Automatic centering welding device

Abstract

The invention relates to the technical field of welding devices, and provides an automatic centering welding device which can form specific profiling guide according to a welding edge of a target workpiece so as to facilitate formation of a follow-up welding gun track, the matching performance of an actual welding track and the target workpiece is good, automatic centering of the welding track relative to a welding gap can be achieved, and the welding efficiency is improved. The welding quality is guaranteed, meanwhile, repeatability is good, practicability is higher, the welding device comprises a welding gun, a workbench and a centering system, a portal frame is installed on the workbench, a modulation lifting frame is installed in the portal frame, the centering system comprises a rotating frame and a first servo motor, and the rotating frame is rotationally connected into the modulation lifting frame; the first servo motor is installed in the modulation lifting frame and used for driving the rotating frame to rotate, a plurality of first track frames and a plurality of second track frames are connected into the rotating frame in a sliding mode, the first track frames and the second track frames are sleeved with elastic springs, and the elastic springs are connected into the rotating frame.

Description

Technical Field

[0001] The present invention relates to the technical field of welding devices, and particularly relates to an automatic centering welding device. Background Art

[0002] As is well known, welding is to achieve the bonding between the joint surfaces of the metals to be welded by heating or pressurizing. It can be said that the bonding area between the two joint surfaces directly affects the welding quality. Centering welding means that during the welding process, the weld seam is located at the center position of the two joint surfaces. Such a welding method has an important impact on the quality and performance of the weld seam. To improve the centering of the weld seam during the welding process, we propose an automatic centering welding device.

[0003] After retrieval, the patent with the Chinese patent publication number CN117340512A discloses a hollow welding ball automatic centering device and method, which is generally described as including a lifting device and a ball-holding rotating device, and also includes a precision turntable for rotating the hollow welding ball, a front camera, a rear line laser camera, and a Raspberry Pi for processing the weld seam feature images. The precision turntable is installed at the central position of the hollow welding ball automatic welding device, the front camera is installed at the position where the ideal plane of the weld seam intersects with the top bracket of the hollow welding ball automatic welding device, the rear line laser camera is installed at the position where the distance of the ideal plane of the weld seam intersects with the rear bracket of the hollow welding ball automatic welding device, and the Raspberry Pi is installed in the dust-proof and heat-dissipating control box of the hollow welding ball automatic welding device. The two cameras transmit image data to the Raspberry Pi through USB, and each motor is connected to the Raspberry Pi through Ethernet to transmit feedback and control signals. The patent with the Chinese patent publication number CN221313046U discloses a workpiece automatic centering welding machine, which is generally described as including a welding torch connected to a swinging mechanism, the swinging mechanism is installed on a multi-axis robot arm, a product-gripping mechanism is installed on the multi-axis robot arm, a machine table is arranged below the multi-axis robot arm, a front-back alignment mechanism and a left-right limiting mechanism are installed on the machine table, and a workpiece horizontal conveying table is arranged on one side of the machine table. When in use, the distance between the two limiting baffles of the left-right limiting mechanism is adjusted, the workpiece is placed between the two limiting baffles, then the front-back alignment mechanism aligns and centers the workpiece, then the multi-axis robot arm drives the welding torch to weld the workpiece, and finally the multi-axis robot arm drives the product-gripping mechanism to suck the workpiece and place it on the workpiece horizontal conveying table and convey it to other workstations.

[0004] Although the above two sets of prior art solutions can achieve the welding operations of their respective target workpieces, during the welding operation process, the centering with respect to the weld seam is achieved by forming positioning clamps on the target workpiece. In actual situations, there will inevitably be errors in the welding areas on the target workpiece. At the same time, the welding areas of target workpieces with different specifications and shapes are also different. Moreover, there will inevitably be errors between the positioning clamps of multiple target workpieces. Therefore, simply relying on forming positioning clamps on the target workpiece to achieve centering and positioning of the weld seam on it has poor accuracy and repeatability, and its practicality needs to be further improved. Summary of the Invention

[0005] In view of the deficiencies of the prior art, the present invention provides an automatic centering welding device, which can form a specific profiling guide according to the welding edge of the target workpiece to facilitate the formation of the subsequent welding torch trajectory. The actual welding trajectory has a good match with the target workpiece, can achieve automatic centering of the welding trajectory relative to the welding seam, has good repeatability while ensuring the welding quality, and is more practical.

[0006] To achieve the above object, the present invention provides the following technical solution: An automatic centering welding device includes a welding torch, and also includes a workbench and a centering system. A gantry is installed on the workbench, and a rotating and adjusting lifting frame is installed inside the gantry. The centering system includes a rotating frame and a first servo motor. The rotating frame is rotatably connected inside the rotating and adjusting lifting frame. The first servo motor is installed inside the rotating and adjusting lifting frame and is used to drive the rotation of the rotating frame. A plurality of first track frames and a plurality of second track frames are slidably connected inside the rotating frame. A plurality of elastic springs are sleeved on the plurality of first track frames and the plurality of second track frames. The plurality of elastic springs are all connected inside the rotating frame. A plurality of inner lining iron blocks are slidably connected to the plurality of first track frames and the plurality of second track frames. A plurality of recovery springs are fixedly connected to the plurality of first track frames and the plurality of second track frames. The plurality of recovery springs are respectively fixedly connected to the plurality of inner lining iron blocks. A plurality of permanent magnets matching the inner lining iron blocks are installed on the rotating and adjusting lifting frame. A first horizontal adjustment component and a second horizontal adjustment component are installed on the rotating and adjusting lifting frame. The first horizontal adjustment component and the second horizontal adjustment component are respectively provided with a profiling rod and an execution rod. The plurality of first track frames all match the profiling rod, and the plurality of second track frames all match the execution rod. The welding torch is installed under the second horizontal adjustment component, and a profiling ball is installed under the first horizontal adjustment component.

[0007] Preferably, both the first leveling component and the second leveling component include a coaxial rotating frame and a parallel rotating frame. The two coaxial rotating frames and the two parallel rotating frames are all rotatably connected to the rotating and adjusting lifting frame. Two connecting rods are fixedly connected to the two coaxial rotating frames respectively. Connecting cylinders are slidably connected to the two connecting rods respectively. An actuating frame and a profiling frame are rotatably connected to the two connecting cylinders respectively. The welding torch and the profiling ball are respectively installed below the actuating frame and the profiling frame. The actuating frame and the profiling frame are both provided with middle notch openings. The profiling rod and the actuating rod are respectively inserted into the two middle notch openings, and the two connecting cylinders are respectively fixedly connected to the profiling rod and the actuating rod. Two parallel rods are fixedly connected to the two parallel rotating frames respectively. Parallel cylinders are slidably connected to the two parallel rods respectively. The two parallel cylinders are respectively connected to the actuating frame and the profiling frame. A linkage adjusting member is installed on the rotating and adjusting lifting frame. The linkage adjusting member is used for synchronous rotation adjustment and rotation limitation of the coaxial rotating frame and the parallel rotating frame on the same side of the rotating and adjusting lifting frame.

[0008] Preferably, the linkage adjusting member includes a fixed inclined frame. The fixed inclined frame is fixedly connected to the right side of the rotating and adjusting lifting frame. A synchronous rack is slidably connected outside the fixed inclined frame. The synchronous rack meshes with two transmission gears. The two transmission gears are respectively fixedly connected to a coaxial rotating frame on the right side and a parallel rotating frame on the right side. The synchronous rack is rotatably connected to a threaded rod. A threaded sleeve is threadedly connected to the outside of the threaded rod. The threaded sleeve is fixedly connected to the fixed inclined frame.

[0009] Preferably, a translation frame is slidably connected to the gantry. A rotating body frame is rotatably connected inside the translation frame. A second servo motor and a third servo motor are installed on the translation frame. The second servo motor is used for the relative displacement of the translation frame relative to the gantry. The third servo motor is used for the rotation adjustment of the rotating body frame relative to the translation frame. An electric telescopic rod is installed on the rotating body frame. The telescopic rod of the electric telescopic rod is fixedly connected to the top end of the rotating and adjusting lifting frame. The rotating and adjusting lifting frame is slidably connected to the rotating body frame.

[0010] Preferably, two sliding sleeves are fixedly connected to the bottom end of the gantry. Guide rails are slidably connected inside the two sliding sleeves respectively. The two guide rails are both fixedly connected to the top end of the workbench. A fourth servo motor is installed on one of the two sliding sleeves. A driving gear is installed on the output shaft of the fourth servo motor. The driving gear meshes with a transmission rack. The transmission rack is fixedly connected to the workbench.

[0011] Preferably, both the profiling rod and the actuating rod are provided with concave toroidal surfaces matching the rotating frame, and both the profiling rod and the actuating rod are provided with transition guiding rounded corners.

[0012] Preferably, a necking and gradually changing rod is threadedly connected to the profiling ball. The necking and gradually changing rod is fixedly connected to the bottom end of the profiling frame.

[0013] Preferably, a plurality of pressing frames are installed on the workbench. Rotating pressing frames are rotatably connected to the plurality of pressing frames. Electric driving rods are installed on the plurality of pressing frames, and the driving rods of the plurality of electric driving rods are respectively connected to the plurality of rotating pressing frames.

[0014] Preferably, a plurality of through cavities are formed in the workbench. Electric support rods are installed in the plurality of through cavities, and support top blocks are fixedly connected to the telescopic rods of the plurality of electric support rods.

[0015] Preferably, friction rough surfaces are provided at one ends of the plurality of inner lining iron blocks close to the rotating frame.

[0016] Compared with the prior art, the present invention provides an automatic centering welding device, which has the following beneficial effects: (1) In the present invention, through the design of the centering system, pre-recording of the trajectory for the gap to be welded can be formed, which is convenient for the guidance and centering adjustment during the actual welding operation of the subsequent welding torch, so as to ensure the automatic centering adjustment of the welding trajectory relative to the actual welding gap during the welding operation and ensure the quality of the welding operation.

[0017] (2) In the present invention, through the provision of the first leveling component and the second leveling component, corresponding installation stations for the welding torch, the profiling ball, the profiling rod, and the actuating rod are formed, which can realize the trajectory conduction between the welding gap and the centering system and the trajectory execution between the centering system and the welding torch. At the same time, the relative distance between the welding torch and the profiling ball can also be adjusted according to the actual welding needs, which is more practical.

[0018] (3) In the present invention, through the provision of the gantry and the rotating and lifting frame, a specific installation structure can be provided for the centering system, the first leveling component, and the second leveling component, realizing the coordinated operation of the centering system, the first leveling component, and the second leveling component, and ensuring the effective operation of the automatic centering welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a three-dimensional structure schematic diagram of the whole of the present invention; Figure 2 is of the present invention Figure 1 is a partial enlarged structure schematic diagram of part A in Figure 3 is of the present invention Figure 1 is a partial enlarged structure schematic diagram of part B in Figure 4 is a three-dimensional structure schematic diagram of the cooperation of the gantry, the rotating and lifting frame, and the coaxial rotating frame, etc. of the present invention; Figure 5 is a three-dimensional structure schematic diagram of the cooperation of the fixed inclined frame, the synchronous rack, and the transmission gear, etc. of the present invention; Figure 6Schematic three-dimensional structure diagram of the whole rear side view of the present invention; Figure 7 For the present invention Figure 6 Schematic enlarged partial structure diagram at position C in the present invention; Figure 8 Schematic three-dimensional structure diagram of the cooperation of the tone conversion lifting frame, rotating frame, parallel rotating frame, etc. of the present invention; Figure 9 Schematic three-dimensional structure diagram of the partial cross-section of the cooperation of the tone conversion lifting frame, rotating frame, parallel rotating frame, etc. of the present invention; Figure 10 Schematic three-dimensional structure diagram of the cooperation of the tone conversion lifting frame and multiple permanent magnets of the present invention; Figure 11 Schematic three-dimensional structure diagram of the partial cross-section of the cooperation of the first track frame, second track frame, inner lining iron block, etc. of the present invention; Figure 12 Schematic bottom-up three-dimensional structure diagram of the cooperation of the gantry, tone conversion lifting frame, rotating frame, etc. of the present invention; Figure 13 Schematic three-dimensional structure diagram of the cooperation of the second track frame, elastic spring and inner lining iron block of the present invention; Figure 14 Schematic bottom-up three-dimensional structure diagram of the whole of the present invention; Figure 15 For the present invention Figure 14 Schematic enlarged partial structure diagram at position D in the present invention; Figure 16 Schematic three-dimensional structure diagram of the cooperation of the profiling rod, actuator rod, connecting cylinder, etc. of the present invention.

[0020] In the figure: 1. Welding torch; 2. Workbench; 3. Gantry; 4. Tone conversion lifting frame; 5. Rotating frame; 6. First servo motor; 7. First track frame; 8. Second track frame; 9. Elastic spring; 10. Inner lining iron block; 11. Recycling spring; 12. Permanent magnet; 13. Profiling rod; 14. Actuator rod; 15. Profiling ball; 16. Coaxial rotating frame; 17. Parallel rotating frame; 18. Connecting rod; 19. Connecting cylinder; 20. Actuator frame; 21. Profiling frame; 22. Middle notch; 23. Parallel rod; 24. Parallel cylinder; 25. Fixed inclined frame; 26. Synchronous rack; 27. Driving gear; 28. Threaded rod; 29. Threaded sleeve; 30. Translating frame; 31. Rotating body frame; 32. Second servo motor; 33. Third servo motor; 34. Electric telescopic rod; 35. Sliding sleeve; 36. Guide track; 37. Fourth servo motor; 38. Driving gear; 39. Driving rack; 40. Concave toroidal surface; 41. Transition guiding fillet; 42. Necking and tapering rod; 43. Pressing frame; 44. Rotary pressing frame; 45. Electric driving rod; 46. Through cavity; 47. Electric support rod; 48. Support top block; 49. Friction rough surface. Detailed implementation manners

[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0022] For the embodiments, please refer to Figures 1 - 16, an automatic centering welding device, including a welding torch 1, further including a workbench 2 and a centering system. A plurality of pressing frames 43 are installed on the workbench 2. A rotating pressing frame 44 is rotatably connected to each of the plurality of pressing frames 43. An electric driving rod 45 is installed on each of the plurality of pressing frames 43. The driving rods of the plurality of electric driving rods 45 are respectively connected to the plurality of rotating pressing frames 44, providing pressing and positioning for the target workpiece to be welded placed on the workbench 2. A plurality of through cavities 46 are formed in the workbench 2. An electric support rod 47 is installed in each of the plurality of through cavities 46. A support top block 48 is fixedly connected to the telescopic rod of each of the plurality of electric support rods 47. By adjusting the electric support rod 47, the support height of the support top block 48 can be realized to facilitate the matching adjustment of the support height for target workpieces of different thickness specifications. A gantry 3 is installed on the workbench 2. A rotating and adjusting lifting frame 4 is installed in the gantry 3. A translation frame 30 is slidably connected to the gantry 3. A rotating body frame 31 is rotatably connected to the translation frame 30. A second servo motor 32 and a third servo motor 33 are installed on the translation frame 30. The second servo motor 32 is used for the relative displacement of the translation frame 30 relative to the gantry 3. The third servo motor 33 is used for the rotational adjustment of the rotating body frame 31 relative to the translation frame 30. An electric telescopic rod 34 is installed on the rotating body frame 31. The telescopic rod of the electric telescopic rod 34 is fixedly connected to the top end of the rotating and adjusting lifting frame 4. The rotating and adjusting lifting frame 4 is slidably connected to the rotating body frame 31. Two sliding sleeves 35 are fixedly connected to the bottom end of the gantry 3. A guiding track 36 is slidably connected in each of the two sliding sleeves 35. The two guiding tracks 36 are fixedly connected to the top end of the workbench 2. A fourth servo motor 37 is installed on one of the two sliding sleeves 35. A driving gear 38 is installed on the output shaft of the fourth servo motor 37. The driving gear 38 meshes with a transmission rack 39. The transmission rack 39 is fixedly connected to the workbench 2. Through the configuration of the gantry 3 and the rotating and adjusting lifting frame 4, a specific installation structure can be provided for the centering system, the first horizontal adjustment component and the second horizontal adjustment component, realizing the coordinated operation of the centering system, the first horizontal adjustment component and the second horizontal adjustment component, and ensuring the effective operation of automatic centering welding. The centering system includes a rotating frame 5 and a first servo motor 6. The rotating frame 5 is rotatably connected in the rotating and adjusting lifting frame 4. The first servo motor 6 is installed in the rotating and adjusting lifting frame 4. The first servo motor 6 is used for driving the rotation of the rotating frame 5. A plurality of first track frames 7 and a plurality of second track frames 8 are slidably connected in the rotating frame 5. A plurality of elastic springs 9 are sleeved on the plurality of first track frames 7 and the plurality of second track frames 8. The plurality of elastic springs 9 are all connected in the rotating frame 5. A lining iron block 10 is slidably connected to each of the plurality of first track frames 7 and the plurality of second track frames 8. A recovery spring 11 is fixedly connected to each of the plurality of first track frames 7 and the plurality of second track frames 8. The plurality of recovery springs 11 are respectively fixedly connected to the plurality of lining iron blocks 10. The rotating and adjusting lifting frame 4 is provided with a plurality of permanent magnets 12 that match the lining iron blocks 10. A friction rough surface 49 is provided at one end of each of the plurality of lining iron blocks 10 close to the rotating frame 5. Through the design of the centering system,It is possible to form a pre-record of the trajectory for the gap to be welded, which facilitates the guidance and centering adjustment during the actual welding operation of the welding torch 1, so as to ensure the automatic centering adjustment of the welding trajectory relative to the actual welding gap during the welding operation and guarantee the quality of the welding operation.

[0023] It should be further noted that a first horizontal adjustment component and a second horizontal adjustment component are installed on the transfer lifting frame 4. A template rod 13 and an actuating rod 14 are respectively installed on the first horizontal adjustment component and the second horizontal adjustment component. A plurality of first track frames 7 are all matched with the template rod 13, and a plurality of second track frames 8 are all matched with the actuating rod 14. The welding torch 1 is installed under the second horizontal adjustment component, and a template ball 15 is installed under the first horizontal adjustment component. Both the first horizontal adjustment component and the second horizontal adjustment component include a coaxial rotating frame 16 and a parallel rotating frame 17. The two coaxial rotating frames 16 and the two parallel rotating frames 17 are all rotatably connected to the transfer lifting frame 4. Both of the two coaxial rotating frames 16 are fixedly connected with a connecting rod 18. A connecting cylinder 19 is slidably connected to both of the two connecting rods 18. An actuating frame 20 and a template frame 21 are respectively rotatably connected to the two connecting cylinders 19. The welding torch 1 and the template ball 15 are respectively installed under the actuating frame 20 and under the template frame 21. A necking and tapering rod 42 is threadedly connected to the template ball 15. The necking and tapering rod 42 is fixedly connected to the bottom end of the template frame 21. After the template ball 15 is worn out, the consumed template ball 15 is rotated and adjusted relative to the necking and tapering rod 42, so that the template ball 15 forms a relative spiral movement relative to the necking and tapering rod 42. The direction of controlling this spiral movement is the direction in which the internal thread on the template ball 15 is spirally removed relative to the external thread on the necking and tapering rod 42 until the threaded connection function between the necking and tapering rod 42 and the template ball 15 fails, and thus the disassembly of the consumed template ball 15 relative to the necking and tapering rod 42 can be realized. Then, a new template ball 15 is selected, and the new template ball 15 is rotated and inserted relative to the necking and tapering rod 42. Under the action of the internal thread on the new template ball 15 and the adapted external thread on the necking and tapering rod 42, the new template ball 15 will form a spiral insertion relative to the necking and tapering rod 42, so that a threaded connection is formed between the new template ball 15 and the necking and tapering rod 42. Then, the new template ball 15 is continuously rotated relative to the necking and tapering rod 42 until the internal thread on the new template ball 15 enters the limit position of spiral insertion relative to the external thread on the necking and tapering rod 42, that is, the replacement of the template ball 15 is completed. Both the actuating frame 20 and the template frame 21 are provided with middle notches 22. The template rod 13 and the actuating rod 14 are respectively inserted into the two middle notches 22, and the two connecting cylinders 19 are respectively fixedly connected with the template rod 13 and the actuating rod 14. Both of the two parallel rotating frames 17 are fixedly connected with parallel rods 23. A parallel cylinder 24 is slidably connected to both of the two parallel rods 23. The two parallel cylinders 24 are respectively connected with the actuating frame 20 and the template frame 21. A linkage adjusting part is installed on the transfer lifting frame 4. The linkage adjusting part is used for the synchronous rotation adjustment and rotation limitation of the coaxial rotating frame 16 and the parallel rotating frame 17 on the same side of the transfer lifting frame 4. The linkage adjusting part includes a fixed inclined frame 25. The fixed inclined frame 25 is fixedly connected to the right side of the transfer lifting frame 4. A synchronous rack 26 is slidably connected to the outside of the fixed inclined frame 25. The synchronous rack 26 meshes with two transmission gears 27. The two transmission gears 27 are respectively fixedly connected with a coaxial rotating frame 16 on the right side and a parallel rotating frame 17 on the right side.The synchronous rack 26 is rotatably connected with a threaded rod 28. The threaded rod 28 is externally threaded with a threaded sleeve 29. The threaded sleeve 29 is fixedly connected with the fixed inclined frame 25. Through the provision of the first leveling component and the second leveling component, the corresponding installation stations of the welding torch 1, the profiling ball 15, the profiling rod 13 and the actuating rod 14 are formed, which can realize the trajectory conduction between the welding seam and the centering system and the trajectory execution between the centering system and the welding torch 1. At the same time, it can also adjust the relative distance between the welding torch 1 and the profiling ball 15 according to the actual welding needs, which is more practical. The profiling rod 13 and the actuating rod 14 are both provided with a concave toroidal surface 40 matching the rotating frame 5, and the profiling rod 13 and the actuating rod 14 are both provided with an over-guiding rounded corner 41, which provides over-guiding for the passing of both the profiling rod 13 and the actuating rod 14 relative to the first track frame 7, and also provides over-guiding for the passing of both the profiling rod 13 and the actuating rod 14 relative to the second track frame 8.,

[0024] The first servo motor 6, the second servo motor 32, the third servo motor 33, the electric telescopic rod 34, the fourth servo motor 37, the electric drive rod 45 and the electric support rod 47 in this embodiment are all conventional devices well-known to those skilled in the art and purchased on the market. In the present invention, we only use them and do not improve their structures and functions. Their setting methods, installation methods and electrical connection methods, for those skilled in the art, only need to be debugged and operated according to the requirements of their user manuals, and will not be elaborated here again.

[0025] To sum up, the working principle of this automatic centering welding device is that before use, place this automatic centering welding device at the location where it is needed, and connect the control circuits of the first servo motor 6, the second servo motor 32, the third servo motor 33, the electric telescopic rod 34, the fourth servo motor 37, the electric drive rod 45 and the electric support rod 47. Install a welding machine for the welding torch 1. During actual use, the welding machine is powered on and runs to realize the welding operation on the target workpiece through the welding torch 1. When in use, first place the target workpiece to be welded on the workbench 2, and realize the rotational adjustment of the rotating pressure frame 44 relative to the pressing frame 43 through the operation of the electric drive rod 45, so that the end of the rotating pressure frame 44 away from the electric drive rod 45 forms a pressing and positioning on the workbench 2 relative to the target workpiece. During actual operation, according to the specific structural form of the target workpiece, multiple electric support rods 47 can be purposefully adjusted to make the multiple support blocks 48 form a relative height adjustment relative to the workbench 2 to form an appropriate and corresponding support height for the target workpiece. Then control the second servo motor 32 and the fourth servo motor 37 to be powered on and run to realize the adjustment of the rotating and lifting frame 4 in the horizontal direction to attach Figure 1Taking the direction in [reference] as a reference, under the meshing drive of the driving gear 38 and the transmission rack 39, the fourth servo motor 37 is powered on to operate, enabling the adjustment of the gantry 3 along the workbench 2. A spur gear is installed on the output shaft of the second servo motor 32, and a spur rack meshing with the spur gear is installed on the gantry 3. Therefore, when the second servo motor 32 is powered on to operate, the translation frame 30 can move left and right along the gantry 3 for adjustment. Thus, when the second servo motor 32 and the fourth servo motor 37 are powered on and operate in combination, the translation frame 30 can be displaced horizontally, that is, the rotation-adjustable lifting frame 4 can be displaced horizontally. A driving gear ring is installed on the output shaft of the third servo motor 33, and a transmission gear ring is installed on the rotating frame 31. The transmission gear ring meshes with the driving gear ring. Therefore, when the third servo motor 33 is powered on to operate, the rotation-adjustable lifting frame 4 can be rotationally adjusted to enable the centering system to have a suitable position in the horizontal direction relative to the target workpiece. When the welding torch 1 and the profiling ball 15 are both vertically aligned with the welding seam of the target workpiece, the second servo motor 32, the third servo motor 33, and the fourth servo motor 37 are all controlled to stop. Then, the electric telescopic rod 34 works to lower the height of the rotation-adjustable lifting frame 4 within the gantry 3. During this process, the profiling ball 15, the welding torch 1, and the centering system are lowered synchronously in height. When the profiling ball 15 is inserted into the gap to be welded, the welding torch 1 just has a suitable welding height. Then, through the combined operation of the second servo motor 32 and the fourth servo motor 37, the horizontal movement of the rotation-adjustable lifting frame 4 is realized, and the profiling ball 15 is controlled to move relative to the welding seam of the target workpiece to the head of the welding seam to be welded. Then, the first servo motor 6, the second servo motor 32, and the fourth servo motor 37 are started synchronously. The first servo motor 6 is powered on to drive the rotation of the rotating frame 5, that is, when the rotating frame 5 moves horizontally by itself, it also realizes its own rotational movement. During the rotational movement of the rotating frame 5, it can drive a plurality of first track frames 7 and a plurality of second track frames 8 to form a synchronous revolution movement. When the plurality of first track frames 7 revolve synchronously, they will pass by the profiling rod 13 in sequence. When the plurality of second track frames 8 revolve synchronously, they will also pass by the profiling rod 13 in sequence. Since the permanent magnets 12 are distributed in the area between the actuating rod 14 and the profiling rod 13, the lining iron blocks 10 in the first track frames 7 and the second track frames 8 that enter this area will be driven to overcome the elastic force of the recovery spring 11, so that the friction rough surface 49 on the lining iron block 10 contacts the rotating frame 5. That is, the first track frames 7 and the second track frames 8 that are pushed by the profiling rod 13 during the movement through the profiling rod 13 will maintain the state after being pushed by the profiling rod 13 until they pass by the actuating rod 14.

[0026] Further, control the relative movement of the transfer and adjustment lifting frame 4 with respect to the weld gap on the target workpiece, so that the profiling ball 15 remains inserted into the weld gap and swings along the position of the weld gap. The position swing of the profiling ball 15 drives the profiling frame 21 to form a synchronous position swing through the necking and gradual change rod 42. The swing of the profiling frame 21 drives the profiling rod 13 to swing. The swing of the profiling rod 13 is directly manifested as the driving change of the first track frame 7 and the second track frame 8, so that the trajectories of the first track frame 7 and the second track frame 8 acting on the actuating rod 14 also form corresponding changes. Therefore, along with the movement of the profiling ball 15, an imitated trajectory of the weld gap is formed between the multiple first track frames 7 and the multiple second track frames 8. Then, along with the rotation drive of the first servo motor 6 for the rotating frame 5, when the imitated trajectory passes through the actuating rod 14, the welding torch 1 just passes through the weld gap corresponding to the imitated trajectory. The supporting welding machine is powered on and runs to realize the welding output operation of the welding torch 1. When the first track frame 7 and the second track frame 8 rotate past the actuating rod 14, the inner lining iron block 10 will rotate farther and farther away from the effective magnetic action area of the permanent magnet 12. Therefore, when the magnetic adsorption force of the permanent magnet 12 acting on the inner lining iron block 10 is not enough to overcome the elastic force of the recovery spring 11, the inner lining iron block 10 will be retracted with respect to the corresponding first track frame 7 and the second track frame 8. After that, the friction positioning effect between the first track frame 7 and the rotating frame 5 fails, and the friction positioning effect between the second track frame 8 and the rotating frame 5 fails. Under the elastic recovery effect of the elastic spring 9, the first track frame 7 and the second track frame 8 will perform a movement reset within the rotating frame 5 to prepare for forming a new imitated trajectory again when passing by the profiling rod 13 again. Rotating back and forth like this finally completes the complete welding operation of the weld gap on the target workpiece. During the welding operation, it should be controlled that the welded target area is completely covered within the left and right horizontal sliding recognition operation range of the first track frame 7 and the second track frame 8. Each time it exceeds the left and right horizontal sliding recognition operation range of the first track frame 7 and the second track frame 8, the position of the transfer and adjustment lifting frame 4 in the horizontal direction with respect to the target workpiece should be readjusted with respect to the weld gap and then profiling welding is carried out. By rotating the threaded rod 28, the sliding adjustment of the synchronous rack 26 with respect to the fixed inclined frame 25 can be realized. Under the meshing and transmission effect of the synchronous rack 26 and the transmission gear 27, the movement of the synchronous rack 26 can realize the linkage rotation adjustment of a coaxial rotating frame 16 on the right and a parallel rotating frame 17 on the right, and finally form the adjustment of the horizontal distance between the profiling ball 15 and the welding torch 1 to form corresponding use for supporting different welding forms. For example, when the thickness of the welded workpiece is relatively thick, in order to ensure the penetration of the welding, the welding current is usually increased. The welding molten pool formed thereby is also larger, and the corresponding heat formation is also larger. At this time, in order to reduce the influence of the welding high temperature on the profiling ball 15 during temperature conduction of the target workpiece, the profiling ball 15 can be appropriately adjusted away from the welding torch 1. On the contrary, the profiling ball 15 can be appropriately adjusted closer to the welding torch 1 to realize the rapid use after the imitated trajectory is formed.Reduce the rotational distance after the formation of the imitation trajectory and reduce the variation generated after the formation of the imitation trajectory.

[0027] Although embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic centering welding device, comprising a welding gun, characterized in that: It also includes a workbench and a centering system, a gantry is installed on the workbench, a transfer lifting frame is installed in the gantry, the centering system includes a rotating frame and a first servo motor, the rotating frame is rotatably connected in the transfer lifting frame, the first servo motor is installed in the transfer lifting frame, the first servo motor is used for rotational drive of the rotating frame, a plurality of first track frames and a plurality of second track frames are slidably connected in the rotating frame, the plurality of first track frames and the plurality of second track frames are all equipped with elastic springs, the plurality of elastic springs are all connected in the rotating frame, the plurality of first track frames and the plurality of second track frames are A lining iron block is slidably connected, and multiple first track frames and multiple second track frames are fixedly connected with recovery springs, and multiple recovery springs are respectively fixedly connected to multiple lining iron blocks. A transfer lifting frame is installed with multiple permanent magnets matching the lining iron blocks, and a first horizontal adjustment component and a second horizontal adjustment component are installed on the transfer lifting frame. The first horizontal adjustment component and the second horizontal adjustment component are respectively installed with a supporting rod and an actuator rod, multiple first track frames are matched with the supporting rod, and multiple second track frames are matched with the actuator rod. The welding gun is installed under the second horizontal adjustment component, and a supporting ball is installed under the first horizontal adjustment component.

2. The automatic centering welding device according to claim 1, characterized in that: The first horizontal adjustment component and the second horizontal adjustment component each include a coaxial swivel frame and a parallel swivel frame, the two coaxial swivel frames and the two parallel swivel frames are rotatably connected to the swivel lifting frame, the two coaxial swivel frames are fixedly connected to a connecting rod, the two connecting rods are slidably connected to a connecting cylinder, the two connecting cylinders are rotatably connected to an execution frame and a back mold frame, the welding gun and the back mold ball are respectively installed below the execution frame and below the back mold frame, the execution frame and the back mold frame are both provided with a middle notch, the back mold rod and the execution rod are respectively inserted into the two middle notches, and the two connecting cylinders are respectively fixedly connected to the back mold rod and the execution rod, the two parallel swivel frames are fixedly connected to parallel rods, the two parallel rods are slidably connected to parallel cylinders, the two parallel cylinders are respectively connected to the execution frame and the back mold frame, and a linkage adjustment member is installed on the swivel lifting frame, the linkage adjustment member is used for the synchronous rotation adjustment and rotation restriction of the coaxial swivel frame and the parallel swivel frame located on the same side of the swivel lifting frame 3. The automatic centering welding device according to claim 2, characterized in that: The linkage adjustment member includes a fixed oblique frame, which is fixedly connected to the right side of the adjustment lifting frame, and a synchronous rack is slidably connected to the outside of the fixed oblique frame. The synchronous rack is meshed with two transmission gears, and the two transmission gears are respectively fixedly connected to a coaxial rotating frame on the right side and a parallel rotating frame on the right side. The synchronous rack is rotatably connected to a threaded rod, and the threaded rod is externally threaded with a threaded sleeve, and the threaded sleeve is fixedly connected to the fixed oblique frame.

4. The automatic centering welding device according to claim 3, characterized in that: A translation frame is slidably connected to the gantry frame, a swivel frame is rotatably connected inside the translation frame, a second servo motor and a third servo motor are installed on the translation frame, the second servo motor is used for the relative displacement of the translation frame with respect to the gantry frame, the third servo motor is used for the rotation adjustment of the swivel frame with respect to the translation frame, and an electric telescopic rod is installed on the swivel frame, the telescopic rod of the electric telescopic rod is fixedly connected to the top end of the transfer lifting frame, and the transfer lifting frame is slidably connected to the swivel frame.

5. The automatic centering welding device according to claim 4, characterized in that: Two sliding sleeves are fixedly connected to the bottom end of the gantry, and guide rails are slidably connected inside the two sliding sleeves. The two guide rails are fixedly connected to the top of the workbench, and a fourth servo motor is installed on one of the two sliding sleeves. A driving gear is installed on the output shaft of the fourth servo motor. The driving gear is meshed with a transmission rack, and the transmission rack is fixedly connected to the workbench.

6. The automatic centering welding device according to claim 5, characterized in that: The mold rod and the actuator rod are both provided with a concave annular surface matching the rotating frame, and the mold rod and the actuator rod are both provided with an excessive guide fillet.

7. The automatic centering welding device according to claim 6, characterized in that: A necking and gradually changing rod is threadedly connected to the profiling ball, and the necking and gradually changing rod is fixedly connected to the bottom end of the profiling frame.

8. The automatic centering welding device according to claim 7, characterized in that: A plurality of pressing frames are installed on the workbench, and the plurality of pressing frames are rotatably connected with rotating pressing frames. An electric driving rod is installed on the plurality of pressing frames, and the driving rods of the plurality of electric driving rods are respectively connected with the plurality of rotating pressing frames.

9. The automatic centering welding device according to claim 8, characterized in that: The workbench is provided with a plurality of through cavities, each of which is provided with an electric support rod, and each of which has a supporting top block fixedly connected to its telescopic rod.

10. The automatic centering welding device according to claim 9, characterized in that: A friction rough surface is arranged on one end of the plurality of lining iron blocks close to the rotating frame.

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