CN217618602U - Automatic welding device for external weld joint of curved U rib - Google Patents
Automatic welding device for external weld joint of curved U rib Download PDFInfo
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- CN217618602U CN217618602U CN202221536787.XU CN202221536787U CN217618602U CN 217618602 U CN217618602 U CN 217618602U CN 202221536787 U CN202221536787 U CN 202221536787U CN 217618602 U CN217618602 U CN 217618602U
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Abstract
本实用新型提供一种曲线U肋外部焊缝自动焊接装置，包括能沿着固定轨道移动的龙门架、可沿水平和竖直方向运动的机械臂、安装在机械臂下端的电容感应跟踪系统、安装在机械臂上的焊接系统、PLC系统，所述固定轨道之间设置有待焊接的桥面板，所述桥面板包括面板和U肋，所述桥面板一侧倾斜地放置在支架上；所述电容感应器和桥面板分别通电源正、负极，使得感应探头与U肋和面板之间由于均存在间距而形成电容；所述PLC系统包括PLC控制系统和伺服电机驱动系统，用于监测电容感应器测得的电容以及控制驱动装置对机械臂进行横移及升降。本实用新型利用双向电容感应器，控制电容感应器与U肋和面板的距离，从而实现对焊枪的定位，实现空间曲线U肋自动焊接。
The utility model provides an automatic welding device for the external welding seam of a curved U-rib, which comprises a gantry frame that can move along a fixed track, a mechanical arm that can move in horizontal and vertical directions, a capacitive induction tracking system installed at the lower end of the mechanical arm, A welding system and a PLC system installed on a robotic arm, a bridge deck to be welded is arranged between the fixed rails, the bridge deck includes a panel and a U-rib, and one side of the bridge deck is placed on a bracket obliquely; the The positive and negative electrodes of the power supply are respectively connected to the capacitive sensor and the bridge panel, so that the distance between the sensing probe and the U-rib and the panel forms a capacitance; the PLC system includes a PLC control system and a servo motor drive system for monitoring capacitive sensing The capacitance measured by the device and the control drive device are used to traverse and lift the manipulator. The utility model utilizes a bidirectional capacitive sensor to control the distance between the capacitive sensor and the U-rib and the panel, thereby realizing the positioning of the butt welding gun and realizing the automatic welding of the U-rib in a space curve.
Description
Technical Field
The utility model relates to a welding technique specifically is an outside welding seam automatic welder of curve U rib.
Background
With the development of steel structure bridge construction technology in China and abroad, the manufacture of bridge steel structures. The U-shaped ribs are used as the series standard parts of the traditional bridge steel structure and are widely applied to orthotropic bridge deck structures. The welding of U rib and decking, work load is big, and the welding requires highly. The welding efficiency and the welding quality directly affect the manufacturing and processing cost of the bridge steel structure production list.
The welding of the external welding seam between the U rib of the bridge steel structure and the bridge deck plate can adopt various welding modes such as submerged arc welding, gas shielded welding, manual welding and the like. The submerged arc welding mode has the highest efficiency and the lowest cost. According to the traditional submerged arc welding, a single or a plurality of common submerged arc welding agents can be longitudinally and linearly moved in the length direction of a bridge deck plate through a tool structure, so that the external automatic submerged arc welding of a linear U rib can be realized, the placing modes of the U rib and the bridge deck plate are accurately adjusted before welding, and the welding can be performed when a welding seam is in a horizontal state. The welding efficiency is relatively low. With the development of the bridge industry, a plurality of curved steel structure bridges begin to use curved U ribs, welding seams of the curved U ribs are in irregular space curves under a conventional welding station, and automatic welding of the space curve welding seams cannot be achieved by the traditional method.
The utility model discloses a chinese utility model patent that the bulletin number of granting is CN212858292U discloses a U rib welds device and U rib welding system outward, and the device passes through the contact with the welding seam limit portion contact of U rib and panel contact angle, will cross the removal signal conversion of contact and become the signal of telecommunication, then control the arm with signal of telecommunication conveying to the motor, realize the welding seam tracking. The device has the following disadvantages: 1. only one contact head is arranged, and tracking in one direction can be realized, so that tracking welding of straight-line or oblique-line weld joints can be realized only; 2. the contact head and the welding line are in contact, so the contact head is easy to wear, the measurement precision is low, and the reliability is low.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an utilize two-way capacitance sensor to carry out location, non-contact's space curve type U rib automatic welder to welding gun.
In order to achieve the above purpose, the utility model provides a following technical scheme: an automatic welding device for external weld joints of curved U ribs comprises a portal frame, mechanical arms, a capacitance induction tracking system, a welding system and a PLC (programmable logic controller) system, wherein the mechanical arms are movably mounted on the portal frame and can move in the horizontal and vertical directions, the portal frame is arranged on a fixed track perpendicular to the length direction of the portal frame and can move along the fixed track, bridge decks to be welded are arranged between the fixed tracks, and each bridge deck comprises a deck and a U rib;
one side of the bridge deck is obliquely placed on the bracket;
the capacitive sensing tracking system comprises a capacitive sensor fixed at the lower end of the mechanical arm, and the capacitive sensor comprises two sensing probes facing the U rib and the panel respectively;
the welding system is arranged on the mechanical arm and comprises a welding gun fixed at the lower end of the mechanical arm;
the capacitance inductor and the bridge panel are respectively electrified with the positive pole and the negative pole of the power supply, so that the capacitance is formed between the induction probe and the U-shaped rib and between the induction probe and the bridge panel due to the fact that the distance exists between the induction probe and the U-shaped rib.
The PLC system comprises a PLC control system and a servo motor driving system and is used for monitoring the capacitance measured by the capacitance sensor and controlling the driving device to move the mechanical arm transversely and lift the mechanical arm.
Preferably, the capacitance sensor and the welding gun are respectively positioned at the lower end of the mechanical arm close to the portal frame and at one side far away from the portal frame.
Preferably, the welding gun is at the same height as the inductive probe.
Preferably, the portal frame comprises a walking mechanism arranged on the fixed rail, upright posts are fixed on the walking mechanism, the tops of all the upright posts are connected together through a cross beam to form a portal frame structure, a ladder platform is arranged above the cross beam, and a guide rail is arranged on one side of the cross beam.
Preferably, the mechanical arm comprises a vertically arranged strip-shaped mechanical arm body and a driving device which is directly installed on the guide rail and can move transversely and lift up and down, and the mechanical arm body is installed on the driving device.
Preferably, the welding system further comprises a welding machine and a flux distributing device, and the flux distributing device is connected with the welding gun through a pipeline.
Preferably, the welding system further comprises a flux recovery device and a flux recovery hopper, the welding gun, the flux distributing device and the flux recovery hopper are sequentially connected through a pipeline, the flux recovery hopper is fixed to the upper portion of the mechanical arm, one end of the flux recovery device is connected with the flux recovery hopper, and the other end of the flux recovery device is close to one side, away from the mechanical arm, of the welding gun and used for recovering redundant flux at the welded portion.
Because the inductive probes on two sides of the capacitance sensor and the U-shaped rib and the steel plate surface of the panel are both away from each other to form capacitance, the PLC control system converts measured capacitance parameters into distance parameters, the distance parameters serve as preset welding distance, after welding work starts, the welding system is started, the walking mechanism walks along the fixed track to drive the welding system to longitudinally walk along a welding seam to weld, an angle formed by the junction of the curved U-shaped rib and the panel changes in a space curve, the PLC control system converts real-time capacitance parameters into the distance parameters and compares the distance parameters with the preset distance to control the lifting and the transverse moving of the mechanical arm, and welding of the space curve welding seam is achieved.
The utility model has the advantages that:
1. the utility model utilizes the bidirectional capacitance sensor and the PLC system to monitor the distance between the welding gun and the surface of the U rib and the surface of the panel, and controls the transverse movement and the lifting of the mechanical arm to keep the relative position between the welding gun and the welding seam unchanged, thereby realizing the automatic welding of the welding seam outside the U rib with a space curve;
2. the utility model realizes the tracking of the welding seam through the capacitance induction, is non-contact tracking, has no equipment abrasion, and is stable and reliable;
3. the utility model combines the solder distributing device and the solder recovering device, thereby realizing the recycling of the solder and reducing the cost;
4. the utility model discloses a many welder designs, can realize that many U rib welding seams execute welding simultaneously, and welding efficiency is high.
Drawings
FIG. 1 is a schematic view of the welding of the present invention
FIG. 2 is a schematic structural view of the present invention;
FIG. 3 is a left side view of FIG. 2;
FIG. 4 is a front view of a gantry;
FIG. 5 is a left side view of FIG. 4;
FIG. 6 is a schematic view of a robotic arm;
FIG. 7 is a schematic diagram of a capacitive sensing tracking system;
FIG. 8 is a schematic view of a welding system;
reference numerals are as follows: the welding machine comprises a portal frame 1, a walking mechanism 1.1, a stand column 1.2, a cross beam 1.3, a sliding rail 1.4, a ladder platform 1.5, a mechanical arm 2, a mechanical arm body 2.1, a driving device 2.2, a capacitance induction tracking system 3, a capacitance inductor 3.1, a capacitance inductor support 3.2, a welding system 4, a welding machine 4.1, a welding gun 4.2, a welding flux distributing device 4.3, a welding flux recovery device 4.4, a welding flux recovery hopper 4.5, a bridge plate unit 5, a U rib 5.1, a panel 5.2 and a support 5.3.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
In conventional decking unit, U rib 5.1 is fixed angle with panel 5.2, consequently, the utility model people has set up two-way capacitance sensor 3.1, can trail the discernment to the distance of both sides simultaneously, through the calculation of PLC system, can be with welder 4.2 position location in positive welding seam position.
As shown in fig. 2, an automatic welding device for external weld seams of curved U-ribs comprises a portal frame 1, a mechanical arm 2, a capacitive sensing tracking system 3, a welding system 4 and a PLC system.
As shown in fig. 4 and 5, the portal frame 1 includes two running mechanisms 1.1 installed on the fixed track, two columns 1.2 are fixed on each running mechanism 1.1, the tops of all columns 1.2 are connected together through a beam 1.3, so as to form a portal frame structure, and other system devices are installed, the running mechanisms 1.1 are driven by a motor, the beams 1.3 and the columns 1.2 are connected by flanges, a plurality of crossbars are arranged between the two columns 1.2 fixed on each running mechanism 1.1, the beams 1.3 are fixedly connected with the columns 1.2 through flanges, the running mechanisms 1.1 are main body bearing structures, guide rails 1.4 are installed on one side of the beams 1.3, a ladder platform 1.5 is arranged above the beams 1.3, and the running mechanisms 1.1 can drive the mechanical arms 2, the capacitive sensing tracking systems 3 and the welding systems 4 installed on the portal frame 1 to move along the fixed track perpendicular to the length direction of the portal frame.
As shown in fig. 1, a bridge deck 5 to be welded is arranged between the two running gears 1.1, the length direction of the bridge deck 5 is perpendicular to the length direction of the portal frame 1, the bridge deck 5 comprises a deck 5.2 and a U rib 5.1, and one side of the bridge deck 5 is obliquely placed on a bracket 5.3.
As shown in fig. 6, the mechanical arm 2 includes a vertically arranged strip-shaped mechanical arm body 2.1 and a driving device 2.2 directly mounted on a guide rail 1.4 and capable of moving horizontally and lifting, the mechanical arm body 2.1 is mounted on the driving device 2.2, and the mechanical arm 2 can be driven by a motor on the driving device 2.2 to move horizontally along the length direction of a cross beam 1.3 or move vertically along the length direction of the mechanical arm body 2.1, so as to adjust the distance between the lower end of the mechanical arm 2 and a bridge deck 5, and a plurality of sets of mechanical arms 2 can be mounted on the guide rail 1.4 according to the required number, and each set of mechanical arms 2 can move horizontally or vertically.
As shown in fig. 7, each set of capacitive sensing and tracking system 3 is installed at the lower end of each set of robot arm 2, each capacitive sensing and tracking system 3 includes a capacitive sensor 3.1 and a capacitive sensor support 3.2, the capacitive sensor 3.1 is fixed at the lower end of the robot arm body 2.1 near one side of the gantry 1 through the capacitive sensor support 3.2, the capacitive sensor 3.1 includes two inductive probes respectively facing the U rib 5.1 and the panel 5.2, and the capacitive sensor 3.1 is powered on by an anode and the bridge panel 5 to be welded is powered on by a cathode, so that the inductive probes and the steel plate surfaces of the U rib 5.1 and the panel 5.2 form a capacitor due to the existence of a distance, and the distance between the inductive probes and the surfaces of the U rib 5.1 and the panel 5.2 can be obtained according to the size of the capacitor.
As shown in fig. 8, the welding system 4 is disposed on a side of the robot arm 2 away from the guide rail 1.4, the welding system 4 includes a welding machine 4.1, a welding gun 4.2, a flux distributing device 4.3, a flux recovery device 4.4, and a flux recovery bucket 4.5, the welding gun 4.2 is fixed on a side of the lower end of the robot arm 2 away from the gantry 1 and is located at the same height as the inductive probe, so that a distance between the surface of the U-rib 5.1 and the surface of the panel 5.2 measured by the inductive probe is a distance between the welding gun 4.2 and the surface of the panel, the welding gun 4.2, the flux distributing device 4.3, and the flux recovery bucket 4.5 are sequentially connected through a pipeline, the flux recovery bucket 4.5 is fixed on the upper portion of the robot arm 2, one end of the flux recovery device 4.4 is connected to the flux recovery bucket 4.5, the other end of the flux recovery device is close to a side of the robot arm 4.2, and the flux recovery device 4.4 can absorb excess flux at a portion of a welding flux after welding is completed, and then the flux is sequentially recycled into the flux recovery bucket 4.5 through the pipeline, and the flux recovery bucket 4.3.5, and the flux recovery device is sequentially recycled through the pipeline. Each set of mechanical arm 2 is provided with a set of welding system 4.
The PLC system comprises a PLC control system and a servo motor driving system and is used for monitoring the capacitance measured by the capacitance sensor 3.1 and controlling the driving device 2.2, the PLC control system converts capacitance parameters into distance parameters and compares the distance parameters with a preset distance, and the servo motor driving system controls the driving device 2.2 according to the comparison result, so that the mechanical arm 2 moves transversely or ascends and descends, and the relative position of the welding gun 4.2 and a welding seam is guaranteed to be kept unchanged all the time.
The application principle of the embodiment is as follows: the automatic welding device for the outer weld of the curved U-shaped rib is assembled according to the figures 2 and 3. The bridge deck 5 to be welded is placed on the support 5.3 obliquely as shown in fig. 2. A manual operation control device controls the longitudinal movement of the traveling mechanism 1.1 and the transverse and lifting of the mechanical arm 2, aligns a capacitance sensor 3.1 and a welding gun 4.2 with a welding seam to be welded, starts a PLC system, forms capacitance between the capacitance sensor 3.1 and the bridge deck 5 because a sensing probe at two sides of the capacitance sensor 3.1 is at a distance from a steel plate surface of a U rib 5.1 and the bridge deck 5.2, converts a measured capacitance parameter into a distance parameter by the PLC control system, takes the distance parameter as a preset distance for welding, starts the welding system 4 after the welding operation is started, and leads the traveling mechanism 1.1 to travel along a fixed track, the welding system 4 is driven to longitudinally travel along a welding seam for welding, because an angle formed by the junction of the curved U-shaped rib 5.1 and the panel 5.2 changes in a space curve mode, in the longitudinal traveling process of the welding system 4, the distance between probes on two sides of the capacitance sensor 3.1 and the steel plate surface changes along with the curve change, so that the capacitance measured by the capacitance sensor 3.1 changes, the capacitance is compared with the preset distance through a PLC control system, and the driving device 2.2 is controlled to control the mechanical arm 2 to transversely move and lift according to the comparison structure, so that a fixed distance is kept between the welding gun 4.2 and the U-shaped rib 5.1 and the panel 5.2, and the relative position of the welding gun 4.2 and the welding seam is kept unchanged all the time. The process forms a closed loop of capacitance induction, feedback and execution, and realizes automatic tracking and welding of the space curve welding seam.
The foregoing shows and describes the general principles and principal structural features of the invention. The present invention is not limited by the above-mentioned examples, and the present invention can be modified in various ways without departing from the spirit and scope of the present invention, and these modifications and improvements fall within the scope of the present invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221536787.XU CN217618602U (en) | 2022-06-20 | 2022-06-20 | Automatic welding device for external weld joint of curved U rib |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221536787.XU CN217618602U (en) | 2022-06-20 | 2022-06-20 | Automatic welding device for external weld joint of curved U rib |
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| CN217618602U true CN217618602U (en) | 2022-10-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202221536787.XU Expired - Fee Related CN217618602U (en) | 2022-06-20 | 2022-06-20 | Automatic welding device for external weld joint of curved U rib |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114905198A (en) * | 2022-06-20 | 2022-08-16 | 武汉武桥桥梁钢构有限公司 | A kind of automatic welding device and method for external welding seam of curved U-rib |
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2022
- 2022-06-20 CN CN202221536787.XU patent/CN217618602U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114905198A (en) * | 2022-06-20 | 2022-08-16 | 武汉武桥桥梁钢构有限公司 | A kind of automatic welding device and method for external welding seam of curved U-rib |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20221021 |
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| CF01 | Termination of patent right due to non-payment of annual fee |