Automatic welding seam tracking device with welding groove and adjusting method of automatic welding seam tracking device

Abstract

The invention discloses an automatic welding seam tracking device with a welding groove and an adjusting method thereof. According to the automatic welding seam tracking device with the welding groove, a welding gun and a cutter wheel assembly are sequentially arranged along a mechanical arm, the cutter wheel assembly is located in front of the welding gun, and a deviation rectifying cutter wheel of the cutter wheel assembly rolls along the welding groove; two rotating rollers are arranged below the steel pipe in parallel, and a servo motor drives the rotating rollers to rotate around the axis; the column type tension and compression sensor I and the column type tension and compression sensor II transmit pressure values on the two sides of the deviation rectifying cutter wheel to the control system, the control system compares the two obtained pressure values and then controls operation of the servo motor, and the center line of a weld groove and the axis of a welding wire of the welding gun are adjusted to be located in the same vertical plane. The device has the advantages that the servo motor on the rotating roller is controlled to rotate by comparing two signals, it is guaranteed that the center line of a weld groove and the axis of a welding wire of a welding gun are located in the same vertical plane, the problem of weld deviation of the weld is solved, and the welding quality of the weld is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to a straight seam submerged arc welded steel pipe processing device, in particular to a welding seam automatic tracking device with a welding groove and an adjusting method thereof, and belongs to the technical field of submerged arc welded pipe manufacturing. BACKGROUND

[0002] In the production process of the straight seam submerged arc welded steel pipe, in order to ensure that the welding seam can be filled and the welding quality, a welding groove is processed on both sides of the steel plate due to the large wall thickness of the steel pipe (the maximum wall thickness can reach 40 mm). After pre-bending and JCO forming, the welding groove on both sides of the steel plate is combined to form an "X" shaped groove. The "X" shaped groove is welded together through pre-welding on the outside of the steel pipe and multi-wire submerged arc welding process inside and outside, to form the straight seam submerged arc welded steel pipe. In the pre-bending and JCO forming process, multi-step forming is adopted. Due to the non-uniformity of the performance of the steel plate and the non-uniformity of the pressure at each step in the pre-bending and JCO forming process, a certain amount of axial error is formed at the end of the JCO formed steel pipe, so that the perpendicular projection of the top line of the welding groove to the plane passing through the center axis of the steel pipe forms a certain angle with the center axis. After the multi-wire submerged arc welding inside and outside, the welding seam forms a certain welding deviation, which affects the macro appearance of the welding seam and seriously affects the welding quality of the welding seam.

[0003] At present, before the inside and outside welding, the welding operator aligns the welding wire with the welding groove at both ends of the steel pipe. When the perpendicular projection of the top line of the welding groove to the plane passing through the center axis of the steel pipe forms a certain angle with the center axis, the position of the welding wire needs to be adjusted according to the experience of the on-site welding operator to ensure that the welding deviation of the welding seam is minimized after welding. In the welding process, the cutter wheel arranged at the front end of the welding gun is located in the welding groove. When the welding groove deviates, the cutter wheel drives the welding gun to move horizontally through the mechanical structure. However, after the welding gun moves, the axis of the welding wire on the welding gun does not coincide with the center line of the welding groove, forming a certain angle. This structure only reduces the welding deviation of the welding seam, and cannot fundamentally solve the problem of welding deviation of the welding seam. SUMMARY

[0004] In order to overcome the defects that the welding deviation of the welding seam cannot be eliminated and the welding quality is affected in the existing straight seam submerged arc welded steel pipe welding process, the present application provides a welding seam automatic tracking device with a welding groove and an adjusting method thereof.

[0005] The technical scheme adopted by the present application to solve the technical problems is as follows: a welding seam automatic tracking device with a welding groove, comprising a welding gun, a mechanical arm and a steel pipe, the welding gun, a cutter wheel assembly are arranged along the mechanical arm in sequence, the cutter wheel assembly is located in front of the welding gun, and the correction cutter wheel of the cutter wheel assembly rolls along the welding groove.

[0006] Two rotating rollers are arranged side by side below the steel pipe, and a servo motor drives the rotating rollers to rotate around the axis.

[0007] The columnar tension sensor I and the columnar tension sensor II transmit the pressure values on both sides of the correction blade wheel to the control system, and the control system controls the operation of the servo motor after comparing the two pressure values to adjust the center line L of the weld groove and the wire axis of the welding gun to be in the same vertical plane.

[0008] The blade wheel assembly is arranged at the lower end of the support, and the upper end of the support is fixedly connected with the mechanical arm.

[0009] The blade wheel assembly, the electric sliding block assembly, and the support are sequentially arranged from bottom to top, the upper end of the support is fixedly connected with the mechanical arm, and the sliding block at the lower end of the electric sliding block assembly is hingedly connected with the blade wheel assembly.

[0010] The motor is arranged in the fixed sleeve of the electric sliding block assembly, and the motor drives the sliding block to slide up and down through the transmission mechanism.

[0011] The two correction blade wheels of the blade wheel assembly are sequentially arranged along the steel pipe axis direction, and the two correction blade wheels are connected through a blade wheel frame; and the blade wheel frame is hingedly connected with the sliding block through a pin shaft.

[0012] The columnar tension sensor I and the columnar tension sensor II are connected with the support, and the columnar tension sensor I and the columnar tension sensor II are symmetrically arranged on both sides of the steel pipe axis.

[0013] Further, the surface hardness of the correction blade wheel is greater than HRC55.

[0014] An adjustment method of the automatic tracking device with the weld groove, in the process of steel pipe welding, the correction blade wheel rolls along the longitudinal direction of the groove, the columnar tension sensor I and the columnar tension sensor II measure the force data on both sides of the correction blade wheel, and it is assumed that:

[0015] The force value of the columnar tension sensor I is F Ⅰ , and the force value of the columnar tension sensor II is F Ⅱ .

[0016] The tension received by the columnar tension sensor I and the columnar tension sensor II is “+”, and the pressure received is “-”;

[0017] When F Ⅰ =F Ⅱ =0, the center line L of the weld groove and the wire axis of the welding gun are in the same vertical plane, the rotating roller stops rotating, and welding is performed.

[0018] When F Ⅰ >F Ⅱ , the rotating roller rotates to the side with the force F Ⅰ , the steel pipe rotates in the opposite direction, and the process is repeated until F Ⅰ =F Ⅱ= 0

[0019] When F Ⅰ <F Ⅱ , the rotating roller rotates to the force F Ⅱ side, and the steel pipe rotates in the opposite direction until F Ⅰ = F Ⅱ = 0.

[0020] Further, the columnar tension sensor I and the columnar tension sensor II transmit the force data measured in real time on both sides of the correction knife wheel to the control system, and the control system controls the rotating direction or stops the operation of the rotating roller through the servo motor.

[0021] The beneficial effects of the present application are that when the welding groove rotates around the steel pipe axis, two laterally arranged columnar tension sensors will generate different signals, and the servo motor of the rotating roller is controlled by comparing the two signals to rotate, driving the steel pipe to rotate, ensuring that the center line of the weld groove and the wire axis of the welding gun are in the same vertical plane, eliminating the problem of weld offset, improving the macro appearance of the weld, and improving the welding quality of the weld. The device has simple structure, reliable effect and easy implementation. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a structural schematic diagram of the automatic weld tracking device of the present application.

[0023] Figure 2 is a structural schematic diagram of the correction knife wheel in the welding groove.

[0024] Figure 3 is a flow chart of the adjustment method of the automatic weld tracking device of the present application.

[0025] In the figure: 1. welding gun, 2. mechanical arm, 3. support, 4. electric sliding block assembly, 5. knife wheel assembly, 6. rotating roller, 7. columnar tension sensor I, 8. columnar tension sensor II, 9. steel pipe, 10. weld groove, 11. correction knife wheel, 12. pin shaft, 13. fixed sleeve, 14. sliding block, 15. knife wheel frame. DETAILED DESCRIPTION

[0026] The present application will be further described below in conjunction with the drawings and examples. However, those skilled in the art should know that the present application is not limited to the specific embodiments listed, and as long as it conforms to the spirit of the present application, it should be included in the protection scope of the present application.

[0027] In the description of the present application, it should be noted that the terms "vertical", "upper", "lower", "left", "right", "horizontal" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of description or simplification of the description of the present application, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0028] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "set", "mount", "connected", "connected" should be understood broadly, for example, the connection can be fixed connection, can also be detachable connection, can be direct connection, can also be indirect connection, or integral connection; can be mechanical connection, can also be indirectly connected through intermediate medium, can also be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0029] Referring to the accompanying Figure 1 , 2 The present application is a kind of automatic tracking device of weld with welding groove, including welding torch 1, mechanical arm 2, steel pipe 9, steel pipe 9 horizontal arrangement, weld groove 10 is located directly above steel pipe 9.

[0030] The welding torch 1, the cutter wheel assembly 5 are sequentially arranged along the mechanical arm 2, the cutter wheel assembly 5 is located in front of the welding torch 1, and the deviation correction cutter wheel 11 of the cutter wheel assembly 5 rolls along the weld groove 10.

[0031] Two rotating rollers 6 are arranged side by side below the steel pipe 9, the axis of the rotating roller 6 is parallel to the axis of the steel pipe 9, and the servo motor drives the rotating roller 6 to rotate around the axis.

[0032] The column type tension sensor I 7 and the column type tension sensor II 8 respectively transmit the pressure values on both sides of the deviation correction cutter wheel 11 to the control system, and the control system compares the two pressure values obtained to control the operation of the servo motor, adjusts the center line L of the weld groove 10 and the wire axis of the welding torch 1 to be in the same vertical plane.

[0033] The cutter wheel assembly 5 is arranged at the lower end of the support 3, and the upper end of the support 3 is fixedly connected with the mechanical arm 2.

[0034] Further, the cutter wheel assembly 5, the electric sliding block assembly 4 and the support 3 are sequentially arranged from bottom to top, the upper end of the support 3 is fixedly connected with the mechanical arm 2, and the sliding block 14 at the lower end of the electric sliding block assembly 4 is hinged with the cutter wheel assembly 5.

[0035] Further, the motor is arranged in the fixing sleeve 13 of the electric sliding block assembly 4, the motor drives the sliding block 14 to slide up and down through a transmission mechanism, adjusts the height position of the correcting blade wheel 11, and can meet the requirements of different sizes of steel pipes and different weld groove depths.

[0036] The two correcting blade wheels 11 of the blade wheel assembly 5 are arranged in sequence along the axis direction of the steel pipe 9, and the two correcting blade wheels 11 are connected through a blade wheel frame 15.

[0037] The blade wheel frame 15 is hinged with the sliding block 14 through a pin shaft 12, so as to ensure that the correcting blade wheel 11 rolls smoothly along the longitudinal direction of the weld groove 10.

[0038] The columnar tensile and compressive sensor I 7 and the columnar tensile and compressive sensor II 8 are fixedly connected with the support 3.

[0039] Further, the columnar tensile and compressive sensor I 7 and the columnar tensile and compressive sensor II 8 are symmetrically arranged on the two sides of the axis of the steel pipe 9.

[0040] The surface hardness of the correcting blade wheel 11 is greater than HRC55.

[0041] In the application of the adjusting method of the weld automatic tracking device with a weld groove, in the welding process of the steel pipe 9, the correcting blade wheel 11 rolls along the longitudinal direction of the weld groove 10, the columnar tensile and compressive sensor I 7 and the columnar tensile and compressive sensor II 8 measure the force data on the two sides of the correcting blade wheel 11, and it is assumed that:

[0042] The force value of the columnar tensile and compressive sensor I 7 is F Ⅰ , and the force value of the columnar tensile and compressive sensor II 8 is F Ⅱ .

[0043] The tensile force received by the columnar tensile and compressive sensor I 7 and the columnar tensile and compressive sensor II 8 is "+" and the compressive force is "-".

[0044] When F Ⅰ =F Ⅱ =0, the center line L of the weld groove 10 and the wire axis of the welding gun 1 are located in the same vertical plane, the rotating roller 6 stops rotating, and welding is performed.

[0045] When F Ⅰ >F Ⅱ , the rotating roller 6 rotates to the side with the force F Ⅰ , the steel pipe 9 rotates in the opposite direction, and F Ⅰ =F Ⅱ =0.

[0046] When F Ⅰ <F Ⅱ , the rotating roller 6 rotates to the side with the force F Ⅱ , the steel pipe 9 rotates in the opposite direction, and FⅠ = F Ⅱ = 0.

[0047] The columnar tension sensor I 7 and the columnar tension sensor II 8 transmit the force data measured in real time on both sides of the correction blade wheel 11 to the control system, and the control system controls the rotating roller 6 to rotate in a direction or stop rotating through a servo motor.

[0048] Embodiment 1:

[0049] The welding seam automatic tracking device with a welding groove is characterized in that a steel pipe 9 is horizontally arranged, a mechanical arm 2 is arranged above a welding groove 10, a welding gun 1 and a blade wheel assembly 5 are sequentially arranged along the mechanical arm 2, the blade wheel assembly 5 is arranged in front of the welding gun 1 (the walking direction of the welding gun 1 is forward), a correction blade wheel 11 of the blade wheel assembly 5 is arranged in the welding groove 10, and the correction blade wheel 11 rolls forward along the welding groove 10 (as shown in the figure). Figure 1

[0050] Referring to the accompanying drawings, Figure 2 two rotating rollers 6 are arranged side by side below the steel pipe 9, the axis of the rotating rollers 6 is parallel to the axis of the steel pipe 9, and the rotating rollers 6 are spaced apart in the transverse direction. During the welding operation, the steel pipe 9 is arranged above the two rotating rollers 6, and the rotating rollers 6 are driven to rotate around the axis by a servo motor (not shown in the figure).

[0051] The columnar tension sensor I 7 and the columnar tension sensor II 8 are symmetrically arranged on both sides of the axis of the steel pipe 9, and respectively transmit the pressure values F Ⅰ , F Ⅱ to the control system, the control system compares the two pressure values F Ⅰ , F Ⅱ obtained, and controls the operation of the servo motor according to the comparison result, so that the center line L of the welding groove 10 and the wire axis of the welding gun 1 are arranged in the same vertical plane.

[0052] The control system is connected with the columnar tension sensor I 7, the columnar tension sensor II 8 and the servo motor driving the rotating roller 6 to rotate, the control system compares the real-time pressure information of the columnar tension sensor I 7 and the columnar tension sensor II 8 received, and sends an operation instruction of the servo motor according to the comparison result.

[0053] The blade wheel assembly 5, the electric sliding block assembly 4 and the support 3 are sequentially arranged from bottom to top, the upper end of the support 3 is fixedly connected with the mechanical arm 2, and the lower end of the support 3 is connected with the electric sliding block assembly 4.

[0054] ​The electric slider assembly 4 includes a fixed sleeve 13 and a slider 14. The fixed sleeve 13 is fixedly installed in a vertical groove at the lower part of the support 3. A motor is installed inside the fixed sleeve 13. The motor drives the slider 14 to slide up and down through a transmission mechanism to adjust the height of the correction wheel 11, meeting the requirements of different sized steel pipes 9 and the depth of the weld bevel 10. Preferably, the transmission mechanism inside the fixed sleeve 13 is a worm gear mechanism.

[0055] The column-type tension / compression sensor I7 and column-type tension / compression sensor II8 are installed in the I-shaped groove on the upper part of the support 3. For example... Figure 2 As shown, the left side is column-type tension / compression sensor I7, and the right side is column-type tension / compression sensor II8. The force on the left-side column-type tension / compression sensor I7 is F. Ⅰ The force on the right-side columnar tension / compression sensor II8 is F. Ⅱ .

[0056] The cutter wheel assembly 5 is hinged to the lower end of the slider 14 of the electric slider assembly 4.

[0057] The two correction wheels 11 of the cutter wheel assembly 5 are arranged sequentially along the axis of the steel pipe 9. The two correction wheels 11 are mounted on the cutter wheel frame 15. Preferably, the correction wheels 11 and the cutter wheel frame 15 are connected by a wheel axle.

[0058] The middle part of the cutter wheel holder 15 is hinged to the slider 14 via a pin 12 (e.g., Figure 1 As shown), the correction wheel 11 rolls smoothly along the longitudinal direction of the weld groove 10. When there is a misalignment in the weld groove 10, the forces on both sides of the correction wheel 11 are uneven. The column tension and compression sensor I7 and the column tension and compression sensor II8 transmit the force values ​​on both sides of the correction wheel 11 to the control system.

[0059] Preferably, the material of the correction wheel 11 is 45# steel with a surface hardness > HRC55.

[0060] Example 2:

[0061] See appendix Figure 3 The method for adjusting the centerline L of the weld bevel to be in the same vertical plane as the welding wire axis of the welding torch using the aforementioned automatic weld tracking device with welding bevel is as follows:

[0062] S1. Welding preparation work

[0063] After pre-bending and JCO forming, the two sides of the steel plate are joined to form an "X" shaped weld bevel 10; an automatic tracking device is installed on the welding robot arm, located in front of the welding torch; the steel pipe to be welded is transported to the welding station.

[0064] S2, Alignment of weld bevel

[0065] The welding operator aligns the welding bevel 10 with the wire axis of the welding torch 1 at the starting end of the steel pipe.

[0066] Due to the axial error of the welding bevel 10 in the forming process, the forces on the two sides of the correction wheel 11 are different when the correction wheel 11 rolls along the welding bevel 10; the welding bevel 10 rotates around the center axis of the steel pipe, and the welding bevel and the wheel will generate interaction force.

[0067] S3, welding, pressure comparison

[0068] In the control program of the control system, it is provided that the tension received by the columnar tension sensor I 7 and the columnar tension sensor II 8 is "+" and the pressure received is "-"; the tension received by the columnar tension sensor III 9 is "-".

[0069] During the welding process, the columnar tension sensor I 7 and the columnar tension sensor II 8 transmit the force data F Ⅰ , F Ⅱ measured in real time on the two sides of the correction wheel 11 to the control system, and the control system controls the operation of the servo motor according to the comparison result by comparing the values of F Ⅰ , F Ⅱ , so as to control the direction or stop operation of the rotating roller 6;

[0070] When F Ⅰ =F Ⅱ =0, the center line L of the welding bevel 10 and the wire axis of the welding torch 1 are located in the same vertical plane, the rotating roller 6 stops rotating, and welding is performed.

[0071] Or, when F Ⅰ >F Ⅱ , the rotating roller 6 rotates to the side of the force F Ⅰ (namely counterclockwise), and at the same time the steel pipe 9 rotates clockwise until F Ⅰ =F Ⅱ =0.

[0072] Or, when F Ⅰ <F Ⅱ , the rotating roller 6 rotates to the side of the force F Ⅱ (namely clockwise), and the steel pipe 9 rotates counterclockwise until F Ⅰ =F Ⅱ =0.

[0073] When F Ⅰ =F Ⅱ =0, the servo motor stops rotating, and the steel pipe 9 also does not rotate, and the steel pipe 9 moves along the axial direction of the steel pipe 9 driven by the welding trolley.

[0074] The clockwise and counterclockwise rotation of the rotating roller 6 is as shown in the figure, Figure 2 and Figure 2 the clockwise and counterclockwise rotation of the steel pipe 9 is as shown in the figure, Figure 1Right view direction diagram.

[0075] S4, complete welding

[0076] In the steel pipe welding process, the control system always performs pressure comparison and adjustment according to the real-time data of F Ⅰ , F Ⅱ , keeps F Ⅰ =F Ⅱ =0 until the completion of the welding work.

[0077] The welding seam automatic tracking device with welding groove of the present application adopts two transversely arranged columnar tension and pressure sensors, when the welding groove rotates around the steel pipe axis, the welding groove will generate transverse force on the deviation correction cutter wheel mechanism, the two transversely arranged columnar tension and pressure sensors will generate two different signals of tension or pressure, through the comparison of the two signals, the servo motor controls the rotation of the rotating roller, thereby driving the steel pipe to rotate clockwise or counterclockwise, so that the center line of the welding seam groove and the welding wire axis of the welding gun are located in the same vertical plane, solving the problem of welding deviation of the welding seam, improving the welding quality of the steel pipe welding seam, and having good appearance.

[0078] It should be noted that the above examples are examples rather than limitations of the present application, and those skilled in the art will be able to design many alternative embodiments without departing from the scope of the claims of the present patent.

Claims

1. A welding seam automatic tracking device with welding groove, comprising a welding torch, a mechanical arm, a steel pipe, characterized in that: the welding torch, a cutter wheel assembly are sequentially arranged along the mechanical arm, the cutter wheel assembly is located in front of the welding torch, and a deviation correction cutter wheel of the cutter wheel assembly rolls along the welding groove; two rotating rollers are arranged side by side below the steel pipe, and a servo motor drives the rotating rollers to rotate around an axis; the columnar tensile and compressive sensor I and the columnar tensile and compressive sensor II respectively transmit pressure values on both sides of the deviation correction cutter wheel to a control system, the control system compares the two pressure values obtained and controls the operation of the servo motor to adjust the center line L of the welding groove and the welding wire axis of the welding torch to be located in the same vertical plane. the cutter wheel assembly is arranged at the lower end of a support, and the upper end of the support is fixedly connected with the mechanical arm.

2. The apparatus of claim 1 wherein: the cutter wheel assembly, the electric sliding block assembly and the support are sequentially arranged from bottom to top, the upper end of the support is fixedly connected with the mechanical arm, and a sliding block at the lower end of the electric sliding block assembly is hingedly connected with the cutter wheel assembly.

3. The apparatus of claim 2 wherein: a motor is arranged in a fixed sleeve of the electric sliding block assembly, and the motor drives the sliding block to slide up and down through a transmission mechanism.

4. The apparatus of claim 3 wherein:

5. The welding seam automatic tracking device with welding groove according to claim 4, characterized in that: the two deviation correction cutter wheels of the cutter wheel assembly are sequentially arranged along the axis direction of the steel pipe, and the two deviation correction cutter wheels are connected through a cutter wheel frame; the cutter wheel frame is hingedly connected with the sliding block through a pin shaft. the columnar tensile and compressive sensor I and the columnar tensile and compressive sensor II are connected with the support; 6. The apparatus of any of claims 1-5, wherein: the columnar tensile and compressive sensor I and the columnar tensile and compressive sensor II are symmetrically arranged on both sides of the axis of the steel pipe. the surface hardness of the deviation correction cutter wheel is >HRC55.

7. The apparatus of claim 6 wherein:

8. An adjustment method of the welding seam automatic tracking device with welding groove according to claim 6, characterized in that: in the process of welding the steel pipe, the deviation correction cutter wheel rolls along the longitudinal direction of the groove, the columnar tensile and compressive sensor I and the columnar tensile and compressive sensor II measure the force data on both sides of the deviation correction cutter wheel, and it is assumed that: the tensile force received by the columnar tensile and compressive sensor I and the columnar tensile and compressive sensor II is "+", and the compressive force received is "-"; The force value of the columnar tension and compression sensor I is F Ⅰ The force value of the columnar tension and compression sensor II is F Ⅱ , the columnar tensile and compressive sensor I and the columnar tensile and compressive sensor II transmit the force data on both sides of the deviation correction cutter wheel measured in real time to the control system, and the control system controls the rotating direction or stops the operation of the rotating roller through the servo motor. When F Ⅰ = F Ⅱ = 0, the center line L of the weld groove and the wire axis of the welding torch are located in the same vertical plane, the rotating roller stops rotating, and welding; When F Ⅰ >F Ⅱ At that time, the rotating roller is subjected to force F Ⅰ As one side rotates, the steel pipe rotates in the opposite direction until F... Ⅰ =F Ⅱ =0; When F Ⅰ <F Ⅱ , the rotating roller rotates to the side of the force F Ⅱ , and the steel pipe rotates in the opposite direction until F Ⅰ =F Ⅱ =0.

9. The method of claim 8, wherein: ​

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