Automatic welding device for crane girder vertical joint

Abstract

This invention provides an automatic welding device for the vertical joint of a crane main beam, applicable to the field of welding technology. By adding a detection auxiliary component to the welding robot, before entering the welding process, the welding torch is controlled to drive the detection auxiliary component to run once along a preset welding path, applying detection liquid along the welding trajectory around the vertical joint of the main beam. On the one hand, visual observation of whether the detection liquid is completely applied can, to a certain extent, reflect whether there are any errors in the welding path and the robot's walking trajectory. On the other hand, after the welding process, by observing the residual detection liquid at the vertical joint again, it can, to a certain extent, reflect whether there are any missed welds or poor welding effects during the welding process. Compared with the prior art, this application, by adding a half-run operation, can achieve a dual visual inspection effect on the welding trajectory and the welding quality of the vertical joint, effectively improving the welding efficiency of the vertical joint of the crane main beam.

Description

Technical Field

[0001] This application relates to the field of welding technology, and in particular to an automatic welding device for vertical joints of crane main beams. Background Technology

[0002] Welding robots are industrial robots that perform welding (including cutting and spraying). With the development of various technologies, since their application in production in the 1960s, automatic welding robot technology has become increasingly mature. It has the characteristics of stabilizing and improving welding quality, increasing labor productivity, reducing the labor intensity and safety of workers, reducing the requirements for workers' operating skills, and shortening the preparation cycle for product modification and replacement.

[0003] A crane is a multi-action lifting machine that vertically lifts and horizontally moves heavy objects within a certain range. A bridge crane is a type of bridge crane whose bridge structure runs on elevated tracks. A bridge crane consists of a main beam and end beams, which are rigidly connected. During manufacturing, the main beam is connected and fixed to its web and inner plate through welding. In this process, the role of an automated welding robot is indispensable.

[0004] Although existing automatic welding technology is relatively mature, due to the large number of vertical joints to be welded between the web and inner plate of the main beam, and the numerous and complex welding procedures of the main beam, it is difficult to guarantee that there will be no large local welding quality problems due to other external factors. In addition, the existing technology lacks a detection method for rapid and effective judgment of the welding condition of the vertical joints of the main beam. Summary of the Invention

[0005] The purpose of this application is to address the lack of a rapid and effective detection method for judging the welding condition of the vertical joint of the main beam in the existing technology. Compared with the existing technology, it provides an automatic welding device for the vertical joint of the main beam of a crane, including a welding robot and an automatic welding system. The welding robot is equipped with a detection auxiliary component, which includes a liquid storage tank fixedly connected to the outer end of the welding robot. The outer end of the liquid storage tank is connected to a flow guide hood that communicates with its interior. The automatic welding system includes a trajectory running module, a welding control module, a drive module, and a wire feeding module.

[0006] The welding method of the above-mentioned automatic welding device for the vertical joint of the main beam of the crane includes the following steps:

[0007] S1, Semi-operation: Before welding, place the drain cover on the outside of the welding gun head and add enough test color liquid into the storage tank;

[0008] S2. The welding torch is pre-run along the vertical joint of the crane main beam once according to the preset welding route through the trajectory operation module. No welding operation is performed during this run.

[0009] S3. Observe the coating of the test liquid at the vertical joint of the main beam of the crane. When the test liquid is completely coated, step S4 can be performed.

[0010] Conversely, if there is a significant break in the test liquid, it indicates that the preset welding route is inaccurate. The staff can correct the welding route based on the location of the break in the test liquid, and then repeat step S2 after correction.

[0011] S4. Welding Operation: Remove the drain cover on the outside of the welding torch head, start the automatic welding system, and perform the welding operation;

[0012] S5. Observe the welding condition at the vertical joint of the crane's main beam. If there is a large area of ​​residual testing liquid, it indicates that there may be a leak or poor welding effect at that location. The staff can conduct a thorough inspection at this location.

[0013] Furthermore, the drainage hood includes a main liquid sleeve, a secondary liquid sleeve, and a hollow annular sleeve. One end of the main liquid sleeve is fixedly connected to one end of the secondary liquid sleeve. The end of the secondary liquid sleeve away from the main liquid sleeve is fixedly connected to the hollow annular sleeve with multiple evenly distributed liquid guiding sub-sleeves. The main liquid sleeve, secondary liquid sleeve, liquid guiding sub-sleeves, and hollow annular sleeve are all interconnected.

[0014] Furthermore, a liquid outlet head is fixedly connected to the end of the hollow annular sleeve away from the liquid guiding sleeve, and the liquid outlet head is made of flexible absorbent material.

[0015] Furthermore, an airbag is fixedly connected to the inner end of the hollow annular sleeve.

[0016] Furthermore, a groove is provided at one end of the liquid outlet head near the hollow annular sleeve, and an inner protective cover matching the welding torch head is fixedly connected inside the groove, with the inner protective cover located inside the hollow annular sleeve.

[0017] Furthermore, the main liquid sleeve, the liquid guiding sleeve, and the hollow annular sleeve are all made of flexible waterproof material, while the secondary liquid guiding sleeve is made of elastic waterproof material.

[0018] Furthermore, an injection port is provided at the outer end of the liquid storage tank, and a sealing plug is connected to the internal thread of the injection port.

[0019] Furthermore, a connecting pipe is fixedly connected to the end of the main liquid sleeve that is away from the secondary liquid sleeve, and the connecting pipe is connected to the internal thread of the injection port.

[0020] Optionally, the drainage cover includes a liquid guiding rope and a liquid suction head. One end of the liquid guiding rope is fixedly connected to one end of the liquid suction head, and the end of the liquid suction head near the liquid guiding rope has an inner groove that matches the welding gun head.

[0021] Optionally, a connector is fixedly connected to the end of the liquid guiding rope sleeve away from the liquid suction head. The liquid guiding rope sleeve is made of flexible waterproof material, and the liquid suction head is made of flexible absorbent material.

[0022] Compared to existing technologies, the advantages of this application are:

[0023] (1) This application adds a detection auxiliary component to the welding robot. Before entering the welding process, the welding torch is controlled to drive the detection auxiliary component to run once along the vertical joint of the main beam of the crane according to the preset welding route. The operation of applying the detection liquid along the welding trajectory around the vertical joint of the main beam is performed. On the one hand, by visually observing whether the detection liquid is completely applied, it can reflect to some extent whether there is an error in the welding route and the robot's walking trajectory. On the other hand, after the welding process is performed, by observing the residual detection liquid at the vertical joint again, it can reflect to some extent whether there is a missed weld or poor welding effect during the welding process. Compared with the prior art, this application can achieve a dual visual inspection effect on the welding trajectory and the welding quality of the vertical joint by adding a half-run operation, which can effectively improve the welding efficiency of the vertical joint of the main beam of the crane.

[0024] (2) After the semi-run operation, observe the coating of the detection liquid at the vertical joint of the main beam of the crane. When the detection liquid is completely coated, it can be said to a certain extent that there are no obvious errors in the welding route and the robot's walking trajectory. At this time, the welding operation can be carried out. Conversely, when there are obvious gaps in the detection liquid, it indicates that the preset welding route is inaccurate. The staff can correct the welding route according to the gaps in the detection liquid. After the correction is completed, the semi-run operation is carried out again.

[0025] (3) After completing the semi-operation and welding operations, observe the welding condition at the vertical joint of the crane main beam. If there is a large area of ​​residual testing liquid, it indicates that there may be a leak or poor welding effect at that location. The staff can conduct a thorough inspection at this location. Conversely, if the testing liquid disappears or there is a small amount of residue at the vertical joint, it indicates that it is largely covered by the welding rod, which to some extent indicates that the welding is normal. Attached Figure Description

[0026] Figure 1 This is a diagram illustrating the method of use of this application;

[0027] Figure 2 This is a diagram of the apparatus system of this application;

[0028] Figure 3 This is a perspective view of the present application;

[0029] Figure 4 This is a perspective view of the drainage hood in Embodiment 1 of this application;

[0030] Figure 5 This is a schematic diagram of the front structure of the drainage hood in Embodiment 1 of this application. Figure 1 ;

[0031] Figure 6 This is a schematic diagram of the front structure of the drainage hood in Embodiment 1 of this application. Figure 2 ;

[0032] Figure 7 This is a schematic diagram of the front structure of the drainage hood in Embodiment 1 of this application. Figure 3 ;

[0033] Figure 8 This is a perspective view of the drainage hood in Embodiment 2 of this application.

[0034] Explanation of the labels in the diagram:

[0035] 1 Welding robot, 2 Liquid storage tank, 3 Drainage hood, 31 Main liquid guide sleeve, 32 Secondary liquid guide sleeve, 33 Liquid guide distribution sleeve, 34 Hollow annular sleeve, 35 Airbag, 36 Liquid outlet head, 37 Inner protective cover, 38 Liquid guide rope sleeve, 39 Liquid suction head. Detailed Implementation

[0036] The embodiments will be described clearly and completely with reference to the accompanying drawings. All other embodiments obtained by those skilled in the art based on the embodiments in this application without creative effort are within the scope of protection of this application.

[0037] Example 1:

[0038] Please see Figure 1 and Figure 2 This invention provides an automatic welding device for the vertical joint of a crane main beam, including a welding robot 1 and an automatic welding system. The welding robot 1 is equipped with a detection auxiliary component, which includes a liquid storage tank 2 fixedly connected to the outer end of the welding robot 1. The liquid storage tank 2 is used to store detection color liquid, which can be liquid colored pigment. The outer end of the liquid storage tank 2 is connected to a flow guide hood 3 that communicates with its interior. In use, the flow guide hood 3 is fitted over the outside of the welding torch head of the welding robot 1. When the welding torch runs along the preset welding route (without welding operation), the detection color liquid can be applied to the vertical joint of the main beam through the flow guide hood 3.

[0039] Please see Figure 2 The automatic welding system includes a trajectory running module, a welding control module, a drive module, and a wire feeding module. The trajectory running module controls the trajectory of the welding torch, the welding control module controls the welding torch to perform welding operations, the drive module controls the joint movement of the robot to ensure that the welding torch reaches the welding position smoothly, and the wire feeding module synchronously delivers the welding wire to the welding position during the welding process to achieve welding smoothly.

[0040] Please see Figure 1 The welding method of the above-mentioned automatic welding device for the vertical joint of the main beam of the crane includes the following steps:

[0041] S1. Semi-operation: Before welding, place the drain cover 3 on the outside of the welding gun head and add enough test color liquid into the storage tank 2;

[0042] S2. The trajectory operation module makes the welding torch run once along the vertical joint of the main beam of the crane according to the preset welding route. No welding operation is performed during this run. Through this process, the detection colored liquid can be applied around the vertical joint of the main beam along the welding trajectory.

[0043] S3. Observe the coating of the inspection liquid at the vertical joint of the crane main beam. When the inspection liquid is completely coated, step S4 can be performed (the complete coating of the inspection liquid can, to a certain extent, indicate that there are no obvious errors in the welding route and the robot's walking trajectory).

[0044] Conversely, if there is a significant break in the test liquid, it indicates that the preset welding route is inaccurate. The staff can correct the welding route based on the location of the break in the test liquid, and then repeat step S2 after correction.

[0045] S4. Welding Operation: Remove the drain cover 3 on the outside of the welding torch head, start the automatic welding system, and perform the welding operation.

[0046] S5. Observe the welding condition at the vertical joint of the crane main beam. If there is a large area of ​​residual testing liquid, it indicates that there may be a leak or poor welding effect at that location. The staff can conduct a thorough inspection at this location. Conversely, if the testing liquid disappears or there is only a small amount of residue at the vertical joint, it means that it is largely covered by the welding rod, which to some extent indicates that the welding is normal.

[0047] Please see Figure 4 and Figure 5 The drainage cover 3 includes a main liquid sleeve 31, a secondary liquid sleeve 32, and a hollow annular sleeve 34. One end of the main liquid sleeve 31 is fixedly connected to one end of the secondary liquid sleeve 32. The end of the secondary liquid sleeve 32 away from the main liquid sleeve 31 is fixedly connected to the hollow annular sleeve 34 with a plurality of evenly distributed liquid guiding sleeves 33. The main liquid sleeve 31, the secondary liquid sleeve 32, the liquid guiding sleeves 33, and the hollow annular sleeve 34 are interconnected.

[0048] Please see Figure 5 and Figure 6 A liquid outlet head 36 is fixedly connected to one end of the hollow annular sleeve 34 away from the liquid guiding sleeve 33. The liquid outlet head 36 is made of flexible absorbent material. A groove is provided at one end of the liquid outlet head 36 near the hollow annular sleeve 34. An inner protective cover 37 matching the welding gun head is fixedly connected inside the groove. The inner protective cover 37 is located inside the hollow annular sleeve 34. An air bag 35 is fixedly connected to the inner end of the hollow annular sleeve 34.

[0049] The method of fitting the drainage cover 3 onto the outside of the welding gun head is as follows: (e.g.) Figure 5 and Figure 7As shown, after pulling the end of the drainage cover 3 to the welding gun, the hollow annular sleeve 34 is manually moved so that the welding gun head passes between the adjacent liquid guiding sleeves 33 and is inserted into the hollow annular sleeve 34. The main liquid guiding sleeve 31, the liquid guiding sleeve 33 and the hollow annular sleeve 34 are all made of flexible waterproof material, that is, the drainage cover 3 is flexible as a whole, which is convenient for bending and deformation as required. It is fitted on the outer end of the welding gun head. The inner protective cover 37 plays a role in bearing and wrapping the end of the welding gun head, so that the rigid welding gun head is not easy to damage the liquid outlet head 36. The elastic air bag 35 can further stabilize the welding gun head inside the hollow annular sleeve 34. The secondary liquid guiding sleeve 32 is made of elastic waterproof material. The secondary liquid guiding sleeve 32 gives the drainage cover 3 elastic tension function. On the one hand, after the drainage cover 3 is fitted on the outer end of the welding gun head, its whole body is in a straight state and is not easy to loosen and move. On the other hand, the elastic tension allows the drainage cover 3 to adapt to the operation of the welding gun head and is not easy to break under tension.

[0050] After the drainage hood 3 is installed, the detection liquid inside the storage tank 2 can be absorbed and stored by the liquid outlet 36 in sequence along the main liquid sleeve 31, the secondary liquid sleeve 32, the liquid distribution sleeve 33 and the hollow annular sleeve 34. The welding gun head carries the liquid outlet 36 to move along the vertical seam of the main beam, so as to coat the detection liquid around the vertical seam and give the staff a clear visual mark.

[0051] The outer end of the liquid storage tank 2 has a liquid inlet, and the inside of the liquid inlet is threaded with a sealing plug, allowing for easy addition of the test color solution into the liquid storage tank 2. Please refer to [link / reference]. Figure 4 The main liquid sleeve 31 is fixedly connected to a connecting pipe at the end away from the secondary liquid sleeve 32. The connecting pipe is connected to the internal thread of the injection port. The liquid storage tank 2 and the drainage cover 3 are connected by a thread, which makes it easy to replace the drainage cover 3 that has been damaged after long-term use.

[0052] This application adds an inspection auxiliary component to the welding robot. Before entering the welding process, the welding torch drives the inspection auxiliary component to pre-run along the vertical joint of the crane main beam according to a preset welding route. This pre-runs the component to apply inspection liquid along the welding trajectory around the vertical joint of the main beam. On the one hand, visual observation of whether the inspection liquid is completely applied can, to some extent, reflect whether there are any errors in the welding route and the robot's walking trajectory. On the other hand, after the welding process, the residual inspection liquid at the vertical joint can, to some extent, reflect whether there are any missed welds or poor welding results during the welding process. Compared with the prior art, this application, by adding a half-run operation, can achieve a dual-channel visual inspection effect on the welding trajectory and the welding quality of the vertical joint, effectively improving the welding efficiency of the crane main beam vertical joint.

[0053] Example 2:

[0054] The difference between this embodiment and Embodiment 1 is that the following structure is used instead of the specific structure of the drainage hood 3 in Embodiment 1, as detailed below: Please refer to Figure 8 The drainage cover 3 includes a liquid guiding rope sleeve 38 and a liquid suction head 39. One end of the liquid guiding rope sleeve 38 is fixedly connected to one end of the liquid suction head 39. The end of the liquid suction head 39 near the liquid guiding rope sleeve 38 has an inner groove that matches the welding gun head. The end of the liquid guiding rope sleeve 38 away from the liquid suction head 39 is fixedly connected to a connector. The connector is threadedly connected to the liquid injection port, which facilitates the delivery of the test liquid into the liquid guiding rope sleeve 38 and the installation and disassembly between the liquid storage tank 2 and the drainage cover 3. The liquid guiding rope sleeve 38 is made of flexible waterproof material, and the liquid suction head 39 is made of flexible water-absorbing material.

[0055] In this embodiment, the structure of the drainage hood 3 is a simplified version of the structure of the drainage hood 3 in embodiment 1. When in use, one end of the liquid guiding rope sleeve 38 with the liquid suction head 39 is wrapped around the outer end of the welding gun head 3-5 times, and then the liquid suction head 39 is fitted onto the end of the welding gun head. The two are fixed by friction. When the welding gun head moves, the detection colored liquid is directly transferred to the liquid suction head 39 through the liquid guiding rope sleeve 38 and coated around the vertical joint of the main beam through the liquid suction head 39.

[0056] The above description is only the best implementation method adopted in this application in combination with current actual needs, but the scope of protection of this application is not limited thereto.

Claims

1. An automatic welding device for vertical joints of a crane main beam, comprising a welding robot (1) and an automatic welding system, characterized in that, The welding robot (1) is equipped with a detection auxiliary component, which includes a liquid storage tank (2) fixedly connected to the outer end of the welding robot (1). The outer end of the liquid storage tank (2) is connected to a flow guide (3) that communicates with its interior. The automatic welding system includes a trajectory running module, a welding control module, a drive module, and a wire feeding module. The welding method of the above-mentioned automatic welding device for the vertical joint of the main beam of the crane includes the following steps: S1, Semi-operation: Before welding, put the drain cover (3) on the outside of the welding gun head and add enough test color liquid into the storage tank (2); S2. The welding torch is pre-run along the vertical joint of the crane main beam once according to the preset welding route through the trajectory operation module. No welding operation is performed during this run. S3. Observe the coating of the test liquid at the vertical joint of the main beam of the crane. When the test liquid is completely coated, proceed to step S4. Conversely, if there is a significant break in the test liquid, it indicates that the preset welding route is inaccurate. The staff can correct the welding route based on the location of the break in the test liquid, and then repeat step S2 after correction. S4. Welding Operation: Remove the drain cover (3) on the outside of the welding torch head, start the automatic welding system, and perform welding operation; S5. Observe the welding condition at the vertical joint of the main beam of the crane. If there is a large area of ​​residual testing liquid, it indicates that there may be a leak or poor welding effect at this location. The staff can conduct a thorough inspection at this location. The drainage cover (3) includes a main liquid sleeve (31), a secondary liquid sleeve (32) and a hollow annular sleeve (34). One end of the main liquid sleeve (31) is fixedly connected to one end of the secondary liquid sleeve (32). The end of the secondary liquid sleeve (32) away from the main liquid sleeve (31) is fixedly connected to the hollow annular sleeve (34) with a plurality of evenly distributed liquid guiding sleeves (33). The main liquid sleeve (31), the secondary liquid sleeve (32), the liquid guiding sleeves (33) and the hollow annular sleeve (34) are interconnected. The hollow annular sleeve (34) is fixedly connected to a liquid outlet head (36) at the end away from the liquid guiding sleeve (33), and the liquid outlet head (36) is made of flexible absorbent material; An airbag (35) is fixedly connected to the inner end of the hollow annular sleeve (34); The liquid outlet head (36) has a groove at one end near the hollow annular sleeve (34), and an inner protective cover (37) matching the welding gun head is fixedly connected inside the groove, and the inner protective cover (37) is located inside the hollow annular sleeve (34).

2. The automatic welding device for vertical joints of a crane main beam according to claim 1, characterized in that, The main liquid sleeve (31), the liquid guiding sleeve (33), and the hollow annular sleeve (34) are all made of flexible waterproof material, while the secondary liquid guiding sleeve (32) is made of elastic waterproof material.

3. The automatic welding device for vertical joints of a crane main beam according to claim 1, characterized in that, The outer end of the liquid storage tank (2) is provided with a liquid injection port, and the internal thread of the liquid injection port is connected with a sealing plug.

4. The automatic welding device for vertical joints of a crane main beam according to claim 3, characterized in that, The main liquid sleeve (31) is fixedly connected to a connecting pipe at the end away from the secondary liquid sleeve (32), and the connecting pipe is connected to the internal thread of the injection port.

5. The automatic welding device for vertical joints of a crane main beam according to claim 1, characterized in that, The drainage cover (3) includes a liquid guiding rope sleeve (38) and a liquid suction head (39). One end of the liquid guiding rope sleeve (38) is fixedly connected to one end of the liquid suction head (39). The liquid suction head (39) has an inner groove that matches the welding gun head at one end near the liquid guiding rope sleeve (38).

6. The automatic welding device for vertical joints of a crane main beam according to claim 5, characterized in that, The end of the liquid guiding rope sleeve (38) away from the liquid suction head (39) is fixedly connected to a connector. The liquid guiding rope sleeve (38) is made of flexible waterproof material, and the liquid suction head (39) is made of flexible water-absorbing material.

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