CN112372108B - Intersecting line fillet weld overlaying realizing mechanism of automatic welding machine - Google Patents
Intersecting line fillet weld overlaying realizing mechanism of automatic welding machine Download PDFInfo
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- CN112372108B CN112372108B CN202011276740.XA CN202011276740A CN112372108B CN 112372108 B CN112372108 B CN 112372108B CN 202011276740 A CN202011276740 A CN 202011276740A CN 112372108 B CN112372108 B CN 112372108B
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- 238000003466 welding Methods 0.000 title claims abstract description 140
- WFKWXMTUELFFGS-UHFFFAOYSA-N tungsten Chemical compound [W] WFKWXMTUELFFGS-UHFFFAOYSA-N 0.000 claims abstract description 57
- 229910052721 tungsten Inorganic materials 0.000 claims abstract description 57
- 239000010937 tungsten Substances 0.000 claims abstract description 57
- 230000005540 biological transmission Effects 0.000 claims description 21
- 230000033001 locomotion Effects 0.000 claims description 16
- 238000009434 installation Methods 0.000 claims description 12
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000009826 distribution Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 16
- 239000011324 bead Substances 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 230000000149 penetrating effect Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/04—Welding for other purposes than joining, e.g. built-up welding
- B23K9/044—Built-up welding on three-dimensional surfaces
- B23K9/046—Built-up welding on three-dimensional surfaces on surfaces of revolution
- B23K9/048—Built-up welding on three-dimensional surfaces on surfaces of revolution on cylindrical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/124—Circuits or methods for feeding welding wire
- B23K9/125—Feeding of electrodes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/133—Means for feeding electrodes, e.g. drums, rolls, motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/16—Arc welding or cutting making use of shielding gas
- B23K9/167—Arc welding or cutting making use of shielding gas and of a non-consumable electrode
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
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- 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)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention discloses an intersecting line fillet weld overlaying realizing mechanism of an automatic welding machine, which comprises the following components: the first mount pad of taking vertical lifting mechanism, the second mount pad sets firmly on vertical lifting mechanism's lift moving part, the swivel mount is located second mount pad bottom through rotary mechanism, the third mount pad of taking two mounting panels by the drive of sliding drive structure is adorned in the swivel mount pad bottom through a pair of horizontal slide rail, all be equipped with the V type wheelset that comprises a plurality of V type wheels that evenly distributed in proper order along circular upper portion fan-shaped envelope on every mounting panel inboard, be equipped with annular fan-shaped external gear on each V type wheelset respectively, take tungsten electrode welding torch's fourth mount pad both ends and two external gear fixed connection respectively, and the top of tungsten electrode is located the axis of envelope, two external gears drive tungsten electrode welding torch and swing about tungsten electrode top under the drive of swing drive structure. The mechanism can ensure the consistency of heat input in the welding process and obtain uniform intersecting line fillet weld.
Description
Technical Field
The invention relates to an automatic welding machine, in particular to an intersecting line fillet weld overlaying realizing mechanism of the automatic welding machine.
Background
The intersecting line is a space curve formed by intersecting two cylinders, the shape of the intersecting line is different according to the shape, the size and the position of the cylinders, wherein the intersecting line formed by intersecting two circular tubes is most common in a intersecting form, is generally in a saddle shape, and is a relatively complex three-dimensional space curve.
For convenience of description, the pipe formed by intersecting two cylinders is referred to as an intersecting line pipe. The application of intersecting line pipe fittings in pipeline engineering construction such as storage and transportation is very wide. The joint of the intersecting lines of the intersecting line pipe fittings is usually welded, the welding of the intersecting line fillet weld still adopts the traditional manual welding mode at present, but the quality of the intersecting line fillet weld obtained by adopting the manual welding mode depends on the technical proficiency of the welding of workers, the quality of the fillet weld is not ensured, and the workers who are engaged in the manual welding and have the proficiency of the welding technology are very short; therefore, the research on automated welding technology of the intersecting line fillet weld is certainly the development trend of future welding technology. However, due to the complexity of the continuous spatial variation and the continuous normal variation of the intersecting line fillet weld, the tracking of the welding motion track and the welding gesture (normal direction) becomes very complex, and how to realize the continuous tracking of the intersecting line track variation and the real-time tracking of the normal variation is always a difficult problem in the field of automatic welding.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the intersecting line fillet weld overlaying realizing mechanism of the automatic welding machine is provided, wherein the intersecting line fillet weld obtained by overlaying is good in uniformity, a tungsten electrode in the mechanism is always positioned on a normal line corresponding to the position of a welding point in the swinging process, and the welding point is always the swinging curvature center of the tungsten electrode, so that the position of the tungsten electrode normal line and the position of the vertex of the tungsten electrode are not required to be corrected through axial compensation. The intersecting line fillet weld overlaying realizing mechanism of the automatic welding machine decouples each motion into independent motions, does not have a real-time compensation relationship generated by mutual coupling, and has simple and easy control, and high precision.
In order to solve the problems, the invention adopts the following technical scheme: the intersecting line fillet weld overlaying realizing mechanism of the automatic welding machine comprises: the first installation seat with the vertical lifting mechanism is fixedly arranged on the lifting moving part of the vertical lifting mechanism, and the second installation seat can vertically upwards or vertically downwards move relative to the first installation seat under the driving of the driving structure of the vertical lifting mechanism; the rotary seat with the second circular through hole is arranged at the bottom of the second mounting seat through a rotary mechanism, the second circular through hole and the first circular through hole are coaxial, a second rectangular through hole which is vertically penetrated is inwards arranged on the side surface of the rotary seat, the second rectangular through hole penetrates through the second circular through hole, one of the longitudinal central planes of the second rectangular through holes is overlapped with the axis of the second circular through hole, and the rotary seat can rotate relative to the axis of the first circular through hole under the driving of the rotary driving structure of the rotary mechanism; the third installation seat is arranged at the bottom of the rotating seat through a pair of horizontal sliding rails, a movable piece on the horizontal sliding rails is driven by a sliding driving structure to slide along the horizontal sliding rails in a reciprocating and linear manner, the reciprocating and linear sliding direction of the movable piece is vertical to the longitudinal center plane of the first rectangular through hole passing through the axis of the first circular through hole, and the third installation seat can slide in a reciprocating and linear manner and is close to or far away from the first circular through hole under the driving of the sliding driving structure; the tungsten electrode welding device comprises a third mounting seat, a groove-shaped mounting seat is formed between two mounting plates and the third mounting seat, V-shaped wheel sets formed by a plurality of V-shaped wheels are arranged on the inner side of each mounting plate, the distribution tracks of the V-shaped wheels in each V-shaped wheel set are sequentially and uniformly distributed along a circular upper sector envelope, an annular sector-shaped external gear is placed on each V-shaped wheel set, an annular V-shaped block which protrudes outwards is arranged on the inner circular wall of the external gear and is matched with the V-shaped groove of the V-shaped wheel, the annular V-shaped block on each external gear is placed in the V-shaped groove of each V-shaped wheel corresponding to the V-shaped wheel set, two ends of a fourth mounting seat with a tungsten electrode welding torch are fixedly connected with the side faces of the two external gears respectively, the tip of the tungsten electrode is located on the axis of the envelope, the two external gears are driven by a swinging driving structure, and the two external gears move along the envelope on the corresponding V-shaped wheel sets under the driving of the swinging driving structure, so that the tip of the tungsten electrode is driven to swing upwards or downwards around the tungsten electrode. The driving structure of the vertical lifting mechanism drives the axial movement of the first mounting seat, the rotary driving structure drives the rotary seat to rotate, and the swinging driving structure drives the tungsten electrode to swing, and the three movements are mutually independent and do not have a real-time compensation relation generated by mutual coupling.
Further, the aforementioned mechanism for realizing the overlaying welding of the intersecting line and the fillet weld of the automatic welding machine, wherein the swinging driving structure is as follows: the gear shaft is horizontally supported and connected to the two mounting plates through corresponding bearing seats, and driving gears meshed with the external gears corresponding to the annular sector shapes are fixedly arranged at two ends of the gear shaft respectively; and a normal swing driving motor is fixedly arranged on the third mounting seat, and a motor shaft of the normal swing driving motor is connected with a gear shaft through belt transmission.
Further, the aforementioned mechanism for realizing the overlaying welding of the intersecting line and the fillet weld of the automatic welding machine, wherein the sliding driving structure is as follows: a rack is fixedly arranged at the bottom of the rotating seat between the pair of horizontal sliding rails, the rack is parallel to the horizontal sliding rails, a radial driving motor is fixedly arranged on the third mounting seat, and a total driving gear meshed with the rack is fixedly arranged on a motor shaft of the radial driving motor.
Further, the aforementioned implementing mechanism for the intersecting line fillet weld overlaying of the automatic welding machine, wherein the structure of the vertical lifting mechanism is as follows: the driving structure of the vertical lifting mechanism is a lifting driving motor fixedly arranged on the first mounting seat, the screw rod is vertically supported on the first mounting seat through a corresponding bearing seat, a motor shaft of the lifting driving motor is connected with one end of the screw rod through first gear transmission, an internal thread through hole matched with external threads on the screw rod is formed in the lifting piece, the lifting piece is rotationally arranged on the screw rod through the internal thread through hole, and a guiding structure for guiding the lifting piece to vertically move upwards or vertically downwards is further arranged between the first mounting seat and the lifting piece.
Further, the aforementioned intersecting line fillet weld overlaying realizing mechanism of the automatic welding machine, wherein the guiding structure is as follows: a vertical rail which is vertically arranged is fixedly arranged on the first mounting seat, and the side surface of the lifting piece is movably arranged on the vertical rail; the lifting member can move up or down along the vertical rail under the driving of the lifting driving motor.
Further, the aforementioned mechanism for realizing the overlaying welding of the intersecting line and the fillet weld of the automatic welding machine, wherein the structure of the rotating mechanism is as follows: an annular groove coaxial with the first circular through hole is formed in the bottom of the second mounting seat, an opening is formed in the inner side walls of the two sides of the first rectangular through hole in the annular groove, an annular dovetail block is arranged at the bottom of the annular groove, an annular C-shaped gear with an annular dovetail groove on the top surface is arranged in the annular groove, the annular dovetail block is clamped in the annular dovetail groove on the top surface of the annular C-shaped gear, the rotating seat is fixedly arranged at the bottom of the annular C-shaped gear, the annular C-shaped gear is driven by a rotary driving structure, and the annular C-shaped gear rotates relative to the axis of the first circular through hole under the driving of the rotary driving structure, so that the rotating seat is driven to rotate relative to the axis of the first circular through hole.
Further, the intersecting line fillet weld overlaying realizing mechanism of the automatic welding machine is characterized in that the annular groove is an L-shaped annular groove formed by a first annular groove and a second annular groove which are sequentially arranged from outside to inside, the groove width of the first annular groove is larger than that of the second annular groove, and the annular dovetail block is positioned at the groove bottom of the second annular groove; the middle part of the outer circumference of the annular C-shaped gear is provided with a first annular convex block which protrudes outwards, and the tooth profile of the annular C-shaped gear is positioned on the outer circumference of the first annular convex block; the upper part of the annular C-shaped gear extends into the second annular groove, and the middle part of the annular C-shaped gear and the first annular convex block are positioned in the first annular groove; the top of the rotating seat is provided with a second annular projection protruding upwards, and the second annular projection is fixed at the bottom of the annular C-shaped gear; the bottom of the second mounting seat is also fixedly provided with an annular plate, and the inner side surface of the annular plate extends into a concave groove formed by the bottom surface of the first annular convex block, the outer circumferential surface of the lower part of the annular C-shaped gear, the outer circumferential surface of the second annular convex block and the top surface of the rotating seat in a surrounding manner.
Further, the aforementioned mechanism for realizing the overlaying welding of the intersecting line and the fillet weld of the automatic welding machine, wherein the rotary driving structure is as follows: the second mounting seat is internally provided with a containing cavity communicated with the annular groove, the containing cavity is internally provided with second gear transmission, a final driven wheel of a final output end of the second gear transmission is meshed with the annular C-shaped gear, the second mounting seat is fixedly provided with a rotary driving motor, and a motor shaft of the rotary driving motor is fixedly connected with a main driving gear of a first stage of the second gear transmission in the containing cavity after extending into the containing cavity.
Further, according to the intersecting line fillet weld overlaying realizing mechanism of the automatic welding machine, the welding wire disc, the wire feeding straightening mechanism and the wire feeding mechanism are fixedly arranged at the bottom of the rotating seat, the wire feeding angle adjusting mechanism is fixedly arranged on the fourth mounting seat, and welding wires in the welding wire disc are fed into the wire feeding angle adjusting mechanism through the wire feeding straightening mechanism and the wire feeding mechanism.
Further, the intersecting line fillet weld overlaying realizing mechanism of the automatic welding machine is characterized in that a driving structure of the vertical lifting mechanism, a sliding driving structure, a rotating driving structure of the rotating mechanism and a swinging driving structure are all connected with the control device.
Further, in the aforementioned intersecting line fillet weld overlaying realizing mechanism of the automatic welding machine, a molten pool monitoring camera connected with the control device is fixedly arranged on the fourth mounting seat.
The beneficial effects of the invention are as follows: the point of the top of the tungsten electrode is always positioned on the axis of the envelope line, and the tungsten electrode always swings around the top of the tungsten electrode in the swinging process, so that the point of the top of the tungsten electrode is a fixed swinging center point relative to the fourth mounting seat; in the process of performing intersecting line fillet weld welding, as the point of the tip of the tungsten electrode is a fixed swing center point relative to the fourth mounting seat, the welding point is always the swing curvature center of the tungsten electrode, so that on each welding point position, when the upper and lower positions of the fourth mounting seat relative to the first mounting seat, the axis rotation angle of the fourth mounting seat relative to the first circular through hole and the tip swing angle of the tungsten electrode relative to the tungsten electrode are determined, the tungsten electrode can be ensured to be always positioned on the normal line of the corresponding welding point position, therefore, the tungsten electrode normal line position and the tungsten electrode vertex position are not required to be corrected through axial compensation, the welding motion track and the welding gesture of the tungsten electrode are ensured to be matched with the shape of the intersecting line welding seam, and the consistency of heat input in the welding process is ensured, so that a uniform intersecting line welding seam can be obtained in each intersecting line normal line tracking welding process; and then the distance between the tungsten electrode and the first circular through hole is adjusted under the drive of the sliding drive structure, so that the surfacing operation is realized, and finally the uniformity and consistency of the obtained intersecting line fillet weld are good.
Drawings
FIG. 1 is a schematic structural view of the use state of an intersecting line fillet weld overlaying realizing mechanism of an automatic welding machine.
Fig. 2 is a schematic view of a partial enlarged structure of an intersecting line fillet weld overlay realization mechanism of the automatic welding machine in fig. 1.
FIG. 3 is a schematic view of a partial enlarged construction of another portion of an intersecting line fillet weld overlay realization mechanism of the automatic welder of FIG. 1.
Fig. 4 is a partially enlarged schematic view of the portion a in fig. 3.
Fig. 5 is a schematic top view of an intersecting line fillet weld overlay realization mechanism of the automatic welder of fig. 1.
Fig. 6 is a schematic diagram of the structure of the intersecting line fillet weld overlay realization mechanism of the automatic welding machine in fig. 1 in a bottom view direction.
Fig. 7 is a partially enlarged schematic view of the portion D in fig. 6.
Fig. 8 is a schematic perspective view of an intersecting line fillet weld build-up welding realizing mechanism of the automatic welding machine.
Fig. 9 is a partially enlarged schematic view of the portion B in fig. 8.
Fig. 10 is a partially enlarged schematic view of the portion C in fig. 8.
Fig. 11 is a schematic perspective view of an intersecting line fillet weld overlay realization mechanism of an automatic welding machine at another viewing angle.
Fig. 12 is a partially enlarged schematic structural view of fig. 11.
Fig. 13 is a schematic view of the structure of fig. 5 in the bottom view.
Fig. 14 is a partially enlarged schematic structural view of fig. 13.
Fig. 15 is a schematic view of a bead weld.
Detailed Description
The technical scheme of the invention is further described in detail below with reference to the attached drawings and the preferred embodiments.
As shown in fig. 1, 2, 8, 11, and 13, an intersecting line fillet weld overlay realizing mechanism 500 of an automatic welding machine according to the present embodiment includes: the first mounting seat 1 with the vertical lifting mechanism, the second mounting seat 2 is fixedly arranged on the lifting piece 13 of the vertical lifting mechanism, and the second mounting seat 2 can vertically upwards or vertically downwards move relative to the first mounting seat 1 under the driving of the driving structure of the vertical lifting mechanism.
As shown in fig. 2, the vertical lift mechanism in this embodiment has the following structure: the driving structure of the vertical lifting mechanism is a lifting driving motor 11 fixedly arranged on the first mounting seat 1, a screw rod 12 is vertically supported on the first mounting seat 1 through a corresponding bearing seat, a motor shaft of the lifting driving motor 11 is connected with one end of the screw rod 12 through a first gear transmission, an internal thread through hole matched with an external thread on the screw rod 12 is formed in the lifting piece 13, the lifting piece 13 is rotationally arranged on the screw rod 12 through the internal thread through hole, and a guiding structure for guiding the lifting piece 13 to vertically move upwards or vertically downwards is further arranged between the first mounting seat 1 and the lifting piece 13. After the lifting drive motor 11 is started, the power of the lifting drive motor 11 is transmitted to the screw 12 through the motor shaft of the lifting drive motor 11 and the first gear transmission, so that the screw 12 rotates (anticlockwise rotation or clockwise rotation) around the axis of the screw 12 in a certain rotation direction, and when the screw 12 rotates, the lifting member 13 moves upwards or downwards through the screw transmission between the screw 12 and the internal thread through hole.
As shown in fig. 2, the guiding structure is as follows: a vertical rail 14 which is vertically arranged is fixedly arranged on the first installation seat 1, and the side surface of the lifting piece 13 is movably arranged on the vertical rail 14. If the lifting member 13 can move upwards along the vertical track 14 and drive the second mounting seat 2 to move vertically upwards under the drive of the lifting driving motor 11, the lifting member 13 can move downwards along the vertical track 14 and drive the second mounting seat 2 to move vertically downwards when the lifting driving motor 11 is driven reversely.
As shown in fig. 5, 6, 8 and 11, a first circular through hole 21 penetrating up and down is formed in the second mounting seat 2, a first rectangular through hole 22 penetrating up and down is formed in the side surface of the second mounting seat 2, the first rectangular through hole 22 penetrates through the first circular through hole 21, and one of the longitudinal central planes of the first rectangular through holes 22 overlaps with the axis of the first circular through hole 21. As shown in fig. 6, 7 and 10, the rotary seat 3 with the second circular through hole 31 is disposed at the bottom of the second mounting seat 2 through a rotation mechanism, the second circular through hole 31 is coaxial with the first circular through hole 21, a second rectangular through hole 32 penetrating up and down is provided on the side surface of the rotary seat 3, the second rectangular through hole 32 penetrates through the second circular through hole 31, one of the longitudinal central planes of the second rectangular through hole 32 overlaps with the axis of the second circular through hole 31, and the rotary seat 3 can rotate relative to the axis of the first circular through hole 21 under the driving of the rotation driving structure of the rotation mechanism.
As shown in fig. 8, 10 and 11, in this embodiment, the structure of the rotating mechanism is as follows: an annular groove coaxial with the first circular through hole 31 is formed in the bottom of the second mounting seat 2 inwards, an opening 221 is formed in the annular groove on the inner side walls of the two sides of the first rectangular through hole 22, an annular dovetail block 23 is arranged at the groove bottom of the annular groove, an annular C-shaped gear 5 with an annular dovetail groove 51 on the top surface is arranged in the annular groove, the annular dovetail block 23 is clamped and embedded in the annular dovetail groove 51 on the top surface of the annular C-shaped gear 5, the rotating seat 3 is fixedly arranged at the bottom of the annular C-shaped gear 5, the annular C-shaped gear 5 is driven by a rotary driving structure, and the annular C-shaped gear 5 rotates relative to the axis of the first circular through hole 21 under the driving of the rotary driving structure, so that the rotating seat 3 is driven to rotate relative to the axis of the first circular through hole 21.
As shown in fig. 10, in this embodiment, the annular groove is an L-shaped annular groove formed by a first annular groove 24 and a second annular groove 25 which are sequentially arranged from outside to inside, the groove width of the first annular groove 24 is larger than the groove width of the second annular groove 25, and the annular dovetail block 23 is positioned at the groove bottom of the second annular groove 25. A first annular projection 52 projecting outward is provided in the middle of the outer circumference of the annular C-shaped gear 5, and the tooth profile of the annular C-shaped gear 5 is located on the outer circumference of the first annular projection 52. The upper part of the annular C-shaped gear 5 extends into the second annular groove 25, and the middle part of the annular C-shaped gear 5 and the first annular convex block 52 are positioned in the first annular groove 24. A second annular projection 33 protruding upward is provided on the top of the rotary seat 3, and the second annular projection 33 is fixed to the bottom of the annular C-shaped gear 5. An annular plate 26 is fixedly arranged at the bottom of the second mounting seat 2, and the inner side surface of the annular plate 26 extends into a concave groove formed by the bottom surface of the first annular convex block 52, the outer circumferential surface of the lower part of the annular C-shaped gear 5, the outer circumferential surface of the second annular convex block 33 and the top surface of the rotating seat 3.
In this embodiment, the rotation driving structure is as follows: the second mounting seat 2 is internally provided with a containing cavity communicated with the annular groove, the containing cavity is internally provided with second gear transmission, a final driven wheel at the final output end of the second gear transmission is meshed with the annular C-shaped gear 5, the second mounting seat 2 is fixedly provided with a rotary driving motor, and a motor shaft of the rotary driving motor is fixedly connected with a main driving gear of a first stage of the second gear transmission in the containing cavity after extending into the containing cavity. During operation, the rotary driving motor drives the annular C-shaped gear 5 to rotate relative to the axis of the first circular through hole 21 through the second gear transmission, so that the rotary seat 3 is driven to rotate relative to the axis of the first circular through hole 21.
As shown in fig. 6, 7 and 8, the third mounting seat 4 is mounted at the bottom of the rotating seat 3 through a pair of horizontal sliding rails 91, a movable member 92 on the horizontal sliding rails 91 is driven by a sliding driving structure to slide linearly along the horizontal sliding rails 91 in a reciprocating manner, the sliding direction of the reciprocating linear of the movable member 92 is perpendicular to the longitudinal center plane of the first rectangular through hole passing through the axis of the first circular through hole, and the third mounting seat 4 can slide linearly in a reciprocating manner, and is close to or far away from the first circular through hole 21 under the driving of the sliding driving structure.
As shown in fig. 7 and 13, the slip driving structure in this embodiment is as follows: a rack 93 is fixedly arranged at the bottom of the rotary seat 3 between the pair of horizontal slide rails 91, the rack 93 is parallel to the horizontal slide rails 91, a radial driving motor 94 is fixedly arranged on the third mounting seat 4, and a total driving gear 95 meshed with the rack 93 is fixedly arranged on a motor shaft of the radial driving motor 94. After the radial drive motor 94 is started, the third mount 4 fixed to the pair of movable members 92 is driven to reciprocate linearly by the rack-and-pinion transmission.
As shown in fig. 3, 4, 8, 9, 11 and 12, two mounting plates 41 are respectively disposed at two ends of the third mounting seat 4, a groove-shaped mounting seat is formed between the two mounting plates 41 and the third mounting seat 4, and in actual manufacturing production, the two mounting plates 41 and the third mounting seat 4 can be integrally formed to form the groove-shaped mounting seat, and the two mounting plates 41 and the third mounting seat 4 can also be connected to form the groove-shaped mounting seat in a splicing manner. The inner side of each mounting plate 41 is provided with a V-shaped wheel set formed by a plurality of V-shaped wheels 42, the distribution tracks of the V-shaped wheels 42 in each V-shaped wheel set are sequentially and uniformly distributed along a circular upper fan-shaped envelope, each V-shaped wheel set is provided with an annular fan-shaped external gear 43, the inner circular wall of each external gear 43 is provided with an annular V-shaped block 431 protruding outwards and matched with the V-shaped groove 421 of the V-shaped wheel 42, the annular V-shaped block 431 on each external gear 43 is placed in the V-shaped groove 421 of each V-shaped wheel 42 of the corresponding V-shaped wheel set, the two ends of the fourth mounting seat 6 with the tungsten electrode welding torch 61 are fixedly connected with the side surfaces of the two external gears 43 respectively, the tip of the tungsten electrode 62 is positioned on the axis of the envelope, the two external gears 42 are driven by a swinging driving structure, and the two external gears 42 are driven by the swinging driving structure to move along the envelope on the corresponding V-shaped wheel set so as to drive the tip 63 of the tungsten electrode 61 to swing upwards or downwards around the tungsten electrode 62.
As shown in fig. 4, 12 and 14, in this embodiment, the swing driving structure is as follows: the gear shaft 71 is horizontally supported and connected to the two mounting plates 41 through corresponding bearing blocks, and driving gears 73 meshed with the outer gears 43 corresponding to the annular sector shapes are fixedly arranged at two ends of the gear shaft 71 respectively; a normal swing driving motor 7 is fixedly arranged on the third mounting seat 4, and a motor shaft of the normal swing driving motor 7 is connected with a gear shaft 71 through a belt transmission 72. After the normal swing driving motor 7 is started, the power of the normal swing driving motor 7 is transmitted to the external gear 43 through the motor shaft, the belt transmission 72, the driving gear 73 and the gear transmission of the external gear 43 of the normal swing driving motor 7, so that the two external gears 42 move along the envelope on the corresponding V-shaped wheel set, and the tungsten electrode welding torch 61 is driven to swing upwards or downwards around the tip 63 of the tungsten electrode 62.
The intersecting line fillet weld overlaying realizing mechanism of the automatic welding machine decouples each motion into independent motions, does not have a real-time compensation relationship generated by mutual coupling, and has simple and easy control, and high precision.
For convenience of description, one of the intersecting line pipe members is referred to as a parent pipe 100, and the other pipe member is referred to as a branch pipe 200. Before welding the intersecting parts of the main pipe 100 and the branch pipe 200, spot welding is usually performed at intervals along the intersecting line weld seam, and the number of spot welding is usually enough to ensure that the relative positions of the main pipe 100 and the branch pipe 200 are fixed.
In this embodiment, the wire feeding method of the welding wire is as follows: a wire reel 81, a wire feeding straightening mechanism 82 and a wire feeding mechanism 84 are fixedly arranged at the bottom of the rotating seat 3, a wire feeding angle adjusting mechanism 83 is fixedly arranged on the fourth mounting seat 6, and welding wires in the wire reel 81 are fed into the wire feeding angle adjusting mechanism 83 through the wire feeding straightening mechanism 82 and the wire feeding mechanism 84.
In this embodiment, the driving structure of the vertical lifting mechanism, the sliding driving structure, the rotation driving structure of the rotation mechanism, and the swing driving structure are all connected with the control device. A bath monitoring camera 65 connected to the control device is fixedly provided on the fourth mount 6.
The mechanism can be used for manual welding, simulated teaching welding, automatic welding of a pre-input model, self-defined welding of a model and automatic welding of a pre-input model with log input.
Manual welding: the operator realizes the full manual welding by controlling the lifting driving motor 11, the rotary driving motor, the normal swing driving motor 7 and the welding parameter hand wheel code wheel.
Simulation teaching welding: the operator realizes the simulated welding track by controlling the lifting driving motor 11, the rotating driving motor, the normal swing driving motor 7 and the welding parameter hand wheel code wheel under the condition of no starting arc, and the control device memorizes the process numerical values of each encoder to form welding track nodes and then starts welding to realize the teaching welding function according to the track nodes.
Automatic welding: and (5) inputting welding parameters of each track node in advance, and starting an automatic welding function to finish an automatic welding process after the simulation operation is confirmed to be correct. The automatic welding process can be performed in real time by artificial dynamic mode, and corresponding parameters are adjusted through the hand wheel code wheel to form and insert new welding track nodes into a welding track node list.
Automatic welding of a pre-input model: picking up the welding model which is input or used, adjusting the parameters of the corresponding model into the welding system of the control device, and then entering an automatic welding process.
Model custom welding: the method is characterized in that a brand new model is corresponding, a welding bead custom model option of a control device can be used, welding bead layout is automatically generated by inputting welding bead width and welding bead depth, and a complete welding parameter is manufactured by inputting welding track nodes of each welding bead and corresponding welding parameters according to program guidance so as to realize automatic welding.
Automatic welding of a pre-input model of log input: the completed welding parameters in the log may be entered into a welding model library of the control device for the next automatic welding as a pre-input model.
The above description is only of the preferred embodiment of the present invention, and is not intended to limit the present invention in any other way, but any modifications or equivalent variations according to the technical spirit of the present invention are still included in the scope of the present invention.
As shown in fig. 1, the intersecting line fillet weld overlaying realizing mechanism 500 of the automatic welding machine in this embodiment is fixed on the main pipe 100 by a fixing structure, the fixing device may adopt a fixing structure composed of a main mounting seat 300 and two groups of chains, after the main mounting seat 300 is placed on the main pipe 100, each chain 400 in the two groups of chains surrounds the main pipe 100 for one circle, and two ends of each chain 100 are respectively connected to the main mounting seat 300 and tightened, so as to fix the main mounting seat 300 on the main pipe 100. The first mounting seat 1 on the intersecting line fillet weld overlaying realizing mechanism 500 of the automatic welding machine is fixedly mounted on the main mounting seat 300, and the position is corrected so that the first circular through hole 31 on the second mounting seat 2 is coaxial with the branch pipe 200.
The saddle-shaped three-dimensional space curve is obtained by the motion coordination of the axial motion of the tungsten electrode (relative to the upper and lower positions of the first mounting seat 1), the circular motion of the tungsten electrode (relative to the axis rotation angle of the first circular through hole 21), and the swinging motion of the tungsten electrode (relative to the swinging angle of the tip 63 of the tungsten electrode welding torch 61) and the like. The welding head forms one welding seam 600 at a time along the three-dimensional space curve welding motion of the saddle shape, and as shown in fig. 15, the overlaying operation is to adjust the distance between the tungsten electrode 62 and the first circular through hole 21 by moving the driving structure on the basis of the above, so as to obtain an overlaying fillet weld formed by stacking a plurality of welding seams 600.
The point of the tip 63 of the tungsten electrode 62 of the automatic welding machine of the invention is always positioned on the axis of the envelope, and the tungsten electrode 62 always swings around the tip 63 of the tungsten electrode 62 in the swinging process, so the point of the tip 63 of the tungsten electrode 62 is a fixed swinging center point relative to the fourth mounting seat 6; in the process of performing the intersecting line fillet weld welding, as the point where the tip 63 of the tungsten electrode 62 is located is a fixed swing center point relative to the fourth mounting seat 6, the welding spot is always the swing curvature center of the tungsten electrode, so that on each welding spot position, when the upper and lower positions of the fourth mounting seat 6 relative to the first mounting seat, the axis rotation angle of the fourth mounting seat 6 relative to the first circular through hole 21 and the swing angle of the tungsten electrode welding torch 61 relative to the tip 63 of the tungsten electrode 62 are determined, the tungsten electrode 62 can be ensured to be always located on the normal line of the corresponding welding spot position, and the tungsten electrode normal position and the tungsten electrode tip position are not required to be corrected through axial compensation, the welding motion track and the welding posture of the tungsten electrode 62 are ensured to be matched with the shape of the intersecting line welding seam, and the consistency of heat input in the welding process is ensured, and therefore, the uniform and consistent intersecting line welding seam 600 can be obtained in each intersecting line normal tracking welding process; and then the distance between the tungsten electrode 62 and the first circular through hole 21 is adjusted under the drive of the sliding drive structure, so that the surfacing operation is realized, and the uniformity and consistency of the finally obtained intersecting line fillet weld are good.
Claims (7)
1. An intersecting line fillet weld overlaying realizing mechanism of an automatic welding machine is characterized in that: comprising the following steps: the first installation seat with the vertical lifting mechanism is fixedly arranged on the lifting moving part of the vertical lifting mechanism, and the second installation seat can vertically upwards or vertically downwards move relative to the first installation seat under the driving of the driving structure of the vertical lifting mechanism; the rotary seat with the second circular through hole is arranged at the bottom of the second mounting seat through a rotary mechanism, the second circular through hole and the first circular through hole are coaxial, a second rectangular through hole which is vertically penetrated is inwards arranged on the side surface of the rotary seat, the second rectangular through hole penetrates through the second circular through hole, one of the longitudinal central planes of the second rectangular through holes is overlapped with the axis of the second circular through hole, and the rotary seat can rotate relative to the axis of the first circular through hole under the driving of the rotary driving structure of the rotary mechanism; the third installation seat is arranged at the bottom of the rotating seat through a pair of horizontal sliding rails, a movable piece on the horizontal sliding rails is driven by a sliding driving structure to slide along the horizontal sliding rails in a reciprocating and linear manner, the reciprocating and linear sliding direction of the movable piece is vertical to the longitudinal center plane of the first rectangular through hole passing through the axis of the first circular through hole, and the third installation seat can slide in a reciprocating and linear manner and is close to or far away from the first circular through hole under the driving of the sliding driving structure; the tungsten electrode welding device comprises a third mounting seat, a groove-shaped mounting seat is formed between two mounting plates and the third mounting seat, V-shaped wheel sets formed by a plurality of V-shaped wheels are arranged on the inner side of each mounting plate, the distribution tracks of the V-shaped wheels in each V-shaped wheel set are sequentially and uniformly distributed along a circular upper sector envelope, an annular sector-shaped external gear is placed on each V-shaped wheel set, an annular V-shaped block which protrudes outwards is arranged on the inner circular wall of the external gear and is matched with the V-shaped groove of the V-shaped wheel, the annular V-shaped block on each external gear is placed in the V-shaped groove of each V-shaped wheel corresponding to the V-shaped wheel set, two ends of a fourth mounting seat with a tungsten electrode welding torch are fixedly connected with the side faces of the two external gears respectively, the tip of the tungsten electrode is positioned on the axis of the envelope, the two external gears are driven by a swinging driving structure, and the two external gears move along the envelope on the corresponding V-shaped wheel sets under the driving of the swinging driving structure, so that the tip of the tungsten electrode is driven to swing upwards or downwards around the tungsten electrode; the driving structure of the vertical lifting mechanism drives the axial movement of the first mounting seat, the rotary driving structure drives the rotary seat to rotate, and the swinging driving structure drives the tungsten electrode to swing, and the three movements are mutually independent and do not have a real-time compensation relation generated by mutual coupling;
the swing driving structure is as follows: the gear shaft is horizontally supported and connected to the two mounting plates through corresponding bearing seats, and driving gears meshed with the external gears corresponding to the annular sector shapes are fixedly arranged at two ends of the gear shaft respectively; a normal swing driving motor is fixedly arranged on the third mounting seat, and a motor shaft of the normal swing driving motor is connected with a gear shaft through belt transmission;
the structure of the vertical lifting mechanism is as follows: the driving structure of the vertical lifting mechanism is a lifting driving motor fixedly arranged on the first mounting seat, the screw rod is vertically supported on the first mounting seat through a corresponding bearing seat, a motor shaft of the lifting driving motor is connected with one end of the screw rod through first gear transmission, an internal thread through hole matched with an external thread on the screw rod is arranged on the lifting member, the lifting member is rotatably arranged on the screw rod through the internal thread through hole, and a guiding structure for guiding the lifting member to vertically move upwards or downwards is also arranged between the first mounting seat and the lifting member;
the structure of the rotating mechanism is as follows: an annular groove coaxial with the first circular through hole is formed in the bottom of the second mounting seat, an opening is formed in the inner side walls of the two sides of the first rectangular through hole in the annular groove, an annular dovetail block is arranged at the bottom of the annular groove, an annular C-shaped gear with an annular dovetail groove on the top surface is arranged in the annular groove, the annular dovetail block is clamped in the annular dovetail groove on the top surface of the annular C-shaped gear, the rotating seat is fixedly arranged at the bottom of the annular C-shaped gear, the annular C-shaped gear is driven by a rotary driving structure, and the annular C-shaped gear rotates relative to the axis of the first circular through hole under the driving of the rotary driving structure, so that the rotating seat is driven to rotate relative to the axis of the first circular through hole.
2. The intersecting line fillet weld overlaying realizing mechanism of an automatic welding machine according to claim 1, wherein: the sliding driving structure is as follows: a rack is fixedly arranged at the bottom of the rotating seat between the pair of horizontal sliding rails, the rack is parallel to the horizontal sliding rails, a radial driving motor is fixedly arranged on the third mounting seat, and a total driving gear meshed with the rack is fixedly arranged on a motor shaft of the radial driving motor.
3. The intersecting line fillet weld overlaying realizing mechanism of an automatic welding machine according to claim 1, wherein: the guide structure is as follows: a vertical rail which is vertically arranged is fixedly arranged on the first mounting seat, and the side surface of the lifting piece is movably arranged on the vertical rail; the lifting member can move up or down along the vertical rail under the driving of the lifting driving motor.
4. The intersecting line fillet weld overlaying realizing mechanism of an automatic welding machine according to claim 1, wherein: the annular groove is an L-shaped annular groove formed by a first annular groove and a second annular groove which are sequentially arranged from outside to inside, the groove width of the first annular groove is larger than that of the second annular groove, and the annular dovetail block is positioned at the groove bottom of the second annular groove; the middle part of the outer circumference of the annular C-shaped gear is provided with a first annular convex block which protrudes outwards, and the tooth profile of the annular C-shaped gear is positioned on the outer circumference of the first annular convex block; the upper part of the annular C-shaped gear extends into the second annular groove, and the middle part of the annular C-shaped gear and the first annular convex block are positioned in the first annular groove; the top of the rotating seat is provided with a second annular projection protruding upwards, and the second annular projection is fixed at the bottom of the annular C-shaped gear; the bottom of the second mounting seat is also fixedly provided with an annular plate, and the inner side surface of the annular plate extends into a concave groove formed by the bottom surface of the first annular convex block, the outer circumferential surface of the lower part of the annular C-shaped gear, the outer circumferential surface of the second annular convex block and the top surface of the rotating seat in a surrounding manner.
5. The intersecting line fillet weld overlaying realizing mechanism of an automatic welding machine according to claim 1 or 4, wherein: the rotary driving structure is as follows: the second mounting seat is internally provided with a containing cavity communicated with the annular groove, the containing cavity is internally provided with second gear transmission, a final driven wheel of a final output end of the second gear transmission is meshed with the annular C-shaped gear, the second mounting seat is fixedly provided with a rotary driving motor, and a motor shaft of the rotary driving motor is fixedly connected with a main driving gear of a first stage of the second gear transmission in the containing cavity after extending into the containing cavity.
6. The intersecting line fillet weld overlaying realizing mechanism of an automatic welding machine according to claim 1, wherein: the welding wire feeding device comprises a rotating seat, a welding wire disc, a wire feeding straightening mechanism and a wire feeding mechanism, wherein the bottom of the rotating seat is fixedly provided with the welding wire disc, the wire feeding straightening mechanism and the wire feeding mechanism, and a wire feeding angle adjusting mechanism is fixedly arranged on a fourth installation seat, and welding wires in the welding wire disc are fed into the wire feeding angle adjusting mechanism through the wire feeding straightening mechanism and the wire feeding mechanism.
7. The intersecting line fillet weld overlaying realizing mechanism of an automatic welding machine according to claim 1, wherein: the driving structure, the sliding driving structure, the rotating driving structure and the swinging driving structure of the vertical lifting mechanism are all connected with the control device; and a molten pool monitoring camera connected with the control device is fixedly arranged on the fourth mounting seat.
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| CN115533376B (en) * | 2022-10-08 | 2023-06-13 | 山东森峰激光装备有限公司 | Multi-angle intersecting line welding seam automatic welding device for large-caliber pipeline |
| CN115319360B (en) * | 2022-10-17 | 2023-01-20 | 常州市海宝焊割有限公司 | Small saddle mouth welding machine |
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