A walking device for an automatic welding carriage

Abstract

The invention discloses a walking device of an automatic welding trolley, and relates to the technical field of joint welding. When the trolley tends to deviate from the track due to bumps on a single-sided roller or other irresistible factors during driving, the magnetic insulation plate is made of magnetic insulation material, but a magnetically permeable seam that can be acted upon by a magnetic field is provided at the center of the magnetic insulation plate, and a second strong magnetic block is provided directly above the magnetically permeable seam, because the strong magnetic attraction of the second strong magnetic block can act on the joint of the workpiece through the magnetically permeable seam at the center, and the strong magnetic attraction is directly applied directly above the joint. From the perspective of force, the strong magnetic attraction acting directly above the joint will produce an anti-deviating correction effect between the front part of the trolley and the joint. When the front part of the trolley is about to deviate due to the bumps of the roller, the strong magnetic attraction will react quickly to correct the front part at the joint, so that the trolley will not deviate from the joint of the workpiece.

Description

Technical Field

[0001] The invention relates to the technical field of butt seam welding, in particular to a walking device of an automatic welding trolley. Background Art

[0002] At present, the common metal plates on the market are all of smaller sizes. The sizes of metal plates that can be directly produced by existing processes are limited. If large-sized metal plates are needed, people generally splice multiple small-sized metal plates together and then use the seam welding process to form the required large-sized metal plate.

[0003] When welding at some longer joints, manual welding requires carrying the welding equipment for a certain distance before moving to the next position. However, for some particularly long joints of tens or even hundreds of meters, manual welding is even more inadequate, very troublesome, time-consuming and labor-intensive. In addition, manual welding of some high joints also poses great safety risks.

[0004] Traditional automatic welding equipment is mainly composed of two parts: a traveling mechanism and a welding mechanism. The welding mechanism is generally inverted at the center of the lower surface of the traveling mechanism. The advantage is that it is easy to use. Some positions that are difficult to reach manually can be automatically welded by the welding trolley, reducing safety hazards for personnel.

[0005] However, there are still some disadvantages in the actual application of automatic welding car, as follows:

[0006] In fact, there are many kinds of joints, such as the joint of two cylinders is annular, and the joint formed by two arc-shaped metal plates is arc-shaped. However, the existing welding trolley is limited to welding the joints of flat surfaces, and its adaptability is weak.

[0007] The walking device of the automatic welding trolley cannot weld a section of the flat weld at both ends of the workpiece. It is necessary to manually add auxiliary plates to weld and lengthen the two ends of the workpiece so that the automatic welding trolley can run to the auxiliary plates to weld a section of the flat weld on the end of the workpiece. This is determined by the structure of the automatic welding trolley itself and cannot be overcome at present, which increases labor costs and material costs and affects construction efficiency;

[0008] The traveling device of the automatic welding trolley often deviates during operation and cannot always move in a straight line. When the trolley deviates, the device itself has no external force to correct it. It is necessary to stop working and manually correct the position of the trolley before continuing the welding operation, which is time-consuming and laborious.

[0009] In view of the above problems, it is urgent to carry out innovative design based on the walking device of the original automatic welding trolley. Summary of the invention

[0010] The technical solution of the present invention aims at the technical problem that the existing technical solutions are too single, and provides a solution that is significantly different from the existing technologies. Specifically, the purpose of the present invention is to provide a walking device for an automatic welding trolley to solve the problem that the above-mentioned background technology proposes that there are actually many types of joints, such as the joint of two cylinders is annular, and the joint formed by two arc-shaped metal plates is arc-shaped, while the existing welding trolley is limited to welding the joints of flat surfaces and has weak adaptability.

[0011] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a walking device of an automatic welding trolley, comprising a supporting platform, rollers are symmetrically distributed in pairs below the supporting platform, and the central axes of the two groups of rollers at the front end of the vehicle are connected to the output end of the driving motor, liquid separation bins are fixedly distributed on the upper surface of the supporting platform in a one-to-one correspondence with the rollers below, and a constant pressure gravity balancing mechanism is installed between the liquid separation bins, a first strong magnetic block is fixed to the lower surface of the fixed baffle at the upper end of the roller, and a trolley centering correction assembly is installed at the front end of the supporting platform.

[0012] Preferably, the driving motor is fixed to the side of the supporting platform, and there is attraction between the first strong magnetic block and the metal welding plate below, and a counterweight block is provided on the side of the supporting platform that is symmetrical with respect to the driving motor.

[0013] Preferably, a piston rod is slidably and sealedly provided inside the liquid separation chamber, and the lower end of the piston rod respectively penetrates the liquid separation chamber and the support platform and is hinged to the central axis of the roller.

[0014] Preferably, a controller is fixedly mounted on the upper surface of the support platform, and a first electric push rod is fixedly mounted at the center of the lower surface of the support platform, and a distance sensor is invertedly mounted at the front end of the lower surface of the support platform, a second electric push rod is fixed at the telescopic end of the first electric push rod, and a welding head is fixedly mounted at the telescopic end of the second electric push rod, and the controller is electrically connected to the first electric push rod, the second electric push rod, the welding head, the distance sensor and the drive motor.

[0015] Preferably, a constant pressure gravity balance mechanism including a positioning plate, a gravity sensing chamber and a gravity ball is installed between the liquid separation chambers, and the positioning plate is symmetrically fixed on the upper surface of the support platform, and a gravity sensing chamber is hinged at the center between the two positioning plates, and a gravity ball is arranged at the center of the gravity sensing chamber.

[0016] Preferably, the gravity sensing chamber is of a mountain-shaped structure, and the interior of the gravity sensing chamber is arranged as a cavity, and the cavity inside the gravity sensing chamber is connected to the upper chamber of the liquid separation chamber through a hose.

[0017] Preferably, the trolley centering correction assembly includes an insulating magnetic plate, a magnetically permeable seam, a second strong magnetic block, a spring telescopic rod and an insert, and the front end of the supporting platform is fixed with an insulating magnetic plate, the center of the insulating magnetic plate is provided with a magnetically permeable seam, and the upper surface of the insulating magnetic plate is fixed with a second strong magnetic block in a suspended manner, the lower surface of the insulating magnetic plate is symmetrically fixed with spring telescopic rods, and the lower ends of the spring telescopic rods are all installed with inserts.

[0018] Preferably, the insert is designed in the shape of a blade with thin edges and thick middle, and the insert is inserted into the weld between the parts to be welded on both sides below, and the spring telescopic rod consists of three parts: a telescopic sleeve, an energy storage spring and a telescopic rod.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] First, the welding trolley is placed at the joint of the workpiece, and the two plugs are inserted into the joint. Under the gravity of the welding trolley and the suction of multiple groups of first strong magnetic blocks on the workpiece, the two plugs compress the two spring telescopic rods and stably locate in the joint. At the same time, when the two plugs are in the joint, it means that the welding trolley as a whole is also parallel to the joint, and the welding head at the center is also located directly above the joint. Then, the driving motor is remotely started by the controller to make the welding trolley move in a straight line along the joint. The gravity ball is always located at the center of the gravity sensing bin, and the gravity sensing bin is always in a vertical positioning plate state. The oil on the side of the gravity ball is subjected to the same pressure, because the pressure of the oil on each group of piston rods and rollers is also the same, so that each group of rollers is subjected to the same force, thereby avoiding the problem of the trolley deviating from the track due to the different forces of the trolley itself. At the same time, the side of the roller is provided with a first Strong magnetic block, there is a relatively stable suction force between the first strong magnetic block and the workpiece, which further ensures that the trolley can walk stably at the joint. Assuming that the trolley tends to deviate from the track due to bumps on one-sided rollers or other irresistible factors during driving, the absolute magnetic plate is made of absolute magnetic material, but a magnetically permeable gap that can be acted upon by the magnetic field is opened in the center of the absolute magnetic plate, and a second strong magnetic block is arranged directly above the magnetically permeable gap, because the strong magnetic suction force of the second strong magnetic block can act on the joint of the workpiece through the magnetically permeable gap in the center, and the strong magnetic suction force is directly applied directly above the joint. From the perspective of force, the strong magnetic suction force acting directly above the joint will produce an anti-deviation correction effect between the front part of the trolley and the joint. When the front part of the trolley is about to deviate due to the bumps of the rollers, the strong magnetic suction force will react quickly to correct the front part at the joint, so that the trolley will not deviate from the joint of the workpiece.

[0021] When the welding carriage moves onto the curved surface, the relative positions of each roller and the support platform are no longer the same and will change independently, while the suction force between the first strong magnetic block and the workpiece will always keep the roller positioned on the workpiece surface. At the same time, the gravity sensing bin and the positioning plate are hinged. When the support platform is tilted, the positioning plate will still be in a state perpendicular to the horizon, and the gravity ball will also be in a state perpendicular to the positioning plate, thereby ensuring that the forces acting on each roller are the same. Similarly, when the edge of the workpiece joint is reached, the distance sensor offset from the weld will also move synchronously until the lower distance sensing signal of the distance sensor cannot detect the workpiece surface When the distance increases, the distance sensor will start the second electric push rod through the controller, so that the lower end of the welding head and the joint maintain the same distance at all times, achieving the effect of fine-tuning, which not only ensures that the welding trolley can weld the workpiece joints on the curved surface, but also can automatically fine-tune the welding spacing to ensure the consistency of the welding effect at each position of the weld. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the installation structure of the present invention from a top view;

[0023] Figure 2 It is a schematic diagram of the overall top view installation structure of the present invention after being butted with the seam;

[0024] Figure 3 This is a schematic diagram of the initial state structure of the straight seam of the present invention;

[0025] Figure 4 This is a schematic diagram of the linear seam end detection structure of the present invention;

[0026] Figure 5 This is a schematic diagram of the welding structure of the end of a straight seam of the present invention;

[0027] Figure 6 This is a schematic diagram of the initial state structure of the arc-shaped joint of the present invention;

[0028] Figure 7 It is a schematic diagram of the arc-shaped seam end detection structure of the present invention;

[0029] Figure 8 It is a schematic diagram of the welding structure of the arc seam end of the present invention.

[0030] In the figure: 1. Support platform; 11. Counterweight; 2. Roller; 21. Positioning plate; 22. Gravity sensing chamber; 23. Gravity ball; 24. Liquid separation chamber; 25. Piston rod; 3. First strong magnetic block; 4. Controller; 41. First electric push rod; 42. Second electric push rod; 43. Welding head; 44. Distance sensor; 45. Drive motor; 5. Insulating magnetic plate; 51. Magnetic permeable gap; 52. Second strong magnetic block; 6. Spring telescopic rod; 61. Insert. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0032] See also Figure 1-8 The present invention provides a technical solution: a walking device of an automatic welding trolley, comprising a supporting platform 1, rollers 2 are symmetrically distributed in pairs below the supporting platform 1, and the central axes of the two groups of rollers 2 at the front end of the vehicle head are connected to the output end of the driving motor 45, and liquid distribution bins 24 are fixedly distributed on the upper surface of the supporting platform 1 and correspond to the rollers 2 below, and a constant pressure gravity balance mechanism is installed between the liquid distribution bins 24, a first strong magnetic block 3 is fixed to the lower surface of the fixed baffle plate at the upper end of the roller 2, and a trolley centering correction component is installed at the front end of the supporting platform 1.

[0033] The driving motor 45 is fixed to the side of the supporting platform 1, and there is attraction between the first strong magnetic block 3 and the metal welding plate below, and a counterweight block 11 is provided on the side of the supporting platform 1 symmetrical to the driving motor 45. The counterweight block 11 has the same mass as the driving motor 45 to ensure the same effect on both sides of the trolley, thereby preliminarily ensuring the stability of the trolley's straight-line movement.

[0034] A piston rod 25 is slidably and sealedly provided inside the liquid separation chamber 24 , and the lower end of the piston rod 25 passes through the liquid separation chamber 24 and the central axis of the support platform 1 and the roller 2 and is hinged.

[0035] A controller 4 is fixedly installed on the upper surface of the support platform 1, and a first electric push rod 41 is fixedly installed at the center of the lower surface of the support platform 1, and a distance sensor 44 is invertedly installed at the front end of the lower surface of the support platform 1, a second electric push rod 42 is fixed to the telescopic end of the first electric push rod 41, and a welding head 43 is fixed to the telescopic end of the second electric push rod 42, and the controller 4 is electrically connected to the first electric push rod 41, the second electric push rod 42, the welding head 43, the distance sensor 44 and the drive motor 45.

[0036] A constant pressure gravity balance mechanism including a positioning plate 21, a gravity sensing chamber 22 and a gravity ball 23 is installed between the liquid separation chambers 24, and the positioning plates 21 are symmetrically fixed on the upper surface of the support platform 1, and the gravity sensing chamber 22 is hinged at the center between the two positioning plates 21, and a gravity ball 23 is arranged at the center of the gravity sensing chamber 22.

[0037] The gravity sensing chamber 22 is a mountain-shaped structure, and the interior of the gravity sensing chamber 22 is set as a cavity, and the internal cavity of the gravity sensing chamber 22 is connected to the upper chamber of the liquid separation chamber 24 through a hose.

[0038] The trolley centering correction assembly includes an insulating magnetic plate 5, a magnetically permeable slit 51, a second strong magnetic block 52, a spring telescopic rod 6 and an insert 61, and the front end of the supporting platform 1 is fixed with the insulating magnetic plate 5, the center of the insulating magnetic plate 5 is provided with a magnetically permeable slit 51, and the upper surface of the insulating magnetic plate 5 is fixed with the second strong magnetic block 52 in a suspended manner, and the lower surface of the insulating magnetic plate 5 is symmetrically fixed with the spring telescopic rod 6, and the lower ends of the spring telescopic rods 6 are installed with inserts 61.

[0039] The insert 61 is designed in the shape of a blade with thin edges and a thick middle, and is inserted into the weld between the parts to be welded on both sides below. The spring telescopic rod 6 consists of three parts: a telescopic sleeve, an energy storage spring and a telescopic rod. The blade-shaped insert 61 can adapt to smaller joints, and the spring telescopic rod 6 can use its own contraction to make the insert 61 self-adaptive in the vertical direction.

[0040] Working principle: When using the walking device of the automatic welding trolley, Figure 1 and Figure 3 As shown, the welding trolley is placed at the joint of the workpiece, and the two inserts 61 are inserted into the joint. Under the gravity of the welding trolley and the suction of the multiple groups of first strong magnetic blocks 3 on the workpiece, the two inserts 61 compress the two spring telescopic rods 6 and stably locate in the joint. At the same time, when the two inserts 61 are in the joint, it means that the welding trolley as a whole is also parallel to the joint, and the welding head 43 at the center is also located directly above the joint.

[0041] Then, the driving motor 45 is remotely started by the controller 4, and the driving motor 45 drives the two rollers 2 at the front end to rotate clockwise so that the welding carriage moves in a straight line along the joint. Figure 3As shown, a gravity sensing bin 22 is provided on the upper surface of the support platform 1, and a gravity ball 23 is provided inside the gravity sensing bin 22. When the trolley travels in a straight line on the plane joint, the gravity ball 23 is always located at the center of the gravity sensing bin 22, and the gravity sensing bin 22 is always in a state of vertical positioning plate 21. The oil on the side of the gravity ball 23 is subjected to the same pressure, because the pressure of the oil on each group of piston rods 25 and rollers 2 is also the same, so that the force on each group of rollers 2 is the same, avoiding the problem of the trolley deviating from the track due to the different forces of the trolley itself. At the same time, a first strong magnetic block 3 is provided on the side of the roller 2. The first strong magnetic block 3 has a relatively stable suction force with the workpiece, which further ensures that the trolley can travel stably at the joint. Assuming that the trolley tends to deviate from the track due to bumps on one side of the roller 2 or other irresistible factors during driving, as shown in FIG. Figure 2 and Figure 3 As shown, the magnetic-insulating plate 5 is made of magnetic-insulating material, but a magnetically permeable gap 51 through which a magnetic field can act is provided at the center of the magnetic-insulating plate 5, and a second strong magnetic block 52 is provided directly above the magnetically permeable gap 51, because the strong magnetic attraction of the second strong magnetic block 52 can act on the joint of the workpiece through the magnetically permeable gap 51 at the center, and the strong magnetic attraction is directly applied directly above the joint. From the perspective of force, the strong magnetic attraction acting directly above the joint will produce an anti-deviating corrective effect between the front part of the trolley and the joint. When the front part of the trolley is about to deviate due to the bumping of the roller 2, the strong magnetic attraction will react quickly to correct the front part at the joint, so that the trolley will not deviate from the joint of the workpiece (wherein the model of the distance sensor 44 is XC144-KL-JCS1501, and the model of the controller 4 is KY02S).

[0042] As the trolley moves to the edge of the workpiece, the two inserts 61 will gradually detach from the joint and become suspended in the air. At the same time, the distance sensor 44, which is offset from the weld, will also move synchronously until the lower distance sensing signal of the distance sensor 44 can no longer detect the surface of the workpiece. The distance sensor 44 turns off the drive motor 45 and turns on the first electric push rod 41 through the controller 4, so that the first electric push rod 41 drives the second electric push rod 42 and the welding head 43 to transmit forward. It is supplemented that another set of distance sensors is arranged on the side of the welding head 43, which can always detect the distance between the joints of the welding head 43. When the distance increases, the distance sensor will start the second electric push rod 42 through the controller 4, so that the lower end of the welding head 43 always maintains the same distance from the joint, thereby achieving a fine-tuning effect, thereby achieving the same welding effect.

[0043] In addition, if Figure 6 , Figure 7 and Figure 8As shown in the figure, when the welding trolley walks on the curved surface, the relative positions of the rollers 2 and the support platform 1 are no longer the same and will change independently, while the suction force between the first strong magnetic block 3 and the workpiece will always keep the rollers 2 positioned on the workpiece surface. At the same time, the gravity sensing bin 22 and the positioning plate 21 are hinged. When the support platform 1 is tilted, the positioning plate 21 will still be in a state perpendicular to the horizon, and the gravity ball 23 will also be in a state perpendicular to the positioning plate 21, thereby ensuring that the forces acting on the rollers 2 are the same (in simple terms, if the gravity sensing mechanism is replaced with a spring, when the rollers 2 are on the inclined plane, the compression states of the springs are different, and the springs will also have different elastic wear, which will eventually lead to the uneven force of the trolley itself, which is prone to occur In the case of deviation from the track), similarly, when it reaches the edge of the workpiece joint, the distance sensor 44 which is offset from the weld seam will also move synchronously until the lower distance sensing signal of the distance sensor 44 can no longer detect the surface of the workpiece, the distance sensor 44 turns off the drive motor 45 and turns on the first electric push rod 41 through the controller 4, so that the first electric push rod 41 drives the second electric push rod 42 and the welding head 43 to transmit forward. It is supplemented that another set of distance sensors is arranged on the side of the welding head 43, which can always detect the distance between the joints of the welding head 43. When the distance increases, the distance sensor will start the second electric push rod 42 through the controller 4, so that the lower end of the welding head 43 always maintains the same distance from the joint, thereby achieving a fine-tuning effect, thereby achieving the same welding effect.

[0044] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A walking device for an automatic welding trolley, comprising a supporting platform (1), characterized in that: Rollers (2) are symmetrically distributed in pairs below the support platform (1), and the central axes of the two groups of rollers (2) at the front end of the vehicle are connected to the output end of the drive motor (45); liquid separation bins (24) are fixedly distributed on the upper surface of the support platform (1) in a one-to-one correspondence with the rollers (2) below, and a constant pressure gravity balance mechanism is installed between the liquid separation bins (24); a first strong magnetic block (3) is fixed to the lower surface of the fixed baffle plate at the upper end of the rollers (2), and a trolley centering correction component is installed at the front end of the support platform (1); A piston rod (25) is slidably provided inside the liquid separation chamber (24) in a sealed manner, and the lower end of the piston rod (25) passes through the liquid separation chamber (24) and the central axis of the support platform (1) and the roller (2) respectively. A constant pressure gravity balance mechanism is installed between the liquid separation bins (24), comprising a positioning disk (21), a gravity sensing bin (22) and a gravity ball (23); the positioning disks (21) are symmetrically fixed on the upper surface of the support platform (1); the gravity sensing bin (22) is hinged at the center between the two positioning disks (21); and the gravity ball (23) is arranged at the center of the gravity sensing bin (22); The gravity sensing chamber (22) is of a mountain-shaped structure, and the interior of the gravity sensing chamber (22) is arranged as a cavity, and the cavity inside the gravity sensing chamber (22) is connected to the upper chamber of the liquid separation chamber (24) via a hose; The trolley centering correction assembly comprises an insulated magnetic plate (5), a magnetically permeable slit (51), a second strong magnetic block (52), a spring telescopic rod (6) and an insert (61), and the front end of the support platform (1) is fixed with the insulated magnetic plate (5), the center of the insulated magnetic plate (5) is provided with a magnetically permeable slit (51), and the upper surface of the insulated magnetic plate (5) is fixed with the second strong magnetic block (52) in a suspended manner, and the lower surface of the insulated magnetic plate (5) is symmetrically fixed with the spring telescopic rod (6), and the lower ends of the spring telescopic rods (6) are each installed with an insert (61); The insert (61) is designed in the shape of a blade with a thin edge and a thick middle, and the insert (61) is inserted into the weld between the parts to be welded on both sides below, and the spring telescopic rod (6) is composed of three parts: a telescopic sleeve, an energy storage spring and a telescopic rod.

2. The walking device of the automatic welding carriage according to claim 1 is characterized in that: The drive motor (45) is fixed to the side of the support platform (1), and there is attraction between the first strong magnetic block (3) and the metal welding plate below, and a counterweight block (11) is provided on the side of the support platform (1) symmetrical to the drive motor (45).

3. The traveling device of the automatic welding carriage according to claim 1 is characterized in that: A controller (4) is fixedly mounted on the upper surface of the support platform (1), a first electric push rod (41) is fixedly mounted at the center of the lower surface of the support platform (1), and a distance sensor (44) is invertedly mounted at the front end of the lower surface of the support platform (1), a second electric push rod (42) is fixedly mounted at the telescopic end of the first electric push rod (41), and a welding head (43) is fixedly mounted at the telescopic end of the second electric push rod (42), and the controller (4) is electrically connected to the first electric push rod (41), the second electric push rod (42), the welding head (43), the distance sensor (44) and the drive motor (45).

Images