Crawling trolley multi-layer and multi-pass automatic welding equipment for circular seams and longitudinal seams

Abstract

The utility model discloses a multi-layer and multi-channel automatic welding device for circumferential seams and longitudinal seams of a crawling trolley. The multi-layer and multi-channel automatic welding device comprises the crawling trolley and a welding gun swing driving module. The welding gun swing driving module is fixedly connected to the rear end of the crawling trolley. The laser tracking sensor is fixedly connected to the front end of the crawling trolley. The crawling trolley is placed on the metal rolling plate, and the driving assembly and the auxiliary walking mechanism are matched to control the crawling trolley to move longitudinally or transversely along the metal rolling plate; and meanwhile, the laser tracking sensor scans and identifies a welding seam and a welding seam path on the metal rolling plate, controls the welding gun swing driving module to drive the clamping mechanism to move along the welding seam according to a scanning result of the laser tracking sensor, and controls the clamping mechanism to weld the welding seam. The laser tracking sensor scans a welding seam on the surface of the metal rolling plate, the crawling trolley moves on the surface of the metal rolling plate along the welding seam according to a scanning result, and meanwhile the welding gun swing driving module drives the welding gun to conduct welding work.

Description

Technical Field

[0001] The utility model belongs to the technical field of welding, in particular to a crawling trolley circumferential seam and longitudinal seam multi-layer and multi-pass automatic welding device. Background Art

[0002] When factories produce large-scale pipes, pressure vessels, tanks and other cylindrical products, they often use fixed welding equipment or manual handheld welding tools. However, fixed welding equipment often cannot adapt to workpieces of different sizes and shapes and has poor flexibility. Manual welding is easily affected by factors such as the operator's technical level and working conditions, resulting in unstable welding quality.

[0003] After searching, the prior art publication number CN221967153U is a mobile welding robot. This device uses a walking mechanism to drive the vehicle body to move; a lifting assembly fixedly connected to the vehicle body drives the manipulator to lift or lower through a mounting platform; a welding gun connected to the free end of the manipulator is connected to a welding power source provided at the longitudinal end of the vehicle body via a connecting line, thereby driving the welding gun to perform welding work; when the metal coil is fixed higher, the device has difficulty welding the weld at the top of the coil; when the metal coil is fixed lower, the device has difficulty welding the weld at the bottom of the coil; therefore, the device still needs to cooperate with an external moving device to control the lifting or rotation of the metal coil in order to complete the welding of the metal coil;

[0004] A search revealed a prior art publication numbered CN 221677196 U, which describes a magnetic welding robot. The robot's mobile mechanism is slidably connected to a slide rail. The robotic arm is rotatably connected to a connecting platform fixed to a fixed base, beneath which a number of permanent magnets are located. When welding is required, the welding mechanism is placed on top of the mobile mechanism and magnetically attracted to the upper surface of the mobile mechanism by permanent magnets at its base, enabling rapid assembly. However, the device cannot determine the width and position of the weld seam, resulting in offset welding or welds on both sides not being welded together.

[0005] Therefore, a crawling trolley circumferential seam and longitudinal seam multi-layer and multi-pass automatic welding equipment is needed, which can control the device to automatically move along the weld seam without the help of an external fixing device and weld the weld seam. Summary of the Invention

[0006] The purpose of the utility model is to overcome the shortcomings of the existing technology and provide a crawling trolley multi-layer and multi-pass automatic welding equipment for circumferential and longitudinal seams. The utility model scans the weld seam on the surface of the metal coil by a laser tracking sensor, so that the crawling trolley moves along the weld seam on the surface of the metal coil according to the scanning result, and at the same time drives the welding gun to perform welding work through the welding gun swing drive module.

[0007] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0008] A crawling trolley circumferential seam and longitudinal seam multi-layer and multi-pass automatic welding equipment comprises a crawling trolley and a welding gun swing drive module; the welding gun swing drive module is fixedly connected to the rear end of the crawling trolley, and the laser tracking sensor is fixedly connected to the front end of the crawling trolley; the crawling trolley is provided with a mounting plate I, a connecting plate I, a support block, a drive assembly, an auxiliary walking mechanism, a partition, and a mounting plate II; the mounting plate I is provided with a pair, both ends of the connecting plate I are fixedly connected to one end of a pair of mounting plates I, a pair of support blocks are symmetrically fixedly connected to the other end of the pair of mounting plates I, and both sides of the protective cover are fixedly connected to the mounting plate I; the partition is located between the connecting plate I and the support block and is fixedly connected to the pair of mounting plates I, and the bottom of the mounting plate II is fixedly connected to the partition; the auxiliary walking mechanism is fixedly connected to a pair of support blocks, and the two groups of drive assemblies located between the connecting plate I and the partition are symmetrically fixedly connected to the pair of mounting plates I.

[0009] The drive assembly is provided with a drive motor I, a magnetic wheel I, and a reducer; one end of the reducer is fixedly connected to the drive motor I, and the other end is fixedly connected to the mounting plate I, and the output end of the drive motor I passes through the through hole on the mounting plate I and is fixedly connected to the connecting shaft on the magnetic wheel I.

[0010] The auxiliary walking mechanism is provided with a magnetic wheel II, a vertical plate, a connecting plate III, a support plate I, a hinge shaft, a connecting seat I, and a connecting rod; the two ends of the support plate I are fixedly connected above the support block, and the top of the connecting seat I is fixedly connected to the bottom of the support plate I, and the bottom of the connecting seat I is rotatably connected to the connecting rod through a hinge shaft; the vertical plates are provided with a pair, which are respectively fixedly connected to the two ends of the connecting rod, and the bearings are fixedly connected to the bottom of the vertical plates through the connecting plate III; the magnetic wheel II is fixedly connected to the bearings below the vertical plates through the connecting shaft.

[0011] The laser tracking sensor model is HD8-0050W, and the laser tracking sensor is fixedly connected to the mounting plate II; the scanning range of the laser tracking sensor is Figure 7 The part shown by the dotted line.

[0012] The welding gun swing drive module includes a support plate II, a sliding seat I, a guide rail, a linear module, and a clamping mechanism; the support plate II is fixedly connected to the top surface of the support plate I, and the sliding seat I is slidably connected to the guide rail fixedly connected to one side of the support plate II; the linear module is fixedly connected to the support plate II, and the clamping mechanism is fixedly connected to one end of the linear module.

[0013] The linear module is provided with a linear guide rail I, a linear guide rail II, a linear guide rail III, a support seat, and a connecting plate II; a servo motor is provided at one end of the linear guide rail I, and the slider is slidably connected to the slide groove in the linear guide rail I, and is threadedly connected to the ball screw provided in the slide groove of the linear guide rail I; the structures of the linear guide rails II and III are the same as those of the linear guide rail I; the bottom of the support seat is fixedly connected to the sliding seat I and the slider in the linear guide rail I, and the linear guide rail II is fixedly connected above the support seat; one side of the connecting plate II is fixedly connected to the slider on the linear guide rail II, and the other side is fixedly connected to the linear guide rail III.

[0014] The clamping mechanism is provided with a connecting seat II, a clamping block I, and a clamping block II; one end of the connecting seat II is fixedly connected to the slider on the linear guide rail III, and the other end is fixedly connected to the clamping block I; the clamping block II is fixedly connected to one side of the clamping block I, and the welding gun is clamped and fixed between the clamping block I and the clamping block II.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1) The crawler is attached to the metal coil through the drive assembly and the magnetic wheels I and II in the auxiliary travel mechanism. Then, the drive motor I cooperates with the reducer to control the rotation of the magnetic wheel I, so that the magnetic wheels I and II cooperate to control the crawler to move longitudinally along the metal coil, thereby controlling the welding gun to swing. The drive module drives the welding gun to weld the longitudinal cracks on the metal coil, or moves horizontally along the metal coil to weld the welds on the cross section of the metal coil. At the same time, the auxiliary travel mechanism ensures that the four wheels contact the workpiece at the same time through the hinged bridge structure of the connecting rod and the connecting seat I, improving driving safety and stability.

[0017] 2) After the laser tracking sensor scans and identifies the weld and weld path on the metal coil, the linear module in the welding gun swing drive module controls the clamping mechanism to move along the weld according to the scanning results of the laser tracking sensor, and drives the welding gun to weld the weld, thereby improving the driving accuracy of the crawler and the welding quality; at the same time, the linear guide rails I, II, and III in the linear module operate independently, and each controls the sliding of the slider through a servo motor, so that the linear module controls the clamping mechanism to drive the welding gun to weld welds of different widths. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Attachment Figure 1 This is a schematic structural diagram of a crawling trolley circumferential and longitudinal seam multi-layer and multi-pass automatic welding device of the utility model;

[0019] Attachment Figure 2 Attachment Figure 1 Schematic diagram of the structure of the crawling car;

[0020] Attachment Figure 3 It is attached Figure 1 Schematic diagram of the structure of the auxiliary walking mechanism;

[0021] Attachment Figure 4 It is attached Figure 1 Schematic diagram of the connection structure between the auxiliary walking mechanism and the linear module;

[0022] Attachment Figure 5 It is attached Figure 1 Schematic diagram of the structure of the linear guide rail II;

[0023] Attachment Figure 6 It is attached Figure 1 Schematic diagram of the connection structure between the linear guide rail III and the clamping mechanism;

[0024] Attachment Figure 7 It is attached Figure 1 Schematic diagram of the connection structure between the laser tracking sensor and the mounting plate II;

[0025] Attachment Figure 8 It is attached Figure 1 Schematic diagram of the connection structure between the crawling trolley and the protective cover;

[0026] In the figure: 1. Crawling trolley; 101. Mounting plate I; 1011. Connecting plate I; 1012. Support block; 102. Drive assembly; 1021. Drive motor I; 1022. Magnetic wheel I; 1023. Reducer; 103. Auxiliary walking mechanism; 1031. Magnetic wheel II; 1032. Vertical plate; 1033. Connecting plate III; 1034. Support plate I; 1035. Articulated shaft; 1036. Connecting seat I; 1037. Connecting rod; 104. Partition; 1041. Mounting plate II; 2. Laser tracking sensor; 3. Welding gun swing drive module; 301. Support plate II; 302. Sliding seat I; 3021. Guide rail; 303, linear module; 3031, linear guide rail I; 3032, linear guide rail II; 3033, linear guide rail III; 3034, support seat; 3035, connecting plate II; 304, clamping mechanism; 3041, connecting seat II; 3042, clamping block I; 3043, clamping block II; 4, protective cover; 5, welding gun. DETAILED DESCRIPTION

[0027] To facilitate understanding by those skilled in the art, Figure 1-8 , the technical solution of the utility model is further described in detail.

[0028] A crawling trolley circumferential seam longitudinal seam multi-layer multi-pass automatic welding equipment, comprising a crawling trolley 1, a welding gun swing drive module 3; the welding gun swing drive module 3 is fixedly connected to the rear end of the crawling trolley 1, and the laser tracking sensor 2 is fixedly connected to the front end of the crawling trolley 1; the crawling trolley 1 is provided with a mounting plate I 101, a connecting plate I 1011, a support block 1012, a drive assembly 102, an auxiliary walking mechanism 103, a partition 104, and a mounting plate II 1041; the mounting plate I 101 is provided with a pair of, and the two ends of the connecting plate I 1011 are fixed to one end of a pair of mounting plates I 101 Connection, a pair of support blocks 1012 are symmetrically fixedly connected to the other end of a pair of mounting plates I101, and both sides of the protective cover 4 are fixedly connected to the mounting plates I101; the partition 104 is located between the connecting plate I1011 and the support block 1012 and is fixedly connected to a pair of mounting plates I101, and the bottom of the mounting plate II1041 is fixedly connected to the partition 104; the auxiliary walking mechanism 103 is fixedly connected to a pair of support blocks 1012, and the two groups of drive components 102 located between the connecting plate I1011 and the partition 104 are symmetrically fixedly connected to a pair of mounting plates I101.

[0029] The driving assembly 102 is provided with a driving motor I 1021, a magnetic wheel I 1022, and a reducer 1023; one end of the reducer 1023 is fixedly connected to the driving motor I 1021, and the other end is fixedly connected to the mounting plate I 101, and the output end of the driving motor I 1021 passes through the through hole on the mounting plate I 101 and is fixedly connected to the connecting shaft on the magnetic wheel I 1022.

[0030] The auxiliary walking mechanism 103 is provided with a magnetic wheel II 1031, a vertical plate 1032, a connecting plate III 1033, a support plate I 1034, a hinge shaft 1035, a connecting seat I 1036, and a connecting rod 1037; the two ends of the support plate I 1034 are fixedly connected above the support block 1012, and the top of the connecting seat I 1036 is fixedly connected to the bottom of the support plate I 1034, and the bottom of the connecting seat I 1036 is rotatably connected to the connecting rod 1037 through the hinge shaft 1035; the vertical plate 1032 is provided with a pair, which are respectively fixedly connected to the two ends of the connecting rod 1037, and the bearings are fixedly connected to the bottom of the vertical plate 1032 through the connecting plate III 1033; the magnetic wheel II 1031 is fixedly connected to the bearing under the vertical plate 1032 through the connecting shaft; the hinge bridge structure of the connecting rod 1037 and the connecting seat I 1036 ensures that the four wheels contact the workpiece at the same time, thereby improving driving safety and stability.

[0031] The magnetic wheel I1022 and the magnetic wheel II1031 in the driving component 102 and the auxiliary walking mechanism 103 are attached to the metal coil, and then the driving motor I1021 and the reducer 1023 are used to control the rotation of the magnetic wheel I1022, so that the magnetic wheel I1022 and the magnetic wheel II1031 cooperate to control the crawling trolley 1 to move longitudinally along the metal coil, thereby controlling the welding gun to swing. The driving module 3 drives the welding gun 5 to weld the longitudinal cracks on the metal coil, or moves laterally along the metal coil to weld the weld on the cross section of the metal coil.

[0032] The laser tracking sensor 2 is HD8-0050W and is fixedly connected to the mounting plate II 1041. The scanning range of the laser tracking sensor 2 is Figure 7 The part shown by the dotted line.

[0033] The welding gun swing drive module 3 includes a support plate II 301, a sliding seat I 302, a guide rail 3021, a linear module 303, and a clamping mechanism 304; the support plate II 301 is fixedly connected to the top surface of the support plate I 1034, and the sliding seat I 302 is slidably connected to the guide rail 3021 fixedly connected to one side of the support plate II 301; the linear module 303 is fixedly connected to the support plate II 301, and the clamping mechanism 304 is fixedly connected to one end of the linear module 303.

[0034] After the laser tracking sensor 2 scans and identifies the weld and weld path on the metal coil, the linear module 303 controls the clamping mechanism 304 to move along the weld according to the scanning results of the laser tracking sensor 2, and enables the clamping mechanism 304 to drive the welding gun 5 to weld the weld, thereby improving the driving accuracy and welding quality of the crawling trolley 1.

[0035] The linear module 303 is provided with a linear guide rail I 3031, a linear guide rail II 3032, a linear guide rail III 3033, a support seat 3034, and a connecting plate II 3035; a servo motor is provided at one end of the linear guide rail I 3031, and a slider is slidably connected to the slide groove in the linear guide rail I 3031, and is threadedly connected to the ball screw provided in the slide groove of the linear guide rail I 3031; the linear guide rail II 3032 and the linear guide rail III 3033 have the same structure as the linear guide rail I 3031; the bottom of the support seat 3034 is connected to the sliding seat I 3035. 2 is fixedly connected to the slider in the linear guide rail I 3031, and the linear guide rail II 3032 is fixedly connected above the support seat 3034; one side of the connecting plate II 3035 is fixedly connected to the slider on the linear guide rail II 3032, and the other side is fixedly connected to the linear guide rail III 3033; at the same time, the linear guide rails I 3031, the linear guide rail II 3032, and the linear guide rail III 3033 operate independently, and each controls the sliding of the slider through a servo motor, so that the linear module 303 controls the clamping mechanism 304 to drive the welding gun 5 to weld welds of different widths.

[0036] The clamping mechanism 304 is provided with a connecting seat II 3041, a clamping block I 3042, and a clamping block II 3043; one end of the connecting seat II 3041 is fixedly connected to the slider on the linear guide rail III 3033, and the other end is fixedly connected to the clamping block I 3042; the clamping block II 3043 is fixedly connected to one side of the clamping block I 3042, and the welding gun 5 is clamped and fixed between the clamping block I 3042 and the clamping block II 3043.

[0037] A crawling trolley multi-layer and multi-pass automatic welding equipment for circumferential and longitudinal seams. The working process is as follows:

[0038] Place the crawling trolley 1 on the metal coil, so that the magnetic wheel I1022 and the magnetic wheel II1031 in the driving component 102 and the auxiliary walking mechanism 103 are adhered to the metal coil, and then the magnetic wheel I1022 is controlled to rotate by the driving motor I1021 and the reducer 1023, so that the magnetic wheel I1022 and the magnetic wheel II1031 cooperate to control the crawling trolley 1 to move longitudinally or laterally along the metal coil; at the same time, the laser tracking sensor 2 is used to scan and identify the weld and weld path on the metal coil, and the linear module 303 is controlled to drive the clamping mechanism 304 to move along the weld according to the scanning result of the laser tracking sensor 2, and the clamping mechanism 304 is controlled to drive the welding gun 5 to weld the weld.

[0039] In summary, electronic or electrical components including but not limited to servo motors, reducers, linear modules, laser tracking sensors, etc. are components in the prior art, obtained through private customization or purchase, and the electrical connections between the components are conventional circuit connections or electrical connections in the prior art and are not within the scope of protection of the present utility model.

[0040] The above content is merely an example and explanation of the structure of the present utility model. Technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the structure of the utility model or exceed the scope defined by the claims, they should all fall within the scope of protection of the present utility model.

Claims

1. A crawler-type trolley automatic welding device for multi-layer and multi-pass circumferential and longitudinal seams, comprising a crawler-type trolley and a welding gun swing drive module; the welding gun swing drive module is fixedly connected to the rear end of the crawler-type trolley, and a laser tracking sensor is fixedly connected to the front end of the crawler-type trolley; It is characterized by The crawling trolley is provided with a mounting plate I, a connecting plate I, a support block, a drive assembly, an auxiliary walking mechanism, a partition, and a mounting plate II; the mounting plate I is provided with a pair, both ends of the connecting plate I are fixedly connected to one end of the pair of mounting plates I, a pair of support blocks are symmetrically fixedly connected to the other end of the pair of mounting plates I, and both sides of the protective cover are fixedly connected to the mounting plate I; the partition is located between the connecting plate I and the support block and is fixedly connected to the pair of mounting plates I, and the bottom of the mounting plate II is fixedly connected to the partition; the auxiliary walking mechanism is fixedly connected to the pair of support blocks, and the two sets of drive assemblies located between the connecting plate I and the partition are symmetrically fixedly connected to the pair of mounting plates I; The welding gun swing drive module includes a support plate II, a sliding seat I, a guide rail, a linear module, and a clamping mechanism; the support plate II is fixedly connected to the top surface of the support plate I, and the sliding seat I is slidably connected to the guide rail fixedly connected to one side of the support plate II; the linear module is fixedly connected to the support plate II, and the clamping mechanism is fixedly connected to one end of the linear module; The linear module is provided with a linear guide rail I, a linear guide rail II, a linear guide rail III, a support seat, and a connecting plate II; a servo motor is provided at one end of the linear guide rail I, and the slider is slidably connected to the slide groove in the linear guide rail I, and is threadedly connected to the ball screw provided in the slide groove of the linear guide rail I; the structures of the linear guide rails II and III are the same as those of the linear guide rail I; the bottom of the support seat is fixedly connected to the sliding seat I and the slider in the linear guide rail I, and the linear guide rail II is fixedly connected above the support seat; one side of the connecting plate II is fixedly connected to the slider on the linear guide rail II, and the other side is fixedly connected to the linear guide rail III.

2. The crawler trolley circumferential and longitudinal seam multi-layer and multi-pass automatic welding equipment according to claim 1 is characterized in that The drive assembly is provided with a drive motor I, a magnetic wheel I, and a reducer; one end of the reducer is fixedly connected to the drive motor I, and the other end is fixedly connected to the mounting plate I, and the output end of the drive motor I passes through the through hole on the mounting plate I and is fixedly connected to the connecting shaft on the magnetic wheel I.

3. The crawler trolley multi-layer and multi-pass automatic welding equipment for circumferential and longitudinal seams according to claim 1 or 2, characterized in that The auxiliary walking mechanism is provided with a magnetic wheel II, a vertical plate, a connecting plate III, a support plate I, a hinge shaft, a connecting seat I, and a connecting rod; the two ends of the support plate I are fixedly connected above the support block, and the top of the connecting seat I is fixedly connected to the bottom of the support plate I, and the bottom of the connecting seat I is rotatably connected to the connecting rod through a hinge shaft; the vertical plates are provided with a pair, which are respectively fixedly connected to the two ends of the connecting rod, and the bearings are fixedly connected to the bottom of the vertical plates through the connecting plate III; the magnetic wheel II is fixedly connected to the bearings below the vertical plates through the connecting shaft.

4. The crawler trolley multi-layer and multi-pass automatic welding equipment for circumferential and longitudinal seams according to claim 1 is characterized in that The clamping mechanism is provided with a connecting seat II, a clamping block I, and a clamping block II; one end of the connecting seat II is fixedly connected to the slider on the linear guide rail III, and the other end is fixedly connected to the clamping block I; the clamping block II is fixedly connected to one side of the clamping block I, and the welding gun is clamped and fixed between the clamping block I and the clamping block II.

5. The crawler trolley multi-layer and multi-pass automatic welding equipment for circumferential and longitudinal seams according to claim 1 is characterized in that The laser tracking sensor is fixedly connected to the mounting plate II.

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