CN112404805A - Steel wire rope guiding track-free automatic welding equipment for long straight seam with gradient - Google Patents
Steel wire rope guiding track-free automatic welding equipment for long straight seam with gradient Download PDFInfo
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- CN112404805A CN112404805A CN202011180997.5A CN202011180997A CN112404805A CN 112404805 A CN112404805 A CN 112404805A CN 202011180997 A CN202011180997 A CN 202011180997A CN 112404805 A CN112404805 A CN 112404805A
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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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
Abstract
The invention is applied to the automatic welding of long straight seam with gradient of the large-scale project structural member, relate to a wire rope used for long straight seam with gradient and lead the trackless automatic welding equipment specifically, including the wire rope receive and releases the part, walking dolly, automatic wire feeder, welding robot, wire rope, the walking dolly cooperates with clamp system through the power part each other, hold the wire rope tightly, walk on the long steel plate, the automatic wire feeder sends out the welding wire according to the parameter presumed continuously and steadily; and after the welding robot tracks and records the position information of the welding seam, the automatic welding gun is controlled to weld the welding seam through the action of the three-dimensional module. The invention adopts the automatic welding without the guide of the track and uses the steel wire rope as the guide element, thereby reducing the manpower and material resources consumed when the track is laid when the long steel plate is welded, being beneficial to the equipment to adapt to severe and complicated working conditions and reducing the loss in the transportation process.
Description
Technical Field
The invention relates to a steel wire rope guiding track-free automatic welding device for a long straight seam with a slope, which is particularly applied to automatic welding of the long straight seam with the slope of a large engineering structural member.
Background
In the manufacture of large industrial structural members, such as ship hulls, steel plate warehouses, large structural members and the like, tens of meters of steel plate are welded in a welding seam, or tracks are laid by using an automatic welding trolley for operation, or manual welding is adopted. Manual welding wastes time and labor, and has high working strength and difficult guarantee of product quality; the rails are paved for welding, and for steel plates with the length of tens of meters, the construction time for paving the rails is long, and the assembly, the disassembly and the transportation are complicated. Especially, for long straight seam welding with a certain gradient, automatic welding equipment is difficult to construct, often manual welding is adopted, the construction difficulty is high, and operation is risky.
The invention patent of application publication No. CN110449777A discloses an all-position automatic welding trolley, which is used for all-position automatic tracking welding and utilizes the trolley to move on a track for welding. The track part comprises a walking track and a switch magnetic base, and the walking track is arranged on the surface of the part to be welded through the switch magnetic base. This patent can realize all-position welding, but need lay the track, lays the track and need consume a large amount of manpower and materials, and the construction volume is big, and the construction degree of difficulty is big, the cycle length.
The invention patent of application publication No. CN111531303A discloses an automatic welding trolley, an automatic welding device and a control method, which comprises a walking component, a steering component, a welding seam detection component and a welding component. The method is used for welding the welding seam for a long distance. This patent enables long distance welding of the weld, but the running member is not suitable for long straight seam welding with a slope.
In conclusion, the welding device is not suitable for long straight welding seams with slopes, and an automatic welding device special for long straight welding seams with slopes needs to be developed.
The invention content is as follows:
in order to solve the prior technical problems, the invention designs the steel wire rope guide rail-free automatic welding equipment convenient for construction aiming at the long straight seam welding with the slope, adopts the rail-free guide automatic welding, utilizes the steel wire rope as a guide element, reduces the manpower and material resources consumed when the rail is laid when the long steel plate is welded, is more beneficial to the equipment to adapt to severe and complex working conditions, and reduces the loss in the transportation process.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a steel wire rope guiding track-free automatic welding device for a long straight seam with a gradient comprises a steel wire rope winding and unwinding component (100), a walking trolley (200), an automatic wire feeder (300), a welding robot (400) and a steel wire rope (500), wherein the steel wire rope winding and unwinding component (100) is used for winding and unwinding the steel wire rope (500), the walking trolley (200) is matched with a clamping mechanism through a power component to hold the steel wire rope (500) tightly and walk on a long steel plate, the automatic wire feeder (300) and the welding robot (400) are installed on the walking trolley (200), and the automatic wire feeder (300) continuously and stably sends out welding wires according to set parameters; after the welding robot (400) tracks and records the position information of the welding seam (600), the automatic welding gun (404) is controlled to weld the welding seam (600) through the action of the three-dimensional module.
Furthermore, the walking trolley (200) comprises a power part and a clamping part, a stepping speed reducing motor (201) in the power part provides power, the power is transmitted to two meshed spur gears 1(203) and 2(219) through a coupler (202), the two spur gears transmit the power to a lower synchronous gear 1(204) and a lower synchronous gear 2(218) through a transmission shaft, the synchronous gear 1(204) and the lower synchronous gear 2(218) are used as driving wheels to be meshed with a synchronous belt (205), the synchronous belt (205) drives a driven synchronous gear 1(208) and a driven synchronous gear 2(210), and the lower part of the driven synchronous gear is connected with the clamping wheel 1(209) and the clamping wheel 2(211) in the clamping mechanism; the clamping wheel 1(209), the clamping wheel 2(211), the clamping wheel 3(222) and the clamping wheel 4(223) in the clamping mechanism are axially fixed through a jackscrew, and the wire ropes (500) are clamped and clasped pairwise through a connecting rod (217) longitudinally; the two ends of the connecting rod (217) are provided with threads and are connected with a nut and a bearing, when the relative position of the clamping wheel is adjusted, the bearing is locked by the nut, the rotating blocks 1 and 2 and 224 are locked, and the clamping wheel cannot move relatively due to the rigidity of the connecting rod (217).
Furthermore, the steel wire rope collecting and releasing component (100) comprises a rope hanging disc (101), a bearing with a seat (102), a chain (103), a chain wheel (104), a caster walking frame (105) and a speed reducing motor (106); the speed reducing motor (106) drives the chain wheel (104) to rotate, and the rope hanging disc (101) is driven to rotate through chain transmission, so that the steel wire rope is wound and unwound.
Further, above-mentioned welding robot (400) includes three-dimensional module, automatic welder (404), laser displacement sensor (403) and PLC, three-dimensional module includes X module (402), Y module (405), Z module (406), install automatic welder (404) and laser displacement sensor (403) on Z module (406), laser displacement sensor (403) scanning welding seam (600), gather welding seam information and feed back to PLC, the three-dimensional module of PLC control, automatic welder (404) is started from the welding seam orbit original point, it welds to follow welding seam (600) orbit.
Furthermore, the walking trolley (200) also comprises a ratchet wheel component (213) which is used for preventing the trolley from moving backwards in the working process and preventing welding seam data errors and safety accidents; ratchet part (213) are including truckle (501), gear (502), transmission shaft (503), stop block (504), spring (505), truckle (501), gear (502) and transmission shaft (503) pass through key-type connection combination motion, install spring (505) in stop block (504), and spring (505) are in compression state, and stop block (504) receive decurrent power, pre-compaction gear (502).
The invention has the following beneficial effects:
1. the automatic welding trolley adopts the steel wire rope to guide the track, avoids laying the track, is convenient to construct and saves working hours.
2. The clamping wheel can tightly hold the steel wire rope and drive the steel wire rope to advance, and the ratchet wheel component is designed to tightly hold the steel wire rope and prevent the trolley from moving backwards.
3. The invention can be used for long straight seam welding with a certain gradient, can also be used for horizontal non-gradient long straight seam welding, and even vertical long straight seam welding, and can better adapt to the construction working condition of large-scale structural members.
4. The invention adopts intermittent welding during welding, firstly scans a welding seam track with a certain distance (500mm), and controls the three-dimensional module and the welding gun to weld after obtaining the track, thereby avoiding the influence of the walking process on the acquisition of welding seam information, ensuring more accurate acquired welding seams, simultaneously reducing the influence of factors such as material deformation, illumination and the like on welding during welding and improving the welding quality.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a wire rope takeup and payoff assembly;
FIG. 3 is a schematic view of a walking trolley;
FIG. 4 is a schematic view of a welding robot;
FIG. 5 is a schematic view of a ratchet assembly.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings.
The invention relates to a steel wire rope guiding track-free automatic welding device for a long straight seam with a slope, which comprises a steel wire rope winding and unwinding component (100), a walking trolley (200), an automatic wire feeder (300), a welding robot (400) and a steel wire rope (500), wherein the steel wire rope winding and unwinding component (100) is used for winding and unwinding the steel wire rope (500), the walking trolley (200) is mutually matched with a clamping mechanism through a power component and clasps the steel wire rope (500) to walk on a long steel plate, the automatic wire feeder (300) and the welding robot (400) are arranged on the walking trolley (200), and the automatic wire feeder (300) continuously and stably sends out welding wires according to set parameters; after the welding robot (400) tracks and records the position information of the welding seam (600), the automatic welding gun (404) is controlled to weld the welding seam (600) through the action of the three-dimensional module.
As a preferred embodiment of the present invention, as shown in fig. 2, a wire rope housing member (100) of the present invention includes a rope hanging disc (101), a pedestal bearing (102), a chain (103), a sprocket (104), a caster traveling frame (105), and a reduction motor (106); the speed reducing motor (106) drives the chain wheel (104) to rotate, and the rope hanging disc (101) is driven to rotate through chain transmission, so that the steel wire rope is wound and unwound. The caster wheel walking frame (105) is convenient for the mechanism to transport.
As a preferred embodiment of the invention, as shown in figure 2, the walking trolley (200) of the invention comprises a power part and a clamping part, a stepping speed reducing motor (201) in the power part provides power, the power is transmitted to two meshed straight gears 1(203) and 2(219) through a coupler (202), the two straight gears transmit power to a synchronous gear 1(204) and 2(218) below through a transmission shaft, the synchronous gear 1(204) and 2(218) are used as driving gears to be meshed with a synchronous belt (205), the synchronous belt (205) drives a driven synchronous gear 1(208) and a driven synchronous gear 2(210), a clamping gear 1(209) and a clamping gear 2(211) in a clamping mechanism are connected below the driven synchronous gear, the clamping gear 1(209) and the clamping gear 2(211) are connected through the transmission shaft, and the power is transmitted to a clamping gear 3(222) and a clamping gear 4 (223); the clamping wheel 1(209), the clamping wheel 2(211), the clamping wheel 3(222) and the clamping wheel 4(223) in the clamping mechanism are axially fixed through a jackscrew, and the wire ropes (500) are clamped and clasped pairwise through a connecting rod (217) longitudinally; the two ends of the connecting rod (217) are provided with threads and are connected with a nut and a bearing, when the relative position of the clamping wheel is adjusted, the bearing is locked by the nut, the rotating blocks 1 and 2 and 224 are locked, and the clamping wheel cannot move relatively due to the rigidity of the connecting rod (217). In order to ensure that the four clamping wheels clamp the steel wire, the clamping wheels 1(209), the clamping wheels 2(211), the clamping wheels 3(222) and the clamping wheels 4(223) are axially fixed through the jackscrews, and are radially matched with each other through the connecting rod (217), the nut 1(216), the nut 2(220), the bearing 1(215), the bearing 2(221), the rotating block 1(212) and the rotating block 2(224) to ensure that the four clamping wheels do not move relatively in the radial direction. Bearings are arranged at two ends of the transmission shafts (206) and (207), the clamping wheels 1 and (209) and the clamping wheels 2 and (211) can hold the steel wire rope (500) tightly, and the steel wire rope is held tightly through rotation to drive the equipment to travel.
As a preferred embodiment of the present invention, as shown in fig. 4, the welding robot (400) includes a three-dimensional module, an automatic welding gun (404), a laser displacement sensor (403), and a PLC, the three-dimensional module includes an X module (402), a Y module (405), and a Z module (406), the automatic welding gun (404) and the laser displacement sensor (403) are installed on the Z module (406), the laser displacement sensor (403) scans the weld (600), collects the weld position information, measures the groove shape, and feeds back the groove shape to the PLC, and the PLC controls the three-dimensional module and the automatic welding gun (404) to follow the track of the weld (600) from the origin of the track of the weld to perform welding. As a preferred embodiment of the invention, the strokes of the X module (402), the Y module (405) and the Z module (406) are respectively 600mm, 100mm and 100 mm.
As a preferred embodiment of the invention, as shown in FIG. 5, the ratchet wheel component (213) of the walking trolley (200) of the invention is provided, the ratchet wheel component (213) comprises a caster wheel (501), a gear wheel (502), a transmission shaft (503), a blocking block (504) and a spring (505), the caster wheel (501), the gear wheel (502) and the transmission shaft (503) move in a key connection combination manner, the spring (505) is installed in the blocking block (504), the spring (505) is in a compression state, and the blocking block (504) is forced downwards to pre-press the gear wheel (502). Therefore, the trolley is prevented from moving backwards in the working process, and welding seam data errors and safety accidents are prevented.
The following describes the working process of the automatic trackless welding equipment for guiding the steel wire rope with the long straight seam with the gradient.
As shown in figure 1, when the invention starts to work, the steel wire rope winding and unwinding component (100) is started to release the steel wire rope (500), one end of the steel wire rope (500) is fixed at the tail end of the welding line (600), four clamping wheels at the front and the rear of the walking trolley (200) are adjusted to tightly hold the steel wire rope (500), and nuts are locked. The welding robot (400) is adjusted to a manual mode, the three-dimensional module is adjusted so that the welding gun (404) is aligned with the weld, and the position is used as an origin position. Restore welding robot (400) into automatic mode again, click the start button, walking dolly (200) hug closely wire rope (500) and walk 500mm forward, this 500 mm's welding seam orbit information is scanned in laser displacement sensor (403), feed back to PLC through handling the back, PLC obtains the positional information of this 500mm welding seam, X module (402) among control welding robot (400) move backward, Y module (405) simultaneously, Z module (406) drive automatic welder (404) and weld, after the completion, get back to the initial point position, walking dolly (200) is walked 500mm forward again, repeat the action of the last round, until accomplishing whole equipment welding.
The present invention and the embodiments thereof are described above without limiting the invention, and any design, modification, replacement, etc. within the spirit and principle of the present invention will be apparent to those skilled in the art from the following description.
Claims (5)
1. The steel wire rope guiding track-free automatic welding equipment for the steel wire rope with the slope long straight seam is characterized by comprising a steel wire rope winding and unwinding component (100), a walking trolley (200), an automatic wire feeder (300), a welding robot (400) and a steel wire rope (500), wherein the steel wire rope winding and unwinding component (100) is used for winding and unwinding the steel wire rope (500), the walking trolley (200) is matched with a clamping mechanism through a power component to tightly hold the steel wire rope (500) and walks on a long steel plate, the automatic wire feeder (300) and the welding robot (400) are installed on the walking trolley (200), and the automatic wire feeder (300) continuously and stably sends out welding wires according to set parameters; after the welding robot (400) tracks and records the position information of the welding seam (600), the automatic welding gun (404) is controlled to weld the welding seam (600) through the action of the three-dimensional module.
2. The automatic welding equipment for the steel wire rope guide rail-free with the long straight seam with the slope as claimed in claim 1 is characterized in that the walking trolley (200) comprises a power part and a clamping part, a stepping speed reducing motor (201) in the power part provides power which is transmitted to two meshed spur gears 1(203) and 2(219) through a coupler (202), the two spur gears transmit the power to a lower synchronous gear 1(204) and 2(218) through a transmission shaft, the synchronous gear 1(204) and 2(218) are used as driving wheels to be meshed with a synchronous belt (205), the synchronous belt (205) drives a driven synchronous gear 1(208) and a driven synchronous gear 2(210), and the clamping gear 1(209) and the clamping gear 2(211) in the clamping mechanism are connected below the driven synchronous gear; the clamping wheel 1(209), the clamping wheel 2(211), the clamping wheel 3(222) and the clamping wheel 4(223) in the clamping mechanism are axially fixed through jackscrews, and the wire ropes (500) are clamped and clasped pairwise through connecting rods (217) longitudinally; the two ends of the connecting rod (217) are provided with threads and are connected with a nut and a bearing, when the relative position of the clamping wheel is adjusted, the bearing is locked by the nut, the rotating blocks 1 and 2 and 224 are locked, and the clamping wheel cannot move relatively due to the rigidity of the connecting rod (217).
3. The automatic trackless welding equipment for guiding the steel wire rope with the long straight slit with the gradient as claimed in claim 1, wherein the steel wire rope reeling and unreeling component (100) comprises a rope hanging disc (101), a bearing (102) with a base, a chain (103), a chain wheel (104), a caster walking frame (105) and a speed reducing motor (106); the speed reducing motor (106) drives the chain wheel (104) to rotate, and the rope hanging disc (101) is driven to rotate through chain transmission, so that the steel wire rope is wound and unwound.
4. The steel wire rope guiding rail-free automatic welding equipment for the long straight seam with the slope as recited in claim 1, wherein the welding robot (400) comprises a three-dimensional module, an automatic welding gun (404), a laser displacement sensor (403) and a PLC, the three-dimensional module comprises an X module (402), a Y module (405) and a Z module (406), the automatic welding gun (404) and the laser displacement sensor (403) are installed on the Z module (406), the laser displacement sensor (403) scans the welding seam (600), welding seam information is collected and fed back to the PLC, and the PLC controls the three-dimensional module, the automatic welding gun (404) starts from the origin of the welding seam track and tracks the welding seam (600) for welding.
5. The steel wire rope guiding track-free automatic welding equipment for the long straight seam with the gradient as recited in claim 2, wherein the walking trolley (200) further comprises a ratchet wheel component (213) for preventing the trolley from reversing in the working process and preventing welding seam data errors and safety accidents; the ratchet wheel component (213) comprises a caster wheel (501), a gear wheel (502), a transmission shaft (503), a blocking block (504) and a spring (505), the caster wheel (501), the gear wheel (502) and the transmission shaft (503) move in a key connection and combination mode, the spring (505) is installed in the blocking block (504), the spring (505) is in a compression state, and the blocking block (504) bears downward force to pre-press the gear wheel (502).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011180997.5A CN112404805A (en) | 2020-10-29 | 2020-10-29 | Steel wire rope guiding track-free automatic welding equipment for long straight seam with gradient |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011180997.5A CN112404805A (en) | 2020-10-29 | 2020-10-29 | Steel wire rope guiding track-free automatic welding equipment for long straight seam with gradient |
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| CN112404805A true CN112404805A (en) | 2021-02-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011180997.5A Pending CN112404805A (en) | 2020-10-29 | 2020-10-29 | Steel wire rope guiding track-free automatic welding equipment for long straight seam with gradient |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114253194A (en) * | 2021-12-21 | 2022-03-29 | 一重集团大连核电石化有限公司 | Integrated multifunctional electrical control system for welding equipment |
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| JPH0483491U (en) * | 1990-11-29 | 1992-07-21 | ||
| JP2003053538A (en) * | 2001-08-17 | 2003-02-26 | Shoji Inada | In-three-dimensional plane continuous welding robot |
| CN101352778A (en) * | 2007-07-27 | 2009-01-28 | 三宅赳夫 | Device for controlling position of welding torch |
| CN201665256U (en) * | 2010-01-08 | 2010-12-08 | 李国志 | Self-climbing type multi-functional wall robot |
| CN203696210U (en) * | 2013-12-27 | 2014-07-09 | 山海关造船重工有限责任公司 | Submerged arc welding assistant welding device |
| CN104028926A (en) * | 2014-07-01 | 2014-09-10 | 上海中远川崎重工钢结构有限公司 | Welding traction guide mechanism |
| CN209035674U (en) * | 2018-10-15 | 2019-06-28 | 王宇晗 | A kind of gas shielded arc welding wind-proof device |
| CN110112676A (en) * | 2019-06-03 | 2019-08-09 | 合肥工业大学 | A kind of overhead transmission line climbs cable apparatus for work |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114253194A (en) * | 2021-12-21 | 2022-03-29 | 一重集团大连核电石化有限公司 | Integrated multifunctional electrical control system for welding equipment |
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Application publication date: 20210226 |
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