CN114749277B

CN114749277B - Welding dust removal system for solving pollution from welding fume source

Info

Publication number: CN114749277B
Application number: CN202210479893.7A
Authority: CN
Inventors: 吴仲伟; 施成龙; 常伟杰; 夏金兵
Original assignee: Hefei University of Technology
Current assignee: Hefei University of Technology
Priority date: 2022-05-05
Filing date: 2022-05-05
Publication date: 2023-06-23
Anticipated expiration: 2042-05-05
Also published as: CN114749277A

Abstract

The invention relates to a welding dust removal system for solving pollution from a welding fume source, which comprises a gantry truss, a travelling mechanism arranged on the gantry truss, a welding robot arranged on the travelling mechanism, and a follow-up adsorption robot respectively arranged on the travelling mechanism through two cooperative mechanical arms with the welding robot. The follow-up adsorption robot comprises a multistage dust removing device for removing dust and purifying welding smoke dust generated by the welding robot and a tail end clamping mechanism for installing the multistage dust removing device on a corresponding cooperative mechanical arm. The multistage dust removing device comprises a cyclone separator, a physical filter and an electrostatic precipitator which are sequentially connected and installed according to the flowing direction of welding fume. The physical filter adopts a dry filtering mode that the filter cotton wraps the activated carbon, and also adopts a wet filtering mode that the filter cotton soaks the liquid chemical agent. The invention solves the problems of environmental pollution and health hazard caused by welding smoke dust in the welding process.

Description

Welding dust removal system for solving pollution from welding fume source

Technical Field

The invention relates to a dust removing robot in the field of welding fume dust removal, in particular to a welding dust removing system for solving pollution from a welding fume source.

Background

During welding, a large amount of toxic and harmful welding smoke dust is generated, and the welding smoke dust has tiny particles and high viscosity, so that the welding smoke dust not only seriously pollutes the environment, but also seriously endangers the health of welding technicians. At present, the existing dust removing technology and equipment for welding fume have the problems of heavy weight, large volume, high energy consumption, high cost, large occupied area and the like; when the welding fume is diffused, the dust removing modes such as filtration dust removing and electrostatic dust removing are adopted, the dust removing efficiency is low, the effect is poor, the concentration of the welding fume is only reduced, the problem of pollution of the welding fume cannot be thoroughly solved, and the sustainable development of enterprises is affected.

Therefore, in terms of cost reduction, environmental protection, improvement of working conditions and the like, the welding fume source can timely and rapidly develop high-efficiency dust removal operation along with the welding track of the execution tail end of the welding robot, such as a welding gun, and the design of a small-sized low-cost special dust removal device has important significance.

Disclosure of Invention

The invention provides a welding dust removal system for solving the problem of environmental pollution and health hazard caused by welding smoke dust in a welding process.

The invention is realized by the following technical scheme:

a welding dust removal system for addressing contamination from a welding fume source, comprising:

gantry truss;

the travelling mechanism is arranged on the gantry truss and is used for travelling on the gantry truss;

the welding robot is arranged on the travelling mechanism and is used for welding the workpiece under the drive of the travelling mechanism;

the follow-up adsorption robot and the welding robot are respectively arranged on the travelling mechanism through two cooperative mechanical arms;

the follow-up adsorption robot comprises a multistage dust removing device for removing dust and purifying welding smoke dust generated by the welding robot and a tail end clamping mechanism for installing the multistage dust removing device on a corresponding cooperative mechanical arm; the multistage dust removing device comprises a cyclone separator, a physical filter and an electrostatic precipitator which are sequentially connected and installed according to the flowing direction of welding fume;

the physical filter provides two filtering dust removal modes of a dry method and a wet method:

(1) The physical filter adopts a dry filtering mode that activated carbon is wrapped by filter cotton;

(2) The physical filter adopts a wet filtering mode that filter cotton is soaked in liquid chemical agent;

the cyclone separator comprises: a shell, a five-cone cyclone bin and a dust cup; the shell is in a horn shape, and the large end opening of the shell is the welding fume input end of the whole multi-stage dust removing device; the five-cone cyclone bin is arranged on the small end opening of the shell and is communicated with the small end opening of the shell; the dust collecting cup is arranged on the five-cone cyclone bin and is communicated with the five-cone cyclone bin; the dust collecting cup is used for collecting part of solid particles which are separated from welding fume by cyclone through the five-cone cyclone bin;

the electrostatic precipitator includes: the electrostatic discharge device comprises a charging section outer orifice, a plurality of insulating columns, a plurality of discharge electrode tungsten wires, a dust collection base, a dust collection wall, a plurality of dust collection discharge electrodes and an electrostatic adsorption shell; the outer orifice of the charging section is cylindrical, and one end of the charging section is fixed at the air outlet of the physical filter and is communicated with the physical filter; the plurality of insulating columns are positioned in the outer orifice of the charging section and are uniformly distributed on the circumference of the other end of the outer orifice of the charging section in a radial direction; a plurality of discharge electrode tungsten wires are respectively fixed on a plurality of insulating columns; the dust collection base is hollow and is arranged at the other end of the outer orifice of the charging section; the dust collecting wall is hollow, and one end of the dust collecting wall is fixed on the dust collecting base and communicated with the outer orifice of the charging section; a plurality of dust collecting discharge electrodes are fixed in the dust collecting wall and are respectively and electrically connected with a plurality of discharge electrode tungsten wires; one end of the electrostatic adsorption shell is fixed on the other end of the dust collection wall and communicated with the dust collection wall.

As a further improvement of the scheme, the electrostatic precipitator further comprises a tail end cover plate, wherein the tail end cover plate is arranged at the other end of the electrostatic adsorption shell, and at least one air outlet hole is formed in the tail end cover plate.

As a further improvement of the above, the cyclone separator includes:

the shell is in a horn shape, and the opening at the large end of the shell is the welding fume input end of the whole multi-stage dust removing device;

the five-cone cyclone bin is arranged on the small end opening of the shell and is communicated with the small end opening of the shell;

the dust collecting cup is arranged on the five-cone cyclone bin and is communicated with the five-cone cyclone bin; the dust collecting cup is used for collecting part of solid particles which are separated from welding fume by cyclone through the five-cone cyclone bin.

Further, the cyclone separator further comprises:

the dust collection protective cover is arranged at the opening of the large end of the shell and is hollow.

Further, the cyclone separator further comprises:

the small end opening of the shell can be communicated with the five-cone cyclone bin through the sealing ring.

Further, the cyclone separator further comprises:

the air outlet end cover is arranged at the air outlet of the five-cone cyclone bin, and at least one air outlet hole is formed in the air outlet end cover.

As a further improvement of the above solution, the physical filter further includes:

the shell is arranged at the air outlet of the cyclone separator, an air outlet end cover is arranged at the air outlet of the cyclone separator, and the interior of the shell is communicated with the cyclone separator through an air outlet hole on the air outlet end cover;

the framework is accommodated in the shell and fixed on the air outlet end cover, and the framework is used for installing filter cotton.

Further, the physical filter further includes:

the outer cover is arranged at one end of the outer cover, which is far away from the cyclone separator, and is also provided with at least one air outlet.

Further, the orifice of the charging section is fixed at the air outlet of the physical filter through a flange. Further, an axial flow fan is arranged in the orifice outside the charging section and is used for sucking welding fume into the cyclone separator rapidly.

As a further improvement of the scheme, the tail end of the tail end holding mechanism is fixed on the corresponding cooperative mechanical arm, the middle end positions two clamps, and the physical filter and the electrostatic precipitator are respectively fixed through the two clamps.

As a further improvement of the above, the gantry truss includes: two upright posts; the two ends of the cross beam are respectively erected on the two upright posts; two guide rails which are arranged in parallel and are relatively fixed on the upper side and the lower side of the same side face of the cross beam;

the running gear includes: a pallet slidably mounted on the two rails; the driving mechanism is used for driving the supporting plate to slide on the two guide rails; two cooperating mechanical arms, both fixed on the pallet.

As the further improvement of above-mentioned scheme, welding dust pelletizing system still includes the clamping frock that fixes a position the work piece, and the clamping frock includes:

a support column;

the position changing machine is arranged opposite to the support column;

and the pair of clamps are respectively and rotatably arranged on the position changing machine and the support column, two ends of the workpiece are respectively fixed on the pair of clamps, and the clamps arranged on the position changing machine are fixed on an output shaft of the position changing machine so as to drive the clamps to drive the workpiece to rotate 360 degrees.

Compared with the prior art, the invention has the following effective effects:

(1) The cooperative mechanical arm moves freely in a three-dimensional space and has flexibility, the cooperative mechanical arm and the welding robot are adopted, the multistage dust removing device can track welding smoke sources and keep a certain distance, can timely follow the welding action of the welding robot, adsorb and purify welding smoke in real time, and effectively solve the problem of large-scale diffusion of the welding smoke.

(2) The gantry truss adopts a double-upright-column gantry structure and is used as a carrying platform of the welding robot; the two sets of cooperative mechanical arms are arranged in parallel and can simultaneously do reciprocating linear motion along the beam guide rail; the multistage dust removal device has synchronous movement and welding process, has consistent movement track, does not influence the welding process, and effectively solves the problem of interference of the dust removal process to the welding process.

(3) The invention adopts cyclone separation, physical filtration and electrostatic adsorption multistage combined dust removal technology, which is respectively realized by cyclone separators, physical filters and electrostatic precipitators of a multistage dust removal device. Aiming at the characteristics of tiny welding fume particles, large viscosity and large toxicity, the optimized combination of a plurality of dust removal processes can obtain beneficial dust removal effects.

(4) The invention adsorbs and removes dust at the source of welding fume, thereby not only effectively controlling pollution, but also realizing miniaturization and light weight of the invention. The invention has the advantages of rapid action, high dust removal efficiency and good effect; the method is also suitable for the characteristics of welding methods and product diversity, so the method has strong applicability and wide application.

Drawings

Fig. 1 is a schematic general structural view of the welding dust removal system of the present invention.

Fig. 2 is a schematic view of a part of the welding dust removing system in fig. 1 in an enlarged structure.

Fig. 3 is a schematic perspective view of a multi-stage dust removing device of the welding dust removing system in fig. 1.

Fig. 4 is a schematic cross-sectional view of the multi-stage dust removing apparatus of fig. 3.

1-a cooperative mechanical arm; 2-a terminal clamping mechanism; 3-a multi-stage dust removal device; 4-a pallet device; 5-a gantry truss; 6, clamping; 7-a fixing member; 8-supporting plates; 9-a speed reducer; 10-a servo motor; 11-a cross beam; 12-stand columns; 13, a guide rail; 14-a rack; 15-a dust collection protective cover; 16-a shell; 17-a sealing ring; 18-a dust cup; 19-five cone cyclone bin; 20-an air outlet end cover; 21-a housing; 22-filtering cotton; 23-a framework; 24-an outer cover; 25-opening the charged section; 26-discharge electrode tungsten wire; 27-insulating columns; 28-a dust collection base; 29-a dust collecting wall; 30-collecting dust discharge electrode; 31-electrostatic adsorption housing; 32-end cover plate; 33-a welding robot; 34, welding gun; 35-a workpiece; 36-a clamp; 37-position changing machine; 38-supporting columns; 100, clamping a tool; 200-a follow-up adsorption robot; 111-diagonal strut plates; 121-a plate; 123-diagonal bracing.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It is noted that when an element is referred to as being "mounted to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "secured to" another element, it can be directly secured to the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "or/and" as used herein includes any and all combinations of one or more of the associated listed items.

Please refer to fig. 1, which is a schematic diagram of a welding dust removal system according to the present invention. The welding dust removal system comprises a clamping tool 100, a gantry truss 5, a travelling mechanism, a welding robot 33 and a follow-up adsorption robot 200. The clamping tool 100 is used for fixing the workpiece 35, and is convenient for the welding robot 33 to weld the workpiece 35. In this embodiment, the clamping tool may also be used to drive the workpiece 35 to rotate 360 degrees, so as to implement omnibearing dead-angle-free welding of the workpiece 35 by the welding gun 34 on the welding robot 33. The travelling mechanism is arranged on the gantry truss 5 and can slide back and forth on the gantry truss 5. The travelling mechanism is used for installing the welding robot 33 and the follow-up adsorption robot 200, so that the welding robot 33 and the follow-up adsorption robot 200 travel synchronously, and the follow-up effect of the follow-up adsorption robot 200 on the welding robot 33 is realized.

The gantry truss 5 comprises two upright posts 12, a cross beam 11, a pair of guide rails 13 and a rack 14. Two stand 12 erect and fix on the plane, like subaerial, the one end of stand 12 erect and fix on the plane can adopt parts such as bolt, screw that are used for the fixed effect to remove fixedly, for fixed more firm, can set up dull and stereotyped 121 at this end of every stand 12, through the fixed of dull and stereotyped 121 on the plane, increase stand 12 and planar area of contact to make whole longmen truss 5 can steadily stand on the plane. Each upright 12 can be further added with at least one inclined support 123, so that the stability of the whole gantry truss 5 on a plane is enhanced.

The cross beam 11 is erected on the two upright posts 12, and the travelling mechanism, the welding robot 33 and the follow-up adsorption robot 200 are all arranged on the cross beam 11, so that the cross beam 11 has a certain bearing capacity correspondingly. In order to increase the stability of the cross beam 11 on the two uprights 12, a diagonal strut 111 may be added to each end of the cross beam 11, which is fixed to the corresponding upright 12.

The pair of guide rails 13 are arranged in parallel and are fixed to the upper and lower sides of the same side of the cross member 11. A rack 14 is fixed to the top surface of the cross beam 11. The cross beam 11 and the two upright posts 12 of the gantry truss 5 form a double-upright-post gantry structure, the side surface of the cross beam 11 is provided with a guide rail 13, and the upper surface of the cross beam is provided with a rack 14. The gantry truss 5 is used as a carrying platform of the follow-up adsorption robot and the welding robot, and two sets of cooperative mechanical arms are arranged in parallel and can cooperatively do reciprocating linear motion along the guide rail 12 of the cross beam 11.

The clamping fixture 100 comprises a positioner 37, a pair of clamps 36 and a support column 38. The positioner 37 and the support column 38 are arranged opposite to each other, the pair of clamps 36 are rotatably mounted on the positioner 37 and the support column 38, respectively, and both ends of the workpiece 35 are fixed on the pair of clamps 36, respectively. The fixture 36 mounted on the positioner 37 is fixed on the output shaft of the positioner 37, so that the positioner 37 can drive the corresponding fixture 36 to rotate, and the two fixtures 36 are connected through the workpiece 35, so that the workpiece 36 and the other fixture 36 are driven to rotate, and finally the positioner 37 drives the workpiece 35 to rotate 360 degrees.

Referring to fig. 2, the travelling mechanism includes a supporting plate 4, a driving mechanism, and two cooperating mechanical arms 1. The pallet 4 is slidably mounted on the pair of guide rails 13, and is driven by the driving mechanism to run on the pair of guide rails 13. The two cooperative mechanical arms 1 are fixed on the supporting plate 4, and synchronous sliding of the two cooperative mechanical arms 1 relative to the guide rails 13 is realized through sliding of the supporting plate 4 on the pair of guide rails 13.

The pallet 4 may be configured in a [ -shape, and may be engaged with the two rails 13 from opposite sides of the two rails 13 to cover the two rails 13, or may be configured in a "several" shape, and may be engaged with the two rails 13 from opposite sides of the two rails 13. Naturally, other sliding mechanisms may be used as long as the pallet 4 can be repeatedly moved on the cross beam 11 in the direction in which the cross beam 11 extends. If the sliding blocks are independently fixed on the supporting plate 4 and clamped on the two guide rails 13, the sliding blocks can realize indirect sliding with the two guide rails 13. In this case, the slider is preferably integrally formed with the pallet 4, in order to increase the stability of the mounting of the pallet 4 on the two guide rails 13.

The drive mechanism is a drive source for the pallet 4, and the pallet 4 slides on the guide rail 13 by the drive mechanism. The drive mechanism comprises a speed reducer 9, a servo motor 10, a gear (not shown because it is hidden by the pallet 4). The gear is meshed with a rack 14 on the cross beam 11, and the supporting plate 4 is coaxially arranged on a rotating shaft of the gear through a bearing, so that after the servo motor 10 is decelerated by the speed reducer 9, the servo motor 10 drives the gear to walk on the rack 14, and the gear drives the corresponding supporting plate 4 to walk on the guide rail 13 through the bearing. The rack 14 is fixed at a relatively free position on the cross beam 11, and only needs to be meshed with the gears, and the servo motor 10 drives the supporting plate 4 to walk. After the servo motor 10 is decelerated by the speed reducer 9, the sliding block slides on the guide rail 13 of the gantry truss 5 through a gear rack pair of the transmission mechanism; one side of the supporting plate 8 is connected with a sliding block, and finally, the linear reciprocating motion of the supporting plate 8 is realized. The supporting plate 8 is used for installing the cooperative mechanical arm 1 of the invention and the other cooperative mechanical arm of the welding robot in parallel, so that synchronous cooperative movement is realized.

One end of the two cooperative mechanical arms 1 can be fixed on the supporting plate 4 through a flange, and the welding robot 33 and the follow-up adsorption robot 200 are respectively arranged at the other ends of the two cooperative mechanical arms 1. The welding robot 33 is used for welding the workpiece 35 fixed on the fixture 36, and the welding program of the welding robot 33 can be designed in advance and recorded in the controller of the servo motor 10, so that the welding robot 33 can weld the workpiece 35 according to the welding track designed in advance. Since the welding robot 33 and the follow-up suction robot 200 are mounted on the same pallet 4, the welding robot 33 and the follow-up suction robot 200 move synchronously. The follow-up suction robot 200 is used for absorbing and purifying welding fume generated during welding by the welding robot 33, and tracking a welding fume source of the welding robot 33 is realized through the supporting plate 4.

In summary, the following suction robot 200 is used for tracking the welding dust source and keeping a certain distance from the welding gun 34 of the welding robot 33; the welding fume is adsorbed and purified in real time following the welding operation of the welding gun 34 of the welding robot 33.

The welding robot 33 also adopts a cooperative mechanical arm, and the movement of the multistage dust removing device 3 is in cooperative consistency with the welding process of the welding gun 34, and the movement track is in consistency. The welding gun 34 arranged at the tail end of the welding robot 33 can weld the workpiece 35 according to the programmed track; the cooperative mechanical arm 1 can freely move in a shared space, a welding smoke source is tracked under the action of a visual sensor, and the movement track of the multistage dust removal device 3 can be determined according to welding track programming. The multistage dust collector 3 and the welding gun 34 always keep a proper distance, so that the multistage dust collector can timely follow the welding action of the welding robot 33 to adsorb and purify welding smoke in real time.

In engineering practice, the workpiece 35 belongs to a large welding structural member, the fixture 36 clamps the workpiece 35, and the positioner 37 can realize 360-degree rotation of the workpiece 35, so that the welding robot 33 can move in a reciprocating linear manner on the gantry truss in a large range, and all welding seams of the workpiece 35 can be welded, and the technical requirements are met. The cooperative mechanical arm 1 moves cooperatively along with the welding robot 33, so that the dust removal requirement of the workpiece 35 in the whole welding process is met.

In an actual welding shop environment, the present invention may employ a similar truss structure to achieve straight reciprocating motion. Therefore, the invention has strong adaptability and wide application.

The follow-up suction robot 200 includes a multi-stage dust removing device 3 and a terminal holding mechanism 2 that mounts the multi-stage dust removing device 3 on the corresponding cooperative robot arm 1. The multi-stage dust removing device 3 is fixed on the tail end holding mechanism 2 through at least one clamp 6, and the tail end holding mechanism 2 is fixed on the corresponding cooperative mechanical arm 1 through a plurality of fasteners 7 (such as positioning pins, screws and the like). In this embodiment, two clips 6 having different sizes are provided, and two ends of the multi-stage dust removing device 3 are respectively fixed to the end holding mechanism 2 through the two clips 6. The tail end of the tail end holding mechanism 2 is fixed on the corresponding cooperative mechanical arm 1 through a fastener 7, the middle end positions two clamps 6, and the multistage dust collector 3 is fixed through the clamps 6. The multi-stage dust removing device 3 is fixedly clamped on the cooperative mechanical arm 1 through the tail end clamping mechanism 2 and follows the multi-degree-of-freedom motion of the cooperative mechanical arm 1 to ensure that the multi-stage dust removing device 3 is positioned at a proper angle and position above a welding point.

Referring to fig. 3 and 4, the multi-stage dust removing device 3 sequentially includes a cyclone separator, a physical filter, and an electrostatic precipitator according to a direction approaching the corresponding cooperative mechanical arm 1. In order to realize the multistage dust removal process flow, the multistage dust removal device is divided into three components of a cyclone separator, a physical filter and an electrostatic precipitator which are sequentially connected and installed according to the flowing direction of welding fume.

Welding fume is first sucked into the cyclone separator, which mainly comprises a dust collecting protective cover 15, a shell 16, a sealing ring 17, a dust collecting cup 18, a five-cone cyclone bin 19 and an air outlet end cover 20. The shell 16 is in a horn shape, the large end opening of the shell 16 is a welding fume input end of the whole multi-stage dust removing device 3, and the dust collection protective cover 15 is arranged at the large end opening. The dust collection protective cover 15 prevents large objects from being sucked into the multi-stage dust collection device 3, so that the large objects are clamped in the multi-stage dust collection device 3, and the operation of the multi-stage dust collection device 3 is damaged. The hollow-out dimensions of the dust-absorbing protective cover 15 can be designed according to the tolerance of the multi-stage dust-removing device 3 to the dimensions of the objects. The small end opening of the shell 16 is communicated with the air inlet of the five-cone cyclone bin 19, and for the communication effect, the small end opening of the shell 16 can be communicated with the five-cone cyclone bin 19 through the sealing ring 17. The dust cup 18 is mounted on the five cone cyclone bin 19 and communicates with the five cone cyclone bin 19 for the purpose of collecting larger solid particles in the dust cup 18 as they pass through the cyclone of the five cone cyclone bin 19. An air outlet end cover 20 is arranged at the air outlet of the five-cone cyclone bin 19, and at least one air outlet hole is formed in the air outlet end cover 20.

Welding fumes enter the five cone cyclone bin 19 from the cyclone's dust collection opening (i.e., the large end opening of the housing 16), and due to density differences, larger solid particles are separated by the cyclone and collected in the dust cup 18. The large end opening of the shell 16 always faces the welding fume source and guides the welding fume into the five-cone cyclone bin 19. The larger solid particles are separated by the cyclone of the five-cone cyclone bin 19 and are collected in the dust cup 18; the remaining welding fume enters the physical filter.

The five-cone cyclone bin 19 is connected with a physical filter, and the five-cone cyclone bin 19 is communicated with the physical filter through an air outlet hole on an air outlet end cover 20. The physical filter mainly comprises a shell 21, activated carbon filter cotton 22, a framework 23 and an outer cover 24. One end of the shell 21 is fixed on the air outlet end cover 20, and the interior of the shell 21 is communicated with the five-cone cyclone bin 19 through an air outlet hole on the air outlet end cover 20. The frame 23 is accommodated in the housing 21 and fixed to the air outlet end cover 20, and the frame 23 is used for mounting the filter cotton 22. The outer cover 24 is covered at the other end of the outer shell 21, and at least one air outlet hole is also formed in the outer cover 24. The filter cotton 22 is arranged in a containing cavity formed by the framework 23 and the outer cover 24, welding fume is filtered by the filter cotton 22, and fine fume particles are left to enter the electrostatic precipitator.

The physical filter of the invention provides two filtering and dedusting modes of a dry method and a wet method:

(1) The physical filter adopts a dry filtration mode that the activated carbon is wrapped by the filter cotton 22, and the adsorption effect of the solid surface of the activated carbon is utilized to effectively absorb welding fume particles;

(2) The physical filter adopts a wet filtering mode by soaking the filter cotton 22 in liquid chemical agent, and the chemical agent can be surfactant such as sodium alkyl sulfonate, fatty alcohol ether sodium sulfate and the like, so that the welding fume particles can be effectively adsorbed, and toxic and harmful gases can be adsorbed.

The electrostatic precipitator communicates with the physical filter through an air outlet opening in the housing 24. The electrostatic precipitator mainly comprises a charging section outer orifice 25, a plurality of discharge electrode tungsten wires 26, a plurality of insulating columns 27, a dust collection base 28, a dust collection wall 29, a dust collection discharge electrode 30, an electrostatic adsorption shell 31 and a tail end cover plate 32. The outer orifice 25 of the charging section is cylindrical, and one end of the outer orifice can be fixed on the outer cover 24 through a flange and is communicated with the containing cavity through an air outlet hole on the outer cover 24. An axial flow fan (not shown but seen in fig. 3) can be installed in the orifice 25 of the charging section, and the axial flow fan is used for rapidly sucking welding fume into the multi-stage dust collector 3.

The other end of the charging section outer orifice 25 is fixed with a dust collecting base 28, and one end of a dust collecting wall 29 is fixed on the other end of the charging section outer orifice 25 through the dust collecting base 28. In the embodiment, 6 to 12 discharge electrode tungsten wires 26 are uniformly distributed radially on the circumference of the other end of the outer orifice 25 of the charging section through a plurality of insulating columns 27. One end of the electrostatic adsorption shell 31 is fixed on the other end of the dust collecting wall 29, the other end of the electrostatic adsorption shell 31 is provided with a tail end cover plate 32, and at least one air outlet hole is formed in the tail end cover plate 32. Fine dust particles of welding dust enter an electrostatic adsorption electric field from the dust collection base 28 and are collected in the dust collection base 28. The welding fume particles have different particle size distribution, and are subjected to cyclone separation, physical filtration and electrostatic adsorption, so that effective adsorption treatment is achieved, and finally purified air is discharged from the hole system of the tail end cover plate 32.

In the present embodiment, the dust collecting base 28 is connected to the air inlet of the electrostatic adsorption shell 31 through a groove, and has a flow guiding function; welding fume enters an electrostatic adsorption electric field from the dust collection base 28, particles with smaller particle sizes move to the dust collection wall 29 under the action of the electric field force and are collected in the dust collection base 28, and purified air is discharged through the hole system of the end cover plate 32.

In the multistage dust collector 3 of the invention, the dust collecting cup of the cyclone separator, the activated carbon filter cotton of the physical filter and the dust collecting base of the electrostatic precipitator can be detached, cleaned or replaced. The cyclone separator, the physical filter and the electrostatic precipitator are suggested to be coaxially arranged, so that dust collection is smoother.

The invention has important value in a welding factory, the multistage dust removing device 3 can timely follow the welding gun 34 of the welding robot 33 to execute the welding action of the tail end, and when welding smoke is just generated, the multistage dust removing device 3 adsorbs and purifies from the source, so that the large-scale diffusion of the welding smoke is avoided.

The multistage dust collector 3 has the advantages that the movement process is synchronous with the welding process of the welding gun 34, the movement track is consistent, the welding process is not influenced, and the welding efficiency and the dust collection efficiency are greatly improved.

The cyclone separation, physical filtration and electrostatic adsorption of the multistage dust collector 3 are verified by engineering practice, and belong to a dust collection method suitable for welding fume; the welding product has the characteristics of multiple varieties and diversity, and also has multiple welding methods.

The combination of the multistage dust removing device 3 and the welding robot 33 of the invention is not only suitable for common CO as shown in figure 1 ₂ The gas shielded welding is also suitable for various welding methods such as argon arc welding, laser welding and the like, and is also suitable for welding structural parts ranging from small-sized to large-sized and different types and sizes.

The invention provides a cyclone separation, physical filtration and electrostatic adsorption multistage combined dust removal process aiming at the characteristics of welding fume, wherein the welding fume has fine particles, high viscosity and a large amount of toxic and harmful substances. The cyclone separation effectively separates and clearly shows the welding fume particles with high density, and the welding fume particles with different particle diameters are subjected to physical filtration and electrostatic adsorption to obtain the optimal dust removal effect.

In summary, the beneficial effects of the invention are as follows:

one end of the cooperative mechanical arm is connected with a tail end clamping mechanism, and the tail end clamping mechanism is connected with a multi-stage dust removing device; the other end of the cooperative mechanical arm is connected with a supporting plate device and is arranged on the gantry truss; the cooperation arm carries on multistage dust collector and keeps the certain distance with the solder joint when welding robot welds to follow synchronous movement, accomplish the dust removal process at welding fume source, avoid the further diffusion of smoke and dust.

The invention adopts the cooperative mechanical arm to freely move in a three-dimensional space, and has flexibility; the welding smoke source is tracked under the effect of the vision sensor, a certain distance is kept, and the multistage dust removing device is guaranteed to timely follow the welding robot to execute the terminal welding action, so that the welding smoke is adsorbed and purified in real time. The invention adopts the cooperation mechanical arm to combine with the supporting plate, so as to realize the cooperation consistency of the movement of the multistage dust removing device and the welding process, and the movement track is consistent.

The gantry truss adopts a double-upright-column gantry structure and is used as a carrying platform of a follow-up adsorption robot and a welding robot; the two sets of cooperative mechanical arms are arranged in parallel and can cooperatively do reciprocating linear motion along the beam guide rail, and the racks are matched with the gears on the supporting plate to provide power for the reciprocating linear motion of the supporting plate and the components thereof.

The invention is combined with a welding robot, and is suitable for welding processes of different types of welding structural parts.

The invention also provides a cyclone separation, physical filtration and electrostatic adsorption multistage combined dust removal process, wherein the front end of the physical filter is connected with the cyclone separator, the rear end of the physical filter is connected with the axial flow fan, and the axial flow fan is connected with the electrostatic dust removal device.

The physical filter can adopt two filtering and dust removing modes of a dry method and a wet method: the filter cotton wraps the activated carbon and is subjected to dry filtration; the chemical agent of the filter cotton soaking liquid is wet filtration, which not only adsorbs welding fume, but also can adsorb toxic and harmful gases.

In the multistage dust collector, the dust collecting cup of the cyclone separator, the activated carbon filter cotton of the physical filter and the dust collecting base of the electrostatic precipitator can be detached, cleaned or replaced.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples merely represent a few embodiments of the present invention, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of the present application is to be determined by the following claims.

Claims

1. A welding dust removal system for addressing contamination from a welding fume source, comprising:

a gantry truss (5);

the travelling mechanism is arranged on the gantry truss (5) and is used for travelling on the gantry truss (5);

a welding robot (33) which is arranged on the travelling mechanism and is used for welding a workpiece (35) under the drive of the travelling mechanism;

the welding dust removal system is characterized by further comprising:

the follow-up adsorption robot (200) and the welding robot (33) are respectively arranged on the travelling mechanism through two cooperative mechanical arms (1);

the follow-up adsorption robot (200) comprises a multi-stage dust removing device (3) for removing dust and purifying welding smoke dust generated by a welding robot (33) and a tail end clamping mechanism (2) for installing the multi-stage dust removing device (3) on a corresponding cooperative mechanical arm (1); the multistage dust removing device (3) comprises the cyclone separator, the physical filter and the electrostatic dust collector which are sequentially connected and installed according to the flowing direction of welding fume;

the physical filter provides two filtering and dedusting modes of a dry method and a wet method:

(1) The physical filter adopts a dry filtering mode that activated carbon is wrapped by filter cotton (22);

(2) The physical filter adopts a wet filtering mode that filter cotton (22) is used for soaking liquid chemical agents;

the cyclone separator includes: a shell (16), a five-cone cyclone bin (19) and a dust cup (18); the shell (16) is in a horn shape, and the large end opening of the shell (16) is the welding fume input end of the whole multi-stage dust removing device (3); the five-cone cyclone bin (19) is arranged on the small end opening of the shell (16) and is communicated with the small end opening of the shell (16); the dust cup (18) is arranged on the five-cone cyclone bin (19) and is communicated with the five-cone cyclone bin (19); the dust collection cup (18) is used for collecting part of solid particles which are separated from welding fume by cyclone through the five-cone cyclone bin (19);

the electrostatic precipitator includes: the electrostatic discharge device comprises a charging section outer orifice (25), a plurality of insulating columns (27), a plurality of discharge electrode tungsten wires (26), a dust collection base (28), a dust collection wall (29), a plurality of dust collection discharge electrodes (30) and an electrostatic adsorption shell (31); the outer orifice (25) of the charging section is cylindrical, and one end of the outer orifice is fixed at the air outlet of the physical filter and is communicated with the physical filter; the plurality of insulating columns (27) are positioned in the outer orifice (25) of the charging section and are uniformly distributed on the circumference of the other end of the outer orifice (25) of the charging section in a radial direction; a plurality of discharge electrode tungsten wires (26) are respectively fixed on a plurality of insulating columns (27); the dust collection base (28) is hollowed out and is arranged at the other end of the charging section outer orifice (25); the dust collecting wall (29) is hollow, and one end of the dust collecting wall is fixed on the dust collecting base (28) and is communicated with the orifice (25) of the charging section; a plurality of dust collecting discharge electrodes (30) are fixed in the dust collecting wall (29) and are respectively electrically connected with a plurality of discharge electrode tungsten wires (26); one end of the electrostatic adsorption shell (31) is fixed on the other end of the dust collection wall (29) and is communicated with the dust collection wall (29).

2. The welding dust removal system for solving the pollution problem from the source of welding fume according to claim 1, wherein the electrostatic precipitator further comprises a terminal cover plate (32), the terminal cover plate (32) is mounted on the other end of the electrostatic adsorption shell (31), and at least one air outlet hole is formed in the terminal cover plate (32).

3. The welding dust removal system for resolving contamination from a source of welding fumes of claim 1, wherein the cyclone further comprises:

the dust collection protective cover (15) is arranged at the opening of the large end of the shell (16), and the dust collection protective cover (15) is hollow;

and/or;

the small end opening of the shell (16) can be communicated with the five-cone cyclone bin (19) through the sealing ring (17);

and/or;

the air outlet end cover (20) is arranged at the air outlet of the five-cone cyclone bin (19), and at least one air outlet hole is formed in the air outlet end cover (20).

4. The welding dust removal system for resolving contamination from a source of welding fumes of claim 1, wherein the physical filter further comprises:

the shell (21) is arranged at the air outlet of the cyclone separator, an air outlet end cover (20) is arranged at the air outlet of the cyclone separator, and the interior of the shell (21) is communicated with the cyclone separator through an air outlet hole on the air outlet end cover (20);

and a frame (23) accommodated in the housing (21) and fixed to the inner wall of the housing (21), the frame (23) being used for mounting the filter cotton (22).

5. The welding dust removal system for removing contamination from a source of welding fumes of claim 4, wherein the physical filter further comprises:

and the outer cover (24) is arranged at one end of the outer cover (21) far away from the cyclone separator, and at least one air outlet hole is also formed in the outer cover (24).

6. The welding dust removal system for removing contamination from a source of welding fume of claim 1, wherein the charged segment orifice (25) is secured to the outlet of the physical filter by a flange.

7. The welding dust removal system for removing contamination from a source of welding fume of claim 1, wherein an axial flow fan is installed in an outer orifice (25) of the charging section, the axial flow fan being for rapidly sucking welding fume into the cyclone.

8. The welding dust removal system for resolving contamination from a source of welding fumes of claim 1, wherein,

the tail end of the tail end holding mechanism (2) is fixed on the corresponding cooperative mechanical arm (1), the middle end is provided with two clamping hoops (6), and the physical filter and the electrostatic precipitator are respectively fixed through the two clamping hoops (6).

9. Welding dust removal system for solving a pollution problem from a welding fume source according to claim 1, characterized by the fact that the gantry truss (5) comprises: two upright posts (12); the two ends of the cross beam (11) are respectively erected on the two upright posts (12); two guide rails (13) which are arranged in parallel and are relatively fixed on the upper side and the lower side of the same side face of the cross beam (11);

the travelling mechanism comprises: a pallet (4) slidably mounted on the two guide rails (13); a driving mechanism for driving the pallet (4) to slide on the two guide rails (13); two cooperating mechanical arms (1) both fixed on the pallet (4).

10. The welding dust removal system for resolving contamination from a source of welding fumes of claim 1, further comprising a clamping fixture (100) for positioning a workpiece (35), the clamping fixture (100) comprising:

a support column (38);

the position changing machine (37) is arranged opposite to the supporting column (38);

the pair of clamps (36) are respectively rotatably arranged on the position changing machine (37) and the supporting column (38), two ends of the workpiece (35) are respectively fixed on the pair of clamps (36), and the clamps (36) arranged on the position changing machine (37) are fixed on an output shaft of the position changing machine (37) so as to drive the clamps (36) to drive the workpiece (35) to rotate for 360 degrees.