Submerged arc welding head with vision tracking

Abstract

The application relates to a submerged arc welding machine head with visual tracking, which comprises a rack, a wire feeding mechanism, a welding torch and a roller arranged on the rack, a deformation detection mechanism arranged at the bottom of the rack, the deformation detection mechanism being used for detecting the position change of the roller caused by the deformation compression of a steel member; an active adjusting mechanism adjusts the position of the rack according to the detection result of the deformation detection mechanism; a laser visual adjusting mechanism is arranged on the rack, the welding torch is fixedly installed on the laser visual adjusting mechanism, the laser visual adjusting mechanism is used for identifying and acquiring the position deviation of a weld in real time and adjusting the position of the welding torch; the wire feeding mechanism is fixedly installed on the rack and located above the welding torch, and is used for straightening and feeding a welding wire to the welding torch for welding. The submerged arc welding machine head with visual tracking can track the deformation of the steel member and the weld in real time, automatically adjust and correct the position of the welding torch, improve the welding precision and consistency, and reduce the labor intensity.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of submerged arc welding, and particularly relates to a submerged arc welding machine head with visual tracking. BACKGROUND

[0002] In the prior art, submerged arc welding is a method of welding by burning an electric arc under a layer of flux, which has the advantages of stable welding quality, high welding productivity, no arc light, and little smoke, and thus becomes a main welding method in the manufacture of important steel structures such as pressure vessels, pipe sections, and box-type beams. At present, in the welding production of steel members such as H-shaped steel, T-shaped steel, and V-shaped steel, a gantry welding machine is usually used to continuously weld along the weld of the steel member. Since the length of the steel member is usually long, the steel member itself will have a certain deformation, which makes the welding head unable to align the weld for welding when the welding head travels to the deformation position of the steel member along the predetermined path. At present, in order to solve this problem, the existing gantry welding machine is usually equipped with a mechanical tracking system on the head to adapt to the deformation of the steel. The mechanical tracking is to set mechanical roller groups at the front and rear ends of the welding head, and when welding, the rollers at the bottom of the welding head can be in contact with the steel member body on both sides of the weld of the steel member. In this way, when the welding head travels to the deformation position of the steel member, the lower end rollers of the welding head are pressed by the deformation position of the steel member, and then the welding head is correspondingly moved and corrected in the direction of the deformation of the steel member by the roller groups arranged at the top of the welding head, so as to realize mechanical tracking.

[0003] However, the mechanical tracking has the following disadvantages: first, in the process of continuous correction of the welding head, when the steel material has a large deformation or continuously deforms in the same direction, only one end of the roller or even one side of the roller of one end of the welding head may be in contact with the steel member body, and the other end (one side) may be suspended without contact with the steel member, which makes the force transmitted to the welding head by the roller not evenly distributed, but deviates from the normal force direction to the left and right (up and down), which may cause the mechanical roller groups arranged at the top of the welding head to be unevenly stressed and even stuck, so that the welding head cannot timely adjust the position of the welding torch according to the deviation of the weld, which may easily cause welding quality problems. At this time, manual intervention is needed to adjust the position of the welding head, which is very tedious, time-consuming and laborious, and also requires workers to continuously observe and adjust during the production process of the steel member to timely find problems and correct the welded joints, which is high in labor cost and labor intensity. Second, the welding method adopts a mode of welding first and then adjusting, that is, the welding torch first welds, and then the welding quality is detected by manual detection, and if there is a deviation, the position of the welding torch is adjusted manually to solve the deviation problem. This adjustment is relatively lagging and cannot solve the problem in advance. SUMMARY

[0004] In order to solve the above problems, the application provides a submerged arc welding machine head with visual tracking, which can track the deformation of a steel member and a welding seam in real time, automatically adjust and correct the position of a welding torch, improve the precision and consistency of welding, and reduce the labor intensity.

[0005] In order to achieve the above purpose, the application designs a submerged arc welding machine head with visual tracking, which is used for automatic tracking and welding of a welding seam and comprises a rack, a wire feeding mechanism, a welding torch and a roller provided on the rack, wherein the bottom of the rack is provided with a deformation detection mechanism, the roller is provided on the deformation detection mechanism and abuts against the surface of a steel member to be welded, and the deformation detection mechanism is used for detecting the position change of the roller caused by the deformation compression of the steel member; the top of the rack is provided with an active adjustment mechanism electrically connected with the deformation detection mechanism, the active adjustment mechanism adjusts the position of the rack according to the detection result of the deformation detection mechanism; the rack is provided with a laser visual adjustment mechanism, the welding torch is fixedly installed on the laser visual adjustment mechanism, and the laser visual adjustment mechanism is used for identifying and acquiring the position deviation of the welding seam in real time and adjusting the position of the welding torch; and the wire feeding mechanism is fixedly installed on the rack above the welding torch and is used for straightening and feeding the welding wire to the welding torch for welding.

[0006] In order to improve the accuracy of deformation detection, the bottom of the rack is provided with two deformation detection mechanisms, the roller is provided with two corresponding deformation detection mechanisms, the two deformation detection mechanisms are respectively arranged on the front and rear sides of the rack in the advancing direction and are located on the same straight line, and the welding torch is located between the two deformation detection mechanisms.

[0007] In order to simply and effectively detect the deformation of the steel member, the deformation detection mechanism comprises a proximity switch, a first sliding rail, a first sliding block, a wheel carrier and an axle, the proximity switch is an inductive sensor, the roller is coaxially arranged with the axle and is installed on the bottom of the wheel carrier through the axle, the first sliding block is fixedly installed on the top of the wheel carrier, the first sliding rail is fixedly installed on the bottom of the rack and is in sliding cooperation with the first sliding block, the track direction of the first sliding rail is perpendicular to the advancing direction of the rack, the proximity switch is fixedly connected with the rack, the wheel carrier has an induction part matched with the proximity switch, and the induction part is arranged to be driven by the wheel carrier to move away from or approach the proximity switch to induct the proximity switch.

[0008] In order to prevent the induction part from moving excessively at the beginning of welding, the rack has a limiting part, the limiting part is located on the same side as the proximity switch, and a limiting groove limiting the horizontal movement range of the induction part is formed in the limiting part.

[0009] In order to make the rack quickly adapt to the deformation of the steel member, the active adjusting mechanism comprises a suspension, a driving motor, a ball screw and a ball screw nut, the bottom of the suspension is fixedly installed with a second sliding rail, the top of the rack is fixedly installed with a second sliding block in sliding cooperation with the second sliding rail, the track direction of the second sliding rail is perpendicular to the advancing direction of the rack, the driving motor is electrically connected with the deformation detecting mechanism and is fixedly installed on the suspension, a bearing seat is fixedly installed on the suspension and is oppositely arranged with the driving motor, one end of the ball screw is fixedly connected with the output shaft of the driving motor in a same axis, the other end is connected with the bearing seat, and the axial direction of the ball screw is consistent with the track direction of the second sliding rail, and the ball screw nut is fixedly installed on the top of the rack and is in cooperation with the ball screw, so that the rack can move correspondingly with the movement of the ball screw nut.

[0010] In order to improve the stability of the rack sliding, a plurality of second sliding rails and second sliding blocks are arranged, and the plurality of second sliding rails and second sliding blocks are arranged between the suspension and the rack and are respectively located on both sides of the ball screw.

[0011] In order to make the welding gun always keep relative to the position of the weld, the laser vision adjusting mechanism comprises a camera, a laser emitter and an electric sliding table, the camera is a periscope lens, the laser emitter is a linear laser emitter, a support frame is fixedly installed on the electric sliding table, the support frame moves horizontally perpendicular to the weld under the driving of the electric sliding table, the welding gun is fixedly installed on the support frame, the laser emitter is fixedly installed on the support frame and is located beside the welding gun, and is used for emitting linear laser to the steel member to form a laser line intersecting with the weld on the steel member, the camera is fixedly installed on the support frame and is located in front of the advancing direction of the welding gun, and is used for identifying and acquiring the intersection of the linear laser emitted by the laser emitter and the weld, and taking the first intersection of the laser line and the weld as a reference point; when welding the steel member, the camera identifies and acquires the position deviation of the current intersection of the laser line and the weld and the reference point in real time, and controls the electric sliding table to drive the support frame to move through an external electric control device, so that the welding gun moves synchronously and always sets relative to the weld.

[0012] In order to make the wire feeding mechanism adapt to the relative position change between the welding gun, a self-adapting mechanism is further included, the self-adapting mechanism comprises a base fixedly installed on the rack, a movable plate and a connecting rod, the base is fixedly installed with a third sliding block, the bottom surface of the movable plate is fixedly installed with a third sliding rail in sliding cooperation with the third sliding block, the movable plate is slidably connected with the third sliding block through the third sliding rail, and the sliding direction of the movable plate is perpendicular to the advancing direction of the rack, the wire feeding mechanism is fixedly installed on the movable plate and is fixedly connected with the support frame through the connecting rod.

[0013] In order to facilitate installation, the support frame comprises a fixed support and an adjusting support, the fixed support is fixedly installed on the electric sliding table and moves under the driving of the electric sliding table, the adjusting groove is formed in the fixed support, the adjusting support and the fixed support are connected and arranged through the bolt penetrating the adjusting groove, the welding gun is fixedly installed on the fixed support, the camera is fixedly installed on the adjusting support and is arranged opposite to the welding gun, and the laser emitter is pivotally connected to the adjusting support and is located between the camera and the welding gun.

[0014] The designed submerged arc welding machine head with visual tracking can track the deformation of the steel member and the weld in real time, automatically adjusts and corrects the position of the welding gun, improves the precision and consistency of welding, and reduces the labor intensity. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a structural schematic diagram of example 1;

[0016] Figure 2 is another perspective structural schematic diagram of example 1;

[0017] Figure 3 is a front view of Figure 2

[0018] Figure 4 is a structural schematic diagram of A in Figure 2

[0019] Figure 5 is a structural schematic diagram of B in Figure 3

[0020] Figure 6 is a right view of Figure 2

[0021] Figure 7 is a top view of Figure 2

[0022] Figure 8 is a sectional view of C-C in Figure 7

[0023] Figure 9 is a use schematic diagram of the laser visual adjusting mechanism in example 1.

[0024] ​​​​​​The components include: frame 10, wire feeding mechanism 20, limiting part 30, limiting groove 31, welding gun 40, roller 50, deformation detection mechanism 60, proximity switch 61, first slider 63, first slide rail 62, wheel frame 64, wheel axle 65, sensing part 66, active adjustment mechanism 70, suspension 71, drive motor 72, ball screw 73, ball screw nut 74, second slider 76, second slide rail 75, bearing seat 77, laser vision adjustment mechanism 80, camera 81, laser emitter 82, electric slide table 83, support frame 84, fixed bracket 841, adjustment bracket 842, adjustment groove 843, adaptive mechanism 90, base 91, movable plate 92, connecting rod 93, third slide rail 95, and third slider 94. Detailed Implementation

[0025] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0026] Example 1.

[0027] like Figures 1-8 As shown in this embodiment, the submerged arc welding head with vision tracking is used for automatic tracking and welding of weld seams. It includes a frame 10, and a wire feeding mechanism 20, a welding torch 40, and rollers 50 mounted on the frame 10. A deformation detection mechanism 60 is provided at the bottom of the frame 10, and the rollers 50 are mounted on the deformation detection mechanism 60 and abut against the surface of the steel component to be welded. The deformation detection mechanism 60 is used to detect the positional changes of the rollers 50 due to the deformation and pressure of the steel component. The top of the frame 10 is equipped with an active adjustment mechanism electrically connected to the deformation detection mechanism 60. The frame 10 is equipped with a section mechanism 70, which adjusts the position of the frame 10 according to the detection results of the deformation detection mechanism 60. A laser vision adjustment mechanism 80 is mounted on the frame 10, and the welding torch 40 is fixedly mounted on the laser vision adjustment mechanism 80. The laser vision adjustment mechanism 80 is used to identify and obtain the positional deviation of the weld seam in real time and adjust the position of the welding torch 40 accordingly. The wire feeding mechanism 20 is fixedly mounted on the frame 10 and located above the welding torch 40, used to straighten the welding wire and supply it to the welding torch 40 for welding. In this embodiment, the roller 50 is a V-shaped guide wheel. During use, as shown... Figure 1 and Figure 2As shown, the gantry 10 is mounted on the external gantry through the active adjustment mechanism 70 at the top thereof, and the welding gun 40 is aligned with the weld of the steel member, then the gantry 10 as a whole travels along the length direction of the steel member, the wire feeding mechanism 20 straightens and feeds the welding wire to the welding gun 40 for welding, while the V-shaped rollers 50 travel with the wheel rims on both sides abutting against the steel member body on both sides of the weld, if the steel member has deformation, when traveling to the deformation of the steel member, the rollers 50 will deviate from the initial moving track due to the compression of the steel member deformation, at this time, the deformation detection mechanism 60 detects the position change of the rollers 50, and then controls the active adjustment mechanism 70 to start, so as to adjust the position of the gantry 10 according to the position change of the rollers 50, so that the gun head of the welding gun 40 can be aligned with the weld of the steel member, at the same time, the laser vision adjustment mechanism 80 identifies and obtains the position deviation of the weld and the welding gun 40 in real time, and then adjusts the position of the welding gun 40 accurately, so as to ensure that the welding gun 40 always aligns with the weld of the steel member for welding, thereby improving the precision and consistency of welding. In this way, through the use of the deformation detection mechanism 60 combined with the laser vision adjustment mechanism 80, the problems such as weld offset caused by the deformation of the steel member can be quickly and accurately adapted. In the embodiment, in order to improve the accuracy of deformation detection, the gantry 10 is provided with two deformation detection mechanisms 60, and the rollers 50 are provided with two corresponding deformation detection mechanisms 60, the two deformation detection mechanisms 60 are respectively arranged on the front and rear sides of the traveling direction of the gantry 10 and located on the same straight line, and the welding gun 40 is located between the two deformation detection mechanisms 60.

[0028] Specifically, as Figure 4 and Figure 5As shown, in order to simply and effectively detect the deformation of the steel member, the deformation detection mechanism 60 includes a proximity switch 61, a first sliding rail 62, a first sliding block 63, a wheel carrier 64 and a wheel shaft 65. The proximity switch 61 is an inductive sensor. The roller 50 is coaxially arranged with the wheel shaft 65 and is installed at the bottom of the wheel carrier 64 through the wheel shaft 65. The first sliding block 63 is fixedly installed at the top of the wheel carrier 64. The first sliding rail 62 is fixedly installed at the bottom of the rack 10 and is in sliding cooperation with the first sliding block 63. The track direction of the first sliding rail 62 is perpendicular to the advancing direction of the rack 10. The proximity switch 61 is fixedly connected with the rack 10. The wheel carrier 64 has a sensing portion 66 matched with the proximity switch 61. The sensing portion 66 is arranged to be away from or close to the proximity switch 61 under the driving of the wheel carrier 64 to sense the proximity switch 61. In use, the roller 50 arranged at the bottom of the wheel carrier 64 abuts against the steel member body on both sides of the weld. This direct contact mode in cooperation with the first sliding rail 62 and the first sliding block 63 enables the roller 50 to be directly pressed by the deformation of the steel member and to move in the direction corresponding to the deformation of the steel member. The movement of the roller 50 drives the wheel carrier 64 to move along the first sliding rail 62 through the first sliding block 63, and finally drives the sensing portion 66 to move. The proximity switch 61 senses the deformation of the steel member by detecting the position change of the sensing portion 66. In the following, in order to facilitate understanding, it is assumed that the proximity switch 61 detects that the sensing portion 66 is close to the "1" signal and detects that the sensing portion 66 is away from the "0" signal. In this way, when the roller 50 abuts against the steel member and advances, if the proximity switch 61 detects the "1" signal, it means that the steel member is deformed to the left or right, and the rack 1 is driven to move in the direction offset to the weld by the active adjustment mechanism 70. Thus, the gun head of the welding gun 40 can be aligned with the weld to perform welding. If the proximity switch 61 detects the "0" signal for several seconds, the action is opposite, which will not be described herein. Figure 2 and Figure 4 As shown, if the steel member is deformed, the deformed portion of the steel member will press the roller 50 to move to the left or right of the weld. The wheel carrier 52 drives the sensing portion 66 to move because the deformation of the steel member is gradual rather than sudden. When the proximity switch 61 detects the "1" signal for several seconds, it means that the steel member is deformed to the left or right. Thus, the rack 1 is driven to move in the direction offset to the weld by the active adjustment mechanism 70. Thus, the gun head of the welding gun 40 can be aligned with the weld to perform welding. When the proximity switch 61 detects the "0" signal for several seconds, the action is opposite, which will not be described herein. In this embodiment, the control software required by the proximity switch 61 can be programmed or modified by those skilled in the art according to actual needs, which will not be described in detail herein.

[0029] In some embodiments, as shown in Figure 4 In order to prevent the sensing portion 66 from moving excessively at the beginning of welding, the rack 10 has a limiting portion 30 on the same side of the proximity switch 61. A limiting groove 31 limiting the horizontal movement range of the sensing portion 66 is formed in the limiting portion 30. This ensures that the sensing portion 66 moves within an acceptable range.

[0030] In some embodiments, as shown inFigure 6 and Figure 8 As shown, the active adjustment mechanism 70 includes a suspension 71, a drive motor 72, a ball screw 73, and a ball screw nut 74. A second slide rail 75 is fixedly installed at the bottom of the suspension 71, and a second slider 76 that slides with the second slide rail 75 is fixedly installed at the top of the frame 10. The track direction of the second slide rail 75 is perpendicular to the travel direction of the frame 10. The drive motor 72 is electrically connected to the deformation detection mechanism 60 and fixedly installed on the suspension 71. A bearing seat 77 opposite to the drive motor 72 is fixedly installed on the suspension 71. One end of the ball screw 73 is coaxially fixedly connected to the output shaft of the drive motor 72, and the other end is connected to the bearing seat 77. The axial direction of the ball screw 73 is consistent with the track direction of the second slide rail 75. The ball screw nut 74 is fixedly installed on the top of the frame 10 and cooperates with the ball screw 73 so that the frame 10 can move accordingly as the ball screw nut 74 moves. In this embodiment, the suspension 71 is fixedly installed on the external gantry. When the deformation detection mechanism 60 detects that the steel component has deformed and controls the drive motor 72 to start, the ball screw 73 is rotated under the drive of the drive motor 72 through the support of the bearing seat 77. This causes the ball screw nut 74 to move along the axial direction of the ball screw 73. With the use of the second slider 76 and the second slide rail 75, the frame 10 as a whole can move along the axial direction of the ball screw 73 as the ball screw nut 74 moves, thereby realizing automatic adjustment of the position of the welding torch 40 to adapt to the change in weld position caused by the deformation of the steel component.

[0031] In some embodiments, such as Figure 6 As shown, to improve the smoothness of the sliding of the frame 10, multiple second slide rails 75 and second sliders 76 are provided. These multiple second slide rails 75 and second sliders 76 are spaced apart between the suspension 71 and the frame 10, and are located on both sides of the ball screw 73. The multiple second slide rails 75 and second sliders 76 can jointly bear the weight distribution of the frame 10, balancing the force and preventing a single slider or slide rail from bearing excessive force, thus reducing wear and the risk of failure in the mechanism.

[0032] In some embodiments, such as Figure 2 and Figure 6As shown, in order to keep the welding torch relative to the welding position, the laser vision adjusting mechanism 80 comprises a camera 81, a laser emitter 82 and a motorized slide 83. The camera 81 is a periscope lens, the laser emitter 82 is a linear laser emitter, and the motorized slide 83 is fixedly installed with a support frame 84. The support frame 84 moves vertically along the welding seam under the driving of the motorized slide 83. The welding torch 40 is fixedly installed on the support frame 84. The laser emitter 82 is fixedly installed on the support frame 84 and located beside the welding torch 40, for emitting linear laser to the steel member to form a laser line intersecting with the welding seam. The camera 81 is fixedly installed on the support frame 84 and located in front of the welding torch 40, for identifying the intersection of the linear laser emitted by the laser emitter 82 and the welding seam, and taking the first intersection of the laser line and the welding seam as a reference point. When welding the steel member, as shown in Figure 9 As shown, the camera 81 identifies the position deviation of the current intersection of the laser line and the welding seam and the reference point in real time, and controls the motorized slide 83 to drive the support frame 84 to move, so that the welding torch 40 moves synchronously and is always opposite to the welding seam. In this embodiment, the camera 81 adopts a periscope lens, which can reduce the required installation space, so that the camera 81 can be installed at a relatively close position to the welding torch 40, so as to obtain a clear image of the intersection of the laser line and the welding seam. At the same time, the close installation distance can also reduce the camera interference caused by external environmental factors. When in use, as shown in Figure 2 and Figure 9 As shown, the linear laser emitter 82 emits linear laser to form a laser line intersecting with the welding seam on the steel member. The camera 81 obtains the image of the current intersection of the laser line and the welding seam in real time and identifies the position of the intersection according to the welding seam image recognition algorithm. At the same time, the first intersection of the laser line and the welding seam is taken as a reference point. During the welding process of the rack 10, the camera 81 compares the position of the intersection of the laser line and the welding seam with the position of the reference point, and then controls the motorized slide 83 to drive the support frame 84 to move, so that the welding torch 40 moves synchronously and is corrected, to ensure that the welding torch 40 is always aligned with the welding seam for welding, thereby improving the welding precision and consistency. By using the above structure design, the camera 81 is used to identify the welding seam position in real time, and the motorized slide 83 is used to drive the welding torch 40 to accurately track the welding seam, so as to realize high-quality welding operation. Compared with the traditional tracking scheme of "welding first, manual judgment and late adjustment", the welding torch 40 can be adjusted according to the identified offset welding seam, which can greatly reduce the welding defects and the frequency of manual intervention adjustment, improve the production effect and effectively reduce the labor intensity. In this embodiment, the welding seam image recognition algorithm required by the camera 81 can be programmed or modified by those skilled in the art according to actual needs, which is not described in detail here.

[0033] In some embodiments, as shown in Figure 2 and Figure 6 In order to adapt to the relative position change between the wire feeding mechanism 20 and the welding torch 40, an adaptive mechanism 90 is further included, which comprises a base 91 fixedly installed on the frame 10, a movable plate 92 and a connecting rod 93. The base 91 is fixedly installed with a third sliding block 94 thereon. The movable plate 92 is fixedly installed with a third sliding rail 95 on the bottom surface thereof, which is in sliding cooperation with the third sliding block 94. The movable plate 92 is in sliding connection with the third sliding block 94 through the third sliding rail 95, and the sliding direction of the movable plate 92 is perpendicular to the running direction of the frame 10. The wire feeding mechanism 20 is fixedly installed on the movable plate 92 and is fixedly connected with the support frame 84 through the connecting rod 93. In this embodiment, the wire feeding mechanism 20 is supported by the movable plate 92, and the use of the third sliding rail 95 and the third sliding block 94 enables the wire feeding mechanism 20 to slide relative to the base 91. When the electric sliding table 83 moves to correct the deviation of the welding torch 40, the wire feeding mechanism 20 can be moved correspondingly through the connecting rod 93. With this structural design, the wire feeding mechanism 20 can be adjusted in real time according to the movement of the welding torch 40 to adapt to the relative position change between the welding torch 40 and the welding wire, thereby avoiding the welding wire being pulled between the wire feeding mechanism 20 and the welding torch 40 when the welding torch 40 moves to correct the deviation. In this way, the position deviation caused by the welding wire being pulled straight by the welding torch 40 can be avoided, so as to ensure the welding precision and stability.

[0034] In some embodiments, as shown in Figure 9As shown, in order to facilitate installation, the support frame 84 comprises a fixed support 841 and an adjusting support 842, the fixed support 841 is fixedly installed on the electric sliding table 83 and moves under the driving of the electric sliding table 83, the adjusting groove 843 is formed in the fixed support 841, the adjusting support 842 and the fixed support 841 are connected and arranged through the bolt penetrating the adjusting groove 843, the welding gun 40 is fixedly installed on the fixed support 841, the camera 81 is fixedly installed on the adjusting support and is arranged opposite to the welding gun 40, and the laser emitter 82 is pivotally connected to the adjusting support 842 and located between the camera 81 and the welding gun 40. In this way, the installation of the fixed support 841 and the adjusting support 842 becomes more convenient through the bolt penetrating the adjusting groove 843, and meanwhile, the position of the fixed support 841 and the adjusting support 842 can be adjusted by moving the position in the adjusting groove 843 through the loose bolt during installation, that is, the position adjustment of the camera 81 and the laser emitter 82 on the adjusting support 842 relative to the welding gun 40 is realized, and such flexibility enables the operator to adjust and position according to actual installation requirements or different types of steel members to obtain the best welding effect, and meanwhile, the structure design that the laser emitter 82 is pivotally connected to the adjusting support 842 and located between the camera 81 and the welding gun 40 realizes the position adjustment of the laser emitter 82 and makes the structure of the whole laser vision adjusting mechanism 80 more reasonable and compact, thereby effectively reducing the required installation space.

[0035] The submerged arc welding machine head with visual tracking provided by the embodiment can track the deformation of the steel member and the weld in real time, automatically adjust and correct the position of the welding gun, improve the precision and consistency of welding, and reduce the labor intensity.

[0036] In the description of the present application, it should be noted that the orientations or positional relationships indicated by the terms "vertical", "upper", "lower", "horizontal" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated mechanisms or elements must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0037] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "arrangement", "installation", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected, it can be mechanically connected, or it can be electrically connected, it can be directly connected, or indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0038] Finally, it should be noted that the above only describes the preferred embodiments of the present application and is not intended to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art will appreciate that the technical solutions described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalent ones. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A submerged arc welding machine head with visual tracking for automatic tracking and welding of a weld seam, comprising a frame (10), a wire feeding mechanism (20), a welding torch (40) and a roller (50) arranged on the frame (10), a deformation detection mechanism (60) arranged at the bottom of the frame (10), the roller (50) being arranged on the deformation detection mechanism (60) and abutting against the surface of a steel member to be welded, the deformation detection mechanism (60) being used for detecting the position change of the roller (50) caused by the deformation of the steel member; an active adjustment mechanism (70) electrically connected to the deformation detection mechanism (60) is arranged at the top of the frame (10), the active adjustment mechanism (70) adjusts the position of the frame (10) according to the detection result of the deformation detection mechanism (60); a laser visual adjustment mechanism (80) is arranged on the frame (10), the welding torch (40) is fixedly installed on the laser visual adjustment mechanism (80), the laser visual adjustment mechanism (80) is used for real-time identification and acquisition of the position deviation of the weld seam and corresponding adjustment of the position of the welding torch (40); the wire feeding mechanism (20) is fixedly installed on the frame (10) above the welding torch (40) and is used for straightening and feeding the welding wire to the welding torch (40) for welding; the deformation detection mechanism (60) comprises a proximity switch (61), a first sliding rail (62), a first sliding block (63), a wheel carrier (64) and an axle (65), the proximity switch (61) is an inductive sensor, the roller (50) is coaxially arranged with the axle (65) and is installed at the bottom of the wheel carrier (64) through the axle (65), the first sliding block (63) is fixedly installed at the top of the wheel carrier (64), the first sliding rail (62) is fixedly installed at the bottom of the frame (10) and is in sliding cooperation with the first sliding block (63), the track direction of the first sliding rail (62) is perpendicular to the advancing direction of the frame (10), the proximity switch (61) is fixedly connected with the frame (10), the wheel carrier (64) has a sensing part (66) matched with the proximity switch (61), the sensing part (66) is arranged to be away from or close to the proximity switch (61) under the driving of the wheel carrier (64) to sense the proximity switch (61).

2. The submerged arc welding head with vision tracking of claim 1, wherein, Two deformation detection mechanisms (60) are arranged at the bottom of the frame (10), two rollers (50) are arranged corresponding to the deformation detection mechanisms (60), the two deformation detection mechanisms (60) are arranged on the same straight line at the front and rear sides of the advancing direction of the frame (10), and the welding torch (40) is located between the two deformation detection mechanisms (60).

3. The submerged arc welding head with vision tracking of claim 2, wherein, The frame (10) has a limiting part (30), the limiting part (30) is located on the same side as the proximity switch (61), and a limiting groove (31) limiting the horizontal movement range of the sensing part (66) is formed in the limiting part (30).

4. The submerged arc welding head with vision tracking of claim 1, wherein, The active adjusting mechanism (70) comprises a suspension (71), a driving motor (72), a ball screw (73) and a ball screw nut (74), the bottom of the suspension (71) is fixedly provided with a second sliding rail (75), the top of the rack (10) is fixedly provided with a second sliding block (76) in sliding fit with the second sliding rail (75), the track direction of the second sliding rail (75) is perpendicular to the advancing direction of the rack (10), the driving motor (72) is electrically connected with the deformation detection mechanism (60) and is fixedly installed on the suspension (71), the suspension (71) is fixedly provided with a bearing seat (77) opposite to the driving motor (72), one end of the ball screw (73) is coaxially fixedly connected with the output shaft of the driving motor (72), the other end is connected with the bearing seat (77), and the axial direction of the ball screw (73) is consistent with the track direction of the second sliding rail (75), and the ball screw nut (74) is fixedly installed on the top of the rack (10) and is matched with the ball screw (73), so that the rack (10) can move correspondingly with the movement of the ball screw nut (74).

5. The submerged arc welding head with vision tracking of claim 4, wherein, The second sliding rail (75) and the second sliding block (76) are provided with a plurality of second sliding rails (75) and second sliding blocks (76) arranged at intervals between the suspension (71) and the rack (10) and located on both sides of the ball screw (73).

6. The submerged arc welding head with vision tracking of claim 1, wherein, The laser vision adjusting mechanism (80) comprises a camera (81), a laser emitter (82) and an electric sliding table (83), the camera (81) is a periscope lens, the laser emitter (82) is a linear laser emitter, the electric sliding table (83) is fixedly provided with a support frame (84), the support frame (84) moves horizontally perpendicular to the weld under the driving of the electric sliding table (83), the welding gun (40) is fixedly installed on the support frame (84), the laser emitter (82) is fixedly installed on the support frame (84) and located beside the welding gun (40), for emitting linear laser to the steel member to form a laser line intersecting with the weld on the steel member, the camera (81) is fixedly installed on the support frame (84) and located in front of the advancing direction of the welding gun (40), for identifying and acquiring the intersection of the linear laser emitted by the laser emitter (82) and the weld, and taking the first intersection of the laser line and the weld as a reference point; when the steel member is welded, the camera (81) identifies and acquires the position deviation of the current intersection of the laser line and the weld and the reference point in real time, and controls the electric sliding table (83) to drive the support frame (84) to move through an external electric control device, so that the welding gun (40) moves synchronously and is always arranged opposite to the weld.

7. The submerged arc welding head with vision tracking of claim 6, wherein, Further include adaptive mechanism (90), the adaptive mechanism (90) includes the base (91) fixedly installed on the rack (10), movable plate (92) and connecting rod (93), the third sliding block (94) is fixedly installed on the base (91), the third sliding rail (95) that is slidably connected with the third sliding block (94) is fixedly installed on the bottom surface of movable plate (92), the movable plate (92) is slidably connected with the third sliding block (94) through the third sliding rail (95), and the sliding direction of the movable plate (92) is perpendicular to the direction of travel of the rack (10), the wire feeding mechanism (20) is fixedly installed on the movable plate (92), and is fixedly connected with the support frame (84) through the connecting rod (93).

8. The submerged arc welding head with vision tracking of claim 6, wherein, The support frame (84) includes a fixed support (841) and an adjusting support (842), the fixed support (841) is fixedly installed on the electric sliding table (83) and moves under the drive of the electric sliding table (83), the adjusting groove (843) is formed in the fixed support (841), the adjusting support (842) and the fixed support (841) are connected by penetrating the adjusting groove (843) through bolts, the welding gun (40) is fixedly installed on the fixed support (841), the camera (81) is fixedly installed on the adjusting support and is oppositely arranged with the welding gun (40), and the laser emitter (82) is pivotally connected to the adjusting support (842) and located between the camera (81) and the welding gun (40).

Images