Welding apparatus

Abstract

The utility model provides a kind of welding equipment, including mobile robot, welding adjusting device, welding torch and wire feeder, welding adjusting device is installed in mobile robot, for adjusting the position of welding torch and wire feeder;Wherein, welding torch is replaceable, tungsten needle structure, driving assembly and limiting component are all installed in gun main body, driving assembly and tungsten needle structure are movably connected, to make the tip of tungsten needle structure swing in the process of revolution.In the present scheme, mobile robot can adjust welding adjusting device, improve the degree of freedom of welding torch and wire feeder;Driving assembly and limiting component jointly act, make the tip of tungsten needle structure swing when it revolves, destroy the surface tension of liquid solder at weld, expand the welding area of single welding, improve welding efficiency;At the same time, so set, rotating arc evenly distributes heat, reduces welding defect, improves weld strength.

Description

Technical Field

[0001] This utility model relates to the field of welding equipment technology, and more specifically, to a welding device. Background Technology

[0002] Currently, welding technology is widely used in manufacturing, aerospace and other fields, and the more precise the equipment, the higher the technical requirements for welding technology. However, in the existing technology, due to the surface tension of the liquid solder during welding, the welding area of ​​each weld is limited, often requiring multiple welds at the weld joint, resulting in low welding efficiency. Furthermore, multiple welds may lead to stress concentration and easily cause the cumulative effect of the heat-affected zone, resulting in a decrease in the physical properties of the welded area and affecting the overall quality of the welded parts. Utility Model Content

[0003] This invention provides a welding device to solve the problem of low weld quality and welding efficiency when using a fixed tungsten needle structure for welding in the prior art.

[0004] To address the aforementioned problems, this utility model provides a welding device, including a mobile robot, a welding adjustment device, a welding torch, and a wire feeder. The welding adjustment device is mounted on the mobile robot, and both the welding torch and the wire feeder are mounted on the welding adjustment device. The welding adjustment device is used to adjust the positions of the welding torch and the wire feeder. The welding torch is replaceable, and at least one welding torch includes a torch body, a tungsten needle structure, a drive assembly, and a limiting component. The tungsten needle structure, drive assembly, and limiting component are all mounted on the torch body. The drive assembly and the tungsten needle structure are movably connected. The drive assembly drives the tungsten needle structure to revolve, and the limiting component limits the tungsten needle structure, causing the tip of the tungsten needle structure to oscillate during its revolve.

[0005] Furthermore, the drive assembly includes a first connector, which is rotatably disposed and connected to the tungsten needle structure to drive the tungsten needle structure to revolve; a limiting component is disposed at intervals with the drive assembly along the axial direction of the gun body, and the limiting component is in contact with the tungsten needle structure. Through the limiting effect of the limiting component, the tungsten needle structure tilts and swings relative to the axis of the gun body during the revolution.

[0006] Furthermore, the limiting component includes an elastic body with a through hole. The tungsten needle structure passes through the through hole. During the synchronous rotation of the tungsten needle structure and the first connector, the elastic body applies a radial elastic force to the tungsten needle structure, causing the tip of the tungsten needle structure to swing.

[0007] Furthermore, the hole wall surface through the hole includes a first wall surface and a second wall surface that are connected to each other. The first wall surface is a first arc-shaped surface, and the second wall surface is a plane. When the tungsten needle structure is in contact with the plane, the tungsten needle structure is tilted relative to the axis of the gun body.

[0008] Furthermore, the limiting component also includes a deformation gap, which is disposed on the elastic body and located on the side of the through hole, and the deformation gap extends along the circumferential direction of the elastic body; there are multiple deformation gaps, and the multiple deformation gaps are disposed along the circumferential direction of the elastic body.

[0009] Furthermore, the drive assembly also includes: a second connector connected to the first connector, the second connector having a first mounting cavity, at least a portion of the inner wall surface of the first mounting cavity being a second arc-shaped surface; and a transition component disposed within the first mounting cavity, at least a portion of the outer surface of the transition component being a spherical surface, at least a portion of the spherical surface being in contact with the second arc-shaped surface, so that the tungsten needle structure moves relative to the second connector during the rotation of the tungsten needle structure driven by the first connector.

[0010] Furthermore, a pad is provided on the inner wall surface of the first mounting cavity, and a second arc-shaped surface is provided on the pad. The pad has an annular structure, and a transition component is inserted inside the pad. The pad is elastic; and / or, the transition component is clearance-fitted with the pad. The transition component includes: a bearing housing, disposed in the first mounting cavity, at least a portion of the outer surface of the bearing housing being a spherical surface; a connecting bearing, disposed in the bearing housing and connected to the bearing housing, and a tungsten needle structure connected to the connecting bearing.

[0011] Furthermore, the first connector is an eccentric member, and a second mounting cavity is provided inside the first connector. At least a portion of the second connector passes through the second mounting cavity and is connected to the first connector. A first positioning part is provided on the first connector, and a second positioning part is provided on the second connector. The first positioning part and the second positioning part are interlocked to connect the first connector and the second connector. There are multiple first positioning parts, which are spaced apart along the circumferential direction of the first connector. The second positioning part can be selectively interlocked with one of the multiple first positioning parts.

[0012] Furthermore, the drive assembly also includes a drive component, and the first connector includes: a first connecting body, which is connected to the tungsten needle structure; and a second connecting body, which is disposed at the end of the first connecting body away from the tungsten needle structure and is connected to the drive component, and is eccentrically disposed relative to the first connecting body; wherein the first connecting body and the second connecting body are an integral structure.

[0013] Furthermore, the first connecting body is provided with a second mounting cavity and a third connecting body, the third connecting body is disposed in the second mounting cavity and extends along the axial direction of the first connecting body; the driving assembly further includes: a second connector, at least a portion of the second connector passing through the second mounting cavity and connected to the third connecting body.

[0014] Furthermore, the welding adjustment device includes a main adjustment mechanism, a first adjustment mechanism, and a second adjustment mechanism connected in sequence. The welding torch is installed on the first adjustment mechanism, and the wire feeder is installed on the second adjustment mechanism. The main adjustment mechanism is used to adjust the position of the first adjustment mechanism, the first adjustment mechanism is used to adjust the position of the welding torch, and the second adjustment mechanism is used to adjust the position of the wire feeder relative to the welding torch.

[0015] Furthermore, the overall adjustment mechanism includes a first linear motion unit and a second linear motion unit. The first linear motion unit is installed on the connecting flange of the mobile robot, and the second linear motion unit is installed on the first linear motion unit. The first linear motion unit drives the first adjustment mechanism to move in the vertical direction, and the second linear motion unit drives the first adjustment mechanism to move in the horizontal direction. Both the first and second linear motion units are electrically powered linear modules. The first and second adjustment mechanisms are electrically powered or manually operated adjustment mechanisms.

[0016] Furthermore, the first adjustment mechanism includes a first base, an adjustment arm, and a first clamping part. The first base is mounted on the main adjustment mechanism, the adjustment arm is adjustablely mounted on the first base, and the first clamping part is mounted on the adjustment arm. The first clamping part is used to clamp the welding torch. The second adjustment mechanism includes a translation adjustment part, an angle adjustment part, and a second clamping part connected in sequence. The second clamping part is used to clamp the wire feeder. The translation adjustment part is mounted on the first clamping part or the welding torch. The translation adjustment part is used to adjust the translation position of the wire feeder relative to the welding torch, and the angle adjustment part is used to adjust the angle of the wire feeder relative to the welding torch.

[0017] Furthermore, the first adjustment mechanism also includes a first adjustment member and a second adjustment member spaced apart, and the adjustment arm is connected to the first base through the first adjustment member, the second adjustment member, and the first base; the first adjustment member and the second adjustment member can be loosened or tightened. When the first adjustment member and the second adjustment member are loosened, the adjustment arm can translate or swing relative to the first base. When the first adjustment member and the second adjustment member are tightened, the adjustment arm is fixed relative to the first base; the first base has an arc-shaped hole, the adjustment arm has an elongated hole, the first adjustment member passes through the arc-shaped hole and the elongated hole, and the second adjustment member passes through the elongated hole and is connected to the first base.

[0018] Furthermore, the first clamping part includes a first arc-shaped block and a second arc-shaped block. The first arc-shaped block is fixed to the end of the adjusting arm away from the first base. The second arc-shaped block and the first arc-shaped block are detachably connected. The first arc-shaped block and the second arc-shaped block together clamp the welding gun. Alternatively, the first clamping part is a cylindrical structure. The side wall of the first clamping part has a notch that extends through the axial direction of the first clamping part. The size of the notch can be adjusted so that the first clamping part clamps or releases the welding gun.

[0019] Furthermore, the translation adjustment unit includes a second base, a first movable base, and a second movable base. The second base is mounted on the first clamping unit or the welding torch. The first movable base is movably mounted on the second base along a first direction, and the second movable base is movably mounted on the first movable base along a second direction. The first direction is perpendicular to the second direction, and the angle adjustment unit is mounted on the second movable base.

[0020] Furthermore, a first slide rail is installed on the second base, and the first movable seat has a first slide groove, with the first slide groove and the first slide rail slidingly engaged; or, the second base has a first slide groove, and the first slide rail is installed on the first movable seat, with the first slide groove and the first slide rail slidingly engaged; a first mounting bracket is installed at one end of the second base, and a first screw is connected to the first mounting bracket, with the first screw threadedly connected to the first movable seat, and the first movable seat is moved by rotating the first screw.

[0021] Furthermore, the angle adjustment part includes a fixed base and an adjustment structure. The fixed base is installed on the translation adjustment part, the second clamping part is rotatably connected to the fixed base, and the adjustment structure is installed on the fixed base and connected to the second clamping part. The adjustment structure is used to adjust the rotation position of the second clamping part. The adjustment structure includes a first connecting rod, a second connecting rod, and a threaded push rod. The first connecting rod is fixed to the fixed base, the second connecting rod is fixed to the second clamping part, and the threaded push rod is threadedly connected to both the first and second connecting rods. Rotating the threaded push rod drives the second clamping part to rotate.

[0022] Furthermore, the welding equipment includes multiple welding adjustment devices, all of which are installed on the connecting flange of the mobile robot; wherein the welding torches installed on different welding adjustment devices may be the same or different.

[0023] Furthermore, the welding equipment also includes a wire feeder and a hot wire machine. The wire feeder supplies welding wire to the wire feeding gun; the hot wire machine is used to heat the welding wire output by the wire feeder, or the hot wire machine is used to heat and vibrate the welding wire output by the wire feeder.

[0024] In this solution, the welding adjustment device is installed on a mobile robot, which can adjust the device, increasing the freedom of the welding torch and wire feeder mounted on it. By connecting the drive assembly to the tungsten needle structure, the tungsten needle structure revolves. A limiting component restricts the revolving needle structure. The drive assembly and the limiting component work together to cause the tip of the needle to oscillate during its revolution. This oscillation of the needle in the welding torch disrupts the surface tension of the liquid solder at the weld, increasing the welding area per weld. This reduces the number of weld passes and improves welding efficiency. Simultaneously, the revolution and oscillation of the needle during welding ensures a uniform heat distribution from the rotating arc, reducing welding defects such as porosity and slag inclusions, and improving the density and strength of the weld. Attached Figure Description

[0025] The accompanying drawings, which form part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an undue limitation of the present invention. In the drawings:

[0026] Figure 1 A schematic diagram of the structure of the welding equipment provided in an embodiment of the present invention is shown;

[0027] Figure 2 A cross-sectional view of the welding torch in the welding equipment provided in an embodiment of the present invention is shown;

[0028] Figure 3 It shows Figure 2 A schematic diagram of the rotation trajectory of the main body of the welding torch;

[0029] Figure 4 It shows Figure 2 A schematic diagram of the limiting component of the welding torch;

[0030] Figure 5 It shows Figure 2 A schematic diagram of the structure of the second connecting component of the welding torch;

[0031] Figure 6 It shows Figure 2 Bottom view of the first connector of the welding torch;

[0032] Figure 7 It shows Figure 2 Assembly diagram of the first and second connecting parts of the welding torch;

[0033] Figure 8 It shows Figure 1 Schematic diagram of the welding adjustment device;

[0034] Figure 9 It shows Figure 2 A schematic diagram of the structure of the second adjustment mechanism of the welding adjustment device;

[0035] Figure 10 It shows Figure 3 A schematic diagram of the second adjustment mechanism from another angle.

[0036] The above figures include the following reference numerals:

[0037] 100. Mobile robots;

[0038] 200. Welding adjustment device;

[0039] 210. Main adjustment mechanism; 211. First linear motion unit; 212. Second linear motion unit;

[0040] 220. First adjusting mechanism; 221. First base; 2211. Arc-shaped hole; 222. Adjusting arm; 2221. Elongated hole; 223. First clamping part; 2231. First arc-shaped block; 2232. Second arc-shaped block; 224. First adjusting component; 225. Second adjusting component;

[0041] 230. Second adjustment mechanism; 231. Translation adjustment part; 2311. Second base; 23111. First mounting bracket; 23112. First screw; 2312. First movable seat; 2313. Second movable seat; 2314. First slide groove; 2315. First slide rail; 232. Angle adjustment part; 2321. Fixed seat; 2322. Adjustment structure; 23221. First connecting rod; 23222. Second connecting rod; 23223. Threaded push rod; 233. Second clamping part;

[0042] 300. Welding torch;

[0043] 310. Gun body;

[0044] 320. Tungsten needle structure; 321. Tungsten needle; 322. Mounting shaft;

[0045] 330. Drive assembly; 331. First connector; 3311. Second mounting cavity; 3312. First positioning part; 3313. First connecting body; 3314. Second connecting body; 3315. Third connecting body; 332. Second connector; 3321. First mounting cavity; 3322. Second positioning part; 333. Transition component; 3331. Bearing housing; 3332. Connecting bearing; 334. Spacer; 335. Drive assembly;

[0046] 340. Limiting component; 341. Elastic body; 3411. Through hole; 3412. First wall surface; 3413. Second wall surface; 342. Deformation gap;

[0047] 400, wire feeding gun; 500, wire feeding machine; 600, hot wire machine. Detailed Implementation

[0048] The technical solutions in at least one embodiment will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. The following description of at least one embodiment is merely illustrative and is not intended to limit this application or its applications. Other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are all within the scope of protection of this application.

[0049] like Figures 1 to 10As shown, an embodiment of this utility model provides a welding device, including a mobile robot 100, a welding adjustment device 200, a welding torch 300, and a wire feeding torch 400. The welding adjustment device 200 is installed on the mobile robot 100, and both the welding torch 300 and the wire feeding torch 400 are installed on the welding adjustment device 200. The welding adjustment device 200 is used to adjust the positions of the welding torch 300 and the wire feeding torch 400. The welding torch 300 is replaceable, and at least one welding torch 300 includes a torch body 310, a tungsten needle structure 320, a drive assembly 330, and a limiting component 340. The tungsten needle structure 320, the drive assembly 330, and the limiting component 340 are all installed on the torch body 310. The drive assembly 330 and the tungsten needle structure 320 are movably connected. The drive assembly 330 drives the tungsten needle structure 320 to revolve, and the limiting component 340 limits the tungsten needle structure 320 so that the tip of the tungsten needle structure 320 swings during its revolve.

[0050] Specifically, the tungsten needle structure 320 includes a tungsten needle 321 and a mounting shaft 322. The mounting shaft is located inside the gun body 310. The tungsten needle 321 passes through the mounting shaft 322. The first connector 331 is connected to the mounting shaft 322. The limiting component 340 is sleeved on the mounting shaft 322.

[0051] In this design, the welding adjustment device 200 is mounted on the mobile robot 100, allowing the robot to adjust it and increasing the freedom of the welding torch 300 and wire feeder 400 mounted on it. By movably connecting the drive assembly 330 to the tungsten needle structure 320, the tungsten needle structure 320 can revolve. A limiting component 340 can limit the revolving tungsten needle structure 320. The drive assembly 330 and the limiting component 340 work together to... The tungsten needle structure 320 is designed so that its tip oscillates during its revolution. This oscillation of the tungsten needle structure 320 in the welding torch 300 during welding disrupts the surface tension of the liquid solder at the weld joint, increasing the welding area of ​​a single weld. Therefore, it can reduce the number of welds and improve welding efficiency. At the same time, the revolution and oscillation of the tungsten needle structure 320 during welding ensures that the rotating arc distributes heat evenly, reducing welding defects such as porosity and slag inclusions, and improving the density and strength of the weld.

[0052] In this embodiment, as Figure 2 and Figure 3As shown, the driving assembly 330 includes a first connector 331, which is rotatably disposed and connected to the tungsten needle structure 320 to drive the tungsten needle structure 320 to revolve. A limiting component 340 is spaced apart from the driving assembly 330 along the axis of the gun body 310. The limiting component 340 is in contact with the tungsten needle structure 320, and through the limiting action of the limiting component 340, the tungsten needle structure 320 tilts and swings relative to the axis of the gun body 310 during its revolution. This arrangement, through the cooperative design of the first connector 331 and the limiting component 340, changes the rotation trajectory of the tungsten needle structure 320, enabling it to effectively agitate the molten pool during welding. This agitation disrupts the surface tension of the molten pool, causing the liquid metal to flow evenly in all directions, significantly increasing the width of the weld and forming a fuller and smoother welding area. Furthermore, the increased weld area promotes the refinement and uniform distribution of metal grains, significantly improving the physical properties of the welded area, such as strength, toughness, and fatigue resistance, thereby optimizing the overall quality and reliability of the welded parts.

[0053] like Figure 4 As shown, the limiting component 340 includes an elastic body 341 with a through hole 3411. The tungsten needle structure 320 passes through the through hole 3411. During the synchronous rotation of the tungsten needle structure 320 and the first connecting member 331, the elastic body 341 applies a radial elastic force to the tungsten needle structure 320, causing the tip of the tungsten needle structure 320 to swing. The radial elastic force applied by the limiting component 340 to the tungsten needle structure 320 not only guides the change in the rotation trajectory of the tungsten needle structure 320 but also plays a stabilizing support role, reducing vibration and deviation during the welding process. In addition, by adjusting the elasticity and position of the limiting component 340, the tilt angle and stirring intensity of the tungsten needle structure 320 can be finely adjusted, enhancing the controllability of the welding process and ensuring the consistency and stability of the welding quality.

[0054] In this embodiment, the wall surface of the through hole 3411 includes a first wall surface 3412 and a second wall surface 3413 connected to each other. The first wall surface 3412 is a first arc-shaped surface, and the second wall surface 3413 is a plane. When the tungsten needle structure 320 is in contact with the plane, the tungsten needle structure 320 is tilted relative to the axis of the gun body 310. By setting the first wall surface 3412 and the second wall surface 3413, when the tungsten needle structure 320 contacts the second wall surface 3413, it will tilt due to the transition from an arc-shaped surface to a plane, thereby forming a swing during the revolution, increasing the welding area and improving the welding speed.

[0055] In this embodiment, the limiting component 340 further includes deformation gaps 342, which are disposed on the elastic body 341 and located to the side of the through hole 3411. The deformation gaps 342 extend along the circumferential direction of the elastic body 341. There are multiple deformation gaps 342, which are arranged circumferentially along the elastic body 341. The design of the deformation gaps 342, especially their extension along the circumferential direction of the elastic body 341, significantly enhances the deformation capacity of the elastic body 341 under pressure or external force. These deformation gaps 342 allow the elastic body 341 to undergo more flexible local deformation while ensuring structural integrity, thereby better adapting to the dynamic changes of the tungsten needle structure 320 during high-speed rotation and fine-tuning.

[0056] By creating multiple deformation gaps 342 on the elastic body 341, compared to a solid structure without deformation gaps 342, the amount of material used can be reduced, the weight can be lightened, and the manufacturing process can be simplified, thus reducing manufacturing costs. In addition, the setting of deformation gaps 342 reduces stress concentration in the elastic body 341 during use, reduces material requirements, and further saves costs.

[0057] Optionally, each deformation gap 342 includes a first gap, a second gap, and a third gap connected in sequence. The first gap and the third gap extend along the circumferential direction of the elastic body 341, and the second gap extends along the radial direction of the elastic body 341. The first and third gaps in each deformation gap 342 extend along the circumferential direction, while the second gap extends along the radial direction. This composite structural design gives the elastic body 341 good deformation capacity in both the circumferential and radial directions. It can effectively disperse various stresses borne by the elastic body 341 during operation, avoiding material fatigue or structural damage caused by excessive local stress. This means that the elastic body 341 can not only provide support and elastic feedback for the circumferential fine-tuning of the tungsten needle structure 320, but also adapt to the dynamic changes of the tungsten needle structure 320 in the radial direction, thereby providing more comprehensive positioning and guiding support in three-dimensional space, enhancing the stability and accuracy of welding.

[0058] Optionally, a first gap of one deformation gap 342 and a third gap of another adjacent deformation gap 342 are spaced apart along the radial direction of the elastic body 341. The first gaps of each deformation gap 342 extend along an arcuate trajectory, and the arcuate trajectories of each first gap lie on the same circumferential trajectory. Similarly, the third gaps of each deformation gap 342 extend along an arcuate trajectory, and the arcuate trajectories of each third gap lie on the same circumferential trajectory. This unique layout of the deformation gaps 342, especially the first and third gaps, spaced apart along the radial direction of the elastic body 341 and extending along arcuate trajectories on the same circumferential trajectory, allows for precise control of the oscillation trajectory of the tungsten needle structure 320 during welding, ensuring uniform force on the elastic body 341 when the tungsten needle structure 320 oscillates. Furthermore, this design ensures that the tungsten needle structure 320 can oscillate stably and continuously along a pre-planned path during stirring.

[0059] like Figure 2 , Figure 5 , Figure 6 , Figure 7 As shown, the drive assembly 330 further includes: a second connector 332 connected to the first connector 331, the second connector 332 having a first mounting cavity 3321, at least a portion of the inner wall surface of the first mounting cavity 3321 being a second arc-shaped surface; and a transition component 333 disposed within the first mounting cavity 3321, at least a portion of the outer surface of the transition component 333 being a spherical surface, at least a portion of which fits against the second arc-shaped surface, so that during the rotation of the tungsten needle structure 320 driven by the first connector 331, the tungsten needle structure 320 moves relative to the second connector 332. Thus, under the elastic force of the limiting component 340, when the tungsten needle structure 320 moves relative to the second connector 332, it avoids interaction forces with the driving end of the tungsten needle structure 320, preventing breakage of the tungsten needle structure 320. The spherical surface of the transition component 333, in conjunction with the second arc-shaped surface, provides rotational space for the movement of the tungsten needle structure 320.

[0060] Specifically, a transition component 333 is introduced, its outer surface being spherical, which fits against the second arc-shaped surface of the inner wall of the second connector 332, providing additional rotational space and degrees of freedom for the tungsten needle structure 320. This design allows the tungsten needle structure 320 to swing within a certain range in the direction perpendicular to the main axis under the elastic force of the limiting component 340. This swinging ability helps the tungsten needle structure 320 to adapt more flexibly to irregular changes in the welding surface, improving welding accuracy and efficiency. The fit between the spherical surface of the transition component 333 and the second arc-shaped surface ensures that there is no direct, high-force contact between the driving end of the tungsten needle structure 320 and the second connector 332 during movement. This greatly reduces the local stress borne by the tungsten needle structure 320 during high-speed rotation and stirring, avoiding breakage or other damage to the tungsten needle structure 320 due to stress concentration, significantly improving the load-bearing capacity and durability of the tungsten needle structure 320, and extending the service life of the equipment.

[0061] like Figure 2 As shown, a pad 334 is provided on the inner wall surface of the first mounting cavity 3321, and a second arc-shaped surface is provided on the pad 334. The pad 334 has a ring structure, and a transition component 333 passes through the pad 334. The pad 334 is elastic; and / or, the transition component 333 and the pad 334 are clearance-fitted. The pad 334 is provided on the inner wall surface of the first mounting cavity 3321, and the second arc-shaped surface on it can form a more closely fitting contact with the outer surface of the tungsten needle structure 320. The pad 334 allows for fine adjustment under stress to compensate for installation errors or component deformation, thereby ensuring a tight connection between the transition component 333 and the tungsten needle structure 320 under high-speed rotation.

[0062] The second arc-shaped surface of the pad 334 is in contact with the outer surface of the tungsten needle structure 320, and can be regarded as a dynamic guide surface for the tungsten needle structure 320 during high-speed rotation. This design helps to maintain the accuracy of the rotation center of the tungsten needle structure 320, reduces the risk of arc deviation, and improves the positioning accuracy of the arc on the workpiece.

[0063] The transition component 333 includes: a bearing housing 3331 disposed within a first mounting cavity 3321, at least a portion of the outer surface of the bearing housing 3331 being spherical; a connecting bearing 3332 disposed within and connected to the bearing housing 3331; and the tungsten needle structure 320 connected to the connecting bearing 3332. The bearing housing 3331 in the transition component 333 is designed with at least a portion of its outer surface being spherical. This structure allows for fine-tuning of the tungsten needle structure 320 in multiple axes, improving the adaptability and flexibility of the welding torch 300. The use of the connecting bearing 3332 ensures a low-friction connection between the tungsten needle structure 320 and the bearing housing 3331, especially under high-speed rotation. The precision structure of the bearing reduces direct contact between moving parts, lowers the coefficient of friction, effectively prevents premature wear caused by prolonged high-speed operation, and extends the service life of the tungsten needle structure 320.

[0064] In this embodiment, the first connector 331 is an eccentric component, and a second mounting cavity 3311 is provided inside the first connector 331. At least a portion of the second connector 332 passes through the second mounting cavity 3311 and is connected to the first connector 331. A first positioning part 3312 is provided on the first connector 331, and a second positioning part 3322 is provided on the second connector 332. The first positioning part 3312 and the second positioning part 3322 are interlocked to connect the first connector 331 and the second connector 332. The first connector 331, as an eccentric component, has a second mounting cavity 3311 inside to accommodate a portion of the structure of the second connector 332. This eccentric design can precisely control the eccentric distance of the tungsten needle structure 320 relative to the spindle, thereby adjusting the arc rotation radius and welding trajectory. Through the interlocking design of the first positioning part 3312 and the second positioning part 3322, the operator can easily adjust the relative position between the first connector 331 and the second connector 332, achieving rapid fine-tuning and precise positioning.

[0065] Furthermore, since the first connector 331 is an eccentric component, the tungsten needle structure 320 rotates around a predetermined axis under the drive of the first connector 331. Under the elastic force of the limiting component 340, the tungsten needle structure 320 tilts relative to the axis of the gun body 310, causing the tungsten needle structure 320 to swing around a frustum-like trajectory with the part that cooperates with the limiting component 340 as the positioning point. This stirs the molten pool, promotes the uniform distribution and flow of liquid metal, and significantly improves the width, flatness and density of the weld, thereby comprehensively improving the welding quality.

[0066] This configuration allows the tungsten needle structure 320 to cover a larger welding area while stirring the molten pool, significantly accelerating welding speed and reducing the welding time required for a single weld, thereby improving production efficiency and capacity. This design is particularly suitable for high-speed, high-efficiency welding operations in large-scale production environments, and can significantly shorten the cycle time of the entire welding production line.

[0067] Multiple first positioning parts 3312 are arranged at intervals along the circumferential direction of the first connecting member 331. A second positioning part 3322 can be selectively inserted into one of the multiple first positioning parts 3312. The design of multiple first positioning parts 3312 provides various options for adjusting the eccentricity. The operator can flexibly adjust the rotation trajectory and stirring intensity of the tungsten needle structure 320 according to different welding requirements, such as workpiece material, thickness, or welding speed.

[0068] In this embodiment, the drive assembly 330 further includes a drive component 335, and the first connector 331 includes: a first connecting body 3313, which is connected to the tungsten needle structure 320; and a second connecting body 3314, disposed at the end of the first connecting body 3313 away from the tungsten needle structure 320, which is connected to the drive component 335 and is eccentrically disposed relative to the first connecting body 3313; wherein the first connecting body 3313 and the second connecting body 3314 are an integral structure. Preferably, the drive component 335 is a drive motor, and by eccentrically distributing the second connecting body 3314 relative to the first connecting body 3313, the first connector 331 forms an eccentric structure, thereby driving the first connecting body 3313 of the tungsten needle structure 320 to rotate around a predetermined axis.

[0069] In this embodiment, a second mounting cavity 3311 and a third connecting body 3315 are provided within the first connecting body 3313. The third connecting body 3315 is disposed within the second mounting cavity 3311 and extends along the axial direction of the first connecting body 3313. The drive assembly 330 further includes a second connector 332, at least a portion of which passes through the second mounting cavity 3311 and is connected to the third connecting body 3315. The provision of the second mounting cavity 3311 within the first connecting body 3313, and the third connecting body 3315 extending along the axial direction, effectively utilizes the internal space of the drive assembly 330. This multi-layered nested structure design not only reduces the overall volume of the drive assembly 330, making the welding torch 300 more compact, but also, with a portion of the second connector 332 passing through the second mounting cavity 3311 and connected to the third connecting body 3315, forms a direct and stable torque transmission path. This design reduces energy loss during torque transmission, improves the efficiency and accuracy of torque transmission, ensures the stability and response speed of the tungsten needle structure 320 when performing complex trajectory welding tasks, and improves welding quality and production efficiency.

[0070] like Figure 8 , Figure 9 As shown, the welding adjustment device 200 includes a main adjustment mechanism 210, a first adjustment mechanism 220, and a second adjustment mechanism 230 connected in sequence. A welding torch 300 is mounted on the first adjustment mechanism 220, and a wire feeder 400 is mounted on the second adjustment mechanism 230. The main adjustment mechanism 210 adjusts the position of the first adjustment mechanism 220, the first adjustment mechanism 220 adjusts the position of the welding torch 300, and the second adjustment mechanism 230 adjusts the position of the wire feeder 400 relative to the welding torch 300. The welding adjustment device 200 includes a main adjustment mechanism 210, a first adjustment mechanism 220, and a second adjustment mechanism 230 connected in sequence. The first adjustment mechanism 220 and the second adjustment mechanism 230 are respectively used to adjust the position of the welding torch 300 and the position of the wire feeder 400 relative to the welding torch 300. The main adjustment mechanism 210 can adjust the position of the second adjustment mechanism 230 simultaneously by adjusting the position of the first adjustment mechanism 220. The first adjustment mechanism 220 and the second adjustment mechanism 230 give the welding torch 300 and the wire feeder 400 a high degree of freedom, while the main adjustment mechanism 210 can adjust the positions of the first adjustment mechanism 220 and the second adjustment mechanism 230, further increasing the degree of freedom of the welding torch 300 and the wire feeder 400, so that the welding equipment can adapt to workpieces of different shapes and structures and meet adjustment requirements.

[0071] In this embodiment, the main adjustment mechanism 210 includes a first linear motion unit 211 and a second linear motion unit 212. The first linear motion unit 211 is mounted on the connecting flange of the mobile robot 100, and the second linear motion unit 212 is mounted on the first linear motion unit 211. The first linear motion unit 211 drives the first adjustment mechanism 220 to move vertically, and the second linear motion unit 212 drives the first adjustment mechanism 220 to move horizontally. By setting the first linear motion unit 211 and the second linear motion unit 212 to drive the first adjustment mechanism 220 to move, the main adjustment mechanism 210 further increases the degrees of freedom of the welding torch 300 and the wire feeder 400, improves the flexibility of the welding adjustment device 200, and meets the adjustment requirements.

[0072] Both the first linear motion unit 211 and the second linear motion unit 212 are electrically powered linear modules; the first adjustment mechanism 220 and the second adjustment mechanism 230 are electrically powered or manually operated adjustment mechanisms. The fact that both the first linear motion unit 211 and the second linear motion unit 212 are electrically powered linear modules improves the automation level of the device and makes the adjustment operation more precise; setting the first adjustment mechanism 220 and the second adjustment mechanism 230 to be electrically or manually operated helps to improve the adjustment efficiency and flexibility of the device.

[0073] like Figure 8 , Figure 9 As shown, the first adjustment mechanism 220 includes a first base 221, an adjustment arm 222, and a first clamping part 223. The first base 221 is mounted on the main adjustment mechanism 210, the adjustment arm 222 is tunably mounted on the first base 221, and the first clamping part 223 is mounted on the adjustment arm 222 and is used to clamp the welding torch 300. The second adjustment mechanism 230 includes a translation adjustment part 231, an angle adjustment part 232, and a second clamping part 233 connected in sequence. The second clamping part 233 is used to clamp the wire feeder 400. The translation adjustment part 231 is mounted on the first clamping part 223 or the welding torch 300. The translation adjustment part 231 is used to adjust the translation position of the wire feeder 400 relative to the welding torch 300, and the angle adjustment part 232 is used to adjust the angle of the wire feeder 400 relative to the welding torch 300.

[0074] The first adjustment mechanism 220 and the second adjustment mechanism 230 are responsible for adjusting the positions of the welding torch 300 and the wire feeder 400, respectively. The first adjustment mechanism 220 includes a first base 221, an adjustment arm 222, and a first clamping part 223. The adjustment arm 222 is adjustablely mounted on the first base 221, driving the first clamping part 223 mounted on the adjustment arm to move. The first clamping part 223 is used to clamp the welding torch 300, thereby achieving position adjustment of the welding torch 300. The second adjustment mechanism 230 includes a translation adjustment part 231, an angle adjustment part 232, and a second clamping part 233. The translation adjustment part 231 and the angle adjustment part 232 are used to adjust the translational and angular positions of the wire feeder 400 relative to the welding torch 300, respectively. The first adjustment mechanism 220 and the second adjustment mechanism 230 provide the welding torch 300 and the wire feeder 400 with a high degree of freedom, enabling multi-degree-of-freedom adjustment and positioning, adapting to workpieces of different shapes and structures, and meeting adjustment requirements.

[0075] In this embodiment, the first adjustment mechanism 220 further includes a first adjustment member 224 and a second adjustment member 225 spaced apart. The adjustment arm 222 is connected to the first base 221 via the first adjustment member 224, the second adjustment member 225, and the first base 221. The first adjustment member 224 and the second adjustment member 225 can be loosened or tightened. When the first adjustment member 224 and the second adjustment member 225 are loosened, the adjustment arm 222 can translate or swing relative to the first base 221. When the first adjustment member 224 and the second adjustment member 225 are tightened, the adjustment arm 222 is fixed relative to the first base 221. By loosening or tightening the first fastener and the second fastener, the adjustment arm 222 can be moved or fixed relative to the first base 221, improving the flexibility and adaptability of the welding adjustment device 200 and enhancing the ease of operation.

[0076] In at least one welding adjustment device 200, a first base 221 has an arc-shaped hole 2211, an adjustment arm 222 has an elongated hole 2221, a first adjustment member 224 passes through the arc-shaped hole 2211 and the elongated hole 2221, and a second adjustment member 225 passes through the elongated hole 2221 and is connected to the first base 221. When the first adjustment member 224 and the second adjustment member 225 are loosened, the arc-shaped hole 2211 and the elongated hole 2221 provide a moving track for the first adjustment member 224 and the second adjustment member 225, facilitating the swinging or translation of the adjustment arm 222 relative to the first base 221. This enables the welding torch 300 to be adjusted in both the plane angle and the vertical position, improving the flexibility of the welding torch 300 and the welding quality.

[0077] Optionally, the first base 221 has an arc-shaped hole 2211, a first adjusting member 224 passes through the adjusting arm 222 and the arc-shaped hole 2211, and a second adjusting member 225 passes through the adjusting arm 222 and is connected to the first base 221. When the first adjusting member 224 and the second adjusting member 225 are loosened, the arc-shaped hole 2211 provides a moving track for the first adjusting member 224, facilitating the swing of the adjusting arm 222 relative to the first base 221, thereby realizing the angle adjustment of the welding torch 300 in the plane and improving the flexibility and welding quality of the welding torch 300.

[0078] In at least one welding adjustment device 200, the first clamping part 223 includes a first arc-shaped block 2231 and a second arc-shaped block 2232. The first arc-shaped block 2231 is fixed to the end of the adjusting arm 222 away from the first base 221. The second arc-shaped block 2232 and the first arc-shaped block 2231 are detachably connected. The first arc-shaped block 2231 and the second arc-shaped block 2232 together clamp the welding torch 300. By fixing the first arc-shaped block 2231 to the end of the adjusting arm 222 away from the first base 221, the welding torch 300 can be moved or rotated by the adjusting arm 222. The first arc-shaped block 2231 and the second arc-shaped block 2232 together clamp the welding torch 300 and are set to be detachably connected, which facilitates the adaptation to welding torches 300 of different specifications and enhances the versatility of the welding adjustment device 200. At the same time, when replacing the welding torch 300, only the first arc-shaped block 2231 or the second arc-shaped block 2232 needs to be removed, saving replacement time.

[0079] Alternatively, the first clamping part 223 may be a cylindrical structure, with a notch extending axially along its sidewall. The size of the notch is adjustable to allow the first clamping part 223 to clamp or release the welding torch 300. The adjustable notch extending axially along its sidewall facilitates the first clamping part 223's adaptation to welding torches 300 of different specifications, enhancing the versatility of the welding adjustment device 200.

[0080] like Figure 9As shown, the translation adjustment unit 231 includes a second base 2311, a first movable base 2312, and a second movable base 2313. The second base 2311 is mounted on the first clamping unit 223 or the welding torch 300. The first movable base 2312 is movably mounted on the second base 2311 along a first direction, and the second movable base 2313 is movably mounted on the first movable base 2312 along a second direction, with the first direction perpendicular to the second direction. An angle adjustment unit 232 is mounted on the second movable base 2313. The second base 2311, mounted on the first clamping unit 223, enables the linkage adjustment of the first adjustment mechanism 220 and the second adjustment mechanism 230. The first movable base 2312 and the second movable base 2313 are movably arranged along mutually perpendicular first and second directions, respectively. Simultaneously, the angle adjustment unit 232 allows the wire feeder 400 to be angled relative to the welding torch 300, solving the problem of limited degrees of freedom in the welding adjustment device 200. The first direction can be set to a horizontal direction, and the second direction can be set to a vertical direction.

[0081] In this embodiment, a first slide rail 2315 is installed on the second base 2311, and the first movable seat 2312 has a first slide groove 2314, which is slidably engaged with the first slide rail 2315; or, the second base 2311 has a first slide groove 2314, and the first movable seat 2312 is installed with the first slide rail 2315, which is slidably engaged with the first slide groove 2314; a first mounting bracket 23111 is installed at one end of the second base 2311, and a first screw 23112 is connected to the first mounting bracket 23111. The first screw 23112 is threadedly connected to the first movable seat 2312, and the first movable seat 2312 is moved by rotating the first screw 23112.

[0082] A first slide groove 2314 or a first slide rail 2315 is respectively installed on the second base 2311 and the first movable base 2312. Through the sliding engagement of the first slide groove 2314 and the first slide rail 2315, the first movable base 2312 can move and be limited relative to the second base 2311, which improves the stability and accuracy of the welding adjustment device 200, reduces welding defects caused by unstable adjustment, and improves welding quality and production efficiency. Through the threaded connection between the first screw 23112 and the first movable base 2312, the precise translation adjustment of the first movable base 2312 is realized, which not only improves the flexibility of the wire feed gun 400, but also ensures the stability of the adjustment.

[0083] In this embodiment, the angle adjustment unit 232 includes a fixed base 2321 and an adjustment structure 2322. The fixed base 2321 is mounted on the translation adjustment unit 231, and the second clamping part 233 is rotatably connected to the fixed base 2321. The adjustment structure 2322 is mounted on the fixed base 2321 and connected to the second clamping part 233. The adjustment structure 2322 is used to adjust the rotational position of the second clamping part 233. This configuration enables angle adjustment of the wire feed gun 400 relative to the welding gun 300, improving the flexibility and adaptability of the welding adjustment device 200.

[0084] like Figure 10 As shown, the adjustment structure 2322 includes a first connecting rod 23221, a second connecting rod 23222, and a threaded push rod 23223. The first connecting rod 23221 is fixed to the fixed base 2321, and the second connecting rod 23222 is fixed to the second clamping part 233. The threaded push rod 23223 is threadedly connected to both the first connecting rod 23221 and the second connecting rod 23222. Rotating the threaded push rod 23223 drives the second clamping part 233 to rotate. Based on the threaded transmission principle, rotating the threaded push rod 23223 precisely controls the angle of the wire feed gun 400 relative to the welding gun 300, achieving precise adjustment of the angle of the wire feed gun 400 and improving the control accuracy and flexibility of the device during the welding process.

[0085] like Figure 1 As shown, the welding equipment includes multiple welding adjustment devices 200, all of which are mounted on the connecting flange of the mobile robot 100. The welding torches 300 mounted on different welding adjustment devices 200 may be identical or different. Optionally, the welding torches 300 can be either deep penetration TIG welding torches or high-speed rotary TIG welding torches. By installing multiple welding adjustment devices 200 on the mobile robot 100, the production efficiency and adaptability of the welding equipment can be improved. For example, during root pass welding, the welding torch 300 on one welding adjustment device 200 uses a deep penetration TIG welding torch, while the welding torches 300 on other welding adjustment devices 200 use high-speed rotary TIG welding torches. During fill and cap pass welding, the welding torches 300 on multiple welding adjustment devices 200 all use high-speed rotary TIG welding torches.

[0086] In this embodiment, the welding equipment also includes a wire feeder 500 and a hot wire machine 600. The wire feeder 500 supplies welding wire to the wire feeding gun 400; the hot wire machine 600 is used to heat the welding wire output from the wire feeder 500, or to heat and vibrate the welding wire output from the wire feeder 500. Preheating the welding wire in advance can shorten the welding time and improve welding efficiency. Furthermore, vibrating the welding wire can stir the molten pool, further reducing welding defects such as porosity and slag inclusions, and improving the density and strength of the weld. Specifically, the welding equipment also includes an argon arc welding machine, a cooling water tank, a welding workbench, a control cabinet, and operating handles. This configuration improves the completeness of the welding equipment and can meet different welding requirements.

[0087] The above descriptions are merely some embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

[0088] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0089] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as exemplary only and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0090] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0091] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0092] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application.

Claims

1. A welding device, characterized in that, The system includes a mobile robot (100), a welding adjustment device (200), a welding torch (300), and a wire feeder (400). The welding adjustment device (200) is mounted on the mobile robot (100), and both the welding torch (300) and the wire feeder (400) are mounted on the welding adjustment device (200). The welding adjustment device (200) is used to adjust the positions of the welding torch (300) and the wire feeder (400). The welding torch (300) is replaceable, and at least one welding torch (300) includes a torch body (310) and a tungsten needle structure (3...). 20) Drive assembly (330) and limiting component (340), the tungsten needle structure (320), the drive assembly (330) and the limiting component (340) are all installed on the gun body (310), the drive assembly (330) and the tungsten needle structure (320) are movably connected, the drive assembly (330) drives the tungsten needle structure (320) to revolve, and the limiting component (340) limits the tungsten needle structure (320) so that the tip of the tungsten needle structure (320) swings during the revolution.

2. The welding equipment according to claim 1, characterized in that, The drive assembly (330) includes a first connector (331), which is rotatably disposed and connected to the tungsten needle structure (320) to drive the tungsten needle structure (320) to revolve. The limiting component (340) and the driving assembly (330) are spaced apart along the axial direction of the gun body (310). The limiting component (340) is in contact with the tungsten needle structure (320). Through the limiting effect of the limiting component (340), the tungsten needle structure (320) tilts and swings relative to the axis of the gun body (310) during its revolution.

3. The welding equipment according to claim 2, characterized in that, The limiting component (340) includes an elastic body (341) with a through hole (3411) on it. The tungsten needle structure (320) passes through the through hole (3411). During the synchronous rotation of the tungsten needle structure (320) and the first connector (331), the elastic body (341) applies a radial elastic force to the tungsten needle structure (320), causing the tip of the tungsten needle structure (320) to swing.

4. The welding equipment according to claim 3, characterized in that, The hole wall of the through hole (3411) includes a first wall (3412) and a second wall (3413) connected to each other. The first wall (3412) is a first arc-shaped surface, and the second wall (3413) is a plane. When the tungsten needle structure (320) is in contact with the plane, the tungsten needle structure (320) is tilted relative to the axis of the gun body (310).

5. The welding equipment according to claim 3, characterized in that, The limiting component (340) further includes a deformation gap (342), which is disposed on the elastic body (341) and located on the side of the through hole (3411). The deformation gap (342) extends along the circumferential direction of the elastic body (341). There are multiple deformation gaps (342), and multiple deformation gaps (342) are disposed along the circumferential direction of the elastic body (341).

6. The welding equipment according to claim 2, characterized in that, The drive component (330) also includes: The second connector (332) is connected to the first connector (331). The second connector (332) has a first mounting cavity (3321) inside. At least part of the inner wall surface of the first mounting cavity (3321) is a second arc-shaped surface. A transition component (333) is disposed in the first mounting cavity (3321). At least a portion of the outer surface of the transition component (333) is a spherical surface, and at least a portion of the spherical surface is in contact with the second arcuate surface so that the tungsten needle structure (320) moves relative to the second connector (332) during the rotation of the tungsten needle structure (320) driven by the first connector (331).

7. The welding equipment according to claim 6, characterized in that, A pad (334) is provided on the inner wall surface of the first mounting cavity (3321), and the second arc-shaped surface is provided on the pad (334). The pad (334) has an annular structure, and the transition member (333) passes through the pad (334). The pad (334) is elastic; and / or, the transition member (333) is clearance-fitted with the pad (334). The transition component (333) includes: a bearing housing (3331) disposed within the first mounting cavity (3321), wherein at least a portion of the outer surface of the bearing housing (3331) is a spherical surface; a connecting bearing (3332) disposed within the bearing housing (3331) and connected to the bearing housing (3331), wherein the tungsten needle structure (320) is connected to the connecting bearing (3332).

8. The welding equipment according to claim 6, characterized in that, The first connector (331) is an eccentric member. A second mounting cavity (3311) is provided inside the first connector (331). At least a portion of the second connector (332) passes through the second mounting cavity (3311) and is connected to the first connector (331). A first positioning part (3312) is provided on the first connector (331), and a second positioning part (3322) is provided on the second connector (332). The first positioning part (3312) and the second positioning part (3322) are interlocked to connect the first connector (331) and the second connector (332). There are multiple first positioning parts (3312). Multiple first positioning parts (3312) are spaced apart along the circumferential direction of the first connector (331). The second positioning part (3322) can be selectively interlocked with one of the multiple first positioning parts (3312).

9. The welding equipment according to claim 2, characterized in that, The drive assembly (330) further includes a drive component (335), and the first connector (331) includes: A first connecting body (3313) is connected to the tungsten needle structure (320); The second connecting body (3314) is disposed at the end of the first connecting body (3313) away from the tungsten needle structure (320). The second connecting body (3314) is connected to the driving component (335). The second connecting body (3314) is eccentrically disposed relative to the first connecting body (3313). The first connecting body (3313) and the second connecting body (3314) are an integral structure.

10. The welding equipment according to claim 9, characterized in that, The first connecting body (3313) is provided with a second mounting cavity (3311) and a third connecting body (3315). The third connecting body (3315) is disposed in the second mounting cavity (3311) and extends along the axial direction of the first connecting body (3313). The driving assembly (330) further includes a second connector (332), at least a portion of which passes through the second mounting cavity (3311) and is connected to the third connecting body (3315).

11. The welding equipment according to claim 1, characterized in that, The welding adjustment device (200) includes a main adjustment mechanism (210), a first adjustment mechanism (220), and a second adjustment mechanism (230) connected in sequence. The welding torch (300) is mounted on the first adjustment mechanism (220), and the wire feeder (400) is mounted on the second adjustment mechanism (230). The main adjustment mechanism (210) is used to adjust the position of the first adjustment mechanism (220), the first adjustment mechanism (220) is used to adjust the position of the welding torch (300), and the second adjustment mechanism (230) is used to adjust the position of the wire feeder (400) relative to the welding torch (300).

12. The welding equipment according to claim 11, characterized in that, The main adjustment mechanism (210) includes a first linear motion unit (211) and a second linear motion unit (212). The first linear motion unit (211) is installed on the connecting flange of the mobile robot (100), and the second linear motion unit (212) is installed on the first linear motion unit (211). The first linear motion unit (211) drives the first adjustment mechanism (220) to move in the vertical direction, and the second linear motion unit (212) drives the first adjustment mechanism (220) to move in the horizontal direction. Both the first linear motion unit (211) and the second linear motion unit (212) are electrically powered linear modules. The first adjustment mechanism (220) and the second adjustment mechanism (230) are electrically powered or manually powered adjustment mechanisms.

13. The welding equipment according to claim 11, characterized in that, The first adjustment mechanism (220) includes a first base (221), an adjustment arm (222), and a first clamping part (223). The first base (221) is mounted on the main adjustment mechanism (210). The adjustment arm (222) is mounted on the first base (221) in an adjustable position. The first clamping part (223) is mounted on the adjustment arm (222) and is used to clamp the welding torch (300). The second adjustment mechanism (230) includes a translation adjustment part (231), an angle adjustment part (232), and a second clamping part (233) connected in sequence. The second clamping part (233) is used to clamp the wire feed gun (400). The translation adjustment part (231) is installed on the first clamping part (223) or the welding gun (300). The translation adjustment part (231) is used to adjust the translation position of the wire feed gun (400) relative to the welding gun (300). The angle adjustment part (232) is used to adjust the angle of the wire feed gun (400) relative to the welding gun (300).

14. The welding equipment according to claim 13, characterized in that, The first adjustment mechanism (220) further includes a first adjustment member (224) and a second adjustment member (225) spaced apart. The adjustment arm (222) is connected to the first adjustment member (224), the second adjustment member (225), and the first base (221). The first adjustment member (224) and the second adjustment member (225) are adjustable to be loosened or tightened. When the first adjustment member (224) and the second adjustment member (225) are loosened, the adjustment arm (222) can be translated relative to the first base (221). Or swing, with the first adjusting member (224) and the second adjusting member (225) fastened, the adjusting arm (222) is fixed relative to the first base (221); the first base (221) has an arc-shaped hole (2211), the adjusting arm (222) has an elongated hole (2221), the first adjusting member (224) passes through the arc-shaped hole (2211) and the elongated hole (2221), and the second adjusting member (225) passes through the elongated hole (2221) and is connected to the first base (221).

15. The welding equipment according to claim 13, characterized in that, The first clamping part (223) includes a first arc-shaped block (2231) and a second arc-shaped block (2232). The first arc-shaped block (2231) is fixed to one end of the adjusting arm (222) away from the first base (221). The second arc-shaped block (2232) and the first arc-shaped block (2231) are detachably connected. The first arc-shaped block (2231) and the second arc-shaped block (2232) together clamp the welding torch (300). Alternatively, the first clamping part (223) is a cylindrical structure. The side wall of the first clamping part (223) has a notch that extends through the axial direction of the first clamping part (223). The size of the notch is adjustable so that the first clamping part (223) clamps or releases the welding torch (300).

16. The welding equipment according to claim 13, characterized in that, The translation adjustment unit (231) includes a second base (2311), a first movable base (2312), and a second movable base (2313). The second base (2311) is mounted on the first clamping unit (223) or the welding torch (300). The first movable base (2312) is movably mounted on the second base (2311) along a first direction. The second movable base (2313) is movably mounted on the first movable base (2312) along a second direction. The first direction is perpendicular to the second direction. The angle adjustment unit (232) is mounted on the second movable base (2313).

17. The welding equipment according to claim 16, characterized in that, The second base (2311) is equipped with a first slide rail (2315), and the first movable seat (2312) has a first slide groove (2314), the first slide groove (2314) and the first slide rail (2315) are slidably engaged; or, the second base (2311) has a first slide groove (2314), the first movable seat (2312) is equipped with a first slide rail (2315), and the first slide groove (2314) and the first slide rail (2315) are slidably engaged; The second base (2311) has a first mounting bracket (23111) installed at one end. A first screw (23112) is connected to the first mounting bracket (23111). The first screw (23112) is threadedly connected to the first movable seat (2312). The first movable seat (2312) is moved by rotating the first screw (23112).

18. The welding equipment according to claim 13, characterized in that, The angle adjustment part (232) includes a fixed base (2321) and an adjustment structure (2322). The fixed base (2321) is mounted on the translation adjustment part (231). The second clamping part (233) is rotatably connected to the fixed base (2321). The adjustment structure (2322) is mounted on the fixed base (2321) and connected to the second clamping part (233). The adjustment structure (2322) is used to adjust the rotational position of the second clamping part (233). 2) Includes a first connecting rod (23221), a second connecting rod (23222), and a threaded push rod (23223). The first connecting rod (23221) is fixed to the fixed base (2321), and the second connecting rod (23222) is fixed to the second clamping part (233). The threaded push rod (23223) is threadedly connected to the first connecting rod (23221) and the second connecting rod (23222). The second clamping part (233) is rotated by rotating the threaded push rod (23223).

19. The welding equipment according to claim 1, characterized in that, The welding equipment includes multiple welding adjustment devices (200), all of which are installed on the connecting flange of the mobile robot (100); wherein the welding torches (300) installed on different welding adjustment devices (200) may be the same or different.

20. The welding equipment according to claim 1, characterized in that, The welding equipment also includes a wire feeder (500) and a hot wire machine (600), wherein the wire feeder (500) supplies welding wire to the wire feeding gun (400); the hot wire machine (600) is used to heat the welding wire output by the wire feeder (500), or the hot wire machine (600) is used to heat and vibrate the welding wire output by the wire feeder (500).

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