CN210848720U

CN210848720U - Carbon dioxide gas protection automatic weld dolly

Info

Publication number: CN210848720U
Application number: CN201921874518.2U
Authority: CN
Inventors: 苗中杰; 张志刚; 赵飞; 吴毅; 董方勇; 和平安; 许焱平; 康鹏; 韩发龙; 李树康
Original assignee: Jiaozuo Zhizao Electromechanical Equipment Co ltd
Current assignee: Jiaozuo Zhizao Electromechanical Equipment Co ltd
Priority date: 2019-11-04
Filing date: 2019-11-04
Publication date: 2020-06-26
Anticipated expiration: 2029-11-04

Abstract

The utility model provides a carbon dioxide gas protects automatic weld dolly, includes the track and is located orbital walking dolly, disposes sharp running gear on the walking dolly, orbital length direction is unanimous with the length direction of welding seam the dolly on be provided with the b axle, the b axle direction be along welding seam width direction, be connected with x, y, z triaxial system on the b axle, the welder clamp is fixed the end of connecting x, y, z triaxial system, wherein the x axle is along welding seam width direction's axle, the y axle is along welding seam length direction's axle, the z axle is along the axle of welding seam depth direction, above-mentioned b, x, y, z each axle all include motor drive's sharp module, x, y, z triaxial system electricity are connected to the four-axis controller, the b axle electricity is connected to the diaxon controller. The welding tractor can not generate the phenomenon of incomplete fusion when the vertical seam with the groove is welded.

Description

Carbon dioxide gas protection automatic weld dolly

Technical Field

The utility model relates to a welding carriage, in particular to be used for standing seam welded carbon dioxide gas protection automatic weld dolly belongs to the welding technology field.

Background

The carbon dioxide gas protects the welding carriage is a common welding equipment, the welding carriage in the market is generally two automatic shafts, one shaft controls the carriage to walk along the track (namely advance in the welding direction), the other shaft controls the swinging of the welding gun of the carriage (namely reciprocating movement in the width direction of the welding seam), besides the two automatic shafts, there are two manual regulating shafts, namely a centering regulating shaft and an up-down regulating shaft, the centering and up-down regulating before the welding gun starts are all to be regulated manually before welding, and the welding carriage has the following defects in the actual use: firstly, the centering adjustment is manually carried out before welding, under the condition that the straightness of a welding seam is not too good, the gravity center position of the welding seam is changed in the welding process, the manual adjustment cannot carry out real-time centering (when the welding speed is very low) when the welding speed is high, and the manual adjustment cannot carry out real-time centering when the welding is carried out, so that welding deviation can be caused; secondly, on the welding of vertical seams, especially vertical seams without grooves on the side walls, the trolley on the market at present can not meet the requirements, and the specific reasons are as follows: when a welding trolley on the market is used for welding a vertical seam, a welded seam is on a horizontal plane, but a welding gun is inclined upwards (when the vertical seam is vertically upwards, the welding gun is inclined upwards in all welding methods, namely manual welding or automatic welding, so that the quality of the vertical seam is better). Therefore, a certain included angle exists between the welding gun which is inclined upwards and the horizontal plane of the welded seam, and the welding gun can not weld the welding gun and the side wall of the groove below the horizontal plane of the welded seam basically, so that the phenomenon of incomplete fusion is probably caused on the side wall of the groove between each welding seam and the previous welding seam. The method can still be accepted if the requirement on the welding seam quality is not strict, but the condition can not meet the technical requirement of the product when the requirement on the welding seam quality is strict for pressure vessels and the like, and the quality inspection can not be passed under the normal condition.

Disclosure of Invention

An object of the utility model is to overcome the above-mentioned problem that present carbon dioxide gas protection automatic weld dolly exists in the in-service use, provide a carbon dioxide gas protection automatic weld dolly.

In order to realize the purpose of the utility model, the following technical proposal is adopted: the utility model provides a carbon dioxide gas protects automatic weld dolly, includes the track and is located orbital walking dolly, disposes sharp running gear on the walking dolly, orbital length direction is unanimous with the length direction of welding seam the dolly on be provided with the b axle, the b axle direction be along welding seam width direction, be connected with x, y, z triaxial system on the b axle, the welder clamp is fixed the end of connecting x, y, z triaxial system, wherein the x axle is along welding seam width direction's axle, the y axle is along welding seam length direction's axle, the z axle is along the axle of welding seam depth direction, above-mentioned b, x, y, z each axle all include motor drive's sharp module, x, y, z triaxial system electricity are connected to the four-axis controller, the b axle electricity is connected to the diaxon controller.

Further, the method comprises the following steps of; the shaft b is connected to the shaft a, the direction of the shaft a is consistent with that of the shaft y, the shaft a comprises a linear module driven by a motor, and the shaft a is electrically connected to the two-shaft controller.

The utility model discloses an actively beneficial technological effect lies in: the automatic b-axis welding trolley is provided with the automatic b-axis, the welding process can be adjusted in real time through the two-axis controller according to the actual welding situation, and the welding plane is an inclined plane (if the welding line is a V-shaped opening, the plane is a triangular inclined plane, if the welding line is a trapezoidal opening, the plane is a trapezoidal inclined plane) after the x-axis, the y-axis and the z-axis on the welding trolley are linked, the angle of the welding line is basically consistent with that of a welding gun, and the welded triangular plane or trapezoidal plane is inclined upwards, so that the phenomenon of incomplete fusion can not occur when the vertical seam with a groove is welded, and the welding requirements of a pressure container or other high-grade welding requirements can be completely met.

Drawings

FIG. 1 is a schematic view of an angle of the present cart.

Fig. 2 is a schematic view of another angle of the cart.

FIG. 3 is a schematic view of a weld trace of a V-notch weld.

FIG. 4 is a schematic view of a weld trace of a trapezoidal port weld.

Detailed Description

In order to explain the utility model more fully, the utility model provides an implementation example. These examples are merely illustrative of the present invention and do not limit the scope of the present invention.

The invention is explained in further detail with reference to the drawings, in which the reference symbols are: 1: a track; 2: a linear traveling device; 3: welding gun clamp; 4: a welding gun; 5: a z-axis; 6: an x-axis; 7: a y-axis; 8: a shaft; 9: and b axis.

As shown in the attached drawing, the carbon dioxide gas protection automatic welding trolley for vertical seam welding comprises a track 1 and a walking trolley positioned on the track, wherein the walking trolley can be adsorbed on a workpiece surface by adopting a magnet to walk, the trolley cannot fall off if the weight of the trolley is not large during walking, a linear walking device 2 is configured on the walking trolley, the length direction of the track is consistent with the length direction of a welding seam, a b shaft 9 is arranged on the trolley, the b shaft is along the width direction of the welding seam, an x, y and z three-shaft system is connected on the b shaft, as shown in 5, 6 and 7 in the drawing, the x, y and z three-shaft system is a common three-dimensional system and has mature application in automatic welding, numerical control machines and three coordinates, and is not repeated, a welding gun clamp 3 is fixedly connected with the tail ends of the x, y and z three-shaft systems, and a welding gun 4 is fixed on the welding, the X-axis is an axis along the width direction of a welding seam, the Y-axis is an axis along the length direction of the welding seam, the Z-axis is an axis along the depth direction of the welding seam, each of the b-axis, the x-axis, the y-axis and the z-axis comprises a linear module driven by a motor, the three-axis system of the x-axis, the y-axis and the z-axis is electrically connected to the four-axis controller, the b-axis is electrically connected to the two-axis controller, the b-axis is connected to the a-axis 8 in a connecting mode, the direction of the a-axis is consistent with the direction of the Y-axis. The motor-driven linear module card is driven by a 57 motor.

In the trolley, the three axes of x, y and z are on the trolley, but the three axes control the movement of the welding gun, the x axis can control the welding gun to perform swing welding, and the swing direction is vertical to the movement direction of the trolley; the y-axis controls the welding gun to move forwards, and the advancing direction is consistent with the moving direction of the trolley; and the z-axis controls the welding gun to move to the deep part of the groove, and the moving direction is vertical to the moving direction of the trolley. The x-axis and b-axis are one direction and the y-axis and a-axis are one direction, and their movements may be superimposed. In the process of vector swing of the x, y and z three-axis linkage control welding gun, one axis cannot be controlled independently, if the motion of only one axis is changed, the pulse of a control signal is disordered, and only one b axis can be added for aligning. If the welding seam is not a straight line, the centering position of the welding gun is not adjusted in the welding process of the welding gun, the welded welding seam deviates from the direction to be welded, and at the moment, the welding gun needs to be manually controlled by the b axis to center, so that the welding gun does not deviate from the welding seam.

In the case of the application with only 4 axes of b, x, y and z, the linear walking device can be connected to a two-axis controller for control, i.e. the linear walking device can be used to replace the a axis, but in this case, the linear walking device needs to be modified.

The welding device has 5 axes including a, b, x, y and z, and the linear walking device does not need to be changed at this time, so that the welding function of the vertical groove seam can be perfectly realized.

The working process of the trolley is described by 5-axis linkage, and the trolley is welded. Teaching is performed manually (manual teaching is a common technique in automatic welding), position information of a welding seam is found firstly, and a spatial triangle or trapezoid of welding gun motion is generated, wherein the spatial triangle or trapezoid is a period. The subsequent welding track is that the triangle or the trapezoid is continuously circulated, when the welding gun is in the last step of the movement period, namely when the welding trolley controls the welding gun to weld along the depth of the groove in the z-axis direction through three-axis linkage, not only the z-axis moves, but also the a-axis moves, so that not only the y-axis controls the welding gun to move forwards, but also the a-axis controls the welding trolley to move forwards along the track, so that the welding gun moves more along the y-axis, and the position where the welding gun stops to the center is the beginning of the next welding cycle. The welding work is completed in such continuous welding cycles.

The weight of the welding tractor can be controlled between 25 kg and 30kg after the welding tractor is manufactured.

It should be noted that, although the welding carriage has obvious advantages in vertical seam welding, it is not indicated that the welding carriage of the present application can be used only in vertical seam welding, and the carriage of the present application also has obvious advantages in horizontal seam welding and transverse seam welding.

After the embodiments of the present invention have been described in detail, those skilled in the art can clearly understand that various changes and modifications can be made without departing from the scope and spirit of the above claims, and any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention all fall within the scope of the technical solution of the present invention, and the present invention is not limited to the embodiments of the examples given in the specification.

Claims

1. The utility model provides a carbon dioxide gas protects automatic weld dolly, includes the track and is located the walking dolly on the track, disposes sharp running gear on the walking dolly, and orbital length direction is unanimous with the length direction of welding seam, its characterized in that: the trolley is provided with a b shaft, the b shaft is in the width direction of a welding seam, the b shaft is connected with an x, y and z three-shaft system, a welding gun clamp is fixedly connected with the tail end of the x, y and z three-shaft system, the x shaft is in the width direction of the welding seam, the y shaft is in the length direction of the welding seam, the z shaft is in the depth direction of the welding seam, each of the b, x, y and z shafts comprises a linear module driven by a motor, the x, y and z three-shaft system is electrically connected to a four-shaft controller, and the b shaft is electrically connected to a two-shaft controller.

2. The carbon dioxide gas shielded automatic welding tractor as defined in claim 1, wherein: the shaft b is connected to the shaft a, the direction of the shaft a is consistent with that of the shaft y, the shaft a comprises a linear module driven by a motor, and the shaft a is electrically connected to the two-shaft controller.