CN103639571A - Multi-freedom-degree bilateral double-wire automatic welding device - Google Patents

Abstract

The invention relates to a multi-freedom-degree bilateral double-wire automatic welding device and belongs to the technical field of automatic welding devices for inverted T-shaped structural members. The multi-freedom-degree bilateral double-wire automatic welding device comprises a fixed base, a column frame, a cantilever beam, translation lifting frames and mechanical hands. The column frame is arranged on the fixed base, the cantilever beam is horizontally connected with the column frame and connected with two translation lifting frames, the two translation lifting frames are parallel to each other, and the mechanical hands are arranged at the lower ends of the translation lifting frames respectively. Through the multi-freedom-degree bilateral double-wire automatic welding device, bilateral double-wire simultaneous welding or unilateral double-wire welding and automatic welding tracking and real-time monitoring of device operation states and parameters can be achieved. The multi-freedom-degree bilateral double-wire automatic welding device has functions of single-pass welding, multilayer welding, multilayer multi-pass welding and swinging automatic welding.

Description

A kind of multiple degrees of freedom bilateral double-wire automatic welding connection device

Technical field

The present invention relates to a kind of multiple degrees of freedom bilateral double-wire automatic welding connection device, belong to the technical field of the structural member of falling T-shape automatic welding device.

Background technology

Welding equipment is widely used in Member Welding field, and for the welding of boat segmental and hydraulic support structural member, traditional welding mostly is manually both at home and abroad, and labor strength is large, work under bad environment.Owing to being affected by human factors, weldquality is unstable, uniformity is poor, outward appearance moulding is bad, and production efficiency is low.

Quality in order to guarantee to weld in the welding process of boat segmental and hydraulic support, the workpiece having according to the difference of material needs just can weld after preheating, this is exactly a kind of test for the personnel of welding, workpiece temperature after preheating is higher, welding personnel, in the process of welding, be stood the torment of high temperature.The space of workpiece is ventilative bad, and the pernicious gas that welding produces collects, and affects the health of welding personnel.

Manually weld because the level of welding personnel is uneven, and artificial subjectivity, cause the quality of welding cannot guarantee uniformity.

Summary of the invention

The present invention is directed to above-mentioned deficiency a kind of multiple degrees of freedom bilateral double-wire automatic welding connection device is provided.

The present invention adopts following technical scheme:

A kind of multiple degrees of freedom bilateral double-wire automatic welding connection device of the present invention, comprises firm banking, column support, cantilever beam, translation crane, manipulator; On described firm banking, arrange column support, cantilever beam is laterally connected with column support, and cantilever beam connects two translation cranes, two translation cranes layout that is parallel to each other, each placement of mechanical hand of the lower end of translation crane.

Multiple degrees of freedom bilateral double-wire automatic welding connection device of the present invention, described manipulator comprises main body rotary joint, swinging joint, end rotary joint, welding gun beam, welding gun; Described main body rotary joint is arranged in the lower end of translation crane, the lower end of main body rotary joint connects swinging joint, connection end, the lower end rotary joint of swinging joint, the lower end of end rotary joint connects welding gun beam, connects welding gun beam and is connected with welding gun.

Multiple degrees of freedom bilateral double-wire automatic welding connection device of the present invention, described welding gun is double-wire welding gun.

Multiple degrees of freedom bilateral double-wire automatic welding connection device of the present invention, also comprises laser seam tracking device, and described laser seam tracking device is arranged in a side of welding gun.

Multiple degrees of freedom bilateral double-wire automatic welding connection device of the present invention, layout level range finding laser sensor and vertical range finding laser sensor in described laser seam tracking device.

Beneficial effect

A kind of multiple degrees of freedom bilateral double-wire automatic welding connection device provided by the invention, can realize that bilateral mariages welds simultaneously or one-sided double wire welding and soldering joint automatic tracking.The real-time monitoring of whole welding process equipment running status and parameter.There is single track, multilayer, multilayer multiple tracks, swing automatic welding function.Welding equipment has manual operation and automatically moves handoff functionality, can realize manual intervention, has safeguard protection and crashproof rifle and reports to the police.While changing the welding object of different model, only need in man-machine interface, revise relevant parameter does not need to reprogram, and has solved the problem that the welding equipment that is comprised of standard six degree of freedom welding robot need reprogram.

Accompanying drawing explanation

Fig. 1 is structural representation of the present invention;

Fig. 2 is mechanical arm structural representation of the present invention;

Fig. 3 a is welding gun structure schematic diagram of the present invention;

Fig. 3 b is welding gun side-looking structural representation of the present invention;

Fig. 4 is switch board structural representation of the present invention;

In figure, 1 is base, the 2nd, and column, the 3rd, cantilever beam, the 4th, translation lifting jib, the 5th, manipulator, the 6th, main body rotary joint, the 7th, swinging joint, the 8th, end rotary joint, the 9th, welding gun beam, the 10th, double-wire welding gun, the 11st, laser seam tracking device, the 12nd, man-machine interface, the 13rd, teaching watch-dog, the 14th, level range finding laser sensor, the 15th, the laser sensor of vertically finding range, 16 is first lifting arm servomotors, and 16 is second lifting arm servomotors.

The specific embodiment

Below in conjunction with accompanying drawing, the present invention is described in more detail:

As shown in the figure: a kind of multiple degrees of freedom bilateral double-wire automatic welding connection device, comprises firm banking 1,column support 2,cantilever beam 3,translation crane 4,manipulator 5; On firm banking 1, arrangecolumn support 2,cantilever beam 3 is laterally connected withcolumn support 2, andcantilever beam 3 connects 4, twotranslation cranes 4 of two translation cranes layout that is parallel to each other, each placement ofmechanical hand 5 of the lower end oftranslation crane 4.

Manipulator 5 comprises mainbody rotary joint 6, swinging joint 7, end rotary joint 8, welding gun beam 9,welding gun 10; Described main bodyrotary joint 6 is arranged in the lower end oftranslation crane 4, the lower end of mainbody rotary joint 6 connects swinging joint 7, connection end, the lower end rotary joint 8 of swinging joint 7, the lower end of end rotary joint 8 connects welding gun beam 9, connects welding gun beam 9 and is connected with welding gun 10.Weldinggun 10 is double-wire welding guns.Laserseam tracking device 11 is arranged in a side of welding gun 10.The interior layout level range finding of laserseam tracking device 11 laser sensor 14 and vertical rangefinding laser sensor 15.

This device is moved forward and backward by driven by servomotor column support, oncantilever beam 3, pass through driven byservomotor mechanism 16, 17 drivetranslation lifting jib 4 separately to move left and right, two covertranslation lifting jib 4 ends are provided with threeaxle robert 5 separately,translation lifting arm 4 can carry out the movement of upper-lower position by driven byservomotor manipulator 5,manipulator 5 has thejoint 6 of main body rotation, joint 8 with the joint 7 swinging and end rotation, welding gun beam 9 is installed on joint 8, welding gun beam 9 is provided with double-wire welding gun 10 below, twocover manipulators 5 have been installed a set of laserseam tracking device 11 on one side separately, laserseam tracking device 11 has level range finding laser sensor 14 and vertical rangefinding laser sensor 15, this equipment also comprises the control system shown in Fig. 4, has the man-machine interface 12 and removable wired teaching watch-dog 13 of controlling, monitoring running status and parameter of typing workpiece drawing parameter and welding condition.

The concrete course of work is as follows: wait for welded structure part put into workbench in place after, by man-machine interface 12 and the relevant position while welding parameter of teaching watch-dog 13 typing workpiece, then in man-machine interface 12, arrange that workpiece welds needed welding condition and corresponding data comprise weld seam type, welding sequence, carry out road number, swash plate arranges, current interruption region division etc.After setting completes, again check whether correctly setting and parameters (only need to carry out this work to the initial workpiece of this model, only need input workpiece model later.), confirm errorless rear system automatically set up the database of this type workpiece just can start welding.After equipment is opened automatically, each axis servomotor enters work armed state, program starts the data analysis to arranging, the weld seam number of article one weld seam that automatic decision will be carried out, by weld seam number, equipment first moves to the start position of weld seam, after start position, welding gun is adjusted attitude to welded condition, adjust complete, by laserseam tracking device 11 butt welded seam positions, carry out accurate tracking, after position while welding tracking, equipment has started arc welding, in welding process, laserseam tracking device 11 carries out accurate tracking until the terminal of weld seam in butt welded seam position all the time, this road weld seam welding is complete, welding gun exits.Then automatically detect second weld seam data, carry out the welding of second.The like, until whole workpiece has been welded.Equipment is got back to holding fix, shows that welding job completes the prompting that please change workpiece in man-machine interface 12.

During work, laserseam tracking device 11 is by level find range laser sensor 14 and vertical range findinglaser sensor 15, detect in real time horizontal range d1 and the vertical range d2 on its mounting points and inverse-T-shaped right angle welding seam both sides, and compare by setting value D1 and the D2 of CPU and requirement, through control system to driven byservomotor mechanism 16, 17 peace shift fallsjib 4 and controls, make the mounting points horizontal range d1 and setting value D1 of actual measurement, vertical range d2 and setting value D2 are consistent, realizing the rifle point position ofwelding gun 10 and the positional distance of weld seam remains unchanged, realize the weld seam real-time tracking of the whole course of work.

More than explanation is only explanation of the invention; make those of ordinary skills' can completely implement this programme; but be not limitation of the present invention; those skilled in the art can make to the present embodiment the modification that there is no creative contribution as required after reading this description, but as long as within the scope of claim of the present invention, are all subject to the protection of Patent Law.

Claims (5)

1. a multiple degrees of freedom bilateral double-wire automatic welding connection device, is characterized in that: comprise firm banking (1), column support (2), cantilever beam (3), translation crane (4), manipulator (5); The upper column support (2) of arranging of described firm banking (1), cantilever beam (3) is laterally connected with column support (2), cantilever beam (3) connects two translation cranes (4), two translation cranes (4) layout that is parallel to each other, each placement of mechanical hand (5) of the lower end of translation crane (4).

2. multiple degrees of freedom bilateral double-wire automatic welding connection device according to claim 1, it is characterized in that: described manipulator (5) comprises main body rotary joint (6) swinging joint (7), end rotary joint (8), welding gun beam (9), welding gun (10); Described main body rotary joint (6) is arranged in the lower end of translation crane (4), the lower end of main body rotary joint (6) connects swinging joint (7), connection end, the lower end rotary joint (8) of swinging joint (7), the lower end of end rotary joint (8) connects welding gun beam (9), connects welding gun beam (9) and is connected with welding gun (10).

3. multiple degrees of freedom bilateral double-wire automatic welding connection device according to claim 2, is characterized in that: described welding gun (10) is double-wire welding gun.

4. multiple degrees of freedom bilateral double-wire automatic welding connection device according to claim 2, is characterized in that: also comprise laser seam tracking device (11), described laser seam tracking device (11) is arranged in a side of welding gun (10).

5. multiple degrees of freedom bilateral double-wire automatic welding connection device according to claim 4, is characterized in that: the interior layout level range finding laser sensor of described laser seam tracking device (11) (14) and vertical range finding laser sensor (15).

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