CN111545946B - High-efficiency automatic welding system for electrolytic aluminum anode steel claw and implementation method - Google Patents
High-efficiency automatic welding system for electrolytic aluminum anode steel claw and implementation method Download PDFInfo
- Publication number
- CN111545946B CN111545946B CN202010539624.6A CN202010539624A CN111545946B CN 111545946 B CN111545946 B CN 111545946B CN 202010539624 A CN202010539624 A CN 202010539624A CN 111545946 B CN111545946 B CN 111545946B
- Authority
- CN
- China
- Prior art keywords
- welding
- steel claw
- shaped groove
- steel
- defect
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23H—WORKING OF METAL BY THE ACTION OF A HIGH CONCENTRATION OF ELECTRIC CURRENT ON A WORKPIECE USING AN ELECTRODE WHICH TAKES THE PLACE OF A TOOL; SUCH WORKING COMBINED WITH OTHER FORMS OF WORKING OF METAL
- B23H3/00—Electrochemical machining, i.e. removing metal by passing current between an electrode and a workpiece in the presence of an electrolyte
- B23H3/04—Electrodes specially adapted therefor or their manufacture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
Abstract
The high-efficiency automatic welding system for the electrolytic aluminum anode steel claw comprises a welding robot and a mechanical arm measuring device, wherein the mechanical arm comprises a stand column, a first measuring arm is connected to the stand column through one rotation of a horizontal rotary joint, a second measuring arm rotates at the tail end of the first measuring arm through a second rotation of the horizontal rotary joint, and a Z-axis measuring head is slidably arranged at the tail end of the second measuring arm. The method for realizing high-efficiency automatic welding of the electrolytic aluminum anode steel claw comprises the following steps: processing a welding joint surface; and a second step of: spot welding; and a third step of: fixing steel claws; fourth step: measuring key points of the shape of the V-shaped groove; fifth step: measuring defect key points; sixth step: obtaining the shape and the position of the V-shaped groove; seventh step: obtaining an integral welding path; eighth step: transmitting to a welding robot; ninth step: the welding robot is full of surfacing; tenth step: the steel claw is turned 180 degrees to execute the third step to the ninth step. The application has high efficiency.
Description
Technical Field
The application relates to a welding technology of electrolytic aluminum anode steel claws, in particular to a high-efficiency automatic welding system and an implementation method of the electrolytic aluminum anode steel claws, and belongs to the technical field of electrolytic aluminum welding.
Background
The electrolytic aluminum anode steel claw has a severe working environment, is easy to erode in use to cause damage, the conductivity of the electrolytic aluminum anode steel claw is obviously deteriorated to a certain extent, the power consumption is increased suddenly, the steel claw is required to be replaced for repair or a new steel claw is required to be replaced, the repair cost of the steel claw is obviously lower than the cost of replacing the new steel claw after a plurality of steel claws are damaged, so the steel claw is a daily work in an electrolytic aluminum enterprise, the main means for repairing the steel claw at present is welding, the steel claw damage is divided into partial damage and complete damage of the steel claw, if one of the steel claw is damaged, the damaged part is required to be cut off, then a round steel with the same length as the cut off is processed, the round steel is welded on the residual end face of the steel claw, and if the whole steel claw is damaged, the steel claw is required to be cut off from the root connected with a cross beam, then the round steel is welded with the cross beam, and in this case, the round steel is welded with the square steel.
The prior steel claw welding has methods such as girth welding, fusion cast welding and the like, which are described in detail in the background technology of Chinese patent application No. 2013102955205, the methods are obviously not suitable for the requirements of large-scale electrolytic aluminum low-cost production, chinese patent application No. 2015108675866 discloses an automatic welding method for anode steel claw heads, which belongs to narrow-gap transverse welding, firstly, the flatness of two end faces of a groove is required to be very high in narrow-gap welding, the groove for artificial gas cutting is definitely unusable, the aspect is proved to be practical, secondly, the transverse welding quality is difficult to ensure, and then, the specific operation is carried out, the steel claw heads are burnt out, the sections are cut and cut, the automatic cutting equipment for rough round bars is almost not available at present, the manual cutting surfaces are not smooth, are irregular, the required and the residual length is difficult to ensure, the end faces are time-consuming and labor-consuming even before the subsequent welding, and the steel claw has the linearity requirement, and the end faces are required to be cut and cut off by the artificial gas cutting section, and the cut end faces are required to be cut and the perpendicular to be 2mm, and the dimension of the end faces of the machine tool is difficult to finish the end faces on a large scale because the machine tool is difficult to finish the end faces.
The current steel claw repairing and welding operation is basically finished by manpower, because in the current steel claw repairing, the efficiency of an automatic welding system is too low, in the past steel claw welding and repairing, an effective welding mode capable of ensuring the conductivity after welding is shown as shown in figure 3, in the mode, two symmetrical slopes are processed at the end part to be welded of round steel, the steel claw or the cross beam remained on the cross beam is directly cut into a plane, the included angle between the slope and the horizontal direction is generally 25-40 degrees, the slope is too steep (the slope angle Zhang Kouyue is small), the welding gun is influenced, the welding gun is too small (the slope angle is larger), the space required for surfacing is too large, the consumed materials are too much, the time is long, then two sections required to be welded are propped together, the welding point is fixed through the V-shaped port on one side manually, at this time, the welding piece is tilted upwards because of the welding stress, and then the V-shaped port on the other side is filled up by tilting over to fill the V-shaped port on the side of the initial point welding. An automatic welding system cannot be adopted in the welding scene, because the current automatic welding system needs to teach firstly before automatic welding is performed, teaching is also called guiding, namely, a user guides a welding robot (automatic welding system) to operate the welding robot step by step according to actual tasks, the welding robot automatically memorizes the position, the gesture, the motion parameters, the technological parameters and the like of each action taught in the guiding process, and automatically generates a program for continuously executing all the operations. After teaching is completed, a start command is given to the welding robot, the welding robot accurately acts according to the teaching, and all operations are completed step by step, which is the teaching and reproduction, or the programming of the welding robot. Teaching reproduction is a common form of robot when welding simple workpieces. The following is a general teaching working procedure of the welding robot: (1) creating a file and storing teaching data; (2) teaching operation, namely controlling the welding robot to operate step by step according to an actual task, and recording the position, the gesture, the motion parameters, the technological parameters and the like of each action of the welding robot during teaching; (3) using a tracking operation, checking or correcting teaching data during or after completion of the teaching; (4) editing details by using file editing operation, and completing a program by tracking the details during or after the operation; (5) after teaching is completed, the teaching program is checked by performing the blank walking of the welding robot in the automatic mode. Specifically in welding operation, when automatic welding equipment welds the work piece, need fix it with the frock of location, and specialized operating personnel carries out teaching work through the demonstrator, plans welding route and designs welding parameter. The workpiece is required to be completely consistent with the shape and the spatial position of the workpiece to be taught by the positioning tool, so that the robot can perform repeated welding operation without repeated teaching, and the workpiece with uniform specification and large batch has high economic benefit and high working efficiency. Because the V-shaped opening is welded layer by layer, if a welding robot is adopted, one layer of teaching process needs to be started every welding, so that the teaching time is too long, and the welding efficiency is too low, so that the existing electrolytic aluminum steel claw repairing has no case of adopting an automatic welding system on a large scale, the problems of uneven quality, high labor cost, bad welding environment and the like exist in manual welding, and the welding repairing task of the anode steel claw is very heavy because the general scale of an electrolytic aluminum production enterprise is very large, in the existing enterprise, special anode steel claw welding workshops, factories or sub-companies are generally specially arranged, but welding workers can reach tens or hundreds of people, the required welding sites and stations are also many, and the corresponding air draft dust removing system and lifting tool are arranged on each station, so that the low-efficiency and high-cost welding mode basically has no standard welding mode, and the production cost of the electrolytic aluminum industry is actually and indirectly improved. Therefore, if the automatic welding system can be used in welding repair of the electrolytic aluminum steel jaw under the condition of ensuring the welding efficiency, a large number of industrial workers can be released, the quality can be ensured, and favorable conditions can be created for efficient and lean production in the electrolytic aluminum industry.
Disclosure of Invention
The application aims to overcome the problems in the welding repair of the existing anode steel claw and provides an efficient automatic welding system and an implementation method of an electrolytic aluminum anode steel claw.
In order to achieve the purpose of the application, the following technical scheme is adopted: the high-efficiency automatic welding system for the electrolytic aluminum anode steel claw comprises an anode steel claw fixing frame, wherein the automatic welding system also comprises a welding robot and a mechanical arm measuring device, the welding robot comprises a control system, the mechanical arm measuring device comprises a mechanical arm and a computer, the computer is communicated with the control system of the welding robot, the mechanical arm comprises a stand column, a first measuring arm is connected to the stand column through one rotation of a horizontal rotary joint, an angle sensor I is connected to the horizontal rotary joint I, a second measuring arm is connected to the tail end of the first measuring arm through one rotation of the horizontal rotary joint II, and an angle sensor II is connected to the horizontal rotary joint II; the Z-axis measuring head is arranged at the tail end of the second measuring arm in a sliding manner in the vertical direction, the Z-axis measuring head is matched with the Z-axis measuring head, and the first angle sensor, the second angle sensor and the displacement sensor are all connected to the computer.
Further; the first angle sensor and the second angle sensor are respectively a first rotary encoder and a second rotary encoder, and the two rotary encoders are respectively connected to the rotating parts of the two horizontal rotary joints.
Further; the displacement sensor is as follows: the Z-axis measuring head is fixedly connected to the sliding block or integrally arranged with the sliding block, the sliding block is matched with the sliding block to be arranged on the guide rail, the guide rail is fixedly connected to the second measuring arm, the surface of the sliding block, which is positioned outside the guide rail, is of a rack structure, a gear is matched with the rack, the gear is rotationally connected to the second measuring arm, and a rotary encoder III is connected to a rotary shaft of the gear.
Further; and the tail end of the second measuring arm is screwed with a slider jacking bolt through a screw hole, and after the head jacking bolt is screwed, the slider can not slide freely by jacking the jacking bolt.
Further; the diameter of the lower end of the Z-axis measuring head is smaller than 0.5mm.
Further; the welding robot is characterized in that the anode steel claw fixing frame is fixedly arranged on the trolley, the trolley is arranged on the guide rail and driven by a chain, and an exhaust dust hood is arranged on the upper part of the welding robot.
The method for realizing the high-efficiency automatic welding of the electrolytic aluminum anode steel claw adopts the high-efficiency automatic welding system of the electrolytic aluminum anode steel claw, and comprises the following steps:
the first step: cutting off the damaged part of the steel claw along the vertical direction to form a welding end face in the vertical direction; processing a new round steel with the required length, wherein the diameter of the new round steel is equal to that of a steel claw, an upper inclined surface and a lower inclined surface are formed on any one of the welding end of the new round steel or the welding end surface of an anode, the included angle between the two inclined surfaces is 50-80 degrees, the welding end of the new round steel is butted at the cut part of the steel claw, the new round steel is concentric with the original steel claw, and a V-shaped groove is formed between the welding end of the new round steel and the steel claw after the butt joint;
and a second step of: fixing the new round steel and the steel claw between the V-shaped groove bottom on one side by spot welding manually;
and a third step of: placing the steel claw to be welded on an anode steel claw fixing frame, moving the steel claw to the operation range of a welding robot and a mechanical arm measuring device, and taking the bisector of the bottom angle of the V-shaped groove as a vertical line after the steel claw is placed on the anode steel claw fixing frame; the upward V-shaped groove is not subjected to bottom spot welding in the second step;
fourth step: the method comprises the steps that a handheld Z-axis measuring head measures key points for representing the shape of a V-shaped groove, wherein the key points for representing the shape of the V-shaped groove at least comprise two end points at two ends of a V-shaped bottom, and a computer records and measures the space coordinates of the key points for representing the shape of the V-shaped groove in the measuring process;
fifth step: if the inclined plane is arranged on the steel claw, visually observing whether the inclined plane has defects, if the inclined plane is arranged on the new round steel, visually observing whether the welding end face has defects, wherein the defects comprise pits and bulges; if the defect exists, measuring defect key points capable of representing the shape of the defect, and if the defect does not exist, directly performing a sixth step;
sixth step: in the process of obtaining the shape of the V-shaped groove by the computer according to the measured information of the key points, if the key points in the fourth step only measure two end points at two ends of the V-shaped bottom, the shape of the V-shaped groove is obtained by combining the diameter of the new round steel and the included angle between the two inclined planes and the horizontal direction when the new round steel and the cross beam are welded, the shape of the V-shaped groove is obtained by combining the diameter of the new round steel, the included angle between the two inclined planes and the horizontal direction and the shape and the size of the cross beam when the new round steel and the cross beam are welded, and if the key points also comprise the highest point on the inclined plane or any other two points on the edge of the inclined plane and any point on the edge of the opposite surface of the inclined plane of the V-shaped groove, the shape of the V-shaped groove is directly obtained by the space coordinate position of the key points; if the fifth step is performed with defect key point measurement, the computer obtains the shape and the position of the defect according to the position data of the defect key point;
seventh step: the computer plans an integral welding path according to the shape of the V-shaped groove and the shape and position of the defect;
eighth step: the computer transmits the planned whole welding path and the space position information of the V-shaped groove to the welding robot;
ninth step: the welding robot starts layer-by-layer welding from the bottom of the V-shaped groove according to the whole welding path and the space position information of the V-shaped groove until the whole V-shaped groove is fully overlaid;
tenth step: turning the steel claw for 180 degrees, and enabling the groove on the other side to face upwards; the third to ninth steps are performed.
Further; the two inclined planes are vertically symmetrical, when the repair is welding between the new round steel and the residual round steel on the steel claw, the two inclined planes are arranged on the new round steel, and when the repair is welding between the new round steel and the cross beam, the two inclined planes are arranged on the cross beam.
Further; the included angle between the two inclined planes is 70+/-4 degrees.
Further; the defect key points capable of characterizing the defect shape in the fifth step include the following: if the defect is a pit or a bump, the defect key points include at least two on the bottom edge, at least two points on the uppermost edge, and if the defect is a slope, the defect key points include at least the point of the slope change position and the points on both sides of the point of the slope change position.
The application has the positive beneficial effects that: the application can accurately measure the shape of the V-shaped groove through the mechanical measuring arm, if the V-shaped groove is internally defective, the key points used for representing the shape of the V-shaped groove can be measured to determine the shape and the position of the defect, the whole welding path (including the welding planning of the defective part) is obtained after the computer processing, and then the welding path is sent to the welding robot to weld the round steel after spot welding to the anode, thereby basically realizing the automation of the whole welding process, the method can complete the representation and the identification of the whole welding notch and the part only by one measurement (the measuring time is 1 minute), does not need to teach the welding robot before the next layer of welding after each layer of welding is completed, saves a great amount of teaching time, realizes the automatic welding of the steel claw anode in terms of efficiency, in addition, the method has defect identification measurement, so that the shape and the position of various defects on the surface of the steel jaw end forming the V-shaped groove can be identified, the processing requirement of the surface of the steel jaw end of the V-shaped groove becomes less severe, even if the V-shaped groove is provided with uneven pits, bulges, poor perpendicularity and partial inclination and steps, the space positions of the V-shaped groove can be accurately represented by measuring the space positions of the V-shaped groove through a mechanical measuring arm, the V-shaped groove is integrated into a welding path design plan, the cavity can not occur during welding, thereby ensuring the electrical conductivity after anode repair, the method has great significance after the surface processing requirement of the steel jaw end of the V-shaped groove is reduced, the surface cutting of the steel jaw end in the current anode repair cannot be neat, the machining process can not be introduced to process the surface of the steel jaw end (because the whole anode steel jaw can not be machined, and new round steel can be machined), under the condition that the requirements on the perpendicularity and the flatness of the surface of the steel claw end are high, manual polishing is required, the manual polishing efficiency is very low, so that the automatic welding method based on the surface of the steel claw end with high quality requirements is meaningless.
Drawings
Fig. 1 is a schematic diagram of the present automated welding system.
Fig. 2 is a schematic view of a mechanical measuring arm.
Fig. 3 is a partially enlarged view of fig. 2.
Fig. 4 is a schematic view of the welded portion between the new round steel and the round steel remaining on the steel claw.
FIG. 5 is a schematic illustration of repair of a weld between a new round steel and a beam.
Description of the embodiments
Examples of embodiments of the present application are provided for more fully explaining the practice of the present application, and are merely illustrative of the present application and do not limit the scope of the present application.
The application will be described in further detail with reference to the accompanying drawings, wherein each of the drawings is labeled: a frame 1; 2: a mechanical measuring arm; 3: a welding robot; 4: a guide rail; 5: a trolley; 6: an anode steel claw fixing frame; 7: an air draft dust hood; 8: new raw steel; 9: round steel remained on the steel claw; 10: an inclined plane; 11: v-shaped grooves; 12: a cross beam; 201: a column; 202: a first horizontal rotary joint; 203: a first measuring arm; 204: a horizontal rotary joint II; 205: a second measuring arm; 206: a Z-axis measuring head; 207: a slide block; 208: a guide rail; 209: a gear; 210: and (5) pushing the bolt.
The utility model provides an high-efficient automatic weld system of electrolytic aluminum anode steel claw, includes anode steel claw mount 6, has illustrated two kinds of high difference's mounts in fig. 1, one of them is used for the welding between the remaining round steel on new round steel and the steel claw, and another is used for welding between new round steel and the crossbeam, anode steel claw mount fixed mounting 5 on the dolly, the dolly setting is on guide rail 4, the dolly passes through chain drive, motor drive chain, the dolly has the brake, is provided with convulsions dust excluding hood 7 on welding robot upper portion.
The automatic welding system further comprises a welding robot 3 and a mechanical arm measuring device 2, the welding robot comprises a control system, the mechanical arm measuring device comprises a mechanical arm and a computer, the computer is communicated with the control system of the welding robot, the mechanical arm comprises a stand column 201, a first measuring arm 203 is rotatably connected to the stand column through a first horizontal rotary joint 202, an angle sensor is connected to the first horizontal rotary joint, a second measuring arm 205 is rotatably connected to the tail end of the first measuring arm through a second horizontal rotary joint 204, and an angle sensor is connected to the second horizontal rotary joint; the first angle sensor and the second angle sensor are respectively a first rotary encoder and a second rotary encoder, the two rotary encoders are respectively connected to rotary pieces of two horizontal rotary joints, a Z-axis measuring head 206 is slidably arranged in the up-down direction at the tail end of the second measuring arm, a displacement sensor is matched with the Z-axis measuring head, and the first angle sensor, the second angle sensor and the displacement sensor are all connected to a computer. The horizontal rotary joint can adopt a bearing, the bearing can be internally rotated for an inner ring or externally rotated for an outer ring, and the rotary encoder is connected to the rotating frame, which is the current common technology, and the displacement sensor is as follows: the Z-axis measuring head is fixedly connected to the sliding block 207 or integrally arranged with the sliding block, the sliding block is matched with the sliding block to be arranged on the guide rail 208, the guide rail is fixedly connected to the second measuring arm, the surface of the sliding block, which is positioned outside the guide rail, is of a rack structure, a gear 209 is matched with the rack, the gear is rotationally connected to the second measuring arm, and a rotary encoder III is connected to a rotary shaft of the gear. The rotary encoder is fixedly connected with a gear shaft, and the rotary encoder is connected with the gear shaft. The slider jack bolt 210 is screwed at the end of the second measuring arm through a screw hole, and after the jack bolt is screwed, the jack bolt jacks the slider and cannot slide freely. After the jacking bolts are loosened, the Z shaft can slide freely, the diameter of the lower end of the Z shaft measuring head is smaller than 0.5mm, so that teaching errors can be guaranteed to be within 0.5mm, and the welding precision requirement is met. In the application, the encoder in the mechanical arm can adopt a PENON rotary incremental encoder M50L5000ZG0C, the rotary joint can adopt a rotary support plane bearing, and the encoder can adopt a XRU3515RU66 bearing.
The structure of the mechanical measuring arm is a mature SCARA robot structure, and the innovation of the applicant is that the SCARA robot structure is adopted as the measuring arm to serve as the welding robot measuring equipment, so that the measuring difficulty is reduced, each teaching is replaced, the efficient automatic welding realization method of the electrolytic aluminum anode steel claw is improved, and the efficient automatic welding system of the electrolytic aluminum anode steel claw is adopted, and comprises the following steps:
the first step: cutting off the damaged part of the steel claw along the vertical direction to form a welding end face in the vertical direction; processing a new round steel with the required length, wherein the diameter of the new round steel is equal to that of a steel claw, an upper inclined surface and a lower inclined surface are formed on any one of the welding end of the new round steel or the welding end surface of an anode, the included angle between the two inclined surfaces is 50-80 degrees, the welding end of the new round steel is butted at the cut part of the steel claw, the new round steel is concentric with the original steel claw, and a V-shaped groove is formed between the welding end of the new round steel and the steel claw after the butt joint;
and a second step of: fixing the new round steel and the steel claw between the V-shaped groove bottom on one side by spot welding manually;
and a third step of: placing the steel claw to be welded on an anode steel claw fixing frame, moving the steel claw to the operation range of a welding robot and a mechanical arm measuring device, and taking the bisector of the bottom angle of the V-shaped groove as a vertical line after the steel claw is placed on the anode steel claw fixing frame; the upward V-shaped groove is not subjected to bottom spot welding in the second step;
fourth step: the method comprises the steps that a handheld Z-axis measuring head measures key points for representing the shape of a V-shaped groove, wherein the key points for representing the shape of the V-shaped groove at least comprise two end points at two ends of a V-shaped bottom, and a computer records and measures the space coordinates of the key points for representing the shape of the V-shaped groove in the measuring process;
fifth step: if the inclined plane is arranged on the steel claw, visually observing whether the inclined plane has defects, if the inclined plane is arranged on the new round steel, visually observing whether the welding end face has defects, wherein the defects comprise pits and bulges; if the defect exists, measuring defect key points capable of representing the shape of the defect, and if the defect does not exist, directly performing a sixth step;
sixth step: in the process of obtaining the shape of the V-shaped groove by the computer according to the measured information of the key points, if the key points in the fourth step only measure two end points at two ends of the V-shaped bottom, the shape of the V-shaped groove is obtained by combining the diameter of the new round steel and the included angle between the two inclined planes and the horizontal direction when the new round steel and the cross beam are welded, the shape of the V-shaped groove is obtained by combining the diameter of the new round steel, the included angle between the two inclined planes and the horizontal direction and the shape and the size of the cross beam when the new round steel and the cross beam are welded, and if the key points also comprise the highest point on the inclined plane or any other two points on the edge of the inclined plane and any point on the edge of the opposite surface of the inclined plane of the V-shaped groove, the shape of the V-shaped groove is directly obtained by the space coordinate position of the key points; if the fifth step is performed with defect key point measurement, the computer obtains the shape and the position of the defect according to the position data of the defect key point;
seventh step: the computer plans an integral welding path according to the shape of the V-shaped groove and the shape and position of the defect; the prior art is that the whole welding path is planned according to the shape of the V-shaped groove and the shape and position of the defect, and the welding path is planned according to the shape of the groove, for example, octave can be adopted, and the technical staff can plan the whole welding path by adopting the multi-layer multi-welding off-line programming software;
eighth step: the computer transmits the planned whole welding path and the space position information of the V-shaped groove to the welding robot;
ninth step: the welding robot starts layer-by-layer welding from the bottom of the V-shaped groove according to the whole welding path and the space position information of the V-shaped groove until the whole V-shaped groove is fully overlaid;
tenth step: turning the steel claw for 180 degrees, and enabling the groove on the other side to face upwards; the third to ninth steps are performed.
Further; the two inclined planes are vertically symmetrical, when the repair is welding between the new round steel and the residual round steel on the steel claw, the two inclined planes are arranged on the new round steel, and when the repair is welding between the new round steel and the cross beam, the two inclined planes are arranged on the cross beam.
Further; the included angle between the two inclined planes is 70+/-4 degrees.
Further; the defect key points capable of characterizing the defect shape in the fifth step include the following: if the defect is a pit or a bump, the defect key points include at least two on the bottom edge, at least two points on the uppermost edge, and if the defect is a slope, the defect key points include at least the point of the slope change position and the points on both sides of the point of the slope change position.
It should be noted that sometimes the defect is irregular, and some key points can be taken more, so that the efficiency of the application is not affected, because the mechanical measuring arm is very convenient and quick to measure, and the measuring time of each steel claw welding is generally within 1 minute according to the trial of the current steel claw welding operation.
Claims (9)
1. The method for realizing the high-efficiency automatic welding of the electrolytic aluminum anode steel claw is characterized by adopting an electrolytic aluminum anode steel claw high-efficiency automatic welding system: the high-efficiency automatic welding system for the electrolytic aluminum anode steel claw comprises an anode steel claw fixing frame, the automatic welding system further comprises a welding robot and a mechanical arm measuring device, the welding robot comprises a control system, the mechanical arm measuring device comprises a mechanical arm and a computer, the computer is communicated with the control system of the welding robot, the mechanical arm comprises a stand column, a first measuring arm is connected onto the stand column through rotation of a horizontal rotary joint, an angle sensor I is connected onto the horizontal rotary joint I, a second measuring arm is rotated onto the tail end of the first measuring arm through rotation of a horizontal rotary joint II, and an angle sensor II is connected onto the horizontal rotary joint II; a Z-axis measuring head is arranged at the tail end of the second measuring arm in a sliding manner in the up-down direction, a displacement sensor is arranged in cooperation with the Z-axis measuring head, and the first angle sensor, the second angle sensor and the displacement sensor are all connected to a computer;
the method comprises the following steps:
the first step: cutting off the damaged part of the steel claw along the vertical direction to form a welding end face in the vertical direction; processing a new round steel with the required length, wherein the diameter of the new round steel is equal to that of a steel claw, an upper inclined surface and a lower inclined surface are formed on any one of the welding end of the new round steel or the welding end surface of an anode, the included angle between the two inclined surfaces is 50-80 degrees, the welding end of the new round steel is butted at the cut part of the steel claw, the new round steel is concentric with the original steel claw, and a V-shaped groove is formed between the welding end of the new round steel and the steel claw after the butt joint;
and a second step of: fixing the new round steel and the steel claw between the V-shaped groove bottom on one side by spot welding manually;
and a third step of: placing the steel claw to be welded on an anode steel claw fixing frame, moving the steel claw to the operation range of a welding robot and a mechanical arm measuring device, and taking the bisector of the bottom angle of the V-shaped groove as a vertical line after the steel claw is placed on the anode steel claw fixing frame; the upward V-shaped groove is not subjected to bottom spot welding in the second step;
fourth step: the method comprises the steps that a handheld Z-axis measuring head measures key points for representing the shape of a V-shaped groove, wherein the key points for representing the shape of the V-shaped groove at least comprise two end points at two ends of a V-shaped bottom, and a computer records and measures the space coordinates of the key points for representing the shape of the V-shaped groove in the measuring process;
fifth step: if the inclined plane is arranged on the steel claw, visually observing whether the inclined plane has defects, if the inclined plane is arranged on the new round steel, visually observing whether the welding end face has defects, wherein the defects comprise pits and bulges; if the defect exists, measuring defect key points capable of representing the shape of the defect, and if the defect does not exist, directly performing a sixth step;
sixth step: in the process of obtaining the shape of the V-shaped groove by the computer according to the measured information of the key points, if the key points in the fourth step only measure two end points at two ends of the V-shaped bottom, the shape of the V-shaped groove is obtained by combining the diameter of the new round steel and the included angle between the two inclined planes and the horizontal direction when the new round steel and the cross beam are welded, the shape of the V-shaped groove is obtained by combining the diameter of the new round steel, the included angle between the two inclined planes and the horizontal direction and the shape and the size of the cross beam when the new round steel and the cross beam are welded, and if the key points also comprise the highest point on the inclined plane or any other two points on the edge of the inclined plane and any point on the edge of the opposite surface of the inclined plane of the V-shaped groove, the shape of the V-shaped groove is directly obtained by the space coordinate position of the key points; if the fifth step is performed with defect key point measurement, the computer obtains the shape and the position of the defect according to the position data of the defect key point;
seventh step: the computer plans an integral welding path according to the shape of the V-shaped groove and the shape and position of the defect;
eighth step: the computer transmits the planned whole welding path and the space position information of the V-shaped groove to the welding robot;
ninth step: the welding robot starts layer-by-layer welding from the bottom of the V-shaped groove according to the whole welding path and the space position information of the V-shaped groove until the whole V-shaped groove is fully overlaid;
tenth step: turning the steel claw for 180 degrees, and enabling the groove on the other side to face upwards; the third to ninth steps are performed.
2. The method for realizing high-efficiency automatic welding of the electrolytic aluminum anode steel claw according to claim 1, which is characterized in that: the two inclined planes are vertically symmetrical, when the repair is welding between the new round steel and the residual round steel on the steel claw, the two inclined planes are arranged on the new round steel, and when the repair is welding between the new round steel and the cross beam, the two inclined planes are arranged on the cross beam.
3. The method for realizing high-efficiency automatic welding of the electrolytic aluminum anode steel claw according to claim 2, which is characterized in that: the included angle between the two inclined planes is 70+/-4 degrees.
4. The method for realizing high-efficiency automatic welding of the electrolytic aluminum anode steel claw according to claim 1, which is characterized in that: the defect key points capable of characterizing the defect shape in the fifth step include the following: if the defect is a pit or a bump, the defect key points include at least two on the bottom edge, at least two points on the uppermost edge, and if the defect is a slope, the defect key points include at least the point of the slope change position and the points on both sides of the point of the slope change position.
5. The method for realizing high-efficiency automatic welding of the electrolytic aluminum anode steel claw according to claim 1, which is characterized in that: the first angle sensor and the second angle sensor are respectively a first rotary encoder and a second rotary encoder, and the two rotary encoders are respectively connected to the rotating parts of the two horizontal rotary joints.
6. The method for realizing high-efficiency automatic welding of the electrolytic aluminum anode steel claw according to claim 1, which is characterized in that: the displacement sensor is as follows: the Z-axis measuring head is fixedly connected to the sliding block or integrally arranged with the sliding block, the sliding block is matched with the sliding block to be arranged on the guide rail, the guide rail is fixedly connected to the second measuring arm, the surface of the sliding block, which is positioned outside the guide rail, is of a rack structure, a gear is matched with the rack, the gear is rotationally connected to the second measuring arm, and a rotary encoder III is connected to a rotary shaft of the gear.
7. The method for realizing high-efficiency automatic welding of the electrolytic aluminum anode steel claw according to claim 2, which is characterized in that: and the tail end of the second measuring arm is screwed with a slider jacking bolt through a screw hole, and after the head jacking bolt is screwed, the slider can not slide freely by jacking the jacking bolt.
8. The method for realizing high-efficiency automatic welding of the electrolytic aluminum anode steel claw according to claim 1, which is characterized in that: the diameter of the lower end of the Z-axis measuring head is smaller than 0.5mm.
9. The method for realizing high-efficiency automatic welding of the electrolytic aluminum anode steel claw according to claim 1, which is characterized in that: the welding robot is characterized in that the anode steel claw fixing frame is fixedly arranged on the trolley, the trolley is arranged on the guide rail and driven by a chain, and an exhaust dust hood is arranged on the upper part of the welding robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010539624.6A CN111545946B (en) | 2020-06-15 | 2020-06-15 | High-efficiency automatic welding system for electrolytic aluminum anode steel claw and implementation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010539624.6A CN111545946B (en) | 2020-06-15 | 2020-06-15 | High-efficiency automatic welding system for electrolytic aluminum anode steel claw and implementation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111545946A CN111545946A (en) | 2020-08-18 |
| CN111545946B true CN111545946B (en) | 2023-08-29 |
Family
ID=71997371
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010539624.6A Active CN111545946B (en) | 2020-06-15 | 2020-06-15 | High-efficiency automatic welding system for electrolytic aluminum anode steel claw and implementation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111545946B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112192004B (en) * | 2020-09-03 | 2023-10-03 | 内蒙古安达恒远科技有限公司 | Surfacing method of electrolytic aluminum anode steel claw |
| CN113070558B (en) * | 2021-03-26 | 2022-06-10 | 山东易斯特工程工具有限公司 | Robot operating device for plasma surfacing of wear-resistant surface of shield cutter |
| CN113070614B (en) * | 2021-04-03 | 2022-07-19 | 芜湖挺优机电技术有限公司 | Automatic welding equipment for metal support of catering label |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08215847A (en) * | 1995-02-14 | 1996-08-27 | Sekisui Chem Co Ltd | Control method of welding robot |
| JPH10291073A (en) * | 1997-04-17 | 1998-11-04 | Hitachi Constr Mach Co Ltd | Automatic welding equipment |
| CN101456182A (en) * | 2007-12-12 | 2009-06-17 | 中国科学院自动化研究所 | Intelligent robot welding device using large-scale workpiece |
| CN104029201A (en) * | 2014-06-19 | 2014-09-10 | 常州先进制造技术研究所 | SCARA (selective compliance assembly robot arm) robot special for welding operation |
| CN104368903A (en) * | 2014-08-14 | 2015-02-25 | 高伟 | Vertical type butt welder for anode steel claw |
| CN105458539A (en) * | 2015-12-14 | 2016-04-06 | 郑州经纬科技实业有限公司 | Anode steel claw head welding device used for aluminum electrolysis plant |
| CN105965162A (en) * | 2016-06-30 | 2016-09-28 | 永胜机械工业（昆山）有限公司 | Intelligent pipe opening welding device by robot |
| CN209565707U (en) * | 2019-03-07 | 2019-11-01 | 太原三众科技有限公司 | A kind of full-automatic dual-purpose machine of anode steel claw REPAIR WELDING of electrolytic aluminium |
| CN212398554U (en) * | 2020-06-15 | 2021-01-26 | 焦作智造机电设备有限公司 | High-efficiency automatic welding system for electrolytic aluminum anode steel claw |
-
2020
- 2020-06-15 CN CN202010539624.6A patent/CN111545946B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08215847A (en) * | 1995-02-14 | 1996-08-27 | Sekisui Chem Co Ltd | Control method of welding robot |
| JPH10291073A (en) * | 1997-04-17 | 1998-11-04 | Hitachi Constr Mach Co Ltd | Automatic welding equipment |
| CN101456182A (en) * | 2007-12-12 | 2009-06-17 | 中国科学院自动化研究所 | Intelligent robot welding device using large-scale workpiece |
| CN104029201A (en) * | 2014-06-19 | 2014-09-10 | 常州先进制造技术研究所 | SCARA (selective compliance assembly robot arm) robot special for welding operation |
| CN104368903A (en) * | 2014-08-14 | 2015-02-25 | 高伟 | Vertical type butt welder for anode steel claw |
| CN105458539A (en) * | 2015-12-14 | 2016-04-06 | 郑州经纬科技实业有限公司 | Anode steel claw head welding device used for aluminum electrolysis plant |
| CN105965162A (en) * | 2016-06-30 | 2016-09-28 | 永胜机械工业（昆山）有限公司 | Intelligent pipe opening welding device by robot |
| CN209565707U (en) * | 2019-03-07 | 2019-11-01 | 太原三众科技有限公司 | A kind of full-automatic dual-purpose machine of anode steel claw REPAIR WELDING of electrolytic aluminium |
| CN212398554U (en) * | 2020-06-15 | 2021-01-26 | 焦作智造机电设备有限公司 | High-efficiency automatic welding system for electrolytic aluminum anode steel claw |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111545946A (en) | 2020-08-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111545946B (en) | High-efficiency automatic welding system for electrolytic aluminum anode steel claw and implementation method | |
| EP0369891B1 (en) | Method and apparatus for automatically sensing the configuration of a surface area and effecting a work function thereon | |
| CN107253084B (en) | Efficient high-precision robot milling automatic system in aircraft digital assembly | |
| US10449619B2 (en) | System for processing a workpiece | |
| US10619762B2 (en) | Apparatus and method for detecting piping alignment using image information and laser sensor | |
| CN106041379B (en) | A kind of phase passes through the surface trimming welder of part | |
| CN210172874U (en) | Automatic welding system for bogie frame | |
| CN112676764A (en) | Portable online repair remanufacturing equipment and method based on arc fusion deposition | |
| CN111318928A (en) | Hub polishing device based on three-dimensional scanner and operation method thereof | |
| CN108941948B (en) | Double-station composite welding equipment and method | |
| CN212398554U (en) | High-efficiency automatic welding system for electrolytic aluminum anode steel claw | |
| CN110560941A (en) | assembling and welding process for open press body | |
| CN105312903A (en) | Laser cladding and self-adaptive milling integrated combined numerical-control machine tool for repairing blade | |
| CN106238937A (en) | One passes through part profile modeling welding-cutting control system mutually | |
| CN113664431A (en) | Steel structural part welding arm capable of adjusting posture in real time and adjusting method | |
| CN113370235A (en) | Automatic milling device for weld reinforcement, path generation method and using method | |
| CN212286224U (en) | Flexible welding system | |
| CN206029037U (en) | Pass through a profile modeling welding control system mutually | |
| CN113084386A (en) | Automatic detection and repair unit and method for welding seam of structural part | |
| CN112025057A (en) | Semitrailer fence production line | |
| CN218016825U (en) | Working station for welding and processing small inner barrel of road roller | |
| CN212019833U (en) | Welding robot | |
| CN110052755B (en) | System and method for automatically aligning and positioning long right-angle welding seam in workpiece space based on collision short-circuit sensor | |
| CN217371334U (en) | Equipment for repairing welding seam | |
| CN117300729B (en) | Efficient and precise machining method for normal round holes of special-shaped products based on three-axis machine tool |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |