CN204221173U - There is the wet method jig of welding automatic tracking function - Google Patents
There is the wet method jig of welding automatic tracking function Download PDFInfo
- Publication number
- CN204221173U CN204221173U CN201420569980.2U CN201420569980U CN204221173U CN 204221173 U CN204221173 U CN 204221173U CN 201420569980 U CN201420569980 U CN 201420569980U CN 204221173 U CN204221173 U CN 204221173U
- Authority
- CN
- China
- Prior art keywords
- welding
- subsystem
- motion control
- welding gun
- control card
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Arc Welding Control (AREA)
- Resistance Welding (AREA)
Abstract
The utility model belongs to welding service platform apparatus field, particularly relate to a kind of wet method jig with welding automatic tracking function, comprise welding subsystem, detecting and tracking subsystem, communication subsystem, described welding subsystem, described communication subsystem are connected with described detecting and tracking subsystem respectively.The beneficial effects of the utility model are: this platform utilizes orthogonal three straight line slide unit co-controlling welding guns, based on underwater ultrasound wave sensor complete weld seam from motion tracking, achieve the accurate High-speed Control of Underwater Welding platform, utilize interface communication function, achieve the Long-distance Control of jig.
Description
Technical field
The utility model belongs to welding service platform apparatus field, particularly relates to a kind of wet method jig with welding automatic tracking function.
Background technology
Along with continuing to bring out of ocean engineering, underwater welding technology obtains flourish, the many-sides such as the exploitation of present Underwater Welding and cutting equipment, Underwater Welding mechanism, Underwater Welding sensing and detection, Underwater Welding robot and latent device all achieve comparatively great successes, but due to the particularity of Underwater Welding and the stage of technical development, a lot of achievement also cannot be applied to and produce reality, particularly for the difficulty that the weld job under deep water non-structure environment brings at present.Develop the needs that multi-functional Underwater Welding system is reality.For the problem that deepwater environment diving welder cannot get involved, how to design a great problem that a kind of jig that can realize welding accurately control and monitoring is current Underwater Welding.
Utility model content
In order to overcome above-mentioned the deficiencies in the prior art, the utility model provides a kind of wet method jig with welding automatic tracking function, this platform utilizes orthogonal three straight line slide unit co-controlling welding guns, based on underwater ultrasound wave sensor complete weld seam from motion tracking, achieve the accurate High-speed Control of Underwater Welding platform, utilize interface communication function, achieve the Long-distance Control of jig.
To achieve these goals, the utility model adopts following technical scheme:
Have a wet method jig for welding automatic tracking function, comprise welding subsystem, detecting and tracking subsystem, communication subsystem, described welding subsystem, described communication subsystem are connected with described detecting and tracking subsystem respectively;
Described welding subsystem comprises the source of welding current, wire-feed motor, welding gun, motion control card, the described source of welding current respectively with described welding gun, described wire-feed motor connects, described wire-feed motor is positioned near described welding gun, described welding gun and welding gun transmission mechanism control, described welding gun transmission mechanism comprises walking slide block, crosshead shoe, described walking slide block is connected by ball screw with between described crosshead shoe, and described crosshead shoe is arranged on described walking slide block, described walking slide block is made up of three orthogonal straight line slide units, described crosshead shoe, described walking slide block is connected with described motion control card respectively, described wire-feed motor is connected with servo controller, described servo controller is connected with described motion control card, two-way signaling transmission is carried out between described motion control card and industrial computer,
Described detecting and tracking subsystem comprises Hall element, ultrasonic sensor, circuit detector, described circuit detector one end is connected with the described source of welding current, the other end is connected with described welding gun, described circuit detector is connected with conversion equipment, described conversion equipment is connected with described sonac, described Hall element respectively, and described sonac, described Hall element are connected with described motion control card simultaneously;
Described communication subsystem comprises the communication interface, the timer that are connected with described industrial computer.
Described conversion equipment comprises amplifier, the active band-pass filter be connected with amplifier, the A/D converter that is connected with active band-pass filter, two-way transmission signals between described A/D converter and described industrial computer.
The model of described motion control card is ADT8940A1.
Described Hall element is connected with stepper motor, and the model of described stepper motor is 43BYGH610AJP.
Described communication subsystem is connected with communication drive unit.
The beneficial effects of the utility model are: in conjunction with servomotor, stepper motor and motion control card, and utilize ball screw to achieve underwater wet welding platform, control accuracy and speed meet the requirement of weld joint tracking completely; Utilize communication interface, enriched the control mode of system, enhanced the controlling functions of system, achieve and follow the tracks of automatically based on underwater weld.The utility model take industrial computer as core, and realized the co-operating of walking linear slider and wire-feed motor by motion control card, Hall element detects the size of welding current in real time, quits work immediately when current value is abnormal; Under High-frequency water, ultrasonic sensor is found range, and can obtain the real-time offsets of weld seam position and welding gun; Achieve the soldering joint automatic tracking under different occasion and demonstration tracking simultaneously.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
In figure, 1, the source of welding current, 2, wire-feed motor, 3, welding gun, 4, motion control card, 5, walking slide block, 6, crosshead shoe, 7, servo controller, 8, industrial computer, 9, Hall element, 10, ultrasonic sensor, 11, circuit detector, 12, conversion equipment, 13, communication interface, 14, timer, 15, amplifier, 16, active band-pass filter, 17, A/D converter.
Detailed description of the invention
Below in conjunction with accompanying drawing, detailed description of the invention of the present utility model is explained.
As shown in Figure 1, the utility model provides a kind of wet method jig with welding automatic tracking function, comprise welding subsystem, detecting and tracking subsystem, communication subsystem, described welding subsystem, described communication subsystem are connected with described detecting and tracking subsystem respectively;
Described welding subsystem comprises the source of welding current 1, wire-feed motor 2, welding gun 3, motion control card 4, the described source of welding current 1 respectively with described welding gun 3, described wire-feed motor 2 connects, described wire-feed motor 2 is arranged near described welding gun 3 (figure does not mark), described welding gun 3 is by welding gun 3 transmission mechanism control, described welding gun 3 transmission mechanism comprises walking slide block 5, crosshead shoe 6, be connected by ball screw between described walking slide block 5 with described crosshead shoe 6, and described crosshead shoe 6 is arranged on described walking slide block 5, described walking slide block 5 is made up of three orthogonal straight line slide units, described crosshead shoe 6, described walking slide block 5 is connected with described motion control card 4 respectively, described wire-feed motor 2 is connected with servo controller 7, servo controller 7 controls the start and stop of wire-feed motor 2, described servo controller 7 is connected with described motion control card 4, two-way signaling transmission is carried out between described motion control card 4 and industrial computer 8,
Described detecting and tracking subsystem comprises Hall element 9, ultrasonic sensor 10, circuit detector 11, described circuit detector 11 one end is connected with the described source of welding current 1, the other end is connected with described welding gun 3, described circuit detector 11 is connected with conversion equipment 12, described conversion equipment 12 is connected with described sonac, described Hall element 9 respectively, and described sonac, described Hall element 9 are connected with described motion control card 4 simultaneously;
Described communication subsystem comprises the communication interface 13, the timer 14 that are connected with described industrial computer 8.
Described communication subsystem is connected with communication drive unit.
Described conversion equipment 12 comprises amplifier 15, the active band-pass filter 16 be connected with amplifier 15, the A/D converter 17 that is connected with active band-pass filter 16, two-way transmission signals between described A/D converter 17 and described industrial computer 8.
The model of described motion control card 4 is ADT8940A1.
Described Hall element 9 is connected with stepper motor, and the model of described stepper motor is 43BYGH610AJP.
System with industrial computer 8 for core, the co-operating of walking linear slider and wire-feed motor 2 is realized by motion control card 4, Hall element 9 detects the size of welding current in real time, quit work immediately when current value is abnormal, achieve the soldering joint automatic tracking under different occasion and demonstration tracking.Servo controller 7 preferred site control mode, to avoid voltage drift on the impact of transmission device, the control of servomotor is realized by the Two-pass DINSAR pulse signal of ADT8940A1 motion control card 4, position signalling is fed back to servo controller 7 simultaneously, realize continuous print closed-loop control welding gun 3 at x, displacement in y-axis, velocity magnitude is the pulse frequency exported by motion control card 4, electronic gear and mechanism's speed reducing ratio are determined, under the prerequisite that the direction of motion and umber of pulse are determined, utilize position control mode can obtain very high positioning precision, and the setting of each origin of coordinates, also can eliminate the accumulated error of each axle.
Utilize 43BYGH610AJP small type stepping motor to drive Hall element 9, side makes reciprocal circular motion to detect the distance of each point to mother metal in welded joints, and then analyzes mother metal pattern, for the control of weld joint tracking and welding gun 3 height provides foundation.Utilize the LDI320VSE High-Speed Double-Channel capture card and the collection of ATMEGA1284P single-chip microcomputer settling signal that arrange in industrial computer 8.
Utilize the serial communication function of computer, achieve the Long-distance Control of jig, enriched the control mode of system, enhanced the controlling functions of system.
Above an example of the present utility model has been described in detail, but described content being only preferred embodiment of the present utility model, can not being considered to for limiting practical range of the present utility model.All equalizations done according to the utility model application range change and improve, and all should still belong within patent covering scope of the present utility model.
Claims (4)
1. have a wet method jig for welding automatic tracking function, comprise welding subsystem, detecting and tracking subsystem, communication subsystem, described welding subsystem, described communication subsystem are connected with described detecting and tracking subsystem respectively;
Described welding subsystem comprises the source of welding current, wire-feed motor, welding gun, motion control card, the described source of welding current respectively with described welding gun, described wire-feed motor connects, described wire-feed motor is positioned near described welding gun, described welding gun and welding gun transmission mechanism control, described welding gun transmission mechanism comprises walking slide block, crosshead shoe, described walking slide block is connected by ball screw with between described crosshead shoe, and described crosshead shoe is arranged on described walking slide block, described walking slide block is made up of three orthogonal straight line slide units, described crosshead shoe, described walking slide block is connected with described motion control card respectively, described wire-feed motor is connected with servo controller, described servo controller is connected with described motion control card, two-way signaling transmission is carried out between described motion control card and industrial computer,
Described detecting and tracking subsystem comprises Hall element, ultrasonic sensor, circuit detector, described circuit detector one end is connected with the described source of welding current, the other end is connected with described welding gun, described circuit detector is connected with conversion equipment, described conversion equipment is connected with described sonac, described Hall element respectively, and described sonac, described Hall element are connected with described motion control card simultaneously;
Described communication subsystem comprises the communication interface, the timer that are connected with described industrial computer.
2. wet method jig according to claim 1, it is characterized in that described conversion equipment comprises amplifier, the active band-pass filter be connected with amplifier, the A/D converter that is connected with active band-pass filter, two-way transmission signals between described A/D converter and described industrial computer.
3. wet method jig according to claim 1, is characterized in that the model of described motion control card is ADT8940A1.
4. wet method jig according to claim 1, is characterized in that described Hall element is connected with stepper motor, and the model of described stepper motor is 43BYGH610AJP.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420569980.2U CN204221173U (en) | 2014-09-29 | 2014-09-29 | There is the wet method jig of welding automatic tracking function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420569980.2U CN204221173U (en) | 2014-09-29 | 2014-09-29 | There is the wet method jig of welding automatic tracking function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204221173U true CN204221173U (en) | 2015-03-25 |
Family
ID=52919316
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420569980.2U Expired - Fee Related CN204221173U (en) | 2014-09-29 | 2014-09-29 | There is the wet method jig of welding automatic tracking function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204221173U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104772550A (en) * | 2015-04-28 | 2015-07-15 | 北京石油化工学院 | System for multi-signal collecting of welding process and movement control of welding platform |
| CN108247251A (en) * | 2018-01-03 | 2018-07-06 | 江苏理工学院 | Using the excitation coil weld seam path deviation correcting device and method of dual-Hall sensor |
| CN112975050A (en) * | 2021-02-26 | 2021-06-18 | 江苏海事职业技术学院 | Submerged wet swing arc welding rod arc welding device for flat welding position for experiment |
-
2014
- 2014-09-29 CN CN201420569980.2U patent/CN204221173U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104772550A (en) * | 2015-04-28 | 2015-07-15 | 北京石油化工学院 | System for multi-signal collecting of welding process and movement control of welding platform |
| CN108247251A (en) * | 2018-01-03 | 2018-07-06 | 江苏理工学院 | Using the excitation coil weld seam path deviation correcting device and method of dual-Hall sensor |
| CN112975050A (en) * | 2021-02-26 | 2021-06-18 | 江苏海事职业技术学院 | Submerged wet swing arc welding rod arc welding device for flat welding position for experiment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203184798U (en) | Real-time scanning and welding equipment for horizontal type corrugated web H-shaped steel | |
| CN105033419B (en) | Movable welding robot device based on weld pool image weld seam tracking | |
| CN102848052B (en) | Magnetic control rotating arc sensing real-time weld joint tracking system and method | |
| CN203266633U (en) | Space coordinate positioning grabbing mechanical arm | |
| CN103182589A (en) | Arc oscillation-based gas shielded welding arc tracking method | |
| CN204221173U (en) | There is the wet method jig of welding automatic tracking function | |
| CN108747132A (en) | Autonomous welding robot vision control system | |
| CN105728904A (en) | System and method for tracking weaving arc space weld based on MEMS (micro-electromechanical systems) sensor | |
| CN106826834B (en) | A kind of robot welding automatic localization method | |
| CN104057202A (en) | System and method for remotely monitoring automatic welding of mobile robot based on FPGA | |
| CN106425025B (en) | A kind of fillet weld automatic welding control method of laser displacement sensor | |
| WO2008081655A1 (en) | Parking assistance device, component for parking assistance device, parking assistance method, parking assistance program, method and program for calculating vehicle travel parameter, device for calculating vehicle travel parameter, and component for device for calculating vehicle travel parameter | |
| CN102615390A (en) | Swing arc-based multi-layer and multi-channel weld tracking system and identification method thereof | |
| CN106346486A (en) | Six-axis cooperated robot multi-loop control system and control method thereof | |
| CN105563450A (en) | Multifunctional crawling robot for ship facade operations | |
| CN104028877B (en) | A kind of deep camber bending weld seam tracking method based on dynamic weld seam tangential method | |
| CN203526764U (en) | Flame welding constant temperature control system and heat exchanger welding equipment | |
| CN102489839B (en) | Fully-automatic gas-shielded welding robot with single gun, double wires and high speed | |
| CN105458483A (en) | Automatic correcting and ultrasonic impacting system of post-welding seam tracking robot | |
| CN107322597A (en) | A kind of fillet weld seam track detection apparatus and method based on laser ranging | |
| CN104493332A (en) | Seam tracking control method based on arc oscillation self-adjustment sensing mechanism | |
| CN202752728U (en) | Autonomous mobile robot system for electro-gas welding | |
| CN103192165A (en) | Visual-tracking based six-degree-of-freedom welding robot | |
| CN204772513U (en) | Multi -functional robot of crawling of boats and ships facade operation | |
| CN109822194A (en) | A kind of weld tracker and welding method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20150325 Termination date: 20170929 |