CN118180622B - Double-manipulator robot for welding large curved surface components - Google Patents
Double-manipulator robot for welding large curved surface components Download PDFInfo
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- CN118180622B CN118180622B CN202410594823.5A CN202410594823A CN118180622B CN 118180622 B CN118180622 B CN 118180622B CN 202410594823 A CN202410594823 A CN 202410594823A CN 118180622 B CN118180622 B CN 118180622B
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- 238000003466 welding Methods 0.000 title claims abstract description 169
- 238000010438 heat treatment Methods 0.000 claims abstract description 33
- 230000002159 abnormal effect Effects 0.000 claims abstract description 32
- 238000004321 preservation Methods 0.000 claims abstract description 32
- 238000001816 cooling Methods 0.000 claims abstract description 31
- 239000007788 liquid Substances 0.000 claims description 27
- 238000003860 storage Methods 0.000 claims description 20
- 230000000149 penetrating effect Effects 0.000 claims description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 13
- 239000000463 material Substances 0.000 claims description 12
- 230000000007 visual effect Effects 0.000 claims description 12
- 238000009413 insulation Methods 0.000 claims description 10
- 239000000498 cooling water Substances 0.000 claims description 6
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 5
- 229910052802 copper Inorganic materials 0.000 claims description 5
- 239000010949 copper Substances 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 5
- 238000012423 maintenance Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 13
- 230000008569 process Effects 0.000 abstract description 12
- 230000000712 assembly Effects 0.000 abstract 1
- 238000000429 assembly Methods 0.000 abstract 1
- 239000007789 gas Substances 0.000 description 14
- 230000000694 effects Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000002347 injection Methods 0.000 description 6
- 239000007924 injection Substances 0.000 description 6
- 125000004122 cyclic group Chemical group 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000009826 distribution Methods 0.000 description 4
- 238000005496 tempering Methods 0.000 description 4
- 230000008602 contraction Effects 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 229910052751 metal Inorganic materials 0.000 description 3
- UGFAIRIUMAVXCW-UHFFFAOYSA-N Carbon monoxide Chemical compound [O+]#[C-] UGFAIRIUMAVXCW-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 239000003546 flue gas Substances 0.000 description 2
- 238000002844 melting Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910000734 martensite Inorganic materials 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000008018 melting Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000010791 quenching Methods 0.000 description 1
- 230000000171 quenching effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000010583 slow cooling Methods 0.000 description 1
- 238000007711 solidification Methods 0.000 description 1
- 230000008023 solidification Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000012546 transfer Methods 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
-
- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
-
- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
- B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
- B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
-
- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
-
- 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
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
- B23K26/703—Cooling arrangements
-
- 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
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Mechanical Engineering (AREA)
- Plasma & Fusion (AREA)
- Robotics (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention belongs to the technical field of welding robots, and particularly relates to a large-scale curved surface member welding double-manipulator robot which comprises a working base table and curved surface parts, wherein manipulators are installed on two sides of the middle of the surface of the working base table in a point-symmetrical mode, a multifunctional welding head is assembled at the tail end of a working end of each manipulator, a laser welding assembly for completing laser welding, a welding line temperature slow-down assembly for slowing down the cooling speed of a welding line position and an abnormal point marking assembly for marking abnormal welding points are contained in the multifunctional welding head, and heat preservation assemblies for heating and preserving the whole curved surface parts are assembled on two sides of the working base table. According to the invention, in the operation process of the double-manipulator robot, the temperature difference between the welding line and the junction of the section bars can be reduced in time, the heat preservation can be carried out on the parts, the residual stress in the section bars is eliminated, the generation of hot cracks is avoided, and finally, the welding abnormal points at the junction can be detected and marked.
Description
Technical Field
The invention belongs to the technical field of welding robots, and particularly relates to a large-scale curved surface member welding double-manipulator robot.
Background
Laser welding can be realized by adopting continuous or pulse laser beams, and the principle of laser welding can be divided into heat conduction type welding and laser deep melting welding, wherein the principle of heat conduction type laser welding is as follows: the surface to be processed is heated by laser radiation, the surface heat is diffused to the inside by heat conduction, and the workpiece is melted by controlling laser parameters such as the width, the energy, the peak power, the repetition frequency and the like of laser pulse, so that a specific molten pool is formed; a laser welder for welding gears and metallurgical thin plates mainly relates to laser deep-melting welding.
Problems of the prior art:
In the laser welding process, residual stress is generated inside the part profile due to uneven temperature distribution, thermal expansion and contraction of weld metal and the like, high temperature and rapid cooling generated in the welding process are opposite to each other, so that the internal stress of a material is overlarge, cracks which are easy to generate at a welding position are mainly thermal cracks, such as crystal cracks and liquefied cracks, and the cracks are usually caused by large shrinkage force generated before the weld is completely solidified, but in the existing large-scale curved surface welding equipment, most of the equipment is not provided with a device capable of solving the uneven temperature distribution inside the part profile, and the equipment is also not provided with a device for reducing the cooling speed of a molten pool, if the cooling speed of the part is required to be slowed down, the part can only be rapidly transferred into the appointed equipment for processing after the welding is finished, but the transfer mode still can not catch up the cooling speed, so that the generation probability of the thermal cracks is high.
Disclosure of Invention
The invention aims to provide a large-scale curved surface member welding double-manipulator robot which can timely reduce the temperature difference at the junction of a welding line and a section bar, can also insulate heat of parts, eliminates the residual stress in the section bar, avoids the generation of hot cracks, and finally can also detect and mark welding abnormal points at the junction.
The technical scheme adopted by the invention is as follows:
The utility model provides a large-scale curved surface component welding double-manipulator robot, includes work base and curved surface part, the operation panel is installed at the positive top of work base:
The surface of the clamp support is adjustably assembled with a flexible clamp for fixing curved surface parts, the two sides of the middle of the surface of the working base are symmetrically provided with manipulators, and the tail end of the working end of each manipulator is assembled with a multifunctional welding head;
the multifunctional welding head comprises a laser welding component for completing laser welding, a welding seam temperature slow-down component for slowing down the cooling speed of a welding seam and an abnormal point marking component for marking abnormal points in welding;
The two sides of the working base are assembled with heat preservation components for adjusting the surface temperature of the curved surface part, one end of the inside of the working base is provided with a heating component for providing heat and enabling the curved surface part to reach curing temperature, and the other end of the inside of the working base is provided with a cooling component for cooling hot gas;
During welding, hot air flow is formed by means of heat near a lens of welding equipment and acts on the section bars on two sides of the welding line through the air outlet fork pipe, so that the temperature difference between the welding line and the section bars is reduced;
after welding, injecting hot air flow into the heat insulation cover to enable the curved surface part to stand at the maintenance temperature, so as to reduce residual stress generated by uneven temperature inside the profile;
When the heat preservation work is finished, the visual camera is matched with the abnormal point marking component to mark the abnormal points of welding.
The multifunctional welding head is characterized in that the multifunctional welding head further comprises a first servo motor arranged at the tail end of the working end of the manipulator, a connecting seat is fixedly connected with the tail end of one output end of the servo motor, an end pipe is integrally arranged at one end, close to the connecting seat, of the first servo motor, and a lifting curve groove is formed in the outer surface of the end pipe.
The middle part fixed mounting at the terminal of connecting seat has the visual camera that is used for carrying out visual tracking and visual detection, laser welding subassembly and abnormal point mark subassembly slip respectively assemble in the both sides of connecting seat, welding seam temperature slowly falls the subassembly and installs in the connecting seat outer wall and press close to one side of laser welding subassembly.
The laser welding assembly comprises a laser welding head which is assembled on one side of the connecting seat in a sliding manner, a first guide protrusion is integrally arranged on the side wall of the top end of the laser welding head, the first guide protrusion is slidably embedded into the lifting curve groove, a second servo motor is fixedly assembled on the side wall of the laser welding head, a first gear is fixedly arranged at the output end of the second servo motor, a heat collecting pipe is rotatably assembled on the outer side of the tail end of the lens of the laser welding head, a second gear meshed with the first gear is fixedly arranged at one end of the heat collecting pipe, and a first guide Wen Tongsi is fixedly arranged on the inner wall of the heat collecting pipe.
The welding seam temperature slow-falling assembly comprises a first fan assembled on the side wall of the connecting seat, an air outlet of the first fan is connected with a hose, the tail end of the hose is connected with an air outlet fork pipe, the air outlet fork pipe is fixedly connected with a temperature collecting pipe, a second guide Wen Tongsi is fixedly arranged in the air outlet fork pipe, and the second guide Wen Tongsi is identical to the first guide Wen Tongsi in material and is connected through a copper pipe.
The abnormal point marking assembly comprises a penetrating rod which is assembled on the other side of the connecting seat in a sliding manner, a second guiding protrusion is integrally arranged on the side wall of the top end of the penetrating rod, the second guiding protrusion is embedded into the lifting curve groove in a sliding manner, and the first guiding protrusion and the second guiding protrusion are positioned at the relative positions of the high end and the low end of the lifting curve groove.
The end movable sleeve of wearing the pole is equipped with the sleeve pipe, and telescopic top fixed package has cyclic annular liquid storage pot, penetrating type activity is pegged graft around the sleeve pipe has the pen-holder, and the terminal inside of pen-holder all flexible equipment has the nib, all be connected with spring one between the bottom of the top of pen-holder and cyclic annular liquid storage pot, and all communicate with each other through soft liquid pipe connection between pen-holder and the cyclic annular liquid storage pot, the inside top of cyclic annular liquid storage pot is equipped with the plug through spring two elasticity movable package, one side fixed package of wearing the pole has cylinder one, and the terminal of the flexible output of cylinder is connected with the outer wall of cyclic annular liquid storage pot.
The heat preservation subassembly includes the heat preservation cover that is used for making curved surface part arrange airtight heat preservation space in with the anchor clamps support cooperation, the outer wall of heat preservation cover both sides all rotates and is connected with the rocking arm, the internally mounted of work base station has cylinder two, and the end of the flexible output of cylinder two is connected with corresponding rocking arm, the equal fixedly connected with notes heat pipe of one end of heat preservation cover.
The heating assembly comprises a heating furnace and a fan II, wherein the fan II is arranged at one end of the heating furnace, an air outlet of the fan II is connected with a coil pipe, a heater is arranged in the heating furnace, the coil pipe penetrates through the inside of the heating furnace, the middle part of the coil pipe is in a spiral shape, the tail end of the coil pipe is connected with a heat header pipe, and the tail end of the heat injection pipe is communicated with the heat header pipe.
The surface of the working base table is fixedly provided with an air suction table at two sides of the clamp support, and the side wall of the air suction table, which is close to the clamp support, is provided with air suction holes in an array manner;
the cooling assembly comprises a water tank with cooling water inside, a fan III is fixedly arranged at the top of one side of the water tank, a spiral pipe is connected with an air inlet of the fan III, the spiral pipe is spirally arranged in the water tank, the tail end of the spiral pipe is respectively connected with a first branch pipe and a second branch pipe, valves are respectively arranged at one ends of the first branch pipe and the second branch pipe, which are close to the water tank, the tail end of the second branch pipe is connected and communicated with the heating furnace, a cold header pipe is connected with the tail end of the first branch pipe, and all the air suction tables are connected and communicated with the cold header pipe through air pipes.
The invention has the technical effects that:
(1) According to the invention, the temperature difference between the welding line and the junction of the profile is reduced by increasing the temperature of the profile on two sides of the welding line, and the cooling speed of the molten pool is reduced by increasing the auxiliary heat source, so that the slow cooling effect is achieved, and therefore, the welding line can be prevented from generating larger shrinkage force before being completely solidified, and the generation of hot cracks is greatly avoided.
(2) According to the invention, the heat of the hot air at the outlet of the air outlet fork pipe is derived from the heat generated when the laser lens continuously works, so that the heat is reused; in addition, the air outlet fork pipe can change along with a welding path, so that the high-temperature air flow can be ensured to accurately act on the sectional materials on two sides of the welding seam.
(3) The invention immediately enters the heat preservation work after the welding is finished, can solve the residual stress generated by the reasons of uneven temperature distribution, thermal expansion and cold contraction of weld metal and the like in the welding process, reduces the yield limit of the material at high temperature, and generates plastic flow at the place with higher internal stress, thereby reducing elastic deformation and increasing plastic deformation, thereby achieving the purpose of reducing stress, further reducing the generation of cracks, and in addition, the heat preservation mechanism of the device is integrated with welding equipment, so that the heat preservation treatment can be rapidly carried out without transferring parts.
(4) According to the welding equipment, after welding and heat preservation work are finished, the visual camera is matched with the abnormal point marking assembly to mark the abnormal points of welding, so that workers can find the abnormal positions of welding quickly, the welding equipment has additional welding visual detection and marking functions, and follow-up weld repairing work is facilitated.
(5) The invention also provides a device capable of cooling the high-temperature gas in the equipment and optimizing the working environment of the site.
Drawings
Fig. 1 is a front view block diagram of a laser welding apparatus provided by an embodiment of the present invention;
FIG. 2 is a rear view block diagram of a laser welding apparatus provided by an embodiment of the present invention;
FIG. 3 is a block diagram of a robot and a multi-function bond head provided by an embodiment of the present invention;
FIG. 4 is a structural exploded view of a multi-functional weld head provided by an embodiment of the present invention;
FIG. 5 is a partial cross-sectional block diagram of an outlier marking assembly provided by an embodiment of the invention;
FIG. 6 is a schematic view of an installation cross-section of a thermal insulation assembly provided by an embodiment of the present invention;
FIG. 7 is an integrated block diagram of a heating assembly and a cooling assembly provided by an embodiment of the present invention;
FIG. 8 is an integrated cross-sectional block diagram of a heating assembly and a cooling assembly provided by an embodiment of the present invention.
In the drawings, the list of components represented by the various numbers is as follows:
1. A work base; 2. an operation table; 3. a clamp support; 4. a flexible clamp; 5. curved surface parts; 6. a manipulator; 7. a multifunctional welding head; 71. a servo motor I; 72. an end pipe; 721. lifting curve grooves; 73. a connecting seat; 74. a visual camera; 75. a laser welding assembly; 751. a laser welding head; 752. a first guide protrusion; 753. a servo motor II; 754. a first gear; 755. a temperature collecting pipe; 756. a second gear; 757. a first guide Wen Tongsi; 76. a weld temperature slow-down assembly; 761. a first fan; 762. a hose; 763. an air outlet fork tube; 764. a guide Wen Tongsi II; 77. an outlier marking component; 771. penetrating the rod; 772. a second guide protrusion; 773. an annular liquid storage tank; 774. a sleeve; 775. a penholder; 776. a first spring; 777. a pen point; 778. a first cylinder; 779. pushing the plug; 7710. a second spring; 8. a thermal insulation assembly; 801. a thermal insulation cover; 802. a rotating arm; 803. a second cylinder; 804. a heat injection pipe; 9. a heating assembly; 901. a heating furnace; 902. a second fan; 903. a coiled tube; 904. a heater; 905. a thermal main; 10. a cooling component; 1001. a water tank; 1002. a third fan; 1003. a spiral tube; 1004. a branch pipe I; 1005. a branch pipe II; 1006. a valve; 1007. a cold header pipe; 11. and an air suction table.
Detailed Description
The present invention will be specifically described with reference to examples below in order to make the objects and advantages of the present invention more apparent. It should be understood that the following text is intended to describe only one or more specific embodiments of the invention and does not limit the scope of the invention strictly as claimed.
As shown in fig. 1-8, a large-scale curved surface member welding double-manipulator robot comprises a working base 1 and a curved surface part 5, wherein an operation table 2 is installed at the top of the front surface of the working base 1, a clamp support 3 is fixedly installed on two sides of the surface of the working base 1 in a point-symmetrical mode, a flexible clamp 4 for fixing the curved surface part 5 is assembled on the surface of the clamp support 3 in an adjustable mode, a manipulator 6 is installed on two sides of the middle of the surface of the working base 1 in a point-symmetrical mode, a multifunctional welding head 7 is assembled at the tail end of the working end of the manipulator 6, a laser welding component 75 for completing laser welding, a welding seam temperature slow-down component 76 for slowing down the cooling speed of a welding seam and an abnormal point marking component 77 for marking at a welding abnormal point are contained in the multifunctional welding head 7, a heating component 9 for adjusting the surface temperature of the curved surface part 5 is assembled on two sides of the working base 1, a cooling component 10 for cooling the hot gas is arranged on the other end of the inside of the working base 1.
According to the structure, the temperature range of the curing temperature is 100-200 ℃, wherein when the temperature is 100℃: the temperature point belongs to the initial stage of low-temperature tempering, the hardness of the material is not changed greatly, the internal stress is reduced, and the toughness is slightly improved; at a temperature of 150 ℃): tempering at this temperature point can obtain tempered martensite structure in order to reduce the internal quenching stress and brittleness thereof while maintaining the high hardness of the steel; at 200 ℃): the low temperature tempering at this temperature point is achieved, the hardness is still maintained at a higher level, but compared with the tempering at a lower temperature, the internal stress of the material is further reduced, the toughness is also improved, in addition, the curved surface part 5 is fixed by the flexible clamp 4, the manipulator 6 carries the multifunctional welding head 7 to carry out laser welding on the corresponding connection part of the curved surface part 5, the operation table 2 is used for controlling the welding work, the above processes are all in the prior art, and redundant description is omitted here.
Embodiment one:
referring to fig. 3-4, the multifunctional welding head 7 further includes a first servo motor 71 mounted at the tail end of the working end of the manipulator 6, a connecting seat 73 fixedly connected to the tail end of the output end of the first servo motor 71, an end pipe 72 integrally disposed at one end of the first servo motor 71 close to the connecting seat 73, and a lifting curve groove 721 formed on the outer surface of the end pipe 72.
Referring to fig. 3 to 4, a vision camera 74 for performing vision tracking and vision detection is fixedly installed at the middle of the end of the connection seat 73, a laser welding assembly 75 and an abnormal point marking assembly 77 are respectively slidably assembled at both sides of the connection seat 73, and a welding seam temperature slow-down assembly 76 is installed at one side of the outer wall of the connection seat 73 close to the laser welding assembly 75.
Referring to fig. 4, the laser welding assembly 75 includes a laser welding head 751 slidably assembled at one side of the connection base 73, a first guide protrusion 752 is integrally provided on a side wall of a top end of the laser welding head 751, the first guide protrusion 752 is slidably inserted into the lifting curved groove 721, a second servo motor 753 is fixedly assembled on a side wall of the laser welding head 751, a first gear 754 is fixedly installed at an output end of the second servo motor 753, a heat collecting tube 755 is rotatably assembled at an outer side of a terminal end of the lens, a second gear 756 engaged with the first gear 754 is fixedly installed at one end of the heat collecting tube 755, and a first guide Wen Tongsi and a first 757 are fixedly installed on an inner wall of the heat collecting tube 755.
Referring to fig. 4, the weld temperature slow-descent component 76 includes a first fan 761 assembled on the side wall of the connecting seat 73, an air outlet of the first fan 761 is connected with a hose 762, an air outlet fork pipe 763 is connected with the end of the hose 762, the air outlet fork pipe 763 is fixedly connected with the heat collecting pipe 755, two guides Wen Tongsi and 764 are fixedly installed in the air outlet fork pipe 763, and the two guides Wen Tongsi and 764 are made of the same material as the first guide Wen Tongsi and 757 and are connected through copper pipes.
According to the structure, the first servo motor 71 drives the connecting seat 73 to rotate, when the laser welding assembly 75 is positioned at the welding station, the first guide bulge 752 at the top end of the laser welding head 751 is arranged at the bottom end of the lifting curve groove 721, the lens of the laser welding head 751 is close to a region to be welded, when the welding operation is carried out, air near the laser lens can be heated along with the continuous welding process, the first guide Wen Tongsi-757 in the heat collecting pipe 755 directly absorbs secondary heat and is transmitted to the second guide Wen Tongsi-764 in the air outlet fork 763 through the copper pipe, the first fan 761 is started in a following manner in the welding process, the first fan 761 continuously sends air flow into the air outlet fork 763 through the hose 762, the air flow is heated into hot air flow through the second guide Wen Tongsi-764 to blow the curved surface part 5, according to the shape of the air outlet fork 763, the heat of the hot air flow is directly acted on the section bars at two sides of the welding seam of the curved surface part 5, the temperature difference of the welding seam and the section bar is reduced by increasing the temperature of the section bar at two sides of the welding seam, the cooling speed is reduced by increasing the auxiliary heat source, the cooling speed is reduced, the junction effect is achieved, and the situation that the cold solidification of the welding seam can be completely avoided before the large shrinkage crack is completely avoided;
further, the second servo motor 753 works according to the change of the curved welding path, and the position of the air outlet fork pipe 763 is changed through the engagement of the first gear 754 and the second gear 756, so that the air outlet fork pipe 763 can change along with the welding path, and the high hot air flow is ensured to accurately act on the profile on two sides of the welding seam.
The working principle of the invention is as follows: when the laser welding assembly 75 is at a welding station, a first guide boss 752 at the top end of the laser welding head 751 is arranged at the bottom end of the lifting curve groove 721, a lens of the laser welding head 751 is close to a region to be welded, air near the laser lens can be heated along with the continuous welding process, a first guide Wen Tongsi-757 in the heat collecting pipe 755 directly absorbs secondary heat and transmits the secondary heat to a second guide Wen Tongsi-764 in the air outlet fork 763 through a copper pipe, the first fan 761 is started in a following manner in the welding process, the first fan 761 continuously sends air flow into the air outlet fork 763 through the hose 762, the air flow is heated into high-heat air flow through the second guide Wen Tongsi-764 to be blown to the curved surface part 5, according to the shape of the air outlet fork 763, the heat of the high-heat air flow directly acts on sectional materials at two sides of the curved surface part 5, the temperature difference of the junction between the sectional materials and the welding seam is reduced by improving the temperature of the sectional materials at two sides of the welding seam, in addition, the second servo motor 753 works according to the change of the curve welding path, the meshing position of the first gear and the second gear fork 754 changes the air outlet fork 763, and the high-heat air flow can act on the two sides of the welding seam 763 accurately.
Embodiment two:
Referring to fig. 4-5, the abnormal point marking assembly 77 includes a penetrating rod 771 slidably assembled on the other side of the connecting seat 73, a second guide protrusion 772 is integrally provided on a side wall at the top end of the penetrating rod 771, the second guide protrusion 772 is slidably embedded into the lifting curved groove 721, and the first guide protrusion 752 and the second guide protrusion 772 are located at opposite positions of the high end and the low end of the lifting curved groove 721;
Referring to fig. 5, a sleeve 774 is movably sleeved at the tail end of a penetrating rod 771, an annular liquid storage tank 773 is fixedly assembled at the top of the sleeve 774, a pen holder 775 is movably inserted around the sleeve 774 in a penetrating manner, pen heads 777 are telescopically assembled in the tail end of the pen holder 775, a first spring 776 is connected between the top end of the pen holder 775 and the bottom of the annular liquid storage tank 773, the pen holder 775 is connected with the annular liquid storage tank 773 through a flexible liquid pipe, a push plug 779 is elastically and movably assembled at the top end of the interior of the annular liquid storage tank 773 through a second spring 7710, a first cylinder 778 is fixedly assembled at one side of the penetrating rod 771, and the tail end of a telescopic output end of the first cylinder 778 is connected with the outer wall of the annular liquid storage tank 773.
According to the above structure, the connecting seat 73 is driven by the first servo motor 71 to rotate so that the abnormal point marking component 77 is located on the welding station, the welding path is repeated to move, the visual camera 74 monitors the shape of the welding seam in real time, when cracks and welding holes appear, the first cylinder 778 is immediately started and pushes the annular liquid storage tank 773 and the sleeve 774 to move, at the moment, the annular distributed pen holders 775 are close to the welding abnormal point of the curved surface part 5 together, the corresponding pen holders 775 are reversely pressed by the first spring 776 along with the continuous operation of the first cylinder 778 after being abutted against the surface of the profile, the pen points 777 are retracted into the interior and lead to the dredging of the end of the pen holders 775, the pushing plug 779 is pushed by the second spring 7710 to squeeze pen liquid in the annular liquid storage tank 773 at the moment, under the action of the hydraulic pressure, the annular distributed pen holders 775 can be immediately pushed out from the end of the dredged pen liquid, and the annular distributed pen holders 775 can quickly find the abnormal welding points around the welding abnormal points through the annular distributed pen holders 775, so that workers can quickly find the abnormal welding positions, the welding equipment has the functions of visual detection and the subsequent welding repair of the subsequent welding seam.
The working principle of the invention is as follows: after the welding and heat preservation work are finished, the connecting seat 73 is driven to rotate through the first servo motor 71 to enable the abnormal point marking assembly 77 to be located on a welding station, at the moment, each pen holder 775 can be close to a welding area and move along the repeated welding path, the visual camera 74 monitors the shape of a welding line in real time, when cracks and welding holes occur, the first cylinder 778 is immediately started and pushes the annular liquid storage tank 773 and the sleeve 774 to move, at the moment, the annularly distributed pen holders 775 are close to the curved surface part 5 together to weld abnormal points, due to the fact that the curved surface part 5 has a special complex curved surface, the time that each pen holder 775 contacts the surface of the profile is different, the corresponding pen holders 775 can be reversely extruded to the first cylinder 776 along with the continuous operation of the first cylinder 778 after the pen holders 777 are abutted against the surface of the profile, the pen holders 777 can retract into the inside and lead to dredging of the pen holders 775, due to the fact that the second spring 7710 pushes the pushing plug 779 to squeeze pen liquid inside the annular liquid storage tank 773 at the moment, under the action of the hydraulic pressure, the dredging liquid can be immediately extruded from the pen holders 775, the subsequent pen holders 775 can be used for welding abnormal points on the periphery points of the abnormal points, and subsequent welding points can be repaired conveniently.
Embodiment III:
Referring to fig. 6, the heat insulation assembly 8 includes a heat insulation cover 801 which is matched with the fixture support 3 and used for placing the curved surface part 5 in a closed heat insulation space, the outer walls of two sides of the heat insulation cover 801 are respectively and rotatably connected with a rotating arm 802, a second air cylinder 803 is installed in the working base 1, the tail end of the telescopic output end of the second air cylinder 803 is connected with a corresponding rotating arm 802, and one end of the heat insulation cover 801 is fixedly connected with a heat injection pipe 804.
Referring to fig. 7-8, the heating assembly 9 includes a heating furnace 901 and a second fan 902, the second fan 902 is disposed at one end of the heating furnace 901, an air outlet of the second fan 902 is connected with a coil 903, a heater 904 is installed inside the heating furnace 901, the coil 903 penetrates through the inside of the heating furnace 901 and is in a spiral shape in the middle, a heat pipe 905 is connected to the end of the coil 903, and the ends of all heat injection pipes 804 are all communicated with the heat pipe 905.
According to the structure, after laser welding is finished, the second air cylinder 803 is started immediately and drives the heat preservation cover 801 to move through the rotating arm 802, the heat preservation cover 801 finally covers the curved surface part 5 on the surface of the clamp support 3 to enable the curved surface part 5 to be in a closed space, meanwhile, the heating furnace 901 and the second fan 902 operate simultaneously, air is sucked by the second fan 902 and then is directly heated by the heater 904, the spiral coiled pipe 903 can improve the heating effect, heated high-temperature air flows through the heating main pipe 905 and the heat injection pipe 804 to enter the heat preservation cover 801, after heat supply is finished, the curved surface part 5 is kept stand for one end for a period of time in a high-temperature environment and is automatically cooled, and the process can solve the problem of residual stress generated due to uneven temperature distribution, heat expansion and cold contraction of weld metal and the like in the welding process, so that the yield limit of materials at the high temperature is reduced, plastic flow is generated at the place with higher internal stress, and therefore elastic deformation is reduced, the aim of reducing stress is achieved, and the generation of cracks is further reduced.
Referring to fig. 2, the surface of the working base 1 is fixedly provided with air suction tables 11 at two sides of the fixture support 3, and the air suction tables 11 are provided with air suction holes close to the side wall array of the fixture support 3.
Referring to fig. 7-8, the cooling assembly 10 includes a water tank 1001 with cooling water therein, a third fan 1002 is fixedly installed at the top of one side of the water tank 1001, a spiral pipe 1003 is connected to an air inlet of the third fan 1002, the spiral pipe 1003 is spirally disposed in the water tank 1001, a first branch pipe 1004 and a second branch pipe 1005 are respectively connected to ends of the spiral pipe 1003, valves 1006 are installed at ends of the first branch pipe 1004 and the second branch pipe 1005, which are close to the water tank 1001, the ends of the second branch pipe 1005 are connected and communicated with the heating furnace 901, a cold header pipe 1007 is connected to ends of the first branch pipe 1004, and all air suction platforms 11 are connected and communicated with the cold header pipe 1007 through air pipes.
According to the above structure, the third fan 1002 is started in a specified time, the high temperature flue gas in the heating furnace 901 is pumped out through the second branch pipe 1005, the gas enters the spiral pipe 1003, the spiral pipe 1003 can improve the effect of cooling water cooling the high temperature gas, the gas is discharged after cooling treatment, in addition, after the heat preservation cover 801 is opened, the corresponding valve 1006 is opened to enable the spiral pipe 1003 to be communicated with the cold manifold 1007, the suction platforms 11 positioned at two sides of the clamp support 3 can suck the high temperature gas released after the heat preservation cover 801 is opened, and the gas is discharged after cooling treatment, and the above process provides a device capable of cooling the high temperature gas inside the equipment and optimizes the field working environment.
The working principle of the invention is as follows: after the laser welding is finished, the second air cylinder 803 is started immediately and drives the heat preservation cover 801 to move through the rotating arm 802, the heat preservation cover 801 finally covers the curved surface part 5 on the surface of the clamp support 3 to enable the curved surface part 5 to be in a closed space, meanwhile, the heating furnace 901 and the second air blower 902 operate simultaneously, air is sucked by the second air blower 902 and then is directly heated by the heater 904, the spiral coil 903 can improve the heating effect, heated high-temperature air flows through the heat collecting pipe 905 and the heat injection pipe 804 to enter the heat preservation cover 801, after the heat supply is finished, the curved surface part 5 is kept still for one end for a period of time in a high-temperature environment and is cooled by itself, and the internal stress generated by the whole temperature difference of the profile is reduced;
Finally, the third fan 1002 is started in a specified time, high-temperature flue gas in the heating furnace 901 is pumped out through the second branch pipe 1005, the gas enters the spiral pipe 1003, the effect of cooling water cooling the high-temperature gas by the cooling water can be improved by the spiral pipe 1003, the gas is discharged after cooling treatment, in addition, after the heat preservation cover 801 is opened, the corresponding valve 1006 is opened to enable the spiral pipe 1003 to be communicated with the cold main pipe 1007, and the air suction platforms 11 positioned on two sides of the clamp support 3 can suck the high-temperature gas released after the heat preservation cover 801 is opened and also discharge the high-temperature gas after cooling treatment.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention. Structures, devices and methods of operation not specifically described and illustrated herein, unless otherwise indicated and limited, are implemented according to conventional means in the art.
Claims (7)
1. The utility model provides a large-scale curved surface component welding double-manipulator robot, includes work base (1) and curved surface part (5), operation panel (2), its characterized in that are installed at positive top of work base (1):
The two-side point symmetry type welding fixture comprises a workbench (1), wherein a fixture support (3) is fixedly arranged on two sides of the surface of the workbench (1), a flexible fixture (4) for fixing a curved surface part (5) is adjustably assembled on the surface of the fixture support (3), a manipulator (6) is symmetrically arranged on two sides of the middle of the surface of the workbench (1), and a multifunctional welding head (7) is assembled at the tail end of a working end of the manipulator (6);
The multifunctional welding head (7) comprises a laser welding component (75) for completing laser welding, a welding seam temperature slow-down component (76) for slowing down the cooling speed of a welding seam and an abnormal point marking component (77) for marking abnormal points of welding;
The heat preservation device is characterized in that heat preservation components (8) used for adjusting the surface temperature of the curved surface part (5) are assembled on two sides of the working base table (1), one end of the inside of the working base table (1) is provided with a heating component (9) used for providing heat and enabling the curved surface part (5) to reach curing temperature, and the other end of the inside of the working base table (1) is provided with a cooling component (10) used for cooling hot air;
The multifunctional welding head (7) is internally provided with a first servo motor (71) arranged at the tail end of the working end of the manipulator (6), the tail end of the output end of the first servo motor (71) is fixedly connected with a connecting seat (73), one end, close to the connecting seat (73), of the first servo motor (71) is integrally provided with an end pipe (72), and the outer surface of the end pipe (72) is provided with a lifting curve groove (721);
The laser welding assembly (75) comprises a laser welding head (751) which is assembled on one side of the connecting seat (73) in a sliding manner, a first guide protrusion (752) is integrally arranged on the side wall of the top end of the laser welding head (751), the first guide protrusion (752) is slidably embedded into the lifting curve groove (721), a second servo motor (753) is fixedly assembled on the side wall of the laser welding head (751), a first gear (754) is fixedly arranged at the output end of the second servo motor (753), a heat collecting pipe (755) is rotatably assembled on the outer side of the tail end of the lens, a second gear (756) meshed with the first gear (754) is fixedly arranged at one end of the heat collecting pipe (755), and a first guide Wen Tongsi (757) is fixedly arranged on the inner wall of the heat collecting pipe (755);
The welding seam temperature slow-descent component (76) comprises a first fan (761) assembled on the side wall of the connecting seat (73), an air outlet of the first fan (761) is connected with a hose (762), the tail end of the hose (762) is connected with an air outlet fork pipe (763), the air outlet fork pipe (763) is fixedly connected with the heat collecting pipe (755), a second guide Wen Tongsi (764) is fixedly arranged in the air outlet fork pipe (763), and the second guide Wen Tongsi (764) is identical to the first guide Wen Tongsi (757) in material and is connected through a copper pipe;
during welding, hot air flow is formed by means of heat near a lens of welding equipment and acts on the section bars on two sides of the welding line through an air outlet fork pipe (763) so as to reduce the temperature difference at the junction of the welding line and the section bars;
after welding, injecting hot air into the heat insulation cover (801) to enable the curved surface part (5) to stand at the maintenance temperature, so as to reduce residual stress generated by uneven temperature in the section bar;
when the heat preservation work is finished, the visual camera (74) is matched with the abnormal point marking component (77) to mark the abnormal points of welding.
2. The large curved surface member welding double-manipulator robot of claim 1, wherein: the middle part fixed mounting at the terminal of connecting seat (73) has vision camera (74) that are used for carrying out vision tracking and visual detection, laser welding subassembly (75) and abnormal point mark subassembly (77) are slided respectively and are assembled in the both sides of connecting seat (73), welding seam temperature slow-falling subassembly (76) are installed in one side that laser welding subassembly (75) are pressed close to connecting seat (73) outer wall.
3. The large curved surface member welding double-manipulator robot of claim 1, wherein: the abnormal point marking assembly (77) comprises a penetrating rod (771) which is assembled on the other side of the connecting seat (73) in a sliding mode, a second guide protrusion (772) is integrally arranged on the side wall of the top end of the penetrating rod (771), the second guide protrusion (772) is embedded into the lifting curve groove (721) in a sliding mode, and the first guide protrusion (752) and the second guide protrusion (772) are located at opposite positions of the high end and the low end of the lifting curve groove (721) in the inner portion.
4. A large curved surface member welding double manipulator robot as set forth in claim 3, wherein: the pen is characterized in that a sleeve (774) is movably sleeved at the tail end of the penetrating rod (771), an annular liquid storage tank (773) is fixedly assembled at the top of the sleeve (774), a pen holder (775) is movably inserted around the sleeve (774), pen heads (777) are flexibly assembled in the tail end of the pen holder (775), a first spring (776) is connected between the top end of the pen holder (775) and the bottom of the annular liquid storage tank (773), the pen holder (775) is communicated with the annular liquid storage tank (773) through a flexible liquid pipe, a pushing plug (779) is movably assembled at the top end of the interior of the annular liquid storage tank (773) through a second spring (7710), a first cylinder (778) is fixedly assembled at one side of the penetrating rod (771), and the tail end of the flexible output end of the first cylinder (778) is connected with the outer wall of the annular liquid storage tank (773).
5. The large curved surface member welding double-manipulator robot of claim 1, wherein: the heat preservation subassembly (8) include with anchor clamps support (3) cooperation be used for making curved surface part (5) arrange in airtight heat preservation space's heat preservation cover (801), the outer wall of heat preservation cover (801) both sides is all rotated and is connected with rocking arm (802), the internally mounted of work base station (1) has cylinder two (803), and the end of the flexible output of cylinder two (803) is connected with corresponding rocking arm (802), the equal fixedly connected with notes hot pipe (804) of one end of heat preservation cover (801).
6. The large curved surface member welding double-manipulator robot of claim 5, wherein: heating element (9) are including heating furnace (901) and fan two (902), the one end of heating furnace (901) and the air outlet of fan two (902) are arranged in to fan two (902) are connected with coiled pipe (903), internally mounted of heating furnace (901) has heater (904), coiled pipe (903) run through inside and the middle part of heating furnace (901) and are the heliciform, the end-to-end connection of coiled pipe (903) has heat pipe (905), all the end of annotating heat pipe (804) all is linked together with heat pipe (905).
7. The large curved surface member welding double-manipulator robot of claim 6, wherein: the surface of the working base table (1) is fixedly provided with air suction tables (11) at two sides of the clamp support (3), and the air suction tables (11) are provided with air suction holes close to the side wall of the clamp support (3) in an array manner;
The cooling assembly (10) comprises a water tank (1001) with cooling water inside, a fan III (1002) is fixedly arranged at the top of one side of the water tank (1001), a spiral pipe (1003) is connected with an air inlet of the fan III (1002), the spiral pipe (1003) is spirally arranged in the water tank (1001), the tail ends of the spiral pipe (1003) are respectively connected with a first branch pipe (1004) and a second branch pipe (1005), valves (1006) are respectively arranged at one ends, close to the water tank (1001), of the first branch pipe (1004) and the second branch pipe (1005), the tail ends of the second branch pipes (1005) are connected and communicated with a heating furnace (901), the tail ends of the first branch pipes (1004) are connected with a cold header pipe (1007), and all air suction platforms (11) are connected and communicated with the cold header pipe (1007) through air pipes.
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| CA2489941C (en) * | 2003-12-18 | 2012-08-14 | Comau S.P.A. | A method and device for laser welding |
| WO2015141196A1 (en) * | 2014-03-17 | 2015-09-24 | パナソニックＩｐマネジメント株式会社 | Laser machining robot |
| KR102134461B1 (en) * | 2018-07-09 | 2020-07-15 | 주식회사기성이엔지 | Laser marking apparatus for hot coil |
| CN113522791A (en) * | 2021-06-18 | 2021-10-22 | 南京蹑波物联网科技有限公司 | Weldment quality detection device based on Internet of things and detection method thereof |
| CN115255731A (en) * | 2022-07-26 | 2022-11-01 | 江苏徐工工程机械研究院有限公司 | Welding quality on-line detection welding seam marking device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111375938A (en) * | 2020-03-20 | 2020-07-07 | 江西华东船业有限公司 | Welding mechanism for outer wall of ship body |
| CN112959329A (en) * | 2021-04-06 | 2021-06-15 | 南京航空航天大学 | Intelligent control welding system based on vision measurement |
| CN113600358A (en) * | 2021-07-29 | 2021-11-05 | 五邑大学 | Mobile robot marking device for binocular vision detection of defects |
| CN217394010U (en) * | 2022-03-09 | 2022-09-09 | 包钢集团冶金轧辊制造有限公司 | BD roll submerged arc welding refabrication segmentation heat preservation device |
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