CN105522265B - A kind of string bead side force tracks of device and tracking - Google Patents
A kind of string bead side force tracks of device and tracking Download PDFInfo
- Publication number
- CN105522265B CN105522265B CN201610056356.6A CN201610056356A CN105522265B CN 105522265 B CN105522265 B CN 105522265B CN 201610056356 A CN201610056356 A CN 201610056356A CN 105522265 B CN105522265 B CN 105522265B
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- China
- Prior art keywords
- tracking
- welding gun
- welding
- side force
- reducing motor
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Classifications
-
- 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
Abstract
The present invention proposes a kind of string bead side force tracks of device and tracking, and the inventive system comprises servo follow-up tracing mechanism (1), eight word tracking wheel electric lifting mechanisms (2), transition connecting plate and welding gun governor motion (4).Present invention also offers have side force automatic tracking function and the new method of electronic deviation-correcting function and lateral force tracking based on the device.The string bead side force tracks of device of the present invention and the tracking of the device use in the welding of straight-seam pipes workshop metallurgical composite pipe internal coated layer welding sequence and more than 40mm heavy wall straight-line joint submerged arc welding tube, the high quality tracking of weld seam can be realized, meets the normal production requirement of metallurgical composite pipe and slab straight-line joint submerged arc welding tube.
Description
Technical field
The invention belongs to vertical masonry joint metallurgical composite pipe and straight-line joint submerged arc welding tube manufacturing field, and in particular to a kind of string bead is lateral
The tracking of force tracking device and the device.
Background technology
At present straight-line joint submerged arc welding tube production line using coordinate in break bar press-in groove servo follow-up tracing and artificial electronic correction with
Track mode, interior weldering is using welding completion mode together, as the standard-track structure of straight-line joint submerged arc welding tube.
Metallurgical composite pipe is held in both hands, country's weldering due to its huge profit margin by the heat of domestic and international steel pipe manufacturing in recent years
Pipe enterprise starts to build metallurgical composite pipe production line.Because the interior weldering part of metallurgical composite pipe is divided into base tube welding and covers pipe weldering
Connect, it must be welded using multilayer multipass approach.More than 40mm heavy wall straight-line joint submerged arc welding tube simultaneously, in order to improve production
Efficiency, interior weldering is preferably also is welded using multilayer multipass approach, and in this case, break bar tracking mode can not be implemented, such as can not
The tracking mode leaned on, above-mentioned steel pipe can not just carry out the reliable production of high quality.
The content of the invention
Tracking is difficult during in order to solve to weld in metallurgical composite pipe in the prior art and slab straight-line joint submerged arc welding tube multilayer multiple tracks
The problem of, the present invention proposes a kind of string bead side force tracks of device and tracking.
String bead side force tracks of device provided by the invention includes：Servo follow-up tracing mechanism 1, eight word tracking wheel electric up-downs
Mechanism 2, transition connecting plate and welding gun governor motion 4, it is characterised in that：
The servo follow-up tracing mechanism 1 includes base 9, upper link 10, first straight line guideway 5, centering cylinder 8, positioning
Post 6 and locking cylinder 7, the base 9 are fixedly connected on welding equipment 23, and the upper link 10 passes through first straight line guide rail
Pair 5 is slidably connected with the base 9, and the centering cylinder 8 is installed on base 9, and the locating dowel 6 is fixedly connected on base 9
On, the locking cylinder 7 is fixed on base 9；It is described
The eight words tracking wheel electric lifting mechanism 2 includes edge-on seat 11, reducing motor, roller bearing screw component 12, second
Line slideway auxiliary 13, eight word tracking wheels 15, tracking wheel clamping device 16 and pressure sensor 14, the welding gun 22 pass through upper connection
Plate 10 realizes left and right slidably；The upper junction plate is realized by locking cylinder 7 and locked；The edge-on seat 11 is fixedly connected on
On the upper link 10 of servo follow-up tracing mechanism 1, the reducing motor passes through second straight line guideway 13 with roller bearing screw component 12
It is connected on edge-on seat 11, the eight words tracking wheel 15 passes through tracking wheel clamping device 16 and pressure sensor 14 and reducing motor
It is connected with roller bearing screw component 12；The eight words tracking wheel 15 includes two tracking wheels, described two tracking wheels and vertical direction
Angle is identical；
The welding gun governor motion 4 is connected by transition connecting plate 18 with the eight words tracking wheel electric lifting mechanism；Institute
State and welding gun blessing mechanism is provided with welding gun regulating member, the welding gun is connected to welding gun by the welding torch clamping mechanism and adjusted
In mechanism.
Preferably, it is characterised in that described device also includes electronic deviation correction mechanism 3, and the electronic deviation correction mechanism 3 includes subtracting
The traversing component 17 of speed motor, laser pen 20 and camera 19, the laser pen 20 are arranged on welding gun governor motion 4 with camera 19
On, the traversing component 17 of reducing motor is arranged on edge-on seat 11, and it is traversing that the transition connecting plate 18 is arranged on reducing motor
On the second straight line guideway of component 17.
Present invention also offers the side force tracking using above-mentioned string bead side force tracks of device, including：
Before welding starts, the center line of eight word tracking wheels (15) and welding gun (22) are adjusted onto straight line, it is rear mobile
To welding position；Size identical power is imposed to two tracking wheels of eight word tracking wheels, when steel pipe (24) is deposited in the axial direction
In deviation, follower (1) is to bead direction movement to offset two tracking wheels by steel plate reaction force in the horizontal direction
On component, servo follow-up tracing mechanism (1) moves with welding gun (22), realizes along bead direction from motion tracking.
Preferably, methods described further comprises：
Laser pen 20 and camera 19 are adjusted to the center line of eight word tracking wheels 15 and the institute of welding gun 22 point-blank,
It is adjusted using electronic deviation correction mechanism 3, ensures that welding gun 22 is welded along correct position all the time.
The string bead side force tracks of device of the present invention and the tracking of the device are in straight-seam pipes workshop metallurgical composite pipe
Used in internal coated layer welding sequence, it can not realize good tracking by bevel shape and in the state of whetheing there is, eight words with
Track wheel coordinates floating follower to realize the tracking of weld seam main trend under the operation of steel pipe inner wall side force, coordinates electricity
Dynamic deviation correction mechanism can realize the high quality tracking of weld seam, meet the normal production requirement of metallurgical composite pipe.
Brief description of the drawings
A kind of side view of string bead side force tracks of device of Fig. 1 present invention；
A kind of end view drawing of the string bead side force tracks of device of Fig. 2 present invention in steel duct；
Stress diagram of the eight word tracking wheels of Fig. 3 present invention in steel duct；
Accompanying drawing identifies：
1st, eight word servo follow-up tracing mechanism；2nd, eight word tracking wheel electric lifting mechanism；3rd, electronic deviation correction mechanism；4th, welding gun is adjusted
Mechanism；5th, first straight line guideway；6th, locating dowel；7th, locking cylinder；8th, to clock cylinder；9th, base；10th, upper junction plate；11st, side
Stand；12nd, roller bearing screw mandrel；13rd, second straight line guideway；14th, pressure sensor；15th, eight word tracking wheel；16th, tracking wheel clamps
Mechanism；17th, the traversing component of reducing motor；18th, transition connecting plate；19th, camera；20th, laser pen；21st, welding torch clamping mechanism；
22nd, welding gun；23rd, welding equipment；24th, steel pipe.
Embodiment
Embodiments of the invention are the following is, it only illustrates rather than limitation with of the invention.
Fig. 1 show a kind of side view of string bead side force tracks of device of the present invention, and it includes servo follow-up tracing mechanism
1st, eight word tracking wheel electric lifting mechanisms 2, electronic deviation correction mechanism 3, welding gun governor motion 4 and laser pen 20 and camera 19
Deng part；
Wherein, base 9 is fixedly connected on welding equipment 23, and upper link 10 passes through first straight line guideway 5 and base 9
It is slidably connected, centering cylinder 8 is installed on base 9, and locating dowel 6 is fixedly connected on base 9, and locking cylinder 7 is fixed on base
On, they collectively constitute servo follow-up tracing mechanism 1.
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 first straight line guideway 13, and eight word tracking wheels 15 pass through tracking wheel clamping device 16 and pressure
Sensor 14 and reducing motor are connected with roller bearing screw component 12, and they collectively constitute eight word tracking wheel electric lifting mechanisms 2.
Electronic deviation correction mechanism 3 is made up of the traversing component 17 of reducing motor and transition connecting plate 18.The traversing component of reducing motor
17 are arranged on edge-on seat 11, and transition connecting plate 18 is arranged on the second straight line guideway of the traversing component 17 of reducing motor.
Welding gun governor motion 4 is arranged in transition connecting plate 18, and welding gun 22 is connected to welding gun by welding torch clamping mechanism 21
On governor motion 4, laser pen 20 is also mounted on welding gun governor motion 4 with camera 19.
The upper junction plate 10 of the servo follow-up tracing mechanism 1 can drive welding gun 22 to carry out left and right slidably.Centering cylinder 8
Under the restriction effect of locating dowel 6, it is possible to achieve during upper junction plate 10 returns automatically, in that is to say that welding gun 22 returns automatically.The lock
Tight cylinder 7 can realize the locking of upper junction plate 10.
Eight word tracking wheels 15 of the eight words tracking wheel electric lifting mechanism 2 can be in reducing motor and roller bearing screw component
Electronic raising and lowering in the presence of 12, so as to which according to actual welding situation, welding gun 22 is adjusted before welding starts to conjunction
Suitable height, and this height is kept in welding process, and ensure that welding effect is reliable.The eight words tracking wheel 15 is to steel pipe
24 pressure can be detected by pressure sensor 14.
Before welding starts, laser pen 20, camera 19, the center line of eight word tracking wheels 15 and welding gun 22 should be adjusted to one
On straight line.Welding gun 22 can not be influenceed to carry out freely left and right in the presence of electronic deviation correction mechanism 3 by servo follow-up tracing mechanism 1
Accurate adjustment, ensure that welding gun 22 is welded in optimal welding position.
Fig. 2 show a kind of string bead side force tracks of device of the present invention in the end view drawing of steel duct, can from figure
To find out actual working state of the device inside steel pipe 24.Fig. 3 show the eight word tracking wheels of the present invention in steel duct
Stress diagram.
Before welding starts, welding equipment 23 is applied to the power that the size of eight word tracking wheel 15 is all mutually F1 and F11, steel pipe 24
The active force corresponding to eight word tracking wheels 15 is F2 and F22.They set in the component F4 and F44 component of vertical direction and welding
It is in the same size that the pressure F1 and F11 of eight word tracking wheels 15 are applied to for 23, is cancelled out each other；And the component of F2 and F22 in level
F3 and F33 on direction just on the contrary, when deviation be present in the axial direction in steel pipe 24, if it is applied to tracking wheel 15
When component F3 is more than component F33, in the presence of side force, servo follow-up tracing mechanism 1 will move with welding gun 22, until
F3 and F33 are in the same size.Otherwise identical, servo follow-up tracing mechanism 1 will be moved backward with welding gun 22, until F3 and F33
It is in the same size.So as to realize that welding gun 22 moves along the axis direction of steel pipe 24 all the time, namely realize welding gun 22 along weld seam side
To carrying out from motion tracking.
When the difference between side force F3 and F33 is smaller, when that is to say that the misalignment of axe of steel pipe 24 is little, at this moment side force
When being not enough to overcome the influence of the frictional force of servo follow-up tracing mechanism 1, because now deviation is very small, it can be observed in monitor
The relative position of laser spots and weld seam, it is whole to carry out trickle accurate adjustment using electronic deviation correction mechanism 3, ensure welding gun 22 all the time along suitable
Position is welded, so as to ensure welding quality；
The movement of welding gun 22 can be made using a kind of side force tracking of string bead side force tracks of device of the present invention
It is consistent with the actual welds groove track of seam track and workpiece, avoids being partially welded and causing weld defect.With welding equipment
23 is supporting, suitable for vertical masonry joint metallurgical composite pipe internal coated layer and the interior pass weld of slab straight-line joint submerged arc welding tube.
In said apparatus, if without manually being rectified a deviation, electronic deviation correction mechanism can be removed, that is, removes reducing motor
Traversing component 17, laser pen 20 and camera 19, only rely on correction of the eight word tracking wheels realization for welding position.
It is emphasized that：It the above is only presently preferred embodiments of the present invention, not the present invention made any formal
Limitation, it is every according to any simple deformation for being made to example and its method of technical spirit of the present invention or modification at this specially
Within the protection domain of profit.
Claims (4)
1. a kind of string bead side force tracks of device, including servo follow-up tracing mechanism (1), eight word tracking wheel electric lifting mechanisms (2),
Transition connecting plate (18) and welding gun governor motion (4), it is characterised in that：
The servo follow-up tracing mechanism (1) includes base (9), upper link (10), first straight line guideway (5), centering cylinder
(8), locating dowel (6) and locking cylinder (7), the base (9) are fixedly connected on welding equipment (23), the upper link
(10) it is slidably connected by first straight line guideway (5) and the base (9), the centering cylinder (8) is installed on base (9)
On, the locating dowel (6) is fixedly connected on base (9), and the locking cylinder (7) is fixed on base (9)；
The eight words tracking wheel electric lifting mechanism (2) includes edge-on seat (11), reducing motor, roller bearing screw component (12), the
Two line slideway auxiliaries (13), eight word tracking wheels (15), tracking wheel clamping device (16) and pressure sensor (14), the welding gun
(22) left and right is realized slidably by upper link (10)；The upper link is realized by locking cylinder (7) and locked；It is described
Edge-on seat (11) is fixedly connected on the upper link (10) of servo follow-up tracing mechanism (1), the reducing motor and roller bearing screw mandrel group
Part (12) is connected on edge-on seat (11) by second straight line guideway (13), and the eight words tracking wheel (15) is pressed from both sides by tracking wheel
Mechanism (16) is held with pressure sensor (14) with reducing motor and roller bearing screw component (12) to be connected；The eight words tracking wheel
(15) two tracking wheels are included, described two tracking wheels are identical with vertical direction angle；
The welding gun governor motion (4) is connected by transition connecting plate (18) with the eight words tracking wheel electric lifting mechanism；Institute
State and welding gun blessing mechanism is provided with welding gun governor motion, the welding gun is connected to welding gun by the welding torch clamping mechanism and adjusted
In mechanism.
2. string bead side force tracks of device according to claim 1, it is characterised in that described device also includes electronic entangle
Inclined mechanism (3), the electronic deviation correction mechanism (3) include the traversing component of reducing motor (17), laser pen (20) and camera (19),
The laser pen (20) is arranged on welding gun governor motion (4) with camera (19), the traversing component of reducing motor (17) peace
On edge-on seat (11), the transition connecting plate (18) is arranged on the second straight line guideway of the traversing component of reducing motor (17)
On.
3. using a kind of side force tracking of any described string bead side force tracks of device of claim 1-2, including：
Before welding starts, by the center line of eight word tracking wheels (15) and welding gun (22) regulation on straight line, after be moved to weldering
Connect position；Size identical power is imposed to two tracking wheels of eight word tracking wheels, when steel pipe (24) exists partially in the axial direction
When poor, follower (1) is to bead direction movement to offset two tracking wheels by steel plate reaction force in the horizontal direction
Component, realize along bead direction from motion tracking.
4. according to the method for claim 3, it is characterised in that methods described further comprises：
Where laser pen (20) and camera (19) are adjusted to the center line and welding gun (22) of eight word tracking wheels (15) on straight line,
It is adjusted using electronic deviation correction mechanism (3), ensures that welding gun (22) is welded 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 |
Applications Claiming Priority (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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| Publication Number | Publication Date |
|---|---|
| CN105522265A CN105522265A (en) | 2016-04-27 |
| CN105522265B true CN105522265B (en) | 2017-11-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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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| Country | Link |
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| CN (1) | CN105522265B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113333924B (en) * | 2021-08-05 | 2021-10-01 | 宝嘉智能科技(南通)有限公司 | Intelligent welding machine for metal pressure container |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN201446367U (en) * | 2009-05-27 | 2010-05-05 | 无锡华联科技集团有限公司 | Follow up control device for V-shaped welding machinery |
| CN101905368A (en) * | 2010-08-10 | 2010-12-08 | 上海沪工电焊机(集团)有限公司 | Tracking device for tank-type double-gun horizontal circular/longitudinal seam welder |
| CN202539770U (en) * | 2012-01-05 | 2012-11-21 | 机械科学研究院哈尔滨焊接研究所 | Novel tracking device for linear welding bead |
| 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 |
-
2016
- 2016-01-27 CN CN201610056356.6A patent/CN105522265B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN201446367U (en) * | 2009-05-27 | 2010-05-05 | 无锡华联科技集团有限公司 | Follow up control device for V-shaped welding machinery |
| CN101905368A (en) * | 2010-08-10 | 2010-12-08 | 上海沪工电焊机(集团)有限公司 | Tracking device for tank-type double-gun horizontal circular/longitudinal seam welder |
| CN202539770U (en) * | 2012-01-05 | 2012-11-21 | 机械科学研究院哈尔滨焊接研究所 | Novel tracking device for linear welding bead |
| 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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| CN105522265A (en) | 2016-04-27 |
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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 |
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