CN116295191A - Device for detecting axial offset of V-shaped girth weld of sealed tank and control method - Google Patents
Device for detecting axial offset of V-shaped girth weld of sealed tank and control method Download PDFInfo
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- CN116295191A CN116295191A CN202310572207.5A CN202310572207A CN116295191A CN 116295191 A CN116295191 A CN 116295191A CN 202310572207 A CN202310572207 A CN 202310572207A CN 116295191 A CN116295191 A CN 116295191A
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- 238000003466 welding Methods 0.000 claims abstract description 183
- 238000001514 detection method Methods 0.000 claims abstract description 81
- 238000007789 sealing Methods 0.000 claims abstract description 58
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- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 238000005096 rolling process Methods 0.000 abstract description 3
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
- G01B21/24—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes for testing alignment of axes
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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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
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- Optics & Photonics (AREA)
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- Mechanical Engineering (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention belongs to the technical field of detection equipment, and relates to a device for detecting axial offset of a V-shaped girth weld of a sealed tank and a control method. The two sides of the magnet are aligned with the two sides of the magnet alignment arm respectively, and the magnet is positioned in the induction area of the reed switch magnetic control switch. The welding roller frame is driven to drive the sealing tank to rotate, the meter counter measures the cambered surface distance x from the 0 m position to the current rolling position, and the displacement sensor measures the offset y of the symmetry axis of the V-shaped welding seam corresponding to the cambered surface distance x. The magnet returns to the induction area of the reed switch along with the rotation of the sealing tank, and generates an electric signal, and the meter counter and the displacement sensor stop collecting data. The invention can provide more accurate position data for the welding manipulator, so that the welding gun can be timely adjusted to the position where the axis of the welding gun coincides with the symmetry axis of the V-shaped welding seam, and the welding quality is improved; the welding gun is prevented from being operated by workers in a short distance, and the workers are prevented from working in a high-temperature environment; the safety is improved, and the falling risk is reduced.
Description
Technical Field
The invention belongs to the technical field of detection equipment, relates to a detection technology of weld offset, and in particular relates to a device for detecting axial offset of a V-shaped girth weld of a sealed tank and a control method.
Background
A sealed tank manufactured using a plurality of steel materials is required in the drinking water treatment process. The sealed tank comprises a tank cylinder and two sealing heads, wherein openings of the tank cylinder and the sealing heads are respectively cut with grooves of 30 degrees, the two openings are in opposite pairs, the two grooves are in opposite pairs to form a V-shaped welding seam of 60 degrees, and the V-shaped welding seam is annular.
The sealed tank has large volume and heavy weight, the welding seam also requires sealing welding, the transportation is inconvenient, two sets of welding roller frames and one set of welding operation machine are generally used for welding by using a submerged arc welding process, wherein one set of welding roller frames is of a driving type, and the other set of welding roller frames is of a passive type; the welding roller frame is provided with rollers, wherein the driving welding roller frame is provided with a driving motor; before submerged arc welding is carried out on the sealed tank, spot welding is often carried out on a plurality of positions at the bottom of the V-shaped welding seam, so that one tank barrel and two sealing heads are temporarily combined into a whole, but the sealed tank can not be sealed, and the welding is also not firm; the assembled sealing tank is placed on a roller of a welding roller frame on the outer cylindrical surface of the sealing tank, the axial lead of the sealing tank is horizontal, the axial lead of the sealing tank is in a first-second direction, a driving motor driving the welding roller frame drives the sealing tank to slowly rotate, a welding operation machine welds at the highest position of a V-shaped welding seam, the opening of the V-shaped welding seam is upward, welding protection sand is naturally piled on the welding operation machine by gravity, and melted flux is not easy to flow; and (3) rotating the welded part of the V-shaped welding seam to leave, moving the unwelded part to the highest position for welding, and continuously performing the welding process until the welding seam rotates for one circle, and turning the starting point of the welding seam to the position below the welding gun, wherein the welding process is terminated.
Under ideal state, the sealing tank rotates around its own axis in situ, the V-shaped welding seam rotates on an ideal circular ring, the welded part slowly rotates away, the unwelded part automatically rotates under the welding gun, and the welding process is continuously carried out until the annular V-shaped welding seam is welded.
However, in practice, the seal pot is not as ideal, and is subject to a small amount of axial play due to various factors. The submerged arc welding process has certain tolerance to the axial movement of the V-shaped welding seam, but the deviation is too large and exceeds two millimeters, so that the welding quality can be influenced, and the welding sealing performance can not reach the standard, so that the axial movement of the V-shaped welding seam needs to be closely focused in the welding process, and the position of a welding gun is finely adjusted in time, so that the axial lead of the welding gun is overlapped with the symmetry axis of the V-shaped welding seam.
At present, a worker wears a welding cap to observe and control fine adjustment, but there are some defects. Firstly, the worker judges inaccurately, the vague image is observed through the sunglasses of the welding caps, the boundary of the V-shaped welding seam at the welding position is unclear, and the worker cannot measure by using a graduated scale, so that the distance between the accurate welding gun and the symmetry axis of the V-shaped welding seam is difficult to judge. Secondly, the worker is close to the welding part, although the welding arc is buried under the protection sand, the surrounding environment caused by welding is very hot, particularly in summer, the temperature is high, and the working environment of the worker is poor. Workers stand up to be observed at high places and risk falling.
Disclosure of Invention
The invention aims to provide a device and a method for detecting axial offset of a V-shaped girth weld of a sealed tank, which can provide accurate position data for a welding manipulator, so that a welding gun can be timely adjusted to a position where the axis of the welding gun coincides with the symmetry axis of the V-shaped weld, and the welding quality is improved; the welding gun is prevented from being operated by workers in a short distance, and the workers are prevented from working in a high-temperature environment; the safety is improved, and the falling risk is reduced.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the device for detecting the axial offset of the V-shaped girth weld of the sealed tank comprises a detection assembly and a lifting frame; the detection assembly comprises a detector, a detection spring, a detection sleeve, a linear guide rail, a sliding block and a displacement sensor; the sliding block is fixedly connected with the lifting frame, the linear guide rail and the sliding block form a linear guide rail pair, and the linear guide rail translates in the sliding block along the first-second direction; the detection sleeve is fixedly connected with the linear guide rail, and the displacement sensor comprises a sensor shell and a sensor contact; the sensor shell is fixedly connected with the lifting frame, the sensor contact vertically abuts against one end of the linear guide rail, the sensor contact synchronously moves along with the linear guide rail in the first-second direction, and the displacement sensor measures the displacement of the linear guide rail; the detector comprises a detection slide bar and a conical head which are fixedly connected with each other, wherein a conical back plane is arranged on the conical head and is connected with the first end of the detection slide bar, and a detection bar shoulder is arranged at the second end of the detection slide bar; the diameter of the conical surface of the conical head, which is far away from the detection slide bar, is small, the diameter of the conical surface of the conical head, which is close to the detection slide bar, is large, and the conical angle is sixty degrees and is the same as the V-shaped angle of the V-shaped welding seam; the detection slide bar is in sliding fit with the detection sleeve; the detection spring is sleeved on the detection slide rod, the first end of the detection spring presses the conical back plane, the second end of the detection spring presses the first end of the detection sleeve, and the second end of the detection sleeve abuts against the detection rod shoulder. Under the action of the elastic force of the detection spring, the conical head is embedded into the V-shaped welding seam, the axial lead of the conical head is exactly the symmetry axis of the V-shaped welding seam, and the welding gun can find the symmetry axis to perform welding with the best welding effect.
The invention also comprises a cylinder, wherein the cylinder is a cylinder with a guide rod, the cylinder body of the cylinder is fixedly connected with the frame, and the lifting frame is fixedly connected with the piston rod of the cylinder; the cylinder drives the lifting frame to reciprocate along the radial direction of the sealing tank, and the detection sliding rod is in translation along the direction parallel to the piston rod of the cylinder in the detection sleeve.
The invention also comprises a length counting assembly; the length counting assembly comprises a length counting bracket, a meter, a length counting spring and a length counting sleeve; the length measuring sleeve is fixedly connected with the linear guide rail; the length counting bracket comprises a length counting sliding rod and a connecting frame; the connecting frame is provided with a length metering rod lower blocking surface which is fixedly connected with the first end of the length metering slide rod, and the second end of the length metering slide rod is provided with a length metering rod upper blocking surface; the length counting sleeve is in sliding fit with the length counting slide rod, the length counting spring is sleeved on the length counting slide rod, the first end of the length counting spring presses the lower blocking surface of the length counting rod, the second end of the length counting spring presses the first end of the length counting sleeve, and the second end of the length counting sleeve presses the upper blocking surface of the length counting rod; the moving direction of the length counting sliding rod in the length counting sleeve is parallel to the moving direction of the cylinder piston rod; the meter counter is characterized in that a meter counter plate is arranged on the connecting frame, a shell of the meter counter is fixedly connected with the meter counter plate, the axis of a rotation shaft of a meter counter roller of the meter counter is parallel to the axis of the sealing tank, and the meter counter roller rolls along the outer cylindrical surface of the sealing tank and measures the cambered surface distance along the outer cylindrical surface of the sealing tank.
The length counting assembly further comprises a magnet, the length counting assembly further comprises a reed switch magnetic control switch, the length counting support is provided with a magnet alignment arm, the magnet alignment arm is provided with a reed switch mounting hole, the reed switch magnetic control switch is fixedly arranged in the reed switch mounting hole, the magnet is adsorbed on the outer cylindrical surface of the sealing tank and rotates along with the sealing tank, an electric signal is generated when the magnet rotates to enter an induction area of the reed switch magnetic control switch, and the attachment position of the magnet on the sealing tank is used as a zero point position of the meter counter.
The width of the magnet alignment arm along the circumferential direction of the sealing tank is equal to the width of the magnet, two sides of the magnet are aligned with two sides of the magnet alignment arm respectively, at this time, the magnet is positioned in an induction area of the reed switch, and the metering value of the meter counter is defined as 0 meter. The magnet is temporarily adsorbed on the upper surface, and is taken down after detection and welding are completed.
The invention further comprises a PLC programmable logic controller, a passive welding roller frame and a driving welding roller frame, wherein the cylinder, the displacement sensor, the meter and the reed switch are respectively and electrically connected with the PLC programmable logic controller. The outer cylindrical surface of the sealing tank is placed on a passive welding roller frame and a driving welding roller frame; the driving welding roller frame is electrically connected with the PLC.
The meter counter is positioned in the first direction or the second direction of the conical head, the distance between the meter counter and the conical head is not more than 150 mm, the measured position of the meter counter is consistent and corresponding to the measured position of the conical head on the rotation phase angle of the sealed tank, and the measured data provide more accurate guiding direction for the submerged arc welding machine.
The reed switch magnetic control switch is located in the first direction or the second direction of the conical head, the distance between the meter counter and the reed switch magnetic control switch is not more than 150 mm, the phase angle of the meter counter is consistent and corresponding to the phase angle of the reed switch magnetic control switch on the sealing tank, and the reed switch magnetic control switch provides a zero point position for the meter counter.
In the rotation direction of the sealing tank, the axial float change quantity of the V-shaped welding seam is relatively slow, the arc surface distance M of the cone head is not more than 150 mm earlier than that of the welding gun, the V-shaped welding seam is measured by the cone head, then the V-shaped welding seam is rotated to the position below the welding gun for welding after the arc surface distance M is relatively small, the V-shaped welding seam is close to the welding gun as much as possible under the premise that the two are not greatly influenced, and the measurement data of the cone head has guiding significance.
The front side of conical head, one side that faces to the direction of rotation of seal pot, still is provided with preceding guide surface, and when the initial welding's of seal pot position rotated the conical head below, under the direction effect of preceding guide surface, the detector overcome the elastic force of detection spring and upwards lifts up, can effectively avoid the welding initial point, and each part is protected can not be damaged by the extrusion.
Correspondingly, a magnetic induction sensor and a meter counting device can be arranged on the welding manipulator, when a magnet is sensed, welding is started, the correct position of the symmetry axis of the V-shaped welding seam in the first-second direction is found according to data acquired by the displacement sensor, and an automatic control device of the welding manipulator enables the axis of a welding gun to coincide with the symmetry axis of the V-shaped welding seam.
The process of the invention working with welding roller frames, welding operators is such.
1. The cylinder drives the lifting frame to translate towards the axial lead of the sealing tank, the detection sleeve is manually assisted to translate along the first direction and the second direction, the conical head is embedded into the V-shaped welding seam, the detector compresses two sides of the V-shaped welding seam under the action of the elastic force of the detection spring, and the profile side surfaces of the conical head in the first direction and the second direction are respectively abutted against two sides of the V-shaped welding seam in the first direction and the second direction; the meter length sleeve overcomes the elastic force of the meter length spring and slides along the meter length slide bar.
2. The magnet is adsorbed on the outer cylindrical surface of the sealing tank and between the reed switch and the outer cylindrical surface of the sealing tank, two sides of the magnet are respectively aligned with two sides of the magnet alignment arm, and then the magnet is positioned in the induction area of the reed switch.
The following goes into an automatic control program.
3. The meter counter defines the current metering value as 0 meter and starts to collect data; the displacement sensor defines the current measurement value as 0 mm and starts to collect data.
4. The welding roller frame is driven to start, the sealing tank is driven to rotate, a certain part on the V-shaped welding line passes through the conical head, passes through the arc surface distance of not more than 150 mm, passes through the welding gun, and the welding manipulator detects the 0-point position, and the welding gun performs welding.
On the section plane passing through the axis of the cone head and the axis of the sealing tank, the cone head receives four forces, namely: detecting the positive pressure of the spring, the positive pressure at two sides of the V-shaped welding seam and the component force of gravity in the section plane, and pushing the cone head to shift towards the first direction or the second direction when the V-shaped welding seam shifts towards the first direction or the second direction, wherein the cone head automatically keeps propping against two sides of the V-shaped welding seam in the first direction and the second direction; otherwise, as long as the cone head is separated from one side of the V-shaped welding seam on one side, the force balance system is broken, the cone head moves until the cone head is propped against the two sides of the V-shaped welding seam in the first direction and the second direction, and the force balance system is reestablished. The cone head moves along with the V-shaped welding seam in the first-second direction, synchronously drives the linear guide rail to move, synchronously drives the sensor contact again, and the displacement sensor measures the displacement of the linear guide rail, and is actually the offset of the symmetry axis of the measured V-shaped welding seam.
The meter counter measures the cambered surface distance x from 0 meter to the current rolling position, and the displacement sensor measures the offset y of the symmetry axis of the V-shaped welding seam corresponding to the cambered surface distance x.
The data are measured and welded in very close positions, and the accuracy of the data is high.
5. The magnet is along with the rotatory a round of seal pot, get back to in the induction zone of tongue tube magnetic control switch again, produce the signal of telecommunication, meter rice ware and displacement sensor stop gathering data, and the direction translation of cylinder drive crane back to the seal pot axial lead, meter rice ware leaves seal pot outer cylinder face, and the conical head leaves V type welding seam, and measuring process ends. But the welding process has not yet ended, the welding manipulator continues the data welding provided according to the invention until it is welded to the start of the V-shaped weld.
A control method of a sealing tank V-shaped girth weld axial offset detection device comprises the following steps:
s1, defining a current metering value as 0 meter by a meter counter, and starting to collect data;
s2, defining the current measurement value as 0 mm by the displacement sensor, and starting to acquire data;
s3, driving the welding roller frame to start;
s4, the magnet returns to the induction area of the reed switch magnetic control switch to generate an electric signal;
s5, stopping collecting data by the meter counter;
s6, stopping data acquisition by the displacement sensor;
s7, the cylinder drives the lifting frame to horizontally move back to the direction of the axial lead of the sealing tank.
Compared with the prior art, the invention has the beneficial effects that: the welding machine can provide more accurate position data for the welding operation machine, so that the welding gun can be timely adjusted to the position where the axis of the welding gun coincides with the symmetry axis of the V-shaped welding seam, and the welding quality is improved; the welding gun is prevented from being operated by workers in a short distance, and the workers are prevented from working in a high-temperature environment; the safety is improved, and the falling risk is reduced.
Drawings
FIG. 1 is a front view of embodiment 1 of the present invention;
FIG. 2 is an enlarged view at A in FIG. 1;
FIG. 3 is a view in the direction B of FIG. 2;
FIG. 4 is a view in the direction C of FIG. 3;
FIG. 5 is a front view of the detection assembly;
FIG. 6 is a schematic of a three-dimensional structure of a detector;
FIG. 7 is a front view of the length counting assembly;
FIG. 8 is a schematic view of the three-dimensional structure of a length-counting stent;
FIG. 9 is a schematic three-dimensional structure of a magnet;
FIG. 10 is a schematic diagram showing the control relationship of the control system according to embodiment 1 of the present invention;
FIG. 11 is a graph of the offset y of the symmetry axis of a V-shaped weld as a function of the arc distance x.
In the figure: 1. a sealed tank; 11. a canister; 12. a seal head; 13. v-shaped welding seams; 2. a detection assembly; 21. a detector; 211. detecting a slide bar; 212. a conical head; 213. a front guide surface; 214. a cone back plane; 215. detecting a rod shoulder; 22. detecting a spring; 23. detecting a sleeve; 24. a linear guide rail; 25. a slide block; 26. a displacement sensor; 261. a sensor housing; 262. a sensor contact; 3. a length counting assembly; 31. a length counting bracket; 311. a length counting slide bar; 312. a meter counter plate; 313. a reed pipe mounting hole; 314. a gauge length rod lower baffle surface; 315. a gauge length rod upper baffle surface; 316. a connecting frame; 317. a magnet alignment arm; 32. a meter counter; 321. a metering roller; 33. reed switch magnetic control switch; 34. a length counting spring; 35. a length measuring sleeve; 4. a cylinder; 41. a lifting frame; 5. a magnet; 51. chamfering the magnet; 6. a welding gun; 7. a frame; 8. passively welding the roller frame; 9. and driving the welding roller frame.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Embodiment 1 referring to fig. 1-11, a device for detecting axial offset of V-shaped girth weld of a sealed tank includes a detecting assembly 2 and a lifting frame 41; the detection assembly 2 comprises a detector 21, a detection spring 22, a detection sleeve 23, a linear guide rail 24, a sliding block 25 and a displacement sensor 26; the sliding block 25 is fixedly connected with the lifting frame 41, the linear guide rail 24 and the sliding block 25 form a linear guide rail pair, and the linear guide rail 24 translates along the first direction and the second direction in the sliding block 25; the detection sleeve 23 is fixedly connected with the linear guide rail 24, and the displacement sensor 26 comprises a sensor shell 261 and a sensor contact 262; the sensor housing 261 is fixedly connected with the lifting frame 41, the sensor contact 262 vertically abuts against one end of the linear guide rail 24, the sensor contact 262 synchronously moves along with the linear guide rail 24 in the first-second direction, and the displacement sensor 26 measures the displacement of the linear guide rail 24; the detector 21 comprises a detection slide bar 211 and a conical head 212 which are fixedly connected with each other, wherein a conical back plane 214 is arranged on the conical head 212, the conical back plane 214 is connected with a first end of the detection slide bar 211, and a second end of the detection slide bar 211 is provided with a detection bar shoulder 215; the diameter of the conical surface of the conical head 212 at the end far away from the detection slide bar 211 is small, the diameter of the end close to the detection slide bar 211 is large, and the conical angle is sixty degrees; a V-shaped welding seam 13 is arranged between the tank 11 and the sealing head 12, and the conical angle of the conical head 212 is the same as the V-shaped angle of the V-shaped welding seam 13; the detection slide bar 211 is in sliding fit with the detection sleeve 23; the detection spring 22 is sleeved on the detection sliding rod 211, the first end of the detection spring 22 presses the cone back plane 214, the second end of the detection spring 22 presses the first end of the detection sleeve 23, and the second end of the detection sleeve 23 abuts against the detection rod shoulder 215. Under the elastic force of the detection spring 22, the conical head 212 is embedded into the V-shaped welding seam 13, the axial lead of the conical head 212 is exactly the symmetry axis of the V-shaped welding seam 13, and the welding gun 6 finds the position of the symmetry axis to perform welding with the best welding effect.
As shown in fig. 1 to 4, the present embodiment further includes a cylinder 4, the cylinder 4 is a cylinder with a guide rod, the cylinder body of the cylinder 4 is fixedly connected with the frame 7, and the lifting frame 41 is fixedly connected with a piston rod of the cylinder 4; the cylinder 4 drives the lifting frame 41 to reciprocate along the radial direction of the sealing tank 1, and the detection sliding rod 211 translates in the detection sleeve 23 along the direction parallel to the piston rod of the cylinder 4.
As shown in fig. 1 to 4, 7 and 8, the present embodiment further includes a length counting assembly 3; the length counting assembly 3 comprises a length counting bracket 31, a meter 32, a length counting spring 34 and a length counting sleeve 35; the length metering sleeve 35 is fixedly connected with the linear guide rail 24; the length counting bracket 31 comprises a length counting sliding rod 311 and a connecting frame 316; the connecting frame 316 is provided with a length metering rod lower blocking surface 314, the length metering rod lower blocking surface 314 is fixedly connected with the first end of the length metering slide rod 311, and the second end of the length metering slide rod 311 is provided with a length metering rod upper blocking surface 315; the length metering sleeve 35 is in sliding fit with the length metering slide rod 311, the length metering spring 34 is sleeved on the length metering slide rod 311, the first end of the length metering spring 34 presses the lower baffle surface 314 of the length metering rod, the second end of the length metering spring 34 presses the first end of the length metering sleeve 35, and the second end of the length metering sleeve 35 presses the upper baffle surface 315 of the length metering rod; the moving direction of the length counting sliding rod 311 in the length counting sleeve 35 is parallel to the moving direction of the piston rod of the air cylinder 4; the coupling frame 316 is provided with a meter plate 312, the shell of the meter 32 is fixedly coupled with the meter plate 312, the axis of a rotation shaft of a meter roller 321 of the meter 32 is parallel to the axis of the sealed pot 1, and the meter roller 321 rolls along the outer cylindrical surface of the sealed pot 1 and measures the cambered surface distance along the outer cylindrical surface of the sealed pot 1.
As shown in fig. 2, 4 and 9, the present embodiment further includes a magnet 5, the length counting assembly 3 further includes a reed switch magnetic control switch 33, a magnet alignment arm 317 is disposed on the length counting bracket 31, a reed switch mounting hole 313 is disposed on the magnet alignment arm 317, the reed switch magnetic control switch 33 is fixedly mounted in the reed switch mounting hole 313, the magnet 5 is adsorbed on an outer cylindrical surface of the seal pot 1 and rotates along with the seal pot 1, an electrical signal is generated when the magnet 5 rotates into an induction area of the reed switch magnetic control switch 33, and an attachment position of the magnet 5 on the seal pot 1 is used as a zero position of the meter 32 for metering. The magnet alignment arms 317 are often fabricated from a non-magnetized material such as copper, aluminum, plastic. The corners of the magnet 5 are often chamfered 51 to prevent the corners from catching the moving position when the magnet alignment arms 317 are aligned with the magnet 5 again.
The width T of the magnet alignment arm 317 along the circumferential direction of the sealed pot 1 is equal to the width of the magnet 5, two sides of the magnet 5 are aligned with two sides of the magnet alignment arm 317 respectively, at this time, the magnet 5 is located in the sensing area of the reed switch magnetic control switch 33, and the metering value of the meter 32 is defined as 0 meter. The magnet 5 is temporarily attached thereto, and is removed after the completion of the detection and welding.
As shown in fig. 1 and 10, the present embodiment further includes a PLC programmable logic controller, a passive welding roller frame 8, and a driving welding roller frame 9, and the cylinder 4, the displacement sensor 26, the meter 32, and the reed switch magnetic control switch 33 are electrically coupled to the PLC programmable logic controller, respectively. The outer cylindrical surface of the sealing tank 1 is placed on a passive welding roller frame 8 and a driving welding roller frame 9; the driving welding roller frame 9 is electrically coupled with the PLC.
The meter 32 is located in the first direction or the second direction of the conical head 212, the distance between the meter 32 and the conical head 212 is not more than 150 mm, the measured position of the meter 32 is consistent with and corresponds to the measured position of the conical head 212 on the rotation phase angle of the sealed pot 1, and the measured data provide more accurate guiding direction for the submerged arc welding machine.
The reed switch 33 is located in the first or second direction of the conical head 212, the distance between the meter 32 and the reed switch 33 is not more than 150 mm, the meter 32 and the reed switch 33 are consistent and corresponding in the rotation phase angle of the sealed pot 1, and the reed switch 33 provides a zero point position for the meter 32.
The axial float change of the V-shaped welding seam 13 is relatively slow in the rotation direction of the sealed tank 1; the conical head 212 is advanced by the cambered surface distance M which is not more than 150 mm than the welding gun 6, the V-shaped welding seam 13 is measured by the conical head 212, then is welded by a smaller cambered surface distance M, and the conical head 212 is close to the welding gun as much as possible under the premise of little influence of the conical head 212 and the welding gun, so that the measurement data of the conical head 212 have more guiding significance. The arrow D as in fig. 3 is the direction of rotation of the sealed pot 1.
As shown in fig. 6, the front side of the conical head 212, i.e. the side facing the rotation direction of the sealing can 1, is further provided with a front guiding surface 213, and when the initial welding position of the sealing can 1 is rotated below the conical head 212, under the guiding action of the front guiding surface 213, the detector 21 is lifted upwards against the elastic force of the detecting spring 22, so that the welding starting point can be effectively avoided, and the parts are protected from being damaged by extrusion.
Correspondingly, a magnetic induction sensor and a meter counting device can be arranged on the welding manipulator, when the magnet 5 is sensed, welding is started, and the correct position of the symmetry axis of the V-shaped welding seam 13 in the first-second direction is found based on the data acquired by the displacement sensor 26, so that the axis of the welding gun coincides with the symmetry axis of the V-shaped welding seam by an automatic control device of the welding manipulator.
This embodiment is the same as the welding carriage and the welding manipulator.
1. The cylinder 4 drives the lifting frame 41 to translate towards the axial line of the sealing tank 1, the detection sleeve 23 is manually assisted to translate along the first direction and the second direction, the conical head 212 is embedded into the V-shaped welding seam 13, the detector 21 compresses the V-shaped welding seam 13 under the action of the elastic force of the detection spring 22, and the profile side surfaces of the conical head 212 in the first direction and the second direction are respectively abutted against the two sides of the V-shaped welding seam 13 in the first direction and the second direction; the metering roller 321 presses the outer cylindrical surface of the sealing can 1, and the metering sleeve 35 overcomes the elastic force of the metering spring 34 and slides along the metering slide rod 311.
2. The magnet 5 is adsorbed on the outer cylindrical surface of the sealing tank 1 and between the reed switch magnetic control switch 33 and the outer cylindrical surface of the sealing tank 1, two sides of the magnet 5 are aligned with two sides of the magnet alignment arm 317 respectively, and then the magnet 5 is positioned in an induction area of the reed switch magnetic control switch 33.
The following goes into an automatic control program.
3. The meter 32 starts collecting data and defines the current metering value as 0 meters; the displacement sensor 26 starts to collect data and defines the current measurement value as 0 mm.
4. The welding roller frame 9 is driven to start, the sealing tank 1 is driven to rotate, a certain part on the V-shaped welding seam 13 passes through the conical head 212, passes through the arc surface distance of not more than 150 mm, passes through the welding gun 6, and the welding manipulator detects the 0-point position, and the welding gun performs welding.
On a section plane passing through the axis of the cone head 212 and the axis of the seal pot 1, the cone head 212 receives four forces, namely: detecting the component force of the positive pressure of the spring 22, the positive pressure at two sides of the V-shaped welding seam 13 and the gravity in the cross section plane, and pushing the cone head 212 to deflect towards the first direction or the second direction when the V-shaped welding seam 13 deflects towards the first direction or the second direction, wherein the cone head 212 automatically keeps propped against two sides of the V-shaped welding seam 13 in the first direction and the second direction; otherwise, as long as the conical head 212 is separated from one side of the V-shaped weld 13, the force balance system is broken, and the conical head 212 moves until the conical head 212 abuts against both sides of the V-shaped weld 13 in the first direction and the second direction, and the force balance system is reestablished. The conical head 212 moves along with the V-shaped weld 13 in the first-second direction, and synchronously drives the linear guide rail 24 to move, and the linear guide rail 24 synchronously drives the sensor contact 262, so that the displacement sensor 26 measures the displacement of the linear guide rail 24, and the displacement is actually the offset of the symmetry axis of the V-shaped weld 13.
The meter 32 measures the arc distance x from 0 m to the current rolling position, the displacement sensor 26 measures the offset y of the symmetry axis of the V-shaped weld 13 corresponding to the arc distance x, and the graph of the change of the offset y of the symmetry axis of the V-shaped weld 13 along with the measurement of the arc distance x by the meter 32 is shown in fig. 11.
The data are measured and welded in very close positions, and the accuracy of the data is high.
5. The magnet 5 rotates along with the sealing tank 1 for a circle, returns to the induction area of the reed switch magnetic control switch 33, generates an electric signal, stops collecting data by the meter 32 and the displacement sensor 26, drives the lifting frame 41 to translate back to the direction of the axial lead of the sealing tank 1 by the air cylinder 4, the meter 32 leaves the outer cylindrical surface of the sealing tank 1, the conical head 212 leaves the V-shaped welding seam 13, and the measuring process is finished. But the welding process has not yet ended, the welding manipulator continues the data welding provided according to the present embodiment until it is welded to the start of the V-shaped weld 13.
s1, defining the current metering value as 0 meter by the meter counter 32, and starting to collect data;
s2, defining the current measurement value to be 0 mm by the displacement sensor 26, and starting to acquire data;
s3, driving a welding roller frame 9 to start;
s4, the magnet 5 returns to the induction area of the reed switch magnetic control switch 33 to generate an electric signal;
s5, stopping collecting data by the meter 32;
s6, stopping data acquisition by the displacement sensor 26;
s7, the air cylinder 4 drives the lifting frame 41 to horizontally move back to the direction of the axial lead of the sealing tank 1.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the present invention and the equivalent techniques thereof, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The axial offset detection device for the V-shaped girth weld of the sealing tank comprises a detection assembly (2) and a lifting frame (41); the method is characterized in that: the detection assembly (2) comprises a detector (21), a detection spring (22), a detection sleeve (23), a linear guide rail (24), a sliding block (25) and a displacement sensor (26); the sliding block (25) is fixedly connected with the lifting frame (41), the linear guide rail (24) and the sliding block (25) form a linear guide rail pair, and the linear guide rail (24) translates along the first direction and the second direction in the sliding block (25); the detection sleeve (23) is fixedly connected with the linear guide rail (24), and the displacement sensor (26) comprises a sensor shell (261) and a sensor contact (262); the sensor shell (261) is fixedly connected with the lifting frame (41), the sensor contact (262) vertically abuts against one end of the linear guide rail (24), the sensor contact (262) synchronously moves along with the linear guide rail (24) in the first-second direction, and the displacement sensor (26) measures the displacement of the linear guide rail (24); the detector (21) comprises a detection slide bar (211) and a cone head (212) which are fixedly connected with each other, a cone back plane (214) is arranged on the cone head (212), and the cone back plane (214) is connected with the first end of the detection slide bar (211); the diameter of one end of the conical surface of the conical head (212) far away from the detection slide bar (211) is small, and the diameter of one end close to the detection slide bar (211) is large; the detection slide bar (211) is in sliding fit with the detection sleeve (23); the detection spring (22) is sleeved on the detection sliding rod (211), the first end of the detection spring (22) is pressed against the cone back plane (214), and the second end of the detection spring (22) is pressed against the first end of the detection sleeve (23); the conical head (212) is embedded into the V-shaped welding seam (13) under the action of the elastic force of the detection spring (22).
2. The sealed can V-shaped girth weld axial offset sensing device of claim 1, wherein: the lifting device further comprises an air cylinder (4), wherein the air cylinder (4) is an air cylinder with a guide rod, the cylinder body of the air cylinder (4) is fixedly connected with the frame (7), and the lifting frame (41) is fixedly connected with a piston rod of the air cylinder (4); the cylinder (4) drives the lifting frame (41) to reciprocate along the radial direction of the sealing tank (1), and the detection sliding rod (211) translates in the detection sleeve (23) along the direction parallel to the piston rod of the cylinder (4).
3. The sealed can V-shaped girth weld axial offset sensing apparatus of claim 2, wherein: the device also comprises a length counting assembly (3); the length metering assembly (3) comprises a length metering bracket (31), a meter (32), a length metering spring (34) and a length metering sleeve (35); the length measuring sleeve (35) is fixedly connected with the linear guide rail (24); the length counting bracket (31) comprises a length counting sliding rod (311) and a connecting frame (316); the connecting frame (316) is provided with a length metering rod lower blocking surface (314), and the length metering rod lower blocking surface (314) is fixedly connected with the first end of the length metering sliding rod (311); the length metering sleeve (35) is in sliding fit with the length metering slide rod (311), the length metering spring (34) is sleeved on the length metering slide rod (311), the first end of the length metering spring (34) is pressed against the lower blocking surface (314) of the length metering rod, and the second end of the length metering spring (34) is pressed against the first end of the length metering sleeve (35); the moving direction of the length counting sliding rod (311) in the length counting sleeve (35) is parallel to the moving direction of the piston rod of the air cylinder (4); the coupling frame (316) is provided with a meter counter plate (312), the shell of the meter counter (32) is fixedly connected with the meter counter plate (312), the rotation axis of the meter counter roller (321) of the meter counter (32) is parallel to the axis of the sealing tank (1), the metering roller (321) rolls along the outer cylindrical surface of the sealing tank (1) and measures the cambered surface distance along the outer cylindrical surface of the sealing tank (1).
4. A sealed-can V-shaped girth weld axial offset sensing apparatus as claimed in claim 3, wherein: the length counting assembly (3) further comprises a reed switch magnetic control switch (33), a magnet alignment arm (317) is arranged on the length counting support (31), a reed switch mounting hole (313) is formed in the magnet alignment arm (317), the reed switch magnetic control switch (33) is fixedly arranged in the reed switch mounting hole (313), and the magnet (5) is adsorbed on the outer cylindrical surface of the sealing tank (1) and rotates along with the sealing tank (1), and an electric signal is generated when the magnet (5) rotates to enter an induction area of the reed switch magnetic control switch (33); the magnet alignment arms (317) are fabricated from a material that is not magnetized.
5. The device for detecting axial offset of V-shaped girth welds of a sealed tank according to claim 4, wherein: the width of the magnet alignment arm (317) is equal to that of the magnet (5), two sides of the magnet (5) are aligned with two sides of the magnet alignment arm (317) respectively, at this time, the magnet (5) is located in an induction area of the reed switch magnetic control switch (33), and the metering value of the meter (32) is defined as 0 meter.
6. The sealed can V-shaped girth weld axial offset sensing device of claim 5, wherein: the device also comprises a PLC programmable logic controller, a passive welding roller frame (8) and a driving welding roller frame (9), wherein the cylinder (4), the displacement sensor (26), the meter (32) and the reed switch magnetic control switch (33) are respectively and electrically connected with the PLC programmable logic controller; the outer cylindrical surface of the sealing tank (1) is placed on a passive welding roller frame (8) and a driving welding roller frame (9); the driving welding roller frame (9) is electrically connected with the PLC.
7. The sealed can V-shaped girth weld axial offset sensing apparatus of claim 6, wherein: the meter (32) is positioned in a first direction or a second direction of the conical head (212) and is not more than 150 mm apart.
8. The sealed can V-shaped girth weld axial offset sensing apparatus of claim 7, wherein: the reed switch (33) is positioned in the first direction or the second direction of the conical head (212), and the distance between the meter (32) and the reed switch (33) is not more than 150 mm.
9. The sealed-can V-shaped girth weld axial offset detecting apparatus according to claim 6, 7 or 8, wherein: the conical head (212) is provided with a front guide surface (213) on one side facing the rotation direction of the sealing tank (1), and when the initial welding position of the sealing tank (1) is rotated to the lower part of the conical head (212), under the guide action of the front guide surface (213), the detector (21) overcomes the elastic force of the detection spring (22) and lifts upwards.
10. The control method of the sealing tank V-shaped girth weld axial offset detection device is characterized by comprising the following steps:
s1, defining a current metering value as 0 meter by a meter counter (32), and starting to collect data;
s2, defining the current measurement value as 0 mm by a displacement sensor (26), and starting to acquire data;
s3, driving a welding roller frame (9) to start;
s4, the magnet (5) returns to the induction area of the reed switch magnetic control switch (33) to generate an electric signal;
s5, stopping collecting data by the meter counter (32);
s6, stopping collecting data by the displacement sensor (26);
s7, the air cylinder (4) drives the lifting frame (41) to move horizontally back to the direction of the axial lead of the sealing tank (1).
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| CN202310572207.5A CN116295191B (en) | 2023-05-22 | 2023-05-22 | Device for detecting axial offset of V-shaped girth weld of sealed tank and control method |
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Cited By (1)
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| CN117490619A (en) * | 2024-01-02 | 2024-02-02 | 金乡县万福食品机械有限公司 | Handle shearing cylinder and cylindrical surface detection device and control method thereof |
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