CN105499771B - Welding tractor and its control method with intelligent steering device - Google Patents
Welding tractor and its control method with intelligent steering device Download PDFInfo
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- CN105499771B CN105499771B CN201610024825.6A CN201610024825A CN105499771B CN 105499771 B CN105499771 B CN 105499771B CN 201610024825 A CN201610024825 A CN 201610024825A CN 105499771 B CN105499771 B CN 105499771B
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- guide rod
- front side
- telescopic end
- welding tractor
- rear side
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Classifications
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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
-
- 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
-
- 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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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Plasma & Fusion (AREA)
- Optics & Photonics (AREA)
- Guiding Agricultural Machines (AREA)
- Agricultural Machines (AREA)
Abstract
The invention discloses the welding tractor with intelligent steering device, including：Welding tractor；The side of the welding tractor is weld side, wherein, in addition to：Front side is stretched guide rod, pressure value sensor and guide controller.So as to due to welding tractor intelligent steering plant automation degree height, it is constant automatic accurate to be bonded lateral reference plane, directive wheel stress, so that the welding tractor accurately follows the trail of weld seam in welding workpiece, greatly reduce the defects of weld seam stings meat, gnaws side, is partially welded, effectively improve operating efficiency when weldquality and welding.
Description
Technical field
The present invention relates to Automation of Welding field, more particularly, to a kind of welding tractor with intelligent steering device and its
Control method.
Background technology
Existing manual welding method generally existing problems with：For plate sheet welding, the change of welding conditions somewhat is
The effect of welding can be had a huge impact, during manual welding, welding current, arc voltage, speed of welding, electric arc
The technological parameters such as length, which somewhat control, bad will produce the defects of weld seam stings meat, gnaws side, is partially welded.The workload of follow-up reconditioning compared with
Greatly.The motion guiding device of existing welding tractor is that directive wheel is installed on welding tractor side, it is necessary to which manually regulation is oriented to
The position of device, making welding tractor, laterally reference plane veneer is walked so as to be welded.Due to manual adjustment guider
Experience is relied primarily on along reference plane, causes regulation directive wheel laminating degree otherness larger, so as to cause weldquality not high.
The lateral register reference plane at present with the welding tractor for being directed laterally to wheel is only burnishing surface, it is not possible to is curved surface.It is if lateral fixed
When position reference plane is curved surface, welding tractor can not be bonded reference plane and be welded.Situation about being deflected simultaneously to enter suitable weld seam,
The speed of adjustment wheel in good time is needed, and keeps certain proportionate relationship.The dolly of existing Two-wheeled, realize that curve welds
The control methods such as seam, limited location control methods, mathematical model method, real-time regulation method, but the above method adjustment cycle is long and not solid
Fixed, tracking accuracy is not easy to ensure, workload of operation is larger, realizes more complicated.
The content of the invention
For it is above-mentioned in the prior art the defects of, it is an object of the invention to provide a kind of welding with intelligent steering device
Dolly and its control method.So as to solve the existing welding tractor use reliability with intelligent steering device it is poor, monitoring into
The problem of this is high.
In order to achieve the above object, the present invention provides following technical scheme：
Welding tractor with intelligent steering device, including：Welding tractor；The side of the welding tractor is weld side,
Also include：Front side is stretched guide rod, pressure value sensor and guide controller；The fixing end of the flexible guide rod in the front side and institute
State and be fixedly connected on front side of the traveling of welding tractor, stretched out to the weld side, the inside for the guide rod that stretched in the front side is set
Front side guide rod line motor, the front side guide rod line motor are fixedly connected with the telescopic end of the flexible guide rod in front side, band
The one end of the telescopic end along the flexible guide rod in the front side is moved to stretch out or withdraw to riser direction to be welded；The pressure value passes
Sensor is arranged in the telescopic end of the flexible guide rod in the front side, and the telescopic end pressure value for the guide rod that stretched to front side is adopted
Collection, the output end of the pressure value sensor are connected with the input of the guide controller, the output of the guide controller
End is connected with the front side guide rod line motor, when the telescopic end pressure value of the flexible guide rod in the front side received is beyond setting
During value range, the front side guide rod line motor is driven to drive the telescopic end of the flexible guide rod in the front side to stretch out or retract,
Make the telescopic end guide support of the flexible guide rod in the front side in the side of riser to be welded.
In a preferred embodiment, in addition to：Rear side stretches guide rod；The fixation of the flexible guide rod of the rear side
Hold and be fixedly connected on rear side of the traveling with the welding tractor, stretched out to the weld side, the flexible guide rod in side is interior in the rear
Portion sets rear side guide rod line motor, and the telescopic end fixation of the rear side guide rod line motor and the flexible guide rod of rear side connects
Connect, drive the one end of the telescopic end along the flexible guide rod of the rear side to stretch out or withdraw to riser direction to be welded；The pressure
Value sensor is arranged in the telescopic end of the flexible guide rod of the rear side, and the telescopic end pressure value for the guide rod that stretched to rear side is carried out
Collection, the output end of the pressure value sensor is connected with the input of the guide controller, the guide controller it is defeated
Go out end to be connected with the rear side guide rod line motor, the telescopic end pressure value and rear side for judging the flexible guide rod in front side are stretched and led
It is whether identical to the telescopic end pressure value of bar, if it is not, then judging the pressure value of wherein larger contracting guide rod whether beyond setting
Value range, if so, then driving the telescopic end for the guide rod that stretched corresponding to corresponding guide rod line motor drive to stretch out or contract
Return, make the telescopic end guide support of corresponding flexible guide rod in the side of riser to be welded.
In a preferred embodiment, in addition to：Directive wheel；The directive wheel and the flexible guide rod in the front side
The end of telescopic end, or the end of the telescopic end of the flexible guide rod of the rear side are fixedly connected.
In a preferred embodiment, the welding tractor includes：Running gear includes：Road wheel and walking electricity
Machine, the output end of the movable motor are connected with the road wheel, driving road wheel walking；The road wheel and the welding are small
The bottom of car is fixedly connected.
In a preferred embodiment, in addition to：Laser range finder；The laser range finder and the welding tractor
Front side be fixedly connected with rear side, the range information between the welding tractor and riser to be welded is given and gathered, output end with
The input connection of the guide controller；The guide controller is flexible when the flexible guide rod in the front side or rear side that receive
Side pressure force value exceeds setting range value, while when the range information exceeds setpoint distance value, then drives the front side or rear side
Guide rod line motor drives the front side or the telescopic end of the flexible guide rod of rear side to stretch out or retract, and makes the front side or rear side
The telescopic end guide support of flexible guide rod is in the side of riser to be welded.
In a preferred embodiment, the welding tractor includes：Welding gun adjusting bracket, welding gun and welding gun steady pin；
For the welding gun adjusting bracket with being fixedly connected at the top of the welding tractor, the end of the welding gun adjusting bracket passes through welding gun steady pin
It is fixedly connected with the welding gun.
The control method of welding tractor with intelligent steering device, including：
Step S101：Receive the telescopic end pressure value of the flexible guide rod in front side；
Step S102：Judge whether the telescopic end pressure value of the flexible guide rod in the front side exceeds setting range value, if so,
Then drive the front side guide rod line motor to drive the stretch telescopic end of guide rod of the front side to stretch out or retract, make it is described before
The telescopic end guide support of the flexible guide rod in side is in the side of riser to be welded.
In a preferred embodiment, also include in step S101：Receive the telescopic end of the flexible guide rod of rear side
Pressure value；
Include in step s 102：Judge the telescopic end pressure value of the flexible guide rod in front side and stretching for the flexible guide rod of rear side
Whether contracting side pressure force value is identical, if it is not, then judge whether the pressure value of wherein larger contracting guide rod exceeds setting range value, if
Be then drive corresponding guide rod line motor drive corresponding to the stretch telescopic end of guide rod stretch out or retract, make pair
The telescopic end guide support for the flexible guide rod answered is in the side of riser to be welded.
In a preferred embodiment, also include in step S101：To the welding tractor and riser to be welded
Between range information give and gather, include in step s 102：When the telescopic end of the flexible guide rod in the front side or rear side received
Pressure value beyond setting range value simultaneously the range information exceed setpoint distance value when, then drive the front side or rear side guiding
Bar line motor drives the front side or the telescopic end of the flexible guide rod of rear side to stretch out or retract, and the front side or rear side is stretched
The telescopic end guide support of guide rod is in the side of riser to be welded.
It follows that beneficial effects of the present invention are：
Firstly, since welding tractor intelligent steering plant automation degree is high, it automatic accurate can be bonded lateral reference plane, lead
It is constant to wheel stress so that the welding tractor accurately follows the trail of weld seam in welding workpiece, greatly reduces weld seam and stings meat, gnaws side, weldering
The defects of inclined, effectively improve operating efficiency when weldquality and welding.
Secondly as employ intelligent steering device so that welding tractor can adapt to including shaped form weld seam
Weld seam, automaticity is higher, effectively increases the welding efficiency of welding tractor, expands the welding application model of welding tractor
Enclose so that welding tractor meets more welding objects not in specie.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the external structure schematic diagram of the welding tractor in one embodiment of the present invention with intelligent steering device；
Fig. 2 is the composition schematic diagram of the welding tractor in another embodiment of the present invention with intelligent steering device；
Fig. 3 is the work weld face signal of the welding tractor in one embodiment of the present invention with intelligent steering device
Figure；
Fig. 4 is that the control system composition of the welding tractor in one embodiment of the present invention with intelligent steering device shows
It is intended to.
Embodiment
Below in conjunction with the accompanying drawing of the present invention, technical scheme is clearly and completely described, it is clear that institute
The embodiment of description is only part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention,
The every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, belongs to this hair
The scope of bright protection.
As shown in figures 1-4, in one embodiment of the present invention, there is provided a kind of welding with intelligent steering device is small
Car, the side of welding tractor is weld side 90.11 is solid on front side of the fixing end of the flexible guide rod 10 in front side and the traveling of welding tractor
Fixed connection, is stretched out to weld side 90, and guide rod line motor 12 on front side of the inside setting for the guide rod 10 that stretched in front side, front side is led
It is fixedly connected to the stretch telescopic end 13 of guide rod 10 of bar line motor 12 and front side, drives telescopic end to be stretched guide rod along front side
10 one end is stretched out or withdrawn to the direction of riser 80 to be welded.Pressure value sensor 14 is arranged at stretching for the flexible guide rod 10 in front side
In contracting end, the telescopic end pressure value for the guide rod 10 that stretched to front side is acquired, the pressure value sensor of the flexible guide rod in front side
14 output end is connected with the input of guide controller 20, output end and the front side guide rod line motor of guide controller 20
12 connections, when the telescopic end pressure value of the flexible guide rod 10 in the front side received exceeds setting range value, driving front side is oriented to
Bar line motor 12 drives the telescopic end of the flexible guide rod 10 in front side to stretch out or retract, and makes the telescopic end of the flexible guide rod 10 in front side
Guide support is in the side of riser 80 to be welded.
In a preferred embodiment, in addition to：Rear side stretches guide rod 30；The fixation of the flexible guide rod 30 of rear side
Hold the rear side of the traveling with welding tractor 31 to be fixedly connected, stretched out to weld side 90, the inside setting for the guide rod 30 that stretched in rear side
The telescopic end 33 of rear side guide rod line motor 32, rear side guide rod line motor 32 and the flexible guide rod 30 of rear side, which is fixed, to be connected
Connect, drive the telescopic end to stretch out or withdraw to the direction of riser 80 to be welded along stretch one end of guide rod 30 of rear side；Pressure value passes
Sensor 34 is arranged in the telescopic end of the flexible guide rod 30 of rear side, and the telescopic end pressure value for the guide rod 30 that stretched to rear side is adopted
Collection, the output end of pressure value sensor 34 are connected with the input of guide controller 20, and the output end of guide controller 20 is with after
Side guide rod line motor 32 connects, and judges the telescopic end pressure value of the flexible guide rod 10 in front side or rear side stretches guide rod 30
Whether telescopic end pressure value is identical, if it is not, then judge whether the pressure value of wherein larger contracting guide rod exceeds setting range value,
If so, then driving the telescopic end for the guide rod that stretched corresponding to corresponding guide rod line motor drive to stretch out or retract, make institute
The telescopic end guide support of corresponding flexible guide rod is in the side of riser 80 to be welded.
In a preferred embodiment, in addition to：Directive wheel 15,35；Directive wheel 15,35 and the flexible guide rod in front side
The end of 10 telescopic end, or the end of the telescopic end of the flexible guide rod 30 of rear side are fixedly connected.
In a preferred embodiment, welding tractor includes：Running gear.The running gear includes：Road wheel 40
And movable motor 41, the output end of movable motor 41 are connected with road wheel 40, driving road wheel 40 is walked；Road wheel 40 and welding
The bottom of dolly is fixedly connected.
To ensure measurement accuracy, in a preferred embodiment, in addition to：Laser range finder 50,51；Laser ranging
Instrument 50,51 is fixedly connected with the front side of welding tractor with rear side, and the range information between welding tractor and riser to be welded 80 is given
Collection is given, output end is connected with the input of guide controller 20；Guide controller 20 stretches when the front side or rear side that receive
The telescopic end pressure value of guide rod 30 exceeds setting range value, while when range information exceeds setpoint distance value, then driving front side
Rear side guide rod line motor 32 drive front side or rear side stretch guide rod 30 telescopic end stretch out or retract, make front side or after
The telescopic end guide support of the flexible guide rod 30 in side is in the side of riser 80 to be welded.
In a preferred embodiment, welding tractor includes：Welding gun adjusting bracket 60, welding gun 61 and welding gun steady pin
62.For welding gun adjusting bracket 60 with being fixedly connected at the top of welding tractor, the end of welding gun adjusting bracket 60 passes through welding gun steady pin and weldering
Rifle is fixedly connected.
In another embodiment of the invention, there is provided a kind of control of the welding tractor with intelligent steering device
Method, it is characterised in that including：
Step S101：Receive the telescopic end pressure value of the flexible guide rod 10 in front side；
Step S102：Judge whether the telescopic end pressure value of the flexible guide rod 10 in front side exceeds setting range value, if so, then
Driving front side guide rod line motor 12 drives the telescopic end of the flexible guide rod 10 in front side to stretch out or retract, and makes front side is flexible to be oriented to
The telescopic end guide support of bar 10 is in the side of riser 80 to be welded.
Preferably, also include in step S101：Receive the telescopic end pressure value of the flexible guide rod 30 of rear side；
Include in step s 102：Judge the telescopic end pressure value or the flexible guide rod 30 of rear side of the flexible guide rod 10 in front side
Telescopic end pressure value it is whether identical, if it is not, then judging whether the pressure value of wherein larger contracting guide rod exceeds setting range
Value, if so, then driving the telescopic end for the guide rod that stretched corresponding to corresponding guide rod line motor drive to stretch out or retract, make
The telescopic end guide support of corresponding flexible guide rod is in the side of riser 80 to be welded.
Preferably, also include in step S101：Range information between welding tractor and riser to be welded 80 is given and adopted
Collection, includes in step s 102：When the telescopic end pressure value of the flexible guide rod 30 in the front side or rear side received is beyond setting model
Enclose value range information when exceed setpoint distance value simultaneously, then on front side of driving front side or rear side guide rod line motor 32 drive or after
The stretch telescopic end of guide rod 30 of side stretches out or retracted, make front side or rear side stretch guide rod 30 telescopic end guide support in treating
Weld the side of riser 80.
In one embodiment of the invention, there is provided a kind of welding tractor and its control method, the welding tractor
Including directive wheel 15,35, directive wheel mounting seat, pressure 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 walking
Wheel 40 and PLC (not provided in figure).Welding tractor running wheel 40 is placed in below welding tractor vehicle body, front and rear each
Two symmetrically placed, is mainly used in the walking of welding tractor.There is welding tractor walking in the lower right corner of welding tractor vehicle body upper surface
Motor 41, motor 41 are connected with welding tractor running wheel 40 by decelerator (not provided in figure), pass through controlled motor 41
Move so as to control the walking of welding tractor.Welding tractor vehicle body front/rear end respectively places a line motor 12,32, passes through control
Line motor 12 processed, the length of 32 projecting shafts are so as to controlling the contact with lateral weld datum plate of directive wheel 15,35.Line motor
12nd, the axial direction of 32 stretching shaft ends is connected with pressure value sensor 14,34, directive wheel 15,35 installation pedestals, guiding in turn
Wheel 15,35.Cylindrical Combined pressure sensor is used to measure the big of power between directive wheel 15,35 and lateral weld datum plate
It is small, PLC is fed back to by former and later two pressure value sensors 14,34, passes through directive wheel before and after feedback 15,35 contact forces
Between power setting value compared with size, control signal is transferred to line motor 12,32, so as to control tandem motor 12,
The length of 32 projecting shafts, ensure that power is in setting range between directive wheel 15,35 and lateral weld datum plate so that welding tractor
Accurately it is bonded between lateral weld datum plate, ensures to weld out the weld seam of high quality.The two of front and rear 2 line motors 12,32
Side external surface is provided with laser range finder 50,51, and the laser range finder 50,51 is used to measure welding tractor and lateral weld benchmark
Distance between plate, measure distance and feed back to PLC, control line motor 12,32 stretches out shaft length.Laser range finder 50,
51 are installed on the outer surface of two line motors 12,32, ensure that the distance that laser range finder 50,51 measures is directive wheel 15,35
I.e. by reach.Criss-cross welding gun adjusting bracket 60 is placed in welding tractor upper surface and consolidated by bolt and welding tractor vehicle body
Fixed, welding gun adjusting bracket 60 can adjust the position of welding gun 61 up and down, and the welding left upper end of adjusting bracket 7 is provided with welding gun mounting hole, led to
Cross welding gun mounting pin and fix welding gun 61.
As shown in figure 4, the directive wheel 15,35 of welding tractor contacts with region A, welding position B.Welding in the present invention
The operation principle of dolly is：Front and rear directive wheel 15,35 and line motor 12,32 can be set to stretch out before welding by PLC
Shaft length.In moving direction, before one group of line motor 12,32 axle extension elongations go out than the shaft extension of moving direction rear set it is long
Spend short.Because tandem motor 12,32 axle extension elongations are inconsistent, welding tractor is close to shaft length all the time in the process of walking
Shorter side moves ahead, so as to realize that dolly fitting welding datum plate moves ahead.Welding tractor is front and rear to lead in the preferable course of work
It is close to lateral weld datum plate to wheel 15,35 to roll, the pressure size of two directive wheels 15,35 and lateral weld datum plate is kept not
Become.The distance that the measurement of laser range finder 50,51 obtains laser range finder 50,51 positions and lateral weld datum plate is also to protect
Hold constant.
When lateral weld datum plate is curved surface, PLC presets laser sensor position and lateral weldering
Connect the front distance S1 and rear portion distance S2 of reference plane, two directive wheels 15,35 and lateral weld benchmark surface pressure F1, F2 value model
Enclose.In the welding tractor course of work, when welding tractor directive wheel 15,35 has the trend for deviateing curved surface welding reference plane, F1
Exceed setting range with F2, pressure signal is transferred to PLC by pressure value sensor 14,34, while S1 and S2 also occur
Change, laser range finder 50,51 gives PLC distance signal transmission, and PLC receives pressure signal and distance signal
After feed back to line motor 12,32, line motor 12,32 adjusts directive wheel 15,35 by controlling the length of projecting shaft, now
Two directive wheels 15,35 and the pressure F1 and F2 of lateral weld reference plane are returned in normal range (NR), where laser range finder 50,51
Position and the front distance S1 and rear portion distance S2 of lateral register reference plane return to setting value, and directive wheel 15,35 is again along song
Face is passed through, and welding tractor continues normal weld.
When welding tractor work, lateral weld datum plate uneven surface, PLC has preset two directive wheels
15th, 35 with pressure F1, the F2 value scope of lateral weld datum plate.When welding tractor has the trend for departing from welding datum plate,
Pressure signal is transferred to PLC by combined type strain transducer, and F1 and F2 changes and exceedes setting range, while two
The individual measurement of laser range finder 50,51 obtains laser range finder 50,51 positions and lateral weld positioning datum prelaminar part distance
S1 and rear portion distance S2 signal is transferred to PLC.PLC feeds back to directly after receiving pressure signal and distance signal
Line motor 12,32, line motor 12,32 make two directive wheels by controlling it to stretch out shaft length to adjust directive wheel 15,35
15th, 35 normal range (NR) is returned to pressure F1, F2 of lateral weld datum plate and distance S1, S2, welding tractor continues normal weldering
Connect.
Intelligent steering apparatus control method is specific as follows：
The first step (s1)：First, according to welding requirements setup pressure value sensor 14,34 contact force F1, F2 excursions
And welding tractor and lateral weld datum plate distance S1, S2 excursion.
Second step (s2)：When welding tractor has the trend for departing from welding datum plate, pressure value sensor 14,34 measures
Data F1, F2 and laser range finder 50,51 data measured S1, S2 feed back to PLC.
3rd step (s3)：PLC handles feedback signal compared with setting value, the signal after PLC is handled
Line motor 12,32 is passed to, line motor 12,32 action control axle extension elongations, ensures power, distance signal in normal model
Enclose.
4th step (s4)：Measure contact force F1, F2 and S1, S2 signal feed back to PLC in real time, if F1, F2 and
S1, S2 then stop line motor 12,32 in range of set value, if being not reaching to value range, line motor 12,32 after
Reforwarding is moved, until F1, F2 and S1, S2 meet to require.
The foregoing is only a specific embodiment of the invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (9)
1. the welding tractor with intelligent steering device, including：Welding tractor；The side of the welding tractor is weld side, its
It is characterised by, in addition to：Front side is stretched guide rod, pressure value sensor and guide controller；The flexible guide rod in the front side
Fixing end is stretched out, stretch guide rod in the front side with being fixedly connected on front side of the traveling of the welding tractor to the weld side
Inside front side guide rod line motor is set, the telescopic end of the flexible guide rod in the front side guide rod line motor and front side is consolidated
Fixed connection, the one end of the telescopic end along the flexible guide rod in the front side is driven to stretch out or withdraw to riser direction to be welded；Institute
State pressure value sensor to be arranged in the telescopic end of the flexible guide rod in the front side, the flexible end pressure for the guide rod that stretches to front side
Value is acquired, and the output end of the pressure value sensor is connected with the input of the guide controller, described to be oriented to control
The output end of device is connected with the front side guide rod line motor, when the telescopic end pressure value of the flexible guide rod in the front side received
During beyond setting range value, the front side guide rod line motor is driven to drive the telescopic end of the flexible guide rod in the front side to stretch out
Or retract, make the telescopic end guide support of the flexible guide rod in the front side in the side of riser to be welded.
2. the welding tractor according to claim 1 with intelligent steering device, it is characterised in that also include：Rear side is stretched
Contracting guide rod；It is fixedly connected on rear side of the fixing end of the flexible guide rod of the rear side and the traveling of the welding tractor, to the weldering
Side stretching is connect, the inside of the flexible guide rod in side sets rear side guide rod line motor, the rear side guide rod straight line in the rear
The stretch telescopic end of guide rod of motor and rear side is fixedly connected, drive the telescopic end along the rear side stretch guide rod one end to
Riser direction to be welded is stretched out or withdrawn；The pressure value sensor is arranged in the telescopic end of the flexible guide rod of the rear side,
The telescopic end pressure value of guide rod of being stretched to rear side is acquired, and the output end of the pressure value sensor controls with described be oriented to
The input connection of device, the output end of the guide controller are connected with the rear side guide rod line motor, judge that front side is stretched
Whether the telescopic end pressure value of the flexible guide rod of the telescopic end pressure value and rear side of contracting guide rod is identical, if it is not, then judging wherein
Whether the pressure value of larger contracting guide rod exceeds setting range value, if so, then driving corresponding guide rod line motor band
The telescopic end of flexible guide rod stretches out or retracted corresponding to dynamic, makes the telescopic end guide support of corresponding flexible guide rod in treating
Weld the side of riser.
3. the welding tractor according to claim 2 with intelligent steering device, it is characterised in that also include：Directive wheel；
The end of the directive wheel and the telescopic end of the flexible guide rod in the front side, or the end of the telescopic end of the flexible guide rod of the rear side
Portion is fixedly connected.
4. the welding tractor according to claim 1 with intelligent steering device, it is characterised in that the welding tractor bag
Include：Running gear, the running gear include：Road wheel and movable motor, the output end of the movable motor and the walking
Wheel connection, driving road wheel walking；The road wheel is fixedly connected with the bottom of the welding tractor.
5. the welding tractor according to claim 2 with intelligent steering device, it is characterised in that also include：Laser Measuring
Distance meter；The laser range finder is fixedly connected with the front side of the welding tractor with rear side, to the welding tractor with it is to be welded
Range information between riser, which is given, to be gathered, and output end is connected with the input of the guide controller；The guide controller is worked as
The telescopic end pressure value of the front side received or the flexible guide rod of rear side exceeds setting range value, while the range information exceeds
During setpoint distance value, then drive that the front side or rear side guide rod line motor drive the front side or rear side stretches guide rod
Telescopic end stretches out or retracted, and makes the telescopic end guide support of the front side or the flexible guide rod of rear side in the side of riser to be welded
Side.
6. the welding tractor according to claim 1 with intelligent steering device, it is characterised in that the welding tractor bag
Include：Welding gun adjusting bracket, welding gun and welding gun steady pin；The welding gun adjusting bracket at the top of the welding tractor with being fixedly connected, institute
The end for stating welding gun adjusting bracket is fixedly connected by welding gun steady pin with the welding gun.
7. the control method of the welding tractor with intelligent steering device, it is characterised in that including：
Step S101：Receive the telescopic end pressure value of the flexible guide rod in front side；
Step S102：Judge whether the telescopic end pressure value of the flexible guide rod in the front side exceeds setting range value, if so, then driving
The dynamic front side guide rod line motor drives the telescopic end of the flexible guide rod in the front side to stretch out or retract, and stretches the front side
The telescopic end guide support of contracting guide rod is in the side of riser to be welded.
8. the control method of the welding tractor according to claim 7 with intelligent steering device, it is characterised in that in step
Also include in rapid S101：Receive the telescopic end pressure value of the flexible guide rod of rear side；
Include in step s 102：Judge the telescopic end pressure value of the flexible guide rod in front side and the telescopic end of the flexible guide rod of rear side
Whether pressure value is identical, if it is not, then judge whether the pressure value of wherein larger contracting guide rod exceeds setting range value, if so,
Then drive the telescopic end for the guide rod that stretched corresponding to corresponding guide rod line motor drive to stretch out or retract, make corresponding
The telescopic end guide support of flexible guide rod is in the side of riser to be welded.
9. the control method of the welding tractor with intelligent steering device according to claim 7 or 8, it is characterised in that
Also include in step S101：Range information between the welding tractor and riser to be welded is given and gathered, in step S102
Include：When the telescopic end pressure value of the flexible guide rod in the front side or rear side received is beyond setting range value while the distance
When information exceeds setpoint distance value, then the front side or rear side guide rod line motor is driven to drive the front side or rear side to stretch
The telescopic end of guide rod stretches out or retracted, and makes the telescopic end guide support of the front side or the flexible guide rod of rear side in be welded vertical
The side of plate.
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| CN105499771B true CN105499771B (en) | 2017-12-26 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106984890A (en) * | 2017-04-14 | 2017-07-28 | 五冶集团上海有限公司 | Semiautomatic welding device |
| CN108817764A (en) * | 2018-08-15 | 2018-11-16 | 广州文冲船厂有限责任公司 | A kind of welding box beam equipment and welding method |
| CN112124350A (en) * | 2020-09-28 | 2020-12-25 | 湖南机电职业技术学院 | Stabilizing wheel guiding device for rail operation vehicle and control method thereof |
| CN112475704A (en) * | 2020-11-27 | 2021-03-12 | 上海振华重工(集团)股份有限公司 | Welding tractor |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2004141875A (en) * | 2000-10-16 | 2004-05-20 | Kokuho:Kk | Welding equipment |
| CN201728494U (en) * | 2010-05-18 | 2011-02-02 | 北京百事达电器设备有限责任公司 | Double-welding-torch pipeline all-position automatic welding tractor and automatic welding machine |
| CN102248258A (en) * | 2010-05-21 | 2011-11-23 | 北京石油化工学院 | Guide rail-free automatic tracking flexible crawling trolley applied to underwater local dry welding |
| CN201913351U (en) * | 2011-01-10 | 2011-08-03 | 司云兰 | Cantilever-type automatic-copying welding machine for irregular tank |
| CN201960295U (en) * | 2011-04-20 | 2011-09-07 | 南京顶瑞电机有限公司 | Automatic welding tractor for multiple operation positions |
| CN202963754U (en) * | 2012-10-26 | 2013-06-05 | 宁波二十冶建设有限公司 | Novel semi-automatic submerged arc welding machine |
| KR101464857B1 (en) * | 2013-02-01 | 2014-11-24 | 주식회사 한진중공업 | 3d curved welding apparatus with auto changing function for welding conditions as per slope angle |
| CN203992880U (en) * | 2014-08-25 | 2014-12-10 | 广新海事重工股份有限公司 | A kind of welding tractor |
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