CN113070558B

CN113070558B - Robot operating device for plasma surfacing of wear-resistant surface of shield cutter

Info

Publication number: CN113070558B
Application number: CN202110325604.3A
Authority: CN
Inventors: 范伟超; 王义盛; 徐文礼; 陈曙光; 吴增雷; 李学显; 郭宗涛; 张瑞孔
Original assignee: Shandong Est Engineering Tools Coo Ltd
Current assignee: Shandong Est Engineering Tools Coo Ltd
Priority date: 2021-03-26
Filing date: 2021-03-26
Publication date: 2022-06-10
Anticipated expiration: 2041-03-26
Also published as: CN113070558A

Abstract

The invention provides a robot operating device for plasma surfacing of a wear-resistant surface of a shield cutter, which comprises a mechanical arm, a workpiece table and a horizontal claw disc, wherein the tail end of the mechanical arm is provided with a steering knuckle, the tail end of the steering knuckle is provided with a pre-welding gun and a follow-welding gun, a wear-resistant base layer is surfacing-welded by the pre-welding gun, a wear-resistant surface layer is surfacing-welded by the follow-welding gun, the bottom of the workpiece table is provided with a sheet swinging robot for placing a precast sheet, the sheet swinging robot comprises a base, a fixing machine ring, a sheet taking arm, a cam disc, a driving mechanism, a spring, a pneumatic sheet taking chuck and a feeding mechanism, and the feeding mechanism comprises a chassis, a top cover, a sheet cavity, a radial groove and a feeding spring. According to the invention, the sheet placing robot places the precast pieces after the pre-welding gun welds the wear-resistant base layer in a overlaying mode, and then the follow-up welding gun welds the wear-resistant surface layers on the wear-resistant base layer and the precast pieces in an overlaying mode, so that the composite wear-resistant surface is machined in a mechanical operation mode, a workpiece is provided with an alloy layer with higher wear resistance, the machining time is greatly shortened, and the machining efficiency is higher.

Description

Robot operating device for plasma surfacing of wear-resistant surface of shield cutter

Technical Field

The invention belongs to the technical field of production and processing of shield cutters, and particularly relates to a robot operating device for plasma surfacing of a wear-resistant surface of a shield cutter.

Background

The edge part of the cutter ring for the shield machine is provided with a hard alloy insert and also cladded with a wear-resistant surfacing layer, and the surfacing of the wear-resistant surfacing layer is usually completed by adopting a plasma surfacing machine. Plasma powder surfacing takes plasma arc as a heat source, the alloy powder and the surface of a matrix are rapidly heated by high temperature generated by the plasma arc, and are melted, mixed, diffused and solidified together, the plasma beam is cooled after leaving, and a high-performance alloy layer is formed, so that the surface of a part is reinforced and hardened. After the plasma powder is subjected to overlaying welding, a fusion interface is formed between the matrix material and the overlaying welding material, the bonding strength is high, the structure of the overlaying welding layer is compact, and the corrosion resistance and the wear resistance are good; the dilution of the base material and the surfacing material is reduced, and the change of the material characteristics is small; the powder is used as a surfacing material, so that the selectivity of alloy design can be improved, particularly, refractory materials can be smoothly surfaced, the wear resistance, high temperature resistance and corrosion resistance of workpieces are improved, the plasma powder surfacing has higher productivity, and the attractive forming and surfacing process is easy to realize mechanization and automation.

At present, a build-up welding robot generally directly builds up a wear-resistant layer on a cutter ring, so that the robot only needs to control a build-up welding gun head. However, because the robot needs to sequentially weld the edge of the cutter ring in an outward winding manner, the welding time is long, if the prefabricated sheet which is the same as the welding material is adopted to be buried in the middle side of the welding material, the welding time can be effectively shortened, the welding workload is reduced, and an alloy layer formed by the prefabricated sheet and the welding material on the cutter ring has the same or even higher wear resistance and corrosion resistance as the single welding material in the prior art; meanwhile, the mode of compounding the precast segment and the surfacing material into the novel surfacing alloy layer can also greatly reduce the working difficulty of subsequent repairing of the cutter ring, such as reducing back chipping operation and the like. However, a robot operating device capable of achieving orderly placing of the precast slabs and surfacing operation is lacked in the prior art.

Disclosure of Invention

Aiming at the technical problems of the surfacing layer on the cutter ring of the shield cutter in the aspect of processing, the invention provides the robot operating device for plasma surfacing of the wear-resistant surface of the shield cutter, which has the advantages of reasonable design, high mechanization degree and more functions and is beneficial to improving the processing efficiency.

In order to achieve the above object, the present invention adopts a technical solution that the robot operation device for plasma surfacing of a wear surface of a shield cutter comprises a mechanical arm with multiple degrees of freedom, wherein a surfacing gun is arranged at the tail end of the mechanical arm, the surfacing gun faces a workpiece table, a horizontal claw disc for clamping a workpiece is arranged on the workpiece table, a steering groove is arranged at the tail end of the mechanical arm, a steering knuckle is arranged in the steering groove, the steering knuckle is splayed and is provided with two surfacing guns at the tail end, the two surfacing guns are respectively a pre-welding gun and a follow-welding gun, the pre-welding gun is used for surfacing a wear-resistant base layer on the workpiece, the follow-welding gun is used for surfacing a wear-resistant surface layer for covering a prefabricated sheet on the wear-resistant base layer, a sheet swinging robot for placing the prefabricated sheet is arranged at the bottom of the workpiece table, and the sheet swinging robot comprises a base positioned below the workpiece table, the automatic sheet feeding mechanism is characterized in that a fixed machine ring is arranged between the base and the workpiece platform, a plurality of mounting holes distributed in a circular array are formed in the side face of the fixed machine ring, a sheet taking arm is arranged in each mounting hole in a rotating mode, a cam disc used for sequentially driving each sheet taking arm is arranged in the fixed machine ring, a driving mechanism is arranged at the power input end of each cam disc, each sheet taking arm is L-shaped and is connected with the side face of the base through a spring, a pneumatic sheet taking chuck is arranged at the head end of each sheet taking arm, the sheet swinging robot further comprises a feeding mechanism used for providing prefabricated sheets for the pneumatic sheet taking chucks, each feeding mechanism comprises an annular base plate and an annular top cover, a sheet material cavity is formed in each base plate, radial grooves corresponding to the pneumatic sheet taking chucks one to one are formed in each sheet material cavity, and through holes corresponding to the radial grooves are formed in the side faces of the base plates, the radial groove is used for placing the precast slab and is provided with a feeding spring at one end far away from the circle center.

Preferably, the cam disc comprises a disc, a convex ridge is arranged at the bottom of the disc close to the sheet taking arm, the longitudinal section of the convex ridge is in an inverted triangle shape, the lowest end of the convex ridge is abutted to the sheet taking arm, the two ends of the convex ridge extend along an arc track, a top plate is arranged at one end of the sheet taking arm facing the convex ridge, the top plate is located below the convex ridge, and the top surface of the top plate is a curved surface.

Preferably, the pneumatic sheet taking chuck comprises a clamping plate seat, a U-shaped fork head is arranged at the front end of the clamping plate seat, a C-shaped spring piece is arranged inside the clamping plate seat, two ends of the spring piece extend from the clamping plate seat along two branch ends of the fork head, a sliding block located inside the clamping plate seat is arranged at the rear end of the spring piece, and an air cylinder is arranged at the rear end of the sliding block.

Preferably, a first round hole and a second round hole which are vertically distributed are formed in the fixing machine ring, the diameter of the first round hole is larger than that of the second round hole, the edge of the disc is located in the first round hole, and a connecting node of the sheet taking arm and the mounting hole is located below the first round hole.

Preferably, the driving mechanism comprises a driving motor and a speed reducer, and the driving mechanism is positioned in a mounting groove arranged in the center of the base.

Preferably, the two ends of the steering knuckle are provided with first joints, the output end of each first joint is provided with a second joint, the output end of each second joint is connected with a pile welding gun, and each first joint and each second joint comprise a steering engine and a rotating shaft.

Compared with the prior art, the invention has the advantages and positive effects that:

1. according to the robot operating device for plasma surfacing of the wear-resistant surface of the shield cutter, the sheet swinging robot is utilized to place the precast pieces after the pre-welding gun is used for surfacing the wear-resistant base layer, and then the wear-resistant surface layer is surfaced on the wear-resistant base layer and the precast pieces by the follow-up welding gun.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

FIG. 1 is a working diagram of a robot operating device for plasma surfacing of a wear-resistant surface of a shield cutter provided by an embodiment;

FIG. 2 is a cross-sectional view of a wobble plate robot provided in an embodiment;

FIG. 3 is a working diagram of a pick arm of the swing robot provided by the embodiment;

FIG. 4 is a top view of the pick arm and feed mechanism provided in accordance with an embodiment;

FIG. 5 is a schematic view of an internal structure of a feeding mechanism provided in the embodiment;

FIG. 6 is a schematic view of a steering knuckle and a surfacing torch according to an exemplary embodiment;

FIG. 7 is a top view of a wear surface machined by a robot operating device for plasma overlay welding of a wear surface of a shield cutter according to an embodiment;

FIG. 8 is a cross-sectional view of a wear surface machined by a robot operating device for plasma overlay welding of a wear surface of a shield cutter according to an embodiment;

in the above figures, 1, a robot arm; 2. a knuckle; 21. a first joint; 22. a second joint; 3. a build-up welding gun; 31. a pre-welding gun; 32. a follow welding gun; 4. a work table; 5. a horizontal claw disc; 6. a sheet swinging robot; 61. a base; 62. fixing a machine ring; 621. mounting holes; 622. a first circular hole; 623. a second circular hole; 63. a film taking arm; 64. a cam plate; 641. a disc; 642. a raised ridge; 65. a drive mechanism; 66. a pneumatic slice taking chuck; 661. a clamping plate seat; 662. a fork head; 663. a spring plate; 664. a slider; 665. a cylinder; 67. a feeding mechanism; 671. a chassis; 672. a top cover; 673. a tablet cavity; 674. a radial slot; 675. a feeding spring; 68. a spring; 69. a top plate; 7. a workpiece; 71. a wear-resistant surface; 711. a wear-resistant base layer; 712. a wear-resistant surface layer; 713. and (4) prefabricating the sheet.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described with reference to the accompanying drawings and examples. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict. For convenience of description, the words "upper", "lower", "left" and "right" used herein refer to the same directions as the drawings, and do not limit the structure.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and thus the present invention is not limited to the specific embodiments of the present disclosure.

In an embodiment, as shown in fig. 1 to 8, the robot operating device for plasma surfacing of a wear surface of a shield cutter provided by the present invention includes a robot arm 1 having multiple degrees of freedom, wherein a surfacing torch 3 is provided at a distal end of the robot arm 1, the surfacing torch 3 faces a workpiece table 4, and a horizontal claw disk 5 for clamping a workpiece is provided on the workpiece table 4. The structures of the mechanical arm 1, the workpiece table 4, the horizontal chuck 5 and the overlaying welding gun 3 are the prior art, and the detailed description is omitted here. The key point of the invention is that the mechanized equipment provided by the method for sequentially overlaying the wear-resistant base layer 711, the placing prefabricated piece 713 and the overlaying wear-resistant surface layer 712 (as shown in fig. 7 and 8) is used for meeting the production and processing requirements of the composite wear-resistant surface.

Specifically, the invention is provided with a steering groove at the tail end of a mechanical arm 1, the steering groove is provided with a steering knuckle 2, the steering knuckle 2 is in a splayed shape and is provided with two overlaying welding guns 3 at the tail end, the two overlaying welding guns 3 are respectively a pre-welding gun 31 and a following welding gun 32, the pre-welding gun 31 is used for overlaying a wear-resistant base layer 711 on a workpiece 7, the following welding gun 32 is used for overlaying a wear-resistant surface layer 712 used for coating a precast slab 713 on the wear-resistant base layer 711, the bottom of a workpiece table 4 is provided with a sheet swinging robot 6 used for placing the precast slab, the sheet swinging robot 6 comprises a base 61 positioned below the workpiece table, a fixed ring 62 is arranged between the base 61 and the workpiece table 4, the side surface of the fixed ring 62 is provided with a plurality of mounting holes 621 distributed in a circular array, sheet taking arms 63 are rotatably arranged in the mounting holes 621, a cam disc 64 used for sequentially driving each sheet taking arm is arranged inside the fixed ring 62, the power input end of the cam disc 64 is provided with a driving mechanism 65, the tablet taking arm 63 is L-shaped, the tablet taking arm 63 is connected with the side surface of the base 61 through a spring 68, the head end of the tablet taking arm 63 is provided with a pneumatic tablet taking chuck 66, the tablet swinging robot 6 further comprises a feeding mechanism 67 used for providing prefabricated tablets for the pneumatic tablet taking chuck, the feeding mechanism 67 comprises an annular base plate 671 and an annular top cover 682, a tablet cavity 673 is arranged on the base plate 671, radial grooves 674 corresponding to the pneumatic tablet taking chucks one to one are arranged in the tablet cavity 673, through holes corresponding to the radial grooves are arranged on the side surface of the base plate 671, the prefabricated tablets are placed in the radial grooves 674, and a feeding spring 675 is arranged at one end, far away from the circle center, of the radial grooves. The sheet taking arm 63 comprises a first sheet taking arm and a second sheet taking arm, the length of the first sheet taking arm is larger than that of the second sheet taking arm, the second sheet taking arm is connected with the mounting hole, and the spring is obliquely arranged between the second sheet taking arm and the first sheet taking arm.

In the invention, because two overlaying guns on the steering knuckle 2 need to overlay different layers in sequence, a reasonable working gap can be formed between the pre-welding gun 31 and the follow-up welding gun 32 by arranging the steering knuckle, so that the sheet swinging chance is provided for the sheet swinging robot 6, and the two overlaying guns can have reasonable plane motion to complete the overlaying operation of respective processing positions. More importantly, as shown in fig. 2 to 5, the invention adds the swing piece robot 6, the swing piece robot 6 can automatically take the pieces from the output port of the feeding mechanism, namely the through hole, and the prefabricated pieces are ejected onto the wear-resistant base layer 711 in the working clearance between the pre-welding gun 31 and the welding gun 32 after rotating for a certain extent, so that the surfacing time is shortened, and the surfacing efficiency is improved. More specifically, the cam disc 64 is subjected to a continuous rotational movement by the drive mechanism 65, and during the rotational movement thereof, different pick-up arms 63 can be driven in sequence; before the sheet taking arm 63 is not driven by the cam disc 64, the sheet taking arm is in an open state under the stretching action of a spring 68, a pneumatic sheet taking chuck 66 at the head part of the sheet taking arm just clamps one prefabricated sheet of the chassis output port, and swings after being driven by the cam disc 64, and the whole sheet taking arm 63 and the prefabricated sheet rotate around a hinge point of the prefabricated sheet and the mounting hole until the prefabricated sheet 713 is positioned above the wear-resistant base layer; the prefabricated sheet is released by the pneumatic sheet taking chuck 66, the prefabricated sheet 713 is spitted to the wear-resistant base layer at the corresponding position, and the subsequent follow-up welding gun can carry out cladding surfacing, so that the requirement of the device for processing the composite wear-resistant surface is met. The tablet taking arm after being released is gradually reset. The precast pieces in the feeding mechanism 67 can be manually placed before production and processing, the axial direction of the precast pieces 713 is opposite to the clamping center of the pneumatic piece taking chuck 66, and one precast piece is always kept static under the friction action of a feeding spring and a hole wall at the output port of the chassis 671, so that the pneumatic piece taking chuck can take away the precast pieces conveniently. The sheet swinging robot 66 in the device has higher mechanical linkage, ingenious design, simple structure and higher space utilization rate.

In order to improve the working efficiency of the sheet taking arm, the cam disc 64 arranged at the driving end of the sheet taking arm comprises a disc 641, the bottom of the disc 641 close to the sheet taking arm is provided with a convex ridge 642, the longitudinal section of the convex ridge 642 is in an inverted triangle shape, the lowest end of the convex ridge is abutted against one sheet taking arm 63, two ends of the convex ridge 642 extend in an arc track, one end of the sheet taking arm 63 facing the convex ridge is provided with a top plate 39, the top plate 69 is positioned below the convex ridge 642, and the top surface of the top plate 69 is a curved surface. The entire working surface of cam plate 64 is circular and bottom ridge 642 is correspondingly circular in shape, and in particular its lowermost end, which contacts the shaft at the uppermost end of top plate 69 to bring tab arm 63 to the end of its swing, i.e., the working point for releasing the preformed tab. The convex ridge 642 and the top plate 69 are separated from the beginning of contact, the whole swing process is completed under the action of the convex ridge and the spring, the driving is simple and efficient, the action is stable and smooth, and the precast slab can be fully ensured to accurately reach the surfacing welding site

In order to improve the working efficiency of the pneumatic film taking chuck 66, the pneumatic film taking chuck 66 provided by the invention comprises a clamping plate seat 661, a U-shaped fork 662 is arranged at the front end of the clamping plate seat 661, a C-shaped spring piece 663 is arranged inside the clamping plate seat 661, two ends of the spring piece 663 extend from the clamping plate seat along two branch ends of the fork, a sliding block 664 located inside the clamping plate seat is arranged at the rear end of the spring piece 663, and an air cylinder 665 is arranged at the rear end of the sliding block 664. Specifically, the movable end of the cylinder 665 drives the slider 664 to reciprocate linearly, while the spring plate generates a linear-like motion within the cleat housing. The spring leaf will cooperate the inside groove structure that sets up of splint seat to extend on the one hand, and on the other hand then can be in its in-process that extends realization clamp get with release prefabricated piece, and this kind of mode of handling in midair and elasticity itself make whole pneumatics get piece chuck 66 it and possess the elasticity clamping function, and clamping stability is higher, and is higher to the transfer efficiency of prefabricated piece, and the action of spitting the prefabricated piece is also comparatively steady moreover, and the rate of accuracy is higher, is favorable to improving the processingquality of shield constructs cutter sword circle wear-resisting surface.

In order to improve the adaptability of the fixed machine ring 62 and the cam disc, the fixed machine ring 62 is internally provided with a first round hole 622 and a second round hole 623 which are distributed up and down, the diameter of the first round hole 622 is larger than that of the second round hole 623, the edge part of the disc 641 is positioned in the first round hole 622, and the connecting node of the sheet taking arm 63 and the mounting hole is positioned below the first round hole 622. In this way, the cam plate 64 is facilitated to rotationally drive the pick arm 63, providing efficient space conditions for the pressure fit of the ridge with the top plate.

Further, the drive mechanism 65 of the cam plate 64, which includes a drive motor and a speed reducer, is located in a mounting groove provided in the center of the base 61. The cam disc is driven by the matching of the driving motor and the speed reducer, and the cam disc has the characteristics of simple structure, high space utilization rate and good driving performance, and is low in cost.

As shown in FIGS. 1 and 6, in consideration of a certain welding angle deviation of two overlaying welding guns in actual work, in order to improve the working performance of the pre-welding gun 31 and the following welding gun 32, the two ends of the steering knuckle 2 are respectively provided with a first joint 21, the output end of the first joint 21 is provided with a second joint 22, the output end of the second joint 22 is connected with the overlaying welding gun 3, and the first joint 21 and the second joint 22 respectively comprise a steering engine and a rotating shaft. The first joint and the second joint at least provide two-directional freedom degrees for the corresponding overlaying welding gun, and provide effective mechanical guarantee for improving the quality of the overlaying welding wear-resistant surface layer of the overlaying welding gun, so that the quality of the whole cutter ring is improved.

The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention in other forms, and any person skilled in the art may apply the above modifications or changes to the equivalent embodiments with equivalent changes, without departing from the technical spirit of the present invention, and any simple modification, equivalent change and change made to the above embodiments according to the technical spirit of the present invention still belong to the protection scope of the technical spirit of the present invention.

Claims

1. A robot operating device for plasma surfacing of a wear-resistant surface of a shield cutter comprises a mechanical arm with multiple degrees of freedom, wherein a surfacing welding gun is arranged at the tail end of the mechanical arm, the surfacing welding gun faces a workpiece platform, a horizontal claw disc used for clamping a workpiece is arranged on the workpiece platform, and the robot operating device is characterized in that a steering groove is formed in the tail end of the mechanical arm, a steering knuckle is arranged in the steering groove, the steering knuckle is splayed and is provided with two surfacing welding guns at the tail end of the steering knuckle, the two surfacing welding guns are respectively a pre-welding gun and a follow-welding gun, the pre-welding gun is used for surfacing a wear-resistant base layer on the workpiece, the follow-welding gun is used for surfacing a wear-resistant surface layer used for coating a precast piece on the wear-resistant base layer, a piece swinging robot used for placing the precast piece is arranged at the bottom of the workpiece platform, the piece swinging robot comprises a base positioned below the workpiece platform, and a fixing machine ring is arranged between the base and the workpiece platform, the side of fixed quick-witted circle is provided with a plurality of mounting holes that are circular array and distribute, it gets the piece arm to rotate to be provided with in the mounting hole, the inside of fixed quick-witted circle is provided with and is used for driving every cam disc of getting the piece arm in proper order, the power input end of cam disc is provided with actuating mechanism, the cam disc includes the disc, the disc is provided with a convex ridge near the bottom of getting the piece arm at it, the longitudinal section of convex ridge is inverted triangle-shaped and its least significant end and one get piece arm butt, the both ends of convex ridge extend with the circular arc orbit, it is provided with the roof towards the one end of convex ridge to get the piece arm, the roof is located the below of convex ridge, the top surface of roof is the curved surface, it is L shape to get the piece arm, it passes through the spring and is connected with the side of base to get the piece arm, the head end of getting the piece arm is provided with pneumatic piece chuck of getting, the pendulum piece robot still includes the feed mechanism that is used for pneumatic piece chuck provides the prefabricated piece, the feeding mechanism comprises an annular base plate and an annular top cover, a material sheet cavity is formed in the base plate, radial grooves which correspond to the pneumatic sheet taking chucks one to one are formed in the material sheet cavity, through holes which correspond to the radial grooves are formed in the side face of the base plate, and a feeding spring is arranged at one end, far away from the circle center, of each radial groove and used for placing the prefabricated sheet.

2. The robot operating device for the plasma surfacing welding of the wear-resistant surface of the shield cutter according to claim 1, wherein the pneumatic sheet taking chuck comprises a chuck base, a U-shaped fork is arranged at the front end of the chuck base, a C-shaped spring piece is arranged inside the chuck base, two ends of the spring piece extend from the chuck base along two branch ends of the fork, a sliding block located inside the chuck base is arranged at the rear end of the spring piece, and an air cylinder is arranged at the rear end of the sliding block.

3. The robot operating device for the plasma surfacing welding of the wear-resistant surface of the shield cutter according to claim 2, wherein a first round hole and a second round hole are formed in the fixed machine ring and distributed vertically, the diameter of the first round hole is larger than that of the second round hole, the edge of the disk is located in the first round hole, and a connecting node of the slice taking arm and the mounting hole is located below the first round hole.

4. The robot operating device for shield cutter wear-resistant surface plasma overlaying according to claim 1, wherein said driving mechanism comprises a driving motor and a speed reducer, and said driving mechanism is positioned in a mounting groove arranged in the center of the base.

5. The robot operating device for the plasma surfacing of the wear-resistant surface of the shield cutter according to claim 4, wherein the two ends of the steering knuckle are provided with first joints, the output end of each first joint is provided with a second joint, the output end of each second joint is connected with a surfacing welding gun, and each of the first joints and the second joints comprises a steering engine and a rotating shaft.