CN106994577A - A kind of mould 3D built-up welding intelligent robots - Google Patents

A kind of mould 3D built-up welding intelligent robots Download PDF

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Publication number
CN106994577A
CN106994577A CN201710259085.9A CN201710259085A CN106994577A CN 106994577 A CN106994577 A CN 106994577A CN 201710259085 A CN201710259085 A CN 201710259085A CN 106994577 A CN106994577 A CN 106994577A
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CN
China
Prior art keywords
axis
welding
vertical guide
mould
crossbeams
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Granted
Application number
CN201710259085.9A
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Chinese (zh)
Other versions
CN106994577B (en
Inventor
周杰
杨金华
刘雪飞
张焱城
张建生
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CHONGQING JIEPIN TECHNOLOGY Co Ltd
CHONGQING TARUN TECHNOLOGY CO LTD
Chongqing Fositan Intelligent Equipment Co Ltd
Chongqing University
Original Assignee
CHONGQING JIEPIN TECHNOLOGY Co Ltd
CHONGQING TARUN TECHNOLOGY CO LTD
Chongqing Fositan Intelligent Equipment Co Ltd
Chongqing University
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Priority to CN201710259085.9A priority Critical patent/CN106994577B/en
Publication of CN106994577A publication Critical patent/CN106994577A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02Carriages for supporting the welding or cutting element
    • B23K37/0252Steering means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02Carriages for supporting the welding or cutting element
    • B23K37/0247Driving means

Abstract

The invention discloses a kind of mould 3D built-up welding intelligent robots, including two X-axis crossbeams, two Y-axis crossbeams are installed between two X-axis crossbeam top surfaces, two Y-axis crossbeams are by each independent actuator drives along X-axis cross beam movement, Z axis vertical guide is respectively mounted on two Y-axis crossbeams, Z axis vertical guide is driven along Y-axis cross beam movement by Z-axis transmission device, be slidably installed plumb joint in the Z axis vertical guide on a Y-axis crossbeam wherein, erecting and welding destressing device in Z axis vertical guide on another Y-axis crossbeam, welding destressing device includes high frequency hammering device and dust exhaust apparatus, lower section between two X-axis crossbeams is provided with mould constant temperature heating device.Ensure the temperature in welding process, improve welding quality.Reduce due to the too high influence brought to welding precision of temperature.Using welding destressing device, remove welding slag, it is ensured that the flatness after welding, can be used for reparation and the new mould of printing of mould.

Description

A kind of mould 3D built-up welding intelligent robots
Technical field
The present invention relates to a kind of robot architecture, more particularly to a kind of mould 3D built-up welding intelligent robots.
Background technology
The billions of members of swage die market scale greatly national at present, medium and small swage die exceeds 100 billion (10 tons of module weight <'s For medium and small swage die, 10 tons~50 tons are big swage die, are super large swage die more than 50 tons).With national ship, big aircraft system Make the demands such as industry to be lifted rapidly, maximum ultra-large type stamp forging hydraulic press (80,000 tons) is in Chinese second heavy-duty machinery collection in the world Company of group puts into operation, and its super large swage die used often covers weight more than 100 tons, using traditional forging die manufacture method, module Forge difficulty big, forging permeability is poor, and heat treatment after forging hardness is low, about HRC35~38, it is difficult to reach that forging die uses hardness requirement (HRC42~48), manufacturing cost is high, and the manufacturing cycle is up to 5~6 months, has had a strong impact on effectively using for the large scale equipment.
Both at home and abroad to the research tendency of big swage die:On the one hand, by continuing to optimize alloying component, the life-span of big swage die Improved;On the other hand, in forging die surface addition element alloying, surface property and forging die are also improved to a certain extent Life-span.But for (super) big swage die, optimized alloy composition is very not clear to the surface layer abrasion-proof and life-span of raising forging die It is aobvious;On forging die surface using factures such as alloyings, process route is complicated, and cost is high, and strengthening layer thickness is low, in HTHP bar Part lower substrate top layer is yielding, and requirement of (super) the big swage die to low cost and high life can not be met at all.
It is one for this it is proposed that a kind of prepare (super) big swage die method using in cast steel substrate upper epidermis gradient built-up welding It is individual first to make cast steel substrate, then according to the work characteristics of forging die, complete the bead-welding technology of transition zone and working lining.Current built-up welding It is to use first to heat matrix, then takes out, the mode of human weld, inefficiency, and stable welding material can not be ensured Expect performance, it is impossible to ensure the stability of technique in welding.
The content of the invention
In order to solve the above-mentioned technical problem, a kind of mould 3D built-up welding intelligent robots of present invention offer, welding procedure stabilization, Welding quality is high.
To achieve these goals, technical scheme is as follows:A kind of mould 3D built-up welding intelligent robots, including two The parallel X-axis crossbeam of bar, two X-axis crossbeams are installed by column, and two are installed between two X-axis crossbeam top surfaces Y-axis crossbeam, two Y-axis crossbeams are by each independent actuator drives along X-axis cross beam movement, two Y-axis Z axis vertical guide is respectively mounted on crossbeam, the Z axis vertical guide is driven along Y-axis cross beam movement by Z-axis transmission device, It is characterized in that:Be slidably installed plumb joint in the Z axis vertical guide on a Y-axis crossbeam wherein, on another Y-axis crossbeam Erecting and welding destressing device in Z axis vertical guide, the welding destressing device includes high frequency hammering device and dust exhaust apparatus, The high frequency hammering device is slidably mounted in Z axis vertical guide by hammering device mounting seat, the hammering device mounting seat Driven and moved up and down along Z axis vertical guide by the hammering drive cylinder installed in Z axis vertical guide upper end;The dust suction dress Put including dust absorption nozzle, dust absorption nozzle bearing, hose and dust absorption nozzle drive cylinder, upper end and the hose phase of the dust absorption nozzle Even, the dust absorption nozzle is arranged in the Z axis vertical guide by dust absorption nozzle bearing sliding, the dust absorption nozzle drive cylinder driving Dust absorption nozzle bearing is slided up and down along Z axis vertical guide;
Lower section between two X-axis crossbeams is provided with mould constant temperature heating device.
Using such scheme, die matrix is placed on mould constant temperature heating device, it is ensured that temperature during welding, to provide Stable welding material performance, it is ensured that the stability of welding procedure, improves welding quality.Two Y-axis crossbeam alternately enters to mould Row processing, specifically, being first moved through plumb joint to carry out built-up welding to mould, then plumb joint is exited, and welds destressing device Come over, complete stress elimination after welding, high frequency hammering is carried out to face of weld, high frequency hammering can play control shape, the purpose of control property, Ensure the flatness and interior tissue uniformity after welding.Dust exhaust apparatus siphons away the welding slag of face of weld.Plumb joint and welding are gone Power apparatus alternation is answered, so, plumb joint worked after a period of time, exits and is cooled.Weld destressing device then work Make, after the completion of welding destressing device work, cooling is exited again, plumb joint works on, and so on, reduce heater pair The influence of plumb joint and welding destressing device drive disk assembly and control element, it is ensured that robot is produced steadily in the long term, improves machine Device people's service life.
In such scheme:Lower section between two X-axis crossbeams is provided with flatcar guide rail, and electric flat carriage is arranged on flatcar On guide rail, the mould constant temperature heating device is arranged on electric flat carriage.Electric flat carriage completes the carrying of mould, is easy to mould to enter Go out 3D built-up welding region.
In such scheme:The plumb joint includes welding gun, welding head bracket, holder for welding gun, welding gun slewing equipment and sent Silk machine, the plumb joint bracket slide is connected in the Z axis vertical guide, and Z by welding head driving apparatus drives edge Axle vertical guide is moved up and down, and the welding gun slewing equipment is arranged on the lower end of welding head bracket, and the holder for welding gun is installed Below welding head bracket, the upper end of the welding gun is connected through holder for welding gun with welding gun slewing equipment, the welding gun upper end It is connected with wire-feed motor, the wire-feed motor is arranged on Z axis vertical guide upper end.The steering that welding gun slewing equipment can complete welding gun is moved Make.
In such scheme:Additional body is additionally provided with the welding head bracket.Spatial digitizer is installed in additional body With welding tracking device, spatial digitizer can complete the reconstruct of mould.Welding tracking device tracks welding quality, checks whether there is gas Bubble and welding slag, further improve welding quality.
It is preferred that:The welding head driving apparatus is servomotor, rack pinion system.
Beneficial effect:The mould 3D Intelligent weldings robot that the present invention is designed is protected by setting mould constant temperature heating device Demonstrate,prove the temperature in welding process, it is ensured that the technology stability in welding, improve welding quality.By dividing on two Y-axis crossbeams Other erecting and welding head and welding destressing device, alternation, are reduced because temperature is too high to drive disk assembly and control element band The influence come, increases the service life.Using welding destressing device, on the one hand remove welding slag, complete stress elimination after welding, separately On the one hand the flatness after welding, control face of weld shape and material structure performance are ensured, the present invention can be used for mould Repair and the new mould of 3D printing.
Brief description of the drawings
Fig. 1 is structural representation of the invention.
Fig. 2 is the structural representation of plumb joint.
Fig. 3 is the structural representation of welding destressing device.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples:
Embodiment 1, as Figure 1-3:The mould 3D built-up welding intelligent robot of the present invention is by X-axis crossbeam 1, Y-axis crossbeam 2, Z Axle vertical guide 3, plumb joint 4, flatcar guide rail 5, welding destressing device 6, electric flat carriage 7, mould constant temperature heating device composition.
X-axis crossbeam 1 be two, two X-axis crossbeams 1 be arranged in parallel, two X-axis crossbeams 1 by column be arranged on ground or On base, two Y-axis crossbeams 2 are installed between two top surfaces of X-axis crossbeam 1, two Y-axis crossbeams 2 pass through each independent transmission Device driving is moved along X-axis crossbeam 1, and gear, tooth are installed on rack, Y-axis crossbeam 2 specifically, being laid in the top surface of X-axis crossbeam 1 Wheel and rack is engaged, and Y-axis crossbeam 2 is moved by servomotor, the control of rack pinion system on X-axis crossbeam 1, realizes X To precise motion.Servomotor, rack pinion system are prior art, be will not be described here.
Z axis vertical guide 3 is respectively mounted on two Y-axis crossbeams 2, Z axis vertical guide 3 passes through Z-axis transmission device drives edge Y-axis crossbeam 2 to slide, Z-axis transmission device is servomotor screw rod transmission system, this system is also prior art, is not done herein Repeat.
Be slidably installed plumb joint 4 in the Z axis vertical guide 3 on a Y-axis crossbeam 2 wherein.Specifically:Plumb joint 4 is wrapped Include welding gun 4-1, welding head bracket 4-2, holder for welding gun 4-3, welding gun slewing equipment 4-4 and wire-feed motor 4-5, welding head bracket 4- 2 are slidably connected in Z axis vertical guide 3, and Z axis vertical guide 3 by welding head driving apparatus drives edge and move up and down, and weld Joint drive device is also to install vertical rack, plumb joint branch in servomotor, rack pinion system, Z axis vertical guide 3 Gear is installed, servomotor band moving gear is moved on rack on frame 4-2.Welding gun slewing equipment 4-4 is arranged on welding head bracket 4-2 lower end, welding gun slewing equipment 4-4 is to include rotary disk, and rotary disk is driven by servomotor to be rotated, holder for welding gun 4- 3 are arranged on below welding head bracket 4-2, and welding gun 4-1 upper end is connected through holder for welding gun 4-3 with welding gun slewing equipment 4-4, Welding gun 4-1 upper ends are connected through rotary disk with wire-feed motor 4-5, and wire-feed motor 4-5 is arranged on the upper end of Z axis vertical guide 3.Plumb joint branch Additional body 4-6 is additionally provided with frame 4-2.Install and be not drawn into spatial digitizer and welding tracking device, figure on additional body 4-6 Spatial digitizer and welding tracking device.
Erecting and welding destressing device 6 in Z axis vertical guide 3 on another Y-axis crossbeam 2, specifically:Weld destressing Device includes high frequency hammering device 6-1 and dust exhaust apparatus, and high frequency hammering device 6-1 structure is prior art, is not done herein superfluous State.High frequency hammering device 6-1 is led by the hammering device mounting seat 6-3 auxiliary being slidably mounted on the slide carriage of Z axis vertical guide 3 On rail, slide carriage is slidably connected in Z axis vertical guide, and hammering device mounting seat 6-3 passes through installed in the upper end of Z axis vertical guide 3 Hammering drive cylinder 6-4 drive moved up and down along Z axis vertical guide 3;The piston rod and hammering for hammering drive cylinder 6-4 are filled Mounting seat 6-3 is put to be connected.Dust exhaust apparatus includes dust absorption nozzle 6-2, dust absorption nozzle bearing 6-5, hose 6-6 and dust absorption nozzle driving gas Cylinder 6-7, dust absorption nozzle 6-2 upper end are connected with hose 6-6, and hose 6-6 is connected with vacuum cleaner, and dust absorption nozzle passes through dust suction Mouth bearing 6-5 is slidably mounted in the auxiliary guide rail of another slide carriage in Z axis vertical guide 3, another slide carriage also company of slip It is connected in Z axis vertical guide, dust absorption nozzle drive cylinder 6-7 drivings dust absorption nozzle bearing 6-5 is slided up and down along Z axis vertical guide 3, Dust absorption nozzle drive cylinder 6-7 piston rod is connected with dust absorption nozzle bearing 6-5.Dust absorption nozzle drive cylinder 6-7 is vertically led installed in Z axis The upper end of rail.
Lower section between two X-axis crossbeams 1 is provided with two flatcar guide rails 5, and flatcar guide rail 5 is mounted on ground or base, Electric flat carriage 7 is arranged on flatcar guide rail 5, and mould constant temperature heating device is arranged on electric flat carriage 7.
In use, die matrix is placed on mould constant temperature heating device, it is ensured that temperature during welding, to provide stabilization Welding material performance, it is ensured that the stability of welding procedure, improves welding quality.Two Y-axis crossbeam 2 is alternately added to mould Work, specifically, being first moved through plumb joint 4 to carry out built-up welding to mould, then plumb joint is exited, the mistake of welding destressing device 6 Come, complete stress elimination after welding, high frequency hammering is carried out to face of weld, high frequency hammering can play control shape, the purpose of control property, protect Flatness and interior tissue uniformity after card welding.Dust exhaust apparatus siphons away the welding slag of face of weld.Plumb joint and welding are gone should Power apparatus alternation, so, plumb joint worked after a period of time, exits and is cooled.Welding destressing device proceeds with one's work, Weld after the completion of the work of destressing device, cooling is exited again, plumb joint works on, and so on, reduce heater butt welding Joint and welding destressing device are driven the influence of control element, it is ensured that robot is produced steadily in the long term, improve robot and use Life-span.
The present invention is not limited to above-mentioned specific embodiment, it will be appreciated that one of ordinary skill in the art is without creative Work just can make many modifications and variations according to the design of the present invention.In a word, all technical staff in the art are according to this The design of invention passes through the available technical side of logical analysis, reasoning, or a limited experiment on the basis of existing technology Case, all should be in the protection domain being defined in the patent claims.

Claims (5)

1. a kind of mould 3D built-up welding intelligent robots, including two parallel X-axis crossbeams (1), two X-axis crossbeams (1) are led to Column installation is crossed, two Y-axis crossbeams (2), two Y-axis crossbeams (2) are installed between two X-axis crossbeam (1) top surfaces It is mobile along X-axis crossbeam (1) by each independent actuator drives, it is respectively mounted Z axis on two Y-axis crossbeams (2) Vertical guide (3), the Z axis vertical guide (3) is driven along Y-axis crossbeam (2) movement by Z-axis transmission device, and its feature exists In:Be slidably installed plumb joint (4), another Y-axis crossbeam (2) in the Z axis vertical guide (3) on a Y-axis crossbeam (2) wherein On Z axis vertical guide (3) on erecting and welding destressing device (6), the welding destressing device includes high frequency hammering device (6-1) and dust exhaust apparatus, it is vertical that the high frequency hammering device (6-1) is slidably mounted on Z axis by hammering device mounting seat (6-3) On guide rail (3), the hammering device mounting seat (6-3) passes through the hammering drive cylinder installed in Z axis vertical guide (3) upper end (6-4) drives and moved up and down along Z axis vertical guide (3);The dust exhaust apparatus includes dust absorption nozzle (6-2), dust absorption nozzle bearing (6- 5), hose (6-6) and dust absorption nozzle drive cylinder (6-7), upper end and hose (6-6) phase of the dust absorption nozzle (6-2) Even, the dust absorption nozzle is slidably mounted on the Z axis vertical guide (3) by dust absorption nozzle bearing (6-5), the dust absorption nozzle driving Cylinder (6-7) driving dust absorption nozzle bearing (6-5) is slided up and down along Z axis vertical guide (3);
Lower section between two X-axis crossbeams (1) is provided with mould constant temperature heating device.
2. a kind of mould 3D built-up welding intelligent robots according to claim 1, it is characterised in that:Two X-axis crossbeams (1) Between lower section be provided with flatcar guide rail (5), electric flat carriage (7) is arranged on flatcar guide rail (5), the mould heated at constant temperature dress Put on electric flat carriage (7).
3. a kind of mould 3D built-up welding intelligent robots according to claim 1 or claim 2, it is characterised in that:Plumb joint (4) bag Include welding gun (4-1), welding head bracket (4-2), holder for welding gun (4-3), welding gun slewing equipment (4-4) and wire-feed motor (4-5), institute State welding head bracket (4-2) to be slidably connected on the Z axis vertical guide (3), and Z by welding head driving apparatus drives edge Axle vertical guide (3) is moved up and down, and the welding gun slewing equipment (4-4) is arranged on the lower end of welding head bracket (4-2), the weldering Rifle clamper (4-3) is arranged on below welding head bracket (4-2), and the upper end of the welding gun (4-1) passes through holder for welding gun (4-3) It is connected with welding gun slewing equipment (4-4), welding gun (4-1) upper end is connected with wire-feed motor (4-5), wire-feed motor (4-5) peace Mounted in Z axis vertical guide (3) upper end.
4. a kind of mould 3D built-up welding intelligent robots according to claim 3, it is characterised in that:Welding head bracket (the 4- 2) additional body (4-6) is additionally provided with.
5. a kind of mould 3D built-up welding intelligent robots according to claim 3, it is characterised in that:The welding head driving apparatus For servomotor, rack pinion system.
CN201710259085.9A 2017-04-19 2017-04-19 A kind of mold 3D built-up welding intelligent robots Active CN106994577B (en)

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Cited By (6)

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Publication number Priority date Publication date Assignee Title
CN108436343A (en) * 2018-06-06 2018-08-24 陈燕 A kind of multifunctional industrial robot for intelligence manufacture automatic production line
CN108747107A (en) * 2018-06-06 2018-11-06 陈燕 A kind of automation can remote monitoring factory
CN109014667A (en) * 2018-06-06 2018-12-18 陈燕 A kind of automated production assembly system based on intelligent industrial robot
CN110405392A (en) * 2019-07-30 2019-11-05 马鞍山市金韩防水保温工程有限责任公司 A kind of handware processing surface welder and its application method
CN111421202A (en) * 2020-01-15 2020-07-17 广东艾迪特智能科技有限公司 Multi-robot collaborative material increase platform and material increase method for oversized metal component
CN111496354A (en) * 2020-05-09 2020-08-07 曹瑞 Spiral submerged arc welded pipe welding seam protection device

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CN108436343A (en) * 2018-06-06 2018-08-24 陈燕 A kind of multifunctional industrial robot for intelligence manufacture automatic production line
CN108747107A (en) * 2018-06-06 2018-11-06 陈燕 A kind of automation can remote monitoring factory
CN109014667A (en) * 2018-06-06 2018-12-18 陈燕 A kind of automated production assembly system based on intelligent industrial robot
CN108436343B (en) * 2018-06-06 2020-11-13 聊城锐利机械设备有限公司 Multifunctional industrial robot for intelligent manufacturing automatic production line
CN109014667B (en) * 2018-06-06 2021-02-05 河南省乾憬光电科技有限公司 Automatic production and assembly system based on intelligent industrial robot
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CN110405392A (en) * 2019-07-30 2019-11-05 马鞍山市金韩防水保温工程有限责任公司 A kind of handware processing surface welder and its application method
CN110405392B (en) * 2019-07-30 2021-07-27 马鞍山市金韩防水保温工程有限责任公司 Surface welding device for hardware processing and use method thereof
CN111421202A (en) * 2020-01-15 2020-07-17 广东艾迪特智能科技有限公司 Multi-robot collaborative material increase platform and material increase method for oversized metal component
CN111496354A (en) * 2020-05-09 2020-08-07 曹瑞 Spiral submerged arc welded pipe welding seam protection device

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