WO2013056425A1

WO2013056425A1 - Control method and controller for automatic welding device

Info

Publication number: WO2013056425A1
Application number: PCT/CN2011/080942
Authority: WO
Inventors: 詹纯新; 刘权; 王莲芳; 易伟平; 钱世界
Original assignee: 中联重科股份有限公司; 湖南中联重科专用车有限责任公司
Priority date: 2011-10-18
Filing date: 2011-10-18
Publication date: 2013-04-25

Abstract

Disclosed is a control method for an automatic welding device, which comprises the following step: in the welding process, controlling a welding head (2) according to control parameters to drive a welding gun (1) to adjust the welding position and welding angle of the welding gun in the three-dimensional direction. Through the use of the control method, the structure of the automatic welding device is simple and the cost is low. Also disclosed is a controller for the automatic welding device.

Description

Control method and controller for automatic welding device

Technical field

The invention belongs to the field of pipe fitting welding equipment, and in particular to a welding gun adjusting device and a control method and controller for the automatic welding device. Background technique

Truss structures are common in large-scale buildings, exhibition halls, stadiums, and bridges. Among them, some of the truss arms are formed by a combination of a round tubular chord at both ends and an ear hinge or a support, and the weld of the combined weld is a circumferential weld. Due to the force characteristics of the truss structure, the weld formed after welding on the truss arm is required in terms of joint strength, etc., so the circumferential weld is required to be strong and has a certain section size, and considering the wall thickness and rounding of the chord Degree, the circumferential weld formed should have a large width and thickness. Therefore, in the welding, the multi-layer welding is required in the wall thickness direction of the chord, and multiple welding is performed in the chord axis direction of each layer to form a multi-layer multi-pass circumferential weld.

In the above-mentioned multi-layer multi-pass circumferential weld welding, if the welding of the pipe is relatively fixed, the welding position and even the welding angle of the welding torch in each welding of each layer need to be adjusted accordingly, so the welding torch The welding position in the three-dimensional direction needs to be able to be finely adjusted continuously. In a common welding machine, the welding torch is usually driven by a oscillating device to perform a straight line or an arc oscillating, or a cross slide plate is arranged in the welding machine head to adjust the upper side of the welding gun, as disclosed in the Chinese Patent Application Publication No. CN2495404Y. Lower position and left and right positions. In a welding position adjustment mechanism such as an oscillator or a cross slide of such a welder, it is difficult to perform continuous and precise welding position adjustment in a three-dimensional direction, and some welding position adjustment mechanisms are indirectly adjusted by adjusting the position of the welding head. Adjusting the position of the welding torch, but this easily affects the accuracy of the welding position adjustment and makes it difficult to fine-tune the welding position. In addition, many welding position adjustment mechanisms are also low in automation, mostly manual adjustment. Therefore, in the multi-layer multi-pass circumferential weld welding, it is necessary to design a simple, practical, automatic welding device capable of adjusting the welding position in the three-dimensional direction without requiring a complicated control program, for the automatic Welding device control method and controller Welding of the multi-layered multi-pass circumferential weld. Summary of the invention

SUMMARY OF THE INVENTION An object of the present invention is to provide a control method and controller for an automatic welding apparatus capable of effectively adjusting a welding position and a welding angle of a welding torch in a three-dimensional direction, in accordance with the above-described deficiencies of the prior art.

According to an aspect of the invention, a control method for an automatic welding device is provided, the automatic welding device comprising a welding gun adjusting device comprising a welding head and a welding gun mounted on the welding head, The welding head can drive the welding gun to achieve welding position adjustment and welding angle adjustment in a three-dimensional direction, and the control method comprises: controlling the welding head to drive the welding gun in a three-dimensional direction according to a control parameter during a welding process Adjust the welding position of the welding torch and adjust the welding angle of the welding torch.

According to another aspect of the present invention, the present invention also provides a controller for an automatic welding apparatus, the automatic welding apparatus including a welding gun adjusting device including a welding head and a welding gun mounted on the welding head The welding head is capable of driving the welding gun to achieve welding position adjustment and welding angle adjustment in a three-dimensional direction, the controller comprising: a welding position adjustment module configured to generate and transmit according to a control parameter for use in the welding process a welding position adjustment signal for controlling the welding head to drive the welding gun to adjust a welding position of the welding torch in a three-dimensional direction; and a welding angle adjustment module configured to generate and transmit according to the control parameter for controlling the welding process The welding angle adjustment signal is used to drive the welding torch to adjust the welding angle of the welding torch.

Through the control method and the controller of the invention, the welding position adjustment mechanism and the welding angle adjustment mechanism in the three-dimensional direction are integrated and arranged in the welding machine head, so that the welding head can be controlled to drive the welding gun in the three-dimensional direction during the welding process. The welding position adjustment and the welding angle adjustment, and the structure of the welding gun adjusting device are simple, practical, and low in cost, and are suitable for multi-layer multi-channel circumferential weld welding of large round pipe workpieces. DRAWINGS

1 is a front elevational view of an automatic welding apparatus in accordance with an embodiment of the present invention; 2 is a front perspective view of an automatic welding device in accordance with an embodiment of the present invention;

Figure 3 is a rear perspective view of the automatic welding device of Figure 2. Description of the reference numerals

1 welding torch 2 welding head

4 Rolling roller 5 Tensioning mechanism 6 Connecting plate

211 first slide 212 first slider 213 first screw

214 first drive mechanism 221 second slide 222 second slider

224 second drive mechanism 231 third slide 232 third slide

234 third drive mechanism 24 column 241 lifting rail

242 Fourth Slider 244 Fourth Drive 25 Rotary Shaft

254 fifth drive mechanism 7 round pipe workpiece 8 workpiece rotary drive

9 fixed support plate 00, axis

The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are intended to be illustrative and not restrictive.

In the present invention, the orientation words such as "upper", "upper", "downward", "lower" and "vertical" are generally used in the drawings without the contrary. In terms of the direction, or the description of the positional relationship of the components in terms of vertical or gravity directions. The term "welding position" as used herein refers to the position of the welding gun tip when welding. The "welding angle" is the inclination angle of the welding torch from the vertical direction (or horizontal direction) at the center of the welding point, that is, in the swing welding. The angle of inclination between the centerline of the torch and the vertical direction (or horizontal direction).

As shown in FIG. 1 to FIG. 3, the present invention provides an automatic welding device including a welding gun adjusting device including a welding gun 1 and a welding head 2, and the welding gun 1 is mounted on the welding head 2. The welding head 2 is capable of driving the welding gun 1 to achieve welding position adjustment and welding angle adjustment in a three-dimensional direction. Thus, unlike the usual installation on the oscillator The welding torch or other welding gun adjusting device can only move the welding gun to make two-dimensional plane movement such as swinging or moving up and down, or by driving the welding head 2, so that the welding head 2 drives the welding gun 1 to move, thereby indirectly adjusting the welding gun 1 In the welding position, the welding head 2 of the present invention can directly drive the welding torch 1 to realize the welding position adjustment and the welding angle adjustment in the three-dimensional direction.

In order to make the welding gun adjusting device have a welding position adjusting function in a three-dimensional direction, as shown in FIG. 1 to FIG. 3, the welding head 2 is provided with a welding position adjusting mechanism in a three-dimensional direction, that is, a slider in the figure. Slide device. The welding head 2 includes a first slider 211 and a first slider 212, a second slider 221 and a second slider 222, and a third slider 231 and a third, which are respectively disposed in a three-dimensional direction and form a sliding fit. Slider 232. The welding torch 1 is fixedly connected to the first sliding block 212, and the first sliding block 211 and the second sliding seat 221 are fixedly connected or integrally formed with the second sliding block 222 and the third sliding block 232, respectively. . That is to say, the welding head 2 has three sets of slider sliding device, in which the different sets of sliders and sliding seats can be fixedly connected and form an open-loop connecting structure ( The closed-loop connection structure formed by the fixed connection of the sliders and the slides of different groups is respectively). It can be seen that the welding head 2 of the present invention includes a welding position adjusting mechanism in a three-dimensional direction, that is, a slider sliding device in the present embodiment, thereby having a welding position adjusting function in a three-dimensional direction. Therefore, when the round pipe workpiece 7 is welded, the welding head 2 can easily drive the welding torch 1 to adjust the welding position to complete the multi-layer multi-pass weld welding. Moreover, the structure of the present invention is simple, practical, low in manufacturing cost, and easy to automatically control, compared to a robot welding device having a very complicated structure and control. And the welding position adjustment mechanism is arranged in the welding head 2 in three dimensions, the integration degree is good, and the movement strokes of the respective welding position adjustment mechanisms do not interfere, the coordination linkage is good, the welding head 2 directly drives the welding gun to realize the three-dimensional The manner in which the welding position is adjusted in the direction is also superior to the manner in which the welding head is indirectly adjusted by driving the welding head.

As shown in FIG. 1 to FIG. 3, in the present embodiment, the welding torch 1 follows the first slider 212 and is movable on the first sliding seat 211 in the horizontal radial direction of the circular tube workpiece 7, and the first sliding seat 211 is fixedly coupled to the second slider 222, so that the welding gun 1 can be driven to move in the direction of the vertical diameter of the circular tube workpiece 7 by the sliding of the second slider 222, since the second slider 221 and the third slider 232 The fixed connection, likewise, the sliding of the third slider 232 causes the welding torch 1 to move in the direction of the axis 00 of the cylindrical workpiece 7. Thereby the first slip by adjusting the independent motion and not interfering with each other The block 212, the second slider 222 and the third slider 232 can effectively adjust the welding position of the welding torch 1 in the three-dimensional direction.

In the present embodiment, as an example of a combined welding forming a truss arm, the round pipe workpiece 7 is a truss arm that is welded by the combination and has a large size and space occupied, and the chord and the ear hinge are welded or The pedestal is more securely joined to form the final form of the truss arm. Accordingly, the size and weight of the welding gun adjustment device are also large. Therefore, it is preferable to use a lead rod whose stroke is controllable and has a strong locking force as a driving member that directly drives the first slider 212, the second slider 222, and the third slider 232 to slide. Therefore, the first sliding rod 211, the second sliding seat 221 and the third sliding seat 231 are respectively mounted with a first screw rod 213, a second screw rod (not shown) and a third screw rod (not shown). The first screw rod 213, the second screw rod and the third screw rod drive the first slider 212, the second slider 222 and the third slider 232, respectively. Correspondingly, the first screw rod 213, the second screw rod and the third screw rod are preferably respectively connected with a first driving mechanism 214, a second driving mechanism 224 and a third driving mechanism 234. The drive mechanism described therein may be a drive mechanism of any structure or form, such as a motor or the like.

Preferably, in the embodiment, the first driving mechanism 214 is a manual driving mechanism, and the manual driving mechanism includes a manual crank connected to one end of the first screw rod 213, and the welding gun 1 can be used to pass the welding gun 1 Moves directly above the axis 00' of the tube workpiece 7. Accordingly, the remaining second drive mechanism 224 and third drive mechanism 234 may be motor drive mechanisms, hydraulic drive mechanisms, pneumatic drive mechanisms, or manual drive mechanisms.

In the welding of the round pipe workpiece 7, when the multi-layer multi-pass welding is carried out with a large cross-sectional width of the weld, the welding angle of the welding torch between the layers or the respective paths may be greatly different, so there is It may be necessary to adjust the welding angle of the welding torch 1 accordingly. Therefore, the welding head 2 in the welding gun adjusting device of the present invention further includes a welding angle adjusting mechanism including a rotating shaft 25 and a fifth driving mechanism 254 that drives the rotating shaft 25 to rotate, the rotating shaft The welding gun 1 is detachably mounted at one end and the first slider 212 is connected to the other end. Specifically, as shown in FIG. 1 to FIG. 3, the fifth driving mechanism 254 is fixedly mounted on the first slider 212, and the rotating shaft 25 is in a "Z" shape, and the welding gun 1 is detachably mounted on the "Z". One end of the "Z" type is connected to the fifth driving mechanism 254 and driven to rotate by the fifth driving mechanism 254, thereby causing the welding gun 1 to deflect, and the welding angle of the welding torch 1 can be effectively adjusted. And in the welding, the welding angle adjusting mechanism can act as a swinger to drive the welding gun 1 for swing welding, That is, the welding gun 1 performs left-right swing welding with the position of the welding torch 1 at the welding angle as a center line.

In addition, since the stroke of the slider in the welding head 2 is limited, or the welding position adjusting mechanism in the welding head 2 is mainly used for fine adjustment of the position of the welding gun 1, it is necessary to have a large movement of the welding head 2 Device. Therefore, the present invention also provides a welding head height adjusting mechanism that can adjust the height position of the welding head 2 with a large stroke. As shown in FIG. 1 and FIG. 3, the welding gun adjusting device in the embodiment further preferably includes a column 24 and a fourth sliding block 242, and the column 24 is provided with a lifting rail 241 and a fourth screw (not shown). The fourth screw drives the fourth slider 242 to slide on the lifting rail 241, and the fourth slider 242 is fixedly coupled to the third slider 231. Therefore, the fourth slider 242 can drive the welding head 2 to slide up and down on the lifting rail 241 through the third sliding seat 231. When specifically applied to the welding process, before the round pipe workpiece 7 is installed in position, the fourth slider 242 is adjusted so that the welding head 2 is at a higher height position, and the space is made to facilitate the installation and positioning of the round pipe workpiece 7 Below the welding head 2. After the round pipe workpiece 7 is installed and positioned, the fourth slider 242 is adjusted so that the welding head 2 approaches the round pipe workpiece 7, so that the welding torch 1 approaches or is located at the initial position of the welding torch at the time of welding. Similarly, the fourth screw is connected to the fourth driving device 244. As shown in Figs. 1 to 3, the fourth driving device 244 is preferably a high-power motor driving mechanism.

In addition, the welding gun adjusting device of the present invention preferably further includes a welding gun tracking mechanism, as shown in FIG. 2 or FIG. 3, the welding gun tracking mechanism includes a pressing rod 3 and a rolling pressing wheel 4, and the rolling pressing wheel 4 is rotatably fixedly mounted. The other end of the pressing rod 3 is fixedly connected to the welding head 2 at one end of the pressing rod 3. Specifically, as shown in FIG. 1, the other end of the pressing rod 3 is fixed to the third sliding seat 231. connection. Thus, the welding gun tracking mechanism is fixedly coupled to the welding head 2 and further fixedly coupled to the fourth slider 242, and the position of the welding gun 1 and the rolling pin 4 is relatively fixed. Preferably, one end of the pressing rod 3 on which the rolling pin 4 is mounted is bent obliquely downward. Thus, when the welding head 2 drives the welding torch 1 to move downward, the rolling pressure roller 4 can be easily contacted and pressed against the round pipe workpiece 7, and the welding torch 1 is finely adjusted to the initial welding position by the welding head 2. During the welding process, the rolling pressure roller 4 is pressed against the round pipe workpiece 7. If the round pipe workpiece 7 has unevenness, the welding torch 1 can follow the rolling pressure roller 4 to make corresponding position adjustment, thereby realizing the welding torch 1 Precise positioning. The rolling pressure roller 4 is in contact with the round pipe workpiece 7, which can reduce the friction and protect the surface of the round pipe workpiece 7. The round tube workpiece 7 is smoothly rolled for circumferential welding.

Wherein, as shown in FIG. 1, the welding gun tracking mechanism preferably further includes a tensioning mechanism 5, and the two ends of the tensioning mechanism 5 are respectively connected to the fourth slider 242 and the pressing rod 3. The tensioning mechanism 5 applies a tensioning force to the pressing rod 3, so that the rolling pressing wheel 4 is pressed against the round tube workpiece 7. The tensioning mechanism 5 can also be a variety of driving devices, such as pneumatic drives, screw drives or hydraulic drives.

As shown in FIG. 3, preferably, the welding gun adjusting device in this embodiment may further include a connecting plate 6, and the pressing rod 3 and the third sliding seat 231 are fixedly connected to the connecting plate 6 and hinged by the connecting plate 6 And the fourth slider 242. Specifically, as shown in FIG. 3, the fourth slider 242 extends horizontally from the fixed support plate 9, and thus the connecting plate 6 is hinged to the fixed support plate 9 horizontally protruding from the fourth slider 242. The fixed support plate 9 is fixedly connected to the fourth slider 242. Preferably, the fixed support plate 9 and the fourth slider 242 may be an integrally formed structure. Thereby, the entire welding head 2 and the welding gun tracking mechanism are hinged to the fourth slider 242 through the connecting plate 6, and can be moved up and down following the fourth slider 242. When the tensioning mechanism 5 applies a tension to the pressing rod 3, the welding head 2 also follows the lowering of the hinge point of the connecting rod 6 by the pressing rod 3. Relative to the fixed connection mode of the welding head 2 and the fourth slider 242, it is more convenient to use the hinge method to press the roller 4 to press the cylindrical workpiece 7 and facilitate the position adjustment of the welding torch 1. Among them, the tensioning mechanism 5 is used not only to support the welding gun tracking mechanism but also to support the welding head 2 . Therefore, preferably, the connecting plate 6 is hinged to an upper portion of the fourth slider 242, and the tensioning mechanism 5 is hinged to a lower portion of the fourth slider 242. Similarly, the hinge point is also provided on the fixed support plate 9 which is horizontally extended on the fourth slider 242.

Further, the automatic welding apparatus of the present invention may further include a workpiece turning drive unit 8. The workpiece rotary drive unit 8 may, for example, comprise at least two rotating rollers and a drive motor for driving the rotation of the rotating rollers. The round pipe workpiece 7 is placed between at least two rotating rolls and rotates following the rotation. Although the invention discloses by way of example the use of a rotating roller to rotate the tubular workpiece 7, the scope of the invention is not limited thereto. Any means that can be conceived by those skilled in the art in light of the present invention are within the scope of the invention. For example, a rotatable chuck can be used instead of the function of the rotating roller.

The automatic welding apparatus of the present invention may further include a power applying device (not shown). The powering device It may be a device for arcing that is commonly used in the art. For example, according to an embodiment of the present invention, the power-up device may include a conductive brush, a cylinder for driving the movement of the conductive brush, and a contact switch. The piston rod of the cylinder can be connected with the conductive brush for driving the conductive brush to move to the round tube workpiece 7 and pressing the round tube workpiece 7. When the conductive brush presses the round tube workpiece 7, the conductive tube is fed through the conductive brush. The workpiece 7 is supplied with current (for example, current from the power source), and also triggers the contact switch. After the contact switch is triggered, the piston rod of the cylinder is stopped, and the conductive brush is kept in the state of pressing the workpiece 7 of the circular tube. The welding can be performed after the round pipe workpiece 7 is energized.

Additionally, the power up device can also include another contact switch. When the welding process is completed, the cylinder can drive the conductive brush away from the cylindrical workpiece 7. When the piston rod of the cylinder moves to a position that triggers another contact switch, the other contact switch is triggered to stop the cylinder.

The contact switch can be a contact switch commonly used in the art, such as a magnetic induction switch. The automatic welding device of the present invention may further comprise a preheating device. The preheating device can be any device commonly used in the art to preheat the welded portion. For example, the preheating device may include a preheating coil, a cylinder that drives the movement of the preheat coil, and a contact switch. The piston rod of the cylinder can be connected to the preheating coil for driving the preheating coil to move to the portion of the workpiece 7 that needs to be preheated. In addition, when the preheating coil moves to a portion that needs to be warmed up, the piston rod triggers the contact switch, and the piston rod stops moving after the contact switch is triggered.

The warm-up time can be set. When the portion requiring preheating is heated for the predetermined time, the cylinder acts to cause the piston rod to bring the preheating coil back to its original position.

Alternatively, the preheating device may further include a temperature sensor for detecting the temperature of the preheating portion (for example, the weld bead and a certain range around), when the detected temperature reaches a predetermined value, the preheating coil stops heating, and the cylinder acts , causing the piston rod to drive the preheating coil back to its original position. Preferably, after the detected temperature reaches a predetermined value, the preheating coil may be stopped for a period of time to stop heating.

The arc starting operation can be triggered when the preheating coil stops heating or the cylinder action causes the preheating coil to retract.

Another aspect of the present invention also provides a control method for controlling the above-described automatic welding apparatus, which may include:

Controlling the welding head 2 to drive the welding torch 1 according to a control parameter during the welding process to The welding position of the welding torch 1 is adjusted in a three-dimensional direction and the welding angle of the welding torch 1 is adjusted.

Preferably, controlling the welding head 2 to drive the welding torch 1 to adjust the welding position of the welding gun 1 in a three-dimensional direction comprises:

Operating the first driving mechanism 214 to drive the first screw 213 to move, so that the first slider 212 moves in a first direction in a three-dimensional direction;

Operating the second drive mechanism 224 to drive the second screw action to move the second slider 222 in a second direction in a three-dimensional direction;

The third drive mechanism 234 is operated to drive the third screw action to move the third slider 232 in a third direction in a three-dimensional direction.

Preferably, controlling the welding head 2 to drive the welding gun 1 to adjust the welding angle of the welding gun 1 comprises: operating the fifth driving mechanism 254 to drive the rotating shaft 25 to rotate, thereby adjusting the welding angle of the welding gun 1.

The automatic welding device can be controlled to achieve various welding processes as needed. Wherein, in the welding process, the circumferential welding of the circumferential weld is achieved by automatically adjusting the axial position of the welding torch 1 relative to the cylindrical workpiece 7.

Wherein, during the split welding process:

After completing the welding of a weld, the third driving mechanism 234 is operated to drive the third screw to move the third slider 232 in a third direction in a three-dimensional direction, thereby the welding torch 1 The axial direction of the workpiece 7 is moved to the welding position of the next weld and the welding angle is adjusted to complete the welding of the next weld.

Alternatively or further, during the welding process, the layered welding of the circumferential weld bead is achieved by automatically adjusting the radial position of the welding torch 1 relative to the cylindrical workpiece 7.

In the layered welding process:

After completing the welding of a layer of welds, operating the second drive mechanism 224 to drive the second screw action to move the second slider 222 in a second direction in a three-dimensional direction, whereby the torch 1 radially moving along the circular tube workpiece 7 to the welding position of the first weld of the next layer of weld, and adjusting the welding angle to complete the welding of the next layer of weld.

In a preferred embodiment of the present invention, the control method may further include driving the circular tube workpiece 7 to rotate by the workpiece turning drive device 8. In a preferred embodiment of the invention, the control method may further comprise performing arcing at the beginning of the welding. Wherein, the arcing can be realized by controlling the powering device to apply power to the round pipe workpiece 7.

Preferably, the tubular workpiece 7 can be rotated after arcing.

In a preferred embodiment of the present invention, the control method may further include preheating the welded portion of the round pipe workpiece 7 by the preheating device before the arcing.

Preferably, the arcing operation can be triggered after the warm-up is over.

In addition, the control method may further include:

The fourth driving device 244 is operated to drive the fourth screw to move the fourth slider 242 on the lifting rail 241 to move the welding gun 1 to the initial position of the welding torch during welding.

In a preferred embodiment of the present invention, moving the welding torch 1 to the initial position of the welding torch during welding may include:

Operating the fourth driving device 244 to drive the fourth screw to move the fourth slider 242 on the lifting rail 241, thereby pressing the hybrid roller 4 against the tubular workpiece 7;

After the rolling pinch 4 is pressed against the cylindrical workpiece 7, the welding torch 1 is adjusted to the initial position of the welding torch by operating the welding head 2.

All or part of the steps of the above control method may be performed by a controller. The controller may input specific control parameters through the user input interface and/or the control parameters may be pre-stored in the controller, and the controller may perform at least a part of the above control methods according to the control parameters and according to a predetermined program, thereby implementing various Welding processes, such as single-layer single-pass welding, single-layer multi-pass welding, multi-layer single-pass welding, and multi-layer multi-pass welding.

The control parameters associated with the above control methods may include, for example but are not limited to:

Round tube workpiece 7 rotation speed;

Gun speed

Number of layers of welding;

The number of welds per weld layer;

The height of the rifle, used to indicate the distance that the welding torch 1 moves radially along the circular tube workpiece 7 when jumping. Translation length: the distance that the welding torch 1 moves axially along the circular tube workpiece 7 during the jump; the diameter of the round tube workpiece 7;

Arcing time and arcing time: welding torch 1 ignition and stop time during welding;

Lap time: The time to lap the weld at the end of the weld.

According to another aspect of the present invention, there is also provided a controller for performing the above-described control method for the above-described automatic welding device. The controller can include:

a welding position adjustment module configured to generate and transmit a welding position adjustment signal for controlling the welding head 2 to drive the welding gun 1 to adjust a welding position of the welding torch 1 in a three-dimensional direction according to a control parameter;

The welding angle adjustment module is configured to generate and transmit a welding angle adjustment signal for controlling the welding head 2 to drive the welding torch 1 to adjust the welding angle of the welding torch 1 in accordance with the control parameters.

In an embodiment of the invention, the welding position adjustment signal may include:

a first welding position adjustment signal for controlling the first driving mechanism 214 to drive the first screw 213 to move in a first direction in a three-dimensional direction; a second driving mechanism 224 driving the second screw action to adjust a second welding position of the second slider 222 in a second direction in a three-dimensional direction; and/or for controlling the third drive The mechanism 234 drives the third screw action to cause the third slider 232 to adjust the third welding position in a third direction in the three-dimensional direction.

In addition, the welding position adjustment signal may further include: a fourth for controlling the fourth driving device 244 to drive the fourth screw action to slide the fourth slider 242 on the lifting rail 241 Welding position adjustment signal.

The welding angle adjustment signal may be a signal for controlling the fifth driving mechanism 254 to drive the rotation of the rotating shaft 25 to adjust the welding angle of the welding gun 1.

The weld position adjustment module may send the third weld position adjustment signal (eg, associated with a translation length parameter) to the third drive mechanism 234 after the weld of a weld is completed during the split weld process. Controlling the third driving mechanism 234 to drive the third screw action to move the third slider 232 in a third direction in a three-dimensional direction, whereby the welding torch 1 is axially along the circular tube workpiece 7 Moving to the welding position of the next weld, and the welding angle The adjustment module may send the welding angle adjustment signal to the fifth driving mechanism 254 to control the fifth driving mechanism 254 to drive the rotating shaft 25 to rotate to adjust the welding angle of the welding gun 1 to complete the next welding seam. welding.

In the layered welding process, after finishing welding of a layer of welds, the weld position adjustment module may send the second weld position adjustment signal to the second drive mechanism 224 (eg, related to the gun height parameter) Controlling the second drive mechanism 224 to drive the second screw action to move the second slider 222 in a second direction in a three-dimensional direction, whereby the welding torch 1 along the round tube workpiece 7 Radially moving to a welding position of the first weld of the next weld, and the weld angle adjustment module may send the weld angle adjustment signal to the fifth drive mechanism 254 to control the fifth drive mechanism 254 The rotation shaft 25 is driven to rotate to adjust the welding angle of the welding gun 1 to complete the welding of the next layer of welds.

In a preferred embodiment of the present invention, the controller may further include a rotary drive module configured to transmit a rotational drive signal (e.g., associated with a rotational speed parameter) to the workpiece rotary drive 8 to control the workpiece rotary drive 8 The circular tube workpiece 7 is driven to rotate.

In a preferred embodiment of the present invention, the controller may further include a start/stop arc control module configured to send an arcing signal to the powering device to control the powering device to the round pipe workpiece 7 when starting welding. Power up to start the arc.

For example, when starting the welding, the start/stop arc control module can send an arcing signal to the control circuit of the cylinder of the powering device, and after receiving the arcing signal, the control circuit controls the piston rod of the cylinder to drive the conductive brush to the circle. Tube workpiece 7. The contact switch is triggered when the conductive brush is pressed against the round tube workpiece 7. The triggering of the contact switch causes the control circuit to no longer move the piston rod, whereby the conductive brush is held in a state in which the cylindrical tube workpiece 7 is pressed, whereby the power source can supply current to the circular tube workpiece 7 through the conductive brush, thereby achieving arcing.

When the arc is to be stopped, the start/stop arc control module can send an arc stop signal to the control circuit. After the control circuit receives the arc stop signal, the control piston rod returns to the initial position, and the conductive brush is separated from the round pipe workpiece 7, no longer The current is supplied to the round pipe workpiece 7 to achieve arc stop.

Preferably, the rotary drive module can transmit a rotational drive signal to the workpiece swing drive 8 after the arcing. For example, the start/stop arc control module may send a signal to the rotary drive module after the predetermined time of the arcing signal is issued to indicate that the rotary drive module can transmit the rotary drive signal. In a preferred embodiment of the present invention, the controller may further include a preheating control module configured to transmit a preheating signal to the preheating device to control the preheating device to the tubular workpiece 7 prior to the arcing The welded part is preheated.

For example, when preheating is required, the preheating control module sends a preheating signal to the control circuit of the cylinder of the preheating device. After receiving the preheating signal, the control circuit controls the piston rod to drive the preheating coil to the round pipe workpiece 7 The preheated part (such as the weld) moves. The contact switch is triggered when the preheat coil moves to the point where it needs to be warmed up. The triggering of the contact switch causes the control circuit to stop moving the piston rod, whereby the preheating coil is held at a location where preheating is required.

The temperature sensor can be used to detect the temperature of the preheated portion, and send the temperature signal to the preheating control module. When the detected temperature reaches a predetermined value, the preheating control module can send a preheating end signal to the control circuit, and the control circuit After receiving this signal, the control piston rod is returned to the initial position and the warm-up is completed.

Alternatively, the warm-up control module may delay the transmission of the warm-up end signal to the control circuit for a period of time when the detected temperature reaches a predetermined value.

Optionally, the end of the warming up may trigger an arcing operation. For example, a signal may be sent to the start/stop control module at a time before or after the warm-up control module issues a warm-up end signal for indicating that the start/stop control module can transmit an arcing signal.

The controller may also include a user input module for providing a user platform for the user to operate and/or set parameters. The user can input the above control parameters through the user input module, and the other modules in the controller can control the automatic welding device according to the input control parameters to complete various welding processes.

The controller may further include a storage module for storing the input control parameters or a pre-set program.

Taking multi-layer multi-pass welding as an example, after the initial position of the welding torch 1 is calibrated, the weld seam of the round pipe workpiece 7 can be preheated, after the preheating, the welding gun 1 starts to arc, the round pipe workpiece 7 rotates, and the welding torch 1 is in the welding machine. The head 2 is swung under the drive. After welding the current track, the welding gun 1 is translated to another path to continue welding. After welding the current layer, the welding torch 1 refers to the next layer for multiple welding. After welding the set number of layers and the number of passes, lap. The round pipe workpiece 7 stops rotating, the welding gun 1 stops swinging, and the welding torch 1 is returned to the position when it is not in operation, and the welding is completed. The present invention has been described in detail by way of example only, and not by way of limitation,

It is to be noted that the preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the specific details of the embodiments described above, and the technical solutions of the present invention may be made within the scope of the technical idea of the present invention. A variety of simple variations or substitutions are within the scope of the invention.

Claims

Rights request

What is claimed is: 1. A control method for an automatic welding apparatus, the automatic welding apparatus comprising a welding gun adjusting device comprising a welding head (2) and a welding gun (1) mounted on the welding head (2), The welding head (2) is capable of driving the welding gun (1) to achieve welding position adjustment and welding angle adjustment in a three-dimensional direction, the control method comprising:

The welding head is controlled according to control parameters during the welding process. (2) The welding torch (1) is driven to adjust the welding position of the welding torch (1) in three dimensions and to adjust the welding angle of the welding torch (1).

2. The control method according to claim 1, wherein the welding head (2) comprises a first slider (211) and a first slider (212), respectively arranged in a three-dimensional direction and slidingly fitted a second slider (221) and a second slider (222), and a third slider (231) and a third slider (232), the welding gun (1) is fixedly connected to the first slider (212), The first sliding seat (211) and the second sliding seat (221) are respectively fixedly connected or integrally formed with the second sliding block (222) and the third sliding block (232), and the first sliding seat (211) a first screw (213), a second screw, and a third screw, respectively, in the second sliding seat (221) and the third sliding seat (231), the first screw (213), the first screw The second screw rod and the third screw rod drive the first slider (212), the second slider (222) and the third slider (232), respectively, the first screw rod (213) and the second screw rod A first driving mechanism (214), a second driving mechanism (224) and a third driving mechanism (234) are respectively connected to the third screw, and the welding head (2) is controlled to drive the welding. (1) to adjust the gun in three-dimensional directions (1) welding position comprises:

Operating the first driving mechanism (214) to drive the first screw (213) to move, causing the first slider (212) to move in a first direction in a three-dimensional direction;

Operating the second drive mechanism (224) to drive the second screw action to move the second slider (222) in a second direction in three dimensions;

Operating the third drive mechanism (234) drives the third screw action to move the third slider (232) in a third direction in three dimensions.

3. The control method according to claim 2, wherein the welding head (2) is further included a rotating shaft (25) and a fifth driving mechanism (254) for driving the rotating shaft (25), one end of the rotating shaft (25) is detachably mounted with the welding gun (1), and the other end is connected to the a first slider (212), controlling the welding head (2) to drive the welding gun (1) to adjust a welding angle of the welding gun (1) comprises: operating the fifth driving mechanism (254) to drive the rotating shaft (25) Rotate to adjust the welding angle of the welding gun (1).

4. The control method according to claim 3, wherein the circumferential weld seam is divided by automatically adjusting the axial position of the welding gun (1) relative to the round pipe workpiece (7) during the welding process welding.

5. The control method according to claim 4, wherein, in the split welding process, after the welding of one weld is completed, operating the third drive mechanism (234) to drive the third screw action Causing the third slider (232) to move in a third direction in the three-dimensional direction, whereby the welding gun (1) moves axially along the tubular workpiece (7) to the welding position of the next weld and Adjust the welding angle to complete the welding of the next weld.

6. The control method according to claim 3, wherein lining of the circumferential weld is achieved by automatically adjusting the radial position of the welding torch (1) relative to the cylindrical workpiece (7) during the welding process welding.

7. The control method according to claim 6, wherein, in the layered welding process, after the welding of the one layer of the weld is completed, the second driving mechanism (224) is operated to drive the second screw Acting to move the second slider (222) in a second direction in a three-dimensional direction, whereby the welding gun (1) moves radially along the tubular workpiece (7) to the next layer of the weld The welding position of a weld and the welding angle are adjusted to complete the welding of the next weld.

The control method according to any one of claims 1 to 7, wherein the control method further comprises performing arcing at the start of welding.

9. The control method according to claim 8, wherein the automatic welding device further comprises a power-up device that achieves the arcing by controlling the power-up device to apply power to the round pipe workpiece (7).

10. The control method according to claim 8, wherein the automatic welding device further comprises a workpiece turning drive device (8), the control method further comprising driving the round pipe workpiece by the workpiece turning drive device (8) (7) Rotate.

11. The control method according to claim 10, wherein the automatic welding device further comprises a preheating device, the control method further comprising: the round pipe workpiece (7) passing through the preheating device before the arcing The welded part is preheated.

12. The control method according to claim 3, wherein the welding gun adjusting device further comprises a column (24) and a fourth slider (242), and the column (24) is provided with a lifting rail (241) and a a fourth screw that drives the fourth slider (242) to slide on the lifting rail (241), and the fourth slider (242) and the third slider (231) The fourth screw is connected to the fourth driving device (244), and the control method further includes:

Operating the fourth driving device (244) to drive the fourth screw action such that the fourth slider (242) slides on the lifting rail (241) to move the welding gun (1) to The initial position of the torch when welding.

13. The control method according to claim 12, wherein the welding gun adjusting device further comprises a welding gun tracking mechanism, the welding gun tracking mechanism comprising a pressing rod (3) and a rolling pressing wheel (4), the rolling pressing wheel (4) Rotatablely fixedly mounted to one end of the pressing rod (3), the other end of the pressing rod (3) is fixedly connected with the third sliding seat (231); when the welding torch (1) is moved to the welding The initial position of the torch includes:

Operating the fourth driving device (244) to drive the fourth screw action, such that the fourth slider (242) slides on the lifting rail (241), thereby the hybrid pressing wheel (4) Pressing the round tube workpiece (7);

After the rolling pressure roller (4) is pressed to the round pipe workpiece (7), the welding is performed by operation The handpiece (2) adjusts the welding gun (1) to the initial position of the welding torch.

14. A controller for an automatic welding device, the automatic welding device comprising a welding gun adjusting device comprising a welding head (2) and a welding gun (1) mounted on the welding head (2), The welding head (2) is capable of driving the welding gun (1) to achieve welding position adjustment and welding angle adjustment in a three-dimensional direction, the controller comprising:

a welding position adjustment module configured to generate and transmit according to the control parameter for controlling the welding head (2) to drive the welding gun (1) during welding to adjust the welding position of the welding gun (1) in a three-dimensional direction Welding position adjustment signal;

a welding angle adjustment module configured to generate and transmit a welding angle adjustment signal for controlling the welding head (2) to drive the welding gun (1) to adjust a welding angle of the welding gun (1) according to a control parameter .

The controller according to claim 14, wherein the welding head (2) comprises a first slider (211) and a first slider (212), respectively arranged in a three-dimensional direction and slidingly fitted a second slider (221) and a second slider (222), and a third slider (231) and a third slider (232), the welding gun (1) is fixedly connected to the first slider (212), The first sliding seat (211) and the second sliding seat (221) are respectively fixedly connected or integrally formed with the second sliding block (222) and the third sliding block (232), and the first sliding seat (211) a first screw (213), a second screw, and a third screw, respectively, in the second sliding seat (221) and the third sliding seat (231), the first screw (213), the first screw The second screw rod and the third screw rod drive the first slider (212), the second slider (222) and the third slider (232), respectively, the first screw rod (213) and the second screw rod A first driving mechanism (214), a second driving mechanism (224) and a third driving mechanism (234) are respectively connected to the third screw, and the welding position adjustment signal comprises:

a first welding position adjustment signal for controlling the first driving mechanism (214) to drive the first screw (213) to move the first slider (212) in a first direction in a three-dimensional direction ;

a second welding position adjustment signal for controlling the second driving mechanism (224) to drive the second screw action to move the second slider (222) in a second direction in a three-dimensional direction; and / or

A third welding position adjustment signal for controlling the third drive mechanism (234) to drive the third screw action to move the third slider (232) in a third direction in a three-dimensional direction.

16. The controller according to claim 14, wherein the welding head (2) further comprises a rotating shaft (25) and a fifth driving mechanism (254) that drives the rotating shaft (25) to rotate, the rotation One end of the shaft (25) is detachably mounted with the welding gun (1), and the other end is connected to the first slider (212), and the welding angle adjustment signal is for controlling the fifth driving mechanism (254) A signal that drives the rotating shaft (25) to rotate to adjust the welding angle of the welding gun (1).

17. The controller of claim 16 wherein said welding process comprises a shunt welding process in which said shunt welding process:

After completing the welding of a weld, the welding position adjustment module sends the third welding position adjustment signal to the third driving mechanism (234) to control the third driving mechanism (234) to drive the third wire The rod acts to move the third slider (232) in a third direction in a three-dimensional direction, whereby the welding torch (1) moves axially along the tubular workpiece (7) to the next weld Positioning, and the welding angle adjustment module sends the welding angle adjustment signal to the fifth driving mechanism (254) to control the fifth driving mechanism (254) to drive the rotating shaft (25) to rotate to adjust the welding torch (1) The welding angle to complete the welding of the next weld.

18. The controller according to claim 16, wherein, in the layered welding process, after the welding of a layer of welds is completed, the welding position adjustment module sends the second drive mechanism (224) The second welding position adjustment signal controls the second driving mechanism (224) to drive the second screw action to move the second slider (222) in a second direction in a three-dimensional direction, thereby The welding gun (1) moves radially along the round pipe workpiece (7) to the welding position of the first weld of the next weld, and the welding angle adjustment module is directed to the fifth drive mechanism (254) The welding angle adjustment signal is sent to control the fifth driving mechanism (254) to drive the rotating shaft (25) to rotate to adjust the welding angle of the welding gun (1) to complete the welding of the next welding seam.

The controller according to any one of claims 14 to 18, wherein the automatic welding device further comprises a power-on device, the controller further comprising a start/stop arc control module configured to start welding Sending an arcing signal to the powering device to control the powering device to the round pipe workpiece

(7) Power up to start the arc.

20. The controller according to claim 19, wherein the automatic welding device further comprises a workpiece turning drive device (8), the controller further comprising a rotary drive module configured to send a rotary drive signal to the workpiece to be driven by the rotary drive The device (8) drives the workpiece rotary drive (8) to drive the tubular workpiece (7) to rotate.

The controller according to claim 19, wherein the automatic welding device further comprises a preheating device, the controller further comprising a preheating control module configured to send a preheating signal to the pre-arc before the arcing The heat device controls the preheating device to preheat the welded portion of the round pipe workpiece (7).

The controller according to claim 14, wherein the welding gun adjusting device further comprises a column (24) and a fourth slider (242), and the column (24) is provided with a lifting rail (241) and a a fourth screw that drives the fourth slider (242) to slide on the lifting rail (241), and the fourth slider (242) and the third slider (231) Fixedly connected, the fourth screw is connected with a fourth driving device (244), and the welding position adjustment signal further comprises: controlling the fourth driving device (244) to drive the fourth screw action to The fourth slider (242) adjusts a signal at a fourth welding position that slides on the lifting rail (241).