Sleeper beam assembling and welding production line

Abstract

The sleeper beam assembling and welding production line comprises a welding robot, a welding head is mounted on a mechanical arm of the welding robot, and a mounting cylinder, a vibration column and a vibration mechanism used for driving the vibration column to vibrate are arranged on one side of the welding head; a switching head is rotationally mounted at one end of the vibration column, a vibration head and a flame spray gun are mounted on the switching head, a cooling channel is formed in one end of the vibration head, and a driving mechanism used for driving the switching head to turn over is arranged on the mounting cylinder; when welding stress relief operation is carried out, one driving mechanism drives the switching head on the driving mechanism to turn over until the vibration head on the driving mechanism is aligned with a welding seam on one side, and the other driving mechanism drives the switching head on the driving mechanism to turn over until the flame spray gun on the driving mechanism is aligned with the welding seam on the other side. The obvious temperature difference is formed on the welding seams on the two sides of the web welding part, the vibration energy is transmitted into the web welding part through the vibration head, the welding stress removing efficiency can be remarkably improved, the reliability of the welding seam area is improved, and welding deformation is restrained.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle welding, and in particular to a bolster assembly welding production line. Background Art

[0002] The main function of the rail vehicle bolster is to support the body of the rail vehicle and transfer its weight to the bogie; the bolster is usually located under the body of the rail vehicle and connects two or more bogies. It is mainly welded by the beam body, bottom plate, web plate, reinforcement plate and rib plate. The web plate is used to connect the beam body and the bottom plate and is set vertically with the two. The welding quality of the web plate plays a vital role in the overall strength of the bolster.

[0003] In the related art, the Chinese patent with application number CN202211641691.4 proposes a sleeper beam assembly welding production line, including: a material rack; a first track, located on one side of the material rack; a first handling robot, movably arranged on the first track; a positioning device, arranged on the first track and connected to the first handling robot, the positioning device includes a bracket, an inclined plate arranged on the bracket, and a first and a second positioning bar arranged on the inclined plate, the first and the second positioning bars are arranged at right angles, and the first opening between the first and the second positioning bars faces upward; an assembly device, arranged on the side of the first handling robot away from the first track; a second track, arranged on the side of the assembly device away from the first handling robot; a second handling robot, movably arranged on the second track; and a welding processing area, arranged on the side of the second handling robot away from the second track. The technical solution of this application effectively solves the problem of low assembly efficiency of the sleeper beam assembly welding production line in the related art.

[0004] The above-mentioned related technologies have the following defects: With the development of material technology, aluminum alloy bolsters are also widely used due to their light weight and high strength. However, aluminum alloy has a large thermal expansion coefficient and good thermal conductivity, which causes the welding robot to deform after welding the aluminum alloy web because the internal stress is not quickly eliminated. The traditional way to eliminate stress is annealing, which is to heat first and then slowly cool. However, the bolster is large in size and has many welds, which is not suitable for overall tempering, and the cooling process also affects the processing efficiency of the bolster. Summary of the invention

[0005] In order to improve the problem of low efficiency and poor effect of stress elimination of aluminum alloy bolsters after welding, the present application provides a bolster assembly welding production line.

[0006] The present application provides a bolster welding production line that adopts the following technical solution:

[0007] A corbel welding production line comprises a welding robot, a welding head is mounted on a mechanical arm of the welding robot, a mounting cylinder is arranged along its action direction on one side of the welding head, a vibration column is slidably arranged in the mounting cylinder, and a vibration mechanism is arranged on the mounting cylinder for driving the vibration column to vibrate at a frequency close to the natural frequency of a web to be welded;

[0008] A switching head is rotatably mounted on one end of the vibration column away from the mounting tube, a vibration head and a flame spray gun are mounted on the switching head, a cooling channel connected to a cooling medium source is provided at one end of the vibration head away from the switching head, and a driving mechanism for driving the switching head to flip to a position where the vibration head or the flame spray gun is coaxial with the mounting tube is provided on the mounting tube;

[0009] The welding robots are arranged on both sides of the welding position of the web to be welded, and the two driving mechanisms of the two welding robots are commonly connected to a first controller, and the first controller is configured to control one of the driving mechanisms to drive the switching head on it to flip so that the vibration head on it is aimed at the weld on one side, and control the other driving mechanism to drive the switching head on it to flip so that the flame spray gun on it is aimed at the weld on the other side when performing welding stress elimination operation;

[0010] A detection sensor for detecting the flipping state of the switching head is arranged on the vibration column or the mounting tube. The detection sensor and the vibration mechanism are connected with a second controller. The second controller is configured to control the vibration mechanism to operate when the detection sensor detects that the switching head is flipped over to the point where the vibration head thereon is coaxial with the mounting tube.

[0011] Furthermore, a ball head is fixedly connected to one end of the vibration head away from the switching head, a spray hole connected to the cooling channel is provided on one side of the ball head away from the vibration head, and a transition surface is provided on the edge of the spray hole.

[0012] Furthermore, the vibration head and the flame spray gun are arranged at two opposite sides of the switching head, and a receiving groove for receiving the vibration head or the flame spray gun is provided at the free end of the vibration column.

[0013] Furthermore, the radial length of the vibration head along the switching head is greater than the radial length of the flame spray gun along the switching head, and when the switching head is flipped over to the point where the vibration head flips out of the receiving groove and is coaxial with the mounting tube, the head end of the vibration head protrudes beyond the head end of the welding head.

[0014] Furthermore, the driving mechanism comprises:

[0015] A rotating shaft is rotatably mounted on the free end of the vibration column, and the switching head is fixedly connected to the outer peripheral wall of the rotating shaft;

[0016] A servo motor is mounted on the mounting cylinder;

[0017] A first transmission wheel, coaxially fixed to the rotating shaft;

[0018] A second transmission wheel is rotatably mounted on an outer wall of one end of the vibration column close to the mounting tube, and the second transmission wheel is synchronously and synchronously connected with the first transmission wheel;

[0019] The vibration isolation transmission assembly is used to transmit the rotational kinetic energy of the servo motor to the second transmission wheel, and to isolate the vibration of the second transmission wheel from being transmitted to the servo motor.

[0020] Furthermore, the vibration isolation transmission assembly includes:

[0021] A worm wheel, coaxially fixed to the second transmission wheel;

[0022] A worm, rotatably mounted on the vibration column and meshingly connected with the worm;

[0023] A sliding rod, fixedly connected to the worm and arranged along the length direction of the worm;

[0024] The synchronous sleeve is sleeved outside the slide bar and synchronously moved with the slide bar, and the synchronous sleeve is coaxially fixed to the output end of the servo motor.

[0025] Furthermore, a guide ring is fixedly connected to one end of the mounting tube close to the switching head, a guide rod with one end fixed to the vibration column is passed through the guide ring, and one end of the guide rod extending into the mounting tube is fixedly connected to a piston slidably arranged in the mounting tube, the vibration mechanism is configured as a vibration motor installed in the mounting tube, the eccentric wheel of the vibration motor acts on a side of the piston away from the sliding rod, and an elastic member sleeved on the outer periphery of the guide rod is provided between the piston and the guide ring.

[0026] Furthermore, the flame spray gun is connected to an on-off switch, the vibration head is connected to a hose communicating with the cooling channel, a solenoid valve is provided on the hose, the on-off switch and the solenoid valve are connected to a third controller, and the third controller is configured to control only one of the two to be in an on state;

[0027] And only when the flame spray gun is aimed at one side of the weld, the third controller controls the corresponding on-off switch to open; and only when the vibration head is aimed at the other side of the weld, the third controller controls the corresponding solenoid valve to open.

[0028] In summary, the beneficial technical effects of this application are:

[0029] 1. By forming a relatively obvious temperature difference on the welds on both sides of the web weld, the residual stress inside the web weld can be reduced, and at the same time, the vibration energy is transmitted to the web weld with the help of the vibration head, which can help these residual stresses to be released faster, which can shorten the time of the entire stress relief process and improve the processing efficiency of the bolster; and the temperature difference on both sides helps to evenly reduce the residual stress in the entire weld area, and the vibration stress relief of the vibration head can help these stresses to be more evenly distributed, reduce local stress concentration, improve the reliability of the weld area, reduce the risk of cracks and fatigue failure during use, and make the stress relief treatment of the web weld higher in quality, which can more effectively reduce welding deformation, maintain the geometric shape and dimensional accuracy of the web and other components, and ensure the processing quality of the bolster;

[0030] 2. By setting the vibration head longer, when the welding robot drives the welding head to perform welding operations, the two driving mechanisms can respectively drive the two switching heads to flip to a state where the vibration column is stored in the corresponding storage slot, without interfering with the normal welding of the welding head; and when performing welding stress elimination operations, the vibration heads and flame spray guns on both sides are controlled to be arranged separately under the action of the first controller, so that the ball head on the vibration head can be as close to the weld as possible to ensure the vibration effect;

[0031] 3. By setting up a vibration isolation transmission component, on the one hand, since the transmission of the worm to the worm wheel has reverse self-locking property, when the vibration head is flipped into place, the position of the vibration head on the vibration column will not be offset or changed due to the high-frequency vibration of the vibration column, which can ensure that the vibration energy of the vibration column is fully transmitted to the weld to ensure the effect of vibration to remove internal stress; and when the vibration column vibrates along the axial direction of the mounting tube driven by the vibration mechanism, the worm on the vibration column drives the slide bar to reciprocate along the axial direction of the mounting tube, so that the end of the slide bar away from the switching head reciprocates in the moving sleeve, which will neither restrict the vibration movement of the vibration column nor transfer too much vibration energy to the servo motor to cause damage to the servo motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the overall structure when the embodiment of the present application is applied on both sides of the web;

[0033] Figure 2 is a schematic cross-sectional structural diagram of a stress relief device according to an embodiment of the present application;

[0034] Figure 3 It is a schematic cross-sectional structural diagram of the vibration isolation transmission assembly of an embodiment of the present application.

[0035] Description of reference numerals:

[0036] 1. Welding robot; 11. Welding head;

[0037] 2. Mounting cylinder; 21. Guide ring; 22. Vibration motor; 23. Elastic member;

[0038] 3. Vibrating column; 31. Receiving groove; 32. Guide rod; 33. Piston;

[0039] 4. Switching head; 41. Vibrating head; 411. Cooling channel; 42. Flame spray gun; 43. Ball head; 431. Spray hole;

[0040] 51. rotating shaft; 52. servo motor; 53. first transmission wheel; 54. second transmission wheel;

[0041] 61. Worm wheel; 62. Worm; 63. Sliding rod; 64. Moving sleeve;

[0042] 7. Web; 71. Weld. DETAILED DESCRIPTION

[0043] The technical solution of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0044] The present application embodiment discloses a bolster welding production line. Figure 1 and Figure 2 , which includes a welding robot 1, and the remaining components such as a transfer robot, a clamping tool, etc. are conventional technical means in this field or have been disclosed in the prior art, and will not be repeated here. A welding head 11 is installed on the mechanical arm of the welding robot 1, and a stress relief device is arranged on one side of the welding head 11. The stress relief device includes a mounting tube 2 arranged along the action direction of the welding head 11, and specifically, the mounting tube 2 is arranged parallel to the welding head 11. A vibration column 3 arranged along its length direction is slidably arranged in the mounting tube 2, and a vibration mechanism is arranged on the mounting tube 2 for driving the vibration column 3 to vibrate at a frequency close to the natural frequency of the web 7 to be welded. The vibration direction of the vibration column 3 is arranged along the axial direction of the mounting tube 2, wherein the vibration mechanism drives the vibration column 3 to vibrate at a frequency slightly greater than the natural frequency of the web 7 to be welded, which can avoid excessive vibration amplitude caused by resonance, and at the same time can still effectively transfer energy to the inside of the material, thereby eliminating residual stress.

[0045] A switching head 4 is rotatably mounted on one end of the vibration column 3 away from the mounting tube 2. The rotation axis of the switching head 4 is orthogonal to the length direction of the vibration column 3. A vibration head 41 and a flame spray gun 42 are mounted on the switching head 4. A cooling channel 411 connected to a cooling medium source is provided at one end of the vibration head 41 away from the switching head 4. The cooling medium can be cooling water or high-speed gas. In the present embodiment, the cooling channel 411 is connected to an air compressor. A driving mechanism is provided on the mounting tube 2 for driving the switching head 4 to flip until the vibration head 41 or the flame spray gun 42 is coaxial with the mounting tube 2.

[0046] Welding robots 1 are arranged on both sides of the welding point of the web 7 to be welded, and the two driving mechanisms in the two welding robots 1 are commonly connected to a first controller. The first controller is configured to control one of the driving mechanisms to drive the switching head 4 on it to flip so that the vibration head 41 on it is aligned with the weld 71 on one side, and control the other driving mechanism to drive the switching head 4 on it to flip so that the flame spray gun 42 on it is aligned with the weld 71 on the other side when performing welding stress elimination operations.

[0047] Moreover, a detection sensor for detecting the flipping state of the switching head 4 is arranged on the vibration column 3 or the mounting tube 2. The detection sensor can specifically be an angle sensor for detecting the flipping angle of the switching head 4, or it can be an in-position switch for detecting the spatial position of the vibration head 41 and the flame spray gun 42. In the present embodiment, the detection sensor is set as an angle sensor; the detection sensor and the vibration mechanism are connected with a second controller, and the second controller is configured to control the vibration mechanism to work when the detection sensor detects that the switching head 4 is flipped to the point where the vibration head 41 thereon is coaxial with the mounting tube 2.

[0048] In addition, the flame spray gun 42 is connected to an on-off switch, and the flame spray gun 42 can be automatically ignited and continuously spray flames by turning on the on-off switch. However, it should be noted that the heating temperature of the flame spray gun 42 shall not be higher than the melting temperature of the web 7 to be welded and the welding material; the vibration head 41 is connected to a hose connected to the cooling channel 411, and the hose is used to connect to the aforementioned air compressor, and can deliver high-speed airflow to the cooling channel 411. The hose is provided with a solenoid valve. The on-off switch and the solenoid valve are connected to a third controller, and the third controller is configured to control only one of the two to be in an on state;

[0049] And only when the flame spray gun 42 is aimed at the weld 71 on one side, the third controller controls the corresponding on-off switch to open; and only when the vibration head 41 is aimed at the weld 71 on the other side, the third controller controls the corresponding solenoid valve to open.

[0050] Therefore, when the welding of the web 7 is completed, welds 71 ​​are formed on both sides of the welding part of the web 7. When welding stress elimination operation is required, the two first controllers can respectively control the driving mechanism on one side to drive the switching head 4 on it to flip so that the vibration head 41 on it is aligned with the weld 71 on this side, and the driving mechanism on the other side drives the switching head 4 on it to flip so that the flame spray gun 42 on it is aligned with the weld 71 on this side. At this time, the vibration head 41 and the flame spray gun 42 on both sides are arranged opposite to each other, and the vibration head 41 is pressed against the weld 71 on the corresponding side by means of the movement of the welding robot 1, and then the welding robots 1 on both sides synchronously drive the vibration head 41 and the flame spray gun 42 on them to move at a uniform speed along the welds 71 ​​on both sides. At the same time, when the solenoid valve corresponding to the vibration head 41 and the opening and closing switch corresponding to the flame spray gun 42 are controlled by two third controllers to be started at the same time, the flame spray gun 42 heats the weld 71 on one side, and the cooling channel 411 of the vibration head 41 sprays a high-speed airflow to cool the weld 71 on the other side, so that a relatively obvious temperature difference is formed on both sides of the welding part of the web 7, and then one side of the welding part of the web 7 is subjected to tensile stress, while the other side is subjected to compressive stress. The effect of this stress can effectively eliminate or reduce the residual stress of the welding part of the web 7, and can greatly suppress the deformation of the web 7 after welding.

[0051] At the same time, when the vibration head 41 attached to the weld 71 on one side is flipped into place and pressed against the weld 71 on the corresponding side, the vibration head 41 is in a coaxial state with the mounting tube 2 and is detected by the detection sensor, and the second controller controls the vibration mechanism to work. When the vibration mechanism works, the vibration column 3 is driven to vibrate on the mounting tube 2 at a frequency close to the natural frequency of the web 7 to be welded, so that the vibration head 41 vibrates and hammers the weld 71 on this side. At this time, the welding part of the web 7 is more likely to resonate, and the vibration energy can be transmitted to the inside of the welding part of the web 7 through the vibration head 41, and the internal stress in the welding part of the web 7 can be effectively converted into plastic deformation, thereby eliminating the stress.

[0052] Thus, a relatively obvious temperature difference can be formed on the weld 71 on both sides of the web 7 weld, so that the residual stress inside the web 7 weld can be reduced, and at the same time, the vibration energy is transmitted to the web 7 weld with the help of the vibration head 41, which can help these residual stresses to be released faster, and the time of the whole stress relief process can be shortened, so as to improve the processing efficiency of the pillow beam; moreover, the temperature difference on both sides helps to evenly reduce the residual stress in the whole weld 71 area, and the vibration stress relief of the vibration head 41 can help these stresses to be more evenly distributed, reduce local stress concentration, improve the reliability of the weld 71 area, reduce the risk of cracks and fatigue failure during use, make the stress relief treatment quality of the web 7 weld higher, can more effectively reduce welding deformation, maintain the geometric shape and dimensional accuracy of the web 7 and other components, and ensure the processing quality of the pillow beam.

[0053] Specifically, since the vibration head 41 serves as both the output end of the cooling medium and the transmission end of the vibration, in order to ensure that the vibration head 41 can work stably, refer to Figure 1 and Figure 2 A ball head 43 is fixedly connected to one end of the vibration head 41 away from the switching head 4, and a spray hole 431 connected to the cooling channel 411 is provided on the side of the ball head 43 away from the vibration head 41. A transition surface is provided at the edge of the spray hole 431 of the ball head 43, and the transition surface is a chamfered surface or a rounded surface. The provision of the ball head 43 and the transition surface helps to reduce the resistance of the welding robot 1 when driving the vibration head 41 to be closely attached to the weld 71 and move along the weld 71, and can also reduce damage to the weld 71, and maintain the cooling effect of the high-speed airflow ejected from the spray hole 431 on the weld 71.

[0054] And, refer to Figure 1 and Figure 2 The vibration head 41 and the flame spray gun 42 are arranged on two opposite sides of the switching head 4. Specifically, the switching head 4 needs to be turned 180 degrees to realize the switching of the vibration head 41 and the flame spray gun 42, and the free end of the vibration column 3 is provided with a receiving groove 31 for receiving the vibration head 41 or the flame spray gun 42. In addition, the length of the vibration head 41 along the radial direction of the switching head 4 is greater than the length of the flame spray gun 42 along the radial direction of the switching head 4, and when the switching head 4 is turned over until the vibration head 41 turns out of the receiving groove 31 and is coaxial with the mounting tube 2, the head end of the vibration head 41 protrudes from the head end of the welding head 11.

[0055] In this way, by setting the vibration head 41 to be longer, when the welding robot 1 drives the welding head 11 to perform welding operations, the two driving mechanisms can respectively drive the two switching heads 4 to flip to the state where the vibration column 3 is stored in the corresponding storage groove 31, without interfering with the normal welding of the welding head 11; and when performing welding stress elimination operations, the vibration heads 41 and flame spray guns 42 on both sides are controlled to be arranged separately under the action of the first controller, so that the ball head 43 on the vibration head 41 can be as close to the weld 71 as possible to ensure the vibration effect.

[0056] At the same time, considering that the switching head 4 is installed at the free end of the vibration column 3, when it is driven to switch and rotate, it is necessary to ensure that the vibration energy of the vibration column 3 is not transmitted too much to the driving mechanism to reduce the damage to the power source, and to ensure that after the switching head 4 is switched to the flame spray gun 42 and stored in the storage groove 31, the vibration head 41 installed on the vibration column 3 following the switching head 4 can stably receive the vibration energy of the vibration column 3 and transmit it to the weld 71.

[0057] For this purpose, refer to Figure 2 and Figure 3 , further configured as follows: the driving mechanism comprises:

[0058] The rotating shaft 51 is rotatably mounted on the free end of the vibration column 3, and the switching head 4 is fixedly connected to the outer peripheral wall of the rotating shaft 51. Specifically, the rotating shaft 51 is rotatably mounted on two opposite groove walls of the receiving groove 31;

[0059] A servo motor 52 is mounted on the mounting cylinder 2;

[0060] The first transmission wheel 53 is coaxially fixed to the rotating shaft 51;

[0061] The second transmission wheel 54 is rotatably mounted on the outer wall of one end of the vibration column 3 close to the mounting tube 2. The second transmission wheel 54 is synchronously connected with the first transmission wheel 53. The transmission mode can be synchronous belt drive or chain drive. The corresponding first transmission wheel 53 and the second transmission wheel 54 are synchronous wheels or sprocket wheels.

[0062] The vibration isolation transmission assembly is used to transmit the rotational kinetic energy of the servo motor 52 to the second transmission wheel 54 , and to isolate the vibration of the second transmission wheel 54 from being transmitted to the servo motor 52 .

[0063] Among them, the vibration isolation transmission assembly includes:

[0064] The worm wheel 61 is coaxially fixed to the second transmission wheel 54;

[0065] The worm 62 is rotatably mounted on the vibration column 3 and meshingly connected with the worm 62;

[0066] The slide bar 63 is fixedly connected to the worm 62 and arranged along the length direction of the worm 62;

[0067] The synchronous sleeve 64 is sleeved outside the slide bar 63 and synchronously arranged with the slide bar 63. The synchronous sleeve 64 is coaxially fixed to the output end of the servo motor 52. In addition, the above-mentioned detection sensor can be an angle sensor arranged on the mounting tube 2 and used to detect the rotation angle of the synchronous sleeve 64. With the synchronous transmission effect of the vibration isolation transmission component, the rotation angle of the rotating shaft 51 and the switching head 4 can be calculated from the rotation angle of the synchronous sleeve 64 to achieve detection. In addition, when specifically arranged, the cross section of the slide bar 63 is non-circular, such as a regular polygon, an oval circle, etc., which can ensure that the slide bar 63 follows the vibration of the vibration column 3 and vibrates and slides in the synchronous sleeve 64, and can also stably drive the slide bar 63 and the worm 62 thereon to rotate when the servo motor 52 drives the synchronous sleeve 64 to rotate. In addition, in order to reduce the heat generation and wear of the slide bar 63 when the high-frequency sliding in the synchronous sleeve 64 occurs, lubricating oil can be applied to the inner wall of the synchronous sleeve 64.

[0068] In this way, when it is necessary to drive the switching head 4 to flip, the servo motor 52 located on the mounting cylinder 2 first drives the synchronous sleeve 64 to rotate. When the synchronous sleeve 64 rotates, it drives the sliding rod 63 located on the vibration column 3 to rotate. When the sliding rod 63 rotates, it further drives the worm 62 to rotate. When the worm 62 rotates, it drives the worm wheel 61 meshing with it to rotate. When the worm wheel 61 rotates, it drives the second transmission wheel 54 and the first transmission wheel 53 connected to it to rotate, thereby driving the rotating shaft 51 and the switching head 4 thereon. Rotate, when rotated 180 degrees, the vibration head 41 on the switching head 4 flips out of the storage slot 31 and is coaxial with the mounting tube 2, and at this time the vibration head 41 points to the weld 71 on one side; wherein, since the transmission of the worm 62 to the worm wheel 61 has reverse self-locking property, when the vibration head 41 is flipped into place, the high-frequency vibration of the vibration column 3 will not cause the position of the vibration head 41 on the vibration column 3 to shift or change, thereby ensuring that the vibration energy of the vibration column 3 is fully transmitted to the weld 71 to ensure the vibration stress relief effect.

[0069] When the vibration column 3 vibrates axially along the mounting tube 2 under the drive of the vibration mechanism, the worm gear 62 on the vibration column 3 drives the slide rod 63 to reciprocate axially along the mounting tube 2, so that the end of the slide rod 63 away from the switching head 4 reciprocates in the synchronous sleeve 64, which neither restricts the vibration movement of the vibration column 3 nor transmits excessive vibration energy to the servo motor 52 to cause damage to the servo motor 52.

[0070] In addition, in order to ensure the vibration driving effect of the vibration mechanism on the vibration column 3, refer to Figure 2 A guide ring 21 is fixedly connected to one end of the mounting cylinder 2 close to the switching head 4, a guide rod 32 with one end fixed to the vibration column 3 is passed through the guide ring 21, and a piston 33 slidably arranged in the mounting cylinder 2 is fixedly connected to one end of the guide rod 32 extending into the mounting cylinder 2, and the vibration mechanism is configured as a vibration motor 22 installed in the mounting cylinder 2, the eccentric wheel of the vibration motor 22 acts on the side of the piston 33 away from the slide rod 63, and an elastic member 23 sleeved on the outer periphery of the guide rod 32 is provided between the piston 33 and the guide ring 21.

[0071] In this way, when the vibration motor 22 is working, it drives the eccentric wheel thereon to rotate at high speed. When the long axis end of the eccentric wheel contacts with the piston 33, the piston 33 moves upward, the elastic member 23 is compressed and deformed, and the guide rod 32 drives the vibration column 3 to move upward; when the short axis end of the eccentric wheel contacts with the piston 33, the piston 33 moves downward under the deformation force of the elastic member 23, and the guide rod 32 drives the vibration column 3 to move downward; in this way, the stable vibration of the vibration column 3 on the mounting tube 2 can be achieved continuously.

[0072] The implementation principle of a bolster welding production line in the embodiment of the present application is as follows:

[0073] When welding stress elimination operation is required, the two first controllers can be used to control the driving mechanism on one side to drive the switching head 4 on it to flip so that the vibration head 41 on it is aligned with the weld 71 on that side, and the driving mechanism on the other side can drive the switching head 4 on it to flip so that the flame spray gun 42 on it is aligned with the weld 71 on that side. At this time, the vibration head 41 and the flame spray gun 42 on both sides are arranged opposite to each other, and the vibration head 41 is pressed against the weld 71 on its corresponding side by means of the movement of the welding robot 1. Then, the welding robots 1 on both sides synchronously drive the vibration heads 41 and the flame spray guns 42 on them to move at a uniform speed along the welds 71 ​​on both sides. At the same time, when the solenoid valve corresponding to the vibration head 41 and the opening and closing switch corresponding to the flame spray gun 42 are controlled by two third controllers to be started at the same time, the flame spray gun 42 heats the weld 71 on one side, and the cooling channel 411 of the vibration head 41 sprays a high-speed airflow to cool the weld 71 on the other side, so that a relatively obvious temperature difference is formed on both sides of the welding part of the web 7, and then one side of the welding part of the web 7 is subjected to tensile stress, while the other side is subjected to compressive stress. The effect of this stress can effectively eliminate or reduce the residual stress of the welding part of the web 7, and can greatly suppress the deformation of the web 7 after welding.

[0074] At the same time, when the vibration head 41 attached to the weld 71 on one side is flipped into place and pressed against the weld 71 on the corresponding side, the vibration head 41 is in a coaxial state with the mounting tube 2 and is detected by the detection sensor, and the second controller controls the vibration mechanism to work. When the vibration mechanism works, the vibration column 3 is driven to vibrate on the mounting tube 2 at a frequency close to the natural frequency of the web 7 to be welded, so that the vibration head 41 vibrates and hammers the weld 71 on this side. At this time, the welding part of the web 7 is more likely to resonate, and the vibration energy can be transmitted to the inside of the welding part of the web 7 through the vibration head 41, and the internal stress in the welding part of the web 7 can be effectively converted into plastic deformation, thereby eliminating the stress.

[0075] Therefore, by forming a relatively obvious temperature difference on the weld 71 on both sides of the web 7 welding part, the residual stress inside the web 7 welding part can be reduced, and at the same time, the vibration energy is transmitted to the web 7 welding part with the help of the vibration head 41, which can help these residual stresses to be released faster, and the time of the entire stress relief process can be shortened, and the processing efficiency of the pillow beam is improved; and the temperature difference on both sides helps to evenly reduce the residual stress in the entire weld 71 area, and the vibration stress relief of the vibration head 41 can help these stresses to be more evenly distributed, reduce local stress concentration, improve the reliability of the weld 71 area, and reduce the risk of cracks and fatigue failure during use, so that the quality of stress relief treatment of the web 7 welding part can be higher, which can more effectively reduce welding deformation, maintain the geometric shape and dimensional accuracy of the web 7 and other components, and ensure the processing quality of the pillow beam.

[0076] Unless otherwise defined, the technical terms or scientific terms used in this application should be understood by people with ordinary skills in the field to which this application belongs. The words "first", "second", "third" and similar words used in the specification and claims of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. "One" or "one" and similar words do not indicate a quantitative limit, but indicate that there is at least one. "Include" or "comprise" and similar words mean that the elements or objects appearing before "include" or "comprise" include the elements or objects listed after "include" or "comprise" and their equivalents, and do not exclude other elements or objects. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0077] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A bolster welding production line, comprising a welding robot (1), wherein a welding head (11) is installed on the mechanical arm of the welding robot (1), characterized in that: A mounting cylinder (2) is arranged along the action direction of the welding head (11) on one side, a vibration column (3) is slidably arranged in the mounting cylinder (2), and a vibration mechanism is arranged on the mounting cylinder (2) for driving the vibration column (3) to vibrate at a frequency close to the natural frequency of the web (7) to be welded; A switching head (4) is rotatably mounted on one end of the vibration column (3) away from the mounting tube (2); a vibration head (41) and a flame spray gun (42) are mounted on the switching head (4); a cooling channel (411) connected to a cooling medium source is provided on one end of the vibration head (41) away from the switching head (4); and a driving mechanism for driving the switching head (4) to flip over until the vibration head (41) or the flame spray gun (42) is coaxial with the mounting tube (2); The welding robots (1) are arranged on both sides of the welding position of the web (7) to be welded, and the two driving mechanisms of the two welding robots (1) are connected to a first controller in common, and the first controller is configured to control one of the driving mechanisms to drive the switching head (4) thereon to flip so that the vibration head (41) thereon is aligned with the weld seam (71) on one side, and control the other driving mechanism to drive the switching head (4) thereon to flip so that the flame spray gun (42) thereon is aligned with the weld seam (71) on the other side when performing a welding stress elimination operation; A detection sensor for detecting the flipping state of the switching head (4) is provided on the vibration column (3) or the mounting tube (2); the detection sensor and the vibration mechanism are connected to a second controller; the second controller is configured to control the vibration mechanism to operate when the detection sensor detects that the switching head (4) is flipped so that the vibration head (41) thereon is coaxial with the mounting tube (2).

2. The bolster welding production line according to claim 1, characterized in that: A ball head (43) is fixedly connected to one end of the vibration head (41) away from the switching head (4); a spray hole (431) communicating with the cooling channel (411) is provided on the side of the ball head (43) away from the vibration head (41); and a transition surface is provided on the edge of the spray hole (431).

3. The bolster welding production line according to claim 1, characterized in that: The vibration head (41) and the flame spray gun (42) are arranged on two opposite sides of the switching head (4), and a receiving groove (31) for receiving the vibration head (41) or the flame spray gun (42) is provided at the free end of the vibration column (3).

4. The bolster welding production line according to claim 3 is characterized in that: The radial length of the vibration head (41) along the switching head (4) is greater than the radial length of the flame spray gun (42) along the switching head (4), and when the switching head (4) is flipped over so that the vibration head (41) flips out of the receiving groove (31) and is coaxial with the mounting tube (2), the head end of the vibration head (41) protrudes from the head end of the welding head (11).

5. The bolster welding production line according to claim 1, characterized in that: The driving mechanism comprises: A rotating shaft (51) is rotatably mounted on the free end of the vibration column (3), and the switching head (4) is fixedly connected to the outer peripheral wall of the rotating shaft (51); A servo motor (52) is mounted on the mounting cylinder (2); A first transmission wheel (53) is coaxially fixed to the rotating shaft (51); A second transmission wheel (54) is rotatably mounted on an outer wall of one end of the vibration column (3) close to the mounting tube (2), and the second transmission wheel (54) is synchronously and synchronously connected with the first transmission wheel (53); The vibration isolation transmission component is used to transmit the rotational kinetic energy of the servo motor (52) to the second transmission wheel (54), and to isolate the vibration of the second transmission wheel (54) from being transmitted to the servo motor (52).

6. The bolster welding production line according to claim 5, characterized in that: The vibration isolation transmission assembly comprises: A worm wheel (61) is coaxially fixedly connected to the second transmission wheel (54); A worm (62) is rotatably mounted on the vibration column (3) and meshingly connected with the worm (62); A sliding rod (63) is fixedly connected to the worm (62) and arranged along the length direction of the worm (62); The synchronously moving sleeve (64) is sleeved outside the sliding rod (63) and synchronously moved with the sliding rod (63). The synchronously moving sleeve (64) is coaxially fixed to the output end of the servo motor (52).

7. The bolster welding production line according to claim 1, characterized in that: A guide ring (21) is fixedly connected to one end of the mounting tube (2) close to the switching head (4), a guide rod (32) is passed through the guide ring (21) and one end of the guide rod (32) is fixedly connected to a piston (33) slidably arranged in the mounting tube (2), and the vibration mechanism is configured as a vibration motor (22) installed in the mounting tube (2), an eccentric wheel of the vibration motor (22) acts on a side of the piston (33) away from the sliding rod (63), and an elastic member (23) sleeved on the outer periphery of the guide rod (32) is provided between the piston (33) and the guide ring (21).

8. The bolster assembly welding production line according to claim 1, characterized in that: The flame spray gun (42) is connected to an on-off switch, the vibration head (41) is connected to a hose communicating with the cooling channel (411), a solenoid valve is arranged on the hose, the on-off switch and the solenoid valve are connected to a third controller, and the third controller is configured to control only one of the two to be in an on state; Only when the flame spray gun (42) is aimed at the weld (71) on one side, the third controller controls the corresponding on / off switch to open; and only when the vibration head (41) is aimed at the weld (71) on the other side, the third controller controls the corresponding solenoid valve to open.

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