CN202411631U - Real-time tracking device for longitudinal seam welding of welded pipe - Google Patents
Real-time tracking device for longitudinal seam welding of welded pipe Download PDFInfo
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- CN202411631U CN202411631U CN 201120509368 CN201120509368U CN202411631U CN 202411631 U CN202411631 U CN 202411631U CN 201120509368 CN201120509368 CN 201120509368 CN 201120509368 U CN201120509368 U CN 201120509368U CN 202411631 U CN202411631 U CN 202411631U
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Abstract
The utility model relates to a real-time tracking device for the longitudinal seam welding of a welded pipe. The real-time tracking device comprises a visual sensor which is connected with a welding gun integrally and is positioned in front of the welding gun, a microcomputer controller and a weld seam tracking execution mechanism, wherein the weld seam tracking execution mechanism consists of an arc-shaped carriage transmission mechanism and a vertical carriage transmission mechanism; the arc-shaped carriage transmission mechanism is provided with an arc-shaped guide rail corresponding to the cambered surface of the welded pipe above the welded pipe; a slide block which is driven by a first servo motor through a transmission gear ring is arranged on the arc-shaped guide rail; the vertical carriage transmission mechanism is provided with a vertical guide rail; a second slide block which is driven by a second servo motor is arranged on the vertical guide rail and is connected with the welding gun; and a gear ring base of the transmission gear ring, which is arranged in the arc-shaped carriage transmission mechanism, is connected with a vertical guide rail frame of the vertical guide rail, which is arranged in the vertical carriage transmission mechanism. The real-time tracking device is strict in structure and reliable in operation, and can adapt to the automatic real-time tracking of the longitudinal seam welding of the welded pipes of different pipe diameters effectively.
Description
Technical field
the present invention relates to a kind of weld tracker of arc welding.
Background technology
weld tracker is the important device in the welding automatic control system, and advanced at present weld tracker is a visual sensing formula tracking means, and it mainly is made up of vision sensor, microcomputerized controller and welding gun transmission executing agency.The welding gun transmission executing agency that wherein connects mutually with microcomputerized controller is generally the crosshead shoe governor motion, and its adjustable range is little, can only adapt to the welded tube than minor diameter.In order to solve the large diameter welded pipe longitudinal seam welding from motion tracking; It is 200610155082.2 " automatic tracker of longitudinal seam welding for major diameter welding pipe " that the applicant has designed the patent No.; It is that welding gun and vision sensor are installed on along on the straight-line driving dolly of welded tube longitudinal joint direction; Welded tube then is placed on several pair rollers of turning rolls, and weld joint tracking executing agency is made up of with the roller elevating mechanism that is made up of frequency control motor that is connected with microcomputerized controller and worm gear screw lift that is positioned at the turning rolls bottom the roller transmission mechanism that is made up of servomotor that is connected with microcomputerized controller and decelerator that is provided with on the turning rolls.This invention only makes welding gun along welded tube longitudinal joint direction rectilinear motion; And the deflection of adopting the control and regulation welded tube adapts to all the time along the straight-line welding gun of welded tube longitudinal joint direction welded tube weld width Position Tracking; Thereby assurance welding gun vertical needle is all the time guaranteed welding quality to the welded tube weld seam.It realized effectively the large diameter welded pipe longitudinal seam welding from motion tracking, but that the weak point that exists is the deflection mechanism of control and regulation welded tube is more numerous and more jumbled.
Summary of the invention
the object of the invention, provide a kind of with welding gun motion follow the tracks of automatically seam track simple and compact for structure, manipulate easy welded tube longitudinal seam welding apparatus for real time tracking.
realize that the technical solution of above-mentioned purpose is: a kind of welded tube longitudinal seam welding apparatus for real time tracking; It comprises the vision sensor that links into an integrated entity with welding gun, be positioned at welding gun the place ahead; Microcomputerized controller and weld joint tracking executing agency; Said weld joint tracking executing agency is made up of with vertical balladeur train transmission mechanism arc balladeur train transmission mechanism; Said arc balladeur train transmission mechanism is above welded tube, to be provided with and the corresponding arc-shaped guide rail of welded tube cambered surface, and first slide block that is moved through the driving cog astragal by first servomotor is installed on the arc-shaped guide rail, and said vertical balladeur train transmission mechanism is provided with vertical guide rail; Second slide block that is driven by second servomotor is installed on the vertical guide rail; Second slide block is connected with welding gun, and the gear ring base that the transmission gear ring is installed in the arc balladeur train transmission mechanism is connected with the vertical guide rail frame of installation vertical guide rail in the vertical balladeur train transmission mechanism, and first servomotor, second servomotor all are connected with microcomputerized controller.
As preferred, first servomotor of said arc balladeur train transmission mechanism is connected with first decelerator, and the roller that is meshed with the transmission gear ring is installed on the output shaft of first decelerator
.
as preferred, said decelerator is for the steel ball being the zero back clearance type reductor of moment of torsion rotation.
as preferred, the cantilevered rail seat is provided with the left limit piece and the right limit piece of first slide block.
as preferred, the vertical guide rail frame is provided with the upper limit position block and the lower position block of second slide block.
as preferred, the center of circle of arc-shaped guide rail and overlap with the center of circle in welded tube cross section on its plane that exists together.
As preferably, the transmission gear ring is split in the major diameter gear ring a bit of, with the engagement process of roller in its center line all the time perpendicular to the welded tube cambered surface
as preferred, second slide block through connection seat be connected with simultaneously along bead direction keep at a certain distance away many welding gun.
the invention has the beneficial effects as follows: the vertical balladeur train transmission mechanism that can link that it has designed by microcomputerized controller and servomotor control dexterously is connected welding gun with arc balladeur train transmission mechanism; Weld executing agency and become; Because the vertical balladeur train transmission mechanism and the arc balladeur train transmission mechanism amplitude of accommodation are wide, thereby can adapt to the real-time automatic tracking of the big or small welded tube longitudinal seam welding of different tube diameters effectively.The present invention is of a tightly knit structure, and reliable operation is easy for operation.
Description of drawings
Fig. 1 is the structural principle block diagram of this device.
Fig. 2 is the general structure sketch map of this device.
Fig. 3 is the side-looking structural representation of Fig. 2.
Fig. 4 is the plan structure sketch map of Fig. 2.
The side-looking structural representation of
Fig. 5 when welding gun departs from axis of a weld in this device.
Structural representation when
Fig. 6 installs many welding guns for this device.
The specific embodiment
are described further the present invention with embodiment below in conjunction with accompanying drawing.
The place ahead of
welding gun 11 is equipped with vision sensor 9 through connecting plate 10, and vision sensor 9 is connected with microcomputerized controller 20 through interface circuit, and video-frequency monitor 19 is installed on microcomputerized controller 20 limits.Weld joint tracking executing agency is made up of with vertical balladeur train transmission mechanism arc balladeur train transmission mechanism.And vertical balladeur train transmission mechanism has vertical guide rail 13, vertical guide rail frame 15 and is installed on second slide block 14 on the vertical guide rail; Second slide block 14 is driven along vertical guide rail 13 by second servomotor 22 that is connected with microcomputerized controller 20 through interface circuit and second decelerator 23 thereof and slides; And vertical guide rail frame 15 is provided with the upper limit position block 1 and lower position block 16 of second slide block 14; Second slide block 14 is connected with welding gun 11 through connection seat 12 simultaneously; Connection seat 12 upper edge bead direction can keep at a certain distance away and connect manyly welding gun 11 simultaneously, carry out multilayer welding with butt welded seam.Arc balladeur train transmission mechanism then has arc-shaped guide rail 18, cantilevered rail seat 6 and is installed on first slide block 17 on the arc-shaped guide rail; First slide block 17 is connected as a single entity through gear ring base 2 and transmission gear ring 3, and the roller of installing on the output shaft of transmission gear ring 3 and first decelerator 5 of first servomotor 74 is meshed.Gear ring 3 is that reference diameter is a bit of of 26 degree that split in the complete gear ring of 360 degree of 1180mm in the present embodiment.Decelerator 5 also is installed on the cantilevered rail seat 6, and first servomotor 7 that is connected with microcomputerized controller 20 through interface circuit directly is contained in the input of decelerator 5.Also be provided with the left limit piece 21 and right limit piece 24 of first slide block 17 on the cantilevered rail seat 6, cantilevered rail seat 6 upper ends then are installed on fixedly on the frid 8.Said gear ring base 2 usefulness screws are connected with vertical guide rail frame 15.First decelerator 5 of present embodiment is for the steel ball being the zero back clearance type reductor that moment of torsion rotates; It has the roller 4 that rolls pin with transmission gear ring 3 positive and negative engagement processes in can keep 2～3 teeth all the time engagement; All can not produce back of tooth gap; Eliminate the distinctive back clearance of gear, guaranteed transmission accuracy.In addition; Because the center of circle in the welded tube A cross section on the center of circle of arc-shaped guide rail 18 and the plane that exists together with it coincides; And the center of circle of arc-shaped guide rail 18, roller 4 all is changeless, the transmission gear ring 3 that therefore is connected as a single entity through the gear ring base 2 and first slide block 17 with the engagement process of roller 4 in its center line all the time perpendicular to welded tube A cambered surface,
Can guarantee that like this welding gun is all the time perpendicular to axis of a weld.
The vision sensor 9 of
present embodiment adopts the MLP1/15 laser sensor of META company, and this laser sensor comprises a ccd video camera and a laser instrument.Laser instrument is launched on the surface of the work of laser stripe to sensor from the sensor front portion as the structure light source at a certain angle, and video camera directly absorbs the laser stripe image on the surface of the work.Optical filter is equipped with in the video camera front portion, only allows laser to pass through, and the light of elimination all other comprises welding arc light.Because sensor is installed in the welding gun front portion with predefined distance, behind the upright in welded joints definite position of welding gun, weld seam should approach the center of laser stripe, so just can make video camera observe laser stripe and weld seam.If the workpiece range sensor is near in the work, just forward relatively at the laser stripe of surface of the work, on the contrary the workpiece range sensor is far away, after the laser stripe of surface of the work just leans on relatively.Therefore observe the position of laser stripe through video camera, sensor is with regard to the vertical range of energy measurement apart from workpiece; From the laser stripe on workpiece in shape, sensor also can be measured the surface of the work profile and in the position of striped inside weld, thus can measuring transducer and weld seam between lateral separation.Sensor laser stripe image is that the deviation signal of welding gun and weld seam send microcomputerized controller 20 to handle through interface circuit; Send the control instruction signal after the processing; Send the arc balladeur train transmission mechanism of executing agency and the servomotor of vertical balladeur train transmission mechanism to through interface circuit; Make its running and drive the position that welding gun is adjusted in welding gun deflection, to guarantee in the welding process welding gun weld seam of perpendicular alignmnet welded tube all the time.
are when needs weld a kind of welded tube of different-diameter; At first, edges such as welding gun second slide block, 14 vertical direction are moved quickly into the position apart from the weld seam certain distance through the initial position of vertical balladeur train adjustment vision sensor 9 and welding gun 11 grades.Because when using the adjustment of arc balladeur train; Caliber not simultaneously sensor measure same position deviation; Therefore the adjustment amount of servomotor is different, before welding, need need the diameter of steel tube that welds in touch-screen input, if in the weld seam process weld seam misalignment welding gun; Sensor sends the weld seam left-right deviation that receives to microcomputerized controller 20; The actual deviation that microcomputerized controller 20 is measured sensor, multiply by an amplification coefficient: 1180/ diameter of steel tube, wherein 1180mm is the reference diameter of gear ring 4 among the embodiment.1180/ diameter of steel tube * actual deviation is the adjustment amount that servomotor needs.
this device can be realized automatically and manual two kinds of functions; Guarantee to realize laser automatic tracking in the welding process; Can realize manual control servomotor swing welding torch position again, in case laser system accident appears and can't operate as normal and influence production.Departed from welding gun a little in case on display, see weld seam, the operator just can pass through the touch-screen input command, and corresponding servomotor is adjusted.The error of manual adjustment can be controlled in below the 0.1mm.
this device both had been applicable to a welding gun individual layer welding, also is applicable to thick-walled pipe deep welding seam is welded welding gun with many at many levels.Because many installing spaces welding gun are little, its weld seam deviation can be thought the same, and is many synchronous deflection of welding gun when needing adjustment.But because steel pipe is pinched walking by pressure roller; The far and near distance of tripping roller is different; The steel pipe slit is not exclusively the same; Therefore many position during with single welding gun should be the same the installation site of the first welding gun in the welding gun, so will before welding, adjust the position of cantilevered rail seat 6 in T-slot 8 slightly.
Claims (8)
1. welded tube longitudinal seam welding apparatus for real time tracking; It comprises that link into an integrated entity, that be positioned at welding gun (11) the place ahead vision sensor (9) with welding gun (11); Microcomputerized controller (20) and weld joint tracking executing agency; It is characterized in that weld joint tracking executing agency is made up of with vertical balladeur train transmission mechanism arc balladeur train transmission mechanism; Said arc balladeur train transmission mechanism is to be provided with and the corresponding arc-shaped guide rail of welded tube (A) cambered surface (18) in welded tube (A) top; First slide block (17) that is driven through transmission gear ring (3) by first servomotor (7) is installed on the arc-shaped guide rail (18); Said vertical balladeur train transmission mechanism is provided with vertical guide rail (13), and second slide block (14) that is driven by second servomotor (22) is installed on the vertical guide rail (13), and second slide block (14) is connected with welding gun (11); The vertical guide rail frame (15) that vertical guide rail (13) is installed in the gear ring base (2) that transmission gear ring (3) is installed in the arc balladeur train transmission mechanism and the vertical balladeur train transmission mechanism is connected, and first servomotor (7), second servomotor (22) all are connected with microcomputerized controller (20).
2. by the described welded tube longitudinal seam welding of claim 1 apparatus for real time tracking; First servomotor (7) that it is characterized in that said arc balladeur train transmission mechanism is connected with first decelerator (5), and the roller (4) that is meshed with transmission gear ring (3) is installed on the output shaft of first decelerator (5).
3. by the described welded tube longitudinal seam welding of claim 2 apparatus for real time tracking, it is characterized in that said first decelerator (5) is for the steel ball being the zero back clearance type reductor of moment of torsion rotation.
4. by the described welded tube longitudinal seam welding of claim 1 apparatus for real time tracking; It is characterized in that said arc balladeur train transmission mechanism has arc-shaped guide rail (18), cantilevered rail seat (6) and is installed on first slide block (17) on the arc-shaped guide rail, said cantilevered rail seat (6) is provided with the left limit piece (21) and right limit piece (24) of first slide block (17).
5. by the described welded tube longitudinal seam welding of claim 1 apparatus for real time tracking, it is characterized in that vertical guide rail frame (15) is provided with the upper limit position block (1) and the lower position block (16) of second slide block (14).
6. by the described welded tube longitudinal seam welding of claim 1 apparatus for real time tracking, it is characterized in that the center of circle of arc-shaped guide rail (18) and overlap with the center of circle in welded tube (A) cross section on its plane that exists together.
7. by the described welded tube longitudinal seam welding of claim 1 apparatus for real time tracking, it is characterized in that transmission gear ring (3) is a bit of for what split in the major diameter gear ring, with the engagement process of roller (4) in its center line all the time perpendicular to welded tube (A) cambered surface.
8. by the described welded tube longitudinal seam welding of claim 1 apparatus for real time tracking, it is characterized in that second slide block (14) through connection seat (12) be connected with simultaneously along bead direction keep at a certain distance away many welding gun (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120509368 CN202411631U (en) | 2011-12-09 | 2011-12-09 | Real-time tracking device for longitudinal seam welding of welded pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120509368 CN202411631U (en) | 2011-12-09 | 2011-12-09 | Real-time tracking device for longitudinal seam welding of welded pipe |
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| Publication Number | Publication Date |
|---|---|
| CN202411631U true CN202411631U (en) | 2012-09-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201120509368 Expired - Fee Related CN202411631U (en) | 2011-12-09 | 2011-12-09 | Real-time tracking device for longitudinal seam welding of welded pipe |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102430842A (en) * | 2011-12-09 | 2012-05-02 | 浙江久立特材科技股份有限公司 | Welding pipe vertical seam welding real-time tracking device |
| CN102909462A (en) * | 2012-11-02 | 2013-02-06 | 无锡华联科技集团有限公司 | Welding line tracking mechanism of seam welding machine |
| CN103341685A (en) * | 2013-07-17 | 2013-10-09 | 湘潭大学 | Weld joint automatic tracking control method and system based on magnetic controlling arcs and laser vision sensing |
| CN104057183A (en) * | 2014-06-16 | 2014-09-24 | 哈尔滨工业大学（威海） | Underwater wet welding seam tracker |
| CN104493334A (en) * | 2014-12-17 | 2015-04-08 | 济南华信自动化工程有限公司 | Welding seam tracking device for straight seam welding machine |
| CN104668739A (en) * | 2015-03-10 | 2015-06-03 | 华南理工大学 | Consumable electrode gas shielded-welding welding line identification visual sensor |
| CN111112902A (en) * | 2019-12-30 | 2020-05-08 | 安徽省绩溪家德钢结构有限责任公司 | Steel pipe pole inside and outside seam tracking swing welding mechanism |
-
2011
- 2011-12-09 CN CN 201120509368 patent/CN202411631U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102430842A (en) * | 2011-12-09 | 2012-05-02 | 浙江久立特材科技股份有限公司 | Welding pipe vertical seam welding real-time tracking device |
| CN102909462A (en) * | 2012-11-02 | 2013-02-06 | 无锡华联科技集团有限公司 | Welding line tracking mechanism of seam welding machine |
| CN102909462B (en) * | 2012-11-02 | 2014-09-03 | 无锡华联科技集团有限公司 | Welding line tracking mechanism of seam welding machine |
| CN103341685A (en) * | 2013-07-17 | 2013-10-09 | 湘潭大学 | Weld joint automatic tracking control method and system based on magnetic controlling arcs and laser vision sensing |
| CN103341685B (en) * | 2013-07-17 | 2016-08-17 | 湘潭大学 | A kind of automatic weld tracking control method based on magnetic control arc and laser-vision sensing and system |
| CN104057183A (en) * | 2014-06-16 | 2014-09-24 | 哈尔滨工业大学（威海） | Underwater wet welding seam tracker |
| CN104493334A (en) * | 2014-12-17 | 2015-04-08 | 济南华信自动化工程有限公司 | Welding seam tracking device for straight seam welding machine |
| CN104668739A (en) * | 2015-03-10 | 2015-06-03 | 华南理工大学 | Consumable electrode gas shielded-welding welding line identification visual sensor |
| CN111112902A (en) * | 2019-12-30 | 2020-05-08 | 安徽省绩溪家德钢结构有限责任公司 | Steel pipe pole inside and outside seam tracking swing welding mechanism |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120905 Termination date: 20161209 |