CN104959714B - Four-head gantry welder and control method for single-beam of driving a vehicle - Google Patents
Four-head gantry welder and control method for single-beam of driving a vehicle Download PDFInfo
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- CN104959714B CN104959714B CN201510384393.5A CN201510384393A CN104959714B CN 104959714 B CN104959714 B CN 104959714B CN 201510384393 A CN201510384393 A CN 201510384393A CN 104959714 B CN104959714 B CN 104959714B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/18—Submerged-arc welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1276—Using non-contact, electric or magnetic means, e.g. inductive means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc welding or cutting
- B23K9/1272—Geometry oriented, e.g. beam optical trading
- B23K9/1278—Using mechanical means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/16—Arc welding or cutting making use of shielding gas
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/28—Beams
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Geometry (AREA)
- Arc Welding In General (AREA)
Abstract
The present invention relates to the four-head gantry welder for single-beam of driving a vehicle and control method, four-head gantry welder includes walker, the top of walker is provided with crossbeam, controller is provided with walker, on the crossbeam, vertical symmetry is provided with 2 columns, the bottom of column is provided with the filament submerged-arc welding head controlled by controller, is symmetrically arranged with 2 gas shield welding gunlock heads controlled by controller on the walker.The present invention is by being symmetrical arranged 2 filament submerged-arc welding heads, being symmetrical arranged 2 gas shield welding gunlock heads, respectively while welding to two weld seams below two welderings between I-steel and both sides side cover plate on single-beam of driving a vehicle, driving single-beam between U-type groove and side cover plate, four weld seams to drive a vehicle single-beam both sides are realized while welding, cause the welding stress after driving single-beam integral solder big when avoiding unilateral welding, the big problem of deflection.
Description
Technical field
A kind of the present invention relates to bonding machine field, in particular it relates to four-head gantry welder and control for single-beam of driving a vehicle
Method.
Background technology
In recent years, with the globalization of industry, plant equipment is made full use of, human resources is saved, have become as a kind of height
The working method of effect, the application of crane can effectively save human resources, and with higher operating efficiency.
Driving is a kind of crane, belongs to large-scale workpiece, and being widely used in factory floor, warehouse and stock ground overhead carries out material
The crane gear of handling.Generally it is welded by various metals framework, thus, the quality of welding quality directly influences driving list
The use of beam, single-beam of driving a vehicle specifically refer to the girder of driving crane.
At present, the domestic welding to single-beam of driving a vehicle, is welded mostly or using submerged-arc welding fillet welding dolly, is easily caused row
The overall deflection after welding of car single-beam is big, welding efficiency is low.
Content of the invention
The technical problem to be solved is to provide a kind of four-head gantry welder for single-beam of driving a vehicle, existing to overcome
Some welding machines are easily caused the problem that deflection is big, welding efficiency is low of entirety after driving single-beam welding.
Additionally, present invention additionally comprises the control method of the four-head gantry welder for single-beam of driving a vehicle.
The present invention the adopted technical scheme that solves the above problems is：For the four-head gantry welder of single-beam of driving a vehicle, including
Walker, the top of walker are provided with crossbeam, are provided with controller on walker, and on the crossbeam, vertical symmetry is provided with 2
Individual column, the bottom of column are provided with the filament submerged-arc welding head controlled by controller, are symmetrically arranged with 2 on the walker
The gas shield welding gunlock head controlled by controller.Welding of the existing welding machine to single-beam of driving a vehicle, mostly or using submerged-arc welding fillet welding
Dolly is welded, and can only once weld the angle welding between driving single-beam one side I-steel and side cover plate, another U-type groove with
Weld seam between side cover plate all can only adopt manual welding, if needing two welders while operating while welding, after having welded side
Need to overturn workpiece the welding operation that can just carry out opposite side, after the completion of integral solder, not only welding stress is big, deformation
Amount is big, increases alignment workload, inefficiency, and is welded using stick electrode, and labor strength is high, and wlding is wasted
Greatly.Walker of the present invention is specifically referred to for fixing welded device, and the bottom of walker be arranged on
Walking track on ground coordinates, i.e., walker can be specifically referred in walking track movement, described filament submerged-arc welding head
For welding the head of weld seam between I-steel and side cover plate on driving single-beam, two filament submerged-arc welding heads are symmetrical arranged just
Can while weld to two weld seams between I-steel and both sides side cover plate, the gas shield welding gunlock head specifically refer to for
Weld seam between U-type groove and side cover plate below welding driving single-beam, two gas shield welding gunlock heads are symmetrical arranged just can be while to row
Two weld seams below car single-beam between U-type groove and side cover plate are welded simultaneously, and the present invention is buried by being symmetrical arranged 2 filaments
Arc-welding head, 2 gas shield welding gunlock heads are symmetrical arranged, respectively while to driving a vehicle between I-steel and both sides side cover plate on single-beam
Two welderings, two weld seams between U-type groove and side cover plate are welded below driving single-beam, that is, realize to single-beam both sides of driving a vehicle
Four weld seams while welded, it is to avoid the welding stress after the single-beam integral solder that causes to drive a vehicle during unilateral welding is big, becomes
The big problem of shape amount, and four weld seams are while welded, and improve the welding efficiency of driving single-beam, in this way, the present invention gram
The problem that deflection is big, welding efficiency is low that existing welding machine is easily caused entirety after driving single-beam welding is taken.
Further, the filament submerged-arc welding head includes the connecting seat I being connected with column bottom, one end of connecting seat I
Cylinder is provided with, the other end is provided with line slideway, slide block in line slideway, is provided with, slide block is connected with track frame, track frame
End be provided with tracking wheel, the middle part of track frame is provided with rotating shaft, rotating shaft upper end is provided with stop screw on track frame, buries
Arc welding torch is arranged on track frame.Tracking wheel of the present invention specifically refers to join with the I-steel on driving single-beam and side cover plate
The wheel of conjunction, track frame specifically refer to the structure for fixing tracking wheel, and the cooperation of track frame and tracking wheel is realized to I-steel
The track and localization of weld seam and side cover plate between, the tip of track frame can rotate around the shaft, concrete position fixing process：Before welding, behaviour
Making cylinder promotes the track frame that is fixed on slide block to travel forward, until the I-steel on tracking wheel and workpiece and side cover plate all steady
Fixed contact, rotate the weld seam that track frame causes to be formed between filament submerged-arc welding head alignment I-steel and side cover plate, when being welded
When tapping into row, portal frame drives submerged arc welding machine head to weld forward, when contact situation of the workpiece with tracking wheel is changed, such as weld seam
During the step-down of position, in the presence of cylinder, tracking wheel can drive track frame and submerged-arc welding gun thereon to move downwardly together（Move
To bead direction）, make submerged-arc welding gun keep constant with the relative position of weld seam, when such as position while welding is uprised, in reaction force
Lower cylinder is driven to be compressed, tracking wheel can drive track frame and submerged-arc welding gun thereon to move upwardly together（Away from weld seam side
To）, making submerged-arc welding gun keep constant with the relative position of weld seam, the purpose of weld joint tracking is finally reached, the present invention passes through cylinder
Realize motion of the submerged-arc welding gun on line slideway direction；Submerged-arc welding is realized by arranging the rotating shaft for cooperating and stop screw
The regulation of rifle angle；While arranging track frame, the tracking wheel coordinated with I-steel and side cover plate, realize to I-steel and side cover plate
Between weld seam track and localization, it is ensured that during welding, submerged-arc welding gun and the relative position of weld seam keep constant.
Further, on crossbeam, vertical symmetry is provided with 2 saddle mechanisms, and column is arranged in saddle mechanism, saddle machine
The side wall of structure is provided with upright lifting mechanism, is provided with hopper on the column.The structure of saddle mechanism is similar to gathering sill so that
Column can be moved up and down under the cooperation of upright lifting mechanism in saddle mechanism, and then realizes filament submerged-arc welding head vertical
Nogata to motion, use cooperatively with cylinder, realize adjusting horizontal spacing between 2 filament submerged-arc welding heads and longitudinal direction is high
Degree so that the present invention can be used to weld various sizes of row single-beam workpiece；Hopper is provided with column, and weldering is easy in the setting of hopper
The addition of agent and observation, improve the convenience of operation.
Further, the Y shape hopper of cooperation, flux recovering tube, flux dam are provided with track frame.Y shape hopper is concrete
It is that flux recovering tube is used for reclaiming solder flux, adjusts the position of flux dam and flux recovering tube, beats for transferring the device of solder flux
The blanking switch that opens on Y-shaped bucket puts down solder flux, makes correctly protect weld seam in welding.
Further, 2 gas shield welding rifle elevating mechanisms are symmetrically arranged with walker, and gas shield welding gunlock head includes to protect with gas
The connecting seat of welding gun elevating mechanism connection, is provided with Y-axis planker, is provided with X-axis planker, X-axis on Y-axis planker on the connecting seat
The end of planker is provided with mounting bracket, is provided with armed device, CO in mounting bracket2Welding gun is arranged in armed device, CO2Welding gun
Angle controlled by armed device, be provided with IMAQ box on the gas shield welding gunlock head, be provided with IMAQ box by controlling
The vision sensor of device control processed, Y-axis planker, the displacement of X-axis planker have motor control, and motor is connected with controller.Gas
The setting for protecting welding gun elevating mechanism can control connecting seat motion in vertical direction, and then realize CO2Welding gun is in Vertical Square
Motion upwards, realizes CO by mobile X-axis planker, Y-axis planker2The regulation of welding torch position, CO2The angle of welding gun is by armed device
Determine, vision sensor can sense the signal of the position of weld seam in real time, and by the signal transmission for sensing to controller,
Controller signal Analysis are simultaneously judged, if adjust Y-axis planker, the position of X-axis planker, are realized to U-type groove on single-beam of driving a vehicle
Weld joint tracking between side cover plate, specifically tracks process：By Y-axis planker, X-axis planker is adjusted to suitable position carries out CO2
The contraposition of welding gun, when to good CO2After welding torch position, vision weld joint tracking system is entered, adjust in datum mark and the image of image
The datum mark of weld seam overlaps；Following function is then turned on, if weld seam datum mark is offset with image benchmark point in welding, vision
By signal transmission to controller, controller makes the corresponding motor movement of controller to sensor after treatment, reaches correction of deviation
Purpose, the system can correct Y-axis planker, the deviation of X-axis planker simultaneously, and it is exactly CO to correspond to weld seam2The left and right of welding gun and
Height and position is corrected, and realizes the real-time tracking to weld seam, and the present invention is by arranging gas shield welding rifle elevating mechanism to CO2Welding gun hang down
Straight distance is adjusted, and adjusts CO by the Y-axis planker of setting, X-axis planker2The relative position of welding gun, while passed by vision
The real-time tracking positioning to the weld seam on single-beam of driving a vehicle between U-type groove and side cover plate is realized in the cooperation of sensor and controller, it is ensured that
CO2The accuracy that welding gun is docked with weld seam.
Further, armed device and CO2Insulation sleeve is provided between welding gun；Arrange between IMAQ box and mounting bracket
Collets, the lower end of IMAQ box are had to be provided with arc light baffle plate.The setting of insulation sleeve avoids CO2Welding gun is short with other parts
Road；To ensure the smooth of IMAQ, reduce interference of the arc light to acquisition system, reduce image procossing difficulty.
Further, walker upper end is provided with platform, is provided with fence on the outside of platform, is provided with barreled weldering on platform
Silk, solder flux feed and recovery system, the source of welding current.Solder flux feed and recovery system are specifically referred to for feeding solder, reclaiming weldering
The device of material.
For the control method of the four-head gantry welder of single-beam of driving a vehicle, comprise the following steps：
（A）, filament submerged-arc welding head rate-determining steps；
（B）, gas shield welding gunlock head rate-determining steps.
Further, the rate-determining steps of the filament submerged-arc welding head are comprised the following steps：
Track frame movement is promoted first with cylinder, until tracking wheel is stably contacted with the I-steel on workpiece and side plate,
Secondly, the position of flux dam and flux recovering tube is adjusted, and the blanking switch that opens on Y-shaped bucket is put down solder flux, made in welding
Weld seam correctly can be protected, then, be welded, in welding process, when position while welding changes, pusher cylinder, tracking
Wheel belt motion tracking frame, submerged-arc welding gun, flux dam, flux recovering tube, Y-shaped bucket are moved together, make submerged-arc welding gun with weld seam
Relative position keeps constant.Before welding, operation cylinder promotes track frame to travel forward, until tracking wheel and the I-steel on workpiece
All stably contact with side cover plate, rotate the weldering that track frame causes to be formed between filament submerged-arc welding head alignment I-steel and side cover plate
Seam, when carrying out welding and carrying out, portal frame drives submerged arc welding machine head to weld forward, when contact situation of the workpiece with tracking wheel has change
During change, such as position while welding step-down when, in the presence of cylinder, tracking wheel can drive track frame and submerged-arc welding gun thereon together
Move downward（Shift to bead direction）, make submerged-arc welding gun keep constant with the relative position of weld seam, when such as position while welding is uprised,
The driving lower cylinder of reaction force is compressed, and tracking wheel can drive track frame and submerged-arc welding gun thereon to move upwardly together
（Away from bead direction）, make submerged-arc welding gun keep constant with the relative position of weld seam, be finally reached the purpose of weld joint tracking.
Further, the rate-determining steps of the gas shield welding gunlock head are comprised the following steps：
First, vision sensor to weld seam information and passes to controller, and controller controlled motor moves Y-axis
Planker, X-axis planker, being adjusted to suitable position carries out CO2The contraposition of welding gun, secondly, CO2After welding gun and weld seam contraposition accurately, enter
Row welding, then, in welding process, by vision sensor to weld seam information and by the information transmission for collecting to
Controller, controller are analyzed judging that controller makes corresponding instruction according to judged result, opens to the information for receiving
The motor being connected with controller, is moved Y-axis planker, X-axis planker by motor and adjusts CO2Welding gun and the relative position of weld seam, move
Guarantor's welding gun elevating mechanism of taking offence adjusts CO2The vertical range of welding gun.Vision sensor can sense the position of weld seam in real time
Signal, and by the signal transmission for sensing to controller, controller signal Analysis are simultaneously judged, if adjust Y-axis planker,
The position of X-axis planker, realizes, to the weld joint tracking on single-beam of driving a vehicle between U-type groove and side cover plate, specifically tracking process：By Y-axis
Planker, X-axis planker is adjusted to suitable position carries out CO2The contraposition of welding gun, when to good CO2After welding torch position, vision weld joint is entered
Tracking system, the datum mark for adjusting image are overlapped with the datum mark of weld seam in image；Following function is then turned on, if welding in welding
When seam datum mark is offset with image benchmark point, by signal transmission to controller, controller makes vision sensor after treatment
The corresponding motor movement of controller, reaches the purpose of correction of deviation, the system can correct simultaneously Y-axis planker, X-axis planker inclined
Difference, it is exactly CO to correspond to weld seam2The left and right of welding gun and height and position are corrected, and realize the real-time tracking to weld seam, and the present invention passes through
Gas shield welding rifle elevating mechanism is set to CO2The vertical range of welding gun is adjusted, and is adjusted by the Y-axis planker of setting, X-axis planker
CO2The relative position of welding gun, while the cooperation by vision sensor with controller is realized to U-type groove and side cover on single-beam of driving a vehicle
The real-time tracking positioning of the weld seam between plate, it is ensured that CO2The accuracy that welding gun is docked with weld seam.
To sum up, the invention has the beneficial effects as follows：
1st, the present invention is by being symmetrical arranged 2 filament submerged-arc welding heads, being symmetrical arranged 2 gas shield welding gunlock heads, same respectively
When to drive a vehicle single-beam on I-steel and both sides side cover plate between two weldering, driving single-beam below between U-type groove and side cover plate
Two weld seams welded, that is, realize four weld seams to single-beam both sides of driving a vehicle while welding, it is to avoid unilateral welding
When the welding stress that causes to drive a vehicle after single-beam integral solder big, the big problem of deflection.
2nd, the present invention improves operating efficiency, while avoiding weld deflection by welding to 4 weld seams simultaneously
Greatly, and then the correction work to welded workpiece is avoided, further increasing operating efficiency.
3rd, the present invention realizes motion of the submerged-arc welding gun on line slideway direction by cylinder；Cooperated by setting
The regulation of submerged-arc welding gun angle realized by rotating shaft and stop screw；While arrange coordinate with I-steel and side cover plate track frame, with
Track wheel, realizes track and localization to weld seam between I-steel and side cover plate, it is ensured that the relative position of submerged-arc welding gun and weld seam during welding
Put holding constant.
4th, the present invention is by arranging gas shield welding rifle elevating mechanism to CO2The vertical range of welding gun is adjusted, by arranging
Y-axis planker, X-axis planker adjust CO2The relative position of welding gun, at the same realized by vision sensor and the cooperation of controller right
The real-time tracking positioning of the weld seam on driving single-beam between U-type groove and side cover plate, it is ensured that CO2It is accurate that welding gun is docked with weld seam
Property.
Description of the drawings
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 of gas shield welding gunlock head.
Mark and corresponding parts title in accompanying drawing：
1 walking track；2 walkers；3 gas shield welding gunlock heads；4 filament submerged-arc welding heads；5 platforms；6 is horizontal
Beam；7 saddle mechanisms；8 columns；9 fences；10 gas shield welding rifle elevating mechanisms；11 driving single-beams；12 hoppers；
13 controllers；14 barreled wire weldings；15 solder flux feed and recovery system；16 upright lifting mechanisms；17 staircases；18—
The source of welding current；31 connecting seats；32 Y-axis plankers；33 X-axis plankers；34 mounting brackets；35 IMAQ boxes；36—
Armed device；37 insulation sleeves；38 collets；39 arc light baffle plates；41 connecting seats I；42 cylinders；43 slide blocks；44—
Track frame；45 tracking wheels；46 stop screws；47 rotating shafts；48 line slideways；49 Y shape hoppers；311—CO2Weldering
Rifle；441 flux recovering tubes；442 flux dam；443 submerged-arc welding guns.
Specific embodiment
With reference to embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not
It is limited to this.
Embodiment：
As shown in Figures 1 to 6, for the four-head gantry welder of single-beam of driving a vehicle, including walker 2, walker 2 be arranged on
Walking track 1 on ground coordinates, and 2 upper end of walker is provided with platform 5, and 5 outside of platform is provided with fence 9, sets on walker 2
Staircase 17 is equipped with, barreled wire welding 14, solder flux feed and recovery system 15, the source of welding current 18 on platform 5, is provided with, walker 2
Top is provided with crossbeam 6, is provided with controller 13 on walker 2, and on crossbeam 6, vertical symmetry is provided with 2 saddle mechanisms 7, stands
Post 8 is arranged in saddle mechanism 7, and the side wall of saddle mechanism 7 is provided with upright lifting mechanism 16, is provided with hopper 12 on column 8,
The bottom of column 8 is provided with connecting seat I 41, and one end of connecting seat I 41 is provided with cylinder 42, and the other end is provided with line slideway
48, slide block 43 is provided with line slideway 48, slide block 43 is connected with track frame 44, and the end of track frame 44 is provided with tracking wheel
45, the middle part of track frame 44 is provided with rotating shaft 47,47 upper end of rotating shaft is provided with stop screw 46 on track frame 44, by controller
The submerged-arc welding gun 443 of 13 controls is arranged on the Y shape hopper 49, flux restoring for being provided with cooperation on track frame 44 on track frame 44
Pipe 441, flux dam 442, are symmetrically arranged with 2 gas shield welding rifle elevating mechanisms 10 on the walker 2, connecting seat 31 is arranged on
On gas shield welding rifle elevating mechanism 10, Y-axis planker 32 is provided with the connecting seat 31, is provided with X-axis planker on Y-axis planker 32
33, the end of X-axis planker 33 is provided with mounting bracket 34, is provided with armed device 36, CO in mounting bracket 342Welding gun 331 is arranged
In armed device 36, CO2The angle of welding gun 331 is controlled by armed device 36, is provided with IMAQ on the gas shield welding gunlock head 3
Box 35, is provided with the vision sensor controlled by controller 13, Y-axis planker 32, the movement of X-axis planker 33 in IMAQ box 35
Distance is connected with controller 13 by motor control, motor, be provided between IMAQ box 35 and mounting bracket 34 collets 38,
The lower end of IMAQ box 35 is provided with arc light baffle plate 39, armed device 36 and CO2Insulation sleeve 37 is provided between welding gun 331, this
2 filament submerged-arc welding heads, 4,2 gas shield welding gunlock heads 3 of invention are while weld to 4 weld seams on single-beam 11 of driving a vehicle.
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）, filament submerged-arc welding head 4 rate-determining steps；
（B）, gas shield welding gunlock head 3 rate-determining steps.
The rate-determining steps of the filament submerged-arc welding head 4 are comprised the following steps：
Track frame 44 is promoted to move first with cylinder 42, the I-steel on the tracking wheel 45 with workpiece and side plate are stable
Contact, secondly, adjusts the position of flux dam 442 and flux recovering tube 441, and the blanking switch that opens on Y-shaped bucket 49 is put down
Solder flux, makes correctly protect weld seam in welding, then, is welded, in welding process, when position while welding changes,
Pusher cylinder 42, tracking wheel 45 drive track frame 44, submerged-arc welding gun 443, flux dam 442, flux recovering tube 441, Y-shaped
Bucket 49 is moved together, makes submerged-arc welding gun 443 keep constant with the relative position of weld seam.
The rate-determining steps of the gas shield welding gunlock head 3 are comprised the following steps：
First, vision sensor to weld seam information and passes to controller 13, and 13 controlled motor of controller is moved
Dynamic Y-axis planker 32, X-axis planker 33, being adjusted to suitable position carries out CO2The contraposition of welding gun 311, secondly, CO2Welding gun 311 and weldering
After seam contraposition accurately, welded, then, in welding process, to weld seam information and will be adopted by vision sensor
To controller 13,13 pairs of information for receiving of controller are analyzed judging that controller 13 is according to judgement to the information transmission for collecting
As a result corresponding instruction is made, the motor being connected with controller 13 is opened, Y-axis planker 32, X-axis planker 33 is moved by motor and is adjusted
Section CO2Welding gun 311 and the relative position of weld seam, mobile gas shield welding rifle elevating mechanism 10 adjust CO2The vertical range of welding gun 311.
As described above, the present invention preferably can be realized.
Claims (6)
1. for the four-head gantry welder of single-beam of driving a vehicle, including walker（2）, walker（2）Top be provided with crossbeam（6）,
Characterized in that, walker（2）On be provided with controller（13）, the crossbeam（6）Upper vertical symmetry is provided with 2 columns（8）,
Column（8）Bottom be provided with by controller（13）The filament submerged-arc welding head of control（4）, the walker（2）On symmetrically set
2 are equipped with by controller（13）The gas shield welding gunlock head of control（3）；The filament submerged-arc welding head（4）Including with column（8）Bottom
The connecting seat I of portion's connection（41）, connecting seat I（41）One end be provided with cylinder（42）, the other end is provided with line slideway（48）,
Line slideway（48）Slide block is inside provided with（43）, slide block（43）It is connected with track frame（44）, track frame（44）End be provided with
Tracking wheel（45）, track frame（44）Middle part be provided with rotating shaft（47）, track frame（44）On in rotating shaft（47）Upper end arranges limited
Position screw（46）, submerged-arc welding gun（443）It is arranged on track frame（44）On；The walker（2）On be symmetrically arranged with 2 gas shield welding
Rifle elevating mechanism（10）, the gas shield welding gunlock head（3）Including with gas shield welding rifle elevating mechanism（10）The connecting seat of connection（31）,
The connecting seat（31）On be provided with Y-axis planker（32）, Y-axis planker（32）On be provided with X-axis planker（33）, X-axis planker（33）
End be provided with mounting bracket（34）, mounting bracket（34）On be provided with armed device（36）, CO2Welding gun（331）It is arranged on and holds
Rifle device（36）Interior, CO2Welding gun（331）Angle by armed device（36）Control, the gas shield welding gunlock head（3）On be provided with image
Collecting cassette（35）, IMAQ box（35）Inside it is provided with by controller（13）The vision sensor of control, Y-axis planker（32）, X-axis
Planker（33）Displacement by motor control, motor and controller（13）Connection.
2. the four-head gantry welder for single-beam of driving a vehicle according to claim 1, it is characterised in that the crossbeam（6）On
Vertical symmetry is provided with 2 saddle mechanisms（7）, column（8）It is arranged on saddle mechanism（7）Interior, saddle mechanism（7）Side wall arrange
There is upright lifting mechanism（16）, the column（8）On be provided with hopper（12）.
3. the four-head gantry welder for single-beam of driving a vehicle according to claim 1, it is characterised in that the track frame（44）
On be provided with the Y shape hopper of cooperation（49）, flux recovering tube（441）, flux dam（442）.
4. the four-head gantry welder for single-beam of driving a vehicle according to claim 1, it is characterised in that the armed device（36）
With CO2Welding gun（331）Between be provided with insulation sleeve（37）；Described image collecting cassette（35）With mounting bracket（34）Between be provided with
Collets（38）, IMAQ box（35）Lower end be provided with arc light baffle plate（39）.
5. the four-head gantry welder for single-beam of driving a vehicle according to claim 1, it is characterised in that the walker（2）
Upper end is provided with platform（5）, platform（5）Outside is provided with fence（9）, platform（5）On be provided with barreled wire welding（14）, solder flux gives
Material and recovery system（15）, the source of welding current（18）.
6. a kind of control method of the four-head gantry welder for single-beam of driving a vehicle as described in any one of claim 1-5, its are special
Levy and be, comprise the following steps：
（A）, filament submerged-arc welding head（4）Rate-determining steps；
（B）, gas shield welding gunlock head（3）Rate-determining steps
The filament submerged-arc welding head（4）Rate-determining steps comprise the following steps：
First with cylinder（42）Promote track frame（44）Mobile, until tracking wheel（45）Steady with the I-steel on workpiece and side plate
Fixed contact, secondly, adjusts flux dam（442）And flux recovering tube（441）Position, open Y-shaped bucket（49）On blanking
Switch puts down solder flux, makes correctly protect weld seam in welding, then, is welded, in welding process, position while welding
During change, pusher cylinder（42）, tracking wheel（45）Drive track frame（44）, submerged-arc welding gun（443）, flux dam（442）, solder flux
Recovery tube（441）, Y-shaped bucket（49）Move together, make submerged-arc welding gun（443）Keep constant with the relative position of weld seam；
The gas shield welding gunlock head（3）Rate-determining steps comprise the following steps：
First, vision sensor to weld seam information and passes to controller（13）, controller（13）Controlled motor is moved
Dynamic Y-axis planker（32）, X-axis planker（33）, being adjusted to suitable position carries out CO2Welding gun（311）Contraposition, secondly, CO2Welding gun
（311）After weld seam contraposition accurately, welded, then, in welding process, weld information is adopted by vision sensor
Collect and by the information transmission for collecting to controller（13）, controller（13）Information to receiving is analyzed judging, controls
Device（13）Corresponding instruction is made according to judged result, is opened and controller（13）The motor of connection, moves Y-axis by motor and drags
Plate（32）, X-axis planker（33）Adjust CO2Welding gun（311）With the relative position of weld seam, mobile gas shield welding rifle elevating mechanism（10）Adjust
Section CO2Welding gun（311）Vertical range.
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| CN106238871A (en) * | 2016-08-29 | 2016-12-21 | 安徽鸿路钢结构(集团)股份有限公司 | A kind of intelligence gantry welding connection device |
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| CN110524151A (en) * | 2019-09-30 | 2019-12-03 | 山东越浩自动化设备有限公司 | Automotive frame full-automatic welding machine |
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| CN115283794B (en) * | 2022-07-06 | 2024-04-16 | 杭萧钢构股份有限公司 | Welding equipment and welding method |
| CN115283799A (en) * | 2022-08-24 | 2022-11-04 | 邢台路桥千山桥梁构件有限责任公司 | Novel automatic submerged arc welding fixture for corrugated steel web curve |
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| CN116713655B (en) * | 2023-08-08 | 2023-11-21 | 长沙埃施韦格机器人工程有限公司 | Automatic welding workstation of welding seam is known |
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Address after: 610000 China (Sichuan) pilot Free Trade Zone, Chengdu, Sichuan Province Patentee after: Chengdu Huayuan welding equipment Co.,Ltd. Patentee after: Chengdu Huayuan Electrical Equipment Co., Ltd Address before: 610000 in Shuangliu Southwest Airport Economic Development Zone, Chengdu, Sichuan Patentee before: CHENGDU HUAYUAN WELDING & CUTTING EQUIPMENT CO.,LTD. Patentee before: Chengdu Huayuan Electrical Equipment Co., Ltd |
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