CN105499771A - Welding tractor with intelligent guiding device and control method thereof - Google Patents
Welding tractor with intelligent guiding device and control method thereof Download PDFInfo
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- CN105499771A CN105499771A CN201610024825.6A CN201610024825A CN105499771A CN 105499771 A CN105499771 A CN 105499771A CN 201610024825 A CN201610024825 A CN 201610024825A CN 105499771 A CN105499771 A CN 105499771A
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- guide post
- stretch
- front side
- telescopic end
- welding tractor
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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
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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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
- B23K9/32—Accessories
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- Mechanical Engineering (AREA)
- Plasma & Fusion (AREA)
- Optics & Photonics (AREA)
- Agricultural Machines (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The invention discloses a welding tractor with an intelligent guiding device. The welding tractor comprises a welding tractor body. One side of the welding tractor body is a welding side. The welding tractor further comprises a front side telescopic guiding rod, a pressure value sensor and a guiding controller, and therefore due to the fact that the intelligent guiding device of the welding tractor is high in automation degree, the welding tractor can be automatically and accurately attached to the lateral reference plane, the stress of a guiding wheel is constant, the welding tractor accurately tracks a welding line when a workpiece is welded, the defects of undercutting, edge failures, weld misalignment and the like are greatly reduced, the welding quality is effectively improved, and the welding working efficiency is effectively improved.
Description
Technical field
The present invention relates to Automation of Welding field, especially relate to a kind of welding tractor and the control method thereof with intelligent steering device.
Background technology
The following problem of existing manual welding method ubiquity: for plate sheet welding, namely welding conditions change a little can have a huge impact the effect of welding, in manual welding process, the technological parameters such as welding current, arc voltage, speed of welding, arc length control the bad weld seam that will produce a little and sting meat, gnaw limit, the defect such as to be partially welded.The workload of follow-up reconditioning is larger.The motion guiding device of existing welding tractor is that directive wheel is installed on welding tractor side, needs the position of adjusting guide device manually, make welding tractor laterally datum level veneer walking thus weld.Because manual adjustment guider mainly relies on experience along datum level, cause regulating directive wheel laminating degree difference comparatively large, thus cause weldquality not high.The lateral register datum level at present with the welding tractor being directed laterally to wheel is only burnishing surface, can not think curved surface.If when lateral register datum level is curved surface, welding tractor datum level of can not fitting welds.Simultaneously to enter the situation of applicable weld seam deflection, needing the speed of adjustment wheel in good time, and keeping certain proportionate relationship.The dolly of existing Two-wheeled, realizes curved welding seam, the control methods such as limited location control methods, mathematical model method, in real time adjustment method, but said method adjustment cycle is grown and is not fixed, follow the tracks of accuracy not easily to ensure, workload of operation is comparatively large, realizes more complicated.
Summary of the invention
For above-mentioned defect of the prior art, the object of this invention is to provide a kind of welding tractor and the control method thereof with intelligent steering device.Thus solve the existing problem that welding tractor dependability is poor, monitoring cost is high with intelligent steering device.
In order to achieve the above object, the invention provides following technical scheme:
There is the welding tractor of intelligent steering device, comprising: welding tractor, the side of described welding tractor is weld side, also comprises: stretch guide post, force value sensor and guide controller in front side, the stretch front side of advancing of stiff end and described welding tractor of guide post, described front side is fixedly connected with, stretch out to described weld side, stretch in the described front side inside of guide post arranges front side guide post line motor, the stretch telescopic end of guide post of described front side guide post line motor and front side is fixedly connected with, and drives stretch along described front side one end of guide post of described telescopic end stretch out to riser direction to be welded or regain, described force value sensor setting stretches in the telescopic end of guide post in described front side, the stretch telescopic end force value of guide post of front side is gathered, the output of described force value sensor is connected with the input of described guide controller, the output of described guide controller is connected with described front side guide post line motor, when the front side received stretch the telescopic end force value of guide post exceed setting range value time, described front side guide post line motor is driven to drive the stretch telescopic end of guide post of described front side stretch out or retract, described front side is made to stretch the telescopic end guide support of guide post in the side of riser to be welded.
In a preferred embodiment, also comprise: rear side stretches guide post, the stretch rear side of advancing of stiff end and described welding tractor of guide post of described rear side is fixedly connected with, stretch out to described weld side, the stretch inside of guide post, side arranges rear side guide post line motor in the rear, the stretch telescopic end of guide post of described rear side guide post line motor and rear side is fixedly connected with, and drives this telescopic end stretch out along stretch one end of guide post of described rear side to riser direction to be welded or regain, described force value sensor setting stretches in the telescopic end of guide post in described rear side, the stretch telescopic end force value of guide post of rear side is gathered, the output of described force value sensor is connected with the input of described guide controller, the output of described guide controller is connected with described rear side guide post line motor, judge that whether the stretch telescopic end force value of guide post of the telescopic end force value of the flexible guide post in front side or rear side is identical, if not, then judge whether the force value of wherein larger contracting guide post exceeds setting range value, if, corresponding guide post line motor is then driven to drive the telescopic end of corresponding flexible guide post stretch out or retract, make the telescopic end guide support of corresponding flexible guide post in the side of riser to be welded.
In a preferred embodiment, also comprise: directive wheel; Stretch the end of telescopic end of guide post in described directive wheel and described front side, or the stretch end winding support of telescopic end of guide post of described rear side connects.
In a preferred embodiment, described welding tractor comprises: running gear comprises: road wheel and movable motor, and the output of described movable motor is connected with described road wheel, and ground-engaging wheel is walked; Described road wheel is fixedly connected with the bottom of described welding tractor.
In a preferred embodiment, also comprise: laser range finder; Described laser range finder is fixedly connected with rear side with the front side of described welding tractor, gathers the range information between described welding tractor and riser to be welded, and output is connected with the input of described guide controller; Described guide controller exceeds setting range value when the stretch telescopic end force value of guide post of the front side that receive or rear side, when described range information exceeds setpoint distance value simultaneously, then drive described front side or rear side guide post line motor to drive the stretch telescopic end of guide post of described front side or rear side stretch out or retract, make described front side or rear side stretch the telescopic end guide support of guide post in the side of riser to be welded.
In a preferred embodiment, described welding tractor comprises: welding gun adjusting bracket, welding gun and welding gun steady pin; Described welding gun adjusting bracket is fixedly connected with the top of described welding tractor, and the end of described welding gun adjusting bracket is fixedly connected with described welding gun by welding gun steady pin.
There is the control method of the welding tractor of intelligent steering device, comprising:
Step S101: the telescopic end force value receiving the flexible guide post in front side;
Step S102: judge whether the stretch telescopic end force value of guide post of described front side exceeds setting range value, if, then drive described front side guide post line motor to drive the stretch telescopic end of guide post of described front side stretch out or retract, make described front side stretch the telescopic end guide support of guide post in the side of riser to be welded.
In a preferred embodiment, also comprise in step S101: the telescopic end force value receiving the flexible guide post of rear side;
Comprise in step s 102: judge that whether the stretch telescopic end force value of guide post of the telescopic end force value of the flexible guide post in front side or rear side is identical, if not, then judge whether the force value of wherein larger contracting guide post exceeds setting range value, if, then drive corresponding guide post line motor to drive the telescopic end of corresponding flexible guide post stretch out or retract, make the telescopic end guide support of corresponding flexible guide post in the side of riser to be welded.
In a preferred embodiment, also comprise in step S101: the range information between described welding tractor and riser to be welded is gathered, comprise in step s 102: when the front side received or rear side stretch the telescopic end force value of guide post exceed setting range value described range information exceed setpoint distance value simultaneously time, then drive described front side or rear side guide post line motor to drive the stretch telescopic end of guide post of described front side or rear side stretch out or retract, make described front side or rear side stretch the telescopic end guide support of guide post in the side of riser to be welded.
It can thus be appreciated that beneficial effect of the present invention is:
First, because welding tractor intelligent steering plant automation degree is high, the automatic accurate laminating side direction datum level of energy, directive wheel are stressed constant, this welding tractor is made accurately to follow the trail of weld seam when welding work pieces, greatly reduce weld seam to sting meat, gnaw limit, the defect such as to be partially welded, effectively improve operating efficiency when weldquality and welding.
Secondly, owing to have employed intelligent steering device, make welding tractor can adapt to comprise the weld seam of shaped form weld seam, automaticity is higher, effectively improve the welding efficiency of welding tractor, expand the welding range of application of welding tractor, make welding tractor meet more not welding objects in specie.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is in one embodiment of the present invention, has the external structure schematic diagram of the welding tractor of intelligent steering device;
Fig. 2 is in another embodiment of the present invention, has the composition schematic diagram of the welding tractor of intelligent steering device;
Fig. 3 is in one embodiment of the present invention, has the work weld face schematic diagram of the welding tractor of intelligent steering device;
Fig. 4 is in one embodiment of the present invention, has the control system composition schematic diagram of the welding tractor of intelligent steering device.
Detailed description of the invention
Below in conjunction with accompanying drawing of the present invention, be clearly and completely described technical scheme of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
As shown in figures 1-4, in one embodiment of the present invention, provide a kind of welding tractor with intelligent steering device, the side of welding tractor is weld side 90.The stiff end of the flexible guide post 10 in front side is fixedly connected with the front side 11 of advancing of welding tractor, stretch out to weld side 90, stretch in the front side inside of guide post 10 arranges front side guide post line motor 12, the stretch telescopic end 13 of guide post 10 of front side guide post line motor 12 and front side is fixedly connected with, and stretch along front side one end of guide post 10 of drive telescopic end is stretched out to riser 80 direction to be welded or regains.Force value sensor 14 is arranged in the telescopic end of the flexible guide post 10 in front side, the stretch telescopic end force value of guide post 10 of front side is gathered, the output of the force value sensor 14 of the flexible guide post in front side is connected with the input of guide controller 20, the output of guide controller 20 is connected with front side guide post line motor 12, when the front side received stretch the telescopic end force value of guide post 10 exceed setting range value time, front side guide post line motor 12 is driven to drive the telescopic end of the flexible guide post 10 in front side stretch out or retract, make the telescopic end guide support of the flexible guide post 10 in front side in the side of riser 80 to be welded.
In a preferred embodiment, also comprise: rear side stretches guide post 30, the stiff end of the flexible guide post 30 of rear side is fixedly connected with the rear side 31 of advancing of welding tractor, stretch out to weld side 90, in the stretch inside of guide post 30 of rear side, rear side guide post line motor 32 is set, the stretch telescopic end 33 of guide post 30 of rear side guide post line motor 32 and rear side is fixedly connected with, and drives this telescopic end stretch out along stretch one end of guide post 30 of rear side to riser 80 direction to be welded or regain, force value sensor 34 is arranged in the telescopic end of the flexible guide post 30 of rear side, the stretch telescopic end force value of guide post 30 of rear side is gathered, the output of force value sensor 34 is connected with the input of guide controller 20, the output of guide controller 20 is connected with rear side guide post line motor 32, judge that whether the stretch telescopic end force value of guide post 30 of the telescopic end force value of the flexible guide post 10 in front side or rear side is identical, if not, then judge whether the force value of wherein larger contracting guide post exceeds setting range value, if, corresponding guide post line motor is then driven to drive the telescopic end of corresponding flexible guide post stretch out or retract, make the telescopic end guide support of corresponding flexible guide post in the side of riser 80 to be welded.
In a preferred embodiment, also comprise: directive wheel 15,35; Stretch the end of telescopic end of guide post 10 in directive wheel 15,35 and front side, or the stretch end winding support of telescopic end of guide post 30 of rear side connects.
In a preferred embodiment, welding tractor comprises: running gear.This running gear comprises: road wheel 40 and movable motor 41, and the output of movable motor 41 is connected with road wheel 40, and ground-engaging wheel 40 is walked; Road wheel 40 is fixedly connected with the bottom of welding tractor.
For ensureing certainty of measurement, in a preferred embodiment, also comprise: laser range finder 50,51; Laser range finder 50,51 is fixedly connected with rear side with the front side of welding tractor, gathers the range information between welding tractor and riser to be welded 80, and output is connected with the input of guide controller 20; Guide controller 20 exceeds setting range value when the stretch telescopic end force value of guide post 30 of the front side that receive or rear side, when range information exceeds setpoint distance value simultaneously, then drive front side or rear side guide post line motor 32 to drive the stretch telescopic end of guide post 30 of front side or rear side stretch out or retract, on front side of making or rear side stretch the telescopic end guide support of guide post 30 in the side of riser 80 to be welded.
In a preferred embodiment, welding tractor comprises: welding gun adjusting bracket 60, welding gun 61 and welding gun steady pin 62.Welding gun adjusting bracket 60 is fixedly connected with the top of welding tractor, and the end of welding gun adjusting bracket 60 is fixedly connected with welding gun by welding gun steady pin.
In another embodiment of the invention, provide a kind of control method with the welding tractor of intelligent steering device, it is characterized in that, comprising:
Step S101: the telescopic end force value receiving the flexible guide post 10 in front side;
Step S102: judge whether the telescopic end force value of the flexible guide post 10 in front side exceeds setting range value, if, then drive front side guide post line motor 12 to drive the telescopic end of the flexible guide post 10 in front side stretch out or retract, make the telescopic end guide support of the flexible guide post 10 in front side in the side of riser 80 to be welded.
Preferably, also comprise in step S101: the telescopic end force value receiving the flexible guide post 30 of rear side;
Comprise in step s 102: judge that whether the stretch telescopic end force value of guide post 30 of the telescopic end force value of the flexible guide post 10 in front side or rear side is identical, if not, then judge whether the force value of wherein larger contracting guide post exceeds setting range value, if, then drive corresponding guide post line motor to drive the telescopic end of corresponding flexible guide post stretch out or retract, make the telescopic end guide support of corresponding flexible guide post in the side of riser 80 to be welded.
Preferably, also comprise in step S101: the range information between welding tractor and riser to be welded 80 is gathered, comprise in step s 102: when the front side received or rear side stretch the telescopic end force value of guide post 30 exceed setting range value range information exceed setpoint distance value simultaneously time, then drive front side or rear side guide post line motor 32 to drive the stretch telescopic end of guide post 30 of front side or rear side stretch out or retract, on front side of making or rear side stretch the telescopic end guide support of guide post 30 in the side of riser 80 to be welded.
In one embodiment of the invention, provide a kind of welding tractor and control method thereof, described welding tractor comprises directive wheel 15,35, directive wheel mount pad, force value sensor 14,34, laser range finder 50,51, line motor 12,32, welding tractor movable motor 41, welding gun adjusting bracket 60, welding gun 61, welding gun steady pin 62, welding tractor vehicle body, welding tractor running wheel 40 and PLC (not providing in figure).Welding tractor running wheel 40 is placed in below welding tractor vehicle body, and each two the symmetrical placements in front and back, are mainly used in the walking of welding tractor.There is welding tractor movable motor 41 in the lower right corner of welding tractor vehicle body upper surface, and motor 41 and welding tractor running wheel 40 is connected by decelerator (not providing in figure), by the walking of the motion thus control welding tractor that control motor 41.Welding tractor vehicle body front/rear end respectively places a line motor 12,32, by controlling the length of line motor 12,32 projecting shaft thus controlling directive wheel 15,35 to weld datum plate contact with side direction.The axial direction of line motor 12,32 projecting shaft end be connected with in turn force value sensor 14,34, directive wheel 15,35 mounting base, directive wheel 15,35.Cylindrical Combined pressure sensor 3 is for measuring directive wheel 15, 35 sizes of to weld power between datum plate with side direction, by former and later two force value sensors 14, 34 feed back to PLC, by directive wheel 15 before and after feedback, between 35 contact forces with power setting value, size compares, control signal is transferred to line motor 12, 32, thus control tandem motor 12, the length of 32 projecting shafts, ensure directive wheel 15, 35 to weld between datum plate power in setting range with side direction, welding tractor is welded between datum plate with side direction accurately fit, high-quality weld seam is welded out in guarantee.Two side external surfaces of 2 line motors 12,32 in front and back are provided with laser range finder 50,51, this laser range finder 50,51 to weld the spacing of datum plate with side direction for measuring welding tractor, record distance and feed back to PLC, control line motor 12,32 projecting shaft length.Laser range finder 50,51 is installed on the outer surface of two line motors 12,32, ensures that the distance that laser range finder 50,51 is measured is that directive wheel 15,35 is by reach.Criss-cross welding gun adjusting bracket 60 is placed in welding tractor upper surface and is fixed by bolt and welding tractor vehicle body, welding gun adjusting bracket 60 can regulate welding gun 61 position up and down, welding adjusting bracket 7 left upper end has welding gun installing hole, fixes welding gun 61 by welding gun mount pin 9.
As shown in Figure 4, the directive wheel 15,35 of welding tractor contacts with region A, and welding position is B.The operation principle of the welding tractor in the present invention is: arrange front and back directive wheel 15,35 and line motor 12,32 projecting shaft length by PLC before welding.At moving direction, before one group of line motor 12,32 axle extension elongation shorter than the axle extension elongation of a group after moving direction.Because tandem motor 12,32 axle extension elongation is inconsistent, the side that welding tractor is close to shaft length shorter in the process of walking all the time moves ahead, thus realize dolly laminating welding datum plate move ahead.Welding tractor is in the desirable course of work, and front and back directive wheel 15,35 is close to side direction welding datum plate and is rolled, and two directive wheels 15,35 weld datum plate pressure size with side direction remains unchanged.Laser range finder 50,51 is measured the distance obtaining welding datum plate with side direction in laser range finder 50,51 position and is also remained unchanged.
When side direction welding datum plate is curved surface, PLC presets datum level is welded in laser sensor 4 position front distance S1 and rear portion distance S2 with side direction, and two directive wheels 15,35 weld datum level pressure F1, F2 value scope with side direction.In the welding tractor course of work, when welding tractor directive wheel 15, 35 have the trend departing from curved surface welding datum level, F1 and F2 exceeds setting range, force value sensor 14, 34 pressure signals are transferred to PLC, S1 and S2 also changes simultaneously, laser range finder 50, 51 distance signal transmission give PLC, PLC feeds back to line motor 12 after receiving pressure signal and distance signal, 32, line motor 12, 32 regulate directive wheel 15 by the length controlling projecting shaft, 35, now two directive wheels 15, 35 pressure F1 and the F2 welding datum level with side direction return in normal range (NR), laser range finder 50, front distance S1 and the rear portion distance S2 of 51 positions and lateral register datum level return to setting value, directive wheel 15, 35 pass through along curved surface again, welding tractor continues normal weld.
When welding tractor work, when side direction welding datum plate air spots is sliding, PLC has preset two directive wheels 15,35 weld datum plate pressure F1, F2 value scope with side direction.When welding tractor has the trend departing from welding datum plate, combined type strain transducer 3 is transferred to PLC pressure signal, F1 and F2 changes and exceedes setting range, and two laser range finder 50,51 measurements simultaneously obtain laser range finder 50,51 position and weld the Signal transmissions of positioning datum prelaminar part distance S1 and rear portion distance S2 with side direction to PLC.PLC feeds back to line motor 12,32 after receiving pressure signal and distance signal, line motor 12,32 regulates directive wheel 15,35 by controlling its projecting shaft length, make two directive wheels 15,35 weld pressure F1, F2 of datum plate with side direction and distance S1, S2 return to normal range (NR), welding tractor continues normal weld.
Intelligent steering apparatus control method is specific as follows:
The first step (s1): first, welds datum plate distance S1, S2 excursion according to welding requirements setup pressure value sensor 14,34 contact force F1, F2 excursion and welding tractor with side direction.
Second step (s2): when welding tractor has the trend departing from welding datum plate, force value sensor 14,34 data measured F1, F2 and laser range finder 50,51 data measured S1, S2 feed back to PLC.
3rd step (s3): feedback signal and setting value are compared process by PLC, by the signal transmission after PLC process to line motor 12,32, line motor 12,32 action control axle extension elongation, ensures that power, distance signal are in normal range (NR).
4th step (s4): record in real time contact force F1, F2 and S1, S2 signal feedback to PLC, if F1, F2 and S1, S2 are in range of set value, then stop line motor 12,32, if there is no reach value, then line motor 12,32 continues motion, until F1, F2 and S1, S2 meet the demands.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; change can be expected easily or replace, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should described be as the criterion with the protection domain of claim.
Claims (9)
1. there is the welding tractor of intelligent steering device, comprising: welding tractor, the side of described welding tractor is weld side, it is characterized in that, also comprises: stretch guide post, force value sensor and guide controller in front side, the stretch front side of advancing of stiff end and described welding tractor of guide post, described front side is fixedly connected with, stretch out to described weld side, stretch in the described front side inside of guide post arranges front side guide post line motor, the stretch telescopic end of guide post of described front side guide post line motor and front side is fixedly connected with, and drives stretch along described front side one end of guide post of described telescopic end stretch out to riser direction to be welded or regain, described force value sensor setting stretches in the telescopic end of guide post in described front side, the stretch telescopic end force value of guide post of front side is gathered, the output of described force value sensor is connected with the input of described guide controller, the output of described guide controller is connected with described front side guide post line motor, when the front side received stretch the telescopic end force value of guide post exceed setting range value time, described front side guide post line motor is driven to drive the stretch telescopic end of guide post of described front side stretch out or retract, described front side is made to stretch the telescopic end guide support of guide post in the side of riser to be welded.
2. the welding tractor with intelligent steering device according to claim 1, is characterized in that, also comprise: rear side stretches guide post, the stretch rear side of advancing of stiff end and described welding tractor of guide post of described rear side is fixedly connected with, stretch out to described weld side, the stretch inside of guide post, side arranges rear side guide post line motor in the rear, the stretch telescopic end of guide post of described rear side guide post line motor and rear side is fixedly connected with, and drives this telescopic end stretch out along stretch one end of guide post of described rear side to riser direction to be welded or regain, described force value sensor setting stretches in the telescopic end of guide post in described rear side, the stretch telescopic end force value of guide post of rear side is gathered, the output of described force value sensor is connected with the input of described guide controller, the output of described guide controller is connected with described rear side guide post line motor, judge that whether the stretch telescopic end force value of guide post of the telescopic end force value of the flexible guide post in front side or rear side is identical, if not, then judge whether the force value of wherein larger contracting guide post exceeds setting range value, if, corresponding guide post line motor is then driven to drive the telescopic end of corresponding flexible guide post stretch out or retract, make the telescopic end guide support of corresponding flexible guide post in the side of riser to be welded.
3. the welding tractor with intelligent steering device according to claim 2, is characterized in that, also comprise: directive wheel; Stretch the end of telescopic end of guide post in described directive wheel and described front side, or the stretch end winding support of telescopic end of guide post of described rear side connects.
4. the welding tractor with intelligent steering device according to claim 1, it is characterized in that, described welding tractor comprises: running gear, and described running gear comprises: road wheel and movable motor, the output of described movable motor is connected with described road wheel, and ground-engaging wheel is walked; Described road wheel is fixedly connected with the bottom of described welding tractor.
5. the welding tractor with intelligent steering device according to claim 2, is characterized in that, also comprise: laser range finder; Described laser range finder is fixedly connected with rear side with the front side of described welding tractor, gathers the range information between described welding tractor and riser to be welded, and output is connected with the input of described guide controller; Described guide controller exceeds setting range value when the stretch telescopic end force value of guide post of the front side that receive or rear side, when described range information exceeds setpoint distance value simultaneously, then drive described front side or rear side guide post line motor to drive the stretch telescopic end of guide post of described front side or rear side stretch out or retract, make described front side or rear side stretch the telescopic end guide support of guide post in the side of riser to be welded.
6. the welding tractor with intelligent steering device according to claim 1, is characterized in that, described welding tractor comprises: welding gun adjusting bracket, welding gun and welding gun steady pin; Described welding gun adjusting bracket is fixedly connected with the top of described welding tractor, and the end of described welding gun adjusting bracket is fixedly connected with described welding gun by welding gun steady pin.
7. there is the control method of the welding tractor of intelligent steering device, it is characterized in that, comprising:
Step S101: the telescopic end force value receiving the flexible guide post in front side;
Step S102: judge whether the stretch telescopic end force value of guide post of described front side exceeds setting range value, if, then drive described front side guide post line motor to drive the stretch telescopic end of guide post of described front side stretch out or retract, make described front side stretch the telescopic end guide support of guide post in the side of riser to be welded.
8. the control method with the welding tractor of intelligent steering device according to claim 7, is characterized in that, also comprise in step S101: the telescopic end force value receiving the flexible guide post of rear side;
Comprise in step s 102: judge that whether the stretch telescopic end force value of guide post of the telescopic end force value of the flexible guide post in front side or rear side is identical, if not, then judge whether the force value of wherein larger contracting guide post exceeds setting range value, if, then drive corresponding guide post line motor to drive the telescopic end of corresponding flexible guide post stretch out or retract, make the telescopic end guide support of corresponding flexible guide post in the side of riser to be welded.
9. the control method with the welding tractor of intelligent steering device according to claim 7 or 8, it is characterized in that, also comprise in step S101: the range information between described welding tractor and riser to be welded is gathered, comprise in step s 102: when the front side received or rear side stretch the telescopic end force value of guide post exceed setting range value described range information exceed setpoint distance value simultaneously time, described front side or rear side guide post line motor is then driven to drive the stretch telescopic end of guide post of described front side or rear side stretch out or retract, described front side or rear side is made to stretch the telescopic end guide support of guide post in the side of riser to be welded.
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| CN201610024825.6A CN105499771B (en) | 2016-01-14 | 2016-01-14 | Welding tractor and its control method with intelligent steering device |
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| CN201610024825.6A CN105499771B (en) | 2016-01-14 | 2016-01-14 | Welding tractor and its control method with intelligent steering device |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106984890A (en) * | 2017-04-14 | 2017-07-28 | 五冶集团上海有限公司 | Semiautomatic welding device |
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| CN113829368A (en) * | 2021-10-12 | 2021-12-24 | 安徽立辰科技有限公司 | Welding robot and welding method |
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| CN113458680A (en) * | 2021-05-28 | 2021-10-01 | 中建五洲工程装备有限公司 | Walking device of automatic welding trolley |
| CN113829368A (en) * | 2021-10-12 | 2021-12-24 | 安徽立辰科技有限公司 | Welding robot and welding method |
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