CN110153541B - Automatic steel coil inner end resistance welding gun and welding method - Google Patents
Automatic steel coil inner end resistance welding gun and welding method Download PDFInfo
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- CN110153541B CN110153541B CN201910447386.3A CN201910447386A CN110153541B CN 110153541 B CN110153541 B CN 110153541B CN 201910447386 A CN201910447386 A CN 201910447386A CN 110153541 B CN110153541 B CN 110153541B
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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
- B23K11/00—Resistance welding; Severing by resistance heating
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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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/10—Spot welding; Stitch welding
- B23K11/11—Spot welding
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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
- B23K11/00—Resistance welding; Severing by resistance heating
- B23K11/36—Auxiliary equipment
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Abstract
The invention provides an automatic steel coil inner end resistance welding gun and a welding method aiming at the defects that the resistance welding gun at the inner end of a steel coil in the prior art needs manual height adjustment, electrode feeding and gun head rotation, so that the operation is inconvenient and the welding quality is unstable, the welding gun comprises a welding gun body and a transformer, the transformer is connected with an electrode, the welding gun body comprises a welding gun frame, a positive electrode, a negative electrode, a small supporting cylinder and a welding cylinder for driving the two electrodes to extend out and retract, the two electrodes are fixed in the welding gun frame through respective welding cylinders, the output axes of the two small supporting cylinders are positioned in a plane determined by the two electrodes, the two electrodes are symmetrically arranged at two sides of the output axis of the small supporting cylinder, the welding gun further comprises a lifting mechanism, a rotating mechanism, a walking mechanism, a belt head vision identification system and a control device, and the resistance welding gun adopting the structure of the invention and the welding, the method is simple to operate and easy to learn, the uncertainty of manual control is eliminated, and the welding quality and the welding efficiency are high.
Description
Technical Field
The invention relates to a resistance welding gun at the inner end of a steel coil, in particular to an automatic resistance welding gun at the inner end of the steel coil and a welding method.
Background
In order to prevent the steel coil from loosening during multiple transfer, hoisting or heating in a bell-type furnace in the production process, the position of the head of the inner ring of the steel coil is generally welded, so that the head of the steel coil is prevented from being separated from the steel coil to cause accidents, dangers or rework. At present, a resistance welding gun is adopted in the market to weld the belt head of the inner ring of the steel coil, as shown in fig. 6, the resistance welding gun comprises a welding gun 70, a wheel disc 71, a turntable 72, a hanger 73 and a guide rail 74, wherein the hanger 73 and the guide rail 74 can freely rotate at 180 degrees, the welding gun comprises a welding gun body and a welding gun rod, the welding gun body is provided with two electrodes, two electrode feeding cylinders and a small supporting cylinder, an electrode holding rod of each electrode is connected with the output end of the corresponding feeding cylinder through a conductive bridge, the supporting cylinder and the feeding cylinder are arranged in a back-to-back manner, the supporting cylinder and the electrode feeding cylinders are both fixed in the frame body, the welding gun rod is connected with the frame body, the welding gun rod is vertical to the plane determined by the two electrodes, a single-side double-spot welding mode is adopted during welding, the guide rail is horizontally arranged at the top of the hanger 73, the welding gun body is positioned at one end of the turntable, the turntable is arranged at the other end of the welding gun, when the spot welding equipment with the structure is adopted to weld the inner end of the steel coil, the welding gun is supported by the turntable 72, the height of the welding gun 70 needs to be adjusted through the electric hoist 75, when the inner end joint of the steel coil is searched, the turntable 71 needs to be manually rotated to rotate the gun rod 76 to drive the welding gun body 70 to rotate, when the welding spot position is changed, the welding gun 70 needs to advance and retreat under the pushing action of manpower to complete the welding of a plurality of welding spots, so that the operation not only wastes time and has higher requirements on the operation level of workers, but also needs to be skillfully operated by a training party for a certain period of workers, more importantly, as the welding gun 70 is suspended through the turntable 72 and is cantilever type, the welding gun rod is difficult to keep horizontal during the operation, therefore, the pressure at the welding seam is unbalanced during welding, the welding quality is unstable, moreover, when the welding gun 70 is manually pushed into the inner end of the steel coil 60, because the stability of manual operation is poor, when the welding gun 70 enters the steel coil 60, the electrode of the welding gun 70 is easy to collide with the steel coil 60, and the electrode is easy to be damaged, when the welding gun body is manually pushed, because the operator is far away from the belt head and pushes the welding gun body completely by experience and hand feeling, the distance between two welding spots cannot be guaranteed to be consistent, and when the distance between the welding spots is small, shunting is easy to generate, and the welding quality is influenced; during welding, need artifical the corner of maintaining electrode for carousel 72, require highly to the stability of workman's operation, when removing the welding position, the fine end of artifical removal welding position is low for the solder joint distributes unsatisfactorily.
Disclosure of Invention
The invention aims to provide an automatic steel coil inner end resistance welding gun and a welding method aiming at the defects that in the prior art, the height adjustment, the electrode feeding and the gun head rotation are required to be carried out manually, so that the operation is inconvenient, and the welding quality is unstable.
The technical purpose of the invention is realized by the following technical scheme:
the automatic steel coil inner end resistance welding gun comprises a welding gun body and a transformer, wherein the transformer is connected with electrodes, the welding gun body comprises a welding gun frame, a positive electrode, a negative electrode, a small support cylinder and a welding cylinder for driving the two electrodes to extend out and retract, the two electrodes are fixed in the welding gun frame through respective welding cylinders, the output axis of the small support cylinder is positioned in a plane determined by the two electrodes, the two electrodes are symmetrically arranged on two sides of the output axis of the small support cylinder, and the automatic steel coil inner end resistance welding gun further comprises a lifting mechanism, a rotating mechanism, a walking mechanism, a belt head vision recognition system and a control device;
the control device comprises a programmable controller and a welding controller, wherein the programmable controller comprises an input module, an output module, a PID analog quantity control program, a data acquisition module and a data analysis processing module;
the lifting mechanism comprises a lifting frame, a lifting platform connected to the lifting frame in a sliding manner and a lifting driving device for driving the lifting platform to slide up and down, the lifting driving device comprises a lifting motor and a lifting transmission device, and the lifting motor drives the lifting platform to lift through the lifting transmission device to drive the welding gun body to lift;
the rotary mechanism comprises a rotary shaft which is rotationally connected to the lifting platform and a rotary driving device which drives the rotary shaft to rotate, the rotary shaft is perpendicular to a plane determined by the two electrodes, one end of the rotary shaft is suspended outside the lifting platform, the welding gun body is arranged at the free end of the rotary shaft, the rotary driving device comprises a rotary motor and a rotary transmission device, and the rotary motor drives the rotary shaft to rotate through the rotary transmission device to drive the welding gun body to rotate;
the traveling mechanism comprises a traveling guide device and a traveling driving device, the lifting frame travels along the guide direction of the traveling guide device, the guide direction of the traveling guide device is parallel to the rotating shaft, the traveling driving device comprises a traveling motor and a traveling transmission device, and the traveling motor drives the lifting frame to move forwards or backwards through the traveling transmission device to drive the welding gun body to enter or exit the steel coil;
the lifting motor, the rotating motor, the walking motor and the welding controller are respectively in signal connection with the output end of the programmable controller, and the headed vision recognition system is in signal connection with the input end of the programmable controller;
the programmable controller controls the lifting motor to drive the lifting platform to lift, so that the axis of the rotating shaft is coaxial with the axis of the steel coil, the walking motor is controlled to drive the lifting frame to horizontally move to drive the welding gun to reach the axial position corresponding to the first welding point, the steel coil is fed and withdrawn according to the positions of the welding points, a welding program is determined according to the thickness and material information of the steel plate, the welding controller is controlled to control the current output of the transformer to the electrode, the small support cylinder and the extension of the output end of the welding cylinder are controlled to press the strip head for welding, and the rotating motor is driven to rotate according to the position of the strip head identified by the strip head vision identification system, so;
the programmable controller is a PLC, and further comprises a data acquisition module and a communication module, the communication module is in signal connection with the output end of an upper computer, the data acquisition module acquires the diameter of a steel coil, the width of the steel plate, the thickness of the steel plate, the material information of the steel plate and the ready information of the steel coil from the upper computer, the data analysis processing module calculates the height of the center distance from the zero point of the steel coil according to the diameter of the steel coil acquired by the data acquisition module to calculate the rotating turns or steps of the lifting motor, calculates the position of a first welding point according to the width of the steel plate, determines the distance from which the walking motor walks to the first welding point, the distance from which the walking motor feeds each time and the feeding times, controls the walking motor to walk and feed, analyzes and compares the thickness of the steel plate and the material information acquired by the data analysis processing module to select a welding program preset in the welding controller, controls the welding controller to control the transformer, when the programmable controller receives a steel coil in-place signal, the programmable controller controls the lifting motor to drive the lifting platform to ascend to a position where the axis of the rotating shaft is equal to the axis of the steel coil in height, controls the walking motor to drive the welding gun to move forward to an axial position corresponding to a first welding point, controls the rotating motor to drive the rotating shaft to rotate so that the electrode is positioned at the position of the first welding point facing the strip head, the PLC controls the output ends of the small support cylinder and the welding cylinder to extend out to press the strip head, the welding controller is started to weld according to a selected welding program, the welding controller sends a signal to the PLC after welding is finished, the PLC controls the small support cylinder and the welding cylinder to withdraw the output ends, the PLC controls the walking motor to feed to the next welding spot position to weld the next welding spot position, all welding spots are welded completely, the PLC controls the walking motor to withdraw and controls the lifting motor to reversely rotate to drive the welding gun body to descend, and the welding gun returns to the zero point position;
the strip head visual identification system comprises an industrial intelligent camera or a video camera, the industrial intelligent camera or the video camera is in signal connection with an input end of a programmable controller, the industrial intelligent camera or the video camera is fixedly arranged on the front end face of the welding gun body, the direction of a lens of the industrial intelligent camera or the video camera is the same as the direction of an electrode symmetry axis, an image identification module is arranged in the programmable controller, when the rotating motor drives a rotating shaft to rotate, the industrial intelligent camera or the video camera acquires an image of the inner surface of a steel coil and conveys the image to the programmable controller, the strip head is identified by the image identification module, and when the strip head is identified, the programmable controller controls the rotating motor to stop rotating, so that the position of a first welding point;
the visual identification system with the head comprises a laser ranging sensor, wherein the laser ranging sensor is arranged on the front end face of the welding gun body and is consistent with the orientation of an electrode, the laser ranging sensor is in signal connection with the input end of the programmable controller, when the laser ranging sensor detects the head, a signal for identifying the head is sent to the programmable controller, and the programmable controller controls the rotating motor to stop rotating, so that the position of a first welding spot is determined;
each electrode comprises an electrode holding rod and an electrode cap, one end of each electrode holding rod is connected with the conductive bridge, the other end of each electrode holding rod is connected with the electrode cap, and the two electrode holding rods are intersected at the axis of the rotating shaft when welding is carried out;
on the welding frame, large support cylinders are fixedly arranged in pairs adjacent to the welding cylinder, the output direction of each pair of large support cylinders is opposite and is parallel to the output direction of the small support cylinder, and the output axis of each large support cylinder is positioned in a plane determined by the rotating shaft and the output axis of the small support cylinder;
the large support cylinders are a pair and are positioned at the front end of the welding cylinder.
The steel coil inner end resistance welding method adopts the automatic steel coil inner end resistance welding gun and a programmable controller to control the welding gun, and comprises the steps of obtaining steel coil information by the programmable controller, selecting and determining a welding process, determining a welding spot position, implementing a welding step, an automatic feeding step and a welding gun returning step;
in the step of obtaining the steel coil information by the programmable controller, the programmable controller obtains the steel coil information from an upper computer through data exchange, or obtains the steel coil information through input of an input panel, wherein the steel coil information comprises the steel coil diameter, the steel plate width, the steel plate thickness and the steel plate material information;
in the step of welding process selection confirmation, the programmable controller selects a corresponding welding process from prestored welding processes through the steel coil material information and the steel plate thickness information;
in the step of determining the position of the welding spot, the programmable controller calculates the height of the central line of the steel coil according to the diameter of the steel coil, controls the lifting height of the welding gun according to the height, calculates the axial position, the welding spot interval and/or the quantity of the first welding spot according to the width of the steel plate, controls the horizontal movement distance, the feeding distance and the feeding times of the welding gun according to the height, and controls the welding gun to rotate according to the direction of the belt head determined by the belt head visual identification system so that the electrode is opposite to the belt head to determine the position of the first welding spot;
in the step of implementing welding, the programmable controller controls the electrode and the small supporting cylinder to extend out to press the belt head, and the transformer outputs current to the electrode according to the selected welding process;
in the step of automatic feeding, after welding of the welding spot at each position is finished, a welding completion signal is sent to the programmable controller, the programmable controller controls the electrode and the small support cylinder to release the strip head, and the welding gun is fed to the next welding position, and then the electrode and the small support cylinder press the strip head to weld;
in the step of returning the welding gun, when the welding of the welding spot at the last position is finished, the programmable controller sends a quit instruction to the welding gun, the electrode and the small support cylinder retract, and the welding gun translates and quits the steel coil;
the steel coil information also comprises information whether the steel coil is ready, after the programmable controller obtains the steel coil ready information, the welding gun is controlled to ascend and descend to a position which is as high as the center line of the steel coil, move to an axial position corresponding to a first welding point, find the position of a belt head and determine the position of the first welding point to carry out welding, when the welding gun is translated and retreated from the steel coil, the welding gun returns to a zero point position, the zero point position is a reference point for the programmable controller to calculate the translation distance and the ascending and descending height, the welding process is stored in the welding controller, and the welding controller controls the current output to the electrode by the transformer;
during welding, the axis of the electrode is vertical to the tangent plane of the inner surface of the steel coil where the welding spot is located.
The invention has the following beneficial effects:
by adopting the resistance welding gun and the welding method, the cantilever of the welding gun body is arranged on the lifting platform by arranging the lifting mechanism which comprises the lifting frame, the lifting platform which is connected to the lifting frame in a sliding way and the lifting driving device, the lifting mechanism is utilized to drive the lifting platform to slide up and down to adjust the height position of the welding gun body, the welding gun body can be ensured to be aligned with the center of a steel coil, the welding gun body can adapt to the steel coils with different outer diameters, the welding gun body is arranged on the lifting platform, and the welding gun is supported by the lifting platform more stably than a rotating disc which is hoisted, thereby being beneficial to improving the welding precision and being more convenient and quicker to adjust the height; the welding gun body is rotationally connected with the lifting platform through the rotating shaft and arranged outside the platform through the rotating shaft cantilever, the rotating driving device drives the welding gun body to rotate, and the lifting platform provides stable support for the welding gun body, so that the position of the welding gun body is stable, the welding pressure is convenient to keep stable, meanwhile, the direction stability of a welding electrode symmetry axis is convenient to maintain, and the welding precision is further improved; the lifting platform is driven by the walking motor to move horizontally along the walking guide rail, so that the welding gun body can stably move forward, the spacing of welding spots can be conveniently controlled, and the welding spot positioning precision is higher. In conclusion, the height of the welding gun body is adjusted by adopting the lifting mechanism, the rotating mechanism and the travelling mechanism, the welding gun body is driven to rotate, the labor can be reduced by pushing the welding gun body to move, the position of the welding gun body is more conveniently adjusted, the welding spot is more accurately positioned, the welding position is more easily kept stable, the welding efficiency is improved, the welding precision is improved, and the requirement on the operation level of an operator can be reduced; the PLC control system is used for carrying out coordination control on the lifting mechanism, the rotating mechanism and the travelling mechanism, and the data analysis processing module is used for calculating the moving distance of the travelling mechanism driving the lifting frame, the feeding length at each time, the feeding times and the ascending height of the lifting platform, so that the automatic accurate control can be implemented on the welding gun, the operation is simple, the uncertainty of manual control is easily learned and saved, the welding spot positioning is accurate, and the welding quality and the welding efficiency are high.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of an automatic steel coil inner end resistance welding gun according to the present invention;
FIG. 2 is a schematic front view of an embodiment of an automated coil inner end resistance weld gun of the present invention;
FIG. 3 is a schematic left side view of an embodiment of an automated coil inner end resistance weld gun of the present invention;
FIG. 4 is a schematic view showing the positional relationship between the electrode and the support cylinder structure in the welding state of the welding torch body according to the present invention, wherein the large support cylinder structure is omitted;
FIG. 5 is a schematic view of the welding cylinder rotational arrangement of the present invention;
FIG. 6 is a schematic view of a prior art spot welding apparatus;
FIG. 7 is a schematic view of a camera or video camera setting position;
FIG. 8 is a schematic diagram of the electrical control principle of the resistance welding gun at the inner end of the automatic steel coil according to the present invention;
FIG. 9 is a schematic diagram of the welding controller controlling the current output;
FIG. 10 is a PLC control schematic of the present invention;
FIG. 11 is a schematic diagram of an I/O expansion interface connection for a PLC;
fig. 12 is a schematic diagram of motor control for each shaft.
The description of the reference numerals,
9. a transformer; 10. a welding gun body; 11. a welding gun rack; 111. an angle adjusting plate; 112. a waist hole; 113. mounting a plate; 12. an electrode holding rod; 8. an electrode; 13. a large support cylinder; 14. a small support cylinder; 15. welding the cylinder; 16. a conductive bridge; 17. an electrode cap; 18. a spindle bolt; 19. an angle locking bolt;
20. a lifting mechanism; 21. a lifting frame; 22. a lifting platform; 23. lifting a screw rod; 24. a lead screw nut; 25. a lifting motor; 26. a lifting speed reducer; 27. a lifting guide rail; 28. a lifting slide block;
30. a rotation mechanism; 31. a rotating shaft; 32. a rotating electric machine; 33. a rotary speed reducer; 34. a rotary transmission pair; 35. a bearing seat; 36. a limiting sheet; 37. rotating the proximity switch;
40. a traveling mechanism; 41. a traveling wheel; 42. a traveling guide rail; 43. a traveling motor; 44. a traveling speed reducer; 45. a walking transmission pair; 46. a walking limiting device;
50. a counterweight mechanism; 51. a counterweight; 52. a first counterweight pulley; 53. a second counterweight pulley; 54. a counterweight rope; 55. a counterweight guide rail; 56. a counterweight sliding block;
60. a steel coil;
70. a welding gun; 71. a wheel disc; 72. a turntable; 73. a hanger; 74. a guide rail; 75. an electric hoist; 76. a gun rod; 77. a wire rope; 78. a camera or a video camera.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings. In which like parts are designated by like reference numerals. For convenience of description, the position shown in the drawings is a front-back, left-right, up-down position, but this orientation is not a limitation on the structure of the embodiment.
As shown in fig. 1 and 2, the automatic resistance welding gun for the inner end of the steel coil comprises a welding gun body 10, a lifting mechanism 20, a rotating mechanism 30, a traveling mechanism 40 and a control device. The lifting mechanism 20 adjusts the height position of the welding gun body 10 to complete the lifting operation of the welding gun body 10 and the connecting part, so that the welding gun body 10 is aligned with the central axis of the steel coil 60 and can adapt to steel coils 60 with different outer diameters. The rotating mechanism 30 is used to drive the welding gun body 10 to rotate, so that the electrode holding rod 12 can be aligned with the tape head at the inner end of the steel coil 60, thereby finding a proper welding position. The traveling mechanism 40 drives the welding gun body 10 to move axially along the steel coil 60, so that the welding gun body 10 can enter and exit the inner ring of the steel coil 60 and perform spot welding along the strip head to form a plurality of welding spots arranged along the strip head, and the lifting mechanism and the rotating mechanism are controlled by the control device to execute corresponding actions.
As shown in fig. 1 and 3, the lifting mechanism 20 includes a lifting frame 21, a lifting platform 22, and a lifting drive device. The lifting platform 22 is connected to the lifting frame 21 in a sliding manner, the rotating mechanism 30 and the welding gun body 10 are arranged on the lifting platform 22, and the lifting driving device drives the lifting platform 22 to slide up and down to realize the lifting operation of the welding gun body 10 and the rotating mechanism 30. Lifting frame 21 is a support body structure in this embodiment, including setting up the stand in the four corners, lift platform 22 is platelike structure, set up perpendicularly with the stand, it is preferable to be provided with four elevating guide on lift frame 21's stand, elevating guide 27 distributes in lift frame 21's four corners, lift platform 22's both ends are provided with the connecting plate respectively, be provided with lifting slide 28 on the connecting plate, lifting slide 28 distributes in lift platform 22's four corners department, also can be that the front and back both ends respectively set up a lifting slide, lifting slide 28 and lifting guide 27 looks adaptation and with elevating guide sliding connection, can make lift platform 22 keep the level better, welder body 10 can even running. The lifting driving device can adopt a screw nut transmission pair for transmission, and can also adopt gear rack transmission or chain transmission, the screw nut transmission pair is taken as an example for explanation at present, a lifting screw 23 is arranged to be rotatably connected on a lifting rack 21, the lifting screw 23 is vertically arranged, a lifting motor 25 and a lifting speed reducer 26 are arranged at the top of the lifting rack 21, the upper end of the lifting screw is connected with an output shaft of the lifting motor 25 through the lifting speed reducer, the lifting screw is driven to rotate by the lifting motor 25, a screw nut 24 is in threaded connection with the lifting screw, and the screw nut 24 is fixedly connected with a lifting platform 22. Preferably, a high position limiting device and a low position limiting device are arranged on the lifting frame 21, the lifting platform 22 is lifted between the high position limiting device and the low position limiting device, the highest position and the lowest position of the lifting platform 22 are limited, and the lifting platform 22 is prevented from derailing. The limiting device can be a limiting switch or a proximity switch, and when the limiting device is triggered, the lifting motor 25 stops rotating or rotates reversely. The high limiting device and the low limiting device form a lifting limiting device.
As shown in fig. 1 and 2, the rotating mechanism 30 includes a rotating shaft 31 rotatably connected to the lifting platform 22 and a rotation driving device for driving the rotating shaft 31 to rotate, the rotating shaft 31 is a cantilever shaft, the rear end of the rotating shaft 31 is rotatably disposed at the rear end of the lifting platform, the front end of the rotating shaft is a free end extending out of the lifting platform, and the welding gun body 10 is disposed at the free end of the rotating shaft 31 to avoid interference with the lifting mechanism 20 when the welding gun body 10 extends into the steel coil 60. The electrode grip 12 of the torch body 10 is perpendicular to the rotation shaft 31. The rotation driving device comprises a rotating motor 32, a rotation speed reducer 33 and a rotation transmission pair 34, wherein an output end of the rotating motor 32 is connected with an input end of the rotation speed reducer 33, and an output end of the rotation speed reducer 33 is connected with the rotating shaft 31 through the rotation transmission pair 34. The rotary transmission pair 34 may be a belt transmission device, a sprocket transmission device, a gear transmission device, or the like, and here, taking the belt transmission device as an example, the belt transmission device includes a driving pulley connected to the output end of the rotary reducer, a driven pulley coaxially fixed to the rotating shaft 31, and a belt sleeved on the two pulleys. Bearing seats 35 are respectively arranged at two ends of the rotating shaft 31, the rotating shaft 31 is rotatably arranged on the surface of the lifting platform 22 through bearings, in the invention, the rotating shaft 31 is preferably an optical shaft, semicircular shaft reeds are respectively arranged at two ends of the optical shaft close to the bearing seats 35 in pairs, and the semicircular shaft reeds are oppositely arranged to form shaft shoulders. Preferably, the optical axis is a hollow shaft, and water, gas, transformer power lines, transformer control lines and other control lines used by the welding gun body 10 penetrate through the hollow part of the optical axis to connect with the welding gun body 10. Preferably, the rotation shaft 31 is provided with a limiting piece 36, preferably, the limiting piece 36 is arranged at a clamping position of the two-shaft reed, so that the installation is convenient and firm, the lifting platform 22 is provided with a rotary approach switch 37, the rotary approach switch 37 is arranged at a position corresponding to the limiting piece 36, and the limiting piece 36 is close to or far away from the rotary approach switch 37 when the rotation shaft 31 rotates. When the limiting piece 36 is close to the rotary proximity switch 37 to trigger, the rotary motor 32 stops rotating or rotates reversely, so that the rotary shaft 31 cannot rotate past the position of the limiting piece 36, and the rotary shaft 31 is prevented from rotating more than 360 degrees, thereby preventing the internal cable from being coiled. Of course, other limit stops may be used as the rotation limit stop, such as an opto-electronic switch.
As shown in fig. 1, the invention preferably adopts a traveling mechanism 40 having a structure including four traveling wheels 41, a traveling guide, and a traveling drive. The four walking wheels 41 are respectively rotatably connected to four corners of the bottom of the lifting frame 21, the rotating axes of the walking wheels are horizontal and perpendicular to the axis of the rotating shaft 31, every two walking wheels 41 are arranged in pairs through connecting shafts, each walking guide device comprises two walking guide rails 42, each walking guide rail 42 is parallel to the rotating shaft 31, the walking wheels 41 roll on the walking guide rails 42 to drive the lifting frame 21 to move forward or retreat, and the welding gun body 10, the lifting mechanism 20 and the rotating mechanism 30 can move axially along the rotating shaft 31. The walking driving device comprises a walking motor 43, a walking reducer and a walking transmission pair, the walking transmission pair can adopt a belt wheel transmission device and can also adopt a chain wheel transmission device, the chain wheel transmission device is taken as an example in the invention, the walking motor 43 is connected with a driving chain wheel through a walking reducer 44, the driving chain wheel is connected with a driven chain wheel through a chain, the wheel shaft of the driven chain wheel is connected with a connecting shaft of a driving walking wheel 41, the walking motor 43 and the walking reducer 44 are both arranged on the bottom plate of the lifting frame 21, and the positions of the walking motor 43 and the walking reducer 44 are arranged at the rear of the lifting frame opposite to the position of the welding gun body 10, so that the lifting mechanism 20 forms. Preferably at walking guide rail 42's tail end, keep away from the one end that coil of strip 60 placed the position promptly, set up walking stop device 46, walking stop device 46 can be limit switch, also can be proximity switch, walking stop device also can be mechanical stop device, when walking stop device 46 is triggered by walking wheel 41, walking motor 43 stall or antiport, can avoid walking wheel 41 to derail on the one hand, on the other hand can be when walking stop device 46 is triggered can indicate, welder body 10 resets, coil of strip 60 can be transported away, ensure production safety.
The control device comprises a control panel and a controller, the controller adopts a programmable controller, such as a PLC, the lifting limiting device, the rotation limiting device and the walking limiting device are respectively in electric signal connection with the input end of the PLC, the control components such as a lifting drive for driving the lifting motor to act, a rotation drive for driving the rotation drive motor to act, a walking drive for driving the walking motor to act, a supporting cylinder electromagnetic valve for controlling the supporting cylinder to act, an electrode feeding cylinder electromagnetic valve for controlling the electrode to act and the like are respectively in electric signal connection with the output end of the PLC, the input end of the welding controller is connected with the output end of the PLC, the output end of the welding controller is in electric signal connection with a transformer, an input module, an output module, a PID analog quantity control program and a data analysis processing module are arranged in the PLC, the input module processes received signals, and the output module converts the signals processed by the PID control program and the data analysis, a data acquisition module is arranged in the PLC, the diameter of a steel coil, the width of the steel plate, the thickness data of the steel plate, the material information of the steel plate and a steel coil ready signal are obtained through the data acquisition module, preferably, a communication module is arranged in the PLC and exchanges data with a production line upper computer to obtain the diameter of the steel coil, the thickness of the steel plate, the width data of the steel plate, the material information of the steel plate and the steel coil in-place information, the center height of the steel coil is calculated according to the diameter of the steel coil obtained by the data analysis processing module, namely the height of a welding gun body needing to be raised from a zero position so as to control the rotating number of turns of a lifting motor, the horizontal distance of the lifting frame driven by a walking driving device to walk from the zero position to a first welding point position and the distance between two adjacent welding points are also the positions of the welding points, the distance of, the walking drive controls the walking motor to rotate to implement feeding, and the PLC controls the rotating motor to drive the rotating shaft to rotate, so that the electrode faces the belt head, and the welding gun is positioned at the welding point; and the data analysis processing module analyzes, compares and selects a welding program preset in the welding controller according to the obtained steel plate thickness and material information, and the welding controller controls the transformer to output current after waiting for receiving a welding start command. When the welding gun is positioned at the welding point, the PLC sends a welding starting command to a welding controller (HWH SmartACS), the welding controller controls the transformer to output current according to a welding program selected by the PLC to complete welding, and when the welding is completed, the welding controller returns a welding completion signal to the PLC, and the PLC controls the travelling mechanism to move the welding gun to the next welding point and repeats the process. And when welding spots are welded, the PLC sends zero returning instructions to the walking drive and the lifting drive, the equipment returns to zero, and the walking distance and the lifting height are calculated from the zero when welding is performed next time. The control device of the invention realizes automatic control of the height, the walking distance and the walking length of the welding gun through the PLC, the centering operation is simple and accurate, the distance between two times of movement of the welding gun is basically consistent when the welding gun moves along the width of the belt head, and the precision of the distance between welding spots at two adjacent positions is high, so the control of the welding position is accurate and reliable.
In the invention, a camera is arranged at the center of the front end face of a welding gun frame, the camera faces the inner surface of the steel coil and is consistent with the orientation of an electrode, a rotating motor is manually controlled to observe a display screen of the camera, when a strip head appears on the display screen, the rotating motor is manually stopped to rotate, the electrode faces the strip head, and a welding gun is positioned at a welding spot.
In a more preferable scheme, the position of the belt head is identified through a belt head visual identification system, so that the welding gun is positioned at the welding point position. For example, an intelligent industrial camera is used as a strip head vision recognition system, the intelligent industrial camera is arranged in the center of the front end face of a welding gun frame 11, the camera of the camera is opposite to the inner surface of a steel coil and is consistent with the orientation of an electrode, the output end of the camera is in wireless or wired communication connection with a display device, the industrial camera rotates along with the rotation of a welding gun to find the strip head, the strip head is displayed on the display when the industrial camera is opposite to the strip head, the welding gun head stops rotating manually, the welding gun is positioned at the welding point, and a welding program is entered.
As shown in fig. 1, in order to reduce the driving force of the elevating mechanism and further increase the level of the torch body, it is preferable to provide a weight mechanism 50 on the elevating mechanism 20. The counterweight mechanism 50 of the present invention preferably includes a counterweight 51, a counterweight rope 54, a first counterweight sheave 52, and a second counterweight sheave 53. The first counterweight pulley 52 and the second counterweight pulley 53 are rotatably connected to the top of the lifting frame 21, the rotating axes of the first counterweight pulley 52 and the second counterweight pulley 53 are parallel to the rotating axis of the walking wheel 41, one end of a counterweight rope 54 is connected to one end of the lifting platform 22 close to the welding gun body 10, and the other end of the counterweight rope 54 bypasses the first counterweight pulley 52 and the second counterweight pulley 53 to be connected with a counterweight 51 backwards. Preferably, the counterweight 51 is slidably connected to the elevator frame 21 through a counterweight sliding pair, the counterweight sliding pair includes a counterweight guide rail 55 fixedly connected to the elevator frame 21 and a counterweight sliding block 56 fixedly connected to the counterweight 51, and the counterweight sliding block 56 is adapted to the counterweight guide rail 55, so that the counterweight 51 moves more stably. Two sets of counterweight mechanisms 50 are preferably provided for smooth overall operation.
Referring to fig. 2 and 4, the welding gun body 10 includes a welding gun holder 11, two electrodes 8, two conductive bridges 16, a small support cylinder 14, and two welding cylinders 15. The two conductive bridges are respectively and fixedly connected with the output end of the welding cylinder 15 at the corresponding position, the electrode comprises an electrode holding rod 12 and an electrode cap 17 fixedly connected with one end of the electrode holding rod 12, and the other end of the electrode holding rod 12 is fixedly connected with the conductive bridge 16 at the corresponding position and is vertical to the end surface of the conductive bridge 16. The small support cylinder 14 is fixedly connected to the welding gun frame 11, the axis of the output end of the small support cylinder is perpendicular to the axis of the rotating shaft 31, a plane defined by the axis of the output end of the small support cylinder and the axis of the rotating shaft is called a first symmetric plane for convenience of description, a plane passing through the output axis of the small support cylinder and perpendicular to the rotating shaft is called a mounting plane, the output axes of the two welding cylinders 15 are both located in the mounting plane and are symmetrical relative to the first symmetric plane, and the cylinder bodies of the two welding cylinders 15 are both arranged opposite to the cylinder body of the small support cylinder 14. Preferably, the large support cylinders 13 are arranged on the welding gun frame 11 in pairs at positions close to the small support cylinders, each pair of the large support cylinders 13 comprises a first large support cylinder and a second large support cylinder, the cylinder bodies of the first large support cylinder and the second large support cylinder are arranged in a back-to-back manner, the axes of the output ends of the first large support cylinder and the second large support cylinder are located in the first symmetry plane, and the strokes of the first large support cylinder and the second large support cylinder are opposite. The paired large supporting cylinders 13 are used for assisting the small supporting cylinders 14 and the welding cylinders 15 to compress the belt heads, so that the pressing force of the belt heads is sufficient, the welding gun body 10 can be assisted to be positioned, the free end of the rotating shaft 31 is supported more stably, the welding gun body is kept horizontal during welding, the welding is more stable, especially when a thick plate is welded, the small supporting cylinders 14 and the welding cylinders 15 can be assisted to provide enough pressure for welding, the gaps between the belt heads at the welding position are kept basically consistent, and poor welding is avoided. More than two groups of paired large support cylinders 13 may be provided, and when one group of paired large support cylinders 13 is provided, it is preferable to dispose the large support cylinders 13 outside the small support cylinders 14 so that the small support cylinders are located between the large support cylinders and the platform; when more than two sets of large support cylinders 13 are provided, it is preferable to provide the small support cylinders 14 and the welding cylinders 15 between the two sets of large support cylinders 13. Preferably, the end face of the conductive bridge 16 connected with the electrode holding rods 12 is an inclined face which inclines towards the cylinder body direction from the rotating shaft to the outside relative to the symmetry plane, each electrode holding rod 12 is respectively and vertically arranged with the connecting end face of the conductive bridge corresponding to the electrode holding rod, the two electrode holding rods are symmetrically arranged relative to the symmetry plane, the axes of the two electrode holding rods are both positioned in the vertical plane, the axes of the two electrode holding rods are intersected at the center of the inner circle of the steel coil 60 where a welding point is positioned during welding, the electrode holding rods 12 are ensured to be vertical to the arc surface of the inner circle of the steel coil 60 during welding, the contact between the electrode caps and the inner surface of the steel coil band head is point contact or preset surface contact, the phenomenon that the contact area between the electrode caps and the welding materials is small after the electrode holding rods and the inner surface of the band head form a sharp corner when the electrode holding rods and the surface of the band head are inclined, it is even to glue, can't form effective nugget between panel and the panel, and electrode cap 17 and the too big electrode cap 17 and panel that lead to of production heat between the welding material even when avoiding also welding the thick plate are even, adopt the electrode of this structure can the steel sheet to weld the coil of strip that thickness is greater than 2mm, especially can weld the coil of strip that steel sheet thickness exceeds 2.5 mm. The cylinder body of the welding cylinder 15 can be fixedly connected to the welding gun frame 11, as shown in fig. 5, the cylinder body of the welding cylinder 15 can also be rotatably connected to the welding gun frame 11 through a rotating shaft, and the axis of the rotating shaft of the welding cylinder 15 is parallel to the axis of the rotating shaft 31 during the rotating connection, so that the direction of the electrode can be adjusted by rotating the welding cylinder 15, the electrode can adapt to steel coils with different inner diameters conveniently, and the electrode is perpendicular to the inner ring of the steel coil. When the welding cylinder 15 is rotatably disposed, a connection structure may be adopted, in which an angle adjusting plate 111 is integrally disposed on the gun welder frame 11, two arc-shaped long waist holes 112 and two shaft holes are disposed on the angle adjusting plate 111 corresponding to the positions of the two welding cylinders, the waist holes 112 and the shaft holes corresponding to the positions are coaxial, the two shaft holes and the two waist holes are respectively symmetrically disposed with respect to a symmetry plane, an installation plate 113 is fixedly connected to a cylinder body of the welding cylinder 15, two rotating shaft bolts 18 are disposed, each rotating shaft bolt 18 penetrates through the shaft hole corresponding to the position of the angle adjusting plate and the installation plate 113 corresponding to the position of the angle adjusting plate, and two angle locking bolts 19 are disposed, and the two angle locking bolts 19 penetrate through the waist hole 112 corresponding to the position of the angle adjusting plate and the installation plate 113 corresponding to the position of the angle adjusting plate. The spindle bolt 18 and the angle locking bolt 19 are parallel to the rotation shaft 31. The rotation shaft bolt 18 serves as a rotation shaft of the welding cylinder, and the angle adjusting plate 111 is pressed by a bolt head of the tightening angle locking bolt 19 to lock the position of the welding cylinder 15.
When in use, a steel coil 60 to be welded is fixed at the front end of a welding gun, a sensor positioned at a steel coil station detects that a steel coil is sent, steel coil in-place information is sent to a PLC (programmable logic controller), after a PLC data acquisition module obtains the steel coil diameter, the steel plate width, the steel plate thickness and the steel plate material information, a data analysis processing module calculates the lifting height and the advancing distance of a welding gun body, a lifting motor is controlled to be lifted to be equal to the central axis of a steel ring on the axis of a rotating shaft of the lifting motor, a walking motor is controlled to drive a lifting frame to advance to the axial position corresponding to the position of a first welding point, after the feeding is manually confirmed to be in place, the rotating motor is started on an operation panel of the PLC, an electrode is driven to rotate by inching of the rotating shaft 31 to align to a belt head of an inner ring of the steel coil 60, the welding is confirmed on the operation panel, welding spot welding when this position finishes, PLC is to supporting cylinder, welding cylinder gives an instruction, supporting cylinder and welding cylinder withdraw, PLC control walking motor drive elevating rack removes, after feeding the solder joint of next position with the electrode, welding controller control welding machine carries out the welding of next position solder joint, each position solder joint welding finishes welding controller sends a signal to PLC, PLC control walking motor reversal is walked to the back spacing after and is controlled elevating motor reversal drive welder body decline again, the welder body descends to the zero point position, walking stop device and lift stop device are to PLC input signal, the suggestion coil of strip welding finishes.
In order to further improve the automation level and improve the welding speed and the welding quality, the position of the belt head can be searched by adopting the scheme that an industrial intelligent camera is combined with an image recognition module to realize automatic control, the image recognition module is arranged in the PLC, the intelligent industrial camera continuously conveys pictures to the PLC along with the rotation of the welding gun, the image recognition module identifies the image of the belt head, when the belt head is confirmed to be searched, the PLC sends an instruction to the rotating motor 32, the rotating motor stops rotating to enable the welding gun electrode to face the belt head, the welding gun electrode is positioned at the welding point position and enters a welding program. The industrial intelligent camera is combined with the image recognition module, the position of the strip head in the steel coil is automatically recognized, the positioning of the rotating motor is completed, and the automation degree is further improved.
In order to further improve the automation level and improve the welding speed and the welding quality, a laser ranging sensor is arranged for identifying the position of a belt head, the laser ranging sensor is arranged on a welding gun frame, a probe and a laser transmitter of the laser ranging sensor are both towards the surface of the steel coil, the orientation of the probe is consistent with the orientation of an electrode so that the electrode also faces the position of the belt head when the sensor detects the position of the belt head, the laser ranging sensor can adopt a Keynes ranging sensor 1X series, in order to prevent the laser ranging sensor from being damaged during welding, the laser ranging sensor is arranged on the welding gun frame body far away from the electrode, for example, the center position of the front end surface of a welding gun, the laser ranging sensor is in electric signal connection with the input end of a PLC, when the distance from the central axis of the steel coil to the surface of the steel coil is converted from a line, the laser ranging sensor identifies the position of the joint and sends an instruction to the PLC, the PLC sends an action instruction to the welding controller, the welding cylinder and the supporting cylinder extend out, and the welding controller enters a welding working state to execute welding operation. For convenience of description, the elevating motor is referred to as an X-axis motor, the corresponding driver is referred to as an X-axis driver, the traveling motor is referred to as a Y-axis motor, the corresponding driver is referred to as a Y-axis driver, the rotating motor is referred to as a Z-axis motor, and the corresponding driver is referred to as a Z-axis driver.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (10)
1. Automatic change coil of strip inner resistance welder, including welder body (10) and transformer, the transformer is connected with the electrode, welder body (10) includes welding gun frame (11), two positive and negative electrodes, little supporting cylinder (14) and the welding cylinder that two electrodes of drive stretched out and retract, and two electrodes are fixed in welding gun frame through respective welding cylinder, and the output axis of little supporting cylinder is located the plane that two electrodes are confirmed, and two electrode symmetry sets up the both sides at little supporting cylinder output axis, its characterized in that: the device also comprises a lifting mechanism (20), a rotating mechanism (30), a walking mechanism (40), a visual identification system with a head and a control device;
the control device comprises a programmable controller and a welding controller, wherein the programmable controller comprises an input module, an output module, a PID analog quantity control program, a data acquisition module and a data analysis processing module;
the lifting mechanism (20) comprises a lifting rack (21), a lifting platform (22) connected to the lifting rack (21) in a sliding manner and a lifting driving device for driving the lifting platform (22) to slide up and down, the lifting driving device comprises a lifting motor and a lifting transmission device, and the lifting motor drives the lifting platform to lift through the lifting transmission device to drive the welding gun body to lift;
the rotating mechanism (30) comprises a rotating shaft (31) and a rotating driving device, the rotating shaft (31) is rotatably connected to the lifting platform (22), the rotating driving device drives the rotating shaft (31) to rotate, the rotating shaft is perpendicular to a plane determined by the two electrodes, one end of the rotating shaft (31) is suspended outside the lifting platform (22), the welding gun body (10) is arranged at the free end of the rotating shaft (31), the rotating driving device comprises a rotating motor and a rotating transmission device, and the rotating motor drives the rotating shaft to rotate through the rotating transmission device to drive the welding gun body to rotate;
the traveling mechanism (40) comprises a traveling guide device and a traveling driving device, the lifting frame (21) travels along the guide direction of the traveling guide device, the guide direction of the traveling guide device is parallel to the rotating shaft (31), the traveling driving device comprises a traveling motor and a traveling transmission device, and the traveling motor drives the lifting frame to move forwards or backwards through the traveling transmission device to drive the welding gun body to enter or exit the steel coil;
the lifting motor, the rotating motor, the walking motor and the welding controller are respectively in signal connection with the output end of the programmable controller, and the headed vision recognition system is in signal connection with the input end of the programmable controller;
by the lift platform of programmable controller control elevator motor drive lift, make rotation axis coaxial with the coil of strip axis, control walking motor drive elevator frame horizontal migration drives welder and reachs the axial position that first solder joint corresponds, feeds and withdraws from the coil of strip according to each solder joint position, confirms welding procedure and control according to steel sheet thickness, steel sheet material information welding controller control transformer to the current output of electrode, the flexible strip head of pushing down of control little supporting cylinder and welding cylinder output welds, and the strip head position drive rotating electrical machines that discerns according to strip head visual identification system is rotatory, makes the electrode face the strip head.
2. The automatic steel coil inner end resistance welding gun according to claim 1, wherein the programmable logic controller is a PLC, and further comprises a data acquisition module and a communication module, the communication module is in signal connection with an output end of an upper computer, the data acquisition module acquires steel coil diameter, steel plate width, steel plate thickness, steel plate material information and steel coil readiness information from the upper computer, the number of turns or steps of the elevator motor is calculated by calculating the height of the center of the steel coil from the zero point according to the steel coil diameter acquired by the data analysis processing module, the position of the first welding point is calculated according to the steel plate width, the distance from the walking motor to the first welding point and the distance and the number of times of feeding each time are determined, the walking and the feeding of the walking motor are controlled, and the data analysis processing module analyzes and compares the obtained steel plate thickness and material information to select a welding program preset in the welding controller, controlling a welding controller to control a transformer to output current to an electrode to weld according to a selected welding program, controlling a lifting motor to drive a lifting platform to ascend to a position where the axis of a rotating shaft is equal to the axis of a steel coil in height after a programmable controller receives a steel coil in-place signal, controlling a walking motor to drive a welding gun to move forward to an axial position corresponding to a first welding point, controlling the rotating motor to drive the rotating shaft to rotate to enable the electrode to be positioned at the first welding point in a direction facing a strip head, controlling the output ends of a small supporting cylinder and a welding cylinder to extend out to press the strip head by a PLC (programmable logic controller), starting the welding controller to weld according to the selected welding program, sending a signal to the PLC by the welding controller after welding, controlling the small supporting cylinder and the welding cylinder to retract to the output ends, controlling the walking motor to feed to the next welding point to weld the next, And controlling the lifting motor to rotate reversely to drive the welding gun body to descend so that the welding gun returns to the zero position.
3. The automatic steel coil inner end resistance welding gun according to claim 1, wherein the strip head vision recognition system comprises an industrial intelligent camera or a video camera, the industrial intelligent camera or the video camera is in signal connection with an input end of a programmable controller, the industrial intelligent camera or the video camera is fixedly arranged on the front end face of the welding gun body, the orientation of a lens of the industrial intelligent camera or the video camera is the same as the direction of an electrode symmetry axis, an image recognition module is arranged in the programmable controller, when the rotating motor drives the rotating shaft to rotate, the industrial intelligent camera or the video camera obtains an image of the inner surface of the steel coil and conveys the image to the programmable controller, the strip head is recognized by the image recognition module, and when the strip head is recognized, the programmable controller controls the rotating motor to stop rotating, so that the position of a first welding point is determined.
4. The automatic steel coil inner end resistance welding gun according to claim 1, wherein the belt head vision recognition system comprises a laser ranging sensor, the laser ranging sensor is arranged on the front end face of the welding gun body and is consistent with the orientation of an electrode, the laser ranging sensor is in signal connection with the input end of the programmable controller, when the laser ranging sensor detects a belt head, a signal for recognizing the belt head is sent to the programmable controller, and the programmable controller controls the rotating motor to stop rotating, so that the position of a first welding point is determined.
5. The automated steel coil inner end resistance welding gun according to claim 1, wherein each electrode comprises an electrode holding rod and an electrode cap, one end of each electrode holding rod is connected with the conductive bridge, the other end of each electrode holding rod is connected with the electrode cap, and when welding is carried out, the axes of the two electrode holding rods are intersected with the axis of the rotating shaft.
6. The automatic steel coil inner end resistance welding gun according to claim 1 or 5, characterized in that, on the welding frame, large support cylinders are fixedly arranged in pairs adjacent to the welding cylinder, the output direction of each pair of large support cylinders is opposite and parallel to the output direction of the small support cylinder, and the output axis of the large support cylinder is positioned in the plane defined by the rotating shaft and the output axis of the small support cylinder.
7. The automated steel coil inner end resistance welding gun according to claim 6, wherein the large support cylinders are a pair and are positioned at the front end of the welding cylinder.
8. The steel coil inner end resistance welding method is characterized in that an automatic steel coil inner end resistance welding gun according to any one of claims 1 to 7 is adopted, a programmable controller is adopted to control the welding gun, and the method comprises the steps of obtaining steel coil information by the programmable controller, selecting and determining a welding process, determining a welding spot position, implementing a welding step, automatically feeding and returning the welding gun;
in the step of obtaining the steel coil information by the programmable controller, the programmable controller obtains the steel coil information from an upper computer through data exchange, or obtains the steel coil information through input of an input panel, wherein the steel coil information comprises the steel coil diameter, the steel plate width, the steel plate thickness and the steel plate material information;
in the step of welding process selection confirmation, the programmable controller selects a corresponding welding process from prestored welding processes through the steel coil material information and the steel plate thickness information;
in the step of determining the position of the welding spot, the programmable controller calculates the height of the central line of the steel coil according to the diameter of the steel coil, controls the lifting height of the welding gun according to the height, calculates the axial position, the welding spot interval and/or the quantity of the first welding spot according to the width of the steel plate, controls the horizontal movement distance, the feeding distance and the feeding times of the welding gun according to the height, and controls the welding gun to rotate according to the direction of the belt head determined by the belt head visual identification system so that the electrode is opposite to the belt head to determine the position of the first welding spot;
in the step of implementing welding, the programmable controller controls the electrode and the small supporting cylinder to extend out to press the belt head, and the transformer outputs current to the electrode according to the selected welding process;
in the step of automatic feeding, after welding of the welding spot at each position is finished, a welding completion signal is sent to the programmable controller, the programmable controller controls the electrode and the small support cylinder to release the strip head, and the welding gun is fed to the next welding position, and then the electrode and the small support cylinder press the strip head to weld;
in the step of returning the welding gun, when the welding of the welding spot at the last position is finished, the programmable controller sends an exit instruction to the welding gun, the electrode and the small supporting cylinder retract, and the welding gun translates to exit the steel coil.
9. The method for welding the inner end of the steel coil by resistance welding according to claim 8, wherein the information of the steel coil further includes information of whether the steel coil is ready, after the programmable controller obtains the information of the steel coil ready, the welding gun is controlled to ascend and descend to a position with the same height as the center line of the steel coil, move to an axial position corresponding to a first welding point, find a position of a strip head and determine the position of the first welding point to perform welding, when the welding gun is moved back to a zero point position when the welding gun is moved back out of the steel coil, the zero point position is a reference point for the programmable controller to calculate a moving distance and a lifting height, the welding process is stored in the welding controller, and the welding controller controls current output to the electrode by the.
10. A method of resistance welding the inner end of a steel coil as claimed in claim 8, wherein the axis of the electrode is perpendicular to the tangent plane of the inner surface of the steel coil where the welding point is located.
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| CN112756757A (en) * | 2019-05-27 | 2021-05-07 | 北京实耐固连接技术有限公司 | Resistance welding method for automatically welding inner end of steel coil |
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| CN114055067A (en) * | 2020-07-29 | 2022-02-18 | 上海宝信软件股份有限公司 | Movable inner support welding device suitable for aluminum coil |
| CN114193029A (en) * | 2020-09-18 | 2022-03-18 | 宝山钢铁股份有限公司 | Welding machine weld joint pre-evaluation method based on big data analysis model |
| CN114131260B (en) * | 2021-12-17 | 2023-05-26 | 长春市众诚智能科技有限公司 | Intelligent welding equipment for automobile fender |
| CN115007986B (en) * | 2022-05-28 | 2023-09-22 | 富奥威泰克汽车底盘系统有限公司 | Fixed resistance welder for welding oil pan |
| CN116596864A (en) * | 2023-05-05 | 2023-08-15 | 卡门哈斯激光科技（苏州）有限公司 | Visual positioning detection method for welding flat copper wire motor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112756757A (en) * | 2019-05-27 | 2021-05-07 | 北京实耐固连接技术有限公司 | Resistance welding method for automatically welding inner end of steel coil |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110153541A (en) | 2019-08-23 |
| CN112756757A (en) | 2021-05-07 |
| CN112756757B (en) | 2022-07-12 |
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