CN102133675B - Steel pipe flange inserting seam detection tracking welding method and device - Google Patents
Steel pipe flange inserting seam detection tracking welding method and device Download PDFInfo
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- CN102133675B CN102133675B CN 201110023079 CN201110023079A CN102133675B CN 102133675 B CN102133675 B CN 102133675B CN 201110023079 CN201110023079 CN 201110023079 CN 201110023079 A CN201110023079 A CN 201110023079A CN 102133675 B CN102133675 B CN 102133675B
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Abstract
The invention relates to a steel pipe flange inserting seam detection tracking welding method and a steel pipe flange inserting seam detection tracking welding device applied in automatic welding of a big-diameter steel pipe inserting flange in the ship industry and the power industry, and belongs to the technical field of automatic welding. The invention adopts the technical scheme that the method comprises the following steps of: detecting a fitting-up clearance through the inner surface of the flange, detecting the distance between the end of a steel pipe and the outer end face of the flange through the end face of the steel pipe, performing scale division point acquisition measurement on the two data, and simultaneously comparing the data such as the detected clearance and the like with the pre-stored corresponding welding parameters through a control system; and determining the corresponding welding parameters, feeding the welding parameters back to a driving device, and automatically adjusting the rotating speed and the swing amplitude of a welding unit so as to realize the requirement that the welding speed is changed together with the size of the clearance. The purposes of automatically detecting the deviation of a workpiece and automatically adjusting the position of a welding gun, the swing amplitude and the welding speed are fulfilled, and the welding quality and the working efficiency can be improved.
Description
Technical field
The present invention relates to a kind of steel pipe flange grafting weld seam detection and follow the tracks of the welding method and apparatus, the big caliber steel pipe grafting flange that is applied to shipbuilding industry, power industry welds automatically, belongs to the automatic welding technique field.
Background technology
At present, the workpiece of China's shipbuilding industry steel pipe flange weldering, especially there is the situation of water chestnut in large aperture workpiece ubiquity circularity difference and steel pipe end face cutting rear end face, the error of perpendicularity in end face and axle center will be more big when the deviation from circular from of the more big pipe of caliber and blanking, and the difficulty when carrying out the flange welding is also more big.Cause general automatic welding device to be difficult to correspondence, even some import welding equipment also can't normally play a role.And manual welding labour intensity is big, and welding quality can't guarantee.
Illustrate: with reference to accompanying drawing 1, be that group is to profile between a steel pipe flange, C, D point gap is very big, and inconsistent.Some metal will flow to the gap certainly during welding, if with etc. condition welding, can cause welding fabrication inconsistent.In addition, when steel tube end part had water chestnut, as the B face, the distance of its outer face, end and flange outer face also was vicissitudinous, postwelding moulding unanimity also to have this problem.
Summary of the invention
The purpose of this invention is to provide a kind of steel pipe flange grafting weld seam detection and follow the tracks of the welding method and apparatus, detect the workpiece deviation automatically, regulate welding torch position, amplitude of fluctuation and speed of welding automatically, solve the problems referred to above that background technology exists.
Technical scheme of the present invention is:
Steel pipe flange grafting weld seam detection is followed the tracks of welder, comprise weld seam detection mechanism, synthesized wobble welding mechanism, weld seam detection mechanism by axial detecting unit and radially detecting unit form, the deviation of steel pipe and the generation of flange gap is carried out bidimensional to be detected, axially detecting unit is finished the measurement of the deviation that steel shaft produces to water chestnut, and radially detecting unit is finished the radially measurement of steel pipe and the deviation of flange gap generation; The synthesized wobble welding mechanism is by the axial wobble unit, radially wobble the unit, welding unit is formed, the axial wobble unit, the swing speed and the amplitude of fluctuation that radially wobble the unit are set according to parameter by control system and the detection deviation calculating of weld seam detection mechanism, pass through bidimensional, the cross synthesized wobble makes welding unit by the direction swing of setting, formation has the angle welding of leg height, welding unit is by the axial wobble unit, radially wobble unit drives, the workpiece rotation, amplitude of fluctuation is followed the tracks of weld seam automatically according to detecting deviation, adjust speed of welding according to setting simultaneously, welding current, automatically adjust and follow the tracks of the compensation weld seam deviation, finish steel pipe flange grafting weld seam detection and follow the tracks of welding job.
The present invention also is provided with modified gear, modified gear is made up of variable-position cylinder, displacement supporting plate, weld seam detection mechanism, synthesized wobble welding mechanism are installed on the supporting plate, the displacement supporting plate can carry out 90 degree revolutions by air cylinder driven, realize the evolution of weld seam detection mechanism and synthesized wobble welding mechanism, realize three-dimensional control, guarantee weld seam detection point and follow the tracks of pad registration.
The said axial detecting unit of the present invention comprises axial detection probe, axial cylinder, axial sensor, the axial cylinder Control Shaft is advanced and retreat to detection probe, advancing, axial detection probe will contact steel pipe tube wall end face when putting in place, when workpiece rotates, effect by cylinder makes axial detection probe keep tight the contact with the tube wall end face always, along with deviation changes axially-movable, axially the axially-movable of detection probe is detected by axial sensor, changes electric signal into and is transferred to control system.Said axial sensor is linear displacement transducer, can convert displacement to analog voltage signal.
The said radially detecting unit of the present invention comprises radially detection probe, radially cylinder, radial transducer, radially cylinder is controlled radially detection probe advance and retreat, advance diameter of axle detection probe when putting in place with the engagement flange inwall, when workpiece rotates, effect by cylinder makes probe keep tight the contact with flange inner wall always, along with deviation changes radial motion, radially the radial motion of detection probe is detected by radial transducer, changes electric signal into and is transferred to control system.Said radial transducer is linear displacement transducer, can convert displacement to analog voltage signal.
The said axial wobble of the present invention unit, radially wobble the unit, driven by stepper motor, swing speed and amplitude of fluctuation are set according to parameter by control system and weld seam detection mechanism detects deviation and calculates, and the axial wobble unit, the amplitude of oscillation that radially wobbles two stepper motors of unit changes will be consistent with the weld seam deviation that two detecting sensors of weld seam detection mechanism reflect.
Steel pipe flange grafting weld seam detection is followed the tracks of welding method, comprise following steps: at first pass through flange inner surface test set to the gap, detect steel tube end part and flange outer face distance by the steel pipe end face, above-mentioned two data are carried out calibration adopt point measurement, control system is compared the data such as gap that detect with the corresponding welding parameter that prestores simultaneously; After determining corresponding welding parameter, feed back to drive unit, regulate the amplitude of fluctuation of rotary speed and welding unit automatically, thereby realize the requirement that speed of welding changes with gap length.
The present invention also is provided with the displacement supporting plate, and welding unit is installed on the supporting plate, and the displacement supporting plate carries out 90 degree revolutions, realizes weld seam detection, synthesized wobble evolution, realizes three-dimensional control, guarantees weld seam detection point and follows the tracks of pad registration.
The present invention is step more specifically: the deviation that steel pipe and flange gap are produced is carried out bidimensional and is detected, and axially detects the measurement of finishing the deviation that steel shaft produces to water chestnut, radially detects and finishes the radially measurement of steel pipe and the deviation of flange gap generation; According to testing result control welding unit bidimensional, cross synthesized wobble, welding unit is finished welding work pieces, forms to have the angle welding of leg height; The workpiece rotation, according to detecting deviation, weld seam is followed the tracks of in the welding unit swing automatically, adjusts speed of welding, welding current according to setting simultaneously, adjusts automatically and follows the tracks of the compensation weld seam deviation, finishes steel pipe flange grafting weld seam detection and follows the tracks of welding job.
Good effect of the present invention is: the present invention has realized automatic detection workpiece deviation, regulates welding torch position, amplitude of fluctuation and speed of welding automatically, can improve welding quality and operating efficiency.
Description of drawings:
Accompanying drawing 1 is the welding work pieces schematic diagram;
Among the figure: steel pipe 1, flange 2, flange inside surface A, steel pipe end face B, steel pipe and flange clearance C and D;
Accompanying drawing 2 is structural representation of the present invention;
Among the figure: radial transducer 3, radial cylinder 4, radially detection probe 5, axially detection probe 6, axial cylinder 7, axial sensor 8, welding unit 9, axial wobble motor 10, radially wobble motor 11, displacement cylinder 12, displacement supporting plate 13;
Accompanying drawing 3 uses state diagram for the present invention;
Among the figure: present device 14, outside weld welder 15, workpiece 16, workpiece drive whirligig 17, Working piece positioning device 18.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention will be further described by embodiment.
With reference to accompanying drawing 1, be that group is to profile between a steel pipe flange, C, D point gap is very big, and inconsistent.Some metal will flow to the gap certainly during welding, if with etc. condition welding, can cause welding fabrication inconsistent.In addition, when steel tube end part had water chestnut, as the B face, the distance of its outer face, end and flange outer face also was vicissitudinous, postwelding moulding unanimity also to have this problem.Address the above problem, must be in gap location and steel tube end part and flange outer face increase the deposited metal amount when increasing, and the amount of increase and decrease deposited metal is corresponding with gap and the variation of end face distance extent, and in addition, the weld width of surperficial welding gun also changes.Realize that above-mentioned purpose has two approach: the one, by the variation of welding current, accelerate welding wire send to finish; The 2nd, finish by the control speed of welding; The first step of the present invention is passed through A face test set to the gap, detect steel tube end part and flange outer face distance by the B face, above-mentioned two data are carried out calibration adopt point measurement, control system is compared the data such as gap that detect with the corresponding welding parameter that prestores simultaneously.After determining corresponding welding parameter, feed back to drive unit, regulate the amplitude of fluctuation of rotary speed and welding gun automatically, thereby realize that speed of welding with the requirement that gap length changes, reaches desirable welding effect.
With reference to accompanying drawing 2, steel pipe flange grafting weld seam detection is followed the tracks of welder, comprise weld seam detection mechanism, synthesized wobble welding mechanism, weld seam detection mechanism by axial detecting unit and radially detecting unit form, the deviation of steel pipe and the generation of flange gap is carried out bidimensional to be detected, axially detecting unit is finished the measurement of the deviation that steel shaft produces to water chestnut, and radially detecting unit is finished the radially measurement of steel pipe and the deviation of flange gap generation; The synthesized wobble welding mechanism is by the axial wobble unit, radially wobble the unit, welding unit is formed, the axial wobble unit, the swing speed and the amplitude of fluctuation that radially wobble the unit are set according to parameter by control system and the detection deviation calculating of weld seam detection mechanism, pass through bidimensional, the cross synthesized wobble makes welding unit by the direction swing of setting, formation has the angle welding of leg height, welding unit is by the axial wobble unit, radially wobble unit drives, the workpiece rotation, amplitude of fluctuation is followed the tracks of weld seam automatically according to detecting deviation, adjust speed of welding according to setting simultaneously, welding current, automatically adjust and follow the tracks of the compensation weld seam deviation, finish steel pipe flange grafting weld seam detection and follow the tracks of welding job.
The present invention also is provided with modified gear, modified gear is made up of variable-position cylinder 12, displacement supporting plate 13, weld seam detection mechanism, synthesized wobble welding mechanism are installed on the supporting plate, the displacement supporting plate can carry out 90 degree revolutions by air cylinder driven, realize the evolution of weld seam detection mechanism and synthesized wobble welding mechanism, realize three-dimensional control, guarantee weld seam detection point and follow the tracks of pad registration.
The said axial detecting unit of the present invention comprises axial detection probe 6, axial cylinder 7, axial sensor 8, the axial cylinder Control Shaft is advanced and retreat to detection probe, advancing, axial detection probe will contact steel pipe tube wall end face when putting in place, when workpiece rotates, effect by cylinder makes axial detection probe keep tight the contact with the tube wall end face always, along with deviation changes axially-movable, axially the axially-movable of detection probe is detected by axial sensor, changes electric signal into and is transferred to control system.Said axial sensor is linear displacement transducer, can convert displacement to analog voltage signal.
The said radially detecting unit of the present invention comprises radially detection probe 3, radially cylinder 4, radial transducer 5, radially cylinder is controlled radially detection probe advance and retreat, advance diameter of axle detection probe when putting in place with the engagement flange inwall, when workpiece rotates, effect by cylinder makes probe keep tight the contact with flange inner wall always, along with deviation changes radial motion, radially the radial motion of detection probe is detected by radial transducer, changes electric signal into and is transferred to control system.Said radial transducer is linear displacement transducer, can convert displacement to analog voltage signal.
The said axial wobble of the present invention unit, radially wobble the unit, driven by stepper motor, stepper motor is axial wobble motor 10, radially wobble motor 11, swing speed and amplitude of fluctuation are set according to parameter by control system and weld seam detection mechanism detects deviation and calculates, and axial wobble motor 10, that the amplitude of oscillation that radially wobbles motor 11 changes the weld seam deviation that reflects with two detecting sensors of weld seam detection mechanism is consistent.
Said welding unit 9 is welding gun.
With reference to accompanying drawing 2,3, the course of work.
1, device reset is to ready state.
2, variable-position cylinder action transforms to the weld seam detection position.
3, the axial cylinder of tracking means, radially cylinder action make axial detection probe contact with steel pipe tube wall end face, and radially detection probe contacts with flange inner wall.
4, one week of workpiece fast rotational, detect the deviation in one week of weld seam by axial sensor, radial transducer, and data are sent, are saved in control system.
5, axial cylinder, radially cylinder action is return and is put in place.
6, variable-position cylinder action transforms to and follows the tracks of the welding position.
7, workpiece is got back to the detection dead-center position.
8, welding gun is adjusted to the welding start position.
9, the source of welding current starts, and synthesized wobble mechanism makes torch swinging by setup parameter.
10, workpiece starts rotation by speed of welding.
11, in the welding process, amplitude of fluctuation, speed of welding, welding current are regulated automatically by the result of calculation of considering to detect after the deviation, realize the tracking welding in one week of weld seam.
12, the workpiece welding finishes, and welding gun returns to original position.
Claims (10)
1. a steel pipe flange grafting weld seam detection is followed the tracks of welder, it is characterized in that comprising weld seam detection mechanism, synthesized wobble welding mechanism, weld seam detection mechanism by axial detecting unit and radially detecting unit form, bidimensional is carried out apart from the deviation that produces in steel pipe and flange gap and steel tube end part and flange outer face to be detected, axially detecting unit is finished the measurement of the deviation that steel shaft produces to water chestnut, and radially detecting unit is finished the radially measurement of steel pipe and the deviation of flange gap generation; The synthesized wobble welding mechanism is by the axial wobble unit, radially wobble the unit, welding unit is formed, the axial wobble unit, the swing speed and the amplitude of fluctuation that radially wobble the unit are set according to parameter by control system and the detection deviation calculating of weld seam detection mechanism, pass through bidimensional, the cross synthesized wobble makes welding unit by the direction swing of setting, formation has the angle welding of leg height, welding unit is by the axial wobble unit, radially wobble unit drives, the workpiece rotation, amplitude of fluctuation is followed the tracks of weld seam automatically according to detecting deviation, adjust speed of welding according to setting simultaneously, welding current, automatically adjust and follow the tracks of the compensation weld seam deviation, finish steel pipe flange grafting weld seam detection and follow the tracks of welding job.
2. follow the tracks of welder according to the described steel pipe flange grafting weld seam detection of claim 1, it is characterized in that also being provided with modified gear, modified gear is made up of variable-position cylinder (12), displacement supporting plate (13), weld seam detection mechanism, synthesized wobble welding mechanism are installed on the displacement supporting plate, the displacement supporting plate is driven by variable-position cylinder can carry out 90 degree revolutions, realize the evolution of weld seam detection mechanism and synthesized wobble welding mechanism, realize three-dimensional control, guarantee weld seam detection point and follow the tracks of pad registration.
3. follow the tracks of welder according to claim 1 or 2 described steel pipe flange grafting weld seam detection, it is characterized in that said axial detecting unit comprises axial detection probe (6), axial cylinder (7), axial sensor (8), the axial cylinder Control Shaft is advanced and retreat to detection probe, advancing, axial detection probe will contact steel pipe tube wall end face when putting in place, when workpiece rotates, effect by axial cylinder makes axial detection probe keep tight the contact with the tube wall end face always, along with deviation changes axially-movable, axially the axially-movable of detection probe is detected by axial sensor, changes electric signal into and is transferred to control system.
4. follow the tracks of welder according to the described steel pipe flange grafting weld seam detection of claim 3, it is characterized in that said axial sensor is linear displacement transducer, can convert displacement to analog voltage signal.
5. follow the tracks of welder according to claim 1 or 2 described steel pipe flange grafting weld seam detection, it is characterized in that said radially detecting unit comprises radially detection probe (3), cylinder (4) radially, radial transducer (5), radially cylinder is controlled radially detection probe advance and retreat, advance detection probe when putting in place radially with the engagement flange inwall, when workpiece rotates, make probe keep tight the contact with flange inner wall by the effect of cylinder radially always, along with deviation changes radial motion, radially the radial motion of detection probe is detected by radial transducer, changes electric signal into and is transferred to control system.
6. follow the tracks of welder according to the described steel pipe flange grafting weld seam detection of claim 5, it is characterized in that said radial transducer is linear displacement transducer, can convert displacement to analog voltage signal.
7. follow the tracks of welder according to claim 1 or 2 described steel pipe flange grafting weld seam detection, it is characterized in that said axial wobble unit, radially wobble the unit, driven by stepper motor, stepper motor is axial wobble motor (10), radially wobble motor (11), swing speed and amplitude of fluctuation are set according to parameter by control system and weld seam detection mechanism detects deviation and calculates, and axial wobble motor (10), that the amplitude of oscillation that radially wobbles motor (11) changes the weld seam deviation that reflects with two detecting sensors of weld seam detection mechanism is consistent.
8. a steel pipe flange grafting weld seam detection is followed the tracks of welding method, it is characterized in that comprising following steps: at first pass through flange inner surface test set to the gap, detect steel tube end part and flange outer face distance by the steel pipe end face, above-mentioned two data are carried out calibration adopt point measurement, control system is compared with range data the gap of detecting with the corresponding welding parameter that prestores simultaneously; After determining corresponding welding parameter, feed back to drive unit, regulate the amplitude of fluctuation of rotary speed and welding unit automatically, thereby realize that speed of welding is with described gap with apart from the requirement of size variation.
9. described steel pipe flange grafting weld seam detection is followed the tracks of welding method according to Claim 8, it is characterized in that being provided with the displacement supporting plate, welding unit is installed on the displacement supporting plate, the displacement supporting plate carries out 90 degree revolutions, realize weld seam detection, synthesized wobble evolution, realize three-dimensional control, guarantee weld seam detection point and follow the tracks of pad registration.
According to Claim 8 or 9 described steel pipe flange grafting weld seam detection follow the tracks of welding methods, it is characterized in that step more specifically: bidimensional is carried out apart from the deviation that produces in steel pipe and flange gap and steel tube end part and flange outer face detect, axially detect the measurement of finishing the deviation that steel shaft produces to water chestnut, radially detect and finish the radially measurement of steel pipe and the deviation of flange gap generation; According to testing result control welding unit bidimensional, cross synthesized wobble, the welding unit welding work pieces, formation has the angle welding of leg height, the workpiece rotation is according to detecting deviation, the welding unit swing, automatically follow the tracks of weld seam, adjust speed of welding, welding current according to setting simultaneously, adjust automatically and follow the tracks of the compensation weld seam deviation, finish steel pipe flange grafting weld seam detection and follow the tracks of welding job.
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| CN 201110023079 CN102133675B (en) | 2011-01-21 | 2011-01-21 | Steel pipe flange inserting seam detection tracking welding method and device |
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| CN104741839A (en) * | 2013-12-30 | 2015-07-01 | 中核武汉核电运行技术股份有限公司 | Device for automatically detecting weld joint of low-pressure welding rotor of steam turbine for nuclear power station |
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| CN108453448B (en) * | 2018-05-15 | 2020-10-23 | 昆山华恒焊接股份有限公司 | Full-automatic robot tube plate welding method |
| CN110238527B (en) * | 2019-06-28 | 2020-11-10 | 中国航空制造技术研究院 | Multifunctional laser welding method and equipment |
| CN110883451B (en) * | 2019-11-26 | 2022-03-08 | 宁波百华数控机械有限公司 | Four-gun intelligent welding equipment for straight pipe flange |
| CN111037044A (en) * | 2019-12-02 | 2020-04-21 | 上海航天精密机械研究所 | Variable-gap lap welding method for hoop barrel structure |
| CN113319457A (en) * | 2021-05-31 | 2021-08-31 | 湖北火爆机器人科技有限公司 | Pipeline welding method |
| CN115106627B (en) * | 2022-07-18 | 2023-11-28 | 江苏海事职业技术学院 | Intelligent auxiliary manual arc welding gun device with variable swing amplitude and use method |
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