CN106216816A - Full-automatic LPG steel cylinder Welding machine of circumferential weld with visual tracking device - Google Patents
Full-automatic LPG steel cylinder Welding machine of circumferential weld with visual tracking device Download PDFInfo
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- CN106216816A CN106216816A CN201610854861.5A CN201610854861A CN106216816A CN 106216816 A CN106216816 A CN 106216816A CN 201610854861 A CN201610854861 A CN 201610854861A CN 106216816 A CN106216816 A CN 106216816A
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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
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/127—Means for tracking lines during arc 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/053—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
-
- 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
- B23K9/0026—Arc welding or cutting specially adapted for particular articles or work
-
- 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
- B23K9/032—Seam welding; Backing means; Inserts for three-dimensional 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
- B23K9/12—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)
- Mechanical Engineering (AREA)
- Plasma & Fusion (AREA)
- Optics & Photonics (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The present invention relates to the full-automatic LPG steel cylinder Welding machine of circumferential weld of a kind of welding machine, specially band visual tracking device, welding head is arranged on base by gantry support, and welding head is provided with visual tracking device；A pair fixture is respectively main clamp and sub-folder tool, and a pair fixture is separately mounted on main spindle box and tailing axle case, and main spindle box and tailing axle case are arranged on the line slideway of base；Three station charging and discharging mechanisms are had below a pair fixture；Welding head is also connected with circulating cooling water tank, also includes the source of welding current, electricity cabinet and electric control system.This Welding machine of circumferential weld, use the welding head of band visual tracking device, achieve LPG steel cylinder single head girth welding full automation production operation, substantially increase the adaptability of circular seam welding device, significantly reduce preceding working procedure processing request, production cost is greatly reduced, and eliminates the pick operation of stretched blank and rear production treatment process.This special plane is the current LPG steel cylinder optimal equipment of circumferential weld Full-automatic welding.
Description
Technical field
The present invention relates to the full-automatic LPG steel cylinder Welding machine of circumferential weld of a kind of welding machine, specially band visual tracking device.
Background technology
At present LPG cylinder for liquefied gas girth welding, such as welding gun initiates welding position and the bigger situation of welding seam bias
Under need nonetheless remain for carrying out the manual intervention of necessity, it is impossible to realize full automation welding production operation, it is impossible to meet high-volume raw
The needs produced.The technical problem of current existing device and defect:
Existing device uses unit manual mode of operation mostly；
At present automaticity and the higher more advanced pipelining equipment of production efficiency, be with by improving stretching
End socket trimming and reducing process quality ensure upper low head group to after weldquality premised on, improve weld seam and upper low head
The perpendicularity precision of axis.But, due to factor impacts such as steel plate material, thickness of slab uniformity and steel plate rolling machine directions,
Still having a small amount of end socket opening's edge portion overlap length to differ greatly, association stack shell out-of-roundness is overproof simultaneously, causes cutting of rear road low head
Limit reducing and upper cover trimming perpendicularity are extremely difficult to complete 100% qualified.In every batch of stretching end socket, the pact that overlap is the most overproof
Account for about 2 ~ 3%.Therefore, the girth welding of steel cylinder of operation defect is had still to also need to implement necessary artificial dry for these
In advance, or, increase after stretching process and check that operation is by the welding that additionally takes measures after overproof stretching end socket detection.
Owing to LPG steel cylinder is that lot-size produces, year output is relatively big, and the automatic welding that can not enter being detected produces
2 ~ 3% semi-finished product rear production Ye Shi enterprise produce in a cumbersome job, simultaneously need to expend certain manpower wealth
Power resource.
Summary of the invention
For above-mentioned technical problem, the present invention provides a kind of welding machine that can automatically adjust welding machine position with equipment.
Concrete technical scheme is:
With the full-automatic LPG steel cylinder Welding machine of circumferential weld of visual tracking device, including base, a pair fixture and welding head, described
Welding head be arranged on base by gantry support, welding head is provided with visual tracking device；A pair fixture is respectively
Main clamp and sub-folder tool, a pair fixture is separately mounted on main spindle box and tailing axle case, and main spindle box and tailing axle case are arranged on base
On line slideway；Three station charging and discharging mechanisms are had below a pair fixture；Welding head is also connected with circulating cooling water tank, also wraps
Include the source of welding current, electricity cabinet and electric control system.
Wherein, described main spindle box and tailing axle case are arranged on the line slideway of base by slide block respectively, on base also
Being provided with a pair cylinder, a pair cylinder is connected with main spindle box, tailing axle case respectively, and drive shaft case and tailing axle case are on line slideway
Mobile；Described main spindle box also includes power set, main shaft；Described power set provide power, main shaft and main folder for main shaft
Tool connects, and sub-folder tool is connected with tailing axle case.
Described three described station charging and discharging mechanisms, including base plate and slide plate, slide plate is arranged on base plate, and slide plate passes through
Shoe is dragged to be connected with feeding cylinder；Loading bracket and the discharging bracket of V-arrangement be installed on described slide plate, described loading bracket and
Discharging bracket is overturn by feeding cylinder and discharging air cylinder driven respectively；The both sides of discharging bracket are respectively provided with electric magnet and suction nozzle；
Base plate is arranged on base by fixing seat；Discharging bracket is connected with self-unloading bin.
Described described gantry support includes a column, is provided with header board, header board has between a column
Guide rail, welding head is arranged on guide rail by collet segment.
Described welding head includes visual tracking device and welding gun, and welding gun is arranged on rifle folder, and rifle folder is arranged on ten
On the welding gun bearing of word fine tuning structure, also include pump drainage smoke pipe, guard shield, the wire-feed motor that is arranged on wire-feed motor seat board；Bonding machine
Head is arranged on the header board of gantry support by stepping X-axis motion and stepping Y-axis motion.
Stepping X-axis motion and stepping Y-axis motion be welding head equipped with actuator, by motor, rolling
Ballscrews etc. form, in the horizontal direction equipped with X-axis step drive device, in vertical direction equipped with Y-axis step drive device,
Composition cross stepper drive sledge drive welding gun.Motor in actuator accepts the step that tracker processor exports in real time
Inlet signal order-driven welding gun moves along X-axis and Y-axis.Before welding starts, comparison signal order-driven welding gun drop along Y-axis
Under, and move to groove center along X-axis transverse shifting, play arc welding after putting in place；In welding process, actuator adjusts weldering in real time
Rifle position, makes welding gun be always positioned at weld groove center and ensures weldquality.
Equipped with two extension springs in the Y direction of welding head, amount that balancing machine is nose heave, make Y-axis keep when mobile tracking
Light and flexible.
The full-automatic LPG steel cylinder Welding machine of circumferential weld of the band visual tracking device that the present invention provides, uses band visual tracking device
Welding head, it is achieved that LPG steel cylinder single head girth welding full automation production operation, substantially increase circular seam welding device
Adaptability, significantly reduce preceding working procedure processing request, production cost is greatly reduced, and eliminates the pick operation of stretched blank
With rear production treatment process.This special plane is the current LPG steel cylinder optimal equipment of circumferential weld Full-automatic welding.
This welding head have employed the most more advanced visual tracking device, tracker by digital camera head, reflecting mirror group,
Eye protection form door, secondary light source, light source switch door, image operation processor, data wire, image display, switch board etc. form,
Visual tracking device, according to the V-butt imaging features parameter of LPG steel cylinder position while welding, is adopted in real time by dynamic vision imaging technique
Collection welding gun electric arc imaging features data, compare arc characteristic parameter by visual imaging high-speed computation processor special with weld groove
Levy X, Y offset direction and the deviation value of parameter, and be converted into stepping drive instruction output in real time, driven by stepper drive controller
Dynamic motor forward or reverse, to regulate welding torch position, constantly adjusts the position of Y-axis up and down and the X-axis position, left and right correcting welding gun
Put, make welding gun welding torch center all the time on circular weld position, on the premise of guaranteeing weldquality, be automatically performed target-seeking and weldering
Seam real-time tracking.
Accompanying drawing explanation
Fig. 1 is the main TV structure schematic diagram of the present invention；
Fig. 2 is the side-looking structural representation of the present invention；
Fig. 3 is the three station charging and discharging mechanism structural representations of the present invention；
Fig. 4 is the welding head side-looking structural representation of the present invention；
Fig. 5 is the welding head main TV structure schematic diagram of the present invention；
Fig. 6 is the welding head plan structure schematic diagram of the present invention；
Fig. 7 is the stepping X-axis motion structural representation of the present invention；
Fig. 8 is the stepping Y-axis motion structural representation of the present invention；
Fig. 9 is the Y-axis gravity balance device structural representation of the present invention.
Detailed description of the invention
It is described in conjunction with the embodiments the detailed description of the invention of the present invention.
As depicted in figs. 1 and 2, the full-automatic LPG steel cylinder Welding machine of circumferential weld of band visual tracking device, including base 7, a pair
Fixture and welding head 2, described welding head 2 is arranged on base 7 by gantry support 9, welding head 2 is provided with and regards
Feel tracker 13；A pair fixture is respectively main clamp 3 and sub-folder tool 8, and a pair fixture is separately mounted to main spindle box 4 and tailing axle case 10
On, main spindle box 4 and tailing axle case 10 are arranged on the line slideway 5 of base 7；Three station charging and discharging mechanisms are had below a pair fixture
14；Welding head 2 is also connected with circulating cooling water tank 11, also includes the source of welding current 6, electricity cabinet and electric control system 1.
Gantry support 9 is fixed on rear side of base 7, is used for installing fixing welding head 2.The source of welding current 6 and cooling follow
Ring water tank 11 is placed on above the support on the right side of base 7, and electricity cabinet and electric control system 1 are placed on above the support on the left of base 7.
Main spindle box 4 and tailing axle case 10 are arranged on the line slideway 5 of base 7 by slide block respectively, and base 7 is also equipped with
A pair cylinder, a pair cylinder is connected with main spindle box 4, tailing axle case 10 respectively, and drive shaft case 4 and tailing axle case 10 are at line slideway 5
Upper movement；Described main spindle box 4 also includes power set, main shaft；Described power set provide power, main shaft and master for main shaft
Fixture 3 connects, and sub-folder tool 8 is connected with tailing axle case 10.
Equipped with line slideway 5 on the platform of left and right, base 7 top, the main spindle box 4 in left side is by 4 slide blocks and line slideway 5
Coupling, left cylinder block is fixed on base 7 sinistral platform by runners, fixes, electromagnetic valve on the right side of rod end and main spindle box 4
Switching gas circuit can draw and push away main spindle box about 4 transverse shifting.Main spindle box 4 is built with reducing motor, V belt, decelerator, connection
Axial organ equal power device drive shaft rotates, and main shaft right-hand member clamps workpiece equipped with main clamp 3；Right side tailing axle case 10 is by 4 cunnings
Block couples with line slideway 5, and right cylinder block installs the right side of fixing tailing axle case 10, and rod end is fixed on base by runners
In 7 dextral platform, electromagnetic valve switching gas circuit gets final product push-and-pull main spindle box about 10 transverse shifting, and tailing axle left end is equipped with sub-folder tool 8 folder
Hold workpiece.The cylinder diameter of left hand cylinder is more than right cylinder, makes the thrust of left hand cylinder be more than right cylinder thrust under equal air pressure,
After left hand cylinder puts in place, steel cylinder position remain stablize constant.Under left and right cylinder action, main spindle box 4, tailing axle case 10 are same
Shi Xiangxiang draws close, and main clamp 3, sub-folder tool 8 clamping holds out against steel cylinder workpiece, starts the motor in main spindle box 4 and drives steel cylinder to rotate, enters
Row welding, welds complete, and main spindle box 4, tailing axle case 10 are drawn back simultaneously mutually, and main clamp 3, sub-folder tool 8 unclamps steel cylinder.
As it is shown on figure 3, three described station charging and discharging mechanisms 14, including base plate 16 and slide plate 20, slide plate 20 is arranged on the end
On plate 16, slide plate 20 is connected with feeding cylinder 17 by dragging shoe 21；Loading bracket 22 He of V-arrangement is installed on described slide plate 20
Discharging bracket 15, described loading bracket 22 and discharging bracket 15 are driven upset by feeding cylinder 24 and discharging cylinder 19 respectively；
The both sides of discharging bracket 15 are respectively provided with electric magnet and suction nozzle；Base plate 16 is arranged on base by fixing seat；Discharging bracket 15
It is connected with self-unloading bin 12.
Three station charging and discharging mechanisms 14 are for automatic material connection, feeding, feeding and discharging.Concrete structure, Pneumatic slid platform by
Fixing seat, base plate, slide plate, guide rail, drag shoe composition, Pneumatic slid platform is fixed in the middle part of plant bottom case 7 recessed by 4 fixing seats
On the platform of face.The loading bracket 22 of the V-arrangement that feeding cylinder 17 fore-aft motion is installed before and after promoting slide plate 20 top and discharging bracket
Following movement before and after 15 synchronizations, front portion is loading bracket 22, and rear portion is discharging bracket 15.The V word both sides of discharging bracket 15 are respectively
Equipped with electric magnet and suction nozzle, suck when a pair fixture retreats separately and fix steel cylinder.When steel cylinder welding is over, discharging bracket
15 rise, and electric magnet energising, the suction nozzle of bracket V-arrangement both sides suck the outer round surface of both sides below steel cylinder immediately, fix steel cylinder
The fixture that is allowed to not follow one wherever one goes moves left and right, it is ensured that discharging having stable behavior is reliable.Loading bracket 22 and discharging bracket 15 respectively by
Feeding cylinder 24 and discharging cylinder 19 drive knee-action, the most up and down steel cylinder workpiece.Steel cylinder is sent in front here, triggers material sensing
After device, anterior loading bracket 22 is automatically performed splicing, is fed to a pair toolholder central axis position, falls the actions such as yielding；With
Time, rear portion discharging bracket 15 is transferred after being automatically performed rise splicing, Pneumatic slid platform after receiving circular seam welding reception arc end signal
Expect above self-unloading bin 12, fall discharging workpiece is put off steel cylinder on unloading rack and automatically roll down on streamline below.
Described gantry support 9 includes a column, is provided with header board 32, header board 32 is led between a column
Rail, welding head is arranged on guide rail by collet segment.One column is made by square tube, and lower end is solid by hex bolts symmetry
Being scheduled on the rear side of base 7 platform, header board 32 is fixed on the bearing of a column upper end.Welding head 2 by 4 slide blocks with
Guide rail connection is arranged on crossbeam, can move left and right and make welding gun be directed at steel cylinder circumferential weld groove position.
Welding head 2 includes visual tracking device and welding gun as shown in Figure 4, Figure 5 and Figure 6, and welding gun is arranged on rifle folder 28, rifle
Folder 28 is arranged on the welding gun bearing 29 with cross fine tuning structure 30, also includes pump drainage smoke pipe 25, guard shield, is arranged on wire-feed motor
Wire-feed motor 27 on seat board；Welding head 2 is arranged on gantry by stepping X-axis motion 31 and stepping Y-axis motion 26
On the header board 32 of support 9.
Visual tracking device is by guard shield, form, digital camera head, reflecting mirror, eye protection form door, left redundant light source, left light source
Door, right redundant light source, right light source door, image operation processor, data wire, image display panel, switch board etc. form.Image operation
Processor, switch board, image display panel integrated installation is at equipment always electricity cashier's office in a shop.
Welding head 2 is arranged on header board 32,
Header board 32 front is milled with two guide rails assembling grooves as shown in Figure 7, is used for fixing guide rail.Header board 32 lower backside is milled with
Rectangular channel, is used for installing fixing slide carriage.Is milled with kidney-shaped long slot bore in the middle of header board 32, it is simple to X-axis is adjustable L connecting plate 33 through and
Transverse shifting.
Enter X-axis motion 31 to be arranged on header board 32, including X-axis line slideway, X-axis motor Building L 37, X-axis stepping
Motor 38, X-axis yielding coupling 40, X-axis ball screw 35, X-axis deck 39, X-axis fix seat assembly 36, X-axis support seat assembly
41, X-axis L gusset piece 33, the direct-connected plate of X-axis 34, traversing slide plate 42 form.The horizontal of header board 32 front is parallel to each other equipped with two
X-axis line slideway, traversing slide plate 42 is by 4 slide blocks and two X-axis line slideways connections, and traversing slide plate 42 can be along X-axis
Line slideway direction moves left and right；Seat assembly 36, X-axis support seat assembly 41 level are fixed by X-axis in X-axis ball screw 35 two ends
It is fixed on the chute of header board 32 back side；X-axis L gusset piece 33 one side is fixed, separately with the ball nut of X-axis ball screw 35
One side plate 34 direct-connected with X-axis is threadeded fixing, and the direct-connected plate of X-axis 34 passes the kidney-shaped slotted eye of the centre of header board 32 and is inserted into
It is welded and fixed in the rectangular opening of the traversing slide plate 42 that front is installed；The ball nut of X-axis ball screw 35 and traversing slide plate 42
Position can be adjusted to correct position by the mounting hole of the direct-connected plate of X-axis L connecting plate 33 and X-axis 34 respectively.X-axis motor 38 leads to
Crossing X-axis motor Building L 37 and be fixed on the back side, left side of header board 32, X-axis motor 38 is by X-axis yielding coupling 40 and X-axis
The rolling screw mandrel axle journal of ball screw 35 couples, when X-axis motor 38 obtains visual imaging tracker action command immediately
Driving ball screw rotates, by moving about the X-axis line slideway direction that ball nut drives traversing slide plate 42 transversely to install
Dynamic, thus drive welding gun to move laterally to specify position along X-axis.
As shown in Figure 8, stepping Y-axis motion 26 is arranged on traversing slide plate 42.
The vertical direction in traversing slide plate 42 front, equipped with two Y-axis line slideways being parallel to each other, lifts U-shaped slide plate 43 and leads to
Crossing 4 slide blocks to couple with Y-axis line slideway, lifting U-shaped slide plate 43 can move up and down along Y-axis line slideway direction；Y-axis ball
Screw mandrel 47 fixes seat 52 by Y-axis and Y-axis support seat 44 right angle setting is fixed on traversing slide plate 42 front, and ball nut is installed solid
Be scheduled on the medium position of Y-axis gusset piece 48, Y-axis gusset piece 48 crossbearer lift U-shaped slide plate 43 open slot on, two ends and lifting
The open slot left and right sides screw fastening of U-shaped slide plate 43；Lift U-shaped slide plate 43 bottom and be milled with longer open slot, make ball
Nut can pass freely through when oscilaltion action, is also convenient for the I&M dismounting of stepping Y-axis motion 26 simultaneously.
Y-axis motor seat board 50 is fixed on traversing slide plate 42 end below, and screw fastens, and y-axis stepper motor 49 is by y-axis motor seat board
50 bottoms being fixed on traversing slide plate 42, y-axis stepper motor 49 axle head is upward；Y-axis stepper motor 49 axle is elastic by Y-axis
Shaft coupling 51 couples with Y-axis rolling screw mandrel 47 axle journal, vertical when y-axis stepper motor 49 obtains visual imaging tracker action command
I.e. drive Y-axis rolling screw mandrel 47 screw mandrel to rotate, driven by ball nut and lift U-shaped slide plate 43 along vertically arranged Y-axis straight line
Guide rail direction moves up and down, thus drives welding gun to move to specify position along Y-axis.
Lift the left and right sides in U-shaped slide plate 43 front equipped with two pieces of cant boards 46, the another side of two pieces of cant boards 46 with give
Silk machine seat board screw is fixed, and wire-feed motor 27 is fixed on the front of wire-feed motor seat board, and one end of welding gun is arranged on wire-feed motor
On interface below 27, rifle upside down, is directed at steel cylinder weld seam.
As it is shown in figure 9, Y-axis gravity balance device is by balance bracket 54, extension spring 55, fixing lifting bolt 59, upper locking screw
The groups such as mother 53, regulation lifting bolt 56, fastening screw nut 57, lower locking nut 58, lower boatswain chair 61, trip bolt and elastic washer 60
Become.About the dependence of Y-axis gravity balance device, the pulling force of two extension springs 55 balances the up and down parts of welding head 2 in Y-axis side
Gravity upwards, one be balance Y direction move up and down follow the tracks of time gravity, two be balance welding head 2 moment start and stop time
Acceleration causes overweight or weightless.Two, left and right extension spring 55 characteristic is consistent, is symmetrically installed, and initial tensile force is equal.Balance bracket 54
Being fixed on the back side of traversing slide plate 42 between two parties, below the top board of balance bracket 54, the left and right sides is symmetrical equipped with 2 suspension ring spiral shells
Nail；Lower boatswain chair 61 is fixed on the crosspiece of vertical plates on both sides 46 bottom by socket cap screw, elastic washer, lower boatswain chair 61
Upper plane is symmetrical equipped with two fixing lifting bolt 59 position phases on two regulations lifting bolts 56, with balance bracket 54
The most corresponding.The initial tensile force of left and right extension spring 55 is equal, mixes up rear and tight upper locking nut 53, lower locking nut 58；Left and right extension spring
The drag hook of 55 upper ends catches on balance bracket 54 on the suspension ring of two the fixing lifting bolts 59 in left and right respectively, and the drag hook of its lower end divides
Do not catch on two, left and right above lower boatswain chair 61 to regulate on the suspension ring of lifting bolt 56.Twist fixing lifting bolt 59 and mix up extension spring 55
Initial tensile force after, respectively locking four fastening screw nuts 57.
The operating process of this equipment is:
With the full-automatic LPG steel cylinder Welding machine of circumferential weld of visual tracking device, including base 7, a pair fixture and welding head 2, institute
The welding head 2 stated is arranged on base 7 by gantry support 9, and welding head 2 is provided with visual tracking device 13；A pair folder
Tool is respectively main clamp 3 and sub-folder tool 8, and a pair fixture is separately mounted on main spindle box 4 and tailing axle case 10, main spindle box 4 and tailing axle
Case 10 is arranged on the line slideway 5 of base 7；Three station charging and discharging mechanisms 14 are had below a pair fixture；Welding head 2 also with
Circulating cooling water tank 11 connects, and also includes the source of welding current 6, electricity cabinet and electric control system 1.
The initial holding state of equipment: open compressed air gas source, the source of welding current 6 is opened, and welding machine automatically turns on, circulating cooling
Water tank 11 automatically turns on, visual tracking device 13 starts, and main clamp 3 and sub-folder tool 8 are in the maximum open configuration in left and right and wait to expect, welding gun
Being raised above initial position standby, loading bracket 22 and the discharging bracket 15 of three station charging and discharging mechanisms 14 are shifted onto by cylinder
Anterior position, loading bracket 22 low level protracts, and discharging bracket 15 low level is at left and right holder axis lower position.
1st step: switching knob selects " automatically " gear, presses start button, starts automatic working procedure, and equipment is i.e. in
Automatic mode；
2nd step: steel cylinder is delivered to above loading bracket 22 by the mechanical hand in front, loading bracket 22 rises automatically, mechanical hand unclamps
Blowing leaves, and steel cylinder deadweight puts off in loading bracket 22, and the sensor in loading bracket 22 detects workpiece automatic stand-by；
(when after start, welding post is without workpiece, Pneumatic slid platform automatically moves back feeding；Welding post is in welding or when having workpiece, then certainly
Dynamic standby)；
3rd step: the steel cylinder welding on welding post is over, and welding gun automatically rises and puts in place, and discharging bracket 15 rises to hold and welds
The auto-power on steel cylinder that sucks of steel cylinder, magnetic suction head, main clamp 3 and sub-folder have 8 under cylinder action respectively with main spindle box 4 and tailing axle case
Stop after steel cylinder is unclamped in 10 retrogressings, retrogressing puts in place；
4th step: three station charging and discharging mechanisms 14 move on to position, loading bracket 22 and steel after driving loading bracket 22 and discharging bracket 15
Bottle is placed exactly in holder axis, moves on to position after discharging bracket 15, and the steel cylinder welded is placed exactly in above self-unloading bin 12, discharging
Moving on to a time delay after bracket 15 automatically fall, put off and weld steel cylinder, steel cylinder rolls down to send on pipeline along self-unloading bin 12 automatically
Go out；
5th step: main spindle box 4 and two cylinder trigger actions of tailing axle case 10, cylinder rod end stretches out, and promotes main clamp 3 and pair respectively
Fixture 8 moves towards to draw close and puts in place, and clamping holds out against steel cylinder two ends；
6th step: loading bracket 22 is fallen automatically, three station charging and discharging mechanisms 14 automatically move forward to put in place and wait to expect, the mechanical hand in front
Feeding put in place triggering loading bracket 22 automatically rise, feeding mechanical hand is automatically fallen and is unclamped workpiece, is put off by steel cylinder to be welded
Automatically rise after in loading bracket 22 and leave；Now discharging bracket 15 is placed exactly in main clamp 3 and the axial location of sub-folder tool 8,
And be positioned at below steel cylinder and wait to expect.
7th step: main clamp 3 and sub-folder tool 8 clamping hold out against while steel cylinder puts in place, the y-axis stepper motor 49 of welding head 2
Action, welding gun are automatically fallen and are put in place.The door that covers of the visual tracking device 13 guard shield left and right sides is opened, and left and right auxiliary lamp is bright, shooting
The groove object of steel cylinder circumferential weld and welding torch position are taken pictures range finding by head, and display screen display image, visual tracking device 13 is transported at a high speed
Sending instruction after Suaning, the quick acting simultaneously of X-axis motor 38, y-axis stepper motor 49 is target-seeking, welding gun accurately moves into place
After, the mair motor in main spindle box 4 body rotates and drives main shaft to rotate together with workpiece and tailing axle, the sensing rotated with spindle flange dish
After head triggers the starting the arc inductive switch being contained in main spindle box 4 side, welding gun automatic arc striking, start welding, visual tracking in welding process
Device 13 high-speed camera head monitors whether tracking welding gun electric arc deviates weld groove center in real time, and sends the correction instruction of XY axle in real time
To X-axis motor 38, y-axis stepper motor 49 action, move welding gun in real time, it is ensured that weldquality；
8th step: when inductive head second time triggers inductive switch, welding gun starts to receive arc, rotates blow-out automatically after 8-10mm length,
Girth welding is complete, and the spindle motor reversion retrogressing of main spindle box 4 stops after crossing receipts arc position.Y-axis stepper motor 49 action, weldering
Rifle automatically rises and puts in place, and discharging bracket 15 rises and holds steel cylinder；
6th step: main clamp 3 and sub-folder tool 8 retreat the most respectively and unclamp, and move into place.
7th step: three station charging and discharging mechanism 14 actions, delivers to position, by upper after driving loading bracket 22 and discharging bracket 15
The axial location of a pair fixture delivered to by steel cylinder to be welded on material bracket 22；Meanwhile, also will weld on discharging bracket 15
Steel cylinder synchronizes to deliver to the top position of self-unloading bin 12, and when discharging bracket 15 is fallen automatically, the steel cylinder welded is laid on self-discharging
On frame 12, under the effect of steel cylinder deadweight, steel cylinder automatically rolls along the inclined races of self-unloading bin 12 and leaves, and falls discharging conveying
It is sent on line.One rests on loop ends.
8th step: after delivering to position after three station charging and discharging mechanisms 14, has just started to repeat the 5th step action, to the 7th step action.
So Automatic Cycle is reciprocal.
Claims (5)
1. the full-automatic LPG steel cylinder Welding machine of circumferential weld of band visual tracking device, including base, a pair fixture and welding head, its
It is characterised by: described welding head is arranged on base by gantry support, welding head is provided with visual tracking device；One
Fixture is respectively main clamp and sub-folder tool, and a pair fixture is separately mounted on main spindle box and tailing axle case, main spindle box and tailing axle case
It is arranged on the line slideway of base；Three station charging and discharging mechanisms are had below a pair fixture；Welding head also with circulating cooling
Water tank connects, and also includes the source of welding current, electricity cabinet and electric control system.
The full-automatic LPG steel cylinder Welding machine of circumferential weld of band visual tracking device the most according to claim 1, it is characterised in that:
Described main spindle box and tailing axle case are arranged on the line slideway of base by slide block respectively, and base is also equipped with a pair gas
Cylinder, a pair cylinder is connected with main spindle box, tailing axle case respectively, and drive shaft case and tailing axle case move on line slideway；Described
Main spindle box also includes power set, main shaft；Described power set provide power, main shaft to be connected with main clamp for main shaft, sub-folder
Tool is connected with tailing axle case.
The full-automatic LPG steel cylinder Welding machine of circumferential weld of band visual tracking device the most according to claim 1, it is characterised in that:
Described three described station charging and discharging mechanisms, including base plate and slide plate, slide plate is arranged on base plate, and slide plate is by dragging shoe and sending
Material cylinder connects；Loading bracket and the discharging bracket of V-arrangement, described loading bracket and discharging bracket are installed on described slide plate
Overturn by feeding cylinder and discharging air cylinder driven respectively；The both sides of discharging bracket are respectively provided with electric magnet and suction nozzle；Base plate passes through
Fixing seat is arranged on base；Discharging bracket is connected with self-unloading bin.
The full-automatic LPG steel cylinder Welding machine of circumferential weld of band visual tracking device the most according to claim 1, it is characterised in that:
Described described gantry support includes a column, is provided with header board between a column, and header board has guide rail, welding
Head is arranged on guide rail by collet segment.
The full-automatic LPG steel cylinder Welding machine of circumferential weld of band visual tracking device the most according to claim 1, it is characterised in that:
Described welding head includes visual tracking device and welding gun, and welding gun is arranged on rifle folder, and rifle folder is arranged on cross fine setting knot
On the welding gun bearing of structure, also include pump drainage smoke pipe, guard shield, the wire-feed motor that is arranged on wire-feed motor seat board；Welding head is by step
Enter X-axis motion and stepping Y-axis motion is arranged on the header board of gantry support.
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| CN201610854861.5A CN106216816A (en) | 2016-09-28 | 2016-09-28 | Full-automatic LPG steel cylinder Welding machine of circumferential weld with visual tracking device |
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| CN201610854861.5A CN106216816A (en) | 2016-09-28 | 2016-09-28 | Full-automatic LPG steel cylinder Welding machine of circumferential weld with visual tracking device |
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| CN106216816A true CN106216816A (en) | 2016-12-14 |
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| CN201610854861.5A Pending CN106216816A (en) | 2016-09-28 | 2016-09-28 | Full-automatic LPG steel cylinder Welding machine of circumferential weld with visual tracking device |
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|---|---|---|---|---|
| CN106695226A (en) * | 2017-02-06 | 2017-05-24 | 武汉工程大学 | Clamp for box body type workpieces |
| CN107398637A (en) * | 2017-08-01 | 2017-11-28 | 深圳市大族锐波传感科技有限公司 | A kind of coupling welding machine |
| CN107538177A (en) * | 2017-10-10 | 2018-01-05 | 唐山开元自动焊接装备有限公司 | A kind of handling gripper and method by gravity self-locking |
| CN108480889A (en) * | 2018-06-15 | 2018-09-04 | 浙江豪精机电有限公司 | A kind of bonding machine |
| CN108555485A (en) * | 2018-04-24 | 2018-09-21 | 无锡奇能焊接系统有限公司 | A kind of cylinder for liquefied gas welding visual tracking method |
| CN110666385A (en) * | 2019-11-01 | 2020-01-10 | 温金建 | Automatic steel bottle girth welding device |
| CN112372198A (en) * | 2020-09-24 | 2021-02-19 | 库卡机器人(广东)有限公司 | Seam finding mechanism |
| CN112705882A (en) * | 2020-12-21 | 2021-04-27 | 浙江巨程钢瓶有限公司 | Steel cylinder forming system and forming method thereof |
| CN113681184A (en) * | 2021-08-11 | 2021-11-23 | 河南省绿博能源设备有限公司 | Fire extinguisher bottle welding production line |
| WO2022252336A1 (en) * | 2021-06-02 | 2022-12-08 | 南京昱晟机器人科技有限公司 | Automatic cylindrical butt welding apparatus and welding method |
| CN115464414A (en) * | 2022-09-20 | 2022-12-13 | 无锡铭辰焊接科技有限公司 | LPG steel bottle welding production line |
| CN116160145A (en) * | 2023-02-06 | 2023-05-26 | 青岛益鼎立容器有限公司 | Optimal welding method for butt joint of LPG steel cylinders |
| CN116673976A (en) * | 2023-07-04 | 2023-09-01 | 大连石岛工业有限公司 | Intelligent welding robot for welding large-scale anchor chain wheel and operation method thereof |
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| CN108555485A (en) * | 2018-04-24 | 2018-09-21 | 无锡奇能焊接系统有限公司 | A kind of cylinder for liquefied gas welding visual tracking method |
| CN108480889A (en) * | 2018-06-15 | 2018-09-04 | 浙江豪精机电有限公司 | A kind of bonding machine |
| CN110666385A (en) * | 2019-11-01 | 2020-01-10 | 温金建 | Automatic steel bottle girth welding device |
| CN112372198A (en) * | 2020-09-24 | 2021-02-19 | 库卡机器人(广东)有限公司 | Seam finding mechanism |
| CN112705882A (en) * | 2020-12-21 | 2021-04-27 | 浙江巨程钢瓶有限公司 | Steel cylinder forming system and forming method thereof |
| CN112705882B (en) * | 2020-12-21 | 2022-06-14 | 浙江巨程钢瓶有限公司 | Steel cylinder forming system and forming method thereof |
| WO2022252336A1 (en) * | 2021-06-02 | 2022-12-08 | 南京昱晟机器人科技有限公司 | Automatic cylindrical butt welding apparatus and welding method |
| CN113681184A (en) * | 2021-08-11 | 2021-11-23 | 河南省绿博能源设备有限公司 | Fire extinguisher bottle welding production line |
| CN115464414A (en) * | 2022-09-20 | 2022-12-13 | 无锡铭辰焊接科技有限公司 | LPG steel bottle welding production line |
| CN116160145A (en) * | 2023-02-06 | 2023-05-26 | 青岛益鼎立容器有限公司 | Optimal welding method for butt joint of LPG steel cylinders |
| CN116160145B (en) * | 2023-02-06 | 2024-04-02 | 青岛益鼎立容器有限公司 | Optimal welding method for butt joint of LPG steel cylinders |
| CN116673976A (en) * | 2023-07-04 | 2023-09-01 | 大连石岛工业有限公司 | Intelligent welding robot for welding large-scale anchor chain wheel and operation method thereof |
| CN116673976B (en) * | 2023-07-04 | 2023-10-31 | 大连石岛工业有限公司 | Intelligent welding robot for welding large-scale anchor chain wheel and operation method thereof |
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Application publication date: 20161214 |