CN104923999A - Rotatable welding torch device and welding method thereof - Google Patents

Rotatable welding torch device and welding method thereof Download PDF

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Publication number
CN104923999A
CN104923999A CN201510329243.4A CN201510329243A CN104923999A CN 104923999 A CN104923999 A CN 104923999A CN 201510329243 A CN201510329243 A CN 201510329243A CN 104923999 A CN104923999 A CN 104923999A
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CN
China
Prior art keywords
welding
welding torch
torch
servomotor
guide rail
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201510329243.4A
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Chinese (zh)
Inventor
全燕鸣
苏国鹏
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South China University of Technology SCUT
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South China University of Technology SCUT
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Publication date
Application filed by South China University of Technology SCUT filed Critical South China University of Technology SCUT
Priority to CN201510329243.4A priority Critical patent/CN104923999A/en
Publication of CN104923999A publication Critical patent/CN104923999A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02Carriages for supporting the welding or cutting element
    • B23K37/0282Carriages forming part of a welding unit

Abstract

The invention discloses a rotatable welding torch device and a welding method thereof. The rotatable welding torch device comprises an installing support, a Z-direction guide rail arranged on the installing support, a slider installed on the Z-direction guide rail, a Z-direction driving servo motor used for driving the slider to slide on the Z-direction guide rail, a welding torch and a servo motor used for driving the welding torch to rotate. A guide rail is arranged on the slider and provided with a sliding support, and the servo motor used for driving the welding torch to rotate is installed on the sliding support. The rotatable welding torch device is applicable to automatic welding of large-component broken line fillet weld joints and particularly applicable to being matched with a front direct-sight double-vision tracking system, and for the large-component broken line fillet weld joints, the rotatable welding torch device can be combined with the front vision tracking system to scan the tracks of the weld joints; welding torch tracks can be corrected in real time and welding technology parameters can be adjusted in real time according to the direct-sight vision system, the tracks and the width of the weld joints can be monitored online, the welding torch can be guided to track assembly joints in a self-adaption mode, and welding can be performed according to appropriate technological parameters.

Description

A kind of rotatable torch device and welding method thereof
Technical field
The present invention relates to welder, particularly relate to a kind of rotatable torch device and welding method thereof.
Background technology
Intelligent robot has years of researches basis, technology relative maturity.But; in welding process, Workpiece structure to be welded is varied, and weld seam form is different, and welding process is with various interference such as high temperature, arc light flicker, protective gas; therefore the acquisition of various welding parameter is comparatively difficult, becomes one of intelligent key technology realized of restriction welding.In numerous components to be welded, the large component broken line angle welding such as container be more difficult realize automatic welding treat one of weldment.In large component broken line angle welding, corrugated plating has that wall is thin, size is comparatively large, poor rigidity before assembling, be difficult to the feature such as one-shot forming, inconvenience transport, therefore overall corrugated plating adopts small size corrugated plating to be spliced, assemble with flat board again, in large component broken line angle welding, corrugated board structures and slab normal is adopted to assemble, improve the isostructural integral rigidity of container, make whole workpiece have good mechanical property, therefore large component broken line angle welding is widely used in the industrial production.In the welding process of existing large component broken line angle welding, the more mode still adopting human weld.
But, tradition is based on the large disadvantage of existence two of the welding manner of workman's range estimation: 1. workshop welding post is more, air-flow is not smooth, workman works for a long time in the environment of a large amount of arc light radiation, noxious fume, seriously damage healthy, make the occupational diseases such as welder's major part Dou Huan lung, nervous system injury; 2. workman adopt for a long time stand, the posture such as semi-crouch welds, easily tired in rugged environment, affect judgment, welding quality can not get guarantee.
In current most of torch system, welding torch can not make axial rotation, but does translational motion along with ripple weld seam, and welding torch in welding process so just cannot be made all the time perpendicular to weld seam, cannot to ensure welding quality.
Summary of the invention
The object of the invention is to the shortcoming and defect overcoming above-mentioned prior art, a kind of rotatable torch device and welding method thereof are provided.Applied in existing welding robot, welding torch in welding process can be welded perpendicular to weld seam all the time, ensured welding quality.
The present invention is achieved through the following technical solutions:
A kind of rotatable torch device, comprise mounting bracket 10, the Z-direction guide rail 9 be arranged on mounting bracket 10, the slide block 8 be arranged on Z-direction guide rail 9, Z-direction driving servomotor 6 for driving slide block 8 to slide on Z-direction guide rail 9, welding torch 1, servomotor 4 for driving welding torch 1 to rotate;
Described slide block 8 is provided with guide rail 8-1, and described guide rail 8-1 is provided with sliding support 7, and the servomotor 4 that described driving welding torch 1 rotates is arranged on sliding support 7.
Described welding torch 1 is arranged on the main shaft of servomotor 4 by linkage 3 and key 2, the rotation making welding torch 1 carry out around y-axis by the rotation of servomotor 4.
The welding wire end points of welding torch 1 and the central point line of servomotor 4 main shaft should with servomotor 4 axis coaxle, this coaxiality error exists within.
Described welding torch 1 is connected with interference fit between linkage 3; Between described linkage 3 with servomotor 4 main shaft, interference fit is connected.
Z-direction drives servomotor 6 by ball-screw 5 connection sliding block 8, makes slide block 8 in the upper and lower motion of Z-direction guide rail 9.
The method that above-mentioned rotatable torch device butt welded seam carries out welding is as follows:
Step (1): the first datum level 11 is all vertical with the first weld seam 13 with the second datum level 12, and the 3rd datum level 14 is vertical with the second weld seam 15;
Step (2): during initial period, welding torch 1 is in first weld seam 13 place's welding, and now welding torch 1 is perpendicular to the first weld seam 13; When welding torch 1 moves to the second datum level 12 along the first weld seam 13 by the first datum level 11, welding torch 1 overlaps with the 3rd datum level 14 to welding torch 1 first half around the rotation of weldering servomotor 4 spindle axis counterclockwise, now welding torch 1 is perpendicular to the second weld seam 15, continue along the second weld seam 15 welding, thus ensure that welding torch 1 welding wire axis in translational motion is vertical with weld seam normal plane all the time.
The present invention is applicable to large component broken line angle welding automatic welding, be especially applicable to preposition-look at pair visual monitoring tracking system supporting, it, for large component broken line angle welding, can carry out seam track scanning in conjunction with preposition Visual Tracking System; And can adjust in real time for guiding welding torch track real-time deviation correcting and welding condition according to direct-view vision system, realizing seam track and the wide on-line monitoring of seam, guide welding torch to follow the tracks of assembling seam adaptively and with the welding of suitable process parameter.
The present invention combine be applicable to preposition-look at two visual monitoring tracking system to support the use, can enable welding torch when welding corrugated plating weld seam all the time perpendicular to weld seam, guarantee weldquality, reaches best welding effect.
Accompanying drawing explanation
Fig. 1 is the rotatable torch device structure chart of the present invention.
Fig. 2 is the figure after the rotatable torch device of the present invention and other equipment assemble.
Fig. 3 is Fig. 1 side view.
Fig. 4 is that the rotatable torch device of the present invention and other equipment are with the use of state diagram.
Fig. 5 is the motion mode of welding torch in concrete welding method in the rotatable torch device of the present invention; Wherein, the first datum level 11; Second datum level 12; First weld seam 13 is vertical; 3rd datum level 14; Second weld seam 15 is vertical; Welding torch 1; Welding torch rotating shaft 17; Torch motion direction 18; Bar linkage structure 3; Welding torch direction of rotation 20.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is more specifically described in detail.
Embodiment
As shown in Fig. 1 to 5.A kind of rotatable torch device of the present invention, comprise mounting bracket 10, the Z-direction guide rail 9 be arranged on mounting bracket 10, the slide block 8 be arranged on Z-direction guide rail 9, Z-direction driving servomotor 6 for driving slide block 8 to slide on Z-direction guide rail 9, welding torch 1, servomotor 4 for driving welding torch 1 to rotate;
Described slide block 8 is provided with guide rail 8-1, and described guide rail 8-1 is provided with sliding support 7, and the servomotor 4 that described driving welding torch 1 rotates is arranged on sliding support 7.
Described welding torch 1 is arranged on the main shaft of servomotor 4 by linkage 3 and key 2, the rotation making welding torch 1 carry out around y-axis by the rotation of servomotor 4.
The welding wire end points of welding torch 1 and the central point line of servomotor 4 main shaft should with servomotor 4 axis coaxle, this coaxiality error exists within.
Described welding torch 1 is connected with interference fit between linkage 3; Between described linkage 3 with servomotor 4 main shaft, interference fit is connected.
Z-direction drives servomotor 6 by ball-screw 5 connection sliding block 8, makes slide block 8 in the upper and lower motion of Z-direction guide rail 9.
In Fig. 4.X direction guiding rail 21, y direction guiding rail 22, z direction guiding rail 9, under the driving of respective servomotor, realize welding torch and carry out translational motion along x, y, z direction.
The method that above-mentioned rotatable torch device butt welded seam carries out welding realizes by following steps:
Step (1): the first datum level 11 is all vertical with the first weld seam 13 with the second datum level 12, and the 3rd datum level 14 is vertical with the second weld seam 15;
Step (2): during initial period, welding torch 1 is in first weld seam 13 place's welding, and now welding torch 1 is perpendicular to the first weld seam 13; When welding torch 1 moves to the second datum level 12 along the first weld seam 13 by the first datum level 11, welding torch 1 overlaps with the 3rd datum level 14 to welding torch 1 first half around the rotation of weldering servomotor 4 spindle axis counterclockwise, now welding torch 1 is perpendicular to the second weld seam 15, continue along the second weld seam 15 welding, thus ensure that welding torch 1 welding wire axis in translational motion is vertical with weld seam normal plane all the time.
As mentioned above, just the present invention can be realized preferably.
Embodiments of the present invention are not restricted to the described embodiments; other are any do not deviate from Spirit Essence of the present invention and principle under do change, modification, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.

Claims (6)

1. a rotatable torch device, is characterized in that: comprise mounting bracket (10), the Z-direction guide rail (9) be arranged on mounting bracket (10), the slide block (8) be arranged on Z-direction guide rail (9), for driving slide block (8) to drive servomotor (6), welding torch (1), servomotor (4) for driving welding torch (1) to rotate in the upper Z-direction of sliding of Z-direction guide rail (9);
Described slide block (8) is provided with guide rail (8-1), described guide rail (8-1) is provided with sliding support (7), the servomotor (4) that described driving welding torch (1) rotates is arranged on sliding support (7).
2. rotatable torch device according to claim 1, it is characterized in that: described welding torch (1) is arranged on the main shaft of servomotor (4) by linkage (3) and key (2), the rotation making welding torch (1) carry out around y-axis by the rotation of servomotor (4).
3. rotatable torch device according to claim 1 and 2, it is characterized in that: the welding wire end points of welding torch (1) and the central point line of servomotor (4) main shaft should with servomotor (4) axis coaxle, this coaxiality error exists within.
4. rotatable torch device according to claim 2, is characterized in that: between described welding torch (1) with linkage (3), interference fit is connected; Between described linkage (3) with servomotor (4) main shaft, interference fit is connected.
5. rotatable torch device according to any one of claim 1 to 4, it is characterized in that: Z-direction drives servomotor (6) by ball-screw 5 connection sliding block (8), makes slide block (8) in Z-direction guide rail (9) upper and lower motion.
6. adopt rotatable torch device butt welded seam according to any one of claim 1 to 5 to carry out the method for welding, it is characterized in that comprising the steps:
Step (1): the first datum level (11) is all vertical with the first weld seam (13) with the second datum level (12), the 3rd datum level (14) is vertical with the second weld seam (15);
Step (2): during initial period, welding torch (1) is in the first weld seam (13) place's welding, and now welding torch (1) is perpendicular to the first weld seam (13); When welding torch (1) moves to the second datum level (12) along the first weld seam (13) by the first datum level (11), welding torch (1) overlaps with the 3rd datum level (14) to welding torch (1) first half around the rotation of weldering servomotor (4) spindle axis counterclockwise, now welding torch (1) is perpendicular to the second weld seam (15), continue along the second weld seam (15) welding, thus ensure that welding torch (1) welding wire axis in translational motion is vertical with weld seam normal plane all the time.
CN201510329243.4A 2015-06-15 2015-06-15 Rotatable welding torch device and welding method thereof Pending CN104923999A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510329243.4A CN104923999A (en) 2015-06-15 2015-06-15 Rotatable welding torch device and welding method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510329243.4A CN104923999A (en) 2015-06-15 2015-06-15 Rotatable welding torch device and welding method thereof

Publications (1)

Publication Number Publication Date
CN104923999A true CN104923999A (en) 2015-09-23

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102380729A (en) * 2011-10-20 2012-03-21 山东水泊焊割设备制造有限公司 Boxboard welding profiling device
CN202240209U (en) * 2011-08-30 2012-05-30 昆山华恒工程技术中心有限公司 Arc guide rail robot welding workstation
CN202752771U (en) * 2012-06-07 2013-02-27 中国东方电气集团有限公司 Operation and swing mechanism for crawl type welding robot
CN202934307U (en) * 2012-11-02 2013-05-15 无锡华联科技集团有限公司 Inner support mechanism for box-shaped column
CN203304818U (en) * 2013-06-18 2013-11-27 山东水泊焊割设备制造有限公司 Automatic inner U-type welding machine
KR101390117B1 (en) * 2013-12-16 2014-04-29 김성남 Automatic welding carriage
CN204308460U (en) * 2014-12-12 2015-05-06 滨州市虎森数控机械研究所 A kind of numerical control bonding machine

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN202240209U (en) * 2011-08-30 2012-05-30 昆山华恒工程技术中心有限公司 Arc guide rail robot welding workstation
CN102380729A (en) * 2011-10-20 2012-03-21 山东水泊焊割设备制造有限公司 Boxboard welding profiling device
CN202752771U (en) * 2012-06-07 2013-02-27 中国东方电气集团有限公司 Operation and swing mechanism for crawl type welding robot
CN202934307U (en) * 2012-11-02 2013-05-15 无锡华联科技集团有限公司 Inner support mechanism for box-shaped column
CN203304818U (en) * 2013-06-18 2013-11-27 山东水泊焊割设备制造有限公司 Automatic inner U-type welding machine
KR101390117B1 (en) * 2013-12-16 2014-04-29 김성남 Automatic welding carriage
CN204308460U (en) * 2014-12-12 2015-05-06 滨州市虎森数控机械研究所 A kind of numerical control bonding machine

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Application publication date: 20150923

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