CN106994577B - A kind of mold 3D built-up welding intelligent robots - Google Patents
A kind of mold 3D built-up welding intelligent robots Download PDFInfo
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- CN106994577B CN106994577B CN201710259085.9A CN201710259085A CN106994577B CN 106994577 B CN106994577 B CN 106994577B CN 201710259085 A CN201710259085 A CN 201710259085A CN 106994577 B CN106994577 B CN 106994577B
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- guide rail
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0247—Driving means
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Abstract
The invention discloses a kind of mold 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 separate actuator drives along X-axis cross beam movement, Z axis vertical guide is installed respectively on two Y-axis crossbeams, Z axis vertical guide is driven by Z-axis transmission device along Y-axis cross beam movement, be slidably installed in the Z axis vertical guide on a Y-axis crossbeam plumb joint wherein, erecting and welding destressing device in Z axis vertical guide on another Y-axis crossbeam, it includes high frequency hammering device and dust exhaust apparatus to weld destressing device, lower section between two X-axis crossbeams is equipped with mold constant temperature heating device.Ensure the temperature in welding process, improves welding quality.It reduces due to the excessively high influence brought to welding precision of temperature.Using welding destressing device, remove welding slag, ensure the flatness after welding, can be used for the reparation of mold and the mold that printing is new.
Description
Technical Field
The invention relates to a robot structure, in particular to a 3D surfacing intelligent robot for a mold.
Background
At present, the national large forging dies have a size of one billion yuan in market, and the middle and small forging dies have a billion yuan (the weight of the die block is less than 10 tons, the die block is the middle and small forging die, 10-50 tons is the large forging die, and more than 50 tons is the super large forging die). With the rapid increase of the requirements of the national ship and large airplane manufacturing industry and the like, the largest ultra-large die forging hydraulic machine (8 ten thousand tons) in the world is put into production and used by the second heavy machinery group company in China, each set of ultra-large forging die used by the ultra-large die forging hydraulic machine exceeds 100 tons, the traditional forging die manufacturing method is adopted, the die forging difficulty is large, the forging permeability is poor, the heat treatment hardness after forging is low and is about HRC 35-38, the use hardness requirement of the forging die (HRC 42-48) is difficult to achieve, the manufacturing cost is high, the manufacturing period is as long as 5-6 months, and the effective use of the large equipment is seriously influenced.
The research trend of large forging dies at home and abroad is as follows: on one hand, the service life of the large forging die is improved by continuously optimizing alloy components; on the other hand, the surface performance and the service life of the forging die are improved to a certain extent by adding element alloying on the surface of the forging die. But for (ultra) large forging dies, the alloy components are optimized, and the improvement on the surface wear resistance and the service life of the forging dies is not obvious; the surface of the forging die adopts alloying treatment methods and the like, the process route is complex, the cost is high, the thickness of a strengthening layer is low, the surface layer of a matrix is easy to deform under the conditions of high temperature and high pressure, and the requirements of (ultra) large forging dies on low cost and long service life cannot be met at all.
Therefore, the method for preparing the (ultra) large forging die by gradient surfacing on the upper surface layer of the cast steel substrate is a surfacing process for manufacturing the cast steel substrate and finishing the transition layer and the working layer according to the working characteristics of the forging die. At present, the surfacing welding adopts a mode of heating a matrix, taking out and manually welding, so that the working efficiency is low, the stable performance of a welding material cannot be ensured, and the stability of the process in the welding cannot be ensured.
Disclosure of Invention
In order to solve the technical problems, the invention provides the 3D surfacing intelligent robot for the die, which has the advantages of stable welding process and high welding quality.
In order to achieve the purpose, the technical scheme of the invention is as follows: the utility model provides a mould 3D build-up welding intelligent robot, includes the X axle crossbeam of two parallels, two the X axle crossbeam passes through column mouting, two install two Y axle crossbeams between the X axle crossbeam top surface, two the Y axle crossbeam is driven through independent transmission separately and is removed, two along X axle crossbeam install the vertical guide rail of Z axle on the Y axle crossbeam respectively, the vertical guide rail of Z axle drives through Z axle transmission and removes its characterized in that along Y axle crossbeam: a welding head is installed on a Z-axis vertical guide rail on one Y-axis cross beam in a sliding mode, a welding destressing device is installed on the Z-axis vertical guide rail on the other Y-axis cross beam in a welding mode, the welding destressing device comprises a high-frequency hammering device and a dust suction device, the high-frequency hammering device is installed on the Z-axis vertical guide rail in a sliding mode through a hammering device installation seat, and the hammering device installation seat drives an air cylinder to drive the air cylinder to move up and down along the Z-axis vertical guide rail through hammering installed at the upper end of; the dust collection device comprises a dust collection nozzle, a dust collection nozzle support, a dust collection hose and a dust collection nozzle driving cylinder, the upper end of the dust collection nozzle is connected with the dust collection hose, the dust collection nozzle is slidably mounted on the Z-axis vertical guide rail through the dust collection nozzle support, and the dust collection nozzle driving cylinder drives the dust collection nozzle support to slide up and down along the Z-axis vertical guide rail;
and a mold constant-temperature heating device is arranged below the space between the two X-axis cross beams.
By adopting the scheme, the die base body is placed on the die constant-temperature heating device, so that the temperature during welding is ensured, stable welding material performance is provided, the stability of a welding process is ensured, and the welding quality is improved. The two Y-axis cross beams are used for machining the die in an alternating mode, specifically, the welding head is moved to build up the die, then the welding head is withdrawn, the welding destressing device is used for welding, stress is eliminated after welding is completed, high-frequency hammering is conducted on the welding surface, the purpose of shape control and controllability can be achieved through the high-frequency hammering, and the flatness and the uniformity of internal tissues after welding are guaranteed. The dust suction device sucks away welding slag on the welding surface. The welding head and the welding destressing device work alternately, so that the welding head is withdrawn for cooling after working for a period of time. The welding destressing device works, after the welding destressing device works, the welding destressing device quits cooling again, the welding head continues working, the reciprocating operation is carried out, the influence of the heating device on the welding head, the transmission part of the welding destressing device and the control element is reduced, the long-term stable production of the robot is guaranteed, and the service life of the robot is prolonged.
In the scheme, the method comprises the following steps: and a flatcar guide rail is arranged below the space between the two X-axis cross beams, the electric flatcar is arranged on the flatcar guide rail, and the mold constant-temperature heating device is arranged on the electric flatcar. The electric flat carriage finishes the carrying of the die, and the die can conveniently enter and exit the 3D surfacing welding area.
In the scheme, the method comprises the following steps: the welding head comprises a welding gun, a welding head support, a welding gun holder, a welding gun rotating device and a wire feeder, the welding head support is connected to the Z-axis vertical guide rail in a sliding mode and driven by a welding head driving device to move up and down along the Z-axis vertical guide rail, the welding gun rotating device is installed at the lower end of the welding head support, the welding gun holder is installed below the welding head support, the upper end of the welding gun penetrates through the welding gun holder to be connected with the welding gun rotating device, the upper end of the welding gun is connected with the wire feeder, and the wire feeder is installed at the upper end of. The welding gun rotating device can complete the steering action of the welding gun.
In the scheme, the method comprises the following steps: and an additional bracket is also arranged on the welding head bracket. And a three-dimensional scanner and a welding tracker are arranged on the additional support, and the three-dimensional scanner can complete the reconstruction of the mold. The welding tracker tracks the welding quality, checks whether bubbles and welding slag exist, and further improves the welding quality.
Preferably: the welding head driving device is a servo motor and a gear rack transmission system.
Has the beneficial effects that: according to the die 3D intelligent welding robot, the die constant-temperature heating device is arranged, so that the temperature in the welding process is guaranteed, the process stability in welding is guaranteed, and the welding quality is improved. The welding heads and the welding stress relief devices are respectively arranged on the two Y-axis cross beams and work alternately, so that the influence on a transmission part and a control element caused by overhigh temperature is reduced, and the service life is prolonged. By adopting the welding stress relief device, on one hand, welding slag is removed, stress relief after welding is completed, on the other hand, the flatness after welding is ensured, and the welding surface shape and the material structure performance are controlled. The invention can be used for mold repair and 3D printing of new molds.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural diagram of a welding head.
Fig. 3 is a schematic structural diagram of a welding stress relief device.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
example 1, as shown in figures 1-3: the 3D surfacing intelligent robot for the mold consists of an X-axis beam 1, a Y-axis beam 2, a Z-axis vertical guide rail 3, a welding head 4, a flatcar guide rail 5, a welding destressing device 6, an electric flatcar 7 and a mold constant-temperature heating device.
The X-axis cross beams 1 are two, the two X-axis cross beams 1 are arranged in parallel, the two X-axis cross beams 1 are installed on the ground or a base through an upright column, the two Y-axis cross beams 2 are installed between the top surfaces of the two X-axis cross beams 1, the two Y-axis cross beams 2 are driven to move along the X-axis cross beams 1 through independent transmission devices, specifically, racks are laid on the top surfaces of the X-axis cross beams 1, gears are installed on the Y-axis cross beams 2, the gears are meshed with the racks, the Y-axis cross beams 2 are controlled to move on the X-axis cross beams 1 through servo motors and gear-rack transmission systems, and X-direction accurate movement is achieved. The servo motor and the gear rack transmission system are prior art and are not described herein.
The two Y-axis cross beams 2 are respectively provided with a Z-axis vertical guide rail 3, the Z-axis vertical guide rail 3 is driven by a Z-axis transmission device to slide along the Y-axis cross beams 2, the Z-axis transmission device is a servo motor lead screw transmission system, the system is also the prior art, and the description is omitted.
And a welding head 4 is arranged on a Z-axis vertical guide rail 3 on one Y-axis beam 2 in a sliding way. Specifically, the method comprises the following steps: the welding head 4 comprises a welding gun 4-1, a welding head support 4-2, a welding gun holder 4-3, a welding gun rotating device 4-4 and a wire feeder 4-5, the welding head support 4-2 is connected to the Z-axis vertical guide rail 3 in a sliding mode and driven to move up and down along the Z-axis vertical guide rail 3 through a welding head driving device, the welding head driving device is also a servo motor and a gear rack transmission system, a vertical rack is installed on the Z-axis vertical guide rail 3, a gear is installed on the welding head support 4-2, and the servo motor drives the gear to move on the rack. The welding gun rotating device 4-4 is arranged at the lower end of the welding head support 4-2, the welding gun rotating device 4-4 comprises a rotating disc, the rotating disc is driven to rotate through a servo motor, the welding gun holder 4-3 is arranged below the welding head support 4-2, the upper end of the welding gun 4-1 penetrates through the welding gun holder 4-3 to be connected with the welding gun rotating device 4-4, the upper end of the welding gun 4-1 penetrates through the rotating disc to be connected with the wire feeder 4-5, and the wire feeder 4-5 is arranged at the upper end of the Z-axis vertical guide rail 3. The welding head support 4-2 is also provided with an additional support 4-6. The additional supports 4-6 are provided with a three-dimensional scanner and a welding tracker, which are not shown in the figure.
The Z-axis vertical guide rail 3 on the other Y-axis beam 2 is provided with a welding destressing device 6, and the method comprises the following specific steps: the welding stress removing device comprises a high-frequency hammering device 6-1 and a dust suction device, and the structure of the high-frequency hammering device 6-1 is the prior art and is not described in detail herein. The high-frequency hammering device 6-1 is slidably mounted on an auxiliary guide rail on a slide carriage of the Z-axis vertical guide rail 3 through a hammering device mounting seat 6-3, the slide carriage is slidably connected on the Z-axis vertical guide rail, and the hammering device mounting seat 6-3 drives a driving cylinder 6-4 to drive the vertical guide rail 3 to move up and down along the Z-axis through hammering mounted at the upper end of the Z-axis vertical guide rail 3; and a piston rod of the hammering driving cylinder 6-4 is connected with a hammering device mounting seat 6-3. The dust collection device comprises a dust collection nozzle 6-2, a dust collection nozzle support 6-5, a dust collection hose 6-6 and a dust collection nozzle driving cylinder 6-7, the upper end of the dust collection nozzle 6-2 is connected with the dust collection hose 6-6, the dust collection hose 6-6 is connected with a dust collector, the dust collection nozzle is slidably mounted on an auxiliary guide rail of another slide carriage on the Z-axis vertical guide rail 3 through the dust collection nozzle support 6-5, the other slide carriage is also slidably connected on the Z-axis vertical guide rail, the dust collection nozzle driving cylinder 6-7 drives the dust collection nozzle support 6-5 to slide up and down along the Z-axis vertical guide rail 3, and a piston rod of the dust collection nozzle driving cylinder 6-7 is connected with the dust collection nozzle support 6-. The dust suction nozzle driving cylinder 6-7 is arranged at the upper end of the Z-axis vertical guide rail.
Two flatcar guide rails 5 are arranged below the space between the two X-axis cross beams 1, the flatcar guide rails 5 are arranged on the ground or a base, the electric flatcar 7 is arranged on the flatcar guide rails 5, and the mold constant-temperature heating device is arranged on the electric flatcar 7.
During the use, the mould base member is placed on mould constant temperature heating device, guarantees the temperature during welding to provide stable welding material performance, guarantee welding process's stability, improve welding quality. Two Y axle crossbeams 2 are processed the mould in turn, and is concrete, remove earlier soldered connection 4 and come to build up welding to the mould, then the soldered connection withdraws from, and welding destressing device 6 comes, accomplishes stress relief after the welding, carries out high frequency hammering to the welding surface, and high frequency hammering can play the purpose of accuse shape, accuse nature, guarantees flatness and the internal organization homogeneity after the welding. The dust suction device sucks away welding slag on the welding surface. The welding head and the welding destressing device work alternately, so that the welding head is withdrawn for cooling after working for a period of time. The welding destressing device works, after the welding destressing device works, the welding destressing device quits cooling again, the welding head continues working, the reciprocating operation is carried out, the influence of the heating device on the welding head and a transmission control element of the welding destressing device is reduced, the long-term stable production of the robot is guaranteed, and the service life of the robot is prolonged.
The present invention is not limited to the above-described embodiments, and it should be understood that modifications and variations can be made by those skilled in the art without inventive faculty, based on the concept of the present invention. In summary, the technical solutions available to those skilled in the art through logic analysis, reasoning or limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (5)
1. The utility model provides a mould 3D build-up welding intelligent robot, includes X axle crossbeam (1) of two parallels, two X axle crossbeam (1) is through column mouting, two install two Y axle crossbeams (2) between X axle crossbeam (1) top surface, two Y axle crossbeam (2) are driven through independent transmission separately and are removed along X axle crossbeam (1), two install Z axle vertical guide rail (3) on Y axle crossbeam (2) respectively, Z axle vertical guide rail (3) are removed along Y axle crossbeam (2) through Z axle transmission drive, its characterized in that: a welding head (4) is installed on a Z-axis vertical guide rail (3) on one Y-axis cross beam (2) in a sliding mode, a welding destressing device (6) is installed on the Z-axis vertical guide rail (3) on the other Y-axis cross beam (2), the welding destressing device comprises a high-frequency hammering device (6-1) and a dust suction device, the high-frequency hammering device (6-1) is installed on the Z-axis vertical guide rail (3) in a sliding mode through a hammering device installation seat (6-3), and the hammering device installation seat (6-3) drives a cylinder (6-4) to drive the Z-axis vertical guide rail (3) to move up and down through a hammering driving cylinder (6-4) installed at the upper end of the Z-axis; the dust collection device comprises a dust collection nozzle (6-2), a dust collection nozzle support (6-5), a dust collection hose (6-6) and a dust collection nozzle driving cylinder (6-7), the upper end of the dust collection nozzle (6-2) is connected with the dust collection hose (6-6), the dust collection nozzle is slidably mounted on the Z-axis vertical guide rail (3) through the dust collection nozzle support (6-5), and the dust collection nozzle driving cylinder (6-7) drives the dust collection nozzle support (6-5) to slide up and down along the Z-axis vertical guide rail (3);
and a mold constant-temperature heating device is arranged below the space between the two X-axis cross beams (1).
2. The 3D overlaying intelligent robot for the mold according to claim 1, wherein: two below between X axle crossbeam (1) is provided with flatcar guide rail (5), and install on flatcar guide rail (5) electronic flatcar (7), mould constant temperature heating device installs on electronic flatcar (7).
3. The 3D overlaying intelligent robot for the mold according to claim 1 or 2, wherein: the welding head (4) comprises a welding gun (4-1), a welding head support (4-2), a welding gun holder (4-3), a welding gun rotating device (4-4) and a wire feeder (4-5), the welding head support (4-2) is connected to the Z-axis vertical guide rail (3) in a sliding mode and driven by a welding head driving device to move up and down along the Z-axis vertical guide rail (3), the welding gun rotating device (4-4) is installed at the lower end of the welding head support (4-2), the welding gun holder (4-3) is installed below the welding head support (4-2), the upper end of the welding gun (4-1) penetrates through the welding gun holder (4-3) to be connected with the welding gun rotating device (4-4), and the upper end of the welding gun (4-1) is connected with the wire feeder (4-5), the wire feeder (4-5) is arranged at the upper end of the Z-axis vertical guide rail (3).
4. The 3D overlaying intelligent robot for the mold according to claim 3, wherein the robot comprises: the welding head support (4-2) is also provided with an additional support (4-6).
5. The 3D overlaying intelligent robot for the mold according to claim 3, wherein the robot comprises: the welding head driving device is a servo motor and a gear rack transmission system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710259085.9A CN106994577B (en) | 2017-04-19 | 2017-04-19 | A kind of mold 3D built-up welding intelligent robots |
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| CN201710259085.9A CN106994577B (en) | 2017-04-19 | 2017-04-19 | A kind of mold 3D built-up welding intelligent robots |
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| CN106994577B true CN106994577B (en) | 2018-09-28 |
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