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CN-122007557-A - Full-automatic welding device for weld joint tracking

CN122007557ACN 122007557 ACN122007557 ACN 122007557ACN-122007557-A

Abstract

The invention belongs to the technical field of welding, and particularly relates to a full-automatic welding device for tracking welding seams, which comprises a travelling trolley, a steering mechanism and a control unit, wherein the steering mechanism of the travelling trolley is meshed with a steering gear through a steering rack to realize steering control; the welding device comprises a welding head, a laser sensor, a sensor main body, a horizontal adjusting mechanism and a steering mechanism, wherein the laser sensor and the welding head synchronously move, the sensor main body swings, and the horizontal adjusting mechanism and the steering mechanism are adjusted according to the position of a welding seam detected by the sensor main body, so that the relative position of a welding gun and the welding seam is unchanged. The laser sensor solves the limitation that the fixed sensor can only detect a single point, can effectively reduce cost, effectively improves steering precision of the steering mechanism, can simultaneously adjust steering angle of the front wheel in real time according to feedback signals of the laser sensor, has high steering synchronism and quick response, ensures accurate running of a travelling trolley, can realize operation closed loop of laser detection-signal feedback-steering correction-welding, and improves welding quality consistency and production efficiency.

Inventors

  • FENG XIAOLIN
  • ZHOU JIE
  • JIANG JUNWEI

Assignees

  • 成都威豪机械有限公司

Dates

Publication Date
20260512
Application Date
20260401

Claims (10)

  1. 1. A full-automatic welding device for tracking welding seams is characterized by comprising: the steering mechanism (23) of the walking trolley (2) comprises a steering sleeve (234), a steering rack (235) and a steering gear (236), wherein a control arm and a front wheel shaft are arranged on the outer side wall of the steering sleeve (234), the rotating shaft of the steering sleeve (234) is perpendicular to the horizontal direction, the front wheel shaft is in rotating connection with the front wheel body (232), the steering rack (235) is meshed with the steering gear (236), and two ends of the steering rack (235) are respectively in rotating connection with the control arms of the two steering sleeves (234); The welding head (10) is connected with the travelling trolley (2) and extends to the upper part of the workpiece (1), and the welding head (10) synchronously moves along with the travelling trolley (2); The laser sensor (8) is arranged in the advancing direction of the welding head (10) and synchronously moves with the welding head (10), the laser sensor (8) comprises a sensor main body (84) and a motor (85), a transmitting port (841) and a receiving port (842) of the sensor main body (84) face downwards, one side of the sensor main body (84) is connected with a sector gear (89), the motor (85) is connected with a swinging gear (86) to be meshed with the sector gear (89) and control the sensor main body (84) to swing, the swinging direction of the sensor main body (84) is intersected with the welding direction of the welding head (10), a closed loop control circuit is formed by the sensor main body (84) and an adjusting steering mechanism (23), and the relative position of a welding gun and a welding seam is unchanged according to the position of the welding seam detected by the sensor main body (84).
  2. 2. The full-automatic welding device for seam tracking according to claim 1, wherein the steering mechanism (23) further comprises a front wheel seat (233), and the steering sleeve (234) is rotatably connected with the front wheel seat (233).
  3. 3. The full-automatic welding device for seam tracking according to claim 2, wherein a speed reducer is fixed on the front wheel seat (233), an input end of the speed reducer is connected with the steering motor (231), and an output end of the speed reducer is connected with the steering gear (236).
  4. 4. The full-automatic weld seam tracking apparatus as set forth in claim 1, wherein the rotational axis of the steering sleeve (234) is perpendicular to the control arm and the front axle, the control arm and the front axle intersecting each other.
  5. 5. The full-automatic welding device for tracking weld seams according to any one of claims 1 to 4, wherein the laser sensor (8) further comprises a trigger piece (88) and a position sensor (87), the trigger piece (88) and the sector gear (89) are fixed relatively and rotate synchronously, and the position sensor (87) is arranged in the middle of the moving track of the free end of the trigger piece (88) and can be triggered by signals of the trigger piece (88).
  6. 6. The full-automatic welding device for seam tracking according to claim 5, wherein the motor (85) is mounted on the inner mounting seat (811), the sensor main body (84) is rotatably connected with the inner mounting seat (811), and the position sensor (87) is fixedly connected with the inner mounting seat (811).
  7. 7. The full-automatic welding device for seam tracking according to claim 6, wherein the inner mounting seat (811) is arranged in the outer shell (81), a detachable side cover (82) is arranged on the side face of the outer shell (81), the inner mounting seat (811) and components mounted on the inner mounting seat (811) are both arranged in the outer shell (81), a light-transmitting sheet (810) is arranged on the lower side of the outer shell (81), and the light-transmitting sheet (810) is arranged under the sensor main body (84).
  8. 8. The full-automatic welding device for tracking weld seams according to any one of claims 1 to 4, wherein a rear wheel mechanism (22) of the traveling trolley (2) comprises a driving motor (221), a rear wheel body (222), a rear wheel seat (223), a rear wheel shaft (224), an outer sleeve (225), a stirring gear (226), a driven gear (227), a meshing wheel and a clutch head (229), the rear wheel shaft (224) is connected with a frame (21) of the traveling trolley (2) through bearings, two ends of the rear wheel shaft (224) extend out of the frame (21) and are fixedly connected with the rear wheel body (222), the outer sleeve (225) is sleeved on the rear wheel shaft (224), the clutch head (229) is slidably arranged at the end part of the outer sleeve (225), the driven gear (227) is connected with the rear wheel shaft (224) through bearings, the meshing wheel is coaxial with the driven gear (227) and can mesh with the end part of the clutch head (229), the stirring gear (226) is meshed with the meshing wheel on the side wall of the clutch head (229) to control sliding of the clutch head (229), the gear on an output shaft of the driving motor (221) is meshed with the driven gear (227) through the rear wheel seat (21).
  9. 9. A full-automatic welding device for tracking welding seams is characterized in that a horizontal adjusting mechanism (3) is arranged at the top of a travelling trolley (2), the horizontal position of a welding head (10) is adjusted along the left-right direction of the travelling trolley (2) by the horizontal adjusting mechanism (3), a T-shaped main support (4) is fixed on the horizontal adjusting mechanism (3), a main control box (5) and a welding wire disc (6) are fixed at one end of the transverse portion of the main support (4), the other end of the main support is connected with a welding support (9) through a height adjusting mechanism (7), the welding head (10) is fixed at the lower end of the welding support (9), a laser sensor (8) is connected with the lower end of the welding support (9) through a cross rod, and a welding flux hopper (11) is fixed at the side face of the upper end of the welding support (9).
  10. 10. The full-automatic welding device for seam tracking according to claim 9, wherein the horizontal adjusting mechanism (3) and the height adjusting mechanism (7) comprise a fixed seat and a movable seat, a rotatable screw rod is arranged on the fixed seat and is in threaded connection with a sliding table on the movable seat, and the position of the movable seat is adjusted through rotation of the screw rod.

Description

Full-automatic welding device for weld joint tracking Technical Field The invention belongs to the technical field of welding, and particularly relates to a full-automatic welding device for tracking welding seams. Background The submerged arc welding is used as a main flow process of automatic welding of long welding seams of medium plates, is widely applied to the fields of steel structures, pressure vessels, ship manufacturing and the like, and the automatic walking submerged arc welding trolley can replace manual work to finish continuous welding operation, so that the welding efficiency and the forming quality are improved. The traditional laser sensor is mainly fixedly installed, only can detect the single-point welding seam position, only can realize single-dimensional position adjustment, cannot adapt to welding working conditions of different groove sizes and different plate thicknesses, and greatly increases cost by adopting the linear laser sensor. In addition, the steering response of the existing arc welding trolley is lagged, the synchronism is insufficient, and the walking path is difficult to correct in real time according to the weld deviation. When the integral device is used, the problems of workpiece welding errors, easy occurrence of weld joint deviation and the like exist. Therefore, the full-automatic welding device for the weld joint tracking, which meets the requirements of laser swing tracking and real-time steering correction, is designed, and becomes a problem to be solved in the automatic welding production process with high precision and high stability. Disclosure of Invention In order to solve the problems in the prior art, the scheme provides a full-automatic welding device for tracking welding seams. The technical scheme adopted by the invention is as follows: a full-automatic weld tracking welding device, comprising: The steering mechanism of the walking trolley comprises a steering sleeve, a steering rack and a steering gear, wherein the outer side wall of the steering sleeve is provided with a control arm and a front wheel shaft, the rotating shaft of the steering sleeve is perpendicular to the horizontal direction, and the front wheel shaft is rotationally connected with the front wheel body; the welding head is connected with the travelling trolley and extends to the upper part of the workpiece; The welding device comprises a welding head, a laser sensor, a sensor main body, a motor, a steering mechanism and a welding gun, wherein the laser sensor is arranged in the advancing direction of the welding head and synchronously moves with the welding head, the laser sensor comprises a sensor main body and a motor, a transmitting port and a receiving port of the sensor main body are downward, one side of the sensor main body is connected with a sector gear, the motor is connected with a swinging gear to be meshed with the sector gear and control the sensor main body to swing, the swinging direction of the sensor main body is intersected with the welding direction of the welding head, the sensor main body and the steering mechanism form a closed-loop control loop, and the steering mechanism is adjusted according to the position of a welding seam detected by the sensor main body, so that the relative position of the welding gun and the welding seam is unchanged. Optionally, the steering mechanism further comprises a front wheel seat, and the steering sleeve is rotationally connected with the front wheel seat. Optionally, a speed reducer is fixed on the front wheel seat, the input end of the speed reducer is connected with a steering motor, and the output end of the speed reducer is connected with a steering gear. Optionally, the rotation axis of the steering sleeve is perpendicular to the control arm and the front axle, and the control arm and the front axle are mutually intersected. Optionally, the laser sensor further comprises a trigger piece and a position sensor, wherein the trigger piece and the sector gear are fixed relatively and rotate synchronously, and the position sensor is arranged in the middle of a moving track of the free end of the trigger piece and can be triggered by signals of the trigger piece. Optionally, the motor is arranged on the inner mounting seat, the sensor main body is rotationally connected with the inner mounting seat, and the position sensor is fixedly connected with the inner mounting seat. The sensor comprises a sensor body, an inner mounting seat, a detachable side cover, a transparent sheet and a sensor cover, wherein the inner mounting seat is arranged in the outer shell, the side surface of the outer shell is provided with the detachable side cover, the inner mounting seat and components arranged on the inner mounting seat are all positioned in the outer shell, and the lower side of the outer shell is provided with the transparent sheet which is positioned under the sensor body. The rear wheel mechanism of the walking trolley comprises a