CN102990206B - 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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- CN102990206B CN102990206B CN201210390764.7A CN201210390764A CN102990206B CN 102990206 B CN102990206 B CN 102990206B CN 201210390764 A CN201210390764 A CN 201210390764A CN 102990206 B CN102990206 B CN 102990206B
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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 automatic and semi-automatic novel welding jig of the 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; elbow welding material also can be used for other material that needs gas shielded arc welding or nonferrous materials, is that a kind of big-and-middle diameter titanium elbow high efficiency, numerical control electromechanical integrated device longitudinally cuts open the face welding line numerical argon arc welding machine that closes.
Background technology
The welding manufacture of the big-and-middle diameter punching press splicing of steel elbow adopts craft or semi-automatic welding in 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 welding many weld seam gas shield requirements dorsad than steel elbow, also in the state of manual welding, (big-and-middle diameter bend wall is thicker in many places, titanium welding wire sealing weld amount is large, manual welding efficiency is low), no matter welding equipment specialized vendor or big-and-middle diameter welding elbow manufacturer at present, 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 five times above (attaching pictures) that are welded elbow diameter, huge structure causes cost, rotation rotary inertia, tremble, dynamo-electric loads etc. are all very large, kinematic accuracy when the large inertia braking thereupon bringing and large inertia, positioning precision, the control measure of pulsation dynamic response etc. have increased difficulty and the practical efficiency of operation have been set, a high position for another workpiece lifts and clamps, welding is controlled, welding is inspected in real time online etc. and also to be brought the inconvenience 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 efficiency seems lower, especially can not for have weld seam dorsad gas shield requirement titanium elbow processed welding operation, be difficult for entering the region of clean argon arc welding specification requirement.Along with raising, the product competitiveness in the market 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, operation clamping fast, safety, and meet that big-and-middle diameter titanium elbow processed of more accurate argon arc welding is automatic and semi-automatic arc welder is imperative.
Present situation: domestic and international current 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 good semiautomatic welding present situation as mentioned above, a whole set of welding system is huge, load is large, investment is large, price is high, clamp location, welding gun contraposition is numerous and diverse, and do not possess the welding requirements that is yet 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, this programme design is 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 is substantially also that semiautomatic welding is in the majority, but is equally that equipment volume is huge, weld diameter scope is little, and clamping welding is discontinuous, compares cost and price is higher with domestic similar prior art.
Summary of the invention
For solving the problems of the technologies described above, the invention provides a kind of convenient mounting and clamping, move easy, to be suitable for big-and-middle diameter titanium welding elbow processed big-and-middle diameter titanium elbow and longitudinally cut 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 longitudinally cuts open and closes face welding line numerical argon arc welding machine, and at least one that comprise support, is arranged on support is used for fixing the workpiece holder of workpiece titanium elbow; Also comprise that being used on support weld the automatic welding device of big-and-middle diameter titanium elbow section longitudinal seam; Described automatic welding device comprise " L " type transverse beam assembly that main beam assembly for whole apparatus control system is installed, being used for of being connected with main beam assembly install welding gun with the vertical main armstand assembly that is used for supporting main beam assembly being connected of main beam assembly;
Described " L " type transverse beam assembly comprises " L " type crossbeam being connected with main beam assembly, be arranged on being used on " L " type crossbeam and regulate the drive unit that moves horizontally that welding gun external member moves along horizontal direction, and move horizontally the welding-torch horizontal that drive unit output is connected and move screw mandrel;
Be arranged on the horizontal slide of at least two on " L " type crossbeam, one end is slidably arranged in the two sliding bars on horizontal slide, the holder of at least two being fixedly linked with two sliding bar other ends, the transverse arm being connected with holder, be arranged on transverse arm be used for welding gun is remained in the course of the work and elbow part curvature line face in the hang down welding gun rotating driving device of location status of method, the floating shelf that is used for driving welding gun elasticity self-regulated position being connected 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 the sliding seat of at least two on central spindle of the spring, be sleeved on the floating spring of central spindle of the spring upper end, the profile tracking support being connected with sliding seat, be arranged on the contour wheel on profile tracking support, the gun rack being connected with profile tracking support, be arranged on the welding gun external member of gun rack front end, one end of described sleeve is connected 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 being slidably arranged on support, be arranged on being used on welding machine pedestal and make 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 is connected with the output of oscillatory gearing mechanism, be rotationally connected and be arranged on the bearing fixed seat on welding machine pedestal with the turning cylinder other end, the armstand pedestal being fixedly linked with turning cylinder, what be connected with armstand pedestal is used for ordering about 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 three-dimensional system of coordinate, the rolling disc being connected with the output of armstand Plane Rotation drive unit, the armstand being connected with rolling disc, be arranged on and in armstand, be used for making main beam assembly, the armstand lifting drive of " L " type transverse beam assembly and the lifting of welding gun external member, be arranged on the slide of at least two in armstand, be slidably arranged in the two upright sliding bars in slide, the upright sliding bar holder of at least two being fixedly linked with two upright sliding bars one end, the supporting seat being connected with upright sliding bar holder, one end of supporting seat is connected with main beam assembly, the vertical screw mandrel being connected with the supporting seat other end, the output of armstand lifting drive is connected with vertical screw mandrel.
As a further improvement on the present invention, described main beam assembly comprises simultaneously the main beam that connects " L " type crossbeam and supporting seat, be arranged on main beam for controlling electric control box and the welding wire feeding driven unit of whole welding process instruction campaign.
As a further improvement on the present invention, the gas automatic safety device that also comprises the weld seam welding use being connected with 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 servomotor and the combination of twin-stage worm and gear; The worm gear that moves horizontally drive unit output with move horizontally screw mandrel and be meshed, the worm-wheel shaft of welding gun rotating driving device output is connected by linking bond with sleeve, worm gear and the turning cylinder of armstand oscillatory gearing mechanism output are connected, the worm-wheel shaft of armstand Plane Rotation drive unit output is connected 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, welding machine pedestal is realized its rectilinear motion and is connected by being arranged on slide block on welding machine pedestal and being arranged on slideway on support.
As a further improvement on the present invention, also comprise and be arranged on drive nut on welding machine pedestal.
As a further improvement on the present invention, described electric control box is that 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. by numerical control argonaut welding, 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, utilization digital information carries out 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: the big-and-middle diameter welding of the workpiece elbow that weight is very heavy installs additional behind location, static element as welding, having avoided prior art Weis rotation transhipment moving part by elbow Zuo, the large-scale workpiece rotary inertia bringing is thus large, tremble, the anxious quick many fluctuations of inductance sensing or desensitization lost motion, dynamo-electric load is large, take up an area space large, , the unfavorable factors such as work high above the ground, be conducive to the accuracy that senser element Intellisense pulsation response is carried out, and be convenient to the operation occasion that having clean technology to require the operation setting of more accurate titanium material argon arc welding numerical control device.
3. this patent is by a kind of more realistic automatic welding mode of numerical control, the organic joint applications of profiling, under the setting of welding gun independent-lifting, the existing operating mode of left and right automatic moving swinging mechanism, add profile tracking, make welding gun when Large-scaled Elbow heavy wall workpiece is welded, can be in the V of microcosmos area or the high cross section of weld seam waist of X-type groove covering of the fan, according to the pass sequence of appointment, automatically transport outside rifle, can guarantee that again the motion of welding gun rifle head point meets the curve movement track of elbow TP in macroscopical region.
Accompanying drawing explanation
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 take to view the first half structural representation that D-D is geosutures.
Fig. 4 is that the C of Fig. 1 take to view the latter half structural representation that D-D is geosutures.
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, main beam assembly, 3-1, main beam, 3-2, electric control box, 3-3, 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, 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, welding gun external member, 4-14, profile tracking support, 4-15, contour wheel, 4-16, welding-torch horizontal moves screw mandrel, 4-17, sleeve, 5, main armstand assembly, 5-1, welding machine pedestal, 5-2, 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, upright sliding bar holder, 5-11, supporting seat, 5-12, armstand lifting drive, 5-13, drive nut, 5-14, 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 longitudinally 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.
Main beam assembly 3 comprises main beam 3-1, electric control box 3-2 and welding wire feeding driven unit 3-3.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 armstand assembly 5 comprises welding machine pedestal 5-1, armstand oscillatory gearing mechanism 5-2, turning cylinder 5-3, bearing fixed seat 5-4, armstand Plane Rotation drive unit 5-5, rolling disc 5-6, armstand 5-7, slide 5-8, upright sliding bar 5-9, upright sliding bar holder 5-10, supporting seat 5-11, armstand lifting drive 5-12, drive nut 5-13, armstand pedestal 5-14 and vertical screw mandrel 5-15.As shown in Fig. 1, Fig. 3, Fig. 4, Fig. 5.
Workpiece holder 2 is fixedly mounted on support 1, is used for fixing workpiece; A plurality of workpiece holders 2 can be installed on support 1, and workpiece holder 2 is also provided with for regulating the adjusting handle of the location of workpiece.On workpiece, be also provided with weld seam and weld other automatic safety devices.Welding machine pedestal 5-1 in main armstand assembly 5 is by being arranged on slide block on welding machine pedestal 5-1 and being arranged on slideway on support 1 and realizing its linear slide and be connected.Its concrete slip is to utilize the rotary screw that is arranged on the drive nut 5-13 on welding machine pedestal 5-1 and matches with drive nut 5-13 to realize welding machine pedestal 5-1 with respect to the slip of support 1.Main beam 3-1 in main beam assembly 3 is arranged on the supporting seat 5-11 in main armstand assembly 5, " L " type crossbeam 4-1 in " L " type transverse beam assembly 4 is arranged on the main beam 3-1 in main beam assembly 3, therefore main armstand assembly 5 plays the function that supports whole main beam assembly 3 and " L " type transverse beam assembly 4, and being arranged so that it also has simultaneously and regulating welding gun along workpiece section longitudinal seam curvilinear plane shape line tracking conformal function due to main armstand assembly 5 structures, regulate welding gun at the elevating function of vertical direction position and regulate welding gun around the function of the 360 ° of rotations of Z axis in three-dimensional system of coordinate.Realize to regulate welding gun to swing along the workpiece section longitudinal seam curvilinear plane shape line tracking conformal function sectors such as " L " type transverse beam assembly 4 that to be main beam assembly 3 by being arranged on the armstand oscillatory gearing mechanism 5-2 of welding machine pedestal 5-1 and driving main armstand assembly 5, be connected with supporting seat 5-11 in main armstand assembly 5 be connected with main beam 3-1 with in main beam assembly 3, thereby drive the welding gun that is arranged on " L " type transverse beam assembly 4 front ends along the curve of numerical control program demarcation and the self-adjusting of profiling.Realizing and regulating the function of welding gun in vertical direction position is to drive main armstand assembly 5 by being arranged on the armstand lifting drive 5-12 of the armstand 5-7 upper end in main beam assembly 3, " L " type transverse beam assembly 4 that the main beam assembly 3 being connected with supporting seat 5-11 in main armstand assembly 5 is connected with the main beam 3-1 with in main beam assembly 3 moves up and down along the vertical aspect of armstand 5-7, thereby drive the welding gun being arranged in " L " type transverse beam assembly 4 to move up and down along vertical direction, with this, adapt to the change of the welding gun in the vertical direction position that workpiece was brought of different size.Realize to regulate welding gun around the function of the 360 ° of rotations of Z axis in three-dimensional coordinate system " L " type transverse beam assembly 4 that to be main beam assemblies 3 by being arranged on the armstand Plane Rotation drive unit 5-5 of the armstand 5-7 lower end in main beam assembly 3 and driving main armstand assembly 5, be connected with supporting seat 5-11 in main armstand assembly 5 be connected with main beam 3-1 with in main beam assembly 3 around 360 ° of rotations of the Z axis in three-dimensional coordinate system, thereby realize welding gun to being arranged on the clamping of the elbow workpiece of support 1, the operation of welding continuity, thereby improved operating efficiency.As shown in Figure 1.
The supporting seat 5-11 that main beam 3-1 in main beam assembly 3 is fixedly mounted in main armstand assembly 5 is upper, and electric control box 3-2 and welding wire feeding driven unit 3-3 are installed on 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, there is 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 is mainly 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 complete welding gun tungsten electrode (welding wire enters arc) point apart from the motion conformal to welding bead curved surface.Numerical control device by the coordinate information profiling of input and output interface, man-machine interface demonstration, human-computer dialogue figure interactive function, data management function and relevant auxiliary control, point pick up, 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 for argon-arc welding gun tungsten head (welding wire enter acnode apart from) is being kept the welding bead of welding under 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 a left side-γ method on elbow line of curvature face and the vertical angle of right γ method, ) with the microscopic motion of elbow vertical section bevel for welding V-type cross section, to increase progressively and widen according to the covering of the fan of V-type weldering groove, according to the welding wire setting to the traversing pendulum of the arc length of welding bead, welding gun tungsten electrode rises or decline arc maintenance, welding sequence etc., by the independent-lifting in welding gun, left and right is moved swinging mechanism and is carried out automatically or semi-automatic welding).Note: 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 is also identical, so be not just described in detail in this patent.Servo drive is the operating part of digital control system, can respond fast NC instruction, the power source motor separately of three axle compound motions provides enough power and torque, and the power source separately of three described axle compound motions is the combinations that adopt servomotor output and two-stage worm gear-worm reducer structure; Adopting the object 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 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 more 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 between single-piece, still have its inconsistency, for the cylindrical shell cylindrical anchor ring circularity after conventional tankage class roll bending and the flatness of longitudinal joint, equal regular following, general automatic welder(welding machine) is easy to accomplish to cylindrical shell class standard and simply justifies the automatic operation that ruler restrains to arrange welding, and the riveting of big-and-middle diameter punched bend is combined, welding just has certain irregular difficulty, therefore, this equipment has added a set of 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 numerical control curve equation, when instruction is carried out in servo-drive system, the cooperation of mechanical elasticity profile tracking device makes curve movement (differential interpolation is infinite to approach) fit like a glove in actual elbow curve more, thereby the profiling that makes to find range detects feedback and controls with induction the practical operation that more meets workpiece welding.As shown in Figure 1.
" L " type crossbeam 4-1 in " L " type transverse beam assembly 4 is connected with the main beam 3-1 in main beam assembly 3, moves horizontally drive unit 4-2 and is fixedly mounted on the upper of " L " type crossbeam 4-1.Described 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 and be to make low power servomotor can export larger moment of torsion power after two-stage worm gear-worm reducer structure.The output that moves horizontally drive unit 4-2 is that the output worm gear in two-stage worm gear-worm reducer structure is meshed with moving horizontally screw mandrel 4-16, thereby drive, moves horizontally screw mandrel 4-16 along the horizontal motion of " L " type crossbeam 4-1.Moving horizontally screw mandrel 4-16 is fixedly mounted on the transverse arm 4-6 being connected 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 arranged on L " both sides of type crossbeam 4-1; four holder 4-5 symmetries are arranged on the both sides of transverse arm 4-6; one end of two sliding bar 4-4 and four holder 4-5 fix, and what the other end slided is arranged in two horizontal slide 4-3.Welding gun rotating driving device 4-7 is fixedly mounted on 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 and be to make low power servomotor can export larger moment of torsion power after two-stage worm gear-worm reducer structure.The output of welding gun rotating driving device 4-7 is that the output worm-wheel shaft in two-stage worm gear-worm reducer structure is connected with sleeve 4-17.Sleeve 4-17 is arranged on floating shelf 4-8, floating shelf 4-8 is fixedly mounted on transverse arm 4-6, described floating shelf 4-8 is " H " word shape, central spindle of the spring 4-9 is arranged on floating shelf 4-8, two slideable being arranged on central spindle of the spring 4-9 of sliding seat 4-10, it is upper that floating spring 4-11 is sleeved on central spindle of the spring 4-9, and one end of floating spring 4-11 contacts with floating shelf 4-8, and the other end contacts with the sliding seat 4-10 that is positioned at the topmost on 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 along central spindle of the spring 4-9 together with two sliding seat 4-10.It is upper that contour wheel 4-15 is arranged on profile tracking frame 4-14, and in the welding process of welding machine, contour wheel 4-15 contacts with surface of the work all the time.It is upper that gun rack 4-12 is arranged on profile tracking frame 4-14, and welding gun external member is arranged on 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, during fine setting, utilize micro-adjusting mechanism in its welding gun external member structure to finely tune automatically the position of welding gun.This fine setting course of work is identical with the fine setting course of work of the prior art, is not described in detail here.Note needs 2 points of pointing 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 vertical state of method while regulating welding gun to match along workpiece curve profile longitudinal seam groove welding shape line tracking with the interior described armstand oscillatory gearing mechanism 5-2 of main armstand assembly 5, 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, make welding gun keep 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 and conform to standard be welded into arcuation state.Second point, the problem that contour wheel 4-15 contacts with surface of the work all the time, the output of welding gun rotating driving device 4-7 is that the output worm-wheel shaft in two-stage worm gear-worm reducer structure is connected with sleeve 4-17, servomotor task driven worm-wheel shaft rotates, worm-wheel shaft rotates and drives sleeve 4-17 to rotate, sleeve 4-17 rotates and drives the floating shelf 4-8 being 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 shape following-up flexible together with contour wheel 4-15 rotates, in rotation process due to elasticity and the installation site thereof of floating spring 4-11 self, can drive contour wheel 4-15 to contact with surface of the work all the time.As shown in Figure 2.
Welding machine pedestal 5-1 in main armstand assembly 5 realizes its linear slide and connects by being arranged on slide block on welding machine pedestal 5-1 and being arranged on slideway on support 1.Its concrete slip is to utilize the adjusting screw mandrel that is arranged on the drive nut 5-13 on welding machine pedestal 5-1 and matches with drive nut 5-13 to realize welding machine pedestal 5-1 with respect to the slip of support 1.Oscillatory gearing mechanism 5-2 is arranged on 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 and be to make low power servomotor can export larger moment of torsion power after two-stage worm gear-worm reducer structure.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 is connected.It is upper that bearing fixed seat 5-4 is arranged on welding machine pedestal 5-1, and one end of turning cylinder 5-3 is rotatably installed on bearing fixed seat 5-4.Armstand pedestal 5-14 is connected by bearing pin with turning cylinder 5-3.Device of rotation driving 5-5 is arranged on 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 and make low power servomotor can export larger moment of torsion power after two-stage worm gear-worm reducer structure.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 to rolling disc 5-6 above, and armstand 5-7 is arranged on rolling disc 5-6.It is upper that armstand lifting drive 5-12 is arranged on armstand 5-7, and its output worm gear core swivel nut is meshed with vertical screw mandrel 5-15.One end of supporting seat 5-11 is connected with the main beam 3-1 in main beam assembly 3.The other end of supporting seat 5-11 fixedly mounts in 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 and be to make low power servomotor can export larger moment of torsion power after two-stage worm gear-worm reducer structure.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 to rotate, thereby drive main beam assembly 3 and " L " type transverse beam assembly 4 to move up and down along the Z-direction in three-dimensional system of coordinate, 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 arranged on the both sides of armstand 5-7, two upright sliding bar holder 5-10 symmetries are arranged on the both sides of supporting seat 5-11, one end of upright sliding bar 5-9 is slidably mounted in four slide 5-8, and the other end is fixedly mounted in two upright sliding bar holder 5-10.As shown in Fig. 1, Fig. 3, Fig. 4, Fig. 5.
The course of work of the present invention:
As shown in Figures 1 to 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 enters in workpiece holder 2 that elbow workpiece vertical profile closes face weld seam after manual spot welding or backing welding, elbow piece according to the graticule having determined parallel (F-F graticule), align, with hand top wheel pretension, both sides, workpiece bottom are with all fastening after the steady levelling in universal side top stud top;
Note: 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 main armstand assembly 5, armstand 5-7 walking, rotation, welding gun (welding wire, tungsten electrode), in one end of elbow, under armstand lift, exercise the certain pretension elastic force of floating spring 4-11 precompressed, with the upper lower knob of welding gun fine setting, left and right knob is determined weldering distance after to rifle, after determining that suitable rifle distance (routine 2-3 millimeter) button make zero, along curved surface suitable interval, pick up successively 3 or the curve model data message of the protruding or concave surface of elbow of 4-5 point, 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, rotating mechanism compound motion, makes terminal (striking point) and the whole solder joint (receipts acnode) at welding gun tungsten electrode and welding wire and elbow two ends, and empty wagons is demonstrated running trajectory fast, weldering, after confirmation, locks this identification program, recalls 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, 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 rotates the miniature small machine of tractive, tractive gas shield box walking at weld seam back freely, also can make the micro machine rotating speed of tractive protection box according to speed of welding, be incorporated to automatic walking program;
Example as shown in Figure 6, when armstand 5-7 by the rotation of C1 point during to C2 point (rotational angle theta) floating shelf rotating mechanism power source drive gun rack and welding gun external member to rotate corresponding angle (left-hand rotation angle-γ--0--right turn angle γ), 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 profiling finishing voluntarily;
After the elbow workpiece welding clamping, after welding machine armstand turnback, can weld opposite side workpiece, the workpiece having welded is carried out continual welding operation after can hanging out, hang in another workpiece.
Claims (7)
1. big-and-middle diameter titanium elbow longitudinally cuts open and closes a face welding line numerical argon arc welding machine, and at least one that comprise support (1), is arranged on support is used for fixing the workpiece holder (2) of workpiece titanium elbow; It is characterized in that: also comprise that being used on support (1) weld big-and-middle diameter titanium elbow and longitudinally cut open the automatic welding device that closes face weld seam; Described automatic welding device comprise " L " type transverse beam assembly (4) that main beam assembly (3) for whole apparatus control system is installed, being used for of being connected with main beam assembly (3) install welding gun with the vertical main armstand assembly (5) that is used for supporting main beam assembly (3) being connected of main beam assembly (3);
Described " L " type transverse beam assembly (4) comprises " L " type crossbeam (4-1) being connected with main beam assembly (3), what be arranged on that being used on " L " type crossbeam (4-1) regulate that welding gun external member moves along horizontal direction moves horizontally drive unit (4-2), and moves horizontally the welding-torch horizontal that drive unit (4-2) output is connected and moves screw mandrel (4-16);
Be arranged on the horizontal slide (4-3) of at least two on " L " type crossbeam (4-1), one end is slidably arranged in the two sliding bars (4-4) on horizontal slide (4-3), the holder of at least two (4-5) being fixedly linked with two sliding bars (4-4) other end, the transverse arm (4-6) being connected with holder (4-5), be arranged on transverse arm (4-6) be used for welding gun is remained in the course of the work and elbow part curvature line face in the hang down welding gun rotating driving device (4-7) of location status of method, the floating shelf that is used for driving welding gun elasticity self-regulated position (4-8) being connected 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 the sliding seat of at least two (4-10) on 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) being connected with sliding seat (4-10), be arranged on the contour wheel (4-15) on profile tracking support (4-14), the gun rack (4-12) being connected with profile tracking support (4-14), be arranged on the welding gun external member (4-13) of gun rack (4-12) front end, one end of described sleeve (4-17) is connected 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) being slidably arranged on support (1), be arranged on being used on 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 is connected with the output of armstand oscillatory gearing mechanism (5-2), be rotationally connected and be arranged on the bearing fixed seat (5-4) on welding machine pedestal (5-1) with turning cylinder (5-3) other end, the armstand pedestal (5-14) being fixedly linked with turning cylinder (5-3), what be connected 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 three-dimensional system of coordinate, the rolling disc (5-6) being connected with the output of armstand Plane Rotation drive unit (5-5), the armstand (5-7) being connected with rolling disc (5-6), be arranged on and in armstand (5-7), be used for making main beam assembly (3), the armstand lifting drive (5-12) of " L " type transverse beam assembly and welding gun external member (4-13) lifting, be arranged on the slide of at least two (5-8) in armstand (5-7), be slidably arranged in the two upright sliding bars (5-9) in slide (5-8), the upright sliding bar holder (5-10) of at least two being fixedly linked with two upright sliding bars (5-9) one end, the supporting seat (5-11) being connected with upright sliding bar holder (5-10), one end of supporting seat (5-11) is connected with main beam assembly (3), the vertical screw mandrel (5-15) being connected with supporting seat (5-11) other end, the output of armstand lifting drive (5-12) is connected with vertical screw mandrel (5-15).
2. big-and-middle diameter titanium elbow according to claim 1 longitudinally cuts open the face welding line numerical argon arc welding machine that closes, it is characterized in that: described main beam assembly (3) comprises simultaneously the main beam (3-1) that connects " L " type crossbeam (4-1) and supporting seat (5-11), be arranged on main beam (3-1) for controlling electric control box (3-2) and the welding wire feeding driven unit (3-3) of whole welding process instruction campaign.
3. big-and-middle diameter titanium elbow according to claim 1 and 2 longitudinally 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 being connected with elbow workpiece.
4. big-and-middle diameter titanium elbow according to claim 1 longitudinally cuts open and closes face welding line numerical argon arc welding machine, it is characterized in that: described 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 servomotor and the combination of 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 is connected by linking bond with sleeve (4-17), worm gear and the turning cylinder (5-3) of armstand oscillatory gearing mechanism (5-2) output are connected, the worm-wheel shaft of armstand Plane Rotation drive unit (5-5) output is connected 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 longitudinally cuts open and closes face welding line numerical argon arc welding machine, it is characterized in that: welding machine pedestal (5-1) is realized its rectilinear motion connection by the slideway that is arranged on the slide block on welding machine pedestal (5-1) and be arranged on support (1).
6. big-and-middle diameter titanium elbow according to claim 4 longitudinally cuts open and closes face welding line numerical argon arc welding machine, it is characterized in that: also comprise and be 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 longitudinally cuts open and closes face welding line numerical argon arc welding machine, it is characterized in that: described electric control box (3-2) is for instruction servo-drive system is by the digital control system integrating device of calibrating procedure running.
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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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| CN104924000B (en) * | 2015-06-23 | 2016-08-17 | 宁波金凤焊割机械制造有限公司 | A kind of weldering device of the total fixing and welding machine of steel pipe bundle |
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| 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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