CN101347860B - Gantry type multiheaded automatic welding machine - Google Patents

Gantry type multiheaded automatic welding machine Download PDF

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Publication number
CN101347860B
CN101347860B CN2008100489084A CN200810048908A CN101347860B CN 101347860 B CN101347860 B CN 101347860B CN 2008100489084 A CN2008100489084 A CN 2008100489084A CN 200810048908 A CN200810048908 A CN 200810048908A CN 101347860 B CN101347860 B CN 101347860B
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CN
China
Prior art keywords
slide
welding
welding machine
vertical
tracking
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CN2008100489084A
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Chinese (zh)
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CN101347860A (en
Inventor
陈望民
张一民
舒先庆
刘兴立
李随亭
周晓光
阮家顺
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武船重型工程有限公司
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Priority to CN2008100489084A priority Critical patent/CN101347860B/en
Publication of CN101347860A publication Critical patent/CN101347860A/en
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Publication of CN101347860B publication Critical patent/CN101347860B/en

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Abstract

The invention relates to a stiffener welding equipment of a beam and slab unit of a steel box of a bridge steel structure, which provides a gantry-typed multiple operator automatic welder and comprises a gantry, a travel driving system, a gas protective welder, an electric control system, a power supply and a gas supplying system; the invention is characterized in that a moveable cross beam is arranged between frame beams at the left side and right side of the gantry; a plurality of vertical steering sliding plates are arranged on the moveable cross beam and are provided with welding seam tracking devices; a welding gun of the gas protective welder is arranged in the welding seam tracking device; the welding is carried out along with the tracking movement of the welding seam by the welding seam tracking device; therefore, the welding seam tracking device adopts a spherical surface tracking wheel mechanism. By adopting the gantry-typed multiple operator automatic welder, the quality problem of forming difference of the welding seam caused by different vibration when in welding due to different lengths of cantilevers in the existing multiple operator welder; simultaneously, the tracking precision of the welding seam is improved greatly, the welding quality of products is guaranteed and the welding efficiency is improved by 3 times to 4 times.

Description

Gantry type multiheaded automatic welding machine
Technical field
The present invention relates to bridge steel structure steel case beam slab unit piece and make welding technology field, relate in particular to bridge steel structure steel case beam slab unit piece joint close welding equipment.
Background technology
Many people multimachine list seam welding pattern that remains that bridge steel structure manufacturing enterprise adopts in the welding of steel case beam U-shaped ribs of plate units mostly, the plate unit piece owing to every seam welding can not be simultaneously, that the welding of equidirectional, same technical parameter causes weld seam to shrink is different, the unary welding deformation of plate is restive, second-rate, the rectification workload is big, and operating efficiency is low.At present, adopt general gantry type multiheaded bonding machine to be used for the welding of steel case beam U-shaped ribs of plate units by enterprise, but because general gantry type multiheaded manipulator has only a fixed cross beam, and the inferior ship shape in plate unit is welded with certain angle of inclination and makes its multi-head vertical slide falling head inconsistent, vibration when different jib-lengths makes welding is different, and causes the difference of appearance of weld.In addition, what existing gantry type multiheaded manipulator generally adopted is that the paralleling double wheel or the two-wheel that intersects carry out weld joint tracking, when there is error in the plate unit piece, is not effectively to follow the tracks of, automatically tracking accuracy does not reach requirement exactly, causes that appearance of weld is relatively poor can not to reach welding process requirement.
Summary of the invention
Technical problem to be solved by this invention provides a kind of gantry type multiheaded automatic welding machine, and it can guarantee welding quality, improves welding efficiency, reduce production costs, reduces labor strength.
For solving the problems of the technologies described above, the technical scheme of gantry type multiheaded automatic welding machine proposed by the invention is: a kind of gantry type multiheaded automatic welding machine, comprise door frame, travel driving system, gas shielded welding machine, electric-control system, power supply and gas supply system, described gas shielded welding machine is installed on the described door frame, described travel driving system drives described door frame and walks in orbit, described gas shielded welding machine, travel driving system is by electric control system controls, described power supply is powered to described electric-control system, and described gas supply system provides source of the gas to described gas shielded welding machine; It is characterized in that, also comprise moved cross beam, described moved cross beam comprises crossbeam, swing slide block and slippage swing slide block, and the two ends of described crossbeam connect swing slide block and slippage swing slide block respectively, and described swing slide block and slippage swing slide block are mounted on respectively on the both sides lateral column of described door frame; The vertical duction slide plate is installed on the described moved cross beam, field joint tracking means on the described vertical duction slide plate, the welding gun of described gas shielded welding machine is installed on the described weld tracker.
As a kind of preferred version, described swing slide block comprises first slide body, the first horizontal clamping wheel, first vertical clamping wheel, ear piece, the described first horizontal clamping wheel is installed on the widthwise edge of described first slide body, described first vertical clamping wheel vertically is installed on the limit, and described first slide body is clamped on one side lateral column of described door frame by the described first horizontal clamping wheel and first vertical clamping wheel; Connect described ear piece on described first slide body, described ear piece is connected by hinge with described moved cross beam.
As another preferred version, described slippage swing slide block comprises rolling slippage guide rail, pendulous device, second slide body, the second horizontal clamping wheel, second vertical clamping wheel, described moved cross beam connects described rolling slippage guide rail, described rolling slippage guide rail is installed on the described pendulous device, described pendulous device is installed on described second slide body, the described second horizontal clamping wheel is installed on the widthwise edge of described second slide body, described second vertical clamping wheel vertically is installed on the limit, and described second slide body is clamped on the another side lateral column of described door frame by the described second horizontal clamping wheel and second vertical clamping wheel.
As a kind of preferred version also, described vertical duction slide plate comprise vertical slide and vertical, laterally reach device of rotation driving, described vertical slide by described vertical, laterally reach device of rotation driving and be installed on the moved cross beam.
As another preferred version, described weld tracker comprises that the two-way slide plate of elasticity cross, column, the two-way slide plate of manual fine-tuning cross, manual fine-tuning tumbler, tracking wheel mechanism and welding gun clamp turn device; The two-way slide plate of described elasticity cross is installed on the described vertical slide; described column top is connected with the two-way slide plate of described elasticity cross; the two-way slide plate of described manual fine-tuning cross is installed in described column bottom; the two-way slide plate of described manual fine-tuning cross connects described manual fine-tuning tumbler; described manual fine-tuning tumbler connects described welding gun and clamps turn device; the welding gun of described gas shielded welding machine is installed in described welding gun and clamps on the turn device, and described tracking wheel mechanism is installed in the lower end of described column.
As further improvement project, the tracking wheel of described tracking wheel mechanism is a sphere.
As improvement project further, described tracking wheel mechanism comprises the hemisphere of two separation, the coaxial installation of described hemisphere, and each described hemisphere is installed on the described axle by bearing respectively.
Gantry type multiheaded bonding machine provided by the present invention adopts at moved cross beam multi-head is installed, and the vibration when having overcome existing bull bonding machine and making welding because of the jib-length difference is different, causes the quality problems of appearance of weld difference.And then gantry type multiheaded bonding machine of the present utility model adopts sphere tracking wheel mechanism, has improved the tracking accuracy of butt welded seam greatly.Simultaneously, the technology that in the welding of plate unit piece, adopts multi-head to weld simultaneously, a plate unit piece welding only once can be finished a plurality of ribbed stiffener welding jobs back and forth with gantry type multiheaded bonding machine, improves 3~4 times of welding efficiency.Therefore, adopt this gantry type multiheaded bonding machine, can guarantee the product welding quality, improve welding efficiency, reduce production costs, reduce labor strength, can be used for industry and promote.
Description of drawings
Below in conjunction with the drawings and specific embodiments technical scheme of the present invention is further described in detail.
Figure 1 shows that the structural front view when gantry type multiheaded bonding machine and hydraulic pressure reversible deformation tilting jig are used.
Figure 2 shows that the structure side view of gantry type multiheaded bonding machine.
The C that Figure 3 shows that slippage swing slide block among Fig. 1 is to topology view.
Fig. 4 is the structural front view of the weld tracker of gantry type multiheaded bonding machine.
Fig. 5 is the structure side view of the weld tracker of gantry type multiheaded bonding machine.
Fig. 6 is the enlarged drawing of the sphere follower part shown in the frame of broken lines B among Fig. 4.
The specific embodiment
Structural front view when gantry type multiheaded as shown in Figure 1 bonding machine and hydraulic pressure reversible deformation tilting jig are used, and in conjunction with the structure side view of gantry type multiheaded bonding machine shown in Figure 2, the travel driving system that passes through on the door frame 1 is installed on the walking track 8 with walking clamping device 15, and the walking track is made up of track girder, adjustable backing plate and accurate rail.Travel driving system 7 is made up of walking beam, wheel system, clamping guide wheel, driving decelerator and variable-frequency motor.Door frame can adopt the frequency-conversion alternating current motor stepless time adjustment along precision machined orbital motion, and velocity interval has contained the speed of welding that gas is protected weldering and submerged-arc welding, the speed adjustable range broadness, operate steadily evenly, be provided with quick walking action button, be convenient to the welding machine idle running and return.CO2 gas shielded welding machine 9 is installed on the top board beam of door frame 1, power supply and CO2 gas supply system by power controling box, CO2 gas control cabinet, cable, tracheae, roll frame, roll and set a roof beam in place and support connection device is formed.Electric-control system is controlled box by electrical power control cabinet 14, programme-control cabinet 6, system controlling software and suspension type and is formed, and electrical power control cabinet 14, programme-control cabinet 6 are installed in door frame 1 bottom.Moved cross beam is made up of crossbeam 2, swing slide block 5 and slippage swing slide block 12, the left end of crossbeam 2 connects swing slide block 5, swing slide block 5 is installed on the slide rail of setting a roof beam in place in the left side on the door frame 1, the right-hand member of moved cross beam 2 connects slippage swing slide block 12, moves swing slide block 12 and is installed on the slide rail of setting a roof beam in place on the right side on the door frame 1.Two cover moved cross beam bascule 10 and crossbeam drive units 11 are housed on the top board beam of door frame 1, connect swing slide block 5 and slippage swing slide block 12 respectively, be used to control the balance driving of moved cross beam 2.Swing slide block 5 and slippage swing slide block 12 can be respectively on the door frame 1 lifting rail on the left and right sides roof beam structure moved cross beam 2 is moved up and down, and can be ± 35.The scope tilt adjustments is waved the angle requirement to adapt to the inferior fillet welding in the flat position in plate unit.Safe ladder access 13 is installed on the rear flank post of door frame 1, is convenient to the moved cross beam bascule 10 on installation door frame 1 top and the maintenance of moved cross beam drive unit 11 and CO2 gas shielded welding machine 9.
On the moved cross beam 2 track is housed, four crossbeam slide blocks 30 are installed on this track, four crossbeam slide blocks 33 are by motor-driven, four crossbeam slide blocks 33 connect four vertical slides 31 respectively, four vertical slides 31 connect respectively and are used for vertical mobile servo drive motor 34 and the servo drive motor that is used for divertical motion, the servo drive motor that is used for divertical motion is owing to the back apparent place at figure, and is not shown in the front view.Vertical slide 31 is done vertical or divertical motion respectively at vertical drive motors 34 or turn under the drive motors effect.Crossbeam slide block 30 and drive motors thereof, vertical slide 31 and vertical, turn to the vertical duction slide plate shown in the frame of broken lines 3 in the drive motors composition diagram 1.The bottom field joint tracking means 4 of vertical slide 31, the welding gun of CO2 gas shielded welding machine 9 is installed on the weld tracker 4.The below of door frame 1 is a hydraulic pressure reversible deformation tilting jig 38, hydraulic pressure reversible deformation tilting jig 38 upper backup pad unit pieces 37 and U-shaped rib 39, plate unit piece 37 forms V-shaped mouthful respectively with two limits of U-shaped rib 39, the top of V-shaped part is a weld seam, weld tracker 4 is followed the tracks of this V-shaped part, and guides welding gun that the weld seam of this V-shaped part is implemented welding.
The C of slippage swing slide block 12 is to topology view among Fig. 1 as shown in Figure 3, and slide body 32 is installed on the door frame bogie side frame beam, and moves up and down on door frame bogie side frame beam by the screw mandrel driving by horizontal clamping wheel 18, vertical clamping wheel 19.Pendulous device 17 is connected with the rolling slippage guide rail 16 of moved cross beam 2, and pendulous device 17 is installed in the slide body 32, is used to adjust the relative angle of slide body 32 and moved cross beam 2.
The structure of the structure of slippage swing slide block 5 slippage swing slide block 12 more shown in Figure 3 is similar and simple among Fig. 1, it is not to be slidingly connected by the slippage guide rail with moved cross beam 2 that difference is to swing slide block 5, but by hinged by an end of ear piece and moved cross beam 2, it will be understood by those skilled in the art that so repeat no more.
As Fig. 4, the structural front view of weld tracker shown in Figure 5 and side view, the two-way slide plate 23 of elasticity cross is connected column 21 on the vertical slide 31, manual fine-tuning tumbler 25 is installed on the column 21, welding gun is installed on the manual fine-tuning tumbler 25 is clamped turn device 20, welding gun clamps welding gun 27 is installed on the turn device 20, one end of linking arm 28 and the bottom of column 21 are hinged, the other end and sphere tracking wheel 30 are coupling, the affixed bottom that is installed in column 21 of one end of suspension arm 22, the other end is connected the end that linking arm 28 is connected with sphere tracking wheel 30 by spring 29.The sphere tracking wheel mechanism that suspension arm 22, linking arm 28, spring 29, sphere tracking wheel 30 are formed shown in frame of broken lines among Fig. 5 26.
The enlarged drawing of sphere follower part as shown in Figure 6, the sphere tracking wheel comprises left hemisphere 41, right hemisphere 42, and left hemisphere 41, right hemisphere 42 are installed on the axle 45 by bearing 43,44 respectively, and axle 45 is connected with linking arm 28.
Gantry type multiheaded automatic welding machine of the present invention need with the supporting use of hydraulic plate unit piece fillet welding tilting jig, its operation principle and process are: at first, the plate unit piece is finished and forwards the position at hydraulic plate unit piece fillet welding tilting jig clamping, start power controling box then, the gas control cabinet, electrical power control cabinet, the programme-control cabinet, gantry type multiheaded automatic welding machine is reached described fillet welding tilting jig top, move the position of described swing slide block and described slippage swing slide block on the door frame double-sided doors is set a roof beam in place respectively, make the pendulum angle of described moved cross beam consistent with the tilting jig angle, and make described moved cross beam drop to the appropriate location, the position of starting then and adjusting described vertical skate apparatus makes described sphere tracking wheel contact weld seam tracing area, adjust two-way slide plate of described manual fine-tuning cross and described fine setting tumbler respectively, make welding gun aim at weld seam.Sphere tracking wheel mechanism is pressed in all the time in the effect of the two-way slide plate of elasticity cross in the V-shaped part that U-shaped ribs of plate units forms, and, thereby guarantee the weld seam on V-shaped part top is carried out from motion tracking because two hemisphere faces that move respectively of sphere tracking wheel are tangent with the V-shaped part both sides all the time.
Then; be provided with and store solder technology parameter and corresponding worker's item thereof cashier's office in a shop in programme-control; the hand-held suspension type of operating personnel is controlled box to the plate unit piece; start linked switch; at this moment CO2 gas shielded welding machine and door frame drive system start simultaneously and carry out welding job; in welding process, the mode that has also adopted LCDs touch operation and suspension type collection control operating case to operate respectively is convenient to the welding job personnel and is collected control operation or difference control manipulation.After the plate unit piece welds completion on one side, adjust hydraulic plate unit piece fillet welding tilting jig and turn to symmetry angle, repeat the aforesaid operations process then and adjust gantry type multiheaded automatic welding machine, plate unit piece another side welding completion.When proceeding next plate unit piece welding, if next a plate unit piece and a last plate unit piece are same batch, has the same process requirement, can directly from programme-control cabinet display screen, call last worker's item so and weld, need not to reset solder technology parameter and worker's item thereof of programme-control cabinet.
Gantry type multiheaded automatic welder(welding machine) of the present invention, not only be used for bridge steel structure steel case beam U-shaped ribs of plate units welding manufacturing, also can promote the welding manufacturing of the welding manufacturing that is used for the unary rib of slab of bridge steel structure steel case beam slab, T shape rib, angle steel rib, flat-bulb steel rib and the unary rib of slab of every profession and trade steel construction plate, T shape rib, angle steel rib, flat-bulb steel rib.
It should be noted last that, the above specific embodiment is only unrestricted in order to technical scheme of the present invention to be described, although the present invention is had been described in detail with reference to preferred embodiment, those of ordinary skill in the art is to be understood that, can make amendment or be equal to replacement technical scheme of the present invention, and not breaking away from the spirit and scope of technical solution of the present invention, it all should be encompassed in the middle of the claim scope of the present invention.

Claims (7)

1. gantry type multiheaded automatic welding machine, comprise door frame, travel driving system, gas shielded welding machine, electric-control system, power supply and gas supply system, described gas shielded welding machine is installed on the described door frame, described travel driving system drives described door frame and walks in orbit, described gas shielded welding machine, travel driving system are by electric control system controls, described power supply is powered to described electric-control system, and described gas supply system provides source of the gas to described gas shielded welding machine; It is characterized in that, also comprise moved cross beam, described moved cross beam comprises crossbeam, swing slide block and slippage swing slide block, and the two ends of described crossbeam connect swing slide block and slippage swing slide block respectively, and described swing slide block and slippage swing slide block are mounted on respectively on the both sides lateral column of described door frame; The vertical duction slide plate is installed on the described moved cross beam, field joint tracking means on the described vertical duction slide plate, the welding gun of described gas shielded welding machine is installed on the described weld tracker.
2. gantry type multiheaded automatic welding machine according to claim 1, it is characterized in that, described swing slide block comprises first slide body, the first horizontal clamping wheel, first vertical clamping wheel, ear piece, the described first horizontal clamping wheel is installed on the widthwise edge of described first slide body, described first vertical clamping wheel vertically is installed on the limit, and described first slide body is clamped on one side lateral column of described door frame by the described first horizontal clamping wheel and first vertical clamping wheel; Connect described ear piece on described first slide body, described ear piece is connected by hinge with described moved cross beam.
3. gantry type multiheaded automatic welding machine according to claim 1, it is characterized in that, described slippage swing slide block comprises rolling slippage guide rail, pendulous device, second slide body, the second horizontal clamping wheel, second vertical clamping wheel, described moved cross beam connects described rolling slippage guide rail, described rolling slippage guide rail is installed on the described pendulous device, described pendulous device is installed on described second slide body, the described second horizontal clamping wheel is installed on the widthwise edge of described second slide body, described second vertical clamping wheel vertically is installed on the limit, and described second slide body is clamped on the another side lateral column of described door frame by the described second horizontal clamping wheel and second vertical clamping wheel.
4. gantry type multiheaded automatic welding machine according to claim 1, it is characterized in that, described vertical duction slide plate comprise vertical slide and vertical, laterally reach device of rotation driving, described vertical slide by described vertical, laterally reach device of rotation driving and be installed on the moved cross beam.
5. gantry type multiheaded automatic welding machine according to claim 1, it is characterized in that described weld tracker comprises that the two-way slide plate of elasticity cross, column, the two-way slide plate of manual fine-tuning cross, manual fine-tuning tumbler, tracking wheel mechanism and welding gun clamp turn device; The two-way slide plate of described elasticity cross is installed on the described vertical slide; described column top is connected with the two-way slide plate of described elasticity cross; the two-way slide plate of described manual fine-tuning cross is installed in described column bottom; the two-way slide plate of described manual fine-tuning cross connects described manual fine-tuning tumbler; described manual fine-tuning tumbler connects described welding gun and clamps turn device; the welding gun of described gas shielded welding machine is installed in described welding gun and clamps on the turn device, and described tracking wheel mechanism is installed in the lower end of described column.
6. gantry type multiheaded automatic welding machine according to claim 5 is characterized in that, the tracking wheel of described tracking wheel mechanism is a sphere.
7. gantry type multiheaded automatic welding machine according to claim 6 is characterized in that, described tracking wheel mechanism comprises the hemisphere of two separation, the coaxial installation of described hemisphere, and each described hemisphere is installed on the described axle by bearing respectively.
CN2008100489084A 2008-08-19 2008-08-19 Gantry type multiheaded automatic welding machine CN101347860B (en)

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Application Number Priority Date Filing Date Title
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CN101347860B true CN101347860B (en) 2011-04-20

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