CN101804493B - Automatic bead welding equipment of saddle-shaped pipe joint surface with conical table and welding method thereof - Google Patents
Automatic bead welding equipment of saddle-shaped pipe joint surface with conical table and welding method thereof Download PDFInfo
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- CN101804493B CN101804493B CN2010101100865A CN201010110086A CN101804493B CN 101804493 B CN101804493 B CN 101804493B CN 2010101100865 A CN2010101100865 A CN 2010101100865A CN 201010110086 A CN201010110086 A CN 201010110086A CN 101804493 B CN101804493 B CN 101804493B
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Abstract
The invention relates to automatic bead welding equipment of a saddle-shaped pipe joint surface with a conical table and a welding method thereof, belonging to the technical field of automatic welding equipment and welding methods. The equipment comprises a station regulating device, an automatic welding gun manipulator, a laser positioner and an electrical control device. When the equipment works, the electrical control device controls the station regulating device and the automatic welding gun manipulator to be dynamically matched to complete the bead welding of an anti-corrosive layer of the saddle-shaped pipe joint surface with the conical table. The invention has the advantages that the electrical control device controls five-shaft linkage so that the end surface of the bead welding position of a workpiece is in a horizontal state; due to the adoption of a hot wire TIG (Tungsten Inert Gas) welding process and a horizontal continuous welding, the automatic bead welding equipment has good welding quality; the automatic bead welding equipment completely realizes automatic welding, reduces the polishing quantity of the bead welding surface and improves the utilization rate of a welding material; and voltage is added between a wire-feeding conducting nozzle and the workpiece through adopting a hot wire technique so that current flows through a welding wire between the wire-feeding conducting nozzle and the workpiece to heat the welding wire, and then the absorption of the welding wire for the heat quantity of an electric arc is reduced, thereby improving the welding efficiency.
Description
Technical field
The present invention relates to a kind of automatic bead welding equipment of saddle-shaped pipe joint surface and welding method thereof with the frustum of a cone, the mother pipe that is specially adapted to different-diameter and arm pass through the anticorrosive coat built-up welding of being with the joint surface of the frustum of a cone on the shape of a saddle pipe end face of formation and the end face mutually, belong to automatic welding equipment and welding method technical field.
Background technology
The saddle-shaped pipe joint of the band frustum of a cone is a pipe joint commonly used in petrochemical industry and the power industry field pipe network, its end face is that shell ring is that female pipe passes through the shape of a saddle end face of formation mutually with arm with importing and exporting pipe, the circular cone step that also has an outer face tilt on the pipe end face, the whole circle width of end face and side is all inequality.If pipe joint is a circular end surface, can realize welding automatically by equipment such as Lincoln weld, gas shielded arc welding or TIG welderings usually.When shape of a saddle end face one all height change are bigger, the gradient hour also can adopt shape of a saddle method for controlling trajectory to realize height change, drops down under the molten bath is unlikely to, and the welding bead moulding still can; If but the shape of a saddle cross section curve gradient is bigger, just can only adopt the welding deflection machine, the welding position is indexed to horizontal level welds.And existing shape of a saddle groove submerged arc welding machine substantially all is by PLC control, and it is less that its motion positions is counted, and can only be used for a track, is used for the groove welding of the shape of a saddle end joint of one weld seam more; Because the deflection machine of existing equipment and manipulator can not be realized multi-shaft interlocked control, all can only be used for the welding of standard shape pipe joint.For example: an existing shape of a saddle end face pipe joint automatic submerged-arc welding machine, use the Q of Mitsubishi series of PLC, QD75 series positioning control module, the location maximum number of points is 600, if circumferentially the angle by 1 degree is provided with 1 anchor point, promptly needed 360 location to count in one week, only counting for 600 and enough locate in a week, counts in the location that promptly only reaches a welding bead.And the shape of a saddle end face that needs processing is piled number of weld passes up to 80 ~ 100 roads, and the per pass track is inequality again, and therefore, existing shape of a saddle end face pipe joint automatic submerged-arc welding machine can't be realized the automatic surfacing to the saddle-shaped pipe joint of the band frustum of a cone.Owing to there is not suitable device to weld automatically, can only adopt the manual welding method that the saddle-shaped pipe joint of being with the frustum of a cone is carried out built-up welding work at present, the concrete practice is: the first floor adopts 308L welding rod, 3 millimeters of built-up welding thickness; The second layer adopts the 309L welding rod, and built-up welding thickness is not less than 4 millimeters; Gross thickness is not less than 7 millimeters.Obviously, there is following problem in manual welding:
1, since the saddle-shaped pipe joint diameter of the band frustum of a cone that needs welding at Φ 1500mm, leptoprosopy width 200mm, wide 230mm, edge-on face width 70, frustum face width 102mm, the built-up welding amount is big, a workpiece need weld the time in two weeks;
2, manual build up welding is not easy to guarantee that the welding bead spacing is even, and overlaying surface is rough and uneven in surface, just can carry out painted and ultrasonic inspection after need polishing, and the polishing amount is big;
3, for guaranteeing effective built-up welding thickness, cause the built-up welding surplus big, the grinding workload after the welding increases.
Summary of the invention
For solving problems of the prior art, the present invention proposes a kind of automatic bead welding equipment of saddle-shaped pipe joint surface and welding method thereof with the frustum of a cone, this automatic welding equipment should be by five-axle linkage, realize that the welding position remains level, carry out continuous automatic welding, adopt heating wire TIG welding method, thereby increase substantially welding efficiency and welding quality.
The present invention addresses the above problem the technical scheme that is adopted to be: a kind of automatic bead welding equipment of saddle-shaped pipe joint surface with the frustum of a cone, it comprises that is mainly finished a workpiece lifting, the station adjusting device of the rotation and the Dou that inclines, automatic welding gun manipulator and electrical control gear, the station adjusting device is integrated to be installed on the base, the automatic welding gun manipulator is installed on the small footprint, when work, described electrical control gear is shape of a saddle TRAJECTORY CONTROL program and the operational order of core by establishment in advance by the PMAC controller, control station adjusting device and automatic welding gun manipulator dynamic fit are finished the built-up welding of the saddle-shaped pipe joint intersection weld seam level position of the band frustum of a cone.It also comprises a laser locator, described station adjusting device comprises a workbench rotating mechanism, a worktable lifting mechanism and workbench Dou mechanism that inclines, on described base, be provided with a master end column and a slave end column, be provided with first bolster by the clutch shaft bearing supporting in the upper end of master end column, the elevating mechanism on right side adopts suspension type to be fixed on the end of first bolster, be provided with second bolster by the supporting of second bearing in the upper end of slave end column, the elevating mechanism in left side also adopts suspension type to be fixed on the end of second bolster, a left side, the elevating mechanism on right side is connected with table base by slide plate separately; Described workbench rotating mechanism is arranged on a side of table base, and rotatable workbench is positioned at the top of table base; Be provided with the incline final drive shaft by block bearing supporting of Dou mechanism of a described workbench in the bottom of described master end column, first pinion that is positioned at final drive shaft one end is meshed with the driven sector that the elevating mechanism on right side is fixed together; Described laser locator be arranged on the right side elevating mechanism top and towards workbench, the center of laser locator is consistent with the center of first bolster; Described automatic welding gun manipulator can be walked on the small footprint that is positioned at base one side, and horizontal driving and reversing mechanism and vertically elevating mechanism adjusting are adopted in the position of welding gun; When welding begins automatically, at first use described station adjusting device the peak of workpiece, be adjusted to light spot position a little less than laser locator, again welding gun is adjusted to the solder joint that rises with workpiece, promoting welding gun makes the tungsten electrode point overlap with laser point, execution resets and then gets back to and opens welding position and put, and adjusts the relative position of welding wire and tungsten electrode, starts the source of welding current then and begins welding.
Described workbench rotating mechanism adopts second servomotor to drive second pinion through second planetary reducer, and the gear ring that the driving of second pinion is fixedly mounted on below the workbench rotates workbench.
Described worktable lifting mechanism adopts the elevating mechanism synchronous working of left and right side, and the 3rd motor of the elevating mechanism of left and right side drives leading screw through the third line star reductor, and leading screw drives slide plate through screw and does elevating movement together with table base.
The described workbench Dou mechanism that inclines adopts first servomotor to drive final drive shaft through first planetary reducer, and the elevating mechanism and the table base that drive left and right side with the fixedly connected driven sector of first pinion through fixedlying connected with the elevating mechanism on right side of final drive shaft tilt.
Use the welding method of the automatic bead welding equipment of saddle-shaped pipe joint surface of the described band frustum of a cone may further comprise the steps:
(1) workpiece is installed
Forward workbench to horizontal level, workpiece is hung on the workbench, adjust workpiece centre and overlap, workpiece is fixed on the workbench by bolt clip plate with the workbench center, by the station adjusting device, welding initial point in upper surface is adjusted to axle center near first bolster;
(2) select the built-up welding program, input workpiece and welding condition
The built-up welding track is provided with the various control program, select the program of required solder side before the welding by the touch-screen of electric control system, the basic parameter and the welding condition of the saddle-shaped pipe joint workpiece of input, set the synthetic angle of arc voltage control action, arc voltage setting value and welding gun and overlaying surface angle etc.; The basic parameter of saddle-shaped pipe joint workpiece.Comprise: bottom surface female pipe diameter of phi 1, bottom surface 0 degree bit width D1, bottom surface 90 degree bit width D2, the female pipe of high face diameter of phi 2, high face 0 degree width D 3, high face 90 degree width D 4, an external diameter of pipe Φ 3, straight tube internal diameter Φ 4, centre-height L, outer wall difference in height (T1-T2), outer draft α, radius of corner R.Wherein width is spent in bottom surface 0, bottom surface 90 degree width, and high face 0 degree width, high face 90 degree width, difference is used for saddle curve inside and calculates to outside continuous smooth transition.The outer wall difference in height is used for lateral surface track even transition from the bottom to top to be calculated, and other parameter is used for basic saddle track and calculates.
(3) regulate welding wire and tungsten electrode relative position
By wire-feed motor welding wire is delivered to the welding wire ignition tip by the wire feed conduit, adjust welding wire and electric arc relative position by the welding wire position adjusting mechanism, making welding wire stretch out direction aligning tungsten electrode contacts with workpiece, contact point and tungsten electrode horizontal range are 8-9mm, and keep the solder side of welding wire and workpiece to form about 15 ° angle; Heater supply and ignition tip, welding wire connected with workpiece form current loop; Reliably contact when guaranteeing welding, and the resistance minimum is best;
(4) adjusting each initial position execution resets
And the solder side of workpiece is adjusted into horizontal level by the revolution modified gear, manually each is transferred to and sets initial origin position, welding gun tungsten electrode point is aimed at laser lamp, carry out initial point and reset, each initial coordinate will be by workpiece setup parameter and position assignment, calculating;
(5) carry out built-up welding TRAJECTORY CONTROL flow process
The saddle track divides 3600 angles to calculate with one week of adapter center, passes through a height change value mutually according to each angle and calculates angle change value and rotary speed compensation assurance welding position level and built-up welding consistency of thickness.Adopt the PMAC controller to wait upon the clothes driving,, realize shape of a saddle TRAJECTORY CONTROL by shape of a saddle mathematical formulae program with exchanging.Welding sequence is the low end face of weldering earlier, → outer side elevation → interior facade → inside and outside R angle → high end face.Press the welding button, finish the automatic surfacing of facade, base angle and drift angle in the bottom surface of workpiece, high face, the outer inclined-plane of the frustum of a cone, the frustum of a cone by the computer in the electric control system according to predefined welding procedure successively.
The invention has the beneficial effects as follows: the automatic bead welding equipment of saddle-shaped pipe joint surface of this band frustum of a cone, it mainly comprises station adjusting device, automatic welding gun manipulator, laser locator and the electrical control gear of the Dou that finishes the workpiece lifting, rotates and incline, and the station adjusting device comprises workbench rotating mechanism, worktable lifting mechanism and the workbench Dou mechanism that inclines.When work, electrical control gear is finished the automatic surfacing of the saddle-shaped pipe joint end face anticorrosive coat of the band frustum of a cone by the operational order control station adjusting device and the automatic welding gun manipulator dynamic fit that set in advance.Its advantage is as follows:
1, the coordination control by electrical control gear has reached five-axle linkage, thereby makes the built-up welding end face of workpiece be in level all the time in welding process, has realized the horizontal displacement in the workpiece welding process.
2, adopt heating wire TIG welding technology and the continuous welding of level position, welding point is few, does not have upper and lower slope, whole welding bead unanimity, smooth, and welding quality is good.
3, realize automatic welding fully, reduced overlaying surface polishing amount, improved the wlding utilization rate.
4, adopt the heated filament technology, add voltage between wire feed ignition tip and workpiece, make that welding wire flows through electric current between wire feed ignition tip and workpiece, the heating welding wire reduces welding wire to the electric arc heat absorption, thereby improves welding efficiency.
5, integrated arc voltage control function in the control program by detecting arc voltage, can be revised and calculate the track value and satisfy welding process arc voltage and the stable requirement of heater current, and can decide operating angle and set the synthetic ratio value that moves of two axles by establishing AVC.
6, realize the not even transition of wide track of whole end face by control program, it is parallel to make overlay cladding and saddle end face take over outward flange.Variation by the control speed of welding realizes the built-up welding consistency of thickness.
Description of drawings
Fig. 1 is a kind of structure front view of the saddle-shaped pipe joint welding equipment with the frustum of a cone.
Fig. 2 is a kind of structure vertical view of the saddle-shaped pipe joint welding equipment with the frustum of a cone.
Fig. 3 mainly shows the structure chart of welding gun manipulator.
Fig. 4 mainly shows the structure chart that makes the workbench leaning device.
Fig. 5 is a workpiece relative dimensions schematic diagram.
Fig. 6 is that the saddle end face is taken over inner arm built-up welding track schematic diagram.
Among the figure: 1, base, 1a, small footprint, 2, the master end column, 2a, first servomotor, 2b, first planetary reducer, 2c, final drive shaft, 2d, first pinion, 2e, driven sector, 2f, block bearing, 2g, first bolster, 2h, clutch shaft bearing, 3, the slave end column, 3a, second bearing, 3b, second bolster, 4, workbench, 4a, second servomotor, 4b, second planetary reducer, 4c, second pinion, 4d, gear ring, 4e, table base, 5, elevating mechanism, 5a, the 3rd servomotor, 5b, the third line star reductor, 5c, leading screw, 5d, slide plate, 5e, screw, 5f, counterweight, 5g, connect protruding dish, 6, the welding gun manipulator, 6a, bearing support, 6b, horizontal driving and reversing mechanism, 6c, vertical elevating mechanism 6d, welding gun, 7, laser locator, 8, wire-feed motor, 8a, the welding wire conduit, 9, the heated filament cable, 10, workpiece.
The specific embodiment
Fig. 1,2,3,4 shows a kind of structure chart of the saddle-shaped pipe joint welding equipment with the frustum of a cone.Among the figure, automatic welding equipment comprises station adjusting device, automatic welding gun manipulator 6, laser locator 7 and the electrical control gear of the Dou that finishes the workpiece lifting, rotates and incline, the station adjusting device is integrated to be installed on the base 1, automatic welding gun manipulator 6 is installed on the small footprint 1a, when work, electrical control gear is finished the welding of the saddle-shaped pipe joint intersection weld seam of the band frustum of a cone by the operational order control station adjusting device and the automatic welding gun manipulator dynamic fit that set in advance.Mainly introduce workbench rotating mechanism, worktable lifting mechanism and workbench that the station adjusting device the comprises Dou mechanism that inclines below.
Be provided with a master end column 2 and a slave end column 3 on base 1, be provided with first a bolster 2g by clutch shaft bearing 2h supporting in the upper end of master end column 2, the elevating mechanism 5 on right side adopts suspension type to be fixed on the end of the first bolster 2g.Be provided with second a bolster 3b by second bearing 3a supporting in the upper end of slave end column 3, the elevating mechanism 5 in left side also adopts suspension type to be fixed on the end of the second bolster 3b.The elevating mechanism 5 of left and right side all is provided with counterweight 5f and the slide plate 5d by separately is connected with table base 4e.Worktable lifting mechanism adopts elevating mechanism 5 synchronous workings of left and right side, the 3rd servomotor 5a of the elevating mechanism 5 of left and right side drives leading screw 5c through the third line star reductor 5b, and leading screw 5c drives slide plate 5d through two screw 5e and does elevating movement together with table base 4e.
The workbench rotating mechanism is arranged on the side of table base 4e, and rotatable workbench 4 is positioned at the top of table base 4e.The workbench rotating mechanism adopts the second servomotor 4a to drive the second pinion 4c through the second planetary reducer 4b, and the gear ring 4d that second pinion 4c driving is fixedly mounted on below the workbench 4 rotate workbench 4.
Be provided with the incline final drive shaft 2c by block bearing 2f supporting of Dou mechanism of a workbench in the bottom of master end column 2, the driven sector 2e that protruding dish 5g is fixed together that is connected on the first pinion 2d that is positioned at final drive shaft 2c one end and the elevating mechanism 5 on right side is meshed, and movable set on the first bolster 2g (Fig. 1,4) is gone back in the upper end of driven sector 2e.The workbench Dou mechanism that inclines adopts the first servomotor 2a to drive final drive shaft 2c through the first planetary reducer 2b, and the elevating mechanism 5 and the table base 4e that drive left and right side with the fixedly connected driven sector 2e of the first pinion 2d through fixedlying connected with the elevating mechanism 5 on right side of final drive shaft 2c tilt.
Illustrate the welding method of using above-mentioned automatic welding equipment at last:
(1) workpiece is installed
(2) the basic conventional parameter of input workpiece
Fig. 5 shows the basic parameter by the saddle-shaped pipe joint workpiece 10 of the touch-screen input of electric control system.Bottom surface female pipe diameter of phi 1=3951mm, bottom surface 0 degree bit width D1=205mm, bottom surface 90 degree bit width D2=230mm, the female pipe of high face diameter of phi 2=3784mm, high face 0 degree width D 3=125mm, high face 90 degree width D 4=115mm, an external diameter of pipe Φ 3=1498mm, bore=736mm, centre-height L=130mm, outer wall difference in height T1-T2=10mm, outer draft α=15 degree, radius of corner R=20mm.The degree width, input welding bead spacing 4mm,, arc voltage=11.3V, speed of welding=200mm/min, the time 5S that supplies gas in advance, striking electric current 50A, base value welding current 160A, peak value welding current 280A, the time 10S that stops the supple of gas or steam that lags behind is etc. parameter.
(3) regulate wire feeder
With the output negative pole of TIG power supply meet welding gun 6d, positive pole connects workpiece 10, by wire-feed motor 8 welding wire is delivered to the welding wire ignition tip by wire feed conduit 8a, welding wire is stretched out with workpiece 10 to be contacted, and the solder side of workpiece 10 is adjusted into horizontal level by the revolution modified gear, keep the solder side of welding wire and workpiece 10 to form about 15 and spend angles; Heater supply and ignition tip, welding wire connected with workpiece 10 form current loop; Adjust welding wire and electric arc relative position by the welding wire position adjusting mechanism, guarantee that welding wire delivers to the electric arc melting bath edge, and keep in touch with workpiece (10); It is best that peak point current is unlikely to blow welding wire.The welding gun angle is vertical with the lower surface.
(4) adjust each initial position
Welding sequence is from inside to outside, adjusts each manually and makes welding gun tungsten electrode point aim at the bottom surface 0 R angle of being outside one's consideration to locate position, first road, promote welding gun and overlaps with laser point, carry out initial point and reset, welding gun is transferred to the initial initial point 0 of setting again and is spent the position.
(5) each surface build-up welding TRAJECTORY CONTROL flow process
Low end face welding
Press the welding button; carry out and to send other three on protection gas → tungsten electrode contact workpiece → mention setting height → high-frequency arc strike → electric current risings → pulse current → wire feed → startup workbench rotation → sloping shaft and manipulator in advance according to the corresponding adjustment of current angle position correspondence each calculated value of track; the welding position is horizontal all the time; manipulator slide axle according to number of weld passes with the bottom width difference to all diverse locations adjust → speed of welding calculates according to the gradient and track compensation back wide variety and adjusts → determine that according to the arc voltage detected value whether next target location is worth needs and revises and outwards move on to the above TRAJECTORY CONTROL process of next track → repeat → to the outermost track → carrying out the arc → time-delay of current attenuation receipts behind the terminal point stops protecting gas, finishes the welding job of the bottom surface of workpiece 10 by miter angle after finishing arc voltage and controlling → reach a week automatically and set amount of lap.
The welding of outer inclined-plane
Selecting side elevation welding procedure → adjustments welding gun and bottom surface angle is about 30 to spend and spend positions with 90 and do not scrape workpiece 10 surfaces (4) reset routine → press welding button that is as the criterion → carries out; carry out and to send in advance that protection gas → tungsten electrode contact workpiece → corresponding adjustment is horizontal the welding position all the time according to current angle position correspondence calculated value with other three to mention setting height → high-frequency arc strike → electric current risings → pulse current → wire feed → startups workbench rotation → sloping shaft; traversing axle and lifting shaft according to number of weld passes and bottom width difference to all diverse locations adjust → speed of welding calculates according to the gradient and track compensation back wide variety and adjusts → determine that according to the arc voltage detected value next target location is worth whether needs modification; upwards move on to the above TRAJECTORY CONTROL process of next track → repeat → by miter angle along draft angle after finishing arc voltage and control automatically → reach a week and setting amount of lap to the outermost track → arc → time-delay of execution current attenuation receipts stops protecting gas behind the terminal point, finishes the welding job of the bottom surface of workpiece 10.
Interior facade welding
Facade welding in selecting; with welding gun vertical with interior facade adjustment → 0 degree position → sloping shaft that workpiece changes is transferred to 0 position; tungsten electrode point is aimed at initial welding bead position → rise rifle to aim at laser point, carry out initial point to reset → with welding gun move on to again initial welding position → by welding button → executions send protection gas → tungsten electrode contact workpiece → mention setting height → high-frequency arc strike → electric current risings → pulse current → startups workbench to rotate → reach a week and overlap set value after with 45 be moved upwards up to next enclose behind track → be welded to top by program calculating open weldering endpoint location → execution striking welding → receipts arc → forward to next weld start position → receipts arc → raising welding gun to next welding bead height continue to weld → finish welding.Fig. 6 is a saddle nozzle inner wall built-up welding track expanded view, adopt the landscape mode built-up welding, the saddle end face is following to be continuous built-up welding, a is the welding starting point, in the direction of arrows the welding, be welded to position b after, move the setting width on the welding gun, enter the second road welding track starting point c, discontinuous welding bead appears to the saddle end face and till.The saddle end face part adopts interrupted mode to weld, and program is counted acnode and received the acnode position according to setting width gauge with saddle end face upper end, also can adopt manual mode to set arcing point, receives acnode and plays point symmetry.Implementation is as follows: saddle is taken over and to be turned to striking welding behind the d position, receives arc after reaching symmetric position e.Idle up to next symmetry position f postpone striking and continue to be welded to position g, finish this layer welding.Welding gun moves up and enters next welding bead height, and striking point position is h, repeats this program to last one section.The corner edge sealing adopts saddle TRAJECTORY CONTROL mode to realize that the welding starting point is j, and terminal point is k, and welding gun and workpiece angle need to adjust.
The drift angle welding
Select the drift angle welding procedure → with workpiece adjust to initial position → with the welding gun angle adjustment to vertical with institute leg tangent line → rise welding gun to overlap → carry out initial point with laser point and reset → welding gun is turned back to open bond pad locations → execution welding procedure → other process identical with the bottom surface to tungsten electrode is sharp.
Upper surface welding method and bottom surface are basic identical, repeat no more.
Claims (1)
1. welding method with the automatic bead welding equipment of saddle-shaped pipe joint surface of the frustum of a cone, described automatic bead welding equipment comprises that is mainly finished a workpiece lifting, rotation and the station adjusting device that tilts, automatic welding gun manipulator (6) and electrical control gear, the station adjusting device is integrated to be installed on the base (1), automatic welding gun manipulator (6) is installed on the small footprint (1a), when work, described electrical control gear is finished the welding of the saddle-shaped pipe joint intersection weld seam of the band frustum of a cone by the operational order control station adjusting device and the automatic welding gun manipulator dynamic fit that set in advance; It also comprises a laser locator (7), described station adjusting device comprises a workbench rotating mechanism, a worktable lifting mechanism and a workbench leaning device, on described base (1), be provided with a master end column (2) and a slave end column (3), be provided with first bolster (2g) by clutch shaft bearing (2h) supporting in the upper end of master end column (2), the elevating mechanism on right side (5) adopts suspension type to be fixed on the end of first bolster (2g), be provided with second bolster (3b) by second bearing (3a) supporting in the upper end of slave end column (3), the elevating mechanism (5) in left side also adopts suspension type to be fixed on the end of second bolster (3b), a left side, the elevating mechanism on right side (5) is connected with table base (4e) by slide plate (5d) separately; Described workbench rotating mechanism is arranged on a side of table base (4e), and rotatable workbench (4) is positioned at the top of table base (4e); Be provided with the final drive shaft (2c) by block bearing (2f) supporting of a described workbench leaning device in the bottom of described master end column (2), first pinion (2d) that is positioned at final drive shaft (2c) end is meshed with the driven sector (2e) that the elevating mechanism (5) on right side is fixed together; Described laser locator (7) be arranged on the right side elevating mechanism (5) top and towards workbench (4), the center of laser locator (7) is consistent with the center of first bolster (2g); Described automatic welding gun manipulator (6) can be gone up walking in the small footprint that is positioned at base (1) one side (1a), and horizontal driving and reversing mechanism (6b) and vertically elevating mechanism (6c) adjusting are adopted in the position of welding gun (6d); When welding begins automatically, at first use described station adjusting device that the upper surface of workpiece (10) is adjusted to a little less than laser point, welding gun has been adjusted to solder joint, promoting welding gun resets to carrying out initial point to the light spot position of laser locator (7), again welding gun (6d) is adjusted to the solder joint that rises with workpiece (10), regulate welding wire and become 15 degree angles with the workpiece contact plane, startup power supply begins welding then; Described workbench rotating mechanism adopts second servomotor (4a) to drive second pinion (4c) through second planetary reducer (4b), and the gear ring (4d) that second pinion (4c) driving is fixedly mounted on below the workbench (4) rotates workbench (4); Described worktable lifting mechanism adopts elevating mechanism (5) synchronous working of left and right side, the 3rd motor (5a) of the elevating mechanism of left and right side (5) drives leading screw (5c) through the third line star reductor (5b), and leading screw (5c) drives slide plate (5d) through screw (5e) and does elevating movement together with table base (4e); Described workbench leaning device adopts first servomotor (2a) to drive final drive shaft (2c) through first planetary reducer (2b), and the elevating mechanism (5) and the table base (4e) that drive left and right side with the fixedly connected driven sector (2e) of first pinion (2d) through fixedlying connected with the elevating mechanism (5) on right side of final drive shaft (2c) tilt; It is characterized in that: the welding method that described automatic bead welding equipment adopts may further comprise the steps:
(1) workpiece is installed
Forward workbench (4) to horizontal level, workpiece (10) is hung on the workbench (4), by being fixed on the adjustment leading screw on the workbench, adjusting workpiece (10) center overlaps with workbench (4) center, around the workpiece bottom, weld four fixed connecting plates, by bolt clip plate workpiece (10) is fixed on the workbench (4), by the station adjusting device, make the axle center of upper surface a little less than first bolster (2g);
(2) input conventional parameter
The basic parameter and the welding condition of the saddle-shaped pipe joint workpiece (10) of the touch-screen input by electric control system;
(3) relative position of adjusting welding wire and tungsten electrode
By wire-feed motor (8) welding wire is delivered to the welding wire ignition tip by wire feed conduit (8a), welding wire is stretched out with workpiece (10) to be contacted, and the solder side of workpiece (10) is adjusted into horizontal level by the revolution modified gear, keep the solder side of welding wire and workpiece (10) to form about 15 ° angle; Heater supply and ignition tip, welding wire connected with workpiece (10) form current loop; Adjust welding wire and electric arc relative position by welding wire and tungsten electrode position adjusting mechanism, guarantee that welding wire delivers to the electric arc melting bath edge, aligning arc center direction, and keep in touch with workpiece (10);
(4) adjusting each initial position resets
Manually each is transferred to and sets initial origin position, promote welding gun, the tungsten electrode point is overlapped with laser point, carry out initial point and reset, each initial coordinate will be by initial position assignment, the calculating of workpiece (10) setup parameter and program;
(5) carry out built-up welding TRAJECTORY CONTROL flow process
Select welding procedure to press the welding button, finish the automatic surfacing of the outer inclined-plane of bottom surface, base angle, the frustum of a cone, the interior facade of the frustum of a cone, drift angle and the high face of workpiece (10) by the computer in the electric control system according to predefined welding procedure successively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010101100865A CN101804493B (en) | 2010-02-17 | 2010-02-17 | Automatic bead welding equipment of saddle-shaped pipe joint surface with conical table and welding method thereof |
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| CN2010101100865A CN101804493B (en) | 2010-02-17 | 2010-02-17 | Automatic bead welding equipment of saddle-shaped pipe joint surface with conical table and welding method thereof |
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| CN101804493A CN101804493A (en) | 2010-08-18 |
| CN101804493B true CN101804493B (en) | 2011-09-21 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102000931B (en) * | 2010-12-03 | 2013-09-25 | 新疆威奥科技股份有限公司 | Portable saddle-shaped joint pipe double-welding gun welding device |
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| CN111822818B (en) * | 2020-07-21 | 2022-09-13 | 福尼斯(南京)表面工程技术有限公司 | Method for automatically surfacing reducing pipe by using novel surfacing equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2514963Y (en) * | 2001-12-13 | 2002-10-09 | 天津鼎盛工程机械有限公司 | Lifting-rotating welding position shifting machine |
| CN2778453Y (en) * | 2004-07-23 | 2006-05-10 | 北京东方新强设备制造有限公司 | Automatic welding apparatus for S-type helical blade surface |
| CN201342565Y (en) * | 2009-01-23 | 2009-11-11 | 北京石油化工学院 | Perforated connecting pipe and saddle-shaped seam welding equipment |
| CN201659356U (en) * | 2010-02-17 | 2010-12-01 | 中国第一重型机械股份公司 | Automatic surfacing equipment of saddle-shaped pipe joint surface with cone frustum |
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