A welding robot for a magnetic levitation functional component and a welding preparation method

Abstract

The application relates to a welding robot for a magnetic suspension functional part, the magnetic suspension functional part comprising a soft magnetic steel plate, a sliding steel plate, a cast iron sleeve and anchor reinforcement, the welding robot comprising a working platform system, a positioning system and a welding system in structure, the soft magnetic steel plate and the sliding steel plate in the magnetic suspension functional part being placed on a working surface on one side of the working platform system, the positioning system vertically butting the soft magnetic steel plate and the sliding steel plate and temporarily positioning the cast iron sleeve and the anchor reinforcement respectively, the welding system being movably arranged on a slide rail on the other side of the working platform system, the welding system being welded for multiple times to vertically weld and fix the soft magnetic steel plate and the sliding steel plate together, vertically weld and fix the anchor reinforcement on the soft magnetic steel plate and vertically weld and fix the cast iron sleeve on the sliding steel plate; and the application also relates to a welding preparation method of the magnetic suspension functional part. The special welding robot is used for welding the magnetic suspension functional part, and has the advantages of high welding precision, good welding consistency and high welding efficiency.

Description

Technical Field

[0001] This invention relates to the field of welding, and in particular to a welding robot for magnetic levitation functional components and a welding preparation method thereof. Background Technology

[0002] The levitation and guidance of conventional high-speed maglev trains require the installation of specialized functional components on both sides of the track beam. The German technical solution involves factory fabrication of these maglev components, followed by installation on both sides of the track beam. This results in a significant amount of on-site installation work during construction. To simplify the process, we propose a technical solution that prefabricates the maglev functional components and the concrete track beam simultaneously, such as... Figure 1 As shown. The difficulty of this technical solution lies in welding together different materials such as soft magnetic steel plates, cast iron sleeves, ordinary steel plates, and threaded anchor bars. Simultaneously, the vertical error of each sleeve must be less than 0.1mm, and the quality of the welded magnetic levitation functional components must meet durability requirements. Comparison with Chinese patents CN101045979A, CN1238549C, and CN1329548C reveals that soft magnetic steel plates are a special material; even slight changes in their chemical composition, rolling cooling time, and cooling rate significantly affect welding performance. "In particular, research has found that high-Si alloy systems determine that the low-temperature toughness of soft magnetic structural steel plates cannot stably meet the safety requirements for use in cold regions below -30℃." Furthermore, "Cu easily forms crazing-like grain boundary cracks near the weld fusion line, causing component rework or even scrapping." Furthermore, Chinese patent CN113832410A invented a high-performance soft magnetic structural steel plate, which improves the on-site welding processability and adaptability of the steel plate, and further adapts the electromagnetic properties (magnetic induction intensity, resistivity), mechanical properties and weldability of the steel plate; it is particularly suitable for the manufacture of magnetic levitation track beams; it not only has high strength, excellent electromagnetic properties and low-temperature toughness, good weldability (no preheating required before welding, no stress relief treatment required after welding, can withstand large heat input welding, and has low welding heat-affected zone). It possesses excellent toughness, lower yield strength Rel≥300MPa, tensile strength Rm≥490MPa, elongation δ5≥27%, transverse impact energy of the base material at -20℃ KV2≥47J, impact energy of the weld heat-affected zone (55kJ / cm) at -20℃ KV2(J)≥47J, relative corrosion rate ≤60%, and also exhibits high magnetic induction intensity (B3≥0.50T, B50≥1.50T), high resistivity (≥0.35μΩm), and excellent antimagnetic aging resistance and atmospheric corrosion resistance. However, the aforementioned patent does not specify the welding conditions under which these parameters can be achieved.

[0003] In the field of welding automation, Chinese utility model patent 202022834571.9 discloses an automatic welding robot for large steel components. This robot uses an auxiliary fastening device to fix the large steel components, but suffers from poor driving performance due to its drive mechanism. However, it welds large steel components by moving the robot and placing them on its own top plate for welding, then removing them from the top plate after welding. This approach is unsuitable for welding specialized magnetic levitation components, especially for temporary positioning of these components, and it struggles to guarantee the consistency and high precision required for the connections between components. Therefore, we need to develop a dedicated welding robot for magnetic levitation components to meet the welding production requirements of these components. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a new welding robot and welding preparation method for magnetic levitation functional components. The welding robot of this invention is required to be capable of welding and preparing magnetic levitation functional components, achieving high welding precision, good welding consistency, and high welding production efficiency.

[0005] To achieve the above-mentioned objectives, the technical solution provided by this invention patent is as follows:

[0006] A welding robot for a magnetic levitation functional component includes a soft magnetic steel plate, a sliding steel plate, a cast iron sleeve, and anchor bars. The soft magnetic steel plate and the sliding steel plate are vertically welded and fixed together. Multiple anchor bars are vertically welded and fixed to the soft magnetic steel plate, and multiple cast iron sleeves are vertically welded and fixed to the sliding steel plate. The welding robot is characterized by its structure comprising a work platform system, a positioning system, and a welding system. The soft magnetic steel plate and the sliding steel plate are placed on one side of the work platform system. The positioning system vertically and tightly connects the soft magnetic steel plate and the sliding steel plate, and temporarily positions the cast iron sleeves and anchor bars at their respective installation positions on the sliding steel plate and the soft magnetic steel plate. The welding system is movably mounted on a slide rail on the other side of the work platform system. The welding system performs multiple welds to achieve: vertically welding and fixing the soft magnetic steel plate and the sliding steel plate together; vertically welding and fixing the anchor bars to the soft magnetic steel plate; and vertically welding and fixing the cast iron sleeves to the sliding steel plate.

[0007] In a welding robot for magnetic levitation functional components according to the present invention, the working platform system includes a working platform, which is a bench-shaped structure with an H-shape when viewed from the side. One side of the working platform is a working surface for placing the magnetic levitation functional components, and the other side is a longitudinal beam. The height of the longitudinal beam is greater than the height of the working surface. Slide rails are laid on the longitudinal beam. Adjustment bolts are provided at the bottom of the working platform. The overall stability and levelness of the working platform system are adjusted by adjusting the bolts.

[0008] In a welding robot for a magnetic levitation functional component according to the present invention, the positioning system includes a positioning plate, a sleeve positioning hinge plate and a positioning clamping plate. The positioning plate includes a positioning angle plate and a bottom steel plate. Multiple sleeve positioning hinge plates are flip-fixed on the top of the positioning angle plate. The positioning clamping plate is vertically fixed on the sleeve positioning hinge plate. A spring clamp is fixed at the free end of the positioning clamping plate. At least one threaded hole is also provided on the sleeve positioning hinge plate.

[0009] In a welding robot for a magnetic levitation functional component according to the present invention, as a further design, the positioning plate is composed of a positioning angle plate with an L-shaped cross section and a bottom steel plate. A part of the positioning angle plate and the bottom steel plate are laid parallel to each other on the working surface of the working platform. The edge of the positioning angle plate has a vertical apex angle. The upper edge of the positioning angle plate is provided with a plurality of hinge rods corresponding to the fixed position of the cast iron sleeve. The plurality of sleeve positioning hinge plates are flipped and fitted onto the hinge rods.

[0010] In a welding robot for a magnetic levitation functional component according to the present invention, as a further design, a positioning clamp is provided on one side of the middle part of the sleeve positioning hinge plate. The positioning clamp is vertically fixed to the sleeve positioning hinge plate. A rotatable spring clamp is provided on the free side of the positioning clamp. When in use, the spring clamp clamps one end of the anchor bar and brings the other end of the anchor bar close to the soft magnetic steel plate to achieve temporary fixation.

[0011] In a welding robot for a magnetic levitation functional component of the present invention, as a further design, two threaded holes are provided on the sleeve positioning hinge plate corresponding to the cast iron sleeve. A sleeve positioning bolt is provided in the threaded hole, and the sleeve positioning bolt connects to the cast iron sleeve to achieve temporary position determination.

[0012] In a welding robot for a magnetic levitation functional component according to the present invention, the welding system includes a universal welding head and a welding machine body. A movable joint is provided between the universal welding head and the welding machine body to enable the universal welding head to rotate 360°. A travel wheel is provided at the bottom of the welding machine body to movably arrange the entire welding system on the slide rail.

[0013] In a further design of a welding robot with a magnetic levitation functional component according to the present invention, the movable limb includes a movable joint that enables 180° rotation, a servo motor that enables 360° rotation, and two limb segments. The front limb segment is connected to the universal welding head through a movable joint. A servo motor is provided on the upper part of the front limb segment near the movable joint. The front limb segment is connected to the rear limb segment through a movable joint. A servo motor is provided on the upper part of the rear limb segment near the movable joint. The lower part of the rear limb segment is connected to the welding machine body through a movable joint.

[0014] In a further design of a welding robot for a magnetic levitation functional component of the present invention, a laser rangefinder for calibrating distance is provided at the front end of the universal welding head.

[0015] In a further design of a welding robot for a magnetic levitation functional component according to the present invention, a displacement sensor is provided at the bottom of the traveling wheel near the slide rail.

[0016] In a further design of a welding robot with a magnetic levitation functional component according to the present invention, a USB interface for inputting welding data and welding programs is provided on the welding machine body.

[0017] In a further design of a welding robot with a magnetic levitation functional component according to the present invention, the traveling wheel is fixed to the bottom of the welding machine body, and the traveling wheel is movably mounted on the slide rail.

[0018] This invention also relates to a welding preparation method for a magnetic levitation functional component. This method assembles and welds a soft magnetic steel plate, a sliding steel plate, cast iron sleeves, and anchor bars to prepare an integrated magnetic levitation functional component. The soft magnetic steel plate and the sliding steel plate are vertically welded together via edge bevels. Multiple anchor bars are vertically welded to the soft magnetic steel plate, and multiple cast iron sleeves are vertically welded to the sliding steel plate. The method includes the following steps:

[0019] The first step is to install the welding robot's work platform system, positioning system, and welding system into place, and prepare the components for the magnetic levitation functional parts, including soft magnetic steel plates, sliding steel plates, cast iron sleeves, and anchor bars.

[0020] The second step is to open and fold the sleeve positioning hinge plate on the positioning system to the side of the positioning corner plate away from the welding system, and then hoist and place the sliding steel plate on the working surface of the work platform system. The bottom of the sliding steel plate is respectively supported on the two bottom steel plates, and one side of the sliding steel plate is close to the positioning corner plate.

[0021] The third step is to vertically hoist the soft magnetic steel plate onto the work platform system and place it close to the positioning corner plate, and to place the soft magnetic steel plate and the sliding steel plate in the same direction with their edge bevels aligned.

[0022] The fourth step is to start the welding system and use the universal welding head to weld and fix the soft magnetic steel plate and the sliding steel plate into one piece according to the welding instructions.

[0023] Fifth step, flip the sleeve positioning hinge plate to the side of the positioning angle plate closer to the welding system, screw the sleeve positioning bolt into the threaded hole on the sleeve positioning hinge plate, and thread the upper part of the cast iron sleeve to the sleeve positioning bolt. At this time, the lower part of the cast iron sleeve is close to the predetermined installation position of the cast iron sleeve on the sliding steel plate. Start the welding system and use the universal welding head to weld and fix the cast iron sleeve to the sliding steel plate.

[0024] Step 6: Flip the spring clip on the positioning clamp to fix one end of the anchor bar with the spring clip, and place the other end of the anchor bar vertically against the soft magnetic steel plate. Start the welding system and use the universal welding head to weld and fix one end of the anchor bar to the soft magnetic steel plate.

[0025] Step 7: Repeat steps 5 and 6 to fix all the cast iron sleeves and anchor bars together with the sliding steel plate and soft magnetic steel plate respectively, thus completing the welding and preparation of the magnetic levitation functional components.

[0026] Based on the above technical solution, this invention patent has achieved the following technical effects compared with the prior art through practical application:

[0027] 1. This invention addresses the structural characteristics of magnetic levitation functional components by designing and manufacturing a welding robot and arranging specialized welding procedures. This ensures the quality and precision of the manufacturing of magnetic levitation functional components, reduces errors caused by manual operation, and greatly improves the welding quality and manufacturing efficiency.

[0028] 2. The welding robot of the present invention is designed with a working platform system, a positioning system, and a welding system. The working platform system supports the magnetic levitation functional component, the positioning system, and the welding system. The positioning system positions the soft magnetic steel plate and the sliding steel plate in the magnetic levitation functional component, and places the cast iron sleeve and the anchor bar in their original fixed positions. Then, the welding system is used to weld and fix each part separately, thereby forming an integrated magnetic levitation functional component, which greatly improves the welding quality, ensures the automatic welding of each weld seam and each weld point, guarantees the welding quality, and improves the assembly and preparation efficiency. Attached Figure Description

[0029] Figure 1 This is a schematic diagram showing the installation position of the maglev functional components on the concrete track beam.

[0030] Figure 2 This is a side view of the welding robot for a magnetic levitation functional component according to the present invention.

[0031] Figure 3This is a schematic diagram of the positioning system in a welding robot with a magnetic levitation functional component according to the present invention.

[0032] Figure 4 This is a three-dimensional structural schematic diagram of a welding robot for a magnetic levitation functional component according to the present invention.

[0033] Figure 5 This is a three-dimensional structural diagram of the welding system in a welding robot for a magnetic levitation functional component according to the present invention.

[0034] Among them, 1.1-positioning angle plate; 1.2-sleeve positioning hinge plate; 1.3-positioning clamp plate; 1.4-spring clamp; 1.5-sleeve positioning bolt; 2.1-universal welding head; 2.2-servo motor; 2.3-slide rail; 2.4-moving joint; 2.5-displacement sensor; 2.6-laser rangefinder; 2.7-USB transmission interface library; 3.1-work platform; 3.2-adjusting bolt; 4.1-soft magnetic steel plate; 4.2-sliding steel plate; 4.3-cast iron sleeve; 4.4-welding bevel; 4.5-anchor bar; 5-magnetic levitation beam body Detailed Implementation

[0035] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, further elaborates on the welding robot and welding preparation method of a novel magnetic levitation functional component of the present invention, in order to gain a clearer understanding of its structural composition and working process. However, this should not be construed as limiting the scope of protection of the present invention.

[0036] like Figure 3As shown, in the field of maglev transportation, the maglev functional component, as a part of the track beam, includes a soft magnetic steel plate 4.1, a sliding steel plate 4.2, a cast iron sleeve 4.3, and anchor bars 4.5. The soft magnetic steel plate 4.1 and the sliding steel plate 4.2 are vertically welded together. For ease of welding, an edge bevel is provided at the joint, and the two are welded together through the bevel welding point. Multiple anchor bars 4.5 are vertically welded to the soft magnetic steel plate 4.1, and multiple cast iron sleeves 4.3 are vertically welded to the sliding steel plate 4.2. This maglev functional component, as a part of the track beam 5, is installed on one side of the upper end of the track beam. Its anchor bars 4.5 are inserted into the concrete, and the cast iron sleeves 4.3 are also pre-placed on the concrete structure. The soft magnetic steel plate 4.1 is located on both sides, while the sliding steel plate 4.2 has stringent requirements, needing to be flat on the top of the track beam 5. The stringent requirements of the track beam 5 and its components in maglev transportation necessitate maintaining manufacturing precision and ensuring consistent positioning of all components during the manufacturing process, thereby maximizing production efficiency. Under these stringent requirements, developing a welding robot to guarantee manufacturing precision and efficiency has become a top priority. Addressing the requirements of new technologies and the challenges of welding soft magnetic steel plates 4.1, we have invented a maglev functional component welding robot. This robot precisely positions the components to be welded and then uses different welding temperatures to weld different materials and different parts.

[0037] This invention relates to a welding robot for magnetic levitation functional components, based on the aforementioned needs. The welding robot comprises a work platform system, a positioning system, and a welding system. The soft magnetic steel plate 4.1 and the sliding steel plate 4.2 of the magnetic levitation functional components are placed on one side of the work platform system. The positioning system vertically and tightly connects the soft magnetic steel plate 4.1 and the sliding steel plate 4.2, and temporarily positions the cast iron sleeve 4.3 and the anchor bar 4.5 at their respective installation positions on the sliding steel plate 4.2 and the soft magnetic steel plate 4.1. The welding system is movably mounted on a slide rail 2.3 on the other side of the work platform system. The welding system performs multiple welds to achieve: vertically welding and fixing the soft magnetic steel plate 4.1 and the sliding steel plate 4.2 together; vertically welding and fixing multiple anchor bars 4.5 to the soft magnetic steel plate 4.1; and vertically welding and fixing multiple cast iron sleeves 4.3 to predetermined positions on the sliding steel plate 4.2.

[0038] like Figure 2 and Figure 4As shown, the work platform system includes a work platform 3.1, which is a bench-like structure with an H-shape when viewed from the side. One side of the work platform 3.1 is a working surface for placing the magnetic levitation functional components, and the other side has a longitudinal beam. The longitudinal beam is positioned higher than the working surface, which facilitates the placement of a welding system for welding the magnetic levitation functional components. A slide rail 2.3 is laid on the longitudinal beam to allow the welding system to move along the beam. Adjusting bolts are also provided at the bottom of the work platform system to allow for overall positional adjustment and ensure stability of the working surface during operation. Adjusting bolts 3.2 are located at the bottom of each long and short support leg to adjust the overall stability and levelness of the work platform system. The work platform 3.1 is welded from structural steel, and the height of each support leg is finely adjusted using adjusting bolts 3.2 to ensure the work platform remains level.

[0039] like Figure 2 and Figure 3 As shown, the positioning system includes a positioning plate, a sleeve positioning hinge plate 1.2, and a positioning clamping plate 1.3. The positioning plate includes an L-shaped positioning angle plate 1.1 and a bottom steel plate. The positioning angle plate 1.1 is welded to the bottom steel plate at its apex to form a right angle, and a bevel welding point is provided at the welding position. Multiple sleeve positioning hinge plates 1.2 are flip-fixed to the top of the positioning angle plate 1.1. The positioning clamping plate 1.3 is vertically fixed to the sleeve positioning hinge plate 1.2. A spring clamp 1.4 is fixed to the free end of the positioning clamping plate 1.3. At least one threaded hole is also provided on the sleeve positioning hinge plate 1.2.

[0040] In the specific structural design, the positioning angle plate 1.1 has a vertical included angle. During fixing, the side of the soft magnetic steel plate 4.1 that contacts the sliding steel plate 4.2 is ground to form a welding bevel 4.4. The sliding steel plate 4.2 is placed flat on the working platform 3.1, and the soft magnetic steel plate 4.1 is placed upright on the working platform 3.1. The welding bevels 4.4 are aligned, and the universal welding head 2.1 welds the welding bevels 4.4, thereby aligning the sides of the soft magnetic steel plate 4.1 and the sliding steel plate 4.2 and fixing them vertically. The upper edge of the positioning angle plate 1.1 is provided with multiple hinge rods corresponding to the fixing positions of the cast iron sleeve 4.3. Multiple sleeve positioning hinge plates 1.2 can be flipped and fitted onto the hinge rods. After the sliding steel plate 4.2 is welded to the positioning angle plate 1.1, the surface is finely machined to ensure flatness and perpendicularity.

[0041] As a further design feature, a positioning clamp 1.3 is provided on one side of the middle portion of the sleeve positioning hinge plate 1.2. This positioning clamp 1.3 is vertically fixed to the sleeve positioning hinge plate 1.2. A rotatable spring clip 1.4 is provided on the free edge of the positioning clamp 1.3. When in use, the spring clip 1.4 clamps one end of the anchor bar 4.5 and temporarily fixes the other end of the anchor bar 4.5 close to the soft magnetic steel plate 4.1. Two threaded holes are provided on the sleeve positioning hinge plate 1.2 corresponding to the cast iron sleeve 4.3. Sleeve positioning bolts 1.5 are installed in these threaded holes, connecting the cast iron sleeve 4.3 to temporarily determine its position. The sleeve positioning hinge plate 1.2 is positioned according to the designed spacing of the cast iron sleeve 4.3, and one end is fixed to the positioning angle plate 1.1 by a hinge. Two threaded holes are opened on the hinge plate according to the designed position of the cast iron sleeve 4.3. After screwing in the sleeve positioning bolts 1.5 into the threaded holes, the cast iron sleeve 4.3 is positioned.

[0042] like Figure 2 , Figure 4 and Figure 5 As shown, in a welding robot with a magnetic levitation functional component according to the present invention, the welding system includes a universal welding head 2.1 and a welding machine body. A movable joint is provided between the universal welding head and the welding machine body to enable 360° rotation of the universal welding head 2.1. Traveling wheels are provided at the bottom of the welding machine body to movably arrange the entire welding system on the slide rail 2.3. The aforementioned traveling wheels are fixed to the bottom of the welding machine body and are movably engaged on the slide rail 2.3, allowing the welding system to move freely forward and backward.

[0043] The aforementioned movable joints include several movable joints 2.4 capable of 180° rotation, several servo motors 2.2 capable of 360° rotation, and two segmental limbs. The two segmental limbs are a front segmental limb and a rear segmental limb. The front segmental limb is connected to the universal welding head 2.1 via a movable joint 2.4. A servo motor 2.2 is located on the upper part of the front segmental limb near the movable joint 2.4. The front segmental limb is connected to the rear segmental limb via a movable joint 2.4. A servo motor 2.2 is located on the upper part of the rear segmental limb near the movable joint 2.4. The lower part of the rear segmental limb is connected to the welding machine body via a movable joint 2.4. The movable joints of the welding system achieve 360° rotation of the universal welding head 2.1 through the combination of three movable joints 2.4 and two servo motors 2.2.

[0044] A laser rangefinder 2.6 for calibrating distance is provided at the front end of the universal welding head. A displacement sensor 2.5 is provided at the bottom of the traveling wheel near the slide rail 2.3. A USB interface 2.7 for inputting welding data and welding programs is provided on the welding machine body.

[0045] The welding machine body houses a control system and programmable software, which are standard features in current welding machines and will not be elaborated upon here. The programmed welding sequence can be input into the control system via USB interface 2.7, enabling automated and controllable welding. This welding system can perform various welding methods, including spot welding, bevel welding, seam welding, and integral welding. Displacement sensors 2.5 collect positional data and input it into the control system, allowing for pre-controllable movement of the longitudinal beam's position and speed. A laser rangefinder 2.6 measures the distance between the universal welding head and the welding position, ensuring controllability of the welding process. Alternatively, a camera can be added to acquire video data for further control of the welding process and program. The welding system also employs different currents depending on the material being welded. The programmable software and input control codes calculate the spatial coordinates and welding time for different welding points. Displacement control guides the welding robot's movement and enables the rotation of the universal welding head and welding operations.

[0046] This invention also relates to a welding preparation method for a magnetic levitation functional component. This method assembles and welds a soft magnetic steel plate, a sliding steel plate, cast iron sleeves, and anchor bars to prepare an integrated magnetic levitation functional component. The soft magnetic steel plate and the sliding steel plate are vertically welded together via edge bevels. Multiple anchor bars are vertically welded and fixed to the soft magnetic steel plate, and multiple cast iron sleeves are vertically welded and fixed to the sliding steel plate. The method includes the following steps:

[0047] The first step is to assemble the welding robot, install the work platform system, positioning system and welding system in place, and prepare the components for the magnetic levitation functional parts, including the soft magnetic steel plate 4.1, sliding steel plate 4.2, cast iron sleeve 4.3 and anchor bar 4.5.

[0048] The second step is to open and fold the sleeve positioning hinge plate 1.2 on the positioning system to the side of the positioning angle plate 1.1 away from the welding system, and then hoist and place the sliding steel plate 4.2 on the working surface of the work platform system. The bottom of the sliding steel plate 4.2 is respectively supported on the two bottom steel plates, and one side of the sliding steel plate 4.2 is close to the bottom of the positioning angle plate 1.1.

[0049] The third step is to vertically hoist the soft magnetic steel plate 4.1 onto the work platform system and place it close to the positioning corner plate 1.1, so that the soft magnetic steel plate 4.1 and the sliding steel plate 4.2 are placed in the same direction and the welding bevels 4.4 of the edges are aligned.

[0050] The fourth step is to start the welding system and use the universal welding head 2.1 to weld and fix the soft magnetic steel plate 4.1 and the sliding steel plate 4.2 into one piece according to the welding instructions;

[0051] Fifth step, flip the sleeve positioning hinge plate 1.2 to the side of the positioning angle plate 1.1 closest to the welding system, and screw the sleeve positioning bolt 1.5 into the threaded hole on the sleeve positioning hinge plate 1.2, and thread the upper part of the cast iron sleeve 4.3 to the sleeve positioning bolt 1.5. At this time, the lower part of the cast iron sleeve 1.5 is close to the predetermined installation position of the cast iron sleeve on the sliding steel plate 4.2. Start the welding system and use the universal welding head 2.1 to weld and fix the cast iron sleeve 4.3 to the sliding steel plate 4.2, thus completing the fixing of the cast iron sleeve 4.3 at one position.

[0052] Step 6: Flip the spring clip 1.4 on the positioning clamp 1.3 so that it faces the soft magnetic steel plate 4.1, fix one end of the anchor bar 4.5 with the spring clip 1.4, and the other end of the anchor bar 1.4 is perpendicular to the soft magnetic steel plate 4.1. Start the welding system and use the universal welding head 2.1 to weld and fix one end of the anchor bar 4.5 to the soft magnetic steel plate 4.1.

[0053] Step 7: Repeat steps 5 and 6, using the sleeve positioning hinges 1.2 at different positions to fix all the cast iron sleeves 4.3 and anchor bars 4.5 together with the sliding steel plate 4.2 and the soft magnetic steel plate 4.1 respectively, thus completing the welding preparation of the magnetic levitation functional components.

[0054] During the welding process of the aforementioned magnetic levitation functional components, after aligning the welding bevels 4.4 of the soft magnetic steel plate 4.1 and the sliding steel plate 4.2, the universal welding head 2.1 receives the command to begin welding, vertically welding and fixing the soft magnetic steel plate 4.1 and the sliding steel plate 4.2 after aligning their sides. The sleeve positioning bolt 1.5 is screwed into the threaded hole of the sleeve positioning hinge plate 1.2, and the cast iron sleeve 4.3 is manually installed. A start welding command is input to the controller, and the universal welding head 2.1 begins welding the cast iron sleeve 4.3, welding and fixing it to the sliding steel plate 4.2 through the welding bevel 4.4 at the mating position. The anchor bar 4.5 is manually placed into the spring clip 1.4, and a start welding command is input to the controller. The universal welding head 2.1 begins welding the anchor bar 4.5, finding the welding point through the welding bevel 4.4 at the mating position, thereby welding and fixing the spring clip 1.4 to the soft magnetic steel plate 4.1. This process is repeated until the welding of the maglev functional components is completed.

[0055] Undoubtedly, the welding robot and welding preparation method for magnetic levitation functional components of this invention, in addition to the above-described structure and welding process, also includes other structural substitutions and process alternatives that are feasible to those skilled in the art to achieve the same inventive objective. In summary, the scope of protection of this invention also includes other modifications and substitutions that are obvious to those skilled in the art.

Claims

1. A welding robot for a magnetic levitation functional component, the magnetic levitation functional component comprising a soft magnetic steel plate, a sliding steel plate, cast iron sleeves, and anchor bars, wherein the soft magnetic steel plate is perpendicularly welded and fixed to the sliding steel plate, a plurality of anchor bars are perpendicularly welded and fixed to the soft magnetic steel plate, and a plurality of cast iron sleeves are perpendicularly welded and fixed to the sliding steel plate, characterized in that, The welding robot structure comprises a work platform system, a positioning system, and a welding system. The soft magnetic steel plate and sliding steel plate of the magnetic levitation functional component are placed on one side of the work platform system. The positioning system vertically and tightly connects the soft magnetic steel plate and the sliding steel plate, and temporarily positions the cast iron sleeve and anchor bar at their respective installation positions on the sliding steel plate and the soft magnetic steel plate. The welding system is movably mounted on a slide rail on the other side of the work platform system. The welding system includes a universal welding head and a welding machine body. The welding system performs multiple welds to achieve the following: the soft magnetic steel plate and the sliding steel plate... The steel plates are vertically welded together, the anchor bars are vertically welded to the soft magnetic steel plate, and the cast iron sleeve is vertically welded to the sliding steel plate. The positioning system includes a positioning plate, a sleeve positioning hinge plate, and a positioning clamping plate. The positioning plate includes an L-shaped positioning angle plate and a bottom steel plate. Multiple sleeve positioning hinge plates are flip-fixed to the top of the positioning angle plate. The positioning clamping plate is vertically fixed to the sleeve positioning hinge plate. A spring clip is fixed to the free end of the positioning clamping plate. The sleeve positioning hinge plate is also provided with at least one threaded hole for connecting the cast iron sleeve, and a sleeve positioning bolt is provided in the threaded hole.

2. The welding robot for a magnetic levitation functional component according to claim 1, characterized in that, The work platform system includes a work platform, which is a bench-shaped structure with an H-shape when viewed from the side. One side of the work platform is a magnetic levitation functional component assembly work surface, and the other side is provided with a longitudinal beam. The height of the longitudinal beam is greater than the height of the work surface. Slide rails are laid on the longitudinal beam, and adjusting bolts are also provided at the bottom of the work platform system.

3. The welding robot for a magnetic levitation functional component according to claim 1, characterized in that, The bottom steel plate is laid parallel to the working surface of the work platform. The upper edge of the positioning angle plate is provided with multiple hinge rods corresponding to the fixed position of the cast iron sleeve. Multiple sleeve positioning hinge plates are flipped and fitted onto the hinge rods.

4. The welding robot for a magnetic levitation functional component according to claim 1, characterized in that, A positioning clamp is provided on one side of the middle part of the sleeve positioning hinge plate. The positioning clamp is vertically fixed to the sleeve positioning hinge plate. A rotatable spring clamp is provided on the free side of the positioning clamp. When in use, the spring clamp clamps one end of the anchor bar and brings the other end of the anchor bar close to the soft magnetic steel plate to achieve temporary fixation.

5. The welding robot for a magnetic levitation functional component according to claim 1, characterized in that, The sleeve positioning hinge plate has two threaded holes corresponding to the cast iron sleeve. The sleeve positioning bolts in the threaded holes connect to the cast iron sleeve to achieve temporary position determination.

6. The welding robot for a magnetic levitation functional component according to claim 2, characterized in that, A movable joint is provided between the universal welding head and the welding machine body to enable the universal welding head to rotate 360°. Traveling wheels are provided at the bottom of the welding machine body to allow the welding system to be movably arranged on the slide rail.

7. A welding robot for magnetic levitation functional components according to claim 6, characterized in that, The movable segment includes a movable joint that enables 180° rotation, a servo motor that enables 360° rotation, and two segments. The front segment is connected to the universal welding head via a movable joint. A servo motor is located on the upper part of the front segment near the movable joint. The front segment is connected to the rear segment via a movable joint. A servo motor is located on the upper part of the rear segment near the movable joint. The lower part of the rear segment is connected to the welding machine body via a movable joint.

8. A welding robot for a magnetic levitation functional component according to claim 6, characterized in that, A laser rangefinder for calibrating distance is provided at the front end of the universal welding head.

9. A welding robot for a magnetic levitation functional component according to claim 6, characterized in that, A displacement sensor is installed at the bottom of the traveling wheel near the slide rail.

10. A welding robot for a magnetic levitation functional component according to claim 6, characterized in that, The welding machine body is equipped with a USB interface for inputting welding data and welding programs.

11. A welding robot for a magnetic levitation functional component according to claim 6, characterized in that, The traveling wheel is fixed to the bottom of the welding machine body, and the traveling wheel is movably mounted on the slide rail.

12. A method for welding and manufacturing a magnetic levitation functional component, wherein the manufacturing method is performed using the welding robot described in any one of claims 1-11, characterized in that, The method includes the following steps: The first step is to install the welding robot's work platform system, positioning system, and welding system into place, and prepare the components for the magnetic levitation functional parts, including soft magnetic steel plates, sliding steel plates, cast iron sleeves, and anchor bars. The second step is to open and fold the sleeve positioning hinge plate on the positioning system to the side of the positioning corner plate away from the welding system, and then hoist and place the sliding steel plate on the working surface of the work platform system. The bottom of the sliding steel plate is respectively supported on the two bottom steel plates, and one side of the sliding steel plate is close to the positioning corner plate. The third step is to vertically hoist the soft magnetic steel plate onto the work platform system and place it close to the positioning corner plate, and to place the soft magnetic steel plate and the sliding steel plate in the same direction with their edge bevels aligned. The fourth step is to start the welding system and use the universal welding head to weld and fix the soft magnetic steel plate and the sliding steel plate into one piece according to the welding instructions. Fifth step, flip the sleeve positioning hinge plate to the side of the positioning angle plate closer to the welding system, screw the sleeve positioning bolt into the threaded hole on the sleeve positioning hinge plate, and thread the upper part of the cast iron sleeve to the sleeve positioning bolt. At this time, the lower part of the cast iron sleeve is close to the predetermined installation position of the cast iron sleeve on the sliding steel plate. Start the welding system and use the universal welding head to weld and fix the cast iron sleeve to the sliding steel plate. Step 6: Flip the spring clip on the positioning clamp to fix one end of the anchor bar with the spring clip, and place the other end of the anchor bar vertically against the soft magnetic steel plate. Start the welding system and use the universal welding head to weld and fix one end of the anchor bar to the soft magnetic steel plate. Step 7: Repeat steps 5 and 6 to fix all the cast iron sleeves and anchor bars together with the sliding steel plate and soft magnetic steel plate respectively, thus completing the welding and preparation of the magnetic levitation functional components.

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