CN111151848A - Automatic submerged-arc welding machine for connecting pipe and control system - Google Patents
Automatic submerged-arc welding machine for connecting pipe and control system Download PDFInfo
- Publication number
- CN111151848A CN111151848A CN201911371361.6A CN201911371361A CN111151848A CN 111151848 A CN111151848 A CN 111151848A CN 201911371361 A CN201911371361 A CN 201911371361A CN 111151848 A CN111151848 A CN 111151848A
- Authority
- CN
- China
- Prior art keywords
- welding
- submerged arc
- automatic
- welding machine
- slewing
- 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
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/18—Submerged-arc welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/133—Means for feeding electrodes, e.g. drums, rolls, motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
- B23K9/287—Supporting devices for electrode holders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
Abstract
The invention provides a connecting pipe submerged arc automatic welding machine and a control system, wherein one side of a horizontal movement unit is connected with a centering mechanism, the other side of the horizontal movement unit is connected with a rotary support, the rotary system is arranged at the lower part of the rotary support, a drag chain accessory is connected at the lower part of the rotary system, a wire reel, an installation support thereof and a remote operation control box are fixed on a support of the drag chain accessory, the front end of the drag chain accessory is connected with a vertical movement unit, and the lower end of the vertical movement unit is provided with a wire feeding. The invention improves the digitization degree of the union pipe submerged arc automatic welding machine, reduces the operation difficulty and reduces the technical level requirement of the welding tool; the welding preparation time is shortened, so that the manufacturing period of the product is prolonged; the influence of human factors on the welding process is reduced, and the welding quality is ensured.
Description
Technical Field
The invention belongs to the field of welding, and particularly relates to a connecting pipe submerged arc automatic welding machine and a control system.
Background
Most of the existing submerged arc welding of the cylinder body and the connecting pipe of the chemical container adopts semi-mechanical welding equipment, and has the advantages of low automation degree, high operation difficulty, poor welding quality, low efficiency and long preparation time before welding.
The union pipe submerged arc automatic welder is one welding machine utilizing electric arc to burn under flux layer for welding. The welding device has the advantages of stable inherent welding quality, high welding productivity, no arc light, little smoke and the like, and is a main special welding device in the manufacture of pressure vessels, pipe sections, box beam column steel structures and the like.
The union pipe submerged arc automatic welding machine is mainly used for the submerged arc automatic welding special equipment of the chemical container cylinder and the union pipe, can also be used for the submerged arc automatic welding of the circular seam and the longitudinal seam of the chemical container, and has the characteristics of good union pipe welding quality, high production rate and the like.
Disclosure of Invention
In order to solve the problems, the invention provides a connecting pipe submerged arc automatic welding machine and a control system. The following problems are solved:
1. the position relation between welding equipment and a product welding seam is ensured, the heavy-load moving mechanism and the transverse displacement mechanism are controlled to ensure the position relation between a rotation plane of the connecting pipe submerged arc welding equipment and a welding plane, and convenience is provided for determining a welding rotation center;
2. the communication between the union pipe submerged arc automatic welding machine and the touch screen on the operation box is realized, and the real-time data exchange is realized;
3. the PLC program design of the connecting pipe submerged arc automatic welding machine adopts a structural ladder diagram design method, and the program structure is simple and clear and has strong readability;
4. has the function of automatically finding the heart.
The technical scheme adopted by the invention is as follows: the utility model provides a take over union melt arc automatic welder, horizontal motion unit one side is connected with aligning mechanism, and the opposite side is connected with the slewing bearing, and slewing system installs in the slewing bearing lower part, and the tow chain annex is connected in the slewing system lower part, and wire reel and installing support, remote operation control box are fixed in on the support of tow chain annex, tow chain annex front end is connected with the vertical motion unit, and the vertical motion unit lower extreme is installed and is sent a unit.
Further preferably, the rotary support is provided with a lighting unit.
Further optimize, aligning mechanism includes aligning gear motor, spiral lift, gyration supporting seat, operation machine heavy load connecting seat, and aligning gear motor installs on the spiral lift base member, and spiral lift passes through the swing bolt with the gyration supporting seat to be connected, and gyration supporting seat one side is connected with the horizontal motion unit, and the opposite side passes through the swing axle with operation machine heavy load connecting seat and is connected.
Further optimizing, the slewing system comprises a slewing bearing, a conductive sliding ring, a servo deceleration motor, an L-shaped slewing connection device and a slewing support, wherein the servo deceleration motor is installed on the slewing bearing, the conductive sliding ring is installed on the upper portion of the slewing bearing, the slewing support is installed on the outer side of the conductive sliding ring, and the L-shaped slewing connection device is assembled on the lower portion of the slewing bearing.
Further optimize, send a unit to include welder angle adjusting device, L type connecting plate, narrow gap welding rifle, send a correction subassembly, L type connecting plate one end is passed through the screw and is connected with welder adjusting device, and the other end is passed through the screw and is sent a correction subassembly and be connected, send a correction subassembly lower extreme assembly narrow gap welding rifle.
The invention also comprises a control system of the connecting pipe submerged arc automatic welding machine, which mainly comprises the following steps:
A. initialization: when the external AC220V power supply is switched on, a power switch on the control box is shifted to an open position, and the system enters an initialization process;
B. power-on self-test: the method comprises the following steps that after power-on, the equipment carries out system self-check before starting up, detects whether a fault exists or not, reads in relevant parameters stored during shutdown to a memory, and waits for the next operation;
C. and (3) parameter storage: setting welding parameters, wherein the welding parameters mainly comprise that the diameter D of a connecting pipe is 800mm, the welding speed V is 10-1000mm/min, the forward and reverse welding directions are selected, the welding current I is 10-1000A, and the welding voltage U is 10-45V;
D. mode selection: the welding mode mainly comprises a manual control mode, a simulation control mode and an automatic control mode, and the movement of the whole front-back, up-down, left-right and infinite slewing mechanism and the lifting of the welding gun is realized in the manual control mode; then, in an automatic control mode, a start button is pressed, and the union pipe submerged arc automatic welding machine starts welding according to program control;
E. and when the welding is finished, pressing a stop button, entering an arc-closing control program section, and finishing one normal welding.
Further optimization, the simulation control mode is to simulate the welding process under the condition of no arcing, observe the motion state of the narrow gap welding gun in the narrow gap and ensure that no fault occurs during real welding.
Further optimization, the welding current, the welding voltage and the rotating speed are preset and are displayed in a digital mode, and parameters in the welding process are adjusted at any time.
Further optimized, the control system also comprises a state monitoring ModBus bus controller, the communication between the take-over submerged arc automatic welding machine and the touch screen on the operation box is realized through the ModBus bus, the real-time data exchange is realized, the fault information and the feedback information in the welding process are processed, and finally the fault information and the feedback information are displayed on a human-computer interface or the shutdown operation is executed.
The invention has the beneficial effects that:
1. the purchasing cost is greatly reduced, and simultaneously, a whole set of technology is mastered, and technical reserve is provided for subsequent new manufacturing.
2. The digitization degree of the automatic submerged arc welding machine for the connecting pipe is improved, the operation difficulty is reduced, and the requirement on the technical level of the welding tool is reduced.
3. The welding preparation time is shortened, and the product manufacturing period is prolonged.
4. The influence of human factors on the welding process is reduced, and the welding quality is ensured.
5. According to actual research on site, a series of functions capable of improving welding efficiency and quality are designed, such as a positive and negative rotation welding function, a welding breakpoint memory function and the like.
Drawings
FIG. 1 is a schematic structural view of a union pipe submerged-arc automatic welding machine;
FIG. 2 is a schematic structural diagram of the centering mechanism;
FIG. 3 is a schematic view of the rotary system and the connecting bracket;
FIG. 4 is a schematic view of the wire feeding unit;
FIG. 5 is a block diagram of the connection and control of various actuators;
FIG. 6 is a flow chart of a control system for taking over a submerged arc automatic welder.
Reference numerals: 1-aligning mechanism 2-horizontal movement unit 3-rotary support 4-lighting unit 5-tow chain accessory 6-vertical movement unit 7-wire feeding unit 8-wire reel and mounting bracket thereof 9-remote operation control box 10-rotary support 11-aligning speed reducing motor 12-spiral elevator 13-rotary support 14-manipulator heavy load connecting seat 15-conductive slip ring 16-servo speed reducing motor 17-L type rotary connecting device 18-welding gun angle adjusting device 19-L type connecting plate 20-narrow gap welding gun 21-wire feeding correction assembly
Detailed Description
The invention is further described below with reference to the accompanying drawings:
referring to fig. 1, the automatic submerged arc welding machine for connecting pipes mainly comprises a centering mechanism 1, a rotary support 3, a rotary system 10, a horizontal moving unit 2, a vertical moving unit 6, a wire feeding unit 7, a remote operation control box 9, a wire reel and a mounting bracket 8 thereof, a lighting unit 4, a drag chain accessory 5 and other accessories. One side of the horizontal movement unit 2 is connected with an aligning mechanism 1, the other side of the horizontal movement unit is connected with a rotary support 3, the rotary system is installed on the lower portion of the rotary support 3, a drag chain accessory 5 is connected to the lower portion of the rotary system, a wire reel and an installation support 8 thereof and a remote operation control box 9 are fixed on a support of the drag chain accessory 5, the front end of the drag chain accessory 5 is connected with a vertical movement unit 6, and a wire feeding unit 7 is installed at the lower end of the vertical movement unit 6.
As shown in fig. 2, the centering mechanism 1 mainly functions to ensure the position relationship between the rotation plane and the welding plane of the connecting pipe submerged arc welding equipment, and the centering mechanism 1 includes a centering speed reducing motor 11, a spiral elevator 12, a rotation support base 13, an operator heavy load connection base 14, and the like. The heavy-duty connecting seat 14 of the manipulator is connected with the end of the manipulator through 8M 16 bolts, so that the fixing and stabilizing effects are achieved; one side of the rotary supporting seat 13 is connected with the horizontal moving unit 2, and the other side of the rotary supporting seat is connected with the heavy-load connecting seat 14 of the operating machine through a movable shaft, so that the whole welding head moves in a horizontal position under the driving of the stepping motor by the horizontal moving unit 2; the self-aligning speed reducing motor 11 is installed on a matrix of the spiral elevator 12, the spiral elevator 12 is connected with the rotary supporting seat 13 through a movable bolt, when the self-aligning speed reducing motor 11 is driven by a frequency converter, the rotary motion of the self-aligning speed reducing motor is converted into the linear motion of a spiral shaft through the spiral elevator 12, the support seat 13 is pushed to move up and down through the extension and the shortening of the spiral shaft, and the angle adjustment of the whole welding head is realized.
The rotating system, fig. 3, carries both radial and lateral forces. The device comprises a slewing bearing 10, a conductive slip ring 15, a servo deceleration motor 16, an L-shaped slewing connection device 17, a slewing support 3 and the like. In the slewing system, the upper side and the lower side of a slewing bearing 10 are respectively assembled with a slewing bearing 3 and an L-shaped slewing connection device 17, a servo speed reduction motor 16 is installed on the slewing bearing 10, a servo driver is controlled by an upper computer and drives the servo speed reduction motor 16 so as to drive the slewing bearing 10 to rotate, and the slewing function in the welding process is realized. Preferably, the slewing bearing 10 of the invention adopts a WEA heavy-load slewing bearing, so that the running stability of the equipment can be greatly improved. The conductive slip ring 15 is installed on the rotary system 10 and fixes the brake pad, so that the transmission of welding current and control current is realized in the rotating process, the stability of the transmission of the welding current and the control current in the welding process is ensured, and the rotary support 3 is installed on the outer side of the conductive slip ring 15 to protect the conductive slip ring from being damaged.
Referring to fig. 4, the wire feeding unit 7 includes a welding gun angle adjusting device 18, an L-shaped connecting plate 19, a narrow gap welding gun 20, and a wire feeding correction assembly 21, and the wire feeding unit 7 mainly functions to perform functions of straightening, wire feeding, wire drawing, and the like on a submerged arc welding wire, so as to meet the requirement of filling metal in a welding process. The whole set of structure of the wire feeding unit 7 is arranged on the vertical moving unit 6, and when the vertical moving unit 6 is driven by the stepping motor, the fine adjustment of the vertical position of the wire feeding unit 7 and the welding gun is realized; the free adjustment of the welding gun within a 90-degree range can be realized by rotating the rotating handle on the welding gun angle adjusting device 18, the extending part of the welding gun welding wire is ensured to be vertical to the welding seam plane, and the device is provided with a loose-hand self-locking device to prevent the welding gun from being contacted to start arc or changing the position in the welding process. Two ends of the L-shaped connecting plate 19 are connected with the welding gun adjusting device 18 and the wire feeding correction component 21 through screws, and the narrow gap welding gun 20 is assembled at the lower end of the wire feeding correction component 21.
As shown in fig. 5 and 6, the invention also relates to a control system of the pipe union melt welding machine, which comprises the following specific implementation processes:
A. the pipe-connecting submerged arc automatic welding system mainly comprises initialization (data initialization), parameter storage, state monitoring (ModBus), alarm processing, breakpoint memory, manual and automatic simulation switching and the like, and the whole welding process software flow is shown in figure 5. The power-on initialization program mainly completes system self-check before starting the equipment; writing and storing parameters by reading the welding parameters and the setting of system parameters; and state monitoring (ModBus) mainly realizes the processing of all fault information and feedback information in the welding process, and finally displays the fault information and the feedback information on a human-computer interface or executes shutdown operation.
B. The welding mode mainly comprises a manual control mode, a simulation control mode and an automatic control mode. And under a manual control mode, the movement of the whole front-back, up-down, left-right and infinite swing mechanism of the equipment and the lifting of the welding gun is mainly realized. In the automatic control mode, a start button is pressed, and the pipe submerged arc welding machine starts welding according to program control. The simulation control mode is to simulate the welding process under the condition of no arcing, observe the motion state of the narrow gap welding gun in the narrow gap and ensure that no fault occurs during real welding.
C. In the connecting pipe submerged arc automatic welding control system, a touch screen can complete the display of the operation state of the welding equipment, the setting of welding process parameters, the setting of system parameters, the transmission of formula data and the like, and the control requirements of the whole set of control system are realized through the mutual coordination of all the functions.
D. When the external AC220V power supply is switched on, a power switch on the control box is shifted to an open position, and the system enters an initialization process; secondly, setting welding parameters which mainly comprise that the diameter D of the connecting pipe is 800mm for 100-; setting the welding mode as a manual control mode again, and completing centering by utilizing front and back, up and down and left and right shaft movement knobs on the manual control box; the welding mode is set to be an automatic control mode, the starting button is pressed, the pipe connection submerged arc welding machine starts welding according to program control, and when a welding fault occurs, automatic stop can be achieved; and when the welding is finished, pressing a stop button, entering an arc-closing control program section, and finishing one normal welding.
The welding power supply and the welding process of the invention are relatively independent from the operating machine, the whole welding process of arc striking, spin welding and arc closing, the welding current, the welding voltage and the rotation speed can be preset and digitally displayed, and the welding power supply and the welding process can be adjusted at any time during welding.
The PLC program design of the connecting pipe submerged arc automatic welding machine adopts a structural ladder diagram design method, and the program structure is simple and clear and has strong readability. The PLC program mainly comprises program sections of welding process control/mechanical motion servo control and the like. According to the actual requirement of the union pipe submerged arc automatic welding working condition, the designed welding program mainly comprises the following program sections: the system comprises a system initialization program, a parameter calling and saving program, an arc striking processing program, a breakpoint memorizing and restoring program, an arc fault processing program, a welding parameter changing processing program, a welding process parameter real-time display program, a positive and negative rotation movement processing program and the like.
As shown in fig. 6, the automatic connecting pipe submerged arc welding machine adopts a high-performance ModBus controller, the upper computer is in communication connection with the programmable logic controller, and the communication between the automatic connecting pipe submerged arc welding machine and the touch screen on the operation box is realized through the ModBus, so that the real-time data exchange is realized. The control mode of combining an industrial touch screen with a touch function and a traditional submerged arc welding controller button is set, matching issuing, inputting and adjusting of technological parameters are achieved, the human-computer interaction effect is good, and the use requirement of the ideal tool obtained in what you see is met; the control system is responsible for coordinating and controlling the functions of arc starting, arc stopping, abnormal alarming, data exchange, data monitoring, breakpoint memory, welding wire conveying and positive and negative rotation in the whole welding process. The method and the device realize automatic matching and issuing of parameters, real-time comparison and analysis, automatic process recording and chart generation and derivation, and improve the reliability and traceability of welding process control.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (9)
1. The utility model provides a takeover submerged arc automatic welder which characterized in that: horizontal motion unit (2) one side is connected with aligning mechanism (1), and the opposite side is connected with slewing bearing (3), and the rotation system mounting be in slewing bearing (3) lower part, tow chain annex (5) connect in the slewing system lower part, wire reel and installing support (8), remote operation control box (9) are fixed in on the support of tow chain annex (5), tow chain annex (5) front end is connected with vertical motion unit (6), vertical motion unit (6) lower extreme is installed and is sent a unit (7).
2. The automatic submerged arc welding machine for the connecting pipe according to claim 1, wherein: and the rotary support (3) is also provided with a lighting unit (4).
3. The automatic submerged arc welding machine for the connecting pipe according to claim 1 or 2, wherein: aligning mechanism (1) is including aligning gear motor (11), screw lift (12), gyration supporting seat (13), operation machine heavy load connecting seat (14), installing on screw lift (12) base member aligning gear motor (11), screw lift (12) and gyration supporting seat (13) are through movable bolted connection, and gyration supporting seat (13) one side is connected with horizontal motion unit (2), and the opposite side passes through the swing joint with operation machine heavy load connecting seat (14).
4. The automatic submerged arc welding machine for the connecting pipe according to claim 1 or 2, wherein: the slewing system comprises a slewing bearing (10), a conductive sliding ring (15), a servo speed-reducing motor (16), an L-shaped slewing connection device (17) and a slewing bearing (3), wherein the servo speed-reducing motor (16) is installed on the slewing bearing (10), the conductive sliding ring (15) is installed on the upper portion of the slewing bearing (10), the slewing bearing (3) is installed on the outer side of the conductive sliding ring (15), and the L-shaped slewing connection device (17) is assembled on the lower portion of the slewing bearing (10).
5. The automatic submerged arc welding machine for the connecting pipe according to claim 1 or 2, wherein: the wire feeding unit (7) comprises a welding gun angle adjusting device (18), an L-shaped connecting plate (19), a narrow gap welding gun (20) and a wire feeding correction component (21), one end of the L-shaped connecting plate (19) is connected with the welding gun adjusting device (18) through a screw, the other end of the L-shaped connecting plate is connected with the wire feeding correction component (21) through a screw, and the narrow gap welding gun (20) is assembled at the lower end of the wire feeding correction component (21).
6. A control system of a connecting pipe submerged arc automatic welding machine is characterized by comprising the following steps:
A. initialization: when the external AC220V power supply is switched on, a power switch on the control box is shifted to an open position, and the system enters an initialization process;
B. power-on self-test: the method comprises the following steps that after power-on, the equipment carries out system self-check before starting up, detects whether a fault exists or not, reads in relevant parameters stored during shutdown to a memory, and waits for the next operation;
C. and (3) parameter storage: setting welding parameters, wherein the welding parameters mainly comprise that the diameter D of a connecting pipe is 800mm, the welding speed V is 10-1000mm/min, the forward and reverse welding directions are selected, the welding current I is 10-1000A, and the welding voltage U is 10-45V;
D. mode selection: the welding mode mainly comprises a manual control mode, a simulation control mode and an automatic control mode, and the movement of the whole front-back, up-down, left-right and infinite slewing mechanism and the lifting of the welding gun is realized in the manual control mode; then, in an automatic control mode, a start button is pressed, and the union pipe submerged arc automatic welding machine starts welding according to program control;
E. and when the welding is finished, pressing a stop button, entering an arc-closing control program section, and finishing one normal welding.
7. The control system of the connecting tube submerged arc automatic welding machine according to claim 6, characterized in that: the simulation control mode is to simulate the welding process under the condition of no arcing, observe the motion state of the narrow gap welding gun in the narrow gap and ensure that no fault occurs during real welding.
8. The control system of the connecting tube submerged arc automatic welding machine according to claim 6, characterized in that: the welding current, the welding voltage and the rotating speed are preset and are displayed in a digital mode, and parameters are adjusted at any time in the welding process.
9. The control system of the connecting tube submerged arc automatic welding machine according to claim 6, characterized in that: the control system also comprises a state monitoring ModBus bus controller, the communication between the take-over submerged arc automatic welding machine and the touch screen on the operation box is realized through the ModBus bus, the real-time data exchange is realized, the fault information and the feedback information in the welding process are processed, and finally the fault information and the feedback information are displayed on a human-computer interface or the shutdown operation is executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911371361.6A CN111151848B (en) | 2019-12-27 | 2019-12-27 | Automatic submerged-arc welding machine for connecting pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911371361.6A CN111151848B (en) | 2019-12-27 | 2019-12-27 | Automatic submerged-arc welding machine for connecting pipe |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111151848A true CN111151848A (en) | 2020-05-15 |
| CN111151848B CN111151848B (en) | 2022-03-08 |
Family
ID=70556900
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911371361.6A Active CN111151848B (en) | 2019-12-27 | 2019-12-27 | Automatic submerged-arc welding machine for connecting pipe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111151848B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113333978A (en) * | 2021-03-12 | 2021-09-03 | 中核核电运行管理有限公司 | Automatic repair welding control system and method for fuel basket sealing weld joint |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20090050192A (en) * | 2007-11-15 | 2009-05-20 | 현대중공업 주식회사 | Submerged arc welding machine which for butt welding of the panel plate with oblique lines |
| CN201353675Y (en) * | 2008-12-29 | 2009-12-02 | 成都鑫兴众力科技发展有限公司 | Suspended automatic nozzle intersection line welding device |
| CN201565708U (en) * | 2009-07-17 | 2010-09-01 | 北京中电华强焊接工程技术有限公司 | Automatic submerged arc welding device for numerical control pipe-pipe penetration joint |
| CN202934215U (en) * | 2012-08-28 | 2013-05-15 | 上海锅炉厂有限公司 | Improved automatic submerged arc welding device for collecting box short pipe joint fillet welds |
| CN204366245U (en) * | 2014-12-30 | 2015-06-03 | 中国石油集团渤海石油装备制造有限公司 | The welder of spiral seam submerged-arc welding pipe outside weld |
| CN104759737A (en) * | 2014-01-02 | 2015-07-08 | 长沙华恒机器人系统有限公司 | Automatic welding head for submerged-arc welding |
| CN205166126U (en) * | 2015-10-15 | 2016-04-20 | 昆山华恒焊接股份有限公司 | Narrow clearance submerged arc welder and welding equipment |
-
2019
- 2019-12-27 CN CN201911371361.6A patent/CN111151848B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20090050192A (en) * | 2007-11-15 | 2009-05-20 | 현대중공업 주식회사 | Submerged arc welding machine which for butt welding of the panel plate with oblique lines |
| CN201353675Y (en) * | 2008-12-29 | 2009-12-02 | 成都鑫兴众力科技发展有限公司 | Suspended automatic nozzle intersection line welding device |
| CN201565708U (en) * | 2009-07-17 | 2010-09-01 | 北京中电华强焊接工程技术有限公司 | Automatic submerged arc welding device for numerical control pipe-pipe penetration joint |
| CN202934215U (en) * | 2012-08-28 | 2013-05-15 | 上海锅炉厂有限公司 | Improved automatic submerged arc welding device for collecting box short pipe joint fillet welds |
| CN104759737A (en) * | 2014-01-02 | 2015-07-08 | 长沙华恒机器人系统有限公司 | Automatic welding head for submerged-arc welding |
| CN204366245U (en) * | 2014-12-30 | 2015-06-03 | 中国石油集团渤海石油装备制造有限公司 | The welder of spiral seam submerged-arc welding pipe outside weld |
| CN205166126U (en) * | 2015-10-15 | 2016-04-20 | 昆山华恒焊接股份有限公司 | Narrow clearance submerged arc welder and welding equipment |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113333978A (en) * | 2021-03-12 | 2021-09-03 | 中核核电运行管理有限公司 | Automatic repair welding control system and method for fuel basket sealing weld joint |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111151848B (en) | 2022-03-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206869350U (en) | A kind of spot welding device that can arbitrarily adjust soldering angle | |
| CN205650933U (en) | 8 axle automatic weld robot | |
| CN208322518U (en) | A kind of numerical control multi-shaft welding manipulator | |
| CN201807842U (en) | Automatically-welded adaptive device and adaptive control device | |
| CN108637662A (en) | Flange plate bolt Full automatic double shaft tightening machine | |
| CN113118745A (en) | Automatic screwing assembly device and assembly method for large-diameter threaded part | |
| CN111151848B (en) | Automatic submerged-arc welding machine for connecting pipe | |
| CN103100810A (en) | Mechanical arm for welding robot | |
| CN105598626A (en) | Automatic tailor-welding tool for reel sprinkler reel wing plate | |
| CN111375944A (en) | Cantilever beam type saddle-shaped welding robot | |
| CN205571820U (en) | Automatic frock of welding of reel sprinkling machine reel pterygoid lamina | |
| CN214417897U (en) | Stroke-adjustable semi-automatic arc welding device | |
| CN213888881U (en) | Be used for welded rotatory upset positioning mechanism of car seat steel wire framework | |
| CN207372527U (en) | A kind of intelligence rush-harvesting and rush-planting mash welder | |
| CN209439692U (en) | A kind of broken bridge Full-automatic screw welder | |
| CN202763255U (en) | Control system for automatic multi-axis spot welding equipment | |
| CN203062125U (en) | Mechanical arm for welding robot | |
| CN206105117U (en) | Four -axis welding robot | |
| CN220278548U (en) | Automatic welding equipment for fan volute | |
| CN105598627A (en) | Automatic tailor-welding tool for reel sprinkler underbed | |
| CN219986517U (en) | Gantry type laser arc composite welding equipment | |
| CN205571819U (en) | Automatic frock of welding of reel sprinkling machine chassis | |
| CN217167129U (en) | Five right angle automatic weld machines | |
| CN219484656U (en) | Welding equipment | |
| CN212734813U (en) | Automatic control positioner |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |