阅读说明：本技术 一种基于激光跟踪的自动化环保焊接系统 (Automatic environment-friendly welding system based on laser tracking ) 是由 李井卫 孔强 李会敏 于 2021-09-01 设计创作，主要内容包括：本发明公开了一种基于激光跟踪的自动化环保焊接系统,包括焊接小车、焊枪组件、焊枪调整机构、送丝装置、焊烟净化器以及激光跟踪系统,其中,所述焊接小车能够在焊接工作面上跟随焊缝行走,所述焊枪调整机构用于将焊枪组件可移动地装配在焊接小车上,并能够调整焊枪组件的焊接位置；所述焊枪夹持架用于进一步调整焊枪的工作位置；所述激光跟踪系统能够通过高速激光相机实时拍摄的焊缝路径信息,并通过无线遥控器控制焊接小车、Z轴滑台和Y轴滑台进行相应动作。本发明通过自动化环保焊接系统驱动焊接小车的行走转向、Z轴和Y轴的升降滑动实现焊缝跟踪作业,并采用环保焊枪,可将焊接时产生的烟尘排出至焊烟净化器净化,实现环保焊接作业。(The invention discloses an automatic environment-friendly welding system based on laser tracking, which comprises a welding trolley, a welding gun assembly, a welding gun adjusting mechanism, a wire feeding device, a welding fume purifier and a laser tracking system, wherein the welding trolley can walk along with a welding seam on a welding working surface, and the welding gun adjusting mechanism is used for movably assembling the welding gun assembly on the welding trolley and adjusting the welding position of the welding gun assembly; the welding gun clamping frame is used for further adjusting the working position of a welding gun; the laser tracking system can be used for controlling the welding trolley, the Z-axis sliding table and the Y-axis sliding table to perform corresponding actions through the welding seam path information shot by the high-speed laser camera in real time and the wireless remote controller. The automatic environment-friendly welding system drives the welding trolley to walk and steer and the Z axis and the Y axis to lift and slide so as to realize welding seam tracking operation, and the environment-friendly welding gun is adopted, so that smoke generated during welding can be discharged to the welding smoke purifier for purification, and the environment-friendly welding operation is realized.)

1. An automatic environment-friendly welding system based on laser tracking is characterized by comprising a welding trolley, a welding gun assembly, a welding gun adjusting mechanism, a wire feeding device, a welding fume purifier and a laser tracking system, wherein the welding gun assembly is assembled on the welding trolley through the welding gun adjusting mechanism and comprises a welding gun, an integrated pipeline and a welding gun clamping frame, the integrated pipeline is respectively connected with the wire feeding device and the welding fume purifier through a switching tee joint at the tail end of the welding gun, and the wire feeding device is connected with a welding machine power supply; wherein the content of the first and second substances,

the welding trolley can walk along with the welding seam on a welding working surface, and the relative position of the welding gun assembly and the welding seam is kept stable;

the welding gun adjusting mechanism is used for movably assembling a welding gun assembly on the welding trolley, adjusting the height distance of the welding gun relative to a welding seam through the Z-axis sliding table, and adjusting the distance between the projection of the welding gun on a welding working surface and the welding seam through the Y-axis sliding table;

the welding gun assembly comprises a welding gun clamping frame used for further adjusting the height of the welding gun and the welding angle of the welding gun relative to the welding seam;

the laser tracking system comprises a main controller, a remote control device and a high-speed laser camera fixed on the front side of a welding gun, wherein the high-speed laser camera is used for shooting welding seam path information in front of the welding gun in real time and transmitting data to the main controller;

the remote control device comprises a transmitter and a receiver, wherein the transmitter is connected with the main controller through a data port, and the receiver is respectively connected with drivers of the welding trolley, the Z-axis sliding table and the Y-axis sliding table through interface circuits.

2. The laser tracking based automatic environment-friendly welding system as recited in claim 1, wherein the integrated pipeline comprises a welding gun pipeline and a welding fume pipeline, the welding gun comprises a gun neck assembly, a fume-absorbing hood, a handle and a switch, the gun neck assembly is fixed at the front end of the handle and is communicated with the welding gun pipeline in the integrated pipeline at the tail end of the handle through a handle internal pipeline, the fume-absorbing hood extends along the gun neck assembly and is fixed at the front end of the handle and is communicated with the welding fume pipeline in the integrated pipeline at the tail end of the handle through the handle internal pipeline;

the welding gun clamping frame comprises a welding gun clamp and a fixing frame, the fixing frame comprises a sliding groove plate, a U-shaped locking ring and a rotating shaft, the U-shaped locking ring is fixed on a fixing column, used for fixing a welding gun, of the welding trolley, the sliding groove plate is provided with a strip-shaped sliding groove and a sliding assembly corresponding to the U-shaped locking ring, the sliding groove plate and the U-shaped locking ring slide relative to each other through the strip-shaped sliding groove and are fixed, the sliding groove plate is further provided with an arc-shaped sliding groove by taking the rotating shaft as a center, and the welding gun clamp is fixedly connected with the rotating shaft and is provided with a limiting block corresponding to the arc-shaped sliding groove.

3. The automatic environment-friendly welding system based on laser tracking as claimed in claim 2, wherein the integrated pipeline comprises a hollow chamber and an annular chamber surrounding the hollow chamber, and a thermal insulation layer is arranged between the hollow chamber and the annular chamber, wherein the welding gun pipeline penetrates through the hollow chamber, and the welding fume pipeline is spirally coiled in the annular chamber.

4. The automatic environment-friendly welding system based on laser tracking as claimed in claim 2, wherein a limiting rod passing through the strip-shaped sliding groove is arranged on the side surface of the U-shaped locking ring, and a locking nut is arranged on the limiting rod on the other side, opposite to the U-shaped locking ring, of the sliding groove plate.

5. The automatic environment-friendly welding system based on laser tracking as claimed in claim 2, wherein the rotation angle of the rotating shaft is adjusted by a micro motor drive, and the micro motor is connected with the receiver through an interface circuit.

6. The automatic environment-friendly welding system based on the laser tracking as claimed in claim 1 or 2, wherein the welding trolley is carried on a workpiece welding working surface by a steering wheel and a power wheel of the welding trolley, and the steering wheel and the power wheel are magnetic wheels which are controlled to be switched on and off magnetically by a magnetic switch;

welder guiding mechanism is including being fixed in the Z axle slip table on the welding carriage and along the gliding Z axle slip table seat of Z axle slip table, just be equipped with the rotation axis before the Z axle slip table seat on the terminal surface, the rotation axis is connected with one can be through the relative Z axle slip table seat pivoted Y axle slip table of this rotation axis, be equipped with on the Y axle slip table along the gliding Y axle slip table seat of Y axle slip table direction, Y axle slip table seat is fixed with the support, just have the fixed column that is used for adaptation welder holding frame with fixed welder on the support.

7. The automatic environment-friendly welding system based on laser tracking as claimed in claim 6, wherein the Z-axis sliding table and the Y-axis sliding table respectively comprise a sliding rod, a motor and a telescopic rod driven by the motor, wherein the Z-axis sliding table seat and the Y-axis sliding table seat respectively slide and are fixed on the corresponding sliding rods by connecting the telescopic rods of the Z-axis sliding table and the Y-axis sliding table corresponding to the Z-axis sliding table and the Y-axis sliding table, and the motors are connected with the receivers through interface circuits.

8. The automatic environment-friendly welding system based on laser tracking as claimed in claim 6, wherein the steering wheel is a front wheel, the power wheel is a rear wheel, the welding tractor further comprises a front wheel holder and a steering mechanism, wherein the front wheel holder comprises a front wheel hub for fixing the front wheel, a cross beam located between the two front wheel hubs and used for assembling the front wheel hub, and a steering support between the front wheel hub and the cross beam, wherein the steering support is symmetrically hinged to two ends of the cross beam through a vertical rotating shaft, the steering support is provided with a side panel used for assembling the front wheel hub, the side panel is rotatably matched with the front wheel hub, and the steering support is further provided with a backward hinged end inside the two front wheels;

the steering mechanism comprises a steering servo motor, a steering wheel driven to rotate by the steering servo motor and a steering pull rod arranged in parallel to the cross beam, wherein two ends of the steering pull rod are correspondingly hinged to the lower end faces of hinged ends of the two steering supports respectively, a steering driving rod is arranged between the upper end face of the hinged end of one of the steering supports and the end face of the steering wheel, and the steering driving rod is connected with the upper end face of the hinged end and the end face of the steering wheel through ball shafts, so that when one end of the steering driving rod rotates along with the steering wheel, the hinged end moves synchronously along the direction of the steering pull rod.

9. The laser tracking-based automatic environment-friendly welding system as claimed in claim 8, wherein the front hub is provided with an axle, the axle is assembled in a mounting hole formed in the side panel through a bearing, and the steering rod comprises an upper steering shaft connected with the end face of the steering wheel, a lower steering shaft connected with the upper end face of the hinged end and a rotating column connected between the upper steering shaft and the lower steering shaft.

10. The automatic environment-friendly welding system based on laser tracking as claimed in claim 8, wherein the rear wheel of the welding trolley is a power wheel driven to rotate by a power motor, and the steering servo motor and the power motor are both connected with the receiver through an interface circuit.

Technical Field

The invention relates to the field of automatic welding equipment, in particular to an automatic environment-friendly welding system based on laser tracking.

Background

Present various welding carriage have the rail or increase the direction walking more, need the workman to erect the rail in required seam work piece one side during the operation, keep parallel relatively with the welding seam, and operation process is loaded down with trivial details, and mostly is the linear type welding seam, can not satisfy the use to the curve type welding seam, so just have very big limitation to welding operation.

The tracking welding is carried out by adopting a mode of laying the guide rail, the flexibility is poor, the guide rail needs to be laid in advance when the tracking welding trolley is used, manpower and a large amount of time are consumed, meanwhile, when the tracking welding trolley is welded in places where the guide rail is inconvenient to lay, the existing tracking welding trolley of the guide rail type cannot be used, welding seams can be carried out only by a purely manual method, when the welding seams are welded manually, the obtained welding effect is not ideal due to the influence of human factors, and the product passing rate is low.

Disclosure of Invention

The invention aims to provide an automatic environment-friendly welding system based on laser tracking to solve the problems in the background technology, the invention adopts a high-speed laser camera to track welding seam information in real time, data is transmitted to a main controller, the main controller carries out self-arithmetic processing to drive the walking steering of a welding trolley and the lifting sliding of a Z axis and a Y axis to realize welding seam tracking operation, and an environment-friendly welding gun is adopted to discharge smoke generated during welding to be purified, so that the environment-friendly welding operation is realized.

In order to achieve the purpose, the invention provides an automatic environment-friendly welding system based on laser tracking, which comprises a welding trolley, a welding gun assembly, a welding gun adjusting mechanism, a wire feeding device, a welding fume purifier and a laser tracking system, wherein the welding gun assembly is assembled on the welding trolley through the welding gun adjusting mechanism and comprises a welding gun, an integrated pipeline and a welding gun clamping frame, the integrated pipeline is respectively connected with the wire feeding device and the welding fume purifier through a switching tee joint at the tail end of the welding gun, and the wire feeding device is connected with a welding machine power supply; wherein the content of the first and second substances,

the welding trolley can walk along with the welding seam on a welding working surface, and the relative position of the welding gun assembly and the welding seam is kept stable;

the welding gun adjusting mechanism is used for movably assembling a welding gun assembly on the welding trolley, adjusting the height distance of the welding gun relative to a welding seam through the Z-axis sliding table, and adjusting the distance between the projection of the welding gun on a welding working surface and the welding seam through the Y-axis sliding table;

the welding gun assembly comprises a welding gun clamping frame used for further adjusting the height of the welding gun and the welding angle of the welding gun relative to the welding seam;

the laser tracking system comprises a main controller, a remote control device and a high-speed laser camera fixed on the front side of a welding gun, wherein the high-speed laser camera is used for shooting welding seam path information in front of the welding gun in real time and transmitting data to the main controller;

the remote control device comprises a transmitter and a receiver, wherein the transmitter is connected with the main controller through a data port, and the receiver is respectively connected with drivers of the welding trolley, the Z-axis sliding table and the Y-axis sliding table through interface circuits.

As a preferred aspect of the present invention, the integrated pipeline includes a welding gun pipeline and a welding fume pipeline, the welding gun includes a gun neck assembly, a fume-absorbing hood, a handle and a switch, the gun neck assembly is fixed at the front end of the handle and is communicated with the welding gun pipeline in the integrated pipeline at the tail end of the handle through an internal pipeline of the handle, the fume-absorbing hood extends along the gun neck assembly and is fixed at the front end of the handle and is communicated with the welding fume pipeline in the integrated pipeline at the tail end of the handle through an internal pipeline of the handle;

the welding gun clamping frame comprises a welding gun clamp and a fixing frame, the fixing frame comprises a sliding groove plate, a U-shaped locking ring and a rotating shaft, the U-shaped locking ring is fixed on a fixing column, used for fixing a welding gun, of the welding trolley, the sliding groove plate is provided with a strip-shaped sliding groove and a sliding assembly corresponding to the U-shaped locking ring, the sliding groove plate and the U-shaped locking ring slide relative to each other through the strip-shaped sliding groove and are fixed, the sliding groove plate is further provided with an arc-shaped sliding groove by taking the rotating shaft as a center, and the welding gun clamp is fixedly connected with the rotating shaft and is provided with a limiting block corresponding to the arc-shaped sliding groove. During welding operation, the welding gun is fixedly assembled on the welding trolley or the welding robot, then the relative position of the welding gun and a welding seam can be indirectly adjusted through the movement of the welding trolley, and the welding position and the welding angle of the welding gun can be secondarily adjusted through the matching of the strip-shaped sliding groove, the arc-shaped sliding groove and the sliding groove plate of the arc-shaped sliding groove, so that the welding process is higher in adjustment precision, the welding under various working environments can be facilitated, the adaptability is wider, and the adjustment range is wider.

Secondly, the integrated pipeline connects the welding gun pipeline with the wire feeding device through the switching tee joint piece, and connects the welding fume pipeline with the welding fume purifier, so that a welding gun assembled on the welding trolley is convenient to drag and twist by adopting the integrated pipeline, the follow-up type automatic welding process can be better adapted, and the welding fume is sucked out through the fume suction hood during welding until the welding fume purifier, so that the environmental protection performance of the welding process is guaranteed.

Furthermore, the integrated pipeline comprises a hollow cavity and an annular cavity annularly arranged outside the hollow cavity, and a heat insulation layer is arranged between the hollow cavity and the annular cavity, wherein the welding gun pipeline penetrates through the hollow cavity, and the welding smoke pipeline is spirally wound in the annular cavity. A heat insulation layer is arranged between the hollow cavity for accommodating the welding gun pipeline and the annular cavity for accommodating the welding fume pipeline in the integrated pipeline, so that the welding gun pipeline is prevented from being influenced by overhigh welding fume temperature.

Furthermore, a limiting rod penetrating through the strip-shaped sliding groove is arranged on the side surface of the U-shaped locking ring, and a locking nut is arranged on the limiting rod on the other side, opposite to the U-shaped locking ring, of the sliding groove plate.

Furthermore, the rotation angle of the rotation shaft is adjusted by driving of a micro motor, and the micro motor is connected with the receiver through an interface circuit.

As a preferred scheme of the invention, the welding trolley is carried on a workpiece welding working surface by a steering wheel and a power wheel of the welding trolley, and the steering wheel and the power wheel are magnetic wheels which are controlled to be switched on and off by a magnetic switch;

welder guiding mechanism is including being fixed in the Z axle slip table on the welding carriage and along the gliding Z axle slip table seat of Z axle slip table, just be equipped with the rotation axis before the Z axle slip table seat on the terminal surface, the rotation axis is connected with one can be through the relative Z axle slip table seat pivoted Y axle slip table of this rotation axis, be equipped with on the Y axle slip table along the gliding Y axle slip table seat of Y axle slip table direction, Y axle slip table seat is fixed with the support, just have the fixed column that is used for adaptation welder holding frame with fixed welder on the support.

As a preferred embodiment of the present invention, the Z-axis sliding table and the Y-axis sliding table respectively include a sliding rod, a motor, and a telescopic rod driven by the motor, wherein the Z-axis sliding table seat and the Y-axis sliding table seat respectively slide and fix on the corresponding sliding rod by connecting the telescopic rods of the Z-axis sliding table and the Y-axis sliding table corresponding thereto, and the motor is connected to the receiver through an interface circuit. During welding operation, the welding gun adjusting mechanism can regulate and control the relative height of a welding gun and a workpiece by controlling the up-and-down sliding of the Z-axis sliding table, and the sliding distance of the Y-axis sliding table is controlled by the motor and the telescopic rod driven by the motor according to the position of the welding trolley in real time, so that the follow-up performance of the welding gun aiming at a curved welding seam can be regulated and controlled by the Y-axis sliding table and the rotating shaft; the welding trolley is adsorbed on a workpiece by adopting the magnetic wheel, an additional bracket or a driving device is not needed, and meanwhile, the welding trolley is provided with the steering wheel and the power wheel, so that the forward motion in different directions can be completed on the workpiece, and the omnibearing adaptation to welding spots of a welding gun is completed by matching with a welding gun adjusting mechanism; according to the invention, the welding trolley can move forwards and turn in the X-axis direction, and the Y-axis, the Z-axis and the rotating shaft of the welding gun adjusting mechanism are matched, so that the switching of multiple welding modes can be realized, and the welding operation of multiple welding seam forms (flat welding, vertical welding, overhead welding, girth welding of pipelines and the like) can be met.

As a preferred scheme of the invention, the steering wheel is a front wheel, the power wheel is a rear wheel, the welding trolley further comprises a front wheel holder and a steering mechanism, wherein the front wheel holder comprises a front wheel hub for fixing the front wheel, a cross beam positioned between the two front wheel hubs and used for assembling the front wheel hubs, and a steering support between the front wheel hub and the cross beam, the steering support is symmetrically hinged at two ends of the cross beam through a vertical rotating shaft, the steering support is provided with a side panel for assembling the front wheel hubs, the side panel is in running fit with the front wheel hubs, and the steering support is also provided with a backward hinged end at the inner side of the two front wheels;

the steering mechanism comprises a steering servo motor, a steering wheel driven to rotate by the steering servo motor and a steering pull rod arranged in parallel to the cross beam, wherein two ends of the steering pull rod are correspondingly hinged to the lower end faces of hinged ends of the two steering supports respectively, a steering driving rod is arranged between the upper end face of the hinged end of one of the steering supports and the end face of the steering wheel, and the steering driving rod is connected with the upper end face of the hinged end and the end face of the steering wheel through ball shafts, so that when one end of the steering driving rod rotates along with the steering wheel, the hinged end moves synchronously along the direction of the steering pull rod.

During welding operation, the welding trolley is placed on a welding working face of a workpiece and is placed on one side of a welding seam, a welding gun assembly is fixed on the welding trolley, the welding trolley can be driven to turn through a steering servo motor, the rotation angle of a steering wheel is accurately controlled through the steering servo motor according to a required turning angle in real time, so that a steering deflector rod pulls a steering pull rod and a hinged end of a steering support to move transversely, a rotating lever is formed by taking a vertical rotating shaft of the steering support as a fulcrum, a front hub assembled by side panels is driven to turn, the front wheel of the welding trolley is a magnetic wheel and can be stably attached to the working face, a cross beam can keep a stable posture parallel to the welding working face, the position of the hinged end is also kept stable in the vertical direction, and the whole steering mechanism keeps stable and efficient transmission efficiency.

The welding trolley is adsorbed on the workpiece by the magnetic force wheel, an additional support or a driving device is not needed, and meanwhile, the welding trolley is provided with the steering wheel and the power wheel, so that the forward motion in different directions can be completed on the workpiece, and the welding trolley is matched with a welding gun assembly to complete the omnibearing adaptation to a welding seam.

As a preferable scheme of the present invention, the front hub has an axle, and the axle is fitted in a mounting hole provided in the side panel through a bearing, and the steering lever includes a steering upper shaft connected to an end surface of the steering wheel, a steering lower shaft connected to an upper end surface of the hinge end, and a rotating column connecting between the steering upper shaft and the steering lower shaft.

As a preferable scheme of the invention, the rear wheel of the welding trolley is a power wheel driven to rotate by a power motor, and the steering servo motor and the power motor are both connected with the receiver through an interface circuit.

The invention has the beneficial effects that:

firstly, the invention adopts the laser tracking intelligent welding system, can be operated by wireless remote control, can automatically track weld joints through the high-speed laser camera for welding, can adapt to weld joints with various shapes including linear weld joints and curved weld joints, and can write in a welding control program adapting to the shape of the weld joints through the main controller so as to coordinate and control the welding trolley, the high-speed laser camera, the welding gun assembly and the welding gun adjusting mechanism to be matched in the welding process, thereby effectively ensuring the welding quality and reducing the labor intensity of workers.

Secondly, the welding tractor adopts the magnetic wheel to be adsorbed on the working surface, and can meet the welding operation of various welding seam forms (flat welding, vertical welding, overhead welding, girth welding of pipelines and the like).

In addition, the invention adopts the environment-friendly welding gun, so that the welding fume can be sucked out from the gun head to the welding fume purifier during welding, and the environment-friendly property of the whole welding process is provided.

Drawings

Fig. 1 is a schematic structural diagram of an automated environment-friendly welding system based on laser tracking according to the present invention.

FIG. 2 is a schematic view of an assembly structure of a welding gun adjusting mechanism and a welding carriage according to the present invention.

FIG. 3 is a schematic view of a torch assembly according to the present invention.

FIG. 4 is a schematic diagram of the structure of the integrated pipeline according to the present invention.

Figure 5 is a view of the connection structure of the U-shaped locking ring and the sliding groove plate in figure 3.

FIG. 6 is a schematic view of the welding carriage of the present invention.

Fig. 7 is a partial enlarged view of a portion a in fig. 6.

Fig. 8 is an enlarged view of the structure of the steering stem in fig. 6.

Fig. 9 is a schematic diagram of the control system of the present invention.

In the figure:

1. front wheel, 11, magnetic switch;

2. the steering mechanism 21, a steering servo motor 22, a steering wheel 23, a steering pull rod 24, a steering deflector rod 241, an upper steering shaft 242, a lower steering shaft 243, a rotating column 25 and a ball shaft;

3. front wheel holder, 31, front wheel hub, 311, wheel axle, 32, beam, 33, steering bracket, 331, side panel, 332, hinged end;

4. a vertical rotating shaft;

5. a frame;

6. a housing;

7. a handle;

8. a rear wheel;

9. a power motor;

10. a wireless remote controller;

11. a welding gun;

12. a welding trolley 1201 and a fixed column;

13. an integrated pipeline 131, a welding gun pipeline 132, a welding fume pipeline 133, a hollow cavity 134, an annular cavity 135, a heat insulation layer,

14. the welding gun clamping frame 141, the welding gun clamp 1411, the limiting block 142, the fixing frame 1421, the sliding plate groove 1422, the U-shaped locking ring 1423, the rotating shaft 1424, the strip-shaped sliding groove 1425, the arc-shaped sliding groove 1426, the limiting rod 1427 and the locking nut;

15. a gun neck assembly;

16. a smoke suction hood;

17. a handle;

18. a switch;

19. switching a tee joint piece;

40. a wire feeder;

50. a welding fume purifier;

60. a welder power supply;

70. a high-speed laser camera;

81. z-axis sliding table 82, Z-axis sliding table seat 83, rotating shaft 84, Y-axis sliding table 85, Y-axis sliding table seat 86, support seat 88, motor 89 and sliding rod;

90. a working surface;

110. and (7) welding seams.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.

As shown in fig. 1, 2 and 9, an automatic environment-friendly welding system based on laser tracking includes a welding trolley 12, a welding gun assembly, a welding gun adjustment mechanism, a wire feeding device 40, a welding fume purifier 50 and a laser tracking system, wherein the welding gun assembly is assembled on the welding trolley 12 through the welding gun adjustment mechanism, the welding gun assembly includes a welding gun 11, an integrated pipeline 13 and a welding gun holder 14, the integrated pipeline 13 is connected to the wire feeding device 40 and the welding fume purifier 50 through a transfer tee joint 19 from the end of the welding gun 11, and the wire feeding device 40 is connected to a welding machine power supply 60; wherein the content of the first and second substances,

the welding carriage 12 can travel along the welding seam 110 on the welding working surface 90, and the relative position of the welding gun assembly and the welding seam 110 is kept stable;

the welding gun adjusting mechanism is used for movably assembling a welding gun assembly on the welding trolley 12, adjusting the height distance of the welding gun 11 relative to the welding seam 110 through the Z-axis sliding table 81, and adjusting the distance between the projection of the welding gun 11 on the welding working surface 90 and the welding seam 110 through the Y-axis sliding table 84;

the welding gun assembly comprises a welding gun holding frame 14 for further adjusting the height of the welding gun 11 and the welding angle of the welding gun 11 relative to the welding seam 110;

the laser tracking system comprises a main controller, a remote control device and a high-speed laser camera 70 fixed on the front side of a welding gun 11, wherein the high-speed laser camera 70 is used for shooting path information of a welding seam 110 in front of the welding gun 11 in real time and transmitting data to the main controller, the main controller calculates and processes walking parameters of the welding trolley 12 and real-time adjusting parameters of a Z-axis sliding table 81 and a Y-axis sliding table 84 according to the path information of the welding seam 110, and controls the welding trolley 12, the Z-axis sliding table 81 and the Y-axis sliding table 84 to perform corresponding actions through a wireless remote controller 10;

the remote control device comprises a transmitter and a receiver, wherein the transmitter is connected with the main controller through a data port, and the receiver is respectively connected with drivers of the welding trolley 12, the Z-axis sliding table 81 and the Y-axis sliding table 84 through interface circuits. The transmitter and the main controller in the remote control device are integrated in a wireless remote controller 10 for remotely controlling the driving power source of the system.

Example one

As shown in fig. 3 to 5 in combination with fig. 9, the integrated pipeline 13 includes a welding gun pipeline 131 and a welding fume pipeline 132, the welding gun 11 includes a neck assembly 15, a fume hood 16, a handle 17 and a switch 18, the neck assembly 15 is fixed at the front end of the handle 17 and is communicated with the welding gun pipeline 131 in the integrated pipeline 13 at the tail end of the handle 17 through the internal pipeline of the handle 17, the fume hood extends along the neck assembly 16 and is fixed at the front end of the handle 17 along the extension 15 of the neck assembly and is communicated with the welding fume pipeline 132 in the integrated pipeline 13 at the tail end of the handle 17 through the internal pipeline of the handle 17;

the welding gun clamping frame 14 includes a welding gun clamp 141 and a fixing frame 142, the fixing frame 142 includes a sliding chute plate 1421, a U-shaped locking ring 1422 and a rotating shaft 1423, wherein the U-shaped locking ring 1422 is fixed on a fixing column 1201 of the welding trolley 12 for fixing the welding gun 11, the sliding chute plate 1421 is provided with a strip-shaped sliding chute 1424 and a sliding assembly corresponding to the U-shaped locking ring 1422, so that the sliding chute plate 1424 and the U-shaped locking ring 1422 slide and are fixed relative to each other through the strip-shaped sliding chute 1424, the sliding chute plate 1421 is further provided with an arc-shaped sliding chute 1425 centered on the rotating shaft 1423, and the welding gun clamp 141 is fixedly connected to the rotating shaft 1423 and provided with a limiting block 1411 corresponding to the arc-shaped sliding chute 1425. During welding operation, the welding gun 11 is fixedly assembled on the welding trolley 12, then the relative position of the welding gun 12 and the welding seam 110 can be indirectly adjusted through the movement of the welding trolley 12, and the welding position and the welding angle of the welding gun 11 can be secondarily adjusted through the matching of the strip-shaped sliding groove 1424, the arc-shaped sliding groove 1425 and the sliding groove plate 1421, so that the welding process is higher in adjustment accuracy, welding in various working environments can be facilitated, the adaptability is wider, and the adjustment range is wider.

Secondly, in the invention, the integrated pipeline 13 connects the welding gun pipeline 131 with the wire feeding device 40 through the switching tee joint 19, and connects the welding fume pipeline 132 with the welding fume purifier 50, so that on one hand, the welding gun 11 assembled on the welding trolley 12 is convenient to drag and twist by adopting the integrated pipeline 13, and can better adapt to the following type automatic welding process, and on the other hand, the welding fume is sucked out through the fume suction hood 16 until reaching the welding fume purifier 50 during welding, thereby ensuring the environmental protection of the welding process.

In this embodiment, the integrated pipeline 13 includes a hollow chamber 133 and an annular chamber 134 surrounding the hollow chamber 133, and a thermal insulation layer 135 is disposed between the hollow chamber 133 and the annular chamber 134, wherein the welding torch pipeline 131 is inserted into the hollow chamber 133, and the welding fume pipeline 132 is spirally wound in the annular chamber 134. An insulating layer 135 is arranged between the hollow chamber 133 for accommodating the welding gun pipeline 131 and the annular chamber 134 for accommodating the welding fume pipeline 132 in the integrated pipeline 13, so that the welding fume is prevented from influencing the welding gun pipeline 131 due to overhigh temperature.

In this embodiment, a side surface of the U-shaped locking ring 1422 is provided with a limiting rod 1426 passing through the strip-shaped sliding groove 1424, and the limiting rod 1426 is provided with a lock nut 1427 on the other side of the sliding groove plate 1421 opposite to the U-shaped locking ring 1422.

In this embodiment, the rotation angle of the rotation shaft 1423 is adjusted by driving a micro motor, and the micro motor is connected to the receiver through an interface circuit.

Example two

As shown in fig. 2 and fig. 9, the welding carriage 12 is carried on the workpiece welding working surface 90 by a steering wheel and a power wheel, both of which are magnetic wheels controlled to be switched on and off by a magnetic switch 11;

welder guiding mechanism is including being fixed in Z axle slip table 82 on the welding carriage 12 and along the gliding Z axle slip table seat 82 of Z axle slip table 81, just be equipped with rotation axis 83 on the terminal surface before the Z axle slip table seat 82, rotation axis 83 is connected with one and can pass through relative Z axle slip table seat 82 pivoted Y axle slip table 84 of this rotation axis 83, be equipped with on the Y axle slip table 84 along the gliding Y axle slip table seat 85 of Y axle slip table 84 direction, Y axle slip table seat 85 is fixed with support 86, just have the fixed column 1201 that is used for adaptation welder holding frame in order to fix welder 1 on the support 86.

In this embodiment, the Z-axis sliding table 81 and the Y-axis sliding table 85 respectively include a sliding rod 89, a motor 88, and an expansion rod driven by the motor 88, wherein the Z-axis sliding table seat 82 and the Y-axis sliding table seat 85 respectively slide and fix on their corresponding sliding rods 89 by connecting the expansion rods of their corresponding Z-axis sliding table 81 and Y-axis sliding table 84, and the motor 88 is connected to the receiver through an interface circuit, in this embodiment, the drivers of the Z-axis sliding table 81 and the Y-axis sliding table 84 are the motor 88. During welding operation, the welding gun adjusting mechanism can regulate and control the relative height of a welding gun 11 and a workpiece by controlling the up-and-down sliding of the Z-axis sliding table 81, and the sliding distance of the Y-axis sliding table 84 is controlled by the motor 88 and a telescopic rod driven by the motor 88 according to the position of the welding trolley 12 in real time, so that the follow-up performance of the welding gun for a curved welding seam can be regulated and controlled by the Y-axis sliding table 84 and the rotating shaft 83; according to the invention, the welding trolley 12 is adsorbed on the workpiece by adopting the magnetic force wheel, no additional support or driving device is needed, meanwhile, the welding trolley 12 is provided with the steering wheel and the power wheel, and can finish forward movement in different directions on the workpiece, so that the welding torch 11 is matched with the welding torch adjusting mechanism to finish omnibearing adaptation to welding spots of the welding torch; according to the invention, the welding trolley 12 can move forwards and turn in the X-axis direction, and the Y-axis, the Z-axis and the rotating shaft of the welding gun adjusting mechanism are matched, so that the switching of multiple welding modes can be realized, and the welding operation of multiple welding seam forms (flat welding, vertical welding, overhead welding, girth welding of pipelines and the like) can be met.

EXAMPLE III

As shown in fig. 6 to 8 in combination with fig. 9, the steering wheel is a front wheel 1, the power wheel is a rear wheel 8, the welding carriage 12 further includes a front wheel holder 3 and a steering mechanism 2, wherein the front wheel holder 3 includes a front wheel hub 31 for fixing the front wheel 1, a cross beam 32 located between the two front wheel hubs 31 and used for assembling the front wheel hubs 31, and a steering bracket 33 located between the front wheel hubs 31 and the cross beam 32, wherein the steering bracket 33 is symmetrically hinged to two ends of the cross beam 32 through a vertical rotating shaft 4, the steering bracket 33 has a side panel 331 for assembling the front wheel hubs 31, the side panel 331 is rotatably matched with the front wheel hubs 31, and the steering bracket 33 is further provided with a rearward hinged end 332 inside the two front wheels 1;

the steering mechanism 2 comprises a steering servo motor 21, a steering wheel 22 driven by the steering servo motor 21 to rotate, and a steering pull rod 23 arranged parallel to the cross beam 32, wherein two ends of the steering pull rod 23 are respectively and correspondingly hinged to the lower end faces of the hinged ends 332 of the two steering supports 33, a steering shift lever 24 is arranged between the upper end face of the hinged end 332 of one of the steering supports 33 and the end face of the steering wheel 22, and the steering shift lever 24 is connected with the upper end face of the hinged end 332 and the end face of the steering wheel 22 through a ball shaft 25, so that when one end of the steering shift lever 24 rotates along with the steering wheel 22, the hinged end 332 moves synchronously along the direction of the steering pull rod 23.

During welding operation, the invention is placed on a welding working face 90 of a workpiece and is placed at one side of a welding seam 110, a welding gun assembly is fixed on a welding trolley 12, the welding trolley 12 can drive steering through a steering servo motor 21, and the rotation angle of a steering wheel 22 is accurately controlled through the steering servo motor 21 according to a required steering angle in real time, so that a steering deflector rod 24 pulls a steering pull rod 23 and a hinged end 332 of a steering support 33 to move transversely, a rotating lever is formed by taking a vertical rotating shaft 4 of the steering support 33 as a fulcrum, a front hub 31 assembled on a side panel 331 is driven to steer, because a front wheel 31 of the welding trolley 12 is a magnetic wheel, the front wheel can be stably attached to the working face 90, a cross beam 32 can keep a stable posture parallel to the welding working face 90, and the position of the hinged end 332 is also kept stable in the vertical direction, so that the whole steering mechanism 2 keeps stable, High transmission efficiency.

Secondly, the welding tractor 12 is adsorbed on the workpiece by adopting the magnetic force wheel without an additional bracket or a driving device, and meanwhile, the welding tractor 12 is provided with the steering wheel and the power wheel and can finish forward movement in different directions on the workpiece, so that the welding tractor is matched with a welding gun assembly to finish all-around adaptation to welding seams.

In the present embodiment, the front wheel hub 31 has an axle 311, and the axle 311 is mounted in a mounting hole opened in the side panel 331 through a bearing, and the steering stem 24 includes an upper steering shaft 242 connected to an end surface of the steering wheel 22, a lower steering shaft 242 connected to an upper end surface of the hinge end 332, and a rotating column 243 connected between the upper steering shaft 241 and the lower steering shaft 242.

In this embodiment, the rear wheel 8 of the welding carriage 12 is a power wheel driven by a power motor 9 to rotate, and the steering servo motor 21 and the power motor 9 are both connected to the receiver through an interface circuit.

During welding operation, firstly, after the workpiece working face 90 is prepared, the welding trolley 12 is placed on one side of the welding seam 110, the wireless remote controller 10 is operated to select a manual mode, the rocker is operated to control the welding trolley 12 to move forwards, backwards, leftwards and rightwards, the relative position of the welding gun 11 and the welding seam 110 is adjusted, and the welding fume purifier 50, the welding machine power supply 60 and the wire feeding device 40 are connected through the main controller.

The wireless remote controller 10 is operated to select a corresponding welding mode, welding parameters are set, automation is selected, the welding trolley 12 automatically tracks the welding seam 110 under the guidance of the high-speed laser camera 70, the wireless remote controller 10 is operated to start arc striking, the welding trolley 23 moves forward, the wire feeding device 40 starts wire feeding, the environment-friendly welding gun 11 starts welding, and generated smoke enters the welding fume purifier 50 through the integrated pipeline 13 for purification treatment. And (4) the welding trolley 12 moves to the tail end of the welding seam 110, the wireless remote controller 10 is operated, arc extinction is selected, the arc extinction is stopped, the wire feeding device 40 stops feeding wires, the welding trolley 12 stops moving, and the welding is finished.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.