Welding method and welding system

Abstract

The application provides a welding method and a welding system, and the welding method is used for welding a longitudinal seam of a drum, and the welding method comprises the following steps: placing the drum in a welding station and adjusting the drum so that the longitudinal seam of the drum extends along an X-axis direction; moving the drum to align one end of the longitudinal seam with a positioning device of the welding station; determining a welding starting position and a welding ending position of the longitudinal seam according to the relative position relationship between the longitudinal seam of the drum and the positioning device and the length of the longitudinal seam; controlling a welding gun to move from an initial position to the welding starting position; after the welding gun moves to the welding starting position, controlling the welding gun to move from the welding starting position to the welding ending position along the X-axis direction at a preset speed to weld the longitudinal seam; and after the welding of the longitudinal seam is completed, controlling the welding gun to retreat to the initial position at a return speed; the welding method can control the welding quality and cost of the drum by adjusting the welding process of the drum.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of welding, and particularly relates to a welding method and a welding system. BACKGROUND

[0002] This part provides only background information related to the present disclosure, which is not necessarily prior art.

[0003] Agricultural machinery equipment such as a wheat machine, a peanut machine, a grain harvester, etc. all have a drum as an important structure, and the process and quality of longitudinal seam welding of the drum directly affect the stability and reliability of the agricultural machinery equipment. The existing longitudinal seam welding of the drum usually adopts manual welding and robot welding. The manual welding method has a high requirement on the welding technology of the operator, especially when welding the long longitudinal seam of the drum, the labor intensity is very high, the work efficiency is low, and the welding quality and consistency of the welding formation are difficult to guarantee. SUMMARY

[0004] The present application aims to at least solve the technical problem that the welding quality and consistency of the welding formation of the longitudinal seam are difficult to guarantee. The aim is achieved by the following technical solution:

[0005] The first aspect of the present application provides a welding method for welding a longitudinal seam of a drum, the welding method comprising:

[0006] placing the drum in a welding station and adjusting the drum so that the longitudinal seam of the drum extends along an X-axis direction;

[0007] moving the drum to align one end of the longitudinal seam with a positioning device of the welding station, determining a welding start position and a welding end position of the longitudinal seam according to the relative positional relationship between the longitudinal seam of the drum and the positioning device and the length of the longitudinal seam;

[0008] controlling a welding gun to move from an initial position to the welding start position;

[0009] after the welding gun moves to the welding start position, controlling the welding gun to move from the welding start position to the welding end position along the X-axis direction at a preset speed to weld the longitudinal seam;

[0010] after the welding of the longitudinal seam is completed, controlling the welding gun to retreat to the initial position at a return speed.

[0011] The welding method can position the to-be-welded area of the drum, arrange the to-be-welded area of the drum along the X axis, align one end of the longitudinal seam of the drum with the positioning device, determine the position of the drum, and determine the welding start position and the welding end position of the weld, thereby preventing the movement of the drum or the uncertainty of the start position and the end position of the welding gun from affecting the welding quality during the welding process; the welding of the to-be-welded area of the drum is completed by controlling the welding gun to move along the welding start position and the welding end position of the longitudinal seam of the drum, and therefore, the welding method can reduce the welding cost of the drum by adjusting the welding process of the drum, and each longitudinal seam of the drum can be formed at one time, thereby facilitating the guarantee of the welding quality.

[0012] In addition, the welding method according to the embodiment of the present application can further have the following additional technical features:

[0013] In some embodiments of the welding method of the present application, the drum includes a plurality of longitudinal seams, and the plurality of longitudinal seams are arranged at intervals along the X axis direction;

[0014] The determination of the welding start position and the welding end position of the longitudinal seam according to the relative position relationship between the longitudinal seam of the drum and the positioning device and the length of the longitudinal seam includes:

[0015] The determination of the welding start position and the welding end position of each longitudinal seam according to the relative position between each longitudinal seam and the positioning device and the interval between the plurality of longitudinal seams;

[0016] The welding method further includes: controlling the welding gun to sequentially weld the plurality of longitudinal seams along the X axis direction, and returning to the initial position at the return speed after the welding is completed.

[0017] In some embodiments of the welding method of the present application, the plurality of longitudinal seams all extend along the X axis direction, at least the first longitudinal seam and the second longitudinal seam are arranged at intervals along the circumference of the drum and are arranged in parallel along the X axis direction;

[0018] The control of the welding gun to sequentially weld the plurality of longitudinal seams along the X axis direction includes:

[0019] After the welding of the first longitudinal seam is completed, the drum is rotated until one end of the second longitudinal seam is aligned with the positioning device, and the welding of the second longitudinal seam is started.

[0020] In some embodiments of the welding method of the present application, the welding method includes:

[0021] The welding gun is controlled to move along the Y axis direction so that the welding gun is at a preset angle with the longitudinal seam, and the Y axis direction is arranged to intersect the X axis direction.

[0022] In some embodiments of the welding method of the present application, the welding method further comprises:

[0023] controlling the welding torch to move along the X-axis direction to a first position, the first position being arranged in alignment with the welding starting position in the Z-axis direction, the Z-axis direction being arranged in intersection with the X-axis direction and the Y-axis direction;

[0024] controlling the welding torch to move along the Z-axis direction to the welding starting position.

[0025] The second aspect of the present application also provides a welding system, characterized in that the welding system is used to weld the longitudinal seam of the drum according to any one of the welding methods described above, and the welding system comprises:

[0026] a welding device, the welding device comprising a welding torch;

[0027] a positioning device, the positioning device being arranged at the welding station, and being used to determine the position of the longitudinal seam and the welding starting position and the welding ending position of the longitudinal seam;

[0028] a driving device, the driving device comprising an X-axis driving assembly, a Y-axis driving assembly and a Z-axis driving assembly, and being connected with the welding torch, and being used to drive the welding torch to move along the X-axis direction, the Y-axis direction and the Z-axis direction, the X-axis direction, the Y-axis direction and the Z-axis direction being arranged in intersection with each other;

[0029] a controller, the controller being connected with the positioning device and the welding device respectively, and being used to drive the welding torch to move along the X-axis direction or the Y-axis direction or the Z-axis direction according to the welding starting position and the welding ending position of the longitudinal seam, so as to weld the longitudinal seam.

[0030] In some embodiments of the welding system of the present application, the welding system further comprises:

[0031] a human-computer interaction device, the human-computer interaction device being connected with the controller, and being used to control the input of parameters, the control parameters comprising the preset speed, the return speed and the length of the longitudinal seam, wherein the welding torch is used to weld the longitudinal seam at the preset speed, and the welding torch is used to return to the initial position at the return speed.

[0032] In some embodiments of the welding system of the present application, the human-computer interaction device comprises a display screen, and the welding system further comprises:

[0033] an image acquisition assembly, the image acquisition assembly being arranged at the welding station and being arranged opposite to the to-be-welded area of the drum, and the image acquisition assembly being electrically connected with the display screen.

[0034] In some embodiments of the welding system of the present application, the welding system further comprises:

[0035] a mobile controller, which is communicatively connected with the welding device, and is configured to remotely adjust the welding speed of the welding gun and the relative distance between the welding gun and the longitudinal seam along the X-axis direction or the Y-axis direction or the Z-axis direction;

[0036] and / or a cleaning device, which is configured to clean the welding gun nozzle of the welding gun.

[0037] In some embodiments of the welding system of the present application, the welding system further comprises:

[0038] a protection switch, which is provided in the welding device and is configured to control the emergency stop of the welding gun;

[0039] a travel switch, wherein the X-axis driving assembly, the Y-axis driving assembly and the Z-axis driving assembly each comprises the travel switch. BRIEF DESCRIPTION OF DRAWINGS

[0040] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a better understanding of the preferred embodiments, and are not to be considered limitations of the present application. Furthermore, like reference numerals refer to same components throughout the drawings. In the drawings:

[0041] Figure 1 a perspective view of the welding system illustrating the embodiment of the present application, wherein the roller is shown;

[0042] Figure 2 a perspective view of the welding system illustrating the embodiment of the present application;

[0043] Figure 3 a schematic view of the welding system illustrating the embodiment of the present application;

[0044] Figure 4 another schematic view of the welding system illustrating the embodiment of the present application;

[0045] Figure 5 a logic control diagram of the welding system illustrating the embodiment of the present application;

[0046] Figure 6 a schematic view of the welding method illustrating the embodiment of the present application.

[0047] 100, welding system; 110, roller; 111, longitudinal seam;

[0048] 120, welding device; 121, welding gun;

[0049] 130, positioning device;

[0050] 140, welding station;

[0051] 150, drive device; 151, X-axis drive assembly; 152, Y-axis drive assembly; 153, Z-axis drive assembly;

[0052] 160, controller;

[0053] 170, vision device. DETAILED DESCRIPTION

[0054] Example embodiments of the present disclosure will be described more fully hereinafter with reference to the accompanying drawings. While example embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art.

[0055] It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises", "comprising", "includes", "including" and the like are to be construed to be inclusive (i.e., to include both instances of open- ended terms and instances of closed- ended terms) unless otherwise noted herein. The terms "first", "second" and the like, as used herein do not imply these terms are limited to the above-mentioned elements, but are used to distinguish one element from another.

[0056] Although the terms first, second, third, and the like can be used herein to describe various elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms can be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first", "second", and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.

[0057] For ease of description, spatial relative terms may be used in the text to describe the relationship of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "over," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure is flipped, an element described as "below other elements or features" or "below other elements or features" would subsequently be oriented as "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0058] This invention provides a welding method and a welding system. The welding system can weld the area to be welded on a roller in a high-quality and low-cost manner according to the welding method. Compared with manual welding, it does not require operators with high welding skills. By controlling the welding torch to weld along a prescribed trajectory, it can ensure welding quality and reduce the welding skill requirements of the operator. At the same time, the consistency of the weld can meet the aesthetic requirements. Compared with robotic welding, it does not require the design of a complex drive system and an automatic recognition system for the area to be welded, thus reducing welding costs and completing the project calculation with a lower budget and cost-effectiveness.

[0059] The following is combined with Figures 1 to 4 The welding system of the present invention will be described in detail.

[0060] like Figure 1 and Figure 2 As shown, the welding system 100 of the present invention is capable of welding the longitudinal seam 111 of the roller 110. The welding system 100 includes a positioning device 130, a welding device 120, a driving device 150, and a controller 160.

[0061] The welding device 120 includes a welding torch 121. The welding device 120 can be set to different welding methods according to different welding processes, such as submerged arc welding, argon arc welding, MIG welding, or other welding methods suitable for longitudinal seam welding of rollers.

[0062] The positioning device 130 is installed at the welding station 140. When the roller 110 is arranged at the welding station 140, the positioning device 130 can determine the specific position of the longitudinal seam 111, as well as the welding start position and welding end position of the longitudinal seam 111. After the roller 110 is arranged at the welding station 140, the area to be welded of the roller 110 extends along the X-axis. Through the positional relationship between the area to be welded and the positioning device 130, the welding start position and welding end position of the area to be welded can be determined. The positioning device 130 is also connected to the controller 160 to transmit the welding start position and welding end position of the area to be welded to the controller 160. The area to be welded of the roller includes one or more longitudinal seams.

[0063] Specifically, such as Figure 1 As shown, the positioning device 130 includes a positioning rod, which can be disposed at one end of the roller 110 and abut against one end of the roller 110 along the X-axis. When the area to be welded includes a longitudinal seam 111, and the longitudinal seam 111 extends from one end of the roller 110 to the other end of the roller 110, the longitudinal seam 111 of the roller 110 needs to be fully welded. At this time, the welding start position and welding end position of the longitudinal seam 111 can be determined by the position of the positioning rod and the distance from one end of the roller 110 to the other end. When the area to be welded includes multiple longitudinal seams, and the multiple longitudinal seams are spaced apart along the X-axis, the welding start position and welding end position of each longitudinal seam can be determined by the positional relationship between the weld and the positioning rod or the positioning device 130.

[0064] It should be noted that the positioning device 130 can be set in an area where the positional relationship with the area to be welded can be determined, such as the initial position, middle position or tail position of the area to be welded, or set at a preset mark position along the X-axis. By determining the relative positional relationship between the positioning device 130 and the roller 110, the relative positional relationship between the area to be welded and the positioning device 130 is determined, thereby determining the welding start position and welding end position of each longitudinal seam 111 of the roller 110, and transmitting the welding start position and welding end position of each longitudinal seam 111 to the controller 160.

[0065] The drive device 150 includes an X-axis drive assembly 151, a Y-axis drive assembly 152, and a Z-axis drive assembly 153. The X-axis drive assembly 151, the Y-axis drive assembly 152, and the Z-axis drive assembly 153 are all connected to the welding torch 121 of the welding device 120, and can at least drive the welding torch 121 to move along the X-axis, or along the Y-axis, or along the Z-axis.

[0066] The X-axis driving assembly 151 drives the welding gun 121 to move along the X-axis to weld each longitudinal seam 111 of the to-be-welded area, the Y-axis driving assembly 152 drives the welding gun 121 to move along the Y-axis, and the relative angle between the welding gun 121 and the longitudinal seam 111 can be adjusted to meet the requirement of welding the longitudinal seam 111 from different angles according to different welding processes; and the Z-axis driving assembly 153 drives the welding gun 121 to move along the Z-axis to drive the welding gun 121 to approach or move away from the longitudinal seam 111, so that the welding gun 121 can approach the longitudinal seam 111 at the welding starting position of each longitudinal seam 111 and move away from the longitudinal seam 111 at the welding ending position of each longitudinal seam 111.

[0067] It should be noted that the driving device 150 can set the moving speed of the welding gun 121 along the X-axis, the Y-axis and the Z-axis, for example, the speed of the welding gun 121 approaching the starting position of each weld seam, and the moving speed of the welding gun 121 can be controlled according to different welding modes in combination with the characteristics of the welding device, and the moving speed of the welding gun 121 along the X-axis can be set to control the welding efficiency and the welding quality. In order to adapt to the process characteristics of different welding modes, the moving speed of the welding gun 121 during welding can be set to control the end time of the welding arc to ensure the welding quality of each longitudinal seam 111. For example, the welding time interval between a plurality of longitudinal seams 111 can be controlled by controlling the moving speed of the welding gun 121 to control the welding efficiency and the welding quality, and the welding gun can be controlled to return to the initial position at a faster return speed after welding.

[0068] The controller 160 is connected with the positioning device 130 to obtain the welding starting position and the welding ending position of each weld seam of the to-be-welded area or each weld seam, and the controller 160 is also connected with the X-axis driving assembly 151, the Y-axis driving assembly 152 and the Z-axis driving assembly 153 to control the welding gun 121 to move along the X-axis, the Y-axis and the Z-axis.

[0069] In an embodiment of the welding system 100, the welding system 100 further comprises a human-computer interaction device, which is used to set the moving speed of the welding gun 121 along the X-axis, the Y-axis and the Z-axis, and the human-computer interaction device is also used to input the length of the weld seam.

[0070] The human-computer interaction device is connected with the controller 160, the controller 160 obtains the moving speed of the welding gun 121 set under different welding process conditions through the human-computer interaction device, and then drives the welding gun 121 to move; the controller 160 obtains the length of the weld seam through the human-computer interaction device, and then determines the moving time of the welding gun 121 according to the welding starting position and the welding ending position of each longitudinal seam 111; and the controller 160 can also determine the welding starting position and the welding ending position of each weld seam according to the relative positional relationship between the to-be-welded area and the positioning device 130 and the length of the weld seam.

[0071] The man-machine interaction device can include an electric control cabinet console and a touch screen for operating the whole control system, the electric control cabinet console is provided with start-stop buttons and start-stop indicator lights, the touch screen is provided with a fault alarm interface of the welding system, selection of a welding mode (such as full welding or intermittent welding), selection of a specification of a to-be-welded roller, and selection of a running speed and direction of a servo shaft.

[0072] The man-machine interaction device can further be provided with a remote controller or a mobile controller, the mobile controller or the remote controller is used synchronously with a matched receiver, and is used for wirelessly operating the servo shaft to enable micro-adjustment in three-dimensional directions.

[0073] The welding system includes a controller 160, wherein the controller 160 is provided with an input module and an output module, the input module is used for transmitting electrical signals to the controller 160, such as transmitting position information of a longitudinal seam of a roller to the controller; the controller outputs electrical signals or instructions through the output module to drive the movement of each component, such as driving the movement of the welding gun along the X axis, the Y axis and the Z axis through the driving device; wherein the input instructions of the welding system 100 are processed by the controller 160, and corresponding actions or instructions are output; the input module or the output module is further used for connecting external input signals, such as sensor signals, and output devices, such as indicator lights.

[0074] In an embodiment of the welding system, the welding system 100 is further provided with a servo system, a servo motor with an encoder is used as an execution mechanism in the servo system, and is arranged in the X-axis driving assembly 151, the Y-axis driving assembly 152 and the Z-axis driving assembly 153 respectively, is used for controlling the movement of the welding gun 121 in the X axis, the Y axis or the Z axis direction, and the movement speed can be steplessly adjusted, the movement speed of the welding gun 121 is set or changed on the touch screen, wherein the related parameters of the servo motor driver are set in the software, and the servo system can be in communication connection with the controller, so that the controller can remotely control the driving device.

[0075] In an embodiment of the welding system, the welding system further includes an identification device connected with the positioning device 130, is used for acquiring the relative position relationship between the positioning device 130 and the roller 110, and acquiring the relative position relationship between each weld of the roller 110 and the positioning device 130, to determine the welding starting position and the welding ending position of each longitudinal seam 111.

[0076] It should be noted that the welding start position and welding end position of each longitudinal seam 111 refer to the welding start position and welding end position determined relative to the initial position of the welding torch 121. These positions can be obtained by the identification device for the welding area of ​​the positioning device 130 and the roller 110, or they can be calculated by the controller 160 or the movement controller 160 based on the relative positional relationship between the welding area and the positioning device 130.

[0077] The identification device is also connected to the controller 160. The controller 160 controls the moving speed, moving time and arc termination time of the welding torch 121 when welding each longitudinal seam 111 based on the welding start position and welding end position of each longitudinal seam 111 obtained by the identification device, thereby ensuring the efficiency and quality of welding.

[0078] In one embodiment of the welding system of the present invention, the welding system 100 further includes a vision device 170, which includes a display screen and an image acquisition component. The image acquisition component is disposed at the welding station 140 and is positioned opposite to the welding area of ​​the roller 110. The display screen is electrically connected to the image acquisition component. In this embodiment, the welding system 100 is also provided with a mobile controller, which is connected to the welding device 120 and is used to remotely control the welding speed of the welding torch 121 and the relative distance between the welding torch 121 and the longitudinal seam 111 along the X-axis, Y-axis or Z-axis. Therefore, the control system in this embodiment can remotely adjust the welding torch 121 by means of the mobile controller and the image transmitted to the display screen through the image acquisition component.

[0079] In one embodiment of the welding system of the present invention, the welding system 100 further includes a cleaning device, which is located at the initial position of the welding torch 121 and / or at the welding station 140 and near the roller 110, for cleaning the nozzle of the welding torch 121. The cleaning device can be configured as a welding anti-clogging agent. After the welding torch 121 returns to the initial position at its return speed or after completing the welding of a section of longitudinal seam 111 and reaching the welding termination position of the longitudinal seam 111, the welding torch 121 is dipped in the anti-clogging agent to prevent welding spatter from clogging the nozzle of the welding torch 121 and preventing wire from exiting, thus extending its lifespan. Alternatively, a program can be input into the controller 160 via an input module. When the welding torch 121 returns to the initial position, the program is automatically started, and the welding torch 121 is dipped in the anti-clogging agent in the cleaning device.

[0080] like Figure 5 As shown, in the welding system of the present invention, the positioning device, the human-machine interaction device, and the protection device are all connected to the controller or the moving controller, and transmit different electrical signals to the controller to control the welding device, the driving device, and the cleaning device respectively according to the steps in the welding process.

[0081] The welding system of the present application can also be provided with a protection device, including a three-color alarm lamp, for prompting the operating state of the welding system, and for alarming the welding device 120, the positioning device 130, the driving device 150, the identification device, the controller 160 or the mobile controller, the servo system, etc. of the welding system 100 when the welding system 100 operates abnormally.

[0082] In the welding system of the present application, the protection device further includes a protection switch and a travel switch, the protection switch is arranged in the welding device, for controlling the emergency stop of the welding torch, and in an emergency, the protection switch can cut off the power supply to protect the welding device and ensure the safety of the operator and the equipment; the travel switch can be arranged in the X-axis driving assembly, the Y-axis driving assembly and the Z-axis driving assembly, for ensuring the safe operation of the servo motor on the X-axis, the Y-axis or the Z-axis, and eliminating the risk hidden danger.

[0083] The protection device further includes a circuit breaker, for over-current protection and over-voltage protection of each component of the larger power components.

[0084] In summary, the welding system of the present application can be applied to the welding of various specifications of rollers, which refers to the different length, diameter and wall thickness of the rollers, when the roller 110 is arranged at the welding station 140, the roller 110 can be fixed by the fixing device, wherein the fixing device can be arranged in a magnetic attraction mode to fix the roller 110, and the specific position and rotation angle of the roller 110 can be controlled by controlling the size of the magnetic attraction force, the welding system of the present application can also meet the process requirements of full welding and breakpoint welding, and the welding angle, the moving speed of the welding torch and the welding arc ending time, etc. can be adjusted according to the welding process and quality requirements.

[0085] The welding system of the present application can effectively reduce the labor intensity compared with the manual welding method, and the integrally formed weld is also beneficial to ensure the appearance of the weld and standardize the welding process, by adjusting the welding process characteristics of the longitudinal seam of different rollers, the welding efficiency and welding quality can be greatly improved. In addition, compared with the robot welding method, the welding machine system of the present application has low cost, and the welding cost can be saved by more than 50%.

[0086] The present application also provides a welding method for welding the longitudinal seam of the roller by the welding system according to any one of the above, and the welding method will be described in detail below. Figures 1 to 6 The welding method will be described in detail.

[0087] The welding method of the present application comprises the following steps: placing the roller 110 in the welding station 140 and adjusting the direction of the roller 110 so that the to-be-welded area of the roller 110 extends along the X-axis direction; and arranging the roller 110 along the X-axis direction, which is beneficial to determining the specific position of the longitudinal seam 111 of the to-be-welded area, and when welding, the welding torch 121 moves along the predetermined track to perform welding, which can be integrally formed to ensure the welding quality and improve the efficiency. Regardless of full welding or intermittent welding, the pre-determined track of the longitudinal seam 111 is very important for welding.

[0088] The welding method of the present application also provides a positioning method of the longitudinal seam 111 of the roller 110 and a judging method of the starting position and the ending position of the welding torch 121. Specifically, the one end of the longitudinal seam 111 is aligned with the positioning device 130 of the welding station 140 by moving the roller 110, and the welding starting position and the welding ending position of the to-be-welded area are determined according to the relative position relationship between the to-be-welded area of the roller 110 and the positioning device 130. By determining the relative position between the roller 110 and the positioning device 130, the welding starting position and the welding ending position of the weld can be determined. The positioning device 130 serves as a reference, and after aligning the one end of the longitudinal seam 111 or the center position of the longitudinal seam 111 with the reference, the specific position of the longitudinal seam 111 is fixed. Then, the welding starting position and the welding ending position of each longitudinal seam 111 can be determined according to the length of each longitudinal seam 111, which is beneficial to welding by the welding torch 121 with high efficiency.

[0089] The operator only needs to start welding and control the welding torch 121 to weld each weld. From the welding starting position to the welding ending position of each longitudinal seam 111, the welding of one longitudinal seam 111 is completed. When the roller 110 has multiple longitudinal seams 111, the multiple longitudinal seams 111 can be continuously or intermittently welded. After welding is completed, the welding torch 121 is moved to the initial position.

[0090] As can be seen, the welding method of the present application has the step of positioning the longitudinal seam 111 of the roller 110 before welding, so it is not necessary to position the weld by a complex image recognition and management system as in the robot welding, thereby reducing the welding cost. Each weld or multiple welds are welded at one time, which is beneficial to controlling the welding quality and ensuring the consistency of welding.

[0091] In an embodiment of the welding method, the welding area includes a plurality of longitudinal seams 111, which are arranged along the X-axis direction; the welding method further includes: controlling the welding gun 121 to sequentially weld the plurality of longitudinal seams along the X-axis direction, and returning to the initial position at a return speed after the welding is completed; when welding the plurality of longitudinal seams 111 of the welding area, the longitudinal seams 111 need to be sequentially welded along the X-axis, and therefore the positional relationship between the welding start position and the welding end position of different longitudinal seams 111 needs to be determined, which is conducive to controlling the movement speed of the welding gun 121, so that the welding gun 121 can weld all the longitudinal seams 111 at the same welding speed and welding quality. Wherein, the welding start position and the welding end position of each longitudinal seam 111 are determined according to the relative position of each longitudinal seam 111 and the positioning device 130; the welding start position and the welding end position of each longitudinal seam 111 can be determined according to the length of each longitudinal seam 111 and the distance between the longitudinal seams 111 along the Z-axis, in combination with the relative position of the positioning device 130.

[0092] In an embodiment of the welding method, the plurality of longitudinal seams 111 are arranged in parallel along the X-axis direction, and at least two longitudinal seams 111 are arranged along the circumferential direction of the roller 110; the welding method further includes: rotating the roller 110 until the longitudinal seam 111 and the welding gun 121 form an angle specified by the process conditions; the plurality of longitudinal seams arranged along the circumferential direction of the roller 110 also need to move the welding gun 121 along the Y-axis during the welding process to adjust the welding angle between the welding gun 121 and the weld, so as to ensure that the longitudinal seam 111 is welded at the set process parameters, and the positional relationship between the welding gun 121 and the roller 110 can be adjusted by rotating the roller 110 or moving the welding gun 121.

[0093] Specifically, the welding gun 121 can be moved along the Y-axis at an angle to the X-axis, so that the welding gun 121 and the weld form an angle specified by the process conditions, wherein the angle between the X-axis and the Y-axis can be set to 90°, or can be set to different angles according to the welding process of the welding gun 121 and the longitudinal seam 111, or different welding modes.

[0094] According to the welding method, the welding gun 121 is controlled to move from the initial position to the welding start position, can be moved along the X-axis to the area above the welding start position of the longitudinal seam 111, and then moved along the Z-axis at an angle to the X-axis to the welding start position, in preparation for welding; in order to facilitate the rapid movement of the welding gun 121 along the X-axis, the Y-axis or the Z-axis, a movement track can be arranged in each of the X-axis driving assembly 151, the Y-axis driving assembly 152 and the Z-axis driving assembly 153, which is conducive to ensuring the rapid movement of the welding gun 121 to the target position.

[0095] Wherein, the welding torch can be controlled to move to the first position along the X-axis direction, the first position is arranged in alignment with the welding starting position in the Z-axis direction, and the Z-axis direction is arranged intersecting with the X-axis; and the welding torch can quickly reach the welding starting position of the longitudinal seam along the preset movement track.

[0096] According to the welding method and the welding machine system, the welding machine system is combined with the welding method as described above, Figure 6 The specific steps include: feeding the drum 110, positioning the longitudinal seam of the drum, hoisting the drum 110 to the welding special machine workbench of the welding station 140 by a tooling or hoisting equipment, the tail of the drum 110 abutting against the positioning device 130 at the end of the workbench, the end of the welding special machine workbench being the travel end position of the welding torch 121, and adjusting the center position of the longitudinal seam 111 to align with the positioning device 130.

[0097] The welding parameters of the welding system 100 can be set, the welding mode such as full welding or intermittent welding can be selected on the touch screen, and the length of the longitudinal seam 111 of the drum 110 can be input, and then the welding starting position and the welding ending position of the longitudinal seam 111 are automatically calculated by the controller 160 according to the relative position relationship between the to-be-welded area or the drum 110 and the positioning device 130. When full welding is performed, the absolute distance between the original position of the three axes of the welding torch 121 and the welding ending position is the difference between the length of the drum 110 and the distance that the welding torch 121 needs to move, that is, the welding starting position. The welding speed, the three-axis manual jog speed, the welding length and interval length of intermittent welding, and the return speed of the welding torch 121 can also be set on the touch screen.

[0098] The welding torch 121 is moved to the welding starting position of the longitudinal seam 111 for welding preparation, which can be operated in the human-computer interaction device or controlled in the controller 160 according to the image provided by the display screen and the image acquisition device when the welding torch 121 is moved.

[0099] The welding is started by pressing the “welding start” button set on the touch screen, and the welding torch 121 performs welding on the longitudinal seam 111 of the drum 110 according to the welding parameters set on the touch screen. During the welding process, the position of the welding torch 121 can also be finely adjusted by using a mobile controller or a remote controller.

[0100] The welding torch returns, and when the welding torch 121 travels to the ending position of the longitudinal seam 111, the welding torch 121 finishes the welding arc, moves along the Z-axis to a safe position, and then automatically triggers the welding torch 121 to return to the initial position of the welding torch 121 in the empty stroke. After the welding is completed, the welding torch returns to the initial position.

[0101] After the welding gun 121 returns to the initial position, the "welding gun dip anti-blocking agent" button set on the touch screen can be triggered, the welding gun 121 is lowered along the Z axis to a set position, at which the welding gun 121 mouth of the welding gun 121 is in contact with the anti-blocking agent, so as to prevent the welding spatter from blocking the welding gun 121 mouth and prolong the service life of the welding gun 121.

[0102] In summary, the welding system 100 and the welding method of the longitudinal seam 111 of the drum 110 have the following advantages: the programmable controller 160 is used for logic and algorithm design, so that different specifications of the drum 110 can be welded, for example, the self-defined welding of the drum 110 with different lengths, radii and wall thicknesses, including the selection of the full welding or breakpoint welding mode and the setting of the welding length or interval length and other parameters according to the process requirements; the servo motor with an encoder is used to drive the welding gun 121 to move along the X axis, the Y axis and the Z axis, so that the absolute positioning of the welding gun 121 can be realized; the welding mode and the welding parameters can be determined on the touch screen, and the corresponding commands of the controller 160 can be triggered to realize the automatic welding of the drum 110, the stability of the equipment running ensures that the cylinder body weld is formed beautiful and consistent, which meets the process and quality requirements; the equipment cost is effectively reduced, and the economic benefits are improved.

[0103] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A welding method for welding a longitudinal seam of a drum, characterized by, The welding method comprises: placing the roller in a welding station and adjusting the roller so that the longitudinal seam of the roller extends along the X-axis direction; moving the roller to align one end of the longitudinal seam with a positioning device of the welding station, determining the welding start position and the welding end position of the longitudinal seam according to the relative position relationship between the longitudinal seam of the roller and the positioning device and the length of the longitudinal seam; controlling the welding gun to move from the initial position to the welding start position; after the welding gun moves to the welding start position, controlling the welding gun to move from the welding start position to the welding end position along the X-axis direction at a preset speed to weld the longitudinal seam; after the welding of the longitudinal seam is completed, controlling the welding gun to return to the initial position at a return speed; the roller comprises a plurality of longitudinal seams, and the plurality of longitudinal seams are arranged at intervals along the X-axis direction; the determination of the welding start position and the welding end position of the longitudinal seam according to the relative position relationship between the longitudinal seam of the roller and the positioning device and the length of the longitudinal seam comprises: determining the welding start position and the welding end position of each longitudinal seam according to the relative position of each longitudinal seam and the positioning device and the interval of the plurality of longitudinal seams; the welding method further comprises: controlling the welding gun to sequentially weld the plurality of longitudinal seams along the X-axis direction, and returning to the initial position at the return speed after the welding is completed; the plurality of longitudinal seams all extend along the X-axis direction, at least a first longitudinal seam and a second longitudinal seam are arranged at intervals along the circumferential direction of the roller and are arranged in parallel along the X-axis direction; the control of the welding gun to sequentially weld the plurality of longitudinal seams along the X-axis direction comprises: after the welding of the first longitudinal seam is completed, rotating the roller until one end of the second longitudinal seam is aligned with the positioning device to start the welding of the second longitudinal seam.

2. The welding method according to claim 1, characterized in that, The welding method comprises: controlling the welding gun to move along the Y-axis direction so that the welding gun is at a preset angle with the longitudinal seam, and the Y-axis direction intersects with the X-axis direction.

3. The welding method according to claim 2, characterized in that, The welding method further comprises: controlling the welding gun to move along the X-axis direction to a first position, and the first position is arranged in alignment with the welding start position in the Z-axis direction, and the Z-axis direction intersects with the X-axis direction and the Y-axis direction; controlling the welding gun to move along the Z-axis direction to the welding start position.

4. A welding system characterized by, The welding system performs the welding method according to any one of claims 1-3 on the longitudinal seam of the roller, and the welding system comprises: a welding device, wherein the welding device comprises a welding gun; a positioning device, wherein the positioning device is arranged in the welding station, and the positioning device is used to determine the position of the longitudinal seam and the welding start position and the welding end position of the longitudinal seam; a driving device, wherein the driving device comprises an X-axis driving assembly, a Y-axis driving assembly and a Z-axis driving assembly, and all are connected with the welding gun, and are used to drive the welding gun to move along the X-axis direction, the Y-axis direction and the Z-axis direction, and the X-axis direction, the Y-axis direction and the Z-axis direction intersect with each other. A controller is connected with the positioning device and the welding device respectively, and drives the welding torch to move along the X-axis direction or the Y-axis direction or the Z-axis direction according to the welding starting position and the welding ending position of the longitudinal seam, so as to weld the longitudinal seam.

5. The welding system of claim 4, wherein, The welding system further comprises: A human-computer interaction device connected with the controller, the human-computer interaction device being used for inputting control parameters, the control parameters including a preset speed, a return speed and a length of the longitudinal seam, wherein the welding torch welds the longitudinal seam at the preset speed, and the welding torch returns to an initial position at the return speed.

6. The welding system of claim 5, wherein, The human-computer interaction device comprises a display screen, and the welding system further comprises: An image acquisition assembly arranged opposite to the to-be-welded area of the drum at the welding station, the image acquisition assembly being electrically connected with the display screen.

7. The welding system of claim 6, wherein, The welding system further comprises: A mobile controller in communication connection with the welding device, the mobile controller being used for remotely adjusting a welding speed of the welding torch and a relative distance of the welding torch to the longitudinal seam along the X-axis direction or the Y-axis direction or the Z-axis direction; And / or a cleaning device used for cleaning a welding torch mouth of the welding torch.

8. The welding system of any of claims 4-7, wherein, The welding system further comprises: A protection switch arranged in the welding device and used for controlling emergency stop of the welding torch; The X-axis driving assembly, the Y-axis driving assembly and the Z-axis driving assembly each comprise a travel switch.

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