CN111673334B - Spiral blade precision welding robot and welding method - Google Patents
Spiral blade precision welding robot and welding method Download PDFInfo
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- CN111673334B CN111673334B CN202010422325.4A CN202010422325A CN111673334B CN 111673334 B CN111673334 B CN 111673334B CN 202010422325 A CN202010422325 A CN 202010422325A CN 111673334 B CN111673334 B CN 111673334B
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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
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
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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
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Abstract
The invention discloses a precision welding robot for helical blades, which comprises a helical blade to be welded, wherein the helical blade to be welded is coaxially sleeved on a helical blade shaft, and a helical welding seam to be welded is formed between the root part of the helical blade to be welded and the outer wall of the helical blade shaft; the spiral welding robot is provided with a welding unit which can continuously weld the spiral welding seam to be welded; the spiral continuous welding machine is simple in structure, can realize spiral continuous welding specially aiming at spiral welding seams, and is high in welding efficiency and consistency compared with manual welding.
Description
Technical Field
The invention belongs to the field of welding robots.
Background
The welding seam of the large-scale helical blade and the blade shaft is a complex helical welding seam, the welding course of the welding seam is long, the welding seam is generally manually welded, and the situation that the consistency of the welding effect is not good is easily caused.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a helical blade precision welding robot and a welding method capable of realizing continuous welding of threads.
The technical scheme is as follows: in order to achieve the purpose, the spiral blade precision welding robot comprises a spiral blade to be welded, wherein the spiral blade to be welded is coaxially sleeved on a spiral blade shaft, and a spiral welding seam waiting for welding is formed between the root of the spiral blade to be welded and the outer wall of the spiral blade shaft;
the spiral welding robot is provided with a welding unit which can continuously weld the spiral welding seam to be welded;
the spiral welding robot is also provided with an air cooling unit, and the air cooling unit can blow out forced cooling airflow to the welding part of the welding unit in real time.
Further, the spiral surface of the to-be-welded spiral blade close to the upper side is an upper spiral walking slope surface, and the spiral surface of the to-be-welded spiral blade close to the lower side is a lower spiral walking slope surface; the spiral welding robot is provided with a first walking part and a second walking part, and the first walking part can walk along the spiral contour edge of the upper spiral walking slope; the second walking part can walk along the spiral contour edge of the lower spiral walking slope surface.
Furthermore, a hydraulic linear expansion piece is arranged between the first walking part and the second walking part, the length direction of the hydraulic linear expansion piece is parallel to the extending direction of the helical blade shaft, a first pair of hydraulic linear expansion rods and a second pair of hydraulic linear expansion rods are respectively arranged at two ends of the hydraulic linear expansion piece, the tail ends of the first pair of hydraulic linear expansion rods are fixedly connected with the first walking part, and the tail ends of the second pair of hydraulic linear expansion rods are fixedly connected with the second walking part; the first pair of hydraulic linear telescopic rods can drive the first walking part to move along the axial direction of the helical blade shaft; the second pair of hydraulic linear telescopic rods can drive the second walking part to move along the axis direction of the spiral blade shaft.
Furthermore, the first traveling part comprises a first bearing seat, the first bearing seat is fixedly connected to the tail ends of the first pair of hydraulic linear telescopic rods, a first wheel shaft is rotatably arranged in the first bearing seat through a first bearing, the axis of the first wheel shaft is vertically intersected with the axis of the spiral blade shaft, and a first traveling wheel is coaxially connected to the first wheel shaft; and the wheel surface of the first walking wheel is in rolling fit with the spiral profile edge of the upper spiral walking slope surface.
Furthermore, the second walking part comprises a second bearing seat, the second bearing seat is fixedly connected to the tail ends of the second pair of hydraulic linear telescopic rods, a second wheel shaft is rotatably arranged in the second bearing seat through a second bearing, the axis of the second wheel shaft is vertically intersected with the axis of the helical blade shaft, and a second walking wheel is coaxially connected to the second wheel shaft; and the wheel surface of the second travelling wheel is in rolling fit with the spiral profile edge of the lower spiral travelling slope surface.
Furthermore, the spiral welding robot also comprises a walking driving motor, a shell of the walking driving motor is fixedly supported and connected with a shell of the hydraulic linear expansion piece through a first support and a second support, and an output shaft of the walking driving motor is parallel to the axis of the spiral blade shaft; the output shaft is coaxially connected with an output wheel, and the walking driving motor drives the output wheel to rotate through the output shaft; the wheel surface of the output wheel is in rolling tangent fit with the outer wall surface of the helical blade shaft, and the output wheel can roll on the outer wall surface of the helical blade shaft;
a left hydraulic cylinder support and a right hydraulic cylinder support are fixedly arranged on two sides of a shell of the walking driving motor respectively, a left arc-shaped hydraulic cylinder is fixedly mounted on the left hydraulic cylinder support, and a right arc-shaped hydraulic cylinder is fixedly mounted on the right hydraulic cylinder support; the center of the arc body of the left arc-shaped hydraulic cylinder is superposed with the axis of the spiral blade shaft, and the center of the arc body of the right arc-shaped hydraulic cylinder is superposed with the axis of the spiral blade shaft;
the tail end of a left arc hydraulic rod of the left arc hydraulic cylinder is fixedly connected with a left embracing restraining wheel support, a left embracing restraining wheel is rotatably arranged on the left embracing restraining wheel support, the axis of the left embracing restraining wheel is parallel to the axis of the spiral blade shaft, the wheel surface of the left embracing restraining wheel is in rolling and tangent fit with the outer wall surface of the spiral blade shaft, and the left embracing restraining wheel can roll on the outer wall surface of the spiral blade shaft;
the tail end of a right arc hydraulic rod of the right arc hydraulic cylinder is fixedly connected with a right cohesion restraining wheel support, a right cohesion restraining wheel is rotatably arranged on the right cohesion restraining wheel support, the axis of the right cohesion restraining wheel is parallel to the axis of the spiral blade shaft, the wheel surface of the right cohesion restraining wheel is in rolling and tangent fit with the outer wall surface of the spiral blade shaft, and the right cohesion restraining wheel can roll on the outer wall surface of the spiral blade shaft;
under the visual angle along the axial direction of the helical blade shaft, the outline of the helical blade shaft forms an outline circle;
the tangent point of the output wheel which is tangent to the spiral blade shaft in a rolling manner is set as a point B on the contour circle, the tangent point of the left contracting binding wheel which is tangent to the spiral blade shaft in a rolling manner is set as a point A on the contour circle, the tangent point of the right contracting binding wheel which is tangent to the spiral blade shaft in a rolling manner is set as a point C on the contour circle, an arc passing through the point A, the point B and the point C is marked as an arc ABC, and the central angle of the arc ABC is set as beta; the numerical value of the central angle beta of the arc ABC can be changed by the extension and retraction of the left arc-shaped hydraulic rod or the extension and retraction of the right arc-shaped hydraulic rod, and the change range of the numerical value beta is 180-240 degrees;
when both the left and right arc hydraulic rods are in the retracted state, β =180 °,
when the left arc-shaped hydraulic rod and the right arc-shaped hydraulic rod are both in an extending state, the angle beta =240 degrees;
the welding device is characterized in that an oblique telescopic welding gun support is fixedly mounted on the second support, a telescopic welding gun is mounted on the telescopic welding gun support, and a spray welding end at the tail end of the welding gun points to the spiral welding seam.
Furthermore, the air cooling unit comprises a centrifugal fan fixedly mounted on the first support, an air outlet of an air outlet pipe of the centrifugal fan corresponds to the spray welding end at the tail end of the welding gun, and cooling air flow sprayed out of the air outlet blows towards the spray welding end at the tail end of the welding gun.
Further, the continuous welding method of the spiral weld of the spiral blade precision welding robot comprises the following steps:
the preparation process comprises the following steps: sleeving the helical blade to be welded on a helical blade shaft of the fixed tool, and then preliminarily fixing the helical blade to be welded and the helical blade shaft in a manual spot welding mode; in order to enable the spiral welding robot to be smoothly installed on the spiral blade shaft, a first pair of hydraulic linear telescopic rods and a second pair of hydraulic linear telescopic rods of the spiral welding robot are controlled to be in an extending state in an initial state, the spiral distance of a spiral blade to be welded is set to be d, and at the moment, the distance between a first walking wheel and a second walking wheel is larger than d; meanwhile, the left arc-shaped hydraulic rod and the right arc-shaped hydraulic rod of the spiral welding robot are both in a retraction state, at the moment, beta =180 degrees, at the moment, the distance between the point A and the point C is just the diameter of the spiral blade shaft, and the arc ABC is just a semi-arc;
the robot installation process: the left holding contract binding wheel, the right holding contract binding wheel and the output wheel of the spiral welding robot are all in rolling tangency with the spiral blade shaft, the left arc-shaped hydraulic rod and the right arc-shaped hydraulic rod are controlled to gradually extend outwards until beta =240 degrees, and arc ABC is a major arc with a central angle of 240 degrees; at the moment, the left holding contract binding wheel, the right holding contract binding wheel and the output wheel are distributed in a circumferential array relative to the axis of the spiral blade shaft; at the moment, the whole structure of the spiral welding robot can only move around the axis of the spiral blade shaft under the common constraint of the left holding contract binding wheel, the right holding contract binding wheel and the output wheel; meanwhile, the hydraulic linear expansion device is controlled to synchronously contract the first pair of hydraulic linear expansion rods and the second pair of hydraulic linear expansion rods, so that the distance between the first walking wheel and the second walking wheel is gradually reduced until the distance between the first walking wheel and the second walking wheel is just equal to d, at the moment, the wheel surface of the first walking wheel is in rolling fit with the spiral contour edge of the upper spiral walking slope surface, and the wheel surface of the second walking wheel is in rolling fit with the spiral contour edge of the lower spiral walking slope surface; then controlling the telescopic oblique welding gun to extend gradually until the spray welding end at the tail end of the welding gun just contacts the pointed spiral welding line;
and (3) welding: the walking driving motor controls the output wheel to rotate, so that the output wheel rolls on the spiral blade shaft along the circumferential direction, the whole spiral welding robot is enabled to rotate around the axis of the spiral blade shaft, meanwhile, the first walking wheel can walk along the spiral direction of the upper spiral walking slope surface in the process of rotating the whole spiral welding robot around the axis of the spiral blade shaft, the second walking wheel walks along the spiral direction of the lower spiral walking slope surface, and the spiral welding robot is further enabled to move along the axis direction of the spiral blade shaft while rotating along the axis of the spiral blade shaft; so that the actual motion of the spiral welding robot is spiral motion around the axis of the spiral blade shaft;
the spiral welding robot integrally performs spiral motion relative to the spiral blade shaft, so that a path continuously swept by a spray welding end at the tail end of the welding gun just coincides with a spiral welding seam to be welded, the welding gun is controlled to continuously spray welding liquid at the moment, and then the spiral welding seam is continuously welded; meanwhile, the centrifugal fan is started, so that cooling airflow sprayed out of the air outlet is sprayed to the spiral welding line in real time, and the effect of real-time cooling is achieved.
Has the advantages that: the spiral continuous welding machine is simple in structure, can realize spiral continuous welding specially aiming at spiral welding seams, and is high in welding efficiency and consistency compared with manual welding.
Drawings
FIG. 1 is a schematic view of the overall structure of a helical welding robot already mounted on a helical blade shaft;
FIG. 2 is an enlarged partial schematic view of FIG. 1;
FIG. 3 is a side view of FIG. 2;
FIG. 4 is a schematic view of the helical blade shown in FIG. 1 without the helical blade fitted around the helical blade shaft;
FIG. 5 is a schematic axial view of FIG. 4;
FIG. 6 is a schematic view of a first structure of a spiral welding robot;
FIG. 7 is a schematic view of a second configuration of the spiral welding robot;
FIG. 8 is a schematic view of the separation of the helical blade shaft from the helical blade.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The spiral blade precision welding robot shown in the attached figures 1 to 8 comprises a spiral blade 15 to be welded, which is coaxially sleeved on a spiral blade shaft 16, and a spiral welding seam 13 waiting for welding is formed between the blade root of the spiral blade 15 to be welded and the outer wall of the spiral blade shaft 16;
the spiral welding robot 21 is provided with a welding unit, and the welding unit can continuously weld the spiral welding line 13 to be welded;
the spiral welding robot 21 is further provided with an air cooling unit which can blow a forced cooling airflow to the welding part of the welding unit in real time.
The spiral surface of the to-be-welded spiral blade 15 close to the upper side is an upper spiral walking slope surface 14, and the spiral surface of the to-be-welded spiral blade 15 close to the lower side is a lower spiral walking slope surface 18; the spiral welding robot 21 is provided with a first walking part 51 and a second walking part 52, and the first walking part 51 can walk along the edge of the spiral outline of the upper spiral walking slope 14; the second running portion 52 can run along the spiral contour edge of the lower spiral running slope 18.
A hydraulic linear expansion piece 6 is further arranged between the first walking part 51 and the second walking part 52, the length direction of the hydraulic linear expansion piece 6 is parallel to the extending direction of the spiral blade shaft 16, a first pair of hydraulic linear expansion rods 9 and a second pair of hydraulic linear expansion rods 4 are respectively arranged at two ends of the hydraulic linear expansion piece 6, the tail ends of the first pair of hydraulic linear expansion rods 9 are fixedly connected with the first walking part 51, and the tail ends of the second pair of hydraulic linear expansion rods 4 are fixedly connected with the second walking part 52; the first pair of hydraulic linear telescopic rods 9 can drive the first walking part 51 to displace along the axial direction of the spiral blade shaft 16; the second pair of hydraulic linear expansion rods 4 can drive the second walking part 52 to displace along the axial direction of the helical blade shaft 16.
The first walking part 51 comprises a first bearing seat 10, the first bearing seat 10 is fixedly connected to the tail ends of the first pair of hydraulic linear telescopic rods 9, a first wheel shaft 11 is rotatably arranged in the first bearing seat 10 through a first bearing 22, the axis of the first wheel shaft 11 is vertically intersected with the axis of the spiral blade shaft 16, and a first walking wheel 12 is coaxially connected to the first wheel shaft 11; the tread of the first running wheel 12 is in rolling fit with the edge of the spiral profile of the upper spiral running slope 14.
The second walking part 52 comprises a second bearing seat 3, the second bearing seat 3 is fixedly connected to the tail ends of the second pair of hydraulic linear telescopic rods 4, a second wheel shaft 2 is rotatably arranged in the second bearing seat 3 through a second bearing 23, the axis of the second wheel shaft 2 is vertically intersected with the axis of the spiral blade shaft 16, and a second walking wheel 1 is coaxially connected to the second wheel shaft 2; the wheel surface of the second walking wheel 1 is in rolling fit with the spiral contour edge of the lower spiral walking slope surface 18.
The spiral welding robot 21 further comprises a walking driving motor 17, a shell of the walking driving motor 17 is fixedly supported and connected with a shell of the hydraulic linear expansion piece 6 through a first support 5 and a second support 37, and an output shaft 34 of the walking driving motor 17 is parallel to the axis of the spiral blade shaft 16; the output shaft 34 is coaxially connected with an output wheel 20, and the walking driving motor 17 drives the output wheel 20 to rotate through the output shaft 34; the wheel surface of the output wheel 20 is in rolling tangent fit with the outer wall surface of the spiral blade shaft 16, and the output wheel 20 can roll on the outer wall surface of the spiral blade shaft 16;
a left hydraulic cylinder support 24 and a right hydraulic cylinder support 25 are respectively fixedly arranged on two sides of a shell of the walking driving motor 17, a left arc-shaped hydraulic cylinder 26 is fixedly arranged on the left hydraulic cylinder support 24, and a right arc-shaped hydraulic cylinder 27 is fixedly arranged on the right hydraulic cylinder support 25; the circle center of the arc body of the left arc-shaped hydraulic cylinder 26 is superposed with the axis of the spiral blade shaft 16, and the circle center of the arc body of the right arc-shaped hydraulic cylinder 27 is superposed with the axis of the spiral blade shaft 16;
the tail end of a left arc hydraulic rod 28 of the left arc hydraulic cylinder 26 is fixedly connected with a left embracing and constraining wheel support 33, a left embracing and constraining wheel 32 is rotatably arranged on the left embracing and constraining wheel support 33, the axis of the left embracing and constraining wheel 32 is parallel to the axis of the spiral blade shaft 16, the wheel surface of the left embracing and constraining wheel 32 is in rolling and tangential fit with the outer wall surface of the spiral blade shaft 16, and the left embracing and constraining wheel 32 can roll on the outer wall surface of the spiral blade shaft 16;
the tail end of a right arc hydraulic rod 29 of the right arc hydraulic cylinder 27 is fixedly connected with a right embracing and constraining wheel support 30, a right embracing and constraining wheel 31 is rotatably arranged on the right embracing and constraining wheel support 30, the axis of the right embracing and constraining wheel 31 is parallel to the axis of the spiral blade shaft 16, the wheel surface of the right embracing and constraining wheel 31 is in rolling and tangent fit with the outer wall surface of the spiral blade shaft 16, and the right embracing and constraining wheel 31 can roll on the outer wall surface of the spiral blade shaft 16;
the profile of the helical blade shaft 16 forms a profile circle 41 in the view along the axial direction of the helical blade shaft 16;
the tangent point of the output wheel 20 rolling and tangent with the helical blade shaft 16 is set as a point B on the outline circle 41, the tangent point of the left embracing constraint wheel 32 rolling and tangent with the helical blade shaft 16 is set as a point A on the outline circle 41, the tangent point of the right embracing constraint wheel 31 rolling and tangent with the helical blade shaft 16 is set as a point C on the outline circle 41, and simultaneously, an arc passing through the point A, the point B and the point C is marked as an arc ABC, and the central angle of the arc ABC is set as beta; the extension and retraction of the left arc-shaped hydraulic rod 28 or the extension and retraction of the right arc-shaped hydraulic rod 29 can change the numerical value of the central angle beta of the arc ABC, and the change range of the numerical value beta is 180-240 degrees;
when both the left arc hydraulic rod 28 and the right arc hydraulic rod 29 are in the retracted state, β =180 °,
when both left and right arcuate hydraulic rods 28, 29 are in an extended state, β =240 °;
an inclined telescopic welding gun support 7 is fixedly installed on the second support 37, a telescopic welding gun 8 is installed on the telescopic welding gun support 7, and a spray welding end 35 at the tail end of the welding gun 8 points to the spiral welding seam 13.
The air cooling unit comprises a centrifugal fan 19 fixedly mounted on the first support 5, an air outlet 341 of an air outlet pipe 351 of the centrifugal fan 19 corresponds to the spray welding end 35 at the tail end of the welding gun 8, and cooling air flow sprayed out of the air outlet 341 blows towards the spray welding end 35 at the tail end of the welding gun 8.
The continuous welding method and the working principle of the spiral weld joint of the spiral blade precision welding robot comprise the following steps:
the preparation process comprises the following steps: sleeving the helical blade 15 to be welded on a helical blade shaft 16 of the fixed tool, and then preliminarily fixing the helical blade 15 to be welded and the helical blade shaft 16 in a manual spot welding mode; in order to enable the spiral welding robot 21 to be smoothly installed on the spiral blade shaft 16, in an initial state, controlling a first pair of hydraulic linear telescopic rods 9 and a second pair of hydraulic linear telescopic rods 4 of the spiral welding robot 21 to be in an extending state, setting the spiral distance of a spiral blade 15 to be welded as d, and at the moment, setting the distance between a first walking wheel 12 and a second walking wheel 1 to be larger than d; meanwhile, the left arc-shaped hydraulic rod 28 and the right arc-shaped hydraulic rod 29 of the spiral welding robot 21 are both in a retraction state, at the moment, beta =180 °, at the moment, the distance between the point a and the point C is just the diameter of the spiral blade shaft 16, and the arc ABC is just a semicircular arc;
the robot installation process: the left cohesion constraint wheel 32, the right cohesion constraint wheel 31 and the output wheel 20 of the spiral welding robot 21 are all in rolling tangency with the spiral blade shaft 16, at the moment, the left arc-shaped hydraulic rod 28 and the right arc-shaped hydraulic rod 29 are controlled to gradually extend outwards until beta =240 degrees, and at the moment, "arc ABC" is a major arc with a central angle of 240 degrees; at the moment, the left cohesion constraint wheel 32, the right cohesion constraint wheel 31 and the output wheel 20 are distributed in a circumferential array relative to the axis of the spiral blade shaft 16; at the moment, the whole structure of the spiral welding robot 21 can only move around the axis of the spiral blade shaft 16 under the joint constraint of the left cohesion constraint wheel 32, the right cohesion constraint wheel 31 and the output wheel 20; meanwhile, the hydraulic linear expansion device 6 is controlled to synchronously contract the first pair of hydraulic linear expansion rods 9 and the second pair of hydraulic linear expansion rods 4, so that the distance between the first walking wheel 12 and the second walking wheel 1 is gradually reduced until the distance between the first walking wheel 12 and the second walking wheel 1 is just equal to d, at the moment, the wheel surface of the first walking wheel 12 is in rolling fit with the edge of the spiral outline of the upper spiral walking slope 14, and the wheel surface of the second walking wheel 1 is in rolling fit with the edge of the spiral outline of the lower spiral walking slope 18; then controlling the telescopic oblique welding gun 8 to extend gradually until the spray welding end 35 at the tail end of the welding gun 8 just contacts the pointed spiral welding line 13;
and (3) welding: the walking driving motor 17 controls the output wheel 20 to rotate, so that the output wheel 20 rolls on the spiral blade shaft 16 along the circumferential direction, so that the whole spiral welding robot 21 rotates around the axis of the spiral blade shaft 16, and meanwhile, in the process that the whole spiral welding robot 21 rotates around the axis of the spiral blade shaft 16, the first walking wheel 12 walks along the spiral direction of the upper spiral walking slope 14, and the second walking wheel 1 walks along the spiral direction of the lower spiral walking slope 18, so that the spiral welding robot 21 also moves along the axis direction of the spiral blade shaft 16 while rotating along the axis of the spiral blade shaft 16; so that the actual motion of the helical welding robot 21 is a helical motion about the axis of the helical blade shaft 16;
the spiral welding robot 21 makes spiral motion relative to the spiral blade shaft 16 to enable a path continuously swept by a spray welding end 35 at the tail end of the welding gun 8 to be just overlapped with the spiral welding seam 13 to be welded, and at the moment, the welding gun 8 is controlled to continuously spray welding liquid, so that the continuous welding of the spiral welding seam 13 is realized; meanwhile, the centrifugal fan 19 is started, so that the cooling airflow sprayed out from the air outlet 341 is sprayed to the spiral welding seam 13 in real time, and the effect of real-time cooling is achieved.
The above is only a preferred embodiment of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention, and such modifications and adaptations are intended to be within the scope of the invention.
Claims (3)
1. The spiral blade precision welding robot comprises a to-be-welded spiral blade (15) coaxially sleeved on a spiral blade shaft (16), wherein a spiral welding seam (13) waiting for welding is formed between the blade root of the to-be-welded spiral blade (15) and the outer wall of the spiral blade shaft (16);
the welding device is characterized by further comprising a spiral welding robot (21), wherein a welding unit is arranged on the spiral welding robot (21), and the welding unit can be used for continuously welding the spiral welding seam (13) to be welded;
the spiral welding robot (21) is also provided with an air cooling unit, and the air cooling unit can blow a forced cooling airflow to the welding part of the welding unit in real time;
the spiral surface of the to-be-welded spiral blade (15) close to the upper side is an upper spiral walking slope surface (14), and the spiral surface of the to-be-welded spiral blade (15) close to the lower side is a lower spiral walking slope surface (18); the spiral welding robot (21) is provided with a first walking part (51) and a second walking part (52), and the first walking part (51) can walk along the spiral contour edge of the upper spiral walking slope surface (14); the second walking part (52) can walk along the spiral contour edge of the lower spiral walking slope surface (18);
a hydraulic linear expansion piece (6) is further arranged between the first walking part (51) and the second walking part (52), the length direction of the hydraulic linear expansion piece (6) is parallel to the extending direction of the spiral blade shaft (16), a first pair of hydraulic linear expansion rods (9) and a second pair of hydraulic linear expansion rods (4) are respectively arranged at two ends of the hydraulic linear expansion piece (6), the tail ends of the first pair of hydraulic linear expansion rods (9) are fixedly connected with the first walking part (51), and the tail ends of the second pair of hydraulic linear expansion rods (4) are fixedly connected with the second walking part (52); the first pair of hydraulic linear telescopic rods (9) can drive the first walking part (51) to displace along the axial direction of the spiral blade shaft (16); the second pair of hydraulic linear telescopic rods (4) can drive the second walking part (52) to move along the axial direction of the spiral blade shaft (16);
the first walking part (51) comprises a first bearing seat (10), the first bearing seat (10) is fixedly connected to the tail ends of the first pair of hydraulic linear telescopic rods (9), a first wheel shaft (11) is rotatably arranged in the first bearing seat (10) through a first bearing (22), the axis of the first wheel shaft (11) is vertically intersected with the axis of the spiral blade shaft (16), and a first travelling wheel (12) is coaxially connected to the first wheel shaft (11); the wheel surface of the first walking wheel (12) is in rolling fit with the edge of the spiral outline of the upper spiral walking slope surface (14);
the second walking part (52) comprises a second bearing seat (3), the second bearing seat (3) is fixedly connected to the tail ends of the second pair of hydraulic linear telescopic rods (4), a second wheel shaft (2) is rotatably arranged in the second bearing seat (3) through a second bearing (23), the axis of the second wheel shaft (2) is vertically intersected with the axis of the spiral blade shaft (16), and a second walking wheel (1) is coaxially connected to the second wheel shaft (2); the wheel surface of the second walking wheel (1) is in rolling fit with the spiral contour edge of the lower spiral walking slope surface (18);
the spiral welding robot (21) further comprises a walking driving motor (17), a machine shell of the walking driving motor (17) is fixedly supported and connected with a machine shell of the hydraulic linear expansion piece (6) through a first support (5) and a second support (37), and an output shaft (34) of the walking driving motor (17) is parallel to the axis of the spiral blade shaft (16); the output shaft (34) is coaxially connected with an output wheel (20), and the walking driving motor (17) drives the output wheel (20) to rotate through the output shaft (34); the wheel surface of the output wheel (20) is in rolling tangent fit with the outer wall surface of the spiral blade shaft (16), and the output wheel (20) can roll on the outer wall surface of the spiral blade shaft (16);
a left hydraulic cylinder support (24) and a right hydraulic cylinder support (25) are respectively fixedly arranged on two sides of a shell of the walking driving motor (17), a left arc-shaped hydraulic cylinder (26) is fixedly arranged on the left hydraulic cylinder support (24), and a right arc-shaped hydraulic cylinder (27) is fixedly arranged on the right hydraulic cylinder support (25); the arc body circle center of the left arc-shaped hydraulic cylinder (26) is superposed with the axis of the spiral blade shaft (16), and the arc body circle center of the right arc-shaped hydraulic cylinder (27) is superposed with the axis of the spiral blade shaft (16);
the tail end of a left arc hydraulic rod (28) of the left arc hydraulic cylinder (26) is fixedly connected with a left embracing and constraining wheel support (33), a left embracing and constraining wheel (32) is rotatably arranged on the left embracing and constraining wheel support (33), the axis of the left embracing and constraining wheel (32) is parallel to the axis of the spiral blade shaft (16), the wheel surface of the left embracing and constraining wheel (32) is in rolling and tangential fit with the outer wall surface of the spiral blade shaft (16), and the left embracing and constraining wheel (32) can roll on the outer wall surface of the spiral blade shaft (16);
the tail end of a right arc-shaped hydraulic rod (29) of the right arc-shaped hydraulic cylinder (27) is fixedly connected with a right embracing and constraining wheel support (30), a right embracing and constraining wheel (31) is rotatably arranged on the right embracing and constraining wheel support (30), the axis of the right embracing and constraining wheel (31) is parallel to the axis of the spiral blade shaft (16), the wheel surface of the right embracing and constraining wheel (31) is in rolling and tangential fit with the outer wall surface of the spiral blade shaft (16), and the right embracing and constraining wheel (31) can roll on the outer wall surface of the spiral blade shaft (16);
the outline of the spiral blade shaft (16) forms an outline circle (41) under the view angle along the axial direction of the spiral blade shaft (16);
the tangent point of the output wheel (20) which is in rolling tangency with the spiral blade shaft (16) is set as a point B on the outline circle (41), the tangent point of the left contracting restraint wheel (32) which is in rolling tangency with the spiral blade shaft (16) is set as a point A on the outline circle (41), the tangent point of the right contracting restraint wheel (31) which is in rolling tangency with the spiral blade shaft (16) is set as a point C on the outline circle (41), an arc passing through the point A, the point B and the point C is marked as an arc ABC, and the central angle of the arc ABC is set as beta; the extension and retraction of the left arc-shaped hydraulic rod (28) or the extension and retraction of the right arc-shaped hydraulic rod (29) can change the numerical value of the central angle beta of the arc ABC, and the change range of the numerical value beta is 180-240 degrees;
when both the left arc hydraulic rod (28) and the right arc hydraulic rod (29) are in the retracted state, β =180 °,
β =240 ° when both the left arc hydraulic lever (28) and the right arc hydraulic lever (29) are in the extended state;
the telescopic welding gun support (7) is fixedly mounted on the second support (37), the telescopic welding gun (8) is mounted on the telescopic welding gun support (7), and the spray welding end (35) at the tail end of the welding gun (8) points to the spiral welding seam (13).
2. The helical blade precision welding robot as claimed in claim 1, wherein: the air cooling unit comprises a centrifugal fan (19) fixedly mounted on the first support (5), an air outlet (341) of an air outlet pipe (351) of the centrifugal fan (19) corresponds to a spray welding end (35) at the tail end of the welding gun (8), and cooling air flow sprayed out of the air outlet (341) blows towards the spray welding end (35) at the tail end of the welding gun (8).
3. The continuous welding method of a helical weld of a helical blade precision welding robot according to claim 2, characterized in that: the method comprises the following steps:
the preparation process comprises the following steps: the helical blade (15) to be welded is sleeved on a helical blade shaft (16) of the fixed tool, and then the helical blade (15) to be welded and the helical blade shaft (16) are preliminarily fixed in a manual spot welding mode; in order to enable the spiral welding robot (21) to be smoothly installed on the spiral blade shaft (16), the first pair of hydraulic linear telescopic rods (9) and the second pair of hydraulic linear telescopic rods (4) of the spiral welding robot (21) are controlled to be in an extending state in an initial state, the spiral pitch of the spiral blade (15) to be welded is set to be d, and the distance between the first walking wheel (12) and the second walking wheel (1) is larger than d; meanwhile, a left arc-shaped hydraulic rod (28) and a right arc-shaped hydraulic rod (29) of the spiral welding robot (21) are both in a retraction state, beta =180 degrees, the distance between a point A and a point C is just the diameter of the spiral blade shaft (16), and an arc ABC is just a semi-arc;
the robot installation process: a left holding contract binding wheel (32), a right holding contract binding wheel (31) and an output wheel (20) of the spiral welding robot (21) are all in rolling tangency with a spiral blade shaft (16), at the moment, a left arc-shaped hydraulic rod (28) and a right arc-shaped hydraulic rod (29) are controlled to gradually extend outwards until beta =240 degrees, and at the moment, an arc ABC is a major arc with a central angle of 240 degrees; at the moment, the left embracing binding wheel (32), the right embracing binding wheel (31) and the output wheel (20) are distributed in a circumferential array relative to the axis of the spiral blade shaft (16); at the moment, the whole structure of the spiral welding robot (21) can only move around the axis of the spiral blade shaft (16) under the common constraint of the left holding contract binding wheel (32), the right holding contract binding wheel (31) and the output wheel (20); meanwhile, the hydraulic linear expansion device (6) is controlled to synchronously contract the first pair of hydraulic linear expansion rods (9) and the second pair of hydraulic linear expansion rods (4), so that the distance between the first walking wheel (12) and the second walking wheel (1) is gradually reduced until the distance between the first walking wheel (12) and the second walking wheel (1) is just equal to d, the wheel surface of the first walking wheel (12) is in rolling fit with the spiral contour edge of the upper spiral walking slope surface (14), and the wheel surface of the second walking wheel (1) is in rolling fit with the spiral contour edge of the lower spiral walking slope surface (18); then controlling the telescopic oblique welding gun (8) to extend gradually until a spray welding end (35) at the tail end of the welding gun (8) just contacts the pointed spiral welding seam (13);
and (3) welding: the walking driving motor (17) controls the output wheel (20) to rotate, so that the output wheel (20) rolls on the spiral blade shaft (16) along the circumferential direction, the whole spiral welding robot (21) rotates around the axis of the spiral blade shaft (16), meanwhile, the first walking wheel (12) can walk along the spiral direction of the upper spiral walking slope surface (14) in the process that the whole spiral welding robot (21) rotates around the axis of the spiral blade shaft (16), the second walking wheel (1) walks along the spiral direction of the lower spiral walking slope surface (18), and further the spiral welding robot (21) rotates along the axis of the spiral blade shaft (16) and simultaneously moves along the axis direction of the spiral blade shaft (16); so that the actual movement of the spiral welding robot (21) is a spiral movement around the axis of the spiral blade shaft (16);
the spiral welding robot (21) integrally moves spirally relative to the spiral blade shaft (16) so that a path continuously swept by a spray welding end (35) at the tail end of the welding gun (8) just coincides with a spiral welding seam (13) to be welded, and the welding gun (8) is controlled to continuously spray welding liquid at the moment so as to realize continuous welding of the spiral welding seam (13); and meanwhile, the centrifugal fan (19) is started, so that the cooling airflow sprayed out of the air outlet (341) is sprayed to the spiral welding seam (13) in real time, and the effect of real-time cooling is achieved.
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