CN216298363U

CN216298363U - Simulation tracking device for debugging welding seam tracking device

Info

Publication number: CN216298363U
Application number: CN202122765683.8U
Authority: CN
Inventors: 高向东; 王静静; 张艳喜
Original assignee: Guangdong University of Technology
Current assignee: Guangdong University of Technology
Priority date: 2021-11-11
Filing date: 2021-11-11
Publication date: 2022-04-15
Anticipated expiration: 2031-11-11

Abstract

The utility model provides a simulation tracking device for debugging a welding seam tracking device, which comprises a mounting frame, a welding gun, a deviation correcting mechanism, a controller and a camera device, wherein the welding gun is fixed on the mounting frame and is used for welding a workpiece, one end of the deviation correcting mechanism is fixed on the mounting frame, the other end of the deviation correcting mechanism is connected with the tail end of external welding equipment and is used for adjusting a welding position, the controller is connected with the deviation correcting mechanism and is used for controlling the welding gun to perform welding seam tracking, the camera device is connected on the mounting frame and is used for identifying a welding seam melting pool, the camera device is movably connected with the mounting frame through an adjusting mechanism, and a lens clamp for additionally arranging a lens is arranged at the lens end of the camera device. The method can meet the debugging requirement of the existing welding seam tracking device for accurately adjusting various parameters of the camera before production, can continuously debug the installation angle, the filtering effect and the identification accuracy of the camera through experiments, determines the optimal camera shooting parameters, and ensures that the welding seam tracking device produced according to the parameters has accurate tracking application performance.

Description

Simulation tracking device for debugging welding seam tracking device

Technical Field

The utility model relates to the technical field of welding seam tracking devices, in particular to a simulation tracking device for debugging a welding seam tracking device.

Background

Industrial welding robots typically employ a "teaching-playback" mode of operation in which they can repeat the taught actions within their working space with high precision during the robot welding process. However, in the actual welding process, because the industrial robot is working to avoid danger, the operator is inaccurate or should not enter the working area of the robot, so that the operator cannot monitor the welding in real time at a close distance, and cannot make necessary adjustment control, when the actual welding conditions change, for example, the change of factors such as the size error and the position deviation of the workpiece in the welding process in the machining and assembling processes, the heating deformation of the workpiece, and the like, the joint position deviates from the taught path, and the welding quality is often reduced or even fails. At present, a system for automatically tracking a welding seam begins to appear, and a molten pool generated by welding is mostly adopted for identification, tracking and identification, for example, Chinese patent document with publication number CN214161718U discloses a welding seam tracking adjusting device for twin-wire submerged arc automatic welding and a twin-wire submerged arc automatic welding device, which comprise a welding seam tracking sensor, a welding gun, a deviation-correcting robot and a control module, wherein the welding seam tracking sensor is clamped on the welding gun at an acute angle to form a visual welding gun, and the visual welding gun is clamped on a tail end execution part of the deviation-correcting robot; the deviation-correcting robot and the welding seam tracking sensor are simultaneously connected with the control module, so that the welding seam quality is ensured and the welding defects are reduced when the welding seam deviation is automatically adjusted and the welding speed is improved.

The appearance of current welding seam tracking scheme can improve welding quality to a certain extent, because its camera of this kind of scheme is fixed with the soldered connection, the welding seam tracking device of production this kind need guarantee accurately that the camera sets up the angle and to the discernment precision of welding seam molten bath among the welding process, because can produce the highlight during welding, the camera needs possess certain light filtering and subtract light function, shoot near the molten bath or the light of near wavelength of laser, so will select suitable camera that just can reach accurate discernment, just can guarantee in the actual production process, can accurately carry out the discernment of welding seam molten bath, the welding seam tracking device who guarantees to produce has accurate pursuit performance of application when using. Therefore, a debugging device which can be used for accurately determining various parameters of a lens of the camera before the production of the welding seam tracking device is necessary for the welding seam tracking device with high production precision and high identification efficiency.

SUMMERY OF THE UTILITY MODEL

The utility model aims to meet the debugging requirement of accurately adjusting various parameters of a camera of the existing welding seam tracking device before production, and provides a simulation tracking device for debugging the welding seam tracking device. According to the utility model, the installation angle of the camera, the filtering effect and the recognition accuracy can be continuously debugged through experiments, the optimal shooting parameters are determined, and the accurate tracking application performance of the welding seam tracking device in sequential parameter production is ensured.

In order to solve the technical problems, the utility model adopts the technical scheme that:

the utility model provides a simulation tracer for welding seam tracer debugging, including the mounting bracket, be fixed in on the mounting bracket and be used for welding workpiece's welder, one end is fixed in on the mounting bracket, the other end is connected the terminal deviation correcting mechanism who just is used for adjusting the welding position of external welding equipment, connect deviation correcting mechanism and be used for controlling welder and carry out the controller that the welding seam was tracked, connect on the mounting bracket and be used for discerning the camera device of welding seam molten bath, through adjustment mechanism swing joint between camera device and the mounting bracket, camera device's camera lens end still is equipped with the lens anchor clamps that are used for addding the lens.

Thus, the camera device, the welding gun, the deviation correcting mechanism and the controller are integrated into a simulation tracking device for tracking the welding seam, the device is fixed at the tail end of the welding equipment to replace external welding equipment to install the welding gun, the welding equipment moves according to the original path after updating the offset, when the camera device shoots images to know that the welding gun deviates from the welding seam, the images are transmitted back to the controller, the device controls the deviation correcting mechanism to correct the position of the welding gun, the welding line is ensured not to deviate from the welding seam, the working process of simulating the tracking of the welding seam is realized, and meanwhile, the installation angle of the camera device can be adjusted through the adjusting mechanism in the process of simulating the tracking of the welding seam so as to adapt to different test requirements in a parameter adjusting test; different light filters or light reduction sheets can be added or replaced in the parameter adjustment test through the lens clamp, because different dimming degrees and light filtering wavelength ranges need to be debugged under different welding conditions, different lenses are replaced or added to block strong light during welding, for example, the light filters filter out light of other colors, and light of wavelengths near a molten pool or near laser is shot to debug the most suitable lens group parameters. The device of the utility model can be used for fixing the parameters of equipment in a laboratory stage, and can be used for manufacturing the welding seam tracking device according to the parameters and the lens combination by determining various degrees of freedom and lens combinations of the camera device.

It should be noted that the present invention can also be installed on a multi-axis motion device, i.e. it can realize the motion along a certain set path, and the installation of the present invention device by using the existing welding equipment or multi-axis motion device does not affect the realization of the object of the present invention.

Further, still swing joint has the light filling lamp that is used for giving camera device auxiliary lighting on the mounting bracket, sets up the first spout that supplies the motion of light filling lamp on the mounting bracket.

Further, still swing joint has the laser tracker on the mounting bracket, offers the second spout that supplies the motion of laser tracker on the mounting bracket.

Therefore, the light supplement lamp can be used for assisting in providing a light source for the camera device and simulating parameter debugging of the camera under different brightness; the laser tracker emits laser rays to irradiate the welding seam, cut-off points corresponding to the shape characteristics of the welding seam can be projected when the laser rays irradiate the welding seam, the camera device captures the cut-off points by shooting the laser rays, the welding seam characteristics are identified, and the tracking target position of the welding torch is calculated through the characteristic position, so that the purposes of identification and tracking are achieved.

It should be noted that the mounting position of the laser tracker and the mounting position of the light supplement lamp can be flexibly adjusted or interchanged according to the swing angle or different positions of the camera device, so as to achieve the purpose that the camera device is convenient for shooting, tracking and accurately identifying, and therefore, the concrete positions of the chutes corresponding to the laser tracker and the light supplement lamp are arranged on the mounting frame, and the angles of the laser tracker and the light supplement lamp arranged in the chutes for adjustment are not affected.

Furthermore, the adjusting mechanism comprises a linear motion assembly movably connected to the mounting frame and a rotary motion assembly movably connected to the linear motion assembly, and the camera device is mounted on the rotary motion assembly.

Further, the linear motion assembly comprises a first sliding block movably connected to the mounting frame, and a third sliding groove for the first sliding block to move transversely is formed in the mounting frame; the second sliding block is movably connected to the first sliding block, and the first sliding block is provided with a first sliding rail for the second sliding block to perform lifting motion; and the third sliding block is movably connected to the second sliding block, and a second sliding rail for the third sliding block to perform lifting motion is arranged on the second sliding block.

Furthermore, the rotary motion assembly comprises a worm gear piece fixed on the third sliding block, a worm piece in transmission connection with the worm gear piece, and a manual adjusting knob connected with the worm piece and used for controlling the rotation of the worm piece, and the camera device is installed on the worm gear piece.

Therefore, the first sliding block can drive the device arranged on the first sliding block to transversely translate through the third sliding groove, when the second sliding block is connected to the first sliding block, the third sliding block is connected to the second sliding block, and the third sliding block can have double strokes relative to the first sliding block under the extension of the first sliding rail and the second sliding rail; meanwhile, the camera device rotates by a worm and gear structure, manual rotation is realized by a manual adjusting knob, and no additional fixing screw is needed to deflect due to vibration.

Further, the mechanism of rectifying includes the lead screw slip table with mounting bracket fixed connection, and the lead screw of establishing in the lead screw slip table is worn in the activity, and the both ends of fixed lead screw just are used for fixing at the terminal fixing base of welding equipment to and connect fixing base and output shaft and lead screw connection's motor.

Further, lens anchor clamps include the sleeve of being connected with camera device's camera lens can be dismantled, with muffjoint's first clamping jaw and second clamping jaw, and the one end of first clamping jaw and second clamping jaw passes through the torsional spring symmetry and articulates on the sleeve lateral wall, sets up the other end that supplies first clamping jaw and second clamping jaw on the sleeve and passes and be used for the inside through-hole of waiting to place the lens of butt sleeve.

Further, the sleeve includes upper sleeve and lower sleeve, and the interior circle diameter of upper sleeve suits and is greater than the interior circle diameter of lower sleeve with treating to place the lens, and the through-hole is seted up on the upper sleeve.

Furthermore, the diameter of the outer circle of the lower sleeve is matched with the diameter of the inner circle of the upper sleeve, and corresponding locking holes are formed in the upper sleeve and the lower sleeve respectively.

It should be noted that the first clamping jaw and the second clamping jaw are generally kept in a clamping state by default, the head parts of the clamping jaws can be provided with chamfers with different inclination angles, so that the lens can be placed more naturally, the lens can be placed on the clamp, the lens can be aligned and slide down by simply opening the clamping jaws, the axial movement of the lens can be limited, and the coaxiality of the lens and the clamp can be improved; the position outside the through hole on the sleeve forms a limiting effect on the inner side position of the clamping jaw and is used for limiting the closed limit position of the clamping jaw; the two ends of the upper sleeve and the lower sleeve are provided with locking holes for additionally arranging fastening bolts, so that the connection between different lens clamps can be realized while the lens clamps are fixed, and multilayer nesting is realized.

Compared with the prior art, the utility model has the beneficial effects that:

(1) the utility model integrates the camera device, the welding gun, the deviation correcting mechanism and the controller into a welding seam tracking simulation tracking device, realizes the working process of simulating welding seam tracking, simultaneously can adjust the installation angle of the camera device through the adjusting mechanism in the process of simulating welding seam tracking so as to adapt to different test requirements in a parameter adjusting test, and can adjust the most suitable parameters of the lens group by adding or replacing different optical filters or light reduction sheets in the parameter adjusting test through the lens clamp.

(2) The device of the utility model can be used for fixing the parameters of equipment in a laboratory stage, and can be used for manufacturing the welding seam tracking device according to the parameters and the lens combination by determining various degrees of freedom and lens combinations of the camera device.

Drawings

FIG. 1 is a schematic view of the entire structure of embodiment 1;

FIG. 2 is a schematic structural view of a mount in embodiment 1;

FIG. 3 is a schematic view of the structure of an adjustment mechanism and an image pickup apparatus in embodiment 1;

FIG. 4 is a schematic structural diagram of a deviation correcting mechanism in embodiment 1;

FIG. 5 is a schematic view showing the structure of a lens holder according to embodiment 1;

fig. 6 is a schematic view of the entire structure of embodiment 2.

The graphic symbols are illustrated as follows:

1-a mounting frame, 11-a first chute, 12-a second chute, 13-a third chute, 2-a welding gun, 3-a deviation correcting mechanism, 31-a screw rod sliding table, 32-a screw rod, 33-a fixed seat, 34-a motor, 4-a camera device, 5-an adjusting mechanism, 51-a first slide block, 52-a second slide block, 53-a third slide block, 54-a worm wheel piece, 55-a worm rod piece, 56-a manual adjusting knob, 6-a lens clamp, 61-a sleeve, 611-an upper sleeve, 612-a lower sleeve, 613-a locking hole, 62-a first clamping jaw, 63-a second clamping jaw, 64-a through hole, 7-a light supplement lamp and 8-a laser tracker.

Detailed Description

The present invention will be further described with reference to the following embodiments. Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms may be understood by those skilled in the art according to specific circumstances.

Example 1

As shown in fig. 1 to 5, the simulation tracking device for debugging the welding seam tracking device comprises an installation frame 1, a welding gun 2 which is fixed on the installation frame 1 and used for welding a workpiece, one end of the correction mechanism 3 which is fixed on the installation frame 1 and the other end of which is connected with the tail end of an external welding device and used for adjusting the welding position, a controller which is connected with the correction mechanism 3 and used for controlling the welding gun 2 to track the welding seam, a camera device 4 which is connected on the installation frame 1 and used for identifying a welding seam melting pool, a movable connection is formed between the camera device 4 and the installation frame 1 through an adjusting mechanism 5, and a lens clamp 6 which is used for adding a lens is further arranged at the lens end of the camera device 4.

Thus, the camera device 4, the welding gun 2, the deviation correcting mechanism 3 and the controller are integrated into a simulation tracking device for tracking the welding seam, the device is fixed at the tail end of the welding equipment, the welding gun 2 is installed on the welding equipment instead of the welding equipment, the welding equipment moves according to the original path after updating the offset, when the camera device 4 shoots images to know that the welding gun 2 deviates from the welding seam, the images are transmitted back to the controller, the device controls the deviation correcting mechanism to correct the position of the welding gun 2, the welding line is ensured not to deviate from the welding seam, the working process of simulating the tracking of the welding seam is realized, and meanwhile, the installation angle of the camera device 4 can be adjusted through the adjusting mechanism 5 in the process of simulating the tracking of the welding seam so as to adapt to different test requirements in a parameter adjusting test; different light filters or light reduction sheets can be added or replaced in the parameter adjustment test through the lens clamp 6, because different dimming degrees and wavelength ranges of light filtering need to be adjusted under different welding conditions, different lenses are replaced or added to block strong light during welding, for example, the light filters filter out light of other colors, and light rays with wavelengths near a molten pool or near laser are shot to adjust the most suitable parameters of the lens group. This embodiment allows for the parameter fixing of the equipment at the laboratory stage, by determining various degrees of freedom of the camera 4 and lens combinations, according to which the weld seam tracking device is manufactured.

As shown in fig. 1-2, a light supplement lamp 7 for assisting illumination of the camera device 4 is further movably connected to the mounting frame 1, and a first chute 11 for movement of the light supplement lamp 7 is formed in the mounting frame 1.

In this way, the fill-in light 7 can be used to assist in providing a light source to the camera device 4 for simulating parameter adjustment of the camera at different brightness levels.

As shown in fig. 2-3, the adjusting mechanism 5 includes a linear motion assembly movably connected to the mounting frame 1, and a rotary motion assembly movably connected to the linear motion assembly, and the camera 4 is mounted on the rotary motion assembly.

As shown in fig. 2-3, the linear motion assembly includes a first slide block 51 movably connected to the mounting frame 1, and the mounting frame 1 is provided with a third slide groove 13 for the first slide block 51 to move transversely; the second sliding block 52 is movably connected to the first sliding block 51, and the first sliding block 51 is provided with a first sliding rail for the second sliding block 52 to move up and down; and a third slide block 53 movably connected to the second slide block 52, wherein a second slide rail for lifting the third slide block 53 is arranged on the second slide block 52.

As shown in fig. 3, the rotational movement assembly includes a worm gear 54 fixed to the third slider 53, a worm 55 in transmission connection with the worm gear 54, and a manual adjustment knob 56 connected to the worm 55 and controlling the rotation of the worm 55, and the image pickup device 4 is mounted on the worm 54.

Thus, through the third sliding chute 13, the first sliding block 51 can drive the device arranged thereon to realize transverse translation, when the second sliding block 52 is connected to the first sliding block 51, the third sliding block 53 is connected to the second sliding block 52, and the third sliding block 53 can have double strokes under the extension of the first sliding rail and the second sliding rail relative to the first sliding block 51; meanwhile, the camera device 4 rotates by a worm gear structure, manual rotation is achieved through a manual adjusting knob, and extra fixing screws are not needed, and deflection caused by vibration is avoided.

As shown in fig. 4, the deviation correcting mechanism 3 includes a screw rod sliding table 31 fixedly connected to the mounting frame 1, a screw rod 32 movably inserted into the screw rod sliding table 31, fixing bases 33 for fixing two ends of the screw rod 32 and used for fixing the screw rod at the end of the welding device, and a motor 34 connected to the fixing bases 33 and having an output shaft connected to the screw rod 32.

As shown in fig. 5, the lens clamp 6 includes a sleeve 61 detachably connected to the lens of the image pickup apparatus 4, and a first clamping jaw 62 and a second clamping jaw 63 connected to the sleeve 61, wherein one ends of the first clamping jaw 62 and the second clamping jaw 63 are symmetrically hinged to the outer side wall of the sleeve 61 through torsion springs, and a through hole 64 is formed in the sleeve 61 for the other end of the first clamping jaw 62 and the second clamping jaw 63 to pass through and abut against the inside of the sleeve 61 to place the lens.

As shown in fig. 5, the sleeve 61 includes an upper sleeve 611 and a lower sleeve 612, the inner circle diameter of the upper sleeve 611 is adapted to the lens to be placed and is larger than the inner circle diameter of the lower sleeve 612, and the through hole 64 is opened on the upper sleeve 611.

As shown in fig. 5, the outer diameter of the lower sleeve 612 is adapted to the inner diameter of the upper sleeve 611, and the upper sleeve 611 and the lower sleeve 612 are respectively provided with a corresponding locking hole 613.

In this embodiment, the first clamping jaw 62 and the second clamping jaw 63 are generally kept in a clamping state by default, the head parts of the clamping jaws can be set to be chamfers with different inclination angles, so that the lens can be placed more naturally, the lens can be placed on the clamp, the lens can be aligned and slide down by simply opening the clamping jaws, the axial movement of the lens can be limited, and the coaxiality of the lens and the lens clamp 6 can be improved; the position of the sleeve 51 except the through hole 64 forms a limiting effect on the inner side position of the clamping jaw and is used for limiting the closed limit position of the clamping jaw; the upper sleeve 611 and the lower sleeve 612 have locking holes 613 for fastening bolts at both ends, so that the lens holders can be connected while being fixed, and multi-layer nesting can be realized.

Example 2

As shown in fig. 6, the present embodiment is similar to embodiment 1, and the difference is that the mounting frame 1 is further movably connected with a laser tracker 8, and the mounting frame 1 is provided with a second chute 12 for the laser tracker 8 to move. The laser tracker 8 emits laser rays to irradiate the weld joint, cut-off points corresponding to the shape characteristics of the weld joint can be projected when the laser rays irradiate the weld joint, the camera device 4 captures the cut-off points by shooting the laser rays, the weld joint characteristics are identified, and the tracking target position of the welding torch is calculated through the characteristic position, so that the purposes of identification and tracking are achieved. The other parts of the present embodiment are the same in structure and principle as those of embodiment 1.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. The utility model provides a simulation tracer for welding seam tracer debugging, a serial communication port, including mounting bracket (1), be fixed in welder (2) that just is used for welding workpiece on mounting bracket (1), one end is fixed in on mounting bracket (1), the terminal mechanism (3) of rectifying that just is used for adjusting the welding position of outside welding equipment is connected to the other end rectify mechanism (3) and be used for controlling welder (2) and carry out the controller that the welding seam was tracked, connect camera device (4) that just is used for discerning the welding seam molten bath on mounting bracket (1), camera device (4) with through adjustment mechanism (5) swing joint between mounting bracket (1), the camera lens end of camera device (4) still is equipped with lens anchor clamps (6) that are used for addding the lens.

2. The simulation tracking device for debugging the weld tracking device according to claim 1, wherein a light supplement lamp (7) for assisting illumination of the camera device (4) is further movably connected to the mounting rack (1), and a first chute (11) for allowing the light supplement lamp (7) to move is formed in the mounting rack (1).

3. The simulation tracking device for debugging the weld joint tracking device according to claim 2, wherein the mounting frame (1) is further movably connected with a laser tracker (8), and the mounting frame (1) is provided with a second chute (12) for the movement of the laser tracker (8).

4. The analog tracking device for commissioning of a weld tracking device according to claim 2 or 3, characterized in that the adjustment mechanism (5) comprises a linear movement assembly movably connected to the mounting frame (1) and a rotary movement assembly movably connected to the linear movement assembly, the camera device (4) being mounted on the rotary movement assembly.

5. The simulation tracking device for debugging the weld seam tracking device according to claim 4, wherein the linear motion assembly comprises a first sliding block (51) movably connected to the mounting frame (1), and a third sliding groove (13) for the first sliding block (51) to move transversely is formed in the mounting frame (1); the second sliding block (52) is movably connected to the first sliding block (51), and a first sliding rail for lifting movement of the second sliding block (52) is arranged on the first sliding block (51); and a third sliding block (53) movably connected to the second sliding block (52), wherein a second sliding rail for lifting the third sliding block (53) is arranged on the second sliding block (52).

6. The mock tracking device for commissioning a weld tracking device according to claim 5, wherein said rotary motion assembly comprises a worm gear (54) fixed to said third slider (53), a worm gear (55) in driving connection with said worm gear (54), and a manual adjustment knob (56) connected to said worm gear (55) and controlling said worm gear (55) to rotate, said camera device (4) being mounted on said worm gear (54).

7. The simulation tracking device for the debugging of the welding seam tracking device according to any one of claims 2 or 3, wherein the deviation correcting mechanism (3) comprises a screw rod sliding table (31) fixedly connected with the mounting frame (1), a screw rod (32) movably arranged in the screw rod sliding table (31), fixing seats (33) which are used for fixing the two ends of the screw rod (32) at the tail end of the welding equipment, and a motor (34) which is connected with the screw rod (32) and connected with the fixing seats (33) and an output shaft.

8. The simulated tracking device for the debugging of the weld seam tracking device according to any one of claims 2 or 3, wherein the lens clamp (6) comprises a sleeve (61) detachably connected with the lens of the image pickup device (4), a first clamping jaw (62) and a second clamping jaw (63) connected with the sleeve (61), one ends of the first clamping jaw (62) and the second clamping jaw (63) are symmetrically hinged on the outer side wall of the sleeve (61) through torsion springs, and a through hole (64) for the other end heads of the first clamping jaw (62) and the second clamping jaw (63) to pass through and abut against a lens to be placed inside the sleeve (61) is formed in the sleeve (61).

9. The mock tracking device for commissioning of a weld tracking device according to claim 8, characterized in that said sleeve (61) comprises an upper sleeve (611) and a lower sleeve (612), the inner circle diameter of said upper sleeve (611) being adapted to the lens to be placed and being larger than the inner circle diameter of said lower sleeve (612), said through hole (64) opening on the upper sleeve (611).

10. The mock tracking device for the commissioning of a weld tracking device according to claim 9, characterized in that the outer diameter of said lower sleeve (612) is adapted to the inner diameter of said upper sleeve (611), said upper sleeve (611) and said lower sleeve (612) being further provided with corresponding locking holes (613), respectively.