WO2021062893A1 - 一种用于膜式水冷壁堆焊的焊接系统 - Google Patents

一种用于膜式水冷壁堆焊的焊接系统 Download PDF

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Publication number
WO2021062893A1
WO2021062893A1 PCT/CN2019/112836 CN2019112836W WO2021062893A1 WO 2021062893 A1 WO2021062893 A1 WO 2021062893A1 CN 2019112836 W CN2019112836 W CN 2019112836W WO 2021062893 A1 WO2021062893 A1 WO 2021062893A1
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WIPO (PCT)
Prior art keywords
welding
plate
fixed
support
longitudinal
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PCT/CN2019/112836
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English (en)
French (fr)
Inventor
程远
袁玉荣
蔡朋飞
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南京英尼格玛工业自动化技术有限公司
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Publication of WO2021062893A1 publication Critical patent/WO2021062893A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/04—Welding for other purposes than joining, e.g. built-up welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/24—Features related to electrodes
    • B23K9/28—Supporting devices for electrodes
    • B23K9/287—Supporting devices for electrode holders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/32—Accessories

Definitions

  • the invention relates to a welding system for surfacing welding of a membrane water-cooled wall.
  • the water wall is the main heating part of the boiler equipment. It is composed of several rows of steel pipes distributed around the boiler furnace.
  • the inside of the water wall is flowing water or steam, and the outside receives the heat of the flame of the boiler furnace. It mainly absorbs the radiant heat of the high-temperature combustion products in the furnace, and the working fluid moves up and evaporates when heated.
  • High-temperature corrosion and abrasion of water-wall pipes have always been a serious and common problem.
  • the high-temperature corrosion and abrasion of water-wall pipes are related to the temperature of the working environment, sulfur content, flue gas and ash particles.
  • Surface surfacing can be used to protect the surface of the water wall, that is, a layer of heat-resistant and corrosion-resistant material is surfacing on the surface of the water wall.
  • the surface of the water wall is surfacing manually; due to the thickness of the surfacing on the surface of the water wall
  • There are very high requirements for the integrity of the covering and the cover which virtually increases the labor of the workers, and using manual surfacing welding, the stability of the product is not easy to control.
  • the technical problem to be solved by the present invention is to provide a welding system for membrane water wall surfacing, which can realize surfacing welding on the surface of membrane water wall with large area and large size. Compared with manual surfacing welding, The welding system of the present invention improves the welding efficiency while reducing labor costs.
  • a welding system for surfacing welding of membrane type water walls comprising a longitudinal support, a transverse translation mechanism and a welding module; wherein a linear guide I is laid on the longitudinal support, and the transverse translation mechanism includes a beam and a guide I laid on the beam And the adapter plate I installed on the guide rail I, the lower end surface of the cross beam is provided with a sliding block I that is mutually matched with the linear guide I, the cross beam and the longitudinal support are provided with a longitudinal driving mechanism, and the cross beam is driven by the longitudinal driving mechanism along The bracket moves up and down, the adapter plate I is provided with a driving mechanism, the welding module is installed on the beam through the adapter plate I, and the welding module is moved horizontally to the left and right relative to the beam on the beam through the driving mechanism.
  • the longitudinal support includes a first support and a second support that are arranged parallel to each other. Both the first support and the second support are provided with a linear guide I extending in the longitudinal direction, and the linear guides I on the first support and the second support are paired Set up.
  • connection between the beam and the first bracket and the second bracket is equipped with a longitudinal drive mechanism.
  • the longitudinal drive mechanism includes a motor, a reducer and a gear I.
  • the output shaft of the motor is connected to the gear through the reducer;
  • the rack I parallel to the linear guide I, the gear I of the longitudinal drive mechanism at both ends are respectively connected to the rack I corresponding to the rack I.
  • the guide rails I on the beam are arranged in pairs, a rack II parallel to the guide rail I is arranged between the guide rails I, the vertical part of the adapter plate I is fixedly connected with the welding module, and the bottom of the horizontal part of the adapter plate I is arranged There is a sliding block II that is mutually matched and connected with the guide rail I;
  • the driving mechanism is a handwheel I with gears, the fixed end of the handwheel I is fixed on the horizontal part of the adapter plate I, and the rotating end of the handwheel I is connected to the rack II for transmission.
  • the welding module includes a forward and backward movement mechanism, a horizontal angle adjustment mechanism, a laser tracking mechanism, a servo swing mechanism, a vertical angle adjustment mechanism, and a welding gun;
  • the forward and backward movement mechanism includes an L-shaped mounting frame and sliding with the L-shaped mounting frame Connected moving plate;
  • the horizontal angle adjustment mechanism is arranged on the moving plate, the horizontal angle adjusting mechanism includes a toothed rotating plate and a hand wheel, the rotating plate is rotatably connected with the moving plate through a rotating shaft, and the gear in the hand wheel is connected to the edge of the rotating plate Gear transmission connection;
  • the laser tracking mechanism is fixed on the rotating plate through the adapter plate I, the laser tracking mechanism includes a driving device and a laser tracker fixed on the driving device through the adapter plate II, the driving device drives the laser tracker to approach or Move away from the workpiece to be welded;
  • the servo swing mechanism is fixed on the adapter plate II, the welding gun is fixed on the servo swing mechanism through the vertical angle adjustment
  • the bottom of the movable plate is provided with a linear guide II and a buffer block arranged at the end of the movable plate
  • the vertical side of the L-shaped mounting frame is fixedly installed on the adapter plate I of the cross beam
  • the horizontal side of the L-shaped mounting frame is provided with The sliding block III that is mutually matched and connected with the linear guide rail II, the limit block corresponding to the buffer block and the linear slide rail clamper.
  • the rotating plate is provided with an arc groove corresponding to the arc of the tooth pattern.
  • the locking handle is passed through the arc groove, and the moving plate is provided with internal threads.
  • the threaded holes are connected with each other through internal and external threads, so that the rotating plate is fixed on the moving plate.
  • the vertical angle adjustment mechanism includes a connecting plate, a mounting plate, an L-shaped adjusting plate, and a welding gun holder with a locking handle.
  • the connecting plate is fixed on the servo swing mechanism, and one end of the mounting plate is rotatably connected to the connecting plate through a rotating shaft. The other end of the plate is connected to the connecting plate through a rotating plunger.
  • the horizontal side of the L-shaped adjusting plate is fixed on the mounting plate, and the vertical side of the L-shaped adjusting plate is provided with a rotating shaft.
  • the rotating shaft and the vertical side of the L-shaped adjusting plate are rotated by bearings.
  • the welding gun holder is sleeved on the rotating shaft and is fixedly connected with the rotating shaft.
  • the vertical side of the L-shaped adjusting plate is also provided with an arc-shaped groove.
  • the welding torch holder is fixed on the L-shaped adjusting plate by locking the handle.
  • the welding gun is fixed on the welding gun holder.
  • the mounting plate fixed on the beam, and the mounting plate is respectively mounted with a wire feeding system and an IO box.
  • it also includes wire troughs for routing.
  • the present invention uses the transverse translation mechanism to bring the welding torch module to move up and down on the longitudinal support; on the other hand, the welding module can manually reciprocate on the transverse translation mechanism as required, thereby realizing that the system of the present invention can be used for large areas.
  • the large-size membrane water wall surface is surfacing; in addition, after the welding torch is fixed in the system, the welding torch module can adjust or correct the three-dimensional space attitude of the welding torch through the forward and backward movement mechanism, the horizontal angle adjustment mechanism and the vertical angle adjustment mechanism. That is, the three-dimensional angle of the welding torch can be adjusted according to needs to effectively ensure the quality of welding.
  • the horizontal distance between the welding torch and the workpiece to be surfacing during the welding process can be automatically adjusted through the laser tracker.
  • Figure 1 is a schematic diagram of the system principle of the welding system for membrane water wall surfacing according to the present invention
  • Figure 2 is a partial enlarged view of Figure 1;
  • Figure 3 is a partial view of the longitudinal support and the beam
  • Figure 4 is a front view of the beam
  • Figure 5 is a partial enlarged view of the beam
  • Figure 6 is a schematic diagram of the connection between the beam and the longitudinal support
  • Figure 7 is a schematic diagram of the connection between the adapter plate I and the beam
  • Figure 8 is a schematic diagram of the structure of the welding torch module
  • Figure 9 is a schematic diagram of the structure of the forward and backward moving mechanism in the welding torch module
  • Figure 10 is a schematic diagram of the structure of the L-shaped mounting frame in the forward and backward movement mechanism
  • Figure 11 is a schematic diagram I of the structure of the moving plate in the forward and backward moving mechanism
  • Figure 12 is a schematic view II of the structure of the moving plate in the forward and backward moving mechanism
  • Figure 13 is a schematic diagram of the connection of the horizontal angle adjusting mechanism fixed on the front and rear moving mechanism
  • Figure 14 is a schematic diagram of the structure of the horizontal angle adjustment mechanism in the welding gun module
  • 15 is a schematic diagram of the structure of the laser tracking mechanism in the welding torch module
  • 16 is a schematic diagram of the connection of the laser tracking mechanism fixed on the horizontal angle adjusting mechanism
  • Figure 17 is a schematic diagram of the structure of the servo swing mechanism in the welding torch module
  • Figure 18 is a schematic diagram of the connection of the servo swing mechanism fixed on the laser tracking mechanism
  • Figure 19 is a schematic diagram of the connection between the connecting plate and the mounting plate in the vertical angle adjustment mechanism
  • Figure 20 is a schematic diagram of the structure of the L-shaped adjustment plate in the vertical angle adjustment mechanism
  • Figure 21 is a schematic diagram of the connection of the L-shaped adjusting plate fixed on the mounting plate
  • Figure 22 is a schematic diagram of the connection of the welding gun holder fixed on the L-shaped adjusting plate
  • Figure 23 is a schematic diagram of the connection of the welding torch fixed on the welding torch holder
  • Figure 24 is a schematic diagram of locking the handle.
  • the welding system for membrane water wall surfacing of the present invention includes a longitudinal bracket 102, a horizontal translation mechanism 105, and a welding module 101; among them, a linear guide rail I109 is laid on the longitudinal bracket 102, and the horizontal
  • the translation mechanism 105 includes a beam 115, a guide rail I93 laid on the beam 115, and an adapter plate I91 installed on the guide rail I93.
  • the lower end of the beam 1115 is fixedly connected with a sliding block 113, and the bottom of the sliding block 113 is provided with a linear guide I109 to cooperate with each other.
  • the connected slider I114, the cross beam 115 and the longitudinal bracket 102 are provided with a longitudinal drive mechanism 116, the beam 115 is driven by the longitudinal drive mechanism 116 to move up and down along the bracket 102, the adapter plate I91 is provided with a drive mechanism, and a welding module 101 is installed on the cross beam 115 through an adapter plate I91, and the welding module 101 is moved horizontally to the left and right relative to the cross beam 115 on the cross beam 115 by a driving mechanism.
  • the longitudinal support 102 includes a first support 117 and a second support 118 that are arranged parallel to each other.
  • the first support 117 and the second support 118 are each provided with a linear guide I109 extending in the longitudinal direction, the first support 117 and the second support 118
  • the upper linear guide rails I109 are arranged in pairs, the inner side of the longitudinal support 102 is equipped with a rack I108 parallel to the linear guide I109, and the beam 115 is erected on the first support 117 and the second support 118, and the three form an H-shaped structure.
  • the two ends of the beam 115 namely the joints with the first bracket 117 and the second bracket 118, are provided with a longitudinal drive mechanism 116.
  • the longitudinal drive mechanism 116 includes a motor 106, a reducer 107, and a gear I112.
  • the machine 107 is fixed on the beam 115, the output shaft of the motor 106 is connected to the gear I112 through the reducer 107; the gear I112 of the longitudinal drive mechanism 116 at both ends is connected to the corresponding rack I108, and the beam 1115 is connected to the sliding block 113.
  • a sliding block I114 is provided at the bottom of the sliding block 113, and the sliding block I114 and the linear guide I109 are connected in cooperation with each other.
  • the guide rails I93 on the beam 115 are arranged in pairs, the racks II94 parallel to the guide rails I93 are arranged between the guide rails I93, the vertical part 97 of the adapter plate I91 is fixedly connected with the welding module 101, and the horizontal part of the adapter plate I91
  • the bottom of 98 is provided with a sliding block II90 which is connected with the guide rail I93; the driving mechanism is a handwheel I92 with gears.
  • the horizontal part 98 of the adapter plate I91 is fixedly connected with the mounting plate I87 of the handwheel I92 through the connecting plate I88.
  • the fixed end of the wheel I92 is fixed on the mounting plate I87, and the rotating end of the hand wheel I92 (gear III89) is connected to the rack II94 in transmission; the bottom of the horizontal part 98 of the adapter plate I91 is also provided with a linear slide clamp I99 to rotate the hand wheel I92
  • the guide rail I93 is clamped by the linear slide clamp I99 to prevent the adapter plate I91 from continuing to slide horizontally relative to the beam 115.
  • one end of the adapter plate I91 A buffer block I96 is also provided, and the buffer block I96 and the limit block I95 arranged on the crossbeam are arranged corresponding to each other, so as to realize the safety of movement.
  • the beam 115 is used as the carrier of the welding torch module 101, and the beam 115 plays the role of driving the welding torch module 101 to move along the linear guide I109 along the longitudinal direction; the motor 106 adopts a servo motor, and the reducer 107 adopts a high-precision planetary reducer, a servo motor and high precision
  • the planetary reducer is easier to control the synchronous action of the motor; the high-precision planetary reducer is used to ensure the accuracy of the beam 115 during operation and prevent jitter and jamming. Since there are longitudinal drive mechanisms 116 on both sides of the beam 115, and the longitudinal drive mechanisms 116 on both sides can achieve synchronous action, it can be ensured that the beam 115 can run smoothly along the linear guide I109 even in the case of a large span.
  • the welding system for membrane water wall surfacing of the present invention also includes a mounting plate 110 fixed on the beam 115.
  • the wire feeding system 103 and the IO box 104 are respectively installed on the mounting plate 110; the present invention is used for membrane water wall stacking.
  • the welding system for welding also includes a wire groove 111 for wiring.
  • the welding module 101 includes a forward and backward movement mechanism 3, a horizontal angle adjustment mechanism 4, a laser tracking mechanism 82, a servo swing mechanism 10, a vertical angle adjustment mechanism 8 and a welding gun 14.
  • the forward and backward movement mechanism 3 includes an L-shaped mounting frame 1 and an erection The moving plate 2 on the L-shaped mounting frame 1 and slidingly connected with the L-shaped mounting frame 1; the bottom of the moving plate 2 is provided with two symmetrical linear guide rails II22 and is arranged between the two linear guide rails II22 and located at the end of the moving plate 2 Part of the buffer block 23, the vertical side 11 of the L-shaped mounting frame is fixedly installed on the vertical part 97 of the adapter plate I91, and the horizontal side 12 of the L-shaped mounting frame is provided with a sliding block III15 (sliding The block III15 moves along the linear guide rail II22), the limit block 83 used to limit the sliding distance of the moving plate 2 on the L-shaped mounting frame 1, and the linear slide clamp 16, the limit block 83 and the buffer block
  • the horizontal angle adjusting mechanism 4 is arranged on the moving plate 2, and the moving plate 2 is provided with a mounting hole I24 and a mounting hole II25.
  • the horizontal angle adjusting mechanism 4 includes a rotating plate 46 with a toothed pattern 41, a hand wheel 5 and a locking handle 42.
  • the toothed rotating plate 46 is rotatably connected to the moving plate 2 through a rotating shaft 44.
  • the rotating shaft 44 is installed in the mounting hole I24. One end of the rotating shaft 44 can be fixed in the mounting hole I24 through a bearing.
  • the other end of the rotating shaft 44 rotates with the toothed 41
  • the plate 46 is fixedly connected; the gear II45 in the handwheel 5 is in transmission connection with the rotating plate 46 with toothed pattern 41, and the handwheel 5 is fixedly installed in the mounting hole II25; the rotating plate 46 is provided with an arc corresponding to the tooth pattern 41 radian Groove 43; when the hand wheel 5 is manually rotated in the forward or reverse direction, the gear II45 in the hand wheel 5 is driven to rotate in the forward or reverse direction, so that the gear II45 drives the rotating plate 46 with the tooth pattern 41 to rotate in the forward or reverse direction, When the rotating plate 46 rotates to the desired position, extend the locking handle 42 into the arc-shaped groove 43 (as shown in FIG.
  • the locking handle 42 passes through the arc-shaped groove 43 and is inserted into the moving plate 2 and is connected to the moving plate 2
  • the threaded holes 120 with internal threads are mated and connected with each other through internal and external threads, so that the rotating plate 46 is fixed on the moving plate 2), and the position of the rotating plate 46 relative to the moving plate 2 is fixed by locking the handle 42 to prevent the rotating plate from rotating. 46 continues to rotate relative to the moving plate 2.
  • the laser tracking mechanism 82 is fixed on the rotating plate 46 through the adapter plate II6.
  • the laser tracking mechanism 82 includes a driving device 7 and a laser tracker 9 fixed on the driving device 7 through the adapter plate III13.
  • the driving device 7 drives the laser tracker 9 Move closer to or away from the workpiece to be welded; the driving device 7 is a linear sliding table 17 with a servo motor 18.
  • the laser tracking mechanism 82 realizes the automatic adjustment of the distance of the vertical workpiece surface along the longitudinal direction during the welding process, that is, the automatic correction of the welding gun position of the vertical workpiece surface along the longitudinal direction.
  • the laser tracker 9 scans the deformation data in the longitudinal direction perpendicular to the workpiece surface (that is, whether the workpiece surface is uneven), and drives the driving device 7 through the PLC control system to automatically correct the position of the welding gun to ensure the quality of welding. Affected to prevent deformation in the longitudinal direction perpendicular to the workpiece surface during the welding process and affect the stability of the welding quality.
  • the servo swing mechanism 10 is fixed on the adapter plate III13, and the welding gun 14 is fixed on the servo swing mechanism 10 through the vertical angle adjustment mechanism 8.
  • the servo swing mechanism 10 drives the welding gun 14 to move horizontally to the left or right relative to the workpiece to be welded.
  • the servo swing mechanism 10 is a servo swinger, its swing speed or swing frequency is adjustable within a certain range, the swing dwell time is adjustable, and the adjustment accuracy is 0.1s.
  • the servo swinger has a centering function and can manually adjust the swing when swinging. center.
  • the vertical angle adjusting mechanism 8 includes a connecting plate 71, a mounting plate 72, an L-shaped adjusting plate 75, and a welding gun holder 80.
  • the connecting plate 71 is fixed on the servo swing mechanism 10, and one end of the mounting plate 72 is connected to the connecting plate through a rotating shaft 73. 71 is rotated and connected, and the other end of the mounting plate 72 is connected to the connecting plate 71 through the rotating plunger 74.
  • the rotating shaft 78 is connected to the vertical side 77 by bearing rotation.
  • the welding gun holder 80 is sleeved on the rotating shaft 78 and is fixedly connected with the rotating shaft 78 through internal and external threads.
  • the L-shaped adjusting plate is vertical.
  • the side 77 is also provided with an arc groove 79.
  • the welding torch 14 is fixed on the welding torch holder 80.
  • the welding torch holder 80 is rotated according to the arc of the arc groove 79.
  • the welding system for membrane water-cooled wall surfacing of the present invention also includes a PLC controller.
  • the longitudinal drive mechanism 116, the drive device 7, the laser tracker 9 and the servo swing mechanism 10 are respectively connected to the PLC controller in wireless communication.
  • the laser tracking mechanism 82 is moved away from the workpiece to be welded through the drive device 7.
  • the drive device 7 Move the laser tracking mechanism 82 close to the workpiece to be welded.
  • the servo swing mechanism 10 drives the welding gun to perform left and right swing welding during the welding process according to the set swing frequency.
  • the PLC controller controls the motor 106 in the longitudinal drive mechanism 116 to rotate, thereby driving the cross beam 115 to move up or down along the longitudinal support 102.

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Abstract

一种用于膜式水冷壁堆焊的焊接系统，包括纵向支架(102)、横向平移机构(105)以及焊接模组(101)；纵向支架上铺设有直线导轨I(109)，横向平移机构包括横梁(115)、铺设在横梁上的导轨I(93)以及安装在导轨I上的转接板I(91)，横梁下端面设有与直线导轨I相互配合连接的滑块I(114)，横梁与纵向支架连接处设有纵向驱动机构(116)，横梁在纵向驱动机构驱动下沿着支架上下移动，转接板I上设有驱动机构，焊接模组通过转接板I安装在横梁上，焊接模组通过驱动机构在横梁上相对横梁沿水平向左右移动。该焊接系统通过横向平移机构带着焊枪模组在纵向支架上上下移动，焊接模组能够在横向平移机构上往复行走，能够对大面积大尺寸的膜式水冷壁表面进行堆焊。

Description

一种用于膜式水冷壁堆焊的焊接系统 技术领域
本发明涉及一种用于膜式水冷壁堆焊的焊接系统。
 背景技术
水冷壁是锅炉设备的主要受热部分，它由数排钢管组成，分布于锅炉炉膛的四周。水冷壁的内部为流动的水或蒸汽，外界接受锅炉炉膛的火焰的热量。主要吸收炉膛中高温燃烧产物的辐射热量，工质在其中作上升运动，受热蒸发。
水冷壁管高温腐蚀和磨损一直是普遍存在的严重问题，水冷壁管高温腐蚀和磨损与工作环境的温度、硫的含量、烟气与灰分颗的冲蚀。可采用表面堆焊对水冷壁表面进行防护，即在水冷壁表面堆焊一层耐热、抗腐蚀材料，通常都是采用人工对水冷壁表面进行堆焊；由于对水冷壁表面堆焊的厚度和覆盖的完整性有非常高的要求，无形中增加了工人的劳动，并且采用人工进行堆焊，产品的稳定性也不容易控制。
 技术问题
本发明所要解决的技术问题是提供一种用于膜式水冷壁堆焊的焊接系统，该焊接系统能够实现对大面积大尺寸的膜式水冷壁表面进行堆焊，相比于人工堆焊，本发明焊接系统在降低劳动成本的同时还提升了焊接效率。
 技术解决方案
为解决上述技术问题，本发明所采用的技术方案为：
一种用于膜式水冷壁堆焊的焊接系统，包括纵向支架、横向平移机构以及焊接模组；其中，纵向支架上铺设有直线导轨I，横向平移机构包括横梁、铺设在横梁上的导轨I以及安装在导轨I上的转接板I，横梁下端面设有与直线导轨I相互配合连接的滑块I，横梁与纵向支架连接处设有纵向驱动机构，横梁在纵向驱动机构驱动下沿着支架上下移动，转接板I上设有驱动机构，焊接模组通过转接板I安装在横梁上，焊接模组通过驱动机构在横梁上相对横梁沿水平向左右移动。
其中，纵向支架包括相互平行设置的第一支架和第二支架，第一支架和第二支架上均设有沿纵向延伸的直线导轨I，第一支架和第二支架上的直线导轨I成对设置。
其中，横梁与第一支架和第二支架的连接处均设有纵向驱动机构，纵向驱动机构包括电机、减速机和齿轮I，电机的输出轴通过减速机与齿轮传动连接；纵向支架内侧装有与直线导轨I相平行的齿条I，两端纵向驱动机构的齿轮I分别和与其相对应的齿条I传动连接。
其中，横梁上的导轨I成对设置，导轨I之间设有与导轨I相平行的齿条II，转接板I竖直部与焊接模组固定连接，转接板I水平部的底部设有与导轨I相互配合连接的滑块II；驱动机构为带齿轮的手轮I，手轮I固定端固定在转接板I水平部上，手轮I转动端与齿条II传动连接。
其中，所述焊接模组包括前后移动机构、水平角度调节机构、激光跟踪机构、伺服摆动机构、竖直角度调节机构以及焊枪；其中，前后移动机构包括L型安装架以及与L型安装架滑动连接的移动板；水平角度调节机构设置在移动板上，水平角度调节机构包括带齿纹的转动板和手轮，转动板通过转轴与移动板转动连接，手轮中的齿轮与转动板边沿的齿纹传动连接；激光跟踪机构通过转接板I固定在转动板上，激光跟踪机构包括驱动装置以及通过转接板II固定在驱动装置上的激光跟踪器，驱动装置带动激光跟踪器作靠近或远离待焊接工件的移动；伺服摆动机构固定在转接板II上，焊枪通过竖直角度调节机构固定在伺服摆动机构上，伺服摆动机构带动焊枪相对待焊接工件沿水平方向向左或向右摆动。
其中，所述移动板底部设有直线导轨II以及设置在移动板端部的缓冲块，L型安装架竖直侧固定安装在横梁的转接板I上，L型安装架水平侧上设有与直线导轨II相互配合连接的滑块III、与缓冲块相互对应的限位块以及直线滑轨钳制器。
其中，所述转动板上设有与齿纹设置弧度相对应的弧形槽，当转动板移动到所需位置时，将锁紧把手从弧形槽中穿过，与移动板上带内螺纹的螺纹孔通过内外螺纹相互配合连接，从而将转动板固定在移动板上。
其中，竖直角度调节机构包括连接板、安装板、L型调节板以及带锁紧把手的焊枪夹持器，连接板固定在伺服摆动机构上，安装板一端通过转轴与连接板转动连接，安装板另一端通过旋转柱塞与连接板连接，L型调节板水平侧固定在安装板上，L型调节板竖直侧上设有旋转轴，旋转轴与L型调节板竖直侧采用轴承转动连接，焊枪夹持器套设在旋转轴上且与旋转轴固定连接，L型调节板竖直侧上还设有弧形槽，焊枪夹持器通过锁紧把手固定在L型调节板上，焊枪固定在焊枪夹持器上。
其中，还包括固定在横梁上的安装板，安装板上分别安装有送丝系统和IO箱。
其中，还包括用于走线的线槽。
 有益效果
本发明一方面通过横向平移机构带着焊枪模组在纵向支架上上下移动，另一方面焊接模组能够根据需要通过手动实现在横向平移机构上往复行走，从而实现了本发明系统能够对大面积大尺寸的膜式水冷壁表面进行堆焊；另外，系统中焊枪模组在焊枪固定以后，通过前后移动机构、水平角度调节机构以及竖直角度调节机构能够实现焊枪三维空间姿态的调整或修正，即能够根据需要对焊枪的三维角度进行调整，有效保证焊接的质量，同时还通过激光跟踪器自动调节焊枪在焊接过程中与待堆焊工件的水平距离。
 附图说明
图1为本发明用于膜式水冷壁堆焊的焊接系统的系统原理意图；
图2为图1的局部放大图；
图3为纵向支架以及横梁的局部图；
图4为横梁的正视图；
图5为横梁的局部放大图；
图6为横梁与纵向支架的连接示意图；
图7为转接板I与横梁的连接示意图；
图8为焊枪模组的结构示意图；
图9为焊枪模组中前后移动机构的结构示意图；
图10为前后移动机构中L型安装架的结构示意图；
图11为前后移动机构中移动板的结构示意图I；
图12为前后移动机构中移动板的结构示意图II；
图13为水平角度调节机构固定在前后移动机构上的连接示意图；
图14为焊枪模组中水平角度调节机构的结构示意图；
图15为焊枪模组中激光跟踪机构的结构示意图；
图16为激光跟踪机构固定在水平角度调节机构上的连接示意图；
图17为焊枪模组中伺服摆动机构的结构示意图；
图18为伺服摆动机构固定在激光跟踪机构上的连接示意图；
图19为竖直角度调节机构中连接板和安装板的连接示意图；
图20为竖直角度调节机构中L型调节板的结构示意图；
图21为L型调节板固定在安装板上的连接示意图；
图22为焊枪夹持器固定在L型调节板上的连接示意图；
图23为焊枪固定在焊枪夹持器上的连接示意图；
图24为锁紧把手的原理图。
 本发明的实施方式
根据下述实施例，可以更好地理解本发明。然而，本领域的技术人员容易理解，实施例所描述的内容仅用于说明本发明，而不应当也不会限制权利要求书中所详细描述的本发明。
如图1~24所示，本发明用于膜式水冷壁堆焊的焊接系统，包括纵向支架102、横向平移机构105以及焊接模组101；其中，纵向支架102上铺设有直线导轨I109，横向平移机构105包括横梁115、铺设在横梁115上的导轨I93以及安装在导轨I93上的转接板I91，横梁1115下端面固定连有滑动块113，滑动块113底部设有与直线导轨I109相互配合连接的滑块I114，横梁115与纵向支架102连接处设有纵向驱动机构116，横梁115在纵向驱动机构116驱动下沿着支架102上下移动，转接板I91上设有驱动机构，焊接模组101通过转接板I91安装在横梁115上，焊接模组101通过驱动机构在横梁115上相对横梁115沿水平向左右移动。
其中，纵向支架102包括相互平行设置的第一支架117和第二支架118，第一支架117和第二支架118上均设有沿纵向延伸的直线导轨I109，第一支架117和第二支架118上的直线导轨I109成对设置，纵向支架102内侧装有与直线导轨I109相平行的齿条I108，横梁115架设在第一支架117和第二支架118上，三者形成一个H型结构。横梁115的两个端部，即分别与第一支架117和第二支架118的连接处均设有纵向驱动机构116，纵向驱动机构116包括电机106、减速机107和齿轮I112，电机106与减速机107固定在横梁115上，电机106的输出轴通过减速机107与齿轮I112传动连接；两端纵向驱动机构116的齿轮I112分别和与其相对应的齿条I108传动连接，横梁1115与滑动块113连接，滑动块113底部设有滑块I114，滑块I114与直线导轨I109相互配合连接。
横梁115上的导轨I93成对设置，导轨I93之间设有与导轨I93相平行的齿条II94，转接板I91的竖直部97与焊接模组101固定连接，转接板I91的水平部98的底部设有与导轨I93相互配合连接的滑块II90；驱动机构为带齿轮的手轮I92，转接板I91的水平部98通过连接板I88与手轮I92的安装板I87固定连接，手轮I92固定端固定在安装板I87上，手轮I92转动端（齿轮III89）与齿条II94传动连接；转接板I91水平部98的底部还设有直线滑轨钳制器I99，转动手轮I92，当转接板I91在横梁115上移动到所需位置时，通过直线滑轨钳制器I99卡住导轨I93，防止转接板I91继续相对横梁115发生水平向滑动，同时，转接板I91一端还设有缓冲块I96，该缓冲块I96与设置在横梁上的限位块I95相互对应设置，从而实现移动的安全性。
横梁115作为焊枪模组101的载体，横梁115起带动焊枪模组101沿直线导轨I109沿纵向移动的作用；电机106采用伺服电机，减速机107采用高精度行星减速机，采用伺服电机和高精度行星减速机更容易来控制电机的同步动作；采用高精度行星减速机保证横梁115在运行过程中的精度，防止出现抖动和卡滞现象。由于横梁115两侧都有纵向驱动机构116，并且两侧的纵向驱动机构116能够实现同步动作，这样就能保证在横梁115在大跨度情况下也能够沿直线导轨I109平稳的运行。
本发明用于膜式水冷壁堆焊的焊接系统还包括固定在横梁115上的安装板110，安装板110上分别安装有送丝系统103和IO箱104；本发明用于膜式水冷壁堆焊的焊接系统还包括用于走线的线槽111。
焊接模组101包括前后移动机构3、水平角度调节机构4、激光跟踪机构82、伺服摆动机构10、竖直角度调节机构8以及焊枪14；其中，前后移动机构3包括L型安装架1以及架设在L型安装架1上且与L型安装架1滑动连接的移动板2；移动板2底部设有两条对称的直线导轨II22以及设置在两条直线导轨II22之间且位于移动板2端部的缓冲块23，L型安装架竖直侧11固定安装在转接板I91竖直部97上，L型安装架水平侧12上设有与直线导轨II22相互配合连接的滑块III15（滑块III15沿着直线导轨II22移动）、用于限制移动板2在L型安装架1上滑动距离的限位块83以及直线滑轨钳制器16，限位块83与缓冲块23相互对应设置，当人工通过移动板2上的把手21拉着移动板2相对L型安装架1移动且移动到对应位置时，手动拉直线滑轨钳制器16，通过直线滑轨钳制器16卡住直线导轨II22，防止移动板2继续相对L型安装架1发生滑动。焊枪前后移动机构3对焊枪14进行前后方向的手动调整移动，并带有距离限位装置和距离固定装置。
水平角度调节机构4设置在移动板2上，移动板2上设有安装孔I24和安装孔II25，水平角度调节机构4包括带齿纹41的转动板46、手轮5以及锁紧把手42，带齿纹的转动板46通过转轴44与移动板2转动连接，转轴44安装在安装孔I24中，转轴44一端可以通过轴承固定在安装孔I24中，转轴44另一端与带齿纹41的转动板46固定连接；手轮5中的齿轮II45与带齿纹41的转动板46传动连接，手轮5固定安装在安装孔II25中；转动板46上设有与齿纹41弧度对应的弧形槽43；手动正向转动或反向转动手轮5时，带动手轮5内的齿轮II45正向或反向转动，从而齿轮II45带动带齿纹41的转动板46正向或反向转动，当转动板46转动到所需位置时，将锁紧把手42伸入弧形槽43中（如图24所示，锁紧把手42穿过弧形槽43嵌入移动板2中且与移动板2上带内螺纹的螺纹孔120通过内外螺纹相互配合连接，从而实现将转动板46固定在移动板2上），通过锁紧把手42将转动板46相对移动板2的位置固定住，防止转动板46继续相对移动板2转动。
激光跟踪机构82通过转接板II6固定在转动板46上，激光跟踪机构82包括驱动装置7以及通过转接板III13固定在驱动装置7上的激光跟踪器9，驱动装置7带动激光跟踪器9作靠近或远离待焊接工件的移动；驱动装置7为带伺服电机18的线性滑台17。激光跟踪机构82实现焊接过程中垂直工件面沿纵向方向距离的自动调节，即垂直工件面沿纵向方向焊枪位置的自动修正。在焊接过程中，激光跟踪器9扫描垂直工件表面纵向方向的变形数据（即工件表面是否有凹凸），通过PLC控制系统驱动驱动装置7，从而实现自动对焊枪位置进行修正，以保证焊接质量不受影响，以防止焊接过程中垂直工件面纵向方向发生变形而影响焊接质量的稳定性。
伺服摆动机构10固定在转接板III13上，焊枪14通过竖直角度调节机构8固定在伺服摆动机构10上，伺服摆动机构10带动焊枪14相对待焊接工件沿水平方向向左或向右移动。伺服摆动机构10即为伺服摆动器，其摆动速度或者摆动频率在一定范围内可调，摆动停留时间可调，调节精度0.1s，伺服摆动器具有中心对中功能，在摆动时能手工调整摆动中心。
其中，竖直角度调节机构8包括连接板71、安装板72、L型调节板75以及焊枪夹持器80，连接板71固定在伺服摆动机构10上，安装板72一端通过转轴73与连接板71转动连接，安装板72另一端通过旋转柱塞74与连接板71连接，当需要对焊枪14的导电嘴进行快速更换时，不需要将焊枪14从竖直角度调节机构8上拆卸下来，只要将旋转柱塞74拔下，将安装板72沿转轴73抬起（旋转），更换完成后，将安装板72放下，插上旋转柱塞74即可，通过旋转柱塞74快速将安装板72固定在连接板71上（通过旋转柱塞74连接方式可实现焊枪14快速转一定角度更换导电嘴）；L型调节板水平侧76固定在安装板72上，L型调节板竖直侧77上固定有旋转轴78，旋转轴78与竖直侧77采用轴承转动连接，焊枪夹持器80套设在旋转轴78上且与旋转轴78通过内外螺纹相互配合固定连接，L型调节板竖直侧77还设有弧形槽79，焊枪14固定在焊枪夹持器80上，根据弧形槽79弧度的大小转动焊枪夹持器80，当焊枪夹持器80相对L型调节板竖直侧77转动到所需位置时，将锁紧把手81穿过焊枪夹持器8上的通孔，嵌入弧形槽79中，且与弧形槽79内带内螺纹的螺纹孔通过内外螺旋相互配合连接，从而使焊枪夹持器80相对L型调节板竖直侧77的位置固定，不再继续转动。
本发明用于膜式水冷壁堆焊的焊接系统还包括还包括PLC控制器，纵向驱动机构116、驱动装置7、激光跟踪器9和伺服摆动机构10分别与PLC控制器无线通讯连接，当激光跟踪器9扫描到待焊接工件表面有凸起时，通过驱动装置7将激光跟踪机构82作远离待焊接工件的移动，当激光跟踪器9扫描到待焊接工件表面有凹槽时，通过驱动装置7将激光跟踪机构82作靠近待焊接工件的移动。伺服摆动机构10根据已设定好的摆动频率带动焊枪在焊接过程中进行左右摆动焊接。PLC控制器控制纵向驱动机构116中的电机106转动，从而带动横梁115沿着纵向支架102向上或向下移动。

Claims (10)

  1. 一种用于膜式水冷壁堆焊的焊接系统，其特征在于：包括纵向支架、横向平移机构以及焊接模组；其中，纵向支架上铺设有直线导轨I，横向平移机构包括横梁、铺设在横梁上的导轨I以及安装在导轨I上的转接板I，横梁下端面设有与直线导轨I相互配合连接的滑块I，横梁与纵向支架连接处设有纵向驱动机构，横梁在纵向驱动机构驱动下沿着支架上下移动，转接板I上设有驱动机构，焊接模组通过转接板I安装在横梁上，焊接模组通过驱动机构在横梁上相对横梁沿水平向左右移动。
  2. 根据权利要求1所述的用于膜式水冷壁堆焊的焊接系统，其特征在于：纵向支架包括相互平行设置的第一支架和第二支架，第一支架和第二支架上均设有沿纵向延伸的直线导轨I，第一支架和第二支架上的直线导轨I成对设置。
  3. 根据权利要求2所述的用于膜式水冷壁堆焊的焊接系统，其特征在于：横梁与第一支架和第二支架的连接处均设有纵向驱动机构，纵向驱动机构包括电机、减速机和齿轮I，电机的输出轴通过减速机与齿轮传动连接；纵向支架内侧装有与直线导轨I相平行的齿条I，横梁两端纵向驱动机构的齿轮I分别和与其相对应的齿条I传动连接。
  4. 根据权利要求1所述的用于膜式水冷壁堆焊的焊接系统，其特征在于：横梁上的导轨I成对设置，导轨I之间设有与导轨I相平行的齿条II，转接板I竖直部与焊接模组固定连接，转接板I水平部的底部设有与导轨I相互配合连接的滑块II；驱动机构为带齿轮的手轮I，手轮I固定端固定在转接板I水平部上，手轮I转动端与齿条II传动连接。
  5. 根据权利要求1所述的用于膜式水冷壁堆焊的焊接系统，其特征在于：所述焊接模组包括前后移动机构、水平角度调节机构、激光跟踪机构、伺服摆动机构、竖直角度调节机构以及焊枪；其中，前后移动机构包括L型安装架以及与L型安装架滑动连接的移动板；水平角度调节机构设置在移动板上，水平角度调节机构包括带齿纹的转动板和手轮，转动板通过转轴与移动板转动连接，手轮中的齿轮与转动板边沿的齿纹传动连接；激光跟踪机构通过转接板I固定在转动板上，激光跟踪机构包括驱动装置以及通过转接板II固定在驱动装置上的激光跟踪器，驱动装置带动激光跟踪器作靠近或远离待焊接工件的移动；伺服摆动机构固定在转接板II上，焊枪通过竖直角度调节机构固定在伺服摆动机构上，伺服摆动机构带动焊枪相对待焊接工件沿水平方向向左或向右摆动。
  6. 根据权利要求5所述的用于膜式水冷壁堆焊的焊接系统，其特征在于：所述移动板底部设有直线导轨II以及设置在移动板端部的缓冲块，L型安装架竖直侧固定安装在横梁的转接板I上，L型安装架水平侧上设有与直线导轨II相互配合连接的滑块III、与缓冲块相互对应的限位块以及直线滑轨钳制器。
  7. 根据权利要求5所述的用于膜式水冷壁堆焊的焊接系统，其特征在于：所述转动板上设有与齿纹设置弧度相对应的弧形槽。
  8. 根据权利要求5所述的用于膜式水冷壁堆焊的焊接系统，其特征在于：竖直角度调节机构包括连接板、安装板、L型调节板以及带锁紧把手的焊枪夹持器，连接板固定在伺服摆动机构上，安装板一端通过转轴与连接板转动连接，安装板另一端通过旋转柱塞与连接板连接，L型调节板水平侧固定在安装板上，L型调节板竖直侧上设有旋转轴，旋转轴与L型调节板竖直侧采用轴承转动连接，焊枪夹持器套设在旋转轴上且与旋转轴固定连接，L型调节板竖直侧上还设有弧形槽，焊枪夹持器通过锁紧把手固定在L型调节板上，焊枪固定在焊枪夹持器上。
  9. 根据权利要求1所述的用于膜式水冷壁堆焊的焊接系统，其特征在于：还包括固定在横梁上的安装板，安装板上分别安装有送丝系统和IO箱。
  10. 根据权利要求1所述的用于膜式水冷壁堆焊的焊接系统，其特征在于：还包括用于走线的线槽。
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