Welding device and welding method

Abstract

The invention provides a welding device and a welding method. The magnetic vehicle comprises a vehicle body, a connecting piece arranged at the top of the vehicle body, a magnetic wheel arranged at the bottom of the vehicle body and a plurality of guide wheels located on one side of the vehicle body and arranged at intervals; the magnetic wheel can generate magnetic force to be magnetically attracted to the to-be-welded part I or release the magnetic force to be separated from the to-be-welded part I; the welding equipment comprises a shell, a mounting piece arranged at the bottom of the shell and a welding gun arranged on one side of the shell; the mounting piece is detachably connected with the connecting piece, so that the welding equipment can be connected to the magnetic vehicle; and when the multiple guide wheels are all located on the weld joint between the first to-be-welded part and the second to-be-welded part, the gun head of the welding gun faces the plane where the multiple guide wheels are located, and welding operation is conducted. The magnetic trolley and the welding device can be carried to the closed space and then assembled in the closed space, and welding can be conducted after assembly. The welding device is simple in structure, easy to assemble and disassemble and convenient to carry.

Description

Technical Field

[0001] The present invention relates to the field of welding technology, and in particular to a welding device and a welding method. Background Art

[0002] At present, the welding of the annular seam between the tank head and the cylinder is a closed space operation, and the only way to enter and exit the operation is through the manhole. However, the manhole is limited in size and is not located in the center of the tank, so intelligent equipment cannot enter. At the same time, the space for operation is limited, and the equipment requirements are extremely high, so manual welding can only be used, which has low operation efficiency and high labor intensity for operators. Summary of the invention

[0003] The object of the present invention is to provide a welding device and a welding method which can be applied to operations in a confined space, so as to solve the problems in the prior art.

[0004] In order to solve the above technical problems, the present invention provides a welding device, comprising:

[0005] A magnetic vehicle, comprising a vehicle body, a connecting piece arranged on the top of the vehicle body, a magnetic wheel arranged on the bottom of the vehicle body, and a plurality of guide wheels arranged at intervals on one side of the vehicle body; the magnetic wheel can generate magnetic force to be magnetically attracted to a workpiece to be welded or release the magnetic force to be separated from the workpiece to be welded;

[0006] A welding device, comprising a housing, a mounting member disposed at the bottom of the housing, and a welding gun disposed at one side of the housing; the mounting member is detachably connected to the connecting member so that the welding device can be connected to the magnetic vehicle;

[0007] Wherein, when the plurality of guide wheels are located at the weld between the first component to be welded and the second component to be welded, the welding operation is performed with the head of the welding gun facing the plane where the plurality of guide wheels are located.

[0008] In one embodiment, the magnetic vehicle further comprises:

[0009] A plurality of connecting rods are arranged corresponding to the plurality of guide wheels; one end of the connecting rod is connected to the vehicle body, and the other end extends outward from the vehicle body and is movably connected to the guide wheel; the connecting rod allows the guide wheel to rotate and rise and fall;

[0010] A plurality of elastic members are arranged corresponding to the plurality of connecting rods one by one; the first end and the second end of the elastic member are respectively connected to the vehicle body and the connecting rod, and the first end of the elastic member is inclined upward toward the second end.

[0011] In one embodiment, a through hole is provided at the end of the connecting rod away from the vehicle body, and the extension direction of the through hole is perpendicular to the extension direction of the connecting rod. A slide plate is provided on the top of the guide wheel, and the lower part of the slide plate is rotatably connected to the guide wheel. An adjustment hole extending vertically is provided on the upper part of the slide plate. An adjustment shaft passes through the through hole and the adjustment hole to realize the connection between the guide wheel and the connecting rod, and the adjustment shaft can move up and down in the adjustment hole.

[0012] In one embodiment, the welding device comprises:

[0013] A laser emitting element, which is arranged on one side of the housing and located on the same side of the welding gun; the laser emitting element is used to emit a light spot directed to the weld;

[0014] A monitoring component is arranged on the housing; the monitoring component is used to detect the position of the welding gun head pointing to the light spot of the laser emitting component.

[0015] In one embodiment, the welding gun includes a multi-axis mechanical arm, and the multi-axis mechanical arm connects the housing and the gun head;

[0016] The welding device includes a controller, which is communicatively connected with the monitoring component and the multi-axis robotic arm, and is used to receive signals from the monitoring component and control the movement of the multi-axis robotic arm;

[0017] The welding gun, the laser emitting element and the monitoring element are connected to the housing via a connecting plate;

[0018] The laser emitting element is an infrared laser; the monitoring element is a camera.

[0019] In one embodiment, the welding equipment includes a lifting mechanism to drive the welding gun to rise and fall;

[0020] The lifting mechanism comprises:

[0021] A lifting slide block, which is fixedly connected to the welding gun;

[0022] A lifting driving member is connected to the lifting slider to drive the lifting slider to move up and down.

[0023] In one embodiment, one end of the shell is open, and the lifting slider is arranged in the shell and close to the opening; the lifting mechanism includes a lifting slide fixedly connected between the lifting slide and the welding gun, the lifting slide moves the welding gun up and down, and the lifting slide is located outside the opening;

[0024] A connecting plate is provided on the side of the lifting slide away from the shell, and the connecting plate is connected to the welding gun;

[0025] The welding device comprises a controller, which is communicatively connected with the lifting drive member and can control the opening and closing of the lifting drive member.

[0026] In one embodiment, the lifting drive member includes a lifting screw and a motor, the lifting screw passes through the lifting slider and is screwed to the lifting slider, and the motor drives the lifting screw to rotate;

[0027] The lifting mechanism comprises a guide column passing through the lifting slider, and the guide column extends vertically;

[0028] The lifting mechanism includes an upper baffle fixed in the shell, the upper baffle is located above the lifting slider and is used to stop the lifting slider;

[0029] The lifting mechanism comprises a lower baffle fixed in the shell, and the lower baffle is located below the lifting slider and is used to stop the lifting slider.

[0030] In one embodiment, the welding device includes a traverse mechanism for driving the housing to move relative to the mounting member, so that when the mounting member is connected to the connecting member, the housing can move the welding gun closer to or away from the weld;

[0031] The traverse mechanism comprises:

[0032] A transverse screw extends along the length direction of the housing itself and is rotatably connected to the bottom of the housing; the transverse screw passes through the mounting member and is screwed to the mounting member; the welding gun is arranged at one end of the housing itself in the length direction;

[0033] A transverse driving member is connected to the transverse screw to drive the transverse screw to rotate.

[0034] In one embodiment, the welding device includes a controller, which is communicatively connected with the transverse driving member and can control the opening and closing of the transverse driving member;

[0035] The traverse mechanism comprises:

[0036] A guide rail, which is arranged at the bottom of the shell and extends along the length direction of the shell itself;

[0037] A transverse sliding block is fixed on the mounting member and slidably cooperates with the guide rail.

[0038] In one embodiment, a connecting block is provided in the middle of the vehicle body, the connecting block is in a dovetail shape, the connecting block constitutes the connecting piece, a mounting block is provided at the bottom of the shell, a dovetail groove is provided on the mounting block, the mounting block constitutes the mounting piece, and the dovetail groove cooperates with the connecting block to realize a detachable connection between the vehicle body and the shell;

[0039] The dovetail groove is located on the outside of the shell in the width direction, and the opening of the dovetail groove is outward and penetrates vertically.

[0040] In one embodiment, a base is provided on the top of one end of the vehicle body, the welding device comprises a welding wire reel and a support rod fixed to the bottom of the welding wire reel, the support rod can be sleeved on the outer periphery of the base and fall on the vehicle body; the base is arranged on a side away from the guide wheel;

[0041] A base is provided at the top of one end of the vehicle body, and the welding device includes a flux box and a supporting rod fixed to the bottom of the flux box, and the supporting rod can be sleeved on the outer periphery of the base and fall on the vehicle body; the base is arranged on a side away from the guide wheel.

[0042] In one embodiment, the welding device includes a wire feeder connected to the housing, and the wire feeder is located above the welding gun.

[0043] The present invention also provides a welding method, which uses the welding device as described above and comprises the following steps:

[0044] The magnetic vehicle and the welding equipment are moved from the manhole on the first workpiece to be welded to the first workpiece to be welded, and the welding equipment is connected to the magnetic vehicle;

[0045] Adjusting the position of the magnetic vehicle so that the plurality of guide wheels are clamped in the circumferential weld between the first and second parts to be welded;

[0046] The magnetic wheel generates magnetic force and is magnetically attracted to the workpiece to be welded;

[0047] Adjusting the welding gun head to face the plane where the plurality of guide wheels are located;

[0048] Start the welding gun and make the second workpiece to be welded start to rotate until welding is completed.

[0049] Before starting the welding gun, the following steps are also included:

[0050] emitting a light spot toward the girth weld and checking whether the welding gun is pointing toward the light spot;

[0051] If there is a deviation, the welding device is controlled to move in a lateral direction and / or the welding gun is controlled to be raised or lowered so that the welding gun is directed toward the light spot.

[0052] It can be seen from the above technical solution that the advantages and positive effects of the present invention are:

[0053] The welding device in the present application includes a magnetic vehicle and a welding device that can be detachably connected to the magnetic vehicle, so that the above structures can be transported to a confined space respectively, and then assembled in the confined space, and welding can be performed after assembly. The welding device has a simple structure, and the assembly and disassembly operations are simple, and it is easy to carry.

[0054] Through the guiding effect of the guide wheel of the magnetic car, the magnetic car is magnetically attracted to the part to be welded, and after the welding gun and the guide wheel are located in the same plane, the welding gun is ensured to face the weld. After completing the above operations, the operator can exit the confined space, and there is no need for the operator to perform welding work in the confined space, which realizes mechanization, greatly reduces the labor intensity of manual labor, improves work efficiency, and improves welding quality.

[0055] The welding method realizes mechanized welding through the detachable connection between the welding equipment and the magnetic car and the welding of the welding gun, which does not require operators to perform welding, reduces labor intensity, improves welding efficiency, and improves welding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 It is a structural schematic diagram of one embodiment of the welding device in the present invention.

[0057] Figure 2 It is a structural schematic diagram of one embodiment of the magnetic vehicle in the present invention.

[0058] Figure 3 yes Figure 2 Schematic diagram of the structure from another perspective.

[0059] Figure 4 It is a structural schematic diagram of one embodiment of the welding equipment in the present invention.

[0060] Figure 5 It is a partial structural schematic diagram of the welding equipment in the present invention.

[0061] Figure 6 It is a partial structural schematic diagram of the welding equipment in the present invention from another perspective.

[0062] Figure 7 It is a structural schematic diagram of the welding device in the present invention being located inside the first and second parts to be welded.

[0063] The following are the descriptions of the reference numerals:

[0064] 1. welding device; 11. magnetic vehicle; 111. vehicle body; 1111. card slot; 112. connecting piece; 113. magnetic wheel; 114. guide wheel; 115. connecting rod; 116. elastic member; 1171. control rod; 1172. handle; 118. base; 119. base; 12. welding equipment; 121. housing; 122. mounting piece; 1221. dovetail groove; 123. welding gun; 124 , laser emitting element; 125, monitoring element; 1261, lifting slider; 1262, lifting slide plate; 1263, lifting screw; 1264, guide rod; 1265, upper baffle; 1266, lower baffle; 1271, transverse screw; 1272, guide rail; 1273, transverse slider; 128, wire feeder; 129, handle; 13, wire reel; 14, support rod; 15, flux box; 16, support rod;

[0065] 2. Part to be welded 1; 21. Manhole; 3. Part to be welded 2. DETAILED DESCRIPTION

[0066] Although the present invention can be easily embodied in different forms of embodiments, only some of the specific embodiments are shown in the drawings and will be described in detail in this specification. It should be understood that this description should be regarded as an exemplary illustration of the principles of the invention and is not intended to limit the invention to that described herein.

[0067] Thus, a feature indicated in this specification will be used to illustrate one of the features of an embodiment of the present invention, rather than implying that each embodiment of the present invention must have the described feature. In addition, it should be noted that this specification describes many features. Although some features can be combined together to illustrate possible system designs, these features can also be used in other combinations that are not explicitly described. Thus, unless otherwise stated, the described combinations are not intended to be limiting.

[0068] In the embodiments shown in the drawings, the indications of directions (such as up, down, left, right, front and back) used to explain the structure and movement of various elements of the present invention are not absolute but relative. These descriptions are appropriate when these elements are in the positions shown in the drawings. If the description of the positions of these elements changes, the indications of these directions also change accordingly.

[0069] The present application provides a welding device, which is used for automated welding operations, improves efficiency, reduces labor intensity, and improves welding quality.

[0070] The welding device is particularly suitable for welding operations of girth welds and welding operations in confined spaces.

[0071] For example, the first welded part is the head of the tank body, and the second welded part is the cylinder of the tank body. The tank body is formed by welding the head and the cylinder. At this time, the head and the cylinder are mutually enclosed to form a closed space. There is a girth weld between the first welded part and the second welded part.

[0072] The welding device is described in detail below.

[0073] See also Figure 1 The welding device 1 includes a magnetic vehicle 11 and a welding device 12, which can be quickly assembled and disassembled through a detachable connection between the two, making it convenient to enter the confined space from the manhole 21, thereby avoiding the phenomenon of only being able to use manual welding, realizing a mechanized welding method, improving welding efficiency, reducing the labor intensity of operators, and improving welding quality.

[0074] For ease of description, the length direction of the magnetic vehicle 11 is defined as the longitudinal direction, the width direction as the transverse direction, and the height direction as the vertical direction.

[0075] Combination Figure 2 and Figure 3 The magnetic vehicle 11 includes a vehicle body 111, a connecting member 112 disposed on the top of the vehicle body 111, a magnetic wheel 113 disposed on the bottom of the vehicle body 111, and a plurality of guide wheels 114 located on one side of the vehicle body 111 and spaced apart.

[0076] The cross section of the vehicle body 111 is substantially square. The vehicle body 111 is used to carry the welding equipment 12, so the vehicle body 111 has a certain load capacity.

[0077] A connecting block is provided in the middle of the vehicle body 111, and the connecting block is dovetail-shaped, and the connecting block constitutes a connecting member 112. The dovetail shape specifically means that the cross section of the connecting block is hexagonal, and the hexagon is formed by splicing a rectangle and an isosceles trapezoid, and the two waists of the isosceles trapezoid are close to each other in the direction away from the rectangle.

[0078] Specifically, the middle of the top of the vehicle body 111 is sunken downward to form a slot 1111 , which is transversely continuous. The welding device 12 is detachably connected to the connecting block and is partially located in the slot 1111 .

[0079] The magnetic wheel 113 is disposed at the bottom of the vehicle body 111. In this embodiment, the magnetic wheel 113 is disposed at the corners of the vehicle body 111. That is, there are four magnetic wheels 113, which are arranged at the bottom of the four corners of the vehicle body 111.

[0080] The magnetic wheel 113 can generate magnetic force to be magnetically attracted to the workpiece 2 to be welded, or release the magnetic force to be separated from the workpiece 2 to be welded.

[0081] Furthermore, a control rod 1171 is provided on the vehicle body 111, and the magnetic wheel 113 is made to have magnetic force or not have magnetic force by operating the control rod 1171. The control rod 1171 is provided on one side of the vehicle body 111. In this embodiment, the control rod 1171 is located on one side of the vehicle body 111.

[0082] The magnetic vehicle 11 also includes a handle 1172 disposed at at least one of the longitudinal ends of the vehicle body 111. The handle 1172 is U-shaped, with an opening toward the vehicle body 111, and connected to the longitudinal end of the vehicle body 111. The handle 1172 is used for the operator to hold and then push or pull. In this embodiment, the number of the handles 1172 is two, that is, a handle 1172 is provided at each longitudinal end of the vehicle body 111.

[0083] A plurality of guide wheels 114 are disposed at intervals in the longitudinal direction on one lateral side of the vehicle body 111. The axes of the guide wheels 114 extend in the lateral direction.

[0084] The magnetic vehicle 11 further includes a plurality of connecting rods 115 and a plurality of elastic members 116. The connecting rods 115 are used to connect the vehicle body 111 and the guide wheels 114, and the elastic members 116 are used to provide a restoring force to the guide wheels 114.

[0085] A plurality of connecting rods 115 are arranged corresponding to a plurality of guide wheels 114. The connecting rods 115 extend in a lateral direction. One end of the connecting rod 115 is connected to the vehicle body 111, and the other end extends outward from the vehicle body 111 and is movably connected to the guide wheel 114. The connecting rod 115 allows the guide wheel 114 to rotate and rise and fall, that is, the connecting rod 115 and the guide wheel 114 can rotate and move up and down.

[0086] In this embodiment, there are two guide wheels 114, and there are two connecting rods 115. The two connecting rods 115 are arranged at both ends of the longitudinal direction of the vehicle body 111. The connecting rods 115 extend in the transverse direction.

[0087] Specifically, the connecting rod 115 is connected to the vehicle body 111 through bolts and nuts.

[0088] A through hole is provided at the end of the connecting rod 115 away from the vehicle body 111, and the extending direction of the through hole is perpendicular to the extending direction of the connecting rod 115. That is, the axis of the through hole extends in the longitudinal direction.

[0089] A slide plate is arranged on the top of the guide wheel 114, the lower part of the slide plate is rotatably connected to the guide wheel 114, an adjustment hole extending vertically is opened on the upper part of the slide plate, and an adjustment shaft passes through the through hole and the adjustment hole to realize the connection between the guide wheel 114 and the connecting rod 115. The adjustment shaft can move up and down in the adjustment hole, thereby realizing the lifting and lowering of the guide wheel 114 relative to the connecting rod 115.

[0090] In this embodiment, the skateboard includes a block and a plate fixed on the block, a rotating hole is provided on the block, and an adjusting hole is provided on the plate, wherein the rotating shaft of the guide wheel 114 may be inserted into the rotating hole, or a bearing may be provided in the rotating hole, and the rotating shaft of the guide wheel 114 cooperates with the bearing.

[0091] The slide plate enables the guide wheel 114 to rotate and rise and fall relative to the connecting rod 115 .

[0092] Furthermore, an inwardly opening accommodating groove is provided on the inner side of the end of the connecting rod 115 away from the vehicle body 111, and the accommodating groove is communicated with the through hole, so that when the slide plate is attached to the connecting rod 115, the outer side surface of the slide plate is flush with the outer side surface of the connecting rod 115. The outer side surface at this time refers to the side surface of the slide plate facing the other connecting rod 115.

[0093] The plurality of elastic members 116 are arranged one by one corresponding to the plurality of connecting rods 115. The first end and the second end of the elastic member 116 are respectively connected to the vehicle body 111 and the connecting rod 115, and the first end of the elastic member 116 is inclined upward toward the second end.

[0094] The elastic member 116 is disposed on the outer side of the connecting rod 115, that is, the side of the connecting rod 115 away from the vehicle body 111. Specifically, a first protrusion is disposed on the vehicle body 111, and the first protrusion is located below the connecting rod 115. The first protrusion is disposed at intervals on the lateral side of the connecting rod 115 away from the guide wheel 114. A second protrusion is disposed on the connecting rod 115. The first end of the elastic member 116 is connected to the first protrusion, and the second end is connected to the second protrusion.

[0095] In this embodiment, the elastic member 116 is a spring, and through holes are provided on the first and second protruding rods. The first and second ends of the elastic member 116 are hooked on the through holes of the first and second protruding rods, respectively.

[0096] The elastic member 116 can provide a downward restoring force after the guide wheel 114 moves upward, so that the guide wheel 114 moves downward.

[0097] Combination Figure 4-Figure 6 The welding device 12 includes a housing 121, a mounting member 122 disposed at the bottom of the housing 121, and a welding gun 123 disposed at one side of the housing 121. The mounting member 122 is detachably connected to the connecting member 112 so that the welding device 12 can be located on the magnetic vehicle 11.

[0098] When the plurality of guide wheels 114 are located at the weld between the workpiece 1 2 and the workpiece 2 3 , the welding gun 123 is directed toward the plane where the plurality of guide wheels 114 are located to perform welding operations.

[0099] The housing 121 is a rectangular parallelepiped, and its length extends in the lateral direction of the vehicle body 111. One end of the housing 121 is open. Specifically, the housing 121 includes a top plate, a bottom plate, two side plates and an end plate. The top plate and the bottom plate are arranged in parallel and spaced apart, the two side plates are arranged on opposite sides of the top plate and the bottom plate, and the end plate is arranged at one end of the top plate and the bottom plate.

[0100] A mounting block is provided at the bottom of the housing 121 , and a dovetail groove 1221 is provided on the mounting block. The mounting block constitutes the mounting member 122 , and the dovetail groove 1221 cooperates with the connecting block to realize a detachable connection between the vehicle body 111 and the housing 121 .

[0101] The shape of the dovetail groove 1221 is adapted to the connection block, and the shape of the connection block can refer to the above.

[0102] The dovetail groove 1221 is preferably located outside the width direction of the housing 121, specifically, the dovetail groove 1221 is arranged on the portion of the mounting block protruding out of the housing 121. The dovetail groove 1221 is opened outward and penetrates vertically.

[0103] When installing the welding device 12 and the magnetic vehicle 11, align the dovetail groove 1221 with the connection block, and lower the housing 121 from top to bottom until the welding device 12 completely falls on the vehicle body 111, completing the detachable connection between the two. When the connection between the two needs to be released, lift the welding device 12 upward until the installation block is separated from the connection block.

[0104] When the welding device 12 is connected to the magnetic vehicle 11, the mounting block is located in the slot 1111, and the mounting block is upwardly extended beyond the top surface of the vehicle body 111. The length of the housing 121 extends in the lateral direction, and the lateral ends of the housing 121 are respectively extended outwardly beyond the lateral sides of the vehicle body 111.

[0105] A handle 129 is provided on the top of the housing 121 for easy handholding, thereby facilitating the carrying of the welding device 12. The handle 129 and the welding gun 123 are arranged at both ends of the length of the housing 121. In this embodiment, the handle 129 is spaced above the housing 121 and extends along the length direction of the housing 121.

[0106] The welding gun 123 is disposed on one side of the housing 121. When the housing 121 is connected to the vehicle body 111, the welding gun 123 is located on one lateral side of the vehicle body 111 and is located on the same side as the guide wheel 114.

[0107] The welding gun 123 includes a multi-axis mechanical arm, which connects the housing 121 and the gun head, that is, the welding gun 123 includes a multi-axis mechanical arm and a gun head. The degree of freedom of the multi-axis mechanical arm can be 3, 6, or other degrees of freedom, which can be set according to actual needs. The direction of the gun head is adjusted by adjusting the multi-axis mechanical arm.

[0108] The welding device 12 includes a laser emitting element 124 and a monitoring element 125. The laser emitting element 124 is disposed on one side of the housing 121 and is located on the same side as the welding gun 123. Specifically, the welding gun 123, the laser emitting element 124 and the monitoring element 125 are connected to the housing 121 via a connecting plate.

[0109] The laser emitting element 124 is used to emit a light spot directed to the welding seam. Specifically, the laser emitting element 124 is an infrared laser.

[0110] The monitoring component 125 is disposed on the housing 121. The monitoring component 125 is used to detect the position of the gun head of the welding gun 123 pointing to the light spot of the laser emitting component 124. Specifically, the monitoring component 125 is a camera.

[0111] Therefore, when it is detected that the position pointed by the gun head is not the position of the light spot, the welding gun 123 can be adjusted to point to the light spot. The adjustment is specifically achieved by a multi-axis robot arm.

[0112] The welding device 1 includes a controller, which is connected to the monitoring component 125 and the multi-axis robot arm for receiving signals from the monitoring component 125 and controlling the movement of the multi-axis robot arm. That is, when the monitoring component 125 detects that the position pointed by the gun head is not the position of the light spot, the controller controls the multi-axis robot arm to adjust the direction of the welding gun 123.

[0113] Therefore, through the control of the controller, the operator can adjust the position of the welding gun 123 outside the confined space, thereby improving the degree of intelligence.

[0114] Furthermore, the welding device 12 includes a lifting mechanism to drive the lifting of the welding gun 123. By lifting the welding gun 123, the position of the welding gun 123 can be better adjusted so that the welding gun 123 can be directed to the weld. The lifting of the welding gun 123 can also enable the welding device 1 to be directed to the weld in different situations, thereby improving the versatility of the welding device 1.

[0115] Specifically, the lifting mechanism includes a lifting slider 1261 and a lifting drive. The lifting slider 1261 is fixedly connected to the welding gun 123. The lifting drive is connected to the lifting slider 1261 to drive the lifting slider 1261 to move up and down.

[0116] The lifting slider 1261 is disposed in the housing 121 and close to the opening. That is, the lifting slider 1261 is lifted and lowered in the housing 121.

[0117] The lifting mechanism includes a lifting plate 1262 fixedly connected between the lifting slider 1261 and the welding gun 123. The lifting plate 1262 lifts and lowers the welding gun 123, and the lifting plate 1262 is located outside the opening. A connecting plate is provided on the side of the lifting plate 1262 facing away from the housing 121. The connecting plate is connected to the welding gun 123, that is, the lifting slider 1261 lifts and lowers the lifting plate 1262, the connecting plate, the welding gun 123, the laser emitting component 124, and the monitoring component 125 together.

[0118] The lifting drive member includes a lifting screw 1263 and a motor. The lifting screw 1263 passes through the lifting slider 1261 and is screwed to the lifting slider 1261. The motor drives the lifting screw 1263 to rotate. The motor is fixed in the housing 121.

[0119] The lifting mechanism includes a guide column that is inserted into the lifting slider 1261, and the guide column extends vertically. In this embodiment, there are two guide columns, which are arranged on opposite sides of the lifting screw 1263. That is, three through holes are arranged at intervals on the lifting slider 1261, and the lifting screw 1263 is inserted into the through hole located in the middle.

[0120] The guiding effect of the guide column ensures that the lifting slider 1261 is lifted and lowered in the vertical direction.

[0121] Furthermore, the lifting mechanism includes an upper baffle plate 1265 fixed in the housing 121. The upper baffle plate 1265 is located above the lifting slider 1261 and is used to stop the lifting slider 1261.

[0122] The lifting mechanism includes a lower baffle plate 1266 fixed in the shell 121 . The lower baffle plate 1266 is located below the lifting slider 1261 and is used to stop the lifting slider 1261 .

[0123] That is, the upper limit position and the lower limit position of the lifting slider 1261 are realized by the upper baffle plate 1265 and the lower baffle plate 1266.

[0124] The welding device 12 includes a traverse mechanism for driving the housing 121 to move relative to the mounting member 122 , so that when the mounting member 122 is connected to the connecting member 112 , the housing 121 can move the welding gun 123 closer to or away from the girth weld.

[0125] The traverse mechanism includes a traverse screw 1271 and a traverse driving member. The traverse screw 1271 extends along the length direction of the housing 121 and is rotatably connected to the bottom of the housing 121. The traverse screw 1271 is passed through the mounting member 122 and is screwed to the mounting member 122. The welding gun 123 is arranged at one end of the housing 121 in the first direction.

[0126] The traverse driving member is connected to the traverse screw 1271 to drive the traverse screw 1271 to rotate. In this embodiment, the traverse driving member is a motor, the output shaft of the motor is connected to a gear, and the end of the traverse screw 1271 is also provided with a gear, and the two gears are meshed, so that the motor drives the traverse screw 1271 to rotate.

[0127] Furthermore, the transverse movement mechanism includes a guide rail 1272 and a transverse movement slider 1273. The guide rail 1272 is arranged at the bottom of the housing 121 and extends along the length direction of the housing 121. The transverse movement slider 1273 is fixed to the mounting member 122 and slidably cooperates with the guide rail 1272. Through the cooperation of the guide rail 1272 and the transverse movement slider 1273, the movement of the mounting member 122 is guided, and the housing 121 is ensured to move laterally along the magnetic vehicle 11.

[0128] In this embodiment, the guide rail 1272 is formed by a convex strip disposed at the bottom of the housing 121. The traverse slider 1273 is provided with a groove with an open top, and the guide rail 1272 can be clamped in the groove of the traverse slider 1273. The traverse lead screw 1271 and the traverse slider 1273 are connected to the mounting member 122 at intervals in the longitudinal direction.

[0129] The welding device 12 includes a wire feeder 128 connected to the housing 121, and the wire feeder 128 is located above the welding gun 123. The wire feeder 128 and the welding gun 123 are located on the same side of the housing 121.

[0130] The welding device 1 includes a welding wire reel 13 and a support rod 14 fixed to the bottom of the welding wire reel 13. A base 118 is provided at the top of one end of the vehicle body 111. The support rod 14 can be sleeved on the outer periphery of the base 118 and fall on the vehicle body 111. In this embodiment, the cross section of the base 118 is circular, and the cross section of the support rod 14 is shaped. The interior of the support rod 14 is hollow, and the interior of the base 118 may be hollow or not. The base 118 is arranged on a side away from the guide wheel 114.

[0131] The welding device 1 includes a flux box 15 and a supporting rod 16 fixed to the bottom of the flux box 15. A base 119 is provided at the top of one end of the vehicle body 111. The supporting rod 16 can be sleeved on the outer periphery of the base 119 and fall on the vehicle body 111. In this embodiment, the cross section of the base 119 is circular, and the cross section of the supporting rod 16 is shaped. The interior of the supporting rod 16 is hollow, and the interior of the base 119 may be hollow or not. The base 119 is arranged on a side away from the guide wheel 114.

[0132] The base 118 and the pedestal 119 are arranged at opposite ends of the vehicle body 111 , so that the welding wire reel 13 and the flux box 15 are arranged at opposite sides of the welding device 12 .

[0133] The controller is connected to the transverse driving member in communication and can control the opening and closing of the transverse driving member. That is, the operator can adjust the position of the welding device 12 relative to the magnetic vehicle 11 by controlling the transverse driving member through the controller.

[0134] The controller is connected to the lifting drive member in communication and can control the opening and closing of the lifting drive member. That is, the operator can control the lifting drive member through the controller to adjust the height of the welding gun 123, the laser emitting member 124 and the monitoring member 125.

[0135] By setting the controller, the operator can adjust the position of the welding gun 123 outside the confined space.

[0136] When the magnetic vehicle 11 and the welding equipment 12 are transported to the confined space, the welding gun 123 is positioned in the same plane as the guide wheel 114 by positioning the guide wheel 114, thereby achieving a rough adjustment of the welding gun 123 relative to the weld. After the operator exits the confined space, the adjustment achieved by the controller is a fine adjustment.

[0137] In summary, the welding device 1 in the present application includes a magnetic vehicle 11 and a welding device 12, a welding wire reel 13 and a flux box 15 that can be detachably connected to the magnetic vehicle 11. Therefore, the above structures can be transported to a confined space respectively, and then assembled in the confined space, and welding can be performed after assembly. The welding device 1 has a simple structure, and the assembly and disassembly operations are simple, and it is easy to carry.

[0138] Through the guiding effect of the guide wheel 114 of the magnetic vehicle 11, the magnetic vehicle 11 is magnetically attracted to the part to be welded, and after the welding gun 123 and the guide wheel 114 are located in the same plane, the welding gun 123 is ensured to face the weld. After completing the above operations, the operator can exit the confined space, and the operator does not need to perform welding work in the confined space, which realizes mechanization, greatly reduces the labor intensity of manual labor, improves the work efficiency, and improves the welding quality.

[0139] When the welding device 1 is performing welding operations, the magnetic vehicle 11 is magnetically attracted to the workpiece 2 to be welded, and because its own weight is always stable on the workpiece 2 to be welded, the workpiece 3 to be welded can rotate to achieve the welding of the circumferential weld. At the same time, the guide wheel 114 is used to ensure that the position of the welding gun 123 is consistent with the weld, thereby reducing human intervention. The operator only needs to use the controller to make fine adjustments externally to complete the entire operation.

[0140] The present invention also provides a welding method, which adopts the welding device 1 as mentioned above.

[0141] Specifically, the welding method comprises the following steps:

[0142] S1. Move the magnetic vehicle 11 and the welding equipment 12 from the manhole 21 on the workpiece 2 to be welded into the workpiece 2, and connect the welding equipment 12 to the magnetic vehicle 11.

[0143] Specifically, both the welded part 1 2 and the welded part 2 3 have completed the preparatory work before welding, such as the processing of the groove.

[0144] Then, the first welded part 2 and the second welded part 3 are placed according to the preset positions. Figure 7 The first welded part 2 is the head of the tank body, and the second welded part 3 is the cylinder of the tank body. The head and the cylinder body are placed in sequence along the axial direction to form a closed space. The cylinder body is placed on a roller frame so that the cylinder body can rotate.

[0145] The magnetic vehicle 11, the welding equipment 12, the welding wire reel 13 and the flux box 15 enter the enclosed space through the manhole 21 respectively and are assembled in the enclosed space.

[0146] During assembly, align the dovetail groove 1221 on the mounting block of the welding device 12 with the dovetail-shaped connecting block, and slowly lower it until the welding device 12 falls on the vehicle body 111, sleeve the support rod 14 on the base 118 and fall on the vehicle body 111, sleeve the supporting rod 16 on the base 118 and fall on the vehicle body 111, and the assembly is completed. There is no order of assembly, and it can be done at the same time or any one of them can be done first. The entire assembly process is simple and fast, which greatly improves efficiency.

[0147] S2. Adjust the position of the magnetic vehicle 11 so that the plurality of guide wheels 114 are clamped in the circumferential weld between the first component 2 and the second component 3 to be welded.

[0148] Specifically, the magnetic vehicle 11 is pulled or pushed through the handle 1172 on the magnetic vehicle 11, so that the guide wheel 114 is clamped in the circumferential weld between the first component 2 to be welded and the second component 3 to be welded.

[0149] Combination Figure 7 , the guide wheel 114 can roll along the annular weld.

[0150] S3, making the magnetic wheel 113 generate magnetic force and magnetically attract the workpiece 2 to be welded.

[0151] The operator operates the control lever 1171 to make the magnetic wheel 113 generate magnetic force and magnetically attract the workpiece 113 to be welded.

[0152] S4. Adjust the tip of the welding gun 123 to face the plane where the multiple guide wheels 114 are located.

[0153] The operator adjusts the welding gun 123 so that the gun head faces the plane where the plurality of guide wheels 114 are located, that is, faces the girth weld.

[0154] After the operation is completed, the operator exits the enclosed space through the manhole 21.

[0155] S5, start the welding gun 123, and make the workpiece 23 to be welded start to rotate until the welding is completed.

[0156] After the welding gun 123 is started, the welding gun 123 remains stationary, and the workpiece 3 to be welded rotates at a preset speed. After the workpiece 3 to be welded rotates one circle, the welding is completed.

[0157] When the workpiece 2 3 to be welded rotates, the guide wheel 114 may move upward, and the elastic member 116 causes the guide wheel 114 to return to its original position.

[0158] Furthermore, before starting the welding gun 123, the following steps are also included:

[0159] A light spot is emitted toward the girth weld, and it is checked whether the welding gun 123 is pointed toward the light spot.

[0160] Specifically, a light spot is emitted by the laser emitting component 124 , and whether the welding gun 123 is pointing to the light spot is detected by the monitoring component 125 .

[0161] If there is a deviation, the welding device 12 is controlled to move in a lateral direction and / or the welding gun 123 is controlled to move up and down so that the welding gun 123 is directed to the light spot.

[0162] The controller controls the transverse driving member and the lifting driving member to achieve fine adjustment of the welding gun 123 so that it points to the light spot.

[0163] After adjustment, the welding gun 123 is controlled by the controller to start working.

[0164] In summary, the welding method realizes mechanized welding through the detachable connection between the welding equipment 12 and the magnetic vehicle 11 and the welding of the welding gun 123, and does not require operators to perform welding, thereby reducing labor intensity, improving welding efficiency, and improving welding quality.

[0165] Although the present invention has been described with reference to several typical embodiments, it should be understood that the terms used are illustrative and exemplary, rather than restrictive. Since the present invention can be embodied in a variety of forms without departing from the spirit or essence of the invention, it should be understood that the above embodiments are not limited to any of the foregoing details, but should be interpreted broadly within the spirit and scope defined by the appended claims, so all changes and modifications falling within the scope of the claims or their equivalents should be covered by the appended claims.

Claims

1. A welding device, characterized in that: include: A magnetic vehicle, comprising a vehicle body, a connecting piece arranged on the top of the vehicle body, a magnetic wheel arranged on the bottom of the vehicle body, and a plurality of guide wheels arranged at intervals on one side of the vehicle body; the magnetic wheel can generate magnetic force to be magnetically attracted to a workpiece to be welded or release the magnetic force to be separated from the workpiece to be welded; A welding device, comprising a housing, a mounting member disposed at the bottom of the housing, and a welding gun disposed at one side of the housing; the mounting member is detachably connected to the connecting member so that the welding device can be connected to the magnetic vehicle; Wherein, when the plurality of guide wheels are located at the weld between the first component to be welded and the second component to be welded, the welding operation is performed with the head of the welding gun facing the plane where the plurality of guide wheels are located.

2. The welding device according to claim 1, characterized in that: The magnetic vehicle also includes: A plurality of connecting rods are arranged corresponding to the plurality of guide wheels; one end of the connecting rod is connected to the vehicle body, and the other end extends outward from the vehicle body and is movably connected to the guide wheel; the connecting rod allows the guide wheel to rotate and rise and fall; A plurality of elastic members are arranged corresponding to the plurality of connecting rods one by one; the first end and the second end of the elastic member are respectively connected to the vehicle body and the connecting rod, and the first end of the elastic member is inclined upward toward the second end.

3. The welding device according to claim 2, characterized in that: A through hole is provided at the end of the connecting rod away from the vehicle body, and the extension direction of the through hole is perpendicular to the extension direction of the connecting rod. A slide plate is provided on the top of the guide wheel, and the lower part of the slide plate is rotatably connected to the guide wheel. An adjustment hole extending vertically is provided on the upper part of the slide plate, and an adjustment shaft passes through the through hole and the adjustment hole to realize the connection between the guide wheel and the connecting rod, and the adjustment shaft can move up and down in the adjustment hole.

4. The welding device according to claim 1, characterized in that: The welding equipment comprises: A laser emitting element, which is arranged on one side of the housing and located on the same side of the welding gun; the laser emitting element is used to emit a light spot directed to the weld; A monitoring component is arranged on the housing; the monitoring component is used to detect the position of the welding gun head pointing to the light spot of the laser emitting component.

5. The welding device according to claim 4, characterized in that: The welding gun comprises a multi-axis mechanical arm, and the multi-axis mechanical arm connects the housing and the gun head; The welding device includes a controller, which is communicatively connected with the monitoring component and the multi-axis robotic arm, and is used to receive signals from the monitoring component and control the movement of the multi-axis robotic arm; The welding gun, the laser emitting element and the monitoring element are connected to the housing via a connecting plate; The laser emitting element is an infrared laser; the monitoring element is a camera.

6. The welding device according to claim 1, characterized in that: The welding equipment includes a lifting mechanism to drive the welding gun to rise and fall; The lifting mechanism comprises: A lifting slide block, which is fixedly connected to the welding gun; A lifting driving member is connected to the lifting slider to drive the lifting slider to move up and down.

7. The welding device according to claim 6, characterized in that: One end of the shell is open, and the lifting slider is arranged in the shell and close to the opening; the lifting mechanism includes a lifting slide fixedly connected between the lifting slide and the welding gun, and the lifting slide moves the welding gun up and down, and the lifting slide is located outside the opening; A connecting plate is provided on the side of the lifting slide away from the shell, and the connecting plate is connected to the welding gun; The welding device comprises a controller, which is communicatively connected with the lifting drive member and can control the opening and closing of the lifting drive member.

8. The welding device according to claim 7, characterized in that: The lifting drive member includes a lifting screw and a motor, the lifting screw passes through the lifting slider and is screwed to the lifting slider, and the motor drives the lifting screw to rotate; The lifting mechanism comprises a guide column passing through the lifting slider, and the guide column extends vertically; The lifting mechanism includes an upper baffle fixed in the shell, the upper baffle is located above the lifting slider and is used to stop the lifting slider; The lifting mechanism comprises a lower baffle fixed in the shell, and the lower baffle is located below the lifting slider and is used to stop the lifting slider.

9. The welding device according to claim 1, characterized in that: The welding device comprises a traverse mechanism for driving the housing to move relative to the mounting member, so that when the mounting member is connected to the connecting member, the housing can move the welding gun closer to or away from the weld; The traverse mechanism comprises: A transverse screw extends along the length direction of the housing itself and is rotatably connected to the bottom of the housing; the transverse screw passes through the mounting member and is screwed to the mounting member; the welding gun is arranged at one end of the housing itself in the length direction; A transverse driving member is connected to the transverse screw to drive the transverse screw to rotate.

10. The welding device according to claim 9, characterized in that: The welding device includes a controller, which is in communication with the transverse driving member and can control the opening and closing of the transverse driving member; The traverse mechanism comprises: A guide rail, which is arranged at the bottom of the shell and extends along the length direction of the shell itself; A transverse sliding block is fixed on the mounting member and slidably cooperates with the guide rail.

11. The welding device according to claim 1, characterized in that: A connecting block is provided in the middle of the vehicle body, the connecting block is in a dovetail shape, the connecting block constitutes the connecting piece, a mounting block is provided at the bottom of the shell, a dovetail groove is provided on the mounting block, the mounting block constitutes the mounting piece, and the dovetail groove cooperates with the connecting block to realize a detachable connection between the vehicle body and the shell; The dovetail groove is located on the outside of the shell in the width direction, and the opening of the dovetail groove is outward and penetrates vertically.

12. The welding device according to claim 1, characterized in that: A base is provided on the top of one end of the vehicle body, and the welding device includes a welding wire reel and a support rod fixed to the bottom of the welding wire reel, and the support rod can be sleeved on the outer periphery of the base and fall on the vehicle body; the base is arranged on a side away from the guide wheel; A base is provided at the top of one end of the vehicle body, and the welding device includes a flux box and a supporting rod fixed to the bottom of the flux box, and the supporting rod can be sleeved on the outer periphery of the base and fall on the vehicle body; the base is arranged on a side away from the guide wheel.

13. The welding device according to claim 1, characterized in that: The welding equipment comprises a wire feeder connected to the housing, and the wire feeder is located above the welding gun.

14. A welding method, characterized in that: The welding method adopts the welding device according to any one of claims 1 to 13, and the welding method comprises the following steps: The magnetic vehicle and the welding equipment are moved from the manhole on the first workpiece to be welded to the first workpiece to be welded, and the welding equipment is connected to the magnetic vehicle; Adjusting the position of the magnetic vehicle so that the plurality of guide wheels are clamped in the circumferential weld between the first and second parts to be welded; The magnetic wheel generates magnetic force and is magnetically attracted to the workpiece to be welded; Adjusting the welding gun head to face the plane where the plurality of guide wheels are located; Start the welding gun and make the second workpiece to be welded start to rotate until welding is completed.

15. The welding method according to claim 14, characterized in that: Before starting the welding gun, the following steps are also included: emitting a light spot toward the girth weld and checking whether the welding gun is pointing toward the light spot; If there is a deviation, the welding device is controlled to move in a lateral direction and / or the welding gun is controlled to be raised or lowered so that the welding gun is directed toward the light spot.

Images