CN112247352B - Three-dimensional flexible welding device - Google Patents
Three-dimensional flexible welding device Download PDFInfo
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- CN112247352B CN112247352B CN202011084370.XA CN202011084370A CN112247352B CN 112247352 B CN112247352 B CN 112247352B CN 202011084370 A CN202011084370 A CN 202011084370A CN 112247352 B CN112247352 B CN 112247352B
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- 238000003466 welding Methods 0.000 title claims abstract description 172
- 239000000463 material Substances 0.000 claims abstract description 95
- 230000007246 mechanism Effects 0.000 claims abstract description 52
- 230000005855 radiation Effects 0.000 claims abstract description 11
- 230000009471 action Effects 0.000 claims description 11
- 230000033001 locomotion Effects 0.000 claims description 10
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 29
- 230000008569 process Effects 0.000 abstract description 25
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000005494 condensation Effects 0.000 description 2
- 238000009833 condensation Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000002844 melting Methods 0.000 description 2
- 230000008018 melting Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 239000007770 graphite material Substances 0.000 description 1
- 238000005304 joining Methods 0.000 description 1
- 239000004579 marble Substances 0.000 description 1
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
- B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
- B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
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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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
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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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
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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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The invention discloses a three-dimensional flexible welding device which comprises a three-dimensional welding track, a clamping structure and a laser welding mechanism, wherein the clamping structure is arranged in the three-dimensional welding track, the laser welding mechanism is movably connected to the three-dimensional welding track, the clamping structure is used for clamping a workpiece material to be welded, the laser welding mechanism carries out laser radiation welding on the workpiece material, and the travelling track of the laser welding mechanism on the three-dimensional welding track is matched with the three-dimensional surrounding position of the clamping structure. The clamping structure comprises the accommodating cavity for clamping the workpiece material and the three-dimensional welding space for welding the spliced end, the position of the workpiece is not required to be manually adjusted by personnel in the welding process, personnel are not required to participate in the whole welding process except for material placing and taking, and personnel are not required to participate in the rest of time, so that the welding process is prevented from being stopped or damaged, the efficiency is improved, and the production cost is reduced.
Description
Technical Field
The invention relates to the technical field of flexible welding, in particular to a three-dimensional flexible welding device.
Background
The laser welding is an efficient precise welding method which utilizes a laser beam with high energy density as a heat source, the welding process of the laser welding belongs to a heat conduction type, namely, the surface of a workpiece is heated by laser radiation, the surface heat is diffused into the inside through heat conduction, the workpiece is melted by controlling parameters such as the width, the energy, the peak power, the repetition frequency and the like of laser pulse, a specific molten pool is formed, the laser welding can be used for welding thin-wall materials or small precise parts, and the laser welding is usually combined with a three-dimensional flexible technology at present, the three-dimensional flexible technology is a three-dimensional welding technology as the name suggests, and the welding parameters are set to be flexible in the welding process, namely, the laser welding parameters are raised and lowered into a parabola shape, so that the slow arc striking and arc withdrawing of the welding are realized, and the welding quality is improved;
the three-dimensional flexible welding device used at present is a large-scale operation platform plane, various fixed mount combinations are contained on the operation platform surface and used for fixing various processing workpieces, the shapes of the processing workpieces can be adjusted in a three-dimensional mode by adjusting the fixed mount combinations, and then the three-dimensional flexible welding device is matched with external flexible welding equipment to complete three-dimensional welding of the processing workpieces;
the existing three-dimensional flexible welding device needs to adjust the position of a processed workpiece in real time in the welding process so as to be matched with flexible welding equipment, so that the welding process needs to be stopped in real time, the welding efficiency is low, personnel are needed to participate in the welding process, physical damage such as burning, toxic gas suction or vision damage can be caused to the personnel, and the production cost is increased due to the participation of the personnel.
Disclosure of Invention
The invention aims to provide a three-dimensional flexible welding device, which aims to solve the technical problems that in the prior art, personnel are required to participate in the adjustment of the position of a processed workpiece in the welding process, the welding efficiency is low, and the production cost is high.
In order to achieve the purpose, the invention adopts the following technical scheme:
a three-dimensional flexible welding device comprises a three-dimensional welding track, a clamping structure and a laser welding mechanism, wherein the clamping structure is arranged inside the three-dimensional welding track, the laser welding mechanism is movably connected onto the three-dimensional welding track, the clamping structure is used for clamping a workpiece material to be welded, the laser welding mechanism performs laser radiation welding on the workpiece material, and the traveling track of the laser welding mechanism on the three-dimensional welding track is matched with the three-dimensional surrounding position of the clamping structure;
the three-dimensional welding track comprises a transverse annular track and a longitudinal annular track, the planes of the transverse annular track and the longitudinal annular track are vertically intersected, the longitudinal annular track surrounds the outside of the transverse annular track, the intersection of the transverse annular track and the longitudinal annular track is of a cross structure, an arch arc matched with the shape of the transverse annular track is protruded outwards below the longitudinal annular track at the intersection of the transverse annular track, and track gears which are annularly arranged are arranged above the longitudinal annular track;
the clamping structure comprises a clamping table, a clamping frame and a rotary driving device, wherein the clamping frame is arranged above the clamping table, the rotary driving device is arranged at the bottom of the clamping table, a driving shaft of the rotary driving device is in transmission connection with a central point of the clamping table, the clamping table and the driving shaft of the rotary driving device are kept in a synchronous motion state, and the clamping frame is used for clamping and splicing workpiece materials to be welded.
In a preferred embodiment of the present invention, the clamping table is a disc structure, the disc structure is embedded inside the transverse circular track, and an outer wall of the disc structure is fixedly connected to an inner wall of the transverse circular track, and the transverse circular track and the disc structure maintain a synchronous motion state.
The clamping frame comprises two main rods which are perpendicular to two sides of the clamping table and are parallel to each other, splicing rods are arranged above the two main rods, and a limiting mechanism used for fixing the position of the workpiece material is arranged; the two splicing rods are located on the same horizontal line, the splicing rods are internally provided with accommodating cavities matched with the shapes of the workpiece materials, and a welding space is reserved between the accommodating cavities of the two main rods.
The limiting mechanism comprises a fixed limiting block and a movable limiting block which are respectively arranged on an accommodating cavity, limiting grooves matched with the bottoms of workpiece materials are inwards recessed in the inner surfaces of the fixed limiting block and the movable limiting block, a positioning strip extends towards the direction of the movable limiting block from the center of the limiting groove in the fixed limiting block, the positioning strip stretches across the inner parts of the cavities of the two accommodating cavities, the distance between the outer wall of the positioning strip and the inner wall of the accommodating cavity is the same as the thickness of the pipe wall of the workpiece materials, and a wave-shaped clamping spring plate is arranged between the outer wall of the positioning strip and the inner wall of the accommodating cavity; the workpiece material is pushed into the space between the outer wall of the positioning strip and the wavy clamping spring plate or pulled out from the space between the outer wall of the positioning strip and the wavy clamping spring plate under the action of external force.
According to a preferable scheme of the invention, the movable limiting block is connected with the accommodating cavity by an elastic hinge, and the movable limiting block is separated from the accommodating cavity under the action of external force or is connected with the accommodating cavity under the action of elasticity of the elastic hinge.
The laser welding mechanism comprises a driving gear meshed with the track gear, a driving device used for providing power for the driving gear, and a laser emitter; the laser emitter is arranged above the driving device, the running track of the laser emitter is consistent with the track on the three-dimensional welding track, and the laser emitting range of the laser emitter is arranged in the welding space.
As a preferable scheme of the present invention, a locking mechanism is disposed between the arc and the transverse circular track, the locking mechanism includes an electromagnetic device disposed on an inner wall surface of the arc and a permanent magnet disposed on an outer wall surface of the transverse circular track and attracted to the electromagnetic device, a gap is formed between the electromagnetic device and the permanent magnet, and the arc and the transverse circular track move relatively in the gap.
The invention also provides a three-dimensional welding method for the three-dimensional flexible welding device, which comprises the following steps:
s100, separating the movable limiting block from the accommodating cavity by using external force, sequentially pushing two workpiece materials to be spliced into the fixed limiting block along the positioning strip, clamping and fixing the two workpiece materials in a serial splicing manner by using a wavy clamping spring plate on the outer wall of the positioning strip and the surface of the inner wall of the accommodating cavity, releasing the movable limiting block to connect the movable limiting block with the accommodating cavity, pressing a splicing end consisting of the two workpiece materials, and exposing the splicing end consisting of the two workpiece materials in a welding space;
s200, controlling the running track of the laser welding mechanism on the three-dimensional welding track according to the shape of the splicing end consisting of the two workpiece materials, and keeping the shape of the splicing end consistent with the radiation laser welding track emitted by a laser emitter in the laser welding mechanism, so that the splicing end is welded, and the splicing operation of the two workpiece materials is completed;
s300, splicing the two workpiece materials into an integral structure after welding is completed, separating the movable limiting block from the accommodating cavity by external force again, and pulling out the integral structure from the positions between the wavy clamping spring plates on the outer wall of the positioning strip and the surface of the inner wall of the accommodating cavity by the external force to obtain a welded finished product.
Compared with the prior art, the invention has the following beneficial effects:
the clamping structure of the invention not only comprises an accommodating cavity for clamping workpiece materials, but also comprises a three-dimensional welding space for welding the spliced end, during the welding process, the welding workpiece is pushed into the accommodating cavity for splicing and limiting the welding position, the spliced end is positioned in the welding space, after welding is finished, the welding workpiece is pulled out of the accommodating cavity, the material placing and taking processes are simple and quick, the action track of the laser welding mechanism on the three-dimensional welding track is in a three-dimensional mode, the action track of the laser welding mechanism can be integrally formed and welded according to the shape of the splicing end, the position of a workpiece does not need to be manually adjusted by personnel in the welding process, the personnel are not required to participate in the whole welding process except for material placing and taking, and personnel are not needed to participate in the rest time, so that the phenomenon that the welding process is stopped or the personnel are damaged is avoided, the efficiency can be improved, and the production cost is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art 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 for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
The structures, proportions, and dimensions shown in the drawings and described in the specification are only for the purpose of understanding and reading the present disclosure, and are not intended to limit the scope of the present disclosure, which is defined in the claims, and therefore, the present disclosure is not limited to the essential meanings of the technology, and any modifications of the structures, changes of the proportions, or adjustments of the dimensions, should be within the scope of the disclosure without affecting the efficacy and attainment of the same.
FIG. 1 is a schematic structural diagram of a three-dimensional flexible welding device according to an embodiment of the present invention;
FIG. 2 is a schematic view of a clamping structure of a three-dimensional flexible welding device according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an intersection of a transverse circular rail and a longitudinal circular rail provided by an embodiment of the present invention;
FIG. 4 is a schematic diagram of a meshing structure of a driving gear and a track gear provided by an embodiment of the invention;
FIG. 5 is a schematic view of a workpiece material clamping structure with only transverse lines or longitudinal lines overlapping according to an embodiment of the present invention;
fig. 6 is a schematic view of a workpiece material clamping structure with overlapped inclined lines according to an embodiment of the present invention.
The reference numerals in the drawings denote the following, respectively:
1-three-dimensional welding of rails; 2-a clamping structure; 3-a laser welding mechanism; 4-a locking mechanism; 5-workpiece material;
101-transverse circular track; 102-longitudinal circular track; 103-arc; 104-an orbital gear;
201-a clamping table; 202-a clamping frame; 203-a rotation drive;
2021-main rod; 2022-splice bar; 2023-a stop mechanism; 2024-an accommodating chamber;
2023A-fixed stop block; 2023B-movable stopper; 2023C-stop groove; 2023D-positioning bar; 2023E-wave shaped clamping spring plate;
301-a drive gear; 302-a drive device; 303-a laser transmitter;
401-an electromagnetic device; 402-permanent magnet.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. It should be noted that when one component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present.
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
As shown in fig. 1, the present invention provides a three-dimensional flexible welding device, which comprises a three-dimensional welding track 1, a clamping structure 2 arranged inside the three-dimensional welding track 1, and a laser welding mechanism 3 movably connected to the three-dimensional welding track 1, wherein the clamping structure 2 is used for clamping a workpiece material to be welded, and the laser welding mechanism 3 is used for performing laser radiation welding on the workpiece material. The laser welding mechanism 3 is matched with the three-dimensional surrounding position of the clamping structure 2 on the advancing track of the three-dimensional welding track 1, namely the laser welding mechanism 3 can run to any position on the periphery of the clamping structure 2, and the clamping structure 2 can be surrounded in a three-dimensional running mode.
In the embodiment, a thin-wall circular tube type welding workpiece material is taken as an example, and the splicing ends of two thin-wall circular tube type welding workpiece materials are overlapped and welded into an integrated finished product from the middle, the specific process is as follows, firstly, the two workpiece materials are placed in the clamping structure 2, the splicing ends of the two workpiece materials are overlapped together, then, according to the shape trend of the splicing ends, the traveling track of the laser welding mechanism 3 on the three-dimensional welding track 1 is adjusted, the radiation laser emitted by the laser welding mechanism 3 is consistent with the welding track trend of the splicing ends, the workpiece materials are hot-melted at the splicing ends to form a molten pool, after cooling, the two workpiece materials are combined into an integrated structure, and then, the welding finished product workpiece is taken out of the clamping structure 2.
As shown in fig. 2, the clamping structure 2 includes a clamping table 201, a clamping frame 202 disposed above the clamping table 201, and a rotation driving device 203 disposed at the bottom of the clamping table 201. The clamping table 201 is used as a welding operation platform. Integrated into one piece between grip block 201 and the holding frame 202 guarantees that holding frame 202 is the rigidity and supports, thereby avoids moving on grip block 201 and influencing welding precision in welding process holding frame 202. The drive mechanism 302 may be a stepper motor or other equivalent kinetic energy transmission mechanism. The driving shaft of the rotary driving device 203 is in transmission connection with the central point of the clamping table 201, so that the clamping table 201 and the driving shaft of the rotary driving device 203 keep a synchronous rotary motion state, and the workpiece material clamped on the clamping frame 202 also keeps the same rotary motion state with the rotary driving device 203, thereby facilitating the subsequent adjustment of the position of the workpiece material and enabling the laser of the laser welding mechanism 3 to irradiate the splicing end of the workpiece material.
Further, the clamping frame 202 includes two main rods 2021 perpendicular to the two sides of the clamping table 201 and parallel to each other, and a splicing rod 2022 is disposed above the two main rods 2021. Wherein, two splicing rods 2022 are located on the same horizontal line. The splice bar 2022 is internally provided with an accommodating cavity 2024 matched with the shape of the outer tube wall of the workpiece material, the accommodating cavity 2024 is of a strip-shaped hollow tubular structure, and the tube diameter of the outer tube wall of the workpiece material is slightly smaller than or equal to the tube diameter of the accommodating cavity 2024, so that the workpiece material can be accommodated conveniently. Because the two splicing rods 2022 are located on the same horizontal line, the accommodating cavities 2024 are also located on the same horizontal line, and the tubular cavities inside the accommodating cavities 2024 are also located on the same straight line and keep the cross sections completely overlapped, it can be further ensured that two workpiece materials inside the two accommodating cavities 2024 are completely overlapped at the splicing position, the splicing precision is improved, and the welding precision is further improved again. A space exists between the front ends of the two accommodating chambers 2024, and the space is used for exposing the spliced end of the two workpiece materials for laser irradiation of the laser welding mechanism 3 to complete welding.
In order to ensure that the splicing ends of the two workpiece materials inside the accommodating cavity 2024 do not generate relative displacement during the welding process, a limiting mechanism 2023 is arranged inside the clamping frame 202. The limiting mechanism 2023 specifically includes a fixed limiting block 2023A and a movable limiting block 2023B which are respectively disposed on the accommodating chamber 2024, and a limiting groove 2023C which matches with the bottom of the workpiece material is recessed inward on the inner surfaces of the fixed limiting block 2023A and the movable limiting block 2023B. The pipe wall interface end of the workpiece material is embedded into the limit groove 2023C, and the workpiece material cannot move left and right under the blocking of the fixed limit block 2023A and the movable limit block 2023B. A positioning strip 2023D extends from the center of the limiting groove 2023C inside the fixed limiting block 2023A toward the direction of the movable limiting block 2023B, the positioning strip 2023D spans the inside of the two cavities of the accommodating chamber 2024, and the distance between the outer wall of the positioning strip 2023D and the inner wall of the accommodating chamber 2024 is the same as the thickness of the tube wall of the workpiece material. Wave-shaped clamping spring plates 2023E are mounted on the outer walls of the positioning strips 2023D and the inner wall surfaces of the accommodating cavities 2024, and the wave-shaped clamping spring plates 2023E are fixed on the inner wall surfaces of the accommodating cavities 2024. The wave-shaped clamping spring plate 2023E and the accommodating cavity 2024 have the same length, and the workpiece material is pushed into the space between the outer wall of the positioning strip 2023D and the wave-shaped clamping spring plate 2023E or pulled out from the space between the outer wall of the positioning strip 2023D and the wave-shaped clamping spring plate 2023E under the action of external force. When the workpiece materials are pushed between the wave-shaped clamping spring plates 2023E on the outer walls of the positioning strips 2023D and the inner wall surfaces of the accommodating cavities 2024, the positioning strips 2023D are embedded in the two workpiece materials to further limit the two workpiece materials on the same straight line, so that no displacement difference exists between the splicing ends of the two workpiece materials, and the two splicing ends are tightly screwed. The wavy clamping spring plates 2023E on the outer walls of the positioning strips 2023D and the inner walls of the accommodating cavities 2024 respectively extrude the inner walls and the outer walls of workpiece materials, so that the workpiece materials cannot shake up and down, and the limiting mechanisms 2023 ensure the welding stability of the workpiece materials and the coincidence precision on the whole.
The positioning strips 2023D are made of marble material or graphite material with poor melting point and thermal conductivity, and can maintain molecular stability when an external workpiece material is melted by laser radiation, that is, the current situation is maintained without melting, burning and other accidents.
The movable limiting block 2023B is connected with the accommodating chamber 2024 by an elastic hinge, and the movable limiting block 2023B is separated from the accommodating chamber 2024 by an external force or connected with the accommodating chamber 2024 by an elastic force of the elastic hinge. The specific processes of clamping and splicing two workpiece materials and taking out a finished product are as follows:
and (3) clamping and splicing: the movable limiting block 2023B is separated from the accommodating cavity 2024 by external force, two workpiece materials to be spliced are sequentially pushed in the direction of the fixed limiting block 2023A along the positioning strip 2023D, the two workpiece materials are spliced in series and clamped and fixed by the wavy clamping spring plate 2023E on the outer wall of the positioning strip 2023D and the inner wall surface of the accommodating cavity 2024, the splicing end formed by the two workpiece materials is exposed in the welding space, the workpiece materials exposed in the welding space are adjusted in a rotating mode until the splicing end is completely overlapped, then the movable limiting block 2023B is released to be connected with the accommodating cavity 2024, and the splicing end formed by the two workpiece materials is compressed.
Taking out a finished product: the movable limiting block 2023B is separated from the accommodating chamber 2024 by external force, the outer wall of the workpiece material exposed at the welding space is held and moved to one side of the movable limiting block 2023B, one end of the finished workpiece exposed from one side of the movable limiting block 2023B is held by external force, and the workpiece is pulled out from between the outer wall of the positioning strip 2023D and the wavy clamping spring plate 2023E on the inner wall surface of the accommodating chamber 2024 by force.
As shown in fig. 1 and 3, in order to omit the adjustment of the welding position of the workpiece material during the welding process, the three-dimensional welding track 1 is used as the track of the laser welding mechanism 3, the three-dimensional welding track 1 specifically comprises a transverse circular track 101 and a longitudinal circular track 102, the transverse circular track 101 can make the laser welding mechanism 3 perform transverse 360-degree circular rotation relative to the workpiece material position, the longitudinal circular track 102 can make the laser welding mechanism 3 perform longitudinal 360-degree rotation relative to the workpiece position, and the planes of the transverse annular track 101 and the longitudinal annular track 102 are vertically crossed, the longitudinal annular track 102 surrounds the outer part of the transverse annular track 101, and the intersection of the transverse annular track 101 and the longitudinal annular track 102 is in a crisscross structure, the laser welding mechanism 3 performs a spherical three-dimensional movement with respect to the workpiece material position in cooperation with the transverse endless track 101 and the longitudinal endless track 102. An arch 103 matched with the shape of the transverse annular track 101 is protruded outwards below the longitudinal annular track 102 at the intersection of the transverse annular track 101, and track gears 104 arranged in an annular mode are arranged above the longitudinal annular track 102.
As shown in fig. 1 and 4, the laser welding mechanism 3 includes a drive gear 301 provided at the bottom portion thereof to mesh with the orbit gear 104, a driving device 302 for powering the drive gear 301, and a laser emitter 303. The laser emitter 303 is installed above the driving device 302, the driving device 302 uses a stepping motor or other transmission components with equivalent kinetic energy, the driving shaft of the driving device 302 is connected with the center point of the driving gear 301, the driving device 302 is used for driving the driving gear 301 to roll on the track gear 104 on the surface of the longitudinal annular track 102 in a meshing manner, so that the laser emitter 303 moves along the longitudinal annular track 102. The movement path is set such that the laser emission range of the laser emitter 303 is always at the joining end of the two workpiece materials in the welding space.
The laser emitter 303 is driven by the driving device 302 to move only in the longitudinal direction of the splicing end of the two workpiece materials, so that the clamping table 201 is made into a disc structure, the clamping table 201 of the disc structure is embedded inside the transverse annular rail 101, and the outer wall of the disc structure is fixedly connected with the inner wall of the transverse annular rail 101, so that the transverse annular rail 101 and the clamping table 201 keep a synchronous motion state, and further the rotary motion state of the transverse annular rail 101 is consistent with the workpiece materials on the clamping table 201. When the transverse annular rail 101 rotates, the workpiece materials can rotate together transversely, so that a transverse moving track is generated relative to the laser emitter 303 on the longitudinal annular rail 102, and the transverse moving track can also be regarded as that the splicing end of two workpiece materials of the laser emitter 303 moves transversely.
A locking mechanism 4 is arranged between the arc 103 and the transverse circular track 101, the locking mechanism 4 comprises an electromagnetic device 401 arranged on the inner wall surface of the arc 103 and a permanent magnet 402 which is arranged on the outer wall surface of the transverse circular track 101 and mutually attracted with the energized electromagnetic device 401, a gap for the arc 103 and the transverse circular track 101 to move relatively exists between the electromagnetic device 401 and the permanent magnet 402, and a certain time is needed when laser radiation melts the materials at the splicing end of the two workpieces into a molten pool. At this time, the electromagnetic device 401 is electrified to attract the permanent magnet 402, the attraction force generated by the electrified electromagnetic device 401 and the permanent magnet 402 prevents the transverse circular rail and the longitudinal circular rail 102 from moving relatively, so that the transverse circular rail and the longitudinal circular rail 102 are in a fixed stable structure, the laser transmitter 303 is prevented from deviating from the splicing end when the transverse circular rail and the longitudinal circular rail 102 move relatively, after welding is completed, the power supply of the electromagnetic device 401 is disconnected to release the locking of the transverse circular rail and the longitudinal circular rail 102, and the subsequent welding track is continued.
The rotary drive 203, drive 302, laser transmitter 303 and electromagnetic device 401 are electrical components that require connection to a power supply and control components. The electrical components are provided with leads which can be connected with external devices, and the control component controls the control flow and functions of the driving device 302, the laser emitter 303 and the electromagnetic device 401, and a parameter setting method for realizing flexible welding of the laser emitter 303, which are well known to those skilled in the art.
As shown in fig. 5 and 6, since the shapes of the spliced ends of two workpiece materials are different, in order to perform welding joint on the spliced ends, the welding process is divided into the following cases:
the first condition is as follows: the splicing end only has a transverse line or longitudinal line-shaped overlapping part, for transverse line-shaped overlapping, the laser transmitter 303 is adjusted to the same horizontal line with the transverse line-shaped overlapping along the longitudinal axis, the position of the laser transmitter 303 is fixed, and then the driving device 302 drives the transverse line-shaped overlapping of the workpiece material to move transversely under the laser of the laser transmitter 303, so that the transverse line-shaped overlapping occurs in a molten pool and then is in condensation joint; similarly, for the longitudinal linear superposition, the rotary driving device 203 drives the longitudinal linear superposition of the workpiece material to transversely rotate to the same longitudinal direction as the laser emitter 303 on the longitudinal annular rail 102, the transverse annular rail 101 is fixed, the laser of the laser emitter 303 moves along the longitudinal annular rail 102, so that the longitudinal linear superposition appears in a molten pool, and then the molten pool is condensed and jointed.
Case two: the splicing end is in inclined linear superposition, the transverse annular rail 101 transversely rotates, and meanwhile the laser emitter 303 moves on the longitudinal annular rail 102, so that the laser emitter 303 moves in an inclined linear mode relative to the splicing end, laser radiation of the laser emitter 303 is on the inclined linear superposition of the splicing end, the inclined linear superposition is in molten pool, and then condensation jointing is achieved.
Example 2:
based on the structure of the three-dimensional flexible welding device, the invention also provides a three-dimensional welding method for the three-dimensional flexible welding device, which comprises the following steps:
s100, separating the movable limiting block from the accommodating cavity by using external force, sequentially pushing two workpiece materials to be spliced into the fixed limiting block along the positioning strip, clamping and fixing the two workpiece materials by serially splicing the wavy clamping spring plates on the outer wall of the positioning strip and the inner wall surface of the accommodating cavity, exposing a splicing end consisting of the two workpiece materials in a welding space, rotationally adjusting the workpiece materials exposed in the welding space until the splicing end is completely overlapped, releasing the movable limiting block to connect the movable limiting block with the accommodating cavity, and tightly pressing the splicing end consisting of the two workpiece materials;
s200, controlling the running track of the laser welding mechanism on the three-dimensional welding track according to the shape of the splicing end formed by the two workpiece materials, and enabling the radiation laser welding track emitted by a laser emitter in the laser welding mechanism to be consistent with the shape of the splicing end, so that the splicing end is welded, and the splicing operation of the two workpiece materials is completed;
s300, separating the movable limiting block from the accommodating cavity by using external force, holding the outer wall of the workpiece material exposed at the welding space to move towards one side of the movable limiting block, holding one end of the workpiece finished product exposed from one side of the movable limiting block by using the external force, and pulling the workpiece finished product out from the position between the outer wall of the positioning strip and the wavy clamping spring plate on the surface of the inner wall of the accommodating cavity by force.
The clamping structure of the invention not only comprises an accommodating cavity for clamping workpiece materials, but also comprises a three-dimensional welding space for welding the splicing end, during the welding process, the welding workpiece is pushed into the accommodating cavity for splicing and limiting the welding position, the spliced end is positioned in the welding space, after welding is finished, the welding workpiece is pulled out of the accommodating cavity, the material placing and taking process is simple and quick, the action track of the laser welding mechanism on the three-dimensional welding track is in a three-dimensional mode, the action track of the laser welding mechanism can be integrally formed and welded according to the shape of the splicing end, the position of a workpiece does not need to be manually adjusted by personnel in the welding process, the personnel are not required to participate in the whole welding process except for material placing and taking, and personnel are not needed to participate in the rest time, so that the phenomenon that the welding process is stopped or the personnel are damaged is avoided, the efficiency can be improved, and the production cost is reduced.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (5)
1. A three-dimensional flexible welding device is characterized in that: the device comprises a three-dimensional welding track (1), a clamping structure (2) arranged in the three-dimensional welding track (1), and a laser welding mechanism (3) movably connected to the three-dimensional welding track (1), wherein the clamping structure (2) is used for clamping a workpiece material to be welded, the laser welding mechanism (3) performs laser radiation welding on the workpiece material, and the advancing track of the laser welding mechanism (3) on the three-dimensional welding track (1) is matched with the three-dimensional surrounding position of the clamping structure (2);
the three-dimensional welding track (1) comprises a transverse annular track (101) and a longitudinal annular track (102), the planes of the transverse annular track (101) and the longitudinal annular track (102) are vertically intersected, the longitudinal annular track (102) surrounds the outside of the transverse annular track (101), the intersection of the transverse annular track (101) and the longitudinal annular track (102) is of a cross-shaped structure, an arch (103) matched with the shape of the transverse annular track (101) is protruded outwards below the longitudinal annular track (102) at the intersection of the transverse annular track (101), and track gears (104) which are annularly arranged are arranged above the longitudinal annular track (102);
the clamping structure (2) comprises a clamping table (201), a clamping frame (202) arranged above the clamping table (201), and a rotary driving device (203) arranged at the bottom of the clamping table (201), wherein a driving shaft of the rotary driving device (203) is in transmission connection with the central point of the clamping table (201), the clamping table (201) and the driving shaft of the rotary driving device (203) keep a synchronous motion state, and the clamping frame (202) is used for clamping and splicing workpiece materials to be welded;
the clamping table (201) is of a disc structure, the disc structure is embedded inside the transverse annular track (101), the outer wall of the disc structure is fixedly connected with the inner wall of the transverse annular track (101), and the transverse annular track (101) and the disc structure keep a synchronous motion state;
the laser welding mechanism (3) comprises a driving gear (301) meshed with the track gear (104), a driving device (302) used for providing power for the driving gear (301), and a laser emitter (303); the laser emitter (303) is arranged above the driving device (302), the running track of the laser emitter (303) is consistent with the track on the three-dimensional welding track (1), and the laser emitting range of the laser emitter (303) is arranged in the welding space.
2. The three dimensional flexible welding device of claim 1, wherein: the clamping frame (202) comprises two main rods (2021) which are perpendicular to two sides of the clamping table (201) and are parallel to each other, splicing rods (2022) are arranged above the two main rods (2021), and a limiting mechanism (2023) used for fixing the position of the workpiece material; the two splicing rods (2022) are positioned on the same horizontal line, an accommodating cavity (2024) matched with the shape of the workpiece material is formed inside the splicing rods (2022), and a welding space is reserved between the accommodating cavities (2024) of the two main rods (2021).
3. The three-dimensional flexible welding device of claim 2, wherein: the limiting mechanism (2023) comprises a fixed limiting block (2023A) and a movable limiting block (2023B) which are respectively arranged on an accommodating cavity (2024), the inner surfaces of the fixed limiting block (2023A) and the movable limiting block (2023B) are both inwards recessed with a limiting groove (2023C) matched with the bottom of a workpiece material, the center of the limiting groove (2023C) inside the fixed limiting block (2023A) extends towards the direction of the movable limiting block (2023B) with a positioning strip (2023D), the positioning strip (2023D) spans the inside of the cavity of the accommodating cavity (2024), the distance between the outer wall of the positioning strip (2023D) and the inner wall of the accommodating cavity (2024) is the same as the pipe wall thickness of the workpiece material, and a wavy clamping spring plate (2023E) is arranged between the outer wall of the positioning strip (2023D) and the inner wall of the accommodating cavity (2024); the workpiece material is pushed into between the outer wall of the positioning strip (2023D) and the wavy clamping spring plate (2023E) under the action of external force, or pulled out from between the outer wall of the positioning strip (2023D) and the wavy clamping spring plate (2023E).
4. The three-dimensional flexible welding device of claim 3, wherein: the movable limiting block (2023B) is connected with the accommodating cavity (2024) by an elastic hinge, and the movable limiting block (2023B) is separated from the accommodating cavity (2024) under the action of external force or is connected with the accommodating cavity (2024) under the action of elasticity of the elastic hinge.
5. The three-dimensional flexible welding device according to claim 1, characterized in that a locking mechanism (4) is arranged between the arc (103) and the transverse circular track (101), the locking mechanism (4) comprises an electromagnetic device (401) arranged on the inner wall surface of the arc (103) and a permanent magnet (402) arranged on the outer wall surface of the transverse circular track (101) and mutually attracted with the electromagnetic device (401) which is electrified, a gap exists between the electromagnetic device (401) and the permanent magnet (402), and the arc (103) and the transverse circular track (101) are relatively moved in the gap.
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| CN113733559B (en) * | 2021-08-06 | 2023-03-28 | 西安交通大学 | Multi-platform efficient material extrusion additive manufacturing equipment and block printing method |
| CN114905547A (en) * | 2022-06-09 | 2022-08-16 | 长沙航空职业技术学院 | Installation chassis for industrial robot |
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| GB357361A (en) * | 1930-09-08 | 1931-09-24 | Bobbe Halle | Improvements in portable pipe welding apparatus |
| CA2995952A1 (en) * | 2017-06-23 | 2018-12-23 | Shankar Rajagopalan | Systems and methods for use in welding pipe segments of a pipeline |
| CN209380140U (en) * | 2018-11-22 | 2019-09-13 | 郑州科慧科技股份有限公司 | A kind of quick-clamping, walking and welder along circular orbit operation |
| CN111055215A (en) * | 2019-12-31 | 2020-04-24 | 苏州高通机械科技有限公司 | Support structure of sealing ring polishing device |
| CN210997315U (en) * | 2019-10-22 | 2020-07-14 | 湖北勇胜建设工程有限公司 | Pipeline welding device for building engineering |
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| GB357361A (en) * | 1930-09-08 | 1931-09-24 | Bobbe Halle | Improvements in portable pipe welding apparatus |
| CA2995952A1 (en) * | 2017-06-23 | 2018-12-23 | Shankar Rajagopalan | Systems and methods for use in welding pipe segments of a pipeline |
| CN209380140U (en) * | 2018-11-22 | 2019-09-13 | 郑州科慧科技股份有限公司 | A kind of quick-clamping, walking and welder along circular orbit operation |
| CN210997315U (en) * | 2019-10-22 | 2020-07-14 | 湖北勇胜建设工程有限公司 | Pipeline welding device for building engineering |
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