CN105522265A - Straight weld bead lateral force tracking device and method - Google Patents
Straight weld bead lateral force tracking device and method Download PDFInfo
- Publication number
- CN105522265A CN105522265A CN201610056356.6A CN201610056356A CN105522265A CN 105522265 A CN105522265 A CN 105522265A CN 201610056356 A CN201610056356 A CN 201610056356A CN 105522265 A CN105522265 A CN 105522265A
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- tracking
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- welding
- tracking wheel
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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
- B23K9/18—Submerged-arc welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/02—Seam welding; Backing means; Inserts
- B23K9/025—Seam welding; Backing means; Inserts for rectilinear seams
-
- 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
- B23K9/02—Seam welding; Backing means; Inserts
- B23K9/025—Seam welding; Backing means; Inserts for rectilinear seams
- B23K9/0253—Seam welding; Backing means; Inserts for rectilinear seams for the longitudinal seam of tubes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
-
- 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)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention provides a straight weld bead lateral force tracking device and method. The device comprises a follow-up tracking mechanism (1), a splayed tracking wheel electric lifting mechanism (2), a transition connection board and a welding gun adjusting mechanism (4). The invention further provides the novel lateral force tracking method based on the device, and the method can achieve the automatic lateral face tracking function and the electric rectification function. The straight weld bead lateral force tracking device and method are used in the welding procedure of inner cladding layers of metallurgical composite pipes of straight seam pipe workshops and welding of longitudinal submerged arc welding pipes with the wall thickness being 40 mm or more, can achieve high-quality tracking of weld joints, and meet the normal production requirements of metallurgical composite pipes and thick-board longitudinal submerged arc welding pipes.
Description
Technical field
The invention belongs to vertical masonry joint metallurgical composite pipe and straight-line joint submerged arc welding tube manufacture field, be specifically related to the tracking of a kind of string bead side force tracking means and this device.
Background technology
Current straight-line joint submerged arc welding tube production line adopts in break bar press-in groove and coordinates servo follow-up tracing and artificial electronic correction tracking mode, and interior weldering adopts has welded mode together, has now become the standard-track structure of straight-line joint submerged arc welding tube.
Metallurgical composite pipe is due to its huge profit margin in recent years, and the heat being subject to domestic and international steel pipe manufacturing is held in both hands, and domestic manufacture welded steel pipe enterprise starts to build metallurgical composite pipe production line.Be divided into base tube to weld due to weldering part in metallurgical composite pipe and cover pipe welding, it must adopt multilayer multipass approach to weld.The heavy wall straight-line joint submerged arc welding tube of more than 40mm simultaneously, in order to enhance productivity, interior weldering also preferably adopts the welding of multilayer multipass approach, in this case, break bar tracking mode cannot be implemented, and as not having reliable tracking mode, above-mentioned steel pipe just cannot carry out high-quality reliable production.
Summary of the invention
Follow the tracks of the problem of difficulty when welding in metallurgical composite pipe and slab straight-line joint submerged arc welding tube multilayer multiple tracks in prior art to solve, the present invention proposes a kind of string bead side force tracking means and tracking.
String bead side force tracking means provided by the invention comprises: servo follow-up tracing mechanism 1, Eight characters tracking wheel electric lifting mechanism 2, transition connecting plate and welding gun governor motion 4, is characterized in that:
Described servo follow-up tracing mechanism 1 comprises base 9, upper link 10, first line slideway auxiliary 5, centering cylinder 8, locating dowel 6 and locking cylinder 7, described base 9 is fixedly connected on welding equipment 23, described upper link 10 is slidably connected with described base 9 by the first line slideway auxiliary 5, described centering cylinder 8 is installed on base 9, described locating dowel 6 is fixedly connected on base 9, and described locking cylinder 7 is fixed on base 9; Described
Described Eight characters tracking wheel electric lifting mechanism 2 comprises edge-on seat 11, reducing motor, roller bearing screw component 12, second line slideway auxiliary 13, Eight characters tracking wheel 15, tracking wheel clamping device 16 and pressure sensor 14, and described welding gun 22 realizes left and right by upper junction plate 10 and is free to slide; Described upper junction plate realizes locking by locking cylinder 7; Described edge-on seat 11 is fixedly connected on the upper link 10 of servo follow-up tracing mechanism 1, described reducing motor and roller bearing screw component 12 are connected on edge-on seat 11 by the second line slideway auxiliary 13, and described Eight characters tracking wheel 15 is connected with roller bearing screw component 12 with reducing motor with pressure sensor 14 by tracking wheel clamping device 16; Described Eight characters tracking wheel 15 comprises two tracking wheels, and described two tracking wheels are identical with vertical direction angle;
Described welding gun governor motion 4 is connected with described Eight characters tracking wheel electric lifting mechanism by transition connecting plate 18; Described welding gun regulating member is provided with welding gun and accommodates mechanism, described welding gun is connected on welding gun governor motion by described welding torch clamping mechanism.
Preferably, it is characterized in that, described device also comprises electronic deviation correction mechanism 3, described electronic deviation correction mechanism 3 comprises the traversing assembly 17 of reducing motor, laser pen 20 and camera 19, described laser pen 20 is arranged on welding gun governor motion 4 with camera 19, the traversing assembly of described reducing motor 17 is arranged on edge-on seat 11, and described transition connecting plate 18 is arranged on the second line slideway auxiliary of the traversing assembly 17 of reducing motor.
Present invention also offers the side force tracking utilizing above-mentioned string bead side force tracking means, comprising:
Welding start before, the center line of Eight characters tracking wheel (15) and welding gun (22) are adjusted on straight line, after move to welding position; Two tracking wheels to Eight characters tracking wheel impose the identical power of size, when there is deviation in the axial direction in steel pipe (24), follower (1) moves to offset two tracking wheels to bead direction and is subject to steel plate reaction force component in the horizontal direction, servo follow-up tracing mechanism (1) moves with welding gun (22), realize along bead direction from motion tracking.
Preferably, described method comprises further:
Laser pen 20 and camera 19 are adjusted to the center line of Eight characters tracking wheel 15 and welding gun 22 institute point-blank, utilize electronic deviation correction mechanism 3 to adjust, ensure that welding gun 22 welds along correct position all the time.
The tracking of string bead side force tracking means of the present invention and this device uses in the metallurgical composite pipe internal coated layer welding sequence of straight-seam pipes workshop, its can not by bevel shape and with presence or absence of realize good tracking under state, Eight characters tracking wheel is under the operation of steel pipe inner wall side force, coordinate the follower that floats can realize the tracking of weld seam main trend, the high-quality coordinating electronic deviation correction mechanism can realize weld seam is followed the tracks of, and meets the normal Production requirement of metallurgical composite pipe.
Accompanying drawing explanation
The side view of Fig. 1 a kind of string bead side force tracking means of the present invention;
Fig. 2 a kind of string bead side force tracking means of the present invention is at the end view drawing of steel duct;
Fig. 3 Eight characters of the present invention tracking wheel is at the stressed schematic diagram of steel duct;
Accompanying drawing identifies:
1, Eight characters servo follow-up tracing mechanism; 2, Eight characters tracking wheel electric lifting mechanism; 3, electronic deviation correction mechanism; 4, welding gun governor motion; 5, the first line slideway auxiliary; 6, locating dowel; 7, locking cylinder; 8, to clock cylinder; 9, base; 10, upper junction plate; 11, edge-on seat; 12, roller bearing screw mandrel; 13, the second line slideway auxiliary; 14, pressure sensor; 15, Eight characters tracking wheel; 16, tracking wheel clamping device; 17, the traversing assembly of reducing motor; 18, transition connecting plate; 19, camera; 20, laser pen; 21, welding torch clamping mechanism; 22, welding gun; 23, welding equipment; 24, steel pipe.
Detailed description of the invention
The following is embodiments of the invention, it is only with and unrestricted with explanation of the present invention.
Figure 1 shows that the side view of a kind of string bead side force tracking means of the present invention, it comprises servo follow-up tracing mechanism 1, Eight characters tracking wheel electric lifting mechanism 2, electronic deviation correction mechanism 3, welding gun governor motion 4 and the parts such as laser pen 20 and camera 19;
Wherein, base 9 is fixedly connected on welding equipment 23, and upper link 10 is slidably connected with base 9 by the first line slideway auxiliary 5, centering cylinder 8 is installed on base 9, locating dowel 6 is fixedly connected on base 9, and locking cylinder 7 is fixed on base, and they form servo follow-up tracing mechanism 1 jointly.
Edge-on seat 11 is fixedly connected on the upper link 10 of servo follow-up tracing mechanism 1, reducing motor and roller bearing screw component 12 are connected on edge-on seat 11 by the first line slideway auxiliary 13, Eight characters tracking wheel 15 is connected with roller bearing screw component 12 with reducing motor with pressure sensor 14 by tracking wheel clamping device 16, and they form Eight characters tracking wheel electric lifting mechanism 2 jointly.
Electronic deviation correction mechanism 3 is made up of the traversing assembly 17 of reducing motor and transition connecting plate 18.The traversing assembly of reducing motor 17 is arranged on edge-on seat 11, and transition connecting plate 18 is arranged on the second line slideway auxiliary of the traversing assembly 17 of reducing motor.
Welding gun governor motion 4 is arranged in transition connecting plate 18, and welding gun 22 is connected on welding gun governor motion 4 by welding torch clamping mechanism 21, and laser pen 20 and camera 19 are also arranged on welding gun governor motion 4.
The upper junction plate 10 of described servo follow-up tracing mechanism 1 can drive welding gun 22 to carry out left and right and be free to slide.Centering cylinder 8, under the restriction effect of locating dowel 6, can realize during upper junction plate 10 automatically returns, in that is to say that welding gun 22 returns automatically.Described locking cylinder 7 can realize the locking of upper junction plate 10.
The Eight characters tracking wheel 15 of described Eight characters tracking wheel electric lifting mechanism 2 can electronic rising and decline under the effect of reducing motor and roller bearing screw component 12, thus can according to actual welding situation, welding gun 22 to proper height is regulated before welding starts, and in welding process, keep this height, and ensure that welding effect is reliable.The pressure of described Eight characters tracking wheel 15 pairs of steel pipes 24 can be detected by pressure sensor 14.
Before welding starts, center line and the welding gun 22 of laser pen 20, camera 19, Eight characters tracking wheel 15 should be adjusted on straight line.Welding gun 22 can under the effect of electronic deviation correction mechanism 3, and the accurate adjustment of free left and right is carried out in the impact not by servo follow-up tracing mechanism 1, ensures that welding gun 22 welds in the welding position of the best.
Figure 2 shows that the end view drawing of a kind of string bead side force tracking means of the present invention in steel duct, as can be seen from the figure this device is at the actual working state of steel pipe 24 inside.Figure 3 shows that the stressed schematic diagram of Eight characters tracking wheel of the present invention in steel duct.
Before welding starts, welding equipment 23 is applied to the power that Eight characters tracking wheel 15 size is all F1 and F11 mutually, and the corresponding active force of steel pipe 24 pairs of Eight characters tracking wheels 15 is F2 and F22.Pressure F1 and F11 that they are applied to Eight characters tracking wheel 15 at the component F4 of vertical direction and F44 component and welding equipment 23 is in the same size, cancels out each other; And component F3 and F33 of F2 and F22 in level is just contrary on direction, when there is deviation in the axial direction in steel pipe 24, if when its component F3 being applied to tracking wheel 15 is greater than component F33, under the effect of side force, servo follow-up tracing mechanism 1 will move with welding gun 22, until F3 and F33 is in the same size.Otherwise identical, servo follow-up tracing mechanism 1 oppositely will move with welding gun 22, until F3 and F33 is in the same size.Thus realize welding gun 22 and move along the axis direction of steel pipe 24 all the time, also namely realize welding gun 22 and carry out from motion tracking along bead direction.
When difference between side force F3 and F33 is less, when that is to say that steel pipe 24 misalignment of axe is little, at this moment when side force is not enough to affecting of the frictional force overcoming servo follow-up tracing mechanism 1, because now deviation is very little, the relative position of laser spots and weld seam can be observed in monitor, utilize electronic deviation correction mechanism 3 to carry out trickle accurate adjustment whole, ensure that welding gun 22 welds along correct position all the time, thus ensure welding quality;
Adopt the side force tracking of a kind of string bead side force tracking means of the present invention that the actual welds groove track of the movement of welding gun 22 and seam track and workpiece can be made to be consistent, avoid being partially welded and cause weld defect.Supporting with welding equipment 23, be applicable to the interior pass weld of vertical masonry joint metallurgical composite pipe internal coated layer and slab straight-line joint submerged arc welding tube.
In said apparatus, if without the need to manually rectifying a deviation, then can remove electronic deviation correction mechanism, namely removing the traversing assembly 17 of reducing motor, laser pen 20 and camera 19, only rely on the realization of Eight characters tracking wheel for the correction of welding position.
It is emphasized that: be only preferred embodiment of the present invention above; not do any pro forma restriction to the present invention, every any simple deformation of doing example and method thereof according to technical spirit of the present invention or amendment are all within the protection domain of this patent.
Claims (4)
1. a string bead side force tracking means, comprises servo follow-up tracing mechanism (1), Eight characters tracking wheel electric lifting mechanism (2), transition connecting plate (18) and welding gun governor motion (4), it is characterized in that:
Described servo follow-up tracing mechanism (1) comprises base (9), upper link (10), first line slideway auxiliary (5), centering cylinder (8), locating dowel (6) and locking cylinder (7), described base (9) is fixedly connected on welding equipment (23), described upper link (10) is slidably connected by the first line slideway auxiliary (5) and described base (9), described centering cylinder (8) is installed on base (9), described locating dowel (6) is fixedly connected on base (9), described locking cylinder (7) is fixed on base (9),
Described Eight characters tracking wheel electric lifting mechanism (2) comprises edge-on seat (11), reducing motor, roller bearing screw component (12), the second line slideway auxiliary (13), Eight characters tracking wheel (15), tracking wheel clamping device (16) and pressure sensor (14), and described welding gun (22) realizes left and right by upper junction plate (10) and is free to slide; Described upper junction plate realizes locking by locking cylinder (7); Described edge-on seat (11) is fixedly connected on the upper link (10) of servo follow-up tracing mechanism (1), described reducing motor and roller bearing screw component (12) are connected on edge-on seat (11) by the second line slideway auxiliary (13), and described Eight characters tracking wheel (15) is connected with reducing motor and roller bearing screw component (12) with pressure sensor (14) by tracking wheel clamping device (16); Described Eight characters tracking wheel (15) comprises two tracking wheels, and described two tracking wheels are identical with vertical direction angle;
Described welding gun governor motion (4) is connected with described Eight characters tracking wheel electric lifting mechanism by transition connecting plate (18); Described welding gun regulating member is provided with welding gun and accommodates mechanism, described welding gun is connected on welding gun governor motion by described welding torch clamping mechanism.
2. string bead side force tracking means according to claim 1, it is characterized in that, described device also comprises electronic deviation correction mechanism (3), described electronic deviation correction mechanism (3) comprises the traversing assembly of reducing motor (17), laser pen (20) and camera (19), described laser pen (20) and camera (19) are arranged on welding gun governor motion (4), the traversing assembly of described reducing motor (17) is arranged on edge-on seat (11), described transition connecting plate (18) is arranged on the second line slideway auxiliary of the traversing assembly of reducing motor (17).
3. utilize the side force tracking of the arbitrary described a kind of string bead side force tracking means of claim 1-2, comprising:
Welding start before, the center line of Eight characters tracking wheel (15) and welding gun (22) are adjusted on straight line, after move to welding position; Two tracking wheels to Eight characters tracking wheel impose the identical power of size, when there is deviation in the axial direction in steel pipe (24), follower (1) moves to offset two tracking wheels to bead direction and is subject to steel plate reaction force component in the horizontal direction, realize along bead direction from motion tracking.
4. method according to claim 3, is characterized in that, described method comprises further:
Laser pen (20) and camera (19) are adjusted to the center line of Eight characters tracking wheel (15) and welding gun (22) institute point-blank, utilize electronic deviation correction mechanism (3) to adjust, ensure that welding gun (22) welds along correct position all the time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610056356.6A CN105522265B (en) | 2016-01-27 | 2016-01-27 | A kind of string bead side force tracks of device and tracking |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610056356.6A CN105522265B (en) | 2016-01-27 | 2016-01-27 | A kind of string bead side force tracks of device and tracking |
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| CN105522265A true CN105522265A (en) | 2016-04-27 |
| CN105522265B CN105522265B (en) | 2017-11-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610056356.6A Active CN105522265B (en) | 2016-01-27 | 2016-01-27 | A kind of string bead side force tracks of device and tracking |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113333924A (en) * | 2021-08-05 | 2021-09-03 | 宝嘉智能科技(南通)有限公司 | Intelligent welding machine for metal pressure container |
| CN115319362A (en) * | 2022-08-23 | 2022-11-11 | 江苏兴齐智能输电科技有限公司 | Electric power steel pipe pole welding set based on longitudinal joint automatic tracking |
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| KR20140137565A (en) * | 2013-05-23 | 2014-12-03 | 대우조선해양 주식회사 | Sidewall back heating device |
| CN205362965U (en) * | 2016-01-27 | 2016-07-06 | 机械科学研究院哈尔滨焊接研究所 | String bead yawing force tracking means |
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| US4260869A (en) * | 1978-05-30 | 1981-04-07 | Midcon Pipeline Equipment Co. | Traveling welding carriage |
| CN2192426Y (en) * | 1994-02-08 | 1995-03-22 | 蒋伟康 | Automatic following device of welding seam |
| KR20090061746A (en) * | 2007-12-12 | 2009-06-17 | 에스티엑스조선주식회사 | Automatic welding robot for submerged arc welding |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113333924A (en) * | 2021-08-05 | 2021-09-03 | 宝嘉智能科技(南通)有限公司 | Intelligent welding machine for metal pressure container |
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| CN115319362A (en) * | 2022-08-23 | 2022-11-11 | 江苏兴齐智能输电科技有限公司 | Electric power steel pipe pole welding set based on longitudinal joint automatic tracking |
| CN115319362B (en) * | 2022-08-23 | 2023-09-15 | 江苏兴齐智能输电科技有限公司 | Electric power steel pipe pole welding set based on longitudinal joint automatic tracking |
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| CN105522265B (en) | 2017-11-21 |
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Address after: 150028, 2077, science and technology innovation road, Harbin, Heilongjiang, Songbei Patentee after: Harbin Welding Research Institute Co., Ltd. Address before: 150028, 2077, science and technology innovation road, Harbin, Heilongjiang, Songbei Patentee before: Harbin Inst. of Welding Academy of Mechanical Sciences |