CN1015522B - Apparatus for automatically welding cylindrical vessel - Google Patents
Apparatus for automatically welding cylindrical vesselInfo
- Publication number
- CN1015522B CN1015522B CN 88108440 CN88108440A CN1015522B CN 1015522 B CN1015522 B CN 1015522B CN 88108440 CN88108440 CN 88108440 CN 88108440 A CN88108440 A CN 88108440A CN 1015522 B CN1015522 B CN 1015522B
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- welding
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- controller
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Abstract
The present invention relates to a device for automatically welding a cylindrical vessel, which is provided with a vessel swinging device, a traveling car, a manipulator installed on the traveling car, a horizontal post, a telescopic boom rotatablely installed at the front end of the horizontal post, a welding head, a welding rod feeder, a welding power supply and a welding controller, wherein the horizontal post is provided with an upright post fastened to the car; the horizontal post can move along the horizontal direction and the vertical direction of the upright post; the welding head is provided with a welding nozzle and a groove flash display device, and is installed at the top of the telescopic boom three an L-shaped installation piece; the welding controller is composed of an image processor, a welding current controller, a welding rod feeding controller, a welding speed controller and a groove profiling controller.
Description
The present invention relates to a kind of can be along its device of welding automatically of groove of the hydrostatic column surfaces externally and internally of spot welding.
For along its act of spot welding as if the conventional method of the groove welding of the such hydrostatic column surfaces externally and internally of high-pressure bottle is to weld by hand or weld with the automatic moving type welding machine on hydrostatic column.
Yet manual welding efficient is low, and in welding during along the hydrostatic column of its inner surface groove, the operator must enter the narrow space of hydrostatic column inside and just can finish; On the other hand, because the automatic moving type welding machine moves instability, speed of welding can not be high.
U.S. Pat 3,627,973(authorizes day: on December 14th, 1971) disclose a kind of automatic welding device that is used for the weld curve container, it comprises: the workbench of a supporting container to be welded, a carriage that is installed on the container; An executor that is installed on the carriage comprises a column, and a horizontal columns and is contained in the support on the horizontal columns front end, and this horizontal columns can move horizontally and move along column is vertical relative to column; A soldering tip that comprises a welding tip and a groove copying device, this groove copying device have the vertical feeler mechanism with of a horizontal feeler mechanism; A wire feed unit that is used to carry welding wire; A source of welding current of supplying with welding current; A welding controller that comprises a welding wire feeding controller, a speed of welding controller and a groove feeler control.
But there is following shortcoming in the equipment of above-mentioned prior art: this known equipment is not provided with a device that is used for the groove change of shape on the instantaneous detection container to be welded.And this known setting is not provided with the message of a basis detected groove change of shape like this yet and comes the device of Instantaneous Control such as welding parameters such as welding current, welding wire transporting velocity.More particularly, in the prior art, the operator investigates the surface curvature of container to be welded, in the empirical data that in the past obtains, select the welding tip kinematic parameter an of the best then in view of the above, then adjust suitable toggle switch in the master board to set the working procedure of welding tip, then according to the said procedure welded vessel.Like this, welding is carried out always, must change until the surface curvature program of indicating of container to be welded, and at this moment the operator must stop welding, readjusts program then and restarts welding.Therefore, can not come automatically welding cylindrical vessel expeditiously according to the transient change situation of groove shape.
In this case, people require to develop a kind of can be expeditiously along its device of welding automatically of groove of the hydrostatic column surfaces externally and internally of spot welding, still, such welder was not proposed by the people so far as yet.
Therefore, the purpose of this invention is to provide a kind of can be expeditiously along its device of welding automatically of groove of the hydrostatic column surfaces externally and internally of spot welding.
According to the present invention, a kind of device of automatically welding cylindrical vessel comprises:
The workbench of a supporting hydrostatic column to be welded;
A carriage;
An executor that is installed on the described carriage, described executor has one and is vertically fixed on column on the described carriage and level and is installed in horizontal columns on the described column, and described horizontal columns can move horizontally and move along described column is vertical relative to described column;
A soldering tip that is installed on the described horizontal columns, described soldering tip has a welding tip and a groove copying device, and this groove copying device has the horizontal feeler mechanism and a vertical feeler mechanism that moves in the vertical direction described welding tip that an along continuous straight runs moves described welding tip;
A welding wire feeder that is installed on the described carriage, it carries welding wire continuously by the groove that described welding tip forms on described hydrostatic column to be welded;
One is installed on the described carriage and welding current is provided for described welding wire so that produce the source of welding current of electric arc between described welding wire top and described groove;
A welding controller, it has a welding wire feeding controller that is used to control described welding wire feeder, a speed of welding controller that is used to control speed of welding, and a groove feeler control that is used to control described groove copying device;
The invention is characterized in:
Described workbench has one and is used to make described hydrostatic column to be welded (7) level placed on it and around the rotating slewing equipment of the central axis of described hydrostatic column (8);
Described carriage is movable trolleys (1);
Described executor (2) also has a telescopic arm (12) that is installed in described horizontal columns (11) front end in a vertical plane pivotally;
One can be installed in pivotally around the central axis of described telescopic arm (12) the L shaped installed part (3) on the telescopic arm that contracts (12) top;
Described soldering tip (4) also has a groove filming apparatus (20), this groove filming apparatus (20) comprises one and is used for taking the television camera (21) of the part of the described groove in described welding tip (16) moving direction the place ahead and one and is used to illuminate light source (22) by the described part of the described groove of described television camera (21) shooting, described soldering tip (4) is installed on the described L shaped installed part (3), the central axis of described welding tip (16) is the extended line of the central axis of described telescopic arm (12), and welding tip (16) is used for described welding wire (15) the described groove that leads;
The described horizontal feeler mechanism (18) of described groove copying device (17) makes described welding tip (16) move along described groove and width, the described vertical feeler mechanism (19) of described groove copying device (17) makes described welding tip (16) move along the depth direction of described groove, thereby described soldering tip (4) also can be around the central axis revolution of described welding tip (16) except that turning round with described L shaped installed part (3);
Described welding controller (9) is mounted on the described dolly (1), it also has an image processor (32) that is used for the picture signal of described groove filming apparatus (20) is converted to the groove shape signal, one is used for controlling the described source of welding current (6) according to the described groove shape signal of described image processor (32) is the welding current controller (33) of an appropriate value to keep described welding current, it is an appropriate value with the feed speed that keeps described welding wire (15) that the described welding current that described welding wire feeding controller (34) provides according to the described source of welding current (6) is controlled described welding wire feeder (5), described speed of welding controller (35) is controlled the speed of gyration of described slewing equipment (8) or the speed that moves horizontally of described horizontal columns (11) according to the feed speed of described welding wire (15), to keep speed of welding is an appropriate value, the described welding current that described groove feeler control (36) provides according to the described source of welding current is controlled described groove copying device (17), so that the central axis of described welding tip (16) moves along the center line of described groove, and make the distance between described welding wire (15) top and the described groove remain an appropriate value.
Fig. 1 is the front view of an embodiment of explanation automatically welding cylindrical vessel device of the present invention,
Fig. 2 is the side view of the soldering tip of explanation automatically welding cylindrical vessel device of the present invention,
Fig. 3 is the front view that the telescopic arm of soldering tip is housed in the explanation automatically welding cylindrical vessel device of the present invention,
Fig. 4 is the side view that the telescopic arm of soldering tip is housed in the explanation automatically welding cylindrical vessel device of the present invention.
From viewpoint above-mentioned, done deep research for developing a kind of device that can be expeditiously carries out automatic welding along the groove of its hydrostatic column surfaces externally and internally, found that, it can be realized by following way, namely the hydrostatic column that will weld is lain in a horizontal plane on the slewing equipment, be provided with welding tip, groove filming apparatus and groove copying device at this slewing equipment. Plumb joint is swinging and is installed on the post that can move horizontally, by means of welding controller control slewing equipment, horizontal columns and plumb joint.
The present invention makes according to above-mentioned principle.Describe automatically welding cylindrical vessel device of the present invention in detail referring now to accompanying drawing.
Fig. 1 is the front view of explanation automatically welding cylindrical vessel device embodiment of the present invention, and Fig. 2 is the side view of soldering tip in the explanation automatically welding cylindrical vessel device of the present invention.
As shown in Fig. 1 and Fig. 2, automatically welding cylindrical vessel device of the present invention has a slewing equipment (8), and this slewing equipment comprises can make the hydrostatic column 7 that will weld be horizontal positioned above it and make hydrostatic column around rotating roller of center line or analog; A travelling car (1); An executor (2) that is installed on the dolly (1); A L shaped installed part (3) that is installed in executor (2) front end; A soldering tip (4) that is installed on the L shaped installed part (3); A welding wire feeder (5), this feeder are installed on the dolly (1), and the welding tip of the soldering tip (4) that will illustrate welding wire (15) by the back is gone up the groove (not drawing) that forms to hydrostatic column (7) and supplied with; A source of welding current (6), this source of welding current are installed on the dolly (1), for welding wire (15) provides welding current, make to produce electric arc between welding wire (15) top and groove; And welding controller (9) that is installed on the dolly (1).
Executor (2) comprises that one vertically is fastened on column (10) on the dolly (1), level and is installed in horizontal columns (11) on the column (10) and one front end around such as shown in figures 1 and 3 trunnion axis (13) and horizontal columns (11) in vertical plane and is the telescopic arm (12) that swinging is installed.
Horizontal columns (11) can move horizontally with respect to column (10) by means of for example rack-and-pinion mechanism (not drawing) in the horizontal direction, but also vertically moves in vertical direction along column (10) by means of for example rack-and-pinion mechanism (not drawing).When the groove (not shown) welding cylindrical that forms along its inner surface describes device, as shown in Figure 3, horizontal columns (11) is with inserting by hole 7A in the hydrostatic column (7) that will weld towards the rotating telescopic arm of horizontal level (12), and hole 7A temporarily is configured in an end of hydrostatic column (7) and will be closed after welding finishing.Telescopic arm (12) is made up of for example hydraulic cylinder, and the internal diameter that can stretch as shown in Figure 4 with hydrostatic column (7) is complementary.
L shaped installed part (3) is equipped with the top of telescopic arm (12), and centers on the center line revolution of the telescopic arm (12) of executor (2) by the effect of first motor (14).Soldering tip (4) is made up of a welding tip (16), a groove copying device (17) and a groove filming apparatus (20).Wherein, the center line of welding tip (16) is the extended line of telescopic arm (12) center line, the groove (not shown) of formation on the hydrostatic column 7 that welding tip will weld welding wire (15) guiding; Groove copying device (17) is made up of with the vertical feeler mechanism (19) of an energy mobile welding tip (16) on the groove depth direction at the horizontal feeler mechanism (18) of mobile welding tip (16) on the groove width direction an energy; The groove filming apparatus is used for taking the light source (22) that the television camera (21) of groove part in welding tip (16) moving direction the place ahead and are partly illuminated the groove of desire shooting by television camera (21) by one.Soldering tip (4) is except that turning round with the center line that also centers on welding tip (16) L shaped installed part (3) revolution.
Welding tip (16) is for example to be suitable for the nozzle that the rotary electric arc-welding is used, and can turn round around its center line with the rotary speed of appointment.Welding wire (15) becomes eccentric feeding towards groove by welding wire feeder (5) by welding tip (16) and with the center line of this welding tip (16) be vertical basically.When welding tip (16) turned round, the electric arc that produces between the top of welding wire (15) and groove moved along the circle corresponding to the eccentric throw of the above-mentioned welding wire of mentioning (15).Electric arc and groove separate by protection and the air from the protective gas in the protective gas bottle (23) that is installed on the dolly (1).Welding wire (15) and protective gas enter in the welding tip (16) continuously by the conduit (24) that is connected between welding wire feeder (5) and the welding tip (16).In order to remove dirt and the dust deposit thing in the groove,, can air nozzle (25) be set in the place ahead of welding tip (16) moving direction if need.
The horizontal feeler mechanism (18) of groove copying device (17) is fastened on the L shaped installed part (3), and is formed by the horizontal screw lead (27) of second motor (26) rotation with the part (28) that moves horizontally of horizontal screw lead (27) or screw-threaded engagement.The vertical feeler mechanism (19) of groove copying device (17) is fastened on moving horizontally on the part (28) of horizontal copying device above-mentioned (18), and by the down-feed screw (30) of the 3rd motor (29) rotation with formed with the vertical moving member (31) of down-feed screw (30) or screw-threaded engagement.Second motor (26) and the 3rd motor (29) are controlled by the following welding controller that will illustrate (9).Welding tip (16) is fastened on the vertical moving member above-mentioned (31).
Welding controller (9) is made up of an image processor (32), a welding current controller (33), a welding wire feeding controller (34), a speed of welding controller (35) and a groove feeler control (36).Wherein, image processor (32) converts the picture signal from groove filming apparatus (20) to the groove shape signal; Welding current controller (33) is an appropriate value according to the groove shape signal control source of welding current (6) of image processor (32) with the welding current that keeps the source of welding current (6) to provide; Welding wire feeding controller (34) is an appropriate value according to the welding current control welding wire feeder (5) that the source of welding current (6) provides with the feed speed that keeps welding wire (15); Speed of welding controller (35) is according in the speed any that move horizontally of the rotary speed of the feed speed of welding wire control slewing equipment (8) and horizontal columns (11); It is an appropriate value that the welding current control groove copying device (7) that groove feeler control (36) provides according to the source of welding current (6) makes the center line of welding tip move and keep the distance between welding wire (15) top and the groove along the center line of groove.
Groove feeler control (36) is described in more detail below.Welding tip (16) is whenever turned around, groove feeler control (36) is all wanted the changing value of the welding current that the continuous detecting source of welding current (6) provides, to left half-turn and right half-turn with respect to the vertical plane that comprises welding tip (16) center line, groove feeler control (36) all will each the circle in detected left half-turn of continuous correction and right half-turn welding current changing value, and calculate poor between the left half-turn of every circle and changing value that right half-turn welding current is proofreaied and correct thus continuously, and control the rotation of horizontal feeler mechanism (18) second motors (26), so that controlling welding tip (16) in every circle moves in the groove width direction, feasible difference vanishing thus of being calculated, thus the center line of welding tip in every circle (16) is all collimated with the groove center line.
And, each circle to welding tip (16) rotation, groove feeler control (36) is all wanted the changing value of the welding current that the continuous detecting source of welding current (6) provides, to every circle changing value of the detected thus welding current of continuous correction all, every circle is all calculated continuously poor between the benchmark of the welding current that the changing value proofreaied and correct thus and the source of welding current (6) provide, and control the rotation of the 3rd motor (29) of vertical feeler mechanism (19), so that can control welding tip (16) in every circle moves in the groove depth direction, feasible difference vanishing of being calculated thus, thus the top of welding wire (15) and the every circle of the distance between the weld seam all remain an appropriate value.
Now, the situation that the inner surface groove that utilizes welder of the present invention to form along its circumferencial direction welds the hydrostatic column of spot welding is described.
At first, the hydrostatic column that will weld (7) is lain in a horizontal plane on the slewing equipment (8), then, after telescopic arm (12) forwards horizontal level shown in chain-dotted line among Fig. 3 to, horizontal columns (11) vertically moves along column (10) and makes soldering tip (4) subtend temporarily be arranged on the perforate 7A of hydrostatic column (7) one ends, then move horizontally horizontal columns (11), insert in the hydrostatic column (7) with telescopic arm (12), subsequently telescopic arm (12) is forwarded to the upright position shown in Fig. 3 solid line, at this moment, soldering tip (4) makes television camera (21) be positioned at the groove top of inner surface by means of the rotation of first motor (14) of L shaped installed part (3), utilize and regulate the way that telescopic arm (12) length is watched the watch-dog of video camera (21) simultaneously attentively, the distance between welding wire (15) top and the inner surface groove is remained on a suitable value.
Soldering tip (4) is in case when placing institute to require the interior precalculated position of the hydrostatic column of welding, make hydrostatic column turn round around its center line by means of slewing equipment (8).And the welding current that is provided by the source of welding current (6) supplies with welding wire (15) so that produce electric arc between the top of welding wire (15) and inner surface groove, thereby welds the hydrostatic column (7) of spot welding along the inner surface groove.In this case, convert the picture signal of television camera (21) to the groove shape signal by image processor (32), welding current controller (33) makes welding current remain on a suitable value according to the groove shape signal control source of welding current (6) of image processor (32).Simultaneously, welding wire feeding controller (34) makes the feed speed of welding wire (15) remain on an appropriate value according to the welding current control welding wire feeder (5) that the source of welding current (6) provides, and the speed of gyration of speed of welding controller (35) while of welding controller (9) according to the welding wire feeding speed control slewing equipment (8) of welding wire feeder (5) feeding makes speed of welding remain on a suitable value.And, because the groove copying device is made up of with vertical feeler mechanism (19) horizontal feeler mechanism (18), so the welding current that groove profiling control device (36) provides according to the source of welding current (6) just can be controlled center line that groove copying device (17) makes welding tip (16) and move along the center line of inner surface groove, and the distance between welding rod (15) top and the inner surface groove is maintained at a suitable value.So, hydrostatic column (7) is by above-mentioned welding automatically along the inner surface groove that forms on its circumference under the predetermined condition like that.
Now, the situation that the inner surface groove that utilizes welder of the present invention to form along its axial direction welds the hydrostatic column of spot welding is described.
The horizontal columns (11) of executor (2) is and moves horizontally along its inner surface groove welding hydrostatic column (7) that forms on axially the time, and when the inner surface groove welding hydrostatic column (7) that on its circumference, forms, be rotating around its center line by top said hydrostatic column (7).Specifically, hydrostatic column (7) is around the revolution of its center line, replacement be that horizontal columns 11 is and moves horizontally.In this case, the speed of welding controller (35) of welding controller (9) is that the speed of moving horizontally that basis is controlled horizontal columns (11) by the feed speed of the welding wire (15) of welding wire feeder (5) feeding makes speed of welding remain on an appropriate value.
At the inner surface groove welding hydrostatic column (7) of finishing along the circumferential direction and axially forming afterwards, horizontal columns (11) telescopic arm (12) forwards horizontal level to after and telescopic arm (12) be the level taking-up by perforate 7A from hydrostatic column (7) together.To hydrostatic column (7) along on its circumference and axially go up the outer surface groove that forms carry out automatic welding process be with along on its circumference and axially to go up the welding of the inner surface groove that forms similar.
According to welder of the present invention, as top being described in detail, be possible with the hydrostatic column that welds spot welding automatically along the surfaces externally and internally groove that forms on it expeditiously, like this, also just provide practical effect for industrial.
Claims (1)
1, a kind of device of automatically welding cylindrical vessel comprises:
The workbench of a supporting hydrostatic column to be welded;
A carriage;
An executor that is installed on the described carriage, described executor has one and is vertically fixed on column on the described carriage and level and is installed in horizontal columns on the described column, and described horizontal columns can move horizontally and move along described column is vertical relative to described column;
A soldering tip that is installed on the described horizontal columns, described soldering tip has a welding tip and a groove copying device, and this groove copying device has the horizontal feeler mechanism and a vertical feeler mechanism that moves in the vertical direction described welding tip that an along continuous straight runs moves described welding tip;
A welding wire feeder that is installed on the described carriage, it carries welding wire continuously by the groove that described welding tip forms on described hydrostatic column to be welded;
One is installed on the described carriage and welding current is provided for described welding wire so that produce the source of welding current of electric arc between described welding wire top and described groove;
A welding controller, it has a welding wire feeding controller that is used to control described welding wire feeder, a speed of welding controller that is used to control speed of welding, and a groove feeler control that is used to control described groove copying device;
The invention is characterized in:
Described workbench has one and is used to make described hydrostatic column to be welded (7) level placed on it and around the rotating slewing equipment of the central axis of described hydrostatic column (8);
Described carriage is movable trolleys (1);
Described executor (2) also has a telescopic arm (12) that is installed in described horizontal columns (11) front end in a vertical plane pivotally;
One can be installed in pivotally around the central axis of described telescopic arm (12) the L shaped installed part (3) on the telescopic arm that contracts (12) top;
Described soldering tip (4) also has a groove filming apparatus (20), this groove filming apparatus (20) comprises one and is used for taking the television camera (21) of the part of the described groove in described welding tip (16) moving direction the place ahead and one and is used to illuminate light source (22) by the described part of the described groove of described television camera (21) shooting, described soldering tip (4) is installed on the described L shaped installed part (3), the central axis of described welding tip (16) is the extended line of the central axis of described telescopic arm (12), and welding tip (16) is used for described welding wire (15) the described groove that leads;
The described horizontal feeler mechanism (18) of described groove copying device (17) makes described welding tip (16) move along described groove and width, the described vertical feeler mechanism (19) of described groove copying device (17) makes described welding tip (16) move along the depth direction of described groove, thereby described soldering tip (4) also can be around the central axis revolution of described welding tip (16) except that turning round with described L shaped installed part (3);
Described welding controller (9) is mounted on the described dolly (1), it also has an image processor (32) that is used for the picture signal of described groove filming apparatus (20) is converted to the groove shape signal, one is used for controlling the described source of welding current (6) according to the described groove shape signal of described image processor (32) is the welding current controller (33) of an appropriate value to keep described welding current, it is an appropriate value with the feed speed that keeps described welding wire (15) that the described welding current that described welding wire feeding controller (34) provides according to the described source of welding current (6) is controlled described welding wire feeder (5), described speed of welding controller (35) is controlled the speed of gyration of described slewing equipment (8) or the speed that moves horizontally of described horizontal columns (11) according to the feed speed of described welding wire (15), to keep speed of welding is an appropriate value, the described welding current that described groove feeler control (36) provides according to the described source of welding current is controlled described groove copying device (17), so that the central axis of described welding tip (16) moves along the center line of described groove, and make the distance between described welding wire (15) top and the described groove remain an appropriate value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 88108440 CN1015522B (en) | 1988-10-13 | 1988-10-13 | Apparatus for automatically welding cylindrical vessel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 88108440 CN1015522B (en) | 1988-10-13 | 1988-10-13 | Apparatus for automatically welding cylindrical vessel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1041899A CN1041899A (en) | 1990-05-09 |
| CN1015522B true CN1015522B (en) | 1992-02-19 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 88108440 Expired CN1015522B (en) | 1988-10-13 | 1988-10-13 | Apparatus for automatically welding cylindrical vessel |
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| Country | Link |
|---|---|
| CN (1) | CN1015522B (en) |
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| FI120439B (en) * | 2003-05-14 | 2009-10-30 | Efes Tex Ag | Machine for welding cylindrical parts and rotary pieces |
| CN102248333A (en) * | 2010-05-21 | 2011-11-23 | 中国石油化工股份有限公司 | Automatic welding and cutting device for modified cross-section bellows |
| CN102837102A (en) * | 2012-08-09 | 2012-12-26 | 青岛云和机械制造有限公司 | Full-automatic welding manipulator |
| CN103302405A (en) * | 2013-05-20 | 2013-09-18 | 江苏久保联实业有限公司 | Internal applying welding device for gracile high temperature alloy furnace tube |
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| CN104476042B (en) * | 2014-11-04 | 2016-05-04 | 舟山长宏国际船舶修造有限公司 | The simple and easy automatic welding arm of a kind of Circumferential Welds In Cylinders |
| CN104588892B (en) * | 2014-12-12 | 2016-04-27 | 柳州市京阳节能科技研发有限公司 | The energy-conservation cutting-welding machine of automatic control rail high standard |
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| CN109773382B (en) * | 2018-12-27 | 2021-03-02 | 青岛林辉钢构有限公司 | Iron tower internal welding machine head equipment |
| CN114378414B (en) * | 2022-01-14 | 2024-02-06 | 一重集团大连核电石化有限公司 | Compact TIG welding trolley with double arc voltage tracking shafts |
-
1988
- 1988-10-13 CN CN 88108440 patent/CN1015522B/en not_active Expired
Also Published As
| Publication number | Publication date |
|---|---|
| CN1041899A (en) | 1990-05-09 |
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