CN111558766B - Submerged arc welding system for inner circle and outer circle of large cylinder - Google Patents

Submerged arc welding system for inner circle and outer circle of large cylinder Download PDF

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Publication number
CN111558766B
CN111558766B CN202010408419.6A CN202010408419A CN111558766B CN 111558766 B CN111558766 B CN 111558766B CN 202010408419 A CN202010408419 A CN 202010408419A CN 111558766 B CN111558766 B CN 111558766B
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China
Prior art keywords
lifting
motor
normally open
arc welding
open contact
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Active
Application number
CN202010408419.6A
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Chinese (zh)
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CN111558766A (en
Inventor
张明亮
王晋力
李渊
闫志鹏
张鑫
薛艳丽
李惠霞
周国虎
赵文军
姚小卫
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Shanxi Aerospace Qinghua Equipment Co Ltd
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Shanxi Aerospace Qinghua Equipment Co Ltd
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Priority to CN202010408419.6A priority Critical patent/CN111558766B/en
Publication of CN111558766A publication Critical patent/CN111558766A/en
Application granted granted Critical
Publication of CN111558766B publication Critical patent/CN111558766B/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • 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
    • B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
    • B23K37/04—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work
    • B23K37/053—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work aligning cylindrical work; Clamping devices therefor
    • B23K37/0538—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work aligning cylindrical work; Clamping devices therefor for rotating tubes, e.g. rollers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/02—Seam welding; Backing means; Inserts
    • B23K9/028—Seam welding; Backing means; Inserts for curved planar seams
    • B23K9/0282—Seam welding; Backing means; Inserts for curved planar seams for welding tube sections
    • 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
    • B23K9/10—Other electric circuits therefor; Protective circuits; Remote controls
    • B23K9/1006—Power supply
    • B23K9/1043—Power supply characterised by the electric circuit
    • B23K9/1056—Power supply characterised by the electric circuit by using digital means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/32—Accessories
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
    • Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Plasma & Fusion (AREA)
  • Optics & Photonics (AREA)
  • Arc Welding In General (AREA)

Abstract

The invention discloses a large-scale cylinder inner and outer circle submerged arc welding system, and belongs to the technical field of cylinder inner and outer circle submerged arc welding; the technical problems to be solved are as follows: the hardware structure of the large cylinder inner and outer circle submerged arc welding system is improved; the technical scheme adopted for solving the technical problems is as follows: the large-scale cylinder inner and outer circle submerged arc welding system comprises a guide rail and round rollers which are arranged at two ends of the guide rail in parallel, wherein the round rollers are controlled and driven by a driving motor; the guide rail is also provided with a movable trolley, the movable trolley is provided with an arc welding device and a vehicle-mounted control cabinet, and the movable trolley is controlled and driven by a traveling motor arranged on a trolley bottom plate; a pair of lifting columns, a submerged arc welding machine mounting arm and a submerged arc welding machine are arranged in the arc welding device, the lifting columns are specifically lifting columns vertically arranged on the movable trolley, a lifting screw rod is further arranged between the two lifting columns, and a lifting motor is arranged at the top of each lifting column; the invention is applied to a submerged arc welding system.

Description

Submerged arc welding system for inner circle and outer circle of large cylinder
Technical Field
The invention discloses a large-scale cylindrical inner-outer circle submerged arc welding system, and belongs to the technical field of cylindrical inner-outer circle submerged arc welding.
Background
At present, along with the continuous expansion of the application range of a large circular pipeline and a circular pressure container, welding is required to be carried out on the joint of two cylinders, usually, when the butt welding processing of the butt welding seam is carried out on the large circular pipeline and the circular pressure container, the installation position of an automatic submerged arc welding machine is calculated according to the welding position of the inner circles of the two cylinders which are in butt joint, the automatic submerged arc welding machine is installed at the position after the installation position is determined, the two cylinders to be welded are hoisted on a circular roller, the position of the cylinders is adjusted, the welding position is aligned with the automatic submerged arc welding machine, the welding current is adjusted, a circular roller motor is started to drive the cylinders to rotate, the welding seam of the inner circles is completed, but the speed control of the circular roller motor basically depends on the visual observation of operators and is set through the experience of operators, a certain error exists, and after the inner circles are welded, the welding device is required to be disassembled to continue the outer circles, so that the manual auxiliary time of the operation is overlong, the welding efficiency is low, and the welding quality is difficult to ensure.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and solves the technical problems that: the hardware structure of the large cylinder inner and outer circle submerged arc welding system is improved.
In order to solve the technical problems, the invention adopts the following technical scheme: the large-scale cylinder inner and outer circle submerged arc welding system comprises a guide rail and round rollers arranged at two ends of the guide rail in parallel, wherein the round rollers are controlled and driven by a driving motor;
The guide rail is also provided with a movable trolley, the movable trolley is provided with an arc welding device and a vehicle-mounted control cabinet, and the movable trolley is controlled and driven by a traveling motor arranged on a trolley bottom plate;
The arc welding device is provided with a pair of lifting stand columns, a submerged arc welding machine mounting arm and a submerged arc welding machine, wherein the lifting stand columns are specifically lifting stand columns vertically arranged on the movable trolley, a lifting screw rod is further arranged between the two lifting stand columns, the top of each lifting stand column is provided with a lifting motor, and a rotating shaft of each lifting motor is in transmission connection with the corresponding lifting screw rod through a coupler;
The lifting upright post is also provided with a lifting upright post guide rail, one side of the lifting upright post is also provided with an operation control box, and the front surface of the operation control box is also provided with an HMI touch screen;
the submerged arc welding machine installation arm is fixed on the lifting upright post through a lifting connector, the lifting connector is installed on the lifting screw rod, a submerged arc welding machine is arranged at the extending end of the submerged arc welding machine installation arm, and a camera is further arranged at one side of the submerged arc welding machine;
a ground control cabinet is further arranged on one side of the guide rail, and a camera display screen and a control panel are arranged on the front surface of the ground control cabinet;
and a cable sliding frame is further arranged above the guide rail.
The number of the round rollers is four, the four round rollers are controlled to be driven through a driving motor M1, a driving motor M2, a driving motor M3 and a driving motor M4 respectively, and the control ends of the driving motor M1, the driving motor M2, the driving motor M3 and the driving motor M4 are connected with the output end of the frequency converter X2 through wires;
The mobile trolley is controlled and driven by a walking motor M5;
the lifting screw rod is specifically controlled to be driven through a lifting motor M6.
A starting switch SB1 and an emergency stop switch SB2 are arranged on a control panel of the ground control cabinet;
The ground control cabinet is internally provided with a round roller variable frequency motor control loop, a controller X1 is arranged in the round roller variable frequency motor control loop, a PID port of the controller X1 is connected with a frequency converter X2 through a wire, a signal output end of the controller X1 is respectively connected with relay coils KM1-KM9, and linkage contacts of the relay coils KM1-KM9 are normally open contacts KM1.1-KM9.1;
the power input end of the control loop of the roller variable frequency motor is provided with a protection switch QL0, a protection switch QL1, a phase sequence protector KA0 and a relay coil KM0, the linkage contact of the phase sequence protector KA0 is a normally closed contact KA0.1, the linkage contact of the relay coil KM0 is a normally open contact KM0.1, and the power circuit structure of the control loop of the roller variable frequency motor is as follows:
The starting switch SB1 is connected with the emergency stop switch SB2 to form a starting switch, the inlet end of the starting switch is connected with the inlet end of the normally open contact KM0.1, the outlet end of the starting switch is connected with the input end of the relay coil KM0 after being connected with the normally closed contact KA0.1 in series, and the outlet end of the normally open contact KM0.1 is connected with the power input end of the frequency converter X2 after being connected with the protection switch QL1 and the normally open contact KM1.1 in series; the outgoing terminal of the normally open contact KM0.1 is also connected with the input terminal of the 24V rectifier.
The circuit structure of the control loop of the roller variable frequency motor is as follows:
The output end of the frequency converter X2 is sequentially connected with the wire inlet end of the normally open contact KM2.1, the wire inlet end of the normally open contact KM3.1 and the wire inlet end of the normally open contact KM4.1 in parallel and then connected with the wire inlet end of the normally open contact KM 5.1;
the outlet end of the normally open contact KM2.1 is connected with the thermal relay FR1 in series and then is connected with the power inlet end of the driving motor M1;
The outlet end of the normally open contact KM3.1 is connected with the thermal relay FR2 in series and then is connected with the power inlet end of the driving motor M2;
The outlet end of the normally open contact KM4.1 is connected with the thermal relay FR3 in series and then is connected with the power inlet end of the driving motor M3;
The outlet end of the normally open contact KM5.1 is connected with the thermal relay FR4 in series and then is connected with the power inlet end of the driving motor M4.
The power input end of the control loop of the walking motor M5 is connected with the outlet end of the normally open contact KM0.1, the normally open contact KM6.1 is arranged on the forward control loop of the walking motor M5, and the normally open contact KM7.1 is arranged on the reverse control loop of the walking motor M5;
The power input end of the control loop of the lifting motor M6 is connected with the outlet end of a normally open contact KM0.1, the normally open contact KM8.1 is arranged on the forward rotation control loop of the lifting motor M6, and the normally open contact KM9.1 is arranged on the reverse rotation control loop of the lifting motor M6;
a thermal relay FR5 is also arranged on the control loop of the walking motor M5;
and a thermal relay FR6 is also arranged on the control loop of the lifting motor M6.
Compared with the prior art, the invention has the following beneficial effects: according to the invention, the movable trolley which is arranged on the guide rail and can horizontally move is used, the liftable submerged arc welding device is arranged on the movable trolley, the welding of the inner arc and the outer arc of the cylinder can be completed without changing welding equipment when the inner arc and the outer arc of the cylinder are welded, the camera is arranged at the submerged arc welding machine, and the camera display screen is arranged at the ground control cabinet, so that an operator can conveniently observe the whole welding operation process in real time, the remote monitoring operation is realized, the welding efficiency and the welding quality are improved, and the working intensity of the operator is reduced.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of the lifting part of the submerged arc welding machine;
FIG. 3 is a schematic diagram showing the moving position of the welding device during inner circle welding according to the embodiment of the invention;
FIG. 4 is a schematic view of a submerged arc welding machine moving to an operating point during inner circle welding in an embodiment of the invention;
FIG. 5 is a schematic view of a welding device during welding of the outer circle according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a butt weld of a welding device during excircle welding according to the embodiment of the invention;
FIG. 7 is a schematic diagram of a control circuit structure according to the present invention;
FIG. 8 is a schematic diagram of a motor driving circuit according to the present invention;
In the figure: the welding device comprises a guide rail 1, a round roller 2, a travelling trolley 3, an arc welding device 4, a vehicle-mounted control cabinet 5, a lifting upright post 6, a submerged arc welding machine mounting arm 7, a submerged arc welding machine 8, a lifting screw rod 9, a coupler 10, a lifting upright post guide rail 11, an operation control box 12, a lifting connector 13, a camera 14, a ground control cabinet 15, a camera shooting display screen 16 and a cable sliding frame 17.
Detailed Description
As shown in fig. 1 to 8, the large-scale cylindrical inner-outer circle submerged arc welding system comprises a guide rail 1 and round rollers 2 arranged at two ends of the guide rail 1 in parallel, wherein the round rollers 2 are controlled and driven by a driving motor;
the guide rail 1 is also provided with a movable trolley 3, the movable trolley 3 is provided with an arc welding device 4 and a vehicle-mounted control cabinet 5, and the movable trolley 3 is controlled and driven by a traveling motor arranged on a trolley bottom plate;
A pair of lifting columns 6, a submerged arc welding machine mounting arm 7 and a submerged arc welding machine 8 are arranged in the arc welding device 4, the lifting columns 6 are specifically lifting columns vertically arranged on the movable trolley 3, a lifting screw rod 9 is further arranged between the two lifting columns 6, a lifting motor is arranged at the top of the lifting columns 6, and a rotating shaft of the lifting motor is in transmission connection with the lifting screw rod 9 through a coupler 10;
the lifting upright post 6 is also provided with a lifting upright post guide rail 11, one side of the lifting upright post 6 is also provided with an operation control box 12, and the front surface of the operation control box 12 is also provided with an HMI touch screen;
The submerged arc welding machine installation arm 7 is fixed on the lifting upright post 6 through a lifting connector 13, the lifting connector 13 is installed on the lifting screw rod 9, a submerged arc welding machine 8 is arranged at the extending end of the submerged arc welding machine installation arm 7, and a camera 14 is arranged at one side of the submerged arc welding machine 8;
A ground control cabinet 15 is further arranged on one side of the guide rail 1, and a camera display screen 16 and a control panel are arranged on the front surface of the ground control cabinet 15;
a cable carriage 17 is also arranged above the guide rail 1.
The number of the round rollers 2 is four, the four round rollers 2 are controlled to be driven through a driving motor M1, a driving motor M2, a driving motor M3 and a driving motor M4 respectively, and the control ends of the driving motor M1, the driving motor M2, the driving motor M3 and the driving motor M4 are connected with the output end of the frequency converter X2 through wires;
The mobile trolley 3 is controlled to be driven by a walking motor M5;
the lifting screw rod 9 is specifically controlled to be driven by a lifting motor M6.
A starting switch SB1 and an emergency stop switch SB2 are arranged on a control panel of the ground control cabinet 15;
The ground control cabinet 15 is internally provided with a round roller variable frequency motor control loop, a controller X1 is arranged in the round roller variable frequency motor control loop, a PID port of the controller X1 is connected with a frequency converter X2 through a wire, a signal output end of the controller X1 is respectively connected with relay coils KM1-KM9, and linkage contacts of the relay coils KM1-KM9 are normally open contacts KM1.1-KM9.1;
the power input end of the control loop of the roller variable frequency motor is provided with a protection switch QL0, a protection switch QL1, a phase sequence protector KA0 and a relay coil KM0, the linkage contact of the phase sequence protector KA0 is a normally closed contact KA0.1, the linkage contact of the relay coil KM0 is a normally open contact KM0.1, and the power circuit structure of the control loop of the roller variable frequency motor is as follows:
The starting switch SB1 is connected with the emergency stop switch SB2 to form a starting switch, the inlet end of the starting switch is connected with the inlet end of the normally open contact KM0.1, the outlet end of the starting switch is connected with the input end of the relay coil KM0 after being connected with the normally closed contact KA0.1 in series, and the outlet end of the normally open contact KM0.1 is connected with the power input end of the frequency converter X2 after being connected with the protection switch QL1 and the normally open contact KM1.1 in series; the outgoing terminal of the normally open contact KM0.1 is also connected with the input terminal of the 24V rectifier.
The circuit structure of the control loop of the roller variable frequency motor is as follows:
The output end of the frequency converter X2 is sequentially connected with the wire inlet end of the normally open contact KM2.1, the wire inlet end of the normally open contact KM3.1 and the wire inlet end of the normally open contact KM4.1 in parallel and then connected with the wire inlet end of the normally open contact KM 5.1;
the outlet end of the normally open contact KM2.1 is connected with the thermal relay FR1 in series and then is connected with the power inlet end of the driving motor M1;
The outlet end of the normally open contact KM3.1 is connected with the thermal relay FR2 in series and then is connected with the power inlet end of the driving motor M2;
The outlet end of the normally open contact KM4.1 is connected with the thermal relay FR3 in series and then is connected with the power inlet end of the driving motor M3;
The outlet end of the normally open contact KM5.1 is connected with the thermal relay FR4 in series and then is connected with the power inlet end of the driving motor M4.
The power input end of the control loop of the walking motor M5 is connected with the outlet end of the normally open contact KM0.1, the normally open contact KM6.1 is arranged on the forward control loop of the walking motor M5, and the normally open contact KM7.1 is arranged on the reverse control loop of the walking motor M5;
The power input end of the control loop of the lifting motor M6 is connected with the outlet end of a normally open contact KM0.1, the normally open contact KM8.1 is arranged on the forward rotation control loop of the lifting motor M6, and the normally open contact KM9.1 is arranged on the reverse rotation control loop of the lifting motor M6;
a thermal relay FR5 is also arranged on the control loop of the walking motor M5;
and a thermal relay FR6 is also arranged on the control loop of the lifting motor M6.
According to the invention, the arc welding device is fixed by the movable trolley arranged on the guide rail, and the movable trolley is driven by the traveling motor M5 arranged above the front-end wheels and fixed on the bottom plate of the movable trolley to control the movable trolley to move back and forth on the guide rail; the arc welding device is provided with lifting equipment, the automatic submerged arc welding machine is installed on the lifting equipment, the lifting equipment is placed and installed through lifting columns which are fixed on a bottom plate of the movable trolley side by side, the top ends of the lifting columns are provided with lifting motors M6 through top plates, lifting screw rods are installed between the two lifting columns, and the lifting screw rods are connected with the lifting motors M6 through couplings installed below the top plates of the lifting columns; the lifting upright posts are also provided with lifting upright post guide rails, lifting connectors are arranged on the two lifting upright posts, the lifting connectors are connected with the submerged arc welding machine mounting arms, and the lifting connectors control the lifting direction through the lifting upright post guide rails so as to enable the lifting connectors to stably slide up and down; the tail end of the extending end of the submerged arc welding machine mounting arm is fixedly provided with a submerged arc welding machine, the submerged arc welding machine is provided with an automatic submerged arc welding machine, and one side of the submerged arc welding machine is also provided with a camera for acquiring operation picture image data of the welding machine operation position.
A vehicle-mounted control cabinet is further arranged on one side of the arc welding device on the bottom plate of the movable trolley and is used for installing and connecting a low-voltage control element of the walking motor M5 and the lifting motor M6 with a low-voltage control element of a power supply of the automatic submerged arc welding machine; an operation control box is arranged on one side below the lifting upright post, and a control button and an HMI touch screen are arranged on the surface of the operation control box; two rows of parallel round rollers are arranged at two ends of the guide rail and are respectively driven and controlled by a driving motor M1, a driving motor M2, a driving motor M3 and a driving motor M4, and the driving motor M1, the driving motor M2, the driving motor M3 and the driving motor M4 realize motor rotation speed control through frequency converters, so that the round rollers rotate to drive the cylinder to rotate; a ground control cabinet is further arranged on one side of the guide rail and used for controlling the frequency conversion of the round roller, and a camera display screen is further arranged on the surface of the ground control cabinet and used for displaying the operation state of the cylinder during welding of the inner arc and the outer arc in real time; and a cable sliding frame is arranged above one side of the guide rail and used for arranging and placing wiring cables of the ground control cabinet and the vehicle-mounted control cabinet.
The HMI touch screen is provided with upper computer software for controlling the starting and stopping of the walking motor M5 and the lifting motor M6, and the starting and stopping of the driving motor M1, the driving motor M2, the driving motor M3 and the driving motor M4 and the setting of motor rotating speeds; before the welding operation of the inner arc and the outer arc of the cylinder is carried out, an operator controls the lifting motor M6 to finish the adjustment of the upper position and the lower position of the automatic submerged arc welding machine through an HMI touch screen arranged on an operation control box, and then controls the position of the movable trolley through the control of the traveling motor M5 so as to realize the adjustment of the front position and the rear position of the automatic submerged arc welding machine; the rotation of the cylinder is driven by a round roller, the round roller controls the rotation speed of a driving motor M1 to a driving motor M4 through a frequency converter so as to realize the rotation of the round roller, the rotation speed of the round roller is set by an operator according to the size and the thickness of a welding workpiece through upper computer software installed on an HMI touch screen, and the rotation speed of the driving motor M1 to the driving motor M4 is controlled through the frequency converter; and the operation condition of the welding position shot by the camera arranged at the welding position is displayed in real time through the shooting display screen arranged on the ground control cabinet.
FIG. 3 is a schematic diagram of the moving position of the welding device in the inner circle welding process, according to FIG. 3, when the inner circle welding process is performed on a cylinder, firstly, two cylinder sections needing to perform welding operation of butt welding of a welding seam are placed on a cylinder roller, two rows of parallel cylinder rollers are arranged, and the centering interval can be adjusted according to the diameter of the cylinder sections; after the position of the butt welding seam is adjusted, the equipment is required to be electrified, after the equipment is electrified, upper computer software is opened, motor operation parameters are set, an operator starts a traveling motor M5 through an HMI touch screen to control the traveling trolley to operate, so that the whole welding device is driven to move to the butt joint position of the welding seam of the two sections, and then the traveling motor M5 is controlled to stop through the HMI touch screen; after the welding seam position of the welding seam of the automatic submerged arc welding machine is moved, as shown in fig. 4, an operator starts a lifting motor M6 through an HMI touch screen to control the lifting motor to operate, a lifting screw rod drives a submerged arc welding machine installation arm to descend to a butt welding seam position, then the lifting motor is stopped, a welding head discharge port of the automatic submerged arc welding machine is adjusted to be aligned with the welding seam, the operator inputs the rotating speed of a barrel section through the HMI touch screen, controls a round roller driving motor M1 to a driving motor M4 to operate, the round roller driving motor M1 to the driving motor M4 drive two barrel sections to rotate in the same direction and at the same speed through a round roller, whether the barrel section operates stably or not is observed, whether the welding seam is in a left-right moving and up-down shaking condition, if the condition exists, the barrel section is subjected to position adjustment again, if the condition does not exist, the welding voltage and the current of the automatic submerged arc welding machine are set according to process requirements after the barrel section rotates stably, the automatic submerged arc welding machine is started to weld, the operator leaves a welding operation face, and the welding condition is observed through a camera display screen.
According to the welding process, after the inner arc welding is finished, the outer arc welding operation of the butt welding seam of the barrel section is carried out, as shown in fig. 5, which is a lifting schematic diagram of the welding device during the outer arc welding, after the inner arc butt welding seam welding operation is finished, an operator starts a lifting motor M6 through an HMI touch screen to control the lifting motor to operate, and a lifting screw rod drives a mounting arm of the submerged arc welding machine to lift to the central position of the barrel section and then controls the lifting motor to stop; an operator starts a traveling motor M5 through an HMI touch screen so as to control the traveling trolley to move, drives the whole welding device to move to an initial position to be separated from the welding cylinder section, starts a lifting motor M6 through the HMI touch screen so as to control the lifting motor to operate, and drives a submerged arc welding machine mounting arm to rise to a position higher than the top of the cylinder section and then stops operating; after the position of the welding device is adjusted in place, as shown in fig. 6, which is a schematic diagram of a butt welding seam of the welding device in the process of excircle welding, an operator starts a traveling motor M5 through an HMI touch screen to control a traveling trolley to advance so as to drive the whole welding device to move to the excircle welding seam position, then sets the welding voltage and current of an automatic submerged arc welding machine according to the process requirements, and starts the automatic submerged arc welding machine to perform the welding operation of the excircle welding seam; the operating personnel inputs section of thick bamboo rotational speed through the HMI touch-sensitive screen, and control circle roller driving motor M1 to driving motor M4 operation, and circle roller driving motor M1 to driving motor M4 drive two section of thick bamboo sections through the circle roller and rotate in same direction, the same speed, and operating personnel leaves the welding working face this moment, observes the welding condition through the camera display screen.
After the welding operation of the circular arc welding lines inside and outside the cylinder is finished, the traveling motor M5 and the lifting motor M6 are controlled by the HMI touch screen to adjust the traveling trolley and the welding device back to the original positions, then the upper computer software is closed, and the power supply of the equipment is closed to wait for the next welding operation to be started.
A control circuit is arranged in the ground control cabinet, and a protection switch QL0 is arranged at the external power supply inlet end of the control circuit to protect power supply overload and short circuit faults; the phase sequence protector KA0 is arranged at the inlet end of the external power supply of the control circuit, so that the phase loss and phase sequence protection can be carried out on the power supply, the rotation direction of the motor is ensured to be consistent with the requirement, and meanwhile, the motor operation fault or damage caused by the phase loss fault is avoided; the surface of the ground control cabinet is provided with a control panel, the control panel is provided with a start switch SB1 and an emergency stop switch SB2, the start switch SB1 is used for starting and stopping a system power supply of the welding device, the start switch SB1 is closed, the relay coil KM0 is electrified, the normally open contact KM0.1 is closed, and the system is electrified; the emergency stop switch SB2 can beat SB1 when the system runs to an emergency state or a fault, so as to realize the power-off of the system; the DC24V power supply provides power to the controller X1.
The controller X1 is connected with the KMI touch screen through an RS232 port, and the action control of the motor of the welding device is finished through upper computer software installed on the HMI touch screen; the controller X1 is connected with the frequency converter X2 through a PID port, so that the speed control of the output motor of the frequency converter X2 is realized, the speed control of the round roller driving motor M1 to the driving motor M4, namely the round roller rotating speed control is realized, the rotating speed of the barrel section is controlled, and the welding speed is controlled; the HMI touch screen controls the states of the relay coil KM6 to the relay coil KM9 through a function button arranged on upper computer software, so that the actions of sucking and breaking contacts of the relay are realized, the forward and reverse rotation of the walking motor M5 and the lifting motor M6 are realized, the function of horizontally moving and advancing or retreating on a guide rail of the mobile trolley is realized, and the action control of lifting or descending of the lifting connector on a lifting upright post is realized.
The controller X1 respectively controls states of the relay coils KM2 to KM5 through the ports 4 to 7, so that synchronous motor control of the driving motors M1 to M4 is achieved by controlling the closing of the corresponding normally open contacts KM2.1 to KM 5.1; the controller X1 controls the states of the relay coils KM6 to KM9 through the ports 21 to 24 respectively, so as to control the forward and backward rotation of the travelling motor M5 and the lifting motor M6, specifically, controls the forward rotation of the travelling motor M5 to realize the forward movement of the travelling trolley on the guide rail by controlling the closing of the normally open contact KM6.1, and controls the closing of the normally open contact KM7.1, so that the backward rotation of the travelling motor M5 to realize the backward movement of the travelling trolley on the guide rail; and the normally open contact KM8.1 is controlled to be closed, the lifting motor M6 rotates positively to realize lifting of the lifting connector, the normally open contact KM9.1 is controlled to be closed, and the lifting motor M6 rotates reversely to realize lifting of the lifting connector.
The invention adopts a large-sized cylinder inner and outer circle submerged arc welding device, and the welding processing of the inner and outer butt welds of a large-sized circular pipeline and a circular pressure vessel is completed by applying the advantages of stable welding quality, high welding production efficiency, no arc light and less smoke dust of an automatic submerged arc welding machine; the remote welding operation monitoring is realized by adopting a camera monitoring technology; the digital control of the cylinder rotation speed is realized through the controller X1, the HMI touch screen and the frequency converter; the automatic submerged arc welding device with the horizontal movement and lifting functions can be used for completing one-time clamping without changing equipment, so that the function of welding inner and outer circular weld joints is realized; not only improves the production, but also reduces the labor intensity of operators and improves the safety of equipment.
The control motors used in the invention are all existing modules, and specifically are as follows:
The model number of the driving motors M1-M4 is 110FH100-05;
the model numbers of the walking motor M5 and the lifting motor M6 are NKLA-S.
The specific structure of the invention needs to be described that the connection relation between the component modules adopted by the invention is definite and realizable, and besides the specific description in the embodiment, the specific connection relation can bring corresponding technical effects, and solves the technical problems of the invention on the premise of not depending on the execution of corresponding software programs.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims (2)

1. The large-scale cylinder inner and outer circle submerged arc welding system comprises a guide rail (1) and round rollers (2) which are arranged at two ends of the guide rail (1) in parallel, and is characterized in that: the round roller (2) is controlled and driven by a driving motor;
the guide rail (1) is also provided with a movable trolley (3), the movable trolley (3) is provided with an arc welding device (4) and a vehicle-mounted control cabinet (5), and the movable trolley (3) is controlled and driven by a traveling motor M5 arranged on a trolley bottom plate;
A pair of lifting columns (6), a submerged arc welding machine mounting arm (7) and a submerged arc welding machine (8) are arranged in the arc welding device (4), the lifting columns (6) are specifically lifting columns vertically arranged on the movable trolley (3), lifting screw rods (9) are further arranged between the two lifting columns (6), a lifting motor M6 is arranged at the top of each lifting column (6), and a rotating shaft of each lifting motor M6 is in transmission connection with the corresponding lifting screw rods (9) through a coupler (10);
The lifting column (6) is further provided with a lifting column guide rail (11), one side of the lifting column (6) is further provided with an operation control box (12), and the front surface of the operation control box (12) is further provided with an HMI touch screen;
The submerged arc welding machine installation arm (7) is fixed on the lifting upright post (6) through the lifting connector (13), the lifting connector (13) is installed on the lifting screw rod (9), the extending end of the submerged arc welding machine installation arm (7) is provided with a submerged arc welding machine (8), and one side of the submerged arc welding machine (8) is also provided with a camera (14);
A ground control cabinet (15) is further arranged on one side of the guide rail (1), and a camera display screen (16) and a control panel are arranged on the front surface of the ground control cabinet (15);
A cable sliding frame (17) is further arranged above the guide rail (1);
the number of the round rollers (2) is four, the four round rollers (2) are controlled to be driven through a driving motor M1, a driving motor M2, a driving motor M3 and a driving motor M4 respectively, and the control ends of the driving motor M1, the driving motor M2, the driving motor M3 and the driving motor M4 are connected with the output end of the frequency converter X2 through wires;
the lifting screw rod (9) is controlled to be driven by a lifting motor M6;
A starting switch SB1 and an emergency stop switch SB2 are arranged on a control panel of the ground control cabinet (15);
A round roller variable frequency motor control loop is arranged in the ground control cabinet (15), a controller X1 is arranged in the round roller variable frequency motor control loop, a PID port of the controller X1 is connected with a frequency converter X2 through a wire, a signal output end of the controller X1 is respectively connected with relay coils KM1-KM9, and linkage contacts of the relay coils KM1-KM9 are normally open contacts KM1.1-KM9.1;
the power input end of the control loop of the roller variable frequency motor is provided with a protection switch QL0, a protection switch QL1, a phase sequence protector KA0 and a relay coil KM0, the linkage contact of the phase sequence protector KA0 is a normally closed contact KA0.1, the linkage contact of the relay coil KM0 is a normally open contact KM0.1, and the power circuit structure of the control loop of the roller variable frequency motor is as follows:
The starting switch SB1 is connected with the emergency stop switch SB2 to form a starting and stopping switch, the inlet end of the starting and stopping switch is connected with the inlet end of the normally open contact KM0.1, the outlet end of the starting and stopping switch is connected with the input end of the relay coil KM0 after being connected with the normally closed contact KA0.1 in series, and the outlet end of the normally open contact KM0.1 is connected with the power input end of the frequency converter X2 after being connected with the protection switch QL1 and the normally open contact KM1.1 in series; the outlet end of the normally open contact KM0.1 is also connected with the input end of the 24V rectifier;
The circuit structure of the control loop of the roller variable frequency motor is as follows:
The output end of the frequency converter X2 is sequentially connected with the wire inlet end of the normally open contact KM2.1, the wire inlet end of the normally open contact KM3.1 and the wire inlet end of the normally open contact KM4.1 in parallel and then connected with the wire inlet end of the normally open contact KM 5.1;
the outlet end of the normally open contact KM2.1 is connected with the thermal relay FR1 in series and then is connected with the power inlet end of the driving motor M1;
The outlet end of the normally open contact KM3.1 is connected with the thermal relay FR2 in series and then is connected with the power inlet end of the driving motor M2;
The outlet end of the normally open contact KM4.1 is connected with the thermal relay FR3 in series and then is connected with the power inlet end of the driving motor M3;
The outlet end of the normally open contact KM5.1 is connected with the thermal relay FR4 in series and then is connected with the power inlet end of the driving motor M4.
2. The large cylinder inner and outer circular submerged arc welding system of claim 1, wherein: the power input end of a control loop of the walking motor M5 is connected with the outlet end of a normally open contact KM0.1, the normally open contact KM6.1 is arranged on a forward rotation control loop of the walking motor M5, and the normally open contact KM7.1 is arranged on a reverse rotation control loop of the walking motor M5;
The power input end of a control loop of the lifting motor M6 is connected with the outlet end of a normally open contact KM0.1, the normally open contact KM8.1 is arranged on a forward rotation control loop of the lifting motor M6, and the normally open contact KM9.1 is arranged on a reverse rotation control loop of the lifting motor M6;
a thermal relay FR5 is also arranged on the control loop of the walking motor M5;
and a thermal relay FR6 is also arranged on the control loop of the lifting motor M6.
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CN112404178B (en) * 2020-10-28 2024-07-09 山西航天清华装备有限责任公司 Small low-rotation-speed roller device
CN113814537B (en) * 2021-10-13 2022-09-23 中国化学工程第六建设有限公司 Submerged-arc automatic welding trolley for small-diameter welding
CN114799602B (en) * 2022-06-01 2022-12-09 山东天厚石油科技有限责任公司 Welding equipment and process for tungsten-plated and infiltrated oil pipe
CN114713986B (en) * 2022-06-08 2022-08-19 中铁城建集团第一工程有限公司 Automatic welding equipment in steel pipe
CN116329828B (en) * 2023-05-25 2024-02-06 南京斯迈柯特种金属装备股份有限公司 Pressure container butt joint groove structure, welding device and welding method
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