CN113814540B - Gun aligning method of intelligent gantry welding machine - Google Patents
Gun aligning method of intelligent gantry welding machine Download PDFInfo
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- CN113814540B CN113814540B CN202111114575.2A CN202111114575A CN113814540B CN 113814540 B CN113814540 B CN 113814540B CN 202111114575 A CN202111114575 A CN 202111114575A CN 113814540 B CN113814540 B CN 113814540B
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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
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
- B23K9/287—Supporting devices for electrode holders
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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
- B23K9/12—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
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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
- B23K9/32—Accessories
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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
Abstract
The invention discloses a gun aligning method of an intelligent gantry welding machine, which comprises a welding gun connecting rod and a laser tracker component, wherein the laser tracker component comprises a laser tracker component; the laser tracker component is arranged on the welding gun connecting rod; the laser tracker component comprises a first connecting rod, a first component and a second component, wherein the upper part of the first connecting rod is arranged on the welding gun connecting rod, and the first component and the second component are arranged on two sides of the lower part of the first connecting rod; first subassembly and second subassembly all include laser connecting rod and laser instrument, the laser instrument passes through the laser connecting rod and connects with first connecting rod lower part side, laser instrument and laser connecting rod rotate to be connected: the laser can rotate around itself; the two lasers rotate on parallel planes, and the rotating directions of the two lasers are perpendicular to the length direction of the welding gun connecting rod. This scheme of adoption, in welding process, can be automatic, quick, accurate positioning welding spot position, improved welded degree of automation and production efficiency.
Description
Technical Field
The invention relates to the technical field of welding, in particular to a gun aligning method of an intelligent gantry welding machine.
Background
In recent years, with the rapid development of industrial automation technology, gantry welders are widely applied to the section steel welding industry, but in the prior art, due to the reasons of large size of the gantry welders and the like, accurate gun alignment and positioning of welding spots cannot be quickly realized, so that the automation degree is low, and therefore, the gantry welder is a high-end technology with breakthrough and great significance for fully improving the automation degree of equipment, improving the production efficiency and saving human resources so that the welding machine can automatically, quickly and accurately position the welding spots.
Disclosure of Invention
The invention aims to solve the technical problem that the automation degree is low because a gantry welding machine cannot quickly realize accurate gun alignment and positioning of welding spots, and aims to provide a gun alignment method of an intelligent gantry welding machine.
The invention is realized by the following technical scheme:
a welding spot rapid positioning assembly comprises a welding gun connecting rod and a laser tracker assembly;
the laser tracker assembly is arranged on the welding gun connecting rod;
the laser tracker component comprises a first connecting rod, a first component and a second component, wherein the upper part of the first connecting rod is arranged on the welding gun connecting rod, and the first component and the second component are arranged on two sides of the lower part of the first connecting rod; the first assembly and the second assembly respectively comprise a laser connecting rod and a laser, the laser is connected with the side face of the lower part of the first connecting rod through the laser connecting rod, and the laser is rotatably connected with the laser connecting rod: the laser can rotate around itself;
the two lasers rotate on parallel planes, and the rotating directions of the two lasers are perpendicular to the length direction of the welding gun connecting rod.
Compared with the prior art, the gantry welding machine cannot quickly realize accurate gun alignment and positioning of welding spots, and the problem of low automation degree is caused, in the scheme, the welding spot quick positioning assembly is provided and mainly applied to welding of H-shaped steel and box-shaped beams, a laser tracker assembly is adopted to automatically and quickly position the welding spots according to the size of a workpiece, welding spot deviation is prevented, and the automation degree is improved; the laser tracker component and the welding gun component are sequentially arranged along the length direction of the welding gun connecting rod, wherein the laser tracker component comprises a first connecting rod, a first component and a second component, the upper end of the first connecting rod is connected with the welding gun connecting rod, the two sides of the lower end of the first connecting rod are respectively provided with the first component and the second component, the bottoms of the first component and the second component are respectively provided with a laser, the lasers are used for detecting the relative distance between the laser and a workpiece, the lasers are rotationally connected with the laser connecting rod through butterfly screws, the rotation of the lasers can be realized by rotating the butterfly screws, and screws with other shapes or rotationally connected modes with other forms can also be adopted; rotating the lasers to enable the lasers of the lasers to be respectively irradiated on flanges on two sides of the workpiece, fixing an included angle between the two lasers, keeping the included angle of the workpiece unchanged, and automatically adjusting the position of a welding gun assembly by continuously calculating the change of the relative distance in the welding process to realize accurate positioning; wherein two lasers all rotate on the plane that parallels, and the length direction of the equal perpendicular to welder connecting rod of direction of rotation enables the laser just to the edge of a wing of work piece to can the accurate deviation that detects the welding assembly on the same straight line.
Preferably, at least one of the laser connecting rods comprises a second connecting rod and a third connecting rod, one end of the second connecting rod is rotatably connected with one side of the first connecting rod, the other end of the second connecting rod is rotatably connected with one end of the third connecting rod, the other end of the third connecting rod is rotatably connected with the laser, and the rotary connection and the laser rotate on a plane parallel to each other; for tracking the weld of the box beam.
Further optimization, when only one laser connecting rod comprises a second connecting rod and a third connecting rod, the other laser connecting rod comprises a fourth connecting rod, one end of the fourth connecting rod is detachably connected with the other side of the first connecting rod, and the other end of the fourth connecting rod is rotatably connected with the laser; the adjustment of the laser position is facilitated.
The laser tracker assembly and the welding gun assembly are connected through the clamping block assembly and the welding gun connecting rod, one end of the clamping block assembly clamps the welding gun connecting rod and can move along the length direction of the welding gun connecting rod, and the other end of the clamping block assembly clamps the first connecting rod or the welding gun assembly and can move along the length direction of the first connecting rod or the welding gun assembly; for clamping and adjusting the laser tracker assembly and the welding gun assembly.
The connecting block is arranged on each of two sides of the lower portion of the first connecting rod, a plurality of threaded holes are formed in the connecting block, and the second connecting rod and the fourth connecting rod are in threaded connection with the connecting block through threads; the second connecting rod and the fourth connecting rod are convenient to assemble and disassemble, and the rotation of the second connecting rod is realized.
Preferably, an arc-shaped hole is formed in the circumferential direction of at least one threaded hole of the connecting block, the second connecting rod is further provided with an auxiliary thread, and the auxiliary thread on the second connecting rod extends into the arc-shaped hole and is used for limiting the rotation radian of the second connecting rod; for limiting the arc of rotation of the second link.
A positioning method of a welding spot quick positioning assembly comprises the following steps:
the method comprises the following steps: controlling the welding gun assembly to carry out gun alignment;
step two: after the gun pairing is completed, rotating and starting the two lasers to enable the lasers of the two lasers to strike on the workpiece, and recording the initial relative distance between the lasers and the workpiece, wherein the lasers of the two lasers are respectively arranged on two sides of a welding spot;
step three: locking the lasers to keep an included angle between the two lasers unchanged;
step four: after the locking is finished, starting welding, continuously tracking the relative distance between the laser and the workpiece by the two lasers, then constantly comparing the initial relative distance with the tracked relative distance, and calculating a deviation value;
step five: and (3) carrying out deviation judgment on the deviation value: and controlling the machine head to adjust the position of the welding gun assembly according to the size of the deviation value.
Further optimization, the step five further comprises the following substeps:
when the deviation value is subjected to deviation judgment, deviation correction judgment needs to be carried out on the deviation value: if the deviation value does not exceed the set threshold value, the welding gun assembly does not need to be adjusted.
An intelligent gantry welding machine comprises a walking track and a gantry;
the support legs of the portal frame are movably connected with the walking track through the walking frame, and the portal frame can move along the length direction of the walking track; a transverse linear sliding rail is arranged on the portal frame, and a saddle assembly is connected onto the linear sliding rail in a sliding manner; the saddle assembly is also provided with a longitudinal linear slide rail, and the longitudinal linear slide rail is connected with a guide pillar assembly in a sliding manner;
the lower end of the guide pillar component is provided with a machine head component, and the machine head component comprises a welding spot quick positioning component;
the guide pillar assembly is provided with a wire feeder assembly and a recovery assembly, the wire feeder assembly is used for realizing automatic wire feeding, and the recovery assembly is used for recovering welding flux.
In the scheme, the bottom of the gantry welding machine is a walking frame for the cart to walk, the walking frame is connected with a walking track, and the left walking frame and the right walking frame are driven by motors to form double-drive walking; a portal frame is arranged above the walking frame, the portal frame and the walking frame are fixed by screws, so that detachable connection is realized, and transportation is convenient, wherein the portal frame consists of four upright posts and a bearing platform; the saddle assembly is combined with the upper beam of the portal frame through a transverse linear guide rail, so that transverse movement is realized and higher movement precision is achieved; the guide pillar assembly is combined with the sliding amine assembly through a vertical linear sliding rail, so that vertical movement is realized, and high movement precision is achieved; the linear guide rail is provided with a rack, and both ends of the transverse linear guide rail and the vertical linear slide rail are provided with collision blocks for limiting the moving distance; the machine head assembly is fixed at the lower end of the guide pillar assembly through a screw, so that the machine head can move; the recovery assembly and the wire feeder assembly are connected with the guide pillar assembly, so that the functions of flux recovery and automatic wire feeding are realized; the intelligent gantry automatic welding machine is composed of a left welding head and a right welding head which can be independently and simultaneously welded, and main welding workpieces are H-shaped steel and box beams.
A gun aligning method of an intelligent gantry welding machine comprises the following steps:
the method comprises the following steps: manually moving a welding gun to a welding position, and automatically recording the current position of each shaft and the parameters of a workpiece;
step two: lifting the guide pillar assembly to lift the machine head, realizing Z-axis zero return of the machine head, then moving the portal frame to realize X-axis zero return of the machine head, and then moving the saddle assembly to realize Y-axis zero return of the machine head;
step three: after zero returning is finished, according to the current positions of the shafts which are automatically recorded, automatic gun alignment is started, and the saddle assembly, the portal frame and the guide post assembly are sequentially moved, so that the machine head automatically returns to the recorded current positions of the shafts;
step four: after the wire feeder assembly moves to the current position, controlling the wire feeder assembly to start wire feeding, automatically stopping wire feeding after contacting a workpiece, and sending a signal that the wire feeding is ready to be in place;
step five: after receiving a signal that wire feeding is ready, starting a welding flux switch of the material box assembly, starting countdown, and automatically switching on an arc starting signal after the countdown is reached;
step six: after the arc starting signal is switched on, timing is started again, and whether the arc starting is successful or not is judged within the specified time;
step seven: and if the arc starting is successful, starting welding, controlling the portal frame to start to travel, and recording the current data of each laser in real time.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. can automatically and quickly position welding points according to the size of a workpiece, and has the functions of aligning a gun and automatically discharging wires. After the equipment returns to zero, the welding spot position can be automatically calculated according to the size of the workpiece, and the position is automatically found and the wire is automatically discharged, so that the purposes of positioning and aligning the gun are achieved, the time for positioning and aligning the gun is greatly saved, and the production efficiency is improved.
2. Meticulous tracking algorithm can furthest avoid appearing the problem of tracking off tracking, and the contained angle of two laser can be confirmed wantonly, only need guarantee that two laser are beaten on the work piece, does not have loaded down with trivial details rifle step, only needs the position of aiming at the welding wire, and spot welding starts and just can accomplish the rifle, starts the tracking, but the welding end self-closing tracking need not artificial use of following at will in whole welding process almost. The operation steps of workers are reduced to the maximum extent.
Drawings
In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and that for those skilled in the art, other related drawings can be obtained from these drawings without inventive effort. In the drawings:
FIG. 1 is a schematic structural diagram of a welding spot fast positioning assembly according to the present invention;
FIG. 2 is a front view of a welding spot quick positioning assembly according to the present invention;
FIG. 3 is a schematic structural diagram of a laser tracker assembly, which is a welding spot fast positioning assembly according to the present invention;
FIG. 4 is a right side view of a laser tracker assembly, a solder joint fast positioning assembly, according to the present invention;
FIG. 5 is a front view of a laser tracker assembly, a solder joint fast positioning assembly, according to the present invention;
FIG. 6 is a laser measurement diagram of a welding spot fast positioning assembly according to the present invention;
FIG. 7 is a front view of an intelligent gantry welding machine provided by the present invention;
FIG. 8 is a side view of an intelligent gantry welding machine provided by the invention.
Reference numbers and corresponding part names in the figures:
1-a walking track; 2-a walking frame; 3, gantry frame; 4-collision block; 5-a linear slide rail; 6-a rack; 7-a wire reel; 8-a saddle assembly; 9-guide post assembly; 10-a wire hanging rack; 11-a control box; 12-a recovery assembly; 13-a wire feeder assembly; 14-a conductive means; 15-a head assembly; 16-a welding machine recovery machine host; 17-a power supply; 18-an electric control cabinet; 21-a laser tracker assembly; 22-a cartridge assembly; 23-a welding gun assembly; 24-a clamp block assembly; 25-a welding gun connecting rod; 31-a first link; 32-connecting blocks; 33-a second link; 34-a third link; 35-a laser; 36-a fourth link; 37-a threaded hole; 38-arc shaped hole.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Example 1
The embodiment provides a welding spot rapid positioning assembly, as shown in fig. 1 to 6, comprising a welding gun connecting rod 25, and further comprising a laser tracker assembly 21;
the laser tracker assembly 21 is arranged on the welding gun connecting rod 25;
the laser tracker assembly 21 comprises a first connecting rod 31, a first assembly and a second assembly, wherein the upper part of the first connecting rod 31 is arranged on the welding gun connecting rod 25, and the first assembly and the second assembly are respectively arranged on two sides of the lower part of the first connecting rod 31; the first assembly and the second assembly respectively comprise a laser connecting rod and a laser 35, the laser 35 is connected with the lower side face of the first connecting rod 31 through the laser connecting rod, and the laser 35 is rotatably connected with the laser connecting rod: the laser 35 is rotatable about itself;
the two lasers 35 rotate on parallel planes, and the rotating directions of the two lasers 35 are perpendicular to the length direction of the welding gun connecting rod 25.
Compared with the prior art, the gantry welding machine cannot realize accurate gun alignment and positioning of welding spots quickly, and the problem of low automation degree is caused, in the scheme, the welding spot quick positioning assembly is provided and mainly applied to welding of H-shaped steel and box-shaped beams, the laser tracker assembly 21 is adopted to automatically and quickly position the welding spots according to the size of a workpiece, welding spot deviation is prevented, and the automation degree is improved, specifically, the welding spot quick positioning assembly comprises a welding gun connecting rod 25 and a welding gun assembly 23, and further comprises the laser tracker assembly 21, wherein the welding gun connecting rod 25 is used for connecting and supporting the welding gun assembly 23 and is fixed at the lower end of a guide pillar assembly 9 of the gantry welding machine, the welding gun assembly 23 is used for realizing welding, and a material box assembly 22 is further arranged at the lower end of the welding gun assembly 23, wherein the material box assembly 22 is used for providing welding fluxes for welding; the laser tracker component 21 and the welding gun component 23 are sequentially arranged along the length direction of the welding gun connecting rod 25, wherein the laser tracker component 21 comprises a first connecting rod 31, a first component and a second component, the upper end of the first connecting rod 31 is connected with the welding gun connecting rod 25, the first component and the second component are respectively arranged on two sides of the lower end of the first connecting rod 31, the laser 35 is arranged at the bottom of each of the first component and the second component, the laser 35 is used for detecting the relative distance between laser and a workpiece, the laser 35 is rotatably connected with the laser connecting rod through a butterfly screw, the butterfly screw is rotated, the rotation of the laser 35 can be realized, and screws with other shapes or rotating connection modes with other forms can also be adopted; rotating the lasers 35 to make the lasers of the lasers 35 respectively irradiate on the flanges at two sides of the workpiece, fixing the included angle between the two lasers 35, and keeping the included angle of the workpiece unchanged, so that the position of the welding gun assembly 23 can be automatically adjusted by continuously calculating the change of the relative distance in the welding process, and accurate positioning can be realized; wherein two lasers 35 all rotate on the plane that parallels, and the direction of rotation all is perpendicular to welder connecting rod 25's length direction, enables laser 35 just to the edge of a wing of work piece to can the accurate deviation of detecting the welding subassembly on the same straight line.
In this embodiment, at least one of the laser connecting rods includes a second connecting rod 33 and a third connecting rod 34, one end of the second connecting rod 33 is rotatably connected with one side of the first connecting rod 31, the other end of the second connecting rod 33 is rotatably connected with one end of the third connecting rod 34, the other end of the third connecting rod 34 is rotatably connected with the laser 35, and the rotatable connections all rotate on a plane parallel to the laser 35; in order to track the welding seam of the box-shaped beam, in the scheme, one laser connecting rod comprises a second connecting rod 33 and a third connecting rod 34, the second connecting rod and the third connecting rod are in rotary connection, and the rotary connection can be realized by screws; when the box-shaped beam is welded, the welding seam is on the outside, and two sides of the outside of the box-shaped beam need to be tracked, so that the width direction and the length direction of the box-shaped beam need to be lengthened through the second connecting rod 33 and the third connecting rod 34, and accurate positioning is achieved.
In this embodiment, when only one laser connecting rod comprises the second connecting rod 33 and the third connecting rod 34, the other laser connecting rod comprises the fourth connecting rod 36, one end of the fourth connecting rod 36 is detachably connected with the other side of the first connecting rod 31, and the other end of the fourth connecting rod 36 is rotatably connected with the laser 35; in order to facilitate the adjustment of the position of the laser 35, in the present embodiment, it is preferable that one laser connecting rod includes the second connecting rod 33 and the third connecting rod 34, and the other laser connecting rod includes the fourth connecting rod 36, so that the seam tracking of the H-beam and the box beam can be realized only by adjusting the laser connecting rod on one side.
In this embodiment, the laser tracking device further comprises a clamping block assembly 24, the laser tracker assembly 21 and the welding gun assembly 23 are connected through the clamping block assembly 24 and a welding gun connecting rod 25, one end of the clamping block assembly 24 clamps the welding gun connecting rod 25 and can move along the length direction of the welding gun connecting rod 25, and the other end of the clamping block assembly 24 clamps the first connecting rod 31 or the welding gun assembly 23 and can move along the length direction of the first connecting rod 31 or the welding gun assembly 23; for centre gripping adjustment laser tracker subassembly 21 and welder subassembly 23 position, in this scheme, still be equipped with clamp splice subassembly 24, wherein clamp splice subassembly 24 both ends all have the centre gripping groove, and at the centre gripping groove outer fringe to clamp splice subassembly 24 tip direction upper shed, the both ends of opening part are passed through the bolt and are realized fixing, and through adjusting bolt, just can adjust the size in centre gripping groove to adjust the initial position of laser tracker subassembly 21 and welder subassembly 23 along welder connecting rod 25 length and vertical direction.
In this embodiment, the device further comprises a connecting block 32, the connecting block 32 is arranged on each of two sides of the lower portion of the first connecting rod 31, the connecting block 32 is provided with a plurality of threaded holes 37, and the second connecting rod 33 and the fourth connecting rod 36 are both screwed on the connecting block 32 through threads; in order to facilitate assembling and disassembling the second connecting rod 33 and the fourth connecting rod 36 and realize rotation of the second connecting rod 33, in the present embodiment, the fourth connecting rod 36 may be screwed to the connecting block 32 through a plurality of bolts to realize fixation, and the second connecting rod 33 may be connected to the connecting block 32 through one bolt, and rotation and fixation of the second connecting rod 33 may be realized through tightening and loosening bolts.
In this embodiment, an arc-shaped hole 38 is formed in the circumferential direction of at least one threaded hole 37 of the connecting block 32, the second connecting rod 33 is further provided with an auxiliary thread, and the auxiliary thread on the second connecting rod 33 extends into the arc-shaped hole 38 to limit the rotation radian of the second connecting rod 33; in order to limit the rotation radian of the second connecting rod 33, in the scheme, the connecting block 32 is provided with an arc-shaped hole 38, the arc-shaped hole 38 is arranged in the circumferential direction of the threaded hole 37, and the arc-shaped hole 38 is also arranged in the circumferential direction of the threaded hole 37 at one end of the third connecting rod 34, at this time, two ends of the second connecting rod 33 are provided with auxiliary threads, and the auxiliary threads are inserted into the arc-shaped hole 38 to realize limiting; the arc-shaped hole 38 is preferably a four-molecule one-arc length, and the length of the second connecting rod 33 is subtracted from the length of the third connecting rod 34 and is equal to the length of the laser connecting rod on the other side, so that when the second connecting rod 33 and the third connecting rod 34 are superposed, the two lasers 35 can be located at the same height, and the tracking of the welding seam of the H-shaped steel is realized.
Example 2
The embodiment is further optimized on the basis of embodiment 1, and provides a positioning method of a welding spot quick positioning assembly, as shown in fig. 6, including the following steps:
the method comprises the following steps: controlling the welding gun assembly 23 to perform gun pairing;
step two: after the gun pairing is completed, rotating and starting the two lasers 35 to enable the lasers of the two lasers 35 to be both struck on the workpiece, recording the initial relative distance between the lasers and the workpiece, and enabling the lasers of the two lasers 35 to be respectively arranged on two sides of a welding spot;
step three: locking the lasers 35 to keep the included angle between the two lasers 35 unchanged;
step four: after the locking is completed, welding is started, the two lasers 35 continuously track the relative distance between the laser and the workpiece, then the initial relative distance and the tracked relative distance are compared all the time, and a deviation value is calculated;
step five: and (3) carrying out deviation judgment on the deviation value: and controlling the machine head to adjust the position of the welding gun assembly 23 according to the deviation value.
Further optimization, the step five further comprises the following substeps:
when the deviation value is subjected to deviation judgment, deviation correction judgment needs to be carried out on the deviation value: if the deviation does not exceed the set threshold, then the weld gun assembly 23 need not be adjusted.
The working principle of the scheme is as follows: after the welding gun assembly 23 on the gantry welding machine is controlled by the system to complete gun alignment, the two lasers 35 are rotated and started, wherein the included angle between the two lasers 35 can be determined at will, and detection can be realized only by enabling the lasers of the lasers 35 to respectively strike flanges on two sides of a workpiece; then, locking the lasers 35 to keep the included angle between the two lasers 35 unchanged, and the included angle of the workpiece unchanged; at the moment, the relative distance from the laser of the laser 35 to the flange is the same all the time, the laser tracker calculates the position of the welding seam according to the size of a workpiece which is input in advance in the welding process, real-time data are continuously collected in the welding process and compared with the initially calculated position information to obtain a difference value, a corresponding feedback signal is sent to the system through the difference value, and the system judges the displacement and the direction which need to be adjusted according to the feedback signal, so that the accurate tracking of the welding seam is achieved, and the deviation of a welding spot is prevented. And the following ways (as shown in fig. 6, where the laser of the sensor 1 is on the left and the laser of the sensor 2 is on the right, and the sensor is the laser 35) are included in the adjustment of the position of the welding gun assembly 23 by the system control machine head according to the magnitude of the deviation value:
(1) When the deviation values of the sensor 1 and the sensor 2 are both larger than zero, if the deviation values do not exceed the set threshold value, the machine head is not adjusted;
when the deviation values exceed the set threshold, the following three situations occur:
(1) when the deviation value of the sensor 1 is larger than that of the sensor 2, the deviation value represents that the machine head is deviated upwards from the right, at the moment, the machine head needs to be moved leftwards and transversely, and then the machine head is moved downwards vertically, so that the deviation value is returned to the set threshold value range;
(2) when the deviation value of the sensor 1 is smaller than that of the sensor 2, the head is deviated from the upper left, at the moment, the head needs to be moved transversely to the right, and then the head is moved vertically downwards, so that the deviation value returns to the set threshold range;
(3) when the difference between sensor 1 and sensor 2 is within the set threshold, then the similarity is equal, and the handpiece is simply moved vertically downward to bring the deviation back within the set threshold.
(2) When the deviation values of the sensor 1 and the sensor 2 are both smaller than zero (the absolute value of the deviation values is obtained when the deviation values are compared), if the deviation values do not exceed the set threshold value, the machine head is not adjusted;
when the deviation values exceed the set threshold, the following three situations occur:
(1) when the deviation value of the sensor 1 is larger than that of the sensor 2, the machine head is deviated from the left to the bottom, the machine head is required to move transversely to the right at the moment, and then the machine head is required to move vertically upwards to enable the deviation value to return to the set threshold range;
(2) when the deviation value of the sensor 1 is smaller than that of the sensor 2, the machine head is deviated from the right to the bottom, the machine head is required to move transversely to the left, and then the machine head is moved vertically upwards to enable the deviation value to return to the set threshold range;
(3) when the difference between sensor 1 and sensor 2 is within the set threshold value, which is similar to the case of the same, the handpiece is simply moved vertically upward to bring the deviation back within the set threshold value.
(3) When the deviation value of the sensor 1 is larger than zero and the deviation value of the sensor 2 is smaller than zero, if the deviation values do not exceed the set threshold value, the machine head is not adjusted;
when the deviation values exceed the set threshold value, the machine head is deviated from the left to the bottom, the machine head is required to move transversely to the right at the moment, and then the machine head is moved vertically upwards to enable the deviation values to return to the range of the set threshold value;
(4) When the deviation value of the sensor 1 is smaller than zero and the deviation value of the sensor 2 is larger than zero, if the deviation values do not exceed the set threshold value, the machine head is not adjusted;
and when the deviation values exceed the set threshold value, the machine head is deviated from the right to the bottom, at the moment, the machine head needs to be moved transversely to the left, and then the machine head is moved vertically upwards, so that the deviation values return to the range of the set threshold value.
Example 3
The embodiment provides an intelligent gantry welding machine, as shown in fig. 6 and 7, which comprises a walking track 1 and a gantry 3;
the support legs of the portal frame 3 are movably connected with the walking track 1 through the walking frame 2, and the portal frame 3 can move along the length direction of the walking track 1; a transverse linear slide rail 5 is arranged on the portal frame 3, and a saddle assembly 8 is connected to the linear slide rail 5 in a sliding manner; the saddle assembly 8 is also provided with a longitudinal linear slide rail 5, and the longitudinal linear slide rail 5 is connected with a guide pillar assembly 9 in a sliding manner;
the lower end of the guide pillar component 9 is provided with a machine head component 15, and the machine head component 15 comprises a welding spot quick positioning component;
the guide pillar assembly is provided with a wire feeder assembly 13 and a recovery assembly 12, the wire feeder assembly 13 is used for realizing automatic wire feeding, and the recovery assembly 12 is used for recovering welding flux.
In the scheme, the bottom of the gantry welding machine is provided with a walking frame 2 for a cart to walk, the walking frame 2 is connected with a walking track 1, and the left walking frame 2 and the right walking frame 2 are driven by motors to form double-drive walking; a portal frame 3 is arranged above the walking frame 2, the portal frame 3 and the walking frame 2 are fixed by screws, so that detachable connection is realized, and transportation is facilitated, wherein the portal frame 3 consists of four upright posts and a bearing platform; the saddle assembly 8 is combined with the upper beam of the portal frame 3 through a transverse linear guide rail, so that transverse movement is realized and higher movement precision is achieved; the guide pillar assembly 9 is combined with the sliding amine assembly through the vertical linear sliding rail 5, so that vertical movement is realized, and high movement precision is achieved; the linear guide rail is provided with a rack 6, and both ends of the transverse linear guide rail and the vertical linear slide rail 5 are provided with collision blocks 4 for limiting the moving distance; the machine head assembly 15 is fixed at the lower end of the guide pillar assembly 9 through a screw, so that the machine head can move; the recovery component 12 and the wire feeder component 13 are connected with the guide pillar component 9, so that the functions of flux recovery and automatic wire feeding are realized; the wire reel 7, the welding machine and the recycling machine host are placed on a platform on the upper portion of the portal frame 3, conventional devices such as a wire hanging frame 10, a control box 11, a conductive device 14, a welding machine recycling machine host 16, a power supply 17 and an electric control cabinet 18 are further arranged on the portal frame 3, the intelligent portal automatic welding machine is formed after the parts are combined, the welding machine is provided with a left welding machine head and a right welding machine head, the welding machine heads can be used for independently and simultaneously welding, and main welding workpieces are H-shaped steel and box-shaped beams.
Example 4
The embodiment is further optimized on the basis of the embodiment 3, and the gun aligning method of the intelligent gantry welding machine comprises the following steps of:
the method comprises the following steps: manually moving a welding gun to a welding position, and automatically recording the current position of each shaft and the parameters of a workpiece;
step two: lifting the guide pillar assembly 9 to lift the machine head, realizing Z-axis zero resetting of the machine head, then moving the portal frame 3 to realize X-axis zero resetting of the machine head, and then moving the saddle assembly 8 to realize Y-axis zero resetting of the machine head;
step three: after zero resetting is completed, according to the current positions of the shafts which are automatically recorded, automatic gun alignment is started, and the saddle assembly 8, the portal frame 3 and the guide post assembly 9 are sequentially moved, so that the machine head automatically returns to the current positions of the shafts which are recorded;
step four: after the wire feeder assembly 13 moves to the current position, the wire feeder assembly 13 is controlled to start feeding wires, the wire feeding is automatically stopped after the wire feeder assembly contacts the workpiece, and a signal that the wire feeding is ready is sent;
step five: after receiving the signal that the wire feeding is ready, the flux switch of the material box assembly 22 is started, the countdown is started, and when the countdown is reached, the arc starting signal is automatically connected;
step six: after the arc starting signal is switched on, timing is started again, and whether the arc starting is successful or not is judged within the specified time;
step seven: and if the arc starting is successful, starting welding, controlling the portal frame 3 to start to travel, and recording the current data of each laser 35 in real time.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. A gun aligning method of an intelligent gantry welding machine is characterized by comprising the following steps:
the method comprises the following steps: manually moving a welding gun to a welding position, and automatically recording the current position of each shaft and the parameters of a workpiece;
step two: lifting the guide pillar assembly (9) to lift the machine head, realizing Z-axis zero return of the machine head, then moving the portal frame (3), realizing X-axis zero return of the machine head, and then moving the saddle assembly (8), and realizing Y-axis zero return of the machine head;
step three: after zero return is completed, according to the current positions of the shafts which are automatically recorded, automatic gun alignment is started, and the saddle assembly (8), the portal frame (3) and the guide post assembly (9) are sequentially moved, so that the machine head automatically returns to the current positions of the shafts which are recorded;
step four: after the wire feeder assembly (13) moves to the current position, the wire feeder assembly (13) is controlled to start feeding wires, the wire feeding is automatically stopped after the wire feeder assembly contacts with a workpiece, and a signal that the wire feeding is ready is sent;
step five: after receiving a signal that the wire feeding is ready, a welding flux switch of the material box assembly (22) is started, countdown is started, and when the countdown is reached, an arc starting signal is automatically switched on;
step six: after the arc starting signal is switched on, timing is started again, and whether the arc starting is successful or not is judged within the specified time;
step seven: if the arc starting is successful, starting welding, controlling the portal frame (3) to start to travel, and recording the current data of each laser (35) in real time;
the intelligent gantry welding machine comprises a walking track (1) and a gantry (3);
the support legs of the portal frame (3) are movably connected with the walking track (1) through the walking frame (2), and the portal frame (3) can move along the length direction of the walking track (1); a transverse linear sliding rail (5) is arranged on the portal frame (3), and a saddle assembly (8) is connected onto the linear sliding rail (5) in a sliding manner; the saddle assembly (8) is also provided with a longitudinal linear slide rail, and the longitudinal linear slide rail is connected with a guide pillar assembly (9) in a sliding manner;
the lower end of the guide pillar component (9) is provided with a machine head component, and the machine head component comprises a welding spot quick positioning component;
the guide post assembly is provided with a wire feeder assembly (13) and a recovery assembly (12), the wire feeder assembly (13) is used for realizing automatic wire feeding, and the recovery assembly (12) is used for recovering welding flux;
the welding spot rapid positioning assembly comprises a welding gun connecting rod (25) and a laser tracker assembly (21);
the laser tracker component (21) is arranged on the welding gun connecting rod (25);
the laser tracker component (21) comprises a first connecting rod (31), a first component and a second component, the upper part of the first connecting rod (31) is arranged on the welding gun connecting rod (25), and the first component and the second component are arranged on two sides of the lower part of the first connecting rod (31); first subassembly and second subassembly are all including laser connecting rod and laser instrument (35), laser instrument (35) are connected through laser connecting rod and first connecting rod (31) lower part side, laser instrument (35) and laser connecting rod rotate to be connected: the laser (35) is rotatable about itself;
the two lasers (35) rotate on parallel planes, and the rotating directions of the two lasers (35) are perpendicular to the length direction of the welding gun connecting rod (25).
2. The gun alignment method of the intelligent gantry welding machine as claimed in claim 1, wherein at least one of the laser connecting rods comprises a second connecting rod (33) and a third connecting rod (34), one end of the second connecting rod (33) is rotatably connected with one side of the first connecting rod (31), the other end of the second connecting rod (33) is rotatably connected with one end of the third connecting rod (34), the other end of the third connecting rod (34) is rotatably connected with the laser (35), and the rotary connections all rotate on parallel planes with the laser (35).
3. The gun aligning method of the intelligent gantry welding machine according to claim 2, wherein when only one laser connecting rod comprises the second connecting rod (33) and the third connecting rod (34), the other laser connecting rod comprises a fourth connecting rod (36), one end of the fourth connecting rod (36) is detachably connected with the other side of the first connecting rod (31), and the other end of the fourth connecting rod (36) is rotatably connected with the laser (35).
4. The gun aligning method of the intelligent gantry welding machine according to the claim 1, further comprising a clamping block assembly (24), wherein the laser tracker assembly (21) and the welding gun assembly (23) are connected with the welding gun connecting rod (25) through the clamping block assembly (24), one end of the clamping block assembly (24) clamps the welding gun connecting rod (25) in and can move along the length direction of the welding gun connecting rod (25), and the other end of the clamping block assembly (24) clamps the first connecting rod (31) or the welding gun assembly (23) in and can move along the length direction of the first connecting rod (31) or the welding gun assembly (23).
5. The gun aligning method of the intelligent gantry welding machine according to claim 3, further comprising a connecting block (32), wherein the connecting block (32) is arranged on each of two sides of the lower portion of the first connecting rod (31), the connecting block (32) is provided with a plurality of threaded holes (37), and the second connecting rod (33) and the fourth connecting rod (36) are screwed on the connecting block (32) through threads.
6. The gun aligning method of the intelligent gantry welding machine according to claim 5, wherein an arc-shaped hole (38) is formed in the circumferential direction of at least one threaded hole (37) of the connecting block (32), the second connecting rod (33) is further provided with a secondary thread, and the secondary thread on the second connecting rod (33) extends into the arc-shaped hole (38) and is used for limiting the rotation radian of the second connecting rod (33).
7. The gun aligning method of the intelligent gantry welding machine according to any one of claims 1 to 6, wherein the positioning method of the welding spot quick positioning assembly comprises the following steps:
the method comprises the following steps: controlling a welding gun assembly (23) to perform gun pairing;
step two: after the gun pairing is completed, rotating and starting the two lasers (35) to enable the lasers of the two lasers (35) to be both irradiated on the workpiece, recording the initial relative distance between the lasers and the workpiece, wherein the lasers of the two lasers (35) are respectively arranged on two sides of a welding spot;
step three: locking the lasers (35) to keep an included angle between the two lasers (35) unchanged;
step four: after the locking is finished, starting welding, continuously tracking the relative distance between the laser and the workpiece by the two lasers (35), then constantly comparing the initial relative distance with the tracked relative distance, and calculating a deviation value;
step five: and (3) carrying out deviation judgment on the deviation value: and controlling the machine head to adjust the position of the welding gun assembly (23) according to the size of the deviation value.
8. The gun aligning method of an intelligent gantry welding machine according to claim 7, wherein the fifth step in the positioning method further comprises the following substeps:
when the deviation value is subjected to deviation judgment, deviation correction judgment needs to be carried out on the deviation value: if the deviation does not exceed the set threshold, the weld gun assembly (23) need not be adjusted.
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