CN107971663A - A kind of Tube-sheet Welding system and welding method - Google Patents
A kind of Tube-sheet Welding system and welding method Download PDFInfo
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- CN107971663A CN107971663A CN201711492183.3A CN201711492183A CN107971663A CN 107971663 A CN107971663 A CN 107971663A CN 201711492183 A CN201711492183 A CN 201711492183A CN 107971663 A CN107971663 A CN 107971663A
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- welding
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- sheet
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- pore
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0247—Driving means
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- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Laser Beam Processing (AREA)
Abstract
The present invention provides a kind of Tube-sheet Welding system and welding method, the Tube-sheet Welding system includes welding head, laser ranging system, driving device, apparatus for adjusting position and controller, the welding head, laser ranging system, driving device and apparatus for adjusting position are connected with the controller communication, the controller controls the apparatus for adjusting position to adjust the plane parallel where the driving device makes the driving device drive second direction and third direction that the welding head moves with the tube sheet according to positional information that the laser ranging system obtains；For subsequent drive device the welding head can be driven to be moved at the position corresponding to the mouth of pipe to be welded to be ready, be also ready for the welding of welding head, can realize full-automatic Tube-sheet Welding, improve the production efficiency of Tube-sheet Welding.
Description
Technical field
The present invention relates to automatic welding technique field, more particularly to a kind of tube sheet that can realize full-automatic Tube-sheet Welding
Welding system and welding method.
Background technology
The process of most critical is that pipe is soldered on tube sheet in the manufacturing process of the pressure vessel such as boiler and heat exchanger
On pore, wherein, managing operation of the quality of the welding quality between pore to these pressure vessels has vital effect.
At present, China is usually that pipe is soldered to tube sheet by manually welding successively according to putting in order for pore
On, production efficiency is low and welding quality unstable.
In view of this, it is necessary to provide a kind of improved Tube-sheet Welding system and welding method to solve the above problems.
The content of the invention
It is an object of the invention to provide a kind of Tube-sheet Welding system that can realize full-automatic Tube-sheet Welding and welding side
Method.
For achieving the above object, the present invention adopts the following technical scheme that：A kind of Tube-sheet Welding system, including：
Welding head, pipe is soldered on the pore of tube sheet；
Laser ranging system, to obtain the positional information of the plane where the tube sheet；
Driving device, is connected to drive the welding head closer or far from the tube sheet with the welding head
First direction, move with the perpendicular second direction of the first direction and third direction；The second direction with it is described
Third direction is perpendicular；
Apparatus for adjusting position, being connected to adjust the driving device with the driving device makes the driving bonding machine
The plane parallel of head mobile second direction and third direction where with the tube sheet；
And controller, the welding head, laser ranging system, driving device and apparatus for adjusting position with it is described
Controller communication connects, and the positional information that the controller is obtained according to the laser ranging system controls the position to adjust dress
Putting the adjusting driving device makes the driving device drive the second direction of the welding head movement and third direction equal
With the plane parallel where the tube sheet.
As further improved technical scheme of the present invention, the Tube-sheet Welding system further includes base, the driving dress
Put and be fixed on the base；The apparatus for adjusting position is including being arranged on the base and the first direction corresponding two
The adjustable bottom feet of at least one end in end, the height for adjusting the adjustable bottom feet and the first tune being connected with the controller communication
Save component, the revolving bed on the base and to drive the driving device around the axis rotation of the revolving bed
Second adjusting part；The driving device is fixed on the revolving bed.
As further improved technical scheme of the present invention, the Tube-sheet Welding system further includes base, the driving dress
Put including driving the 3rd moving assembly that the welding head moves along third direction on the base, arranged on described
Driving the second moving assembly that the welding head moves in a second direction and arranged on described on 3rd moving assembly
It is arranged on two moving assemblies to the first moving assembly for driving the welding head to move along the first direction, the welding head
On first moving assembly, first moving assembly, the second moving assembly, the 3rd moving assembly lead to the controller
News connection.
As further improved technical scheme of the present invention, the welding head includes being connected with first moving assembly
The fixed seat that connects, the turntable being rotationally connected with the fixed seat and the welding gun on the turntable；The laser ranging
Device is fixed in the fixed seat.
As further improved technical scheme of the present invention, the Tube-sheet Welding system further includes and the controller communication
The camera device of connection, the camera device is obtaining the positional information of the pore and feed back to the controller.
As further improved technical scheme of the present invention, the Tube-sheet Welding system further includes base, the driving dress
Put including driving the 3rd moving assembly that the welding head moves along third direction on the base, arranged on described
Driving the second moving assembly that the welding head moves in a second direction and arranged on described on 3rd moving assembly
It is arranged on two moving assemblies to the first moving assembly for driving the welding head to move along the first direction, the welding head
On first moving assembly；The welding head includes the fixed seat being connected with first moving assembly；The shooting
Device is fixed in the fixed seat.
For achieving the above object, the present invention also provides the welding method of above-mentioned Tube-sheet Welding system, the welding side
Method includes the following steps：
S1：The positional information of plane according to where tube sheet, which controls the apparatus for adjusting position to adjust the driving device, to be made
The driving device drives the plane of the second direction and third direction of the welding head movement where with the tube sheet
It is parallel；
S2：The driving device is controlled to drive the welding head along the according to the positional information where pore to be welded
One direction, second direction, third direction are moved at the position where the pore, make center and the pore of the welding head
Center it is corresponding；
S3：Start the welding head.
As further improved technical scheme of the present invention, step S1 specifically comprises the following steps：The laser ranging dress
Put three points for moving along the second direction and the third direction and being obtained on the tube sheet not on the same line
Positional information feed back to the controller, the controller is according to being drawn the positional information of three points received
The second drift angle between the first drift angle and the tube sheet and the third direction between tube sheet and the second direction, and control
Make the apparatus for adjusting position drives the driving device rotation to make the drive according to first drift angle and second drift angle
Dynamic device drives the plane parallel of the second direction and third direction of the welding head movement where with the tube sheet.
As further improved technical scheme of the present invention, the Tube-sheet Welding system further includes and the controller communication
The camera device of connection, the theoretical pore positional information on tube sheet is prestored in the controller；Step S2 specifically includes as follows
Step：Controller control the driving device drive the welding head in the first direction, second direction, third direction be moved to
At the corresponding theoretical position of theory pore positional information, camera device obtains the actual position information of pore to be welded
The controller is fed back to, the actual position information of the pore is compared and drawn by the controller with theoretical pore positional information
Position deviation amount, and control the driving device to drive the welding head according to the position deviation amount in the second direction
With the third direction be moved to at the corresponding physical location of the actual position information of the pore.
As further improved technical scheme of the present invention, the Tube-sheet Welding system further includes and the controller communication
The camera device of connection, has the second pore being disposed adjacent with pore to be welded on the tube sheet, after step S2, the weldering
The method of connecing further includes following steps：The positional information of camera device acquisition pore to be welded and second pore is simultaneously
The controller is fed back to, the controller is according to being drawn the positional information of pore to be welded and second pore
Second pore and the pore to be welded are in second direction or the departure of the third direction, and in pore to be welded
The control driving device makes the welding head be moved to the second pore institute according to departure movement after having welded
Position at.
The beneficial effects of the invention are as follows：The Tube-sheet Welding system of the present invention is made by setting to adjust the driving device
Drive the position of the second direction and third direction of the welding head movement with the plane parallel where the tube sheet
Regulating device, can drive the welding head to be moved at the position corresponding to the mouth of pipe to be welded and do for subsequent drive device
It is good to prepare, also it is ready for the welding of welding head, can realizes full-automatic Tube-sheet Welding, improves the production effect of Tube-sheet Welding
Rate；Meanwhile, it is capable to simplify the control process of Tube-sheet Welding system described in welding process, improve welding efficiency and weldering can be improved
Connect quality.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the Tube-sheet Welding system in the present invention.
Fig. 2 is the structure diagram removed the base in the Tube-sheet Welding system shown in Fig. 1 after cover body.
Fig. 3 is the exploded view of Fig. 2 middle plateforms and base.
Fig. 4 is the structure diagram of another angle of the Tube-sheet Welding system shown in Fig. 1.
Fig. 5 is the enlarged structure schematic diagram at A in Fig. 4.
Embodiment
Below with reference to each embodiment shown in the drawings, the present invention will be described in detail, refer to Fig. 1 to Fig. 5 institutes
Show, for the better embodiment of the present invention.
It please join shown in Fig. 1 to Fig. 5, the present invention provides a kind of Tube-sheet Welding system 100, to realize full-automatic Tubesheet Welding
Connect.The Tube-sheet Welding system 100 include welding head 1, to obtain the positional information of the plane where the tube sheet swash
Optical range finding apparatus 2, the driving device 3 being connected with the welding head 1, apparatus for adjusting position 4 and the control Tubesheet Welding
The controller that welding system 100 is run, the welding head 1, laser ranging system 2, driving device 3 and apparatus for adjusting position 4
It is connected with the controller communication.
The driving device 3 is driving the welding head 1 in the first direction closer or far from the tube sheet and institute
The perpendicular second direction of first direction and third direction movement are stated, it is to be welded to drive the welding head 1 to be moved to
At position where pore, make the center of the welding head 1 corresponding with the center of pore to be welded, be welding head 1
Welding be ready.
Wherein, the second direction and the third direction are perpendicular.
When the driving device 3 moves, the first direction and plane where the tube sheet are perpendicular, meanwhile, it is described
The plane parallel of second direction and third direction where with the tube sheet.In order to make it easy to understand, can be by first direction
Front and rear direction of feed is interpreted as, the second direction is vertical direction with one in third direction, another is horizontal direction.
In the present invention, it is vertical direction to define the second direction, and third direction is horizontal direction.
The first moving assembly 31 that the driving device 3 includes driving the welding head 1 to move along the first direction,
Drive the second moving assembly 32 that the welding head 1 moves along the second direction, drive the welding head 1 along described the
3rd moving assembly 33 of three directions movement, first moving assembly 31, the second moving assembly 32 and the 3rd moving assembly
33 are connected with the controller communication.
Further, the Tube-sheet Welding system 100 further includes base 5, and the driving device 3 is arranged on the base 5.
The base 5 is equipped with cover body 52, to cover the partial internal structure of the base 5, strengthens the Tube-sheet Welding
The overall appearance effect of system 100.
Specifically, the 3rd moving assembly 33 is arranged on the base 5.3rd moving assembly 33 includes being arranged on institute
State on base 5 and along the guide rail 331 of third direction extension, slide the tablet 332 that is arranged on the guide rail 331 and to
The 3rd driving mechanism 333 for driving the tablet 332 to be moved along the guide rail 331, the 3rd driving mechanism 333 and the control
Device communication connection processed, to control the 3rd driving mechanism 333 to drive the tablet 332 along the guide rail by the controller
The direction of 331 movements and distance.
The guide rail 331 includes guide rail body 3311 matched with the tablet 332 and by the guide rail body
3311 are fixed on the guide rail bracket 3312 on the base 5.
3rd driving mechanism 333 is fixed on the guide rail bracket 3312.3rd driving mechanism 333 includes driving
Motor 3331, the first screw rod 3332 for being connected and extending along the third direction with the driving motor 3331, i.e., described the
One screw rod 3332 is parallel with the guide rail 331.
The tablet 332 includes tablet body 3321 and the convex block 3322 being connected on the tablet body 3321, institute
State on convex block 3322 run through be equipped with the matched screw hole 3323 of first screw rod 3332, be assembled to by the tablet 332
After on first screw rod 3332 and guide rail 331, when the driving motor 3331 drives first screw rod 3332 to rotate,
The guide rail 331 limits the tablet 332 and follows first screw rod 3332 to rotate, and makes the tablet 332 along the guide rail 331
It is mobile, so that the rotational motion of first screw rod 3332 to be converted into the linear motion of the tablet 332, make the described 3rd to drive
Motivation structure 333 can drive the tablet 332 to be moved along third direction.
Second moving assembly 32 is fixedly connected on the tablet 332, so that second moving assembly 32 can
It is synchronized with the movement with the tablet 332, i.e., described 3rd moving assembly 33 can drive second moving assembly 32 along third party
To movement.
Specifically, second moving assembly 32 includes being fixed on the tablet 332 and extends along the second direction
Perpendicular displacement axes 321, slide be arranged on the perpendicular displacement axes 321 on connecting plate 322 and be connected with the connecting plate 322
Connect the second driving mechanism for driving the connecting plate 322 to be moved along the perpendicular displacement axes 221, second driving mechanism
It is connected with the controller communication, to control second driving mechanism to drive the connecting plate 322 by the controller
The direction moved along the perpendicular displacement axes 221 and distance.
First moving assembly 31 is fixedly connected on the connecting plate 322, so that 31 energy of the first moving assembly
Enough to be synchronized with the movement with the connecting plate 322 and tablet 332, i.e., described 3rd moving assembly 33 can drive first movement
Component 31 is moved along the third direction, and second moving assembly 32 can drive first moving assembly 31 along described
Move in two directions.
Specifically, first moving assembly 31 includes being fixed on the connecting plate 322 and along the first direction
The back-and-forth motion axis 311 of extension, the welding head 1 is slidably connected on the back-and-forth motion axis 311, so that the bonding machine
First 1 can move along the back-and-forth motion axis 311, meanwhile, the welding head 1 also can be with the connecting plate 322, described flat
Plate 332 is synchronized with the movement, i.e., described 3rd moving assembly 33 can drive the welding head 1 to be moved along the third direction,
Second moving assembly 32 can drive the welding head 1 to be moved along the second direction.
Further, first moving assembly 31 is further included is connected to drive the weldering with the welding head 1
Pick first 1 along it is described back-and-forth motion axis 311 move back and forth the first driving mechanism 312, first driving mechanism 312 with it is described
Controller communication connects, to control first driving mechanism 312 to drive the welding head 1 along institute by the controller
1 edge of welding head can be driven by stating the direction for moving back and forth the movement of axis 311 and distance, i.e., described first driving mechanism 312
The first direction movement.
In the controller controls the driving device 3 to drive 1 moving process of welding head, the welding head
Plane where first direction and the tube sheet of 1 movement is perpendicular, meanwhile, the second direction of the movement of welding head 1 and
Plane parallel of the third direction where with the tube sheet, on the one hand, be conducive to the measurement of the position at the center of follow-up pore,
The welding head 1 can be driven to be moved to at the corresponding position of pore to be welded, making the center of the welding head 1
It is corresponding with the center of pore to be welded；On the other hand, the welding for the follow-up welding head 1 is ready.
Generally after the tube sheet is seated to the front side of the Tube-sheet Welding system 100, the plane where the tube sheet
Drive the second direction of the movement of welding head 1 and third direction not parallel, it is necessary to pass through position with the driving device 3
Put regulating device 4 and adjust the second party that the rotation of driving device 3 makes the driving device 3 drive the welding head 1 to move
To and third direction with the tube sheet where plane parallel, it is flat where the first direction and the tube sheet at this time
Face is perpendicular, with drive the welding head 1 to be moved to corresponding to the mouth of pipe to be welded for subsequent drive device 3 position at do
It is good to prepare, while be also ready for the welding of welding head 1.
The laser ranging system 2 is obtaining the positional information of the plane where the tube sheet and feed back to the control
Device, the controller are drawn according to the positional information calculation of the plane where the tube sheet that the laser ranging system 2 is fed back
Plane and the driving device 3 where the tube sheet drive first between the second direction that the welding head 1 moves inclined
Plane and the driving device 3 where angle and the tube sheet are driven between the third direction that the welding head 1 moves
Second drift angle.
Specifically, after the tube sheet to be welded is seated to the front side of the Tube-sheet Welding system 100, the controller
The laser ranging system 2 is controlled to be moved along the second direction and the third direction, the laser ranging system 2 is in institute
State the positional information that three points not on the same line are obtained on tube sheet and feed back to the controller, the controller according to
It is described that the positional information calculation of three points received show that the plane where the tube sheet drives with the driving device 3
The first drift angle between the second direction that welding head 1 moves and the plane where the tube sheet are driven with the driving device 3
The second drift angle between the third direction that the dynamic welding head 1 moves.
Above-mentioned first drift angle do not adjust before the perpendicular displacement axes 321 and plane where the tube sheet between folder
Angle；Above-mentioned second drift angle do not adjust before the guide rail 331 and plane where the tube sheet between angle.
The apparatus for adjusting position 4 is connected to adjust the driving device 3 with the driving device 3 makes the driving
Device 3 drives the plane parallel of the second direction and third direction of the movement of welding head 1 where with the tube sheet,
The first direction and the plane where the tube sheet are perpendicular at this time, drive the welding head 1 to move for subsequent drive device 3
Move to being ready at the position corresponding to the mouth of pipe to be welded, while be also ready for the welding of welding head 1.
Above-mentioned " connection " can be understood as being directly connected to it can be appreciated that being indirectly connected with.
Specifically, in the controller described is drawn according to the positional information calculation that the laser ranging system 2 is fed back
Behind one drift angle and second drift angle, the controller control the apparatus for adjusting position 4 according to first drift angle with it is described
The driving device 3 that second drift angle drives the driving device 3 to rotate after making adjusting drive that the welding head 1 moves the
The plane parallel of two directions and third direction where with the tube sheet.
Specifically, the apparatus for adjusting position 4 is including being arranged on the base 5 and the corresponding both ends of the first direction
In at least one end adjustable bottom feet 41, adjust the height of the adjustable bottom feet 41 and be connected with the controller communication first
Adjusting part 42, the revolving bed 43 on the base 5 and to drive the driving device 3 around the revolving bed 43
The second adjusting part 44 that axis rotates.
It should be understood that the above-mentioned and corresponding both ends of the first direction are the front end and rear end of the base 5,
By varying the front end of the base 5 and/or the height of rear end, so that adjusting the driving device 3 drives the welding head 1
The angle between plane where mobile second direction and the tube sheet, during adjusting, the driving device 3 drives institute
State welding head 1 movement third direction and the tube sheet where plane between angle it is constant.
Specifically, first adjusting part 42 includes being connected with the adjustable bottom feet 41 described adjustable to lift
Elevator 421, lifting driving motor 422 and the connection lifting driving motor 422 of footing 41 and the elevator 421
Connecting rod 423, the lifting driving motor 422 drive the elevator 421 to lift the adjustable bottom by the connecting rod 423
Foot 41, to adjust the height of one end that adjustable bottom feet 41 is provided with the base 5, so as to adjust the perpendicular displacement axes 321
With the angle between the plane where the tube sheet, that is, adjust the driving device 3 drives the movement of welding head 1 second
The angle between plane where direction and the tube sheet, makes the driving device 3 after adjusting drive the welding head 1 to move
Dynamic second direction and the plane parallel where the tube sheet, so that, drive the welding head 1 for subsequent drive device 3
It is moved at the position corresponding to the mouth of pipe to be welded and is ready, the also welding for welding head 1 is ready；Meanwhile
Second driving mechanism described in welding process drives the welding head 1 to be moved along the second direction to weld other pores
When, the welding head 1 and the distance between the tube sheet are constant, i.e., welding head 1 and institute need not be adjusted in welding process
The distance between tube sheet is stated, simplify control process simultaneously ensures welding quality.
In the present invention, the adjustable bottom feet 41 is arranged on the rear end of the base 5, and the front end of the base 5 is equipped with fixed bottom
Foot 51, to increase the adjustable range of the adjustable bottom feet 41, increases the versatility of the Tube-sheet Welding system 100.
It should be understood that the rear end of the above-mentioned base 5, that is, one end of the base 5 away from the tube sheet, corresponding,
The front end of the base 5, that is, base 5 is close to one end of the tube sheet.
The driving device 3 is fixed on the revolving bed 43, i.e., described 3rd moving assembly 33 is fixed on the revolution
On seat 43, so that, when the 3rd moving assembly 33 follows the revolving bed 43 to rotate, the driving device 3 is overall to be followed
The revolving bed 43 rotates, and during rotation, adjusts the driving device 3 drives the movement of welding head 1 the 3rd
The angle between plane where direction and the tube sheet, and the driving device 3 drives the second of the movement of welding head 1
The angle between plane where direction and the tube sheet is constant, i.e., between the plane where described guide rail 331 and the tube sheet
Angle change, and the angle between the plane where the perpendicular displacement axes 321 and the tube sheet is constant.
The guide rail 331 is fixed on the revolving bed 43, specifically, the guide rail bracket 3312 is fixed on the revolving bed
On 43.Second adjusting part 44 includes turning motor 441, the connection turning motor 441 being fixed on the base 5
With the second screw rod 442 of the guide rail bracket 3312, the guide rail bracket 3312 is threadedly coupled with second screw rod 442, described
During turning motor 441 drives the rotation of the second screw rod 442, second screw rod 442 drives the guide rail 331 around institute
Stating the axis rotation of revolving bed 43 makes the guide rail 331 close to the turning motor 441 and the remote turning motor 441
Moved between position, with adjust the driving device 3 drive the third direction that the welding head 1 moves with where the tube sheet
Angle between plane, makes the driving device 3 after adjusting drive the third direction that the welding head 1 moves and the pipe
Plane parallel where plate, i.e., extending direction and the plane parallel where the tube sheet of described guide rail 331, so that, it is
Subsequent drive device 3 drives the welding head 1 to be moved at the position corresponding to the mouth of pipe to be welded and is ready, and is also weldering
First 1 welding of picking is ready；Meanwhile the 3rd driving mechanism 333 described in welding process drives 1 edge of welding head
When the third direction movement is to weld other pores, the welding head 1 and the distance between the tube sheet are constant, that is, are welding
The distance between welding head 1 and the tube sheet need not be adjusted in termination process, simplify control process simultaneously ensures welding quality.
The controller is controlled according to the positional information of the plane where the tube sheet that the laser ranging system 2 obtains
The apparatus for adjusting position 4, by controlling first adjusting part 42 to adjust the height of the adjustable bottom feet 41 to adjust
The angle between the plane where driving device 3 drives the second direction and the tube sheet that the welding head 1 moves is stated, makes tune
The driving device 3 after section drives plane parallel of the second direction that the welding head 1 moves where with the tube sheet,
Meanwhile by controlling second adjusting part 44 to adjust the third party that the driving device 3 drives the welding head 1 to move
Angle between the plane where the tube sheet, makes the driving device 3 after adjusting drive the welding head 1 to move
Third direction and the tube sheet where plane parallel so that, drive the welding head 1 to move for subsequent drive device 3
Move to being ready at the position corresponding to the mouth of pipe to be welded, the also welding for welding head 1 is ready；Meanwhile welding
The distance between welding head 1 and the tube sheet need not be adjusted in termination process, simplify control process simultaneously ensures welding quality.
Further, the Tube-sheet Welding system 100 further includes the camera device 6 being connected with the controller communication, institute
Camera device 6 is stated to obtain the positional information of the pore on tube sheet and feed back to the controller.Adjust and fill in the position
Putting the 4 drives driving device 3 and rotating makes the driving device 3 drive second direction that the welding head 1 moves and the
Three directions with the pipe that after the plane parallel where the tube sheet, the controller is fed back according to the camera device 6
The positional information in hole controls the driving device 3 that the welding head 1 is moved to at the corresponding position of the pore, making institute
It is corresponding with the center of the pore to state the center of welding head 1, is ready for follow-up welding.
Specifically, prestoring the theoretical pore positional information on tube sheet in the controller, institute is controlled in the controller
State second direction and third party that apparatus for adjusting position 4 makes the driving device 3 after adjusting drive the movement of welding head 1
After plane parallel where tube sheet described in Xiang Junyu, controller is controlled according to the theoretical pore positional information of pore to be welded
The driving device 3 drives the welding head 1 to be moved to and the theory along the first direction, second direction, third direction
At the corresponding theoretical position of pore positional information, the actual position information that camera device 6 obtains pore to be welded is fed back to
The controller, the controller actual position information of the pore is compared with theoretical pore positional information out position is inclined
Residual quantity, and control the driving device 3 to drive the welding head 1 according to the position deviation amount in the second direction and institute
State third direction be moved to at the corresponding physical location of the actual position information of the pore, to improve welding quality.
Further, there is the second pore being disposed adjacent with the pore to be welded on the tube sheet.The shooting
Device 6 also obtains the positional information of pore to be welded and second pore and feeds back to the controller, the control
Device draws second pore and the pipe to be welded according to the positional information of pore to be welded and second pore
Hole is in second direction or the departure of the third direction, and the control driving device after pore to be welded has welded
At position according to where departure movement makes the welding head 1 be moved to second pore, for the described second pipe
The welding in hole is ready, meanwhile, it is capable to accelerate welding efficiency, and improves welding quality.
Further, the Tube-sheet Welding system 100 further includes the lighting device 7 that illumination is provided to the camera device 6,
To ensure the clarity of the shooting of camera device 6, so as to improve welding quality.
Specifically, the lighting device 7 is infrared light supply.
Pipe is soldered on the pore on tube sheet, the welding head 1 includes being slidably connected to the welding head 1
The fixed seat 11 moved back and forth on axis 311, be rotationally connected with the fixed seat 11 front end turntable 12, be fixed on it is described
The upper welding gun 13 of turntable 12, be fixed on the turntable 12 to adjust between center of the welding gun 13 away from the turntable 12
Distance radius regulating part 14, adjusting the angle adjusting piece 15 of the soldering angle of the welding gun 13, described to adjust
The arc length device 16 of distance of the welding gun 13 away from the tube sheet and it is fixed on the turntable 12 to 13 wire feed of welding gun
Welding gun wire feed component 17.
The above-mentioned control driving device 3 drives the welding head 1 to be moved in the horizontal direction and the vertical direction
Moving the position deviation amount makes the welding head 1 be moved at the physical location corresponding to the actual position information of the pore,
That is, make the center of the turntable 12 corresponding with the center of the pore, to be ready for follow-up welding.
Specifically, the radius regulating part 14 includes radius adjustment axis 141, the flexible connection being fixed on the turntable 12
In the fixed plate 142 in the radius adjustment axis 141 and to drive the fixed plate 142 along the radius adjustment axis 141
Mobile radius driving motor.The welding gun 13 is fixed in the fixed plate 142, drives motor to drive institute by the radius
Welding gun 13 is stated to move along the radius adjustment axis 141 to adjust the distance at center of the welding gun 13 away from the turntable 12, can be with
Understand, the distance at center of the welding gun 13 away from the turntable 12 is more remote, and turntable 12 drives the welding gun 13 to be formed after rotating
Circular weld radius it is bigger.
Radius driving motor is connected with the controller communication, and the controller is according to the radius of pore to be welded
The radius driving motor is controlled to adjust the distance at the center of the welding gun 13 away from the turntable 12.
The angle adjusting piece 15 includes being fixed on the fixed block 151 with axis hole in the fixed plate 142, through institute
State axis hole angle rotation axis 152 and to drive the angle rotation axis 152 along the axis hole rotate and with the control
The rotary electric machine of device communication connection, by the rotary electric machine drive the welding gun 13 with the angle rotation axis 152 rotate with
The soldering angle of the welding gun 13 is adjusted, improves welding quality.
The arc length device 16 includes being fixed in the angle rotation axis 152 the arc length adjustment axis extended along the longitudinal direction
161 and to drive the arc length that the welding gun 13 is moved and is connected with the controller communication along the arc length adjustment axis 161
Motor, the welding gun 13 are movably connected on the arc length adjustment axis 161, so that, the weldering is driven by the arc length motor
Rifle 13 is moved along the arc length adjustment axis 161 to adjust the welding gun 13 away from the distance between described tube sheet, that is, adjusts the weldering
Arc length in first 1 welding process that picks, so as to improve welding quality.
During the welding head 1 starts welding, the controller is according to the relevant information of pore to be welded
Control the radius driving motor to adjust the distance at the center of the welding gun 13 away from the turntable 12, and control the rotary electric machine
The welding gun 13 is driven to be rotated with the angle rotation axis 152 to adjust the soldering angle of the welding gun 13, meanwhile, described in control
Arc length motor drives the welding gun 13 to be moved along the arc length adjustment axis 161 to adjust the welding gun 13 away between the tube sheet
Distance, to be automatically performed the welding between pipe and pore, improves welding quality.
Alternatively, the laser ranging system 2, the camera device 6 and lighting device 7 are both secured to the fixed seat
On 11, to drive the laser ranging system 2, the camera device 6 and lighting device 7 to move by the driving device 3,
Simplify the structure of the Tube-sheet Welding system 100.
Further, the present invention also provides a kind of welding method for controlling above-mentioned Tube-sheet Welding system, the welding method
Include the following steps：
S1：The positional information of plane according to where tube sheet controls the apparatus for adjusting position 4 to adjust the driving device 3
Make the driving device 3 drive second direction that the welding head 1 moves and third direction with where the tube sheet
Plane parallel；
Further, step S1 specifically comprises the following steps：The laser ranging system 2 is along the second direction and institute
It is mobile and the positional information of three points not on the same line is obtained on the tube sheet feed back to the control to state third direction
Device processed, the controller are drawn between the tube sheet and the second direction according to the positional information of three points received
The first drift angle and the tube sheet and the third direction between the second drift angle, and control the apparatus for adjusting position 4
The rotation of driving device 3 is driven the driving device 3 is driven the welding according to first drift angle and second drift angle
Plane parallel of the second direction and third direction that head 1 moves where with the tube sheet, so that, filled for subsequent drive
Put the 3 drivings welding head 1 and be moved at the position corresponding to the mouth of pipe to be welded and be ready, be also welding head 1
Welding is ready；Meanwhile the distance between welding head 1 and the tube sheet, simplify control need not be adjusted in welding process
Process simultaneously ensures welding quality.
S2：The driving device 3 is controlled to drive 1 edge of welding head according to the positional information where pore to be welded
First direction, second direction, third direction are moved at the position where the pore, make the center of the welding head 1 with should
The center of pore is corresponding；
Further, the theoretical pore positional information on tube sheet is prestored in the controller；Step S2 specifically include as
Lower step：Controller control the driving device 3 drive the welding head 1 in the first direction, second direction, third direction move
Move to at the corresponding theoretical position of theory pore positional information, camera device 6 obtains the actual bit of pore to be welded
Confidence breath feeds back to the controller, and the controller is by the actual position information of the pore compared with theoretical pore positional information
Relatively draw position deviation amount, and control the driving device 3 to drive the welding head 1 according to the position deviation amount described
Second direction is moved to at the corresponding physical location of the actual position information of the pore, making the weldering with the third direction
First 1 center and the center of the pore pick to corresponding, is ready for the welding of follow-up welding head 1.
S3：Start the welding head 1.
Further, there is the second pore for being disposed adjacent with pore to be welded on the tube sheet, it is described after step S2
Welding method further includes following steps：The camera device 6 obtains the position letter of pore to be welded and second pore
Cease and feed back to the controller, the controller is drawn according to the positional information of pore to be welded and second pore
Second pore and the pore to be welded are in second direction or the departure of the third direction, and to be welded
The control driving device makes the welding head be moved to second pipe according to departure movement after pore has welded
At position where hole, it is ready for the welding of second pore, meanwhile, it is capable to accelerate welding efficiency, and improves welding
Quality, so that the Tube-sheet Welding system 100 can fully automatically realize the weldering between all pores and pipe on the tube sheet
Connect, improve production efficiency and improve welding quality.
In conclusion the Tube-sheet Welding system 100 of the present invention makes driving institute by setting to adjust the driving device 3
State the second direction of the movement of welding head 1 and third direction is adjusted with the position of the plane parallel where the tube sheet and filled
4 are put, for subsequent drive device 3 welding head 1 can be driven to be moved at the position corresponding to the mouth of pipe to be welded and carried out
Prepare, the also welding for welding head 1 is ready, and can realize full-automatic Tube-sheet Welding, improves the production effect of Tube-sheet Welding
Rate；Meanwhile, it is capable to simplify the control process of Tube-sheet Welding system described in welding process 100, improve welding efficiency and can carry
High welding quality.
It should be appreciated that although the present specification is described in terms of embodiments, not each embodiment only includes one
A independent technical solution, this narrating mode of specification is only that those skilled in the art will should say for clarity
For bright book as an entirety, the technical solution in each embodiment may also be suitably combined to form those skilled in the art can
With the other embodiment of understanding.
Those listed above is a series of to be described in detail only for feasibility embodiment of the invention specifically
Bright, they simultaneously are not used to limit the scope of the invention, all equivalent implementations made without departing from skill spirit of the present invention
Or change should all be included in the protection scope of the present invention.
Claims (10)
- A kind of 1. Tube-sheet Welding system, it is characterised in that：Including：Welding head, pipe is soldered on the pore of tube sheet；Laser ranging system, to obtain the positional information of the plane where the tube sheet；Driving device, is connected to drive the welding head closer or far from the of the tube sheet with the welding head One direction and the perpendicular second direction of the first direction and third direction move；The second direction and the described 3rd Direction is perpendicular；Apparatus for adjusting position, being connected to adjust the driving device with the driving device moves the driving welding head The plane parallel of dynamic second direction and third direction where with the tube sheet；And controller, the welding head, laser ranging system, driving device and apparatus for adjusting position with the control Device communication connection, the positional information that the controller is obtained according to the laser ranging system control the apparatus for adjusting position tune Save the driving device make the driving device drive the welding head movement second direction and third direction and institute State the plane parallel where tube sheet.
- 2. Tube-sheet Welding system as claimed in claim 1, it is characterised in that：The Tube-sheet Welding system further includes base, institute Driving device is stated to be fixed on the base；The apparatus for adjusting position is including being arranged on the base and the first direction phase The adjustable bottom feet of at least one end in corresponding both ends, the height for adjusting the adjustable bottom feet and it is connected with the controller communication The first adjusting part, the revolving bed on the base and to drive the driving device around the axis of the revolving bed The second adjusting part that line rotates；The driving device is fixed on the revolving bed.
- 3. Tube-sheet Welding system as claimed in claim 1, it is characterised in that：The Tube-sheet Welding system further includes base, institute State driving device include being arranged on the base to drive the 3rd moving assembly that the welding head moves along third direction, To the second moving assembly for driving the welding head to move in a second direction and set on the 3rd moving assembly In on second moving assembly to the first moving assembly for driving the welding head to move along the first direction, the welding Head be arranged on first moving assembly on, first moving assembly, the second moving assembly, the 3rd moving assembly with it is described Controller communication connects.
- 4. Tube-sheet Welding system as claimed in claim 3, it is characterised in that：The welding head includes and the described first movement Fixed seat that component is connected, the turntable being rotationally connected with the fixed seat and the welding gun on the turntable；It is described Laser ranging system is fixed in the fixed seat.
- 5. Tube-sheet Welding system as claimed in claim 1, it is characterised in that：The Tube-sheet Welding system further includes and the control The camera device of device processed communication connection, the camera device is obtaining the positional information of the pore and feed back to the control Device.
- 6. Tube-sheet Welding system as claimed in claim 5, it is characterised in that：The Tube-sheet Welding system further includes base, institute State driving device include being arranged on the base to drive the 3rd moving assembly that the welding head moves along third direction, To the second moving assembly for driving the welding head to move in a second direction and set on the 3rd moving assembly In on second moving assembly to the first moving assembly for driving the welding head to move along the first direction, the welding Head is arranged on first moving assembly；The welding head includes the fixed seat being connected with first moving assembly； The camera device is fixed in the fixed seat.
- A kind of 7. welding method of Tube-sheet Welding system, it is characterised in that：The Tube-sheet Welding system is described in claim 1 Tube-sheet Welding system；The welding method includes the following steps：S1：It is described that the positional information of plane according to where tube sheet controls the apparatus for adjusting position adjusting driving device to make Driving device drives the second direction of the welding head movement and third direction equal with the plane where the tube sheet OK；S2：The driving device is controlled to drive the welding head along first party according to the positional information where pore to be welded To, second direction, third direction be moved at the position where the pore, make the center of the welding head with the pore The heart is corresponding；S3：Start the welding head.
- 8. the welding method of Tube-sheet Welding system as claimed in claim 7, it is characterised in that：Step S1 specifically includes following step Suddenly：The laser ranging system is moved along the second direction and the third direction and obtained not same on the tube sheet The positional information of three points on one straight line feeds back to the controller, and the controller is according to three points received Positional information draw the first drift angle between the tube sheet and the second direction and the tube sheet and the third direction it Between the second drift angle, and control the apparatus for adjusting position to drive the driving according to first drift angle and second drift angle Device rotation make the driving device drive the welding head movement second direction and third direction with the tube sheet The plane parallel at place.
- 9. the welding method of Tube-sheet Welding system as claimed in claim 7, it is characterised in that：The Tube-sheet Welding system is also wrapped The camera device being connected with the controller communication is included, the theoretical pore positional information on tube sheet is prestored in the controller； Step S2 specifically comprises the following steps：Controller control the driving device drive the welding head in the first direction, second Direction, third direction be moved to at the corresponding theoretical position of theory pore positional information, camera device obtain it is to be welded The actual position information of pore feed back to the controller, the controller manages the actual position information of the pore with theoretical Hole site information, which compares, draws position deviation amount, and controls the driving device to drive the welding head according to the position Departure is moved to and the corresponding actual bit of the actual position information of the pore in the second direction and the third direction Put place.
- 10. the welding method of Tube-sheet Welding system as claimed in claim 7, it is characterised in that：The Tube-sheet Welding system is also There is second be disposed adjacent with pore to be welded including the camera device being connected with the controller communication, on the tube sheet Pore, after step S2, the welding method further includes following steps：The camera device obtains pore to be welded and described The positional information of second pore simultaneously feeds back to the controller, and the controller is according to pore to be welded and second pipe The positional information in hole draws second pore and the pore to be welded in the inclined of second direction or the third direction Residual quantity, and the control driving device makes the welding head according to departure movement after pore to be welded has welded It is moved at the position where second pore.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711492183.3A CN107971663A (en) | 2017-12-30 | 2017-12-30 | A kind of Tube-sheet Welding system and welding method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711492183.3A CN107971663A (en) | 2017-12-30 | 2017-12-30 | A kind of Tube-sheet Welding system and welding method |
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| Publication Number | Publication Date |
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| CN107971663A true CN107971663A (en) | 2018-05-01 |
Family
ID=62005500
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711492183.3A Withdrawn CN107971663A (en) | 2017-12-30 | 2017-12-30 | A kind of Tube-sheet Welding system and welding method |
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| Country | Link |
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| CN (1) | CN107971663A (en) |
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| CN108453448A (en) * | 2018-05-15 | 2018-08-28 | 昆山华恒焊接股份有限公司 | The full-automatic pipe plate welding method of robot |
| CN108645367A (en) * | 2018-05-15 | 2018-10-12 | 昆山华恒焊接股份有限公司 | A kind of depth of parallelism calibration method based on three-axis reference |
| CN109175814A (en) * | 2018-10-31 | 2019-01-11 | 昆山华恒焊接股份有限公司 | Welding method, device and computer readable storage medium |
| CN112276308A (en) * | 2020-10-22 | 2021-01-29 | 华中科技大学 | Be used for robot tube sheet welded multi-functional welder |
| CN113084417A (en) * | 2021-04-16 | 2021-07-09 | 镇江市恩帝斯精密机械有限公司 | Welding robot |
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Application publication date: 20180501 |