CN118060824B - Following welding device - Google Patents
Following welding device Download PDFInfo
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- CN118060824B CN118060824B CN202410266408.7A CN202410266408A CN118060824B CN 118060824 B CN118060824 B CN 118060824B CN 202410266408 A CN202410266408 A CN 202410266408A CN 118060824 B CN118060824 B CN 118060824B
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- 238000003466 welding Methods 0.000 title claims abstract description 174
- 238000000034 method Methods 0.000 claims abstract description 6
- 238000006073 displacement reaction Methods 0.000 claims description 50
- 230000000007 visual effect Effects 0.000 claims description 23
- 238000005452 bending Methods 0.000 claims description 13
- 210000001503 joint Anatomy 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims 1
- 238000005476 soldering Methods 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 4
- 210000003739 neck Anatomy 0.000 abstract 6
- 230000000712 assembly Effects 0.000 description 5
- 238000000429 assembly Methods 0.000 description 5
- 230000002457 bidirectional effect Effects 0.000 description 4
- 230000008054 signal transmission Effects 0.000 description 3
- 238000012546 transfer Methods 0.000 description 3
- 230000001788 irregular Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 241001184547 Agrostis capillaris Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
- B23K37/04—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass for holding or positioning work
- B23K37/0461—Welding tables
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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 for a procedure covered by only one of the other main groups of this subclass
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- Engineering & Computer Science (AREA)
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- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention discloses a following welding device which comprises a multi-direction adjusting platform, a weld neck catcher and a welding machine, wherein a plurality of bent pipe weld parts are loaded on the multi-direction adjusting platform, ports of adjacent bent pipe weld parts are aligned on the multi-direction adjusting platform to form weld necks, the weld neck catcher is arranged outside the bent pipe weld parts in a sliding mode, the welding machine is electrically connected with the weld neck catcher, and the welding machine slides to the position of a weld neck positioned by the weld neck catcher and welds the position. According to the invention, the multi-direction adjusting platform is used for fixedly arranging the bent pipe weldment at a specific position, and the electrically connected welded junction catcher and welding machine are moved along the bent pipe weldment and weld the ports of the adjacent bent pipe weldment in the moving process, so that the problem that the ports are misplaced and need to be aligned again due to the movement of the weldment in the welding process is avoided.
Description
Technical Field
The invention relates to the technical field of welding devices, in particular to a following welding device.
Background
At present, for large-scale pipe barrel type weldments, a used following welding device is often a single annular track type welding device. An annular welding machine track is erected at the joint of two pipe fittings, then a welding machine is erected on the track, and the welding machine moves in the annular track to weld pipe orifices.
However, when a plurality of interfaces are formed on a large-sized weldment, in order to ensure welding quality, two-position welded junctions are usually formed on the next weldment after welding of one interface is completed, so that in the prior art, for the weldment with multiple interfaces, the welding station moves along with the interfaces, or the interfaces move along with the welding station. In actual operation, for welding of multiple weldments, the relative positions of adjacent weldments can be changed due to frequent movement of the weldments to follow the welding stations, such as the deviation of clamping caused by vibration, inertia and other factors, so that the welding quality can be influenced to a certain extent when the welded junctions need to be realigned. For high quality welding, the welding station is not just a welding gun, but also comprises a welding system attached to the whole welding gun, so in the current scheme, when the position of the welding station needs to be adjusted, the whole welding system is often required to be moved together with the welding gun, however, because the welding gun and the welding system are integrated and are not convenient to move flexibly and are not convenient to move along with each other, high quality welding is often limited in multi-interface welding.
Disclosure of Invention
The invention aims to provide a follow-up welding device which solves the technical problem that the follow-up movement is inconvenient and limited in the welding process of a multi-interface large weldment in the prior art.
In order to solve the technical problems, the invention specifically provides the following technical scheme:
a following welding device comprises a multi-direction adjusting platform, wherein a plurality of bent pipe weldments are loaded on the multi-direction adjusting platform, and ports of adjacent bent pipe weldments are aligned on the multi-direction adjusting platform to form a welded junction;
the weld neck catcher is arranged outside the bent pipe weldment in a sliding manner and can slide along the length direction of the bent pipe weldment so as to scan and position a weld neck to be welded;
The welding machine is arranged outside the bent pipe weldment in a sliding mode, the welding machine is electrically connected with the weld neck catcher, and the welding machine slides to the position of the weld neck positioned by the weld neck catcher and welds the position.
As a preferable scheme of the invention, the multidirectional adjusting platform comprises a Z-direction lifting rod and an XY plane displacement platform, wherein the XY plane displacement platform is arranged on the Z-direction lifting rod through an axial rotating structure, the axial rotating structure rotates around a longitudinal vertical axis of the supporting foot stool, and the bent pipe weldment is arranged on the XY plane displacement platform;
The Z-direction lifting rod is used for adjusting the height of the bent pipe weldment on a Z axis, the XY plane displacement platform is used for adjusting the positions of the bent pipe weldment on an X axis and a Y axis, and the axial rotation structure is used for adjusting the placement angle of the bent pipe weldment on a horizontal plane.
As a preferable scheme of the invention, an image positioning device is arranged outside the bent pipe weldment and is electrically connected with the Z-direction lifting rod, the XY plane displacement platform and the axial rotation structure;
The image positioning device is arranged outside one of the bent pipe weldments and takes the port of the bent pipe weldment as a reference, the image sensor shoots real-time position data of the port of the other bent pipe weldment, and compares the real-time position data with the reference position data to obtain a control signal to control the Z-direction lifting rod, the XY plane displacement platform and the axial rotation structure to move.
As a preferable scheme of the invention, linear displacement tracks are arranged on both sides and above the multidirectional adjustment platform, the crater catcher is arranged in the linear displacement track above the multidirectional adjustment platform in a sliding way, the welding machine is arranged in the linear displacement tracks on both sides in a sliding way through a semicircular bracket, the semicircular bracket is electrically connected with the crater catcher, and the semicircular bracket moves to the crater to be welded through signal transmission with the crater catcher;
The welding machine comprises a welding pipe welding piece, a welding machine, a semicircular support, a welding machine and a welding machine, wherein the semicircular support is arranged on two sides of the welding pipe welding piece, the welding machine is arranged on one semicircular support, the semicircular supports on two sides can move in opposite directions to be spliced to form a whole circular support, the whole circular support encloses the welding port of the welding pipe welding piece, and the welding machine performs circular motion on the whole circular support to weld the welding port.
As a preferable scheme of the invention, a plurality of teeth are uniformly distributed on one side surface of the semicircular bracket, and the end parts of the semicircular brackets on two sides are butted to form a whole circle which is sleeved outside the bent pipe weldment;
One side of the welding machine is provided with a back-up slider, the other side of the welding machine is provided with a rotating gear set, the back-up slider is in sliding connection with the semicircular bracket, the rotating gear set is in meshed connection with the teeth, and the welding machine drives the welding machine to move on the semicircular lantern ring in a circular mode through rotation of the rotating gear set.
As a preferable scheme of the invention, the semicircular bracket is arranged on the linear displacement rail through a telescopic bracket, and the telescopic bracket drives the semicircular bracket to move towards the bent pipe weldment;
The distance between the semicircular bracket and the bent pipe weldment is measured in real time, and the stretching length of the telescopic bracket is controlled according to measurement data so as to be matched with the positions of different bending depths of the bent pipe weldment.
As a preferable scheme of the invention, a visual sensor is arranged on the semicircular bracket, the visual sensor is electrically connected with the semicircular bracket, and the visual sensor is used for detecting different positions of the inclined weld end face on two sides of the bent pipe weldment and controlling the semicircular brackets on two sides to move to the positions;
The semicircular bracket is connected with the telescopic bracket through a deflection assembly, and the deflection assembly can enable the semicircular bracket to rotate around a vertical straight line in the longitudinal direction so as to be matched with the welded junction end surfaces with different inclination angles;
The deflection assembly is electrically connected with the crater catcher or the vision sensor, and deflects according to the inclination angle of the crater end face marked by the crater catcher or the vision sensor, so that the whole circle bracket which is in the same plane with the crater is formed outside the bent pipe weldment.
As a preferable scheme of the invention, a visual sensor is arranged on the semicircular bracket, the visual sensor is electrically connected with the semicircular bracket, and the visual sensor is used for detecting different positions of the inclined weld end face on two sides of the bent pipe weldment and controlling the semicircular brackets on two sides to move to the positions;
The semicircular bracket is connected with the telescopic bracket through a deflection assembly, the deflection assembly comprises ratchet tooth columns, long plate pawls and steering shifting blocks, the ratchet tooth columns are arranged on the semicircular bracket, the ratchet tooth columns are rotationally connected with the telescopic bracket through rotating shafts, the ratchet tooth columns rotate around vertical axes, the long plate pawls are arranged on the telescopic bracket, the long plate pawls are arranged on two sides of the ratchet tooth columns and clamped on the ratchet tooth columns, the steering shifting blocks are rotationally arranged between the long plate pawls, and the steering shifting blocks can respectively rotate towards the long plate pawls on two sides and are disconnected with the ratchet tooth columns.
A method for using a following welding device is characterized in that,
The position of the bent pipe welding piece is monitored in real time by utilizing an image positioning device, and the monitored bent pipe welding piece is moved to be in butt joint with a reference bent pipe welding piece to form the whole bent pipe welding piece to be welded through a Z-direction lifting rod, an XY plane displacement platform and an axial rotation structure;
the welding mouth catcher is used for locking the welding mouth position between the welding parts of the adjacent bent pipes, and controlling the semicircular bracket to drive the welding machine to move to the position for welding;
the semicircular bracket is further rotated through the inclination angle of the end face of the crater calibrated by the crater catcher or the visual sensor, so that the semicircular bracket and the surface of the crater are in the same plane, and finally, the welding machine is enabled to carry out annular welding.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, a spatial azimuth relation is formed by utilizing the multidirectional adjusting platform and the linear displacement track, the position of the welding interface is calibrated through the image positioning device, the multidirectional adjusting platform drives the weldment to move and butt to form a welding track to be welded, and finally, the welding track position information is transmitted to the surrounding type welding machine to enable the surrounding type welding machine to move to a target position for welding, so that the automatic welding of a multi-weld engineering is achieved, namely, the welding track is guided by utilizing the spatial azimuth relation, thereby improving the flexibility in the multi-weld welding application, facilitating the following movement of the whole welding system, and improving the continuity and the high efficiency of the multi-weld following welding equipment.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those of ordinary skill in the art that the drawings in the following description are exemplary only and that other implementations can be obtained from the extensions of the drawings provided without inventive effort.
FIG. 1 is a side view of the overall structure of the present invention;
FIG. 2 is a top view of the overall structure of the present invention;
FIG. 3 is a schematic diagram of the whole structure of the whole circle bracket connected with the welding machine;
Fig. 4 is a schematic view of the structure of the deflection unit according to the present invention.
Reference numerals in the drawings are respectively as follows:
1. A multidirectional adjustment platform; 2. welded junction; 3. a self-contained assembly; 4. a surrounding type welding machine; 5. a Z-direction lifting rod; 6. an XY plane displacement platform; 7. an axial rotation structure; 8. an image positioning device; 9. a linear displacement rail; 10. a semicircular bracket; 11. a rounding bracket; 12. teeth; 13. a back-off slider; 14. a rotating gear set; 15. a telescopic bracket; 16. a deflection assembly; 17. welding machine;
161. A ratchet tooth post; 162. a long plate pawl; 163. and (5) adjusting the direction shifting sheet.
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.
As shown in fig. 1 to 4, the present invention provides a following welding device, which comprises a multi-directional adjustment platform 1, wherein a plurality of bent pipe weldments are loaded on the multi-directional adjustment platform 1, and ports of adjacent bent pipe weldments are aligned on the multi-directional adjustment platform 1 to form a welded junction 2.
The crater catcher is arranged outside the bent pipe weldment in a sliding manner, and can slide along the length direction of the bent pipe weldment so as to scan and position the crater 2 to be welded.
The welding machine 17, the welding machine 17 slides and sets up in the return bend weldment outside, welding machine 17 and weld the mouth catcher electric connection, welding machine 17 slides to the position of weld mouth 2 that the weld mouth catcher was located and welds this position.
In the device, the multi-direction adjusting platform 1 is utilized to put the bent pipe weldments in advance, the ports of the plurality of bent pipe weldments are aligned in advance through the multi-direction adjusting platform 1, then the welded junction catcher arranged outside the bent pipe weldments and the welding machine 17 slide along the length direction of the put integral bent pipe weldments, the welded junction catcher detects the position of the welded junction 2 to be welded specifically during sliding, then the welded junction 2 stops together with the welding machine 17 at the position, and then the welding machine 17 starts up a work group to weld the welded junction 2 at the position. After the welding is completed, the crater catcher and the welding machine 17 synchronously slide again, move to the next crater 2, and repeat the above operation, thereby finishing the welding of all the craters 2 on the integral pipe bending welding machine 17.
The device can be used on common bent pipe weldments, and has obvious advantages compared with fixed welding equipment, handheld welding equipment, intermittent welding equipment and the like in the prior art when the device is used for irregular bent pipe weldments with different bending degrees and multiple bending parts.
The welding device is particularly characterized in that after the welding parts are placed at the positions, the welding can be directly performed, the butt joint positions of the welding parts are not affected by subsequent operation, the welding speed is high, and the efficiency is high. Secondly, in the welding process and without overturning and rotating the welding piece, the welding machine 17 is used for annular welding, so that the working action during welding is reduced, and meanwhile, the cost for arranging professional overturning equipment is reduced. And thirdly, the weld neck catcher can move along the length direction of the integral bent pipe weldment, so that all welding seams on the weld neck catcher can be scanned, and when a plurality of bent pipe parts are connected, the weld neck catcher can be comprehensively scanned without welding leakage and welding missing. Further, the automatic positioning of the welding line and the automatic deflection of the angle of the welding machine 17 enable welding pieces with different bending degrees to be matched timely and stably, so that the welding pieces can be processed better. Finally, the crater catcher and the welding machine 17 synchronously move, so that the relevance is strong and the use efficiency is higher.
As shown in fig. 1, the multidirectional adjustment platform 1 comprises a Z-direction lifting rod 5 and an XY-plane displacement platform 6, the XY-plane displacement platform 6 is mounted on the Z-direction lifting rod 5 through an axial rotation structure 7, the axial rotation structure 7 rotates around a longitudinal vertical axis of a support foot rest, and a bent pipe weldment is arranged on the XY-plane displacement platform 6;
the Z-direction lifting rod 5 is used for adjusting the height of the bent pipe weldment on the Z axis, the XY plane displacement platform 6 is used for adjusting the positions of the bent pipe weldment on the X axis and the Y axis, and the axial rotation structure 7 is used for adjusting the placement angle of the bent pipe weldment on the horizontal plane.
An image positioning device 8 is arranged outside the bent pipe weldment, and the image positioning device 8 is electrically connected with the Z-direction lifting rod 5, the XY plane displacement platform 6 and the axial rotation structure 7;
The image positioning device 8 is arranged outside one of the bent pipe weldments, takes the port of the bent pipe weldment as a reference, and the image sensor shoots real-time position data of the port of the other bent pipe weldment, compares the real-time position data with the reference position data, and obtains control signals to control the Z-direction lifting rod 5, the XY plane displacement platform 6 and the axial rotation structure 7 to move.
In the present apparatus, the multi-directional adjustment platform 1 is capable of moving the position of an individual bent-tube weldment thereon so that it can be aligned with the ports of an adjacent bent-tube weldment. The moving direction is four-way, wherein the Z-direction lifting rod 5 controls the adjustment of the height of the bent pipe weldment in the vertical direction, the XY plane displacement platform 6 is used for adjusting the positions of the bent pipe weldment in the transverse direction and the longitudinal direction, the axial rotating structure can deflect the angles of the bent pipe weldments, namely, when the ports of two adjacent bent pipe weldments are positioned on the same horizontal plane, the axial rotating structure 7 deflects the ports of the two bent pipe weldments, and therefore the butt joint is realized.
For a specific structure, various mature technologies exist in the prior art, for example, an electric, pneumatic, hydraulic and other telescopic polished rod can be used for the Z-direction lifting rod 5, and the bidirectional displacement device can utilize the overlapping arrangement of two ball sliding tables which are mutually perpendicular, and can operate the bent pipe weldment to move in different directions by moving different sliding tables. The axis rotating mechanism can be provided with a rotating polish rod, the rotating polish rod is arranged below the bidirectional displacement device, and can be positioned between the Z-direction lifting rod 5 and the bidirectional displacement device, and the rotating polish rod axially rotates along the rotating polish rod, so that the bidirectional displacement device is driven to rotate, and the bent pipe weldment can be driven to rotate to adjust the position of the port of the bent pipe weldment.
Further, by utilizing the cooperation of the image positioning device 8 with the Z-direction lifting rod 5, the XY plane displacement platform 6 and the axial rotating structure 7, the implementation monitoring and signal transmission of the image positioning device 8 enable the Z-direction lifting rod 5, the XY plane displacement platform 6 and the axial rotating structure 7 to act in real time, so that the purpose of automatic intelligent positioning is achieved. Wherein the image positioning means 8 service has various embodiments, for example a CCD image system.
Wherein, the image positioning device 8 can be arranged outside the pipe bending welder 17 and is independently installed through a mounting bracket. For example, when the work starts, a plurality of bent pipe weldments are randomly placed on the Z-direction lifting rod 5, the image positioning device 8 is installed above the Z-direction lifting rod 5 through the installation support, then the image positioning device 8 can be manually moved to the end part of one of the bent pipe weldments, then the adjacent bent pipe weldments are detected to move, after the butt joint is finished, the image positioning device 8 can be manually moved to the end part of the next bent pipe weldment, and then the operation is performed, so that the position placement of the corresponding port of the whole bent pipe welder 17 is finished.
Further, the crater catcher and welder 17 may be slidably disposed on the outside of the elbow weldment by a linear displacement rail 9. Wherein, linear displacement track 9 can set up in multi-direction adjustment platform 1 both sides and top, and the crater catcher slides and sets up in the linear displacement track 9 that is located the top, and welding machine 17 slides through semicircle support 10 and sets up in the linear displacement track 9 that is located both sides, semicircle support 10 and crater catcher electric connection, and semicircle support 10 through with the signal transmission of crater catcher remove to the crater 2 department of waiting to weld.
As shown in fig. 2, the semicircular brackets 10 are disposed at two sides of the bent pipe weldment, the welding machine 17 is disposed on one of the semicircular brackets 10, the semicircular brackets 10 at two sides can move in opposite directions to splice to form a whole circular bracket 11, which encloses the welded junction 2 of the bent pipe weldment, and the welding machine 17 performs circular motion on the whole circular bracket 11 to weld the welded junction 2.
In the present apparatus, the linear displacement rail 9 may be a vertical rail extending along the length direction of the integral elbow weldment or a curved rail extending along the curved track of the integral elbow weldment. The welding machine 17 is arranged on the semicircular bracket 10, the semicircular bracket 10 is arranged in the linear displacement rail 9, namely, the contact between the welding machine 17 and the welded junction 2 is used by splicing the semicircular bracket 10 into a complete annular rail in a way of opposite movement.
The welder 17 may be a pipe welder of the prior art, which performs a circular weld by a track motion on an annular collar. However, the bottom of the integral bent pipe weldment in the device needs to be connected with the Z-direction lifting rod 5, so that the existing integral whole round bracket 11 cannot be sleeved outside the bent pipe weldment, and the integral whole round bracket 11 formed by splicing is arranged. When welding is not needed, the two parts are respectively moved in the linear displacement rail 9, and when welding is needed, the two parts are oppositely moved and spliced to form the whole-circle bracket 11 for the operation of the welding machine 17. Wherein the welder 17 can be stably arranged on half of the semicircular bracket 10.
Further, a plurality of teeth 12 are uniformly distributed on one side surface of the semicircular bracket 10, and the end parts of the semicircular brackets 10 on two sides are butted to form a whole circle which is sleeved outside the bent pipe weldment.
One side of the welding machine 17 is provided with a back-up slider 13, the other side is provided with a rotary gear set 14, the back-up slider 13 is in sliding connection with the semicircular bracket 10, the rotary gear set 14 is in meshed connection with the teeth 12, and the welding machine 17 drives the welding machine 17 to move circumferentially on the semicircular lantern ring through rotation of the rotary gear set 14.
The connection structure of the semicircular bracket 10 and the welding machine 17 can be as described above, and the welding machine 17 is driven to rotate on the semicircular bracket 10 by the engagement connection of the rotating gear set 14 and the teeth 12 and the rotation of the rotating gear set 14.
Further, the semicircular bracket 10 is mounted on the linear displacement rail 9 through the telescopic bracket 15, and the telescopic bracket 15 drives the semicircular bracket 10 to move towards the bent pipe weldment.
The semicircular bracket 10 is provided with a spacing observation assembly, the spacing observation assembly is electrically connected with the telescopic bracket 15, and the spacing observation assembly is used for measuring the distance between the semicircular bracket 10 and the bent pipe weldment in real time and controlling the extending length of the telescopic bracket 15 according to measurement data so as to match the positions of different bending depths of the bent pipe weldment.
When the linear displacement rails 9 are arranged on the outer side of the bent pipe weldment in two vertical straight lines, a plurality of bending positions with different degrees exist on the bent pipe weldment at the moment, so that the bending positions are different from the linear displacement rails 9 on the two sides, and the pushing lengths of the semicircular brackets 10 on the two sides are different when the semicircular brackets are mutually spliced and sleeved outside the bent pipe weldment, and the semicircular brackets are installed on the linear displacement rails 9 through the telescopic brackets 15.
The distance between the semicircular brackets 10 on two sides and the bent pipe weldment in the middle is observed through the distance observation assembly, so that the semicircular brackets 10 are driven to be stably spliced at the periphery of the bent pipe weldment.
Further, a visual sensor is arranged on the semicircular bracket 10, the visual sensor is electrically connected with the semicircular bracket 10, and the visual sensor is used for detecting different positions of the end faces of the inclined weld neck 2 on two sides of the bent pipe weldment and controlling the semicircular brackets 10 on two sides to move to the positions.
The semicircular bracket 10 is connected with the telescopic bracket 15 through the deflection assembly 16, and the deflection assembly 16 can enable the semicircular bracket 10 to rotate around a vertical straight line in the longitudinal direction so as to match the end faces of the welded junctions 2 with different inclination angles.
The deflection assembly 16 is electrically connected with the crater catcher or the visual sensor, and deflects according to the inclination angle of the end face of the crater 2 marked by the crater catcher or the visual sensor, so as to form a whole circle bracket 11 on the same plane with the crater 2 outside the bent pipe weldment.
In practice, for some non-standard elbow weldments, the tangent plane to the end port is sometimes at an oblique angle and is not straight. I.e. the individual craters 2 of the integral bent-tube weldment are not a transverse straight line but an oblique straight line in a plan view.
Therefore, the semicircular brackets 11 formed by mutually splicing the semicircular brackets 10 on the two sides are not parallel to the plane of the weld neck 2, so that the welding machine 17 cannot weld. Therefore, a visual sensor and deflection assembly 16 is provided on the semicircular bracket 10. Because the inclined port is shown on the bent pipe weldment, the positions of the welded junctions 2 on two sides of the bent pipe weldment are inconsistent, namely one is higher and one is lower, after the specific positions are scanned by the visual sensor, the semicircular supports 10 on two sides are driven to slide on the linear displacement rail 9 so as to reach the accurate positions (namely, the welded junction catcher is positioned to the central position of the inclined welded junction 2, the semicircular supports 10 are controlled to move to the central position, and the positions on two sides of the inclined welded junction 2 are different from the central position, namely one is higher and one is lower, so that the inclined welded junction 2 is scanned by the visual sensor at the moment, and the semicircular supports 10 are controlled to move to the positions after the specific positions on two sides of the inclined welded junction 2 are positioned.
When the semicircular brackets 10 on two sides are in place, the deflection assemblies 16 on the semicircular brackets 10 work at the moment, when the position of the welding port 2 is positioned by sliding the welding port catcher through the deflection assemblies 16 and the semicircular brackets 10, the inclination angle of the welding port 2 is calibrated, and meanwhile, the inclination angle is transmitted to the deflection assemblies 16, when the telescopic brackets 15 push the semicircular brackets 10 to move oppositely, the deflection assemblies 16 work at the same time, the deflection assemblies deflect to form the whole circular brackets 11 on the same plane with the end face of the welding port 2, and the welding machine 17 can work normally at the moment.
Specifically, the transverse crater 2 can be used as a reference angle to be input into the crater catcher in advance, the inclination angle of the actual crater 2 is scanned by the crater catcher, the inclination angle is compared with the reference angle to obtain a deviation angle, and finally the deviation angle is transmitted to the deflection assembly 16, so that the deflection assembly 16 can drive the semicircular bracket 10 to deflect by a correct angle.
The design is very convenient for non-standard welded pipes, irregular bent pipe weldments with different bending degrees and multiple bending parts, a worker does not need to adjust the welding head position of the welding machine 17, and the welding parts do not need to be inclined to match the welding head 17 position, so that the two welding parts are automatically contacted with each other, and the welding is finished.
In addition, the manner of deflecting the semicircular stent 10 described above is automatic, which is one embodiment of the present device, while another embodiment exists at the same time, which is manually adjusted by a worker. As will be described below,
As shown in fig. 4, a visual sensor is disposed on the semicircular bracket 10, and the visual sensor is electrically connected with the semicircular bracket 10, and is used for detecting different positions of the end surfaces of the inclined weld neck 2 on two sides of the bent pipe weldment, and controlling the semicircular brackets 10 on two sides to move to the positions.
The semicircle support 10 is connected with the telescopic support 15 through the deflection assembly 16, the deflection assembly 16 includes ratchet tooth post 161, long board pawl 162 and transfer to plectrum 163, ratchet tooth post 161 sets up on semicircle support 10, ratchet tooth post 161 rotates with telescopic support 15 through the axis of rotation and is connected, and ratchet tooth post 161 rotates around vertical axial, long board pawl 162 sets up on telescopic support 15, long board pawl 162 sets up in ratchet tooth post 161 both sides and block on ratchet tooth post 161, transfer to plectrum 163 rotates and sets up between long board pawl 162, and transfer to plectrum 163 can rotate towards long board pawl 162 of both sides respectively and disconnect long board pawl 162 and ratchet tooth post 161.
The position of the bent pipe weldment is monitored in real time by utilizing an image positioning device 8, and the monitored bent pipe weldment is moved to be in butt joint with a reference bent pipe weldment to form the whole bent pipe weldment to be welded through a Z-direction lifting rod 5, an XY plane displacement platform 6 and an axial rotating structure 7;
the position of a weld neck 2 between adjacent bent pipe weldments is locked through a weld neck catcher, and the semicircular bracket 10 is controlled to drive the welding machine 17 to move to the position for welding;
The semicircular bracket 10 is further rotated by the inclination angle of the end face of the crater 2 marked by the crater catcher or the visual sensor so that the semicircular bracket and the surface of the crater 2 are in the same plane, and finally the welder 17 is enabled to perform annular welding.
Furthermore, the device can accurately position the non-standard bent pipe weldment and the oblique welding notch to the to-be-welded area by arranging the components such as the interval sensor, the visual sensor and the like, so that the annular welding of the interface is completed, the overall welding quality is improved, and the application range is enlarged.
The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application, the scope of which is defined by the claims. Various modifications and equivalent arrangements of this application will occur to those skilled in the art, and are intended to be within the spirit and scope of the application.
Claims (3)
1. A follow-up welding device, comprising:
The device comprises a multidirectional adjusting platform (1), wherein a plurality of bent pipe weldments are borne on the multidirectional adjusting platform (1), the multidirectional adjusting platform (1) comprises a Z-direction lifting rod (5) and an XY plane displacement platform (6) which drive the bent pipe weldments to move longitudinally and transversely respectively, the XY plane displacement platform (6) is arranged on the Z-direction lifting rod (5) through an axial rotating structure (7), and the XY plane displacement platform (6) rotates around the longitudinal vertical axis of the Z-direction lifting rod (5) through the axial rotating structure (7) so as to adjust the placement angle of a bent pipe weldment port on a horizontal plane;
the linear displacement rails (9) are arranged on two sides of the multidirectional adjusting platform (1) and form a spatial azimuth relation with the multidirectional adjusting platform (1) for covering all the pipe bending welding machines, and the circular welding machines (4) are slidably arranged on the linear displacement rails (9);
The image positioning device (8), the image positioning device (8) is in communication connection with the Z-direction lifting rod (5), the XY plane displacement platform (6) and the axial rotating structure (7), the image positioning device (8) is used for monitoring the position information of each bent pipe weldment port in the spatial azimuth relation, and the image positioning device (8) is used for monitoring and transmitting signals according to the position information through the implementation of the image positioning device (8), so that the Z-direction lifting rod (5), the XY plane displacement platform (6) and the axial rotating structure (7) act in real time, and the port positions of adjacent bent pipe weldments are adjusted to enable the ports of the adjacent bent pipe weldments to be connected with each other to form welding marks to be welded;
the control box is used for receiving the welding information formed by the image positioning device (8) and driving the surrounding welding machine (4) to slide to the position according to the welding information to perform welding work;
The surrounding welding machine (4) comprises a whole assembly component (3), semicircular supports (10) and a welding machine (17), wherein the whole assembly component (3) is slidably arranged on the linear displacement rails (9) arranged on two sides, the semicircular supports are connected with the whole assembly component (3), the semicircular supports (10) on two sides can move in opposite directions to be spliced to form a whole circular support (11) which encloses a welding point of a bent pipe weldment, the welding machine (17) is arranged on one semicircular support (10), and the welding machine (17) moves circularly on the whole circular support (11) to weld a welding port (2);
The self-contained assembly (3) comprises a telescopic bracket (15) and a distance observation assembly, one end of the telescopic bracket (15) is slidably arranged in the linear displacement rail (9), the other end of the telescopic bracket is connected with the semicircular brackets (10), and the telescopic bracket (15) is used for driving the two semicircular brackets (10) to move towards the bent pipe weldment;
The distance observation assembly is arranged on the semicircular bracket (10), the distance observation assembly is electrically connected with the telescopic bracket (15), and is used for measuring the distance between the semicircular bracket (10) and the bent pipe weldment in real time and controlling the extending length of the telescopic bracket (15) according to measured data so as to match the positions of different bending depths of the bent pipe weldment;
The visual sensor is arranged on the semicircular bracket (10), is electrically connected with the semicircular bracket (10), and is used for detecting different positions of the inclined end face of the welded junction (2) on two sides of the bent pipe weldment and controlling the semicircular brackets (10) on two sides to move to the positions;
The semicircular bracket (10) is connected with the telescopic bracket (15) through a deflection assembly (16), and the deflection assembly (16) can enable the semicircular bracket (10) to rotate around a longitudinal vertical straight line so as to be matched with the end faces of the welded junctions (2) with different inclination angles;
The deflection assembly (16) is electrically connected with the image positioning device (8) or the visual sensor, and deflects according to the inclination angle of the end face of the welded junction (2) marked by the image positioning device (8) or the visual sensor so as to form the whole circle bracket (11) on the same plane with the welded junction (2) outside the bent pipe weldment;
The deflection assembly (16) comprises ratchet teeth columns (161), long plate pawls (162) and steering shifting plates (163), the ratchet teeth columns (161) are arranged on the semicircular support (10), the ratchet teeth columns (161) are rotationally connected with the telescopic support (15) through rotating shafts, the ratchet teeth columns (161) rotate around vertical axes, the long plate pawls (162) are arranged on the telescopic support (15), the long plate pawls (162) are arranged on two sides of the ratchet teeth columns (161) and are clamped on the ratchet teeth columns (161), the steering shifting plates (163) are rotationally arranged between the long plate pawls (162), and the steering shifting plates (163) can respectively rotate towards the long plate pawls (162) on two sides and disconnect the long plate pawls (162) from the ratchet teeth columns (161).
2. A following welding device as defined in claim 1, wherein,
An annular slideway is arranged on one side surface of the semicircular bracket, a plurality of teeth (12) are uniformly arranged on the other side surface of the semicircular bracket, and the annular slideway and the teeth (12) on the circular bracket are synchronously spliced to form a circular slideway and circular teeth;
The welding machine (17) is slidably mounted in the whole circular slideway through the back-buckling sliding block (13), the welding machine (17) is further connected with the whole circular teeth on the other side face of the semicircular bracket (10) through a rotating gear set (14) in a meshed mode, and the welding machine (17) drives the welding machine to move on the whole circular bracket (11) through rotation of the rotating gear set (14).
3. A method of using a trailing soldering device according to claim 1 or 2, comprising the steps of:
The position of the bent pipe weldment is monitored in real time by utilizing an image positioning device (8), and the monitored bent pipe weldment is moved to be in butt joint with a reference bent pipe weldment to form the whole bent pipe weldment to be welded through a Z-direction lifting rod (5), an XY plane displacement platform (6) and an axial rotating structure (7);
the position of a welded junction (2) between adjacent bent pipe weldments is locked through an image positioning device (8), and a semicircular bracket (10) is controlled to drive a welding machine (17) to move to the position for welding;
the semicircular bracket (10) is further rotated through the inclination angle of the end face of the welding port (2) calibrated by the image positioning device (8) or the visual sensor, so that the semicircular bracket and the surface of the welding port (2) are positioned on the same plane, and finally, the welding machine (17) is subjected to annular welding.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410266408.7A CN118060824B (en) | 2024-03-08 | 2024-03-08 | Following welding device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410266408.7A CN118060824B (en) | 2024-03-08 | 2024-03-08 | Following welding device |
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| CN118060824B true CN118060824B (en) | 2024-11-08 |
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| CN118664161B (en) * | 2024-08-21 | 2024-12-24 | 溧阳市飞跃机电有限公司 | Intelligent welding positioning device for large wind power stator base |
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| CN112008310A (en) * | 2020-06-30 | 2020-12-01 | 湖北锦翔能源工程有限公司 | Integrated welding system and method for large-scale storage tank vault beam |
| CN114193049A (en) * | 2022-01-27 | 2022-03-18 | 山东汇谦能源技术有限公司 | Petroleum pipeline grafting intelligence welding set |
| CN115684214A (en) * | 2022-11-01 | 2023-02-03 | 成都南方电子仪表有限公司 | Weld joint positioning flaw detection system and method |
| CN116352360A (en) * | 2023-06-02 | 2023-06-30 | 南皮县华丰电子有限公司 | Positioning welding device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3848863A (en) * | 1973-05-03 | 1974-11-19 | Pullman Inc | Welding jig |
| CN115647677B (en) * | 2022-11-14 | 2023-03-17 | 江苏武新泵业有限公司 | Circular seam welding machine |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112008310A (en) * | 2020-06-30 | 2020-12-01 | 湖北锦翔能源工程有限公司 | Integrated welding system and method for large-scale storage tank vault beam |
| CN114193049A (en) * | 2022-01-27 | 2022-03-18 | 山东汇谦能源技术有限公司 | Petroleum pipeline grafting intelligence welding set |
| CN115684214A (en) * | 2022-11-01 | 2023-02-03 | 成都南方电子仪表有限公司 | Weld joint positioning flaw detection system and method |
| CN116352360A (en) * | 2023-06-02 | 2023-06-30 | 南皮县华丰电子有限公司 | Positioning welding device |
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