CN112025060A - Intelligent device for continuously melting water-cooled wall - Google Patents
Intelligent device for continuously melting water-cooled wall Download PDFInfo
- Publication number
- CN112025060A CN112025060A CN202010938717.6A CN202010938717A CN112025060A CN 112025060 A CN112025060 A CN 112025060A CN 202010938717 A CN202010938717 A CN 202010938717A CN 112025060 A CN112025060 A CN 112025060A
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- driving motor
- connecting rod
- rack
- sliding table
- detector
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- 238000002844 melting Methods 0.000 title description 3
- 230000008018 melting Effects 0.000 title description 3
- 238000005253 cladding Methods 0.000 claims abstract description 29
- 238000003466 welding Methods 0.000 claims abstract description 26
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 230000000007 visual effect Effects 0.000 claims abstract description 16
- 230000004927 fusion Effects 0.000 claims abstract description 5
- 230000007704 transition Effects 0.000 claims description 19
- 238000009434 installation Methods 0.000 claims description 7
- 238000001816 cooling Methods 0.000 claims description 2
- 230000008021 deposition Effects 0.000 abstract description 10
- 238000000151 deposition Methods 0.000 description 10
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005137 deposition process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Images
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
- B23K10/00—Welding or cutting by means of a plasma
- B23K10/02—Plasma welding
- B23K10/027—Welding for purposes other than joining, e.g. build-up welding
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention discloses an intelligent continuous deposition device for a water-cooled wall, which comprises a rack, a guide rail and a plurality of bearing trolleys, wherein the guide rail is laid below the rack, the bearing trolleys are in sliding fit with the guide rail, a plurality of slide rails are arranged at the top of the rack, a sliding table linear slide rail is arranged on each slide rail, the sliding table is in sliding fit with the sliding table linear slide rail, a first driving motor and a six-axis manipulator are fixedly arranged on the sliding table, and the first driving motor can drive the sliding table to slide along the sliding table linear slide rail; the tail end of the six-axis manipulator is connected with a swing clamping mechanism, a visual contour detector and a plasma fusion welding gun are arranged on the swing clamping mechanism, and the first driving motor, the six-axis manipulator, the visual contour detector and the plasma fusion welding gun are electrically connected with an upper computer respectively. The device for intelligently and continuously cladding the water wall realizes continuous cladding of the water wall and improves the cladding efficiency of the water wall.
Description
Technical Field
The invention relates to the technical field of metal forming, in particular to an intelligent continuous cladding water-cooled wall device.
Background
In order to adapt to the development of the boiler technology of the power station, the length of a water wall of a main heating surface composition structure of the boiler is continuously increased, the traditional melting equipment cannot be matched with the specification of the existing water wall with larger length, the optimal solution that the length problem of the water wall is not solved by only increasing the size of the equipment to adapt to the water wall is achieved, the size of the equipment is increased, on one hand, the cost of the equipment is greatly increased, on the other hand, the size of the equipment is increased, the floor area of the equipment is increased, and the transportation and the practical application are not facilitated. Moreover, the existing cladding equipment generally needs to complete the full-length cladding of the water wall through multiple clamping, so that the operation steps are complex and the efficiency is low.
Disclosure of Invention
The invention aims to provide an intelligent device for continuously cladding a water-cooled wall, which is used for solving the problems in the prior art, realizing continuous cladding of the water-cooled wall and improving the cladding efficiency of the water-cooled wall.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides an intelligent continuous deposition device for a water-cooled wall, which comprises a rack, a guide rail and a plurality of bearing moving vehicles, wherein the guide rail is laid below the rack, the bearing moving vehicles are in sliding fit with the guide rail, the top of the rack is provided with a plurality of slide rails, sliding table linear slide rails are arranged on the slide rails, the sliding table is in sliding fit with the sliding table linear slide rails, a first driving motor and a six-shaft manipulator are fixedly arranged on the sliding table, and the first driving motor can drive the sliding table to slide along the sliding table linear slide rails; the end of the six-axis manipulator is connected with a swing clamping mechanism, a visual contour detector and a plasma welding gun are arranged on the swing clamping mechanism, and the first driving motor, the six-axis manipulator, the visual contour detector and the plasma welding gun are electrically connected with an upper computer respectively.
Preferably, a rack is further fixedly arranged on the sliding rail, a driving gear is arranged on an output shaft of the first driving motor, and the driving gear is meshed with the rack.
Preferably, the swing clamping mechanism comprises a mounting plate, a manipulator connecting bracket, a detector connecting bracket, a transition bracket, a swing connecting rod short shaft, a swing connecting rod long shaft and a second driving motor, the manipulator connecting bracket is fixedly arranged on the mounting plate and is used for being connected with the tail end of the six-axis robot, the detector connecting bracket is arranged at one end of the mounting plate, the visual contour detector is fixedly arranged on the detector connecting bracket, the second driving motor is fixedly arranged at the other end of the mounting plate, one end of the short shaft of the swinging connecting rod is rotationally connected with an output shaft of the second driving motor, the other end of the short shaft of the swinging connecting rod is rotationally connected with one end of the long shaft of the swinging connecting rod, the other end of the long shaft of the swing connecting rod is rotatably connected with the mounting plate, the transition support is arranged on the long shaft of the swing connecting rod, and the plasma fusion welding gun is fixedly connected with the transition support.
Preferably, the detector connecting bracket is connected with the mounting plate through a first bolt, a first oval long hole is formed in the detector connecting bracket, the first bolt penetrates through the first oval long hole, and the relative position of the detector connecting bracket and the mounting plate can be adjusted by adjusting the position of the bolt in the first oval long hole.
Preferably, the transition support is connected with the long shaft of the swing connecting rod through a second bolt, a second elliptical long hole is formed in the transition support, the second bolt penetrates through the second elliptical long hole, and the relative position of the transition support and the long shaft of the swing connecting rod can be adjusted by adjusting the position of the bolt in the second elliptical long hole.
Preferably, the bottom of the bearing trolley is provided with a brake roller which is in sliding fit with the guide rail.
Preferably, still be provided with a plurality of along horizontal direction interval distribution, the bearing smooth roller of equal level setting in the frame, the bearing smooth roller with frame normal running fit, the height on the top of bearing smooth roller with the height of the top surface that the bearing moved the car is the same, just the length direction of bearing smooth roller with the length direction of guide rail is perpendicular.
Compared with the prior art, the invention has the following technical effects:
the device for intelligently and continuously cladding the water wall realizes continuous cladding of the water wall and improves the cladding efficiency of the water wall. The device for intelligently and continuously depositing the water-cooled wall can complete the full-length deposition of the water-cooled wall through one-time clamping, has compact structure and small occupied area, can adapt to the deposition of the water-cooled wall with various lengths, can continuously perform the deposition process, does not need to wait for the clamping operation of a tube bank of the water-cooled wall for a long time, and has high equipment intelligence degree because the deposition process is completely controlled by a host computer.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic view showing the structure of an intelligent continuous cladding water wall device according to the present invention;
FIG. 2 is a schematic structural diagram of an intelligent continuous cladding water wall apparatus according to the present invention;
FIG. 3 is a schematic structural diagram III of an intelligent continuous cladding water wall apparatus according to the present invention;
FIG. 4 is a partial cross-sectional view of the apparatus for intelligent continuous cladding of a waterwall of the present invention;
FIG. 5 is a schematic structural diagram of a swing clamping mechanism in the apparatus for intelligently and continuously cladding a water-cooled wall according to the present invention;
wherein: 1. a slide rail; 2. a frame; 3. a six-axis manipulator; 4. swinging the clamping mechanism; 5. a tube bank; 6. a load-bearing sliding roller; 7. carrying and moving the vehicle; 8. braking the roller; 9. a guide rail; 10. a sliding table; 11. a first drive motor; 12. a rack; 13. a fixed beam; 14. a connecting plate; 15. a sliding table linear slide rail; 16. a long axis of the swing connecting rod; 17. a drive gear; 18. the manipulator is connected with the bracket; 19. a visual contour detector; 20. the detector is connected with the bracket; 21. plasma fusion welding gun; 22. a transition support; 23. a swing link minor axis; 24. mounting a plate; 25. a second drive motor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
The invention aims to provide an intelligent device for continuously cladding a water-cooled wall, which is used for solving the problems in the prior art, realizing continuous cladding of the water-cooled wall and improving the cladding efficiency of the water-cooled wall.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1 to 5: the embodiment provides a device of water-cooling wall is deposited in succession to intelligence, moves car 7 including frame 2, guide rail 9 and a plurality of bearing, and guide rail 9 lays in the below of frame 2, and the bearing moves car 7 and guide rail 9 sliding fit, and the bottom that the bearing moved car 7 is provided with and guide rail 9 sliding fit's brake roller 8. The rack 2 is also provided with a plurality of bearing sliding rollers 6 which are distributed at intervals along the horizontal direction and are all horizontally arranged, namely, a row of bearing sliding rollers 6 are arranged, the bearing sliding rollers 6 are in running fit with the rack 2, the height of the top end of each bearing sliding roller 6 is the same as that of the top surface of each bearing moving vehicle 7, in practical application, the height of the top end of each bearing sliding roller 6 is slightly higher than that of the top surface of each bearing moving vehicle 7, so that the bearing moving vehicles 7 can be conveniently withdrawn after the tube rows 5 to be clad on the bearing moving vehicles 7 are moved to the bearing sliding rollers 6, the length direction of each bearing sliding roller 6 is vertical to the length direction of the guide rail 9, and the bearing moving vehicles 7 are distributed on two sides of the rack 2.
The top of frame 2 is provided with a plurality of slide rail 1, slide rail 1 is including fixing two fixed beams 13 at the fuselage top and firmly fixing the slip table linear slide 15 constitution in the bottom of the connecting plate 1414 and the bottom of connecting plate 1414 bottom surface bilateral symmetry installation at the connecting plate 1414 bottom, slip table 10 and the 15 sliding fit of slip table linear slide, first driving motor 11 and six manipulators 3 have set firmly on the slip table 10, rack 12 has still set firmly on slide rail 1, be provided with drive gear 17 on first driving motor 11's the output shaft, drive gear 17 and the meshing of rack 12, first driving motor 11 can drive slip table 10 and slide along slip table linear slide 15.
The tail end of the six-axis manipulator 3 is connected with a swinging clamping mechanism 4, a visual contour detector 19 and a plasma welding gun 21 are arranged on the swinging clamping mechanism 4, the swinging clamping mechanism 4 comprises a mounting plate 24, a manipulator connecting support 18, a detector connecting support 20, a transition support 22, a swinging connecting rod short shaft 23, a swinging connecting rod long shaft 16 and a second driving motor 25, the manipulator connecting support 18 is fixedly arranged on the mounting plate 24 and is used for being connected with the tail end of the six-axis robot, the detector connecting support 20 is arranged at one end of the mounting plate 24, the visual contour detector 19 is fixedly arranged on the detector connecting support 20, the second driving motor 25 is fixedly arranged at the other end of the mounting plate 24, one end of the swinging connecting rod short shaft 23 is rotatably connected with an output shaft of the second driving motor 25, the other end of the swinging connecting rod short shaft is rotatably connected with one end of the swinging connecting rod, the transition support 22 is arranged on the long shaft 16 of the swing connecting rod, and the plasma welding gun 21 is fixedly connected with the transition support 22.
The detector connecting bracket 20 is connected with the mounting plate 24 through a first bolt, a first elliptical long hole is formed in the detector connecting bracket 20, the first bolt penetrates through the first elliptical long hole, and the relative position of the detector connecting bracket 20 and the mounting plate 24 can be adjusted through the position of an adjusting bolt in the first elliptical long hole. The transition support 22 is connected with the swing connecting rod long shaft 16 through a second bolt, a second elliptical long hole is formed in the transition support 22, the second bolt penetrates through the second elliptical long hole, and the relative position of the transition support 22 and the swing connecting rod long shaft 16 can be adjusted through the position of the adjusting bolt in the second elliptical long hole.
The first driving motor 11, the second driving motor 25, the six-axis manipulator 3, the visual contour detector 19 and the plasma welding gun 21 are electrically connected with an upper computer respectively. The first drive motor 11 and the second drive motor 25 both employ servo motors.
The use process of the intelligent continuous cladding water wall device is as follows:
firstly, a tube bank 5 to be clad is placed on a bearing moving vehicle at one side of a frame 2, then the bearing moving vehicle moves towards the frame 2, after the bearing moving vehicle is close to the frame 2, the tube bank 5 to be clad is dragged to move to a bearing sliding roller 6, then after the visual contour detector 19 detects the tube bank 5 to be clad, the upper computer sends a signal to the first driving motor 11, the first driving motor 11 is started to drive the sliding table 10 to linearly move along the sliding table linear slide rail 15 through the driving gear 17 and the rack 12, the sliding table 10 drives the six-axis manipulator 3, the swing clamping mechanism 4 and the plasma cladding welding gun 21 to move together, the upper computer can enable the plasma cladding welding gun 21 to swing by controlling the second driving motor 25, specifically, the second driving motor 25 drives the swing connecting rod short shaft 23 to rotate, so that the swing connecting rod long shaft 16 swings, and drives the plasma welding torch 21 installed in the direction of the long axis to swing to complete the welding; all the moving actions and the actions of the 6-axis manipulator are driven by a visual outline detector 19 and program calculation in an upper computer to automatically complete deposition welding, imaging detection is carried out by a visual detection mechanism, a welded area and an area to be welded are defined, the upper computer controls the sliding table 10 to move to the area to be welded and complete the original point positioning of the area to be welded, the six-axis manipulator 3 controls the plasma deposition welding gun 21 to move to each welding point defined in the area to be welded, the plasma deposition welding gun 21 is driven by the swing clamping mechanism 4 to swing to complete the deposition welding of the welding point, and therefore welding in the range of one-time welding of the equipment is completed in a reciprocating mode. After the above work is finished, the tube bank 5 is dragged to move on the bearing slide roller 6 below the machine body by a tractor, a travelling crane and the like through manual operation, the unwelded area is moved to the working range of the equipment, and the area is defined again by the visual detection mechanism to finish the deposition welding, so that the deposition welding of the whole tube bank 5 is finished in a reciprocating manner.
In the description of the present invention, it should be noted that the terms "top", "bottom", "vertical", "horizontal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (7)
1. The utility model provides a device of water-cooling wall is deposited in succession to intelligence which characterized in that: the mechanical arm comprises a rack, a guide rail and a plurality of bearing moving vehicles, wherein the guide rail is laid below the rack, the bearing moving vehicles are in sliding fit with the guide rail, a plurality of slide rails are arranged at the top of the rack, a sliding table linear slide rail is arranged on each slide rail, each sliding table is in sliding fit with the corresponding sliding table linear slide rail, a first driving motor and a six-shaft mechanical arm are fixedly arranged on each sliding table, and the first driving motor can drive each sliding table to slide along the corresponding sliding table linear slide rail; the end of the six-axis manipulator is connected with a swing clamping mechanism, a visual contour detector and a plasma welding gun are arranged on the swing clamping mechanism, and the first driving motor, the six-axis manipulator, the visual contour detector and the plasma welding gun are electrically connected with an upper computer respectively.
2. The intelligent continuous cladding water wall installation according to claim 1, characterized in that: the sliding rail is further fixedly provided with a rack, an output shaft of the first driving motor is provided with a driving gear, and the driving gear is meshed with the rack.
3. The intelligent continuous cladding water wall installation according to claim 1, characterized in that: the swing clamping mechanism comprises a mounting plate, a manipulator connecting bracket, a detector connecting bracket, a transition bracket, a swing connecting rod short shaft, a swing connecting rod long shaft and a second driving motor, the manipulator connecting bracket is fixedly arranged on the mounting plate and is used for being connected with the tail end of the six-axis robot, the detector connecting bracket is arranged at one end of the mounting plate, the visual contour detector is fixedly arranged on the detector connecting bracket, the second driving motor is fixedly arranged at the other end of the mounting plate, one end of the short shaft of the swinging connecting rod is rotationally connected with an output shaft of the second driving motor, the other end of the short shaft of the swinging connecting rod is rotationally connected with one end of the long shaft of the swinging connecting rod, the other end of the long shaft of the swing connecting rod is rotatably connected with the mounting plate, the transition support is arranged on the long shaft of the swing connecting rod, and the plasma fusion welding gun is fixedly connected with the transition support.
4. The intelligent continuous cladding water wall installation according to claim 3, characterized in that: the detector linking bridge pass through first bolt with the mounting panel is connected, be provided with first oval slot hole on the detector linking bridge, first bolt passes first oval slot hole is in through adjusting the bolt is in position in the first oval slot hole can be adjusted the detector linking bridge with the relative position of mounting panel.
5. The intelligent continuous cladding water wall installation according to claim 3, characterized in that: the transition support is connected with the long shaft of the swing connecting rod through a second bolt, a second elliptical long hole is formed in the transition support, the second bolt penetrates through the second elliptical long hole, and the relative position of the transition support and the long shaft of the swing connecting rod can be adjusted by adjusting the position of the bolt in the second elliptical long hole.
6. The intelligent continuous cladding water wall installation according to claim 1, characterized in that: and the bottom of the bearing moving trolley is provided with a braking roller which is in sliding fit with the guide rail.
7. The intelligent continuous cladding water wall installation according to claim 1, characterized in that: the bearing slide rollers are arranged on the rack horizontally at intervals and horizontally uniformly, the bearing slide rollers are matched with the rack in a rotating mode, the height of the top ends of the bearing slide rollers is equal to the height of the top face of the bearing trolley, and the length direction of the bearing slide rollers is perpendicular to the length direction of the guide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010938717.6A CN112025060A (en) | 2020-09-09 | 2020-09-09 | Intelligent device for continuously melting water-cooled wall |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010938717.6A CN112025060A (en) | 2020-09-09 | 2020-09-09 | Intelligent device for continuously melting water-cooled wall |
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| Publication Number | Publication Date |
|---|---|
| CN112025060A true CN112025060A (en) | 2020-12-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010938717.6A Pending CN112025060A (en) | 2020-09-09 | 2020-09-09 | Intelligent device for continuously melting water-cooled wall |
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| CN (1) | CN112025060A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113977075A (en) * | 2021-11-17 | 2022-01-28 | 唐山英莱科技有限公司 | A method for automatic trajectory guidance of water-cooled wall tube row cladding |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113977075A (en) * | 2021-11-17 | 2022-01-28 | 唐山英莱科技有限公司 | A method for automatic trajectory guidance of water-cooled wall tube row cladding |
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Application publication date: 20201204 |
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