CN220093497U - Full-automatic deep hole welding device - Google Patents

Abstract

The utility model relates to a full-automatic deep hole welding device, and belongs to the technical field of welding equipment. The full-automatic deep hole welding device comprises a fixed base, a deep hole welding gun, a six-axis mechanical arm, an industrial camera, a control system and a program-controlled welding power supply; the six-axis mechanical arm is arranged on the fixed base, and can realize X, Y and Z-axis movement and rotation; the industrial camera is fixed on the head of the six-axis manipulator through the connecting plate, and is used for photographing an object to be welded and transmitting the photograph to the control system; the deep hole welding gun is fixed on the head of the six-axis manipulator through the fixing plate, the deep hole welding gun comprises a welding core rod, and the welding core rod can automatically rotate to finish welding; the control system can process photo data from an industrial camera and control the six-axis manipulator to drive the deep hole welding gun to move. The automatic deep hole welding device can automatically position, move and finish welding by arranging the industrial camera and combining the control system, so that the welding efficiency is greatly improved.

Description

Full-automatic deep hole welding device

Technical Field

The utility model relates to a full-automatic deep hole welding device, and belongs to the technical field of welding equipment.

Background

The heat exchanger has wide application in the industries of chemical industry, electric power, food and the like, and along with the development of the industries of chemical industry, electric power, food and the like, the heat exchanger also develops towards the directions of high efficiency, large size and long service life; in particular, the coiled tube heat exchanger is being developed toward higher temperature, larger size, higher pressure and miniaturization. The quality of the welding seam between the tube plate and the heat exchange tube of the large-sized winding tube type heat exchanger is particularly important, and the service life and the economic value of the heat exchanger are directly determined.

In order to meet the requirements of the product structure and related processes of the heat exchanger, in particular to a winding type heat exchanger, the connection of the tube plate and the heat exchange tube of the high-pressure winding type heat exchanger needs to adopt inner hole welding, and the diameter of the tube plate of the large-scale winding type heat exchanger can reach 2000mm or even reach 3000mm. The welding of the tube plate and all heat exchange tubes can be completed by manually moving the positions for many times by a common deep hole welder, and the welding quality of the heat exchange tubes and tube plate holes directly determines the quality and service life of the winding type heat exchanger, so that a welding device for realizing the welding of the tube plates with different diameters and all heat exchange tubes in a full-automatic mode is needed.

Disclosure of Invention

In order to solve the problems, the utility model provides a full-automatic deep hole welding device, which can realize automatic positioning, movement and automatic welding completion by arranging an industrial camera matched control device, can greatly improve the welding efficiency and the welding quality, can obtain higher welding precision and effectively solves the problem of deep hole welding.

The utility model provides a full-automatic deep hole welding device which comprises a fixed base, a deep hole welding gun, a six-axis mechanical arm, an industrial camera, a control system and a programmable welding power supply, wherein the fixed base is connected with the deep hole welding gun; the six-axis manipulator is arranged on the fixed base, and can realize X, Y and Z-axis movement and rotation; the industrial camera is fixed on the head of the six-axis manipulator through a connecting plate and is used for photographing an object to be welded and transmitting the photograph to the control system; the deep hole welding gun is fixed on the head of the six-axis manipulator through a fixing plate and comprises a welding core rod which can automatically rotate to finish welding; the control system can process photo data from the industrial camera and control the six-axis manipulator to drive the deep hole welding gun to move.

Optionally, the bottom of six mechanical arms is connected with the removal slide, the bottom of removing the slide is provided with the removal slider, unable adjustment base's top be provided with remove slider complex removal slide rail and actuating mechanism, the removal slide can be through the removal slider is in under actuating mechanism's drive relatively remove the slide rail motion.

Optionally, the movable sliding rail is two and parallel to each other.

Optionally, the number of the driving mechanisms is two, and the two moving sliding blocks are respectively controlled to move along the moving sliding rail matched with the two moving sliding blocks.

Optionally, the deep hole welding gun is arranged at the bottom of the head of the six-axis manipulator.

Optionally, the full-automatic deep hole welding device further comprises a cooling water tank, wherein the cooling water tank can provide cooling water for the whole full-automatic deep hole welding device through a pipeline.

Optionally, the programmable welding power supply comprises a power supply assembly and a control assembly, wherein the power supply assembly provides power for the full-automatic deep hole welding device, and the control assembly can control gas, cooling water and current required in welding and rotation of the six-axis mechanical arm and the deep hole welding gun.

The beneficial effects that can be produced by the present utility model include, but are not limited to:

1. according to the full-automatic deep hole welding device provided by the utility model, photographing and positioning are carried out on the pipeline to be welded through the industrial camera, after the deep hole welding gun is conveyed to a designated position under the control of the control system, the welding can be completed through automatic rotation of the deep hole welding gun, then the position to be continuously welded is found out through comparison of the control system, the deep hole welding gun is controlled to repeat the steps, the full-automatic welding process is realized, the welding efficiency can be improved, the welding precision can be improved, and the welding quality is ensured.

2. The full-automatic deep hole welding device provided by the utility model completely replaces manual operation through full-automatic welding, and has the advantages of low cost, high efficiency and good welding quality.

3. According to the full-automatic deep hole welding device provided by the utility model, the matched structure of the sliding rail and the sliding block is arranged between the six-axis mechanical arm and the fixed base, so that the moving range of the six-axis mechanical arm can be increased, the flexibility of the welding device is increased, the larger moving range can be obtained, the number of weldables is increased, the manual intervention times in the whole welding engineering are reduced, and the automation degree of the welding device is increased.

Drawings

The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model and do not constitute a limitation on the utility model. In the drawings:

fig. 1 is a schematic structural diagram of a full-automatic deep hole welding device according to an embodiment of the present utility model;

fig. 2 is a schematic structural diagram of a head of a six-axis manipulator in a full-automatic deep hole welding device according to an embodiment of the present utility model.

List of parts and reference numerals:

the welding device comprises a fixed base-1, a deep hole welding gun-2, a six-axis manipulator-3, an industrial camera-4, a control system-5, a programmable welding power supply-6, a cooling water tank-7, a movable slide plate-8, a movable slide block-9, a movable slide rail-10 and a tungsten electrode-11.

Detailed Description

In order to more clearly illustrate the general inventive concept, a detailed description is given below by way of example with reference to the accompanying drawings.

In order that the above-recited objects, features and advantages of the present utility model will be more clearly understood, a more particular description of the utility model will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, the embodiments of the present utility model and features in the embodiments may be combined with each other.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model, however, the present utility model may be practiced in other ways than those described herein, and therefore the scope of the present utility model is not limited to the specific embodiments disclosed below.

In addition, in the description of the present utility model, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; the device can be mechanically connected, electrically connected and communicated; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present utility model, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Referring to fig. 1-2, the utility model provides a full-automatic deep hole welding device, which comprises a fixed base 1, a deep hole welding gun 2, a six-axis manipulator 3, an industrial camera 4, a control system 5 and a program-controlled welding power supply 6; the six-axis manipulator 3 is arranged on the fixed base 1, and the six-axis manipulator 3 can realize X, Y and Z-axis movement and rotation; the industrial camera 4 is fixed on the head of the six-axis manipulator 3 through a connecting plate, and the industrial camera 4 is used for photographing an object to be welded and transmitting the photograph to the control system 5; the deep hole welding gun 2 is fixed on the head of the six-axis manipulator 3 through a fixing plate, the deep hole welding gun 2 comprises a welding core rod, the welding core rod can automatically rotate to finish welding, and in the embodiment, the welding core rod is specifically a tungsten electrode 11; the control system 5 can process photo data from the industrial camera 4 and control the six-axis manipulator 3 to drive the deep hole welding gun 2 to move.

According to the full-automatic deep hole welding device provided by the utility model, the industrial camera 4 is arranged to be matched with the control system 5, the industrial camera 4 positioned at the head of the six-axis manipulator 3 can photograph an object to be welded, after the photographed data is transmitted to the control system 5, the control system 5 can drive the six-axis manipulator 3 to drive the deep hole welding gun 2 to reach a designated position after acquiring the coordinates of the object to be welded through image processing, after the deep hole welding gun 2 finishes welding, the deep hole welding gun 2 moves to the next position to be welded under the control of the control system 5, and the process is repeated, so that the full unmanned automatic welding process can be realized, the welding efficiency can be greatly improved, and the higher welding quality can be ensured.

As an implementation manner, the bottom of the six-axis manipulator 3 is connected with a moving slide plate 8, the bottom of the moving slide plate 8 is provided with a moving slide block 9, the top of the fixed base 1 is provided with a moving slide rail 10 and a driving mechanism which are matched with the moving slide block 9, and the moving slide plate 8 can move relative to the moving slide rail 10 through the moving slide block 9 under the driving of the driving mechanism.

Through set up the structure of slide rail, slider between six mechanical arm 3 and unable adjustment base 1, can improve six mechanical arm 3's motion flexibility, increase six mechanical arm 3 and drive deep hole welder 2 accessible effective range to can make deep hole welder 2's movable range bigger, can weld the operation to the welding object of treating in the bigger scope, when needing to weld a large amount of pipelines in a project, can reduce the number of times of manual intervention, improve the degree of automation of welding procedure.

As an embodiment, the two moving slide rails 10 are arranged in parallel, and the six-axis manipulator 3 is fixed on the moving slide plate 8, so that the stability of the six-axis manipulator 3 in the moving process can be improved.

As one embodiment, the number of the driving mechanisms is two, the two moving sliding blocks 9 are respectively controlled to move along the moving sliding rail 10 matched with the two moving sliding blocks, and due to the fact that the weight of the six-axis mechanical arm 3 is large, the two driving mechanisms can ensure sufficient power in the moving process of the six-axis mechanical arm 3, and deformation damage to the moving sliding rail 10 and the moving sliding blocks 9 possibly caused by uneven stress when a single driving mechanism is used is reduced.

As an implementation mode, the deep hole welding gun 2 is arranged at the bottom of the head of the six-axis mechanical arm 3, the head of the six-axis mechanical arm 3 is arranged so as to drive the deep hole welding gun 2 to move, and after the deep hole welding gun 2 reaches a designated position, the tungsten electrode 11 in the deep hole welding gun can finish welding a pipeline after rotating for one circle, so that the welding device has the advantages of simplicity and high efficiency.

As an implementation mode, the full-automatic deep hole welding device further comprises a cooling water tank 7, the cooling water tank 7 can provide cooling water for the whole full-automatic deep hole welding device through a pipeline, and the welding device can be ensured to be in a reasonable temperature interval through the addition of the cooling water tank 7, so that the welding time is prolonged, and the welding quality is ensured.

As an embodiment, the programmable welding power supply 6 includes a power supply assembly and a control assembly, the power supply assembly provides power for the full-automatic deep hole welding device, and the control assembly can control the gas, cooling water and current required in welding, and the six-axis manipulator 3 and the deep hole welding gun 2 to rotate.

According to the utility model, the positioning by a visual analysis system can be realized by adopting the full-automatic deep hole welding device, the six-axis mechanical arm 3 drives the deep hole welding gun 2 to rapidly move to finish automatic welding of the large-diameter tube plate of the winding type heat exchanger and the deep hole welding of all heat exchange tubes, the one-time welding qualification rate reaches 99.5%, manual interference is not needed, and the automatic deep hole welding device has the advantages of high degree of automation, high welding efficiency and high welding quality.

It should be noted that, the control manner of the control system 5 is a conventional technology in the art, for example, a layout diagram of a tube plate 1:1 hole to be welded may be manually input into a computer, a manipulator is started to move to a designated position, the industrial camera 4 takes the characteristics of an actual tube plate and forms a photo, and compares the theoretical position deviation, the control system 5 calculates the array coordinate value of the hole to be welded according to the measured value, a file readable by the manipulator is generated, the control system 5 corrects the actual data, a coordinate file is generated, and then the manipulator is controlled to weld according to the coordinate file. Specifically, in the scheme of the utility model, the deep hole welding gun 2 and the industrial camera 4 are fixed on the six-axis mechanical arm 3, the industrial camera 4 shoots a tube plate of the heat exchanger, the pictures are transmitted into the computer, the welding is confirmed in the hole of the tube plate, the coordinates required to be welded are given, the control system 5 controls the six-axis mechanical arm 3 to realize lifting and translation, the deep hole welding gun 2 is driven to reach a designated position, and after confirming the position, the deep hole welding gun 2 is controlled to automatically rotate, one-time automatic welding is completed, and the process is repeated until all heat exchange tubes are welded.

The working principle and working conditions of the deep hole welding gun 2 are well known to those skilled in the art, excessive description is not needed, for example, the deep hole welding gun 2 can be driven by a mechanical arm to move forwards and backwards, up and down and left and right, after the position of the welding gun is determined, a power supply and a shielding gas are connected, the deep hole welding gun 2 rotates to realize one-time welding forming of a tube plate boss and a heat exchanger, heat generated by cooling water and the like can be removed in the welding process, and the like.

In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.

The foregoing is merely exemplary of the present utility model and is not intended to limit the present utility model. Various modifications and variations of the present utility model will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the utility model are to be included in the scope of the claims of the present utility model.

Claims (7)

1. The full-automatic deep hole welding device is characterized by comprising a fixed base, a deep hole welding gun, a six-axis mechanical arm, an industrial camera, a control system and a programmable welding power supply; the six-axis manipulator is arranged on the fixed base, and can realize X, Y and Z-axis movement and rotation; the industrial camera is fixed on the head of the six-axis manipulator through a connecting plate and is used for photographing an object to be welded and transmitting the photograph to the control system; the deep hole welding gun is fixed on the head of the six-axis manipulator through a fixing plate and comprises a welding core rod which can automatically rotate to finish welding; the control system can process photo data from the industrial camera and control the six-axis manipulator to drive the deep hole welding gun to move.

2. The full-automatic deep hole welding device according to claim 1, wherein the bottom of the six-axis manipulator is connected with a movable slide plate, the bottom of the movable slide plate is provided with a movable slide block, the top of the fixed base is provided with a movable slide rail and a driving mechanism which are matched with the movable slide block, and the movable slide plate can move relative to the movable slide rail through the movable slide block under the driving of the driving mechanism.

3. The full-automatic deep hole welding device according to claim 2, wherein the number of the movable slide rails is two and arranged in parallel.

4. The full-automatic deep hole welding device according to claim 3, wherein the number of the driving mechanisms is two, and the two moving sliding blocks are respectively controlled to move along the moving sliding rail matched with the driving mechanisms.

5. The full-automatic deep hole welding device according to claim 1, wherein the deep hole welding gun is arranged at the bottom of the head of the six-axis manipulator.

6. The full-automatic deep hole welding apparatus according to claim 1, further comprising a cooling water tank capable of supplying cooling water to the entire full-automatic deep hole welding apparatus through a pipe.

7. The full-automatic deep hole welding device of claim 6, wherein the programmable welding power supply comprises a power supply assembly and a control assembly, the power supply assembly provides power for the full-automatic deep hole welding device, and the control assembly can control gas, cooling water and current required in welding and rotation of the six-axis mechanical arm and the deep hole welding gun.