CN106695210A - Automatic welding machine and use method thereof - Google Patents
Automatic welding machine and use method thereof Download PDFInfo
- Publication number
- CN106695210A CN106695210A CN201710164193.8A CN201710164193A CN106695210A CN 106695210 A CN106695210 A CN 106695210A CN 201710164193 A CN201710164193 A CN 201710164193A CN 106695210 A CN106695210 A CN 106695210A
- Authority
- CN
- China
- Prior art keywords
- frame
- welding gun
- welding
- walked
- scanning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0247—Driving means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
Abstract
The invention provides an automatic welding machine and a use method thereof. A welding gun (13) is installed on a rack (3) through a left-right movement device. The rack is installed on a walking rack (1) through a front-back movement device. The walking rack comprises a walking mechanism and a supporting mechanism, wherein the walking mechanism comprises a wheel (10) and a rolling device and a walking mechanism of the wheel, and the supporting mechanism controls the walking rack to make contact with the ground with the bottom face or make contact with the ground through the wheel. A scanning device is arranged. A scanning probe (11) of the scanning device is installed on the rack through a cantilever, and the scanning width is larger than the left-right movement stroke of the welding gun (13). According to the automatic welding machine and the use method thereof, the track of a joint crack is determined through automatic scanning, accordingly, the welding gun is controlled to complete welding according to the track and the walking mechanism is controlled to move forward to repeatedly conduct welding of the next section of joint crack according to a scanning result. Compared with the prior art, the full-automatic working welding device is provided, and the joint crack can be automatically welded by the device without installing tracks.
Description
Technical field
The present invention relates to a kind of automatic welder and its application method.
Background technology
In the large-scale building industry such as shipbuilding, many weld jobs can be used, because workload is than larger, it usually needs use
Automatic welder.Existing automatic welder is required for using track, lays track according to splicing seams before welding, and automatic welder exists during operation
Walked on track, welding wire is welded for splicing seams.Due in many occasions, splicing seams are not straight lines, and track
Laying also will not be absolute parallel with splicing seams, therefore automatic welder implement welding when often by welding wire melt splicing seams with
Outward, welding is made to fail.
The content of the invention
For above-mentioned deficiency, the present invention seeks to site of deployment detection splicing seams and corrects the mode of welding wire position to make welding wire
The automatic welder of splicing seams fusing is not always departed from.
The automatic welder that the present invention is provided, organic frame, walking mechanism, welding gun and welding wire conveying device, and control device；
The walking mechanism includes roller, the also tourelle and transfer of roller, walked frame, the walking mechanism peace
On the walked frame；
Frame mobile device before and after is arranged on walked frame；
The walked frame has supporting mechanism, and the supporting mechanism is used to control walked frame to be contacted with ground with bottom surface or logical
Roller is crossed to be contacted with ground；
The welding gun is arranged in the frame by moving left and right device；
Image-scanning device is installed, the scanning head in described image sweep mechanism is arranged on frame through cantilever in the frame
On, sweep length moves left and right stroke more than welding gun；
The control device has processing unit, scan control unit, welding gun control unit, travelling control unit, wherein：
The processing unit is used to be stored as the splicing seams picture signal that image scanning mechanism obtains relative to walked frame
The curvilinear path of datum mark, and curve tail end bearing of trend is speculated according to curve tail end curvature；
The scan control unit is used for the beginning and end of work and the scanning for controlling scanning head；
The action that the welding gun control unit is used to controlling movable device and moves left and right device makes on welding gun welding wire according to this
Curvilinear coordinate is advanced, and controls the break-make of welding current；
The travelling control unit is used to control the work of supporting mechanism, and the tourelle and transfer of control roller are acted
Walked frame is set to be set out by curve tail end bearing of trend and walk and stop along splicing seams.
The roller is each provided with tourelle and transfer, and the tourelle is mounted on roller shaft
Servomotor is rolled, the transfer is mounted in the steering servomotor on turning rolls, roll servomotor and steering is watched
Motor is taken to be connected with control device respectively.
The supporting mechanism is the stationary plane on support bar and walked frame bottom surface on turning rolls, is rolled when support bar stretches
Wheel is contacted with ground, and stationary plane is contacted with ground when support bar shrinks；The support bar is that hydraulic mechanism or motor drive
Pinion and rack.
The movable device includes the leading screw and nut mechanism being arranged between frame and walked frame, feed screw nut's machine
Structure is connected with movable servomotor, and movable servomotor is connected with control device.
The welding gun is arranged on sliding seat through cantilever, and the device that moves left and right includes being arranged on sliding seat warp and frame
Between leading screw and nut mechanism, leading screw and nut mechanism is connected with servomotor is moved left and right, and moves left and right servomotor with control
Device is connected.
The application method of the automatic welder that the present invention is provided, is first placed in splicing seams side scanning head by the walked frame
Sweep length in, after startup with supporting mechanism by walked frame with bottom surface fix at the scene, frame is expert at during original state
Frame is foremost；To be moved after frame again, make scanning head in the movable stroke of the sweep length and frame of left and right directions
One width splicing seams trajectory diagram of acquisition is scanned in area determined by length to lower section；Returned with afer bay and moved forward, control dress
Put and welded according to splicing seams track according to splicing seams trajectory diagram control welding gun；After frame reaches front end, supporting mechanism is by roller
Walked frame is propped, is advanced forward by track bearing of trend with rear walking mechanism, while scanning means feeds back splicing seams in time existing
Position in sweep length, control device controls tourelle and transfer by walked frame along splicing seams according to feedback signal
A distance for welding gun stroke is moved forward, the walked frame is placed in splicing seams side, so complete a welding interval；
Go round and begin again according to this until terminal.
Automatic welder and its application method that the present invention is provided, determine splicing seams track, and control according to this by from main scanning
Welding gun processed is advanced by track and completes this section of welding of splicing seams, and then control walking mechanism is pointed to voluntarily forward by track according to this
One section of walking is welded to next section, and the rest may be inferred repeats the welding that reach completes whole splicing seams.Compared with prior art,
The invention provides a kind of welding equipment of entire roboticized work, it may not be necessary to attachment rail and automatic welding is carried out to splicing seams by it
Connect.
Brief description of the drawings
Fig. 1 is the front view of one embodiment of the invention, and Fig. 2 is the top view of Fig. 1, in figure：Moved before and after 1- walked frames, 2-
Dynamic slide rail, 3- frames, 4- moves left and right screw mandrel, and 5- moves left and right slide rail, and 6- welding wire conveying devices, 7- turns to servomotor, 8-
Support bar, 9- is moved before and after rolling servomotor, 10- rollers, 11- scanning heads, 12- welding wires, 13- welding guns, 14- sliding seats, 15-
Dynamic screw mandrel.
Specific embodiment
A kind of automatic welder, as shown in Figure 1, 2.There are walked frame 1, roller 10, frame 3, welding gun 13 and welding wire conveying dress
Put 6 and control device.
Walked frame is a casing with skeleton, interior fixing and welding machine ballast and control device, and walked frame side is installed
There is welding wire conveying device 6.Walked frame top surface has two movable slide rails 2 of fore-and-aft direction, and frame is arranged on chute and slided
On rail.Walked frame is provided with 4 groups of rollers 10, and roller shaft is the rotating shaft for rolling servomotor 9, rolls the stator of servomotor
Shell fixation orthogonal with the stator cage for turning to servomotor 7, the rotor for turning to servomotor is support bar 8.Support bar is one liter
The piston rod of descending liquid press mechanism, raise-lower hydraulic mechanism is arranged in walked frame casing, there is fixed between support bar and walked frame
To sliding block forbidding it to rotate.The control magnetic valve of each servomotor and raise-lower hydraulic mechanism is connected with control device.Rise descending liquid
Press mechanism piston releases then roller and props walked frame, and piston withdraws then walked frame and is placed on ground.Walked frame top surface
It is also parallel between two movable slide rails to have fixedly mounted a movable screw mandrel 15, movable watching is installed in frame
Motor is taken, the nut body coordinated with movable screw mandrel is connected and in frame through transmission mechanism with the servomotor.
The frame protrudes horizontally up a cantilever to the side for not installing welding wire conveying device, and combination is moved left and right on cantilever
Slide rail 5, sliding seat 14 is arranged on through chute and moves left and right on slide rail, in frame also with move left and right slide rail and abreast install one
Move left and right screw mandrel 4, be provided with frame and move left and right servomotor, the servomotor through transmission mechanism with move left and right screw mandrel
Connection.It is fixedly mounted in sliding seat with the nut body for moving left and right screw mandrel cooperation, sliding seat installs weldering through downward cantilever
Rifle 13.Welding wire 12 is transported to welding gun tip from welding wire conveying device through assembly pulley, there is welding wire transmission mechanism in welding gun.
Sliding seat is also provided with scanning head 11 through downward cantilever, and scanning head uses reflecting light transmit-receive cell, root
Judge coordinate where splicing seams according to the photosensitive Strength Changes of light receiving element, its photocell is the lamp that length occupies sweep length
Pipe, light receiving element is closely arranged in whole sweep length.
Control device determines the right position coordinate of welding gun by the location position device between sliding seat and frame, passes through
Location position device between frame and walked frame determines welding gun and probe（Splicing line）Front and back position coordinate, splicing line
Right position coordinate is determined that the catastrophe point is received by control device by light receiving element by the catastrophe point in optical transceiver cell
Light intensity signal processed after draw.Obtained by remembering splicing seams right position coordinate continuous lines in the longitudinal direction
Splicing seams track, and control welding gun to be walked by this track by the movement of this coordinate or walked frame.In trailing end, controlling organization according to
Determine the direction of travel after walked frame starting according to track developing direction.
The application method of this automatic welder（Operating procedure）：
1st, automatic welder is placed in sweeping for splicing seams side scanning head by the direction that fore-and-aft direction is basically parallel to splicing seams
Retouch in width；
2nd, automatic welder is started, control device detection support bar determines that withdrawal makes walked frame be fixed with ground with bottom surface；
3rd, control device detection frame is determined in walked frame foremost；
4th, moved after control device control frame, while starting scanning head work, receive the luminous intensity letter of light receiving element feedback
Number, splicing seams position coordinates point is determined after treatment, a width is obtained in sweep length and the rectangle scope of machine frame movement stroke
Interior splicing seams trajectory diagram；
5th, control device control frame reach, connects the source of welding current and starts wire feeder, controls to weld according to splicing seams trajectory diagram
Rifle is welded according to splicing seams track；
6th, after frame reaches front end, cut off the source of welding current and close wire feeder；
7th, control device control support bar stretches out, and calculates splicing seams course bearing, and control rolls servomotor and turns to servo
Motor is advanced forward by the track bearing of trend；Start scanning means simultaneously, the splicing seams position fed back by light receiving element is sat
Mark, control turns to servomotor and adjusts direction of travel in time, makes automatic welder all the time in the sweep length scope of splicing seams side
It is interior；
8th, after automatic welder walks forward a mobile distance for frame stroke, control device control automatic welder stops walking,
Support bar is withdrawn, a welding interval is completed；
9th, 1-8 steps are repeated, is gone round and begun again according to this until splicing line terminal.
Claims (7)
1. a kind of automatic welder, organic frame, walking mechanism, welding gun and welding wire conveying device, and control device；It is characterized in that：
The walking mechanism includes roller, the also tourelle and transfer of roller, walked frame, the walking mechanism peace
On the walked frame；
Frame mobile device before and after is arranged on walked frame；
The walked frame has supporting mechanism, and the supporting mechanism is used to control walked frame to be contacted with ground with bottom surface or logical
Roller is crossed to be contacted with ground；
The welding gun is arranged in the frame by moving left and right device；
Image-scanning device is installed, the scanning head in described image sweep mechanism is arranged on frame through cantilever in the frame
On, sweep length moves left and right stroke more than welding gun；
The control device has processing unit, scan control unit, welding gun control unit, travelling control unit, wherein：
The processing unit is used to be stored as the splicing seams picture signal that image scanning mechanism obtains relative to walked frame
The curvilinear path of datum mark, and curve tail end bearing of trend is speculated according to curve tail end curvature；
The scan control unit is used for the beginning and end of work and the scanning for controlling scanning head；
The action that the welding gun control unit is used to controlling movable device and moves left and right device makes on welding gun welding wire according to this
Curvilinear coordinate is advanced, and controls the break-make of welding current；
The travelling control unit is used to control the work of supporting mechanism, and the tourelle and transfer of control roller are acted
Walked frame is set to be set out by curve tail end bearing of trend and walk and stop along splicing seams.
2. automatic welder as claimed in claim 1, it is characterised in that the roller is each provided with tourelle and steering
Device, the tourelle is mounted in the rolling servomotor on roller shaft, and the transfer is mounted on turning rolls
Steering servomotor, roll servomotor and steering servomotor be connected with control device respectively.
3. automatic welder as claimed in claim 2, it is characterised in that the supporting mechanism is support bar and row on turning rolls
The stationary plane on frame bottom surface is walked, roller is contacted with ground when support bar stretches, stationary plane is contacted with ground when support bar shrinks；
The support bar is hydraulic mechanism or motor-driven pinion and rack.
4. the automatic welder as described in claim 1 or 2 or 3, it is characterised in that the movable device includes being arranged on machine
Leading screw and nut mechanism between frame and walked frame, leading screw and nut mechanism is connected with movable servomotor, movable to watch
Motor is taken to be connected with control device.
5. the automatic welder as described in claim 1 or 2 or 3, it is characterised in that the welding gun is arranged on sliding seat through cantilever,
It is described to move left and right the leading screw and nut mechanism that device is included between sliding seat warp and frame, leading screw and nut mechanism and left and right
Shift servo motor connection, moves left and right servomotor and is connected with control device.
6. automatic welder as claimed in claim 4, it is characterised in that the welding gun is arranged on sliding seat through cantilever, the left side
The leading screw and nut mechanism that device is included between sliding seat warp and frame is moved right, leading screw and nut mechanism is watched with moving left and right
Motor connection is taken, servomotor is moved left and right and is connected with control device.
7. automatic welder as claimed in claim 1, it is characterised in that the walked frame is first placed in the scanning of splicing seams side
In the sweep length of probe, walked frame is fixed at the scene with bottom surface with supporting mechanism after startup, frame exists during original state
Walked frame is foremost；To be moved after frame again, make what scanning head was moved forward and backward in the sweep length and frame of left and right directions
One width splicing seams trajectory diagram of acquisition is scanned in area determined by haul distance to lower section；Returned with afer bay and moved forward, control
Device processed is welded according to splicing seams trajectory diagram control welding gun according to splicing seams track；After frame reaches front end, supporting mechanism will
Roller props walked frame, is advanced forward by track bearing of trend with rear walking mechanism, while scanning means feeds back splicing in time
The position in sweep length is sewn on, control device controls tourelle and transfer by walked frame along spelling according to feedback signal
Seam moves forward a distance for welding gun stroke, the walked frame is placed in splicing seams side, so completes a welding
Cycle；Go round and begin again according to this until terminal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710164193.8A CN106695210B (en) | 2017-03-20 | 2017-03-20 | Automatic welder and its application method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710164193.8A CN106695210B (en) | 2017-03-20 | 2017-03-20 | Automatic welder and its application method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106695210A true CN106695210A (en) | 2017-05-24 |
| CN106695210B CN106695210B (en) | 2018-03-09 |
Family
ID=58884758
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710164193.8A Expired - Fee Related CN106695210B (en) | 2017-03-20 | 2017-03-20 | Automatic welder and its application method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106695210B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110421282A (en) * | 2019-07-04 | 2019-11-08 | 嵊州市荣飞纺织机械有限公司 | Welder is used in a kind of production of Hardware fitting |
| CN116214011A (en) * | 2023-05-09 | 2023-06-06 | 江苏谷瑞斯机电工程有限公司 | Air chamber welding equipment of air cushion belt conveyor |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0367924A2 (en) * | 1988-09-10 | 1990-05-16 | Fried. Krupp AG Hoesch-Krupp | Procedure and apparatus for determing the position of a seam for laser welding |
| CN201120539Y (en) * | 2007-12-07 | 2008-09-24 | 上海气焊机厂有限公司 | Intersecting line dual-annular seam automatic welding machine |
| CN103624430A (en) * | 2013-11-22 | 2014-03-12 | 上海市机械施工集团有限公司 | Full-position automatic welding device and welding method |
| WO2014082425A1 (en) * | 2012-11-29 | 2014-06-05 | 山东水泊焊割设备制造有限公司 | Cantilevered automatic welding machine for dumper truck box panel |
| CN104117797A (en) * | 2013-04-25 | 2014-10-29 | 南通中集大型储罐有限公司 | Tank interior automatic welding device and method |
-
2017
- 2017-03-20 CN CN201710164193.8A patent/CN106695210B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0367924A2 (en) * | 1988-09-10 | 1990-05-16 | Fried. Krupp AG Hoesch-Krupp | Procedure and apparatus for determing the position of a seam for laser welding |
| CN201120539Y (en) * | 2007-12-07 | 2008-09-24 | 上海气焊机厂有限公司 | Intersecting line dual-annular seam automatic welding machine |
| WO2014082425A1 (en) * | 2012-11-29 | 2014-06-05 | 山东水泊焊割设备制造有限公司 | Cantilevered automatic welding machine for dumper truck box panel |
| CN104117797A (en) * | 2013-04-25 | 2014-10-29 | 南通中集大型储罐有限公司 | Tank interior automatic welding device and method |
| CN103624430A (en) * | 2013-11-22 | 2014-03-12 | 上海市机械施工集团有限公司 | Full-position automatic welding device and welding method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110421282A (en) * | 2019-07-04 | 2019-11-08 | 嵊州市荣飞纺织机械有限公司 | Welder is used in a kind of production of Hardware fitting |
| CN110421282B (en) * | 2019-07-04 | 2021-07-23 | 嵊州市非标链轮有限公司 | Welding device for hardware fitting production |
| CN116214011A (en) * | 2023-05-09 | 2023-06-06 | 江苏谷瑞斯机电工程有限公司 | Air chamber welding equipment of air cushion belt conveyor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106695210B (en) | 2018-03-09 |
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Granted publication date: 20180309 |