CN111531303A - Automatic welding trolley, device and control method - Google Patents

Abstract

The invention discloses the technical field of automatic welding equipment, and particularly discloses an automatic welding trolley, a device and a control method, wherein the automatic welding trolley comprises a walking part and a steering part, the steering part comprises a linear module provided with a movable sliding block and a power source driving the movable sliding block, the movable sliding block is connected with an in-situ steering mechanism through a link mechanism, the automatic welding device comprises an automatic welding trolley, the trolley is provided with a welding seam detection part and a welding part, the welding part comprises a welding controller, the welding controller is in communication connection with the welding seam detection part and controls the steering part and the walking part through received welding seam information, so that the automatic welding trolley walks and tracks along the welding seam and completes automatic welding, the welding device in the scheme can weld the welding seam in a long distance, is not influenced by the stroke of a tracking device, and has the advantages of flexibility, convenience, flexibility, low cost and the like, Strong adaptability and high control precision.

Description

Automatic welding trolley, device and control method

Technical Field

The invention relates to the technical field of automatic welding equipment, in particular to an automatic welding trolley, an automatic welding device and a control method.

Background

With the development of the automatic welding technology, the automatic welding technology gradually replaces manual welding, so that the welding process is automated and intelligent, the welding production efficiency is greatly improved, the welding quality is high, and meanwhile, the production labor condition is thoroughly improved. In the automatic welding process, the posture of a welding gun needs to be adjusted in time by adopting welding seam tracking equipment.

The existing welding seam tracking equipment is more integrated on a special welding machine (such as a gantry type welding machine, a welding operation arm and the like) or a welding robot, but the special welding machine or the welding robot has the following defects in the using process due to the characteristics of the special welding machine or the welding robot:

on one hand, the special welding machine or the welding robot can only be suitable for partial occasions with larger welding space due to larger volume, and the special welding machine or the welding robot cannot be adopted for automatic welding in places affected by various reasons such as narrow space or limited space;

on the other hand, the existing welding seam tracking equipment is adjusted through a straight line, the welding manipulator is in a multi-axis linkage adjusting mode, the welding manipulator has large stroke limitation, long-distance automatic welding cannot be carried out, and the application range is seriously influenced.

In addition, there is a method of automatically welding a weld by using a moving carriage, for example, application No. 201711212263.9 entitled automated submerged arc welding based on vision and laser tracking, in which a carriage carries a welding part (welding device) to form an automated welding device, the carriage is controlled by a direct current motor to advance during automatic welding, a servo motor controls a welding gun to feed in the Z-axis and X-axis directions by a controller according to information fed back by a laser tracker to complete welding, after the first pass is completed, the carriage automatically realizes track and height adjustment according to the controller until sealing is completed, and the device is completed by matching a three-axis manipulator and a laser through related control parts and control processes, so that the automated carriage reaches an accurate X, Y, Z-axis position. It is seen from this prior art document that it is also subject to adjustment limits of travel in the three-axis direction.

Disclosure of Invention

The invention aims to: aiming at the problem that the stroke is limited when the welding trolley is used in the automatic welding process by adopting a special welding machine or a welding robot in the prior art, the automatic welding trolley and the automatic welding device are provided.

In order to achieve the above purpose, the invention provides the following technical scheme:

the utility model provides an automatic welding dolly, is including the running part that is used for controlling the dolly walking to and be used for controlling the dolly and turn to the part, turn to the part including installing the sharp module that removes the slider, be equipped with control on this module remove the slider along the power supply of sharp module back-and-forth movement, it passes through link mechanism and is connected with the original place steering mechanism to remove the slider, and this automatic welding dolly is used for erection weld detection part and welding part, welding part is used for welding seam automatic execution.

By adopting the automatic welding trolley, the trolley is driven by the travelling component to travel along the direction of the arrangement of the welding line, and the mode that the welding component is controlled to move along the welding line and weld in the prior art in a guide rail mode is abandoned, so that the problem that the automatic welding device is limited by the stroke is solved, and long-distance welding can be carried out; the steering component controls the walking direction of the automatic welding trolley, the welding seam detection component is usually installed on the automatic welding trolley in the using process, and the steering component timely adjusts the travelling path of the trolley according to the welding seam information detected by the welding seam detection component, so that the welding component is always positioned at the part to be welded of the welding seam, and the welding component is ensured to finish welding the welding seam; the power source controls the movable sliding block to move back and forth along the linear module, the moving distance of the movable sliding block can be accurately controlled, and then the movable sliding block is transmitted to the in-situ steering mechanism through the connecting rod mechanism, so that the steering component is accurately steered, and the welding quality is ensured.

The trolley is used as a tracking device in the automatic welding process, the welding part is installed to be used for automatic welding in the automatic welding process, and compared with the weight of the trolley, the welding part for welding the welding seam has larger weight, so that the position of the automatic welding trolley is difficult to control in the using process.

In addition, because of the adoption of the technical scheme, the steering component and the walking component can realize walking and accurate steering according to the welding seam information detected by the welding seam detection component in the using process, the structure of the automatic welding trolley is greatly simplified, and the trolley is also suitable for places which cannot be welded due to narrow space or limited space and the like in a special welding machine or a welding robot.

Preferably, the walking part with turn to the part independent setting, the walking part includes the walking wheel of intermediate junction transmission shaft, and is used for the drive the gear motor of walking wheel walking, install on the transmission shaft with gear motor's meshed drive gear, still be equipped with the clutch that this transmission shaft of control and gear motor power disengaged on the transmission shaft.

The clutch can control the transmission shaft to be separated from the driving of the speed reducing motor, so that the travelling wheel is controlled to be separated from and combined with the power output part of the speed reducing motor, and the automatic welding trolley is convenient to start and stop;

adopt the mode that running part and steering part set up alone, the running part is provided with the walking wheel of power individual drive, the steering part is provided with the directive wheel of power individual drive, thereby make the automatic weld dolly accomplish to turn to, guarantee to turn to the precision, avoid the dolly because of the steering part simultaneously for the running part (or the running part is the steering part simultaneously), there is the dolly still need the problem of its walking of simultaneous control when turning to, perhaps there is the dolly still need the problem of its steering of simultaneous control when walking, and then lead to having reduced the precision that turns to of automatic weld dolly, influence automatic weld quality.

Preferably, the power source is a stepping motor, a servo motor, a direct current motor or a hydraulic motor. The power source is arranged to provide driving force for the linear module, and the moving amount of the moving slide block is adjusted according to the rotating angle of the pivot steering mechanism, so that the pivot steering mechanism can be steered accurately.

The welding seam detection part detects welding seam information and transmits the welding seam information to the controller of the welding part, and the controller of the welding part drives the power source to drive the trolley to turn, so that the position of the trolley is matched with the welding seam, and automatic welding is completed.

Correspondingly, this application still provides an automatic welder, include as above-mentioned automatic weld dolly, this automatic weld dolly is last to install the welding seam detection part and to be used for the welding seam welding's of automatic execution welding part, the welding seam detection part is used for detecting the welding seam information, the welding part corresponds to set up on the route that the welding seam detection part detected the welding seam, the welding part includes welding control ware, welding control ware and welding seam detection part communication connection to through the welding seam information control of receiving turn to part and walking part, make the automatic weld dolly is along the welding seam walking, trail.

By adopting the automatic welding device of the technical scheme, the welding seam information is detected by the welding seam detection component and is transmitted to the welding controller, the welding controller controls the steering component to realize steering of the trolley according to the welding seam information, and simultaneously controls the walking component to realize trolley walking according to the welding seam information;

the welding part comprises a welding wire disc, a wire feeding mechanism and a conductive nozzle, wherein the welding wire disc is used for installing a welding wire, the welding wire is connected to the wire feeding mechanism, the welding wire is fed to a welding position of the conductive nozzle on a welding seam by virtue of the wire feeding mechanism, the automatic welding process is continuously carried out, the welding part also comprises a leakage hopper used for conveying a welding flux to the welding position, and the leakage hopper is used for continuously providing the welding flux to the welding seam when the automatic welding device adopts the submerged arc welding to weld the welding seam, so that the welding process is completed.

Welding set in this scheme adopts the automatic weld dolly to cooperation welding seam detects part and welding parts and accomplishes the automatic weld process, can carry out long distance welding to the welding seam, does not receive the stroke influence, can be used for welding special plane or welding robot simultaneously and lead to unable the place of carrying out the welding because of reasons such as the space is narrow and small or the space is limited, has nimble convenience, strong adaptability's advantage.

Preferably, the welding member is installed at a position adjacent to the traveling member. The welding part is arranged at a position close to the walking part, so that the gravity center of the welding part is close to the walking part, the walking part bears the load of the welding part, the bearing capacity of the steering part is further reduced, the steering precision of the steering part of the automatic welding trolley is further improved, and the phenomena of deviation, slippage and the like are avoided.

Preferably, the welding seam detection part comprises an industrial camera, a laser and an industrial computer, the laser is obliquely arranged away from a normal of the surface of the workpiece to be welded, the industrial camera is used for acquiring light ray information irradiated on the welding seam by the laser, and the industrial computer processes the light ray information to obtain welding seam information and transmits the welding seam information to the welding controller.

The laser triangulation principle is utilized to measure and detect the welding seam information, and a basis is provided for the steering component to adjust the position of the trolley.

Preferably, a closed-loop controller is arranged on the steering component, and the welding controller is in communication connection with the closed-loop stepping controller.

The steering component is controlled by arranging the closed-loop controller on the steering component, and the steering component is further controlled by the welding controller according to the movement feedback of the movable sliding block, so that the rotation precision of the steering component can be improved, and the limit control precision index can be obtained.

Furthermore, the welding controller is electrically connected with the closed-loop controller, and real-time communication is achieved in a wired connection mode.

Preferably, the welding part further comprises a wireless data transmission module for transmitting control data to a control system of the external rotating mechanism, the control data comprises an included angle between the automatic welding device and the horizontal plane, the external rotating mechanism is used for driving the weldment to rotate, and the rotating speed of the weldment is adjusted and matched according to the change of the included angle.

Further, the wireless data transmission module is integrated on the welding controller.

Through arranging the wireless data transmission module, the data transmission of the automatic welding device is realized to the control system of the external rotating mechanism, so that the speed of the external rotating mechanism is controlled through the wireless data transmission module, the speed synchronization of the trolley and the rotating mechanism is realized, and meanwhile, the working state of the automatic welding trolley can be externally controlled and displayed through the control system of the external rotating mechanism.

Preferably, the welding part is mounted on the automatic welding trolley through a vertical connecting piece, and a transverse adjusting mechanism used for adjusting the transverse position of the welding part on the trolley is arranged on the vertical connecting piece.

The welding part is arranged on the automatic welding trolley in a vertical connecting piece mode, components except for the conductive nozzle in the welding part are far away from a welding workpiece, so that the automatic welding trolley is guaranteed to normally turn and walk, the position of the conductive nozzle of the welding part is adjusted by arranging the transverse adjusting mechanism on the vertical connecting piece, and the conductive nozzle is guaranteed to be positioned on a detection path of the welding seam detection part for the welding seam, so that the automatic welding process of the automatic welding device is realized.

Further, the transverse adjusting mechanism adopts an adjusting mode of a ball screw or a sliding screw.

This technical scheme still provides an automatic weld equipment for circumferential weld welded, includes as above automatic welder, automatic welder arranges in the inboard or the outside of circumferential weld.

Furthermore, an inclination angle sensor is also installed on the automatic welding device, the inclination angle sensor is in communication connection with a welding controller and a control system of an external rotating mechanism, the detection is carried out through the inclination angle sensor, and the automatic welding trolley is controlled to be in a flat welding state all the time through the welding controller and/or the control system of the external rotating mechanism.

Preferably, the automatic welding equipment further comprises a welding flux recycling machine and a purging device, the welding flux recycling machine comprises an absorption tube with a negative pressure suction inlet, the absorption tube is connected with a negative pressure device, the negative pressure suction inlet of the absorption tube is arranged on a welding bead path after the automatic welding device performs welding, the purging device comprises a blowing pipe arranged on the automatic welding trolley, the blowing pipe is connected with an external air source, and a pneumatic electromagnetic valve for controlling the blowing pipe to be opened and closed is connected onto the blowing pipe.

The starting and the closing of the gas blowing pipe are controlled through the pneumatic electromagnetic valve, so that the gas blowing of the surface to be welded is realized, and the welding quality is guaranteed; the flux reclaimer is used for recovering and treating the flux on the surface of the welded part, so that the workload of a welder is reduced.

The scheme also provides a control method of the automatic welding device, and when the automatic welding device is adopted for welding, the control method comprises the following control steps:

a. detecting welding seam information, namely detecting welding seam position information through a welding seam detection part;

b. exchanging welding seam position information, wherein the welding seam detection part transmits the welding seam position information to a welding controller;

c. the angle adjustment of the automatic welding trolley is realized, the welding controller controls a power source of the automatic welding trolley to push the linear module to work, the movable sliding block drives the connecting rod mechanism, and the connecting rod mechanism drives the trolley in-situ steering mechanism to rotate the trolley according to a set angle, so that the steering angle of the trolley is controlled;

d. the automatic welding trolley automatically welds the welding seam through the welding part.

According to the control method of the automatic welding device, the power source is used as the driving force for adjusting the angle of the automatic welding trolley, the steering mechanism of the automatic welding trolley enables the trolley to steer according to the set angle, the steering angle of the trolley can be accurately controlled, the automatic welding trolley is prevented from being subjected to angle adjustment deviation, the position precision of the automatic welding trolley is guaranteed, welding is smoothly carried out, and the quality of a welding seam is guaranteed.

Preferably, the welding controller is a PLC programmable controller, and before the angle adjustment of the automatic welding carriage in step c, the method further includes step c': for the calculation of the advancing angle of the automatic welding trolley, the PLC starts to carry out zero returning operation on the steering component of the trolley, so that the steering component is matched with zero position information in the PLC, when in operation, the angle of the automatic welding tractor is calculated by a PID module of the PLC programmable controller, the PID module records the offset position information given by the current welding line detection part when the automatic welding trolley is started, the deviation position information is a target value regulated by a PID module, the real-time welding seam deviation information during the forward running of the trolley is an input feedback value regulated by the PID module, a value obtained by the internal calculation of the PID module is an output value, and the output value is used for adjusting the steering angle of a steering component of the automatic welding trolley.

The welding controller adopts a PLC programmable controller, when the angle of the automatic welding trolley is calculated, the implemented welding seam offset information during the forward running of the automatic welding trolley is used as an input feedback value for PID module adjustment, and the feedback can be carried out according to the real-time running state of the automatic welding trolley, so that the steering angle precision control of the automatic welding trolley is greatly improved, the steering process of the trolley can be adjusted in real time, the precision is high, and the reaction is fast.

Compared with the prior art, the invention has the beneficial effects that:

1. by adopting the automatic welding trolley, the trolley is driven by the travelling component to travel along the direction of the arrangement of the welding line, and the mode that the welding component is controlled to move along the welding line and weld in the prior art in a guide rail mode is abandoned, so that the problem that the automatic welding device is limited by the stroke is solved, long-distance welding can be carried out, and the automatic welding device is not influenced by the stroke of the tracking device;

2. the steering component controls the walking direction of the automatic welding trolley, the welding seam detection component is usually installed on the automatic welding trolley in the using process, the steering component timely adjusts the travelling path of the trolley according to the welding seam information detected by the welding seam detection component, the automatic welding trolley is guaranteed to always move along the welding seam direction, and the welding component is guaranteed to finish welding on the welding seam; the power source is independently arranged to control the movable sliding block to move back and forth along the module, so that the moving distance of the movable sliding block can be accurately controlled, and the movable sliding block is further transmitted to the in-situ steering mechanism through the connecting mechanism, and the accurate steering of the steering component is realized;

3. the steering component is controlled by arranging a closed-loop controller on the steering component, and the steering component is further controlled by a welding controller according to the movement feedback of the movable sliding block, so that the rotation precision of the steering component can be improved, and the limit control precision index can be obtained;

4. by adopting the automatic welding device of the technical scheme, the welding seam information is detected by the welding seam detection component and is transmitted to the welding controller, the welding controller controls the steering component to realize steering of the trolley according to the welding seam information, and simultaneously controls the walking component to realize trolley walking according to the welding seam information;

5. through arranging the wireless data transmission module, the data transmission of the automatic welding device is realized to the control system of the external rotating mechanism, so that the speed of the external rotating mechanism is controlled through the wireless data transmission module, the speed synchronization of the trolley and the rotating mechanism is realized, and meanwhile, the working state of the automatic welding trolley can be externally controlled and displayed through the control system of the external rotating mechanism.

Drawings

Fig. 1 is a schematic structural view of an automatic welding tractor in which a half of a frame support plate is cut away in embodiment 1.

FIG. 2 is a schematic structural view of a steering component of the automatic welding tractor.

FIG. 3 is a schematic structural view of a traveling part of the automatic welding carriage.

Fig. 4 is a schematic structural view of an automatic welding apparatus according to embodiment 2.

Fig. 5 is a schematic view of a positional structure of a weld detecting member of the automatic welding apparatus.

Fig. 6 is a schematic structural view of an automatic welding apparatus according to embodiment 3.

Fig. 7 is a flowchart illustrating a control method of the automatic welding apparatus according to embodiment 4.

The labels in the figure are: 1A-an automatic welding device, 1A-an automatic welding trolley, 1-a welding seam detection part, 101-an industrial camera, 1011-an optical filter, 102-a laser, 1021-a cylindrical lens, 2-a workpiece, 3-a steering part, 31-a movable sliding block, 32-a linear module, 33-a power source, 34-a link mechanism, 35-an in-situ steering mechanism, 351-a steering wheel, 352-a bearing, 36-a displacement sensor, 4-a welding seam, 5-a walking part, 51-a transmission shaft, 52-a walking wheel, 53-a speed reduction motor, 54-a transmission gear, 55-a clutch, 6-an air blowing pipe, 7-an absorption pipe, 8-a welding controller, 9-a welding wire disc, 10-a wire feeding mechanism and 11-a leakage hopper, 15-pneumatic solenoid valve, 16-frame support plate, 16 a-guard plate, 17-conductive nozzle, 18-transverse connecting piece, 19-vertical connecting piece, 20-transverse adjusting mechanism, 21-vertical adjusting mechanism, 22-transverse support rod and 23-external rotating mechanism.

Detailed Description

The present invention will be described in further detail with reference to test examples and specific embodiments. It should be understood that the scope of the above-described subject matter is not limited to the following examples, and any techniques implemented based on the disclosure of the present invention are within the scope of the present invention.

Example 1

The present embodiment provides an automatic welding carriage 1a, as shown in fig. 1, comprising a traveling member 5 for controlling the carriage to travel, and a steering component 3 for controlling the steering of the trolley, wherein the walking component 5 and the steering component 3 are both arranged on a frame support plate 16, so that the three components form a trolley structure, the frame support plate 16 is in a strip-shaped structure, the steering component 3 and the walking component 5 are arranged below the frame support plate 16, the steering component 3 is positioned in front of the traveling direction of the trolley, the traveling component 5 is positioned behind the traveling direction of the trolley, the walking component 5 and the steering component 3 are arranged independently, the top of the frame support plate 16 is used for installing a welding seam detection component and a welding component, the welding part is used for automatically welding a welding seam, the welding seam detection part is used for detecting welding seam information, and the automatic welding trolley 1a controls the steering part 3 to steer according to the welding seam information.

In one preferred embodiment, a guard plate 16a is vertically disposed around the frame support plate 16 to protect the steering member 3 and the traveling member 5.

As shown in fig. 1 and fig. 2, the steering component 3 includes a linear module 32 mounted with a moving slider 31, the linear module 32 is provided with a power source 33 for controlling the moving slider 31 to move back and forth along the linear module 32, the moving slider 31 is connected with a pivot steering mechanism 35 through a link mechanism 34, the link mechanism 34 is a universal link, the pivot steering mechanism 35 includes a steering wheel 351 and a bearing 352, the steering wheel 351 is mounted on the frame support plate 16 through the bearing 352, so that the steering wheel 351 can rotate freely relative to the frame support plate 16, thereby realizing free steering of the trolley, the linear module 32 of the steering component 3 is connected to the frame support plate 16 through a fastener (a bolt or a screw) to realize fixation, the steering component 3 further includes a displacement sensor 36 for monitoring the sliding distance of the moving slider 31, the displacement sensor 36 is correspondingly arranged in front of the moving stroke range of the moving slider 31, and is fixed to the frame support plate 16.

As one preferred embodiment, the power source 33 employs a stepping motor, and the stepping motor is arranged to provide a driving force to the linear module 32 and adjust the moving amount of the moving slider 31 according to the rotation angle of the pivot steering mechanism 35, thereby achieving precise steering of the pivot steering mechanism 35.

The power source 33 may also be a servo motor, a direct current motor or a hydraulic motor, and the power sources are used to provide driving force for the linear module 32, and the structure and the connection mode are the prior art and are not described herein again.

As shown in fig. 1 and 3, the traveling component 5 and the steering component 3 are independently arranged on the frame support plate 16, the traveling component 5 includes a traveling wheel 52 with a transmission shaft 51 connected in the middle and a speed reduction motor 53 for driving the traveling wheel 52 to travel, the transmission shaft 51 is provided with a transmission gear 54 engaged with the speed reduction motor 53, the transmission shaft 51 is further provided with a clutch 55 for controlling the power separation provided by the transmission shaft 51 and the speed reduction motor 53, and the clutch 55 adopts a common arrangement mode and an arrangement structure in the prior art, so that the clutch can control the separation and combination of the power output parts of the traveling wheel 52 and the speed reduction motor 53, and the automatic welding trolley 1a is convenient to start and stop. The walking component 5 and the steering component 3 are independently arranged on the frame supporting plate 16, so that the steering precision of the automatic welding trolley 1a is improved, the automatic welding trolley 1a is prevented from being controlled to walk when being steered, the steering precision of the automatic welding trolley 1a is improved, the automatic welding quality is effectively guaranteed, a clutch 55 and a speed reducing motor 53 of the walking component 5 are installed on the frame supporting plate 16 through a support and a fastener, the walking wheel 52 is installed on the frame supporting plate 16 through a wheel carrier 521, and the wheel carrier 521 is connected with the transmission shaft 51 through a bearing 352.

Example 2

The embodiment provides an automatic welding device 1A, as shown in fig. 4, including an automatic welding trolley 1A as in embodiment 1, the automatic welding trolley 1A is provided with a welding seam detection component 1 and a welding component for automatically welding a welding seam 4, the welding seam detection component 1 is used for detecting welding seam information, the welding component is correspondingly arranged on a path of the welding seam detection component 1 for detecting the welding seam, the welding component includes a welding controller 8, the welding controller 8 is in communication connection with the welding seam detection component 1, and controls the steering component 3 and the traveling component 5 through the received welding seam information, so that the automatic welding trolley 1A travels and tracks along the welding seam.

In a preferred embodiment, the steering member 3 and the traveling member 5 are electrically connected to the welding controller 8, so that the welding controller 8 can control the steering member 3 and the traveling member 5 timely and effectively, or can control the steering member 3 and the traveling member 5 by electromagnetic signals through wireless communication connection.

As shown in fig. 5, the weld detecting part 1 includes an industrial camera 101, a laser 102, and an industrial computer, the laser 102 is disposed in an oblique manner from a normal line of the surface of the workpiece 2 to be welded, by arranging the cylindrical lens 1021 before the laser 102, the laser 102 emits laser to the weld, arranging the optical filter 1011 before the industrial camera 101, the industrial camera 101 acquires the light information irradiated by the laser 102 on the weld 4, the industrial computer processes the light information and obtains the weld information, and transmits the weld information to a welding controller 8 as in fig. 4, the weld detecting part 1 adopts the laser triangulation principle in the prior art, therefore, accurate welding seam information is obtained, a basis is provided for the steering component 3 to adjust the position of the automatic welding trolley 1a, and meanwhile, the walking component 5 is controlled according to the welding seam information to realize the walking of the automatic welding trolley 1 a.

The industrial computer is a signal processor and comprises a signal processing circuit, the light ray information acquired by the industrial camera 101 is processed and calculated to obtain information such as the width, the depth, the groove angle and the like of the welding seam 4, as a preferred implementation mode, the industrial computer is integrated in the industrial camera 101, the industrial camera integrated with the industrial computer is in communication connection with the welding controller 8, further, the integrated arrangement mode is adopted, the space can be saved, the size of the automatic welding device can be reduced, the industrial computer can be arranged independently, and when the industrial computer is arranged independently, the industrial computer is in circuit connection with the industrial camera and is in communication connection with the welding controller 8.

As shown in fig. 4, the weld detecting member 1 is fixed to a transverse stay 22, the transverse stay 22 is mounted on the frame support plate 16 by a holder having a holding portion, the holding portion of the holder is expandable and clampable, and the transverse stay 22 is slidable transversely in the holding portion for adjusting the position of the weld detecting member 1.

As shown in fig. 4, the welding component includes a wire reel 9, a wire feeding mechanism 10 and a conductive nozzle 17, the wire reel 9 is used for installing a welding wire, a motor is connected to a rotating shaft of the wire reel 9, the rotation of the wire reel is controlled by the motor, the motor controlling the rotation of the wire reel 9 is electrically connected to the welding controller 8, or a solenoid valve switch is arranged on the motor, the solenoid valve is in communication connection with the welding controller 8, so as to control the rotating speed of the wire reel by the welding controller 8, the wire is fed to the wire feeding mechanism 10 at a reasonable wire feeding speed, the wire feeding mechanism 10 feeds the welding wire to the conductive nozzle 17, so that the conductive nozzle 17 performs welding on the welding seam 4 of the workpiece 2 to be welded, the wire reel 9 controlled by the welding controller 8 is arranged and connected to the wire feeding mechanism 10, so as to ensure that the automatic welding process is continuously performed, the welding component further includes a leakage hopper 11 for feeding a welding flux to a welding part, when the automatic welding device 1A adopts the submerged arc welding to weld the welding seam, the leakage hopper 11 continuously provides the welding flux for the welding seam, and the welding process is completed.

According to the structural form of the automatic welding tractor 1a in the embodiment 1, the closed-loop controller may be provided on the steering member 3 of the automatic welding tractor 1a, and the welding controller 8 is connected to the closed-loop step controller in a communication manner, and with this structural form, the welding controller 8 may perform wired control or wireless communication control on the steering member 3, preferably in a circuit connection manner, and perform wired communication control, and with the closed-loop controller provided on the steering member 3, the steering member 3 may be further controlled by the welding controller 8 according to the feedback of the amount of movement of the movable slider 31, so that the rotation accuracy of the steering member 3 may be improved, and the limit control accuracy index may be obtained.

As another embodiment, an open-loop control form may also be adopted, in which an encoder is disposed on the steering wheel 351, the encoder is in communication connection (wired or wireless) with the welding controller 8, and the encoder is used for monitoring the steering angle of the steering wheel 351, so that the welding controller 8 performs angle control on the steering wheel 351 through the power source 35 according to the rotation angle feedback of the steering wheel 351 monitored by the encoder, thereby ensuring steering accuracy and realizing tracking of a welding seam by a trolley.

As a preferred embodiment, the welding component further includes a wireless data transmission module, which is configured to transmit control data such as an included angle between the automatic welding device and a horizontal plane to a control system of an external rotation mechanism (see example 3), the automatic welding cart 1A is provided with an inclination angle sensor, the external rotation mechanism is configured to drive the weldment to rotate, and accelerate or decelerate according to the control data (measured by the inclination angle sensor) between the automatic welding device and the horizontal plane, so as to keep the automatic welding cart in a flat welding state all the time, the wireless data transmission module may be separately disposed on the automatic welding device 1A, or may be integrated on the welding controller 8, and the latter scheme is preferably adopted in this embodiment, so as to reduce the volume of the automatic welding device 1A as much as possible.

The welding wire dish 9 of this embodiment is arranged next to welding controller 8, and the welding controller 8 of being convenient for controls the slew velocity of welding wire dish 9, can arrange the distribution of the pivot portion that drives welding wire dish 9 pivoted in welding controller 8's box, arranges control wire dish 9 pivoted motor and control circuit in welding controller 8 simultaneously, reduces automatic welder 1A's volume.

The wire feeding mechanism 10, the conductive nozzle 17 and the leakage hopper 11 are connected by adopting a connection mode and a structure which are usually adopted in the existing automatic welding equipment, the wire feeding mechanism, the conductive nozzle 17 and the leakage hopper 11 are assembled and then connected with the welding controller 8 and the wire reel 9 through the transverse connecting piece 18, the welding controller 8 and the wire reel 9 are arranged at the other end of the transverse connecting piece 18, the transverse connecting piece 18 is provided with a vertical adjusting mechanism 21 for adjusting the height of the conductive nozzle 7, and the vertical adjusting mechanism 21 adopts an adjusting mode of a ball screw or a sliding screw in the prior art.

A transverse connecting piece 18 connected with a welding part is arranged on the automatic welding trolley 1a through a vertical connecting piece 19, a clamping mounting seat is fixed on the transverse connecting piece 18, the vertical connecting piece 19 is connected with the transverse connecting piece 18 in a sliding way through a clamping part of the clamping mounting seat, so that the vertical connecting piece 19 can slide up and down relative to the welding part, used for adjusting the relative height of the automatic welding tractor 1a and a welding part, a locking bolt is arranged on the clamping part of the clamping mounting seat, after the height of the vertical connecting piece 19 is adjusted, the vertical connecting piece 19 is locked and fixed by a locking bolt, a transverse adjusting mechanism 20 for adjusting the transverse position of the welding part on the automatic welding trolley 1a is arranged on the vertical connecting piece 19, the transverse adjusting mechanism 20 adopts the adjusting mode of a ball screw or a sliding screw in the prior art, the vertical connecting piece 19 is arranged on the frame supporting plate 16 of the automatic welding trolley 1a in a flange connection mode.

Adopt the mode of vertical connecting piece 19 to install the welding part on automatic weld dolly 1A, and realize altitude mixture control through the clamping part of grip slipper, can adjust automatic weld device 1A's whole volume size according to the in-service use space, in the bigger welding occasion in space, adjustable high welding part, make the welding part keep away from the welding workpiece, thereby guarantee automatic weld dolly 1A's normal steering and walking, the height of 17 is chewed through vertical adjustment mechanism 21 regulation on the transverse connection piece 18 simultaneously, in the littleer welding occasion in space, adjustable low welding part, reduce automatic weld device's volume, enlarge its application scope.

As one of the preferred embodiments, after the transverse connecting piece 18 connected with the welding part is connected with the vertical connecting piece 19, the vertical connecting piece 19 is installed on the frame supporting plate 16 through a flange, the installation position is close to one end of the walking part 5, and on the basis of ensuring the balance of the automatic welding trolley 1a, the vertical connecting piece 19 mainly bears the center of the welding part, so that the accurate and stable steering of the steering part 3 is ensured.

Example 3

The present embodiment provides an automatic welding apparatus applied to girth welding, as shown in fig. 4 and 6, comprising an automatic welding device 1A as described in embodiment 2, the automatic welding device 1A is arranged on the annular welding line and comprises the inner side or the outer side of the annular welding line, the annular welding line is formed by splicing arc-shaped workpieces 2 to be welded, an inclination angle sensor is arranged on the automatic welding device 1A, the tilt angle sensor is in communication with the welding controller 8 and the control system of the external rotating mechanism 23, and based on the data detected by the tilt angle sensor, and controls the automatic welding tractor 1a to be always in a flat welding state through a control system of the welding controller 8 and/or the external rotating mechanism 23, the external turning mechanism 23 is used to fix the work piece 2 to be welded and is controlled in rotation by its own (external turning mechanism 23) control system.

At pressure vessel, in the girth welding process of large-scale pipeline, current special welding machine or welding robot are difficult to execute welding, and adopt this technical scheme's automatic welder, can be convenient, accomplish the welding high-efficiently, and welding quality is high, and the last wireless data transmission module that has arranged of automatic welder 1A, data transmission to the control system of outside slewing mechanism 23 with automatic welder 1A, thereby the slew velocity through the outside slewing mechanism 23 of wireless data transmission module control, realize dolly and the 23 speed synchronization of outside slewing mechanism, simultaneously through the control system of outside slewing mechanism 23, can externally control and show the operating condition of automatic welding dolly 1A.

In a preferred embodiment, the automatic welding equipment further comprises a flux reclaimer and a purging device, the flux reclaimer comprises an absorption pipe 7 with a negative pressure suction inlet, the absorption pipe 7 is connected with a negative pressure device, the negative pressure suction port of the absorber pipe 7 is disposed on the path of the weld bead after the welding by the automatic welding apparatus 1A, the blowing device comprises an air blowing pipe 6 arranged on the automatic welding trolley, the air blowing pipe 6 is connected with an external air source, a pneumatic electromagnetic valve 15 for controlling the on-off of the air blowing pipe 6 is connected on the air blowing pipe 6, the air blowing pipe 6 is arranged on a transverse support rod 22, and extends to the front side of the welding seam detection part 1, controls the start and the close of the air blow pipe 6 through a pneumatic electromagnetic valve 15, thereby realize carrying out gas purging to the surface that is about to weld, guarantee welding quality, the welding flux reclaimer carries out recovery processing to the part surface welding flux that has welded and reduces welding workman work load.

Example 4

This embodiment provides a control method of an automatic welding device, which includes the following control processes as shown in fig. 1 to 6 and 7 when the automatic welding device in embodiment 2 is used for welding:

a. detecting weld joint information, namely detecting weld joint position information through a weld joint detection part 1, specifically comprising image reading, image processing and weld joint position information extraction, reading the weld joint information reflected by a laser 102 through an industrial camera 101 during image reading and carrying out binarization processing, wherein the image processing comprises carrying out Hough line transformation on an image subjected to binarization processing, counting probability Hough line transformation operation results and completing image line transformation, extracting two bevel slope characteristic lines of a V-shaped weld joint through a calculation formula when extracting the weld joint position information, obtaining the lowest point or the central point of a weld joint 4 through the intersection point of the two bevel slope lines, simultaneously obtaining coordinate information of the point in the image, and calculating the offset of the point with the central point through calibrated camera data and image coordinate point data;

b. exchanging welding seam position information, wherein the welding seam detection part 1 transmits the welding seam position information to a welding controller 8, the welding controller 8 adopts a PLC (programmable logic controller), and the welding seam detection part 1 and the PLC carry out data exchange through a standard RS485 communication protocol;

c. the method comprises the steps that the forward angle of an automatic welding trolley 1a is calculated, a PLC (programmable logic controller) can carry out zero returning operation on a steering component 3 after being started, the steering component 3 is matched with zero position information in the PLC, the angle of the trolley is calculated through a PID (proportion integration differentiation) module of the PLC during operation, offset position information given by a current welding line detection component 1 is recorded after a trolley operation button is pressed, the offset position information is a target value regulated by a PID (proportion integration differentiation) module, real-time welding line offset information during forward operation of the trolley is an input feedback value regulated by the PID module, a value obtained by calculation in the PID module is an output value, and the output value is used for adjusting the steering angle of the steering component 3 of the trolley;

d. adjusting the advancing angle of the automatic welding trolley 1a, converting the steering angle to obtain the position information of the operation of the linear module 32 of the steering component 3, sending a pulse signal to drive a closed-loop stepping driver controller through an absolute positioning instruction of a PLC (programmable logic controller), so that a power source 33 pushes the linear module 32, a moving slide block 31 of the linear module 32 drives a connecting rod mechanism 34 to move, the connecting rod mechanism 34 drives an in-situ steering mechanism 35 of the automatic welding trolley 1a to enable a trolley steering wheel 351 to rotate according to a set angle, and accurate control of the steering angle of the trolley is realized;

e. the automatic welding trolley 1a is used for horizontal detection, in order to ensure that the welding process is horizontal welding, an inclination angle sensor is additionally arranged on the automatic welding trolley 1a in the optimal scheme, and the inclination angle sensor is connected with a PLC (programmable logic controller) in an RS485 communication mode to perform data exchange.

When the automatic welding equipment in embodiment 3 is used for welding, step f is further included after step e, and the automatic welding trolley 1a is linked with supporting equipment, and the method specifically comprises the following steps:

f1, reading the inclination angle information of the inclination angle sensor in real time in the running process of the automatic welding trolley 1a, wherein the inclination angle information is used for controlling the rotating speed of the external rotating mechanism 23, and the rotating speed of the automatic welding trolley 1a is in communication connection with a frequency converter of the external rotating mechanism 23 through an RS485 plus wireless communication module, so that the rotating speed of the automatic welding trolley 1a is synchronous with that of the external rotating mechanism 23;

f2, controlling compressed air through the pneumatic solenoid valve 15 to perform surface purging on the welding seam 4 to be welded;

f3, controlling the flux reclaimer to reclaim the flux of the welded part through a pneumatic solenoid valve arranged on the absorption tube 6, and controlling the flux supply device to convey the flux to the hopper 11 to complete automatic conveying work;

f4, the control, monitoring and modification of the relevant parameters of the automatic welding trolley can be realized by using the human-computer interaction equipment with the RS485 communication function outside through the wireless communication module.

When welding, the posture of the automatic welding carriage 1a is first adjusted, that is, the automatic welding carriage 1a is placed on a horizontal plane parallel to the weld 4.

Example 5

The embodiment provides the operation steps of the automatic welding device:

1. automatic tracking trolley attitude adjustment: placing the automatic tracking trolley on a horizontal plane parallel to the welding line;

2. electrifying: the power supply is switched on, and the power supply of the automatic tracking trolley is a three-hole AC220V plug;

3. and (4) checking: checking whether the measuring laser and the camera indicator light operate normally after the power supply is switched on;

4. starting to return to zero: after the indicator light is determined to be normal, pressing a stop button and keeping for 2 seconds, wherein the step of pressing the stop button and keeping for 2 seconds is to start the steering component to return to zero, and the indicator light of the stop button is normally on after the return to zero is successfully completed;

5. adjusting a laser sensor: the laser sensor is adjusted to the welding seam by adjusting a mechanical knob, and the welding seam is in the middle of the laser or in a detection range (the detection range is the central point of the laser +/-30 mm);

6. adjusting the conductive nozzle: adjusting the conductive nozzle to the center position of the welding seam or the position needing welding;

7. starting automatic tracking, namely pressing a starting button to automatically track and start, wherein an indicator lamp of the starting button is normally on in the automatic tracking operation process, and external equipment is correspondingly started after the automatic tracking is started and comprises a purging device, a welding flux recycling machine and an external rotating mechanism 23;

8. adjusting in the operation process: the position of the conductive nozzle can be adjusted by adjusting the laser left and right in the operation process, and the direction is opposite to the moving direction of the conductive nozzle;

9. stopping automatic tracking: pressing a stop button to automatically track and stop in the running process, turning off an indicator light of a start button, and correspondingly stopping external equipment after automatic tracking is stopped;

10. power-off: the power supply can be cut off after the automatic tracking is stopped, and the power supply is strictly forbidden to be cut off in the running process of the automatic tracking trolley.

It should be noted that the cart described in all the embodiments of the present application is an automatic welding cart, which does not have a welding component, and can only be welded when the welding component is installed to become an automatic welding device, and therefore, the automatic welding cart may also be referred to as an automatic tracking cart.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (13)

1. The utility model provides an automatic welding dolly, its characterized in that, is including walking part (5) that is used for controlling the dolly walking to and be used for controlling the dolly to turn to part (3), turn to part (3) including installing sharp module (32) that remove slider (31), be equipped with power supply (33) on this sharp module (32), power supply (33) control remove slider (31) along sharp module (32) back-and-forth movement, remove slider (31) and be connected with pivot steering mechanism (35) through link mechanism (34), this automatic welding dolly is used for installing welding seam detection part (1) and welding part, welding part is used for welding seam (4) automatic execution.

2. The automatic welding trolley according to claim 1, wherein the walking part (5) and the steering part (3) are arranged independently, the walking part (5) comprises a walking wheel (52) connected with a transmission shaft (51) in the middle and a speed reduction motor (53) used for driving the walking wheel (52) to walk, a transmission gear (54) meshed with the speed reduction motor (53) is installed on the transmission shaft (51), and a clutch (55) used for controlling the power separation of the transmission shaft (51) and the speed reduction motor (53) is further arranged on the transmission shaft 51.

3. The automatic welding carriage according to claim 1, characterized in that said power source (33) is a stepper motor or a servo motor or a direct current motor or a hydraulic motor.

4. An automatic welding device, characterized by comprising the automatic welding trolley (1 a) as claimed in any one of claims 1 to 3, wherein a welding seam detection component (1) and a welding component for automatically welding a welding seam (4) are mounted on the automatic welding trolley (1 a), the welding seam detection component (1) is used for detecting welding seam information, the welding component is correspondingly arranged on a path of the welding seam detection component (1) for detecting the welding seam (4), the welding component comprises a welding controller (8), the welding controller (8) is in communication connection with the welding seam detection component (1), and the welding controller (8) controls the steering component (3) and the walking component (5) through the received welding seam information, so that the automatic welding trolley (1 a) walks and tracks along the welding seam (4).

5. The automatic welding device according to claim 4, said welding member being mounted in proximity to said walking member (5).

6. The automatic welding device according to claim 4, characterized in that the weld detecting part (1) comprises an industrial camera (101), a laser (102) and an industrial computer, the laser (102) is arranged obliquely to the normal of the surface of the workpiece (2) to be welded, the industrial camera (101) is used for acquiring light information of the laser (102) irradiated on the weld (4), and the industrial computer obtains the weld information according to the light information and transmits the weld information to the welding controller (8).

7. Automatic welding device according to claim 4, characterized in that a closed-loop step control is provided on said steering member (3), said welding control (8) being in communication with said closed-loop step control.

8. The automatic welding device according to one of claims 4 to 7, wherein the welding component further comprises a wireless data transmission module for transmitting control data to a control system of an external rotating mechanism, the control data including an angle between the automatic welding device and a horizontal plane, the external rotating mechanism being configured to drive the welding member to rotate, the speed of rotation of the welding member being adjusted and matched according to the change of the angle.

9. Automatic welding device according to one of claims 4 to 7, characterized in that the welded component is mounted on the automatic welding carriage (1 a) by means of a vertical connection (19), the vertical connection (19) being provided with a lateral adjustment mechanism (20) for adjusting the lateral position of the welded component in the carriage.

10. An automatic welding apparatus for welding of circumferential welds, characterized in that it comprises an automatic welding device (1A) according to any one of claims 4 to 9, said automatic welding device (1A) being arranged inside or outside a circumferential weld formed by the joining of curved workpieces (2) to be welded.

11. The automatic welding equipment applied to girth welding according to claim 10, wherein the automatic welding device (1A) further comprises a flux recoverer and a purging device, the flux recoverer comprises an absorption pipe (7) with a negative pressure suction inlet, the absorption pipe (7) is connected with the negative pressure device, the negative pressure suction inlet of the absorption pipe (7) is arranged on a welding path after welding of the automatic welding device (1A), the purging device comprises an air blowing pipe (6) installed on the automatic welding trolley (1A), the air blowing pipe (6) is connected with an external air source, and a pneumatic solenoid valve (15) for controlling the on-off of the air blowing pipe (6) is connected with the air blowing pipe.

12. A control method of an automatic welding apparatus, characterized by comprising, when welding is performed by using the automatic welding apparatus (1A) according to any one of claims 4 to 9, the steps of:

a. detecting welding seam information, namely detecting welding seam position information through a welding seam detection part (1);

b. exchanging welding seam position information, wherein the welding seam detection part (1) transmits the welding seam position information to a welding controller (8);

c. the angle adjustment of the automatic welding trolley (1 a), the welding controller (8) controls a power source (33) of the automatic welding trolley (1 a) to push a linear module (32) to work, a movable sliding block (31) drives a connecting rod mechanism (34), and the connecting rod mechanism (34) drives an in-situ steering mechanism (35) to enable the automatic welding trolley (1 a) to rotate according to a set angle, so that the control of the steering angle of the automatic welding trolley (1 a) is realized;

d. the automatic welding trolley (1 a) automatically welds the welding seam (4) through the welding part.

13. The control method of automatic welding device according to claim 12, characterized in that said welding controller (8) is a PLC programmable controller, said step c is performed before the automatic welding carriage (1 a) is angularly adjusted,

further comprising a step c': for calculating the advancing angle of the automatic welding trolley (1 a), the PLC starts to return to zero for the steering component (3) so that the steering component (3) is matched with zero information in the PLC, when in operation, the angle of the automatic welding tractor (1 a) is calculated by a PID module of the PLC programmable controller, the PID module records the offset position information given by the current welding line detection part (1) when the automatic welding trolley (1 a) is started, the offset position information is a target value regulated by a PID module, the real-time welding seam offset information during the forward running of the automatic welding trolley (1 a) is an input feedback value regulated by the PID module, a value obtained by the internal calculation of the PID module is an output value, and the output value is used for adjusting the steering angle of a steering component (3) of the automatic welding trolley (1 a).

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