CN113042926A - Automatic welding device and method for flange rib plate of electric power tower - Google Patents
Automatic welding device and method for flange rib plate of electric power tower Download PDFInfo
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- CN113042926A CN113042926A CN202110336766.7A CN202110336766A CN113042926A CN 113042926 A CN113042926 A CN 113042926A CN 202110336766 A CN202110336766 A CN 202110336766A CN 113042926 A CN113042926 A CN 113042926A
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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
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or 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 to a procedure covered by only one of the preceding main groups
-
- 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
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering 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
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0294—Transport carriages or vehicles
Abstract
The invention discloses an automatic welding device and method for flange rib plates of an electric power tower. The device includes welding robot, translation motor, dolly, gyro wheel frame, guide rail, welder, gyro wheel motor, the control unit, vision sensing system, welding robot has two and installs on the dolly, translation motor installs on the dolly and drives the dolly and march on the track of bottom, the gyro wheel motor links to each other with the gyro wheel frame and drives the gyro wheel frame and rotate, vision sensing system includes industry camera, line laser instrument, the control unit is connected with welding robot, gyro wheel motor, vision sensing system, translation motor electricity, welder, industry camera, line laser instrument are all installed at welding robot end. The device and the method reduce the labor cost and improve the working efficiency. Can carry out welding work to the different pipe diameters in the specified range, different length electric power tower. The recognition precision is high, and the cost is lower.
Description
Technical Field
The invention relates to the technical field of welding devices, in particular to an automatic welding device and method for flange rib plates of an electric power tower.
Background
With the continuous expansion of the construction scale of the transmission line in China, the demand of the power pole tower is also continuously increased. In the process of welding the electric tower, welding works such as flange welding, rib plate welding and welding of other parts on the tower body are generally included. At present, manual welding is widely used, but during manual welding, the welding quality is easily influenced by the operation skills of workers, and side rib plates need to be welded simultaneously due to process requirements, so that the labor cost is greatly consumed, and the welding efficiency is low. Therefore, the problem that needs to be overcome in the field is to design a welding scheme with high automation degree, good welding precision and high welding efficiency.
Disclosure of Invention
The invention aims to solve the problems of low welding efficiency, high labor cost and the like in the welding process of the flange rib plate of the electric power tower, and provides an automatic welding device and method for the flange rib plate of the electric power tower, which can be realized, safe, accurate and efficient.
The invention is realized by the following technical scheme:
an electric power tower flange floor automatic welder includes: welding robot, translation motor, dolly, gyro wheel frame, guide rail, welder, gyro wheel motor, the control unit, vision sensing system, welding robot has two and installs on the dolly, translation motor installs on the dolly and drives the dolly and march on the track of bottom, the gyro wheel motor links to each other with the gyro wheel frame and drives the gyro wheel frame and rotate, vision sensing system includes industry camera, line laser instrument, the control unit is connected with welding robot, gyro wheel motor, vision sensing system, translation motor electricity, welder, industry camera, line laser instrument are all installed at welding robot end.
Preferably, the welding robot is provided with a mounting plate at the tail end, the two universal brackets and the baffle are adjustably mounted on the mounting plate, and the industrial camera and the line laser are respectively mounted on the two universal brackets.
Furthermore, a sliding groove is formed in the baffle plate, an adjusting bolt on the mounting plate extends into the sliding groove of the baffle plate and can fasten the baffle plate, and the universal support is mounted at the sliding opening of the mounting plate through a bolt.
Preferably, the control unit is an industrial computer.
Preferably, a rack is arranged on the track, and the translation motor is connected with a gear and drives the trolley to move through the gear and the rack.
The quantity of translation motor, dolly, guide rail is 2, all installs a translation motor and a welding robot on every dolly, and every translation motor is furnished with a guide rail.
The number of the roller frames is 4, and two roller frames are respectively arranged at the front part and the rear part of the station.
The automatic welding method for the flange rib plate of the electric power tower adopts the device to realize the welding of the flange rib plate of the electric power tower, and comprises the following steps:
the method comprises the following steps: spot welding the rib plate and the flange on the tower body in advance, hoisting the rib plate and the flange to a roller frame, and adjusting to a proper processing position;
step two: moving the trolleys on the two sides to a proper processing position, and controlling welding guns of the two welding robots to synchronously move to the positions above the ribbed plates of which the two sides are close to the horizontal position;
step three: controlling the welding robots on the two sides to move, enabling the line laser to integrally scan the upper surface of the rib plate, resetting after scanning is finished, identifying the spatial position of the welding seam of the rib plate through image processing, and calculating the spatial position of the welding seam on the end face of the rib plate according to the actual thickness of the rib plate;
step four: controlling the welding robots at the two sides to weld the rib plate welding seams at the two sides and the rib plate end surface welding seams, and resetting after welding is finished;
step five: controlling the roller carrier to rotate the tower by a certain angle to enable the next ribbed plate to be positioned at a relative horizontal position;
step six: repeating the second step to the fifth step until all rib plates are welded;
step seven: moving the trolleys on the two sides to a processing station, and controlling welding guns of the two welding robots to synchronously move to positions above the ribbed plates of which the two sides are close to the horizontal positions;
step eight: controlling the welding robots at the two sides to enable the line laser to scan along the vertical direction, resetting after scanning is completed, and obtaining the spatial position of a welding line at the inner side of the flange through image processing;
step nine: controlling the welding robots at the two sides to weld the welding seams at the inner sides of the flanges, and resetting after the welding is finished;
step ten: controlling the roller carrier to rotate the tower by a certain angle to enable the next ribbed plate to be positioned at a position close to the horizontal position;
step eleven: repeating the seventh step to the tenth step until all the welding seams on the inner sides of the flanges are welded;
step twelve: moving the trolleys on the two sides to a processing station, and controlling welding guns of the welding robots on the two sides to synchronously move to the position, close to the oblique upper part of the rib plate in the horizontal position, outside the flange;
step thirteen: controlling the welding robots on the two sides to scan along the vertical direction, resetting after scanning is finished, and acquiring the spatial information of the welding seam on the outer side of the flange through an image processing technology;
fourteen steps: controlling the welding robots at the two sides to weld the welding seams at the outer sides of the flanges, and resetting after welding is finished;
step fifteen: controlling the roller carrier to rotate the tower by a certain angle to enable the next ribbed plate to be positioned at a relative horizontal position;
sixthly, the steps are as follows: repeating the twelfth step to the fifteenth step until welding of all the welding seams on the outer sides of the flanges is completed;
seventeen steps: and (4) hoisting the welded towers away, judging whether welding of all the towers is finished, if not, repeating the step one to the step sixteen, and if so, controlling all the equipment to return to the initial position.
The invention has the following advantages after adopting the technical scheme:
the two-side welding robot can perform double-station synchronous welding, so that the labor cost is reduced, and the working efficiency is improved.
The welding robots on the two sides can move on the track simultaneously, and can carry out welding work on electric power towers with different pipe diameters and different lengths within a specified range.
Compared with other existing schemes, the linear structured light vision system has the advantages of high recognition accuracy and lower cost.
Can finish multiple automatic works such as ribbed slab welding, flange welding and the like, and greatly improves the working efficiency.
Drawings
FIG. 1 is a schematic view of an overall structure of a welding device for flange rib plates of an electric tower according to the present invention;
FIG. 2 is a schematic diagram of the welding robot performing end of FIG. 1;
FIG. 3 is an enlarged view of a portion of the rib welding portion of FIG. 1;
FIG. 4 is a schematic view of a weld at the flange of FIG. 3;
FIG. 5 is a schematic view of an end face structure of the pylon of FIG. 1;
FIG. 6 is a schematic diagram of the connection and control of components of a welding device for flange rib plates of an electric tower according to the present invention;
the reference numbers in the figures are as follows:
1-a welding robot; 2-a translation motor; 3, carrying a trolley; 4, a roller frame; 5, pole tower; 6, a guide rail; 7, a baffle plate; 8-an industrial camera; 9-line laser; 10-mounting a plate; 11-a gimbal; 12-a welding gun; 13-a flange; 14-a rib plate; 15-rib plate weld; 16-welding seams at the inner sides of the flanges; 17-rib plate end face weld. 18-flange outside weld, 19-roller motor, 20-control unit.
Detailed Description
In order that the invention may be more clearly understood, the following detailed description of the embodiments of the invention is given with reference to the accompanying drawings and examples.
Referring to fig. 1, 2, 3, 4, 5 and 6, the present invention will be described in detail with reference to the following embodiments and accompanying drawings.
As shown in fig. 1-6, an automatic welding device for flange rib plates of an electric tower comprises: welding robot 1, translation motor 2, dolly 3, gyro wheel frame 4, guide rail 6, welder 12, gyro wheel motor 19, the control unit 20, vision sensing system, welding robot 1 has two and installs on dolly 3, translation motor 2 installs on dolly 3 and drives dolly 3 and march on bottom track 6, gyro wheel motor 19 links to each other and drives gyro wheel frame 4 and rotate with gyro wheel frame 4, vision sensing system includes industrial camera 8, line laser 9, the control unit 20 is connected with welding robot 1, gyro wheel motor 19, vision sensing system, translation motor 2 electricity, welder 12, industrial camera 8, line laser 9 are all installed at welding robot 1 end.
The above described vision sensing system, comprising an industrial camera 8, a line laser 9, in combination to measure the position of a workpiece, has been reported for use in the welding field.
Preferably, the welding robot 1 is provided with a mounting plate 10 at the end, the two gimbals 11 and the baffle 7 are adjustably mounted on the mounting plate 10, and the industrial camera 8 and the line laser 9 are respectively mounted on the two gimbals 11.
Furthermore, a sliding groove is formed in the baffle 7, and an adjusting bolt on the mounting plate 10 extends into the baffle sliding groove and can fasten the baffle; the universal bracket 11 is mounted at the sliding port of the mounting plate 10 through a bolt. This structure is conventional in the art.
The use of the control unit 20 is very common in this field, for example, the control unit 20 may be an industrial computer.
Preferably, a rack is arranged on the track 6, and the translation motor 2 is connected with a gear and drives the trolley 3 to move through the gear and the rack.
The quantity of translation motor 2, dolly 3, guide rail 6 is 2, all installs a translation motor 2 and a welding robot 1 on every dolly 3, and every translation motor 2 is furnished with a guide rail 6.
The number of the roller carriers 4 is 4, and two roller carriers 4 are respectively arranged at the front part and the rear part of the station.
The number of the roller frames 4 can be adjusted according to the length of the tower 5, and the roller frames are fixedly arranged on the ground;
the flange 13 is spot-welded at the end part of the tower 5; the rib 14 is spot welded to the flange 13 and the tower 1.
The welding robot 1 and the translation motor 2 on the two sides are fixedly arranged on the trolley 3 and synchronously controlled by the control unit 20, so that the trolley 3 can move and weld on the guide rail 6 simultaneously.
The welding robot 1 and the plurality of roller frames 4 are jointly controlled through the control unit 20, after welding is completed each time, the roller frames 4 rotate by corresponding angles until a welding task is completed, and the value of the roller frames 4 can be calculated according to the pipe diameter and the number of rib plates when the roller frames 4 rotate by fixed angles each time.
The industrial camera 8 and the line laser 9 form a visual detection system, and are fixed on the side surfaces of welding guns of the welding robots 1 at two sides after forming a certain angle relationship with each other. The robot 1 for welding the two sides can realize double-station synchronous welding of the rib plates and the flanges, and after the tower 5 rotates for one circle, all the rib plates and the flanges can be welded.
The automatic welding method for the flange rib plate of the electric power tower adopts the device to realize the welding of the flange rib plate of the electric power tower, and comprises the following steps:
the method comprises the following steps: spot-welding the rib plate 14 and the flange 13 on the tower body of the tower 5 in advance, hoisting the rib plate and the flange to the roller frame 4, and adjusting the rib plate and the flange to a proper processing position;
step two: moving the trolleys 3 on the two sides to a proper processing position, and controlling the welding guns 12 of the two welding robots 1 to synchronously move to the positions above the ribbed plates 14 of which the two sides are close to the horizontal positions;
step three: controlling the welding robots 1 at two sides to move, enabling the line laser 9 to integrally scan the upper surface of the ribbed plate 14, resetting after scanning is completed, identifying the spatial position of a ribbed plate welding seam 15 through image processing, and calculating the spatial position of a ribbed plate end face welding seam 17 according to the actual thickness of the ribbed plate; the image processing described herein is well known in the art, and employs a line structured light measurement calibration technique, which is not described in detail herein.
Step four: controlling the welding robots 1 at the two sides to weld rib plate welding seams 15 at the two sides and rib plate end surface welding seams 17, and resetting after welding is finished;
step five: controlling the roller frame 4 to rotate the tower 5 by a certain angle, so that the next ribbed plate 14 is also in a relatively horizontal position;
step six: repeating the second step to the fifth step until all rib plates are welded; in the process, the welding robots 1 on the two sides have different labor division, one of the welding robots is responsible for welding the front side of each rib plate, the other welding robot is responsible for welding the back side of each rib plate, when one rib plate faces upwards, after the welding of the front welding seam of the rib plate is finished, the rib plate rotates to the other welding robot, the back side of the rib plate faces upwards, the welding gun overhead welding operation is avoided, and the welding quality is improved.
Step seven: moving the trolleys 3 on the two sides to a processing position, and controlling welding guns of the two welding robots 1 to synchronously move to the positions above the ribbed plates 14 of which the two sides are close to the horizontal positions;
step eight: controlling the welding robots 1 at the two sides to enable the line laser 9 to scan along the vertical direction, resetting after scanning is finished, and obtaining the spatial position of a welding seam 16 at the inner side of the flange through image processing;
step nine: controlling the welding robots 1 at the two sides to weld the welding seams 16 at the inner sides of the flanges, and resetting after the welding is finished;
step ten: controlling the roller frame 4 to rotate the tower 5 by a certain angle, so that the next ribbed plate 14 is also positioned at a nearly horizontal position;
step eleven: repeating the seventh step to the tenth step until all the welding seams 16 on the inner side of the flange are welded;
step twelve: moving the trolleys 3 on the two sides to a processing position, and controlling welding guns of the welding robots 1 on the two sides to synchronously move to the position which is close to the oblique upper part of the ribbed plate 14 at the horizontal position outside the flange;
step thirteen: controlling the welding robots 1 at the two sides to scan along the vertical direction, resetting after scanning is finished, and acquiring the spatial information of the welding seam 18 at the outer side of the flange by using an image processing technology;
fourteen steps: controlling the welding robots 1 at the two sides to weld the welding seams 18 at the outer sides of the flanges, and resetting after the welding is finished;
step fifteen: controlling the roller frame 4 to rotate the tower 5 by a certain angle, so that the next ribbed plate 14 is also in a relatively horizontal position;
sixthly, the steps are as follows: repeating the twelfth step to the fifteenth step until welding of all the welding seams on the outer sides of the flanges is completed;
seventeen steps: and (4) hoisting the welded towers 5 away, judging whether welding of all the towers is finished, if not, repeating the step one to the step sixteen, and if so, controlling all the equipment to return to the initial position.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. An electric power tower flange floor automatic welder includes: welding robot, translation motor, dolly, gyro wheel frame, guide rail, welder, gyro wheel motor, the control unit, vision sensing system, welding robot has two and installs on the dolly, translation motor installs on the dolly and drives the dolly and march on the track of bottom, the gyro wheel motor links to each other with the gyro wheel frame and drives the gyro wheel frame and rotate, vision sensing system includes industry camera, line laser instrument, the control unit is connected with welding robot, gyro wheel motor, vision sensing system, translation motor electricity, welder, industry camera, line laser instrument are all installed at welding robot end.
2. The automatic welding device for the flange rib plates of the electric tower as claimed in claim 1, is characterized in that: the welding robot end is equipped with the mounting panel, two gimbal and baffle are installed and the mounting panel adjustably on, industry camera and line laser install respectively on two gimbal.
3. The automatic welding device for the flange rib plates of the electric tower as claimed in claim 2, is characterized in that: the universal support is characterized in that a sliding groove is formed in the baffle, an adjusting bolt on the mounting plate extends into the sliding groove of the baffle and can fasten the baffle, and the universal support is mounted at the sliding opening of the mounting plate through a bolt.
4. The automatic welding device for the flange rib plates of the electric tower as claimed in claim 1, is characterized in that: the control unit is an industrial computer.
5. The automatic welding device for the flange rib plates of the electric tower as claimed in claim 1, is characterized in that: the track is provided with a rack, and the translation motor is connected with a gear and drives the trolley to move forward through the gear and the rack.
6. The automatic welding device for the flange rib plates of the electric tower as claimed in claim 1, is characterized in that: the quantity of translation motor, dolly, guide rail is 2, all installs a translation motor and a welding robot on every dolly, and every translation motor is furnished with a guide rail.
7. The automatic welding device for the flange rib plates of the electric tower as claimed in claim 1, is characterized in that: the number of the roller frames is 4, and two roller frames are respectively arranged at the front part and the rear part of the station.
8. An automatic welding method for flange rib plates of electric power towers, which adopts the device of claim 6 to realize welding of the flange rib plates of the electric power towers, and comprises the following steps:
the method comprises the following steps: spot welding the rib plate and the flange on the tower body in advance, hoisting the rib plate and the flange to a roller frame, and adjusting to a proper processing position;
step two: moving the trolleys on the two sides to a proper processing position, and controlling welding guns of the two welding robots to synchronously move to the positions above the ribbed plates of which the two sides are close to the horizontal position;
step three: controlling the welding robots on the two sides to move, enabling the line laser to integrally scan the upper surface of the rib plate, resetting after scanning is finished, identifying the spatial position of the welding seam of the rib plate through image processing, and calculating the spatial position of the welding seam on the end face of the rib plate according to the actual thickness of the rib plate;
step four: controlling the welding robots at the two sides to weld the rib plate welding seams at the two sides and the rib plate end surface welding seams, and resetting after welding is finished;
step five: controlling the roller carrier to rotate the tower by a certain angle to enable the next ribbed plate to be positioned at a relative horizontal position;
step six: repeating the second step to the fifth step until all rib plates are welded;
step seven: moving the trolleys on the two sides to a processing station, and controlling welding guns of the two welding robots to synchronously move to positions above the ribbed plates of which the two sides are close to the horizontal positions;
step eight: controlling the welding robots at the two sides to enable the line laser to scan along the vertical direction, resetting after scanning is completed, and obtaining the spatial position of a welding line at the inner side of the flange through image processing;
step nine: controlling the welding robots at the two sides to weld the welding seams at the inner sides of the flanges, and resetting after the welding is finished;
step ten: controlling the roller carrier to rotate the tower by a certain angle to enable the next ribbed plate to be positioned at a position close to the horizontal position;
step eleven: repeating the seventh step to the tenth step until all the welding seams on the inner sides of the flanges are welded;
step twelve: moving the trolleys on the two sides to a processing station, and controlling welding guns of the welding robots on the two sides to synchronously move to the position, close to the oblique upper part of the rib plate in the horizontal position, outside the flange;
step thirteen: controlling the welding robots on the two sides to scan along the vertical direction, resetting after scanning is finished, and acquiring the spatial information of the welding seam on the outer side of the flange through an image processing technology;
fourteen steps: controlling the welding robots at the two sides to weld the welding seams at the outer sides of the flanges, and resetting after welding is finished;
step fifteen: controlling the roller carrier to rotate the tower by a certain angle to enable the next ribbed plate to be positioned at a relative horizontal position;
sixthly, the steps are as follows: repeating the twelfth step to the fifteenth step until welding of all the welding seams on the outer sides of the flanges is completed;
seventeen steps: and (4) hoisting the welded towers away, judging whether welding of all the towers is finished, if not, repeating the step one to the step sixteen, and if so, controlling all the equipment to return to the initial position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110336766.7A CN113042926A (en) | 2021-03-29 | 2021-03-29 | Automatic welding device and method for flange rib plate of electric power tower |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110336766.7A CN113042926A (en) | 2021-03-29 | 2021-03-29 | Automatic welding device and method for flange rib plate of electric power tower |
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| CN113042926A true CN113042926A (en) | 2021-06-29 |
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| CN202110336766.7A Pending CN113042926A (en) | 2021-03-29 | 2021-03-29 | Automatic welding device and method for flange rib plate of electric power tower |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113333951A (en) * | 2021-07-06 | 2021-09-03 | 南通拓帆换热设备有限公司 | Processing equipment for laser welding of longitudinal finned tube |
| CN114211145A (en) * | 2021-11-23 | 2022-03-22 | 中铁九局集团第四工程有限公司 | Welding equipment for automatically welding round pipe or pipe ball connecting piece |
-
2021
- 2021-03-29 CN CN202110336766.7A patent/CN113042926A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113333951A (en) * | 2021-07-06 | 2021-09-03 | 南通拓帆换热设备有限公司 | Processing equipment for laser welding of longitudinal finned tube |
| CN114211145A (en) * | 2021-11-23 | 2022-03-22 | 中铁九局集团第四工程有限公司 | Welding equipment for automatically welding round pipe or pipe ball connecting piece |
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