CN216780605U

CN216780605U - Automatic welding moving track control device for wave-shaped plate of thin film type liquid cargo containment system

Info

Publication number: CN216780605U
Application number: CN202123221808.7U
Authority: CN
Inventors: 王勇标; 余锁成
Original assignee: Ningbo Kairong New Energy Co ltd
Current assignee: Ningbo Kairong New Energy Co ltd
Priority date: 2021-12-21
Filing date: 2021-12-21
Publication date: 2022-06-21
Anticipated expiration: 2031-12-21

Abstract

The utility model relates to a wave plate automatic welding movement track control device of a film type liquid cargo containment system, which is characterized in that a welding head is provided with a welding head rotating shaft driving device for adjusting the angle of the welding head, a welding gun longitudinal movement driving device for adjusting the position of a welding gun in the width direction of a welding line is arranged on the welding head, a welding gun bracket height shaft driving device is arranged on the welding head for adjusting the length of a welding arc, the welding gun is fixedly arranged on the welding gun bracket height shaft driving device and is aligned with a wave plate to be processed, the control ends of the welding head rotating shaft driving device, the welding gun longitudinal movement driving device and the welding gun bracket height shaft driving device are all connected with a controller, and a rotating angle sensor, a first contact type position sensor for sensing the shape of the wave plate, a second contact type position sensor for sensing the shape of the wave plate, a controller for controlling the welding head to move the welding head to move the wave plate to the welding head to move the welding head to, A pressurizing device and an optical fiber sensor for sensing the concave-convex shape of the wave-shaped plate.

Description

Automatic welding moving track control device for wave-shaped plate of thin film type liquid cargo containment system

Technical Field

The utility model belongs to a welding moving track control device, and relates to an automatic welding moving track control device for a wave-shaped plate of a film type liquid cargo containment system.

Background

The welding forms of the wave-shaped plates in the liquid cargo tank/storage tank include transverse welding, overhead welding, vertical welding, oblique welding, corner welding and the like, the installation modes are multiple, in the welding process, a welding gun needs to be always kept in a vertical state with a wave-shaped plate surface of a welding point, the stable arc length below 1 mm needs to be kept, particularly, the corrugated part of the wave-shaped plate is easy to weld through at a too close distance in the welding operation process, the defects of welding missing or unfirm welding and the like are easy to occur at a too far distance, the requirement on welding precision is high, and manual operation is difficult to complete.

Chinese patent application No.: CN200920292222.X discloses a container wave-shaped plate fillet weld welding system, including a welder, a motion platform for bearing this welder and a control system for controlling this motion platform and this welder action, this control system includes controller and the welding parameter adjustment module, zero point detection module, welding seam capture module and the motion platform drive module that are connected with this controller to this controller can follow this welding orbit from the welding starting point that this zero point detection module provided according to the welding orbit that this welding seam capture module provided, controls the motion of this welder and controls the working parameter of this welder through this welding parameter adjustment module and realizes the welding of container wave-shaped plate fillet weld automatically. Through promoting degree of automation for welding seam quality and stability can effectively be guaranteed, increase substantially container per capita production efficiency simultaneously. However, the technology only relates to an XYZ three-axis motor as in the prior art, and the requirements for the corrugated plate welding are as follows: the welding gun is required to be always in a vertical state with the wave-shaped plate surface of the welding point, and the stable arc length below 1 millimeter is required to be kept, so that the requirement cannot be met at all. Therefore, it is imperative to develop an automatic welding movement track control device for a wave-shaped plate of a film-type liquid cargo containment system, which can ensure that a welding gun is always in a vertical state with a welding point wave-shaped plate surface and the stable arc length below 1 mm is kept.

SUMMERY OF THE UTILITY MODEL

The utility model solves the problems that the prior art only relates to an XYZ three-axis motor, and the requirements for the welding of a corrugated plate are as follows: the welding gun is required to be always in a vertical state with the welding point wave-shaped plate surface, and the stable arc length below 1 mm is required to be kept, so that the requirement cannot be met at all.

The technical scheme adopted by the utility model for solving the technical problems is as follows: an automatic welding movement track control device for a wave-shaped plate of a thin film type liquid cargo containment system is used for controlling the movement track of a welding gun in the automatic welding device for welding the wave-shaped plate, the automatic welding device for welding the wave-shaped plate comprises a box body which can move along the length direction of a shaped rail, a welding head is arranged on one side of the box body through a welding head height shaft driving device, the automatic welding device for welding the wave-shaped plate is provided with a controller, the welding head is provided with a welding head rotating shaft driving device for adjusting the angle of the welding head, a welding gun longitudinal movement driving device for adjusting the position of the welding gun in the width direction of a welding line is arranged on the welding head, the welding head is provided with a welding gun bracket height shaft driving device for adjusting the length of a welding arc, the welding gun is fixedly arranged on the welding gun bracket height shaft driving device and aims at the wave-shaped plate to be processed, and the control ends of the welding head rotating shaft driving device, the welding gun longitudinal movement driving device and the welding gun bracket height shaft driving device are all connected with the controller, the welding head is provided with a rotation angle sensor, a first contact position sensor for sensing the shape of the wave-shaped plate, a second contact position sensor for sensing the shape of the wave-shaped plate, a pressurizing device and an optical fiber sensor for sensing the concave-convex shape of the wave-shaped plate, and the rotation angle sensor, the first contact position sensor, the second contact position sensor, the pressurizing device and the optical fiber sensor are all connected with the controller. In the utility model, a welding head is arranged on one side of a box body to move back and forth on a track through a welding head height shaft driving device, and meanwhile, the box body is provided with a facility for adjusting the height of the welding head, namely the welding head height shaft driving device which is necessary for a common welding device, in addition, the utility model is also provided with a welding head rotating shaft driving device arranged for adjusting the angle of the welding head, a welding gun longitudinal movement driving device arranged for adjusting the position of the welding gun in the width direction of a welding line, and a welding gun bracket height shaft driving device arranged for adjusting the length of a welding arc, thereby realizing five-axis control, a rotating angle sensor, a first contact type position sensor for sensing the shape of a wave-shaped plate, a second contact type position sensor for sensing the shape of the wave-shaped plate, a pressurizing device and an optical fiber sensor for sensing the concave-convex shape of the wave-shaped plate, the detection of the specific shape of the wave-shaped plate is stricter, the five-axis control is more in place, and the five-axis control is the Z1 axis and the Z2 axis which are subjected to height macroscopic and microscopic double regulation and control, the X axis which is realized by controlling the box body to move on the track, the Y axis which corresponds to the width of the welding seam and the angle of the rotary welding gun, so that the welding gun is ensured to be always kept in the vertical state and the R axis with the vertical state to the wave-shaped plate surface of the welding point.

Preferably, the welding head rotation shaft driving device comprises a rotation driving motor, a rotation angle sensor, a driving rotation connecting rod, a driven rotation connecting rod, a first connecting plate, a second connecting plate and a mounting plate, wherein the driving rotation connecting rod is provided with a driving rotation connecting rod upper shaft, a driving rotation connecting rod lower shaft and a driving rotation connecting rod connecting hole, the driven rotation connecting rod is provided with a driven rotation connecting rod upper shaft, a driven rotation connecting rod lower shaft and a driven rotation connecting rod connecting hole, the mounting plate is fixedly connected with the welding head height shaft driving device, an output shaft of the rotation driving motor penetrates through one side of the mounting plate and is connected with the driving rotation connecting rod connecting hole, the other side of the mounting plate is connected with the driven rotation connecting rod connecting hole through a rotation shaft, the rotation driving motor directly drives the driving rotation connecting rod to synchronously rotate around the driving rotation connecting rod connecting hole, the rotation angle sensor is arranged on the connecting plate to detect the rotation angle of the driving rotation connecting rod, the first connecting plate and the second connecting plate are Y-shaped, three mounting shaft holes are formed in three end portions of the first connecting plate and respectively comprise a first driving hole, a first driven hole and a first driving hole, three mounting shaft holes are formed in three end portions of the second connecting plate and respectively comprise a second driving hole, a second driven hole and a second driving hole, the first driving hole is connected with a lower shaft of the driving rotating connecting rod, the second driving hole is connected with the driving rotating connecting rod in an upper shaft mode, the first driven hole is connected with the lower shaft of the driven rotating connecting rod in a lower shaft mode, the second driven hole is connected with the driven rotating connecting rod in an upper shaft mode, the first driving hole is connected with the lower portion of the mounting bottom plate of the welding head in a matched mode, and the second driving hole is connected with the middle portion of the mounting bottom plate of the welding head in a matched mode.

Preferably, a base plate is added on the mounting surface of the second connecting plate, the thickness of the base plate is greater than that of the first connecting plate, a Z-shaped corner is arranged in the middle section of the first connecting plate, and the space of the Z-shaped corner is a swinging space for isolating the first connecting plate from the second connecting plate; the relative installation positions of the driving rotating connecting rod upper shaft, the driving rotating connecting rod lower shaft and the driving rotating connecting rod connecting hole are the same as the relative installation positions of the driven rotating connecting rod upper shaft, the driven rotating connecting rod lower shaft and the driven rotating connecting rod connecting hole; the relative positions of the three mounting shaft holes of the first connecting plate are the same as the relative positions of the three mounting shaft holes of the second connecting plate.

Preferably, the welding gun longitudinal movement driving device comprises a longitudinal motor mounting plate, an upper belt pulley, a belt, a lower belt pulley, a longitudinal movement driving motor, a left stroke proximity switch, a right stroke proximity switch, a stroke proximity switch stop block, a longitudinal motor mounting base plate, a longitudinal motor ball screw nut pair, a longitudinal driving connecting plate, a longitudinal motor ball screw, a longitudinal motor slide rail and a longitudinal motor slide block, wherein the longitudinal motor mounting plate is a longitudinal plate, the longitudinal motor mounting base plate is 7-shaped, the longitudinal motor mounting plate and the longitudinal motor mounting base plate are fixedly connected to form an h-shaped structure, the front surface of the longitudinal motor mounting base plate is connected with the welding gun bracket height shaft driving device, the longitudinal movement driving motor is fixed on the back surface of the longitudinal motor mounting plate, and an output shaft of the longitudinal movement driving motor penetrates through the longitudinal motor mounting plate to be connected with the upper belt pulley in a driving manner, the upper belt pulley is arranged above the front surface of the longitudinal motor mounting plate, the lower belt pulley is arranged below the front surface of the longitudinal motor mounting plate, the upper belt pulley is in transmission connection with the lower belt pulley through a belt, the lower belt pulley is in transmission connection with the longitudinal motor ball screw, the longitudinal motor ball screw penetrates through the longitudinal motor mounting plate and is connected with a lower side plate of a longitudinal motor mounting base plate, a longitudinal motor ball screw nut pair is arranged on the longitudinal motor ball screw, a pair of longitudinal driving connecting plates are downwards arranged on the longitudinal motor ball screw nut pair and are connected with a welding gun bracket, a welding gun and a pressurizing device are both arranged on the welding gun bracket, a longitudinal motor slide block is upwards fixed on the longitudinal motor ball screw nut pair, and the longitudinal motor slide block is matched with a longitudinal motor slide rail fixed on the longitudinal motor mounting base plate, the longitudinal motor slide block or the longitudinal motor ball screw nut pair is fixedly provided with a travel proximity switch stop block extending upwards, the longitudinal motor mounting base plate is respectively provided with a left travel proximity switch and a right travel proximity switch in a left-right mode, and the travel proximity switch stop block moves between the left travel proximity switch and the right travel proximity switch.

Preferably, the welding gun bracket height shaft driving device comprises a welding gun bracket height shaft driving motor, a height motor ball screw nut pair, a position sensor slider, a height motor slide rail, a height motor slider and a height motor mounting plate, wherein a height motor mounting base plate is fixedly connected with the upper part of a welding head mounting base plate, a side plate extends outwards from the middle section of the front surface of the height motor mounting base plate, a base plate extends outwards from the bottom of the front surface of the height motor mounting base plate, the end part of the side plate of the height motor mounting base plate is fixedly connected with the height motor mounting plate, the height motor mounting plate is parallel to the height motor mounting base plate, the welding gun bracket height shaft driving motor is mounted on the front surface of the height motor mounting plate, and an output shaft of the welding gun bracket height shaft driving motor penetrates through the height motor mounting plate and is connected with the height motor ball screw, the two ends of the height motor ball screw are respectively connected with the bottom plate and the side plate of the height motor mounting bottom plate, a height motor ball screw nut pair is configured on the height motor ball screw, a height motor sliding block is fixed on the height motor ball screw nut pair, the front of the height motor sliding block is fixedly connected with the longitudinal motor mounting bottom plate, the back of the height motor sliding block is matched with a height motor sliding rail fixed on the front of the height motor mounting bottom plate, a position sensor sliding block is configured above the height motor sliding block, and the position sensor is configured on the height motor mounting plate to detect the position of the position sensor sliding block.

Preferably, the side surface of a mounting base plate of the welding head is connected with the first connecting plate and the second connecting plate, the lower surface of the mounting base plate of the welding head is fixedly connected with the second contact position sensor and the first contact position sensor, the detection surface of the first contact position sensor and the detection surface of the second contact position sensor are opposite to the surface of the corrugated plate to be processed, the optical fiber sensor which is obliquely aligned with the surface of the corrugated plate to be processed is also arranged on the lower surface of the mounting base plate of the welding head, the upper part of a welding gun bracket is connected with the longitudinal driving connecting plate, the side surface of the welding gun bracket is connected with a welding gun, and the lower part of the welding gun bracket is provided with a pressurizing device.

The substantial effects of the utility model are as follows: the utility model can ensure that the welding gun is always in a vertical state with the wave-shaped plate surface of the welding point and the stable arc length below 1 mm is kept.

Drawings

FIG. 1 is an overall schematic view of the present invention without the housing;

FIG. 2 is a side view of the present invention;

FIG. 3 is a schematic view of a longitudinal movement driving device for a welding gun according to the present invention;

FIG. 4 is a schematic view of a welding gun carriage elevation axis driving apparatus according to the present invention;

FIG. 5 is a schematic structural view of a rotary shaft driving device of a welding head according to the present invention;

FIG. 6 is an overall view of the present invention with the housing;

FIG. 7 is a partially exploded view of the rotary shaft driving device of the welding head of the present invention.

In the figure: 110: welding head rotating shaft driving device, 111 rotation angle sensor, 112_1 driving rotating link, 112_2 driven rotating link, 113: first connection plate, 114: second connection plate, 115: mounting plate, 116: a rotary driving motor 112_1a: a driving rotary connecting rod upper shaft 112_1b: a driving rotary connecting rod lower shaft 112_1c: a driving rotary connecting rod connecting hole 112_2a: a driven rotary connecting rod upper shaft 112_2b: a driven rotary connecting rod lower shaft 112_2c: a driven rotary connecting rod connecting hole 113 a: first active hole, 113 b: first driven hole, 113 c: first driving hole, 114 a: second active hole, 114 b: second driven hole, 114 c: second driving hole, 121: slide rail, 122: lifting drive motor, 123: belt, 124: slider, 125: connecting plate, 126: ball screw nut pair, 127: ball screw, 130: welding head, 131 welding gun, 132 pressurizing device, 133 second contact position sensor, 134 first contact position sensor, 135 optical fiber sensor, 139 welding gun carriage, 140: welding torch longitudinal movement driving device, 141: longitudinal motor mounting plate, 142: upper belt pulley, 143: belt, 144: lower pulley, 145: longitudinal movement drive motor, 146: left-stroke proximity switch, 147: right travel proximity switch, 148: travel proximity switch stopper, 149: longitudinal motor mounting base plate, 150: longitudinal motor ball screw nut pair, 151: longitudinal drive connection plate, 152: longitudinal motor ball screw, 153: longitudinal motor slide rail, 154: longitudinal motor slide, 160: welding gun bracket height axis driving device, 161: height motor mounting base plate, 162: welding gun bracket height axis driving motor, 163: height motor ball screw nut pair, 164: height motor ball screw, 165: position sensor, 166: position sensor slider, 167: height motor slide, 168: height motor slider, 172: rollers 173, profile rails 181, frame 182, handles 191: travel drive reduction motor, 200: rack, 204: a bolt 230 is a box body.

Detailed Description

The technical solution of the present invention will be further specifically described below by way of specific examples.

Example 1:

an automatic welding movement track control device (see attached figure 1, attached figure 2 and attached figure 6) for wave-shaped plate of a film type liquid cargo containment system is used for controlling the movement track of a welding gun in the automatic welding device for welding the wave-shaped plate, the automatic welding device for welding the wave-shaped plate comprises a box body which can move along the length direction of a shaped rail, a welding head 130 is arranged at one side of the box body through a welding head height shaft driving device, the automatic welding device for welding the wave-shaped plate is provided with a controller, the welding head is provided with a welding head rotating shaft driving device 110 for adjusting the angle of the welding head, a welding gun longitudinal movement driving device 140 is arranged on the welding head for adjusting the position of the welding gun in the width direction of a welding line, the welding head is provided with a welding gun bracket height shaft driving device 160 for adjusting the length of a welding arc, the welding gun is fixedly arranged on the welding gun bracket height shaft driving device and is aligned with the wave-shaped plate to be processed, the control ends of the welding head rotating shaft driving device, the welding gun longitudinal movement driving device and the welding gun bracket height shaft driving device are all connected with the controller, the welding head is provided with a rotating angle sensor 111, a first contact type position sensor 134 for sensing the shape of the wave-shaped plate, a second contact type position sensor 133 for sensing the shape of the wave-shaped plate, a pressurizing device 132 and an optical fiber sensor 135 for sensing the concave-convex shape of the wave-shaped plate, and the rotating angle sensor, the first contact type position sensor, the second contact type position sensor, the pressurizing device and the optical fiber sensor are all connected with the controller.

In this embodiment, the welding head height axis driving device includes a slide rail 121, a lifting driving motor 122, a belt 123, a slider 124, a connecting plate 125, a ball screw nut pair 126, a ball screw 127, and the like, and the welding head height axis driving device is not a focus of this embodiment, and therefore, it is not described herein, and in the art, only a device capable of adjusting the welding head height may be selected. Similarly, it is also known to ensure that the box 230 can move on the profile rail 173. generally, the device such as the roller 172, the frame 181, the handle 182, the driving gear motor 191, the rack 200, and the latch 204 are required to perform similar functions.

In this embodiment, the welding head rotation shaft driving device (see fig. 5 and 7) includes a rotation driving motor 116, a rotation angle sensor 111, a driving rotation link 112_1, a driven rotation link 112_2, a first connection plate 113, a second connection plate 114, and a mounting plate 115, the driving rotation link is provided with a driving rotation link upper shaft 112_1a, a driving rotation link lower shaft 112_1b, and a driving rotation link connection hole 112_1c, the driven rotation link is provided with a driven rotation link upper shaft 112_2a, a driven rotation link lower shaft 112_2b, and a driven rotation link connection hole 112_2c, the mounting plate 115 is fixedly connected to the welding head height shaft driving device, an output shaft of the rotation driving motor penetrates through one side of the mounting plate and is connected to the driving rotation link connection hole, the other side of the mounting plate is connected to the driven rotation link connection hole through a rotation shaft, the rotation driving motor directly drives the driving rotation connecting rod to synchronously rotate around the driving rotation connecting rod connecting hole, the rotation angle sensor is arranged on the connecting plate to detect the rotation angle of the driving rotation connecting rod, the first connecting plate and the second connecting plate are Y-shaped, three mounting shaft holes are arranged at three ends of the first connecting plate and respectively comprise a first driving hole 113a, a first driven hole 113b and a first driving hole 113c, three mounting shaft holes are arranged at three ends of the second connecting plate and respectively comprise a second driving hole 114a, a second driven hole 114b and a second driving hole 114c, the first driving hole is connected with the lower shaft of the driving rotation connecting rod, the second driving hole is connected with the upper shaft of the driving rotation connecting rod, the first driven hole is connected with the lower shaft of the driven rotation connecting rod, and the second driven hole is connected with the upper shaft of the driven rotation connecting rod, the first driving hole is matched and connected with the lower part of the mounting bottom plate of the welding head, and the second driving hole is matched and connected with the middle part of the mounting bottom plate of the welding head. A base plate is added on the mounting surface of the second connecting plate, the thickness of the base plate is greater than that of the first connecting plate, a Z-shaped corner is arranged at the middle section of the first connecting plate, and the space of the Z-shaped corner is a swinging space for isolating the first connecting plate from the second connecting plate; the relative installation positions of the driving rotating connecting rod upper shaft, the driving rotating connecting rod lower shaft and the driving rotating connecting rod connecting hole are the same as the relative installation positions of the driven rotating connecting rod upper shaft, the driven rotating connecting rod lower shaft and the driven rotating connecting rod connecting hole; the relative positions of the three mounting shaft holes of the first connecting plate are the same as the relative positions of the three mounting shaft holes of the second connecting plate. More specifically: the first connecting plate and the second connecting plate are in a mutually isolated parallel arrangement state; after the first connecting plate and the second connecting plate are respectively installed with the driving rotating connecting rod and the driven rotating connecting rod, a parallelogram connecting rod mechanism is formed. The driven rotating connecting rod upper shaft, the driven rotating connecting rod lower shaft and the driven rotating connecting rod connecting hole are matched with the driving rotating connecting rod upper shaft, the driving rotating connecting rod lower shaft and the driving rotating connecting rod connecting hole, and any two groups of the connecting holes are combined to form the parallelogram angle. The rotary driving motor directly drives the driving rotary connecting rod to rotate, and the driven rotary connecting rod in the parallelogram connecting rod mechanism synchronously rotates around the driven rotary connecting rod connecting hole on the driven rotary connecting rod; the rotary driving motor directly drives the driving rotary connecting rod to synchronously rotate so as to enable the first connecting plate and the second connecting plate to translate relatively, the distance between the two mounting holes of the driving hole in the first connecting plate and the driving hole in the second connecting plate is unchanged, and the relative left-right position relationship between the two mounting holes is changed constantly. This relative left-right position change will cause the weld head to change as it changes angle relative to vertical. The transmission mechanism occupies small space and is stable and reliable in movement.

In this embodiment, the welding gun longitudinal movement driving device (see fig. 3) includes a longitudinal motor mounting plate 141, an upper belt pulley 142, a belt 143, a lower belt pulley 144, a longitudinal movement driving motor 145, a left stroke proximity switch 146, a right stroke proximity switch 147, a stroke proximity switch stopper 148, a longitudinal motor mounting base plate 149, a longitudinal motor ball screw nut pair 150, a longitudinal driving connecting plate 151, a longitudinal motor ball screw 152, a longitudinal motor slide rail 153, and a longitudinal motor slider 154, the longitudinal motor mounting plate is a longitudinal plate, the longitudinal motor mounting base plate is in a 7-shape, the longitudinal motor mounting plate and the longitudinal motor mounting base plate are fixedly connected to form an h-shaped structure, the front surface of the longitudinal motor mounting base plate is connected to the welding gun carriage height axis driving device, the longitudinal movement driving motor is fixed to the back surface of the longitudinal motor mounting plate, and the output shaft of the longitudinal movement driving motor penetrates through the longitudinal motor mounting plate and is drivingly connected to the upper belt pulley, the upper belt pulley is arranged above the front surface of the longitudinal motor mounting plate, the lower belt pulley is arranged below the front surface of the longitudinal motor mounting plate, the upper belt pulley is in transmission connection with the lower belt pulley through a belt, the lower belt pulley is in transmission connection with the longitudinal motor ball screw, the longitudinal motor ball screw penetrates through the longitudinal motor mounting plate and is connected with a lower side plate of the longitudinal motor mounting plate, a longitudinal motor ball screw nut pair is arranged on the longitudinal motor ball screw, a pair of longitudinal driving connecting plates are downwards arranged on the longitudinal motor ball screw nut pair and are connected with a welding gun bracket 139, a welding gun and a pressurizing device are both arranged on the welding gun bracket, a longitudinal motor slide block is upwards fixed on the longitudinal motor ball screw nut pair and is matched with a longitudinal motor slide rail fixed on the longitudinal motor mounting plate, the longitudinal motor slide block or the longitudinal motor ball screw nut pair is fixedly provided with a travel proximity switch stop block extending upwards, the longitudinal motor mounting base plate is respectively provided with a left travel proximity switch and a right travel proximity switch in a left-right mode, and the travel proximity switch stop block moves between the left travel proximity switch and the right travel proximity switch. More specifically: the rotation of the longitudinal movement driving motor drives the longitudinal motor ball screw nut pair to translate left and right on the longitudinal motor slide block, so that the welding gun bracket connecting plate is driven to move longitudinally on a welding line, and a welding gun and a pressurizing device move synchronously with the welding gun bracket of the welding gun; the left travel proximity switch and the right travel proximity switch are left and right limit switches for traveling of a longitudinal motor ball screw nut pair, a travel proximity switch stop block is fixed with the longitudinal motor ball screw nut pair through a bolt, and the travel proximity switch stop block travels synchronously along with the longitudinal motor ball screw nut pair. When the contact stroke approaches the switch, the movement in the direction is cut off, and the welding gun can only move reversely, so that the position of the welding gun in the width direction of the welding line can be adjusted.

The welding gun bracket height shaft driving device (see figure 4) comprises a welding gun bracket height shaft driving motor 162, a height motor ball screw 164, a height motor ball screw nut pair 163, a position sensor 165, a position sensor slider 166, a height motor slide rail 167, a height motor slider 168 and a height motor mounting plate 161, wherein the height motor mounting plate is fixedly connected with the upper part of the welding head mounting plate, the middle section of the front surface of the height motor mounting plate extends outwards to form a side plate, the bottom part of the front surface of the height motor mounting plate extends outwards to form a bottom plate, the end part of the side plate of the height motor mounting plate is fixedly connected with the height motor mounting plate, the height motor mounting plate is parallel to the height motor mounting plate, the welding gun bracket height shaft driving motor is mounted on the front surface of the height motor mounting plate, and the output shaft of the welding gun bracket height shaft driving motor penetrates through the height motor mounting plate to be connected with the height motor ball screw, the two ends of the height motor ball screw are respectively connected with the bottom plate and the side plate of the height motor mounting bottom plate, a height motor ball screw nut pair is configured on the height motor ball screw, a height motor sliding block is fixed on the height motor ball screw nut pair, the front of the height motor sliding block is fixedly connected with the longitudinal motor mounting bottom plate, the back of the height motor sliding block is matched with a height motor sliding rail fixed on the front of the height motor mounting bottom plate, a position sensor sliding block is configured above the height motor sliding block, and the position sensor is configured on the height motor mounting plate to detect the position of the position sensor sliding block.

The side face of a mounting bottom plate of the welding head is connected with the first connecting plate and the second connecting plate, the lower surface of the mounting bottom plate of the welding head is fixedly connected with the second contact type position sensor and the first contact type position sensor, the detection surface of the first contact type position sensor and the detection surface of the second contact type position sensor are right opposite to the surface of the corrugated plate to be machined, the optical fiber sensor which is obliquely aligned with the surface of the corrugated plate to be machined is also mounted on the lower surface of the mounting bottom plate of the welding head, the upper portion of the welding gun bracket is connected with the longitudinal driving connecting plate, the side face of the welding gun bracket is connected with a welding gun 131, and the lower portion of the welding gun bracket is provided with a pressurizing device. In the embodiment, the rotation of the height shaft driving motor of the welding gun bracket drives the height motor ball screw nut pair, the height motor slide block, the stroke position sensor slide block and the welding gun longitudinal movement driving device to synchronously move up and down; the welding gun and the pressurizing device are connected with the welding gun longitudinal movement driving device, and the welding gun and the pressurizing device synchronously move up and down together with the welding gun longitudinal movement driving device; the position sensor is matched with the position sensor sliding block, so that the safety protection of the upper and lower safety strokes of the height of the bracket is realized; the height shaft driving device of the welding gun bracket adjusts the length of a welding arc constantly in the welding operation, and maintains the stable arc length below 1 mm so as to ensure the welding quality.

In the embodiment, a welding head is arranged on one side of a box body to move back and forth on a track through a welding head height shaft driving device, meanwhile, the box body is provided with a facility for adjusting the height of the welding head, namely the welding head height shaft driving device which is necessary for a common welding device, in addition, the utility model is also provided with a welding head rotating shaft driving device arranged for adjusting the angle of the welding head, a welding gun longitudinal movement driving device arranged for adjusting the position of the welding gun in the width direction of a welding line, and a welding gun bracket height shaft driving device arranged for adjusting the length of a welding arc, thereby realizing five-axis control, a rotating angle sensor, a first contact type position sensor for sensing the shape of a wave-shaped plate, a second contact type position sensor for sensing the shape of the wave-shaped plate, a pressurizing device and an optical fiber sensor for sensing the concave-convex shape of the wave-shaped plate, the detection of the specific shape of the wave-shaped plate is stricter, and the control of five shafts is more in place, wherein the five shafts are a Z1 shaft and a Z2 shaft which are subjected to height macroscopic and microscopic double regulation and control, and an X shaft, a Y shaft and a rotating welding gun angle which correspond to the width of a welding seam are controlled by controlling the box body to move on a track, so that the welding gun is ensured to be always kept in a vertical state with the wave-shaped plate surface of the welding point, namely an R shaft, and the welding gun is ensured to be always kept in a vertical state with the wave-shaped plate surface of the welding point and is kept in a stable arc length below 1 mm.

The above-described embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention in any way, and other variations and modifications may be made without departing from the spirit of the utility model as set forth in the claims.

Claims

1. The utility model provides a film type liquid goods containment system wave template automatic weld removal orbit controlling means for the removal orbit control of welder among the automatic weld device is used in the wave template welding, the automatic weld device is used in the wave template welding including the box that can remove along the length direction of shaped rail, and the soldered connection passes through the high axle drive arrangement of soldered connection and installs one side at the box, its characterized in that: the automatic welding device for welding the corrugated plate is provided with a controller, a welding head is provided with a welding head rotating shaft driving device for adjusting the angle of the welding head, a welding gun longitudinal movement driving device for adjusting the position of a welding gun in the width direction of a welding line is arranged on the welding head, a welding gun bracket height shaft driving device for adjusting the length of a welding arc is arranged on the welding head, the welding gun is fixedly arranged on the welding gun bracket height shaft driving device and is aligned with the corrugated plate to be processed, the control ends of the welding head rotating shaft driving device, the welding gun longitudinal movement driving device and the welding gun bracket height shaft driving device are all connected with the controller, the welding head is provided with a rotating angle sensor, a first contact type position sensor for sensing the shape of the corrugated plate, a second contact type position sensor for sensing the shape of the corrugated plate, a pressurizing device and an optical fiber sensor for sensing the concave-convex shape of the corrugated plate, the rotation angle sensor, the first contact type position sensor, the second contact type position sensor, the pressurizing device and the optical fiber sensor are all connected with the controller.

2. The apparatus for controlling the automatic welding movement track of the wave-shaped plate of the film type liquid cargo containment system according to claim 1, wherein: the welding head rotating shaft driving device comprises a rotating driving motor, a rotating angle sensor, a driving rotating connecting rod, a driven rotating connecting rod, a first connecting plate, a second connecting plate and a mounting plate, wherein a driving rotating connecting rod upper shaft, a driving rotating connecting rod lower shaft and a driving rotating connecting rod connecting hole are arranged on the driving rotating connecting rod, a driven rotating connecting rod upper shaft, a driven rotating connecting rod lower shaft and a driven rotating connecting rod connecting hole are arranged on the driven rotating connecting rod, the mounting plate is fixedly connected with a welding head height shaft driving device, an output shaft of the rotating driving motor penetrates through one side of the mounting plate and then is connected with the driving rotating connecting rod connecting hole, the other side of the mounting plate is connected with the driven rotating connecting rod connecting hole through a rotating shaft, the rotating driving connecting rod is directly driven by the rotating driving motor to synchronously rotate around the driving rotating connecting rod connecting hole, and the rotating angle sensor is arranged on the connecting plate to detect the rotating angle of the driving rotating connecting rod, the first connecting plate and the second connecting plate are Y-shaped, three mounting shaft holes are formed in three end portions of the first connecting plate and respectively comprise a first driving hole, a first driven hole and a first driving hole, three mounting shaft holes are formed in three end portions of the second connecting plate and respectively comprise a second driving hole, a second driven hole and a second driving hole, the first driving hole is connected with a lower shaft of the driving rotating connecting rod, the second driving hole is connected with the driving rotating connecting rod in an upper shaft mode, the first driven hole is connected with the lower shaft of the driven rotating connecting rod in a lower shaft mode, the second driven hole is connected with the driven rotating connecting rod in an upper shaft mode, the first driving hole is connected with the lower portion of the mounting bottom plate of the welding head in a matched mode, and the second driving hole is connected with the middle portion of the mounting bottom plate of the welding head in a matched mode.

3. The apparatus for controlling the automatic welding movement track of the wave-shaped plate of the film type liquid cargo containment system according to claim 2, wherein: a base plate is added on the mounting surface of the second connecting plate, the thickness of the base plate is greater than that of the first connecting plate, a Z-shaped corner is arranged at the middle section of the first connecting plate, and the space of the Z-shaped corner is a swinging space for isolating the first connecting plate from the second connecting plate; the relative installation positions of the driving rotating connecting rod upper shaft, the driving rotating connecting rod lower shaft and the driving rotating connecting rod connecting hole are the same as the relative installation positions of the driven rotating connecting rod upper shaft, the driven rotating connecting rod lower shaft and the driven rotating connecting rod connecting hole; the relative positions of the three mounting shaft holes of the first connecting plate are the same as the relative positions of the three mounting shaft holes of the second connecting plate.

4. The apparatus for controlling the automatic welding movement track of the wave-shaped plate of the film type liquid cargo containment system according to claim 3, wherein: the welding gun longitudinal movement driving device comprises a longitudinal motor mounting plate, an upper belt pulley, a belt, a lower belt pulley, a longitudinal movement driving motor, a left stroke proximity switch, a right stroke proximity switch, a stroke proximity switch stop block, a longitudinal motor mounting bottom plate, a longitudinal motor ball screw nut pair, a longitudinal driving connecting plate, a longitudinal motor ball screw, a longitudinal motor slide rail and a longitudinal motor slide block, wherein the longitudinal motor mounting plate is a longitudinal plate, the longitudinal motor mounting bottom plate is 7-shaped, the longitudinal motor mounting plate and the longitudinal motor mounting bottom plate are fixedly connected to form an h-shaped structure, the front surface of the longitudinal motor mounting bottom plate is connected with a welding gun bracket height shaft driving device, the longitudinal movement driving motor is fixed on the back surface of the longitudinal motor mounting plate, and an output shaft of the longitudinal movement driving motor penetrates through the longitudinal motor mounting plate to be connected with the upper belt pulley in a driving manner, the upper belt pulley is arranged above the front surface of the longitudinal motor mounting plate, the lower belt pulley is arranged below the front surface of the longitudinal motor mounting plate, the upper belt pulley is in transmission connection with the lower belt pulley through a belt, the lower belt pulley is in transmission connection with the longitudinal motor ball screw, the longitudinal motor ball screw penetrates through the longitudinal motor mounting plate and is connected with a lower side plate of a longitudinal motor mounting base plate, a longitudinal motor ball screw nut pair is arranged on the longitudinal motor ball screw, a pair of longitudinal driving connecting plates are downwards arranged on the longitudinal motor ball screw nut pair and are connected with a welding gun bracket, a welding gun and a pressurizing device are both arranged on the welding gun bracket, a longitudinal motor slide block is upwards fixed on the longitudinal motor ball screw nut pair, and the longitudinal motor slide block is matched with a longitudinal motor slide rail fixed on the longitudinal motor mounting base plate, the longitudinal motor slide block or the longitudinal motor ball screw nut pair is fixedly provided with a travel proximity switch stop block extending upwards, the longitudinal motor mounting base plate is respectively provided with a left travel proximity switch and a right travel proximity switch in a left-right mode, and the travel proximity switch stop block moves between the left travel proximity switch and the right travel proximity switch.

5. The apparatus for controlling the automatic welding movement track of the wave-shaped plate of the film type liquid cargo containment system according to claim 4, wherein: the welding gun bracket height shaft driving device comprises a welding gun bracket height shaft driving motor, a height motor ball screw nut pair, a position sensor slider, a height motor slide rail, a height motor slider and a height motor mounting plate, wherein a height motor mounting base plate is fixedly connected with the upper part of a welding head mounting base plate, a side plate extends outwards from the middle section of the front surface of the height motor mounting base plate, a base plate extends outwards from the bottom of the front surface of the height motor mounting base plate, the end part of the side plate of the height motor mounting base plate is fixedly connected with the height motor mounting plate, the height motor mounting plate is parallel to the height motor mounting base plate, the welding gun bracket height shaft driving motor is mounted on the front surface of the height motor mounting plate, and an output shaft of the welding gun bracket height shaft driving motor penetrates through the height motor mounting plate to be connected with the height motor ball screw, the two ends of the height motor ball screw are respectively connected with the bottom plate and the side plate of the height motor mounting bottom plate, a height motor ball screw nut pair is configured on the height motor ball screw, a height motor sliding block is fixed on the height motor ball screw nut pair, the front of the height motor sliding block is fixedly connected with the longitudinal motor mounting bottom plate, the back of the height motor sliding block is matched with a height motor sliding rail fixed on the front of the height motor mounting bottom plate, a position sensor sliding block is configured above the height motor sliding block, and the position sensor is configured on the height motor mounting plate to detect the position of the position sensor sliding block.

6. The apparatus for controlling the automatic welding movement track of the wave-shaped plate of the film type liquid cargo containment system according to claim 5, wherein: the side face of a mounting base plate of the welding head is connected with the first connecting plate and the second connecting plate, the lower surface of the mounting base plate of the welding head is fixedly connected with the second contact type position sensor and the first contact type position sensor, the detection surface of the first contact type position sensor and the detection surface of the second contact type position sensor are right opposite to the surface of the corrugated plate to be processed, the optical fiber sensor which is obliquely aligned with the surface of the corrugated plate to be processed is also mounted on the lower surface of the mounting base plate of the welding head, the upper portion of a welding gun bracket is connected with the longitudinal driving connecting plate, the side face of the welding gun bracket is connected with a welding gun, and the lower portion of the welding gun bracket is provided with a pressurizing device.