CN201913350U - Automatic welding equipment for corrugated pipes for transformers - Google Patents
Automatic welding equipment for corrugated pipes for transformers Download PDFInfo
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- CN201913350U CN201913350U CN2010206397445U CN201020639744U CN201913350U CN 201913350 U CN201913350 U CN 201913350U CN 2010206397445 U CN2010206397445 U CN 2010206397445U CN 201020639744 U CN201020639744 U CN 201020639744U CN 201913350 U CN201913350 U CN 201913350U
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Abstract
Automatic welding equipment for corrugated pipes for transformers belongs to the technical field of welding of corrugated pipes for transformers, and comprises a rotary worktable, a two-dimensional numerical-control platform, a laser contracer, an R-axle, a welding machine tool and a control system. The rotary worktable is fixed on a working surface of the machine tool, one end of the R-axle is slidably mounted on a lathe bed of the welding machine tool, the laser contracer and the two-dimensional numerical-control platform sliding along the R-axle are respectively mounted on two sides of the other end of the R-axle, a welding gun is slidably connected to the two-dimensional numerical-control platform, laser from the laser contracer is parallel to the axis of the welding gun, the rotary worktable, the two-dimensional numerical-control platform and the lathe bed of the welding machine tool are respectively connected with a controller of the control system through a motor, and the laser contracer is connected with an industrial personal computer of the control system. By the aid of the automatic welding equipment for corrugated pipes for transformers, difficulty in manual welding of thin-wall corrugated pipes is overcome, labor intensity of welding workers is reduced, production efficiency is increased, and uniformity and stability of welding quality are guaranteed simultaneously.
Description
Technical field
The invention belongs to and be applied in transformer bellows welding technology field, relate to a kind of transformer bellows welding equipment.
Background technology
Metal bellows all can produce the characteristics of corresponding displacement because of it has under pressure, axial force, cross force or moment of flexure effect, and have many advantages such as withstand voltage, vacuum seal, corrosion-resistant, temperature stabilization and long service life, therefore obtain more and more widely application at field transformer.
In production practices, the transformer bellows is to be formed by the welding of multistage bellows and support ring, is one with other components and parts (as flange etc.) weldering often also, composition bellows class component.Bellows element axially and deviation radially all more than 20mm, welding quality is difficult to guarantee.There are shortcomings such as automaticity is low, labor strength is high, production efficiency is low, percent defective height in traditional manual welding technology.Therefore, utilizing advanced control method, realize the automatic welding of transformer with bellows, is the great technological innovation that transformer is produced with bellows, will greatly improve the welding quality and the production efficiency of bellows.
Present automatic welding device, adopt the contactless CCD image sensing mostly, obtain near the image information of weld seam, carrying out image by computer again handles to obtain the needed control information of weld joint tracking, the image processing process of this method is more loaded down with trivial details, and be difficult to reach the real-time and the required precision of automatic welding process, therefore not too suitable with the automatic welding of bellows for transformer.
Summary of the invention
At the technical problem of above-mentioned existence, the invention provides a kind of bellows automatic welding device based on laser measuring technique, on the basis of laser measuring technique, realized the real-time measurement and the tracking of bellows position while welding.It is to use the laser profile measuring instrument to follow the tracks of the position coordinates that detects weld seam, can realize measuring the synchronous operation with tracing process, guarantees the automatic welding quality of bellows.
The present invention includes rotary table, the two dimension digital control platform, the laser profile measuring instrument, the R axle, welding machine tool and control system, described rotary table is fixed on the platen face, R axle one end is slidingly mounted on the lathe bed of welding machine tool, the two-dimentional digital control platform that other end both sides are separately installed with the laser profile measuring instrument and slide along the R axle, on two-dimentional digital control platform, slidely connect welding gun, the laser of described laser profile measuring instrument is parallel with the welding gun axis, described rotary table, by the controller of motor connection control system, the laser profile measuring instrument is connected with the industrial computer of control system respectively for two dimension digital control platform and welding machine tool lathe bed.
Described two-dimentional digital control platform comprises first slide block and perpendicular second slide block that is slidingly connected, and first slide block and R axle are slidingly connected.Leading screw screw structure is all adopted in being slidingly connected between described R axle and bed piece, between first slide block and R between centers, first slide block and second slide block, between welding gun and second slide block, and described each leading screw all is connected with its drive motors.The leading screw two ends of described first slide block, second slide block, bed piece are respectively equipped with limit switch.
The present invention has following advantage:
(1) the present invention has realized the automatic welding of bellows by the control machinery systematic collaboration effect of controller.Can improve the production efficiency of bellows, guarantee the uniformity of welding quality.
(2) the present invention adopts the laser profile measuring instrument, to the online real-time measurement of bellows shaft section shape, has realized the accurate tracking in bellows welding slit.For the Self Adaptive Control of welding process provides technical foundation.And the laser profile measuring instrument can be at a distance, high-speed, high accuracy, measure weld seam information non-contactly, and have applied widelyly, is not subjected to characteristics such as measured material character restriction.
(3) the invention solves the manual welding difficult problem of large thin-wall bellows, reduced welder's labour intensity, improved production efficiency, guaranteed the uniformity and the stability of welding quality simultaneously.
(4) use automatic welding device of the present invention, can realize the bellows welding of core body cylindricity 30mm, bonding wire flatness 30mm, slit 0～0.3mm, the whole free height scope of core body 800～1600mm, core body maximum weight 600kg.
Description of drawings
Fig. 1 is an automatic welding device overall construction drawing of the present invention.
Fig. 2 is the mechanical schematic diagram of automatic welding device of the present invention.
Fig. 3 is a control system theory diagram of the present invention.
Fig. 4 is a weld bead feature points leaching process block diagram of the present invention.
Among the figure: 1. anchor clamps, 2. rotary table, 3. welding gun, 4. two-dimentional digital control platform, 5. laser profile measuring instrument, 6. lathe bed, 7. switch board, 8. bellows, 9. first slide block, 10.R axle, 11. second slide blocks.
The specific embodiment
Describe the present invention in detail below in conjunction with embodiment and accompanying drawing.
Embodiment 1: at the bellows of different size, must have 5 frees degree as the welding gun that welds device and could satisfy the requirement of operating position.Therefore, as shown in Figure 1, the present invention includes rotary table 2, two dimension digital control platform 4, laser profile measuring instrument 5, R axle 10 and welding machine tool, described rotary table 2 is fixed on the platen face, R axle 10 1 ends are slidingly mounted on the lathe bed 6 of welding machine tool, the two-dimentional digital control platform 4 that other end both sides are separately installed with laser profile measuring instrument 5 and slide along R axle 10, on two-dimentional digital control platform, slidely connect welding gun 3, the laser of described laser profile measuring instrument 5 is parallel with welding gun 3 axis, described rotary table 2, by the controller of motor connection control system, laser profile measuring instrument 5 is connected with the industrial computer of control system respectively for two dimension digital control platform 4 and welding machine tool lathe bed 6.
As shown in Figure 2, the described two-dimentional digital control platform 4 of this example comprises that first slide block 9 and perpendicular second slide block, 11, the first slide blocks 9 that are slidingly connected are slidingly connected with R axle 10.Leading screw screw structure is all adopted in being slidingly connected of 11 of 6 of described R axle 10 and bed pieces, first slide block 9 and 10 on R axle, first slide block 9 and 11 of second slide blocks, welding gun 3 and second slide blocks, and described each leading screw all is connected with its drive motors.The leading screw two ends of described first slide block 9, second slide block 11, bed piece 6 are respectively equipped with limit switch.
The course of work of the present invention:
As shown in Figure 1, the present invention is installed in bellows 8 on the rotary table 2 that constitutes the C axle when work; Welding gun 3 is installed in and constitutes on X-axis and the Z axle two dimension digital control platform 4, can follow that bellows 8 weld seams are radial and axial adjusts motion; The X-axis that first slide block 3 constitutes is radially adjusted, and the Z axle that second slide block 7 constitutes is axially adjusted.According to bellows 8 diameter variation, first slide block 3 drives second slide blocks 7 and welding gun 3 and can move radially doing big distance along R axle 10; The R axle can move along bed piece 6 short transverses with the height change of different weld seams; X, Z, H and C axle in five axles are controlled by motion controller, and three of XZC realize interlock control by controller in the welding process, drive welding gun 3 and arrive the required corresponding exact position of welding jobs, and the motion of satisfying the different workpieces welding realizes needs.
Automatically the Digital Control of welding process need be considered the deviation of workpiece geometries, factors such as thermal deformation in seam fit-up gap error and the weldment welding process, control system of the present invention as shown in Figure 3, comprise interconnective controller and industrial computer, described industrial computer is connected with laser profile measuring instrument 5, controller respectively with welding gun 3, first slide block 9, second slide block 11, rotary table, drive motors on the bed piece 6 and feedback element (encoder on each drive motors) connect, feed back the position at welding gun 3 places in real time by each encoder, with the starting the arc and the movement locus of control welding gun.
The self-adaptation control method of the controller described in the present invention, adopting laser triangulation is the shaft section of the online detection bellows of laser profile measuring instrument on basis, because bellows is irregularly shaped, weld seam in dynamic rotary course extracts and exists inevitably from outside and inner interference simultaneously, and influence detects the effect and the data degree of accuracy.Concrete steps are as follows:
1. weld image preliminary treatment, set the initial measurement zone: the purpose that data are handled is accurately to extract the characteristic point position of weld seam, for control and regulation provide control data.After beginning welding, position while welding axially, the variation that do not stop of radially coordinate.In order to follow the tracks of the position of tested weld profile accurately, when measuring beginning, need the profile oscillogram on initial weld seam axially, the footpath direction limits, and sets the initial measurement zone.
2. extract the weld signature point: as shown in Figure 4, (1) earlier weld seam is adjusted in the predefined measured zone, feature according to weld seam, tell four kinds of dissimilar weld seams respectively, promptly flex point, two flex points, three flex points and more than the situation of three flex points are asked for the position while welding coordinate respectively according to these four kinds of different situations;
1. the situation of a flex point: the data that promptly collect in sample area have only a flex point, and the flex point coordinate promptly is taken as the position coordinates at weld seam center;
2. the situation of two flex points: extract the coordinate of two flex points, the mean value that calculates at 2 is taken as the weld seam center position coordinates;
3. the situation of three flex points: the coordinate figure of three flex points relatively, the maximum of getting at 3 is the weld seam center position coordinates;
4. greater than the situation of three flex points: extract the whole maximum points in the flex point, ask they X-axis coordinate mean value and Z axial coordinate mean value as the position while welding coordinate of estimating;
(2) analysis image obtains the whole piece outline data by 1394 communications protocol;
(3) formation mode is stored data.
3. utilize least square line match principle to find the solution the welding coordinate: the weld seam coordinate that is obtained by the original measurement profile is the initial value that has error and mutability, therefore need handle detecting data, to obtain stable and continuous welding coordinate, the present invention adopts least square line match principle that the coordinate figure that detects is carried out match and prediction, can guarantee that the welding gun action is continuous, stable, velocity jump does not take place, and guarantees welding quality.
The method step that the present invention welds automatically is as follows:
1. workpiece is installed, work piece hoisting is also fixed to rotary table 2;
2. start-up control system: industrial computer and controller;
3. to rifle: when distance between welding gun 3 and the weld seam is big, adjust the H axle that R axle 10 and bed piece 6 constitute, distance is hour between the two when R axle 10 and lathe bed 6, adjust first slide block 9 (X-axis) and second slide block 11 (Z axle), the position of control welding gun 3, when welding gun 3 is aimed at weld seam, guarantee that first slide block 9 (X-axis) and second slide block 11 (Z axle) are in the stroke centre position;
4. by the software interface of industrial computer, after affirmation soldering angle, specification of workpieces and the welding parameter, begin welding processing;
5. move to next bar weld seam, carry out welding processing;
6. after all the weld seam welding is finished, withdraw from welding gun, the dismounting workpiece.
Use automatic soldering method of the present invention and welding equipment, can realize the bellows welding of core body cylindricity 30mm, bonding wire flatness 30mm, slit 0～0.3mm, the whole free height scope of core body 800～1600mm, core body maximum weight 600kg.
Claims (4)
1. a transformer is with bellows weld seam automatic welding device, it is characterized in that: comprise rotary table, the two dimension digital control platform, the laser profile measuring instrument, the R axle, welding machine tool and control system, described rotary table is fixed on the platen face, R axle one end is slidingly mounted on the lathe bed of welding machine tool, the two-dimentional digital control platform that other end both sides are separately installed with the laser profile measuring instrument and slide along the R axle, on two-dimentional digital control platform, slidely connect welding gun, the laser of described laser profile measuring instrument is parallel with the welding gun axis, described rotary table, by the controller of motor connection control system, the laser profile measuring instrument is connected with the industrial computer of control system respectively for two dimension digital control platform and welding machine tool lathe bed.
2. transformer according to claim 1 bellows weld seam automatic welding device, it is characterized in that: described two-dimentional digital control platform comprises first slide block and perpendicular second slide block that is slidingly connected, and first slide block and R axle are slidingly connected.
3. transformer according to claim 1 bellows weld seam automatic welding device, it is characterized in that: leading screw screw structure is all adopted in being slidingly connected between described R axle and bed piece, between first slide block and R between centers, first slide block and second slide block, between welding gun and second slide block, and described each leading screw all is connected with its drive motors.
4. transformer according to claim 3 bellows weld seam automatic welding device, it is characterized in that: the leading screw two ends of described first slide block, second slide block, bed piece are respectively equipped with limit switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206397445U CN201913350U (en) | 2010-12-03 | 2010-12-03 | Automatic welding equipment for corrugated pipes for transformers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206397445U CN201913350U (en) | 2010-12-03 | 2010-12-03 | Automatic welding equipment for corrugated pipes for transformers |
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| CN201913350U true CN201913350U (en) | 2011-08-03 |
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| CN2010206397445U Expired - Fee Related CN201913350U (en) | 2010-12-03 | 2010-12-03 | Automatic welding equipment for corrugated pipes for transformers |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102485401A (en) * | 2010-12-03 | 2012-06-06 | 中国科学院沈阳自动化研究所 | Automatic corrugated pipe welding equipment for transformer and welding method thereof |
| CN104002015A (en) * | 2014-05-28 | 2014-08-27 | 宁波管通机械有限公司 | Vertical type circular seam automatic pipe welder |
| CN105904132A (en) * | 2016-06-29 | 2016-08-31 | 新疆威奥科技股份有限公司 | Pipeline tapping cutting and butt weld welding working station |
| CN117020485A (en) * | 2023-08-04 | 2023-11-10 | 北京石油化工学院 | 8-shaped expansion corrugated pipe mobile welding robot and design method thereof |
-
2010
- 2010-12-03 CN CN2010206397445U patent/CN201913350U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102485401A (en) * | 2010-12-03 | 2012-06-06 | 中国科学院沈阳自动化研究所 | Automatic corrugated pipe welding equipment for transformer and welding method thereof |
| CN104002015A (en) * | 2014-05-28 | 2014-08-27 | 宁波管通机械有限公司 | Vertical type circular seam automatic pipe welder |
| CN105904132A (en) * | 2016-06-29 | 2016-08-31 | 新疆威奥科技股份有限公司 | Pipeline tapping cutting and butt weld welding working station |
| CN105904132B (en) * | 2016-06-29 | 2018-05-22 | 新疆威奥科技股份有限公司 | Pipeline tapping cutting and butt weld welding workstation |
| CN117020485A (en) * | 2023-08-04 | 2023-11-10 | 北京石油化工学院 | 8-shaped expansion corrugated pipe mobile welding robot and design method thereof |
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| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110803 Termination date: 20131203 |