CN206702475U - Mould 3D built-up welding intelligent robots - Google Patents
Mould 3D built-up welding intelligent robots Download PDFInfo
- Publication number
- CN206702475U CN206702475U CN201720421794.8U CN201720421794U CN206702475U CN 206702475 U CN206702475 U CN 206702475U CN 201720421794 U CN201720421794 U CN 201720421794U CN 206702475 U CN206702475 U CN 206702475U
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- axis
- welding
- vertical guide
- mould
- crossbeams
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Abstract
The utility model discloses a kind of mould 3D built-up welding intelligent robots, including two X-axis crossbeams, two Y-axis crossbeams are installed between two X-axis crossbeam top surfaces, two Y-axis crossbeams are by each independent actuator drives along X-axis cross beam movement, Z axis vertical guide is installed respectively on two Y-axis crossbeams, Z axis vertical guide is driven along Y-axis cross beam movement by Z-axis transmission device, be slidably installed plumb joint in the Z axis vertical guide on a Y-axis crossbeam wherein, erecting and welding destressing device in Z axis vertical guide on another Y-axis crossbeam, welding destressing device includes high frequency hammering device and dust exhaust apparatus, lower section between two X-axis crossbeams is provided with mould constant temperature heating device.Ensure the temperature in welding process, improve welding quality.Reduce due to the too high influence brought to welding precision of temperature.Using welding destressing device, remove welding slag, ensure the flatness after welding, can be used for the reparation of mould and the mould that printing is new.
Description
Technical field
A kind of robot architecture is the utility model is related to, more particularly to a kind of mould 3D built-up welding intelligent robots.
Background technology
The billions of members of the big swage die market scale in the whole nation, medium and small swage die exceed 100 billion (10 tons of module weight ＜'s at present
For medium and small swage die, 10 tons~50 tons are big swage die, are super large swage die more than 50 tons).With national ship, big aircraft system
Make the demands such as industry to be lifted rapidly, maximum ultra-large type stamp forging hydraulic press (80,000 tons) is in Chinese second heavy-duty machinery collection in the world
Company of group puts into operation, and its super large swage die used often covers weight more than 100 tons, using traditional forging die manufacture method, module
It is big to forge difficulty, forging permeability is poor, and heat treatment after forging hardness is low, about HRC35~38, it is difficult to reaches forging die and uses hardness requirement
(HRC42~48), manufacturing cost is high, and the manufacturing cycle is up to 5~6 months, has had a strong impact on effective use of the large scale equipment.
Both at home and abroad to the research tendency of big swage die：On the one hand, by continuing to optimize alloying component, the life-span of big swage die
Improved；On the other hand, in forging die surface addition element alloying, surface property and forging die are also improved to a certain extent
Life-span.But for (super) big swage die, optimized alloy composition is very not clear to the surface layer abrasion-proof and life-span of raising forging die
It is aobvious；On forging die surface using factures such as alloyings, process route is complicated, and cost is high, and strengthening layer thickness is low, in HTHP bar
Part lower substrate top layer is yielding, can not meet requirement of (super) the big swage die to low cost and high life at all.
It is one for this it is proposed that a kind of prepare (super) big swage die method using in cast steel substrate upper epidermis gradient built-up welding
It is individual first to make cast steel substrate, then according to the work characteristics of forging die, complete the bead-welding technology of transition zone and working lining.Built-up welding at present
It is to use first to heat matrix, then takes out, the mode of human weld, operating efficiency is low, and can not ensure stable welding material
Expect performance, the stability of technique in welding can not be ensured.
Utility model content
In order to solve the above-mentioned technical problem, the utility model provides a kind of mould 3D built-up welding intelligent robots, welding procedure
Stable, welding quality height.
To achieve these goals, the technical solution of the utility model is as follows：A kind of mould 3D built-up welding intelligent robots, bag
Two parallel X-axis crossbeams are included, two X-axis crossbeams are installed by column, installed between two X-axis crossbeam top surfaces
Two Y-axis crossbeams, two Y-axis crossbeams by each independent actuator drives along X-axis cross beam movement, described in two
Z axis vertical guide is installed respectively, the Z axis vertical guide is driven along Y-axis crossbeam by Z-axis transmission device and moved on Y-axis crossbeam
It is dynamic, it is characterised in that：Be slidably installed plumb joint in the Z axis vertical guide on a Y-axis crossbeam wherein, another Y-axis crossbeam
On Z axis vertical guide on erecting and welding destressing device, it is described welding destressing device include high frequency hammering device and dust suction
Device, the high frequency hammering device are slidably mounted in Z axis vertical guide by hammering device mounting seat, the hammering device peace
Dress seat is driven along Z axis vertical guide by the hammering drive cylinder installed in Z axis vertical guide upper end and moved up and down；The suction
Dirt device includes dust absorption nozzle, dust absorption nozzle bearing, hose and dust absorption nozzle drive cylinder, and the upper end of the dust absorption nozzle and dust suction are soft
Pipe is connected, and the dust absorption nozzle is arranged in the Z axis vertical guide by dust absorption nozzle bearing sliding, the dust absorption nozzle drive cylinder
Driving dust absorption nozzle bearing slides up and down along Z axis vertical guide；
Lower section between two X-axis crossbeams is provided with mould constant temperature heating device.
Using such scheme, die matrix is placed on mould constant temperature heating device, ensures temperature during welding, to provide
Stable welding material performance, ensure the stability of welding procedure, improve welding quality.Two Y-axis crossbeam alternately enters to mould
Row processing, specifically, being first moved through plumb joint to carry out built-up welding to mould, then plumb joint exits, and welds destressing device
Coming over, complete stress elimination after welding, high frequency hammering is carried out to face of weld, high frequency hammering can play control shape, the purpose of control property,
Ensure the flatness and interior tissue uniformity after welding.Dust exhaust apparatus siphons away the welding slag of face of weld.Plumb joint and welding are gone
Power apparatus alternation is answered, so, after plumb joint work a period of time, exits and is cooled.Weld destressing device then work
Make, after the completion of welding destressing device work, exit cooling again, plumb joint works on, and and so on, reduces heater pair
The influence of plumb joint and welding destressing device transmission parts and control element, ensure that robot produces steadily in the long term, improve machine
Device people's service life.
In such scheme：Lower section between two X-axis crossbeams is provided with flatcar guide rail, and electric flat carriage is arranged on flatcar
On guide rail, the mould constant temperature heating device is arranged on electric flat carriage.Electric flat carriage completes the carrying of mould, is easy to mould to enter
Go out 3D built-up welding region.
In such scheme：The plumb joint includes welding gun, welding head bracket, holder for welding gun, welding gun slewing equipment and sent
Silk machine, the plumb joint bracket slide are connected in the Z axis vertical guide, and Z by welding head driving apparatus drives edge
Axle vertical guide moves up and down, and the welding gun slewing equipment is arranged on the lower end of welding head bracket, the holder for welding gun installation
Below welding head bracket, the upper end of the welding gun is connected through holder for welding gun with welding gun slewing equipment, the welding gun upper end
It is connected with wire-feed motor, the wire-feed motor is arranged on Z axis vertical guide upper end.The steering that welding gun slewing equipment can complete welding gun is moved
Make.
In such scheme：Additional body is additionally provided with the welding head bracket.Spatial digitizer is installed in additional body
With welding tracking device, spatial digitizer can complete the reconstruct of mould.Welding tracking device tracks welding quality, checks whether there is gas
Bubble and welding slag, further improve welding quality.
Preferably：The welding head driving apparatus is servomotor, rack pinion system.
Beneficial effect：The mould 3D Intelligent weldings robot of the utility model design is by setting mould heated at constant temperature to fill
Put, ensure the temperature in welding process, ensure the technology stability in welding, improve welding quality.By in two Y-axis crossbeams
Upper erecting and welding head respectively and welding destressing device, alternation, reduce because temperature is too high to transmission parts and control member
The influence that part is brought, increases the service life.Using welding destressing device, stress disappears after on the one hand removing welding slag, completion welding
Remove, on the other hand ensure the flatness after welding, control face of weld shape and material structure performance, the utility model to use
In the new mould of the reparation and 3D printing of mould.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the structural representation of plumb joint.
Fig. 3 is the structural representation of welding destressing device.
Embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples：
Embodiment 1, as Figure 1-3：Mould 3D built-up welding intelligent robot of the present utility model is horizontal by X-axis crossbeam 1, Y-axis
Beam 2, Z axis vertical guide 3, plumb joint 4, flatcar guide rail 5, welding destressing device 6, electric flat carriage 7, mould constant temperature heating device
Composition.
X-axis crossbeam 1 be two, two X-axis crossbeams 1 be arranged in parallel, two X-axis crossbeams 1 by column be arranged on ground or
On base, two Y-axis crossbeams 2 are installed between two top surfaces of X-axis crossbeam 1, two Y-axis crossbeams 2 pass through each independent transmission
Device driving is moved along X-axis crossbeam 1, specifically, laying rack in the top surface of X-axis crossbeam 1, gear, tooth are installed on Y-axis crossbeam 2
Wheel and rack is engaged, and Y-axis crossbeam 2 is moved by servomotor, rack pinion system control on X-axis crossbeam 1, realizes X
To precise motion.Servomotor, rack pinion system are prior art, be will not be described here.
Z axis vertical guide 3 is installed respectively, Z axis vertical guide 3 passes through Z-axis transmission device drives edge on two Y-axis crossbeams 2
Y-axis crossbeam 2 to slide, Z-axis transmission device is servomotor screw rod transmission system, and this system is also prior art, is not done herein
Repeat.
Be slidably installed plumb joint 4 in the Z axis vertical guide 3 on a Y-axis crossbeam 2 wherein.Specifically：Plumb joint 4 wraps
Include welding gun 4-1, welding head bracket 4-2, holder for welding gun 4-3, welding gun slewing equipment 4-4 and wire-feed motor 4-5, welding head bracket 4-
2 are slidably connected in Z axis vertical guide 3, and Z axis vertical guide 3 by welding head driving apparatus drives edge and move up and down, and weld
Joint drive device is also servomotor, rack pinion system, and vertical rack, plumb joint branch are installed in Z axis vertical guide 3
Gear is installed, servomotor band moving gear moves on rack on frame 4-2.Welding gun slewing equipment 4-4 is arranged on welding head bracket
4-2 lower end, welding gun slewing equipment 4-4 are to include rotary disk, and rotary disk is driven by servomotor to be rotated, holder for welding gun 4-
3 are arranged on below welding head bracket 4-2, and welding gun 4-1 upper end is connected through holder for welding gun 4-3 with welding gun slewing equipment 4-4,
Welding gun 4-1 upper ends are connected through rotary disk with wire-feed motor 4-5, and wire-feed motor 4-5 is arranged on the upper end of Z axis vertical guide 3.Plumb joint branch
Additional body 4-6 is additionally provided with frame 4-2.Spatial digitizer and welding tracking device are installed on additional body 4-6, are not drawn into figure
Spatial digitizer and welding tracking device.
Erecting and welding destressing device 6 in Z axis vertical guide 3 on another Y-axis crossbeam 2, specifically：Weld destressing
Device includes high frequency hammering device 6-1 and dust exhaust apparatus, and high frequency hammering device 6-1 structure is prior art, is not done herein superfluous
State.High frequency hammering device 6-1 is led by the hammering device mounting seat 6-3 auxiliary being slidably mounted on the slide carriage of Z axis vertical guide 3
On rail, slide carriage is slidably connected in Z axis vertical guide, and hammering device mounting seat 6-3 passes through installed in the upper end of Z axis vertical guide 3
Hammering drive cylinder 6-4 drive moved up and down along Z axis vertical guide 3；The piston rod and hammering for hammering drive cylinder 6-4 fill
Mounting seat 6-3 is put to be connected.Dust exhaust apparatus includes dust absorption nozzle 6-2, dust absorption nozzle bearing 6-5, hose 6-6 and dust absorption nozzle driving gas
Cylinder 6-7, dust absorption nozzle 6-2 upper end are connected with hose 6-6, and hose 6-6 is connected with vacuum cleaner, and dust absorption nozzle passes through dust suction
Mouth bearing 6-5 is slidably mounted in the auxiliary guide rail of another slide carriage in Z axis vertical guide 3, another slide carriage also company of slip
It is connected in Z axis vertical guide, dust absorption nozzle drive cylinder 6-7 drivings dust absorption nozzle bearing 6-5 slides up and down along Z axis vertical guide 3,
Dust absorption nozzle drive cylinder 6-7 piston rod is connected with dust absorption nozzle bearing 6-5.Dust absorption nozzle drive cylinder 6-7 is vertically led installed in Z axis
The upper end of rail.
Lower section between two X-axis crossbeams 1 is provided with two flatcar guide rails 5, and flatcar guide rail 5 is mounted on ground or base,
Electric flat carriage 7 is arranged on flatcar guide rail 5, and mould constant temperature heating device is arranged on electric flat carriage 7.
In use, die matrix is placed on mould constant temperature heating device, ensure temperature during welding, to provide stabilization
Welding material performance, ensure the stability of welding procedure, improve welding quality.Two Y-axis crossbeam 2 alternately adds to mould
Work, specifically, being first moved through plumb joint 4 to carry out built-up welding to mould, then plumb joint exits, the mistake of welding destressing device 6
Come, complete stress elimination after welding, high frequency hammering is carried out to face of weld, high frequency hammering can play control shape, the purpose of control property, protect
Flatness and interior tissue uniformity after card welding.Dust exhaust apparatus siphons away the welding slag of face of weld.Plumb joint and welding are gone should
Power apparatus alternation, so, after plumb joint work a period of time, exit and cooled.Welding destressing device proceeds with one's work,
After the completion of welding the work of destressing device, cooling is exited again, and plumb joint works on, and and so on, reduces heater butt welding
The influence of joint and welding destressing device transmission control element, ensures that robot produces steadily in the long term, improves robot and use
Life-span.
The utility model is not limited to above-mentioned specific embodiment, it will be appreciated that one of ordinary skill in the art is without wound
The property made work can makes many modifications and variations according to design of the present utility model.In a word, all technologies in the art
Personnel can be obtained by logical analysis, reasoning, or a limited experiment on the basis of existing technology according to design of the present utility model
The technical scheme arrived, all should be in the protection domain being defined in the patent claims.
Claims (5)
1. a kind of mould 3D built-up welding intelligent robots, including two parallel X-axis crossbeams (1), two X-axis crossbeams (1) are logical
Column installation is crossed, two Y-axis crossbeams (2), two Y-axis crossbeams (2) are installed between two X-axis crossbeam (1) top surfaces
It is mobile along X-axis crossbeam (1) by each independent actuator drives, Z axis is installed respectively on two Y-axis crossbeams (2)
Vertical guide (3), the Z axis vertical guide (3) is driven along Y-axis crossbeam (2) movement, its feature by Z-axis transmission device to be existed
In：Be slidably installed plumb joint (4) in the Z axis vertical guide (3) on a Y-axis crossbeam (2) wherein, another Y-axis crossbeam (2)
On Z axis vertical guide (3) on erecting and welding destressing device (6), it is described welding destressing device include high frequency hammering device
(6-1) and dust exhaust apparatus, it is vertical that the high frequency hammering device (6-1) by hammering device mounting seat (6-3) is slidably mounted on Z axis
On guide rail (3), the hammering device mounting seat (6-3) passes through the hammering drive cylinder installed in Z axis vertical guide (3) upper end
(6-4) drives and moved up and down along Z axis vertical guide (3)；The dust exhaust apparatus includes dust absorption nozzle (6-2), dust absorption nozzle bearing (6-
5), hose (6-6) and dust absorption nozzle drive cylinder (6-7), upper end and hose (6-6) phase of the dust absorption nozzle (6-2)
Even, the dust absorption nozzle is slidably mounted on the Z axis vertical guide (3) by dust absorption nozzle bearing (6-5), the dust absorption nozzle driving
Cylinder (6-7) driving dust absorption nozzle bearing (6-5) slides up and down along Z axis vertical guide (3)；
Lower section between two X-axis crossbeams (1) is provided with mould constant temperature heating device.
2. mould 3D built-up welding intelligent robot according to claim 1, it is characterised in that：Between two X-axis crossbeams (1)
Lower section be provided with flatcar guide rail (5), electric flat carriage (7) is arranged on flatcar guide rail (5), the mould constant temperature heating device peace
On electric flat carriage (7).
3. mould 3D built-up welding intelligent robots according to claim 1 or claim 2, it is characterised in that：The plumb joint (4) includes weldering
Rifle (4-1), welding head bracket (4-2), holder for welding gun (4-3), welding gun slewing equipment (4-4) and wire-feed motor (4-5), the weldering
Adapter bracket (4-2) is slidably connected on the Z axis vertical guide (3), and Z axis by welding head driving apparatus drives edge and erected
Direction guiding rail (3) moves up and down, and the welding gun slewing equipment (4-4) is arranged on the lower end of welding head bracket (4-2), the welding gun folder
Holder (4-3) is arranged on below welding head bracket (4-2), and the upper end of the welding gun (4-1) passes through holder for welding gun (4-3) and weldering
Rifle slewing equipment (4-4) is connected, and welding gun (4-1) upper end is connected with wire-feed motor (4-5), and the wire-feed motor (4-5) is arranged on Z
Axle vertical guide (3) upper end.
4. mould 3D built-up welding intelligent robot according to claim 3, it is characterised in that：On the welding head bracket (4-2)
It is additionally provided with additional body (4-6).
5. mould 3D built-up welding intelligent robot according to claim 3, it is characterised in that：The welding head driving apparatus is to watch
Take motor, rack pinion system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720421794.8U CN206702475U (en) | 2017-04-19 | 2017-04-19 | Mould 3D built-up welding intelligent robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720421794.8U CN206702475U (en) | 2017-04-19 | 2017-04-19 | Mould 3D built-up welding intelligent robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206702475U true CN206702475U (en) | 2017-12-05 |
Family
ID=60455726
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720421794.8U Withdrawn - After Issue CN206702475U (en) | 2017-04-19 | 2017-04-19 | Mould 3D built-up welding intelligent robots |
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| CN (1) | CN206702475U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106994577A (en) * | 2017-04-19 | 2017-08-01 | 重庆佛思坦智能装备有限公司 | A kind of mould 3D built-up welding intelligent robots |
| CN108436343A (en) * | 2018-06-06 | 2018-08-24 | 陈燕 | A kind of multifunctional industrial robot for intelligence manufacture automatic production line |
| CN108747107A (en) * | 2018-06-06 | 2018-11-06 | 陈燕 | A kind of automation can remote monitoring factory |
| CN109014667A (en) * | 2018-06-06 | 2018-12-18 | 陈燕 | A kind of automated production assembly system based on intelligent industrial robot |
| CN111992933A (en) * | 2020-08-25 | 2020-11-27 | 山东管理学院 | Corn harvesting returning machine shell welding system and method |
| CN114682899A (en) * | 2022-04-13 | 2022-07-01 | 常州市佳乐车辆配件制造有限公司 | Integrated ultrasonic welding and detecting device |
-
2017
- 2017-04-19 CN CN201720421794.8U patent/CN206702475U/en not_active Withdrawn - After Issue
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106994577A (en) * | 2017-04-19 | 2017-08-01 | 重庆佛思坦智能装备有限公司 | A kind of mould 3D built-up welding intelligent robots |
| CN106994577B (en) * | 2017-04-19 | 2018-09-28 | 重庆佛思坦智能装备有限公司 | A kind of mold 3D built-up welding intelligent robots |
| CN108436343A (en) * | 2018-06-06 | 2018-08-24 | 陈燕 | A kind of multifunctional industrial robot for intelligence manufacture automatic production line |
| CN108747107A (en) * | 2018-06-06 | 2018-11-06 | 陈燕 | A kind of automation can remote monitoring factory |
| CN109014667A (en) * | 2018-06-06 | 2018-12-18 | 陈燕 | A kind of automated production assembly system based on intelligent industrial robot |
| CN108436343B (en) * | 2018-06-06 | 2020-11-13 | 聊城锐利机械设备有限公司 | Multifunctional industrial robot for intelligent manufacturing automatic production line |
| CN109014667B (en) * | 2018-06-06 | 2021-02-05 | 河南省乾憬光电科技有限公司 | Automatic production and assembly system based on intelligent industrial robot |
| CN108747107B (en) * | 2018-06-06 | 2021-05-14 | 安徽喜尔奇日用品有限公司 | Automatic but change mill of remote monitoring |
| CN111992933A (en) * | 2020-08-25 | 2020-11-27 | 山东管理学院 | Corn harvesting returning machine shell welding system and method |
| CN111992933B (en) * | 2020-08-25 | 2022-04-29 | 山东管理学院 | Corn harvesting returning machine shell welding system and method |
| CN114682899A (en) * | 2022-04-13 | 2022-07-01 | 常州市佳乐车辆配件制造有限公司 | Integrated ultrasonic welding and detecting device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20171205 Effective date of abandoning: 20180928 |
|
| AV01 | Patent right actively abandoned |