CN104959714A - Four-head gantry welding machine for crane beam and control method - Google Patents

Four-head gantry welding machine for crane beam and control method Download PDF

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Publication number
CN104959714A
CN104959714A CN201510384393.5A CN201510384393A CN104959714A CN 104959714 A CN104959714 A CN 104959714A CN 201510384393 A CN201510384393 A CN 201510384393A CN 104959714 A CN104959714 A CN 104959714A
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CN
China
Prior art keywords
welding gun
welding
head
controller
driving
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Granted
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CN201510384393.5A
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Chinese (zh)
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CN104959714B (en
Inventor
袁荣勤
杨斌
程李
傅进
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Chengdu Huayuan Electrical Equipment Co., Ltd
Chengdu Huayuan welding equipment Co.,Ltd.
Original Assignee
CHENGDU HUAYUAN WELDING EQUIPMENT Co Ltd
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Priority to CN201510384393.5A priority Critical patent/CN104959714B/en
Publication of CN104959714A publication Critical patent/CN104959714A/en
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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
    • B23K9/00Arc welding or cutting
    • B23K9/18Submerged-arc welding
    • 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
    • B23K9/00Arc welding or cutting
    • B23K9/12Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127Means for tracking lines during arc welding or cutting
    • B23K9/1272Geometry oriented, e.g. beam optical trading
    • B23K9/1276Using non-contact, electric or magnetic means, e.g. inductive means
    • 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
    • B23K9/00Arc welding or cutting
    • B23K9/12Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/127Means for tracking lines during arc welding or cutting
    • B23K9/1272Geometry oriented, e.g. beam optical trading
    • B23K9/1278Using mechanical means
    • 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
    • B23K9/00Arc welding or cutting
    • B23K9/16Arc welding or cutting making use of shielding gas
    • 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
    • B23K2101/00Articles made by soldering, welding or cutting
    • B23K2101/28Beams

Abstract

The invention relates to a four-head gantry welding machine for a crane beam and a control method. The four-head gantry welding machine comprises a walking frame. The top of the walking frame is provided with a beam body. The walking frame is provided with a controller. The beam body is vertically and symmetrically provided with two stand columns. The bottoms of the stand columns are provided with filament submerged arc welding machine heads controlled by the controller. The walking frame is symmetrically provided with two gas shielded welding gun machine heads controlled by the controller. According to the four-head gantry welding machine, through the two symmetrically arranged filament submerged arc welding machine heads and the two symmetrically arranged gas shielded welding gun machine heads, two welding seams between H-shaped steel on the crane beam and two side cover plates on the two sides and two welding seams between a U-shaped groove below the crane beam and the side cover plates are welded at the same time, so that four welding seams in the two sides of the crane beam are welded at the same time, and the problems that the welding stress is large, and deformation is larger after the crane beam is integrally welded when single-side welding is conducted are solved.

Description

For four-head gantry welder and the control method of single-beam of driving a vehicle
Technical field
The present invention relates to bonding machine field, particularly, relate to a kind of four-head gantry welder for single-beam of driving a vehicle and control method.
Background technology
in recent years, along with the globalization of industry, make full use of plant equipment, save human resources, become a kind of working method efficiently, the application of crane effectively can save human resources, and has higher operating efficiency.
Driving and a kind of crane, belong to large-scale workpiece, be widely used in the crane gear that material handling is carried out in factory floor, warehouse and overhead, stock ground.Usually be welded by various metals framework, thus, the quality of welding quality directly has influence on the use of driving single-beam, and driving single-beam specifically refers to the girder of driving crane.
At present, the domestic welding to driving single-beam, mostly still uses submerged-arc welding fillet welding dolly to weld, and after easily causing driving single-beam to weld, the deflection of entirety is large, welding efficiency is low.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of four-head gantry welder for single-beam of driving a vehicle, and easily causes to overcome existing welding machine the rear overall problem that deflection is large, welding efficiency is low of single-beam welding of driving a vehicle.
In addition, the present invention also comprises the described control method for the four-head gantry welder of single-beam of driving a vehicle.
The present invention's adopted technical scheme that solves the problem is: for the four-head gantry welder of single-beam of driving a vehicle, comprise walker, the top of walker is provided with crossbeam, walker is provided with controller, on described crossbeam, vertical symmetry is provided with 2 columns, the bottom of column is provided with the filament submerged-arc welding head controlled by controller, described walker is symmetrically arranged with 2 gas controlled by controller and protects welding gun head.Existing welding machine is to the welding of driving single-beam, mostly still, use submerged-arc welding fillet welding dolly to weld, once can only weld the angle welding between the driving one-sided I-steel of single-beam and side cover plate, weld seam between another U-type groove and side cover plate all can only adopt manual welding, if weld needs two welders to operate simultaneously simultaneously, weld a rear flank to need to overturn to workpiece the welding operation just carrying out opposite side, after integral solder completes, not only welding stress is large, deflection is large, increase alignment workload, inefficiency, and use stick electrode welding, labor strength is high, wlding waste is large.Walker of the present invention specifically refers to for fixing welded device, and the bottom of walker be arranged on ground walking track and coordinate, namely walker can at walking rail moving, described filament submerged-arc welding head specifically refers to for welding the head of weld seam between I-steel on driving single-beam and side cover plate, two filament submerged-arc welding heads are symmetrical arranged and just can weld the weld seam of two between I-steel with both sides side cover plate simultaneously, described gas guarantor welding gun head specifically refers to the weld seam for welding below driving single-beam between U-type groove and side cover plate, two gas guarantor welding gun heads are symmetrical arranged and just can weld two weld seams below driving single-beam between U-type groove with side cover plate simultaneously simultaneously, the present invention is by being symmetrical arranged 2 filament submerged-arc welding heads, be symmetrical arranged 2 gas and protect welding gun head, between I-steel on driving single-beam and both sides side cover plate two are welded respectively simultaneously, two weld seams below driving single-beam between U-type groove with side cover plate weld, namely realize welding four weld seams of driving single-beam both sides simultaneously, cause the welding stress after driving single-beam integral solder large when avoiding one-sided welding, the problem that deflection is large, and four weld seam welds simultaneously, improve the welding efficiency of driving single-beam, so, instant invention overcomes existing welding machine easily causes the rear overall deflection of driving single-beam welding large, the problem that welding efficiency is low.
Further, described filament submerged-arc welding head comprises the Connection Block I be connected with column bottom, one end of Connection Block I is provided with cylinder, the other end is provided with line slideway, is provided with slide block in line slideway, and slide block is connected with track frame, the end of track frame is provided with tracking wheel, the middle part of track frame is provided with rotating shaft, and track frame is provided with stop screw in rotating shaft upper end, and submerged-arc welding gun is arranged on track frame.Tracking wheel of the present invention specifically refers to and the wheel that the I-steel of driving a vehicle on single-beam and side cover plate coordinate, track frame specifically refers to the structure for fixing tracking wheel, track frame coordinates with tracking wheel the track and localization realized weld seam between I-steel and side cover plate, the tip of track frame can rotate around the shaft, concrete position fixing process: before welding, operation cylinder promotes the track frame be fixed on slide block and travels forward, contact until tracking wheel and the I-steel on workpiece are all stablized with side cover plate, rotating track frame makes filament submerged-arc welding head aim at the weld seam formed between I-steel and side cover plate, when carrying out welding and carrying out, portal frame drives submerged arc welding machine head to weld forward, when the contact situation of workpiece and tracking wheel changes, during as position while welding step-down, under the effect of cylinder, tracking wheel can drive track frame and on submerged-arc welding gun move downward together (shifting to bead direction), the relative position of submerged-arc welding gun and weld seam is remained unchanged, as position while welding uprise time, compressed at the driving lower cylinder of reaction force, tracking wheel can drive track frame and on submerged-arc welding gun move upward (away from bead direction) together, the relative position of submerged-arc welding gun and weld seam is remained unchanged, finally reach the object of weld joint tracking, the present invention realizes the motion of submerged-arc welding gun on line slideway direction by cylinder, the rotating shaft cooperatively interacted by setting and stop screw realize the adjustment of submerged-arc welding gun angle, arrange the track frame, the tracking wheel that coordinate with I-steel and side cover plate simultaneously, realize the track and localization to weld seam between I-steel and side cover plate, when guaranteeing to weld, the relative position of submerged-arc welding gun and weld seam remains unchanged.
Further, on crossbeam, vertical symmetry is provided with 2 saddle mechanisms, and column is arranged in saddle mechanism, and the sidewall of saddle mechanism is provided with upright lifting mechanism, and described column is provided with hopper.The similar gathering sill of saddle mechanism, column can be moved up and down under the cooperation of upright lifting mechanism in saddle mechanism, and then realize the motion in the vertical direction of filament submerged-arc welding head, with cylinder with the use of, realize the horizontal spacing between adjustment 2 filament submerged-arc welding heads and longitudinal height, make the present invention can be used for welding the row single-beam workpiece of different size; Column is provided with hopper, and the setting of hopper is convenient to adding of solder flux and observes, and improves the convenience of operation.
Further, track frame is provided with Y shape hopper, flux recovering tube, the flux dam of cooperation.Y shape hopper is specifically for transferring the device of solder flux, and flux recovering tube is for reclaiming solder flux, and the position of adjustment flux dam and flux recovering tube, the blanking switch opened on Y-shaped bucket puts down solder flux, makes correctly to protect by butt welded seam in welding.
Further, walker is symmetrically arranged with 2 gas and protects welding gun elevating mechanism, gas is protected welding gun head and is comprised the Connection Block protected welding gun elevating mechanism with gas and be connected, described Connection Block is provided with Y-axis planker, Y-axis planker is provided with X-axis planker, the end of X-axis planker is provided with mounting bracket, mounting bracket is provided with armed device, CO 2welding gun is arranged in armed device, CO 2the angle of welding gun is controlled by armed device, and described gas is protected on welding gun head and is provided with IMAQ box, and be provided with the vision sensor controlled by controller in IMAQ box, the displacement of Y-axis planker, X-axis planker has Electric Machine Control, and motor is connected with controller.Gas protects the setting of welding gun elevating mechanism can the motion in vertical direction of control connection seat, and then realizes CO 2welding gun motion in vertical direction, realizes CO by mobile X-axis planker, Y-axis planker 2the adjustment of welding torch position, CO 2the angle of welding gun is determined by armed device, vision sensor can be real-time the signal sensing the position of weld seam, and by the signal transmission that senses to controller, controller analytic signal also judges, whether regulate the position of Y-axis planker, X-axis planker, realize the weld joint tracking on driving single-beam between U-type groove and side cover plate, concrete tracing process: Y-axis planker, X-axis planker are adjusted to suitable position and carried out CO 2the contraposition of welding gun, when to good CO 2after welding torch position, enter vision weld joint tracking system, the datum mark of adjustment image overlaps with the datum mark of weld seam in image; Then following function is opened, if when in welding, weld seam datum mark and graphic based point have a skew, vision sensor by signal transmission to controller, controller makes the motor movement that controller is corresponding after treatment, reach the object of correction of deviation, this system can correct the deviation of Y-axis planker, X-axis planker simultaneously, and corresponding to weld seam is exactly CO 2the left and right of welding gun and height and position are corrected, and realize the real-time tracking of butt welded seam, and the present invention protects welding gun elevating mechanism to CO by arranging gas 2the vertical range of welding gun regulates, by the Y-axis planker, the X-axis planker adjustment CO that arrange 2the relative position of welding gun, is located with the real-time tracking realized the weld seam on single-beam of driving a vehicle between U-type groove and side cover plate that coordinates of controller by vision sensor simultaneously, guarantees CO 2the accuracy that welding gun docks with weld seam.
Further, armed device and CO 2insulation sleeve is provided with between welding gun; Be provided with collets between IMAQ box and mounting bracket, the lower end of IMAQ box is provided with arc light baffle plate.CO is avoided in the setting of insulation sleeve 2welding gun and other parts short circuit; To ensure the smooth and easy of IMAQ, reduce arc light to the interference of acquisition system, reduce image procossing difficulty.
Further, walker upper end is provided with platform, and platform arranged outside has fence, platform is provided with barreled wire welding, solder flux feed and recovery system, the source of welding current.Solder flux feed and recovery system specifically refer to for supply solder, the device reclaiming solder.
For the control method of the four-head gantry welder of single-beam of driving a vehicle, comprise the following steps:
(A), the rate-determining steps of filament submerged-arc welding head;
(B), gas protects the rate-determining steps of welding gun head.
Further, the rate-determining steps of described filament submerged-arc welding head comprises the following steps:
First utilize cylinder to promote track frame to move; until tracking wheel contacts with the I-steel on workpiece and side plate are stable; secondly; the position of adjustment flux dam and flux recovering tube; the blanking switch opened on Y-shaped bucket puts down solder flux; make correctly to protect by butt welded seam in welding; then; weld; in welding process, during position while welding change, promote cylinder; tracking wheel drives track frame, submerged-arc welding gun, flux dam, flux recovering tube, Y-shaped bucket to move together, and the relative position of submerged-arc welding gun and weld seam is remained unchanged.Before welding, operation cylinder promotes track frame and travels forward, contact until tracking wheel and the I-steel on workpiece are all stablized with side cover plate, rotating track frame makes filament submerged-arc welding head aim at the weld seam formed between I-steel and side cover plate, when carrying out welding and carrying out, portal frame drives submerged arc welding machine head to weld forward, when the contact situation of workpiece and tracking wheel changes, during as position while welding step-down, under the effect of cylinder, tracking wheel can drive track frame and on submerged-arc welding gun move downward together (shifting to bead direction), the relative position of submerged-arc welding gun and weld seam is remained unchanged, as position while welding uprise time, compressed at the driving lower cylinder of reaction force, tracking wheel can drive track frame and on submerged-arc welding gun move upward (away from bead direction) together, the relative position of submerged-arc welding gun and weld seam is remained unchanged, finally reach the object of weld joint tracking.
Further, the rate-determining steps of described gas guarantor welding gun head comprises the following steps:
First, vision sensor butt welded seam information also passes to controller, and controller controls motor removing Y-axis planker, X-axis planker, adjusts to suitable position and carries out CO 2the contraposition of welding gun, secondly, CO 2after welding gun and weld seam contraposition accurately, weld, then, in welding process, by vision sensor butt welded seam information, the information collected is passed to controller, controller carries out analysis to the information received and judges, controller makes corresponding instruction according to judged result, open the motor be connected with controller, regulate CO by motor removing Y-axis planker, X-axis planker 2the relative position of welding gun and weld seam, mobile gas is protected welding gun elevating mechanism and is regulated CO 2the vertical range of welding gun.Vision sensor can be real-time the signal sensing the position of weld seam, and by the signal transmission that senses to controller, controller analytic signal also judges, whether regulate the position of Y-axis planker, X-axis planker, realize the weld joint tracking on driving single-beam between U-type groove and side cover plate, concrete tracing process: Y-axis planker, X-axis planker are adjusted to suitable position and carried out CO 2the contraposition of welding gun, when to good CO 2after welding torch position, enter vision weld joint tracking system, the datum mark of adjustment image overlaps with the datum mark of weld seam in image; Then following function is opened, if when in welding, weld seam datum mark and graphic based point have a skew, vision sensor by signal transmission to controller, controller makes the motor movement that controller is corresponding after treatment, reach the object of correction of deviation, this system can correct the deviation of Y-axis planker, X-axis planker simultaneously, and corresponding to weld seam is exactly CO 2the left and right of welding gun and height and position are corrected, and realize the real-time tracking of butt welded seam, and the present invention protects welding gun elevating mechanism to CO by arranging gas 2the vertical range of welding gun regulates, by the Y-axis planker, the X-axis planker adjustment CO that arrange 2the relative position of welding gun, is located with the real-time tracking realized the weld seam on single-beam of driving a vehicle between U-type groove and side cover plate that coordinates of controller by vision sensor simultaneously, guarantees CO 2the accuracy that welding gun docks with weld seam.
To sum up, the invention has the beneficial effects as follows:
1, the present invention is by being symmetrical arranged 2 filament submerged-arc welding heads, being symmetrical arranged 2 gas guarantor welding gun heads, I-steel on driving single-beam is welded with two between the side cover plate of both sides respectively simultaneously, two weld seams below single-beam of driving a vehicle between U-type groove with side cover plate weld, namely realize welding four weld seams of driving single-beam both sides simultaneously, cause the welding stress after driving single-beam integral solder large when avoiding one-sided welding, the problem that deflection is large.
2, the present invention is by welding 4 weld seams simultaneously, improves operating efficiency, avoids weld deflection large simultaneously, and then avoids the correction work to welded workpiece, further increasing operating efficiency.
3, the present invention realizes the motion of submerged-arc welding gun on line slideway direction by cylinder; The rotating shaft cooperatively interacted by setting and stop screw realize the adjustment of submerged-arc welding gun angle; Arrange the track frame, the tracking wheel that coordinate with I-steel and side cover plate simultaneously, realize the track and localization to weld seam between I-steel and side cover plate, when guaranteeing to weld, the relative position of submerged-arc welding gun and weld seam remains unchanged.
4, the present invention protects welding gun elevating mechanism to CO by arranging gas 2the vertical range of welding gun regulates, by the Y-axis planker, the X-axis planker adjustment CO that arrange 2the relative position of welding gun, is located with the real-time tracking realized the weld seam on single-beam of driving a vehicle between U-type groove and side cover plate that coordinates of controller by vision sensor simultaneously, guarantees CO 2the accuracy that welding gun docks with weld seam.
Accompanying drawing explanation
Fig. 1 is the structural representation of four-head gantry welder;
Fig. 2 is the left view of Fig. 1;
Fig. 3 is the top view of Fig. 1;
Fig. 4 is the structural representation of filament submerged-arc welding head;
Fig. 5 is the left view of Fig. 4;
Fig. 6 is the structural representation that gas protects welding gun head.
Mark and corresponding parts title in accompanying drawing:
1-walking track; 2-walker; 3-gas protects welding gun head; 4-filament submerged-arc welding head; 5-platform; 6-crossbeam; 7-saddle mechanism; 8-column; 9-fence; 10-gas protects welding gun elevating mechanism; 11-driving single-beam; 12-hopper; 13-controller; 14-barreled wire welding; 15-solder flux feed and recovery system; 16-upright lifting mechanism; 17-staircase; 18-source of welding current; 31-Connection Block; 32-Y-axis planker; 33-X-axis planker; 34-mounting bracket; 35-IMAQ box; 36-armed device; 37-insulation sleeve; 38-collets; 39-arc light baffle plate; 41-Connection Block I; 42-cylinder; 43-slide block; 44-track frame; 45-tracking wheel; 46-stop screw; 47-rotating shaft; 48-line slideway; 49-Y shape hopper; 311-CO 2welding gun; 441-flux recovering tube; 442-flux dam; 443-submerged-arc welding gun.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
Embodiment:
As shown in Figures 1 to 6, for the four-head gantry welder of single-beam of driving a vehicle, comprise walker 2, walker 2 be arranged on ground walking track 1 and coordinate, walker 2 upper end is provided with platform 5, platform 5 arranged outside has fence 9, walker 2 is provided with staircase 17, platform 5 is provided with barreled wire welding 14, solder flux feed and recovery system 15, the source of welding current 18, the top of walker 2 is provided with crossbeam 6, walker 2 is provided with controller 13, on crossbeam 6, vertical symmetry is provided with 2 saddle mechanisms 7, column 8 is arranged in saddle mechanism 7, the sidewall of saddle mechanism 7 is provided with upright lifting mechanism 16, column 8 is provided with hopper 12, the bottom of column 8 is provided with Connection Block I 41, one end of Connection Block I 41 is provided with cylinder 42, the other end is provided with line slideway 48, slide block 43 is provided with in line slideway 48, slide block 43 is connected with track frame 44, the end of track frame 44 is provided with tracking wheel 45, the middle part of track frame 44 is provided with rotating shaft 47, track frame 44 is provided with stop screw 46 in rotating shaft 47 upper end, the submerged-arc welding gun 443 controlled by controller 13 is arranged on track frame 44, track frame 44 is provided with the Y shape hopper 49 of cooperation, flux recovering tube 441, flux dam 442, described walker 2 is symmetrically arranged with 2 gas and protects welding gun elevating mechanism 10, Connection Block 31 is arranged on gas and protects on welding gun elevating mechanism 10, described Connection Block 31 is provided with Y-axis planker 32, Y-axis planker 32 is provided with X-axis planker 33, the end of X-axis planker 33 is provided with mounting bracket 34, mounting bracket 34 is provided with armed device 36, CO 2welding gun 331 is arranged in armed device 36, CO 2the angle of welding gun 331 is controlled by armed device 3, described gas is protected on welding gun head 3 and is provided with IMAQ box 35, the vision sensor controlled by controller 13 is provided with in IMAQ box 35, the displacement of Y-axis planker 32, X-axis planker 33 is by Electric Machine Control, motor is connected with controller 13, be provided with collets 38 between IMAQ box 35 and mounting bracket 34, the lower end of IMAQ box 35 is provided with arc light baffle plate 39, armed device 36 and CO 2be provided with insulation sleeve 37 between welding gun 331,2 filament submerged-arc welding heads of the present invention, 4,2 gas are protected welding gun head 3 and are welded 4 weld seams on driving single-beam 11 simultaneously.
As shown in Figures 1 to 6, for the control method of the four-head gantry welder of single-beam of driving a vehicle, comprise the following steps:
(A), the rate-determining steps of filament submerged-arc welding head 4;
(B), gas protects the rate-determining steps of welding gun head 3.
The rate-determining steps of described filament submerged-arc welding head 4 comprises the following steps:
First utilize cylinder 42 to promote track frame 44 to move, until tracking wheel 45 contacts with the I-steel on workpiece and side plate are stable, secondly, the position of adjustment flux dam 442 and flux recovering tube 441, the blanking switch opened on Y-shaped bucket 49 puts down solder flux, make correctly to protect by butt welded seam in welding, then, weld, in welding process, during position while welding change, promote cylinder 42, tracking wheel 45 drives track frame 44, submerged-arc welding gun 443, flux dam 442, flux recovering tube 441, Y-shaped bucket 49 moves together, submerged-arc welding gun 443 is remained unchanged with the relative position of weld seam.
The rate-determining steps that described gas protects welding gun head 3 comprises the following steps:
First, vision sensor butt welded seam information also passes to controller 13, and controller 13 controls motor removing Y-axis planker 32, X-axis planker 33, adjusts to suitable position and carries out CO 2the contraposition of welding gun 311, secondly, CO 2after welding gun 311 and weld seam contraposition accurately, weld, then, in welding process, by vision sensor butt welded seam information, the information collected is passed to controller 13, controller 13 carries out analysis to the information received and judges, controller 13 makes corresponding instruction according to judged result, open the motor be connected with controller 13, regulate CO by motor removing Y-axis planker 32, X-axis planker 33 2the relative position of welding gun 311 and weld seam, mobile gas is protected welding gun elevating mechanism 10 and is regulated CO 2the vertical range of welding gun 311.
As mentioned above, the present invention can be realized preferably.

Claims (10)

1. for the four-head gantry welder of single-beam of driving a vehicle, comprise walker (2), the top of walker (2) is provided with crossbeam (6), it is characterized in that, walker (2) is provided with controller (13), the upper vertical symmetry of described crossbeam (6) is provided with 2 columns (8), and the bottom of column (8) is provided with the filament submerged-arc welding head (4) controlled by controller (13), described walker (2) is symmetrically arranged with 2 gas controlled by controller (13) and protects welding gun head (3).
2. the four-head gantry welder for single-beam of driving a vehicle according to claim 1, it is characterized in that, described filament submerged-arc welding head (4) comprises the Connection Block I (41) be connected with column (8) bottom, one end of Connection Block I (41) is provided with cylinder (42), the other end is provided with line slideway (48), slide block (43) is provided with in line slideway (48), slide block (43) is connected with track frame (44), the end of track frame (44) is provided with tracking wheel (45), the middle part of track frame (44) is provided with rotating shaft (47), track frame (44) is provided with stop screw (46) in rotating shaft (47) upper end, submerged-arc welding gun (443) is arranged on track frame (44).
3. the four-head gantry welder for single-beam of driving a vehicle according to claim 2, it is characterized in that, the upper vertical symmetry of described crossbeam (6) is provided with 2 saddle mechanisms (7), column (8) is arranged in saddle mechanism (7), the sidewall of saddle mechanism (7) is provided with upright lifting mechanism (16), described column (8) is provided with hopper (12).
4. the four-head gantry welder for single-beam of driving a vehicle according to claim 2, is characterized in that, described track frame (44) is provided with the Y shape hopper (49) of cooperation, flux recovering tube (441), flux dam (442).
5. the four-head gantry welder for single-beam of driving a vehicle according to claim 1, it is characterized in that, described walker (2) is symmetrically arranged with 2 gas and protects welding gun elevating mechanism (10), described gas is protected welding gun head (3) and is comprised the Connection Block (31) protected welding gun elevating mechanism (10) with gas and be connected, described Connection Block (31) is provided with Y-axis planker (32), Y-axis planker (32) is provided with X-axis planker (33), the end of X-axis planker (33) is provided with mounting bracket (34), mounting bracket (34) is provided with armed device (36), CO 2welding gun (331) is arranged in armed device (36), CO 2the angle of welding gun (331) is controlled by armed device (36), described gas is protected on welding gun head (3) and is provided with IMAQ box (35), the vision sensor controlled by controller (13) is provided with in IMAQ box (35), the displacement of Y-axis planker (32), X-axis planker (33) is by Electric Machine Control, and motor is connected with controller (13).
6. the four-head gantry welder for single-beam of driving a vehicle according to claim 5, is characterized in that, described armed device (36) and CO 2insulation sleeve (37) is provided with between welding gun (331); Be provided with collets (38) between described IMAQ box (35) and mounting bracket (34), the lower end of IMAQ box (35) is provided with arc light baffle plate (39).
7. the four-head gantry welder for single-beam of driving a vehicle according to claim 2 or 5, it is characterized in that, described walker (2) upper end is provided with platform (5), platform (5) arranged outside has fence (9), platform (5) is provided with barreled wire welding (14), solder flux feed and recovery system (15), the source of welding current (18).
8., for the control method of the four-head gantry welder of single-beam of driving a vehicle, it is characterized in that, comprise the following steps:
(A), the rate-determining steps of filament submerged-arc welding head (4);
(B), gas protects the rate-determining steps of welding gun head (3).
9. the control method of the four-head gantry welder for single-beam of driving a vehicle according to claim 8, is characterized in that, the rate-determining steps of described filament submerged-arc welding head (4) comprises the following steps:
First cylinder (42) is utilized to promote track frame (44) mobile, until tracking wheel (45) contacts with the I-steel on workpiece and side plate are stable, secondly, the position of adjustment flux dam (442) and flux recovering tube (441), the blanking switch opened on Y-shaped bucket (49) puts down solder flux, make correctly to protect by butt welded seam in welding, then, weld, in welding process, during position while welding change, promote cylinder (42), tracking wheel (45) drives track frame (44), submerged-arc welding gun (443), flux dam (442), flux recovering tube (441), Y-shaped bucket (49) moves together, submerged-arc welding gun (443) is remained unchanged with the relative position of weld seam.
10. the control method of the four-head gantry welder for single-beam of driving a vehicle according to claim 8, is characterized in that, the rate-determining steps that described gas protects welding gun head (3) comprises the following steps:
First, vision sensor butt welded seam information also passes to controller (13), and controller (13) controls motor removing Y-axis planker (32), X-axis planker (33), adjusts to suitable position and carries out CO 2the contraposition of welding gun (311), secondly, CO 2after welding gun (311) and weld seam contraposition accurately, weld, then, in welding process, by vision sensor butt welded seam information, the information collected is passed to controller (13), controller (13) carries out analysis to the information received and judges, controller (13) makes corresponding instruction according to judged result, open the motor be connected with controller (13), regulate CO by motor removing Y-axis planker (32), X-axis planker (33) 2the relative position of welding gun (311) and weld seam, mobile gas is protected welding gun elevating mechanism (10) and is regulated CO 2the vertical range of welding gun (311).
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