CN116213893B - Welding robot and welding robot system - Google Patents
Welding robot and welding robot system Download PDFInfo
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- CN116213893B CN116213893B CN202310201693.XA CN202310201693A CN116213893B CN 116213893 B CN116213893 B CN 116213893B CN 202310201693 A CN202310201693 A CN 202310201693A CN 116213893 B CN116213893 B CN 116213893B
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- 238000003466 welding Methods 0.000 title claims abstract description 232
- 238000006073 displacement reaction Methods 0.000 claims abstract description 44
- 238000007599 discharging Methods 0.000 claims abstract description 23
- WFKWXMTUELFFGS-UHFFFAOYSA-N tungsten Chemical compound [W] WFKWXMTUELFFGS-UHFFFAOYSA-N 0.000 claims description 74
- 229910052721 tungsten Inorganic materials 0.000 claims description 74
- 239000010937 tungsten Substances 0.000 claims description 74
- XKRFYHLGVUSROY-UHFFFAOYSA-N Argon Chemical compound [Ar] XKRFYHLGVUSROY-UHFFFAOYSA-N 0.000 claims description 42
- 239000007789 gas Substances 0.000 claims description 22
- 229910052786 argon Inorganic materials 0.000 claims description 21
- 238000012544 monitoring process Methods 0.000 claims description 18
- 238000012806 monitoring device Methods 0.000 claims description 15
- 238000000034 method Methods 0.000 claims description 14
- 238000002844 melting Methods 0.000 claims description 13
- 230000008018 melting Effects 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 5
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 230000001174 ascending effect Effects 0.000 claims 1
- 238000003723 Smelting Methods 0.000 abstract 1
- 230000008569 process Effects 0.000 description 13
- 230000005855 radiation Effects 0.000 description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 238000001816 cooling Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000009413 insulation Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000010079 rubber tapping Methods 0.000 description 2
- 239000002915 spent fuel radioactive waste Substances 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000002927 high level radioactive waste Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/133—Means for feeding electrodes, e.g. drums, rolls, motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The utility model discloses a welding robot which is used for welding a residual pipe and a continuous pipe of a discharge pipe of a smelting furnace in a high-temperature and high-release environment and comprises a base, a displacement device, a wire feeding device and a welding gun, wherein the displacement device is positioned on the base, and the wire feeding device and the welding gun are positioned on the displacement device; the displacement device comprises a rotating assembly, a first displacement assembly and a second displacement assembly, wherein the first displacement assembly comprises a first fixed part and a first sliding part, the second displacement assembly comprises a second fixed part and a second sliding part, the first fixed part is connected with the rotating assembly, the second fixed part is connected with the first sliding part, and the welding gun is arranged on the second sliding part; the rotating assembly drives the welding gun to move circumferentially around the discharging pipe, the first sliding part moves relative to the first fixing part to drive the welding gun to move axially along the discharging pipe, and the second sliding part moves relative to the second fixing part to drive the welding gun to move radially along the discharging pipe.
Description
Technical Field
The utility model relates to the technical field of welding, in particular to a welding robot and a welding robot system.
Background
In order to meet the requirement of continuously increasing energy demand by the economic development and realize the balanced development of economy, society and ecological environment, the proportion of nuclear energy in energy supply is gradually improved in China. In the nuclear chemical industry, high Wen Gaofang melting furnaces are an important part of nuclear waste disposal as an important device for disposing of high-level waste. When the discharge pipe of the melting furnace is damaged, the repair operation of the discharge pipe is preferentially performed in a welding connection pipe mode, so that the function of recovering the discharge pipe is guaranteed, and the target requirement of recovering the discharge pipe to be close to the original design state is met.
The high temperature high furnace welding site is located in the heat chamber and has higher radiation dose, and the high Wen Gaofang furnace has higher temperature, and the radiation heat generated downwards causes the temperature of the working position of the welding equipment to be 200-300 ℃. Therefore, the welding equipment can be ensured to normally operate under the high-temperature and high-radiation environment. Because the hot chamber has high radioactivity, operators are not easy to enter the hot chamber, so that the welding operation can be controlled remotely, and the welding equipment is an automatic welding robot. In addition, a larger space is arranged at the lower part of the high Wen Gaofang melting furnace and can enter the welding robot, but a residual pipe of a discharging pipe of the high-temperature high-level melting furnace is positioned at the central position of the bottom of the high Wen Gaofang melting furnace, and an outer sleeve is arranged outside the residual pipe, so that the working space of the welding robot is narrow.
Therefore, it is necessary to provide a dedicated automatic welding robot system for a narrow space in a high-temperature and high-release environment, which should solve the following problems: the welding operation can be remotely controlled, so that the radiation dose of personnel is reduced; the welding device has multiple degrees of freedom, and can realize full-circle welding along the circumferential grooves of the residual pipe and the continuous pipe of the discharging pipe; radiation-resistant, can weld in the environment of high radiation; the structure is compact, and the welding operation can be performed in a narrow space; high temperature resistance and normal operation of the equipment in an environment of 200-300 ℃; the device has the function of remotely adjusting the relative position of the tip of the tungsten electrode and the welding wire, and has the function of remotely replacing the tungsten electrode through a hot chamber manipulator; in order to ensure the welding quality, the welding machine also has the function of remotely monitoring the states of the welding wire, the tungsten electrode and the molten pool.
The utility model CN216462380U discloses a spent fuel container welding system used in an irradiation environment, which consists of a welding robot, a welding front end, an automatic tungsten electrode replacing device, an insulating plate, a wire disc assembly, a wire feeder, a shielding base, a quick mounting clamp, a control cabinet, an electric control cabinet, a pipeline assembly, a pipeline fixing lifting appliance and a wire feeding pipe assembly. The shielding base is installed on the spent fuel container through quick mounting fixture, the insulation board is fixed on the shielding base, welding robot threaded connection installs on the shielding base, tungsten electrode automatic replacement device is fixed on the shielding base, the welding front end is fixed on welding robot, the wire tray subassembly is fixed on welding robot, send the silk machine to be fixed on welding robot, automatically controlled cabinet is fixed on operation platform, pipeline assembly passes pipeline fixed lifting tool, then be connected with welding robot, switch board respectively, send silk pipe subassembly to be connected with silk tray subassembly, send silk machine, welding front end respectively.
The welding robot of this technical scheme degree of freedom is more, and the structure is comparatively complicated, is difficult to realize the incomplete pipe of discharging pipe and continuous pipe automatic weld in narrow and small space, remote adjustment tungsten electrode tip and welding wire relative position, function such as remote replacement tungsten electrode.
In view of the above technical problems, the present utility model is particularly directed.
Disclosure of Invention
The utility model mainly aims to provide a welding robot and a welding robot system, which are used for completing automatic welding operation of a residual pipe and a continuous pipe of a discharge pipe of a melting furnace in a narrow space under a high-temperature and high-release environment.
In order to achieve the above object, according to one aspect of the present utility model, a welding robot is provided for welding a stub pipe of a discharge pipe of a melting furnace with a continuous pipe in a high-temperature and high-discharge environment, and the welding robot comprises a base, a displacement device, a wire feeding device and a welding gun, wherein the displacement device is positioned on the base, and the wire feeding device and the welding gun are positioned on the displacement device;
the displacement device comprises a rotating assembly, a first displacement assembly and a second displacement assembly, wherein the first displacement assembly comprises a first fixed part and a first sliding part, the second displacement assembly comprises a second fixed part and a second sliding part, the first fixed part is connected with the rotating assembly, the second fixed part is connected with the first sliding part, and the welding gun is arranged on the second sliding part;
the rotating assembly drives the welding gun to move circumferentially around the discharging pipe, the first sliding part moves relative to the first fixing part to drive the welding gun to move axially along the discharging pipe, and the second sliding part moves relative to the second fixing part to drive the welding gun to move radially along the discharging pipe.
Further, the first fixing portion includes a spur gear, and the first sliding portion includes a spur rack, and the spur gear and the spur rack are engaged with each other.
Further, the first fixing part further comprises a first servo motor, the first servo motor drives the spur gear to rotate, and the first sliding part is driven to move along the axial direction of the discharging pipe.
Further, the rotating assembly comprises an outer ring, an inner ring and a second servo motor, the inner ring is connected with the base, the outer ring is connected with the first fixing part, and the second servo motor drives the outer ring to circumferentially rotate around the inner ring.
Further, the wire feeder comprises a wire feeder assembly and a wire tray assembly, and the wire feeder assembly and the wire tray assembly are connected with the outer ring.
Further, the wire feeder also comprises a wire feeding regulator, the welding gun comprises a tungsten electrode, and the wire feeding regulator is positioned on the second sliding part and used for regulating the relative position of the welding wire and the tip of the tungsten electrode.
Further, the wire feeding device further comprises a wire feeding pipe, and the wire feeding pipe is sequentially connected with the wire disc assembly, the wire feeding machine assembly and the wire feeding regulator.
Further, send a regulator to include regulator base, regulator rotation portion and regulator flexible portion, the regulator base sets up on the second sliding part, regulator rotation portion rotationally connects in the regulator base, regulator flexible portion connects in regulator rotation portion, the position of regulator rotation portion adjustable welding wire in send a regulator circumference, the position of regulator flexible portion adjustable welding wire in send a regulator radial direction.
Further, the welding gun further comprises a welding gun body and a tungsten electrode quick replacement assembly, the welding gun body is arranged on the second sliding part, the tungsten electrode penetrates through the welding gun body, the tungsten electrode is detachably connected with the welding gun body, and the tungsten electrode comprises a clamping part which is detachably connected with the tungsten electrode quick replacement assembly.
Further, the tungsten electrode quick replacement assembly comprises a handle and a pull head, the handle is connected with the pull head, the pull head is provided with a ring convex part which can be clamped with the clamping part, and the ring convex part is clamped with the clamping part to detach the tungsten electrode.
Further, the tungsten electrode quick replacement assembly further comprises a mounting head, the mounting head is connected with the handle, an elastic ring capable of propping the clamping part is arranged in the mounting head, and the mounting head clamps the tungsten electrode so as to mount the tungsten electrode on the welding gun body.
Further, the welding robot further comprises a video monitoring device and an auxiliary lighting assembly, and the video monitoring device and the auxiliary lighting assembly are located on the second sliding part.
Further, the video monitoring device comprises a first video monitoring component and a second video monitoring component, and the first video monitoring component and the second video monitoring component are respectively positioned at two sides of the welding gun.
Further, the auxiliary lighting assembly and the wire feed adjuster are located between the welding gun and the second video monitoring assembly.
Further, the base comprises a lifting ring manipulator hand wheel, the lifting ring is used for lifting the welding robot, and the manipulator hand wheel is used for connecting or releasing the welding robot and the hot chamber workbench.
Further, the continuous pipe clamping device comprises a tensioning shaft, the inner ring comprises an upward opening concave part, the tensioning shaft is positioned at the center of the concave part, and the tensioning shaft is detachably connected with an inner hole of the continuous pipe to position the continuous pipe.
Further, the tube-feeding clamping device further comprises a shaft sleeve, wherein the shaft sleeve is arranged in the inner concave part and is coaxially arranged with the tensioning shaft, and the shaft sleeve contacts the outer wall of the tube-feeding to position the tube-feeding.
In order to achieve the above object, according to another aspect of the present utility model, a welding robot system is provided, which comprises the welding robot, an electric control cabinet, an upper computer and an argon bottle, wherein the welding robot is connected to the upper computer, the electric control cabinet and the argon bottle, and the electric control cabinet is connected to the upper computer and the argon bottle.
Further, the argon gas bottle, the electric control cabinet and the upper computer are connected with the welding robot through the internal protection gas supply pipe, the water, electricity and gas integrated pipeline and the video cable respectively, the argon gas bottle is connected with the electric control cabinet through the external protection gas supply pipe, and the upper computer is connected with the electric control cabinet through the communication cable.
By applying the technical scheme of the utility model, at least the following beneficial effects are realized:
1. the welding robot of this application is through setting up rotating assembly, first displacement subassembly and second displacement subassembly for welder has along discharging pipe circumference, axial and radial three degree of freedom, can satisfy along the whole circle welding operation of discharging pipe circumference groove.
2. The welding robot has the function of remotely adjusting the relative position of the tungsten electrode tip and the welding wire by setting two degrees of freedom of the wire feeding regulator, and realizes accurate control of the welding wire, thereby improving welding quality.
3. According to the welding robot, the tungsten electrode quick replacement component is arranged, in the welding process of certain special materials, when the tungsten electrode is subjected to performance reduction or failure and the like, the tungsten electrode can be replaced remotely and quickly by using the hot chamber manipulator, so that the welding quality is guaranteed.
4. According to the welding robot, the video monitoring device is arranged, and the states of the welding wire, the tungsten electrode and the molten pool can be monitored remotely and in real time through the upper computer of the welding robot system, so that the welding quality is evaluated and controlled in real time in the welding process.
5. The welding robot is compact in structure, can enter a narrow space to perform welding operation, can resist irradiation of each part, and can normally operate in an environment of 200-300 ℃, so that welding operation of a residual pipe and a continuous pipe of a discharge pipe of a melting furnace can be completed in the narrow space in a high-temperature and high-release environment in a hot room.
6. The welding robot system is provided with the electric control cabinet, the upper computer and the argon bottle outside the hot chamber, so that the remote automatic control of the welding robot outside the hot chamber by workers can be realized, and the welding process is monitored in real time, so that the radiation dose of the workers is reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the utility model. In the drawings:
FIG. 1 illustrates a schematic diagram of a welding robot in accordance with an embodiment of the present utility model;
FIG. 2 illustrates a front view of a welding robot according to an embodiment of the utility model;
FIG. 3 illustrates a first displacement assembly schematic of an embodiment of the present utility model;
FIG. 4 shows a schematic diagram of a wire feed adjuster in accordance with an embodiment of the present utility model;
FIG. 5 shows a cross-sectional view of a tungsten electrode mated with a torch body in accordance with an embodiment of the present utility model;
FIG. 6 illustrates a tungsten stage schematic view of a tungsten electrode quick change assembly disassembly in accordance with an embodiment of the present utility model;
FIG. 7 illustrates a tungsten stage schematic of a tungsten electrode quick change assembly installation in accordance with an embodiment of the present utility model;
FIG. 8 shows a cross-sectional view of a tube clamping device according to an embodiment of the utility model;
fig. 9 shows a schematic diagram of a welding robot system according to an embodiment of the utility model.
Wherein the above figures include the following reference numerals:
1. a base; 11. a hanging ring; 12. a mechanical hand wheel; 2. a video monitoring device; 21. a first video monitoring component; 22. a second video monitoring component; 3. a displacement device; 4. a wire feeder; 41. a wire feeder assembly; 42. a wire tray assembly; 43. a wire feed adjuster; 44. a wire feeding tube; 45. a regulator rotating part; 46. a regulator expansion part; 47. a regulator base; 5. a welding gun; 51. a tungsten electrode; 52. a welding gun body; 53. tungsten electrode quick replacement assembly; 54. a handle; 55. a pull head; 56. installing a head; 57. an engagement portion; 58. a ring protrusion; 59. an elastic ring; 6. a rotating assembly; 61. an outer ring; 62. an inner ring; 63. an inner concave portion; 7. a first displacement assembly; 71. a first fixing portion; 72. a first sliding portion; 73. spur gears; 74. a straight rack; 75. a first servo motor; 8. a second displacement assembly; 81. a second fixing portion; 82. a second sliding part; 9. an auxiliary lighting assembly; 10. a tube-feeding clamping device; 101. a tensioning shaft; 102. a shaft sleeve; 20. performing tube feeding; 30. an electric control cabinet; 40. an upper computer; 50. an argon bottle; 601. an internal protection air supply pipe; 602. a water, electricity and gas integrated pipeline; 603. a video cable; 604. an outer protective air supply pipe; 605. and a communication cable.
Detailed Description
It should be noted that, without conflict, the embodiments of the present utility model and features of the embodiments may be combined with each other. The utility model will be described in detail below with reference to the drawings in connection with embodiments.
The utility model is described in further detail below in connection with specific examples which are not to be construed as limiting the scope of the utility model as claimed. The term "comprising" when used indicates the presence of a feature, but does not preclude the presence or addition of one or more other features; the positional or positional relationship indicated by the terms "transverse", "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., are based on the positional or positional relationship shown in the drawings, are for convenience of description only, and are not indicative or implying that the apparatus or element in question must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the utility model; furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description, unless clearly indicated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art. Furthermore, in the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more.
Examples:
the utility model provides a welding robot and a welding robot system, which are used for completing automatic welding operation of a residual pipe and a continuous pipe of a discharge pipe of a melting furnace in a narrow space under a high-temperature and high-release environment.
According to one aspect of the present utility model, a welding robot is provided, as shown in fig. 1 and 2, comprising a base 1, a displacement device 3, a wire feeder 4 and a welding gun 5, the displacement device 3 being located on the base 1, the wire feeder 4 and the welding gun 5 being located on the displacement device 3.
Wherein the displacement device 3 comprises a rotating assembly 6, a first displacement assembly 7 and a second displacement assembly 8, the first displacement assembly 7 comprises a first fixed part 71 and a first sliding part 72, and the second displacement assembly 8 comprises a second fixed part 81 and a second sliding part 82. The first fixing portion 71 is connected to the rotating unit 6, and the first sliding portion 72 is slidably connected to the first fixing portion 71. The second fixing portion 81 is connected to the first sliding portion 72, and the second sliding portion 82 is slidably connected to the second fixing portion 81. The welding gun 5 is provided on the second sliding portion 82.
Specifically, the rotary member 6 is preferably disk-shaped and fixed to the base at an intermediate position, and is coaxial with the tapping pipe. The rotating assembly 6 includes an outer ring 61, an inner ring 62, and a second servo motor, the inner ring 62 is connected with the base 1, the outer ring 61 is connected with the first fixing portion 71, and the second servo motor drives the outer ring 61 to rotate circumferentially around the inner ring 62. The first fixing portion 71 is fixedly connected to a side edge of the outer ring 61 and can rotate along with the rotating assembly 6 in the circumferential direction. The first sliding portion 72 is disposed along a vertical direction and located at a side of the first fixing portion 71, and is vertically slidable with respect to the first fixing portion 71. The second displacement assembly 8 is located above the first sliding portion 72, and the second fixing portion 81 is fixedly connected to the first sliding portion 72. The second sliding part 82 can move in the radial direction of the tapping pipe relative to the second fixing part 81.
In summary, the rotating assembly 6 drives the welding gun 5 to move circumferentially around the discharge pipe, the first sliding portion 72 moves relative to the first fixing portion 71 to drive the welding gun 5 to move axially along the discharge pipe, and the second sliding portion 82 moves relative to the second fixing portion 81 to drive the welding gun 5 to move radially along the discharge pipe. The welding robot of this application is through setting up rotating assembly, first displacement subassembly and second displacement subassembly for welder has along discharging pipe circumference, axial and radial three degree of freedom, can satisfy along the whole circle welding operation of discharging pipe circumference groove.
As shown in fig. 3, the first fixed portion 71 includes a spur gear 73, and the first sliding portion 72 includes a spur rack 74, and the spur gear 73 and the spur rack 74 are engaged with each other. The first fixing part 71 further comprises a first servo motor 75, and the first servo motor 75 drives the spur gear 73 to rotate, so that the first sliding part 72 is driven to move along the axial direction of the discharging pipe.
As shown in connection with fig. 1-2, wire feeder 4 includes a wire feeder assembly 41 and a wire tray assembly 42, with wire feeder assembly 41 and wire tray assembly 42 each being coupled to outer race 61. The wire feeder 4 further includes a wire feed adjuster 43 and a wire feed pipe 44, the wire feed adjuster 43 being located on the second slide 82. The wire feed pipe 44 connects the wire tray assembly 42, the wire feeder assembly 41, and the wire feed adjuster 43 in this order. The wire feeder assembly 41 feeds welding wire from the wire reel assembly 42 along a wire feed tube 44 into a wire feed adjuster 43, and the wire feed adjuster 43 is used to adjust the relative position of the welding wire to the tungsten tip of the welding gun.
As shown in fig. 4, the wire feeding regulator 43 includes a regulator base 47, a regulator rotating portion 45, and a regulator telescoping portion 46, the regulator base 47 is provided on the second sliding portion 82, the regulator rotating portion 45 is rotatably connected to the regulator base 47, the regulator telescoping portion 46 is connected to the regulator rotating portion 45, the regulator rotating portion 45 can adjust the position of the welding wire in the circumferential direction of the wire feeding regulator 43, and the regulator telescoping portion 46 can adjust the position of the welding wire in the radial direction of the wire feeding regulator 43. The relative position of the wire and the tip of the tungsten electrode 51 is precisely adjusted by remotely precisely controlling the movement of the regulator rotating portion 45 and the regulator telescoping portion 46.
The welding robot has the function of remotely adjusting the relative position of the tungsten electrode tip and the welding wire by setting two degrees of freedom of the wire feeding regulator, and realizes accurate control of the welding wire, thereby improving welding quality.
Referring to fig. 4-7, the welding gun 5 further includes a gun body 52 and a tungsten quick change assembly 53, wherein the gun body 52 is disposed on the second slide 82. As shown in fig. 5, the tungsten electrode 51 penetrates the welding torch body 52, and the tungsten electrode 51 is detachably connected to the welding torch body 52. The tungsten electrode 51 includes a snap-in portion 57, and the snap-in portion 57 is removably coupled to the tungsten quick change assembly 53.
Specifically, as shown in fig. 6, the tungsten electrode quick-change assembly 53 includes a handle 54 and a slider 55, the handle 54 and the slider 55 are connected, the slider 55 has a ring protrusion 58 engageable with the engagement portion 57, and the ring protrusion 58 is engaged with the engagement portion 57 to detach the tungsten electrode 51.
As shown in fig. 7, the tungsten electrode quick-change assembly 53 further includes a mounting head 56, the mounting head 56 is connected to the handle 54, an elastic ring 59 capable of pressing against the engagement portion 57 is provided inside the mounting head 56, and the mounting head 56 clamps the tungsten electrode 51 to mount the tungsten electrode to the welding gun body 52. The elastic ring has the function of increasing the friction force between the mounting head 56 and the clamping part 57, is not easy to fall off in the process of transferring and installing the tungsten electrode 51 by the manipulator, and can ensure that the mounting head 56 can be separated from the tungsten electrode 51 after the tungsten electrode 51 is installed in place.
Alternatively, a plurality of tungsten electrode quick-change assemblies can be prepared in the hot chamber, the handle 54 is fixedly connected with the pull head 55 or the mounting head 56 in a welding mode or the like, and when the tungsten electrode needs to be changed in the welding process, the manipulator in the hot chamber is operated to respectively lift the pull head 55 or the mounting head 56 so as to detach or mount the tungsten electrode. According to the welding robot, the tungsten electrode quick replacement component is arranged, in the welding process of certain special materials, when the tungsten electrode is subjected to performance reduction or failure and the like, the tungsten electrode can be replaced remotely and quickly by using the hot chamber manipulator, so that the welding quality is guaranteed.
As shown in fig. 1, the welding robot further includes a video monitoring device 2 and an auxiliary lighting assembly 9, and the video monitoring device 2 and the auxiliary lighting assembly 9 are both located on the second sliding portion 82. The video monitoring device 2 comprises a first video monitoring component 21 and a second video monitoring component 22, and the first video monitoring component 21 and the second video monitoring component 22 are respectively positioned at two sides of the welding gun 5. The auxiliary lighting assembly 9 and the wire feed adjuster 43 are located between the welding gun 5 and the second video monitoring assembly 22.
According to the welding robot, the video monitoring device is arranged, and the states of the welding wire, the tungsten electrode and the molten pool can be monitored remotely and in real time through the upper computer of the welding robot system, so that the welding quality is evaluated and controlled in real time in the welding process.
In addition, the base 1 comprises a hanging ring 11 and a connector manipulator hand wheel 12. Preferably, two hanging rings 11 are respectively arranged at two ends of the base, and the hanging rings 11 are used for hanging the welding robot. The connector and the manipulator hand wheel 12 are positioned at the bottom of the base, and the manipulator hand wheel 12 is operated by a manipulator in the hot chamber for connecting or releasing the welding robot and the workbench in the hot chamber. Preferably, the base is further provided with a tray for storing welding robot cables and welding slag and flying scraps generated in the welding process.
As shown in fig. 1 and 8, the welding robot of the present application further includes a tube-feeding clamping device 10, where the tube-feeding clamping device 10 includes a tensioning shaft 101 and a shaft sleeve 102, the inner ring 62 of the rotating assembly 6 includes an inner concave portion 63 with an upward opening, the tensioning shaft 101 is located at the center of the inner concave portion 63, and the tensioning shaft 101 is detachably connected with an inner hole of the tube-feeding 20 to position the tube-feeding 20. The sleeve 102 is disposed in the concave portion 63 and coaxially disposed with the tensioning shaft 101, and the sleeve 102 contacts the outer wall of the extension pipe 20 to position the extension pipe 20.
The continuous pipe clamping device is arranged, so that the continuous pipe is firmly arranged on the welding robot, and automatic welding of the residual pipe and the continuous pipe of the discharging pipe of the melting furnace is facilitated.
In sum, in the application, the welding robot has five degrees of freedom altogether, can satisfy the whole circle welding along discharging pipe circumference groove, also can send the relative position of wire regulator remote adjustment tungsten electrode tip and welding wire through control. In addition, the tungsten electrode can be replaced remotely by the hot chamber manipulator, and the states of the welding wire, the tungsten electrode and the molten pool can be monitored remotely and in real time by the video monitoring device.
In addition, in order to adapt to the working environment with high temperature and high radiation, the welding robot adopts the irradiation-resistant camera and the irradiation-resistant motor, and can perform welding operation in the high radiation environment. In addition, the welding gun, the video monitoring device, the wire feeding regulator, the displacement assembly, the wire feeding machine assembly, the auxiliary lighting assembly and the like are provided with heat insulation and circulating water cooling, so that the equipment can be ensured to normally operate in the environment of 200-300 ℃.
The welding robot is compact in structure, uses the low-level components and is compact in design, can enter a narrow space for welding operation, can resist irradiation and can normally operate in an environment of 200-300 ℃, so that welding operation of a residual pipe and a continuous pipe of a discharge pipe of a melting furnace can be completed in the narrow space in a high-temperature and high-release environment in a hot room.
According to another aspect of the present utility model, a welding robot system is also presented. As shown in fig. 9, the welding robot comprises the welding robot, the electric control cabinet 30, the upper computer 40 and the argon gas bottle 50, wherein the welding robot is connected to the upper computer 40, the electric control cabinet 30 and the argon gas bottle 50, and the electric control cabinet 30 is connected to the upper computer 40 and the argon gas bottle 50. The electric control cabinet provides power supply power, circulating water cooling, protection gas transmission and data signal transmission for the system; the upper computer remotely controls the system and monitors the welding process in real time; an argon bottle provides shielding gas for the system.
Specifically, the argon gas bottle 50, the electric control cabinet 30 and the upper computer 40 are respectively connected with the welding robot through an inner protection gas supply pipe 601, a water, electricity and gas integrated pipeline 602 and a video cable 603, the argon gas bottle 50 is connected with the electric control cabinet 30 through an outer protection gas supply pipe 604, and the upper computer 40 is connected with the electric control cabinet 30 through a communication cable 605.
When the welding robot is used, after entering the hot chamber, a person remotely controls the welding robot to finish welding operation outside the hot chamber through the upper computer 40, the electric control cabinet 30 and the argon bottle 50.
The welding robot system is provided with the electric control cabinet, the upper computer and the argon bottle outside the hot chamber, so that the remote automatic control of the welding robot outside the hot chamber by workers can be realized, and the welding process is monitored in real time, so that the radiation dose of the workers is reduced.
In summary, from the above description, it can be seen that the above embodiments of the present utility model achieve the following technical effects: 1. the welding robot of this application is through setting up rotating assembly, first displacement subassembly and second displacement subassembly for welder has along discharging pipe circumference, axial and radial three degree of freedom, can satisfy along the whole circle welding operation of discharging pipe circumference groove. 2. The welding robot has the function of remotely adjusting the relative position of the tungsten electrode tip and the welding wire by setting two degrees of freedom of the wire feeding regulator, and realizes accurate control of the welding wire, thereby improving welding quality. 3. According to the welding robot, the tungsten electrode quick replacement component is arranged, in the welding process of certain special materials, when the tungsten electrode is subjected to performance reduction or failure and the like, the tungsten electrode can be replaced remotely and quickly by using the hot chamber manipulator, so that the welding quality is guaranteed. 4. According to the welding robot, the video monitoring device is arranged, and the states of the welding wire, the tungsten electrode and the molten pool can be monitored remotely and in real time through the upper computer of the welding robot system, so that the welding quality is evaluated and controlled in real time in the welding process. 5. The welding robot is compact in structure, can enter a narrow space to perform welding operation, can resist irradiation of each part, and can normally operate in an environment of 200-300 ℃, so that welding operation of a residual pipe and a continuous pipe of a discharge pipe of a melting furnace can be completed in the narrow space in a high-temperature and high-release environment in a hot room. 6. The welding robot system is provided with the electric control cabinet, the upper computer and the argon bottle outside the hot chamber, so that the remote automatic control of the welding robot outside the hot chamber by workers can be realized, and the welding process is monitored in real time, so that the radiation dose of the workers is reduced.
The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
Claims (18)
1. The welding robot is used for welding a residual pipe and a continuous pipe (20) of a discharge pipe of a melting furnace in a high-temperature and high-release environment and comprises a base (1), a displacement device (3), a wire feeder (4) and a welding gun (5), wherein the displacement device (3) is positioned on the base (1), and the wire feeder (4) and the welding gun (5) are positioned on the displacement device (3);
the method is characterized in that: the displacement device (3) comprises a rotating assembly (6), a first displacement assembly (7) and a second displacement assembly (8), the first displacement assembly (7) comprises a first fixing part (71) and a first sliding part (72), the second displacement assembly (8) comprises a second fixing part (81) and a second sliding part (82), the first fixing part (71) is connected with the rotating assembly (6), the second fixing part (81) is connected with the first sliding part (72), and the welding gun (5) is arranged on the second sliding part (82);
the rotating assembly (6) comprises an outer ring (61), an inner ring (62) and a second servo motor, the inner ring (62) is connected with the base (1), the outer ring (61) is connected with the first fixing part (71), and the second servo motor drives the outer ring (61) to circumferentially rotate around the inner ring (62);
the rotating assembly (6) drives the welding gun (5) to move circumferentially around the discharging pipe, the first sliding part (72) moves relative to the first fixing part (71) to drive the welding gun (5) to move axially along the discharging pipe, and the second sliding part (82) moves relative to the second fixing part (81) to drive the welding gun (5) to move radially along the discharging pipe.
2. The welding robot of claim 1, wherein: the first fixing portion (71) includes a spur gear (73), the first sliding portion (72) includes a spur rack (74), and the spur gear (73) and the spur rack (74) are engaged with each other.
3. The welding robot of claim 2, wherein: the first fixing part (71) further comprises a first servo motor (75), and the first servo motor (75) drives the spur gear (73) to rotate and drives the first sliding part (72) to move along the axial direction of the discharging pipe.
4. The welding robot of claim 1, wherein: the wire feeder (4) comprises a wire feeder assembly (41) and a wire tray assembly (42), and the wire feeder assembly (41) and the wire tray assembly (42) are connected with the outer ring (61).
5. The welding robot of claim 4, wherein: the wire feeding device (4) further comprises a wire feeding regulator (43), the welding gun (5) comprises a tungsten electrode (51), and the wire feeding regulator (43) is located on the second sliding part (82) and used for regulating the relative position of welding wires and the tip of the tungsten electrode (51).
6. The welding robot of claim 5, wherein: the wire feeding device (4) further comprises a wire feeding tube (44), and the wire feeding tube (44) is sequentially connected with the wire tray assembly (42), the wire feeding machine assembly (41) and the wire feeding regulator (43).
7. The welding robot of claim 6, wherein: wire feed regulator (43) include regulator base (47), regulator rotation portion (45) and regulator telescoping portion (46), regulator base (47) set up in on second sliding part (82), regulator rotation portion (45) rotationally connect in regulator base (47), regulator telescoping portion (46) connect in regulator rotation portion (45), regulator rotation portion (45) are adjustable the welding wire is in wire feed regulator (43) circumference is last position, regulator telescoping portion (46) are adjustable the welding wire is in wire feed regulator (43) is last position.
8. The welding robot of any one of claims 5-7, wherein: the welding gun (5) further comprises a welding gun body (52) and a tungsten electrode quick replacement assembly (53), the welding gun body (52) is arranged on the second sliding part (82), the tungsten electrode (51) penetrates through the welding gun body (52), the tungsten electrode (51) is detachably connected with the welding gun body (52), the tungsten electrode (51) comprises a clamping part (57), and the clamping part (57) is detachably connected with the tungsten electrode quick replacement assembly (53).
9. The welding robot of claim 8, wherein: the tungsten electrode quick replacement assembly (53) comprises a handle (54) and a pull head (55), the handle (54) is connected with the pull head (55), the pull head (55) is provided with a ring convex part (58) which can be clamped with the clamping part (57), and the ring convex part (58) is clamped with the clamping part (57) to detach the tungsten electrode (51).
10. The welding robot of claim 9, wherein: the tungsten electrode quick replacement assembly (53) further comprises a mounting head (56), the mounting head (56) is connected with the handle (54), an elastic ring (59) capable of propping against the clamping part (57) is arranged in the mounting head (56), and the mounting head (56) clamps the tungsten electrode (51) so as to mount the tungsten electrode (51) on the welding gun body (52).
11. The welding robot of any one of claims 5-7, wherein: the welding robot further comprises a video monitoring device (2) and an auxiliary lighting assembly (9), wherein the video monitoring device (2) and the auxiliary lighting assembly (9) are both located on the second sliding part (82).
12. The welding robot of claim 11, wherein: the video monitoring device (2) comprises a first video monitoring component (21) and a second video monitoring component (22), and the first video monitoring component (21) and the second video monitoring component (22) are respectively positioned on two sides of the welding gun (5).
13. The welding robot of claim 12, wherein: the auxiliary lighting assembly (9) and the wire feed adjuster (43) are located between the welding gun (5) and the second video monitoring assembly (22).
14. A welding robot as claimed in any one of claims 1-3, characterized in that: the base (1) comprises a lifting ring (11) and a manipulator hand wheel (12), wherein the lifting ring (11) is used for lifting the welding robot, and the manipulator hand wheel (12) is used for connecting or releasing the welding robot and a workbench in a hot chamber.
15. The welding robot of claim 1, wherein: still include continuous pipe clamping device (10), continuous pipe clamping device (10) include tensioning axle (101), inner circle (62) are including ascending interior concave part (63) of opening, tensioning axle (101) are located the center of interior concave part (63), tensioning axle (101) with the hole detachably of continuous pipe (20) is connected in order to fix a position continuous pipe (20).
16. The welding robot of claim 15, wherein: the continuous pipe clamping device (10) further comprises a shaft sleeve (102), the shaft sleeve (102) is arranged in the inner concave part (63) and is coaxially arranged with the tensioning shaft (101), and the shaft sleeve (102) contacts the outer wall of the continuous pipe (20) to position the continuous pipe (20).
17. A welding robot system, characterized by: the welding robot according to any one of the preceding claims 1-16, further comprising an electric control cabinet (30), an upper computer (40) and an argon gas bottle (50), said welding robot being connected to said upper computer (40), said electric control cabinet (30) and said argon gas bottle (50), said electric control cabinet (30) being connected to said upper computer (40) and said argon gas bottle (50).
18. The welding robot system as recited in claim 17, wherein: argon gas bottle (50) automatically controlled cabinet (30) with host computer (40) respectively through interior guarantor's air supply pipe (601), power and gas integrated pipeline (602) and video cable (603) with welding robot connects, argon gas bottle (50) through outer guarantor's air supply pipe (604) with automatically controlled cabinet (30) are connected, host computer (40) through communication cable (605) with automatically controlled cabinet (30) are connected.
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| KR20090016303A (en) * | 2007-08-10 | 2009-02-13 | 웰텍 주식회사 | Automatic tig-welding device of portable type, for construction jointing steel pipes |
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