Narrow-gap submerged arc welding tracking system and tracking method thereof

Abstract

The invention discloses a narrow-gap submerged-arc welding tracking system and a tracking method thereof, and belongs to the technical field of welding, the narrow-gap submerged-arc welding tracking system comprises a tracking device mounted on a welding head, the tracking device is located in front of a welding gun in the working direction, the tracking device comprises a mounting frame, and two tracking assemblies are arranged on the mounting frame; the tracking assembly comprises a tracking claw rotationally connected to the mounting frame, a torsional spring for providing torsional reset force for the tracking claw, a driving device capable of pushing the tracking claw reversely along the torsional reset force and an angle measuring device for measuring the rotating angle of the tracking claw, and the rotating axis of the tracking claw and the axis of the welding gun are both vertically arranged; the connecting line of the rotating axis of the tracking claw and the welding gun is parallel to the working direction, the tracking claw can make contact with the side wall of the groove within the pushing range of the torsion reset force, and the directions of the torsion reset force of the torsion springs of the two tracking assemblies are opposite. Through driving of the driving device, automatic unfolding and folding of the tracking claw can be achieved, and manual operation of a mechanical switch to fold and unfold the tracking claw is replaced.

Description

Technical Field

[0001] The invention relates to the technical field of welding, and in particular to a narrow gap submerged arc welding tracking system and a tracking method thereof. Background Art

[0002] Narrow gap submerged arc welding technology is a process method to complete multi-layer and multi-pass welding in a groove that is much narrower than the conventional groove. It usually adopts a U-shaped or V-shaped groove, with a single-side angle of 0.5-1.5° (total angle of 1-3°) and a minimum bottom width of 18-22mm. Due to its unique groove form, narrow gap submerged arc welding has higher requirements for tracking the welding gun from the left and right side walls of the groove in the weld. Therefore, the tracking device has become the key and core of narrow gap submerged arc welding technology, and the automation of the tracking device is what users are most concerned about and expect.

[0003] Tracking devices are divided into contact tracking devices and non-contact tracking devices. Among them, the contact tracking device mainly uses a contact device to constantly monitor the lateral distance between the welding gun and the left and right side walls of the groove. The current contact tracking devices (to the inventor's knowledge) are all started by mechanical switches, that is, they need to rely on manual control of the mechanical switch to start and close the contact device, and the degree of automation is low. Summary of the invention

[0004] The purpose of the present invention is to solve the above-mentioned technical problems and provide a narrow gap submerged arc welding tracking system and a tracking method thereof. Through the driving cooperation of a driving device, the tracking claws can be automatically retracted and unfolded, and the lateral distance between the welding gun and the left and right side walls of the groove can be tracked and monitored, replacing the manual operation of the mechanical switch, and having a high degree of automation.

[0005] To achieve the above-mentioned purpose, the present invention provides the following scheme: The present invention discloses a narrow gap submerged arc welding tracking system, comprising a tracking device installed on a welding machine head, the tracking device is located in front of the welding gun of the welding machine head in the working direction, the tracking device comprises a mounting frame, and two tracking components are arranged on the mounting frame, the tracking component comprises a tracking claw rotatably connected to the mounting frame, a torsion spring providing a torsional reset force to the tracking claw, a driving device capable of pushing the tracking claw in the opposite direction along the torsional reset force, and an angle measuring device for measuring the rotation angle of the tracking claw, the rotation axis of the tracking claw and the axis of the welding gun are both vertically arranged, the rotation axis of the tracking claw and the connecting line of the welding gun are parallel to the working direction, the tracking claw can contact the side wall of the groove within the pushing range of the torsional reset force, and the torsional reset forces of the torsion springs of the two tracking components are in opposite directions.

[0006] Preferably, the angle measuring device converts the rotation angle into a chord length value through a computing system.

[0007] Preferably, a PLC controller is further included, the computing system is built in the PLC controller, and the PLC controller is electrically connected to the driving device.

[0008] Preferably, the PLC controller is installed in a control cabinet.

[0009] Preferably, the tracking claw is rotatably connected to the mounting frame via a rotating rod, the rotating rod is vertically arranged, one end of the torsion spring is fixedly connected to the rotating rod, and the other end of the torsion spring is fixedly connected to the mounting frame.

[0010] Preferably, the angle measuring device is a potentiometer, the top end of the rotating rod is coaxially fixedly connected to the input shaft of the potentiometer, and the bottom end of the rotating rod is fixedly connected to the tracking claw.

[0011] Preferably, the driving device comprises a telescopic cylinder and a limit block fixed on the rotating rod, and the piston rod of the telescopic cylinder is located on the rotating path of the limit block.

[0012] Preferably, the telescopic cylinder is a pneumatic telescopic cylinder, a hydraulic telescopic cylinder or an electric telescopic cylinder.

[0013] Preferably, the tracking claw is provided with a contact portion for contacting the side wall of the groove.

[0014] A narrow gap submerged arc welding tracking method is also disclosed, which uses the narrow gap submerged arc welding tracking system described above and includes the following steps:

[0015] Before tracking monitoring, the driving devices of the two tracking components push their respective tracking claws, and the tracking claws move away from the groove side walls they are in contact with;

[0016] During tracking monitoring, the driving devices of the two tracking components no longer push their respective tracking claws. The tracking claws re-contact the corresponding groove side walls under the torsional reset force of the torsion spring. As the welding head moves, the angle measuring device obtains the rotation angle value of the tracking claws. By converting the rotation angle value into a chord length value, the lateral distance between the welding gun and the groove side walls on both sides is obtained.

[0017] Compared with the prior art, the present invention has achieved the following technical effects:

[0018] 1. In the present invention, through the torsion reset of the torsion spring and the reverse push limit of the driving device, when the driving device pushes or retracts, the tracking claw can be automatically retracted and unfolded, thereby realizing automatic startup and shutdown, and tracking and monitoring the lateral distance between the welding gun and the left and right side walls of the groove. There is no need to rely on manual operation to control the mechanical switch to start and close the contact device, and the degree of automation is high.

[0019] 2. In the present invention, the driving device adopts a pneumatic telescopic cylinder, a hydraulic telescopic cylinder or an electric telescopic cylinder for driving, and the automation method is simple and effective, and can automatically realize the deployment and folding of the tracking claw. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 is a schematic structural diagram of a narrow gap submerged arc welding tracking system in an embodiment;

[0022] Figure 2 Schematic diagram of the working principle of the narrow gap submerged arc welding tracking system in the embodiment;

[0023] Figure 3 Schematic diagram of the structure of the narrow gap groove in the embodiment.

[0024] Explanation of the reference numerals: 1. mounting bracket; 2. rotating rod; 3. tracking claw; 4. limit block; 5. torsion spring; 6. contact part; 7. pneumatic telescopic cylinder; 8. potentiometer; 9. control cabinet; 10. pneumatic system; 11. welding gun; 12. groove side wall. DETAILED DESCRIPTION

[0025] 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.

[0026] Example 1

[0027] This embodiment provides a narrow gap submerged arc welding tracking system, such as Figures 1 to 3As shown, it includes a tracking device, which is installed on the welding head. The tracking device is located in front of the welding gun 11 of the welding head in the working direction. When the welding gun 11 moves along the working direction, the tracking device will move in the same direction. The tracking device is located in front of the welding gun 11 in the working direction. The tracking device includes a mounting frame 1, and two tracking components are arranged on the mounting frame 1. Each tracking component includes a tracking claw 3, a torsion spring 5, a driving device and an angle measuring device. The tracking claw 3 is rotatably connected to the mounting frame 1. The torsion spring 5 provides a torsional reset force to the tracking claw 3, and the driving device can push the tracking claw 3 in the opposite direction of the torsional reset force. The angle measuring device is used to measure the rotation angle of the tracking claw 3. The rotation axis of the tracking claw 3 and the axis of the welding gun 11 are both vertically arranged, and the connecting line of the rotation axis of the tracking claw 3 and the welding gun 11 is parallel to the working direction. The tracking claw 3 can contact the groove side wall 12 within the pushing range of the torsional reset force. Since the torsion restoring forces of the torsion springs 5 ​​of the two tracking assemblies are opposite, the tracking claws 3 of the two tracking assemblies will rotate in two opposite directions, thereby fitting on the groove side walls 12 on the left and right sides of the groove. Therefore, one of the two tracking assemblies is a left tracking assembly and the other is a right tracking assembly.

[0028] Working principle:

[0029] Before tracking, the tracking claws 3 of the two tracking components are in a retracted state under the pushing limit of the driving device, that is, the tracking claws 3 of the two tracking components are respectively away from the groove side walls 12 on both sides. Preferably, the tracking claws 3 of the two tracking components can be on the connecting line between the rotation axis of the tracking claws 3 and the welding gun 11.

[0030] During tracking, the tracking claws 3 of the two tracking components will no longer be pushed and limited by the driving device, and the tracking claws 3 will rotate toward the groove side wall 12 under the torsional reset force of the torsion spring 5, thereby releasing the tracking claws 3. Because the torsional reset forces of the torsion springs 5 ​​of the two tracking components are opposite, the tracking claws 3 of the two tracking components will rotate in two opposite directions, thereby fitting on the groove side walls 12 on the left and right sides of the groove. At this time, the angle measuring devices of the two tracking components will detect the rotation angles of their respective tracking claws 3, and the chord length of the arc can be converted and calculated based on the rotation angle, that is, the lateral distance from the rotation axis of the tracking claws 3 to the groove side walls 12 they contact, that is, the lateral distance from the welding gun 11 to the groove side walls 12 on the left and right sides, so that as the welding gun 11 moves, the tracking device will continuously monitor the lateral distance between the welding gun 11 and the groove side walls 12 on the left and right sides.

[0031] In one embodiment, if Figures 1 to 3 As shown, the angle measuring device converts the rotation angle into a chord length value through a computing system.

[0032] In one embodiment, if Figures 1 to 3As shown, it also includes a PLC controller, the computing system is built in the PLC controller, and the PLC controller is electrically connected to the driving device, that is, the driving device can be automatically driven to start through the PLC controller, so as to realize the automatic release and retraction of the tracking claw 3, and convert the rotation angle measured by the angle measuring device into a chord length value, that is, the lateral distance between the welding gun 11 and the groove side walls 12 on the left and right sides.

[0033] In one embodiment, if Figures 1 to 3 As shown, the PLC controller is installed in the control cabinet 9.

[0034] In one embodiment, if Figures 1 to 3 As shown, the tracking claw 3 is rotatably connected to the mounting frame 1 through the rotating rod 2, and the rotating rod 2 is arranged vertically. One end of the torsion spring 5 is fixedly connected to the rotating rod 2, and the other end of the torsion spring 5 is fixedly connected to the mounting frame 1. The rotation of the tracking claw 3 will drive the rotating rod 2 to rotate, thereby torsionally accumulating elastic reset force of the torsion spring 5, so as to provide the torsion reset force to the tracking claw 3 later.

[0035] In one embodiment, if Figures 1 to 3 As shown, the angle measuring device is a potentiometer 8, the top end of the rotating rod 2 is coaxially fixedly connected to the input shaft of the potentiometer 8, and the bottom end of the rotating rod 2 is fixedly connected to the tracking claw 3. The potentiometer 8 is electrically connected to the PLC controller, and the potentiometer 8 transmits the rotation angle of the rotating rod 2 monitored by the potentiometer 8 to the computing system in the PLC controller in the form of an electrical signal, and the computing system uses this to determine the lateral distance between the welding gun 11 and the left and right groove side walls 12 to achieve weld tracking. In addition, the angle measuring device can also use an angle sensor, etc.

[0036] In one embodiment, if Figures 1 to 3 As shown, the driving device includes a telescopic cylinder and a limit block 4 fixed on the rotating rod 2, and the piston rod of the telescopic cylinder is located on the rotating path of the limit block 4. The piston rod of the telescopic cylinder is extended, which can drive the limit block 4 to rotate in the opposite direction of the rotation reset force provided by the torsion spring 5, thereby driving the tracking claw 3 to rotate in the direction away from the groove side wall 12 it contacts, so as to achieve the retraction of the tracking claw 3. The piston rod of the telescopic cylinder is shortened, and under the rotation reset force provided by the torsion spring 5, the limit block 4 rotates in the direction of the rotation reset force, thereby driving the tracking claw 3 to rotate in the direction close to the groove side wall 12 it is to contact, so as to achieve the opening of the tracking claw 3.

[0037] In one embodiment, if Figures 1 to 3 As shown, the telescopic cylinder is a pneumatic telescopic cylinder 7, a hydraulic telescopic cylinder or an electric telescopic cylinder. If it is a pneumatic telescopic cylinder 7, the pneumatic telescopic cylinder 7 is controlled by a pneumatic system 10, and the pneumatic system 10 is electrically connected to a PLC controller. If it is a hydraulic telescopic cylinder, the hydraulic telescopic cylinder is controlled by a hydraulic system, and the hydraulic system is electrically connected to a PLC controller. If it is an electric telescopic cylinder, the electric telescopic cylinder is directly electrically connected to a PLC controller.

[0038] In one embodiment, if Figures 1 to 3 As shown, the tracking claw 3 is provided with a contact portion 6 for contacting the groove side wall 12. As a preferred embodiment, the contact portion 6 is arc-shaped to reduce the friction between the tracking claw 3 and the groove side wall 12 when the tracking claw 3 moves along the working direction.

[0039] In one embodiment, if Figures 1 to 3 As shown, there is an angle between the tracking claw 3 and the rotating rod 2 .

[0040] Example 2

[0041] This embodiment provides a narrow gap submerged arc welding tracking method, such as Figures 1 to 3 As shown, the narrow gap submerged arc welding tracking system in Example 1 is adopted, including the following steps:

[0042] Before tracking monitoring, the driving devices of the two tracking components push their respective tracking claws 3, and the tracking claws 3 are away from the groove side walls 12 they are in contact with;

[0043] During tracking monitoring, the driving devices of the two tracking components no longer push their respective tracking claws 3. The tracking claws 3 re-contact the corresponding groove side walls 12 under the torsional reset force of the torsion spring 5. As the welding head moves, the angle measuring device obtains the rotation angle value of the tracking claws 3. By converting the rotation angle value into a chord length value, the lateral distance between the welding gun 11 and the groove side walls 12 on both sides is obtained.

[0044] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A narrow gap submerged arc welding tracking system, characterized in that: The invention comprises a tracking device installed on a welding machine head, the tracking device is located in front of a welding gun of the welding machine head in a working direction, the tracking device comprises a mounting frame, two tracking components are arranged on the mounting frame, the tracking components comprise a tracking claw rotatably connected to the mounting frame, a torsion spring providing a torsional reset force to the tracking claw, a driving device capable of pushing the tracking claw in the opposite direction along the torsional reset force, and an angle measuring device for measuring the rotation angle of the tracking claw, the rotation axis of the tracking claw and the axis of the welding gun are both vertically arranged, the connecting line of the rotation axis of the tracking claw and the welding gun is parallel to the working direction, the tracking claw can contact with the side wall of the groove within the pushing range of the torsional reset force, and the torsional reset forces of the torsion springs of the two tracking components are in opposite directions.

2. A narrow gap submerged arc welding tracking system according to claim 1, characterized in that: The angle measuring device converts the rotation angle into a chord length value through a computing system.

3. A narrow gap submerged arc welding tracking system according to claim 2, characterized in that: It also includes a PLC controller, the computing system is built in the PLC controller, and the PLC controller is electrically connected to the driving device.

4. A narrow gap submerged arc welding tracking system according to claim 3, characterized in that: The PLC controller is installed in a control cabinet.

5. A narrow gap submerged arc welding tracking system according to claim 2, characterized in that: The tracking claw is rotatably connected to the mounting frame via a rotating rod, the rotating rod is vertically arranged, one end of the torsion spring is fixedly connected to the rotating rod, and the other end of the torsion spring is fixedly connected to the mounting frame.

6. A narrow gap submerged arc welding tracking system according to claim 5, characterized in that: The angle measuring device is a potentiometer, the top end of the rotating rod is coaxially fixedly connected to the input shaft of the potentiometer, and the bottom end of the rotating rod is fixedly connected to the tracking claw.

7. A narrow gap submerged arc welding tracking system according to claim 5, characterized in that: The driving device comprises a telescopic cylinder and a limit block fixed on the rotating rod, and the piston rod of the telescopic cylinder is located on the rotating path of the limit block.

8. A narrow gap submerged arc welding tracking system according to claim 7, characterized in that: The telescopic cylinder is a pneumatic telescopic cylinder, a hydraulic telescopic cylinder or an electric telescopic cylinder.

9. A narrow gap submerged arc welding tracking system according to claim 1, characterized in that: The tracking claw is provided with a contact portion for contacting the side wall of the groove.

10. A narrow gap submerged arc welding tracking method, characterized in that: The narrow gap submerged arc welding tracking system according to any one of claims 1 to 9 is adopted, comprising the following steps: Before tracking monitoring, the driving devices of the two tracking components push their respective tracking claws, and the tracking claws move away from the groove side walls they are in contact with; During tracking monitoring, the driving devices of the two tracking components no longer push their respective tracking claws. The tracking claws re-contact the corresponding groove side walls under the torsional reset force of the torsion spring. As the welding head moves, the angle measuring device obtains the rotation angle value of the tracking claws. By converting the rotation angle value into a chord length value, the lateral distance between the welding gun and the groove side walls on both sides is obtained.

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