A twin wire welding adaptive and intelligent weld repair system

Abstract

The utility model discloses a kind of double-wire welding self-adaptive and intelligent weld repair system, including welding system and repair welding system, repair welding system is used to carry out welding to the plate to be welded and carries out detection to weld, and the detection result of weld is sent to repair welding system, repair welding system is connected with welding system communication, for receiving the weld information detected by welding system, and the position of weld with defect is repaired or polished.The utility model improves welding efficiency, in the welding operation process, according to actual demand, line laser host computer can retrieve the quality detection report of each weld at any time, including entire detection, welding and repair welding process, real-time adjustment parameter and optimization parameter, greatly reduce manual operation, greatly improve production efficiency.

Description

Technical Field

[0001] This utility model relates to an adaptive and intelligent weld repair system for dual-wire welding, belonging to the field of welding. Background Technology

[0002] With the advancement of automation and intelligence, the requirements for welding cycle time and welding quality in the industrial sector are becoming increasingly stringent, and the working conditions are becoming more and more complex. Taking ordinary fillet welds as an example, good fusion, consistent weld leg size, and no appearance defects are required. If defects are found, corresponding repair welding is required. These requirements necessitate corresponding inspections before, during, and after welding to ensure good welding quality. At the same time, more manpower and resources are required to inspect welds and repair welds, which is inefficient.

[0003] In typical welding applications, twin-wire welding has become widely used to improve welding efficiency. However, due to differences in on-site production environments and welding operation habits, welds are prone to problems such as inconsistent weld leg size, insufficient or excessive weld leg, porosity, undercut, excessive surface convexity, and uneven transition between the weld leg and the base material. Current technology involves manual inspection of the weld after welding and related repair welding operations. This inspection and repair welding method consumes a lot of manpower and resources, is inefficient, and is prone to missing some issues. Summary of the Invention

[0004] The purpose of this invention is to provide a dual-wire welding adaptive and intelligent weld repair system to solve the technical defects of the prior art, which involves manual inspection of welds for repair work, which is labor-intensive, inefficient, and prone to missed inspections.

[0005] To solve the above problems, the technical solution adopted by this utility model is: a dual-wire welding adaptive and intelligent weld repair system, including a welding system and a repair welding system. The welding system is used to weld the plates to be welded and to inspect the weld, and sends the inspection results of the weld to the repair welding system. The repair welding system is communicatively connected to the welding system and is used to receive the weld information detected by the welding system, and to repair or grind the defective parts of the weld.

[0006] As a further improvement of this utility model, the welding system includes a robot I, a twin-wire welding device, and a weld inspection device. Both the twin-wire welding device and the weld inspection device are driven by the robot I to move along the length direction of the weld. The twin-wire welding device is used to weld the plates to be welded in front and form a weld, while the weld inspection device is used to inspect the dimensional information of the weld in the rear.

[0007] As a further improvement of this utility model, the dual-wire welding equipment includes a dual-wire welding torch and a dual-wire power supply. The dual-wire welding torch is driven to move by robot I. The dual-wire power supply is used to supply power to the dual-wire welding torch. The dual-wire power supply is electrically connected to the robot control cabinet I of robot I. The robot control cabinet I sends welding signals and welding parameters to the dual-wire welding torch.

[0008] As a further improvement of this utility model, the weld inspection equipment includes a line laser I and a line laser control box I. The line laser I is used to detect the dimensional information of the weld. The line laser control box I is electrically connected to the robot control cabinet I and is communicatively connected to the repair welding system to send the detected weld dimensional information to the repair welding system.

[0009] As a further improvement of this utility model, the welding system also includes a weld seam tracking device, which includes a line laser II and a line laser control box II electrically connected to it. The line laser control box II is electrically connected to the robot control cabinet I. The line laser II is driven by the robot I to move along the welding direction. It is used to track the weld seam and scan the gap between the two plates to be welded before the dual-wire welding equipment welds the plates. The robot control cabinet I sends a signal to the line laser control box II to turn on the line laser II. The line laser II starts the pre-weld scanning and transmits the position information of the weld seam to the robot control cabinet I. The robot I performs real-time trajectory correction on the dual-wire welding torch. The line laser control box II transmits the scanned gap information between the two plates to the robot control cabinet I and matches it with the preset welding parameters in the robot control cabinet I. The robot control cabinet I sends the matched welding parameters to the dual-wire power supply, and the dual-wire welding torch executes the corresponding welding parameters.

[0010] As a further improvement of this utility model, the repair welding system includes robot II, quick-change bracket, TIG welding gun, MAG welding gun and grinding head. The quick-change bracket is driven by robot II to move along the direction of the weld. The TIG welding gun, MAG welding gun and grinding head are all set on the quick-change bracket. The robot control cabinet II of robot II is communicatively connected to the welding system and is used to receive the weld information sent by the welding system, and to call the TIG welding gun or MAG welding gun or grinding head to repair or grind the weld according to the received weld information.

[0011] As a further improvement of this utility model, the TIG power supply of the TIG welding torch and the MAG power supply of the MAG welding torch are both electrically connected to the robot control cabinet II. The robot control cabinet II executes the corresponding welding parameters by the TIG welding torch or the MAG welding torch according to the weld information it receives.

[0012] In summary, the beneficial effects of this utility model are as follows: This utility model uses a dual-wire welding torch to improve welding efficiency. A line laser is added to the front of the dual-wire welding torch for detecting the gap between the two plates and for real-time tracking. A line laser is added to the rear of the dual-wire welding torch for detecting weld dimensions, defects, etc. After detection, the dimension and defect data, as well as the corresponding positions, are transmitted to the repair welding robot control cabinet via the line laser control cabinet. The appropriate welding torch is then selected to perform the corresponding repair welding operation. During the welding operation, the line laser host computer can retrieve the quality inspection report of each weld at any time according to actual needs. This report includes the entire inspection, welding, and repair welding process, allowing for real-time adjustment and optimization of parameters, greatly reducing manual labor and significantly improving production efficiency. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the structure of this utility model.

[0014] Figure 2 This is a schematic diagram showing an undercut defect in the weld.

[0015] Figure 3 This is a schematic diagram showing porosity defects on the weld surface.

[0016] The components include: 1. Welding system; 2. Repair welding system; 3. Robot I; 4. Twin-wire welding equipment; 5. Weld inspection equipment; 6. Twin-wire welding torch; 7. Twin-wire power supply; 8. Robot control cabinet I; 9. Line laser I; 10. Line laser control box I; 11. Weld tracking equipment; 12. Line laser II; 13. Line laser control box II; 14. Robot II; 15. Quick-change bracket; 16. TIG welding torch; 17. MAG welding torch; 18. Grinding head; 19. Robot control cabinet II; 20. TIG power supply; 21. MAG power supply; 22. Line laser host computer. Detailed Implementation

[0017] The specific embodiments of this utility model will be further described below with reference to the accompanying drawings.

[0018] like Figure 1 The dual-wire welding adaptive and intelligent weld repair system shown includes a welding system 1 and a repair welding system 2. The welding system 1 is used to weld the plates to be welded along the gap of the splice and to inspect the weld. The inspection results of the weld are sent to the repair welding system 2. The inspection items of the weld include the weld size, defect size, defect size location information, and defect length ratio. The repair welding system 2 is communicatively connected to the welding system 1 and is used to receive the weld information detected by the welding system 1 and repair or grind the defective parts of the weld.

[0019] like Figure 1As shown, the welding system 1 of this utility model includes a robot I3, a twin-wire welding device 4, and a weld inspection device 5. Both the twin-wire welding device 4 and the weld inspection device 5 are driven by the robot I3 to move along the length direction of the weld. In this embodiment, both the twin-wire welding device 4 and the weld inspection device 5 are located on the end of the robot, and the twin-wire welding device 4 is located in front of the weld inspection device 5. During welding, the robot I3 drives the twin-wire welding device 4 and the weld inspection device 5 to move forward synchronously along the gap between the plates. The twin-wire welding device 4 is used to weld the plates to be welded in front and form a weld after welding. The weld inspection device 5 is used to inspect the size information of the weld from behind.

[0020] like Figure 1As shown, the dual-wire welding device 4 of this utility model includes a dual-wire welding torch 6 and a dual-wire power supply 7. The dual-wire welding torch 6 is located at the end of robot I3 and is driven by robot I3 to move. The dual-wire power supply 7 is connected to the dual-wire welding torch 6 by a wire for supplying power to the dual-wire welding torch 6. The dual-wire power supply 7 is electrically connected to the robot control cabinet I8 of robot I3, and the robot control cabinet I8 sends welding signals and welding parameters to the dual-wire welding torch 6. The weld inspection device 5 includes a line laser I9 and a line laser control box I10. The line laser I9 is ​​located at the end of robot I3 and is used to detect the size information of the weld. The line laser control box I10 is electrically connected to the robot control cabinet I8 and is communicatively connected to the repair welding system 2 for sending the detected weld size information to the repair welding system 2. The line laser I9 is ​​electrically connected to the line laser control box I10, and the weld information detected by the line laser I9 is ​​sent to the repair welding system 2 via the line laser control box I10, providing a basis for the repair welding of the repair welding system 2. The current and voltage of the two welding wires in the dual-wire welding torch 6 of this invention can be controlled independently. Therefore, when using the dual-wire welding torch 6 of this invention, single-wire welding or dual-wire welding can be selected as needed. Generally, when the weld leg size is small, the single-wire welding process is selected, while when the weld leg size is large, the dual-wire welding process is selected. For medium weld leg size, either the single-wire slow welding process or the dual-wire fast welding process can be selected. Therefore, this invention selects single-wire welding or dual-wire welding according to the size of the weld leg. The welding parameters in this invention include the selection of single-wire welding or dual-wire welding of the dual-wire welding torch 6, the welding speed (i.e., the moving speed of the dual-wire welding torch 6), and the current and voltage of the two welding wires of the dual-wire welding torch 6. In this invention, the line laser control box I10 is electrically connected to the line laser host computer 22. The line laser I9 scans weld size information in real time and sends it to the line laser host computer 22 via the line laser control box I10. After the line laser host computer 22 processes the data, it automatically generates a report and stores it in the line laser control box I10. All weld sizes, defect sizes, defect size location information, defect length ratio, etc. can be queried on the line laser host computer 22. The data detected by the line laser I9 automatically generates weld defect status information, and each defect information corresponds to the repair welding process or grinding information, such as TIG welding repair or MAG welding repair, and sends it to the repair welding system 2 via the line laser control box I10.

[0021] like Figure 1As shown, the welding system 1 of this utility model also includes a weld seam tracking device 11. This device 11 includes a line laser II 12 and a line laser control box II 13 electrically connected to the line laser II 12. The line laser control box II 13 is electrically connected to the robot control cabinet I 8. The line laser II 12 is located at the end of the robot I 3 and is driven by the robot I 3 to move along the welding direction (i.e., the length direction of the gap between the two plates). It is used to track the weld seam and scan the gap between the two plates to be welded before the dual-wire welding equipment 4 welds the plates. The robot control cabinet I 8 sends a signal to the line laser control box II 13 to activate the line laser. Laser II12, a line laser, begins pre-welding scanning of the gap between the sheet metal panels, transmitting the positional information of the gap to robot control cabinet I8. Robot I3 then performs real-time trajectory correction on the dual-wire welding torch 6. Line laser control box II13 transmits the scanned gap information between the two panels to robot control cabinet I8. By matching the gap width with preset gap widths and welding parameters within robot control cabinet I8, the welding parameters corresponding to the detected gap width are determined. Robot control cabinet I8 sends the matched welding parameters to the dual-wire power supply 7, and the dual-wire welding torch 6 executes the corresponding welding parameters to weld the sheet metal. This invention, by incorporating a weld seam tracking device 11, can perform real-time laser tracking of the gap between the two panels, perform real-time trajectory correction for welding, scan the gap between the two panels, match appropriate welding parameters based on the gap and weld leg size, and adjust the welding parameters in real-time according to changes in the gap, achieving adaptive welding parameters.

[0022] like Figure 1As shown, the welding repair system 2 of this utility model includes a robot II 14, a quick-change bracket 15, a TIG welding torch 16, a MAG welding torch 17, and a grinding head 18. The quick-change bracket 15 is located at the end of the robot II 14 and is driven by the robot II 14 to move along the direction of the weld seam during use. The TIG welding torch 16, MAG welding torch 17, and grinding head 18 are all mounted on the quick-change bracket 15 and are spaced apart on the quick-change bracket 15. The robot control cabinet II 19 of the robot II 14 is communicatively connected to the line laser control box II 13 of the welding system 1, and is used to receive the weld seam information sent by the line laser control box II 13 of the welding system 1, and to call the TIG welding torch 16, the MAG welding torch 17, or the grinding head 18 to repair the weld seam according to the received weld seam information. Repair welding or grinding is performed. In this utility model, the TIG power supply 20 of the TIG welding torch 16 and the MAG power supply 21 of the MAG welding torch 17 are both electrically connected to the robot control cabinet II 19. The TIG power supply 20 is connected to the TIG welding torch 16 by a wire to supply power to the TIG welding torch 16, and the MAG power supply 21 is connected to the MAG welding torch 17 by a wire to supply power to the MAG welding torch 17. In this utility model, the robot control cabinet II 19 executes the corresponding welding parameters by the TIG welding torch 16 or the MAG welding torch 17 according to the weld defects and corresponding welding process or grinding information received by it, or the grinding head 18 grinds the weld after the robot control cabinet II 19 receives the weld information sent by the line laser control box II 13. The welding parameters for repair welding in this utility model include the current, welding speed and welding torch posture of the TIG welding torch 16, the current, voltage, welding speed and welding torch posture of the MAG welding torch, the rotation speed, grinding head posture and travel speed of the grinding head 18, and the quick-change bracket 15 in this utility model is existing technology.

[0023] The welding control line of this utility model includes: Twin-wire welding line: Robot I3 runs the program and starts the start signal. The signal is sent to the twin-wire power supply 7 through the robot control cabinet I8, and the twin-wire welding gun 6 starts the arc and begins welding.

[0024] Laser tracking and dual-wire welding adaptive control route: Robot I3 runs the program, starts the signal, and drives the dual-wire welding gun 6 and line laser II 12 to start moving. Robot control cabinet I8 sends a signal to line laser control box II 13 to turn on line laser II 12. Line laser II 12 starts pre-welding scanning and transmits the position information to robot control cabinet I8 for real-time trajectory correction. At the same time, the gap between the two plates scanned by line laser II 12 is also transmitted to robot control cabinet I8. Robot control cabinet I8 matches the welding parameters corresponding to the detected gap size according to the preset gap size and welding parameters stored in robot control cabinet I8, and sends the corresponding parameter information to dual-wire power supply 7. Dual-wire power supply 7 executes the corresponding parameter changes, and the dual-wire welding gun 6 welds the plates.

[0025] Post-weld scanning control route: Robot I3 runs the program, starts the signal, and begins to move, driving the line laser I9 to move synchronously with the dual-wire welding gun 6. Robot control cabinet I8 sends a signal to line laser control box I10, and line laser I9 begins to scan the weld seam after welding. Line laser I9 detects the weld seam size, defect size, and defect size location information in real time. After welding is completed, all detection data is stored in line laser control box I10.

[0026] Weld seam repair control route: After the welding of the dual-wire welding gun 6 is completed, the line laser control box I10 stores the weld seam data, and the data detected by the laser will automatically generate weld seam defect status information. Each defect information corresponds to a repair process. According to the defect size and location information and the repair process, the line laser control box I10 sends a signal to the robot control cabinet II19. The robot II14 selects the corresponding process head through quick change and executes the corresponding repair process operation.

[0027] Intelligent optimization control route for weld repair: When the actual weld leg size and quality differ from the predetermined weld leg size and quality under the parameters corresponding to the predetermined gap, the line laser control box I10 transmits the detection data to the robot control cabinet I8. The welding or grinding parameters are adjusted accordingly according to the predetermined rules to correct the weld leg size and quality. The corrected parameters are then updated to the original parameters. The corrected weld leg size and quality are further detected by the line laser I9 to confirm whether the corrected parameters need further adjustment. If the corrected weld leg size and quality meet the predetermined requirements, the corrected parameters are maintained. If the corrected weld leg size and quality do not meet the predetermined requirements, the parameters are adjusted according to the predetermined rules to further optimize the welding or grinding parameters and update them to the previous optimized parameters until the predetermined requirements are met.

[0028] The signal control route for the four components—line laser II12 on / off, dual-wire arc on / off, line laser I9 on / off, and welding repair process on / off—is as follows: Robot I3 runs the program and initiates the start signal. Robot control cabinet I8 sends signals to dual-wire power supply 7, line laser control box II13, and line laser control box I10. Line laser II12 begins searching for the arc ignition position. Once the arc ignition position is found, dual-wire welding torch 6 initiates the arc. Simultaneously, line laser I9 begins detecting the weld seam until welding is completed. After processing the weld seam data stored in real time by line laser I9, weld defect status information is automatically generated, and each defect corresponds to a remedial process. Line laser control box I10 sends a signal to robot control cabinet II19. Robot II14 selects the corresponding process head through quick-change and executes the corresponding remedial process operation until completion.

[0029] The application of this utility model's adaptive and intelligent weld seam repair system for dual-wire welding is as follows: before welding, the material, plate thickness, and weld leg size are set, and the corresponding single-wire welding process or dual-wire welding process, welding torch posture, welding speed, and the current and voltage of the two welding wires of the dual-wire welding torch are preset.

[0030] Before welding the plates, the welding system 1 uses a weld seam tracking device 11 to track and scan the gap between the plates. The weld seam tracking is used to correct the welding trajectory and ensure that the welding wire moves on the predetermined trajectory. The gap width obtained by the gap scanning is used to match the welding parameters. During the welding process, the welding parameters are adjusted in real time according to the changes in the gap.

[0031] After the weld seam tracking device 11 pairs of gaps scans to find the arc initiation position, the double-wire welding gun 6 performs arc initiation welding on the plate.

[0032] After welding, the line laser I9 detects weld size information, including weld size, defect size, defect location, and defect length, and stores it in the line laser control box I10. All weld size information can be queried through the line laser host computer 22. The line laser control box I10 matches the corresponding remedial process based on the size and defect information, such as TIG welding repair, MAG welding repair, or grinding, and sends the aforementioned information to the robot control cabinet II19 of the welding repair system 2. Upon receiving the weld information, the robot control cabinet II19 of the welding repair system 2 controls the TIG welding gun 16, the MAG welding gun 17, or the grinding head 18 to perform welding repair or grinding on the weld to execute the corresponding remedial process and ensure qualified welding quality.

[0033] After the repair welding system 2 completes the repair, the line laser I9 of the welding system 1 will inspect the weld size after repair welding and store the weld size information in the line laser control box I10. At the same time, the line laser control box I10 will send the corresponding defect information and matching repair process to the repair welding system 2. The repair welding system 2 will then perform repair welding or grinding on the weld. The above weld inspection and repair welding or grinding will be repeated multiple times until the weld size meets the requirements.

[0034] When porosity appears in the weld, the line laser I9 scans the defect, transmits the data to the robot control cabinet II19, and calls the TIG welding torch 16 for self-fusion repair welding. When undercut appears in the weld, the appropriate remedial process is selected based on the width, depth, and length of the undercut detected by the line laser I9. For example, if the undercut depth is less than 0.3mm, the TIG welding torch 16 is called for repair welding, and the corresponding repair welding parameters are selected. If the undercut depth is greater than or equal to 0.3mm, the MAG welding torch 17 is called for repair welding, and the corresponding repair welding parameters are selected. When the weld leg is found to be too large, the corresponding grinding parameters are selected based on the weld leg size and length, and the corresponding grinding operation is performed.

[0035] The following are recommended parameters for welding plates. Welding experiments have shown that the weld quality is relatively ideal under these parameters: The welding plates are made of Q235 carbon steel commonly used in industrial applications. Both plates are 8mm thick and are joined in a corner joint with a gap of 0-1mm. The shielding gas is 82%Ar + 18%CO2. The shielding gas flow rate for the twin-wire welding is 20L / min. Both welding wires of the twin-wire welding gun are ER50-6 with a diameter of 1.2mm and a weld leg length of 6mm.

[0036] The welding parameters are as follows: welding speed is 1.0 m / min, double wire welding process, preset welding wire 1 current 270A, voltage 28V, preset welding wire current 230A, voltage 25V.

[0037] The weld repair process is as follows: Porosity appears on the weld surface, such as Figure 3 As shown, TIG welding was used for repair welding, with a welding current of 60A, and spot welding was performed.

[0038] Undercut appears in the weld, such as... Figure 2 As shown, the undercut depth is 0.6mm and the length is 20mm. MAG welding is used for repair welding, with a welding current of 150A, a voltage of 20V, and a welding speed of 50cm / min.

[0039] The weld leg size is too large, with a weld leg size of 7.5mm (pre-determined 6mm, acceptable weld leg size range 6-7mm). Grind the weld seam with the grinding head 18 at a speed of 5000r / min and a grinding speed of 20cm / min.

[0040] Unless otherwise specified in the above description, all parts are prior art or can be implemented using existing technology. Furthermore, the specific embodiments described in this utility model are merely preferred embodiments and are not intended to limit the scope of this utility model. That is, all equivalent changes and modifications made within the scope of this utility model patent should be considered within the technical scope of this utility model.

Claims

1. A dual-wire welding adaptive and intelligent weld repair system, characterized in that, It includes a welding system (1) and a repair welding system (2). The welding system (1) is used to weld the plates to be welded and to inspect the weld. It sends the inspection results of the weld to the repair welding system (2). The repair welding system (2) is connected to the welding system (1) and is used to receive the weld information detected by the welding system (1) and to repair or grind the defective parts of the weld.

2. The adaptive and intelligent weld repair system for dual-wire welding according to claim 1, characterized in that, The welding system (1) includes robot I (3), a double-wire welding device (4) and a weld inspection device (5). Both the double-wire welding device (4) and the weld inspection device (5) are driven by robot I (3) to move along the length of the weld. The double-wire welding device (4) is used to weld the plates to be welded in front and form a weld. The weld inspection device (5) is used to inspect the size information of the weld in the rear.

3. The adaptive and intelligent weld repair system for dual-wire welding according to claim 2, characterized in that, The dual-wire welding equipment (4) includes a dual-wire welding torch (6) and a dual-wire power supply (7). The dual-wire welding torch (6) is driven to move by robot I (3). The dual-wire power supply (7) is used to supply power to the dual-wire welding torch (6). The dual-wire power supply (7) is electrically connected to the robot control cabinet I (8) of robot I (3). The robot control cabinet I (8) sends welding signals and welding parameters to the dual-wire welding torch (6).

4. The adaptive and intelligent weld repair system for dual-wire welding according to claim 2, characterized in that, The weld inspection equipment (5) includes a line laser I (9) and a line laser control box I (10). The line laser I (9) is used to detect the size information of the weld. The line laser control box I (10) is electrically connected to the robot control cabinet I (8). The line laser control box I (10) is communicatively connected to the repair welding system (2) and is used to send the detected weld size information to the repair welding system (2).

5. The adaptive and intelligent weld repair system for dual-wire welding according to claim 2, characterized in that, The welding system (1) also includes a weld seam tracking device (11), which includes a line laser II (12) and a line laser control box II (13) electrically connected to it. The line laser control box II (13) is electrically connected to the robot control cabinet I (8). The line laser II (12) is driven by the robot I (3) to move along the welding direction and is used to track the weld seam and scan the gap between the two plates to be welded before the double-wire welding equipment (4) welds the plates. The robot control cabinet I (8) sends a signal to the line laser control box II (13). Turn on the line laser II (12), and the line laser II (12) starts pre-welding scanning, transmitting the weld position information to the robot control cabinet I (8). The robot I (3) performs real-time trajectory correction on the dual-wire welding gun (6). The line laser control box II (13) transmits the scanned gap information between the two plates to the robot control cabinet I (8), matching it with the preset welding parameters in the robot control cabinet I (8). The robot control cabinet I (8) sends the matched welding parameters to the dual-wire power supply (7), and the dual-wire welding gun (6) executes the corresponding welding parameters.

6. The adaptive and intelligent weld repair system for dual-wire welding according to claim 1, characterized in that, The welding repair system (2) includes robot II (14), quick-change bracket (15), TIG welding gun (16), MAG welding gun (17) and grinding head (18). The quick-change bracket (15) is driven by robot II (14) to move along the direction of the weld. The TIG welding gun (16), MAG welding gun (17) and grinding head (18) are all set on the quick-change bracket (15). The robot control cabinet II (19) of robot II (14) is connected to the welding system (1) for receiving the weld information sent by the welding system (1) and calling the TIG welding gun (16) or MAG welding gun (17) or grinding head (18) to repair or grind the weld according to the received weld information.

7. The adaptive and intelligent weld repair system for dual-wire welding according to claim 6, characterized in that, The TIG power supply (20) of the TIG welding torch (16) and the MAG power supply (21) of the MAG welding torch (17) are both electrically connected to the robot control cabinet II (19). The robot control cabinet II (19) executes the corresponding welding parameters by the TIG welding torch (16) or the MAG welding torch (17) according to the weld information it receives.

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