CN114799719A

CN114799719A - Welding slag removing device for tubular weldment

Info

Publication number: CN114799719A
Application number: CN202210487436.2A
Authority: CN
Inventors: 黎章杰; 杨志杰; 马健钢; 周若宜; 安奕达
Original assignee: Wuhan University of Technology WUT
Current assignee: Wuhan University of Technology WUT
Priority date: 2022-05-06
Filing date: 2022-05-06
Publication date: 2022-07-29
Anticipated expiration: 2042-05-06
Also published as: CN114799719B

Abstract

The invention discloses a welding slag removing device for a tubular weldment, which comprises a tubular weldment clamping device, a two-dimensional moving platform, a welding slag removing mechanical arm and a welding slag collecting module, wherein the tubular weldment clamping device is used for clamping the tubular weldment and can drive the clamped tubular weldment to rotate around the axial direction of the tubular weldment to remove welding slag in different circumferential directions; the two-dimensional moving platform drives the tubular weldment clamping device and the clamped tubular weldment clamped by the tubular weldment clamping device to move in an XY plane; the welding slag collecting module comprises a welding slag collecting tank arranged on the periphery of the bottom of the tubular weldment clamping device; remove welding slag arm includes that Z is to elevating system and install the numerical control tool changing workstation on Z is to elevating system, numerical control tool changing workstation bottom is equipped with a plurality of welding slag that remove that can carry out power and position switch and carries out terminal, removes welding slag and carries out terminal including knocking hammer, polisher and rotatory brush. The automatic tool changing device is simple in structure, can automatically change tools without external force, and realizes the integrated functions of removing, polishing, cleaning and repairing welding slag.

Description

Welding slag removing device for tubular weldment

Technical Field

The invention belongs to the field of machinery, relates to welding slag removing equipment for a weldment, and particularly relates to a welding slag removing device for a tubular weldment, which can realize the integration of removing, collecting and cleaning welding slag.

Background

The invention relates to an integrated device capable of realizing removal, collection and weld cleaning of welding slag, which is widely applied to welding by virtue of the characteristics of good adaptability, capability of simplifying the manufacture of complex parts and large parts, capability of meeting special connection requirements, material saving and the like in the current industrial manufacture.

Fusion welding is the most important welding process, and the arc welding using an electric arc as a heating source is the most basic metal welding method in fusion welding. At present, when an enterprise uses electric arc welding to weld metal parts, manual welding or machine welding is mainly used. During welding, however, slag is generated on the surface. The removal of the welding slag is mainly carried out by manual holding, and accounts for 90% of the market processing requirement. If mechanical cleaning is adopted, a large amount of manpower and material resource consumption can be reduced, the production and processing time of workpieces is shortened, and the engineering construction speed is increased.

Meanwhile, the mainstream welded steel pipe used in the current market is mainly used for conveying steam, compressed air, condensed water and the like. And often need cutting and welding in this pipeline installation process, if do not in time collect the clearance with the welding slag, easily make the welding slag on the pipeline when the pipeline is worked cause negative influence to the life of operating mode and pipeline, then probably arouses the incident seriously. Aiming at a welded steel pipe for conveying steam, the steam is firstly generated in a boiler and is conveyed to steam consuming equipment through a closed pipeline, the diameter of the common pipeline is 15-150 mm, and the product adopts an adjustable chuck and can adapt to different pipe diameters; the pipe diameter of the piping of the gas supply system is 15-80 mm, the pipe diameter is adaptive to the product, the welding slag on the piping is collected and removed, the service life can be prolonged, and the stable quality of the conveyed gas is ensured.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and develop a welding slag removing device which utilizes mechanical structures to be matched with each other. The device can ensure that the welding slag cleaning efficiency reaches more than 98 percent, and simultaneously saves energy, so that the welding slag cleaning efficiency is improved, and the welding position is repaired.

And the current mechanical removal is not widely applied because the current control system is not perfect enough and the removal effect is poor, which can affect the subsequent processing. Take a mainstream cleaning device-an air pressure dust-free sand blasting device as an example: the equipment takes a compressed air source and a sand-blasting gun as main bodies, an input port of the sand-blasting gun is connected with a water-sand mixing device, and the water-sand mixing device is composed of a motor, a rotating wheel, a barrel body and the like. This equipment is similar to the mode clearance welding slag that utilizes shot-blasting to handle, utilizes the water sand clearance surface welding slag, but this kind of device can't be maintained the welding seam, and the surface of welding seam probably influences next process with the surperficial unevenness of steel pipe, increases work flow, reduces treatment effeciency. This device designs a section and utilizes mechanical structure to carry out the welding slag and get rid of to weld the device that detects, the above problem of effectual solution.

Meanwhile, a multi-module integration mode is adopted, the numerical control tool changing workbench is a main welding slag removing device, the functions of removing, polishing, cleaning and repairing welding slag can be orderly completed under a numerical control condition, and in order to better embody the advantages of the numerical control tool changing workbench, an inner support and an outer clamp double-clamping chuck are matched for fixing a pipe fitting and better positioning the position of a welding seam; meanwhile, a two-dimensional moving platform consisting of the cross sliding tables provides accurate feeding amount for removing the welding seams of the pipe fittings, improves the working efficiency of removal and provides possibility for the flow line production process; and the tubulose welding slag can be concentrated through the welding slag collecting vat that has the vibration dish and retrieve to the dump bin after being got rid of and be convenient for the clearance of welding slag and carry out follow-up recycle to welding slag.

In addition, the numerical control tool changing workbench is a brand-new tool changing system. The power transmission chain is changed from an original single output channel into a multi-output channel, except for the switching of the welding slag execution tail end, a central spindle is always in a rotating state, a gear wheel and a driven pinion below the central spindle are driven to rotate all the time, when a shifting fork crank swings downwards through a shifting fork rod to shift a reversing gear to be meshed with an inner gear ring, a tool changer is driven by the central spindle to change tools, the tool changer is connected to a corresponding electronic clutch on the welding slag execution tail end (tool) which is shifted to a working position, a unique output shaft is achieved, the working state of only one working tool can be processed, meanwhile, the tool changer can complete the switching of the corresponding workpiece tool without taking down the workpiece tool, and the welding slag processing time of a pipe fitting is greatly shortened.

The invention is realized by the following technical scheme:

a welding slag removing device for tubular weldment is characterized by comprising

The tubular welding part clamping device is used for clamping a tubular welding part and can drive the clamped tubular welding part to rotate around the axial direction of the tubular welding part to remove welding slag in different circumferential directions;

the two-dimensional moving platform is used for driving the tubular welding part clamping device and the clamping tubular welding part clamped by the tubular welding part clamping device to move in an XY plane, and performing alignment and axial movement to remove welding slag;

the welding slag removing mechanical arm comprises a plurality of welding slag removing execution tail ends capable of automatically switching, and the welding slag removing mechanical arm has Z-direction lifting freedom degree;

and the welding slag collecting module comprises a welding slag collecting tank arranged on the periphery of the bottom of the tubular weldment clamping device and used for collecting the welding slag in the welding slag removing process.

Further, remove welding slag arm and include Z to elevating system and install the numerical control tool changing workstation on Z is to elevating system, numerical control tool changing workstation bottom is equipped with a plurality of welding slag that remove that can carry out power and position switching and carries out the end, and a plurality of welding slag that remove are carried out the end and are for strikeing hammer, polisher and rotatory brush respectively.

According to the invention, the numerical control tool changing workbench is used for automatically changing different execution end points to remove welding slag from the tubular weldment, and one device can complete all operations for removing the welding slag without changing stations.

Compared with the prior art, the invention has the following advantages:

(1) the process of removing the welding slag is effectively matched with the motion process of the pipe fitting and the collecting module of the welding slag, the multi-module integrated processing process is realized, independent processing and common cooperation can be realized, the application flexibility of the device is improved, meanwhile, a production line can be built, and the whole welding work efficiency is improved.

(2) The device removes the welding slag, polishes, clearance and welding position restoration function integration, and each function is accomplished step by step to accessible numerical control, and the integration processing mode has improved the welding slag and has got rid of efficiency.

(3) The workbench does not need a mechanical arm or other structures for assisting tool changing, the tool changing is in a mode of switching workpieces in an integral shaft mode, namely, rotating shaft switching, the time for taking down the workpieces for installing again can be saved, and the integrated removal efficiency is greatly improved.

The design of the device solves the problem of poor effect of the existing welding slag cleaning method, and realizes the integrated automatic removing device for removing, polishing and recycling the welding slag.

Drawings

FIG. 1 is an overall schematic view of the slag removing apparatus of the present invention.

FIG. 2 is a schematic view of a slag removal robot arm.

FIG. 3 is a schematic view of the numerically controlled tool changing table with the protective housing removed.

FIG. 4 is a schematic view of the numerically controlled tool changing table with the tool changing carriage removed.

FIG. 5 is an exploded view of the numerically controlled tool changing table with the tool changing holder removed.

Fig. 6 is a schematic view of the locking device.

Figure 7 is a schematic view in partial cross-section of the locking device.

Fig. 8 is a sectional view of the hammer.

Fig. 9 is a schematic view of the hammer with the hammer case removed.

FIG. 10 is a schematic view of a tubular weldment holding apparatus and a two-dimensional moving platform.

100-tubular weldment clamping device, 110-clamping base, 120-rotating motor, 130-four-jaw chuck, 140-outer clamping ring, 150-support, 160-pulley, 170-support column, 180-support, 200-two-dimensional moving platform, 210-X direction lead screw nut sliding table, 220-Y direction lead screw nut sliding table, 230-platform support, 300-welding slag removing mechanical arm, 400-Z direction lifting mechanism, 401-Z direction support, 402-Z direction lead screw, 403-Z direction guide rail, 404-Z direction planker, 405-Z direction motor, 406-Z direction slide block, 500-numerical control tool changing workbench, 501-tool changing support, 5011-support ring, 5012-protective shell, 502-slag removing motor, 503-commutator and 5031-upper commutator, 5032-lower commutator, 5033-sliding groove, 504-output shaft, 505-electronic clutch, 506-knocking hammer, 5061-hammer shell, 5062-hammer shaft, 5063-hammer body, 5064-spiral chute, 5065-axial chute, 5066-spring pin, 5067-energy storage spring, 5068-chute, 5069-sliding block, 507-grinding machine and 508-rotary brush; 509-central spindle, 5091-long spline, 510-big gear, 511-driven pinion, 512-inner gear ring, 513-reversing gear, 530-locking device, 531-fixed ring, 532-conical ring, 5321-conical surface, 533-locking arm, 534-locking rod, 535-locking head, 536-sliding head, 537-locking spring, 538-unlocking spring, 539-locking groove, 540-shifting fork device, 541-shifting fork motor, 542-shifting fork crank, 543-shifting fork rod, 544-shifting fork groove, 600-welding slag collecting module, 601-welding slag collecting groove, 602-vibrating disk, 603-pipeline, 604-waste bin, 605-elastic component, 606-crank rocker mechanism and 700-tubular welding piece.

Detailed Description

The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.

As shown in FIG. 1, the present invention provides a slag removing apparatus for a tubular weldment, comprising

The tubular weldment clamping device 100 is used for clamping the tubular weldment 700 and driving the clamped tubular weldment 700 to rotate around the axial direction of the tubular weldment 700 to remove welding slag in different circumferential directions;

the two-dimensional moving platform 200 is used for driving the tubular weldment clamping device 100 and the clamped tubular weldment 700 clamped by the tubular weldment clamping device to move in an XY plane, and performing alignment and axial movement to remove welding slag;

the welding slag removing mechanical arm 300 comprises a plurality of welding slag removing execution tail ends capable of automatically switching, and the welding slag removing mechanical arm 300 has Z-direction lifting freedom degree;

the welding slag collecting module 600 at least comprises a welding slag collecting tank 601 arranged around the bottom of the tubular weldment clamping device 100 and used for collecting welding slag in the welding slag removing process.

As a preferred embodiment, as shown in fig. 1 and fig. 2, the slag removing robot 300 includes a Z-direction lifting mechanism 400 and a numerical control tool changing table 500 mounted on the Z-direction lifting mechanism 400, the bottom of the numerical control tool changing table 500 is provided with a plurality of slag removing execution terminals capable of performing power and position switching, and the plurality of slag removing execution terminals are a knocking hammer 506, a grinding machine 507 (grinding head), and a rotating brush 508, respectively.

As a preferred embodiment, as shown in fig. 2, the Z-direction lifting mechanism 400 includes a Z-direction bracket 401, a Z-direction screw 402, a Z-direction rail 403, a Z-direction carriage 404 and a Z-direction motor 405, wherein the Z-direction bracket 401 is fixed on the ground or on the platform, the Z-direction rail 403 is fixed on two sides of the front portion of the Z-direction bracket 401, and the Z-direction carriage 404 is mounted on the two Z-direction rails 403 through a Z-direction slider 406 and can move up and down freely; the upper end and the lower end of a Z-direction screw rod 402 are respectively installed in a Z-direction support 401 between two Z-direction guide rails 403 through bearings, a Z-direction motor 405 is connected with the Z-direction screw rod 402 through a coupler or a reducer, a nut in threaded fit is sleeved on the Z-direction screw rod 402 and is fixedly connected with a Z-direction carriage 404, and the Z-direction carriage 404 serves as an installation fixing plate of the numerical control tool changing workbench 500.

As a preferred embodiment, as shown in fig. 3 to 5, the numerically controlled tool changing table 500 includes

The tool changing bracket 501 is fixedly arranged on the Z-direction carriage 404 through bolts and provides support for the whole numerical control tool changing workbench 500;

the slag removing motor 502 is arranged at the top of the tool changing bracket 501 and provides power for removing slag;

the commutator 503 is arranged in the tool changing bracket 501 below the deslagging motor 502 through a revolute pair, a hollow mounting space is arranged in the commutator 503, three output shafts 504 are arranged at the bottom of the commutator 503, and a knocking hammer 506, a grinding machine 507 and a rotary brush 508 are respectively arranged on the three output shafts 504 through an electronic clutch 505;

a central main shaft 509, the top of which is connected with a slag removing motor 502 in a power transmission way (such as a reducer or a coupling), and the middle of which is provided with a reversing gear 513 capable of sliding along the axial direction; the lower end of the main shaft can freely rotate and extend into the installation space of the commutator 503, a large gear 510 is fixed on a central main shaft 509 in the commutator 503, three driven small gears 511 meshed with the large gear 510 are arranged on the periphery of the large gear 510, and each driven small gear 511 is fixedly connected with an output shaft 504; the top of the commutator 503 is provided with an inner gear ring 512 which can be meshed with a reversing gear 513;

a locking device 530 for locking the relative positions of the commutator 503 and the tool changing holder 501;

and the shifting fork device 540 is used for shifting the reversing gear 513 along the axial direction, so that when the locking device 530 is unlocked, the reversing gear 513 can be meshed with the inner gear ring 512 of the reverser 503 to transmit power to remove welding slag and execute end transposition.

As a preferred embodiment, as shown in fig. 3 to 7, the commutator 503 is composed of an upper commutator 5031 and a lower commutator 5032 fixed together, three output shafts 504 are mounted at the bottom inside the lower commutator 5032 through bearings, the upper end of the gear shaft of the driven pinion 511 is mounted at the top inside the lower commutator 5032 above the corresponding output shaft 504 through bearings, and the lower end of the gear shaft of the driven pinion 511 is connected with the corresponding output shaft 504 through an electronic clutch 505; the tool changing bracket 501 is provided with support rings 5011 for mounting the upper end and the lower end of the commutator 503 respectively, the lower end of the lower commutator 5032 is mounted on the lower support ring 5011 through a copper bush, and the top of the upper commutator 5031 is mounted on the upper support ring 5011 through a copper bush or a bearing, so that the whole commutator 503 can rotate freely; the locking device 530 comprises a fixing ring 531 arranged around the central spindle 509 in the upper commutator 5031, a tapered ring 532 coaxially arranged in the fixing ring 531 and a locking bracket for locking, wherein the locking bracket comprises a locking arm 533, a locking rod 534 vertically fixed on the locking arm 533 and a locking head 535 arranged on the top of the locking rod 534 and facing radially outwards;

as shown in fig. 3, 6 and 7, the conical ring 532 is mounted in the fixed ring 531 by a sliding pair in the up-down direction, the top of the conical ring 532 extends outwards to form a contact ring which can contact with the reversing gear 513, the conical ring 532 has a certain clearance with the central spindle 509 and does not affect the free rotation of the central spindle 509, and a locking spring 537 is arranged between the conical ring 532 and the fixed ring 531 to keep the two away from the trend; the periphery of the fixing ring 531 is provided with a plurality of radially arranged sliding holes, the inner end of the locking arm 533 is provided with a sliding head 536 installed in the sliding hole, the sliding head 536 extends into the sliding hole to be contacted with a conical surface 5321 of the conical ring 532, the outer end of the locking arm 533 is installed at the inner bottom of the upper commutator 5031 through a sliding pair, and an unlocking spring 538 for driving the locking arm 533 to move radially inwards is arranged between the outer end of the locking arm 533 and the upper commutator 5031, specifically, in the embodiment of the invention, the sliding pair is a sliding groove 5033 fixed on the upper commutator 5031, and the unlocking spring 538 is arranged at the inner bottom of the sliding groove 5033;

an avoiding groove for the locking rod 534 to penetrate upwards and move radially is formed in the top of the upper commutator 5031, and a plurality of locking grooves 539 (shown in fig. 3 and not shown) corresponding to the locking heads 535 are formed in the upper supporting ring 5011;

the locking spring 537 is contacted with the conical surface 5321 to generate a locking force on the locking arm 533 greater than an unlocking force generated by the unlocking spring 538 on the locking arm 533, and the reversing gear 513 can downwards press the top of the conical ring 532 to compress the locking spring 537 when engaging the inner gear ring 512 in the downward movement process under the driving of the shifting fork 540, so that the locking bracket is radially inwards moved to be unlocked under the action of the unlocking spring 538.

In a normal situation, only one of the three welding slag execution tail ends is in a working position, the reversing gear 513 is shifted upwards by the shifting fork device 540 to be disengaged from the inner gear ring 512, the conical ring 532 moves upwards under the action of the elastic force of the locking spring 537 and is extruded by the conical surface 5321 to enable the locking arm 533 to move radially outwards, the locking head 535 at the top of the locking rod 534 is inserted into the locking groove 539 on the supporting ring 5011 to relatively fix the commutator 503 and the tool changing bracket 501, so that the welding slag execution tail ends in the current working position can stably work (the electronic clutches 505 on the welding slag execution tail ends in the current working position are connected, and the other electronic clutches 505 on the welding slag execution tail ends in the current working position are disconnected); when the execution tail end of the removing welding slag is required to be replaced, all the electronic clutches 505 are disconnected, the shifting fork device 540 is started, the reversing gear 513 is shifted downwards until the reversing gear 513 is meshed with the inner gear ring 512, the contact ring at the top of the conical ring 532 is pressed in the downward shifting process of the reversing gear 513, the conical surface 5321 of the conical ring 532 moves downwards and is separated from the pressing of the sliding head 536 on the locking arm 533, the locking arm 533 moves radially inwards under the action of the unlocking spring 538, the locking head 535 at the top of the locking rod 534 is separated from the locking groove 539 on the supporting ring 5011, the commutator 503 can rotate freely, the slag removing motor 502 is started, the central spindle 509 rotates, the commutator 503 is driven to rotate through the meshing of the reversing gear 513 and the inner gear ring 512, the reversing of the removing welding slag execution tail end is realized, the slag removing motor 502 is stopped after the execution tail end of the required removing welding slag is rotated to the working position, the reversing gear 513 is shifted upwards through the shifting fork device 540, the conical ring 532 moves upwards under the action of the elastic force of the locking spring 537 after being disengaged from the inner gear ring 512, the locking arm 533 moves outwards in the radial direction through the extrusion of the conical surface 5321, the locking head 535 at the top of the locking rod 534 is inserted into the locking groove 539 on the supporting ring 5011, the commutator 503 and the tool changing bracket 501 are relatively fixed, the execution of end position changing except welding slag is completed, the slag removing motor 502 is started, the electronic clutch 505 at the execution end of the operation position except welding slag is connected, and the slag removing operation can be started by adopting the execution end position except welding slag.

As a preferred embodiment, as shown in fig. 5, 8 and 9, the knocking hammer 506 includes a hammer housing 5061, a hammer shaft 5062 and a hammer body 5063, the hammer housing 5061 is mounted at the bottom of the commutator 503 through a sliding pair, specifically, the bottom of the lower commutator 5032 is provided with a sliding groove 5068, a sliding block 5069 mounted in the sliding groove 5068 is arranged at the outer side of the hammer housing 5061, and the hammer shaft 5062 is connected to the output shaft 504 through an electronic clutch 505; the lower end of the hammer shaft 5062 extends into the hammer case 5061, and the hammer block 5063 is fixedly mounted on the lower end of the hammer shaft 5062 in the hammer case 5061; the hammer body 5063 is provided with no more than one circle of spiral sliding grooves 5064, the top of each spiral sliding groove 5064 is provided with an axial sliding groove 5065 which penetrates downwards, and the inner side of the hammer shell 5061 is provided with a spring pin 5066 which can slide in each spiral sliding groove 5064 and each axial sliding groove 5065; an energy storage spring 5067 is arranged between the top of the hammer shell 5061 and the hammer shaft 5062, in the process that the output shaft 504 drives the hammer shaft 5062 to rotate, the hammer shell 5061 moves upwards relative to the hammer body 5063 through the matching of the spring pin 5066 and the spiral sliding groove 5064, the energy storage spring 5067 is compressed to store energy, the spring pin 5066 enters the axial sliding groove 5065 after moving to the top of the spiral sliding groove 5064, and the energy storage spring 5067 drives the hammer shell 5061 to rapidly move downwards to release hammering.

As a preferred embodiment, as shown in fig. 3 and 4, the shifting fork device 540 includes a shifting fork motor 541, a shifting fork crank 542 and a shifting fork rod 543, and a shifting fork groove 544 surrounding one circle is formed at the top of the reversing gear 513; the shifting fork motor 541 is fixed on the tool changing bracket 501, the shifting fork crank 542 is installed on an output shaft 504 of the shifting fork motor 541, the middle part of the shifting fork rod 543 is hinged on the shifting fork crank 542, one end of the shifting fork crank 542 is hinged on the tool changing bracket 501, the other end of the shifting fork crank 542 is installed in the shifting fork groove 544 through a rolling body (the diameter of the rolling body is smaller than the width of the shifting fork groove 544, so that the rolling body is not in contact with the upper surface and the lower surface of the shifting fork groove 544 simultaneously, the rolling body does not influence the free rotation of the reversing gear 513 along with the central spindle 509), and the shifting fork motor 541 drives the shifting fork rod 543 to swing up and down through the shifting fork crank 542, so that the reversing gear 513 is shifted by the rolling body at the lower end to move up and down along the central spindle 509.

As a preferred embodiment, as shown in fig. 4, a long spline 5091 is provided on the central main shaft 509, and the reversing gear 513 is mounted on the long spline 5091 by clearance fit to form a sliding pair.

As a preferred embodiment, as shown in fig. 1 and 10, the tubular weldment clamping device 100 comprises a clamping base 110, a rotating motor 120, a four-jaw chuck 130 for clamping the inner wall of one end of the tubular weldment 700, and an outer clamping ring 140 sleeved outside the other end of the tubular weldment 700, wherein the clamping base 110 is mounted on a two-dimensional moving platform 200, and the clamping base 110 is provided with two oppositely mounted supports 150; the four-jaw chuck 130 and the outer clamping ring 140 are respectively mounted on two supports 150 through a revolute pair, the four-jaw chuck 130 is in power transmission connection with the rotating motor 120, and a plurality of pulleys 160 mounted through radial elastic components (such as springs) are arranged on the inner side of the outer clamping ring 140.

As a preferred embodiment, as shown in FIG. 10, the holders 150 for mounting the outer clamping ring 140 are mounted on the clamping base 110 by sliding plates, and the distance between the two holders 150 can be adjusted by a sliding mechanism to accommodate tubular weldments 700 of different lengths.

As a preferred embodiment, as shown in fig. 10, the clamping base 110 is installed on a two-dimensional moving platform 200 through a supporting column 170, in this embodiment, the two-dimensional moving platform 200 is two lead screw nut sliding table mechanisms installed perpendicular to each other, and specifically includes a platform support 230, an X-direction lead screw nut sliding table 210 and a Y-direction lead screw nut sliding table 220, the platform support 230 is fixed on the sliding table of the X-direction lead screw nut sliding table 210, and the X-direction lead screw nut sliding table 210 is installed on the sliding table of the Y-direction lead screw nut sliding table 220; the support column 170 is fixed to a platform support 230, and the rotation motor 120 is also mounted to the platform support 230 through a support member 180.

As a preferred embodiment, as shown in fig. 1 and 10, the slag collecting tank 601 surrounds the supporting column 170; the welding slag collecting tank 601 bottom is equipped with the vibration dish 602 that the slope set up, and vibration dish 602 low point department is equipped with the welding slag discharge gate, the welding slag discharge gate is connected to the dump bin 604 through pipeline 603.

In a preferred embodiment, the bottom of the vibration disk 602 is supported on the platform support 230 or at the bottom of the welding slag collection tank 601 through a plurality of elastic components 605 (such as springs), a crank and rocker mechanism 606 connected with the high point of the vibration disk 602 is further arranged on the platform support 230, and the vibration disk 602 is driven to move up and down to vibrate through the crank and rocker mechanism 606, so that the welding slag automatically moves down and is collected.

When the device is used, as shown in fig. 1, a tubular weldment 700 to be deslagged is clamped on the tubular weldment clamping device 100, the distance between the two supports 150 is adjusted to adapt to tubular weldments 700 with different sizes, the two-dimensional moving platform 200 is started, the tubular weldment 700 is adjusted to be below the welding slag removing mechanical arm 300, the numerical control tool changing workbench 500 is started, the required welding slag removing execution tail end is selected to be located at a working position through the numerical control tool changing workbench 500 (the specific tool changing process is detailed according to the mechanical structure principle), deslagging can be started by starting the deslagging motor 502, and in the deslagging process, the two-dimensional moving platform 200 is started to enable the tubular weldment 700 to move axially relative to the welding slag removing execution tail end to remove large-area deslagging, and the rotating motor 120 can be started to enable the tubular weldment 700 to rotate to comprehensively deslag; the welding slag is collected by the welding slag collecting tank 601 and then flows into a waste bin 604 for centralized treatment. During slag removal, the knocking hammer 506, the grinding machine 507 and the rotary brush 508 are selected according to the slag removal condition for slag removal, and in general, firstly knocking and then grinding are carried out, and finally the rotary brush 508 removes floating and sinking; of course, the hammering and grinding can be performed alternately as required.

The above embodiments are merely illustrative of the present invention and are not to be construed as limiting the invention. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that various combinations, modifications or equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention, and the technical solution of the present invention is covered by the claims of the present invention.

Claims

1. A welding slag removing device for tubular weldment is characterized by comprising

2. The dross removal apparatus of claim 1, wherein: remove welding slag arm includes that Z is to elevating system and install the numerical control tool changing workstation on Z is to elevating system, numerical control tool changing workstation bottom is equipped with a plurality of welding slag that remove that can carry out power and position switch and carries out the end, and a plurality of welding slag that remove are carried out the end and are for strikeing hammer, polisher and rotatory brush respectively.

3. The dross removal apparatus of claim 2, wherein: the numerical control tool changing workbench comprises

The tool changing bracket is arranged on the Z-direction lifting mechanism and provides support for the whole numerical control tool changing workbench;

the slag removing motor is arranged at the top of the tool changing support and provides power for removing slag;

the commutator is arranged in the tool changing bracket below the slag removing motor through a revolute pair, a hollow mounting space is arranged in the commutator, three output shafts are arranged at the bottom of the commutator, and a knocking hammer, a grinding machine and a rotating brush are respectively arranged on the three output shafts through an electronic clutch;

the top of the central main shaft is in power transmission connection with a deslagging motor, and the middle part of the central main shaft is provided with a reversing gear capable of sliding along the axial direction; the lower end of the reversing gear can freely rotate and extend into an installation space of the reversing gear, a large gear is fixed on a central main shaft in the reversing gear, three driven small gears meshed with the large gear are arranged on the periphery of the large gear, and each driven small gear is fixedly connected with an output shaft; the top of the commutator is provided with an inner gear ring which can be meshed with a reversing gear;

the locking device is used for locking the relative positions of the commutator and the tool changing bracket;

and the shifting fork device is used for shifting the reversing gear along the axial direction, so that the reversing gear can be meshed with the inner gear ring of the commutator to transmit power to remove welding slag and execute terminal transposition when the locking device is unlocked.

4. The dross removal apparatus of claim 3, wherein: the commutator is formed by fixing an upper commutator and a lower commutator together, and three output shafts are arranged in the lower commutator through bearings; the tool changing bracket is provided with support rings which are respectively used for installing the upper end and the lower end of the commutator; the locking device comprises a fixing ring arranged on the periphery of a central spindle in the upper commutator, a conical ring coaxially arranged in the fixing ring and a locking support for locking, wherein the locking support comprises a locking arm, a locking rod vertically fixed on the locking arm and a locking head arranged on the top of the locking rod and facing outwards in the radial direction;

the conical ring is installed in the fixing ring through a sliding pair in the vertical direction, and a locking spring which enables the conical ring and the fixing ring to keep away from each other is arranged between the conical ring and the fixing ring; the periphery of the fixing ring is provided with a plurality of sliding holes which are arranged in the radial direction, the inner end of the locking arm is provided with a sliding head which is arranged in the sliding holes, the sliding head extends into the sliding holes to be contacted with the conical surface of the conical ring, the outer end of the locking arm is arranged on the upper commutator through a sliding pair, and an unlocking spring which drives the locking arm to move inwards in the radial direction is arranged between the outer end of the locking arm and the upper commutator;

the top of the upper commutator is provided with an avoidance groove for the locking rod to penetrate out upwards and move radially, and the upper support ring is provided with a plurality of locking grooves corresponding to the locking heads;

the locking spring is greater than the unlocking force that the unlocking spring produced locking arm through conical surface contact, and the switching-over gear is under the drive of shift fork device, and in the downward motion in-process, when meshing ring gear, can extrude the conical ring top downwards, compresses the locking spring for the locking support radially inwards moves the unblock under the effect of unlocking spring.

5. The dross removal apparatus of claim 4, wherein: the hammer comprises a hammer shell, a hammer shaft and a hammer body, wherein the hammer shell is arranged at the bottom of the commutator through a sliding pair, and the hammer shaft is connected with an output shaft through an electronic clutch; the lower end of the hammer shaft extends into the hammer shell, and the hammer body is fixedly arranged at the lower end of the hammer shaft in the hammer shell; the hammer body is provided with no more than one circle of spiral sliding groove, the top of the spiral sliding groove is provided with an axial sliding groove which penetrates downwards, and the inner side of the hammer shell is provided with a spring pin which can slide in the spiral sliding groove and the axial sliding groove; an energy storage spring is arranged between the top of the hammer shell and the hammer shaft, the output shaft drives the hammer shaft to rotate, the hammer shell moves upwards relative to the hammer body through the matching of the spring pin and the spiral sliding groove, the energy storage spring is compressed to store energy, the spring pin enters the axial sliding groove after moving to the top of the spiral sliding groove, and the energy storage spring drives the hammer shell to rapidly move downwards to release hammering.

6. The dross removal apparatus of claim 4, wherein: the shifting fork device comprises a shifting fork motor, a shifting fork crank and a shifting fork rod, and a circle of shifting fork groove is formed in the top of the reversing gear in a surrounding mode; the shifting fork motor is fixed on the tool changing support, the shifting fork crank is installed on an output shaft of the shifting fork motor, the middle of the shifting fork rod is hinged to the shifting fork crank, one end of the shifting fork rod is hinged to the tool changing support, the other end of the shifting fork rod is installed in the shifting fork groove through a rolling body, and the shifting fork motor drives the shifting fork rod to swing up and down through the shifting fork crank, so that the reversing gear is shifted to move up and down along the central spindle through the rolling body at the lower end.

7. The dross removal apparatus of claim 4, wherein: the central spindle is provided with a long spline, and the reversing gear is installed on the long spline through clearance fit to form a sliding pair.

8. The dross removal apparatus of claim 4, wherein: the tubular weldment clamping device comprises a clamping base, a rotating motor, a four-jaw chuck for clamping the inner wall of one end of the tubular weldment and an outer clamping ring sleeved on the outer side of the other end of the tubular weldment, wherein the clamping base is arranged on a two-dimensional moving platform and is provided with two oppositely-arranged supports; the four-jaw chuck and the outer clamping ring are respectively installed on the two supports through revolute pairs, the four-jaw chuck is connected with the power transmission of a rotating motor, and a plurality of pulleys installed through radial elastic components are arranged on the inner side of the outer clamping ring.

9. The dross removal apparatus of claim 8, wherein: the clamping base is installed on the two-dimensional moving platform through a support column, and the welding slag collecting groove is surrounded on the periphery of the support column; the welding slag collecting tank bottom is equipped with the vibration dish that the slope set up, and vibration dish low point department is equipped with the welding slag discharge gate, the welding slag discharge gate passes through pipe connection to the dump bin.

10. The slag removal device according to claim 8, wherein: the two-dimensional moving platform is a screw nut sliding table mechanism which is vertically arranged.