Fillet weld welding machine and welding method

Abstract

The present invention relates to the technical field of welding equipment, and discloses a fillet weld welding machine and a welding method, wherein the welding machine includes a head assembly, the head assembly includes a first linear guide rail, a telescopic mechanism, a welding gun, a connecting rod and a guide wheel group, a slider is movably connected to the first linear guide rail, the telescopic mechanism is connected to the slider, the slider is rotatably connected to a connecting member, the connecting member is respectively connected to the welding gun and the connecting rod, one end of the connecting rod is connected to the guide wheel group, the guide wheel group includes at least one guide wheel, the guide wheel is used to roll along the weld, and the telescopic mechanism is used to push the slider so that the guide wheel group abuts against the weldment and provides a back and forth telescopic amount along the direction of the first linear guide rail. The fillet weld welding machine and the welding method provided by the present invention can realize the automatic real-time tracking of the weld by the welding gun, which is conducive to the welding gun always keeping the weld aligned, improving the welding efficiency and improving the welding effect.

Description

Technical Field

[0001] The invention relates to the technical field of welding equipment, and in particular to a fillet weld welding machine and a welding method. Background Art

[0002] With the popularization of new structures of modern buildings, the demand for welded structural beams in various large-span industrial plants and modern high-rise buildings is increasing. The dimensions of welded structural beams are also increasing, and the number of super-high and super-long ones is increasing.

[0003] At present, the commonly used fillet weld equipment is adjusted by two sets of screw nut transmission mechanisms respectively arranged in the horizontal direction and the vertical direction. During operation, the operator needs to adjust the position of the welding gun through two hand wheels respectively installed on the two sets of screw nut transmission mechanisms to ensure the accuracy of the welding position. This fillet weld equipment needs to be adjusted manually from time to time to complete the welding work. One person can only operate one device, which has high labor intensity, low production efficiency, high labor cost, and difficult to guarantee welding quality. There is an urgent need for a welding device that can automatically adjust the real-time fillet weld tracking welding process to meet the large drop and large straightness difference of the weld due to the super high and long workpiece. Summary of the invention

[0004] The embodiment of the present invention provides a fillet weld welding machine and a welding method, which are used to solve or partially solve the problem that the existing welding equipment needs to be manually adjusted to achieve the alignment of the weld, the production efficiency is low and the welding quality is difficult to ensure.

[0005] An embodiment of the present invention provides a fillet weld welding machine, including a head assembly, wherein the head assembly is fixed on a support assembly, the head assembly includes a first linear guide, a telescopic mechanism, a welding gun, a connecting rod and a guide wheel group, the first linear guide is tilted and fixed to the support assembly, a slider is movably connected to the first linear guide, the telescopic mechanism is connected to the slider, the slider is connected to a connecting piece, the connecting piece is respectively connected to the welding gun and the connecting rod, one end of the connecting rod is connected to the guide wheel group, the guide wheel group includes at least one guide wheel, the guide wheel is used to roll along the weld, and the telescopic mechanism is used to push the slider so that the guide wheel group abuts against the weld and provides a back and forth telescopic amount along the direction of the first linear guide.

[0006] On the basis of the above scheme, the support assembly includes a gantry and a welding arm vertically connected to the crossbeam of the gantry, the two side brackets of the gantry are respectively movably connected to a second linear guide rail, the welding arm is connected to the crossbeam through a slide, the slide is movably connected to the crossbeam along the length direction of the crossbeam and the slide is connected to the first driving mechanism, the welding arm is movably connected to the slide in the vertical direction and the welding arm is connected to the second driving mechanism, and the head assembly is connected to the bottom of the welding arm.

[0007] On the basis of the above scheme, it also includes a positioning member arranged on the telescopic mechanism, the positioning member is located in the middle of the two induction switches, the two induction switches are arranged along the telescopic direction of the telescopic mechanism, and the two induction switches are used to sense the movement of the positioning member to trigger the movement of the slide plate along the beam.

[0008] On the basis of the above solution, proximity switches are respectively provided above and below the connecting rod, and the proximity switches are used to sense the movement of the connecting rod to trigger the movement of the welding arm in the vertical direction.

[0009] On the basis of the above scheme, it also includes a controller and a mobile hand-operated box. The controller is signal-connected with the first driving mechanism, the second driving mechanism, the induction switch and the proximity switch respectively. The controller is fixed to the welding arm and is connected to the mobile hand-operated box through a signal line.

[0010] On the basis of the above solution, a cross slide is provided between the first linear guide rail and the support assembly, the cross slide is fixed to the support assembly, and the first linear guide rail is detachably fixed to the cross slide.

[0011] On the basis of the above scheme, the connecting part includes a bearing seat, the outer wall of the bearing seat is fixedly connected to the slider, and the rotating shaft of the bearing seat is respectively connected to the welding gun and the connecting rod; a floating mechanism is also connected to the outer wall of the bearing seat, and the floating mechanism includes a fixed plate and an elastic floating head assembly, the fixed plate is connected to the outer wall of the bearing seat, and the elastic floating head assembly is connected to the fixed plate and is located above the connecting rod or the welding gun.

[0012] On the basis of the above scheme, the elastic floating head assembly includes a clamping bolt, a floating part and an elastic part. A threaded hole is provided on the fixed plate, and the clamping bolt is threadedly connected to the threaded hole. An opening penetrating the bottom end is provided inside the clamping bolt. The inner wall of the clamping bolt is stepped and a section of the clamping bolt near the top has a smaller inner diameter. The floating part is movably arranged inside the clamping bolt and the bottom of the floating part passes through the opening. The outer wall of the floating part is also stepped and a section near the bottom has a larger outer diameter. The elastic part is provided inside the clamping bolt, between the step surface on the inner wall of the clamping bolt and the step surface on the outer wall of the floating part.

[0013] On the basis of the above solution, the telescopic mechanism includes a cylinder, and the cylinder is used to push the slider by setting the internal gas in a compressed state so that the guide wheel group abuts against the weldment.

[0014] An embodiment of the present invention also provides a fillet weld welding method based on the above-mentioned fillet weld welding machine, comprising: after starting the welding gun, controlling the gantry to drive the welding gun and the guide wheel group to move along the weld; the welding gun and the guide wheel group extend and retract and swing up and down during the movement along the weld; when the positioning piece is biased toward the sensing switch close to the weld, controlling the head assembly to move toward the weld; when the positioning piece is biased toward the sensing switch away from the weld, controlling the head assembly to move away from the weld; when the connecting rod is biased toward the proximity switch located above, controlling the head assembly to move upward; when the connecting rod is biased toward the proximity switch located below, controlling the head assembly gun to move downward.

[0015] A fillet weld welding machine and a welding method provided by an embodiment of the present invention provide a connecting rod and a guide wheel group so that the guide wheel group moves along the weld and the offset of the weld can be known in real time; a telescopic mechanism is provided to be connected to a slider so that the connecting rod and the welding gun can be adjusted as the weld is offset in the horizontal direction; a connecting rod and a welding gun are provided to be rotatably connected to the slider through a connecting piece respectively so that the connecting rod and the welding gun can be rotated and adjusted at the same time as the weld is offset in the vertical direction; thereby, the welding gun can automatically track the weld in real time, which is beneficial for the welding gun to always keep aligned with the weld, thereby improving welding efficiency and improving welding effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 is a side view schematic diagram of a head assembly in an embodiment of the present invention;

[0018] Figure 2 is a top view schematic diagram of a head assembly in an embodiment of the present invention;

[0019] Figure 3 Schematic diagram of the structure of the bearing seat in the embodiment of the present invention;

[0020] Figure 4 It is a schematic diagram of the arrangement of the floating mechanism in an embodiment of the present invention;

[0021] Figure 5 It is a structural schematic diagram of the elastic floating head assembly in an embodiment of the present invention;

[0022] Figure 6 Schematic diagram of the overall fillet weld welding machine in an embodiment of the present invention.

[0023] Description of reference numerals:

[0024] Among them, 1. the first linear guide rail; 2. the slider; 3. the bearing seat; 4. the rotating shaft; 5. the cylinder; 6. the welding gun; 7. the connecting rod; 8. the guide wheel group; 9. the induction switch; 10. the proximity switch; 11. the cross slide; 12. the elastic floating head assembly; 121. the clamping bolt; 122. the opening; 123. the floating part; 124. the elastic part; 13. the clamp; 14. the material recovery pipeline; 15. the mounting seat; 16. the fixing plate; 17. the bracket; 18. the cross beam; 19. the slide plate; 20. the welding arm; 21. the control box. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] The embodiment of the present invention provides a fillet weld welding machine, referring to Figure 1The fillet weld welding machine includes a head assembly, and the head assembly is fixed on a support assembly. The head assembly is the main component for welding, and the support assembly is the component used to support and fix the head assembly. The head assembly includes a first linear guide 1, a telescopic mechanism, a welding gun 6, a connecting rod 7 and a guide wheel group 8. The first linear guide 1 is tilted and fixed to the support assembly. The first linear guide 1 is tilted relative to the horizontal plane, so that the head assembly is tilted as a whole, which is convenient for better welding of the fillet weld. A slider 2 is movably connected to the first linear guide 1. The slider 2 can move along the first linear guide 1. The telescopic mechanism is connected to the slider 2. The telescopic mechanism can drive the slider 2 to move along the first linear guide 1.

[0028] The slider 2 is rotatably connected to a connecting member, which is respectively connected to the welding gun 6 and the connecting rod 7, so that the welding gun 6 and the connecting rod 7 can rotate relative to the slider as a whole. One end of the connecting rod 7 is connected to the guide wheel group 8, which includes at least one guide wheel, and the guide wheel is used to roll along the weld. The telescopic mechanism is used to push the slider 2 so that the guide wheel group 8 abuts against the weldment and provides a back and forth telescopic amount along the direction of the first linear guide rail 1.

[0029] One end of the gun head of the welding gun 6 is at the weld seam and can move along the weld seam during welding. One end of the connecting rod 7 is connected to the guide wheel group 8, and the guide wheels of the guide wheel group 8 can also move along the weld seam during welding.

[0030] During the welding process, the telescopic mechanism can apply a thrust toward the weldment to the slider 2 and then to the connecting rod 7, so that the guide wheel group 8 can always abut against the weld under the action of the thrust and will not be separated from the weld. And the thrust of the telescopic mechanism is not too large, that is, it can also move in the direction away from the weldment, so that during the welding process, the slider 2, the connecting rod 7 and the welding gun 6 can be telescoped back and forth along the direction of the first linear guide rail 1. Because when the weldment size is large, that is, when the length and height are large, the weld will inevitably have a height direction and a horizontal direction offset. The telescopic mechanism can be set so that when the weld has a horizontal offset, the connecting rod 7 and the guide wheel group 8 can move with the weld.

[0031] Specifically, during the welding process, if the weld is offset toward the head assembly, the guide wheel group 8 and the connecting rod 7 will push the slider 2 to compress the telescopic mechanism and move in the direction away from the weld; if the weld is offset toward the side away from the head assembly, the telescopic mechanism will push the slider 2, the connecting rod 7, and the guide wheel group 8 to move toward the weld. In this way, the guide wheel group 8 can always be in contact with the weld. The guide wheel group 8 and the welding gun 6 are telescopically movable as a whole, so when the weld is offset in the horizontal direction, the welding gun 6 will also telescope back and forth driven by the guide wheel group 8 to adapt to the offset of the weld, so that the welding gun 6 can be adjusted as the weld is offset, and automatic real-time tracking of the weld can be achieved, which is conducive to improving welding efficiency and improving welding effects.

[0032] In addition, the guide wheel group 8 contacts the weldment and moves along the weld, and the weldment also supports the guide wheel group 8. When the weld is offset in the height direction, the guide wheel group 8 will move up and down with the weld, so that the connecting rod 7 will swing up and down with the up and down offset of the weld during the welding process. Then the welding gun 6 is driven to swing up and down as a whole so that the welding gun 6 can adapt to the offset of the weld, and can be adjusted with the offset of the weld, so as to realize automatic real-time tracking of the weld, which is conducive to improving welding efficiency and improving welding effect.

[0033] The fillet weld welding machine provided in this embodiment is provided with a connecting rod 7 and a guide wheel group 8, so that the guide wheel group 8 can move along the weld to know the offset of the weld in real time; the telescopic mechanism is provided to connect with the slider 2, so that the connecting rod 7 and the welding gun 6 can be adjusted with the offset of the weld in the horizontal direction; the connecting rod 7 and the welding gun 6 are provided to be rotatably connected with the slider 2 through a connecting piece, so that the connecting rod 7 and the welding gun 6 can be rotated and adjusted with the offset of the weld in the vertical direction at the same time; and thus the welding gun 6 can automatically track the weld in real time, which is conducive to the welding gun 6 always keeping the weld aligned, improving the welding efficiency and improving the welding effect. It is particularly suitable for weldments with larger length and height.

[0034] refer to Figure 2 and Figure 3 , the connecting piece can be a bearing seat 3. The bearing seat 3 includes an outer wall and an internal rotating shaft 4, and the rotating shaft 4 can rotate relative to the outer wall. The slider 2 is fixedly connected to the outer wall of the bearing seat 3; so that the slider 2 can drive the bearing seat 3 to move along the first linear guide 1 as a whole. The rotating shaft 4 of the bearing seat 3 is respectively connected to the connecting rod 7 and the welding gun 6; so that the rotating shaft 4 can drive the connecting rod 7 and the welding gun 6 to swing around the rotating shaft 4 axially relative to the slider 2. The connecting rod 7 and the welding gun 6 are both fixed to the rotating shaft 4 of the bearing seat 3, and the ends are both pointed to the weld.

[0035] Furthermore, the axial direction of the rotating shaft 4 of the bearing seat 3 is arranged in the horizontal direction, and the axial direction is perpendicular to the connecting rod 7. This allows the connecting rod 7 and the welding gun 6 to swing up and down around the rotating shaft 4. When the guide wheel group 8 includes multiple guide wheels, the axial directions of the multiple guide wheels are arranged parallel to each other and the multiple guide wheels are arranged along a straight line. This allows the multiple guide wheels to move along the weld.

[0036] refer to Figure 1 and Figure 2 The slider 2 can be fixedly connected to the mounting seat 15, and the mounting seat 15 can be used to connect with the telescopic mechanism and support the fixed bearing seat 3. The mounting seat 15 can be convenient for connecting the telescopic mechanism and the bearing seat 3, and can be beneficial to increase the support area and improve the stability of the connection.

[0037] On the basis of the above embodiments, further, referring to Figure 6, this embodiment provides a specific support assembly form. The support assembly includes a gantry and a welding arm 20 vertically connected to the crossbeam 18 of the gantry. The gantry includes brackets 17 on both sides and a crossbeam 18 connected between the brackets 17 on both sides. The brackets 17 on both sides of the gantry are movably connected to a second linear guide rail respectively. The two second linear guide rails are parallel to each other, so that the gantry can move along the second linear guide rails. The weldment can be placed between the brackets 17 on both sides and placed parallel to the second linear guide rail. The movement of the gantry along the second linear guide rail can drive the welding arm 20 and the head assembly to move from one end of the weldment to the other end, so as to weld all parts of the weldment.

[0038] The welding arm 20 is connected to the cross beam 18 through the slide 19. The slide 19 is movably connected to the cross beam 18 along the length direction of the cross beam 18 and the slide 19 is connected to the first driving mechanism. The welding arm 20 is movably connected to the slide 19 along the vertical direction and the welding arm 20 is connected to the second driving mechanism. The head assembly is connected to the bottom of the welding arm 20. That is, the welding arm 20 can be displaced in both the vertical and horizontal directions relative to the cross beam 18, which is used to adjust the position of the welding arm 20 so that the head assembly reaches a position that is more conducive to welding. The first driving mechanism is used to drive the slide 19 to move along the length direction of the cross beam 18, and the slide 19 can drive the welding arm 20 to achieve horizontal displacement. The second driving mechanism is used to drive the welding arm 20 to move in the vertical direction relative to the slide 19 to adjust the height of the head assembly.

[0039] Further, a guide rail can be arranged on the crossbeam 18 along the length direction of the crossbeam 18, and the slide plate 19 is movably connected to the guide rail. A guide rail can also be arranged on the slide plate 19 along the vertical direction, and the welding arm 20 is movably connected to the guide rail. The first driving mechanism and the second driving mechanism respectively include a reducer and a gear rack transmission structure. Taking the arrangement of the first driving mechanism as an example: a meshing gear and a rack are arranged between the slide plate 19 and the crossbeam 18, one of the gear and the rack is fixed on the slide plate 19, and the other is fixed on the crossbeam 18, the rack is arranged along the length direction of the crossbeam 18, the reducer is connected to the gear, and the relative displacement between the slide plate 19 and the crossbeam 18 can be achieved by driving the gear to rotate. Specifically, the rack can be fixed on the crossbeam 18, the gear can be fixed on the slide plate 19, and the gear can be driven to rotate so that the gear and the slide plate 19 can be moved along the rack as a whole. The rack can also be fixed on the slide plate 19, the gear can be fixed on the crossbeam 18, and the gear can be driven to rotate so that the rack and the slide plate 19 can be moved along the length direction of the rack as a whole.

[0040] Furthermore, the first driving mechanism and the second driving mechanism may also adopt other structures, such as a linear motion driving mechanism such as a motor and a screw nut transmission structure, for the purpose of providing linear motion, without specific limitation.

[0041] Further, two welding arms 20 are connected to the crossbeam 18, and the two welding arms 20 are respectively connected to the machine head assembly. That is, two sets of machine head assemblies are provided, and the welds on both sides can be welded at the same time, which is conducive to improving the welding efficiency.

[0042] On the basis of the above embodiments, further, referring to Figure 3 , a fillet weld welding machine also includes a positioning member arranged on the telescopic mechanism, the positioning member is located in the middle of the two induction switches 9, the two induction switches 9 are arranged along the telescopic direction of the telescopic mechanism, and the two induction switches 9 are used to sense the movement of the positioning member to trigger the movement of the slide plate 19 along the crossbeam 18. The positioning member can be arranged on the surface of the telescopic mechanism, or can be arranged inside the telescopic mechanism, and there is no specific limitation. The positioning member is mainly used to cooperate with the induction switch 9 to trigger the opening and closing of the induction switch 9. Specifically, the positioning member is arranged on the telescopic member of the telescopic mechanism. That is, when the telescopic mechanism includes a fixed member that does not telescope, the positioning member is arranged on the telescopic member that telescopes, but not on the fixed member. The two induction switches 9 are fixedly arranged; specifically, they can be fixed on the fixed member or on the first linear guide rail 1, and the position is fixed and does not move with the telescopic mechanism.

[0043] Because the positioning member moves in the telescopic direction when the telescopic mechanism is telescoped, the two induction switches 9 are also arranged in the telescopic direction. When the weld offset causes the telescopic mechanism to telescope, the positioning member will move between the two induction switches 9, and when the positioning member deviates toward any one of the induction switches 9, it can be sensed by the induction switch 9; therefore, the two induction switches 9 can know the telescopic direction of the positioning member, i.e., the guide wheel group 8. The two induction switches 9 can be used to control the movement of the slide plate 19 along the crossbeam 18, so that when the weld is horizontally offset, the horizontal position of the head assembly can be adjusted accordingly by controlling the movement of the slide plate 19 to better adapt to the weld, which is conducive to keeping the welding gun 6 always in the optimal welding position.

[0044] Specifically, two induction switches 9 are located on both sides of the positioning member, one of which is relatively close to the weld position, and the other is relatively far from the weld position. When the positioning member is biased toward the induction switch 9 close to the weld, it means that the guide wheel group 8 has moved in the direction close to the weld. At this time, the control slide 19 moves toward the weld to compensate for the deviation of the weld, so that the welding gun 6 moves toward the weld until the positioning member returns to the middle of the two induction switches 9, and the welding gun 6 reaches the initial optimal position relative to the weld.

[0045] When the positioning member is biased toward the sensing switch 9 away from the weld, it indicates that the guide wheel group 8 has moved away from the weld. At this time, the control slide 19 is moved away from the weld to compensate for the offset of the weld, so that the welding gun 6 moves away from the weld until the positioning member returns to the middle of the two sensing switches 9, and the welding gun 6 reaches the initial optimal position relative to the weld.

[0046] The positioning member and two induction switches 9 are provided to cooperate with each other to control the movement of the slide plate 19 along the cross beam 18, and the horizontal deviation of the weld can be effectively compensated by adjusting the position of the welding gun 6, which is conducive to the welding gun 6 and the weld always being in a better welding position to ensure the welding effect. Because the telescopic amount of the telescopic mechanism is certain, the distance that the telescopic mechanism drives the welding gun 6 to move is also certain. The positioning member and two induction switches 9 are provided to cooperate with each other to control the movement of the slide plate 19 along the cross beam 18, and the welding gun 6 can track the weld in real time at any horizontal deviation of the weld to ensure that the welding gun 6 is aligned with the weld.

[0047] Furthermore, at the beginning of welding, the position of the welding gun 6 can be adjusted so that the welding gun 6 is in a suitable position for welding relative to the weld. In the initial position, the positioning member can be set to be located in the middle of the two induction switches 9. During the welding process, as long as the positioning member deviates from the middle position, it can be sensed by the induction switch 9, and the induction switch 9 will control the movement of the slide plate 19 along the crossbeam 18 accordingly to adjust the position of the welding gun 6 in real time.

[0048] On the basis of the above embodiment, the telescopic mechanism further includes a cylinder 5, which is used to push the slider 2 by setting the internal gas in a compressed state so that the guide wheel group 8 abuts against the weldment. That is, at the beginning of welding, the gas inside the cylinder 5 is in a compressed state, and the compressed gas will push the piston of the cylinder 5 and then push the slider 2 so that the guide wheel group 8 abuts against the weldment. When the weld deviates toward the head assembly, the weld will push the guide wheel group 8 and then push the slider 2 and the piston to move, further compressing the internal gas of the cylinder 5. When the weld deviates in the direction away from the head assembly, the gas inside the cylinder 5 will expand and push the piston and the slider 2 so that the guide wheel group 8 moves with the weld.

[0049] Further, when the telescopic mechanism is a cylinder 5, the positioning member may be a magnetic ring disposed inside the cylinder 5 and connected to the piston. The induction switch 9 may be fixed on the outer wall of the cylinder 5. Further, the telescopic mechanism may also be other elastic members 124 such as springs, which are not specifically limited.

[0050] On the basis of the above embodiment, further, proximity switches 10 are respectively provided above and below the connecting rod 7, and the proximity switches 10 are used to sense the movement of the connecting rod 7 to trigger the movement of the welding arm 20 in the vertical direction. The proximity switch 10 is mainly used to cooperate with the connecting rod 7 to trigger the movement control of the welding arm 20 in the vertical direction. Specifically, the two proximity switches 10 are fixedly arranged; specifically, they can be fixed on the first linear guide rail 1 or the welding arm 20, and the position is fixed, and they do not move with the up and down swing of the connecting rod 7. One of the two proximity switches 10 is arranged above the connecting rod 7, and the other is arranged below the connecting rod 7, and the connecting rod 7 swings up and down between the two proximity switches 10. And the two proximity switches 10 should not correspond to the connection part of the connecting rod 7 and the rotating shaft 4, so that the position of the connecting rod 7 relative to the proximity switch 10 will change when the connecting rod 7 swings up and down. The proximity switch 10 is arranged between the connection part of the connecting rod 7 and the rotating shaft 4 and the guide wheel group 8.

[0051] When the weld is offset in the vertical direction so that the guide wheel group 8 moves in the vertical direction, the connecting rod 7 will swing between the two proximity switches 10, and when the connecting rod 7 deviates toward any one of the proximity switches 10, it can be sensed by the proximity switch 10; therefore, the two proximity switches 10 can know the up and down movement direction of the connecting rod 7, i.e., the guide wheel group 8. The two proximity switches 10 can be used to control the vertical movement of the welding arm 20 relative to the slide plate 19, so that when the weld is vertically offset, the welding arm 20 is controlled to move to adjust the vertical position of the head assembly accordingly, so as to better adapt to the weld, which is conducive to keeping the welding gun 6 always in the optimal welding position and at the optimal welding tilt angle.

[0052] Specifically, the two proximity switches 10 are located on the upper and lower sides of the connecting rod 7. When the connecting rod 7 is biased toward the upper proximity switch 10, it means that the guide wheel group 8 has moved upward. At this time, the welding arm 20 is controlled to move upward to compensate for the deviation of the weld, so that the welding gun 6 moves upward until the connecting rod 7 returns to the middle of the two proximity switches 10, and the welding gun 6 returns to the initial preferred tilt angle.

[0053] When the connecting rod 7 is biased toward the lower proximity switch 10, it indicates that the guide wheel group 8 has moved downward. At this time, the welding arm 20 is controlled to move downward to compensate for the offset of the weld, so that the welding gun 6 moves downward until the connecting rod 7 returns to the middle of the two proximity switches 10, and the welding gun 6 returns to the initial preferred inclination angle.

[0054] The connecting rod 7 and two proximity switches 10 are arranged to cooperate with each other to control the up and down movement of the welding arm 20 along the slide 19. The offset of the weld in the vertical direction can be effectively compensated by adjusting the position of the welding gun 6, which is conducive to always maintaining a better tilt angle between the welding gun 6 and the weld, thereby ensuring the welding effect. Because the connecting rod 7 and the welding gun 6 can rotate around the rotating shaft 4 as a whole, when the weld deviates up and down, as the guide wheel group 8 moves up and down, the connecting rod 7 and the welding gun 6 will rotate accordingly, so that the welding gun 6 can track the weld in real time, but the tilt angle of the welding gun 6 changes. The connecting rod 7 and two proximity switches 10 are arranged to cooperate with each other to control the up and down movement of the welding arm 20. When the weld deviates up and down, the welding gun 6 can always be kept at a certain tilt angle, ensuring that the welding gun 6 is aligned with the weld and at a certain angle.

[0055] Furthermore, at the beginning of welding, the position of the welding gun 6 can be adjusted so that the welding gun 6 is at an inclination angle suitable for welding relative to the weld. In the initial position, the connecting rod 7 can be set to be located in the middle of the two proximity switches 10. During the welding process, as long as the connecting rod 7 deviates from the middle position, it can be sensed by the proximity switch 10, and the proximity switch 10 will control the up and down movement of the welding arm 20 accordingly to adjust the inclination angle of the welding gun 6 in real time.

[0056] On the basis of the above embodiments, further, referring to Figure 6 A fillet weld welding machine also includes a controller and a mobile hand operation box. The controller is connected to the first drive mechanism, the second drive mechanism, the induction switch 9 and the proximity switch 10 by signals respectively. The controller is fixed to the welding arm 20, and the controller is connected to the mobile hand operation box through a signal line. The controller is used to comprehensively control the operation of the welding machine during the welding process. The controller can be set in a control box 21, and the control box 21 is fixed on the welding arm 20. When any induction switch 9 senses the positioning member, a switch signal is sent to the controller, and the controller controls the operation of the first drive mechanism according to the switch signal, thereby realizing the movement of the slide 19 along the beam 18. When any proximity switch 10 senses the connecting rod 7, a switch signal is sent to the controller, and the controller controls the operation of the second drive mechanism according to the switch signal, thereby realizing the up and down movement of the welding arm 20.

[0057] The mobile hand operation box is provided with control buttons, such as a switch button, and control buttons corresponding to the first drive mechanism and the second drive mechanism. The operation of the welding machine can be manually controlled by the mobile hand operation box. The controller leads the mobile hand operation box through a signal line, and the mobile hand operation box can be away from the welding arm 20, so that the operator can control the welding machine away from the welding arm 20, thereby improving safety.

[0058] On the basis of the above embodiment, further, a cross slide 11 is provided between the first linear guide 1 and the support assembly, the cross slide 11 is fixed to the support assembly, and the first linear guide 1 is detachably fixed to the cross slide 11. That is, the first linear guide 1 is indirectly fixed to the support assembly through the cross slide 11. The cross slide 11 can be provided to adjust the position of the head assembly more accurately in both vertical and horizontal directions, which is conducive to adjusting the welding gun 6 to a position that is more conducive to welding.

[0059] Specifically, the cross slide 11 includes a vertical slide and a horizontal slide; wherein the horizontal slide can be arranged along the width direction of the gantry. The slide is a structure that can achieve linear displacement and the displacement can be precisely controlled. The vertical slide can be connected and fixed to the support assembly, i.e., the welding arm 20, the horizontal slide is connected and fixed to the sliding member of the vertical slide, and the first linear guide 1 is connected and fixed to the sliding member of the horizontal slide. The vertical slide and the horizontal slide can be respectively provided with adjustment hand wheels.

[0060] Further, the first linear guide 1 can be connected to the sliding member of the cross slide 11 through a connecting plate, that is, the sliding member of the cross slide 11 is fixedly connected to the connecting plate, and the first linear guide 1 is detachably connected to the connecting plate. Specifically, the first linear guide 1 and the connecting plate can be detachably connected by bolts, which is convenient for installation and convenient for adjusting the inclination angle of the first linear guide 1 by loosening the bolts.

[0061] Further, when the telescopic mechanism includes a fixing member, the fixing member can also be connected and fixed to the cross slide 11. For example, when the telescopic mechanism is a cylinder 5, the outer wall of the cylinder 5 can be connected and fixed to the cross slide 11, and can also be fixed to the first linear guide rail 1, which is not specifically limited.

[0062] On the basis of the above embodiments, further, referring to Figure 4 A floating mechanism is also connected to the outer wall of the bearing seat 3, and the floating mechanism includes a fixed plate 16 and an elastic floating head assembly 12. The fixed plate 16 is connected to the outer wall of the bearing seat 3, and the elastic floating head assembly 12 is connected to the fixed plate 16 and is located above the connecting rod 7 or the welding gun 6. The elastic floating head assembly 12 is elastic and can be retracted. The elastic floating head assembly 12 is arranged above the connecting rod 7 or the welding gun 6 to limit the up and down swing angles of the connecting rod 7 and the welding gun 6. When the connecting rod 7 or the welding gun 6 swings and contacts the elastic floating head assembly 12, the elastic floating head assembly 12 will float and generate elastic force, and the elastic force acting on the connecting rod 7 or the welding gun 6 is also conducive to the connecting rod 7 and the welding gun 6 to return to the initial tilt angle.

[0063] On the basis of the above embodiments, further, referring to Figure 5, this embodiment provides a specific structure of an elastic floating head assembly 12. The elastic floating head assembly 12 includes a clamping bolt 121, a floating member 123 and an elastic member 124. A threaded hole is provided on the fixing plate 16, and the clamping bolt 121 is threadedly connected to the threaded hole. The fixing plate 16 can be located above the connecting rod 7 or the welding gun 6, and a threaded hole is provided on the fixing plate 16. The clamping bolt 121 is an external thread structure, and the clamping bolt 121 passes through the threaded hole and is threadedly connected to the threaded hole.

[0064] An opening 122 penetrating the bottom end is provided inside the clamping bolt 121. That is, the clamping bolt 121 is a hollow structure, and the internal opening 122 penetrates the bottom end of the clamping bolt 121. The inner wall of the clamping bolt 121 is stepped, and a section of the clamping bolt 121 near the top has a smaller inner diameter. That is, the inner wall of the clamping bolt 121 includes two sections along the axial direction, and the section near the top has a smaller inner diameter, so that a downward step surface is formed on the inner wall of the clamping bolt 121. The floating member 123 is movably arranged inside the clamping bolt 121, and the bottom of the floating member 123 passes through the opening 122. The floating member 123 can move up and down along the opening 122 inside the clamping bolt 121. The bottom of the floating member 123 can pass through the opening 122 and be placed on the connecting rod 7 or the welding gun 6; that is, the bottom of the floating member 123 is placed on the connecting rod 7 or the welding gun 6, and the floating member 123 is supported by the connecting rod 7 or the welding gun 6.

[0065] The outer wall of the floating member 123 is also stepped, and the outer diameter of a section near the bottom is larger. That is, the outer wall of the floating member 123 includes two sections along the axial direction, and the outer diameter of the section near the bottom is larger, so that an upward step surface is formed on the outer wall of the floating member 123. There is a gap between the step surface on the inner wall of the clamping bolt 121 and the step surface on the outer wall of the floating member 123. An elastic member 124 is provided inside the clamping bolt 121, between the step surface on the inner wall of the clamping bolt 121 and the step surface on the outer wall of the floating member 123. There is a gap between the top of the floating member 123 and the top of the opening 122 inside the clamping bolt 121. The floating member 123 can move up and down along the opening 122, and has elastic force when the floating member 123 moves up and down under the action of the elastic member 124.

[0066] Furthermore, the clamping bolt 121 is threadedly connected to the fixing plate 16, which can facilitate the adjustment of the upper and lower positions of the clamping bolt 121. By adjusting the upper and lower positions of the clamping bolt 121, the swing range of the connecting rod 7 or the welding gun 6 can be limited. At the initial welding position, the bottom of the floating member 123 can be set to contact the connecting rod 7 or the welding gun 6. As a result, the connecting rod 7 and the welding gun 6 will touch the floating member 123 when they swing up and down, and the movement of the floating member 123 will cause the elastic member 124 to deform and generate elastic force, and the elastic force acting on the connecting rod 7 or the welding gun 6 is conducive to the connecting rod 7 and the welding gun 6 to return to the initial tilt angle.

[0067] Furthermore, the top of the elastic member 124 can be connected to the step surface on the inner wall of the clamping bolt 121, and the bottom of the elastic member 124 can be connected to the step surface on the outer wall of the floating member 123. This can prevent the floating member 123 from falling. The elastic member 124 can be a spring, etc., without limitation. The bottom end surface of the floating member 123 can be set as a curved surface. Figure 4 A plurality of elastic floating head assemblies 12 are arranged on the fixing plate 16 , and the plurality of elastic floating head assemblies 12 are arranged along the length direction of the connecting rod 7 or the welding gun 6 .

[0068] Further, refer to Figure 5 , the connecting rod 7 and the welding gun 6 can be connected to the rotating shaft 4 of the bearing seat 3 through the clamp 13 respectively. The rotating shaft 4 of the bearing seat 3 can be fixedly connected to the clamp 13, and the clamp 13 can be detachably connected to the connecting rod 7 or the welding gun 6. Specifically, the clamp 13 can be a clamp, etc., which is convenient for connection and disassembly. The connecting rod 7 and the welding gun 6 can be set on the same side of the bearing seat 3, or on both sides of the bearing seat 3, so as to achieve the connection with the rotating shaft 4, and the specific purpose is not limited.

[0069] Furthermore, a Y-shaped hopper is connected to the end of the welding gun 6; the head assembly also includes a material recovery pipeline 14. The material recovery pipeline 14 can be fixed to the connecting rod 7 to avoid short circuit caused by contact with the welding gun 6. The material recovery pipeline 14 is connected to the hopper through a connecting pipe to achieve material recovery.

[0070] On the basis of the above embodiments, further, this embodiment provides a fillet weld welding method of the fillet weld welding machine based on any of the above embodiments, and the welding method includes: after starting the welding gun 6, controlling the gantry to drive the welding gun 6 and the guide wheel group 8 to move along the weld; the welding gun 6 and the guide wheel group 8 extend and retract and swing up and down during the movement along the weld; when the positioning piece is biased toward the sensing switch 9 close to the weld, the head assembly is controlled to move toward the weld; when the positioning piece is biased toward the sensing switch 9 away from the weld, the head assembly is controlled to move away from the weld; when the connecting rod 7 is biased toward the proximity switch 10 located above, the head assembly is controlled to move upward; when the connecting rod 7 is biased toward the proximity switch 10 located below, the head assembly gun is controlled to move downward.

[0071] On the basis of the above embodiments, further, referring to Figure 6 The present embodiment provides a mechanical device for welding structural beams with trapezoidal, rectangular, square and other cross-sections, specifically a double-head gantry welding machine for fillet welds and a control method thereof, the welding machine comprising: a traveling frame, a crossbeam 18, a welding arm 20, a controller, a movable hand operation box, a head assembly, an electric control system and a welding power supply. The double-head gantry welding machine for fillet welds comprises a traveling frame, i.e., two side brackets 17 of a gantry frame, a crossbeam 18 is provided at the front top of the traveling frame, a set of welding arms 20 are arranged on the left and right of the crossbeam 18, a controller and a movable hand operation box are provided at the middle and lower parts of the welding arms 20, and a set of head assemblies are installed at the lower ends of the welding arms 20.

[0072] The traveling frame can meet the requirements of long-distance workpiece welding; the rail rack is arranged on the crossbeam 18 to meet the left and right movement of the welding arm 20 on the crossbeam 18; the rail rack is arranged on the welding arm 20 to meet the up and down movement of the welding arm 20; the crossbeam 18 and the welding arm 20 are connected by a slide plate 19; the head assembly is provided with a cross slide 11 fine adjustment mechanism, a first linear guide 1, a telescopic mechanism, a bearing seat 3, a guide wheel group 8, a welding gun 6, and an extreme limit induction switch 9 and a proximity switch 10 to start the welding arm 20 motor to move up, down, left and right to compensate for the tracking requirements. The welding arm 20 and the crossbeam 18 are driven by a turbine reducer and gears, with high transmission accuracy and reliability; the head assembly uses a cylinder 5 to send the gun, which is economical and has good controllability; the controller is arranged at the bottom of the welding arm 20, and the movable hand box can meet the advantages of easy observation and convenient adjustment for operators when working with ultra-high and ultra-long workpieces.

[0073] The specific welding control process of the welding machine is as follows: first place the trapezoidal, rectangular, square and other cross-section structural beams formed by spot welding on the material rack, and try to make them parallel to the gantry travel track; start the travel motor to move the travel rack to one end of the workpiece, align the head welding gun 6 with the starting position of the weld at the end of the workpiece, and move the left and right and up and down moving motors on the slide 19 to move the welding arm 20 on the crossbeam 18 to ensure further precise positioning of the head; adjust the cross slide 11 of the head to make it reach a suitable position in the up and down and left and right directions, start the cylinder 5 through the guide rail slider 2 combination, and send the welding gun 6 to the corner weld position at the junction of the web and the wing plate.

[0074] The welding gun 6 is connected to the connecting rod 7 of the guide wheel group 8 through the rotating shaft 4, and they are fixed together on the bearing seat 3, and the bearing seat 3 is provided with a floating mechanism; under the action of the cylinder 5, the guide wheel group 8 is close to the web and the wing plate. The cylinder 5 has a built-in magnetic ring, which is located between the two induction switches 9. The handle of the connecting rod 7 of the guide wheel group 8 is located between the two proximity switches 10; as the height and left and right of the weld changes, the guide wheel group 8 changes its swing angle with the weld. When the handle of the connecting rod 7 of the guide wheel group 8 triggers the upper switch of the proximity switch 10, the welding arm 20 motor will be started to lift upward, and when the handle of the connecting rod 7 of the guide wheel group 8 triggers the lower switch of the proximity switch 10, the welding arm 20 motor will be started to lift downward.

[0075] At the same time, the cylinder 5 also performs telescopic movement. When the magnetic ring built into the cylinder 5 triggers the head switch of the induction switch 9, i.e., the switch close to the workpiece, the motor of the slide plate 19 is started to make the welding arm 20 close to the workpiece; when the magnetic ring built into the cylinder 5 triggers the tail switch of the induction switch 9, i.e., the switch away from the workpiece, the motor of the slide plate 19 is started to make the welding arm 20 away from the workpiece; thereby ensuring that the welding gun 6 is always in an ideal position during the welding process; the end of the welding gun 6 is combined with a Y-shaped hopper to ensure the submerged arc welding effect; the welding head is provided with a material recovery pipeline 14;

[0076] The welding arms 20 on both sides of the crossbeam 18 are adjusted in the same way; the traveling frame welding line moves to the other end, and the welding of the outer welds on both sides of the workpiece is completed; the workpiece is hoisted and turned over and placed on the material rack, and the above welding steps are repeated; at this point, a complete trapezoidal, rectangular, square and other cross-section structural beam is completed.

[0077] The double-head gantry welding machine for fillet welds and the control method thereof provided in this embodiment can realize real-time weld tracking of the head welding gun 6 under high, low, left, and right large deviation conditions, always ensuring that the welding gun 6 is aligned with the weld and at a certain angle; and can realize automatic control.

[0078] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A fillet weld welding machine, comprising a head assembly, wherein the head assembly is fixed to a support assembly, characterized in that: The head assembly includes a first linear guide rail, a telescopic mechanism, a welding gun, a connecting rod and a guide wheel group, the first linear guide rail is tilted and fixed to the support assembly, a slider is movably connected to the first linear guide rail, the telescopic mechanism is connected to the slider, the slider is rotatably connected to a connecting member, the connecting member is respectively connected to the welding gun and the connecting rod, one end of the connecting rod is connected to the guide wheel group, the guide wheel group includes at least one guide wheel, the guide wheel is used to roll along the weld, and the telescopic mechanism is used to push the slider so that the guide wheel group abuts against the weldment and provides a back and forth telescopic amount along the direction of the first linear guide rail; The support assembly includes a gantry and a welding arm vertically connected to a crossbeam of the gantry, the two side brackets of the gantry are respectively movably connected to a second linear guide rail, the welding arm is connected to the crossbeam through a slide, the slide is movably connected to the crossbeam along the length direction of the crossbeam and the slide is connected to a first driving mechanism, the welding arm is movably connected to the slide in a vertical direction and the welding arm is connected to a second driving mechanism, and the head assembly is connected to the bottom of the welding arm; It also includes a positioning member arranged on the telescopic mechanism, the positioning member is located in the middle of two induction switches, the two induction switches are arranged along the telescopic direction of the telescopic mechanism, and the two induction switches are used to sense the movement of the positioning member to trigger the movement of the slide plate along the crossbeam; A proximity switch is provided above and below the connecting rod, respectively, and the proximity switch is used to sense the movement of the connecting rod to trigger the movement of the welding arm in the vertical direction; A cross slide is provided between the first linear guide and the support assembly. The cross slide is fixed to the support assembly. The first linear guide is detachably fixed to the cross slide.

2. The fillet weld welding machine according to claim 1, characterized in that: It also includes a controller and a mobile hand-operated box. The controller is respectively connected to the first driving mechanism, the second driving mechanism, the induction switch and the proximity switch by signals. The controller is fixed to the welding arm and is connected to the mobile hand-operated box through a signal line.

3. The fillet weld welding machine according to claim 1, characterized in that: The connecting part includes a bearing seat, the outer wall of the bearing seat is fixedly connected to the slider, and the rotating shaft of the bearing seat is respectively connected to the welding gun and the connecting rod; a floating mechanism is also connected to the outer wall of the bearing seat, and the floating mechanism includes a fixed plate and an elastic floating head assembly, the fixed plate is connected to the outer wall of the bearing seat, and the elastic floating head assembly is connected to the fixed plate and is located above the connecting rod or the welding gun.

4. The fillet weld welding machine according to claim 3, characterized in that: The elastic floating head assembly includes a clamping bolt, a floating part and an elastic part. A threaded hole is provided on the fixing plate, and the clamping bolt is threadedly connected to the threaded hole. An opening penetrating the bottom end is provided inside the clamping bolt. The inner wall of the clamping bolt is stepped and a section of the clamping bolt near the top has a smaller inner diameter. The floating part is movably arranged inside the clamping bolt and the bottom of the floating part passes through the opening. The outer wall of the floating part is also stepped and a section of the outer diameter near the bottom has a larger outer diameter. The elastic part is provided inside the clamping bolt, between the step surface on the inner wall of the clamping bolt and the step surface on the outer wall of the floating part.

5. The fillet weld welding machine according to claim 1, characterized in that: The telescopic mechanism comprises a cylinder, and the cylinder is used to push the slider by setting the internal gas in a compressed state so that the guide wheel group abuts against the weldment.

6. A fillet weld welding method based on the fillet weld welding machine according to any one of claims 1 to 5, characterized in that: include: After starting the welding gun, the gantry is controlled to drive the welding gun and the guide wheel group to move along the weld; The welding gun and the guide wheel group extend and retract and swing up and down while moving along the weld; When the positioning member is biased toward the induction switch close to the weldment, the head assembly is controlled to move toward the weldment; when the positioning member is biased toward the induction switch away from the weldment, the head assembly is controlled to move away from the weldment; When the connecting rod is biased toward the proximity switch located above, the head assembly is controlled to move upward; when the connecting rod is biased toward the proximity switch located below, the head assembly gun is controlled to move downward.

Images