CN111906416A - Blind area visible welding equipment and welding method thereof - Google Patents

Abstract

A blind zone visual welding device and a welding method thereof are provided, wherein the blind zone visual welding device comprises a wire feeding welding gun, an installation platform, a detection assembly, a monitoring assembly, a gas path assembly and a welding wobbler; the mounting platform is arranged at the outer edge of the welding swing device; the monitoring assembly is hinged and fixed on the mounting platform; the wire feeding welding gun comprises a flexible welding gun bent pipe which is of a six-layer structure and sequentially comprises a steel spring pipe, a first silicon rubber insulating pipe, a red copper wire layer, a second silicon rubber insulating pipe, a stainless steel corrugated pipe and a third silicon rubber insulating pipe from inside to outside; therefore, the invention can carry out welding at the position of flat welding, vertical welding, horizontal welding and overhead welding; during welding, the welding gun can swing at any circumference within a 30-degree swing angle according to the width and the thickness of a welding seam, the application range is greatly improved, real-time information feedback is carried out through the monitoring assembly, and the problem that welding defects are generated during welding of blind areas where the welding gun can reach but the sight line cannot reach is further solved.

Description

Blind area visible welding equipment and welding method thereof

Technical Field

The invention relates to the technical field of welding processing, in particular to blind area visible welding equipment and a method thereof.

Background

Various welding conditions may occur during manufacturing of welded products and repair of equipment. When a welder welds, the welder can observe a molten pool through a lens in the mask under most conditions, and adjust the hand action to obtain a qualified welding line; the narrow welding seam can be observed by eyes as long as the head of a welder can enter or a reflector is used for reverse imaging, and the welder with high level can reluctantly complete the welding.

However, if the welding space is extremely narrow and the sight line is limited, the welding gun can reach and the sight line cannot reach, but when welding is necessary, the welding quality is difficult to guarantee:

1. the arc striking cannot be positioned at the position to be welded, no effective welding line exists, and the surface of a workpiece is damaged;

2. the electric arc stays for too long time, a welding pool is enlarged, burning-through is easy to generate, a welding line is ultra-wide, the welding line is coarse in structure, and the mechanical property is poor;

3. the shape of the molten pool is invisible, the height, width and thickness of the welding seam are invisible, and the forming is poor;

4. the joint condition of the welding pool and the workpiece cannot be observed, and the fusion and the penetration are easy to occur;

5. the distance between a welding gun nozzle and a workpiece is not easy to master, (1) during argon arc welding, the distance is short, the short circuit is easy, tungsten is clamped, the length of an electric arc with long distance is increased, the swing amplitude of the electric arc is large, the fusion depth is small, the forming is poor, air invades into the electric arc, and welding gas has poor protection on a molten pool and generates air holes; (2) short distance and easy short circuit and overheating of a contact tube during gas metal arc welding; the arc is too long, the extending length of the welding wire is increased, the current and voltage are unstable, the forming is poor, the splashing is large, the fusion is poor, air is easy to invade into the arc, a molten pool is easy to oxidize, and air holes are generated;

6. the traditional flexible bent pipe is welded for a long time under heavy current, red copper conductive belts are electrified and generate heat, copper materials are softened, a welding gun is too flexible, lacks rigidity and has poor directivity, and the far end of the welding gun is suspended and cannot move according to a set direction due to gravity during welding, so that welding deviation is caused; when welding in a narrow space is carried out, if a nozzle is contacted with a workpiece, because the bent pipe of the welding gun has no rigidity, the angle between the nozzle and the workpiece is changed, electric arcs deviate from the center of a welding seam, and the defects of fusion failure and undercut of the welding seam are easily generated;

7. the traditional flexible argon arc welding gun cannot carry out swing type welding, the swing type welding method is an application method of directly pressing a welding gun nozzle on a welding seam groove, utilizing the large swing of a wrist to enable the nozzle to slowly move forwards along a zigzag shape in a rolling friction mode with two sides of the groove, and using electric arc to heat and melt a blunt edge of the groove and filled welding wires to form a welding seam. When the traditional flexible welding gun is used for swing welding, pressure is applied to a wrist through the welding gun and is transmitted to a nozzle, red copper of a bent pipe is heated and softened along with the prolonging of welding time, and plastic deformation is generated under the action of the pressure, so that the nozzle of the welding gun is gradually horizontal to a welding seam, a tungsten electrode at the center of the nozzle is horizontal therewith, an electric arc cannot normally heat a molten pool, the welding seam is easy to generate an unfused defect, the flowing direction of protective gas in the nozzle is not right opposite to the molten pool, air holes are easy to generate, and the quality.

Disclosure of Invention

The invention aims to provide blind area visible welding equipment and a welding method thereof, which can effectively overcome the defects in the prior art, solve the problem of limited space welding during manufacturing and equipment repairing of welding products and ensure the welding quality.

The technical scheme of the invention is as follows:

the blind area visible welding equipment comprises a wire feeding welding gun, an installation platform, a detection assembly, a monitoring assembly, a gas circuit assembly and a welding swing device. The welding wobbler comprises a radial spherical plain bearing, the radial spherical plain bearing comprises a spherical inner spherical body of the spherical plain bearing and an outer spherical body of the spherical plain bearing, and the center of the spherical inner spherical body of the spherical plain bearing is provided with a fixed through hole for a nozzle of a wire feeding welding gun to penetrate and be installed; the mounting platform is arranged at the outer edge of the welding swing device; the monitoring assembly is hinged and fixed on the mounting platform; the wire feeding welding gun comprises a flexible welding gun bent pipe which is of a six-layer structure and sequentially comprises a steel spring pipe, a first silicon rubber insulating pipe, a red copper wire layer, a second silicon rubber insulating pipe, a stainless steel corrugated pipe and a third silicon rubber insulating pipe from inside to outside.

Wherein: the wire diameter of the steel spring pipe is 1.4-1.6 mm, the outer diameter is 4.5-5.5 mm, the inner diameter is 1.8-2.2 mm, and the material is 65Mn carbon spring steel; the thickness of the first silica gel insulating tube is 0.4-0.6 mm, and the thickness of the second silica gel insulating tube 4 and the third silica gel insulating tube 6 is 0.8-1.0 mm; the red copper stranded wire layer is composed of a plurality of strands of red copper stranded wires, the diameter of a single strand of each strand of red copper stranded wire is 2mm, and 14 strands of red copper stranded wires are arranged; a protective gap is arranged between the steel spring tube and the second silica gel insulating tube, and the protective gap is 2 mm; the thickness of the stainless steel corrugated pipe is 0.5-0.8 mm, and the material of the stainless steel corrugated pipe is 304 stainless steel corrugated pipe.

Wherein: the arc length of the inner ball body of the joint bearing is larger than that of the outer ball body of the joint bearing, so that a single-side swing angle is formed between the inner ball body and the outer ball body of the joint bearing, the single-side swing angle is 15-16 degrees, and full-angle rotation of the nozzle is achieved by 30-32 degrees.

Wherein: the welding wobbler is characterized in that spring telescopic rods with adjustable heights are respectively arranged on two sides of a radial spherical plain bearing, each spring telescopic rod comprises a telescopic outer rod and a telescopic inner rod, the upper end of the telescopic inner rod extends into the telescopic outer rod, a compression spring elastically abutting against the telescopic inner rod is arranged in the telescopic outer rod, the lower end of the telescopic inner rod is connected with walking wheels, a welding spattering baffle plate is arranged on the inner side of the spring telescopic rod, the welding spattering baffle plate is made of steel, and anti-spattering paste is coated on the inner side of the; the welding splash baffle is a plate-shaped structure larger than the traveling wheels so as to provide effective heat insulation and high-temperature melting splash.

Wherein: the detection assembly comprises an ultrasonic distance sensor, a laser centering indicator lamp and a non-contact infrared temperature measuring probe.

Wherein: the monitoring assembly comprises an induction dimming electric welding and polishing dual-purpose lens, and one end of the induction dimming electric welding and polishing dual-purpose lens is hinged to the mounting platform; the lower side of the induction light-changing electric welding and polishing dual-purpose lens is provided with an LED light belt protected by an outer protection lens, and the upper side of the induction light-changing electric welding and polishing dual-purpose lens is attached with a camera.

Wherein: the gas circuit subassembly contains two kinds of exhaust structures, and first kind of exhaust structure contains and uses the single tube to arrange the hole structure and retrace exhaust cooling smoke abatement blast pipe from monitoring subassembly below, and second kind of exhaust structure is for installing to mounting platform's the protection gas circuit that sweeps.

Wherein: still contain a safety cover, the safety cover is located monitoring subassembly and detecting component's the outside in order to provide the protection, and the safety cover that is located the monitoring subassembly outside and the safety cover accessible flexible connection area that is located the detecting component outside are connected to fix through safety cover fixing bolt.

Wherein: the outer layer of the protective cover is an insulating layer, and the inner layer is a steel metal layer so as to avoid electromagnetic interference from influencing data stability.

Also discloses a welding method of the blind zone visual welding equipment, which is characterized by comprising the following steps:

the method comprises the following steps: installing blind area visual welding equipment;

step two: cleaning the part to be welded in the blind area before welding, and observing the condition of the part to be welded, including the length and width of the part to be welded, the position of a welding space and the surface pollution condition;

step three: determining a welding method and installing a proper welding gun according to the type of the metal to be welded and the condition to be welded, and using an automatic wire feeding argon arc welding gun when the thickness of the workpiece is 6mm or less; protecting a welding gun by using consumable electrode gas when the thickness of the workpiece is 6mm or more;

step four: adjusting the angle and the distance between a spring telescopic rod and the radial spherical plain bearing, adjusting the upper and lower positions of a welding gun and a welding wobbler, positioning the distance between a welding gun nozzle and a workpiece, and performing trial welding;

step five: performing visual welding, namely, deeply penetrating a welding gun into a position to be welded, and adjusting the bending angle of a bent pipe of the flexible welding gun to enable a welding seam to be positioned at a reachable position of the welding gun for preparing welding; after the arc starts, the welding method is corrected in time according to the condition of the molten pool monitored in the display, and the swing width, the swing speed, the retention time and the advancing speed are adjusted through the welding swing device to gradually complete the welding;

step six: and stopping the arc after welding.

The blind zone visible welding equipment and the welding method thereof have the beneficial effects that:

(1) the structure is simple, the maintenance is convenient, the radiant heat and the splashing of the electric arc are effectively isolated, the electric appliance elements are effectively protected and cooled, and the equipment is not easy to damage;

(2) the operation is convenient, the application is wider, and the width and the depth of a welding seam of the welding seam can be effectively matched; the welding seam form can be used for butt joints, angle joints, T-shaped joints and lap joints; the method can be used for thin plates and medium plates with grooves; can be used for welding easily oxidized metal aluminum, titanium and stainless steel;

(3) the size, the temperature, the welding gun angle and the welding gun centering condition of a molten pool of a welding joint can be quickly known through monitoring and detecting elements of the blind zone visual welding equipment, and the blind zone welding can be quickly and conveniently realized;

(4) protective gas is conveyed in advance during welding, and is stopped after the welding is finished, so that the easily oxidized molten pool metal is subjected to time delay protection, and the method can be used for welding easily oxidized metal aluminum, titanium and stainless steel;

(5) the equipment is small and exquisite, the movement track of the welding gun is controlled and flexible, and the problem of limited space welding during manufacturing and repairing of welding products is effectively solved; the welding of the flat welding position, the vertical welding position, the horizontal welding position and the overhead welding position can be carried out; and the welding quality is ensured, and the service life is prolonged.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of the blind zone visible welding device of the present invention.

FIG. 2 is a schematic structural diagram of another embodiment of the blind zone visible welding apparatus of the present invention.

Fig. 3A is a schematic structural diagram of a flexible arc tube of a welding torch according to the present invention.

Fig. 3B is a cross-sectional view of a flexible elbow of the invention.

FIG. 4 is a schematic view of the assembly of the welding gun and the wobbler in the present invention.

Fig. 5A, 5B and 5C are three-dimensional schematic views of the wobbler according to the present invention.

Fig. 6 is a schematic structural view of the radial spherical plain bearing of the present invention.

Fig. 7 is a top view of a welding torch according to the present invention.

Fig. 8 is a layout diagram in the present invention.

FIGS. 9A and 9B are schematic structural views of the dimmer arc monitoring assembly of the present invention.

FIG. 10 is a schematic view of the display of the present invention.

In the figure: 1. a steel spring tube; 2. a first silicone rubber insulating tube; 3. a red copper stranded wire layer; 4. a second silicone rubber insulating tube; 5. a stainless steel bellows; 6. a third silicone rubber insulating tube; 7. a red copper sleeve pressure head; 8. a brass fitting; 9. a spherical body in the joint bearing; 10. a spherical outer body of the spherical plain bearing; 11. a single-side swing angle; 12. a welding gun fixing bolt; 13. the spring telescopic rod is fixed with a bolt; 14. a road wheel angle adjusting bolt; 15. welding a splash baffle; 16. a spring telescopic rod; 17. a traveling wheel; 18. a radial spherical plain bearing; 19. purging a protection gas circuit; 20. an ultrasonic distance sensor; 21. laser centering indicator light; 22. a non-contact infrared temperature measuring probe; 23. mounting a platform; 24. a nozzle; 25. bending a flexible welding gun; 26. a welding gun handle; 27. a bus; 28. a camera; 29. induction light-changing electric welding and polishing dual-purpose lenses; 30, an LED strip; 31. an outer protective lens; 32. cooling the smoke-removing exhaust pipe; 33. argon arc welding wire feeding pipe; 34. welding a switch; 35. a protective cover; 36. an adjustable hinge; 37. a flexible connecting band; 38. a protective cover fixing bolt; 39. a display.

Detailed Description

The following further describes the embodiments with reference to the drawings.

As shown in fig. 1 and 2, two embodiments of the blind zone visible welding device are schematically shown. Fig. 1 shows a schematic structural diagram of an automatic wire-feeding argon arc welding gun adopted by the blind zone visual welding equipment, and fig. 2 shows a schematic structural diagram of a consumable electrode gas shielded welding gun adopted by the blind zone visual welding equipment. Because the gas shielded welding is divided into two modes of non-melting electrode (argon arc welding) and melting electrode, two welding guns are used for feeding wires according to different welding modes. The first is an automatic wire feeding argon arc welding gun which feeds welding wires through an insulated argon arc welding wire feeding pipe (33) during welding; the second type is a gas metal arc welding gun, which can distribute two types of welding wires, namely solid welding wires and flux cores according to the field requirements and the metal properties, wherein the flux cores can be divided into gas slag protection and self-protection.

Referring to fig. 1 and 2, the blind zone visible welding equipment of the invention comprises a wire-feeding welding gun, a mounting platform (23), a detection assembly, a monitoring assembly, a gas path assembly and a welding wobbler, wherein the wire-feeding welding gun comprises a specially designed flexible welding gun elbow (25). As shown in fig. 3A and 3B, flexible welding gun elbow (25) is a six-layer structure, the six-layer structure is sequentially a steel spring pipe (1), a first silicon rubber insulating pipe (2), a red copper hinge line layer (3), a second silicon rubber insulating pipe (4), a stainless steel corrugated pipe (5) and a third silicon rubber insulating pipe (6) from inside to outside, the first silicon rubber insulating pipe (2) is sleeved outside the steel spring pipe (1) on the innermost layer, two ends of the red copper hinge line layer (3) are respectively crimped on a brass joint (8) through a red copper sleeve pressure head (7), the second silicon rubber insulating pipe (4) is sleeved outside the red copper hinge line layer (3), the stainless steel corrugated pipe (5) which is preferably 0.5mm thick is sleeved outside the second silicon rubber insulating pipe (4), the third silicon rubber insulating pipe (6) is arranged on the outermost side, and the deformable structure can be guaranteed through the arrangement of the six-layer structure, Has rigidity, large current, difficult thermal softening and good insulating property.

In a preferred embodiment, the specific parameters of the steel spring tube 1 are wire diameter 1.4-1.6 mm, outer diameter 4.5-5.5 mm, inner diameter 1.8-2.2 mm and material 65Mn carbon spring steel, through the parameter settings, it can provide a smooth channel for welding wire conveying, and simultaneously provide stable bending rigidity for a welding gun, so as to avoid that the welding wire is extruded when being conveyed due to excessive bending operation of the welding gun, and the steel spring tube can be additionally supported for the red copper stranded wire layer 3, so that the red copper stranded wire layer is prevented from being loose after being bent for many times and extruding an inner space.

In a preferred embodiment, the thickness of the first silica gel insulating tube is preferably 0.4-0.6 mm, and the thickness of the second silica gel insulating tube 4 and the third silica gel insulating tube 6 is preferably 0.8-1.0 mm, so that the insulation, corrosion prevention and flexible deformation can be realized.

In a preferred embodiment, the red copper stranded wire layer 3 is formed by a plurality of red copper stranded wires, each strand of red copper stranded wire has a single strand diameter of 2mm, and preferably 14 strands of red copper stranded wires have good electric conductivity and are flexible and deformable.

Wherein, because first silica gel insulating tube (2) are thinner, closely laminate with red copper strand layer (3), the internal diameter of steel spring pipe (1) is than the internal diameter of second silica gel insulating tube (2) 2mm less, is equipped with a protection clearance between the two, the existence in protection clearance can be regarded as the gas delivery district with the guide welding gas, and the existence in protection clearance can provide the resistance heat that red copper strand layer produced when heavy current welding simultaneously, can obtain the effective cooling of flowing welding gas, and in addition, during consumable electrode gas shielded welding, the welding wire continuously advances, with send the friction of wire pipe to generate heat, the flowing welding gas in the clearance is favorable to the gas cooling effect.

In a preferred embodiment, the thickness of the stainless steel corrugated pipe 5 is 0.5-0.8 mm, the material is 304 stainless steel corrugated pipe, and the stainless steel corrugated pipe can provide elastic properties of flexible deformation, so that the technical problems that after a common flexible welding gun is welded for a long time, a red copper stranded wire conducts electricity under a large current and is bent for multiple times, the shaping capability is poor after softening, and the welding gun is easy to weld off-center when the tail end of the welding gun is slightly contacted with a workpiece during welding are effectively solved. The stainless steel corrugated pipe can provide stable and reliable strength, has good plasticity and toughness and good heat resistance, is not in a power receiving state, can provide better shaping than a conventional welding gun, ensures the welding quality, is a replaceable element and has long service life. The consumable gas shield torch in fig. 1 and 2 is identical to the flexible torch elbow 25 of the argon arc torch.

Referring to fig. 4, 5A, 5B, 5C and 6, the welding wobbler includes a radial spherical bearing (18), the radial spherical bearing (18) includes a spherical bearing inner ball (9) and a spherical bearing outer ball (10), the spherical bearing outer ball (10) is a cylindrical structure with a through hole inside and has an inner spherical surface inside, the outer edge of the spherical bearing inner ball (9) is an outer spherical surface matching the inner spherical surface, the center of the spherical bearing inner ball (9) is provided with a fixing through hole for a nozzle (24) to pass through, the radial spherical bearing (18) with a corresponding inner diameter can be selected according to the nozzle diameter of a welding gun, the arc length of the spherical bearing inner ball (9) is greater than the spherical bearing outer ball (10) so that a single-side oscillation angle (11) is formed between the spherical bearing inner ball and the spherical bearing outer ball (10), the single-side oscillation angle (11) is preferably 15-16 degrees, therefore, the nozzle (24) is installed in the radial spherical plain bearing (18) and is preferably fixed by a welding gun fixing bolt (12) through a threaded fastener, the radial spherical plain bearing (18) is a spherical sliding bearing, so that the nozzle can rotate by 30-32 full angles, and can swing around any circumference within a swing angle of 30-32 degrees in the process of welding according to the width and the thickness of a welding line.

Wherein, but height-adjusting's spring telescopic link (16) is installed respectively in the both sides of welding wiggler at radial spherical plain bearing (18), spring telescopic link (16) contain flexible outer pole and flexible interior pole, the upper end of flexible outer pole is fixed to radial spherical plain bearing (18) through spring telescopic link fixing bolt (13), fixes the both sides to the outer spheroid of spherical plain bearing (10) promptly, the upper end of flexible interior pole stretches into in the flexible outer pole, and flexible outer pole embeds there is the compression spring that elasticity supported and lean on flexible interior pole, run through walking wheel angle adjusting bolt (14) that are equipped with location flexible interior pole on the flexible outer pole. Preferably, a plurality of positioning grooves for positioning the walking wheel angle adjusting bolts are formed in the telescopic inner rod at intervals, and the lower end of the telescopic inner rod is connected with walking wheels (17), so that welding seams of outer corners and inner corners can be randomly and independently adjusted.

Wherein, the inboard of spring telescopic link (16) is equipped with welding fender (15) that splashes, the welding fender that splashes is the steel, and the inboard is scribbled and is prevented the cream that splashes, the welding fender that splashes prevents walking wheel and spring support pole overheat for being greater than the platelike structure of walking wheel (17) in order to provide effectual thermal-insulated to effectively avoid walking wheel and bracing piece action jamming, can also prevent that the adhesion that splashes that high temperature melts from forming firm welding between walking wheel and the spring support pole, resulting in not moving.

The mounting platform (23) is arranged at the outer edge of the welding wobbler to mount a fixed detection assembly, a monitoring assembly and a gas circuit assembly, is light and firm, and is shown in fig. 7 and 8, a purging protection gas circuit (19) in the gas circuit assembly is arranged at one side of the mounting platform (23), an ultrasonic distance sensor (20), a laser centering indicator lamp (21) and a non-contact infrared temperature measuring probe (22) in the detection assembly are arranged at the other side of the mounting platform (23), the laser centering indicator lamp (21) is used for welding seam centering indication, the ultrasonic distance sensor (20) detects the distance from a welding gun nozzle to a workpiece, and the non-contact infrared temperature measuring probe (22) detects the temperature of a welding seam and a near seam area.

Referring to fig. 1, fig. 2, fig. 9A and fig. 9B, the monitoring assembly is hinged and fixed on one side of the mounting platform (23) through an adjustable hinge (36) and is fastened through threads so as to be convenient for adjustment and positioning, the monitoring assembly comprises an induction dimming electric welding and polishing dual-purpose lens (29), one end of the lens is hinged to the mounting platform (23), an LED light belt (30) protected by an outer protective lens (31) (preferably white glass) is arranged below the induction dimming electric welding and polishing dual-purpose lens (29), and a camera (28) is tightly attached to the upper side of the lens so as to remotely observe the surface condition of a welding seam before welding, the laser centering condition, the temperature of the welding seam and a near seam area, the distance from a nozzle 24 to a workpiece, a dimming lens photosensitive element starts dimming after arc starting, and a monitoring screen displays the current conditions of electric arcs and.

Referring to fig. 1 and 2, the gas circuit assembly comprises two exhaust structures, wherein the first exhaust structure comprises a cooling smoke-removing exhaust pipe (32) which is bent and exhausted from the lower part of an induction light-changing electric welding and polishing dual-purpose lens (29) of the monitoring assembly by a single-pipe hole arrangement structure, and is used for blowing away welding smoke to prevent influence on monitoring, the second exhaust structure is a blowing and sweeping protection gas circuit (19) which is arranged to a mounting platform (23) and is exhausted along the vertical direction of a welding gun to blow a welding area before welding to remove surface impurities; the second function is to carry out time-delay protection on the easily oxidized molten pool metal;

wherein, still contain a safety cover (35), safety cover (35) are located monitoring subassembly and detecting element's the outside in order to provide the protection, and the safety cover that is located the monitoring subassembly outside and the safety cover accessible flexonics area (37) that is located the detecting element outside are connected to fix through safety cover fixing bolt (38), the skin of safety cover is the insulating layer, and the inlayer is the steel metal level, and influence data stability in order to avoid electromagnetic interference.

Referring to fig. 1, 2 and 10, the present invention further includes a welding gun handle (26) for an operator to hold and a bus (27) passing through the flexible welding gun elbow (25), where the bus (27) may include a data line, a power line, a welding wire, a gas circuit, etc., the welding gun handle (26) is provided with a welding switch (34), and the data line may be connected to an external display (39) to achieve remote observation.

A blind zone visual welding method for welding by the blind zone visual welding equipment can provide reliable welding with extremely narrow welding space and limited sight, and comprises the following steps:

the method comprises the following steps: installing blind area visual welding equipment;

step two: cleaning a to-be-welded part in a blind area before welding, adjusting an induction light-changing electric welding and polishing dual-purpose lens (29) to be in a polished plain mirror state, opening an LED lamp belt (30), matching with a camera (28), observing the condition of the to-be-welded part by using a display, and observing the to-be-welded length, width, welding space position and surface pollution conditions, wherein if the to-be-welded part has water, rust, oil and oxide dirt, the to-be-welded part needs to be cleaned up, the camera component can be fixed on an inner grinding machine and an angle grinder by using a pipe hoop for accurate polishing; dust on the surface of the part to be welded can be swept by a sweeping protective gas circuit (19) on the welding wobbler;

step three: determining a welding method and installing a proper welding gun according to the type of the metal to be welded and the condition to be welded: the thickness of the workpiece is 6mm or less, the fine welding with high requirement on the internal quality of the welding seam is realized, and an automatic wire feeding argon arc welding gun (shown in figure 1) is suitable; when the thickness of the workpiece is 6mm or more and the surface rust cannot be thoroughly cleaned, a gas metal arc welding gun (shown in figure 2) is adopted and matched with oxidizing gas to prevent the generation of pores in the welding line; the inner surface of the welding splash baffle (15) is coated with anti-splash paste;

step four: according to the form of a welding seam, the width of a groove and welding process parameters, the angle and the distance between a spring telescopic rod and a radial spherical plain bearing are adjusted, for example, in large heat input welding of flat plate groove-free butt joint, because the heat quantity on the unit length is large, the deposited metal is wide and thick, the distance between a nozzle and a workpiece can be increased along with the increase of the heat input, the opening angle of walking wheels at two sides is increased along with the increase of the heat input, and the walking wheels are prevented from being overheated; for an inner angle welding joint and a beveled butt joint, the support rods on the two sides are retracted upwards to enable the nozzle to protrude outwards, and the electrode can penetrate into the root of a welding line; the outer angle welding head, the support rods on both sides are extended outwards, and the welding gun nozzle is retracted inwards to avoid collision between the nozzle and the workpiece or too short extension of the electrode rod; adjusting the upper and lower positions of a welding gun and a welding swing device, and positioning the distance between a nozzle of the welding gun and a workpiece; adjusting an ultrasonic distance sensor (20) to match the distance between a welding gun nozzle and a workpiece, and setting a middle value, a positive alarm value and a negative alarm value, wherein the positive and negative deviation values are preferably not more than 10 mm; the laser centering indicator lamp (21) is adjusted to be coaxial with the center of the nozzle (24) and the camera (28); adjusting the measuring point of the non-contact temperature measuring probe (22) to be at the position of the welding seam at the front side, and if necessary, heating the temperature measuring instrument at the rear side to record the cooling condition of the welding seam; testing the swing angle of the radial spherical plain bearing and the compression stroke of a spring compression rod according to the conditions to be welded, such as the corners of welding seams and abrupt change positions of shapes (uneven height, uneven width and poor straightness of the welding seams), adjusting the current, the voltage and the wire feeding speed, matching the parts to be welded, and performing trial welding;

step five: visual welding is carried out, a welding gun is deeply inserted into the position to be welded, and the bending angle of the bent pipe of the flexible welding gun is adjusted, so that the welding seam is positioned at the reachable position of the welding gun; measuring whether the surface to be welded is at the required temperature by using a temperature measuring instrument; observing whether the welding gun and the infrared lamp are centered or not; whether the walking heights of the two sides of the welding wobbler need to be adjusted or not; opening the cooling smoke-removing exhaust pipe (32) (the pressure is 0.3-0.4 Mpa, and the flow is 2-3 m for carrying out the year/h); opening a purging protective gas circuit (19) as required to perform time-delay protection after welding of the welding line (for example, when argon arc welding of stainless steel and titanium alloy is performed, argon is used as time-delay protective gas, and the gas flow is 10-25L/min); if the workpiece to be welded is carbon steel, directly adsorbing the magnetic chuck on the back on the workpiece for fixing; if the workpiece to be welded is nonferrous metal, adsorbing the sticking nano paste on the back of the monitoring screen on the workpiece for fixing; adjusting the induction dimming electric welding and polishing dual-purpose lens to a dimming welding state, preparing for welding, after arc starting, according to the condition of a molten pool monitored in a display, returning information of an ultrasonic distance sensor, correcting a welding method in time, adjusting the swing width, the swing speed, the staying time and the advancing speed through a welding swing device, and adopting single-pass welding to increase the swing amplitude and the staying time at two sides of a welding seam when the width of the welding seam is 15-20 mm; when the groove depth is larger than 20mm and the groove depth is larger than 4-5 mm, in order to avoid the phenomenon that the welding deformation is increased and the impact toughness of a welding joint is deteriorated due to overlarge heat input, multilayer multi-pass welding is adopted, the width of each welding line is smaller than 20mm, and the thickness of each welding line is smaller than 4-5 mm, so that an ideal welding pool is obtained, and welding is finished; during welding, if dirt such as splashing exists on the protective sheet, the observation of a welding seam is influenced, and the protective sheet is required to be replaced in time;

step six: and stopping the arc after welding, wherein the welding seam is under delayed protection of lagging and stopping gas, and the evacuation time of the welding gun is determined according to the temperature information of the welding seam returned by the thermodetector. For example, during argon arc welding of aluminum, stainless steel, titanium alloy and nickel alloy, according to the width of a welding seam and the size of a molten pool, protective gas lags and stops gas for 20-30 s, the welding gun can be evacuated when the temperature of the welding seam is lower than 200 ℃, harmful gas such as hydrogen, oxygen and nitrogen is prevented from entering molten pool metal, alloy elements are prevented from being oxidized and embrittled, and the performance of a welding joint is reduced.

Therefore, the invention can carry out welding at the position of flat welding, vertical welding, horizontal welding and overhead welding; during welding, the welding gun can swing at any circumference within a 30-degree swing angle according to the width and the thickness of a welding seam, the application range is greatly improved, real-time information feedback is carried out through the monitoring assembly, and the problem that welding defects are generated during welding of blind areas where the welding gun can reach but the sight line cannot reach is further solved.

Claims (10)

1. The utility model provides a visual welding equipment of blind area, includes send a welder, mounting platform, determine module, monitoring subassembly, gas circuit subassembly and welding and sways the ware, its characterized in that: the welding wobbler comprises a radial spherical plain bearing, the radial spherical plain bearing comprises a spherical inner spherical body of the spherical plain bearing and an outer spherical body of the spherical plain bearing, and the center of the spherical inner spherical body of the spherical plain bearing is provided with a fixed through hole for a nozzle of a wire feeding welding gun to penetrate and be installed; the mounting platform is arranged at the outer edge of the welding swing device; the monitoring assembly is hinged and fixed on the mounting platform; the wire feeding welding gun comprises a flexible welding gun bent pipe which is of a six-layer structure and sequentially comprises a steel spring pipe, a first silicon rubber insulating pipe, a red copper wire layer, a second silicon rubber insulating pipe, a stainless steel corrugated pipe and a third silicon rubber insulating pipe from inside to outside.

2. The blind spot visual welding apparatus of claim 1, wherein: the wire diameter of the steel spring pipe is 1.4-1.6 mm, the outer diameter is 4.5-5.5 mm, the inner diameter is 1.8-2.2 mm, and the material is 65Mn carbon spring steel; the thickness of the first silica gel insulating tube is 0.4-0.6 mm, and the thickness of the second silica gel insulating tube 4 and the third silica gel insulating tube 6 is 0.8-1.0 mm; the red copper stranded wire layer is composed of a plurality of strands of red copper stranded wires, the diameter of a single strand of each strand of red copper stranded wire is 2mm, and 14 strands of red copper stranded wires are arranged; a protective gap is arranged between the steel spring tube and the second silica gel insulating tube, and the protective gap is 2 mm; the thickness of the stainless steel corrugated pipe is 0.5-0.8 mm, and the material of the stainless steel corrugated pipe is 304 stainless steel corrugated pipe.

3. The blind spot visual welding apparatus of claim 1, wherein: the arc length of the inner ball body of the joint bearing is larger than that of the outer ball body of the joint bearing, so that a single-side swing angle is formed between the inner ball body and the outer ball body of the joint bearing, the single-side swing angle is 15-16 degrees, and full-angle rotation of the nozzle is achieved by 30-32 degrees.

4. The blind spot visual welding apparatus of claim 1, wherein: the welding wobbler is characterized in that spring telescopic rods with adjustable heights are respectively arranged on two sides of a radial spherical plain bearing, each spring telescopic rod comprises a telescopic outer rod and a telescopic inner rod, the upper end of the telescopic inner rod extends into the telescopic outer rod, a compression spring elastically abutting against the telescopic inner rod is arranged in the telescopic outer rod, the lower end of the telescopic inner rod is connected with walking wheels, a welding spattering baffle plate is arranged on the inner side of the spring telescopic rod, the welding spattering baffle plate is made of steel, and anti-spattering paste is coated on the inner side of the; the welding splash baffle is a plate-shaped structure larger than the traveling wheels so as to provide effective heat insulation and high-temperature melting splash.

5. The blind spot visual welding apparatus of claim 1, wherein: the detection assembly comprises an ultrasonic distance sensor, a laser centering indicator lamp and a non-contact infrared temperature measuring probe.

6. The blind spot visual welding apparatus of claim 1, wherein: the monitoring assembly comprises an induction dimming electric welding and polishing dual-purpose lens, and one end of the induction dimming electric welding and polishing dual-purpose lens is hinged to the mounting platform; the lower side of the induction light-changing electric welding and polishing dual-purpose lens is provided with an LED light belt protected by an outer protection lens, and the upper side of the induction light-changing electric welding and polishing dual-purpose lens is attached with a camera.

7. The blind spot visual welding apparatus of claim 1, wherein: the gas circuit subassembly contains two kinds of exhaust structures, and first kind of exhaust structure contains and uses the single tube to arrange the hole structure and retrace exhaust cooling smoke abatement blast pipe from monitoring subassembly below, and second kind of exhaust structure is for installing to mounting platform's the protection gas circuit that sweeps.

8. The blind spot visual welding apparatus of claim 1, wherein: still contain a safety cover, the safety cover is located monitoring subassembly and detecting component's the outside in order to provide the protection, and the safety cover that is located the monitoring subassembly outside and the safety cover accessible flexible connection area that is located the detecting component outside are connected to fix through safety cover fixing bolt.

9. The blind spot visual welding apparatus of claim 8, wherein: the outer layer of the protective cover is an insulating layer, and the inner layer is a steel metal layer so as to avoid electromagnetic interference from influencing data stability.

10. A welding method of blind zone visual welding equipment is characterized by comprising the following steps:

the method comprises the following steps: installing blind area visual welding equipment;

step two: cleaning the part to be welded in the blind area before welding, and observing the condition of the part to be welded, including the length and width of the part to be welded, the position of a welding space and the surface pollution condition;

step three: determining a welding method and installing a proper welding gun according to the type of the metal to be welded and the condition to be welded, and using an automatic wire feeding argon arc welding gun when the thickness of the workpiece is 6mm or less; protecting a welding gun by using consumable electrode gas when the thickness of the workpiece is 6mm or more;

step four: adjusting the angle and the distance between a spring telescopic rod and the radial spherical plain bearing, adjusting the upper and lower positions of a welding gun and a welding wobbler, positioning the distance between a welding gun nozzle and a workpiece, and performing trial welding;

step five: performing visual welding, namely, deeply penetrating a welding gun into a position to be welded, and adjusting the bending angle of a bent pipe of the flexible welding gun to enable a welding seam to be positioned at a reachable position of the welding gun for preparing welding; after the arc starts, the welding method is corrected in time according to the condition of the molten pool monitored in the display, and the swing width, the swing speed, the retention time and the advancing speed are adjusted through the welding swing device to gradually complete the welding;

step six: and stopping the arc after welding.

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