WO2021062894A1 - 一种用于膜式水冷壁堆焊的焊枪模组 - Google Patents

一种用于膜式水冷壁堆焊的焊枪模组 Download PDF

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Publication number
WO2021062894A1
WO2021062894A1 PCT/CN2019/112837 CN2019112837W WO2021062894A1 WO 2021062894 A1 WO2021062894 A1 WO 2021062894A1 CN 2019112837 W CN2019112837 W CN 2019112837W WO 2021062894 A1 WO2021062894 A1 WO 2021062894A1
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WIPO (PCT)
Prior art keywords
plate
welding torch
welding
fixed
rotating
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PCT/CN2019/112837
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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 WO2021062894A1 publication Critical patent/WO2021062894A1/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 torch module 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.
  • manual surfacing is used for the surface of the water wall with a large size and large area.
  • surfacing welding has high labor costs and on the other hand, welding efficiency is low.
  • the technical problem to be solved by the present invention is to provide a welding torch module for surfacing welding of membrane type water-cooled walls. After the welding torch is fixed, the welding torch module of the present invention can be moved forward and backward through a horizontal angle adjustment mechanism and a vertical angle adjustment mechanism. Realize the adjustment or correction of the three-dimensional space posture of the welding gun, thereby effectively ensuring the quality and efficiency of welding.
  • a welding torch module for surfacing welding of membrane type water walls including 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; wherein the forward and backward movement mechanism includes an L-shaped installation
  • the horizontal angle adjusting mechanism is arranged on the moving plate, and the horizontal angle adjusting mechanism includes a toothed rotating plate and a hand wheel.
  • the rotating plate is rotatably connected to the moving plate through a rotating shaft, and the hand wheel
  • the gear in the middle is connected with the tooth pattern transmission on the edge of the rotating plate
  • 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 device drives the laser tracker to move closer to or away from the workpiece to be welded
  • the servo swing mechanism is fixed on the adapter plate II
  • the welding torch is fixed on the servo swing mechanism through the vertical angle adjustment mechanism, and the servo swing mechanism drives the welding torch relative to the workpiece to be welded. Swing left or right horizontally.
  • the bottom of the movable plate is provided with a linear guide rail 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 external support frame
  • the horizontal side of the L-shaped mounting frame is provided with the linear guide rail.
  • 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 driving device is a linear sliding table with a servo motor.
  • 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 PLC controller the drive device, the laser tracker and the servo swing mechanism are respectively connected to the PLC controller in wireless communication.
  • the welding torch module of the present invention can realize the adjustment or correction of the three-dimensional space posture of the welding torch through the forward and backward moving mechanism, the horizontal angle adjusting mechanism and the vertical angle adjusting mechanism, thereby effectively guaranteeing the quality of welding and reducing labor costs.
  • the welding efficiency is improved.
  • the welding torch module of the present invention automatically adjusts the horizontal distance between the welding torch and the workpiece to be surfacing during the welding process through the laser tracker.
  • FIG. 1 is a schematic diagram of the structure of the welding torch module of the present invention.
  • Figure 2 is a schematic diagram of the structure of the forward and backward moving mechanism in the welding torch module
  • Figure 3 is a schematic diagram of the structure of the L-shaped mounting frame in the forward and backward moving mechanism
  • Figure 4 is a schematic diagram I of the structure of the moving plate in the forward and backward moving mechanism
  • Figure 5 is a schematic view II of the structure of the moving plate in the forward and backward moving mechanism
  • Figure 6 is a schematic diagram of the connection of the horizontal angle adjusting mechanism fixed on the front and rear moving mechanism
  • Figure 7 is a schematic structural diagram of a horizontal angle adjustment mechanism in a welding gun module
  • Figure 8 is a schematic diagram of the structure of the laser tracking mechanism in the welding torch module
  • Figure 9 is a schematic diagram of the connection of the laser tracking mechanism fixed on the horizontal angle adjusting mechanism
  • Figure 10 is a schematic diagram of the structure of the servo swing mechanism in the welding torch module
  • Figure 11 is a schematic diagram of the connection of the servo swing mechanism fixed on the laser tracking mechanism
  • Figure 12 is a schematic diagram of the connection between the connecting plate and the mounting plate in the vertical angle adjustment mechanism
  • Figure 13 is a structural diagram of an L-shaped adjustment plate in a vertical angle adjustment mechanism
  • Figure 14 is a schematic diagram of the connection of the L-shaped adjusting plate fixed on the mounting plate
  • Figure 15 is a schematic diagram of the connection of the welding gun holder fixed on the L-shaped adjusting plate
  • Figure 16 is a schematic diagram of the connection of the welding torch fixed on the welding torch holder
  • Figure 17 is a schematic diagram of locking the handle.
  • the welding torch module for membrane water wall surfacing of the present invention includes a forward and backward moving mechanism 3, a horizontal angle adjustment mechanism 4, a laser tracking mechanism 82, a servo swing mechanism 10, and a vertical angle adjustment mechanism. 8 and welding torch 14; wherein, the front and rear moving mechanism 3 includes an L-shaped mounting frame 1 and a moving plate 2 erected 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
  • the vertical side 11 of the frame is fixedly installed on the external support frame
  • the horizontal side 12 of the L-shaped mounting frame is provided with a sliding block 15 (the sliding block 15 moves along the linear guide 22) that is connected to the linear guide 22
  • the limit block 83 for the sliding distance of the moving plate 2 on the L-shaped mounting frame 1 and the linear slide rail clamp 16, the limit block 83 and the buffer block 23 are arranged corresponding to each other, when manually pulled by the handle 21 on the moving plate 2 to move
  • the linear slide clamp 16 to block the linear guide 22 through the linear slide clamp 16 to prevent the moving plate 2 from continuing to occur relative to the L-shaped mounting frame 1.
  • the welding gun forward and backward moving mechanism 3 manually adjusts and moves the welding gun 14 in the forward and backward directions, and is equipped with a distance limiting device and a distance fixing device.
  • 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 45 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 handwheel 5 is manually rotated forward or backward, the gear II45 in the handwheel 5 is driven to rotate forward or reverse, so that the gear II45 drives the rotating plate 46 with the tooth pattern 41 to rotate forward or reverse, 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 I6.
  • 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 II13.
  • 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 II13, 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 and the vertical side 77 are rotationally connected by bearings.
  • 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 (for ease of disassembly), L-shaped
  • the vertical side 77 of the adjusting plate 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 locking handle 81 is inserted through the through hole on the welding torch holder 8 and inserted into the arc groove 79, and is connected to the threaded hole with internal screw in the arc groove 79
  • the inner and outer spirals are mated and connected to each other, so that the position of the welding gun holder 80 relative to the vertical side 77 of the L-shaped adjusting plate is fixed, and no longer continues to rotate.
  • the welding torch module for membrane water-cooled wall surfacing of the present invention also includes a PLC controller.
  • 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 by the driving device 7.
  • the laser tracking mechanism 82 is moved by the driving device 7 Move 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.

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Abstract

一种用于膜式水冷壁堆焊的焊枪模组，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，前后移动机构包括L型安装架(1)和移动板(2)；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(41)的转动板(46)和手轮(5)，转动板通过转轴(44)与移动板转动连接，手轮中的齿轮(45)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(6)固定在转动板上，激光跟踪机构包括驱动装置(7)和激光跟踪器(9)，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(13)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。该焊枪模组能够实现焊枪三维空间姿态的调整或修正，保证焊接的质量和效率。

Description

一种用于膜式水冷壁堆焊的焊枪模组 技术领域
本发明涉及一种用于膜式水冷壁堆焊的焊枪模组。
 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，现有技术中，对于大尺寸大面积的水冷壁表面都是采用人工堆焊，人工堆焊一方面劳动成本高，另一方面焊接效率低。
 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枪模组，本发明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，从而有效保证焊接的质量和效率。
 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枪模组，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外部支撑架上，L型安装架水平侧上设有与直线导轨相互配合连接的滑块、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，所述驱动装置为带伺服电机的线性滑台。
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PLC控制器，驱动装置、激光跟踪器和伺服摆动机构分别与PLC控制器无线通讯连接。
 有益效果
本发明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，从而有效保证焊接的质量，在降低劳动成本的同时还提升了焊接效率，另外，本发明焊枪模组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为本发明焊枪模组的结构示意图；
图2为焊枪模组中前后移动机构的结构示意图；
图3为前后移动机构中L型安装架的结构示意图；
图4为前后移动机构中移动板的结构示意图I；
图5为前后移动机构中移动板的结构示意图II；
图6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7为焊枪模组中水平角度调节机构的结构示意图；
图8为焊枪模组中激光跟踪机构的结构示意图；
图9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10为焊枪模组中伺服摆动机构的结构示意图；
图11为伺服摆动机构固定在激光跟踪机构上的连接示意图；
图12为竖直角度调节机构中连接板和安装板的连接示意图；
图13为竖直角度调节机构中L型调节板的结构示意图；
图14为L型调节板固定在安装板上的连接示意图；
图15为焊枪夹持器固定在L型调节板上的连接示意图；
图16为焊枪固定在焊枪夹持器上的连接示意图；
图17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1~17所示，本发明用于膜式水冷壁堆焊的焊枪模组，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22以及设置在两条直线导轨22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固定安装在外部支撑架上（即本发明焊枪组件通过L型安装架竖直侧11固定安装在外部支撑架上），L型安装架水平侧12上设有与直线导轨22相互配合连接的滑块15（滑块15沿着直线导轨22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22，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45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17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I6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II13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II13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（便于拆卸），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内带内螺的纹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枪模组还包括PLC控制器，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。

Claims (6)

  1. 一种用于膜式水冷壁堆焊的焊枪模组，其特征在于：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。
  2. 根据权利要求1所述的用于膜式水冷壁堆焊的焊枪模组，其特征在于：所述移动板底部设有直线导轨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外部支撑架上，L型安装架水平侧上设有与直线导轨相互配合连接的滑块、与缓冲块相互对应的限位块以及直线滑轨钳制器。
  3. 根据权利要求1所述的用于膜式水冷壁堆焊的焊枪模组，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。
  4. 根据权利要求1所述的用于膜式水冷壁堆焊的焊枪模组，其特征在于：所述驱动装置为带伺服电机的线性滑台。
  5. 根据权利要求1所述的用于膜式水冷壁堆焊的焊枪模组，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。
  6. 根据权利要求1所述的用于膜式水冷壁堆焊的焊枪模组，其特征在于：还包括PLC控制器，驱动装置、激光跟踪器和伺服摆动机构分别与PLC控制器无线通讯连接。
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