CN102990206A - Numerically-controlled automatic argon-arc welder for welds on longitudinal sections of large-and-medium-diameter titanium elbows - Google Patents
Numerically-controlled automatic argon-arc welder for welds on longitudinal sections of large-and-medium-diameter titanium elbows Download PDFInfo
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- CN102990206A CN102990206A CN2012103907647A CN201210390764A CN102990206A CN 102990206 A CN102990206 A CN 102990206A CN 2012103907647 A CN2012103907647 A CN 2012103907647A CN 201210390764 A CN201210390764 A CN 201210390764A CN 102990206 A CN102990206 A CN 102990206A
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Abstract
The invention discloses a numerically-controlled automatic argon-arc welder for welds on longitudinal sections of large-and-medium-diameter titanium elbows, which comprises a main crossbeam assembly, an L-shaped crossbeam assembly and a main vertical arm assembly, wherein the L-shaped crossbeam assembly comprises an L-shaped crossbeam, a horizontal moving driving device, a welding gun horizontal-moving screw rod, a horizontal slide rest, a sliding rod, a clamping holder, a cross arm, a welding gun rotating driving system, a floating frame, a sleeve spindle, a spring spindle, a sliding seat, a floating spring, a contour tracking support, a contour wheel, a welding gun rack and a welding gun sleeving component; one end of the sleeve spindle is connected with the output end of the welding gun rotating driving system; the main vertical arm assembly comprises a welder base, a vertical arm swinging driving device, a rotating shaft, a fixed seat, a vertical arm base, a vertical arm plane rotating driving device, a rotating disc, a vertical arm, a vertical arm lifting driving device, a sliding seat, a vertical slide pole, a vertical slide pole fixed seat and a supporting seat, wherein one end of the supporting seat is connected with the main crossbeam assembly; and the output end of the vertical arm lifting driving device is connected with the other end of the supporting seat.
Description
Technical field
The present invention relates to a kind of argon arc welding connects; especially a kind of big-and-middle diameter titanium punched bend male and fomale(M﹠F) processed longitudinal seam for chemical industry, petrochemical industry, marine engineering equipment anticorrosion pipeline manufacturing industry purposes automatically and the semi-automatic novel welding jig; elbow welding material also can be used for material or the nonferrous materials that other need gas shielded arc welding, is that a kind of big-and-middle diameter titanium elbow high efficiency, the numerical control electromechanical integrated device vertically cuts open the face welding line numerical argon arc welding machine that closes.
Background technology
The welding manufacturing of the big-and-middle diameter punching press splicing of steel elbow is adopted craft or semi-automatic welding in the pipeline manufacturing industry at present; be used for the welding of the big-and-middle diameter splicing of the batch titanium system elbow of corrosion-resistant harsh occasion and Important Project; especially owing to weld the dorsad gas shield requirement of weld seam of Duoing than steel elbow; also (big-and-middle diameter bend wall is thicker in the state of manual welding in many places; titanium welding wire sealing weld amount is large; manual welding efficient is low); present welding equipment specialized vendor or big-and-middle diameter welding elbow manufacturer no matter; the larger diameter welding steel elbow welding equipment of having developed; the maximum feature of frock is: make nonstandard type extra large size positioner by oneself; bulky; stock size (highly; width) be to be welded (attaching pictures) more than five times of elbow diameter; huge structure causes cost; the rotation rotary inertia; tremble; dynamo-electric loads etc. are all very large; kinematic accuracy when the large inertia braking that thereupon brings and large inertia; positioning accuracy; the control measure of pulsation dynamic response etc. have increased the efficiency that difficulty and operation practicality are set; the high position of workpiece lifts and clamps in addition; welding is controlled; welding such as inspects online in real time at the inconvenience that also brings on a lot of high-altitude working safeties; complex steps in place; and generally once can only workpiece of clamping contraposition; substantially do not possess and change the outfit and the continuity of welding; its efficient seems lower; can not be used for especially having weld seam dorsad the gas shield requirement titanium elbow processed welding operation, be difficult for entering the zone of clean argon arc welding specification requirement.Along with raising, the product market competitiveness of human cost impelling march toward the at a quick pace demand of automatization level of equipment manufacture day by day urgent, therefore, seek to design a kind of high efficiency, quick, safety of operation clamping, and the big-and-middle diameter titanium elbow processed of satisfied accurate argon arc welding is automatic and semi-automatic arc welder is imperative.
Present situation: domestic and international present device:
1. the splicing of domestic big-and-middle diameter steel elbow weldering majority is manual welding, the simple and easy weldering that clamps is done by minority elbow manufacturer, indivedual employing semi-automatic weldings, by semiautomatic welding present situation preferably as mentioned above, a whole set of welding system is huge, load is large, investment is large, price is high, clamp the location, the welding gun contraposition is numerous and diverse, and do not possess the welding requirements that yet is not suitable for big-and-middle diameter titanium system splicing elbow, and we make cost by oneself and are about 1/2nd to 1/3rd of existing steel elbow solder technology equipment price, both economical, one specially multiplexly possesses again intellectuality, and this programme designs in petrochemical industry, pipeline engineering, it is the first that the manufacturing industry such as titanium pipeline equipment still belong to.
2. foreign current situation substantially also is that semiautomatic welding is in the majority, but equally is that equipment volume is huge, the welding diameter scope is little, and clamping welding is discontinuous, compares cost with domestic similar prior art and price is higher.
Summary of the invention
For solving the problems of the technologies described above, the invention provides a kind of convenient mounting and clamping, operation big-and-middle diameter titanium elbow easy, that be suitable for big-and-middle diameter titanium system welding elbow vertically cuts open the face welding line numerical argon arc welding machine that closes.
Technical scheme of the present invention is that a kind of big-and-middle diameter titanium elbow vertically cuts open and closes face welding line numerical argon arc welding machine, and at least one that comprise support, is arranged on the support is used for fixing the workpiece holder of workpiece titanium elbow; Comprise that also being used on the support weld the automatic welding device of big-and-middle diameter titanium elbow section longitudinal seam; Described automatic welding device comprise installing " L " type transverse beam assembly that the main beam assembly of whole apparatus control system, being used for of linking to each other with the main beam assembly install welding gun with the vertical main armstand assembly that is used for supporting the main beam assembly that links to each other of main beam assembly;
Described " L " type transverse beam assembly comprises " L " type crossbeam that links to each other with the main beam assembly, be arranged on being used on " L " type crossbeam and regulate the welding gun external member and move horizontally drive unit along what horizontal direction moved, and move horizontally the welding-torch horizontal that the drive unit output links to each other and move screw mandrel;
Be arranged at least two horizontal slide on " L " type crossbeam, one end is slidingly arranged in the two sliding bars on the horizontal slide, at least two the holder that is fixedly linked with two sliding bar other ends, the transverse arm that links to each other with holder, be arranged on being used for so that welding gun remains the welding gun rotating driving device that is in the vertical location status of method with elbow part curvature line face in the course of the work of transverse arm, the floating shelf that is used for driving welding gun elasticity self-regulated position that links to each other with transverse arm, rotation is arranged on the sleeve of floating shelf, with the joining central spindle of the spring of floating shelf, slip is arranged at least two sliding seat on the central spindle of the spring, be sleeved on the floating spring of central spindle of the spring upper end, the profile tracking support that links to each other with sliding seat, be arranged on the contour wheel on the profile tracking support, with the gun rack that the profile tracking support links to each other, be arranged on the welding gun external member of gun rack front end; One end of described sleeve links to each other with the output of welding gun rotating driving device; Described contour wheel contacts with surface of the work;
Described main armstand assembly comprises the welding machine pedestal that is slidingly arranged on the support, be arranged on being used on the welding machine pedestal and make the main beam assembly, " L " type transverse beam assembly and welding gun external member are along the armstand oscillatory gearing mechanism of elbow part curvature line face conformal, the turning cylinder that one end links to each other with the output of oscillatory gearing mechanism, be rotationally connected and be arranged on bearing fixed seat on the welding machine pedestal with the turning cylinder other end, the armstand pedestal that is fixedly linked with turning cylinder, what link to each other with the armstand pedestal is used for ordering about the main beam assembly, " L " type transverse beam assembly and welding gun external member are made the armstand Plane Rotation drive unit of 360 ° of rotations around the Z axis in the three-dimensional system of coordinate, the rolling disc that links to each other with the output of armstand Plane Rotation drive unit, the armstand that is connected with rolling disc, be arranged on and be used for making the main beam assembly on the armstand, the armstand lifting drive of " L " type transverse beam assembly and the lifting of welding gun external member, be arranged at least two slide on the armstand, be slidingly arranged in the two upright sliding bars in the slide, at least two the upright sliding bar holder that is fixedly linked with two upright sliding bar one ends, with the supporting seat that the upright sliding bar holder links to each other, an end of supporting seat links to each other with the main beam assembly; The vertical screw mandrel that links to each other with the supporting seat other end; The output of armstand lifting drive links to each other with vertical screw mandrel.
As a further improvement on the present invention, described main beam assembly comprises the main beam that connects simultaneously " L " type crossbeam and supporting seat, is arranged on the electric control box and the welding wire feeding driven unit that are used for controlling whole welding process instruction campaign on the main beam.
As a further improvement on the present invention, the gas automatic safety device that also comprises the weld seam welding use that links to each other with the elbow workpiece.
As a further improvement on the present invention, describedly move horizontally the power plant module form structure that drive unit, welding gun rotating driving device, armstand oscillatory gearing mechanism, armstand Plane Rotation drive unit and armstand lifting drive all adopt the combination of servomotor and twin-stage worm and gear; The worm gear that moves horizontally the drive unit output with move horizontally screw mandrel and be meshed, the worm-wheel shaft of welding gun rotating driving device output links to each other by linking bond with sleeve, worm gear and the turning cylinder of armstand oscillatory gearing mechanism output link, the worm-wheel shaft of armstand Plane Rotation drive unit output links to each other with rolling disc, and the worm gear of armstand lifting drive output is meshed with vertical screw mandrel.
As a further improvement on the present invention, the welding machine pedestal realizes that by the slideway that is arranged on the slide block on the welding machine pedestal and be arranged on the support its rectilinear motion connects.
As a further improvement on the present invention, also comprise and be arranged on drive nut on the welding machine pedestal.
As a further improvement on the present invention, described electric control box is that the instruction servo-drive system is by the digital control system integrating device of calibrating procedure running.
The invention has the beneficial effects as follows:
1. take over working (machining) efficiency, reduction human cost, the welding quality of optimizing that connects, improves the welding of elbow batch workpiece for manual argon arc welding by the numerical control argonaut welding, the utilization digital information carries out the industrial automatic control technological transformation, improves intellectuality, the automatization level of the landification equipment manufacturing industry means of production.
2. this patent difference and the mode that is better than prior art are: after the big-and-middle diameter welding of the workpiece that weight is very heavy elbow installs the location additional, static element as welding, avoided prior art that elbow Zuo is rotation transhipment moving part, the large-scale workpiece rotary inertia that brings thus is large, tremble, the anxious quick many fluctuations of inductance sensing or desensitization lost motion, dynamo-electric load is large, it is large to take up an area the space, the unfavorable factors such as work high above the ground, be conducive to the accuracy that the pulsation response of senser element Intellisense is carried out, and be convenient to the operation occasion that the operation setting with accurate titanium material argon arc welding numerical control device is having clean technology to require.
3. this patent is a kind of more realistic automatic welding mode with numerical control, the organic joint applications of profiling, under the setting of welding gun independent-lifting, the existing operating mode of left and right sides automatic moving swinging mechanism, add profile tracking, make welding gun when Large-scaled Elbow heavy wall workpiece is welded, can be in the high cross section of weld seam waist of the V of microcosmos area or X-type groove covering of the fan, automatically transport outside the rifle according to the pass sequence of appointment, can guarantee that again welding gun rifle head motion of point meets the curve movement track of elbow TP in macroscopical zone.
Description of drawings
Fig. 1 is structural representation of the present invention.
Fig. 2 is the structural representation of " L " type transverse beam assembly.
Fig. 3 is that the C of Fig. 1 is the first half structural representation of geosutures to view take D-D.
Fig. 4 is that the C of Fig. 1 is the latter half structural representation of geosutures to view take D-D.
Fig. 5 is the E place zoomed-in view of Fig. 1.
The convex weld structural representation of protective device dorsad when Fig. 6 is automatic welder(welding machine) of the present invention welding.
The inverted weld structural representation of protective device dorsad when Fig. 7 is automatic welder(welding machine) of the present invention welding.
Wherein: 1, support, 2, workpiece holder, 3, the main beam assembly, 3-1, main beam, 3-2, electric control box, 3-3, the welding wire feeding driven unit, 4, " L " type transverse beam assembly, 4-1, " L " type crossbeam, 4-2, move horizontally drive unit, 4-3, horizontal slide, 4-4, sliding bar, 4-5, holder, 4-6, transverse arm, 4-7, the welding gun rotating driving device, 4-8, floating shelf, 4-9, central spindle of the spring, 4-10, sliding seat, 4-11, floating spring, 4-12, gun rack, 4-13, the welding gun external member, 4-14, the profile tracking frame, 4-15, contour wheel, 4-16, move horizontally screw mandrel, 4-17, sleeve, 5, main armstand assembly, 5-1, the welding machine pedestal, 5-2, the armstand oscillatory gearing mechanism, 5-3, turning cylinder, 5-4, bearing fixed seat, 5-5, armstand Plane Rotation drive unit, 5-6, rolling disc, 5-7, armstand, 5-8, slide, 5-9, upright sliding bar, 5-10, the upright sliding bar holder, 5-11, supporting seat, 5-12, the armstand lifting drive, 5-13, drive nut, 5-14, the armstand pedestal, 5-15, vertical screw mandrel.
The specific embodiment
The present invention is further described for 1-Fig. 7 by reference to the accompanying drawings:
Concrete structure of the present invention: a kind of big-and-middle diameter titanium elbow vertically cuts open and closes face welding line numerical argon arc welding machine, comprises support 1, workpiece holder 2, main beam assembly 3, " L " type transverse beam assembly 4 and main armstand assembly 5.As shown in Figure 1.
" L " type transverse beam assembly 4 comprises " L " type crossbeam 4-1, moves horizontally drive unit 4-2, horizontal slide 4-3, sliding bar 4-4, holder 4-5, transverse arm 4-6, welding gun rotating driving device 4-7, floating shelf 4-8, central spindle of the spring 4-9, sliding seat 4-10, floating spring 4-11, gun rack 4-12, welding gun external member 4-13, profile tracking frame 4-14, contour wheel 4-15, move horizontally screw mandrel 4-16 and sleeve 4-17.As shown in Figure 2.
Main beam 3-1 in the main beam assembly 3 are fixedly mounted on the supporting seat 5-11 in the main armstand assembly 5, and electric control box 3-2 and welding wire feeding driven unit 3-3 are installed on the main beam 3-1.Welding wire feeding driven unit 3-3 adopts all identical with welding wire feeding driven unit structure of the prior art and principle, is not described in detail here.The digital control system software and hardware of the machine, logic are inserted the electronics such as device, automatic computing programming and are integrated into a cabinet type case, be according to the requirement of main frame mechanical movement structure supporting with the supporting cabinet type case of argon arc welding machine power supply of while, the riding position of two cabinets equipment base or near in place, electric control box 3-2 real for suspended type multi-function, have partial display, adjust the hand behaviour keyboard case of function, for narrate simple and direct for the purpose of justice be called electric control box.Electric control box 3-2 instruction servo-drive system is pressed the digital control system integrating device of calibrating procedure running.Servo-drive system mainly is comprised of driver, motor two large divisions, receive the various signals of numerical control device output, through functions such as over-allocation, amplification, conversions, drive each moving component, accurately finish welding gun tungsten electrode (welding wire enters arc) point apart from the motion conformal to the welding bead curved surface.Numerical control device by input and output interface, man-machine interface demonstration, human-computer dialogue figure interactive function, data management function pick up with the coordinate information profiling of relevant auxiliary control, point, the corresponding hardware such as input, CAD/CAM automated programming and systems soft ware integrated system, application software etc. form, and are the cores of NC welding machine.This is servo, digital control system is to make argon-arc welding gun tungsten head (welding wire enter acnode apart from) under the welding bead to welding keeps certain welding standard process stipulation distance state, follow accurately or reappear the servomechanism of welding bead curvilinear motion process, mechanical displacement or velocity of displacement, the feedback control system of acceleration, the tungsten argon arc welding gun head of this automatic welding equipment is divided into the curvilinear plane macroscopic motion in elbow vertical section with the microscopic motion of elbow vertical section bevel for welding V-type cross section the motion of welding bead, motion with elbow vertical profile curvilinear plane is triaxial coordinate composite alternating kinematic system, (armstand swings two gyroaxises of a translation shaft, be that welding gun is along workpiece section longitudinal seam groove welding shape line tracking swing-A, and θ sector angle, armstand lifting rectilinear motion, be welding gun vertical direction position motion-Z, welding gun rotation-B, and along the vertical angle of the left side on the elbow line of curvature face-γ method and the vertical angle of right γ method,) with the microscopic motion of elbow vertical section bevel for welding V-type cross section, that covering of the fan according to V-type weldering groove increases progressively and widens, according to the welding wire that sets to the traversing pendulum of the arc length of welding bead, welding gun tungsten electrode rises or the decline arc maintenance, welding sequences etc. are by the independent-lifting in the welding gun, about move swinging mechanism and carry out automatically or semi-automatic welding).Annotate: the traversing pendulum of welding gun described here, arc maintenance rise and fall etc. refer to identical with structure with welding gun assembly principle of the prior art, and elbow vertical section bevel for welding V-type microscopic motion using method also is identical, so just do not do detailed description in this patent.Servo drive is the operating part of digital control system, can respond fast NC instruction, the separately power source motor of three axle compound motions provides enough power and torque, and the separately power source of described three axle compound motions is combinations of adopting servomotor output and two-stage worm gear-worm reducer structure; Adopting the purpose of the combination of servomotor output and two-stage worm gear-worm reducer structure is to make low power servomotor exportable larger moment of torsion power after the two-stage worm gear-worm reducer structure.Three axle compound motion power source motors make welding gun rifle head along predetermined welding bead orbiting motion, thereby realize the argon arc welding automatic operation accurate to workpiece.Though it is the positive circular curve of simple bidimensional that workpiece elbow male and female face vertical profile closes the shape line of face, but because the characteristic of titanium material and free variable and the springback capacity of big-and-middle diameter elbow air cooling section after the hot press-formed demoulding differ, basically identical at 90 degree scope arbitrary section interior diameter numerical value for guaranteeing elbow, curved neck must be done through hydraulic-pressure riveting orthopedic, its curve exact shape is between batch workpiece, even still have its inconsistency between the single-piece, for the cylindrical shell cylindrical anchor ring circularity behind the tankage class roll bending of routine and the flatness of longitudinal joint, equal regular following, general automatic welder(welding machine) is easy to accomplish to the cylindrical shell class standard and simply justifies the automatic operation that ruler restrains to arrange welding, and combination is done in the riveting of big-and-middle diameter punched bend, welding just has certain irregular difficulty, therefore, this equipment has added a cover mechanical elasticity profile tracking device, when computer simulation picking up work piece model surface data (3 or the 4-5 point of curved surface) generate the numerical control curve equation, when instruction is carried out in servo-drive system, the cooperation of mechanical elasticity profile tracking device so that curve movement (the differential interpolation is infinite to approach) fits like a glove in actual elbow curve, is fed back the practical operation that more meets the workpiece welding with induction control thereby the range finding profiling is detected more.As shown in Figure 1.
" L " type crossbeam 4-1 in " L " type transverse beam assembly 4 links to each other with main beam 3-1 in the main beam assembly 3, moves horizontally drive unit 4-2 and is fixedly mounted on the upper of " L " type crossbeam 4-1.Describedly move horizontally the combination that drive unit 4-2 is servomotor and two-stage worm gear-worm reducer structure, the motor shaft of servomotor is connected to the input of two-stage worm gear-worm reducer structure, adopt this combination, its objective is to be to make low power servomotor after the two-stage worm gear-worm reducer structure, can export larger moment of torsion power.The output that moves horizontally drive unit 4-2 is that the output worm gear in the two-stage worm gear-worm reducer structure is meshed with moving horizontally screw mandrel 4-16, moves horizontally screw mandrel 4-16 along the horizontal motion of " L " type crossbeam 4-1 thereby drive.Moving horizontally screw mandrel 4-16 is fixedly mounted on the transverse arm 46 that links to each other with " L " type crossbeam 4-1, transverse arm 4-6 with the concrete syndeton of " L " type crossbeam 4-1 is, four horizontal slide 4-3 symmetries are installed in L " both sides of type crossbeam 4-1; four holder 4-5 symmetries are installed in the both sides of transverse arm 4-6; the end of two sliding bar 4-4 and four holder 4-5 fix, and what the other end slided is installed in two horizontal slide 4-3.Welding gun rotating driving device 4-7 is fixedly mounted on the transverse arm 4-6; Described welding gun rotating driving device 4-7 is the combination of servomotor and two-stage worm gear-worm reducer structure, the motor shaft of servomotor is connected to the input of two-stage worm gear-worm reducer structure, adopt this combination, its objective is to be to make low power servomotor after the two-stage worm gear-worm reducer structure, can export larger moment of torsion power.The output of welding gun rotating driving device 4-7 is that the output worm-wheel shaft in the two-stage worm gear-worm reducer structure links to each other with sleeve 4-17.Sleeve 4-17 is installed on the floating shelf 4-8, floating shelf 4-8 is fixedly mounted on the transverse arm 4-6, described floating shelf 4-8 is " H " word shape, central spindle of the spring 4-9 is installed on the floating shelf 4-8, two slideable being installed on the central spindle of the spring 4-9 of sliding seat 4-10, floating spring 4-11 is sleeved on the central spindle of the spring 4-9, and the end of floating spring 4-11 contacts with floating shelf 4-8, and the other end contacts with the sliding seat 4-10 of topmost on being positioned at central spindle of the spring 4-9.Profile tracking frame 4-14 and two sliding seat 4-10 fix by bolt, and profile tracking frame 4-14 slides up and down the flexible rotation of simultaneous with two sliding seat 4-10 along central spindle of the spring 4-9.Contour wheel 4-15 is installed on the profile tracking frame 4-14, and contour wheel 4-15 contacts with surface of the work all the time in the welding process of welding machine.Gun rack 4-12 is installed on the profile tracking frame 4-14, and the welding gun external member is installed on the gun rack 4-12.The structure of welding gun is identical with welding gun external member structure of the prior art, and welding gun is in the course of the work according to the shape of its workpiece grooves, need the constantly position of fine setting welding gun, utilize the interior micro-adjusting mechanism of its welding gun external member structure to finely tune automatically the position of welding gun during fine setting.This fine setting course of work is identical with the fine setting course of work of the prior art, does not do detailed description here.Annotate 2 points that to point out here: the first point, welding gun rotating driving device 4-7 adjusts welding gun anglec of rotation position, welding gun anglec of rotation position adjustment described here is the state that hangs down of the method when regulating welding guns and be complementary along workpiece curve profile longitudinal seam groove welding shape line tracking with main armstand assembly 5 interior described armstand oscillatory gearing mechanism 5-2, that is to say that the angle of the vertical rotation of welding gun method in welding process and the angle that armstand swings have the alternation of corresponding conformal, welding gun rotating driving device 4-7 adjusts the rotation direction position of welding gun, so that welding gun keeps intersection point with the normal orientation of elbow curve surface of workpiece tangent line all the time, like this guarantee welding gun walk out with the corresponding correct pose of elbow workpiece curvilinear plane shape with conform to standard be welded into the arcuation attitude.Second point, contour wheel 4-15 all the time with the contacted problem of surface of the work, the output of welding gun rotating driving device 4-7 is that the output worm-wheel shaft in the two-stage worm gear-worm reducer structure links to each other with sleeve 4-17, servomotor task driven worm-wheel shaft rotates, worm-wheel shaft rotates and drives sleeve 4-17 rotation, sleeve 4-17 rotates and drives the floating shelf 4-8 that is attached thereto, central spindle of the spring 4-9, sliding seat 4-10, floating spring 4-11, gun rack 4-12, welding gun external member 4-13, profile tracking frame 4-14 and contour wheel 4-15 together shape following-up flexible rotate, in rotation process, owing to elasticity and the installation site thereof of floating spring 4-11 self, can drive contour wheel 4-15 and contact with surface of the work all the time.As shown in Figure 2.
Welding machine pedestal 5-1 in the main armstand assembly 5 realizes that by the slideway that is installed in the slide block on the welding machine pedestal 5-1 and be arranged on the support 1 its linear slide connects.Its concrete slip is to utilize the adjusting screw mandrel that is arranged on the drive nut 5-13 on the welding machine pedestal 5-1 and matches with drive nut 5-13 to realize that welding machine pedestal 5-1 is with respect to the slip of support 1.Oscillatory gearing mechanism 5-2 is installed on the welding machine pedestal 5-1.Described armstand oscillatory gearing mechanism 5-2 is the combination of servomotor and two-stage worm gear-worm reducer structure, the motor shaft of servomotor is connected to the input of two-stage worm gear-worm reducer structure, adopt this combination, its objective is to be to make low power servomotor after the two-stage worm gear-worm reducer structure, can export larger moment of torsion power.The output of armstand oscillatory gearing mechanism 5-2 is that worm gear and the turning cylinder 5-3 of two-stage worm gear-worm reducer structure links.Bearing fixed seat 5-4 is installed on the welding machine pedestal 5-1, and the end of turning cylinder 5-3 is rotatably installed on the bearing fixed seat 5-4.Armstand pedestal 5-14 links to each other by bearing pin with turning cylinder 5-3.Device of rotation driving 5-5 is installed on the armstand pedestal 5-14.Device of rotation driving 5-5 is the combination of servomotor and two-stage worm gear-worm reducer structure, the motor shaft of servomotor is connected to the input of two-stage worm gear-worm reducer structure, adopt this combination, its objective is to make low power servomotor after the two-stage worm gear-worm reducer structure, can export larger moment of torsion power.The output of armstand Plane Rotation drive unit 5-5 is that the worm-wheel shaft of two-stage worm gear-worm reducer structure is connected on the rolling disc 5-6, and armstand 5-7 is installed on the rolling disc 5-6.Armstand lifting drive 5-12 is installed on the armstand 5-7, and its output worm gear core swivel nut is meshed with vertical screw mandrel 5-15.Main beam 3-1 in the end of supporting seat 5-11 and the main beam assembly 3 links to each other.The other end of supporting seat 5-11 fixedly mounts on the vertical screw mandrel 5-15 end flanges.Armstand lifting drive 5-12 is the combination of servomotor and two-stage worm gear-worm reducer structure, the motor shaft of servomotor is connected to the input of two-stage worm gear-worm reducer structure, adopt this combination, its objective is to be to make low power servomotor after the two-stage worm gear-worm reducer structure, can export larger moment of torsion power.Armstand lifting drive 5-12 output is that the worm gear of two-stage worm gear-worm reducer structure is meshed with vertical screw mandrel 5-15, worm gear rotates and drives vertical screw mandrel 5-15 rotation, move up and down along the Z-direction in the three-dimensional system of coordinate thereby drive main beam assembly 3 and " L " type transverse beam assembly 4, realized the displacement of welding gun external member in the vertical direction.The concrete syndeton of armstand 5-7 and supporting seat 5-11 is, four slide 5-8 symmetries are installed in the both sides of armstand 5-7, two upright sliding bar holder 5-10 symmetries are installed in the both sides of supporting seat 5-11, the end of upright sliding bar 5-9 is slidingly mounted in four slide 5-8, and the other end is fixedly mounted in two upright sliding bar holder 5-10.Such as Fig. 1, Fig. 3, Fig. 4, shown in Figure 5.
The course of work of the present invention:
Such as Fig. 1 to shown in Figure 7, simulated big-and-middle diameter elbow workpiece from implement clamping, adjustment, fixing, welding gun dynamic operation, etc. overall process as follows:
It is that Liftable advances in the workpiece holder 2 behind manual spot welding or backing welding that elbow workpiece vertical profile closes the face weld seam, the elbow piece according to the graticule that has determined parallel (F-F graticule), align, with hand top wheel pretension, both sides, workpiece bottom are all fastening after surely aligning with universal side top stud top;
Annotate: the weld seam that elbow workpiece vertical profile closes face is concave surface or convex surface.
Start electric control box; control hand-held control cabinet; main beam assembly 3; " L " type crossbeam 4-1 in " L " type transverse beam assembly 4 and the main armstand assembly 5; armstand 5-7 walking; rotation; welding gun (welding wire; tungsten electrode) at an end of elbow; exercise the certain pretension elastic force of floating spring 4-11 precompressed under the armstand lift; with the upper lower knob of welding gun fine setting; left and right sides knob is determined the weldering distance after to rifle; after determining that suitable rifle distance (routine 2-3 millimeter) and button make zero; pick up successively 3 or the curve model data message of the protruding or concave surface of elbow of 4-5 point along the curved surface suitable interval; it is protruding that computer generates existing a certain specification elbow automatically; or the run trace of concave curved is linear; hand push button demonstration button; instruction L-type transverse arm walking mechanism and armstand lifting; the rotating mechanism compound motion; so that the terminal at welding gun tungsten electrode and welding wire and elbow two ends (striking point) and whole solder joint (receipts acnode); empty wagons is demonstrated the running trajectory fast; weldering is after affirmation; lock this identification program; access other programmed instruction and the technological order data (speed of welding of inputting this welding; wire feed rate; time; electric current; voltage, the protection of supplying gas in advance; initial striking; welding bead fortune rifle order; the arc maintenance welding; receive arc; the protection of hysteresis gas; pulse parameter etc.) can implement automatic welding.
Before implementing automatic welding, weld seam dorsad gas shield device confirms that according to on-the-spot workpiece is in kind installation in position is complete, hand push button is so that the miniature small machine rotation of tractive, tractive gas shield box walking at the weld seam back freely, also can make the micro machine rotating speed of tractive protection box according to speed of welding, incorporate automatic walking program into;
For example shown in Figure 6, when armstand 5-7 by the rotation of C1 point during to the C2 point (rotational angle theta) floating shelf rotating mechanism power source drive gun rack and the welding gun external member is rotated corresponding angle (left-hand rotation angle-γ--0--right turn angle γ), the welding gun longitudinal axis is the tangent position of vertical elbow curve all the time, and profile tracking support 4-14 entity curved surface is finely tuned the profiling finishing voluntarily;
After complete to the elbow workpiece welding that clamps, can weld the opposite side workpiece after the welding machine armstand turnback, the workpiece that has welded is carried out continual welding operation after can hanging out, hang in another workpiece.
Claims (7)
1. one kind big-and-middle diameter titanium elbow vertically cuts open and closes face welding line numerical argon arc welding machine, and at least one that comprise support (1), is arranged on the support is used for fixing the workpiece holder (2) of workpiece titanium elbow; It is characterized in that: comprise that also being used on the support (1) weld the automatic welding device of big-and-middle diameter titanium elbow section longitudinal seam; Described automatic welding device comprise installing " L " type transverse beam assembly (4) that the main beam assembly (3) of whole apparatus control system, being used for of linking to each other with main beam assembly (3) install welding gun with the vertical main armstand assembly (5) that is used for supporting main beam assembly (3) that links to each other of main beam assembly (3);
Described " L " type transverse beam assembly (4) comprises " L " type crossbeam (4-1) that links to each other with main beam assembly (3), be arranged on being used on " L " type crossbeam (4-1) and regulate the welding gun external member and move horizontally drive unit (4-2) along what horizontal direction moved, and move horizontally the welding-torch horizontal that drive unit (4-2) output links to each other and move screw mandrel (4-16);
Be arranged at least two horizontal slide (4-3) on " L " type crossbeam (4-1), one end is slidingly arranged in the two sliding bars (4-4) on the horizontal slide (4-3), at least two the holder (4-5) that is fixedly linked with two sliding bars (4-4) other end, the transverse arm (4-6) that links to each other with holder (4-5), be arranged on being used for so that welding gun remains the welding gun rotating driving device (4-7) that is in the vertical location status of method with elbow part curvature line face in the course of the work of transverse arm (4-6), the floating shelf (4-8) that is used for driving welding gun elasticity self-regulated position that links to each other with transverse arm (4-6), rotation is arranged on the sleeve (4-17) of floating shelf (4-8), with the joining central spindle of the spring of floating shelf (4-8) (4-9), slip is arranged at least two the sliding seat (4-10) on the central spindle of the spring (4-9), be sleeved on the floating spring (4-11) of central spindle of the spring (4-9) upper end, the profile tracking support (4-14) that links to each other with sliding seat (4-10), be arranged on the contour wheel (4-15) on the profile tracking support (4-14), the gun rack (4-12) that links to each other with profile tracking support (4-14) is arranged on the welding gun external member (4-13) of gun rack (4-12) front end; One end of described sleeve (4-17) links to each other with the output of welding gun rotating driving device (4-7); Described contour wheel (4-15) contacts with surface of the work;
Described main armstand assembly (5) comprises the welding machine pedestal (5-1) that is slidingly arranged on the support (1), be arranged on being used on the welding machine pedestal (5-1) and make main beam assembly (3), " L " type transverse beam assembly and welding gun external member (4-13) are along the armstand oscillatory gearing mechanism (5-2) of elbow part curvature line face conformal, the turning cylinder (5-3) that one end links to each other with the output of oscillatory gearing mechanism (5-2), be rotationally connected and be arranged on bearing fixed seat (5-4) on the welding machine pedestal (5-1) with turning cylinder (5-3) other end, the armstand pedestal (5-14) that is fixedly linked with turning cylinder (5-3), what link to each other with armstand pedestal (5-14) is used for ordering about main beam assembly (3), " L " type transverse beam assembly and welding gun external member (4-13) are made the armstand Plane Rotation drive unit (5-5) of 360 ° of rotations around the Z axis in the three-dimensional system of coordinate, the rolling disc (5-6) that links to each other with the output of armstand Plane Rotation drive unit (5-5), the armstand (5-7) that is connected with rolling disc (5-6), be arranged on and be used for making main beam assembly (3) on the armstand (5-7), the armstand lifting drive (5-12) of " L " type transverse beam assembly and welding gun external member (4-13) lifting, be arranged at least two the slide (5-8) on the armstand (5-7), be slidingly arranged in the two upright sliding bars (5-9) in the slide (5-8), at least two the upright sliding bar holder (5-10) that is fixedly linked with two upright sliding bars (5-9) end, the supporting seat (5-11) that links to each other with upright sliding bar holder (5-10), an end of supporting seat (5-11) links to each other with main beam assembly (3); The vertical screw mandrel (5-15) that links to each other with supporting seat (5-11) other end; The output of armstand lifting drive (5-12) links to each other with vertical screw mandrel (5-15).
2. big-and-middle diameter titanium elbow according to claim 1 vertically cuts open the face welding line numerical argon arc welding machine that closes, it is characterized in that: described main beam assembly (3) comprises the main beam (3-1) that connects simultaneously " L " type crossbeam (4-1) and supporting seat (5-11), is arranged on the electric control box (3-2) and the welding wire feeding driven unit (3-3) that are used for controlling whole welding process instruction campaign on the main beam (3-1).
3. big-and-middle diameter titanium elbow according to claim 1 and 2 vertically cuts open and closes face welding line numerical argon arc welding machine, it is characterized in that: the gas automatic safety device that also comprises the weld seam welding use that links to each other with the elbow workpiece.
4. big-and-middle diameter titanium elbow according to claim 1 vertically cuts open and closes face welding line numerical argon arc welding machine, it is characterized in that: describedly move horizontally the power plant module form structure that drive unit (4-2), welding gun rotating driving device (4-7), armstand oscillatory gearing mechanism (5-2), armstand Plane Rotation drive unit (5-5) and armstand lifting drive (5-12) all adopt the combination of servomotor and twin-stage worm and gear; The worm gear that moves horizontally drive unit (4-2) output with move horizontally screw mandrel (4-16) and be meshed, the worm-wheel shaft of welding gun rotating driving device (4-7) output links to each other by linking bond with sleeve (4-17), worm gear and the turning cylinder (5-3) of armstand oscillatory gearing mechanism (5-2) output link, the worm-wheel shaft of armstand Plane Rotation drive unit (5-5) output links to each other with rolling disc (5-6), and the worm gear of armstand lifting drive (5-12) output is meshed with vertical screw mandrel (5-15).
5. big-and-middle diameter titanium elbow according to claim 1 vertically cuts open and closes face welding line numerical argon arc welding machine, it is characterized in that: welding machine pedestal (5-1) realizes that by the slideway that is arranged on the slide block on the welding machine pedestal (5-1) and be arranged on the support (1) its rectilinear motion connects.
6. big-and-middle diameter titanium elbow according to claim 4 vertically cuts open and closes face welding line numerical argon arc welding machine, it is characterized in that: also comprise being arranged on the upper drive nut (5-13) of welding machine pedestal (5-1).
7. big-and-middle diameter titanium elbow according to claim 2 vertically cuts open and closes face welding line numerical argon arc welding machine, it is characterized in that: described electric control box (3-2) is pressed the digital control system integrating device of calibrating procedure running for the instruction servo-drive system.
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| CN201210390764.7A CN102990206B (en) | 2012-10-15 | 2012-10-15 | Numerically-controlled automatic argon-arc welder for welds on longitudinal sections of large-and-medium-diameter titanium elbows |
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| CN201210390764.7A CN102990206B (en) | 2012-10-15 | 2012-10-15 | Numerically-controlled automatic argon-arc welder for welds on longitudinal sections of large-and-medium-diameter titanium elbows |
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| CN104985302A (en) * | 2015-07-07 | 2015-10-21 | 扬州鑫凯诚机器人系统有限公司 | All-position pipeline welding workstation |
| CN105537827A (en) * | 2014-06-14 | 2016-05-04 | 金华明正科技有限公司 | Automatically controlled electric welding machine bracket rotating in 360 degrees at controllable speed |
| CN105921902A (en) * | 2016-06-28 | 2016-09-07 | 苏州市宏业灯具设备有限公司 | Welding device for bent part of street lamp post head |
| CN108406217A (en) * | 2018-05-24 | 2018-08-17 | 温州市明洋管件制造有限公司 | Butt-welding elbow automatic welding machine |
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| CN115229311A (en) * | 2022-08-02 | 2022-10-25 | 中交一公局集团有限公司 | Self-rotation adjusting submerged-arc welding device for steel casing and using method |
| CN116329839A (en) * | 2023-04-03 | 2023-06-27 | 湖北人杰特种汽车科技有限公司 | Assembly welding device for truck mounted crane boom |
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