CN217096090U - Mining grader scraper knife, front suspension and rear suspension flexible welding workstation - Google Patents

Abstract

The utility model discloses a flexible weldment work station of mining leveler spiller, front and back suspension, include: the walking system comprises a cantilever walking mechanism and a gantry walking mechanism, and the cantilever walking mechanism and the gantry walking mechanism can move along an X, Y, Z axis; an automatic welding system includes at least one type of welding gun; a preheating system comprising a preheating gun; the connecting end of the welding robot is arranged on the cantilever travelling mechanism, and the working end of the welding robot is detachably and selectively provided with a welding gun or a preheating gun; the head-tail type single-rotation positioner with an adjustable stroke is used for rotationally fixing two ends of a welding workpiece; the modular mold changing fixture mechanisms are used for mounting the welding workpiece on the head-tail single-rotation positioner; the welding gun or the preheating gun is connected with the welding robot through the quick-change device, so that the welding robot can be quickly changed with welding guns or preheating guns of different models; therefore, the welding efficiency is improved, the welding quality is ensured, and the labor cost is reduced.

Description

Mining grader scraper knife, front suspension and rear suspension flexible welding workstation

Technical Field

The utility model relates to a leveler welding technology field, concretely relates to flexible weldment work station of mining leveler spiller, front and back suspension.

Background

The statements herein merely provide background related to the present disclosure and may not necessarily constitute prior art.

The existing welding workstation for the mining land leveler has the following defects:

1. because the thickness of a plate is thick and the precision of a workpiece is poor for a mining grader blade and front and rear suspension products, manual welding is mainly adopted at present, the efficiency is low, and more workers are relied on.

2. The product type is complicated, and specification model is various, and most automated welding workstations can not realize flexible compatibility.

It is imperative to design a flexible welding station to overcome the above technical problems, depending on the actual requirements of the production.

SUMMERY OF THE UTILITY MODEL

For solving the not enough of prior art existence, the utility model provides a flexible weldment work station of suspension around, mining leveler spiller.

The technical scheme of the utility model is that:

the utility model provides a flexible weldment work station of mining leveler spiller, front and back suspension, include:

the walking system comprises a cantilever walking mechanism and a gantry walking mechanism connected with the cantilever walking mechanism, and the cantilever walking mechanism and the gantry walking mechanism can move along an X, Y, Z axis;

an automatic welding system includes at least one type of welding gun;

a preheating system comprising a preheating gun;

the connecting end of the welding robot is arranged on the cantilever travelling mechanism, and the working end of the welding robot is detachably and selectively provided with a welding gun or a preheating gun;

the head-tail type single-rotation positioner with an adjustable stroke is used for rotationally fixing two ends of a welding workpiece;

the modular mold changing fixture mechanisms are used for mounting the welding workpiece on the head-tail single-rotation positioner;

wherein, welder or preheat the rifle and pass through quick change device with welding robot and be connected, can realize welding robot and the welder of different models or preheat the quick change dress of rifle.

Furthermore, the die-changing fixture mechanism comprises a tool fixture arranged at one end of the head-tail single-rotation positioner and a tool quick switching device arranged at the other end of the head-tail single-rotation positioner.

Furthermore, the model changing clamp mechanism further comprises a zero point positioning system, and the zero point positioning system is arranged at the joint of the head-tail type single-rotation positioner and the tool clamp and can be used for uniformly positioning the installation zero points of welding workpieces of different models.

Furthermore, the automatic welding system is a single-wire pulse welding system or a double-wire pulse welding system, and the welding guns comprise a single-wire welding gun and a double-wire welding gun; the preheating system is arranged as a flame heating system.

Further, the workstation still includes the clean cigarette system that is used for absorbing the clean welding smoke and dust, clean cigarette system includes:

the dust hood device is connected with the cantilever travelling mechanism and covers the top of the welding robot in an enclosing manner; and a smoke purifying device;

the dust hood device and the smoke dust purification device are connected through a pipeline.

Furthermore, the dust hood device comprises an organ type soft hood arranged at the top, a soft curtain winding shaft and an arc light shielding soft curtain connected with the soft curtain winding shaft in a winding mode, the arc light shielding soft curtain is put down during welding, and the arc light shielding soft curtain is put up during non-welding.

Further, the workstation further comprises:

the observation and repair welding platform is used for standing people and is arranged on the gantry travelling mechanism and synchronously moves with the gantry travelling mechanism;

and the manual welding system is used for supplementing welding after the welding of the automatic welding system is finished.

Further, the workstation still includes the security fence that sets up around, be provided with the safety grating on the security fence.

Furthermore, the traveling system further comprises a loading and unloading piece auxiliary ascending platform arranged on one side of the cantilever traveling mechanism.

Furthermore, the cantilever travelling mechanism comprises a first upright post, a first X-axis cross beam arranged at the top of the first upright post and a cantilever connected with the first X-axis cross beam in a sliding manner, the cantilever is arranged in the Y-axis direction, a first Z-axis sliding part is arranged on the cantilever in a sliding manner, and the connecting end of the welding robot is fixedly connected with the first Z-axis sliding part through a bolt;

the gantry walking mechanism comprises second upright posts, second X-axis cross beams, Y-axis cross beams, ground rails and second Z-axis sliding parts, the number of the second upright posts is at least 2, the second X-axis cross beams are fixedly arranged on the side walls of the first upright posts, and the height of each second X-axis cross beam is lower than that of each first X-axis cross beam; one end of a second X-axis cross beam is arranged at the top end of a second upright column close to the cantilever travelling mechanism, the second upright column is fixedly arranged on the ground through a bolt, the other second upright column is in sliding connection with a ground rail, the ground rail is fixedly arranged on the ground through a bolt, and the ground rail and the second X-axis cross beam are arranged in parallel; one end of the Y-axis beam is connected with the second X-axis beam in a sliding manner, and the other end of the Y-axis beam is fixedly arranged at the top end of a second upright column far away from the cantilever travelling mechanism; the second Z-axis sliding part is connected with the Y-axis beam in a sliding mode.

The utility model discloses the beneficial effect who reaches does:

the utility model discloses flexible weldment work station of suspension around mining leveler spiller adopts welding robot to improve welding efficiency, adopts the single gyration machine of shifting of head and the tail formula and modular remodelling jig mechanism to combine together, guarantees welding quality, has reduced the cost of labor.

The embodiment of the utility model adopts the flexible tool assembly technology, improves the assembly precision and the assembly efficiency, and meets the assembly requirements of all-round and all-type products; the tool clamp and the tool quick switching device which are standardized, flexible and high in interchangeability are used, so that the clamping precision and efficiency are improved, and the labor cost is reduced; according to different product parts, all stations of the scheme can be compatible, and can be quickly adjusted and switched; the whole station can realize the quick switching of a single-wire welding gun, a double-wire welding gun and a preheating gun, the quick switching of a tool, the preheating of a workpiece and the secondary preheating.

The utility model discloses flexible weldment work station of suspension around mining leveler spiller is provided with clean cigarette system, greatly reduced the pollution of environment has also guaranteed simultaneously along with the health of line personnel.

Drawings

Fig. 1 is a schematic view of the overall structure of an embodiment of the present invention.

Fig. 2 is a schematic top view of an overall structure of an embodiment of the present invention.

Fig. 3 is a schematic view of the overall structure of an embodiment of the present invention (the dust hood device is omitted).

Fig. 4 is a schematic view of a partial structure according to an embodiment of the present invention.

Fig. 5 is a partially enlarged schematic view at I of fig. 3.

Fig. 6 is a schematic structural view of a dust hood device according to an embodiment of the present invention.

Fig. 7 is an assembly structure diagram of the head-to-tail single-rotation positioner, the zero-point positioning system and the model-changing fixture mechanism according to an embodiment of the present invention.

In the figure, 100, a walking system; 110. a cantilever traveling mechanism; 111. a first upright post; 112. a first X-axis beam; 113. a cantilever; 114. a first Z-axis sliding part; 115. a placement area; 120. a gantry traveling mechanism; 121. a second upright; 122. a second X-axis beam; 123. a Y-axis beam; 124. a ground rail; 125. a second Z-axis sliding part; 200. an automatic welding system; 210. a monofilament welding gun; 220. a twin wire welding gun; 230. a gun cleaning and wire cutting mechanism; 300. a welding robot; 310. a working end; 320. a quick-change device; 400. a preheating system; 410. preheating the gun; 500. a head-tail type single-rotation positioner; 510. positioning and clamping devices; 600. a zero positioning system; 700. a mold changing clamp mechanism; 710. a tool fast switching device; 720. a tooling fixture; 800. a smoke purification system; 810. a dust hood device; 811. an organ type soft cover; 812. a soft curtain winding shaft; 813. the arc light shields the soft curtain; 820. a smoke dust purification device; 1. observing and repairing the welding platform; 2. a security fence; 3. the supplementary platform of ascending a height of handling.

Detailed Description

In the description of the present application, it is to be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

To facilitate understanding of the present invention for those skilled in the art, a specific embodiment of the present invention will be described below with reference to fig. 1 to 7.

As shown in fig. 1-3, the utility model provides a flexible weldment work station of mining leveler spiller, front and back overhang, including one set of traveling system 100, one set of automatic weld system 200, a welding robot 300, one set of system 400 that preheats, a head and the tail formula single-circuit change quick-witted 500, one set of manual welding system, one set of security fence 2, one set of clean cigarette system 800, one set of observation and repair welding platform 1, a plurality of modular remodelling jig mechanism 700 and the supplementary platform 3 that ascends a height of one set of loading and unloading spare.

As shown in fig. 4, the traveling system 100 includes a boom traveling mechanism 110 and a gantry traveling mechanism 120 connected to the boom traveling mechanism 110, and both the boom traveling mechanism 110 and the gantry traveling mechanism 120 are movable along an X, Y, Z axis. The driving motor of the traveling system 100 is a servo motor.

As shown in fig. 4, the boom travelling mechanism 110 includes a first vertical column 111, a first X-axis beam 112 mounted on a top of the first vertical column 111, and a boom 113 slidably connected to the first X-axis beam 112, the boom 113 is disposed in the Y-axis direction, and a first Z-axis sliding portion 114 is slidably mounted on the boom 113. The connection end of the welding robot 300 is fixedly connected to the first Z-axis sliding portion 114 by a bolt. The quantity of first stand 111 is three, through bolt fixed mounting subaerial, and arrange along the X axle direction, certainly also can choose other quantities as required, this the utility model discloses do not do the restriction.

Specifically, the suspension arm 113 slides relative to the first X-axis beam 112 by installing a first linear slide rail on the first X-axis beam 112 and installing a first slider at the joint of the suspension arm 113 for cooperating with the first linear slide rail.

The first Z-axis sliding portion 114 slides relative to the suspension arm 113 by installing a second linear slide rail on the suspension arm 113, and installing a second slider at the joint of the first Z-axis sliding portion 114 for cooperating with the second linear slide rail.

With this structure, the boom unit 110 can be moved along the X, Y, Z axis.

In order to facilitate loading and unloading of the workpiece on the traveling system 100, the workstation is further provided with an auxiliary loading and unloading workpiece ascending platform 3 arranged on one side of the cantilever traveling mechanism 110. In this embodiment, the loading and unloading member-assisting ascending platform 3 includes a ascending staircase installed at one end of the first column 111 and the first X-axis beam 112, and a traveling platform installed on the first X-axis beam 112.

As shown in fig. 4, the gantry 120 includes a second vertical column 121, a second X-axis beam 122, a Y-axis beam 123, a ground rail 124, and a second Z-axis sliding part 125. In this embodiment, the number of the second columns 121 is two, and other numbers are also possible, which does not limit the present invention. Two second columns 121 are arranged along the Y-axis direction. The second X-axis cross member 122 is fixedly mounted on a sidewall of each first upright 111, and the height of the second X-axis cross member 122 is lower than that of the first X-axis cross member 112. One end of the second X-axis beam 122 is mounted on the top of one of the second vertical columns 121, and the second vertical column 121 is fixedly mounted on the ground through bolts. The other second upright 121 is slidably connected to a ground rail 124, the ground rail 124 is fixedly installed on the ground through bolts, and the ground rail 124 is disposed parallel to the second X-axis beam 122. A third linear slide rail is arranged on the second X-axis beam 122. One end of the Y-axis beam 123 is mounted with a third slider, and the other end is fixedly mounted at the top end of the second upright 121 far away from the cantilever travelling mechanism 110. A fourth linear slide rail is mounted on the Y-axis beam 123, and a fourth slider used in cooperation with the fourth linear slide rail is mounted on the second Z-axis sliding portion 125.

With this structure, the gantry 120 can be moved along the X, Y, Z axis.

The second Z-axis sliding part 125 is provided with an observation and repair welding platform 1 for standing people, and can move synchronously with the gantry traveling mechanism 120. The observation and repair welding platform 1 has two functions, one of the two functions is that the observation and repair welding platform 1 is arranged because the size of a welding workpiece of the welded land leveler is larger, and the welding effect can be observed conveniently; and secondly, a platform convenient to operate is provided for subsequent manual repair welding, after automatic welding is completed, when manual welding is needed, an operator can stand on the observation and repair welding platform 1, and for the position, which is located on a welding workpiece and is inconvenient to weld, on the ground, X, Y, Z shaft movement is adjusted by the gantry travelling mechanism 120, so that the manual repair welding can be conveniently carried out when the preset position is reached.

The cantilever travelling mechanism 110 and the gantry travelling mechanism 120 are fixedly mounted on the first upright post 111 through the second X-axis beam 122, so that the structure is more compact, the layout and arrangement are more reasonable, the occupied area is small, and the materials and the mounting cost are saved.

As shown in fig. 3, the welding robot 300 is an inverted 6-axis elbow articulated arm robot. The connecting end of the welding robot 300 is mounted on the boom traveling mechanism 110, and the working end 310 is detachably and selectively mounted with a welding gun or a preheating gun 410.

Welding mining grader blade, front and back overhang body, because the structure of this grader's welding workpiece is thicker, in order to guarantee the welding effect, place the inhomogeneous stress that produces of being heated, before the welding, need treat the welding piece and carry out preheating treatment, the workstation is including preheating system 400, and in this embodiment, preheating system 400 chooses for use flame heating system, and this flame heating system is including preheating rifle 410. When the workpiece needs to be preheated, the working end 310 of the welding robot 300 is connected with the preheating gun 410 to preheat the workpiece to be welded, and when the preset preheating temperature is reached, the heating is stopped, and the working end 310 of the welding robot 300 is replaced with the connection welding gun.

The automated welding system 200 includes at least one type of welding gun. In this embodiment, the automated welding system 200 is a single, twin wire pulse welding system, and the welding guns include a single wire welding gun 210 and a twin wire welding gun 220. Be different from the automatic weldment work station majority among the prior art and use monofilament welding to give first place to, can not realize the monofilament welder 210 of the work end 310 of welding robot 300, double-wire welder 220 and the switching of preheating the rifle 410, the utility model discloses welder or preheat rifle 410 and be connected through quick change device 320 with welding robot 300, can realize welding robot 300 and the welder of different models or preheat the quick change outfit of rifle 410.

During welding, the welding robot 300 performs workpiece welding in a single-wire backing and double-wire capping manner.

As shown in fig. 4, a placement area 115 for a welding torch and a preheating torch 410 is provided on the first column 111, and the unused welding torch and preheating torch 410 are inserted into the placement area 115. In this embodiment, the placing area 115 is formed by bending a sheet metal part, which is installed on the first upright 111 through a bolt, and a placing groove is formed in the sheet metal part, and the welding gun and the preheating gun 410 can be inserted into the placing groove.

As shown in fig. 5, the quick-change device 320 is a male quick-change part and a female quick-change part, which are specifically described by taking a robot with a welding torch 210 as an example, and the male quick-change part and the female quick-change part are respectively installed on the welding robot 300 and the welding torch 210. In this embodiment, the quick change device 320 is an ATI QC-21 type quick change device 320, and the quick change device 320 can be used with the welding robot 300 to automatically replace the single wire welding gun 210, the twin wire welding gun 220 and the preheating gun 410 in the same robot position.

The workstation is also provided with a gun cleaning and wire cutting mechanism 230 for automatically cleaning, cutting and spraying the gun.

When the welding robot 300 is used for welding, a large amount of welding smoke is generated, which has a certain influence on the field environment and also influences the health of field operators, so that a smoke purification system 800 for absorbing and purifying the welding smoke is provided in the workstation, as shown in fig. 6, the smoke purification system 800 includes a dust hood device 810 and a smoke purification device 820 which can be extended and retracted up and down. The dust hood device 810 is connected to the cantilever traveling mechanism 110 and is disposed on the top of the welding robot 300. The dust hood device 810 and the smoke purifying device 820 are connected by a pipe. The soot cleaning device 820 is a pulse cartridge precipitator.

Specifically, as shown in fig. 6, the dust hood device 810 includes an accordion-type soft hood 811 disposed at the top, a soft curtain winding shaft 812, and an arc shielding soft curtain 813 wound around and connected to the soft curtain winding shaft 812, wherein the arc shielding soft curtain 813 is put down during welding, and the arc shielding soft curtain 813 is put up during non-welding.

The specific working process of the smoke purification system 800 is as follows:

a dust hood device 810 which can move up and down is arranged above the welding robot 300 and is connected by a spiral air pipe, unorganized waste gas is collected and converged into a main pipeline, the main pipeline is uniformly conveyed into a pulse filter cartridge dust remover, waste smoke is filtered and removed, and filtered air is discharged from the pulse filter cartridge dust remover; after the filter cartridge filters dust, dust can form a dust layer on the surface of the filter cartridge, and after a certain time, the filter cartridge is blowback by adopting compressed air, and the blown dust falls into a dust hopper of the pulse filter cartridge dust remover for treatment.

As shown in fig. 7, the head-tail type single-turn position converter 500 with adjustable stroke is used for rotationally fixing two ends of a welding workpiece, mainly comprises a position converter frame, a position converter base, an RV reducer, a motor, a positioning and clamping device 510 and a linear guide rail, and is equipment with functions of high precision, large torque, wide speed regulation range, accurate angle setting and the like.

As shown in fig. 7, a plurality of modular fixture changing mechanisms 700 are used for mounting a welding workpiece on a head-to-tail single-turn positioner 500. The mold changing clamp mechanism 700 comprises a tool clamp 720 arranged at one end of the head-tail type single-rotation positioner 500 and a tool quick switching device 710 arranged at the other end of the head-tail type single-rotation positioner 500.

The model changing fixture mechanism 700 further comprises one zero point positioning system 600, the number of the zero point positioning systems is one, the zero point positioning systems are installed at the connecting position of the head-tail type single-turn position conversion machine 500 and the tool fixture 720, and the zero point positioning systems can be used for uniformly positioning the installation zero points of welding workpieces of different models. The zero point positioning system 600 includes a positioning and locking device that can maintain the workpiece from station to station, with the zero point maintained constant. Therefore, the auxiliary time for re-aligning the zero point can be saved, the replacement time can be completed within several minutes, the continuity of the work is ensured, and the work efficiency is improved. The specific structure of the zero point positioning system 600 is the prior art, and the internal structure thereof is not described herein.

The quick tool switching device 710 is used for solving the problem that the structure at the end of the welding workpiece cannot be directly connected with the positioning and clamping device 510 of the head-tail single-rotation positioner 500, and plays a role in connecting the welding workpiece with the head-tail single-rotation positioner 500. According to different models of welding workpieces, a tool quick switching device 710 without the size is adopted.

The utility model discloses a frock clamp 720 is flexible frock clamp 720, can arrange wantonly and switch to the clamping equipment demand that adapts to different specification work pieces. The basic features of the flexible tooling fixture 720 are modular, standardized, serialized, and generalized; the interchangeability is strong, the stability is high, the precision is guaranteed, and the cost performance is high; the welding tool is suitable for welding tools of workpieces and assembling tools of products. Frock clamp 720 includes that welding frock clamp 720 commonly used such as U type square chest, L type square chest, location angle square, angle connector, supporting leg, V type locating piece, rings, adjustment callus on the sole, compress tightly the piece, support angle bar can set up as required and select for use.

It should be noted that, when products of the same model are first assembled and positioned, according to the characteristics of the workpiece, the fixture 720 is provided with a sub-assembly workpiece positioning flexible fixture 720 and an assembly workpiece main positioning flexible fixture 720, wherein the sub-assembly workpiece positioning flexible fixture 720 is used during assembly and spot-fixed welding, and needs to be removed during automatic welding of the welding robot 300.

The workpiece loading and unloading process of the model changing clamp mechanism 700 comprises the following steps:

manually assembling and spot-welding the pre-welded workpiece by using a tool clamp 720; after the assembly and spot-fixed welding are finished, the sub-assembly workpiece positioning flexible tool clamp 720 is detached, and the assembly workpiece main positioning flexible tool clamp 720 is reserved; the main positioning tool clamp 720 is manually positioned and clamped between the tool clamp 720 and the positioner through the zero point positioning system 600 together with the workpiece by using tools such as the traveling system 100 or a traveling crane arranged in a workshop; after welding, manually and quickly disassembling the welded workpiece together with the main positioning tool clamp 720 through the zero positioning system 600; tools such as a crane are adopted to move the workpiece out of the automatic welding station, the main positioning tool fixture 720 is disassembled, and the next workpiece is assembled and tack-welded.

The safety fence 2 is arranged around the workstation, and the safety fence 2 is also provided with safety gratings.

The working process of the welding workstation comprises the following steps:

the pre-welding workpiece is manually assembled and spot-welded on the tool fixture 720 outside the automatic welding station.

And after the assembly and the spot-fixed welding are finished, starting an automatic welding station.

And detecting whether each system is normal. The pre-assembled and point-positioned workpiece and the tool fixture 720 are manually placed at the designated position of the head-tail single-turn positioner 500 by using tools such as a traveling crane, after the workpiece is placed, whether the workpiece is placed correctly and whether the position is deviated or not is checked, if no deviation exists, the workpiece is manually and quickly positioned and installed through the zero positioning system 600 to complete clamping of the workpiece.

After the workpiece is clamped, the flame heating system performs preheating treatment on the workpiece, the welding robot 300 executes a preheating mode, and the working end 310 of the welding robot 300 is selectively provided with a preheating gun 410 to heat the workpiece. After the heating reaches the preset temperature, the flame heating system automatically stops working. In order to prevent welding quality defects such as air holes and the like of welding seams of the robot caused by water drops in welding beads when the preheating temperature is lower than 100 ℃, a non-contact type temperature measuring instrument is configured in the system. The preheating temperature is monitored in real time by the temperature measuring instrument, and relevant information is fed back to the welding robot 300. Before the welding robot 300 performs welding, the welding robot 300 executes a preheating program, and preheating parameters are set according to the characteristics of a workpiece when a product of the same model is preheated for the first time. After the setting is completed, the welding robot 300 is started, and the welding robot 300 preheats the workpiece. During welding, real-time temperature monitoring is carried out on the preheating area, when the temperature is lower than 120 ℃, the welding robot 300 switches the preheating mode to execute the preheating program, and when the temperature reaches 150-300 ℃, the welding robot 300 switches the welding mode again to weld the workpiece.

And when the same model product is welded for the first time, parameters such as single wire welding parameters, double wire welding parameters, welding tracks and the like are set according to the characteristics of the workpiece. The single-wire and double-wire pulse welding system performs process switching by the concepts of single-wire bottoming and double-wire capping. Start welding robot 300 after the setting is accomplished, welding robot 300 moves to the procedure setting position, welding robot 300 begins to seek the position, detect the change of work piece position by welding wire tip touching work piece, whether welding robot 300 changes the new initial point position of automatic selection according to the work piece position, select the back of accomplishing, welding robot 300 control welding system opens, automatic air feed arc starting, weld the work piece according to this technological parameter, utilize the deviation of welding arc tracking technique detection work piece among the welding process, and give welding robot 300 with the deviation feedback in order to revise corresponding action according to the deviation, guarantee welding quality. The welding robot 300 monitors the welding current and voltage in real time during the welding process, and gives an alarm when the parameters have serious errors. When the correction is carried out, the robot runs to a preset correction point (a certain sharp point of the workpiece placing platform), when the deviation between the TCP point and the correction point is found, the deviation occurs, and the TCP point needs to be corrected again.

And after welding is finished, the robot controls the welding system to be closed, and the robot returns to the transfer point to wait for next welding. According to actual conditions, the welding robot 300 can regularly and automatically remove, trim and spray splash-proof oil for the splashing at the tip end of the welding gun, welding wires and the like by means of the gun cleaning and wire cutting device, and the working condition of the welding gun is guaranteed to be good.

After welding, the workpiece enters the station manually, the repair welding table is started, the repair welding table and the head-tail single-circuit converting machine 500 are controlled manually, repair welding is carried out on the workpiece in an all-around and dead-angle-free mode, the repair welding is completed, the workpiece is moved out of the automatic welding station manually by adopting tools such as a crane and the like, the tool fixture 720 is disassembled, and welding of the next workpiece is carried out.

The above-mentioned embodiments of the present invention do not limit the scope of the present invention. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. The utility model provides a mining leveler spiller, front and back suspension flexible welding workstation which characterized in that includes:

the walking system (100) comprises a cantilever walking mechanism (110) and a gantry walking mechanism (120) connected with the cantilever walking mechanism (110), wherein the cantilever walking mechanism (110) and the gantry walking mechanism (120) can move along an X, Y, Z axis;

an automated welding system (200) including at least one type of welding gun;

a preheating system (400) comprising a preheating gun (410);

the connecting end of the welding robot (300) is arranged on the cantilever travelling mechanism (110), and the working end (310) is detachably and selectively provided with a welding gun or a preheating gun (410);

the head-tail type single-rotation positioner (500) with an adjustable stroke is used for rotationally fixing two ends of a welding workpiece;

the modular type changing clamp mechanisms (700) are used for mounting the welding workpiece on the head-tail single-turn position changing machine (500);

wherein, welding gun or preheating gun (410) are connected with welding robot (300) through quick change device (320), can realize welding robot (300) and the quick change of the welding gun of different models or preheating gun (410).

2. The mining grader blade, front suspension and rear suspension flexible welding workstation as claimed in claim 1, wherein the remodeling clamp mechanism (700) comprises a tooling clamp (720) arranged at one end of the head-to-tail single rotary positioner (500) and a tooling fast switching device (710) arranged at the other end of the head-to-tail single rotary positioner (500).

3. The mining grader blade, front suspension and rear suspension flexible welding workstation as claimed in claim 2, wherein the model-changing clamp mechanism (700) further comprises a zero point positioning system (600) installed at the joint of the head-tail type single rotary positioner (500) and the tooling clamp (720), and can be used for uniformly positioning the installation zero points of welding workpieces of different models.

4. The mining grader blade, front and rear suspension flexible welding workstation of claim 1, wherein: the automatic welding system (200) is a single-wire and double-wire pulse welding system, and the welding guns comprise a single-wire welding gun (210) and a double-wire welding gun (220); the preheating system (400) is configured as a fired heating system.

5. The mining grader blade, front and rear overhang flexible welding workstation of claim 1, wherein the workstation further comprises a fume cleaning system (800) for absorbing and cleaning welding fumes, the fume cleaning system (800) comprising:

the dust hood device (810) can stretch up and down and is connected with the cantilever travelling mechanism (110) and covers the top of the welding robot (300); and a smoke purifying device (820);

the dust hood device (810) and the smoke purifying device (820) are connected through a pipeline.

6. The mining grader blade, front and rear suspension flexible welding station of claim 5, wherein the dust hood apparatus (810) comprises a concertina-type soft hood (811) disposed at the top, a soft curtain take-up reel (812), and an arc-shielding soft curtain (813) windingly connected to the soft curtain take-up reel (812), wherein the arc-shielding soft curtain (813) is lowered during welding and the arc-shielding soft curtain (813) is retracted during non-welding.

7. The mining grader blade, front and rear suspension flexible welding workstation of claim 1, further comprising:

the observation and repair welding platform (1) is used for standing people, is arranged on the gantry travelling mechanism (120), and synchronously moves with the gantry travelling mechanism (120);

a manual welding system for supplementing welding after welding by the automatic welding system (200) is completed.

8. The mining grader blade, front and rear suspension flexible welding workstation of claim 1, wherein: the workstation still includes setting up security fence (2) all around, be provided with the safety grating on security fence (2).

9. The mining grader blade, front and rear suspension flexible welding workstation of claim 1, wherein: the walking system (100) further comprises an auxiliary ascending platform (3) for loading and unloading pieces, and the auxiliary ascending platform is arranged on one side of the cantilever walking mechanism (110).

10. The mining grader blade, front and rear suspension flexible welding workstation of claim 1, wherein: the cantilever travelling mechanism (110) comprises a first upright post (111), a first X-axis cross beam (112) arranged at the top of the first upright post (111) and a cantilever (113) in sliding connection with the first X-axis cross beam (112), the cantilever (113) is arranged in the Y-axis direction, a first Z-axis sliding part (114) is arranged on the cantilever (113) in a sliding manner, and the connecting end of the welding robot (300) is fixedly connected with the first Z-axis sliding part (114) through a bolt;

the gantry travelling mechanism (120) comprises second upright columns (121), second X-axis cross beams (122), Y-axis cross beams (123), ground rails (124) and second Z-axis sliding parts (125), the number of the second upright columns (121) is at least 2, the second X-axis cross beams (122) are fixedly arranged on the side walls of the first upright columns (111), and the height of the second X-axis cross beams (122) is lower than that of the first X-axis cross beams (112); one end of a second X-axis cross beam (122) is installed at the top end of a second upright post (121) close to the cantilever travelling mechanism (110), the second upright post (121) is fixedly installed on the ground through a bolt, the other second upright post (121) is connected with a ground rail (124) in a sliding mode, the ground rail (124) is fixedly installed on the ground through a bolt, and the ground rail (124) and the second X-axis cross beam (122) are arranged in parallel; one end of the Y-axis beam (123) is connected with the second X-axis beam (122) in a sliding manner, and the other end of the Y-axis beam is fixedly installed at the top end of a second upright post (121) far away from the cantilever travelling mechanism (110); the second Z-axis sliding part (125) is connected with the Y-axis beam (123) in a sliding mode.

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