CN113182663A

CN113182663A - Welding head device and welding equipment

Info

Publication number: CN113182663A
Application number: CN202110328582.6A
Authority: CN
Inventors: 张贺; 张铁浩; 张风东; 王磊; 方喜风; 张志毅; 宋福田
Original assignee: CRRC Qingdao Sifang Co Ltd
Current assignee: CRRC Qingdao Sifang Co Ltd
Priority date: 2021-03-26
Filing date: 2021-03-26
Publication date: 2021-07-30
Anticipated expiration: 2041-03-26
Also published as: CN113182663B

Abstract

The invention provides a welding head device and welding equipment. In the welding head device, a vertical beam is suitable for being assembled on a movable gantry and can move along the transverse direction and the height direction of the movable gantry; the head assembly is mounted on the end of the vertical beam facing the welding area. In the machine head assembly, a welding head is arranged towards a welding area, and a swing driving mechanism is connected with the welding head and rotatably connected to the vertical beam through a rotation driving mechanism. The rotary driving mechanism can drive the handpiece assembly to rotate around the longitudinal direction of the movable gantry so as to drive the welding head to rotate left and right relative to the vertical beam; the swing driving mechanism can drive the welding head to swing along the longitudinal direction of the movable gantry so as to drive the welding head to swing back and forth relative to the vertical beam. Therefore, the welding head device can realize the angle adjustment of the welding head relative to the vertical beam, improve the stress uniformity of the welding head on the workpiece and the flexible regulation and control of the welding position, effectively reduce the deformation after welding, and even enable the welded workpiece to achieve the quality of adjustment-free repair.

Description

Welding head device and welding equipment

Technical Field

The invention relates to the technical field of welding, in particular to a welding head device and welding equipment.

Background

Welding, also known as fusion, welding, is a manufacturing process and technique for joining metals or other thermoplastic materials, such as plastics, in a heated, high temperature or high pressure manner. As a novel welding process, the friction stir welding has the advantages of good joint performance, small welding deformation, no arc light, no dust pollution, energy conservation, environmental protection and the like compared with the traditional arc welding. The existing welding equipment for friction stir welding is generally single-head equipment, namely, friction stir welding is carried out on a workpiece only by a single welding head; and the welding process has extremely high requirements on the assembly size of the workpieces.

In addition, the insertion amount of a welding head needs to be manually controlled in real time in the welding process of the friction stir welding, and the operation is not easy; moreover, the welding seam of the welded product is easy to have the bad conditions of more flash and burr, and the welding seam needs to be polished.

Therefore, the problems that the stress of a workpiece is uneven, the deformation after welding is large and the adjustment and repair are needed are easily caused in the welding process of the conventional single-head friction stir welding; moreover, the problems of low welding efficiency, poor welding safety and low automation degree exist.

Disclosure of Invention

The invention provides a welding head device which is used for solving the problems that in the prior art, the stress of a workpiece is uneven easily caused in the welding process of friction stir welding, the deformation after welding is large, and the adjustment and the repair are needed.

The invention also provides welding equipment.

The present invention provides a welding head device, comprising:

the vertical beam is suitable for being assembled on the movable gantry and can move along the transverse direction and the height direction of the movable gantry;

the machine head assembly is assembled at one end, facing a welding area, of the vertical beam and comprises a welding head, a rotary driving mechanism and a swing driving mechanism, the welding head is arranged facing the welding area, the swing driving mechanism is connected with the welding head and rotatably connected to the vertical beam through the rotary driving mechanism, the rotary driving mechanism is used for driving the machine head assembly to rotate around the longitudinal direction of the movable gantry, and the swing driving mechanism is used for driving the welding head to swing along the longitudinal direction of the movable gantry.

According to a welding head apparatus provided by the present invention, the rotary drive mechanism includes:

one end of the first rotating shaft is movably assembled at the end part of the vertical beam facing the welding area, and the first rotating shaft is arranged along the longitudinal direction of the movable gantry;

one side of the connecting plate is connected to the other end of the first rotating shaft, and the other side of the connecting plate is connected with the machine head assembly through the swing driving mechanism;

and the power output shaft of the rotating motor is meshed with the outer side of the first rotating shaft so as to drive the first rotating shaft to rotate.

According to a welding head device provided by the invention, the swing driving mechanism comprises:

the connecting base is connected to one surface, facing the head assembly, of the connecting plate, a second rotating shaft is installed at the end, facing the welding area, of the connecting base, and the second rotating shaft is movably connected to one end, provided with the welding head, of the head assembly;

one end of the swing lead screw is connected to the end part of the connecting plate far away from the welding area, and the swing lead screw is arranged along the longitudinal direction of the movable gantry;

and the swinging nut is fixedly connected to one end of the head assembly, which is far away from the welding head, and is movably meshed with the swinging lead screw.

According to the welding head device provided by the invention, the swing driving mechanism further comprises a swing limiting assembly, and the swing limiting assembly comprises:

the third rotating shaft is rotatably arranged at the end part of the connecting plate, which is far away from the welding area, and is positioned above the connecting seat, a first mounting seat is hinged to the third rotating shaft, and the first mounting seat is connected to the end part of the swinging screw rod;

the fourth rotating shaft is rotatably arranged at one end, far away from the welding head, of the machine head assembly, and a second mounting seat is hinged to the fourth rotating shaft and connected to the swing nut;

the swinging sliding rails are arranged on one side of the swinging screw rod in parallel, and one end of each swinging sliding rail is hinged to the third rotating shaft;

and the swinging sliding block is connected to the second mounting seat and is assembled in the swinging sliding rail in a sliding manner.

According to the invention, the welding head device comprises:

the mounting plate is connected to the connecting plate through the swing driving mechanism;

the main shaft is vertically arranged on the mounting plate, the welding head is arranged at one end of the main shaft, which faces the welding area, and the main shaft can drive the welding head to rotate;

and the driving cylinders are arranged on one side of the main shaft in parallel, and the telescopic ends of the driving cylinders are connected to the main shaft through connecting blocks.

According to the welding head device provided by the invention, the head assembly further comprises a vertical limiting mechanism, and the vertical limiting mechanism is connected between the main shaft and the mounting plate.

According to the welding head device provided by the invention, the vertical limiting mechanism comprises:

the vertical sliding rail is vertically arranged on the mounting plate and is arranged in parallel with the main shaft;

and the at least one pair of vertical sliding blocks are respectively connected to two ends of the cylinder body of the driving cylinder and can be respectively assembled in the vertical sliding rails in a sliding manner.

According to the welding head device provided by the invention, the head assembly further comprises a constant pressure control mechanism and a constant displacement control mechanism, and the constant pressure control mechanism and the constant displacement control mechanism are respectively connected with the driving cylinder.

According to the welding head device provided by the invention, the head assembly further comprises a follow-up welding pressing mechanism, the follow-up welding pressing mechanism comprises a pressing wheel and a pressing connecting frame, the pressing wheel is assembled on the pressing connecting frame in a rolling manner and is positioned in front of the welding head, and the pressing connecting frame is connected to the main shaft and can move along the axial direction of the main shaft.

According to the welding head device provided by the invention, the welding head device further comprises:

the laser sensor is provided with a laser sensing area, and the laser sensing area covers the welding head;

the video monitor comprises at least one pair of cameras, and each pair of cameras are symmetrically arranged on two sides of the welding head;

and the temperature sensor is provided with a temperature sensing area, and the temperature sensing area covers the welding head.

The invention also provides welding equipment comprising the welding head device.

The invention provides a welding head device which comprises a vertical beam and a head assembly. The vertical beam is suitable for being assembled on the movable gantry and can move along the transverse direction and the height direction of the movable gantry; the head assembly is mounted on the end of the vertical beam facing the welding area. In the machine head assembly, a welding head is arranged towards a welding area, and a swing driving mechanism is connected with the welding head and rotatably connected to the vertical beam through a rotation driving mechanism. The rotary driving mechanism can drive the handpiece assembly to rotate around the longitudinal direction of the movable gantry so as to drive the welding head to rotate left and right relative to the vertical beam; the swing driving mechanism can drive the welding head to swing along the longitudinal direction of the movable gantry so as to drive the welding head to swing back and forth relative to the vertical beam. Therefore, the welding head device can realize the angle adjustment of the welding head relative to the vertical beam, improve the stress uniformity of the welding head on the workpiece and the flexible regulation and control of the welding position, effectively reduce the deformation after welding, and even enable the welded workpiece to achieve the quality of adjustment-free repair. And the welding efficiency and the flexibility of the welding process can be further improved, the high-efficiency and high-quality friction stir welding can be particularly realized for longer and larger workpieces, and the welding process is energy-saving and environment-friendly.

Furthermore, the welding head device can be successfully applied to the friction stir welding of large parts in high-speed motor train units and urban rail aluminum alloy train bodies.

The invention also provides welding equipment comprising the welding head device. Through setting up this welding head device for this welding equipment possesses above-mentioned welding head device's whole advantages, and it is not repeated here specifically.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a gantry-type welding apparatus provided in the present invention;

FIG. 2 is a second schematic structural view of a gantry welding apparatus provided in the present invention;

FIG. 3 is a schematic view of a coordinate system established by the gantry type welding apparatus provided by the present invention;

FIG. 4 is a schematic structural view of a welder head assembly provided by the present invention;

FIG. 5 is a front view of a welder head assembly provided by the present invention.

FIG. 6 is a schematic structural diagram of a traveling mechanism provided by the present invention;

FIG. 7 is a schematic structural diagram of a bicycle drive assembly provided in accordance with the present invention;

fig. 8 is a second schematic structural diagram of the driving assembly provided in the present invention.

Reference numerals:

100: a welding head device; 110: erecting a beam; 111: a connecting beam;

112: a first rotating shaft; 113: a connecting plate; 114: a connecting seat;

115: a second rotating shaft; 116: mounting a plate; 117: connecting blocks;

118: welding a head; 119: a pinch roller; 120: compressing the connecting frame;

121: a camera; 122: a laser sensor; 123: a main shaft;

124: a transmission belt; 125: a drive cylinder; 126: a proportional valve;

127: a main drive motor; 128: a vertical slide rail; 129: a vertical slide block;

130: a rotation driving mechanism; 1301: a rotating electric machine; 131: a third rotating shaft;

132: a first mounting seat; 133: a fourth rotating shaft; 134: swinging the slide rail;

135: a swing slider; 136: swinging the nut; 137: a swing motor;

138: swinging the lead screw; 139: a second mounting seat; 210: a column set;

211: a vertical column; 212: a support beam; 220: a traveling mechanism;

221: a walking body; 222: a traveling wheel; 223: mounting a platform;

224: a travel driving motor; 225: adjusting the sliding block; 226: adjusting the slide rail;

227: a driving gear; 2271: a driven wheel; 2272: a walking channel;

228: a tensioning mechanism; 229: an anti-rollover mechanism; 230: a cross beam;

231: a vertical drive mechanism; 232: a cable end; 233: a cable trough;

240: a protection mechanism; 241: protecting the fence; 242: climbing a ladder;

251: a traversing mechanism; 252: a first transverse slide rail; 253: a second transverse slide rail;

310: a master console; 311: a safety buffer; 320: an operating platform;

400: a track; 500: a welding area; 600: a control cabinet.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention is described below in connection with fig. 1-X

The gantry type welding apparatus of the present invention (which may be simply referred to as "welding apparatus" in the embodiment of the present invention) will be described below with reference to fig. 1 to 8.

As shown in fig. 1 to 3, the welding apparatus includes a movable gantry, and at least two welding head devices 100. Wherein the movable gantry is adapted to be movably mounted above the welding area 500 and is capable of moving in a welding direction preset in the welding area 500, i.e. the moving area of the movable gantry is capable of covering the entire welding area 500. As shown in fig. 3, a rectangular coordinate system is established based on the moving direction of the movable gantry, specifically: the integral moving direction of the movable gantry is taken as an X axis of the rectangular coordinate system, the integral advancing direction of the movable gantry is taken as an X axis positive direction, and the integral retreating direction of the movable gantry is taken as a negative direction of the X axis; the Y axis of the rectangular coordinate system is set to be the transverse direction of the movable gantry, namely the transverse direction of the movable gantry is perpendicular to the moving direction of the movable gantry; the height direction of the movable gantry is the Z axis of the rectangular coordinate system.

The at least two welding head devices 100 in the welding equipment are both assembled on the movable gantry. And, each welding head device 100 can move along the transverse direction and the height direction of the movable gantry respectively. Wherein, the movable gantry is provided with at least one traverse channel positioned above the welding area 500, and each traverse channel is provided with at least one welding head device 100.

It can be understood that, as shown in fig. 1 and fig. 2, the movable gantry is provided with a traverse channel, at least two welding head devices 100 are assembled in the traverse channel, and each welding head device 100 moves in the same traverse channel, so that a plurality of positions to be welded with the same X-axis coordinate and different Y-axis coordinates in a welding area 500 are synchronously welded or welded step by step or in a cross manner, and the welding efficiency and the automation control degree are improved.

It can be understood that the movable gantry may also be provided with two or more traverse channels, each traverse channel is arranged in parallel at intervals, and each traverse channel is equipped with at least one welding head device 100. Such as the two traverse paths in the Y1 direction and the Y2 direction shown in fig. 3. The arrangement can realize synchronous or step-by-step or cross welding of a plurality of positions to be welded in the welding area 500, wherein the positions to be welded have different X-axis coordinates and different Y-axis coordinates, and further improves the welding efficiency and the automation control degree.

Therefore, the welding equipment can assemble a plurality of welding head devices 100 on the same movable gantry, so that the transverse position of each welding head device 100 can be adjusted respectively according to welding requirements, synchronous welding of the plurality of welding head devices 100 in the welding area 500 is realized, and the welding efficiency and the welding quality are improved. Furthermore, the gantry welding equipment can drive the plurality of welding head devices 100 to weld workpieces relatively independently, and flexibly adjust the positions and angles of the plurality of welding head devices 100, so that the independent welding of the positions of the plurality of welding heads 118 can be realized, the symmetric welding, the staggered welding, the synchronous welding and the welding process with a preset welding rule and a preset welding track can be realized, the welding efficiency and the flexibility of the welding process are further improved, the welding deformation is effectively reduced, the defects that the workpiece is unevenly stressed in the existing welding process, the postweld deformation is large and needs to be adjusted and repaired are overcome, the efficient and high-quality friction stir welding can be particularly realized for longer and larger workpieces, the welding process is energy-saving and environment-friendly, the welding deformation is small, and the postweld workpieces are free of polishing and adjustment.

In some embodiments, as shown in fig. 4 and 5, welding head apparatus 100 includes a vertical beam 110 and a head assembly. The vertical beam 110 is assembled on the movable gantry and can move along the transverse direction and the height direction of the movable gantry respectively to drive the head assembly to move along the Z direction, so that the overall height of the head assembly can be adjusted flexibly, and the height of a welding head 118 of the head assembly can be adjusted roughly. The head assembly is mounted to the end of the vertical beam 110 facing the welding area 500. The head assembly includes a welding head 118, a rotary drive mechanism 130, and a swing drive mechanism, the welding head 118 being disposed toward the welding region 500, the swing drive mechanism being coupled to the welding head 118 and rotatably coupled to the vertical beam 110 via the rotary drive mechanism 130. The rotary driving mechanism is used for driving the handpiece assembly to rotate around the longitudinal direction of the power gantry, namely the handpiece assembly is integrally rotated on a YZ plane; the swing drive mechanism is used to drive the welding head 118 to swing in the longitudinal direction of the gantry, i.e., to drive the welding head 118 to swing in the positive and/or negative direction along the X-axis. The arrangement of the rotary driving mechanism 130 and the swing driving mechanism can flexibly adjust the included angle between the welding head 118 and the workpiece, so that the welding head 118 can realize multi-degree-of-freedom regulation.

It will be appreciated that the weld head 118 described in the embodiments of the present invention is preferably configured as a friction stir weld head 118.

It is understood that the Y-direction movement and the Z-direction movement of the vertical beam 110 in the traverse channel are specifically described in the section of the moving gantry, and will not be described herein again.

It can be understood that, preferably, the end of the vertical beam 110 facing the welding area is configured with a connection beam 111, a deflection angle is formed between the connection beam 111 and the vertical beam 110, and the rotary driving mechanism 130 of the head assembly can be mounted at the end of the connection beam 111, so that a space can be formed between the head assembly and the vertical beam 110, and thus collision between the head assembly and the column group 210 when the vertical beam 110 moves to the cross beam 230 of the movable gantry is avoided, the head assembly has sufficient rotation space, and the operation safety and reliability of the head assembly are improved.

It will be appreciated that preferably the top end of the vertical beam 110 is connected to a cable end 232 and that a cable slot 233 is provided in the cross beam 230 which is movable laterally with the corresponding vertical beam 110, the connection between the cable section 232 and the cable slot 233 being such as to transfer the electrical power required by the welding head assembly 100 to the welding head assembly 100 via the vertical beam 110.

It will be appreciated that the cable end 232 can be telescoped relative to the top end of the vertical beam 110 to enable switching to and from the cable slot 233, i.e. to enable switching of the power supply.

In some embodiments, as shown in fig. 4, the rotary drive mechanism 130 includes a first shaft 112, a connecting plate 113, and a rotary motor 1301. One end of the first rotating shaft 112 is movably assembled to the end of the vertical beam 110 facing the welding area 500, and the first rotating shaft 112 is disposed along the longitudinal direction of the movable gantry. One surface of the connection plate 113 is connected to the other end of the first rotation shaft 112, and the other surface of the connection plate 113 is connected to the head assembly through a swing driving mechanism. The head assembly is attached to the front surface of the attachment plate 113 so as to more reasonably reserve a space for the swinging movement of the welding head 118. A power output shaft of the rotating electric machine 1301 is engaged with the outside of the first rotating shaft 112 to drive the first rotating shaft 112 to rotate.

In some embodiments, as shown in fig. 4, the swing drive mechanism includes a connection block 114, a swing screw 138, and a swing nut 136. The connecting base 114 is connected to a surface of the connecting plate 113 facing the head assembly, a second rotating shaft 115 is mounted on an end of the connecting base 114 facing the welding area 500, and the second rotating shaft 115 is movably connected to an end of the head assembly provided with a welding head 118. One end of the swing screw 138 is connected to the end of the connecting plate 113 far away from the welding area 500, and the swing screw 138 is arranged along the longitudinal direction of the movable gantry; correspondingly, the swing nut 136 is fixedly coupled to an end of the head assembly remote from the welding head 118 and is movably engaged with the swing screw 138. Therefore, the swing driving mechanism can use the second rotating shaft 115 as a swing shaft, the end, provided with the welding head 118, of the head assembly is driven to rotate around the second rotating shaft 115, and the end, far away from the welding head 118, of the head assembly moves along the swing lead screw 138, so that the included angle between the welding head 118 and the X-axis and the Z-axis can be flexibly adjusted.

In some embodiments, the swing drive mechanism further includes a swing limit assembly to reliably limit the swing direction and swing amplitude of the butt joint 118 with the swing limit assembly. The swing limiting assembly comprises a third rotating shaft 131, a fourth rotating shaft 133, a swing sliding rail 134 and a swing sliding block 135. The third shaft 131 is rotatably mounted on the end of the connection plate 113 away from the welding area 500 and above the connection seat 114. Preferably, the third rotating shaft 131 is disposed along the Y direction. The third rotating shaft 131 is hinged to a first mounting seat 132, and the first mounting seat 132 is connected to an end portion of the swing screw 138, so that the swing screw 138 can be hinged to the third rotating shaft 131 based on the first mounting seat 132. A fourth shaft 133 is rotatably mounted to the end of the head assembly remote from the bond head 118. Preferably, the fourth rotation shaft 133 is disposed along the Y direction. A second mounting seat 139 is hinged to the fourth rotating shaft 133, and the second mounting seat 139 is connected to the swing nut 136, so that the swing nut 136 can be hinged to the fourth rotating shaft 133 based on the second mounting seat 139. The swing sliding rails 134 are arranged in parallel on one side of the swing screw 138, and one end of the swing sliding rails 134 is hinged to the third rotating shaft 131. The swing slider 135 is connected to the second mounting seat 139 and is slidably fitted in the swing slide 134. The arrangement is that the swing sliding block 135 slides in the swing sliding rail 134 to limit the relative movement direction between the swing nut 136 and the swing screw 138; and the swing lead screw 138 and the swing slide rail 134 are hinged with the third rotating shaft 131, the swing slider 135 slides along the swing slide rail 134, and the swing slider 135 and the swing nut 136 are fixedly connected, so that the relative movement distance and the movement direction between the swing nut 136 and the swing lead screw 138 are limited, the movement direction and the movement distance of the welding head 118 along the X direction are flexibly adjusted, and the included angle between the welding head 118 and the X axis and the Z axis is adjusted.

It will be appreciated that a swing motor 137 is preferably coupled to second mount 139 to power movement of second mount 139 with swing motor 137.

It will be appreciated that the connecting base 114 is preferably configured such that the base has a bottom plate disposed along the X-direction, and the second rotating shaft 115 is connected to the end of the bottom plate away from the connecting plate 113 along the Y-direction. It is further preferable that rib plates connected to the connection plates 113 are respectively provided at both sides of the bottom plate, thereby integrally constructing the connection seat 114 as a triangular reinforced structure. On one hand, the distance between the second rotating shaft 115 and the connecting plate 113 can be increased, so that the swing space of the welding head 118 is increased, and the welding head 118 is prevented from impacting the vertical beam 110 to cause equipment damage and influence on welding quality; on the other hand, the structural stability and structural strength of the swing drive mechanism can be improved.

In some embodiments, as shown in fig. 4 and 5, the head assembly includes mounting plate 116, spindle 123, and drive cylinder 125. The mounting plate 116 is connected to the connecting plate 113 by a swing drive mechanism. The main shaft 123 is vertically installed on the installation plate 116; the end of the spindle 123 facing the welding area 500 is provided with a welding head 118, and the spindle 123 can drive the welding head 118 to rotate under the driving of the main driving motor 127. During the rotation of the head assembly with respect to the vertical beam 110 by the rotation driving mechanism 130, the spindle 123 can rotate with respect to the vertical beam 110 along with the mounting plate 116, thereby changing the included angles between the welding head 118 and the Y-axis and the Z-axis. The driving cylinder 125 is arranged in parallel at one side of the main shaft 123, and the telescopic end of the driving cylinder 125 is connected to the main shaft 123 through the connecting block 117, so as to flexibly adjust the distance between the welding head 118 and the workpiece by using the telescopic motion of the driving cylinder 125, i.e. to achieve fine adjustment of the height of the welding head 118.

Understandably, the power output shaft of the main driving mechanism is connected with the main shaft 123 through a transmission belt 124 so as to realize reliable power transmission and convert the power into the rotating power of the main shaft 123; the main shaft 123 may be directly coupled to a power output shaft of the main drive mechanism through a coupling.

In some embodiments, the handpiece assembly further includes a vertical stop mechanism. The vertical limiting mechanism comprises a vertical sliding rail 128 and at least one pair of vertical sliding blocks 129. Vertical slide 128 is vertically mounted to mounting plate 116 and is juxtaposed to spindle 123. The two ends of the cylinder body of the driving cylinder 125 are slidably assembled in the vertical slide rails 128 through at least one pair of vertical slide blocks 129. The vertical limiting mechanism can limit the height adjusting direction of the main shaft 123, namely limit the stretching direction of the driving cylinder 125.

In some embodiments, the handpiece assembly further includes a constant pressure control mechanism and a constant displacement control mechanism. The constant pressure control mechanism and the constant displacement control mechanism are connected to the oil passage of the driving cylinder 125, respectively. The constant pressure control mechanism and the constant displacement control mechanism enable the welding head 118 to achieve a constant pressure mode welding process and a constant displacement mode welding process, respectively.

It will be appreciated that the drive cylinder 125 is preferably a hydraulic cylinder connected to the oil control system by a hydraulic oil circuit. Preferably, a proportional valve 126 is mounted on the actuating cylinder 125, and the proportional valve 126 is a hydraulic solenoid valve capable of adjusting the amount of oil.

The constant pressure mode welding process comprises the following steps: the pressure sensor is arranged in a driving oil path of the welding head 118, pressure data is acquired through the pressure sensor, the control system is used for determining the corresponding oil amount through a preset algorithm, the hydraulic solenoid valve is driven to adjust the oil amount based on the calculation result, and the oil amount adjustment result acquired by the pressure sensor is fed back to the control system, so that a closed-loop control mechanism is formed, and the constant-pressure mode welding process of the welding head 118 is realized.

The constant displacement mode welding process comprises the following steps: a position sensor is arranged at the telescopic end of the driving cylinder 125 and used for recording the telescopic stroke position of the piston rod; the position information is acquired by the position sensor and transmitted to the control system, the control system calculates the corresponding oil amount through a preset algorithm, so that the hydraulic solenoid valve is driven to adjust the oil amount based on the calculation result, and the position information acquired by the position sensor after the oil amount adjustment is used as feedback data to be fed back to the control system again, so that a closed-loop control mechanism is formed, and the constant displacement mode welding process of the welding head 118 is realized.

In some embodiments, the nose assembly further comprises a weld-following hold-down mechanism. The pressing mechanism includes a pressing wheel 119 and a pressing connection frame 120. The pinch roller 119 is rollably mounted to the pinch attachment frame 120 in front of the welding head 118. The pressing connection frame 120 is connected to the spindle 123 and can move along the axial direction of the spindle 123 to achieve flexible adjustment of the height of the pressing wheel 119 and drive the pressing wheel 119 to apply sufficient pressing force to the surface of the workpiece. When changing the welding direction of the welding head 118, the pinch roller 119 can run in front of the welding head 118 and flatten the weld surface.

In some embodiments, the handpiece assembly further includes a laser sensor 122. The laser sensor 122 is attached to the spindle 123 and the laser sensing area of the laser sensor 122 covers the welding head 118. The laser sensor 122 is capable of tracking and measuring the surface profile of the workpiece to which the weld head 118 corresponds in the X-direction and Z-direction to improve the accuracy of the weld.

In some embodiments, the handpiece assembly further includes a video monitor. The video monitor includes at least one pair of cameras 121. Each pair of cameras 121 is symmetrically disposed on both sides of the welding head 118. The video monitor can carry out video monitoring to the welding position of work piece and whole welding process in welding process to improve welding precision and welding safety.

In some embodiments, the handpiece assembly further includes a temperature sensor. The temperature sensor is provided with a temperature sensing area that covers the weld head 118. The temperature sensor can sense the welding temperature of the welding head 118 on a workpiece, and timely adjusts welding parameters according to collected data, so that the welding quality and the welding safety are improved.

In some embodiments, as shown in fig. 1 and 2, the mobile gantry according to the embodiment of the present invention includes a beam 230, a pair of column sets 210, and a pair of traveling mechanisms 220. The cross beam 230 is disposed transversely above the welding area 500. At least one of the traversing passages described above is configured within the cross-beam 230. A pair of opposing columns 210 are connected to both ends of the cross member 230, respectively. The pair of traveling mechanisms 220 are respectively connected to the bottoms of the pair of column assemblies 210 and are respectively slidably fitted on the pair of rails 400. The pair of rails 400 are laid on both sides of the welding area 500 in parallel, and preferably, the pair of rails 400 are disposed in the X direction, and the welding area 500 is formed between the pair of rails 400. The movable gantry uses a pair of traveling mechanisms 220 to synchronously drive a pair of column sets 210 to slide along a pair of rails 400, so as to drive the beam 230 to move back and forth along the X direction above the welding area 500.

In some embodiments, column set 210 includes a support beam 212 and a number of column bodies 211. The support beam 212 is secured to the end of the cross beam 230. A plurality of upright posts 211 are connected between the support beam 212 and the traveling mechanism 220. This structural arrangement may increase the overall structural strength and load bearing capacity of the set of posts 210.

In order to reliably realize the reliable assembly between the vertical beam 110 of the welding head device 100 and the cross beam 230 of the movable gantry and reliably realize that the vertical beam 110 can move in the transverse direction in the traverse passage, the vertical beam 110 is preferably connected with the cross beam 230 through a transverse moving mechanism 251.

Preferably, the vertical beam 110 is configured as a rectangular beam body. The traversing mechanism 251 is constructed as a frame structure that can be nested outside the vertical beams 110. A plurality of transverse slide rails are respectively arranged along the surface and the side surface of the cross beam 230, for example, as shown in FIG. 2, at least one first transverse slide rail 252 is arranged on the top surface of the cross beam 230 along the Y direction, and at least one second transverse slide rail 253 is arranged on the side surface of the traverse channel in the cross beam 230. Preferably, a first cross slide 252 is provided on the top surface of the cross rail 230 at the rear side of the traverse path, and at least two second cross slides 253 are provided at intervals on the front side of the traverse path; correspondingly, the top end of one side of the traversing mechanism 251 extends outwards to form a plurality of sets of sliding blocks which can be slidably assembled in the first transverse sliding rail 252, and a plurality of sliding blocks which can be slidably assembled in each second transverse sliding rail 253 are arranged on the vertical surface of the other side of the traversing mechanism 251. The plurality of transverse sliding rails are arranged and the plurality of sliding blocks are arranged on the transverse moving mechanism 251, so that the force application area of the transverse moving mechanism 251 to the vertical beam 110 in the transverse moving process is increased, and the sliding stability of the transverse moving mechanism 251 is improved.

In order to reliably realize that the vertical beam 110 can move along the height direction of the movable gantry in the traverse channel, a vertical driving mechanism 231 is preferably connected between the vertical beam 110 and the traverse mechanism 251, so that the vertical driving mechanism 231 is used for driving the traverse mechanism 251 to move along the Z axis on the vertical beam 110, that is, the vertical beam 110 can move along the height direction of the movable gantry, and the whole height of the welding head device 100 can be flexibly adjusted.

It will be appreciated that vertical drive mechanism 231 is preferably a hydraulic or pneumatic cylinder.

It will be appreciated that in order to facilitate the maintenance of the operator, the welding apparatus is further provided with a corresponding protection mechanism 240, for example, a walking platform for the operator is provided on the beam 230 of the movable gantry, and at least one side of the walking platform is provided with a protection fence 241. One end of the walking platform located at any one of the column sets 210 is connected with a ladder 242, and the ladder 242 is installed on the column set 210.

In some embodiments, as shown in fig. 6-8, the walking mechanism 220 includes a walking body 221 and a walking drive assembly. The walking body 221 is connected to the end of the cross beam 230, the two ends of the bottom of the walking body 221 are respectively provided with a walking wheel 222, and the walking wheels 222 can be movably assembled in the rails 400 on the corresponding sides. The walking driving assembly is connected to the walking body 221, and the walking driving mechanism can drive the walking body 221 to move along the track 400. The walking driving assembly is constructed with a walking channel 2272, and the walking driving assembly can be tensioned outside the track 400 passing through the walking channel 2272, so as to avoid derailing or deviation of the walking mechanism 220.

In some embodiments, as shown in fig. 6 and 7, the travel drive assembly includes a mounting platform 223 and a travel drive motor 224. The mounting platform 223 is movably disposed on the walking body 221, and a moving direction of the mounting platform 223 is perpendicular to a traveling direction of the walking body 221. Preferably, the rails 400 are laid in the X direction, and since the traveling direction of the traveling body 221 is set in the X direction, the moving direction of the mounting platform 223 is set in the Y direction.

To achieve that the travel drive mechanism can be tensioned on the track 400, as shown in fig. 7 and 8, the travel drive assembly preferably further comprises a tensioning mechanism 228. The tensioning mechanism 228 is connected at one end to the mounting platform 223 and at the other end to a driven wheel 2271. An output shaft of the travel driving motor 224 is connected to a driving gear 227. The driving gear 227 and the driven gear 2271 are respectively tensioned on two sides of the track 400 in an opposite manner, so as to construct a traveling channel 2272 between the driving gear 227 and the driven gear 2271, and the tensioning mechanism 228 can drive the driven gear 2271 to extrude towards one side of the track 400 in the process of rolling along the track 400, so that the driving gear and the driven gear 2271 are driven to relatively approach each other, that is, the distance between the driven gear 2271 and the driving gear 227 can be flexibly adjusted, and the tensioning force of the track 400 can be flexibly adjusted.

It can be understood that, in order to reliably realize the movement of the mounting platform 223 and thus the tensioning of the rail 400 by the tensioning mechanism 228, it is preferable that the adjusting slide rail 226 is laid on the middle of the walking body 221, and the direction of the adjusting slide rail 226 is perpendicular to the direction of the rail 400, i.e. the adjusting slide rail 226 is arranged along the Y direction. An adjusting slide block 225 which can be movably assembled in an adjusting slide rail 226 is installed at the bottom of the mounting platform 223.

In some embodiments, as shown in fig. 6, the travel mechanism 220 further includes an anti-rollover mechanism 229. The anti-toppling mechanism 229 is attached to the front end and/or the rear end of the walking body 221. The anti-tipping mechanism 229 can be captively sleeved outside the track 400. Preferably, the anti-tipping mechanism 229 is configured with a retaining groove that is removably received over the track 400. It is further preferable that the upper surface of the rail 400 is configured as an inverted trapezoidal cross-sectional structure, and correspondingly, the limiting groove is configured as an inverted trapezoidal structure that can be movably sleeved on the upper surface of the rail 400. Thereby can guarantee the matching degree of spacing groove and track 400 upper surface, can realize the anticreep effect to I shape track 400 again.

In some embodiments, as shown in FIG. 6, the travel mechanism 220 also includes a safety bumper 311. Safety dampers 311 are attached to the front and rear end surfaces of the traveling body 221. Preferably, the safety bumper 311 protrudes outward from the outermost end of the traveling body 221, and a buffering elastic layer, such as a sponge or a plastic layer, is coated at the protruding position of the safety bumper 311 to buffer the impact.

In some embodiments, the welding apparatus further includes an operations platform 320, a safety monitoring mechanism, and an automation mechanism. The operation platform 320 is preferably disposed on at least one side of the movable gantry and can move along with the movable gantry. Preferably, the operation platform 320 is arranged on the column set 210 at one side of the moving gantry. The operation platform 320 is provided with a main console 310, and the main console 310 is connected with a host device provided with a main control system. The operation platform 320 preferably reserves an operation space for an operator to stand or sit. The column set 210 on one side of the movable gantry is preferably further provided with a power distribution cabinet and a control cabinet 600. The safety monitoring mechanism is arranged on the operation platform 320 and is respectively connected with the movable gantry and each welding head device 100, the working states of the movable gantry and each welding head device 100 can be monitored by utilizing the safety monitoring mechanism, and the operation safety of the welding equipment can be improved by timely interfering when danger occurs. The automatic control mechanism is installed on the operation platform 320 and is connected to the movable gantry and each welding head device 100. The automatic control mechanism is preferably connected to the control system of the console 310 to automatically control various operations of the gantry and various operations of the welding head devices 100, thereby improving the overall automation degree of the equipment.

It will be appreciated that the security monitoring mechanism described above includes at least an emergency stop button. The emergency stop button is mounted on the console 310 of the console 320 and is connected to the automatic control mechanism. When the welding equipment is in a dangerous state, the emergency stop button can be used for emergency shutdown through manual intervention.

It can be understood that the security monitoring mechanism at least comprises a monitoring display. The monitor display is installed on the console 310 of the operation platform 320 and connected to a plurality of video monitors, laser sensors and temperature sensors disposed on the welding head apparatus 100, so as to monitor the operation of the welding head apparatus 100 in real time.

The invention also provides a welding method performed by the gantry type welding equipment. The welding method specifically comprises the following steps:

respectively welding the workpieces in the welding area 500 by using each welding head device 100;

in the welding process, the movable gantry is utilized to drive each welding head device 100 to move longitudinally in the welding area 500 along the movable gantry, so that the longitudinal positions of all the welding head devices 100 in the welding area 500 are adjusted;

during the welding process, each welding head device 100 is moved in each corresponding traverse channel on the movable gantry to adjust the lateral displacement of each welding head device 100 in the welding area 500.

The welding method can realize the welding process of the welding equipment, so that the welding method can have all the advantages of the welding equipment, and the specific welding process and the specific welding effect are not repeated herein.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.

In embodiments of the invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A welding head assembly, comprising:

2. Welding head device according to claim 1, characterized in that said rotary drive mechanism comprises:

3. Welding head device according to claim 2, characterized in that said oscillating drive mechanism comprises:

4. The welding head device of claim 3, wherein said swing drive mechanism further comprises a swing limit assembly, said swing limit assembly comprising:

5. The welding head device of claim 2, wherein said head assembly comprises:

6. The welding head device of claim 5, wherein said head assembly further comprises a vertical stop mechanism coupled between said spindle and a mounting plate.

7. Welding head device according to claim 6, characterized in that said vertical stop means comprise:

8. The welding head assembly of claim 5 further including a constant pressure control mechanism and a constant displacement control mechanism, said constant pressure control mechanism and said constant displacement control mechanism being coupled to said drive cylinder, respectively.

9. The welding head device according to claim 5, wherein the head assembly further comprises a follow-up welding pressing mechanism, the follow-up welding pressing mechanism comprises a pressing wheel and a pressing connecting frame, the pressing wheel is rotatably assembled on the pressing connecting frame and is positioned in front of the welding head, and the pressing connecting frame is connected to the spindle and can move along the axial direction of the spindle.

10. Welding head device according to any one of claims 1 to 9, characterized in that it further comprises:

11. Welding apparatus, characterized in that it comprises a welding head device according to any of claims 1 to 10.