CN114986159A - Movable welding and stress treatment integrated device - Google Patents
Movable welding and stress treatment integrated device Download PDFInfo
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- CN114986159A CN114986159A CN202210436599.8A CN202210436599A CN114986159A CN 114986159 A CN114986159 A CN 114986159A CN 202210436599 A CN202210436599 A CN 202210436599A CN 114986159 A CN114986159 A CN 114986159A
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- shot blasting
- welding
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- mechanical arm
- workbench
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
- B24C9/006—Treatment of used abrasive material
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
- Y02P10/20—Recycling
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Abstract
The invention relates to the technical field of welding and stress treatment, in particular to a movable welding and stress treatment integrated device which comprises a chassis, a welding device, a power transformation box, a controller, a welding smoke dust adsorption device, a carrying mechanical arm, a shot blasting controller, a storage device, shot blasting equipment, a workbench and a fence, wherein the welding device, the power transformation box, the controller, the welding smoke dust adsorption device, the carrying mechanical arm, the shot blasting controller, the storage device, the shot blasting equipment, the workbench and the fence are installed on the chassis. The whole operation process of the integrated device can be divided into three steps: workpiece identification and transportation, workpiece welding, smoke adsorption and shot blasting stress treatment. The invention can realize automatic operation in the operation process, can improve the welding and stress treatment efficiency in a non-assembly line environment, adsorbs welding smoke dust, filters incomplete shot blasting, recycles complete shot blasting, and can realize green production operation.
Description
Technical Field
The invention relates to the technical field of welding and stress treatment, in particular to a movable welding and stress treatment integrated device.
Background
At present, the welding quality of the structural part is a key for restricting the manufacturing level, and after the welding of the structural part is finished, stress residue influencing the quality of the structural part exists, and the residual stress of the structural part is treated by using a reasonable means.
The argon arc welding technology is a technology for realizing welding by utilizing the protection effect of argon on a metal welding material and enabling the welding material and a workpiece to be in a local short circuit state through large current on the basis of an electric arc welding technology. Compared with manual electric arc welding, automatic argon arc welding has the advantages of high welding quality, high molten pool visibility and capability of flexibly welding complex structural parts, and is widely used in actual industrial production.
The shot blasting method is an important method for processing welding stress, is widely applied to actual industrial production, and has the following basic principle: the high-speed shot flow is sprayed to the surface of the part, so that the surface of the part is subjected to plastic deformation to form a residual stress layer, and when the part bears a load, the layer can offset partial stress, so that the fatigue strength of the part is improved.
Although the argon arc welding technology and the shot blasting stress treatment method are applied in industrial production, movable, small-sized and multifunctional welding and stress treatment integrated automatic equipment is not applied, and the invention provides a movable welding and stress treatment integrated device aiming at the development of relevant researches on movable welding and stress treatment equipment.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a movable welding and stress treatment integrated device which can realize the integration and automation of two operation flows of welding and stress treatment on workpieces with different shapes in a non-assembly line production environment, can realize the automatic shot blasting stress treatment function aiming at small structural parts, can filter shot blasting sprayed during operation according to the integrity, filter incomplete shot blasting, automatically absorb and recycle the intact shot blasting.
In order to achieve the purpose, the invention adopts the following technical scheme:
a movable welding and stress treatment integrated device comprises a device body, wherein the device body comprises a chassis, a welding device, a power transformation box, a controller, a welding smoke dust adsorption device, a carrying mechanical arm, a shot blasting controller, a storage device, shot blasting equipment, a workbench and a fence, wherein the welding device, the power transformation box, the controller, the welding smoke dust adsorption device, the carrying mechanical arm, the shot blasting controller, the storage device, the shot blasting equipment, the workbench and the fence are arranged on the chassis;
the welding device is used for realizing a welding function; the power transformation box is used for supplying power to the device; the controller is internally provided with three sub-controllers, one of the sub-controllers is a welding mechanical arm controller, the other one of the sub-controllers is a conveying mechanical arm controller, the other three of the sub-controllers are a master controller of the integrated device, the master controller of the integrated device is communicated with controllers such as the welding mechanical arm controller, the conveying mechanical arm controller, the shot blasting controller and the like, and the master controller plays a role of a central host in the whole controller network and overall works of all the controllers;
the welding fume adsorption device is composed of a telescopic pipeline and a host, wherein the tail end of the telescopic pipeline is provided with a horn-type air exhaust port, a shell of the horn-type air exhaust port is provided with a groove, the groove is matched with an electromagnetic clamp at the tail end of the carrying mechanical arm, and the telescopic pipeline is positioned at the tail end of the carrying mechanical arm and used for absorbing welding fume during welding operation;
the conveying mechanical arm is used for conveying the workpiece clamp; the shot blasting controller is connected with shot blasting equipment;
the fence is of a hollow tetragonal structure, and the peripheral side length of the fence is the same as that of the chassis;
the chassis comprises a chassis shell, a first camera and a second camera, wherein the first camera and the second camera are arranged on the front side surface of the chassis shell and are symmetrically arranged along the central axis of the chassis; the tire is driven by a synchronous motor to drive the integrated device to move;
the welding device comprises a welding mechanical arm controller, a welding mechanical arm, a welding machine and an argon gas bottle, wherein the welding machine and the argon gas bottle are arranged on one side of the welding mechanical arm; the extension line of the linear laser and the tail end of the welding gun are located on the same horizontal line, and the welding mechanical arm controller is installed in the controller.
Preferably, the carrying mechanical arm comprises a mechanical arm body, an electromagnetic clamp and a camera mounting support, the electromagnetic clamp and the camera mounting support are arranged on the mechanical arm body, the mechanical arm body is a four-degree-of-freedom mechanical arm, the electromagnetic clamp is arranged on a fourth degree of freedom of the mechanical arm body, the camera mounting support is fixedly mounted at the tail end of the third degree of freedom of the mechanical arm body through a bolt, and a fourth camera is mounted on the camera mounting support.
Preferably, the accommodating device comprises an accommodating device supporting table, and a shot spraying bin and a workpiece clamp device which are arranged on the accommodating device supporting table;
the supporting table of the storage device is provided with grooves which are similar to the shapes of the shot spraying bin and the workpiece fixture device respectively, and the shot spraying bin and the workpiece fixture device can be arranged on the supporting table of the storage device through the grooves when the mechanical carrying arm does not carry the shot spraying bin and the workpiece fixture device.
Preferably, the workpiece fixture device comprises a workpiece fixture device shell, and a first electromagnetic adsorption mechanism, a first fastening device and a second fastening device which are arranged on the workpiece fixture device shell;
the first electromagnetic adsorption mechanism is fixed in the center of the upper surface of the shell of the workpiece clamp device, the upper surface of the first electromagnetic adsorption mechanism is made of a magnetic material, and the overall appearance of the magnetic material is matched with that of an electromagnetic clamp in the carrying mechanical arm;
the first fastening device and the second fastening device are identical in structure, and both the first fastening device and the second fastening device are hydraulic linear modules and are used for meeting clamping requirements of workpieces of different sizes; the first fastening device and the second fastening device are symmetrically arranged on the axial plane of the workpiece fixture device, and are fixed on the lower surface of the shell of the workpiece fixture device.
Preferably, the shot blasting bin comprises a shot blasting bin shell, a first linear module, a first guide rail, a T-shaped sliding block, a second linear module mounting seat, a second linear module, a shot blasting gun mounting seat, a shot blasting gun, a shot blasting bin supporting seat and a second electromagnetic adsorption mechanism;
the first linear module and the first guide rail are fixed in the shot spraying bin shell through screws; the T-shaped sliding block is nested on the first guide rail, and the T-shaped sliding block and the sliding block of the first linear module are positioned on the same plane; the second linear module mounting base is provided with a plurality of screw holes, one end of the second linear module mounting base is mounted on the T-shaped sliding block, and the other end of the second linear module mounting base is mounted on the sliding block of the first linear module in a screw fastening mode; the second linear module is arranged on the second linear module mounting base through screws; the first linear module and the second linear module are driven by a servo motor;
the shot blasting gun mounting seat is fixed on the sliding block of the second linear module through screws; the shot blasting machine is characterized in that the shot blasting gun is arranged on a shot blasting gun mounting seat, the shot blasting gun is connected with a shot blasting controller through a hose, and the shot blasting gun, the shot blasting equipment and the shot blasting controller form a complete small shot blasting machine; the shot blasting bin supporting seat is fixedly arranged on the inner wall of the shot blasting bin shell and plays a supporting role when the shot blasting bin is placed on the supporting table of the containing device;
the structure of the second electromagnetic adsorption mechanism is completely the same as that of the first electromagnetic adsorption mechanism in the workpiece clamp device, the upper surface of the second electromagnetic adsorption mechanism is made of magnetic materials, the overall appearance of the second electromagnetic adsorption mechanism is matched with that of the electromagnetic clamp in the carrying mechanical arm, and the second electromagnetic adsorption mechanism is fixed in the center of the upper surface of the upper wall of the shot blasting bin shell;
preferably, the workbench comprises a workbench base, a circular workbench, a shot blasting collecting bin, a first workpiece fastening device, a second workpiece fastening device, an annular accelerator, a workbench supporting seat and a shot blasting collecting tank;
the circular workbench is a round table, a support column is arranged on the lower surface of the circular workbench, the circular workbench is fixed in the workbench base through the support column, and the edge height of the circular workbench is lower than the middle height, so that shot blasting can conveniently roll into the workbench base;
the two side walls of the workbench base are in a trapezoid shape, the lower wall of the workbench base is provided with a slope, shot blasting omitted from the periphery of the circular workbench rolls on the upper surface of the lower wall of the workbench base, the lower wall of the workbench base is provided with holes smaller than complete shot blasting in size, the shot blasting which cannot be reused can be filtered, the tail end of the slope of the lower wall of the workbench base is provided with holes larger than complete shot blasting, and the reusable shot blasting which is not filtered can fall into a shot blasting collecting tank;
the shot blasting collection bin is arranged below the workbench base, two side walls are triangular and are matched with the workbench base, the upper surface of the lower wall of the shot blasting collection bin is also provided with a slope, but the slope direction is opposite to the slope direction of the lower wall of the workbench base, and the shot blasting collection bin is used for collecting shot blasting which cannot be reused;
the shot blasting collecting tank is fixed on one side of the shot blasting collecting bin and is specifically positioned on one side of the slope top of the lower wall of the shot blasting collecting bin, the shot blasting collecting tank is a groove with the width slightly larger than that of a complete shot blasting, the upper surface of the lower wall of the shot blasting collecting tank is provided with a slope, the end of the slope is provided with a shot blasting hole with the diameter slightly larger than that of the complete shot blasting, the hole is connected with the annular accelerator through a hose, and the reusable shot blasting flows into the annular accelerator from the hole under the action of gravity;
the first workpiece fastening device and the second workpiece fastening device are in the same structure, are symmetrically arranged by taking the circle center of the upper surface of the circular workbench as the center and are respectively fixed on two trapezoidal side walls of the workbench base;
the workbench supporting seat is arranged below the shot blasting collecting bin and used for supporting the shot blasting collecting bin; the annular accelerator is arranged on one side of the shot blasting collecting bin and is respectively connected with the shot blasting collecting tank and the shot blasting equipment.
Preferably, the first workpiece fastening device comprises a first fastening arm, a second guide rail, a fastening device mounting base, a third guide rail and a sliding table;
the structure of the second guide rail is the same as that of the third guide rail, the second guide rail and the third guide rail are symmetrically arranged on the left side and the right side of the fastening device mounting base, and the sliding table is arranged on the second guide rail and the third guide rail and can slide along the second guide rail and the third guide rail; the tail end of the first fastening arm is mounted at the end part of the fastening device mounting base, the first fastening arm and the fastening device mounting base are arranged in parallel, the second fastening arm is mounted on the sliding table and connected with the head end of the first fastening arm, and the second fastening arm and the fastening device mounting base are vertically arranged in the same plane; the first fastening arm and the second fastening arm are driven by hydraulic pressure, can slide in an XY plane and are used for fastening workpieces at different positions and different sizes.
Preferably, the specific operation flow of the movable welding and stress treatment integrated device includes: the method comprises the following steps of a workpiece identification and carrying operation process, a workpiece welding and smoke dust adsorption operation process and a shot blasting stress treatment process; the first camera and the second camera on the device chassis form binocular vision to identify the approximate position of the workpiece to be operated.
The workpiece identification and carrying operation flow comprises the following steps: the conveying mechanical arm grabs the workpiece clamp device through groove matching and an electromagnetic adsorption mechanism on hardware according to the position information and an electromagnetic clamp at the tail end of the conveying mechanical arm, then a fourth camera on the conveying mechanical arm identifies a workpiece to be operated, and the tail end of the conveying mechanical arm moves to the position close to the workpiece; then, a first fastening device and a second fastening device on the workpiece clamp device extrude the workpiece under hydraulic drive to realize workpiece grabbing; and then the tail end of the carrying mechanical arm moves to a circular workbench in the workbench, the first fastening device and the second fastening device on the clamp device release the workpiece, and the workpiece clamping operation is finished.
Preferably, the work piece welding and smoke dust adsorption operation flow comprises the following steps: a first workpiece fastening device and a second workpiece fastening device in the workbench are hydraulically driven to fasten workpieces, a welding mechanical arm is guided by a third camera to drive a welding gun to move to the position near the workpieces, then linear laser identifies coordinates of the center point of a welding seam, and a welding path is extracted; an electromagnetic clamp at the tail end of the carrying mechanical arm clamps a horn-shaped air suction opening at the tail end of a telescopic pipeline in the welding smoke dust adsorption device and moves to the position close to the circular workbench; then, welding operation is carried out on the welding mechanical arm according to the obtained welding path, welding arc sound is extracted by the microphone in the period, and welding smoke dust is absorbed by the welding smoke dust absorption device; after welding, the horn-shaped pumping hole at the tail end of the telescopic pipeline is transported to the initial position by the carrying mechanical arm.
Preferably, the shot peening stress treatment process comprises: after the workpiece is cooled, an electromagnetic clamp at the tail end of the carrying mechanical arm carries the shot blasting bin to the circular workbench and completely covers the workpiece, then a shot blasting controller starts to work, a shot blasting gun sprays shot blasting to perform stress treatment operation, and at the moment, the first linear module and the second linear module move in an XY plane under the driving of a servo motor to realize full coverage of shot blasting stress treatment on the surface of the workpiece; after the shot blasting operation is finished, the shot blasting bin is conveyed to the original position by the conveying mechanical arm.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention can assist in realizing argon arc welding and shot blasting stress processing functions of related workpieces in a non-assembly line environment in actual production. Meanwhile, the invention can realize the functions of welding and post-welding stress treatment, and during welding, a welding path can be generated automatically, and welding smoke dust can be filtered automatically.
2. Before welding operation, the invention can automatically realize the identification of the workpiece to be operated and automatically convey the related workpiece to the device.
3. The invention can realize the automatic shot blasting stress processing function aiming at the small structural member, and can filter the shot blasting sprayed during operation according to the integrity, filter the incomplete shot blasting, automatically absorb the intact shot blasting and recycle the intact shot blasting.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is an exploded view of the overall structure of the present invention;
FIG. 3 is a schematic structural view of a base pan according to the present invention;
FIG. 4 is a schematic view of a welding apparatus according to the present invention;
FIG. 5 is a schematic view of the handling robot of the present invention;
FIG. 6 is an exploded view of the storage device of the present invention;
FIG. 7 is an exploded view of the workholding fixture apparatus of the present invention;
FIG. 8 is an exploded view of the shot blasting cartridge of the present invention;
FIG. 9 is an exploded view of the table of the present invention;
FIG. 10 is an exploded view of the workpiece fastening device of the present invention;
FIG. 11 is a schematic view of the present invention illustrating a workpiece clamping operation;
FIG. 12 is a schematic view of a welding operation of the present invention;
FIG. 13 is a schematic view of a stress removal operation of the present invention;
FIG. 14 is a schematic view of the overall structure of the work table of the present invention;
fig. 15 is a schematic view of the overall structure of the shot blasting bin of the present invention.
Reference numerals are as follows: 1. a device body; 21. a welding device; 22. a power transformation box; 23. a controller; 24. a welding fume adsorption device; 25. carrying the mechanical arm; 26. a shot blasting controller; 27. a storage device; 28. a shot blasting device; 29. a chassis; 210. a fence; 211. a work table; 31. a chassis housing; 32. a first camera; 33. a second camera; 34. a tire; 41. welding a mechanical arm; 42. a welding machine; 43. an argon bottle; 44. a welding robot controller; 45. a wire feeder; 46. a welding gun; 47. linear laser; 48. a third camera; 49. a microphone; 51. a mechanical arm body; 52. an electromagnetic clamp; 53. a camera mounting bracket; 54. a fourth camera; 61. spraying a pill cabin; 62. a workpiece clamp device; 63. a storage device support table; 71. a workpiece holder apparatus housing; 72. a first electromagnetic adsorption mechanism; 73. a first fastening device; 74. a second fastening device; 81. spraying a pill cabin shell; 82. a first linear module; 83. a first guide rail; 84. a T-shaped slider; 85. a second linear module mounting base; 86. a second linear module; 87. a shot-blasting gun mounting seat; 88. a shot blasting gun; 89. a shot blasting bin supporting seat; 810. a second electromagnetic adsorption mechanism; 91. a table base; 92. a circular table; 93. a shot blasting collection bin; 94. a first workpiece fastening device; 95. a second workpiece fastening device; 96. a circular accelerator; 97. a workbench supporting seat; 98. shot blasting collecting tank; 1001. a first fastening arm; 1002. a second fastening arm; 1003. a second guide rail; 1004. a fastening device mounting base; 1005. a third guide rail; 1006. and a sliding table.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, so that those skilled in the art can better understand the advantages and features of the present invention, and thus the scope of the present invention is more clearly defined. The embodiments described herein are only a few embodiments of the present invention, rather than all embodiments, and all other embodiments that can be derived by one of ordinary skill in the art based on the embodiments described herein are intended to be within the scope of the present invention.
In the following description, in the movable welding and stress treatment integrated apparatus according to the present invention, all motors and actuators are initially kept in an electrically locked state unless otherwise specified.
Referring to fig. 1 to 2, the movable welding and stress treatment integrated device comprises a device body 1, wherein the device body 1 comprises a welding device 21, a power transformation box 22, a controller 23, a welding fume adsorption device 24, a carrying mechanical arm 25, a shot blasting controller 26, a storage device 27, a shot blasting device 28, a chassis 29, a fence 210 and a workbench 211.
Wherein, the welding device 21 is used for realizing the welding function, and the specific constitution will be explained in detail below; the power transformation box 22 is provided with a power supply input port and a plurality of power supply output ports, the input voltage of the power transformation box is three-phase 380V voltage, and the output voltage can be divided into two voltage systems of 220V and 380V according to the load type; the controller 23 is internally provided with three sub-controllers, one of which is a welding mechanical arm controller 44, the other is a conveying mechanical arm controller, the conveying mechanical arm controller is connected with the conveying mechanical arm 25, the other three are master controllers of an integrated device, and the master controllers of the integrated device are communicated with controllers such as the welding mechanical arm controller 44, the conveying mechanical arm controller, the shot blasting controller 26 and the like based on an Ethernet protocol, play a role of a central host machine in the whole controller network and plan the work of all the controllers.
The welding fume adsorption device 24 is composed of a telescopic pipeline and a host, the tail end of the telescopic pipeline is a horn-type air exhaust port, a groove is formed in the shell of the horn-type air exhaust port, the groove is matched with an electromagnetic clamp 52 at the tail end of the carrying mechanical arm 25, and during welding operation, the telescopic pipeline is located at the tail end of the carrying mechanical arm 25 and used for absorbing welding fume;
the carrying mechanical arm 25 is used for carrying devices such as a workpiece clamp, and the specific structure will be described in detail below; the shot blasting controller 26 is provided with two pipelines, one pipeline is connected to a shot blasting gun 88 described below, and the other pipeline is connected to a cylindrical interface below the shot blasting equipment 28; different operation devices are mounted on the storage device 27, and the specific structure will be described in detail below; the shot blasting device 28 is a cylinder, two sides of which are provided with two cylindrical interfaces, one is positioned at the bottom of the shot blasting device 28 and connected with the shot blasting controller 26, and the other is positioned at the upper part of the shot blasting device 28 and connected with the annular accelerator 96; the chassis 29 is used for supporting the whole device, and the specific structure will be explained in detail below; the fence 210 is a hollow square structure, the peripheral side length of the fence is the same as that of the chassis 29, and a plurality of holes are formed in the fence, so that damage to workers due to accidental downtime of mechanical arms and the like is avoided.
Specifically, referring to fig. 3, a structural schematic diagram of the chassis 29 according to the present invention is shown. The chassis 29 comprises a chassis housing 31, a first camera 32, a second camera 33 and tires 34.
Wherein, a groove is arranged on the chassis shell 31 for laying cables and communication lines of different devices; the first camera 32 and the second camera 33 are the same, the first camera 32 and the second camera 33 are arranged on the front side surface of the chassis 29, and the first camera 32 and the second camera 33 are symmetrically arranged by taking a central axis of the chassis 29 as a symmetry axis; the number of the tires 34 is four, wherein the rear two tires are driving wheels and are driven by a synchronous motor to drive the whole device to move, and the front two tires play a steering role.
Specifically, fig. 4 is a schematic structural diagram of the welding device 21 according to the present invention. The welding device 21 comprises a welding mechanical arm 41, a welding machine 42, an argon gas bottle 43, a welding mechanical arm controller 44, a wire feeding mechanism 45, a welding gun 46, a linear laser 47, a third camera 48 and a microphone 49;
the welding mechanical arm 41 has six degrees of freedom, a wire feeder 45 is arranged between the third degree of freedom and the fourth degree of freedom, and a welding gun 46, a linear laser 47, a third camera 48 and a microphone 49 are respectively arranged at the tail end of the welding mechanical arm 41;
the welding machine 42 is a special argon arc welding machine; argon arc welding protective gas is filled in the argon bottle 43; the welding mechanical arm controller 44 is connected with the welding mechanical arm 41, and the welding mechanical arm controller 44 is installed in the controller 23; the central wave band of the linear laser 47 is 532nm, and the extension line of the linear laser 47 and the tail end of the welding gun 46 are positioned on the same horizontal line; the third camera 48 is used for collecting a weld image; the microphone 49 is used to collect welding arc acoustic signals.
Specifically, fig. 5 is a schematic structural view of the transfer robot 25 according to the present invention. The carrying mechanical arm 25 comprises a mechanical arm body 51, an electromagnetic clamp 52 arranged on the mechanical arm body 51 and a camera mounting bracket 53, wherein a fourth camera 54 is mounted on the camera mounting bracket 53.
Wherein the mechanical arm body 51 has four degrees of freedom; the electromagnetic clamp 52 is arranged on the fourth degree of freedom of the mechanical arm body 51, the electromagnet is arranged on the lower surface of the electromagnetic clamp 52, the gripping force of the electromagnetic clamp on equipment such as the following pill spraying bin 61 can be increased based on an electromagnetic adsorption mechanism, two inward protruding parts are arranged below the electromagnetic clamp 52, and the inward protruding parts can be combined with an electromagnetic adsorption mechanism on the equipment such as the following pill spraying bin 61, so that the stability during transportation is further improved; the fourth camera 54 is arranged in the camera mounting bracket 53 and used for positioning a workpiece; the camera mounting bracket 53 is fixed to the end of the third degree of freedom of the robot arm body 51 by a bolt.
Specifically, referring to fig. 6, an exploded view of the storage device 27 of the present invention is shown. The storage device 27 includes a storage device support 63, and a shot-blasting chamber 61 and a work holder device 62 provided on the storage device support 63.
The storage device support 63 is provided with a groove having a shape similar to the shape of the shot-peening chamber 61 and the work-clamping device 62, and when the transfer robot 25 does not transfer the shot-peening chamber 61 and the work-clamping device 62, the shot-peening chamber 61 and the work-clamping device 62 can be set in the storage device 27 through the groove.
Specifically, referring to FIG. 7, an exploded view of the workholding fixture apparatus 62 of the present invention is shown. The work holder apparatus 62 includes a work holder apparatus housing 71, a first electromagnetic adsorption mechanism 72, a first fastening device 73, and a second fastening device 74.
Wherein, the first electromagnetic absorption mechanism 72 is fixed at the center of the upper surface of the workpiece fixture device shell 71, the upper surface of the first electromagnetic absorption mechanism 72 is made of magnetic material, grooves are arranged on two sides, the whole shape is matched with the electromagnetic fixture 52 in the carrying mechanical arm 25, and the electromagnetic fixture 52 can be combined with the protruding part; the first electromagnetic absorption mechanism 72 can further stabilize the connection between the work holder apparatus 62 and the electromagnetic holder 52 through an electromagnetic absorption mechanism; the first fastening device 73 and the second fastening device 74 are completely identical in structure, and both are hydraulic linear modules, so that clamping requirements of workpieces with different sizes are met; the first fastening device 73 and the second fastening device 74 are arranged axisymmetrically in the work holder device 62, and both are fixed to the lower surface of the work holder device housing 71.
Specifically, referring to fig. 8, there is shown an exploded view of the shot-blasting chamber 61 of the present invention. The shot blasting bin 61 comprises a shot blasting bin shell 81, a first linear module 82, a first guide rail 83, a T-shaped sliding block 84, a second linear module mounting seat 85, a second linear module 86, a shot blasting gun mounting seat 87, a shot blasting gun 88, a shot blasting bin supporting seat 89 and a second electromagnetic adsorption mechanism 810.
The pill spraying bin 61 is of a square structure, and the first linear module 82 and the first guide rail 83 are fixed in a pill spraying bin shell 81 through screws; the T-shaped sliding block 84 is nested on the first guide rail 83, and the T-shaped sliding block 84 and the sliding block of the first linear module 82 are positioned on the same plane; a plurality of screw holes are formed in the second linear module mounting base 85, one end of the second linear module mounting base 85 is mounted on the T-shaped sliding block 84 in a screw fastening mode, and the other end of the second linear module mounting base 85 is mounted on the sliding block of the first linear module 82; the second linear module 86 is mounted on the second linear module mounting base 85 by screws; the first linear module 82 and the second linear module 86 have the same stroke and lead screw, and the first linear module 82 and the second linear module 86 are driven by a servo motor.
The shot blasting gun mounting seat 87 is fixed on the slide block of the second linear module 86 through screws; the shot-blasting gun 88 is arranged in a round hole at the other side of the shot-blasting gun mounting seat 87, two holes are arranged on the shot-blasting gun 88, one hole is connected with the shot-blasting controller 26, the other hole sprays shot, and the shot-blasting gun 88, the shot-blasting equipment 28 and the shot-blasting controller 26 form a complete small shot-blasting machine; the shot blasting bin supporting seat 89 is fixedly arranged on the inner wall of the shot blasting bin shell 81 and plays a supporting role when the shot blasting bin is placed on the accommodating device supporting seat 63;
the second electromagnetic adsorption mechanism 810 is fixed in the center of the upper surface of the upper wall of the shot blasting bin shell 81, the structure of the second electromagnetic adsorption mechanism is completely the same as that of the first electromagnetic adsorption mechanism 72 in the workpiece clamp device 62, the upper surface of the second electromagnetic adsorption mechanism is made of magnetic materials, grooves are formed in two sides of the second electromagnetic adsorption mechanism, the overall appearance of the second electromagnetic adsorption mechanism is matched with that of the electromagnetic clamp 52 in the carrying mechanical arm 25, and the second electromagnetic adsorption mechanism can be combined with the protruding part of the electromagnetic clamp 52; the second electromagnetic adsorption mechanism 810 can further stabilize the connection between the pill spraying bin 61 and the electromagnetic clamp 52 through an electromagnetic adsorption mechanism.
Specifically, referring to fig. 9, an exploded view of the table 211 of the present invention is shown. The workbench 211 comprises a workbench base 91, a circular workbench 92, a shot blasting collecting bin 93, a first workpiece fastening device 94, a second workpiece fastening device 95, an annular accelerator 96, a workbench supporting seat 97 and a shot blasting collecting groove 98.
The circular workbench 92 is a circular truncated cone, a support column is arranged on the lower surface of the circular workbench, the circular workbench 92 is fixed in the workbench base 91 through the support column, the edge height of the circular workbench 92 is lower than the middle height, and shot blasting is facilitated to roll into the workbench base 91.
The both sides wall of workstation base 91 is trapezoidal form, and its lower wall has the slope, rolls on the upper surface of workstation base 91 lower wall from the peening that circular workstation 92 was omitted all around, and the lower wall of workstation base 91 is equipped with the hole that the size is less than complete peening, can filter the peening that can't recycle, and the end on workstation base 91 lower wall slope is equipped with the hole that the size is more than complete peening, can make the recycling peening that is not filtered fall into in peening collecting vat 98.
The shot blasting collection bin 93 is arranged below the workbench base 91, two side walls are triangular and matched with the workbench base 91, the upper surface of the lower wall of the shot blasting collection bin 93 also has a slope, but the slope direction is opposite to the slope direction of the lower wall of the workbench base 91, and the shot blasting collection bin is used for collecting shot blasting which falls down from the workbench base 91 and cannot be reused.
The shot blasting collecting tank 98 is fixed on one side of the shot blasting collecting bin 93 and is specifically positioned on one side of the slope top of the lower wall of the shot blasting collecting bin 93, the shot blasting collecting tank 98 is a groove with a width slightly larger than that of a complete shot blasting, the upper surface of the lower wall of the shot blasting collecting tank 98 is provided with a slope, the end of the slope is provided with a shot blasting hole with a diameter slightly larger than that of the complete shot blasting, the hole is connected with the annular accelerator 96 through a hose, and the reusable shot blasting flows into the annular accelerator 96 from the hole under the action of gravity.
The first workpiece fastening device 94 is identical in structure to the second workpiece fastening device 95, and the specific structure will be explained below; the first workpiece fastening device 94 and the second workpiece fastening device 95 are symmetrically arranged around the center of the circle on the upper surface of the circular table 92, and are fixed to the two trapezoidal side walls of the table base 91, respectively.
The four workbench supporting seats 97 are arranged below the shot blasting collection bin 93 and used for supporting the shot blasting collection bin 93; annular accelerator 96 is equipped with two holes, and the below hole site links to each other with peening collecting vat 98, and the top hole site links to each other with peening equipment 28, and during the actual operation, the peening gets into from the below hole, under the electromagnetic force effect, climbs height and acceleration in proper order according to circular track, and the hole blowout is followed to final top with certain initial velocity, and the kinetic energy that the peening possesses this moment makes its influences such as can overcome gravity, rolls into the storage silo in the peening equipment 28.
Specifically, referring to fig. 10, there is shown an exploded view of the first workpiece fastening device 95 of the present invention. The first workpiece fastening device 95 includes a first fastening arm 1001, a second fastening arm 1002, a second guide rail 1003, a fastening device mounting base 1004, a third guide rail 1005, and a slide table 1006.
Wherein the second guide 1003 and the third guide 1005 are identical in structure; the second guide rail 1003 and the third guide rail 1005 are symmetrically arranged at the left side and the right side of the fastening device mounting base 1004, and the sliding table 1006 is arranged on the second guide rail 1003 and the third guide rail 1005 and can slide along the second guide rail 1003 and the third guide rail 1005; the tail end of the first fastening arm 1001 is mounted at the end of the fastening device mounting base 1004, the first fastening arm 1001 and the fastening device mounting base 1004 are arranged in parallel, the second fastening arm 1002 is mounted on the sliding table 1006, the second fastening arm 1002 is connected with the head end of the first fastening arm 1001, and the second fastening arm 1002 and the fastening device mounting base 1004 are vertically arranged in the same plane; the first fastening arm 1001 and the second fastening arm 1002 are hydraulically driven, can slide in an XY plane, and are used for fastening workpieces at different positions and sizes.
The operation flow of the integrated mobile welding and stress processing device is shown in fig. 11 to 13:
s1: the first camera 32 and the second camera 33 on the apparatus chassis 29 constitute a binocular vision, identifying the approximate position of the work piece to be worked.
S2: referring to fig. 11, the transfer robot 25 grasps the workpiece clamping device 62 by the electromagnetic clamp 52 at the end thereof through the groove fit on the hardware and the electromagnetic adsorption mechanism according to the position information, and then the fourth camera 54 on the transfer robot 25 identifies the workpiece to be operated, and the end of the transfer robot 25 moves to the vicinity of the workpiece; then the first fastening device 73 and the second fastening device 74 on the workpiece clamp device 62 are driven by hydraulic pressure to press the workpiece, so that the workpiece is grabbed; then, the end of the conveying robot arm 25 moves onto the circular table 92 in the table 211, and the first fastening device 73 and the second fastening device 74 on the gripper device 62 release the workpiece, thereby ending the workpiece gripping operation.
S3: referring to fig. 12, a first workpiece fastening device 94 and a second workpiece fastening device 95 in the workbench 211 fasten the workpieces under hydraulic drive, the welding robot 41 drives the welding gun 46 to move to the vicinity of the workpieces under the guidance of the third camera 48, and then the linear laser 47 recognizes the coordinates of the center point of the weld joint and extracts the welding path; an electromagnetic clamp 52 at the tail end of the carrying mechanical arm 25 clamps a horn-shaped suction opening at the tail end of a telescopic pipeline in the welding fume adsorption device 24 and moves to the position near a circular workbench 92; then, the welding manipulator 41 carries out welding operation according to the obtained welding path, during which the microphone 49 extracts welding arc sound, and the welding smoke adsorption device 24 absorbs welding smoke; after the welding is finished, the carrying mechanical arm 25 transports the horn-shaped air suction opening at the tail end of the telescopic pipeline to the initial position.
S4: referring to fig. 13, after the workpiece is cooled, the electromagnetic clamp 52 at the end of the conveying mechanical arm 25 conveys the shot blasting bin 61 to the circular workbench 92 and completely covers the workpiece, then the shot blasting controller 26 starts to work, the shot blasting gun 88 sprays shot blasting to perform stress treatment operation, and at the moment, the first linear module 82 and the second linear module 86 move in the XY plane under the driving of the servo motor, so that the full coverage of shot blasting stress treatment on the surface of the workpiece is realized; after the shot blasting operation is completed, the transfer robot 25 transfers the shot blasting bin 61 to the home position.
The description and practice of the disclosure herein will be readily apparent to those skilled in the art from consideration of the specification and understanding, and may be modified and modified without departing from the principles of the disclosure. Therefore, modifications or improvements made without departing from the spirit of the invention should also be considered as the protection scope of the invention.
Claims (10)
1. A movable welding and stress treatment integrated device comprises a device body and is characterized in that the device body comprises a chassis, a welding device, a power transformation box, a controller, a welding smoke dust adsorption device, a carrying mechanical arm, a shot blasting controller, a storage device, shot blasting equipment, a workbench and a fence, wherein the welding device, the power transformation box, the controller, the welding smoke dust adsorption device, the carrying mechanical arm, the shot blasting controller, the storage device, the shot blasting equipment, the workbench and the fence are arranged on the chassis;
the welding device is used for realizing a welding function; the transformer box is used for supplying power to the integrated device; the controller comprises three sub-controllers which are respectively a welding mechanical arm controller, a carrying mechanical arm controller and a master controller of the integrated device, wherein the master controller, the welding mechanical arm controller, the carrying mechanical arm controller and the shot blasting controller of the integrated device are used for controlling communication, and the work of each controller is planned;
the welding fume adsorption device is composed of a telescopic pipeline and a main machine, wherein the tail end of the telescopic pipeline is provided with a horn-type air suction opening, and the telescopic pipeline is positioned at the tail end of the carrying mechanical arm and used for absorbing welding fume during welding operation;
the conveying mechanical arm is used for conveying the workpiece clamp; the shot blasting controller is connected with shot blasting equipment;
the fence is of a hollow tetragonal structure, and the peripheral side length of the fence is the same as that of the chassis;
the chassis comprises a chassis shell, a first camera and a second camera, wherein the first camera and the second camera are arranged on the front side surface of the chassis shell and are symmetrically arranged along the central axis of the chassis; the tire is driven by a synchronous motor to drive the integrated device to move;
the welding device comprises a welding mechanical arm controller, a welding mechanical arm, a welding machine and an argon gas bottle, wherein the welding machine and the argon gas bottle are arranged on one side of the welding mechanical arm; the extension line of the linear laser and the tail end of the welding gun are located on the same horizontal line, and the welding mechanical arm controller is installed in the controller.
2. The integrated portable welding and stress processing device according to claim 1, wherein the handling robot comprises a robot body, an electromagnetic clamp and a camera mounting bracket, the electromagnetic clamp is arranged on the robot body, the robot body is a four-degree-of-freedom robot, the electromagnetic clamp is arranged on a fourth degree of freedom of the robot body, the camera mounting bracket is fixedly mounted at the end of the third degree of freedom of the robot body through a bolt, and the camera mounting bracket is provided with a fourth camera.
3. The integrated movable welding and stress treatment device according to claim 1, wherein the storage device comprises a storage device support platform, and a shot spraying bin and a workpiece fixture device which are arranged on the storage device support platform;
the supporting table of the storage device is provided with grooves which are similar to the shapes of the shot spraying bin and the workpiece fixture device respectively, and the shot spraying bin and the workpiece fixture device can be arranged on the supporting table of the storage device through the grooves when the mechanical carrying arm does not carry the shot spraying bin and the workpiece fixture device.
4. The integrated portable welding and stress processing device according to claim 3, wherein the work holder device comprises a work holder device housing, and a first electromagnetic absorption mechanism, a first fastening device and a second fastening device arranged on the work holder device housing;
the first electromagnetic adsorption mechanism is fixed in the center of the upper surface of the shell of the workpiece clamp device, the upper surface of the first electromagnetic adsorption mechanism is made of a magnetic material, and the overall appearance of the magnetic material is matched with that of an electromagnetic clamp in the carrying mechanical arm;
the first fastening device and the second fastening device are identical in structure, and both the first fastening device and the second fastening device are hydraulic linear modules and are used for clamping workpieces of different sizes; the first fastening device and the second fastening device are symmetrically arranged on the axial plane of the workpiece fixture device, and are fixed on the lower surface of the shell of the workpiece fixture device.
5. The integrated portable welding and stress treatment device according to claim 3, wherein the shot blasting bin comprises a shot blasting bin shell, a first linear module, a first guide rail, a T-shaped slide block, a second linear module mounting seat, a second linear module, a shot blasting gun mounting seat, a shot blasting gun, a shot blasting bin supporting seat and a second electromagnetic adsorption mechanism;
the first linear module and the first guide rail are fixed in the shot spraying bin shell through screws; the T-shaped sliding block is nested on the first guide rail, and the T-shaped sliding block and the sliding block of the first linear module are positioned on the same plane; the second linear module mounting base is provided with a plurality of screw holes, one end of the second linear module mounting base is mounted on the T-shaped sliding block in a screw fastening mode, and the other end of the second linear module mounting base is mounted on the sliding block of the first linear module; the second linear module is arranged on the second linear module mounting base through screws; the first linear module and the second linear module are driven by a servo motor;
the shot blasting gun mounting seat is fixed on the sliding block of the second linear module through screws; the shot blasting gun is arranged on the shot blasting gun mounting seat, the shot blasting gun is connected with the shot blasting controller through a hose, and the shot blasting bin supporting seat is fixedly arranged on the inner wall of the shot blasting bin shell;
the structure of the second electromagnetic adsorption mechanism is the same as that of the first electromagnetic adsorption mechanism in the workpiece fixture device, the upper surface of the second electromagnetic adsorption mechanism is made of magnetic materials, the overall appearance of the second electromagnetic adsorption mechanism is matched with that of an electromagnetic fixture in the carrying mechanical arm, and the second electromagnetic adsorption mechanism is fixed in the center of the upper surface of the upper wall of the shot spraying bin shell.
6. The integrated portable welding and stress treatment device according to claim 1, wherein the worktable comprises a worktable base, a circular worktable, a shot blasting collecting bin, a first workpiece fastening device, a second workpiece fastening device, an annular accelerator, a worktable supporting seat and a shot blasting collecting tank;
the circular workbench is a round table, a support column is arranged on the lower surface of the circular workbench, the circular workbench is fixed in the workbench base through the support column, the edge height of the circular workbench is lower than the middle height, and shot blasting can conveniently roll into the workbench base;
the two side walls of the workbench base are in a trapezoidal shape, the lower wall of the workbench base is provided with a slope, shot blasting omitted from the periphery of the circular workbench can roll on the upper surface of the lower wall of the workbench base conveniently, holes smaller than complete shot blasting in size are formed in the lower wall of the workbench base, the shot blasting which cannot be reused can be filtered, the tail end of the slope of the lower wall of the workbench base is provided with holes larger than complete shot blasting in size, and the filtered reusable shot blasting can fall into a shot blasting collecting tank;
the shot blasting collection bin is arranged below the workbench base, and two side walls of the shot blasting collection bin are triangular and fit with the workbench base;
the shot blasting collecting tank is fixed on one side of the shot blasting collecting bin, the shot blasting collecting tank is positioned on one side of the slope top of the lower wall of the shot blasting collecting bin, the shot blasting collecting tank is a groove with the width slightly larger than that of a complete shot blasting, the upper surface of the lower wall of the shot blasting collecting tank is provided with a slope, the end part of the slope is provided with a shot blasting hole with the diameter slightly larger than that of the complete shot blasting, the hole is connected with the annular accelerator through a hose, and the reusable shot blasting flows into the annular accelerator from the hole under the action of gravity;
the first workpiece fastening device and the second workpiece fastening device are in the same structure, are symmetrically arranged by taking the circle center of the upper surface of the circular workbench as the center and are respectively fixed on two trapezoidal side walls of the workbench base;
the workbench supporting seat is arranged below the shot blasting collecting bin and used for supporting the shot blasting collecting bin; the annular accelerator is arranged on one side of the shot blasting collecting bin and is respectively connected with the shot blasting collecting tank and the shot blasting equipment.
7. The integrated portable welding and stress treatment device according to claim 6, wherein the first workpiece fastening device comprises a first fastening arm, a second guide rail, a fastening device mounting base, a third guide rail and a sliding table;
the structure of the second guide rail is the same as that of the third guide rail, the second guide rail and the third guide rail are symmetrically arranged on the left side and the right side of the fastening device mounting base, and the sliding table is arranged on the second guide rail and the third guide rail and can slide along the second guide rail and the third guide rail; the tail end of the first fastening arm is mounted at the end part of the fastening device mounting base, the first fastening arm and the fastening device mounting base are arranged in parallel, the second fastening arm is mounted on the sliding table and connected with the head end of the first fastening arm, and the second fastening arm and the fastening device mounting base are vertically arranged in the same plane; the first fastening arm and the second fastening arm are driven by hydraulic pressure, can slide in an XY plane and are used for fastening workpieces in different positions and sizes.
8. The integrated portable welding and stress-treating device according to claim 1, wherein the specific process flow of the integrated portable welding and stress-treating device comprises: the method comprises the following steps of a workpiece identification and carrying operation process, a workpiece welding and smoke dust adsorption operation process and a shot blasting stress treatment process;
the workpiece identification and carrying operation flow comprises the following steps: the carrying mechanical arm is used for grabbing the workpiece clamp device through groove matching and an electromagnetic adsorption mechanism on hardware according to the position information and an electromagnetic clamp at the tail end of the carrying mechanical arm, then a fourth camera on the carrying mechanical arm is used for identifying a workpiece to be operated, and the tail end of the carrying mechanical arm moves to the position close to the workpiece; then, a first fastening device and a second fastening device on the workpiece clamp device extrude the workpiece under hydraulic drive to realize workpiece grabbing; and then the tail end of the carrying mechanical arm moves to a circular workbench in the workbench, the first fastening device and the second fastening device on the clamp device release the workpiece, and the workpiece clamping operation is finished.
9. The integrated portable welding and stress-treating apparatus as claimed in claim 8, wherein the welding and fume-adsorbing process is performed by: a first workpiece fastening device and a second workpiece fastening device in the workbench are hydraulically driven to fasten workpieces, a welding mechanical arm is guided by a third camera to drive a welding gun to move to the position near the workpieces, then linear laser identifies coordinates of the center point of a welding seam, and a welding path is extracted; an electromagnetic clamp at the tail end of the carrying mechanical arm clamps a horn-shaped air suction opening at the tail end of a telescopic pipeline in the welding smoke dust adsorption device and moves to the position close to the circular workbench; then, welding operation is carried out on the welding mechanical arm according to the obtained welding path, welding arc sound is extracted by the microphone in the period, and welding smoke dust is absorbed by the welding smoke dust absorption device; after welding, the horn-shaped pumping hole at the tail end of the telescopic pipeline is transported to the initial position by the carrying mechanical arm.
10. The integrated mobile welding and stress processing device according to claim 9, wherein the shot peening stress processing flow is as follows: after the workpiece is cooled, the electromagnetic clamp at the tail end of the carrying mechanical arm carries the shot blasting bin to the circular workbench and completely covers the workpiece, then the shot blasting controller starts to work, shot blasting is sprayed out by the shot blasting gun to carry out stress treatment operation, and at the moment, the first linear module and the second linear module move in an XY plane under the driving of the servo motor to realize full coverage of shot blasting stress treatment on the surface of the workpiece; after the shot blasting operation is finished, the shot blasting bin is conveyed to the original position by the conveying mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210436599.8A CN114986159A (en) | 2022-04-25 | 2022-04-25 | Movable welding and stress treatment integrated device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210436599.8A CN114986159A (en) | 2022-04-25 | 2022-04-25 | Movable welding and stress treatment integrated device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114986159A true CN114986159A (en) | 2022-09-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210436599.8A Withdrawn CN114986159A (en) | 2022-04-25 | 2022-04-25 | Movable welding and stress treatment integrated device |
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| Country | Link |
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| CN (1) | CN114986159A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116372817A (en) * | 2023-03-29 | 2023-07-04 | 南通大学 | Multifunctional robot for photovoltaic array |
-
2022
- 2022-04-25 CN CN202210436599.8A patent/CN114986159A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116372817A (en) * | 2023-03-29 | 2023-07-04 | 南通大学 | Multifunctional robot for photovoltaic array |
| CN116372817B (en) * | 2023-03-29 | 2023-09-26 | 南通大学 | Multifunctional robot for photovoltaic array |
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Application publication date: 20220902 |