CN101011773A - Automatic tracker of longitudinal seam welding for major diameter welding pipe - Google Patents
Automatic tracker of longitudinal seam welding for major diameter welding pipe Download PDFInfo
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- CN101011773A CN101011773A CNA2006101550822A CN200610155082A CN101011773A CN 101011773 A CN101011773 A CN 101011773A CN A2006101550822 A CNA2006101550822 A CN A2006101550822A CN 200610155082 A CN200610155082 A CN 200610155082A CN 101011773 A CN101011773 A CN 101011773A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The automatic tracking device for a big diameter longitudinal seam welding comprises a visual sensor integrated with the welding gun in front of it, interface circuit, computer controller and welding seam tracking execution mechanism, with the said welding gun and visual sensor installed on the running cart along the seam direction, welding tube resting on the rolling wheel on the rack, with the weld seam track execution device made of servo motor and decelerator formed roller drive device and the frequency change motor and turbine screw lifting device formed rolling rack lifting mechanism. It is compact in structure, reliable in working.
Description
Technical field
The present invention relates to a kind of weld tracker of arc welding.
Background technology
Weld tracker is the important device in the welding automatic control system, advanced at present weld tracker is a visual sensing formula tracking means, it is mainly by vision sensor, welding gun slide adjustment and microcomputerized controller are formed, its operation principle is, sensor sends the welding seam position information that receives to microcomputerized controller by interface circuit, after microcomputerized controller butt welded seam deviation and deviation variation tendency information are carried out computing, send command signal by interface circuit to the servomotor of welding gun crosshead shoe governor motion, drive welding gun and carry out a left side, right, on, following two dimensional motion, thus realize that welding gun is to the welded tube seam tracking.Yet for the long welded tube of major diameter, the welded tube of Φ 219 * 6000mm for example, its welding seam misalignment can reach 30mm sometimes, misalignment angle reaches 15.7 °, follow the tracks of weld seam if adopt slide adjustment to drive the welding gun side-to-side movement, just can't realize that welding gun aims at the requirement of weld seam all the time, thereby can cause defectives such as Lou weldering, can only adopt the arc balladeur train to make the tracking mode of welding gun boxing tube hub axle deflection guarantee that welding gun is vertical with weld seam for this reason.But the welded tube of different-diameter need dispose different arc balladeur trains, and changing balladeur train in the work both wasted time and energy, and had increased production cost again.
Summary of the invention
Purpose of the present invention provides a kind of soldering joint automatic tracking device that is particularly suitable for the large diameter welded pipe longitudinal seam welding.
The technical solution that realizes above-mentioned purpose is: it comprises with welding gun and linking into an integrated entity, be positioned at the vision sensor in welding gun the place ahead, interface circuit, microcomputerized controller and weld joint tracking executing agency, above-mentioned vision sensor is connected with microcomputerized controller by interface circuit, microcomputerized controller is connected with weld joint tracking executing agency by interface circuit again simultaneously, and described welding gun and vision sensor are installed on along on the straight-line driving dolly of welded tube longitudinal joint direction, welded tube is placed on several pair rollers of turning rolls, and weld joint tracking executing agency is made up of with the turning rolls elevating mechanism that is made of frequency control motor that is connected with microcomputerized controller and worm gear screw lift that is positioned at the turning rolls bottom the roller transmission mechanism that is made of servomotor that is connected with microcomputerized controller and decelerator that is provided with on the turning rolls.
The invention has the beneficial effects as follows: it has changed traditional two dimension or three-dimensional motion tracking mode of adapting to weld seam deviation on the fixing welded tube with the control and regulation welding gun, and the deflection of adopting the control and regulation welded tube makes welded tube weld width position follow the tracks of adaptation all the time along the straight-line welding gun of welded tube longitudinal joint direction, thereby assurance welding gun vertical needle is all the time guaranteed welding quality to the welded tube weld seam.The present invention is of a tightly knit structure, reliable operation, be specially adapted to the large diameter welded pipe longitudinal seam welding from motion tracking.
Description of drawings
Fig. 1 is the structural principle block diagram of this device.
Fig. 2 is the general structure schematic diagram of this device.
Fig. 3 is the side-looking structural representation of Fig. 2.
Fig. 4 is the welded tube location and the roller transmission mechanism structural representation of this device.
Fig. 5 is the roller uni-drive gear box structural representation of this device.
The specific embodiment
The invention will be further described with embodiment below in conjunction with accompanying drawing.
Driving is equipped with welding gun 10 and welding wire connecting gear 9 on the dolly 5, and the welding torch height of Butt welding gun 10 adopt AvC control from motion tracking, i.e. arc voltage constant control.Vision sensor 8 and video-frequency monitor 6 are installed in the place ahead that is positioned at welding gun 10, and vision sensor 8 is connected with microcomputerized controller 18 by interface circuit.Also specially be provided with the miniature crosshead shoe 7 that vision sensor 8 is installed on the present embodiment driving dolly 5, so that in time adjust the relative position of vision sensor and welding gun by laser stripe in the video-frequency monitor 6 and position while welding.The driving mechanism 3 of driving dolly 5 is made up of servomotor and decelerator, and is meshed by the tooth bar guide rail 2 on the portal frame crossbeam 1 above the gear on the reducer output shaft 4 and the workpiece and is connected.The turning rolls 12 of place work piece welded tube 11 is by base 23, being installed on upper roller 19 and the bottom roller 20 installed on some pair roller seats 24 on the base 23 and each roller mount 24 forms, it is right with bottom roller that upper roller on every pair roller seat 24, bottom roller are formed upper roller pair respectively, upper roller between centre-to-centre spacing greater than bottom roller between centre-to-centre spacing.Bottom roller be to can placing the welded tube of diameter 200～500mm, then needs upper and lower pair of rollers support the location simultaneously for the welded tube of 500～800mm.Turning rolls 12 is placed in the portal frame below and the axial of workpiece welded tube 11 of carrying is paralleled with portal frame crossbeam 1.In order to make welded tube transmission on turning rolls more steady reliable, upper and lower roller 19,20 outsides of steel are surrounded by rubber sleeve.Roller transmission mechanism is the executing agency that makes workpiece welded tube 11 deflections maintenance weld seam real-time tracking aligning welding gun 10 according to the instruction of microcomputerized controller, it is by two two stage reducers 26 that driven by shaft coupling 28 and power transmission shaft 29 by servomotor 17 and one-level decelerator 16 that are installed on turning rolls one side, and the gear-box 25 of each roller mount 24 side is formed, servomotor 17 is connected with microcomputerized controller 18 by interface circuit, the output shaft 27 of two two stage reducers 26 runs through each gear-box 25 of homonymy, and by the transition gear 31 in the gear 32 driven gear casees of being installed on the output shaft 27, and then the gear 33 on gear on the transmission upper roller shaft 30 and the bottom roller axle.The turning rolls elevating mechanism is that the instruction according to microcomputerized controller makes the distance between workpiece welded tube 11 and the welding gun 10 keep stable adjusting executing agency, it is made up of the frequency-conversion and speed-regulation motor 13 of a band encoder and brake and the worm gear screw lift 14 that is arranged on by four of its driving on the support 22 of turning rolls base 23 bottoms, between four worm gear screw lifts 14 by universal drive shaft 15 be with 21 to be connected synchronously, frequency control motor 13 is connected with microcomputerized controller 18 by interface circuit.
The vision sensor 8 of present embodiment adopts the MLP1/15 laser sensor of META company, and this laser sensor comprises a ccd video camera and a laser instrument.Laser instrument is launched on the surface of the work of laser stripe to sensor from the sensor front portion at a certain angle as the structure light source, and video camera directly absorbs the laser stripe image on the surface of the work.Optical filter is equipped with in the video camera front portion, only allows laser to pass through, and the light of elimination all other comprises welding arc light.Because sensor is installed in the welding gun front portion with predefined distance, behind the upright in welded joints definite position of welding gun, weld seam should approach the center of laser stripe, so just can make video camera observe laser stripe and weld seam.If the workpiece range sensor is near in the work, just forward relatively at the laser stripe of surface of the work, on the contrary the workpiece range sensor is far away, after the laser stripe of surface of the work just leans on relatively.Therefore observe the position of laser stripe by video camera, sensor is with regard to the vertical range of energy measurement apart from workpiece; From the laser stripe on workpiece in shape, sensor also can be measured the surface of the work profile and in the position of striped inside weld, thus can measuring transducer and weld seam between lateral separation.Sensor laser stripe image is that the deviation signal of welding gun and weld seam send microcomputerized controller 18 to handle by interface circuit, send the control instruction signal after the processing, send the servomotor of the roller transmission mechanism of executing agency to by interface circuit, make its running and drive the position that weld seam is adjusted in welded tube deflection, to guarantee in the welding process welded tube weld seam perpendicular alignmnet welding gun all the time.
Claims (8)
1, a kind of automatic tracker of longitudinal seam welding for major diameter welding pipe, it comprises with welding gun (10) and linking into an integrated entity, be positioned at the vision sensor (8) in welding gun (10) the place ahead, interface circuit, microcomputerized controller (18) and weld joint tracking executing agency, vision sensor (8) is connected with microcomputerized controller (18) by interface circuit, microcomputerized controller (18) is connected with weld joint tracking executing agency by interface circuit again simultaneously, it is characterized in that welding gun (10) and vision sensor (8) are installed on along on the straight-line driving dolly of welded tube longitudinal joint direction (5), welded tube (11) is placed on several pair rollers of turning rolls (12), and weld joint tracking executing agency goes up the roller transmission mechanism by servomotor (17) that is connected with microcomputerized controller (18) and decelerator (16) formation that is provided with by turning rolls (12) and forms with the turning rolls elevating mechanism by frequency control motor (13) that is connected with microcomputerized controller (18) and worm gear screw lift (14) formation that is positioned at turning rolls (12) bottom.
2, by the described automatic tracker of longitudinal seam welding for major diameter welding pipe of claim 1, it is characterized in that vision sensor (8) is a laser sensor.
3, by the described automatic tracker of longitudinal seam welding for major diameter welding pipe of claim 1, it is characterized in that welding gun (10) the welding torch height adopt AvC control from motion tracking, i.e. arc voltage constant control.
4,, it is characterized in that walking dolly (5) is provided with the miniature crosshead shoe (7) that vision sensor (8) is installed by the described automatic tracker of longitudinal seam welding for major diameter welding pipe of claim 1.
5, by the described automatic tracker of longitudinal seam welding for major diameter welding pipe of claim 1, it is characterized in that turning rolls (12) is by base (23), the some pair roller seats (24) and each roller mount (24) that are installed on the base (23) go up upper roller (19) and bottom roller (20) composition of installing, it is right with bottom roller that upper roller on every pair roller seat (24), bottom roller are formed upper roller pair respectively, upper roller between centre-to-centre spacing greater than bottom roller between centre-to-centre spacing.
6,, it is characterized in that the upper and lower roller (19) of steel, (20) outside are surrounded by rubber sleeve by claim 1 or 5 described automatic tracker of longitudinal seam welding for major diameter welding pipe.
7, by the described automatic tracker of longitudinal seam welding for major diameter welding pipe of claim 1, it is characterized in that roller transmission mechanism is by two two stage reducers (26) that driven by shaft coupling (28) and power transmission shaft (29) by servomotor (17) and one-level decelerator (16) that are installed on turning rolls one side, and the gear-box (25) of each roller mount (24) side is formed, servomotor (17) is connected with microcomputerized controller (18) by interface circuit, the output shaft (27) of two two stage reducers (26) runs through each gear-box (25) of homonymy, and by the transition gear (31) in gear (32) the driven gear case of being installed on the output shaft (27), and then the gear (33) on gear on the transmission upper roller shaft (30) and the bottom roller axle.
8, by the described automatic tracker of longitudinal seam welding for major diameter welding pipe of claim 1, it is characterized in that the turning rolls elevating mechanism is made up of the frequency control motor (13) of a band encoder and brake and the worm gear screw lift (14) that is arranged on by four of its driving on the support (22) of turning rolls base (23) bottom, be connected with synchronous band (21) by universal drive shaft (15) between four worm gear screw lifts (14), frequency control motor (13) is connected with microcomputerized controller (18) by interface circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101550822A CN100462177C (en) | 2006-12-05 | 2006-12-05 | Automatic tracker of longitudinal seam welding for major diameter welding pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101550822A CN100462177C (en) | 2006-12-05 | 2006-12-05 | Automatic tracker of longitudinal seam welding for major diameter welding pipe |
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| Publication Number | Publication Date |
|---|---|
| CN101011773A true CN101011773A (en) | 2007-08-08 |
| CN100462177C CN100462177C (en) | 2009-02-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2006101550822A Expired - Fee Related CN100462177C (en) | 2006-12-05 | 2006-12-05 | Automatic tracker of longitudinal seam welding for major diameter welding pipe |
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| CN102059435A (en) * | 2010-12-14 | 2011-05-18 | 东南大学 | Longitudinal seam welding special machine with linear structure light type vision sensor and control method thereof |
| CN102416431A (en) * | 2011-12-02 | 2012-04-18 | 成都飞机工业（集团）有限责任公司 | Servo control method for normal riveting of cambered part |
| CN102430842A (en) * | 2011-12-09 | 2012-05-02 | 浙江久立特材科技股份有限公司 | Welding pipe vertical seam welding real-time tracking device |
| CN102430847A (en) * | 2011-12-09 | 2012-05-02 | 沈阳汇博热能设备有限公司 | Automatic welding fixture for longitudinal seam welding of small-diameter thick-walled tube blanks |
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