connecting block, and the connecting piece is connected with the sliding plate.

[0020] Preferably, a laser weld seam tracker is arranged on the welding gun, and the laser weld seam tracker is used for real-time scanning of a weld groove shape.

[0021] Preferably, the carbon dioxide gas supply module comprises a carbon dioxide gas storage tank, a gas pump, a flow meter and a gas delivery pipe, the carbon dioxide gas storage tank is placed on the trolley chassis, the gas pump is connected with the gas outlet of the carbon dioxide gas storage tank through a pipeline, the gas outlet end of the gas pump is connected with one end of the gas delivery pipe, and the other end of the gas delivery pipe is connected with the gas inlet of the welding gun.

[0022] Preferably, the trolley chassis is provided with a magnetic component.

[0023] Compared with the prior art, the welding device has the following beneficial effects:

[0024] The full-position welding device in the utility model does not need to distinguish the welding worker category, ordinary welders can operate on duty only through short-term training, realizes automatic welding, reduces manual intervention, significantly improves welding efficiency, and is stable and reliable in welding quality, can be applied to flat, horizontal and vertical butt joints and angle butt joints of planes and curved surfaces, adopts battery power supply, the fixture fixes the welding gun during welding, deflects a certain angle along the welding direction, and swings left and right along the welding direction during welding, so that the welding requirements of all positions are met. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. In all the drawings, similar elements or parts are generally identified by similar reference signs. In the drawings, each element or part is not necessarily drawn according to the actual proportion.

[0026] Figure 1 It is a perspective view of a full-position welding device.

[0027] Figure 2 It is another perspective view of a full-position welding device.

[0028] Figure 3 It is a perspective view of a full-position welding device without a track adaptive module.

[0029] Figure 4 It is a perspective view of a trolley chassis, a walking mechanism and a welding gun swing mechanism.

[0030] Figure 5 It is another perspective view of a full-position welding device without a track adaptive module.

[0031] Figure 6 It is a perspective view of a flexible track.

[0032] 1 is a trolley chassis, 11 is a walking wheel, 2 is a track adaptation module, 21 is a rigid track, 211 is a positioning groove, 22 is a sliding block, 23 is a guide wheel, 24 is a limiting connecting piece, 25 is a rotating motor, 26 is a roller, 27 is a guide groove, 3 is a welding gun swing mechanism, 31 is a driving motor, 32 is a ball screw, 33 is a guide rail, 34 is a sliding plate, 4 is a walking mechanism, 41 is a servo motor, 42 is a driving wheel, 43 is a driven wheel, 44 is a linkage shaft, 5 is a wire feeding system, 51 is a welding wire reel, 52 is a wire feeder, 53 is a wire feeding hose, 6 is a carbon dioxide gas supply module, 61 is a carbon dioxide gas storage tank, 62 is a gas feeding pipe, 7 is a welding gun, 8 is a welding gun adjusting mechanism, 81 is a locking handle, 82 is a welding gun clamping assembly, 83 is a protrusion, 84 is a connecting piece, 9 is a magnetic attraction part. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0034] In the description of the present application, it should be noted that the orientations or positional relationships indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "top", "bottom", "top surface", "bottom surface", "inner", "outer", "inner side", "outer side" are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0035] In the description of the present application, the meaning of several is one or more, the meaning of multiple is two or more, greater than, less than, more than, etc. are understood as not including the number, above, below, within, etc. are understood as including the number. If the terms "first", "second", "third" are described, they are only for the purpose of description and distinguishing technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or the sequence of indicated technical features.

[0036] In the description of the utility model, it is necessary to explain that, unless there is definite stipulation and limitation, the term "installation", "connection", "connection", "arrangement" should be understood broadly, for example, it can be fixed connection, also can be detachable connection, or integrally connected;It can be mechanical connection, also can be electrical connection;It can be directly connected, also can be indirectly connected through the intermediate medium, it can be the communication inside two elements.For ordinary skilled in the art, the above-mentioned terms can be understood according to the specific meaning of the utility model in the specific circumstances.The embodiment is described below according to the overall structure of the utility model.

[0037] As Figures 1-6 Indicated, the full position welding equipment provided by the embodiment, comprising:

[0038] Trolley chassis 1, the bottom of trolley chassis 1 is equipped with walking wheel 11, the number of walking wheel 11 is four, four walking wheels 11 are all rotatably connected with trolley chassis 1;Specifically, trolley chassis 1 is made of lightweight aluminum alloy or high-strength steel, has deformation resistance, the bottom is integrated with magnetic attraction / vacuum adsorption device, adapts to the fixing of ship body curved surface or vertical wall surface.

[0039] Walking mechanism 4, walking mechanism 4 is arranged at the bottom of trolley chassis 1;

[0040] Track adaptation module 2, track adaptation module 2 is used to be arranged at one side of weld, and is arranged in parallel with weld;

[0041] Welding gun swing mechanism 3, welding gun swing mechanism 3 is arranged on trolley chassis 1 to drive welding gun swing;

[0042] Wire feeding system 5, wire feeding system 5 is arranged on trolley chassis 1;

[0043] Welding gun adjusting mechanism 8, welding gun adjusting mechanism 8 is arranged at the movable end of welding gun swing mechanism 3;

[0044] Welding gun 7, welding gun 7 is arranged on welding gun adjusting mechanism 8, and welding gun 7 is connected with wire feeding system 5;

[0045] Carbon dioxide gas supply module 6, carbon dioxide gas supply module 6 is connected with welding gun to supply carbon dioxide gas.

[0046] Full position welding equipment further includes controller.

[0047] The walking mechanism 4 comprises a servo motor 41 fixed on the trolley chassis 1, a speed reducer connected with the output shaft of the servo motor 41, a driving wheel 42 and a driven wheel 43, both of which are rotatably connected to the trolley chassis 1 and engaged with each other, the driving wheel 42 being connected with the output shaft of the speed reducer, and every two walking wheels 11 being connected through a linkage shaft 44, the driven wheel 43 being sleeved on the linkage shaft 44. The driving wheel 42 is controlled by the servo motor 41 and the speed reducer, ensuring smooth movement on the track (the speed range is usually 50-600 mm / min).

[0048] In some embodiments, an encoder can be connected at the driving wheel 42, which is used to detect the rotation angle of the driving wheel 42 and measure the distance traveled.

[0049] The track adaptation module 2 comprises a track body, which is a flexible track or a rigid track 21. When the weld is a straight weld, the track body is a rigid track 21, which is fixed in parallel on one side of the weld. The trolley chassis 1 is connected to the rigid track 21 through a limiting connecting piece 8424. The limiting connecting piece 8424 is connected to a sliding block 22. The sliding block 22 is internally provided with a guide wheel 23, which is in rolling connection with the rigid track 21. When the weld is a planar curved weld or a spatial curved weld, the track body is a flexible track, which is fixed in parallel on one side of the weld. The surface of the flexible track is provided with a guide groove 27, in which a driving wheel 42 is embedded. Alternatively, the trolley chassis 1 is rotatably provided with a roller 26, which is embedded in the guide groove 27 and is in rolling connection with the guide groove 27. The roller 26 is driven to roll in the guide groove 27 by a rotating motor 25. Specifically, the flexible track is a key component for adapting to the welding of complex curved surfaces (such as ship hull plates and pipelines). The core requirement is to have both flexibility and rigidity, and at the same time, to meet the performance requirements of wear resistance, high temperature resistance and corrosion resistance. The flexible track can be made of polyurethane (PU) based composite material, nylon (PA) based composite material or metal based flexible material. The polyurethane (PU) based composite material has high elasticity, wear resistance (low friction coefficient) and impact resistance, and is suitable for frequent bending working conditions. The tensile strength can be improved (up to 50-80 MPa) by adding glass fiber or carbon fiber reinforcement. The nylon (PA) based composite material has high temperature resistance (short-term temperature resistance of 150°C) and self-lubrication, and is suitable for high-speed welding scenes. The friction coefficient can be further reduced by filling graphite or molybdenum disulfide. The metal based flexible material such as stainless steel spring steel strip has a thickness of 0.5-1.2 mm and a surface nickel plating for rust prevention. The flexibility is achieved through a corrugated structure. The flexible track usually adopts a modular design. The track body has a width of 50-100 mm and a thickness of 3-8 mm. High-strength fibers (such as aramid or carbon fibers) are embedded in the track body as a skeleton. The surface is provided with a guide groove 27 or a rack, which is in meshing connection (with a tooth pitch of 2-5 mm) with the driving wheel 42 of the welding trolley. The track body can be formed by splicing multiple splicing units. Each splicing unit has a length of 200-500 mm and is quickly connected through a mortise and tenon structure or a magnetic interface to adapt to different weld lengths.

[0050] The rigid track 21 and the flexible track can adopt a stainless steel spring buckle, which supports a ±15° angle deflection between track units and adapts to a continuously variable curvature surface. The guide wheel 23 or the roller 26 can adopt a ceramic or hardened steel roller 26, which is embedded in a positioning groove 211 of the rigid track 21 to ensure that the trolley running track deviation is less than 0.5 mm.

[0051] The welding gun swing mechanism 3 comprises a driving motor 31, a ball screw, a guide rail 33 and a sliding plate 34. The driving motor 31 is installed on the trolley chassis 1. The ball screw is connected with the output shaft of the driving motor 31. The guide rail 33 is arranged in parallel with the ball screw. The sliding plate 34 is slidably connected with the guide rail 33. The sliding plate 34 is threadedly connected with the ball screw. The welding gun adjusting mechanism 8 is installed on the sliding plate 34. Specifically, the controller is responsible for receiving welding parameters and controlling the action of the welding gun swing mechanism 3. The controller usually adopts a single-chip microcomputer or a PLC for program control. The swing parameters such as swing amplitude, swing speed and midpoint position are adjusted through a liquid crystal display screen. The driving motor 31 is used to drive the ball screw 32 or a gear and rack transmission system to drive the sliding plate 34 to move. The ball screw 32 cooperates with the driving motor 31 to convert rotary motion into linear motion, so that the sliding plate 34 moves stably. The sliding plate 34 slides on the guide rail 33 to ensure the stability and accuracy of the movement. The adjusting mechanism is fixed thereon, and swing is realized by driving the motor 31 to drive the welding gun to swing.

[0052] The driving motor 31 can adopt an existing stepper motor or a brushless DC motor. The service life of the driving motor 31 is 5 to 8 times that of an ordinary motor. Meanwhile, the driving motor 31 has a stepless speed regulation function and can meet the needs of different welding processes.

[0053] In some embodiments, the welding gun swing mechanism 3 further comprises a limit switch, a Hall sensor, a signal conditioning unit and a signal processing unit. The limit switch is used to detect the limit position of the welding gun, protect the driving motor 31 and prevent overload. The Hall sensor is used to detect parameters such as arc state and magnetic field in the welding process and feed data back to the signal conditioning unit and the signal processing unit. After being processed by the signal conditioning unit and the signal processing unit, the data is sent to the controller.

[0054] The wire feeding system 5 comprises a wire feeder 52, a wire feeding hose 53 and a welding wire reel 51. The welding wire is wound on the welding wire reel 51. One end of the welding wire on the welding wire reel 51 passes through the wire feeder 52 and the wire feeding hose 53 in sequence and is connected with the welding gun. The wire feeder 52 is used to drive the welding wire to be unwound from the welding wire reel 51 and fed into the wire feeding hose 53. The wire feeding hose 53 is used to guide the welding wire to the welding gun. The wire feeding system 5 has an existing structure, which will not be described here in detail.

[0055] The welding torch adjusting mechanism 8 comprises a welding torch clamping assembly 82 and a connecting piece 84. The welding torch clamping assembly 82 comprises a first clamping block, a second clamping block and a locking handle 81. The first clamping block and the second clamping block are connected by a hinge at one end, and each of the first clamping block and the second clamping block is provided with a protrusion 83 at the other end. The two protrusions 83 are each provided with a connecting hole. One end of the locking handle 81 is connected with a screw rod, the screw rod passes through the two connecting holes in sequence, and the screw rod is connected with a nut. A connecting block is rotatably arranged on the side wall of the first clamping block or the second clamping block. The connecting piece 84 is provided with an adjusting groove. The connecting block is inserted into the adjusting groove. The connecting piece 84 is provided with a positioning hole which is communicated with the adjusting groove. The positioning hole is connected with a positioning pin shaft which cooperates with the connecting block to lock the connecting block. The connecting piece 84 is connected with the sliding plate 34. Specifically, the area surrounded by the first clamping block and the second clamping block is a clamping area which can be used to clamp welding torches of different specifications. The hinge can be a connecting rod which cooperates with the shaft holes of the first clamping block and the second clamping block and is locked by the two ends connected by the nut. The position of the welding torch, such as the height position, is adjusted by the cooperation of the adjusting groove and the connecting block, and then the locking is realized by inserting the positioning pin shaft into the positioning hole and the connecting block. An arc-shaped groove can be arranged on the connecting piece 84, and an angle adjusting rod is movably connected in the arc-shaped groove. The angle of the welding torch can be adjusted by the cooperation of the arc-shaped groove, the angle adjusting rod and the sliding plate 34.

[0056] A laser weld seam tracker is arranged on the welding torch. The laser weld seam tracker is used to scan the shape of the weld groove in real time. The laser weld seam tracker is installed in front of the welding torch and scans the shape of the weld groove in real time (with an accuracy of ±0.2 mm). The scanning result is fed back to the controller to correct the path, so as to ensure the accuracy of welding.

[0057] The carbon dioxide gas supply module 6 comprises a carbon dioxide gas storage tank 61, a gas pump, a flow meter and a gas delivery pipe 62. The carbon dioxide gas storage tank 61 is placed on the trolley chassis 1. The gas pump is connected with the gas outlet of the carbon dioxide gas storage tank 61 through a pipeline. The gas outlet end of the gas pump is connected with one end of the gas delivery pipe 62. The other end of the gas delivery pipe 62 is connected with the gas inlet of the welding torch. The flow meter is arranged on the gas delivery pipe 62. Specifically, the carbon dioxide gas shielded welding uses carbon dioxide gas as a protective medium in the welding process to prevent the contamination of the molten pool by oxygen and nitrogen in the air. When the welding wire contacts the workpiece and ignites the arc, the carbon dioxide gas is sprayed out of the nozzle of the welding torch at a certain flow rate to form a protective layer, so that the molten pool is protected from oxidation, dehydrogenation reaction and other harmful effects, thereby ensuring the quality of the weld. During welding, the welding wire is sent out by the wire feeder 52 through the hose and the conducting nozzle. The carbon dioxide gas is sprayed out of the nozzle at a certain flow rate. After the arc is ignited, the end of the welding wire, the arc and the molten pool are surrounded by the carbon dioxide gas, which can prevent the harmful effects of air on the metal.

[0058] It should be noted that the welding torch includes a nozzle and a conducting nozzle, the conducting nozzle is connected with the wire feeding hose 53, the nozzle is connected with the gas feeding pipe 62, the nozzle and the conducting nozzle are coaxially arranged, the conducting nozzle is partially located in the nozzle, and the conducting nozzle and the inner wall of the nozzle have a gap. Through such arrangement, the structural integration degree is high, meanwhile, the carbon dioxide gas and the welding wire can be conveniently fused and cooperated, and are sprayed from the welding torch.

[0059] It should be noted that the welding torch of the embodiment is powered by a lithium battery, thereby improving safety and simplifying power supply configuration.

[0060] The trolley chassis 1 is provided with a magnetic component 9. Through the magnetic attraction function, the trolley can stably run on the track, while reducing the dependence on the track and adapting to different working conditions. Specifically, the magnetic component 9 is an embedded NdFeB permanent magnet, and the magnetic attraction force is ≥200N / cm 2 , and can be attached to a curved workpiece (such as a ship body).

[0061] In some embodiments, a regional magnetic attraction design can be adopted, and the local magnetic force can be independently turned off to reduce the disassembly resistance.

[0062] The foregoing description of specific exemplary embodiments of the present application is for the purpose of illustration and explanation, and these descriptions are not intended to limit the present application to the precise forms disclosed, and obviously, many changes and modifications can be made according to the above-mentioned teaching, although the embodiments of the present application have been shown and described, the specific embodiments are only an explanation of the present application, and are not a limitation of the present application, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner, the exemplary embodiments are selected and described for the purpose of explaining the specific principles of the present application and its practical application, so that those skilled in the art can make modifications, replacements, variations and various different selections and changes to the embodiments without creative contribution after reading the specification, as long as they are within the scope of the claims of the present application, they are protected by the patent law.

Claims

1. A full position welding apparatus characterized by, Comprise: The trolley chassis, the bottom of the trolley chassis is provided with walking wheels, the number of walking wheels is four, four walking wheels are all rotatably connected with the trolley chassis;The trolley chassis is provided with a magnetic attraction component; Walking mechanism, walking mechanism is arranged in the bottom of trolley chassis; Track adaptation module, track adaptation module is used to set up in the side of weld, and it is parallelly arranged with weld; Welding gun swing mechanism, welding gun swing mechanism is arranged on the trolley chassis to drive welding gun swing; Wire feeding system, wire feeding system is arranged on the trolley chassis; Welding gun adjusting mechanism, welding gun adjusting mechanism is arranged in the movable end of welding gun swing mechanism; Welding gun, welding gun is arranged on welding gun adjusting mechanism, welding gun is connected with wire feeding system;Welding gun is provided with laser weld seam tracker, laser weld seam tracker is used to scan weld bevel shape in real time; Carbon dioxide gas supply module, carbon dioxide gas supply module is connected with welding gun to supply carbon dioxide gas.

2. A full position welding apparatus according to claim 1, wherein Walking mechanism includes servo motor, speed reducer, drive wheel and driven wheel, servo motor is fixed on the trolley chassis, speed reducer is connected with the output shaft of servo motor, drive wheel and driven wheel are rotatably connected on the trolley chassis, drive wheel and driven wheel are engaged, drive wheel is connected with the output shaft of speed reducer, every two walking wheels are connected through linkage shaft, driven wheel is sleeved on linkage shaft.

3. A full position welding apparatus according to claim 1, wherein The track adaptation module includes a track body, the track body is a flexible track or a rigid track, when the weld is a straight weld, the track body is a rigid track, the rigid track is fixed parallel to one side of the weld, the trolley chassis is connected to the rigid track through a limiting connector, the limiting connector is connected with a sliding block, the sliding block is provided with a guide wheel, the guide wheel is rotatably connected with the rigid track;When the weld is a planar curve weld or a spatial curve weld, the track body is a flexible track, the flexible track is fixed parallel to one side of the weld, the surface of the flexible track is provided with a guide groove, the drive wheel is embedded in the guide groove;Or, the trolley chassis is rotatably provided with a roller, the roller is embedded in the guide groove, and the roller is rotatably connected with the guide groove.

4. A full position welding apparatus according to claim 1, wherein The welding gun swing mechanism includes a drive motor, a ball screw, a guide rail and a sliding plate, the drive motor is installed on the trolley chassis, the ball screw is connected with the output shaft of the drive motor, the guide rail is arranged parallel to the ball screw, the sliding plate is slidably connected with the guide rail, the sliding plate is threadedly connected with the ball screw, and the welding gun adjusting mechanism is installed on the sliding plate.

5. A full position welding apparatus according to claim 1, wherein The wire feeding system includes a wire feeder, a wire feeding hose and a welding wire reel, the welding wire reel is wound with welding wire, one end of the welding wire on the welding wire reel passes through the wire feeder and the wire feeding hose in sequence and is connected with the welding gun, the wire feeder is used to drive the welding wire to be unwound from the welding wire reel and fed into the wire feeding hose, and the wire feeding hose is used to guide the welding wire to the welding gun.

6. A full position welding apparatus according to claim 4, wherein The welding gun adjusting mechanism comprises a welding gun clamping assembly and a connecting piece, the welding gun clamping assembly comprises a first clamping block, a second clamping block and a locking handle, one end of the first clamping block and the second clamping block is connected through a hinge, the other end of the first clamping block and the second clamping block is provided with a protruding block, the two protruding blocks are provided with connecting holes, one end of the locking handle is connected with a screw rod, the screw rod passes through the two connecting holes in sequence, and the screw rod is connected with a nut; a connecting block is rotationally arranged on the side wall of the first clamping block or the second clamping block, the connecting piece is provided with an adjusting groove, the connecting block is inserted into the adjusting groove, the connecting piece is provided with a positioning hole, the positioning hole is communicated with the adjusting groove, the positioning hole is connected with a positioning pin shaft, the positioning pin shaft is matched with the connecting block to lock the connecting block, and the connecting piece is connected with a sliding plate.

7. A full position welding apparatus according to claim 1, wherein The carbon dioxide gas supply module comprises a carbon dioxide gas storage tank, a gas pump, a flow meter and a gas delivery pipe, the carbon dioxide gas storage tank is placed on the trolley chassis, the gas pump is connected with the gas outlet of the carbon dioxide gas storage tank through a pipeline, the gas outlet end of the gas pump is connected with one end of the gas delivery pipe, the other end of the gas delivery pipe is connected with the gas inlet of the welding gun, and the flow meter is arranged on the gas delivery pipe.

Images