Contour path irregularly shaped rotary joint welding system and process

Abstract

The application discloses a special-shaped rotary body joint welding system of a tracking type welding path, which comprises a tracking welding device and a clamp unit; a first curved surface lobe to be welded is fixedly installed on the clamp unit, one side surface of the curved surface lobe fixed on the clamp unit is a splicing end surface, and the edge of the splicing end surface c forms an outer curved contour line and an inner curved contour line; the tracking welding device comprises a transmission structure, a tracking unit and a welding unit; the scheme can realize welding of a welding gun along an extension direction of an irregular curve without the aid of expensive and advanced three-dimensional coordinate scanning devices.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of special-shaped curved surface welding. BACKGROUND

[0002] The nacelle shell of some large wind turbines needs to be designed into a streamlined structure in order to reduce the wind resistance coefficient, and the overall shell can be spliced and welded by a plurality of large-size variable-diameter special-shaped tubular rotary bodies as shown in the drawings. Figure 2

[0003] The special-shaped tubular rotary body as shown in the drawings is spliced by a plurality of curved surface petals with the same structure as shown in the drawings. Figure 2 Figure 1 The splicing of two adjacent curved surface petals 18 forms a curved splicing seam 18d, and the curved path of the weld seam 18d is an irregular curve. SUMMARY

[0004] The present application provides a special-shaped rotary body joint welding system and process with a tracking welding path, which can achieve the purpose of tracking welding.

[0005] Technical scheme: In order to achieve the above-mentioned purpose, the special-shaped rotary body joint welding system with a tracking welding path of the present application comprises a tracking welding device and a clamp unit; a first curved surface petal to be welded is fixedly installed on the clamp unit, one side surface of the curved surface petal fixed on the clamp unit is a splicing end surface, and the edge of the splicing end surface c forms an outer curved contour line and an inner curved contour line; the tracking welding device comprises a transmission structure, a tracking unit and a welding unit.

[0006] Further, the transmission structure comprises a mechanical arm, the distal end of the mechanical arm is fixedly connected with a first steering engine, the first steering engine shaft of the first steering engine is horizontal, and the distal end of the first steering engine shaft is vertically connected with a linear extender, the distal end of the extension rod of the linear extender is vertically fixedly connected with a second steering engine, the second steering engine shaft of the second steering engine is parallel to the first steering engine shaft, and the distal end of the second steering engine shaft is fixedly connected with a displacement seat; the tracking unit and the welding unit are symmetrically installed at both ends of the displacement seat; when the second steering engine rotates by 180°, the positions of the tracking unit and the welding unit are exchanged.

[0007] Further, it further comprises a recording unit, which records the rotation angles of the first steering engine shaft and the second steering engine shaft relative to the initial state in real time; at the same time, the recording unit records the extension length of the extension rod of the linear extender relative to the initial state in real time.

[0008] ​​Further, the tracking unit comprises a pair of symmetrically arranged a tracking wheels and b tracking wheels, the a tracking wheels and b tracking wheels are rotatably arranged on a roller support a and a roller support b respectively, the roller support a and the roller support b are fixed on a horizontal beam a and a horizontal beam b respectively, a universal roller seat is arranged between the horizontal beam a and the horizontal beam b, the universal roller seat is rotatably arranged with universal ball bearings on the side close to the a tracking wheels and the b tracking wheels; the horizontal beam a and the horizontal beam b are fixed with an a electric telescopic device and a b electric telescopic device respectively on the side close to the universal roller seat, the a electric telescopic device and the b electric telescopic device are symmetrically arranged above and below the universal roller seat, the a telescopic rod and the b telescopic rod of the a electric telescopic device and the b electric telescopic device are arranged in the same direction and are fixed on the upper and lower sides of the universal roller seat respectively; the horizontal beam a is fixedly connected with the structure arm and one end of the displacement seat.

[0009] Further, the c drive steering engine is drivingly connected with the a tracking wheels.

[0010] Further, the welding unit comprises a laser welder fixedly connected with the displacement seat, and a welding torch of the laser welder is arranged on the side away from the tracking unit.

[0011] Further, in the tracking state, the universal ball bearings are in rolling cooperation with the splicing end surface of the curved surface segment to be welded, and the a tracking wheels and the b tracking wheels are tightly clamped on both sides of the splicing end surface, in the process of the universal ball bearings walking along the curved path of the splicing end surface under the constraint of the a tracking wheels and the b tracking wheels, the a tracking wheels and the b tracking wheels roll along the outer curved contour line and the inner curved contour line respectively; the extension line of the welding head of the welding torch intersects with the outer curved contour line.

[0012] On the basis of the tracking state, after the second steering engine is rotated by 180°, the welding state is switched, the positions of the tracking unit and the welding unit are exchanged, and at this time, the welding head of the welding torch corresponds to the outer curved contour line.

[0013] Further, the tracking method of the special-shaped rotary body joint welding system of the tracking type welding path comprises the following steps.

[0014] In the initial state of the tracking process, the tracking unit is located at the lower end position of the splicing end surface.

[0015] Step one: the first steering engine and the second steering engine control the first steering engine shaft and the second steering engine shaft to enter the freely rotatable state; at the same time, the linear telescopic device controls the telescopic rod to enter the freely telescopic state.

[0016] Step two: the tracking unit as a whole is gradually displaced along the path of the outer curved contour line or the inner curved contour line until the tracking unit reaches the upper end of the splicing end surface.

[0017] During this step, the recording unit records in real time the rotation angle of the freely rotating first and second servo shafts relative to the initial state at each moment, and records in real time the extension length of the freely extending telescopic rod relative to the initial state at each moment; thus completing the tracking process.

[0018] Step 3: The tracking unit returns to the lower end position of the splicing end face in the initial state;

[0019] Step four: The positions of the tracking unit and the welding unit are swapped;

[0020] Step 5: The second curved surface petal is spliced ​​with the curved surface petal that has been fixed by the fixture before welding;

[0021] Step six: Based on the parameters recorded in real time during "Step two", the complete motion process in "Step two" is "reproduced" by actively controlling the first servo, the second servo, and the telescopic device. The welding head on the welding unit moves along the path of the splice seam.

[0022] Beneficial effects: The present invention provides a tracking welding solution in which, before welding is performed, the tracking unit adaptively walks along the welding path and records the walking record. The subsequent welding process is reproduced by the recorded path, thereby achieving the purpose of tracking welding. This solution can achieve welding along the extension direction of irregular curves that the welding torch cannot automatically follow without the aid of expensive and advanced three-dimensional coordinate scanning devices. Attached Figure Description

[0023] Appendix Figure 1 This is a schematic diagram of splicing together several curved surface lobes;

[0024] Appendix Figure 2 A schematic diagram of a non-circular tubular body of revolution formed by splicing together several curved lobes;

[0025] Appendix Figure 3 This is a schematic diagram of the initial state of the line-following process;

[0026] Appendix Figure 4 For the appendix Figure 3 An enlarged view of mark 20;

[0027] Appendix Figure 5 This is a schematic diagram of the initial state of the tracking process, or a schematic diagram of the state at the end of "Step Three";

[0028] Appendix Figure 6 For the appendix Figure 5 An enlarged view of mark 20;

[0029] Appendix Figure 7 This is a partially enlarged schematic diagram of the tracking unit and the welding unit;

[0030] Appendix Figure 8 for Figure 6 A schematic diagram of the second servo shaft of the second servo motor after rotating 180° clockwise;

[0031] Appendix Figure 9 For the appendix Figure 8 Another perspective illustration;

[0032] Appendix Figure 10 A schematic diagram for preparing the second curved surface flap in "Step 5";

[0033] Appendix Figure 11 For the appendix Figure 10 The diagram shows the assembly of the second curved surface piece before welding it to the already fixed curved surface piece using a robotic arm or manually. Detailed Implementation

[0034] The invention will now be further described with reference to the accompanying drawings.

[0035] As attached Figures 1 to 11 The illustrated welding system for irregularly shaped rotating bodies using a tracking welding path; such as Figure 2 The system comprises several curved lobes 18 of identical structure to be welded. The wall thickness of each curved lobe 18 is uniform at any position. These curved lobes 18 are arranged in a circumferential array and spliced ​​together to form a variable-diameter, irregularly shaped tubular rotating body 70. Figure 1 As shown, a curved splicing seam 18d is formed at the splicing point of two adjacent curved surface lobes 18. The welding system can perform path-following welding on the curved splicing seam 18d, so that the splicing point of two adjacent curved surface lobes 18 is welded into one piece; the specific scheme is as follows:

[0036] The first curved surface petal 18 to be welded is fixedly mounted on the fixture unit with its axis vertical. Since the fixture structure is a known structure, it is not shown in the attached figure. One side of the curved surface petal 18 fixed on the fixture unit is the splicing end face 18c. The edge of the splicing end face 18c forms an outer curve contour line 18a and an inner curve contour line 18b. It should be noted that when clamping the first curved surface petal 18, the fixture should avoid clamping the splicing end face 18c of the curved surface petal 18.

[0037] like Figure 7 As shown, the tracking welding device includes a transmission structure, a tracking unit 30, and a welding unit 41, the specific structure of which is detailed below:

[0038] The transmission structure comprises a mechanical arm 22, the end of the mechanical arm 22 is fixedly connected with a first steering engine 24, the first steering engine shaft 23 of the first steering engine 24 is horizontal, and the end of the first steering engine shaft 23 is vertically connected with a linear telescopic device 21, the end of the telescopic rod 16 of the linear telescopic device 21 is vertically fixedly connected with a second steering engine 15, the second steering engine shaft 14 of the second steering engine 15 is parallel to the first steering engine shaft 23, and the end of the second steering engine shaft 14 is fixedly connected with a displacement seat 17; a tracking unit 30 and a welding unit 41 are symmetrically installed at two ends of the displacement seat 17; when the second steering engine shaft 14 of the second steering engine 15 rotates by 180°, the positions of the tracking unit 30 and the welding unit 41 are exchanged; as shown in Figure 8 .

[0039] The recording unit records the rotation angles of the first steering engine shaft 23 and the second steering engine shaft 14 of the first steering engine 24 and the second steering engine 15 relative to the initial state in real time; at the same time, the recording unit also records the extension length of the telescopic rod 16 of the linear telescopic device 21 relative to the initial state in real time; the first steering engine 24 and the second steering engine 15 process active rotation, and the first steering engine shaft 23 and the second steering engine shaft 14 are controlled to enter a freely rotatable state; at the same time, the linear telescopic device 21 can also control the telescopic rod 16 to enter a freely telescopic state.

[0040] As shown in Figure 7 , the tracking unit 30 comprises a loop tracking wheel 3 and a b loop tracking wheel 4 which are symmetrical, the loop tracking wheel 3 and the b loop tracking wheel 4 are respectively rotatably installed on an a roller bracket 1 and a b roller bracket 5, the a roller bracket 1 and the b roller bracket 5 are respectively fixed on an a horizontal beam 47 and a b horizontal beam 6, a universal roller seat 10 is arranged between the a horizontal beam 47 and the b horizontal beam 6, the universal roller seat 10 is rotatably provided with a universal ball 9 on the side close to the a loop tracking wheel 3 and the b loop tracking wheel 4, an a electric telescopic device 12 and a b electric telescopic device 7 are respectively fixed on the side of the a horizontal beam 47 and the b horizontal beam 6 close to the universal roller seat 10, the a electric telescopic device 12 and the b electric telescopic device 7 are symmetrical relative to the universal roller seat 10, the extension directions of a telescopic rod 11 of the a electric telescopic device 12 and a telescopic rod 8 of the b electric telescopic device 7 are consistent and the ends thereof are respectively fixed on the upper and lower sides of the universal roller seat 10, the a horizontal beam 47 is fixedly connected with one end of the displacement seat 17 through a structure arm 13, and one side of the a roller bracket 1 is fixedly installed with a c driving steering engine 2 through a motor bracket, the c driving steering engine 2 is drivingly connected with the loop tracking wheel 3.

[0041] As shown in Figure 7 , the welding unit 41 comprises a laser welder 31 fixedly connected on the displacement seat 17, and a welding gun 32 of the laser welder 31 is located on the side away from the tracking unit 30.

[0042] The tracking unit 30 is in the tracking state: the universal ball 9 is in rolling fit with the splicing end surface 18c of the curved surface segment 18 to be welded, and the a tracking wheel 3 and the b tracking wheel 4 are tightly rolled on both sides of the splicing end surface 18c, and the universal ball 9 walks along the curved path of the splicing end surface 18c under the constraint of the a tracking wheel 3 and the b tracking wheel 4, the a tracking wheel 3 and the b tracking wheel 4 respectively roll along the outer curved contour line 18a and the inner curved contour line 18b; the extension line 19 of the welding head 33 of the welding gun 32 always intersects with the outer curved contour line 18a; on the basis of the tracking state, the second steering engine 15 is rotated by 180°, and the welding state is switched, the positions of the tracking unit 30 and the welding unit 41 are exchanged, at this time the welding head 33 of the welding gun 32 corresponds to the outer curved contour line 18a;

[0043] Working principle:

[0044] Preparation process:

[0045] In the initial state, the first curved surface segment 18 to be welded is fixed and installed on the clamp unit in the form that the axis is vertical, at the same time, the mechanical arm 22 is controlled to reach the appropriate position, the universal ball 9 on the tracking unit 30 is in rolling fit with the lower end of the splicing end surface 18c of the curved surface segment 18 to be welded, then the a telescopic rod 11 and the b telescopic rod 8 are controlled to be retracted, the gap between the a tracking wheel 3 and the b tracking wheel 4 is shortened to be consistent with the thickness of the curved surface segment 18, so that the a tracking wheel 3 and the b tracking wheel 4 are tightly rolled on both sides of the lower end of the splicing end surface 18c, then the a electric telescopic device 12 and the b electric telescopic device 7 are locked, so that the gap between the a tracking wheel 3 and the b tracking wheel 4 is always consistent with the thickness of the curved surface segment 18 in the following steps, thus the initial state of the tracking process is entered; as Figure 3 and Figure 5 ;

[0046] Tracking welding process:

[0047] In the initial state of the tracking process, the universal ball 9 is in rolling fit with the lower end of the splicing end surface 18c of the curved surface segment 18 to be welded, and the a tracking wheel 3 and the b tracking wheel 4 are tightly rolled on both sides of the lower end of the splicing end surface 18c, so that the tracking unit 30 is in the lower end position of the splicing end surface 18c; as Figure 3 and Figure 5 .

[0048] Step one: the first steering engine 24 and the second steering engine 15 control the first steering engine shaft 23 and the second steering engine shaft 14 to enter the state of free rotation; at the same time, the straight telescopic device 21 controls the telescopic rod 16 to also enter the state of free extension and retraction;

[0049] Step 2: The servo motor 2 drives the tracking wheel 3 to rotate actively in the forward direction. Driven by the rolling friction of the actively rotating tracking wheel 3 and under the joint constraint of the tracking wheel 3 and the tracking wheel 4, the universal ball bearing 9 automatically rolls upward along the curved path of the splicing end face 18c. This causes the tracking wheel 3 and the tracking wheel 4 to actively roll upward along the outer curve contour line 18a and the inner curve contour line 18b, respectively. During the process of the tracking wheel 3 and the tracking wheel 4 actively rolling upward along the outer curve contour line 18a and the inner curve contour line 18b, the tracking unit 30, as a whole, gradually moves upward along the outer curve contour line 18a or the inner curve contour line 18b until the tracking unit 30 reaches the upper end of the splicing end face 18c.

[0050] During this step, the freely rotatable first servo shaft 23 and second servo shaft 14 both rotate adaptively, and the telescopic rod 16 extends and retracts adaptively; at the same time, the recording unit records in real time the rotation angle of the freely rotatable first servo shaft 23 and second servo shaft 14 relative to the initial state at each moment, and records in real time the extension length of the freely extending and retracting telescopic rod 16 relative to the initial state at each moment; thus completing the tracking process.

[0051] Step 3: C drives servo 2 to drive a tracking wheel 3 to actively rotate in the opposite direction. Driven by the active reverse rotation of a tracking wheel 3, the tracking unit 30 returns to the lower end position of the splicing end face 18c in the initial state along the path of the outer curve contour line 18a or the inner curve contour line 18b; Figure 3 and 5 ;

[0052] Step four, with Figure 5 and Figure 6 For example, controlling the second servo motor 15 to rotate the second servo shaft 14 clockwise by 180° causes the tracking unit 30 and the welding unit 41 to switch positions. At this time, the welding head 33 of the welding torch 32 corresponds to the lower end of the outer curve contour line 18a, such as... Figure 8 As shown;

[0053] Step 5: Prepare the second curved surface flap 018, and use a robotic arm or manually to splice the second curved surface flap 018 with the curved surface flap 18 that has been fixed by the fixture before welding. After splicing, a curved splice seam 18d is formed at the splice joint. This splice seam 18d completely coincides with the outer curve contour line 18a in the previous step. Therefore, the welding head 33 of the welding torch 32 also corresponds to the lower end of the splice seam 18d at this time. Figure 11 As shown.

[0054] Step six, since the rotation angle of the first steering shaft 23 and the second steering shaft 14 relative to the initial state at each moment, and the extension length of the telescopic rod 16 relative to the initial state at each moment have been recorded during the process of "step two"; this step is based on the data recorded in real time during the process of "step two", and the movement process in "step two" is "reproduced" again by actively controlling the first steering 24, the second steering 15 and the telescopic device 21.

[0055] Since the position of the tracking unit 30 and the welding unit 41 has been switched in "step four", the movement of the tracking unit 30 is replaced by the movement of the welding unit 41 during the "reproduction" of the complete movement process in "step two", so that the welding unit 41 gradually displaces along the path of the outer curved contour line 18a or the inner curved contour line 18b as a whole during the "reproduction" of the complete movement process in "step two", until the welding unit 41 reaches the upper end of the splicing end face 18c, and then the welding head 33 on the welding unit 41 displaces along the path of the splicing seam 18d and performs complete welding on the splicing seam 18d, thereby realizing the process of tracking welding on the first splicing seam 18d.

[0056] Since the welding paths of the other several splicing seams 18d on the variable-diameter special-shaped tubular body of revolution 70 are consistent, theoretically only one tracking process is required.

[0057] The above is only the preferred embodiment of the present application, it should be noted that for those skilled in the art, without departing from the principles of the present application, several improvements and refinements can be made, these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. A contoured rotary joint welding system for a follow-the-weld path, characterized by: The application relates to a tracking welding device and a clamp unit; a first curved surface lobe (18) to be welded is fixedly installed on the clamp unit; one side of the curved surface lobe (18) fixedly installed on the clamp unit is a splicing end surface (18c); the edge of the splicing end surface (18c) forms an outer curved contour line (18a) and an inner curved contour line (18b); the tracking welding device comprises a transmission structure, a tracking unit (30) and a welding unit (41). The transmission structure comprises a mechanical arm (22), the end of the mechanical arm (22) is fixedly connected with a first steering engine (24), the first steering engine shaft (23) of the first steering engine (24) is horizontal, the end of the first steering engine shaft (23) is vertically connected with a linear extender (21), the end of the extensible rod (16) of the linear extender (21) is vertically fixedly connected with a second steering engine (15), the second steering engine shaft (14) of the second steering engine (15) is parallel to the first steering engine shaft (23), the end of the second steering engine shaft (14) is fixedly connected with a displacement seat (17); the tracking unit (30) and the welding unit (41) are symmetrically installed at the two ends of the displacement seat (17); when the second steering engine (15) rotates by 180 DEG, the positions of the tracking unit (30) and the welding unit (41) are exchanged; The tracking unit (30) comprises a tracking wheel a (3) and a tracking wheel b (4) which are symmetrically arranged upwards and downwards, the tracking wheel a (3) and the tracking wheel b (4) are rotatably installed on an a roller support (1) and a b roller support (5) respectively, the a roller support (1) and the b roller support (5) are fixed on an a horizontal beam (47) and a b horizontal beam (6) respectively, a universal roller seat (10) is arranged between the a horizontal beam (47) and the b horizontal beam (6), the universal roller seat (10) is rotatably provided with universal ball bearings (9) on the side close to the tracking wheel a (3) and the tracking wheel b (4); an a electric extender (12) and a b electric extender (7) are fixed on the side of the a horizontal beam (47) and the b horizontal beam (6) close to the universal roller seat (10) respectively, the a electric extender (12) and the b electric extender (7) are symmetrically arranged upwards and downwards relative to the universal roller seat (10), the a extensible rod (11) of the a electric extender (12) and the b extensible rod (8) of the b electric extender (7) are in the same direction and are fixed on the upper and lower sides of the universal roller seat (10) respectively; the a horizontal beam (47) is fixedly connected with one end of the displacement seat (17) through a structure arm (13). The recording unit records the rotation angles of the first steering engine shaft (23) and the second steering engine shaft (14) of the first steering engine (24) and the second steering engine (15) relative to the initial state in real time; meanwhile, the recording unit records the extension length of the extensible rod (16) of the linear extender (21) relative to the initial state in real time.

2. The contoured rotary seam weld system of claim 1, wherein: The c driving steering engine (2) drives the a tracking wheel (3).

3. The contoured rotary seam weld system of claim 2, wherein: The welding unit (41) comprises a laser welder (31) fixedly connected on the displacement seat (17), and the welding gun (32) of the laser welder (31) is located on the side far from the tracking unit (30).

4. The contoured rotary seam weld system of claim 3, wherein: The tracking unit (30) in the tracking state: the universal ball (9) is in rolling fit with the splicing end surface (18c) of the curved surface segment (18) to be welded, and the a tracking wheel (3) and the b tracking wheel (4) are tightly clamped on both sides of the splicing end surface (18c), and the universal ball (9) travels along the curved path of the splicing end surface (18c) under the constraint of the a tracking wheel (3) and the b tracking wheel (4), the a tracking wheel (3) and the b tracking wheel (4) roll along the path of the outer curved contour line (18a) and the inner curved contour line (18b) respectively; the extension line (19) of the welding head (33) of the welding gun (32) intersects with the outer curved contour line (18a); On the basis of the tracking state, the second steering engine (15) is rotated by 180°, and is switched to the welding state, the positions of the tracking unit (30) and the welding unit (41) are exchanged, at this time, the welding head (33) of the welding gun (32) corresponds to the outer curved contour line (18a).

5. The tracking method of the tracking type welding path special-shaped rotary body joint welding system according to claim 4, characterized in that: In the initial state of the tracking process, the tracking unit (30) is located at the lower end position of the splicing end surface (18c); Step one: the first steering engine (24) and the second steering engine (15) control the first steering engine shaft (23) and the second steering engine shaft (14) to enter the freely rotatable state; at the same time, the linear extender (21) controls the telescopic rod (16) to enter the freely extendable state; Step two, the tracking unit (30) as a whole gradually displaces along the path of the outer curved contour line (18a) or the inner curved contour line (18b); until the tracking unit (30) reaches the upper end of the splicing end surface (18c); In this step, the recording unit records the rotation angle of the first steering engine shaft (23) and the second steering engine shaft (14) at each moment relative to the initial state, and records the extension length of the telescopic rod (16) at each moment relative to the initial state in real time; so as to complete the tracking process; Step three, the tracking unit (30) returns to the lower end position of the splicing end surface (18c) in the initial state; Step four, the positions of the tracking unit (30) and the welding unit (41) are exchanged; Step five, the second curved surface segment (018) is spliced with the curved surface segment (18) fixed by the clamp before welding; Step six, based on the data recorded in real time in "step two", the complete motion process in "step two" is "reproduced" by actively controlling the first steering engine (24), the second steering engine (15) and the extender (21), and the welding head (33) on the welding unit (41) displaces along the path of the splicing joint (18d).

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