CN105458475B - A kind of twin wire automatic welding hidden arc welding device and its localization method and automatic seam tracking method - Google Patents

A kind of twin wire automatic welding hidden arc welding device and its localization method and automatic seam tracking method Download PDF

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Publication number
CN105458475B
CN105458475B CN201610021329.5A CN201610021329A CN105458475B CN 105458475 B CN105458475 B CN 105458475B CN 201610021329 A CN201610021329 A CN 201610021329A CN 105458475 B CN105458475 B CN 105458475B
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China
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welding
soldering set
fixed
corner
molding machine
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CN105458475A (en
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夏双林
张磊
周英
龚程
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Inner Mongolia Cheng Cheng Industrial Pipeline Co., Ltd.
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Inner Mongolia Juncheng Pipeline Technology Co Ltd
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    • 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
    • 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
    • B23K9/32Accessories
    • 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
    • B23K2101/04Tubular or hollow articles
    • B23K2101/06Tubes

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)

Abstract

A kind of twin wire automatic welding hidden arc welding device being built in helix tube molding machine, including primary location structure (1), wheelbase corner adjustment mechanism (2), soldering set adjustment mechanism (3) and welding gun (4), the soldering set adjustment mechanism (3) includes cuboid fixed frame (3.1), soldering set elevating mechanism (3.2), soldering set right-left adjusting device (3.3) and soldering set angle regulator (3.4), and the soldering set elevating mechanism (3.2) is fixed on the cuboid fixed frame (3.1);The soldering set right-left adjusting device (3.3) is fixed on the wheelbase corner adjustment mechanism (2), axial linear drives (2.2) are fixed with welding gun support (2.1), the bracket at corner (2.3) is fixed in the axial linear drives;The twin wire automatic welding hidden arc welding device being built in helix tube molding machine is easy to position, it is easy to accomplish soldering joint automatic tracking.

Description

A kind of twin wire automatic welding hidden arc welding device and its localization method and automatic seam tracking method
Technical field
The invention belongs to helix tube welding technology field, and in particular to a kind of Double-wire submerged arc welding apparatus and its localization method and Automatic seam tracking method.
Background technology
Spiral welded pipe has inside and outside two spiral welds, plays increase steel pipe and rigidly acts on, puies forward the intensity of steel pipe It is high.The stress that spiral welded pipe weld seam is born reduces 10-25% than the straight welded pipe welding-seam of same diameter.Due to be spiral into Shape, the pipe of production department are directly spent, and accurate size, deviation is usually no more than 0.12%.In spiral welded pipe production process, monofilament Submerged arc welding machine has simple to operate, dependable performance, moderate, has higher welding efficiency and preferable welding quality, but It is that monofilament bonding wire energy is small, cooling velocity is fast, especially the north cold winter, easily produces weld defect, speed of welding is slow, And improve speed of welding and be difficult to ensure that weldquality, low production efficiency that time-consuming.Advised with the product of two-sided Seam of SAW Spiral Steel Pipe Lattice wall thickness constantly increases, and the welding of inside and outside weld seam also progressively increases to mariages or three from original monofilament.Wire submerged arc welding machine is adopted With 2 independent sources of welding current, for 2 arcings in same molten bath, longitudinal separation is no more than 40mm, and first electric arc is formed Fusion penetration, by workpiece penetration;Second electric arc forms capping, and welding is once completed.It is characterized in:(1) save, compared to single electric arc Weldering, the welding of high speed effectively reduce energy loss of the workpiece because of workpiece caused by reheating and solder flux;(2) at a high speed, The molten bath that twin arc is formed in welding is longer, and metal time when it consolidates melt is longer, relative to cooling speed during single electric arc Degree and Thermal Cycling are slower, and the trace element of weld seam has the long period to be diffused, and the eutectic of low melting point is because of degree of supercooling Reduce and reduce component segregation.(3) in the weld job of high speed, single electric arc is led because energy density converges Cause electric arc penetration power extremely strong, fusing metal has little time to spread out and makes weld seam that tapered cross-section be presented, and this point is welded in double-arc tournaments Under conditions of improved.
In existing wire submerged arc welding machine, there is several key issues:1) positioning of solder joint and weld seam;2) parameter is adjusted It is whole, the adjustment at welding wire inclination angle;The adjustment of distance between weldingwires;The adjustment of electrode extension, keep solder flux piling height;3) dynamically with Track weld seam.Above-mentioned key issue does not form a suitable simple structure to solve for the purpose of " operation is most convenient, cost is minimum " Certainly.
The CN202180825U of Beijing Zhong electricity Hua strong welds Engineering Co., Ltd double wire hidden arc welding equipment, servo cross are slided Frame 21 is fixedly mounted by base, though above and below energy and moving left and right, can not be moved forward and backward, and can be only installed at existing spiral shell The both sides of welded pipe units are revolved, operation inconvenience, can not be organically blended with SSAW pipe unit.Rotation angle mechanism 10,11 is close to each other Block with fixed angle so that corner apart from binding with adjusting, adjustment inconvenience;Flux delivery mouth separates, and has preceding welding gun to weld Agent aids in delivery nozzle 5 and the main delivery nozzle 13 of solder flux, adds solder flux holding structure and welds the difficulty of vibrational structure.
Britain GB794275A discloses a kind of mariages welder, and its pad localization is slided to adjust by sleeve on bar 29 Position is adjusted, welding gun 21,23 is articulated on bar 24, and bar 24 is connected on cross bar by half arc button, and the cross bar is connected to frame bars On 17.It is it is symmetrical, it is manually adjustable, but lack automation regulation architecture basics.
Design the Double-wire submerged arc welding apparatus on a kind of helix tube molding machine, both met welding technology parameter adjustment it is basic It is required that also meeting the positioning of the weld seam and solder joint of special diameter spiral welded pipe, while it is also easy to realize the dynamic tracking of weld seam, knot Structure simply positions conveniently, satisfactorily resolves above-mentioned at least two key issue, is the problem of designer really.
The content of the invention
In view of the above-mentioned problems of the prior art, the present invention provides a kind of spiral submerged arc twin wire automatic welding welder and its determined Position method and automatic seam tracking method.
The present invention is achieved in that a kind of twin wire automatic welding hidden arc welding device being built in helix tube molding machine, including Primary location structure, wheelbase corner adjustment mechanism, soldering set adjustment mechanism and welding gun, the welding gun are fixed on the soldering set adjustment machine On structure (3), the primary location structure includes locating rack, track and is fixed bolt, and the locating rack point midway is provided with Symmetry axis;The locating rack is axisymmetrically provided with crossing the vertical plane (Л) perpendicular to locating rack of symmetry axis for symmetrical plane Walking mechanism;The locating rack is adjustably secured the rail groove in the equipment portal frame of the helix tube molding machine by track In, and fixed by being fixed bolt;
The soldering set adjustment mechanism includes fixed frame, soldering set elevating mechanism, soldering set right-left adjusting device and soldering set corner Adjusting apparatus, the fixed frame are fixed on the locating rack, and the soldering set elevating mechanism is fixed on the fixed frame; The soldering set right-left adjusting device is fixed on the wheelbase corner adjustment mechanism, and the soldering set right-left adjusting device connects soldering set Angle regulator, welding gun is fixed with the soldering set angle regulator;The welding gun is two, and the welding gun is set respectively There is the welding wire of different-diameter, one is AC power, and another is dc source;
The wheelbase corner adjustment mechanism is fixedly mounted on the soldering set elevating mechanism;The wheelbase corner adjustment mechanism Including welding gun support, axial linear drives and bracket at corner, the welding gun support is fixed on the soldering set elevating mechanism, is being welded Axial linear drives are fixed with gun carriage, the bracket at corner is fixed in the axial linear drives;
Soldering set right-left adjusting device using cross symmetry axis the vertical plane perpendicular to locating rack as symmetrical plane axisymmetrically On the bracket at corner, the bracket at corner can pivot certain angle and position, and the pivot is located at excessively symmetrical On the vertical plane perpendicular to locating rack of axle.
Further, the walking mechanism be using cross symmetry axis the vertical plane perpendicular to locating rack as symmetrical plane, Slide rail is axisymmetrically provided with locating rack, disk roller bearing is sliding combined with slide rail, the disk roller bearing is provided with walking roller Wheel.
Further, the soldering set elevating mechanism includes lifting motor, lifting decelerator and elevating screw, the lifting electricity The output shaft of machine connects elevating screw by lifting decelerator;The elevating screw drives lifting nut, and the lifting nut is consolidated Surely the welding gun support is connected.
Further, the soldering set right-left adjusting device includes adjusting bracket, and the adjusting bracket is provided with adjusting screw, Threaded engagement has welding gun slide on the adjusting screw;The welding gun slide is provided with adjusting nut, and adjusting screw one end fits exist In adjusting nut, the other end is fixed in the adjusting bracket and provided with regulation handle or provided with left and right adjusting servomotor.
Further, the axial linear drives include leading screw, nut and linear drives servomotor, the linear drives Servomotor drives the leading screw rotation.
Further, the soldering set angle regulator includes corner seat and angular servo-motor, the corner seat pivot joint On the welding gun slide, the welding gun is fixed on corner seat, and angular servo-motor drives the corner seat to turn around drive-connecting shaft It is dynamic.
Further, the bracket at corner includes pivot, bearing, rotating disc, angular transducer, rotating servo motor, institute State adjusting bracket to be located on the rotating disc, the rotating servo motor driving rotating disc and the adjusting bracket can be with certain Angle is around pivoting.
A kind of localization method of the twin wire automatic welding hidden arc welding device being built in helix tube molding machine,
Including primary positioning step, when the spiral steel pipe of a new model needs production, the locating rack is adjusted described Position in the equipment portal frame chute of helix tube molding machine so that pivot by by the weldering spiral steel pipe center of circle so that it is described from Dynamic Double-wire submerged arc welding apparatus positions in Y-direction, position of the adjustment walking disk roller on slide rail so that described two walking disk rollers and weldering Circular arcs where 3 points of intersection point of silk with it is described by weldering spiral steel pipe concentric;Locating rack is arranged on equipment portal frame so that weldering The positioning of rifle is positioned by means of portal frame X, Z-direction, by the swing pivot of helix tube molding machine right through by weldering spiral The center of circle of steel pipe, to the twin wire automatic welding hidden arc welding device, how primary positioning has been carried out in the positioning adjustment of centering weld seam.
Further, in addition to two-stage positioning step, after primary positioning is completed, the wheelbase corner adjustment mechanism is set Corner with it is described consistent by the angle between the vertex tangent of weldering spiral steel pipe spiral weld and steel pipe axis;Adjust soldering set liter Descending mechanism, soldering set right-left adjusting device and soldering set angle regulator so that the front and rear centering weld seam respectively of preceding welding wire, rear welding wire is simultaneously With certain distance, welding wire anchor point is adjusted so that on preceding welding wire, rear welding wire and the straight line of welding wire anchor point three points one, and weld Silk anchor point centering weld seam, completes two-stage positioning.
The above-mentioned twin wire automatic welding hidden arc welding device being built in helix tube molding machine carries out primary positioning and two-stage positioning, adjusts Perfect square just, is easy to the realization of dynamic seam tracking system.
A kind of automatic seam tracking method for the twin wire automatic welding hidden arc welding device being built in helix tube molding machine,
Vertical plane on locating rack perpendicular to locating rack is provided with tracking slide rail, the sliding block rail and by weldering spiral steel pipe Axis X axis it is parallel;Sliding block is arranged on the slide rail, and actual welds tracking transducer, institute are provided with below the sliding block Actual actual welds tracking transducer is stated to be vertically projected to by the actual welds anchor point O on the weld seam of weldering spiral steel pipe5(x5, y5);The sliding block is driven by tracking servo motor;
Welding wire locator is provided with preceding welding wire side, the welding wire locator is vertically projected to by the welding wire of weldering spiral steel pipe Anchor point O4(x4, y4);
The localization method of the twin wire automatic welding hidden arc welding device being built in helix tube molding machine completes primary positioning step After rapid and two-stage positioning step, monitoring welding wire anchor point and by the position relationship between the weld seam of weldering spiral steel pipe at any time, with quilt The axis for welding spiral steel pipe is X-axis, with certain frequency detection welding wire anchor point O4(x4, y4) and weld and HAZ point O5(x5, y5), meter Calculate welding wire anchor point O4(x4, y4) and actual welds anchor point O5(x5, y5) between X-direction distance, delta dx=x5-x4
Make the following judgment:
If 1) Δ dx=0 is continued to monitor;
If 2) Δ dx> 0, then start linear drives servomotor and move the rotating disc 2.3.3 along X-direction negative sense Distance | Δ dx|;
The automatic seam tracking method of the twin wire automatic welding hidden arc welding device being built in helix tube molding machine, due to first Level positioning and the basic role of two-stage positioning so that tracking weld seam need to only be sewn on axially the error of i.e. X-direction with tracking welding, and Adjustment linear drives in real time so that preceding welding wire, rear welding wire are moved forward or rearward oneself of the i.e. achievable weld seam of certain distance together Motion tracking so that soldering joint automatic tracking becomes simple easy.
The present invention realizes spiral Double Wire Welding there is several keys to ask by the mutual promoting action of following technical spirit Topic:1) positioning of solder joint and weld seam;2) parameter adjustment, the adjustment at welding wire inclination angle;The adjustment of distance between weldingwires;Electrode extension Adjustment, keep solder flux piling height;3) dynamic tracking weld seam.
(1) primary location structure, the pivot 2.4 between the preceding welding wire 5.1 of guarantee, rear welding wire 5.2 are located at weld seam circular arc most Summit;
(2) the wheelbase corner adjustment mechanism, two-stage positioning is completed, ensures the corner α of the wheelbase corner adjustment mechanism 2 With it is described consistent by the angle between the vertex tangent of Coiling Welded Pipe spiral weld and steel pipe axis;
On the basis of correct position, soldering set adjustment mechanism ensures being adjusted in place for welding condition, ensures correct Position while welding forms qualified weld seam;
(3) on the basis of correct position, weld joint tracking only remain X-axis tracking, soldering set with weld seam adjust automatically also only Need position of the axial linear drives adjustment bracket at corner in X-axis, simplify weld seam from motion tracking.
The twin wire automatic welding hidden arc welding device being built in helix tube molding machine is easy to position, it is easy to accomplish weld seam is automatic Tracking.
The spiral submerged arc twin wire automatic welding welder, cool time is extended, weld seam matter is ensure that when improving speed of welding Amount, reduces weld defect, improves working environment.Created favorable conditions for next process, reduce repair welding amount and save Material resources, financial resources, manpower reduce manufacturing cost.
Brief description of the drawings
Fig. 1 is the front view of spiral submerged arc twin wire automatic welding welder of the present invention.
Fig. 2 is the top view of spiral submerged arc twin wire automatic welding welder of the present invention.
Fig. 3 is the left view of spiral submerged arc twin wire automatic welding welder of the present invention.
Fig. 4 is the welding gun front view of spiral submerged arc twin wire automatic welding welder of the present invention.
Fig. 5 is the soldering joint automatic tracking schematic diagram of spiral submerged arc twin wire automatic welding welder of the present invention.
Reference in above-mentioned figure:
1st, primary location structure, 2, wheelbase corner adjustment mechanism, 3, soldering set adjustment mechanism, 4, welding gun, 5 welding wires, 16 is symmetrical Axle
Л crosses the vertical plane perpendicular to locating rack of symmetry axis, Л1Preceding welding wire 5.1 and rear welding wire 5.2 and pivot 2.4 Common plane
1.1 locating racks, 1.2 tracks, 1.3 walking mechanisms
1.3.1 slide rail, 1.3.2 disk roller bearings, 1.3.3 walking disk rollers
2.1 welding gun supports, 2.2 axial linear drives, 2.3 bracket at corner, 2.4 pivots
3.1 fixed frames, 3.2 soldering set elevating mechanisms, 3.3 soldering set right-left adjusting devices, 3.4 soldering set angle regulators
3.2.1 lifting motor, 3.2.2 lifting decelerators, 3.2.3 elevating screws, 3.2.4 lifting nuts
3.3.1 adjusting bracket, 3.3.2 adjusting screws, 3.3.3 regulation handles, 3.3.4 welding gun slides
3.4.1 corner seat
4.2 wire feed rolls, 4.3 electric conductors, 4.4 conductive sliders, 4.5 wire feeding motors, 4.7 wire feed rolls fixed mounts, 4.8 compress Block
Welding wire before 5.1, welding wire after 5.2
6.1 tracking slide rails, 6.2 sliding blocks
Embodiment
Embodiments of the invention are elaborated below in conjunction with accompanying drawing, but are not limited to the scope of the present invention.
With reference to shown in figure 1-3, a kind of twin wire automatic welding hidden arc welding device being built in helix tube molding machine, including it is primary fixed Bit architecture 1, wheelbase corner adjustment mechanism 2, soldering set adjustment mechanism 3 and welding gun 4, the welding gun 4 are fixed on the soldering set adjustment machine On structure 3, the primary location structure 1 includes locating rack 1.1, track 1.2 and is fixed bolt, the midpoint of locating rack 1.1 Position is provided with symmetry axis;The locating rack is to cross the vertical plane Л perpendicular to locating rack of symmetry axis as symmetrical plane axial symmetry Ground is provided with walking mechanism 1.3;The locating rack 1.1 is adjustably secured setting in the helix tube molding machine by track 1.2 In the rail groove of standby portal frame, and fixed by being fixed bolt;
The soldering set adjustment mechanism 3 includes fixed frame 3.1, soldering set elevating mechanism 3.2, soldering set right-left adjusting device 3.3 With soldering set angle regulator 3.4, the fixed frame 3.1 is fixed on the locating rack 1.1, the soldering set elevating mechanism 3.2 are fixed on the fixed frame 3.1;The soldering set right-left adjusting device 3.3 is fixed on the wheelbase corner adjustment mechanism On 2, the soldering set right-left adjusting device 3.3 connects soldering set angle regulator 3.4, on the soldering set angle regulator 3.4 It is fixed with welding gun 4;
The wheelbase corner adjustment mechanism 2 is fixedly mounted on the soldering set elevating mechanism 3.2;The wheelbase corner adjustment Mechanism 2 includes welding gun support 2.1, axial linear drives 2.2 and bracket at corner 2.3, and the welding gun support 2.1 is fixed on described On soldering set elevating mechanism, axial linear drives 2.2 are fixed with welding gun support 2.1, the bracket at corner 2.3 is fixed on described In axial linear drives;
The walking mechanism 1.3 is the axle to cross the vertical plane Л perpendicular to locating rack of symmetry axis 16 as symmetrical plane Slide rail 1.3.1 is symmetrically provided with locating rack 1.1, disk roller bearing 1.3.2, the disk roller are sliding combined with slide rail 1.3.1 Bearing 1.3.2 is provided with walking disk roller 1.3.3.
The soldering set elevating mechanism 3.2 includes lifting motor 3.2.1, lifting decelerator 3.2.2 and elevating screw 3.2.3, The output shaft of the lifting motor 3.2.1 passes through lifting decelerator 3.2.2 connection elevating screws 3.2.3;The elevating screw 3.2.3 driving lifting nut 3.2.4, the lifting nut 3.2.4 is fixedly connected with the welding gun support 2.1.
The soldering set right-left adjusting device 3.3 includes adjusting bracket 3.3.1, the adjusting bracket 3.3.1 and is provided with regulation Threaded engagement has welding gun slide 3.3.4 on leading screw 3.3.2, the adjusting screw 3.3.2;The welding gun slide 3.3.4, which is provided with, to be adjusted Nut is saved, in adjusting nut, the other end is fixed on the adjusting bracket 3.3.1 and set adjusting screw 3.3.2 one end fits There is regulation handle 3.3.3 or provided with left and right adjusting servomotor.
The axial linear drives 2.2 include leading screw, nut and linear drives servomotor, the linear drives servo electricity Machine drives the leading screw rotation.
The soldering set angle regulator 3.4 includes corner seat 3.4.1 and angular servo-motor, the corner seat 3.4.1 It is articulated on the welding gun slide 3.3.4, the welding gun 4 is fixed on corner seat 3.4.1, and angular servo-motor driving is described to be turned Angled seat 3.4.1 rotates around drive-connecting shaft.
The bracket at corner 2.3 includes bearing, rotating disc, angular transducer, rotating servo motor, the adjusting bracket 3.3.1 wear and be fixed on the rotating disc 2.3.3, the rotating servo motor driving rotating disc 2.3.3 and the regulation branch Frame 3.3.1 can rotate around pivot 2.4 at a certain angle.
Soldering set right-left adjusting device 3.3 is to cross the vertical plane Л perpendicular to locating rack of symmetry axis as symmetrical plane axle pair Claiming ground, the bracket at corner 2.3 can turn an angle and position around pivot 2.4, the pivot on the bracket at corner 2.3 2.4 are located to cross on the vertical plane Л perpendicular to locating rack of symmetry axis.
Preferably, the preceding welding wire 5.1, rear welding wire 5.2 and the pivot 2.4 are in same common plane Л1Interior, this is common The tangent line L that plane passes through weld seam summit.
The linear drives are adjusting screw, and welding gun slide 3.3.4, the welding gun slide are combined with the adjusting screw 3.3.4 corner seat 3.4.1 is articulated with, the welding gun 4 is fixed on corner seat 3.4.1, and angular servo-motor 4.6 drives institute Corner seat 3.4.1 is stated to rotate around drive-connecting shaft;
As shown in figure 4, the welding gun 4 includes wire feed rolls fixed mount 4.7, electric conductor 4.3, conductive slider 4.4.Wire feed rolls is consolidated Determine rotation on frame 4.7 and be provided with a pair of wire feed rolls 4.2, electric conductor 4.3, the conduction is fixedly mounted in the lower section of wire feed rolls fixed mount 4.7 Body 4.3 connects conductive slider 4.4.The wire feed rolls 4.2, electric conductor 4.3 and conductive slider 4.4 are run through in one wire feed hole.Wire feed electricity Machine 4.5 drives a wire feed rolls 4.2 to rotate and is sent to the welding wire 5 between two wire feed rolls 4.2 outside plumb joint from wire feed hole;The tune Section sliding block 4.4 is externally provided with compact heap 4.8, and the compact heap 4.8 compresses the adjusting slider 4.4 by hold-down mechanism;
Preferably, the adjusting bracket 3.3.1 is also substitutable for L shaped plate;
Preferably, the long side plate of the L shaped plate is integrally formed with the rotating disc;
Preferably, the locating rack 1.1 is integrally formed with the fixed frame 3.1;
The adjusting screw 3.3.2 ends are provided with adjusting handle 3.3.3 or servomotor;The welding gun slide is provided with regulation Nut, in adjusting nut, the other end is fixed on the adjusting bracket 3.3.1 and is provided with adjusting screw 3.3.2 one end fits Regulation handle or provided with left and right adjusting servomotor.
The welding gun 4 is two, sets the welding wire of different-diameter, different electrical power respectively, for example one is AC power, one Individual is dc source.Preferably, one is that gage of wire is 4.0mm dc sources, and gage of wire is 3.2mm AC powers.
The locating rack 1.1 is preferably sight rail;The sight rail is adjustably secured in the helix tube molding machine On equipment portal frame, the preferably equipment portal frame that is adjustably secured is provided with guide groove, and the locating rack is provided with leading for guide rail To cooperation;The preferred dovetail groove of guide groove;
Including primary positioning step, when the spiral steel pipe of a new model needs production, the locating rack 1.1 is adjusted in institute State the position in the equipment portal frame chute of helix tube molding machine so that pivot 2.4 by by the weldering spiral steel pipe center of circle so that The twin wire automatic welding hidden arc welding device positions in Y-direction, positions of the adjustment walking disk roller 1.3.3 on slide rail 1.3.1 so that described Circular arcs where two 3 points of walking disk roller 1.3.3 and welding wire intersection points with it is described by weldering spiral steel pipe concentric;Locating rack 1.1 is pacified On equipment portal frame so that the positioning of welding gun is positioned by means of portal frame X, Z-direction, is made by the swing of helix tube molding machine Pivot 2.4 right through by the center of circle of weldering spiral steel pipe, to the twin wire automatic welding hidden arc welding device, how centering weld seam is determined Primary positioning has been carried out in position adjustment.
For accurate positioning, the lower end axis of the pivot 2.4 is provided with the axis that can detect pivot 2.4 and by weldering spiral shell Revolve the tip circle cambered surface intersection point O of steel pipe1(x1, y1) position coordinates High sensitive light-position sensor, the walking disk roller 1.3.3 Rotating shaft on equipped with can detect disk roller with by weldering spiral steel pipe contact point O2(x2, y2)、O3(x3, y3) position coordinates it is highly sensitive Optical position sensor is spent, can be by being calculated by 3 points of the center of circle O.It is described " so that pivot 2.4 is right through by weldering spiral steel The center of circle of pipe ", calculate the circular arc arc (O1, O2, O3) center of circle O (x, y), judge the center of circle O (x, y) whether in pivot On 2.4 axis;
Described " so that pivot 2.4 is right through by center of circle of weldering spiral steel pipe ", it is preferable that the lower end of the pivot 2.4 Axis is provided with the axis that can detect pivot 2.4 and the tip circle cambered surface intersection point i.e. weld seam summit O by weldering spiral steel pipe1(x1, y1) The High sensitive light-position sensor of position coordinates, equipped with disk roller can be detected with being welded in the rotating shaft of the walking disk roller 1.3.3 Spiral steel pipe contact point O2(x2, y2)、O3(x3, y3) position coordinates High sensitive light-position sensor;Calculate the circular arc arc(O1, O2, O3) center of circle O (x, y), judge the center of circle O (x, y) whether on the axis of pivot 2.4;
Also include two-stage positioning step, after primary positioning is completed, set the corner α of the wheelbase corner adjustment mechanism 2 With it is described consistent by the angle between the vertex tangent of weldering spiral steel pipe spiral weld and steel pipe axis;Adjust soldering set lift Structure, soldering set right-left adjusting device and soldering set angle regulator so that the front and rear centering weld seam respectively of preceding welding wire 5.1, rear welding wire 5.2 And there is certain distance, adjust the welding wire anchor point of welding wire alignment sensor so that preceding welding wire 5.1, rear welding wire 5.2 and welding wire are determined On the straight line of site three points one, and welding wire anchor point centering weld seam, complete two-stage positioning.
The locating rack is adjustably secured on the portal frame of the helix tube molding machine, Y-direction adjustment is led Position of the rail in guide groove, while positions of the walking disk roller 1.3.3 on slide rail 1.3.1 is adjusted, ensure that symmetry axis 16 is crossed and welded The spiral steel pipe center of circle is connect, thus facilitates the positioning of preceding welding wire 5.1, rear welding wire 5.2 and the straight line of welding wire anchor point three points one, together When be also convenient for preceding welding wire 5.1, the centering weld seam of rear welding wire 5.2.Locating rack is so precisely mounted on portal frame, so done Benefit be so that the positioning of welding gun is positioned by means of portal frame X, Z-direction, pass through the swing welding gun pair of helix tube molding machine Claiming axle 16, to mariages welder, how primary has been done in the positioning adjustment of centering weld seam right through by the center of circle of weldering spiral steel pipe Positioning.So, the positioning adjustment of preceding welding wire 5.1, the centering weld seam of rear welding wire 5.2, preceding welding wire 5.1, rear welding wire 5.2 and welding wire positioning The adjustment of the positioning of three points one straight lines of point also becomes to be more prone on the basis of primary positions.This is referred to as two-stage positioning, And it is that the basis of good primary positioning is laid in the dynamic adjustment for realizing two-stage positioning.
When mariages welder works, power supply opening electric welding machine is connected, steel pipe is entered by delivery machine along X-plane straight ahead Equipment portal frame, locating rack 1.1 is also put into, the walking disk roller 1.3.3 of locating rack 1 walks along steel pipe axis on steel pipe, leads to Cross lifting motor 3.2.1 adjustment conductive sliders 4.4 and the distance of steel pipe, constant-speed wire-feeding of the 1# and 2# welding wires through wire feeding motor 4.5 It is sent into electric conductor 4.3, then stretches out the head 25-35mm of conductive slider 4.4, then adjusting screw is rotated with regulation handle 3.3.4 3.3.2, the 1# welding wires of regulation left and right conductive slider 4.4,2# distances between weldingwires are 8mm-20mm, and 1# welding wires, the welding wire of 2# welding wires press from both sides Angle keep 30 °, welding wire emersion conductive slider 4.4 be preferred to 25-35mm, 1# welding wires and 2# welding wires alignment shaping seam, keep 1# and 2# welding wires are into a line with indicator lamp and vertical with being molded seam, and primary when positioning adjustment is positioned with after the completion of two-stage positioning, is referred to After showing lamp prompting, solder flux startup power supply is connected, two root wire 1#, 2# melt to form welding bead attractive in appearance in a molten bath.It is above-mentioned double Wire bond carries out primary positioning and two-stage positioning, easy to adjust, is easy to the realization of dynamic seam tracking system.Dynamic weld seam is certainly Motion tracking method need to only track the X axis distance between the welding wire anchor point by weld seam actual point and preceding welding wire point, if distance Not equal to 0, then it represents that welding seam bias, only need linear drive apparatus to move forward and backward rotating disc along by weldering spiral tube axis direction Realize.Specific method is as follows,
By lot of experiments, it is found that the skew of actual welds is typically due to caused by the error of width of steel band, and The error of width of steel band shows the skew that weld seam is normally behaved as when on the steel pipe being rolled into steel pipe axis direction, as long as therefore Actual welds identification laser locator is installed, according to the difference of steel pipe seam and non-weld seam come automatic identification weld seam in steel pipe axis The physical location in direction, then can be achieved weld seam from motion tracking.
As shown in Fig. 2,5, a kind of weld seam for the twin wire automatic welding hidden arc welding device being built in helix tube molding machine automatically with Track method,
The preceding welding wire 5.1, rear welding wire 5.2 are with the pivot 2.4 in same common plane Л1Interior, the common plane leads to Cross the tangent line L on weld seam summit;That is, the corner α of the wheelbase corner adjustment mechanism 2 with it is described by Coiling Welded Pipe spiral weld Vertex tangent and steel pipe axis between angle it is consistent;
Vertical plane (Л) perpendicular to locating rack on locating rack 1.1 is provided with tracking slide rail 6.1, the sliding block rail 6.1 It is parallel with by the X axis of the axis of weldering spiral steel pipe;Sliding block 6.2 is arranged on the slide rail 6.1, and the lower section of sliding block 6.2 is set There is optoelectronic contact type welded seam tracing sensor, the optoelectronic contact type welded seam tracing sensor is vertically projected to by weldering spiral steel pipe Weld seam on actual welds anchor point O5(x5, y5);The sliding block is driven by tracking servo motor;
In the preceding side of welding wire 5.1 welding wire photoelectric sensor, the welding wire photoelectric sensor are provided with apart from preceding welding wire 5-10mm It is vertically projected to by the welding wire anchor point O of weldering spiral steel pipe4(x4, y4);
The localization method of the twin wire automatic welding hidden arc welding device being built in helix tube molding machine completes primary positioning step After rapid and two-stage positioning step, welding wire anchor point is monitored at any time and by the position between the actual welds anchor point of weldering spiral steel pipe Relation, as X-axis, welding wire anchor point O is detected with certain frequency by the axis of weldering spiral steel pipe4(x4, y4) and weld and HAZ point O5 (x5, y5), calculate welding wire anchor point O4(x4, y4) and actual welds anchor point O5(x5, y5) between X-direction distance, delta dx= x5-x4;Make the following judgment:
If 1) Δ dx=0 is continued to monitor;
If 2) Δ dx> 0, then start linear drives servomotor and rotate disk distance along X-direction negative sense | Δ .1dx |;
If 3) Δ dx< 0, then start linear drives servomotor and rotate disk distance along X-direction forward direction | Δ dx|;
The spiral submerged arc twin wire automatic welding welder, cool time is extended, weld seam matter is ensure that when improving speed of welding Amount, reduces weld defect, improves working environment.Created favorable conditions for next process, reduce repair welding amount and save Material resources, financial resources, manpower reduce manufacturing cost.

Claims (10)

1. a kind of twin wire automatic welding hidden arc welding device being built in helix tube molding machine, including primary location structure (1), wheelbase turn Angle adjusting mechanism (2), soldering set adjustment mechanism (3) and welding gun (4), the welding gun (4) are fixed on the soldering set adjustment mechanism (3) On, it is characterised in that
The primary location structure (1) includes locating rack (1.1), track (1.2) and is fixed bolt, the locating rack (1.1) point midway is provided with symmetry axis;The locating rack is symmetrical to cross the vertical plane (л) perpendicular to locating rack of symmetry axis It is provided with walking mechanism (1.3) plane axial symmetry;The locating rack (1.1) is adjustably secured described by track (1.2) In the rail groove of the equipment portal frame of helix tube molding machine, and fixed by being fixed bolt;
The soldering set adjustment mechanism (3) includes fixed frame (3.1), soldering set elevating mechanism (3.2), soldering set right-left adjusting device (3.3) it is fixed on soldering set angle regulator (3.4), the fixed frame (3.1) on the locating rack (1.1), the weldering Tool elevating mechanism (3.2) is fixed on the fixed frame (3.1);The soldering set right-left adjusting device (3.3) is fixed on described On wheelbase corner adjustment mechanism (2), soldering set right-left adjusting device (3.3) the connection soldering set angle regulator (3.4) is described Welding gun (4) is fixed with soldering set angle regulator (3.4);The welding gun is two, and the welding gun is respectively equipped with difference directly The welding wire in footpath, one is AC power, and another is dc source;
The wheelbase corner adjustment mechanism (2) is fixedly mounted on the soldering set elevating mechanism (3.2);The wheelbase corner adjustment Mechanism (2) includes welding gun support (2.1), axial linear drives (2.2) and bracket at corner (2.3), and the welding gun support (2.1) is solid It is scheduled on the soldering set elevating mechanism, axial linear drives (2.2), the bracket at corner is fixed with welding gun support (2.1) (2.3) it is fixed in the axial linear drives;
Soldering set right-left adjusting device (3.3) is with the vertical plane (л) perpendicular to locating rack of symmetry axis excessively for symmetrical plane axle pair It is fixed on the bracket at corner (2.3) with claiming, the bracket at corner (2.3) can turn an angle and determine around pivot (2.4) Position, the pivot (2.4) are located to cross on the vertical plane (л) perpendicular to locating rack of symmetry axis.
2. the twin wire automatic welding hidden arc welding device in helix tube molding machine is built in as claimed in claim 1, it is characterised in that described Walking mechanism (1.3) is to cross the vertical plane (л) perpendicular to locating rack of symmetry axis (16) as symmetrical plane, axisymmetrically exist Locating rack (1.1) is provided with slide rail (1.3.1), and disk roller bearing (1.3.2), the disk roller are sliding combined with slide rail (1.3.1) Bearing (1.3.2) is provided with walking disk roller (1.3.3).
3. the twin wire automatic welding hidden arc welding device in helix tube molding machine is built in as claimed in claim 2, it is characterised in that described Soldering set elevating mechanism (3.2) includes lifting motor (3.2.1), lifting decelerator (3.2.2) and elevating screw (3.2.3), described The output shaft of lifting motor (3.2.1) connects elevating screw (3.2.3) by lifting decelerator (3.2.2);The elevating screw (3.2.3) driving lifting nut (3.2.4), the lifting nut (3.2.4) are fixedly connected with the welding gun support (2.1).
4. the twin wire automatic welding hidden arc welding device in helix tube molding machine is built in as claimed in claim 2, it is characterised in that described Soldering set right-left adjusting device (3.3) includes adjusting bracket (3.3.1), and the adjusting bracket (3.3.1) is provided with adjusting screw (3.3.2), threaded engagement has welding gun slide (3.3.4) on the adjusting screw (3.3.2);The welding gun slide (3.3.4) sets There is adjusting nut, for adjusting screw (3.3.2) one end fits in adjusting nut, the other end is fixed on the adjusting bracket On (3.3.1) and provided with regulation handle (3.3.3) or provided with left and right adjusting servomotor.
5. the twin wire automatic welding hidden arc welding device in helix tube molding machine is built in as claimed in claim 2, it is characterised in that described Axial linear drives (2.2) include leading screw, nut and linear drives servomotor, described in the linear drives servomotor driving Leading screw rotates.
6. the twin wire automatic welding hidden arc welding device in helix tube molding machine is built in as claimed in claim 4, it is characterised in that described Soldering set angle regulator (3.4) includes corner seat (3.4.1) and angular servo-motor, and the corner seat (3.4.1) is articulated in On the welding gun slide (3.3.4), the welding gun (4) is fixed on corner seat (3.4.1), and angular servo-motor driving is described to be turned Angled seat (3.4.1) rotates around drive-connecting shaft.
7. the twin wire automatic welding hidden arc welding device in helix tube molding machine is built in as claimed in claim 4, it is characterised in that described Bracket at corner (2.3) includes bearing, rotating disc, angular transducer, rotating servo motor, and the adjusting bracket (3.3.1) wears It is fixed on the rotating disc, the rotating servo motor driving rotating disc and the adjusting bracket (3.3.1) can be with certain angles Degree rotates around pivot (2.4).
A kind of 8. positioning for the twin wire automatic welding hidden arc welding device being built in as described in claim 2-6 is any in helix tube molding machine Method, it is characterised in that
Including primary positioning step, when the spiral steel pipe of a new model needs production, the locating rack (1.1) is adjusted described Position in the equipment portal frame chute of helix tube molding machine so that pivot (2.4) by by the weldering spiral steel pipe center of circle so that The twin wire automatic welding hidden arc welding device positions in Y-direction, position of the adjustment walking disk roller (1.3.3) on slide rail (1.3.1) so that Two walking disk rollers (1.3.3) and circular arcs where 3 points of welding wire intersection point with it is described by weldering spiral steel pipe concentric;Will positioning Frame is arranged on equipment portal frame so that the positioning of welding gun is positioned by means of portal frame X, Z-direction, passes through the pendulum of helix tube molding machine It is dynamic make it that pivot (2.4) right through by the center of circle of weldering spiral steel pipe how weld to the twin wire automatic welding hidden arc welding device by centering Primary positioning has been carried out in the positioning adjustment of seam.
9. the localization method for the twin wire automatic welding hidden arc welding device being built in as claimed in claim 8 in helix tube molding machine, it is special Sign is,
Also include two-stage positioning step, after primary positioning is completed, set the corner (α) of the wheelbase corner adjustment mechanism (2) Angle between the vertex tangent and steel pipe axis of the spiral weld by weldering spiral steel pipe is consistent;Adjust soldering set lift Structure, soldering set right-left adjusting device and soldering set angle regulator so that preceding welding wire (5.1), the front and rear centering respectively of rear welding wire (5.2) Weld seam simultaneously has certain distance, adjusts laser positioning point so that three points of preceding welding wire (5.1), rear welding wire (5.2) and laser positioning point On one straight line, and laser positioning point centering weld seam, complete two-stage positioning.
A kind of 10. weldering for the twin wire automatic welding hidden arc welding device being built in as described in claim 1-7 is any in helix tube molding machine Stitch automatic tracking method,
Vertical plane (л) perpendicular to locating rack on locating rack (1.1) is provided with tracking slide rail (6.1), the tracking slide rail (6.1) it is parallel with by the X axis of the axis of weldering spiral steel pipe;Sliding block (6.2) is arranged on the tracking slide rail (6.1), described Weld seam tracking sensor is provided with below sliding block (6.2), the weld seam tracking sensor is vertically projected to by the weldering of weldering spiral steel pipe The actual welds anchor point O sewed on5(x5, y5);The sliding block is driven by tracking servo motor;
Welding wire locator is provided with preceding welding wire (5.1) side, the welding wire locator is vertically projected to by the weldering of weldering spiral steel pipe Silk anchor point O4(x4, y4);
The localization method of the twin wire automatic welding hidden arc welding device being built in helix tube molding machine of the claim 9 is completed primary After positioning step and two-stage positioning step, welding wire anchor point is monitored at any time and by between the actual welds anchor point of weldering spiral steel pipe Position relationship, using by the axis of weldering spiral steel pipe as X-axis, with certain frequency detection welding wire anchor point O4(x4, y4) welded with actual Stitch anchor point O5(x5, y5), calculate welding wire anchor point O4(x4, y4) and actual welds anchor point O5(x5, y5) between X-direction Distance, delta dx=x5-x4
Make the following judgment:
If 1) Δ dx=0 is continued to monitor;
If 2) Δ dx> 0, then start linear drives servomotor and rotate disk distance along X-direction negative sense | Δ dx|;
If 3) Δ dx< 0, then start linear drives servomotor and rotate disk distance along X-direction forward direction | Δ dx|。
CN201610021329.5A 2016-01-14 2016-01-14 A kind of twin wire automatic welding hidden arc welding device and its localization method and automatic seam tracking method Expired - Fee Related CN105458475B (en)

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