WO2016180329A1 - 一种u肋焊接装置及其调整机构 - Google Patents

一种u肋焊接装置及其调整机构 Download PDF

Info

Publication number
WO2016180329A1
WO2016180329A1 PCT/CN2016/081628 CN2016081628W WO2016180329A1 WO 2016180329 A1 WO2016180329 A1 WO 2016180329A1 CN 2016081628 W CN2016081628 W CN 2016081628W WO 2016180329 A1 WO2016180329 A1 WO 2016180329A1
Authority
WO
WIPO (PCT)
Prior art keywords
welding
rib
image
welding gun
adjustment mechanism
Prior art date
Application number
PCT/CN2016/081628
Other languages
English (en)
French (fr)
Inventor
高兴
Original Assignee
高兴
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 高兴 filed Critical 高兴
Priority to JP2018511314A priority Critical patent/JP2018519167A/ja
Publication of WO2016180329A1 publication Critical patent/WO2016180329A1/zh

Links

Images

Classifications

    • 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
    • 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
    • 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
    • B23K37/0252—Steering means
    • 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
    • B23K2101/00—Articles made by soldering, welding or cutting
    • B23K2101/28—Beams

Definitions

  • the present invention relates to the field of welding technology, and in particular to a U-rib welding device and an adjusting mechanism thereof.
  • Steel box girder is an important part of the bridge load-bearing structure, which is mainly used to provide support and avoid bridge deformation.
  • the steel box girder generally comprises a structure such as a top plate and a bottom plate, and the top plate and the bottom plate are generally welded by a U rib and a bottom plate.
  • the fillet weld between the U rib and the bottom plate of the steel box girder is external single-sided welding.
  • it is usually welded at the outer side of the U rib or with a large current.
  • the stability of the current, voltage and welding speed during the welding process directly affects the welding quality, and it is difficult to ensure the welding quality;
  • the U rib is outside the opening, the groove size, the blunt edge during processing and assembly,
  • the gap is difficult to match and will directly affect the quality of the weld.
  • the above welding method often causes various defects such as incomplete penetration, unmelting, welding, and penetration depth of the U rib, which makes the U rib easily prone to open defects and seriously affects the strength of the weld.
  • designing an adjusting mechanism of the U-rib welding device can ensure the alignment of the internal corner joints of the welding gun and the U-rib during the welding process, and ensure the welding quality, which is a technical problem that is urgently needed to be solved by those skilled in the art.
  • the present invention provides an adjustment mechanism for a U-rib welding device for adjusting a relative position of a corner joint of a welding gun and a U-rib of a welding device, including a welding gun, a welding gun controller, an image collector, and the above A moving platform of the components, the image capturer capturing images of the weld during and/or after welding, the weld gun controller for adjusting the position of the weld gun based on the image.
  • the welding gun controller includes a clamping mechanism and an angle adjusting mechanism, the clamping mechanism clamping a head of the welding gun, the angle adjusting mechanism being capable of adjusting an angle of the clamping mechanism to change the head The location of the department.
  • the clamping mechanism comprises a fixing block, a fastening block and a connecting piece; the joint surface of the fixing block and the fastening block has a clamping groove, and the connecting piece can change when the two are connected The size of the clamping groove.
  • the fixing block is hinged with an end of the fastening block; on the other side of the clamping groove, the fixing block and the fastening block
  • the solid blocks each have a mounting hole, and the coupling member cooperates with the mounting hole to change the size of the clamping groove.
  • the fixing block and the fastening block respectively have mounting holes, and the two connecting members respectively engage with mounting holes on both sides.
  • two of the image collectors are included, one of the image collectors capturing images during the welding process and the other of the image collectors acquiring images of the post weld welds.
  • the angle conversion structure is capable of switching an angle of the image collector, so that the image collector can separately collect an image during welding and a post weld bead Image.
  • the adjustment mechanism further includes a corner seam tracking mechanism at the welding torch In the moving direction of welding, the corner seam tracking mechanism is located on the front side of the welding torch; the corner seam tracking mechanism has a tracking head, and the tracking head always moves along the corner joint when the moving platform moves The corner seam tracking mechanism adjusts the position of the welding gun according to the trajectory of the tracking head.
  • the corner seam tracking mechanism further includes an oscillating shaft and an elastic member; the tracking head is located at an end of the oscillating shaft, and one end of the elastic member is connected to the swinging shaft, and the other end is connected to the moving platform.
  • the tracking head of the end of the swinging shaft is caused to always press against the corner seam.
  • the present invention also provides a U-rib welding device that welds a corner joint from inside the U-rib, including the adjustment mechanism described in any of the above.
  • the adjusting mechanism of the U-rib welding device is used for adjusting the relative position of the corner joint of the welding gun and the U-rib of the welding device, including the welding gun, the welding gun controller, the image collector and the moving platform on which the above components are arranged, and the image
  • the collector collects images of the weld during and/or after welding
  • the torch controller is used to adjust the position of the torch based on the image.
  • the welding gun When the U-rib welding device is in operation, the welding gun enters the corner joint inside the U-rib weld inside the U-rib.
  • the image collector is placed near the head of the welding torch to collect the image during the welding process and/or the weld after welding. According to the above image, the position of the welding gun can be analyzed. If it is not suitable, the position of the welding gun can be adjusted by the welding torch controller to ensure that the welding gun and the corner joint are aligned, thereby ensuring the welding quality of the welding mechanism.
  • the adjusting mechanism can adjust the relative position of the welding gun and the corner joint when welding the U rib, ensure the welding quality of the internal weld, and weld the U rib and the cover plate into a higher stability U rib unit, thereby improving the welding.
  • the fatigue resistance of the U-rib unit can adjust the relative position of the welding gun and the corner joint when welding the U rib, ensure the welding quality of the internal weld, and weld the U rib and the cover plate into a higher stability U rib unit, thereby improving the welding.
  • the fatigue resistance of the U-rib unit can adjust the relative position of the welding gun and the corner joint when welding the U rib, ensure the welding quality of the internal weld, and weld the U rib and the cover plate into a higher stability U rib unit, thereby improving the welding.
  • the fatigue resistance of the U-rib unit can adjust the relative position of the welding gun and the corner joint when welding the U rib, ensure the welding quality of the internal weld, and weld the U rib and
  • the present invention also provides a U-rib welding device comprising the above-mentioned adjusting mechanism. Since the adjusting mechanism has the above technical effects, the U-rib welding device also has a corresponding technical effect.
  • FIG. 1 is a schematic structural view of a specific embodiment of an adjusting mechanism of a U-rib welding device provided by the present invention
  • Figure 2 is a partially enlarged schematic view of the adjustment mechanism shown in Figure 1;
  • FIG. 3 is a schematic structural view of another embodiment of an adjusting mechanism of a U-rib welding device according to the present invention.
  • FIG. 1 is a schematic structural view of a specific embodiment of an adjusting mechanism of a U-rib welding device according to the present invention
  • FIG. 2 is a partially enlarged schematic view of the adjusting mechanism shown in FIG.
  • the invention provides an adjusting mechanism of a U-rib welding device for adjusting the relative position of a welding seam of a welding device and a U-rib, including a welding torch 1, a welding torch controller 2, an image collector 3, and setting the above components
  • a welding torch 1 for adjusting the relative position of a welding seam of a welding device and a U-rib
  • the mobile platform 4 the image collector 3 collects an image of the weld during welding and/or after welding, and the welding gun controller 2 is used to adjust the position of the welding torch 1 according to the image.
  • the welding torch 1 enters the corner joint inside the U-rib welding U-rib.
  • the image collector 3 is placed near the head of the welding torch 1 to collect images and/or welding during the welding process.
  • the image of the rear weld is analyzed according to the above image to determine whether the position of the welding gun 1 is appropriate. If it is not suitable, the position of the welding gun 1 can be adjusted by the welding torch controller 2 to ensure the relative position of the welding torch 1 and the corner joint, thereby ensuring the The welding quality of the welds in the U ribs welded by the welding device.
  • the adjusting mechanism can adjust the relative position of the welding gun 1 and the corner joint when the welding device is welded inside the U rib, ensure the welding quality of the internal weld, and weld the U rib and the cover plate into a U rib unit with higher stability. Thereby, the fatigue resistance of the welded U-rib unit is improved.
  • the welding gun controller 2 includes a clamping mechanism 21 that grips the head of the welding gun 1, and an angle adjusting mechanism 24 that can adjust the angle of the clamping mechanism 21 to change the position of the head of the welding torch 1.
  • the welding gun 1 is fixed by the clamping mechanism 21, as shown in FIG. 2, with the head of the welding gun 1 facing the outside of the moving platform 4, and when the moving platform 4 moves inside the U rib, the head of the welding gun 1 faces the U rib and the bottom plate. Corner seams.
  • the angle adjusting mechanism 24 can adjust the angle of the clamping mechanism 21, thereby adjusting the posture of the welding gun 1, and can adjust the angle of the welding torch 1 so that the welding torch 1 can be welded at an optimum angle and position diagonal joint to obtain better welding. effect.
  • the angle adjustment mechanism 24 can be provided with a rocker that can adjust the angle of the clamping mechanism 21.
  • the angle adjusting mechanism 24 is installed by the rotating shaft, and the angle of the clamping mechanism 21 can be adjusted by the rotation of the rotating shaft.
  • the angle adjusting mechanism 24 can be directly mounted on the end of the rotating shaft, or can be connected to the end of the rotating shaft through the connecting member. When the rotating shaft rotates, the angle adjusting mechanism 24 can be controlled to make the head of the welding gun 1 swing accordingly.
  • the welding gun controller 2 can also be provided with an adjustment knob, which can control the rotation of the rotating shaft.
  • the adjustment knob can be separately set, and the operation adjustment knob can control the rotation of the rotation shaft to control the swing of the head of the welding gun 1; the adjustment knob can be set together with the display of the image collector 3, and the operator can operate the adjustment rotation while observing the welding condition. Button to facilitate the operation of the workers.
  • the clamping mechanism 21 includes a fixing block 22, a fastening block 23 and a connecting member; the joint surface of the fixing member 22 and the fastening block 23 has a clamping groove, and the connecting member can change the clamping when connecting the two. Hold the size of the groove.
  • FIG. 2 is only an embodiment of the clamping mechanism 21, wherein the fixing block 22 is fixed on the angle adjusting mechanism 24, and the fastening block 23 is engaged with the fixing block 22,
  • the welding gun 1 is clamped and then fastened by a joint to clamp the welding gun 1.
  • the clamping mechanism can take a variety of forms.
  • the fixing block 22 is hinged with the end of the fastening block 23; on the other side of the clamping groove, the fixing block 22 and the fastening block 23 have The mounting hole, the connector and the mounting hole cooperate to change the size of the clamping groove.
  • the connecting member is removed, the fastening block 23 is first rotated, the clamping groove is opened, the welding gun 1 is placed in the clamping groove; and the fastening block 23 is rotated to clamp the welding torch 1;
  • the mounting holes of the two are matched to clamp the welding gun 1.
  • both sides of the clamping groove, the fixing block 22 and the fastening block 23 respectively have mounting holes, and the two connecting members respectively cooperate with the mounting holes on both sides.
  • the fastening block 23 is first removed, and the welding gun 1 is placed in the groove of the fixing block 22; then the fastening block 23 is engaged with the fixing block 22 to be connected.
  • the pieces are respectively engaged with the mounting holes on both sides of the fastening groove to clamp the welding gun 1.
  • two image collectors 3 are included, one image collector 3 captures the image during the welding process, and the other image collector 3 captures the image of the weld seam.
  • the worker can adjust the position and state of the welding gun 1 in real time through the welding torch controller 2, thereby avoiding welding defects and obtaining a better welding effect;
  • Image and/or video captured by another image collector 3 the staff can weld the weld The effect is evaluated and the position of the welding gun 1 is adjusted depending on the condition of the weld.
  • an image collector 3 and an angle conversion structure are included, and the angle conversion structure can switch the angle of the image collector, so that the image collector 3 can separately collect images of the welding process and images of the weld bead.
  • the angle conversion structure is used for switching the angle of the image collector 3, so that the image collector 3 collects the image and/or video when the welding gun 1 is welded to the corner joint of the U rib in the first state, and in the second state. Underneath, an image and/or video of the welded weld of the U rib is taken.
  • the image collector 3 can alternately display the above two images, and adjust the position of the welding torch 1 by the welding gun controller 4 according to the welding process and the post-weld weld.
  • the worker can determine the current welding posture of the welding gun 1, and adjust it by the welding gun controller 2 when it is necessary to adjust the welding posture of the welding gun 1.
  • FIG. 3 is a schematic structural view of another embodiment of an adjusting mechanism of a U-rib welding device according to the present invention. Among them, the image collector 3 is not seen in FIG.
  • the adjustment mechanism further includes a corner seam tracking mechanism 5, the corner seam tracking mechanism 5 is located on the front side of the welding torch 1 in the moving direction when the welding torch 1 is welded; the corner seam tracking mechanism 5 has the tracking head 51.
  • the tracking head 51 When the moving platform 4 moves, the tracking head 51 always moves along the corner joint, and the corner seam tracking mechanism 5 adjusts the position of the welding torch 1 according to the trajectory of the tracking head 51.
  • the tracking head 51 of the corner seam tracking mechanism 5 first moves along the corner joint, and the welding gun 1 is welded to the corner joint.
  • the tracking head 33 tracks the position of the corner joint in the front, and then adjusts the position of the welding gun 1 according to the position of the corner joint to ensure that the welding gun 1 and the corner joint are always aligned, and the welding quality of the welding mechanism is ensured.
  • the corner seam tracking mechanism 5 and the welding torch controller 2 can be used together. Before starting the welding, the position and angle of the welding torch 1 are manually adjusted by the welding torch controller 2 so that the welding wire is aligned with the welding position; The corner seam tracking mechanism 5 automatically tracks the angle of the welding torch 1 automatically. In addition, during the welding process, if the angular seam tracking mechanism 5 is deviated, the welding torch can be manually adjusted by the welding torch controller. 1, to ensure the quality of welding.
  • the corner seam tracking mechanism 5 further includes a swing shaft 52 and an elastic member 53; the tracking head 51 is located at the end of the swing shaft 52, and one end of the elastic member 53 is connected to the swing shaft 52, and the other end is connected to the moving platform 4, so that The tracking head 51 at the end of the swing shaft 52 always presses against the corner joint.
  • the elastic member 53 connects the moving platform 4 and the swinging shaft 52, so that the swinging shaft 52 has a tendency to swing outward, so that the tracking head 51 always abuts against the edge of the U rib, and the edge of the U rib forms an angular joint with the bottom plate, and the angle is pressed. Seam.
  • the elastic member 53 can make the swing shaft 52 adjust correspondingly according to the position change of the corner joint, so that the tracking head 51 always has the edge of the U rib. Keep in contact to ensure that the tracking head 51 can always move along the corner seam.
  • the corner seam tracking mechanism 5 can be configured such that the head of the welding gun 1 operates in synchronization with the swing shaft 52.
  • the tracking head 51 moves along the corner joint, the tracking head 51 will swing the swing shaft 52 according to the position of the corner joint, and simultaneously drive the head of the welding gun 1 to swing accordingly to ensure the head and angle of the welding torch 1.
  • the alignment of the seams can be configured such that the head of the welding gun 1 operates in synchronization with the swing shaft 52.
  • the present invention also provides a U-rib welding device that welds a corner joint from the inside of the U-rib, including the adjustment mechanism described in each of the above embodiments.
  • the U-rib welding device also has a corresponding technical effect.
  • the U-rib welding device please refer to the prior art, and no further description is provided herein.

Landscapes

  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Resistance Welding (AREA)
  • Butt Welding And Welding Of Specific Article (AREA)

Abstract

一种U肋焊接装置的调整机构，用于调整焊接装置的焊枪与U肋的角接缝的相对位置，包括焊枪（1）、焊枪控制器（2）、图像采集器（3）及设置上述各部件的移动平台（4），图像采集器采集焊接过程中和/或焊后焊缝的图像，焊枪控制器用于根据图像调整焊枪的位置。该调整机构能够保证在U肋内部焊接时，焊枪与角接缝的对正，保证内部焊缝的焊接质量，使U肋和盖板焊接成稳固性更高的U肋单元，从而提高焊接后的U肋单元的抗疲劳度。还公开了一种U肋焊接装置。

Description

一种U肋焊接装置及其调整机构
本申请要求于2014年05月11日提交中国专利局、申请号为201510240152.3、发明名称为“一种U肋焊接装置及其调整机构”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及焊接技术领域，具体地，涉及一种U肋焊接装置及其调整机构。
背景技术
钢箱梁是桥梁承重结构中的重要组成部分，主要用于提供支撑，避免桥梁变形。钢箱梁一般包括顶板、底板等结构，所述顶板和底板一般由U肋和底板焊接而成。
目前，钢箱梁的U肋与底板间的角焊缝均采用外部单面焊接。从外部焊接时，为了达到设计要求的熔透深度，通常在U肋外侧开坡口或者采用大电流进行焊接。采用大电流焊接时，焊接过程中的电流、电压和焊接速度的稳定程度直接影响焊接质量，难以保证焊接质量；在U肋外侧开坡口时，加工和组装时的坡口大小、钝边、间隙难以一致，也会直接影响焊接质量。上述焊接方式往往会造成U肋内部存在未焊透、未熔合、焊瘤、熔透深度不符合要求等各种缺陷，使得U肋内部容易出现开口性缺陷，严重影响焊缝的强度。
为了提高U肋的焊缝质量，一种改进的方式是在U肋焊缝的内部和外部进行双面焊接，由于U肋内部的结构空间较小，该焊接方式很难保证焊枪与角接缝的对正。
因此，设计一种U肋焊接装置的调整机构，能够在焊接过程中保证焊枪与U肋内部角接缝对正，保证焊接质量，是本领域技术人员目前急需解决的技术问题。
发明内容
本发明的目的是提供一种U肋焊接装置的调整机构，该调整机构能够在焊接过程中保证焊枪与U肋内部角接缝对正，保证焊接质量。本发明的另一个目的是提供一种U肋焊接装置。
为实现上述技术目的，本发明提供一种U肋焊接装置的调整机构，用于调整焊接装置的焊枪与U肋的角接缝的相对位置，包括焊枪、焊枪控制器、图像采集器及设置上述各部件的移动平台，所述图像采集器采集焊接过程中和/或焊后焊缝的图像，所述焊枪控制器用于根据所述图像调整所述焊枪的位置。
可选地，所述焊枪控制器包括夹持机构和角度调节机构，所述夹持机构夹持所述焊枪的头部，所述角度调节机构能够调整所述夹持机构的角度改变所述头部的位置。
可选地，所述夹持机构包括固定块、紧固块和连接件；所述固定块与所述紧固块的结合面具有夹持凹槽，所述连接件连接二者时能够改变所述夹持凹槽的大小。
可选地，在所述夹持凹槽的一侧，所述固定块与所述紧固块的端部铰接；在所述夹持凹槽的另一侧，所述固定块与所述紧固块均具有安装孔，所述连接件与所述安装孔配合能够改变所述夹持凹槽的大小。
可选地，所述夹持凹槽的两侧，所述固定块与所述紧固块均分别具有安装孔，两个所述连接件分别与两侧的安装孔配合。
可选地，包括两个所述图像采集器，一个所述图像采集器采集焊接过程中的图像，另一个所述图像采集器采集焊后焊缝的图像。
可选地，包括一个所述图像采集器和角度转换结构，所述角度转换结构能够切换所述图像采集器的角度，使得所述图像采集器能够分别采集焊接过程中的图像和焊后焊缝的图像。
可选地，所述调整机构还包括角接缝跟踪机构，在所述焊枪 焊接时的移动方向上，所述角接缝跟踪机构位于所述焊枪的前侧；所述角接缝跟踪机构具有跟踪头，所述移动平台移动时，所述跟踪头始终沿角接缝移动，所述角接缝跟踪机构根据所述跟踪头的轨迹调整所述焊枪的位置。
可选地，所述角接缝跟踪机构还包括摆动轴和弹性件；所述跟踪头位于所述摆动轴端部，所述弹性件一端连接所述摆动轴，另一端连接所述移动平台，使得所述摆动轴端部的所述跟踪头始终抵压所述角接缝。
本发明还提供了一种U肋焊接装置，所述U肋焊接装置从U肋内部焊接角接缝，包括上述任一项所述的调整机构。
本发明提供的U肋焊接装置的调整机构，用于调整焊接装置的焊枪与U肋的角接缝的相对位置，包括焊枪、焊枪控制器、图像采集器及设置上述各部件的移动平台，图像采集器采集焊接过程中和/或焊后焊缝的图像，焊枪控制器用于根据图像调整焊枪的位置。
U肋焊接装置工作时，焊枪进入U肋内部焊接U肋内部的角接缝，在焊接过程中，图像采集器设置在焊枪头部的附近，采集焊接过程中的图像和/或焊后焊缝的图像，根据上述图像能够分析出焊枪的位置是否合适，如果不合适，可以通过焊枪控制器对焊枪的位置进行调整，保证焊枪与角接缝对正，从而保证焊接机构的焊接质量。
该调整机构能够在U肋内部焊接时，调整焊枪与角接缝的相对位置，保证内部焊缝的焊接质量，使U肋和盖板焊接成稳固性更高的U肋单元，从而提高焊接后的U肋单元的抗疲劳度。
本发明还提供了一种U肋焊接装置，包括上述调整机构，由于调整机构具有上述技术效果，故该U肋焊接装置也具有相应的技术效果。
附图说明
附图是用来提供对本发明的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本发明，但并不构成对本发明的限制。
图1为本发明所提供的U肋焊接装置的调整机构一种具体实施方式的结构示意图；
图2为图1所示的调整机构的局部放大示意图；
图3为本发明所提供的U肋焊接装置的调整机构另一种具体实施方式的结构示意图。
其中，图1至图3中的附图标记和部件名称之间的对应关系如下：
焊枪1；焊枪控制器2；夹持机构21；固定块22；紧固块23；角度调节机构24；图像采集器3；移动平台4；角接缝跟踪机构5；跟踪头51；摆动轴52；弹性件53。
具体实施方式
以下结合附图对本实用新型的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本实用新型，并不用于限制本实用新型。
请参考图1和图2，图1为本发明所提供的U肋焊接装置的调整机构一种具体实施方式的结构示意图，图2为图1所示的调整机构的局部放大示意图。
本发明提供了一种U肋焊接装置的调整机构，用于调整焊接装置的焊枪与U肋的角接缝的相对位置，包括焊枪1、焊枪控制器2、图像采集器3及设置上述各部件的移动平台4，图像采集器3采集焊接过程中和/或焊后焊缝的图像，焊枪控制器2用于根据图像调整焊枪1的位置。
U肋与底板焊接成U肋单元的过程中，为了提高焊接质量，一种改进的方案是在U肋的内外双面焊接角接缝，该调整机构用于进入U肋内部的焊接装置。
U肋焊接装置工作时，焊枪1进入U肋内部焊接U肋内部的角接缝，在焊接过程中，图像采集器3设置在焊枪1头部的附近，采集焊接过程中的图像和/或焊后焊缝的图像，根据上述图像分析出焊枪1的位置是否合适，如果不合适，可以通过焊枪控制器2对焊枪1的位置进行调整，保证焊枪1与角接缝的相对位置，从而保证该焊接装置焊接的U肋内部焊缝的焊接质量。
该调整机构能够在焊接装置在U肋内部焊接时，调整焊枪1与角接缝的相对位置，保证内部焊缝的焊接质量，使U肋和盖板焊接成稳固性更高的U肋单元，从而提高焊接后的U肋单元的抗疲劳度。
具体的，焊枪控制器2包括夹持机构21和角度调节机构24，夹持机构21夹持焊枪1的头部，角度调节机构24能够调整夹持机构21的角度改变焊枪1头部的位置。
焊枪1通过夹持机构21固定，如图2所示，使焊枪1的头部朝向移动平台4的外侧，移动平台4在U肋内部移动时，焊枪1的头部正对U肋与底板的角接缝处。角度调节机构24能够调整夹持机构21的角度，进而调节焊枪1的姿态，可以调节焊枪1的角度，使焊枪1以最佳的角度和位置对角接缝进行焊接，以获得更好的焊接效果。角度调节机构24可以设有摇杆，转动摇杆，可以调整夹持机构21的角度。
角度调节机构24通过转轴安装，可以通过转轴的转动来调整夹持机构21的角度，具体的，角度调节机构24可以直接安装在转轴的端部，也可以通过连接部件与转轴的端部连接，转轴转动时，可以控制角度调节机构24动作，使焊枪1的头部做相应的摆动。
该焊枪控制器2还可以设调整旋钮，调整旋钮能够控制转轴转动。调整旋钮可以单独设置，操作调整旋钮能够控制转轴转动，进而控制焊枪1的头部摆动；调整旋钮可以与图像采集器3的显示器设置在一起，操作人员可以边观察焊接情况，边操作调整旋 钮，方便工人的操作。
进一步具体的实施方式中，夹持机构21包括固定块22、紧固块23和连接件；固定件22与紧固块23的结合面具有夹持凹槽，连接件连接二者时能够改变夹持凹槽的大小。
请参考图2，图2中未示出连接件，图2中只是夹持机构21的一种实施方式，其中固定块22固定在角度调节机构24上，紧固块23与固定块22配合，夹持住焊枪1，再通过连接件紧固，将焊枪1夹紧。具体的，夹持机构可以有多种形式。
一种具体的实施方式中，在夹持凹槽的一侧，固定块22与紧固块23的端部铰接；在夹持凹槽的另一侧，固定块22与紧固块23均具有安装孔，连接件与安装孔配合能够改变夹持凹槽的大小。
夹持焊枪1时，拆下连接件，先转动紧固块23，打开夹持凹槽，将焊枪1放入夹持凹槽；再转动紧固块23，夹持住焊枪1；连接件与二者的安装孔配合，将焊枪1夹紧。
另一种具体的实施方式中，夹持凹槽的两侧，固定块22与紧固块23均分别具有安装孔，两个连接件分别与两侧的安装孔配合。
请参考图2，夹持焊枪1时，拆下连接件后，先取下紧固块23，将焊枪1放入固定块22的凹槽；再使紧固块23与固定块22配合，将连接件分别与紧固凹槽两侧的安装孔配合，将焊枪1夹紧。
上述各实施方式中，包括两个图像采集器3，一个图像采集器3采集焊接过程中的图像，另一个图像采集器3采集焊后焊缝的图像。
根据一个图像采集器3采集的焊接过程中的图像和/或视频，工作人员可以通过焊枪控制器2实时对焊枪1的位置和状态进行调整，避免出现焊接不良，获得更好的焊接效果；根据另一个图像采集器3采集的图像和/或视频，工作人员可以对焊缝的焊接 效果进行评估，根据焊缝情况决定是否调整焊枪1的位置。
上述各实施方式中，包括一个图像采集器3和角度转换结构，角度转换结构能够切换图像采集器的角度，使得图像采集器3能够分别采集焊接过程中的图像和焊后焊缝的图像。
角度转换结构用于切换图像采集器3的角度，使图像采集器3在第一状态下，采集焊枪1对U肋的角接缝处进行焊接时的图像和/或视频，以及在第二状态下，采集U肋的已焊接的焊缝的图像和/或视频。图像采集器3可以交替显示上述两个图像，根据焊接过程和焊后焊缝，通过焊枪控制器4调整焊枪1的位置。
根据图像采集器3采集的图像，工作人员可以确定焊枪1当前的焊接姿态，在需要对焊枪1的焊接姿态进行调整时，通过焊枪控制器2进行调整。
请参考图3，图3为本发明所提供的U肋焊接装置的调整机构另一种具体实施方式的结构示意图。其中，图3中未视出图像采集器3。
上述各实施方式中，调整机构还包括角接缝跟踪机构5，在焊枪1焊接时的移动方向上，角接缝跟踪机构5位于焊枪1的前侧；角接缝跟踪机构5具有跟踪头51，移动平台4移动时，跟踪头51始终沿角接缝移动，角接缝跟踪机构5根据跟踪头51的轨迹调整焊枪1的位置。
焊接过程中，角接缝跟踪机构5的跟踪头51先沿着角接缝移动，焊枪1再对角接缝进行焊接。跟踪头33在前面跟踪角接缝的位置，然后根据角接缝的位置调整焊枪1的位置，保证焊枪1与角接缝始终对正，保证焊接机构的焊接质量。
具体的，角接缝跟踪机构5和焊枪控制器2可以配合使用，在开始焊接前，先通过焊枪控制器2手动调节焊枪1的位置和角度，使得焊丝对正焊接位置；焊接开始后，由角接缝跟踪机构5自动跟踪自动调节焊枪1的角度。另外，在焊接过程中，如果角接缝跟踪机构5出现偏差，可以通过焊枪控制器人为的调节焊枪 1，保证焊接质量。
进一步优选的实施方式中，角接缝跟踪机构5还包括摆动轴52和弹性件53；跟踪头51位于摆动轴52端部，弹性件53一端连接摆动轴52，另一端连接移动平台4，使得摆动轴52端部的跟踪头51始终抵压角接缝。
弹性件53连接移动平台4和摆动轴52，使摆动轴52具有向外摆动的趋势，使得跟踪头51始终抵靠U肋的边沿，U肋的边沿与底板形成角接缝，抵压角接缝。U肋边沿的形状或位置变化时，角接缝的位置将发生变化，弹性件53能够使得摆动轴52根据角接缝的位置变化做相应的摆动调整，使得跟踪头51始终与U肋的边沿保持接触，保证跟踪头51能够始终沿着角接缝移动。
角接缝跟踪机构5可以通过设置连接件，使得焊枪1的头部与摆动轴52同步动作。跟踪头51沿着角接缝移动时，跟踪头51将根据角接缝的位置使摆动轴52做相应的摆动，同时带动焊枪1的头部做相应的摆动，保证焊枪1的头部与角接缝的对正。
除了上述U肋焊接装置的调整机构，本发明还提供了一种U肋焊接装置，所述U肋焊接装置从U肋内部焊接角接缝，包括上述各实施方式所述的调整机构。
由于调整机构具有上述技术效果，故该U肋焊接装置也具有相应的技术效果，该U肋焊接装置的其他结构请参考现有技术，本文不再赘述。
可以理解的是，以上实施方式仅仅是为了说明本实用新型的原理而采用的示例性实施方式，然而本实用新型并不局限于此。对于本领域内的普通技术人员而言，在不脱离本实用新型的精神和实质的情况下，可以做出各种变型和改进，这些变型和改进也视为本实用新型的保护范围。

Claims (10)

  1. 一种U肋焊接装置的调整机构，用于调整焊接装置的焊枪与U肋的角接缝的相对位置，其特征在于，包括焊枪(1)、焊枪控制器(2)、图像采集器(3)及设置上述各部件的移动平台(4)，所述图像采集器(3)采集焊接过程中和/或焊后焊缝的图像，所述焊枪控制器(2)用于根据所述图像调整所述焊枪(1)的位置。
  2. 如权利要求1所述的U肋焊接装置的调整机构，其特征在于，所述焊枪控制器(2)包括夹持机构(21)和角度调节机构(24)，所述夹持机构(21)夹持所述焊枪(1)的头部，所述角度调节机构(24)能够调整所述夹持机构(21)的角度改变所述头部的位置。
  3. 如权利要求2所述的U肋焊接装置的调整机构，其特征在于，所述夹持机构(21)包括固定块(22)、紧固块(23)和连接件；所述固定块(22)与所述紧固块(23)的结合面具有夹持凹槽，所述连接件连接二者时能够改变所述夹持凹槽的大小。
  4. 如权利要求3所述的U肋焊接装置的调整机构，其特征在于，在所述夹持凹槽的一侧，所述固定块(22)与所述紧固块(23)的端部铰接；在所述夹持凹槽的另一侧，所述固定块(22)与所述紧固块(23)均具有安装孔，所述连接件与所述安装孔配合能够改变所述夹持凹槽的大小。
  5. 如权利要求3所述的U肋焊接装置的调整机构，其特征在于，所述夹持凹槽的两侧，所述固定块(22)与所述紧固块(23)均分别具有安装孔，两个所述连接件分别与两侧的安装孔配合。
  6. 如权利要求1至5任一项所述的U肋焊接装置的调整机构，其特征在于，包括两个所述图像采集器(3)，一个所述图像采集器(3)采集焊接过程中的图像，另一个所述图像采集器(3)采集焊后焊缝的图像。
  7. 如权利要求1至5任一项所述的U肋焊接装置的调整机构，其特征在于，包括一个所述图像采集器(3)和角度转换结构， 所述角度转换结构能够切换所述图像采集器的角度，使得所述图像采集器(3)能够分别采集焊接过程中的图像和焊后焊缝的图像。
  8. 如权利要求1至5任一项所述的U肋焊接装置的调整机构，其特征在于，所述调整机构还包括角接缝跟踪机构(5)，在所述焊枪(1)焊接时的移动方向上，所述角接缝跟踪机构(5)位于所述焊枪(1)的前侧；所述角接缝跟踪机构(5)具有跟踪头(51)，所述移动平台(4)移动时，所述跟踪头(51)始终沿角接缝移动，所述角接缝跟踪机构(5)根据所述跟踪头(51)的轨迹调整所述焊枪(1)的位置。
  9. 如权利要求8所述的U肋焊接装置的调整机构，其特征在于，所述角接缝跟踪机构(5)还包括摆动轴(52)和弹性件(53)；所述跟踪头(51)位于所述摆动轴(52)端部，所述弹性件(53)一端连接所述摆动轴(52)，另一端连接所述移动平台(4)，使得所述摆动轴(52)端部的所述跟踪头(51)始终抵压所述角接缝。
  10. 一种U肋焊接装置，所述U肋焊接装置从U肋内部焊接角接缝，其特征在于，包括权利要求1至9任一项所述的调整机构。
PCT/CN2016/081628 2015-05-11 2016-05-11 一种u肋焊接装置及其调整机构 WO2016180329A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2018511314A JP2018519167A (ja) 2015-05-11 2016-05-11 Ｕリブ溶接装置及びその調節機構

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201510240152.3A CN104785978B (zh) 2015-05-11 2015-05-11 一种u肋焊接装置及其调整机构
CN201510240152.3 2015-05-11

Publications (1)

Publication Number Publication Date
WO2016180329A1 true WO2016180329A1 (zh) 2016-11-17

Family

ID=53551401

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2016/081628 WO2016180329A1 (zh) 2015-05-11 2016-05-11 一种u肋焊接装置及其调整机构

Country Status (3)

Country Link
JP (1) JP2018519167A (zh)
CN (1) CN104785978B (zh)
WO (1) WO2016180329A1 (zh)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110369925A (zh) * 2019-08-22 2019-10-25 佛山华盾人防工程有限公司 一种具有自适应功能的焊枪夹持装置
CN110449792A (zh) * 2019-08-30 2019-11-15 无锡华联科技集团有限公司 一种可调节焊缝***探头
CN111438469A (zh) * 2020-05-13 2020-07-24 山西煤矿机械制造股份有限公司 一种滚筒内焊缝焊接装置
CN112008310A (zh) * 2020-06-30 2020-12-01 湖北锦翔能源工程有限公司 一种大型储罐拱顶梁一体化组焊***及方法
CN112157330A (zh) * 2020-08-21 2021-01-01 苏州浪潮智能科技有限公司 一种电路板焊接台
CN114367768A (zh) * 2021-12-07 2022-04-19 武汉锂鑫智造工程有限公司 一种搭接装置及u肋焊接***
CN117961355A (zh) * 2024-03-28 2024-05-03 佛山市华狮龙金属装饰制品有限公司 一种龙骨焊接智能加工***及其加工方法

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104785978B (zh) * 2015-05-11 2017-03-15 武汉锂鑫自动化科技有限公司 一种u肋焊接装置及其调整机构
CN104874898B (zh) * 2015-05-11 2017-07-04 高兴 一种u肋焊接装置及其对正机构
CN106334894A (zh) * 2016-08-31 2017-01-18 高兴 U肋单元的制造方法
CN106624417A (zh) * 2016-10-19 2017-05-10 武船重型工程股份有限公司 一种u肋内侧焊缝外观质量检测方法
CN114227114A (zh) * 2022-01-10 2022-03-25 湖北天高钢桥智造科技有限公司 一种可平移式焊接翻转斜梁装置及其应用

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20040066444A (ko) * 2003-01-18 2004-07-27 삼성중공업 주식회사 용접 시스템
WO2013056424A1 (zh) * 2011-10-18 2013-04-25 中联重科股份有限公司 焊枪调节装置和自动焊机
CN203003310U (zh) * 2012-12-10 2013-06-19 南车长江车辆有限公司 角焊缝机械跟踪自动焊接装置
CN203209878U (zh) * 2012-12-28 2013-09-25 新疆威奥科技股份有限公司 具有焊缝跟踪功能的焊接摆动器
CN203330563U (zh) * 2013-05-24 2013-12-11 华南理工大学 一种基于视觉引导的折线角焊缝自动焊接装置
CN104785978A (zh) * 2015-05-11 2015-07-22 高兴 一种u肋焊接装置及其调整机构
CN104816071A (zh) * 2015-05-11 2015-08-05 高兴 U肋焊接装置、u肋焊接***及u肋焊接方法
CN204584520U (zh) * 2015-05-11 2015-08-26 高兴 一种u肋焊接装置及其对正机构
CN204584519U (zh) * 2015-05-11 2015-08-26 高兴 一种u肋焊接装置及其调整机构
CN104874898A (zh) * 2015-05-11 2015-09-02 高兴 一种u肋焊接装置及其对正机构

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS50159446A (zh) * 1974-06-14 1975-12-24
JPS59202006A (ja) * 1983-04-30 1984-11-15 Nippon Kokan Kk <Nkk> 溶接位置形状測定装置
JPS6362297U (zh) * 1986-10-08 1988-04-25
JPH01162575A (ja) * 1987-12-18 1989-06-27 Hitachi Ltd 溶接線検出装置
JPH0446676A (ja) * 1990-06-11 1992-02-17 Akira Hina 移動溶接装置
JPH10166151A (ja) * 1996-12-02 1998-06-23 Riken Koki Kk 自走式半自動溶接装置
JP2004358491A (ja) * 2003-06-03 2004-12-24 Universal Shipbuilding Corp 自動溶接装置
JP5517798B2 (ja) * 2010-07-06 2014-06-11 阪神高速道路株式会社 鋼床版の溶接装置
CN102139398B (zh) * 2011-04-15 2013-06-05 中铁山桥集团有限公司 正交异性板u形肋角焊缝双面焊方法
CN103286494B (zh) * 2013-05-27 2015-05-20 清华大学 一种箱型钢结构轨道式全位置焊接机器人
CN103752992B (zh) * 2014-01-03 2016-01-20 杭州菲达环保技术研究院有限公司 一种角焊缝识别装置及其焊接控制方法
CN104070264B (zh) * 2014-06-23 2016-01-13 江苏科技大学 变坡口宽度的旋转电弧窄间隙mag焊自适应摆动装置和方法
CN105945390A (zh) * 2015-01-24 2016-09-21 张兰花 基于图像识别的水下焊接机器人

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20040066444A (ko) * 2003-01-18 2004-07-27 삼성중공업 주식회사 용접 시스템
WO2013056424A1 (zh) * 2011-10-18 2013-04-25 中联重科股份有限公司 焊枪调节装置和自动焊机
CN203003310U (zh) * 2012-12-10 2013-06-19 南车长江车辆有限公司 角焊缝机械跟踪自动焊接装置
CN203209878U (zh) * 2012-12-28 2013-09-25 新疆威奥科技股份有限公司 具有焊缝跟踪功能的焊接摆动器
CN203330563U (zh) * 2013-05-24 2013-12-11 华南理工大学 一种基于视觉引导的折线角焊缝自动焊接装置
CN104785978A (zh) * 2015-05-11 2015-07-22 高兴 一种u肋焊接装置及其调整机构
CN104816071A (zh) * 2015-05-11 2015-08-05 高兴 U肋焊接装置、u肋焊接***及u肋焊接方法
CN204584520U (zh) * 2015-05-11 2015-08-26 高兴 一种u肋焊接装置及其对正机构
CN204584519U (zh) * 2015-05-11 2015-08-26 高兴 一种u肋焊接装置及其调整机构
CN104874898A (zh) * 2015-05-11 2015-09-02 高兴 一种u肋焊接装置及其对正机构

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110369925A (zh) * 2019-08-22 2019-10-25 佛山华盾人防工程有限公司 一种具有自适应功能的焊枪夹持装置
CN110449792A (zh) * 2019-08-30 2019-11-15 无锡华联科技集团有限公司 一种可调节焊缝***探头
CN111438469A (zh) * 2020-05-13 2020-07-24 山西煤矿机械制造股份有限公司 一种滚筒内焊缝焊接装置
CN112008310A (zh) * 2020-06-30 2020-12-01 湖北锦翔能源工程有限公司 一种大型储罐拱顶梁一体化组焊***及方法
CN112157330A (zh) * 2020-08-21 2021-01-01 苏州浪潮智能科技有限公司 一种电路板焊接台
CN112157330B (zh) * 2020-08-21 2022-11-29 苏州浪潮智能科技有限公司 一种电路板焊接台
CN114367768A (zh) * 2021-12-07 2022-04-19 武汉锂鑫智造工程有限公司 一种搭接装置及u肋焊接***
CN114367768B (zh) * 2021-12-07 2024-02-02 武汉锂鑫智造工程有限公司 一种搭接装置及u肋焊接***
CN117961355A (zh) * 2024-03-28 2024-05-03 佛山市华狮龙金属装饰制品有限公司 一种龙骨焊接智能加工***及其加工方法

Also Published As

Publication number Publication date
CN104785978A (zh) 2015-07-22
JP2018519167A (ja) 2018-07-19
CN104785978B (zh) 2017-03-15

Similar Documents

Publication Publication Date Title
WO2016180329A1 (zh) 一种u肋焊接装置及其调整机构
WO2016180331A1 (zh) U肋焊接装置、u肋焊接***及u肋焊接方法
WO2016180330A1 (zh) 一种u肋焊接装置及其对正机构
CN105855769B (zh) 一种智能焊接机械人
CN104646993B (zh) 一种夹桩自动上料及质量检测装置
CN205553588U (zh) Pcb板双面打标机
CN206241415U (zh) 一种光伏组件上接线盒自动焊接装置
CN106735784B (zh) 一种基于焊接视觉***的焊枪夹持装置
CN205703051U (zh) 一种智能焊接设备
CN207668707U (zh) 一种激光焊接装置
CN205702953U (zh) 一种用于管件焊接的机器人***
CN103753088A (zh) 一种具有同步自锁功能的纯机械式焊接夹具
JP2008279512A (ja) 治具用クランプ装置
AU2017388422B2 (en) X-ray testing and linear three-dimensional scanning and imaging device for GIS apparatus
CN104977351A (zh) 一种焊缝的检测***和检测方法
CN103894718B (zh) 银点点焊机的夹具组件
CN103240550A (zh) 一种数控焊接方法、装置及***
CN204639387U (zh) U肋焊接装置及u肋焊接***
CN204584519U (zh) 一种u肋焊接装置及其调整机构
CN104493390A (zh) Co2气体保护焊的焊接夹持机械手自动摆动装置
CN218481466U (zh) Tofd试块自动扫查装置
KR20120054217A (ko) 파이프 용접선 추적 방법 및 그 시스템
CN205967761U (zh) 一种烧烤炉机器人焊接装备
CN205572467U (zh) 一种三轴机械手自动校正机构
CN110274955A (zh) 一种焊装工件的检测设备及方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16792179

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2018511314

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 16792179

Country of ref document: EP

Kind code of ref document: A1