A multi-dimensional magnetic stirring surfacing device and process method based on a tripod parallel mechanism

Abstract

The present invention relates to the technical field of welding equipment, and particularly to a multi-dimensional magnetic stirring surfacing equipment and process method based on a three-legged parallel mechanism. One end of the workpiece to be welded is clamped by a multi-jaw chuck, and the other end of the workpiece to be welded is abutted by a top head; a three-degree-of-freedom welding torch pose adjustment system is installed on a movable welding machine walking bracket to realize the three-direction position movement adjustment of the welding torch head in the x, y, and z directions, and a probe is fixedly connected to the welding torch head; the magnetic stirring head of the magnetic stirring system is fixedly connected to the z-direction sliding guide rail of the three-degree-of-freedom welding torch pose adjustment system, and realizes multi-angle swinging and rotation through a three-legged parallel mechanism. Through the multi-dimensional electromagnetic stirring effect, the surfacing structure is refined and the surfacing quality is improved; the surplus flux recovery and recycling system recovers the flux and transports it to the flux hopper to realize full-automatic feeding and flux recycling. Moreover, the welding process is detected, defect early warning is carried out, the generation probability of welding defects is effectively reduced, and the welding cost and scrap rate are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of welding equipment, and in particular to a multi-dimensional magnetic stirring surfacing welding device and a process method based on a three-legged parallel mechanism. Background Art

[0002] With the rapid development of modern science and technology, cladding technology, as an economical and rapid process for material surface modification, has been widely used in the surface repair of metal parts and industrial products, among which cladding of circular rollers is a very important part. Welding is performed to increase or restore the size of parts, or to obtain special cladding metal on the weld surface. During cladding, the welding material and the surface of the parent material are melted to form a metallurgically bonded cladding layer. It has high bonding strength and good impact resistance, and is suitable for high stress, high variable load, high stress abrasive wear, and cutting wear conditions. The composition and properties of the weld layer are adjustable, and a multifunctional coating can be easily formed. The thickness of the cladding layer can reach 2 to 30 mm, and the cladding efficiency is relatively high.

[0003] In industrial production, cladding rollers are generally large in size, the cost of the base material is relatively high, and the cladding process requires a long cycle. Microscopic welding defects such as pores, cracks, slag inclusions and nodules are prone to occur during the cladding process, resulting in the overall scrapping of the workpiece and huge economic losses. In particular, the descaling rollers on the finishing and roughing lines of the iron and steel metallurgical industry are in harsh service conditions. They are subjected to long-term high-pressure water erosion, dynamic impact caused by the high-temperature steel billet descaling process, high temperature, strong wear, and multi-cycle heat, force, and flow field coupling. Wear and corrosion failures often occur, affecting the continuous production of steel rolling, and require surface strengthening or repair treatment. To strengthen the surface of descaling rollers serving under harsh conditions, it is necessary to enhance their wear resistance and corrosion resistance. Cladding with flux-cored wire containing WC hard phase is an important method.

[0004] Existing hardfacing welding equipment has the following shortcomings: During the hardfacing process, the complex multi-faceted interaction mechanism during the melting and solidification of flux-cored wire containing a WC hard phase easily forms defects such as slag inclusions, pores, and cracks, resulting in high weld rejection rates. Welding defects cannot be detected promptly during the welding process, providing no early warning, which in turn affects yield and increases costs. Furthermore, current hardfacing equipment lacks effective flux recovery and recycling, leading to high welding costs.

[0005] The patent application No. CN 201820983973.5 discloses "a surfacing workstation and a roll automatic surfacing repair system", which includes a robotic welding device for surfacing and repairing rolls, a two-station rotary tooling table for work position conversion, and a bracket device for loading and unloading rolls. It belongs to the category of conventional surfacing. Only the structural improvement of the surfacing equipment is carried out, but there is no report on the flux addition process, and the effective screening and recycling of the remaining flux cannot be achieved. In particular, the multi-dimensional magnetic stirring effect on the submerged arc surfacing molten pool is lacking, and micro-defects such as cracks, pores, and slag inclusions in the surfacing cannot be effectively reduced. At the same time, the welding defects cannot be effectively detected and warned during the process. The surfacing equipment disclosed in CN 200910077091.8 can perform corrosion-resistant surfacing on the inner wall of a 90-degree elbow in a high-temperature, high-pressure, and corrosive medium pressure vessel. However, submerged arc surfacing is not mentioned in the full text, which is essentially different from the submerged arc surfacing invention proposed in this article. Moreover, the recycling and reuse of the remaining flux are not mentioned, and no electromagnetic disturbance is applied during surfacing, so micro-defects such as cracks cannot be effectively suppressed. CN 201410617509.0 discloses "a method for submerged arc surfacing forming of metal components", which provides a surfacing forming method. It is impossible to avoid the generation of welding defects during the submerged arc surfacing process, and the method for recycling the remaining flux is not mentioned. The applicable conditions of the equipment are fixed, and it is impossible to perform surfacing operations on long roller products. Without the assistance of a multi-dimensional magnetic stirring device, it is impossible to detect and reduce or eliminate welding micro-defects during the process. Summary of the Invention

[0006] In order to overcome the deficiencies of the prior art, the present invention provides a multi-dimensional magnetic stirring surfacing equipment and process method based on a three-legged parallel mechanism. It can achieve multi-dimensional magnetic field stirring surfacing, welding process detection, defect warning, screening and recycling of the remaining flux and automatic recycling for roller products with different lengths and diameters, effectively reduce the generation probability of welding defects, improve the quality of the surfacing layer, reduce the welding cost and scrap rate, and improve economic benefits.

[0007] To achieve the above object, the present invention adopts the following technical solutions:

[0008] A multi-dimensional magnetic stirring surfacing equipment based on a three-legged parallel mechanism includes a magnetic stirring system, a remaining flux recycling and reuse system, a three-degree-of-freedom welding torch pose adjustment system, a movable welding machine walking bracket, a multi-jaw chuck, a top head and a probe; the multi-jaw chuck clamps one end of the workpiece to be welded, and the top head presses against the other end of the workpiece to be welded; the three-degree-of-freedom welding torch pose adjustment system is installed on the movable welding machine walking bracket to realize the x 、 y 、 z three-way position movement adjustment, and the probe is fixedly connected to the welding torch head; the magnetic stirring head of the magnetic stirring system is fixedly connected to the zPlace it on the longitudinal sliding guide so that the welding torch head is positioned in the middle of the two magnetic pole heads of the magnetic stirring system. Through the multi-angle swing and rotation of the three-leg parallel mechanism, randomly adjust the spatial position of the magnetic pole head. At the same time, periodically change the direction of the current in the iron core coil to generate a multi-dimensional magnetic field stirring effect on the formed submerged arc surfacing molten pool. Through the multi-dimensional electromagnetic stirring effect, refine the surfacing structure and improve the surfacing quality; the surplus flux recycling system recycles the flux and transports it to the flux hopper. The surplus flux after welding is collected into a sieve through the surplus flux collection funnel, and the surplus flux is screened by driving the offset crank to rotate through belt transmission. Realize full-automatic feeding and flux recycling.

[0009] Further, the magnetic stirring system is composed of two groups of magnetic stirring heads arranged side by side. The submerged arc molten pool is placed in the middle position of the two groups of magnetic stirring heads. The magnetic stirring heads are symmetrically hung on z the longitudinal sliding guide and are respectively driven by motors to be able to move their own positions.

[0010] Each single-sided magnetic stirring head is driven by a rotating motor to realize the movement of the three-leg parallel mechanism, thereby driving the coil-wound iron core fixedly supported by it to swing in multiple dimensions. The real-time positions of the two-sided stirring heads correspond to form a complete magnetic field circuit, generating a Lorentz force on the metal positive ions in the submerged arc surfacing molten pool.

[0011] Further, as the stirring head swings at multiple angles, the direction of the Lorentz force is further changed to apply the stirring effect; at the same time, the direction of current transmission in the iron core coil is periodically adjusted to apply the stirring effect from another dimension.

[0012] The entire magnetic stirring system moves up and down with the welding torch, and each single-sided stirring head randomly adjusts its own position to meet the surfacing process requirements of rollers with different diameters; the magnetic field strength is changed by adjusting the current to meet the processing requirements.

[0013] Further, the surplus flux recycling system includes a flux recycling vibrating separator and a flux recycling conveyor system. A surplus flux collection funnel is arranged under the workpiece to be welded to collect the flux dropped during the first processing into the flux recycling vibrating separator. The screening drive motor drives the belt transmission. The belt drives the eccentric wheel to rotate through the rotating shaft. The eccentric wheel is connected to the sieve body through a connecting rod to form an offset crank-slider mechanism to realize periodic screening; there are sieve body rolling wheels at the bottom of the sieve body, and the sieve body rolling wheels move along the walking track.

[0014] Furthermore, the screen body of the flux recovery vibrating separation screen is arranged in two layers, upper and lower. The welding slag and waste enter the welding slag collecting trough from the upper screen body, and the recyclable flux falls on the lower screen plate and finally falls onto the flux recovery lower conveyor belt, and the flux is transported to the loading trolley. When the fallen flux reaches the set amount, the gravity sensor gives a signal to the winch motor, and the winch motor drives the loading trolley to move upward. After reaching the designated position, the front wheel of the trolley stops at the limit, and the tilting action is realized under the drive of the winch motor, and the recycled recyclable flux is dumped onto the feeding conveyor belt; the winch motor reverses, the trolley returns to its position, and the feeding conveyor belt transports the recovered flux to the flux hopper, realizing fully automatic loading and flux recycling.

[0015] Furthermore, the three-degree-of-freedom welding gun posture adjustment system is placed on the top of the movable welding machine walking bracket, and the three-degree-of-freedom welding gun posture adjustment system realizes the welding gun head x 、 y 、 z Three-way position adjustment; through the welding gun x To adjust the system to drive the motor to drive the welding gun x Adjust the drive gear to the welding gun x Adjust the rack to achieve x Move in a straight line through the welding gun y To adjust the system, the motor drives the lead screw to achieve y Slide in a straight line through the welding gun z To adjust the system, the motor drives the lead screw to achieve z Slide in a straight line.

[0016] Furthermore, the three-degree-of-freedom welding gun posture adjustment system is provided with a welding gun y Towards, z Towards the movable frame; 4 wire feeding rollers are evenly distributed on the welding gun in upper and lower rows z The wire feeding roller drives the motor to rotate the wire feeding roller to clamp the flux cored wire for feeding. The flux funnel is fixed to the welding gun. y On the movable frame, the bottom of the funnel is connected to the lower welding gun head through a flux delivery hose to realize the submerged arc cladding process.

[0017] Furthermore, the movable welding machine walking bracket includes two side-by-side portal frames, the tops of the two side-by-side portal frames are fixedly connected by a top crossbeam, and four welding machine walking bracket anchor rollers are provided at the bottoms of the two side-by-side portal frames, and the welding machine walking bracket anchor rollers are placed on the welding machine walking rails.

[0018] Furthermore, the multi-jaw chuck adopts a three-jaw chuck, the plug is a movable tailstock plug, and the plug is movable; the probe adopts a phased array scanning probe.

[0019] A process based on a three-legged parallel mechanism multi-dimensional magnetic stirring surfacing welding device, specifically comprising:

[0020] 1) During the surfacing process, the multi-dimensional electromagnetic stirring effect is added to refine the surfacing structure, effectively reduce the defects in the welding process, and optimize the surfacing process; especially, it has good applicability to the welding process of surfacing WC cemented carbide wire for descaling rolls in the iron and steel metallurgy industry;

[0021] 2) The welding torch head is fixedly connected with a phased array scanning probe to perform real-time defect detection during the surfacing bead process to ensure the surfacing quality.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0023] (1) In the present invention, magnetic field disturbance assistance is added during the surfacing process to optimize the surfacing process, effectively reduce the generation of cracks during the surfacing process, and improve production efficiency.

[0024] During the surfacing process, welding micro-defects such as pores, cracks, slag inclusions, and nodules are likely to occur, resulting in the scrapping of the entire workpiece and huge economic losses. Especially, the service conditions of descaling rolls are harsh, and the surfacing of flux-cored wire containing WC hard phase is an important method for surface strengthening. However, the multi-element interface action mechanism in the surfacing of flux-cored wire containing WC hard phase is extremely complex, and defects such as slag inclusions, pores, and cracks are easily formed, resulting in a high welding rejection rate. Applying multi-dimensional magnetic stirring can effectively refine the welding structure, discharge bubbles, reduce welding micro-defects, and improve the surfacing quality.

[0025] (2) The three-degree-of-freedom welding torch pose adjustment system of the present invention can achieve x , y , z three-way movement. At the same time, the walking support of the welding system can walk through the floor rollers to flexibly adapt to the surfacing operations of rolls with different lengths and diameters, increasing the working scope of application.

[0026] (3) The phased array scanning probe of the present invention can timely detect and warn of defects in the welding process, which will greatly improve the finished product rate and save costs. At the same time, a large amount of surplus flux falls off during the surfacing, which is doped with welding slag and burned flux, and can be recycled through screening, effectively saving production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a three-dimensional structure schematic diagram of the present invention;

[0028] Figure 2 is a front view of the structure schematic diagram of the present invention;

[0029] Figure 3 is a three-dimensional structure schematic diagram of another angle of the present invention;

[0030] Figure 4Schematic three-dimensional structure diagram of the three-degree-of-freedom torch pose adjustment system of the present invention;

[0031] Figure 5 Schematic three-dimensional structure diagram of the magnetic stirring system of the present invention;

[0032] Figure 6 Schematic three-dimensional structure diagram of the flux recovery vibrating separator of the present invention;

[0033] Figure 7 Schematic three-dimensional structure diagram of the flux recovery vibrating separator from another angle of the present invention;

[0034] Figure 8 Schematic three-dimensional structure diagram of the drive part of the flux recovery vibrating separator of the present invention;

[0035] Figure 9 Schematic three-dimensional structure diagram of the magnetic stirring head of the present invention;

[0036] Figure 10 Schematic three-dimensional structure diagram of the magnetic stirring head from another angle of the present invention;

[0037] Figure 11 PLC ladder diagram of the present invention.

[0038] In the figure: 1 - electrical control cabinet, 2 - main shaft motor, 3 - welding machine tool, 4 - three-jaw chuck, 5 - flux hopper, 6 - drive motor of the upper conveyor belt for flux recovery, 7 - upper conveyor belt for flux recovery, 8 - welding machine walking support, 9 - support frame for the loading trolley, 10 - winch, 11 - winch motor, 12 - steel wire rope, 13 - loading trolley, 14 - gravity sensor, 15 - loading trolley slide rail, 16 - lower conveyor belt for flux recovery, 17 - drive motor of the lower conveyor belt for flux recovery, 18 - motor of the welding machine walking support, 19 - flux recovery vibrating separator, 20 - upper conveyor belt support, 21 - floor rollers of the welding machine walking support, 22 - welding machine walking slide rail, 23 - roller to be welded, 24 - welding slag collection tank, 25 - movable tailstock head, 26 - welding torch x Adjustment system, 27 - welding torch x Drive motor of the adjustment system, 28 - welding torch x Walking track, 29 - welding torch y Moving frame, 30 - welding torch y Drive motor of the adjustment system, 31 - hanging bracket for the magnetic stirring head, 32 - magnetic stirring head, 33 - welding torch head, 34 - wire feeding tube, 35 - self-adjustment motor of the magnetic stirring head, 36 - welding torch z Drive motor of the adjustment system, 37 - flux delivery hose, 38 - wire fixing sleeve, 39 - flux-cored wire, 40 - drive motor of the wire feeding roller, 41 - wire feeding roller, 42 - welding torch zMoving frame, 43 - Phased array scanning probe, 44 - Separation sieve drive pulley, 45 - Separation sieve drive main shaft, 46 - Upper sieve body, 47 - Lower sieve plate, 48 - Sieve body rolling wheel, 49 - Separation sieve support track, 50 - Screening drive motor, 51 - Connecting rod, 52 - Eccentric wheel, 53 - Belt, 54 - Hanging bracket for magnetic stirring head, 55 - Fixed arm of magnetic stirring head motor, 56 - J-shaped rotating arm of parallel mechanism, 57 - Driving motor of J-shaped rotating arm, 58 - U-shaped swing arm of parallel mechanism, 59 - Electromagnetic coil of magnetic stirring head, 60 - Electromagnet core of magnetic stirring head, 61 - Active U-shaped rotating arm of parallel mechanism, 62 - Driving motor of active U-shaped rotating arm, 63 - Surplus flux collection funnel, 64 - Welding torch x Adjusting drive gear for direction, 65 - Welding torch x Adjusting rack for direction. Specific implementation manner

[0039] The following further describes the specific implementation manner of the present invention, but it is not used to limit the scope of the present invention:

[0040] As Figure 1 、 Figure 2 、 Figure 3 shown, a multi-dimensional magnetic stirring surfacing equipment based on a three-legged parallel mechanism includes a magnetic stirring system, a surplus flux recovery and recycling system, a three-degree-of-freedom welding torch pose adjustment system, a movable welding machine walking bracket 8, a three-jaw chuck 4, a movable tailstock center 25, a phased array scanning probe 43, a flux funnel 5 and an electric control cabinet 1.

[0041] The main shaft motor 2, the three-jaw chuck 4 and the movable tailstock center 25 are installed on the welding machine tool 3. The main shaft motor 2 is connected to the three-jaw chuck 4 to drive its rotation. The movable tailstock center 25 is installed on the slide rail of the welding machine tool 3. The three-jaw chuck 4 clamps one end of the roller to be welded 23, and the movable tailstock center 25 presses against the other end of the roller to be welded 23.

[0042] As Figure 4 、 Figure 5 、 Figure 9 、 Figure 10 shown, the magnetic stirring system is composed of two groups of magnetic stirring heads 32 arranged side by side. The submerged arc molten pool is placed in the middle position between the two groups of magnetic stirring heads 32. The magnetic stirring heads 32 are symmetrically hung by the T-shaped magnetic stirring head hanging bracket 31 on the horizontally arranged welding torch zOn the sliding guide rails of the moving frame 42, the position of the magnetic stirring head itself is adjusted by the lead screw driven by the self-adjusting motor 35 of the magnetic stirring head. The unilateral magnetic stirring head 32 is composed of a parallel mechanism J-shaped rotating arm 56, a parallel mechanism U-shaped swing arm 58, and a parallel mechanism active U-shaped rotating arm 61 to form a three-leg parallel mechanism. The three-leg parallel mechanism is respectively driven by the J-shaped rotating arm drive motor 57 and the active U-shaped rotating arm drive motor 62 to realize multi-angle swinging and rotation, thereby driving the magnetic stirring head electromagnet core 60 wound by the magnetic stirring head electromagnetic coil 59 fixedly supported thereon to swing and rotate in multiple dimensions. The real-time positions of the two-sided magnetic stirring heads 32 correspond to form a complete magnetic field loop, generating a Lorentz force on the metal positive ions in the submerged arc surfacing molten pool.

[0043] As the magnetic stirring head 32 swings flexibly at multiple angles, the direction of the Lorentz force is changed to apply a stirring effect to the surfacing molten pool. At the same time, the current direction in the magnetic stirring head electromagnetic coil 59 is periodically adjusted to apply a stirring effect from another dimension. The entire electromagnetic stirring system can move up and down with the welding torch head 33, and the unilateral magnetic stirring head 32 can randomly adjust its own position to adapt to the surfacing process requirements for rollers with different diameters. The magnetic field intensity can be changed by adjusting the current magnitude to meet the processing requirements. Through the multi-dimensional electromagnetic stirring effect, the surfacing structure is refined and the surfacing quality is improved. The overall magnetic stirring system is fixedly connected to the z-direction slider of the three-degree-of-freedom welding torch pose adjustment system.

[0044] As Figure 1 、 Figure 2 、 Figure 3 、 Figure 6 、 Figure 7 、 Figure 8 As shown in, the surplus flux recycling system is composed of a flux recycling vibrating sieve 19 and a flux circulating recycling conveyor system. The flux recycling vibrating sieve 19 is located below the welding machine tool 3, near the position where the welding torch head 33 is located. A surplus flux collecting funnel 63 is fixedly connected below the welding machine tool 3, and the lower part of the collecting funnel 63 faces the flux recycling vibrating sieve 19.

[0045] The flux recycling vibrating sieve 19 is composed of an upper sieve body 46 and a lower sieve plate 47. The flux recycling vibrating sieve 19 rides on the recycling support guide rail 49 through four sieve body rolling wheels 48, so that the flux recycling vibrating sieve 19 is arranged at a certain inclination angle. The lower part of the sieve is connected to a connecting rod 51 through a pin shaft, and the connecting rod 51 is connected to an eccentric wheel 52.

[0046] A large amount of surplus flux falls off during surfacing, and it is mixed with welding slag and burnt flux. It needs to be recycled through screening to effectively save production costs. The surplus flux falling during the first processing is collected into the flux recovery vibrating separator 19 through the surplus flux collection funnel 63 under the machine tool. The screening driving motor 50 drives the belt 53 to rotate. The belt 53 drives the eccentric wheel 52 to rotate through the rotating shaft. The eccentric wheel 52 is connected to the sieve body through the connecting rod 51 to form an offset crank-slider mechanism to realize periodic reciprocating screening. The sieve body is supported by the sieve body rolling wheel 48 and travels along the traveling track 49.

[0047] The sieve body is arranged in upper and lower layers. Large waste materials such as welding slag enter the welding slag collection tank 24 from the upper sieve body 46. The recyclable flux falls on the lower sieve plate 47 and finally falls onto the lower conveyor belt 16 for flux recovery. On the right side of the welding machine tool 3, two groups of conveyor belts are arranged in parallel up and down. The upper conveyor belt is slightly higher than the flux funnel 5. The upper conveyor belt is installed on the upper conveyor belt support 20. An upper feeding trolley slide rail 15 is arranged obliquely between the upper and lower conveyor belts. The upper feeding trolley 13 is supported by four rollers, arranged in pairs front and back, and rides on the upper feeding trolley slide rail 15. The rear of the trolley is connected to the steel wire rope 12. The other end of the steel wire rope 12 is connected to the winch 10 at the top of the upper feeding trolley support frame 9. The steel wire rope 12 is parallel to the upper feeding trolley slide rail 15.

[0048] The flux is transported into the upper feeding trolley 13. When a certain amount of fallen flux is reached, the gravity sensor 14 gives a signal to the winch motor 11. The winch motor 11 drives the upper feeding trolley 13 to move upward. After reaching the designated position, the front wheels of the trolley are limited to stop. Under the drive of the winch motor 11, a tipping action is realized, and the recyclable flux is poured onto the feeding conveyor belt 16. The winch motor 11 rotates in reverse, and the upper feeding trolley 13 returns to its original position. The recycling flux is transported to the flux funnel 5 by the feeding conveyor belt 16 to realize full-automatic feeding and flux recycling.

[0049] As Figure 1 、 Figure 2 、 Figure 3 shown, the three-degree-of-freedom welding torch pose adjustment system is placed on the top of the movable welding machine traveling support 8. The three-degree-of-freedom welding torch pose adjustment system can realize the three-way position movement adjustment of the welding torch x 、 y 、 z The movement in the three directions is adjusted. The movement in the x direction is driven by the driving motor 27 of the welding torch x direction adjustment system to drive the welding torch x direction adjustment drive gear 64 - welding torch x direction adjustment rack 65 to realize the movement. y The movement in the y direction is driven by the driving motor 30 of the welding torch z direction adjustment system to drive the lead screw to realize the sliding movement of the torch system. zThe adjustment system drives the motor 36 to drive the lead screw to realize the sliding movement of the gun head system.

[0050] The movable welding machine traveling bracket 8 is formed by fixedly connecting two side-by-side gantry frame structures through a top cross beam. Four traveling bracket floor rollers 21 of the welding machine are provided at the bottom of the welding machine traveling bracket 8. The traveling bracket floor rollers 21 of the welding machine are placed on the welding machine traveling slide rail 22 and can move freely to adapt to the surfacing operations of rollers with different lengths. Four wire feeding rollers 41 are evenly distributed in upper and lower rows on the welding torch z towards the moving frame 42. The wire feeding roller drive motor 40 drives the wire feeding rollers 41 to rotate to clamp the flux-cored wire 39 for wire feeding. The flux hopper 5 is fixedly connected to the welding torch y towards the moving frame 29. The lower part of the flux hopper 5 is connected to the lower welding torch head 33 through a flux delivery hose 37 to realize the submerged arc surfacing process. The welding torch head 33 is fixedly connected with a phased array scanning probe 43 to perform real-time defect detection during the surfacing welding pass to ensure the surfacing quality.

[0051] Figure 11 This is the PLC ladder diagram of the present invention. As Figures 1 - 11 shown, the working process of the present invention is as follows:

[0052] 1. The welding machine traveling bracket motor 18 adjusts the welding torch system to the predetermined welding position. Start the welding torch x towards the adjustment system drive motor 27, the welding torch y towards the adjustment system drive motor 30, the welding torch [[ID=2l]] z towards the adjustment system drive motor 36 to perform multi-degree-of-freedom adjustment on the welding torch and adjust it to the predetermined welding position.

[0053] 2. Start the main shaft motor 2 to drive the roller to be welded 23 to rotate and cooperate with the welding torch for welding operations. Start the wire feeding roller drive motor 40 to clamp the flux-cored wire 39 and feed wire to the welding torch head 33 for surfacing operations. Start the J-shaped rotating arm drive motor 57 and the active U-shaped rotating arm drive motor 62 to drive the iron core 60 and the coil 59 to realize multi-dimensional adjustment and perform electromagnetic stirring on the surfacing molten pool.

[0054] 3. Then start the separating screen drive motor 50 to perform periodic screening operations to screen the surplus flux that falls during the surfacing process. The recyclable flux falls on the lower screen plate 47. Start the flux recovery lower conveyor drive motor 17, and the recyclable flux falls into the feeding trolley 15 through the flux recovery lower conveyor 16. When the recyclable flux reaches a certain weight, it triggers the gravity sensor 14 at the lower end of the feeding trolley 13, and start the winch motor 11 to drive the winch 10 to rotate and traction the steel wire rope 12 to rise, thereby pulling the feeding trolley 13 to move upward along the feeding trolley slide rail 15. When the feeding trolley reaches the upper limit position on the feeding trolley support, the front end of the trolley stops moving, and the rear end of the trolley is tractioned by the steel wire rope to rise to realize the tipping action of the feeding trolley 13, and the flux falls on the flux recovery upper conveyor 7. Start the flux recovery upper conveyor drive motor 6 to transport the flux to the flux funnel 5 to realize the recycling of the flux.

[0055] The present invention can realize multi-dimensional magnetic field stirring surfacing, welding process detection, defect warning, screening and recycling of surplus flux and automatic recycling for roller products with different lengths and diameters, effectively reducing the generation probability of welding defects, improving the quality of the surfacing layer, reducing the welding cost and rejection rate, and improving the economic benefits.

[0056] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, making equivalent replacements or changes, should be covered within the protection scope of the present invention.

Claims

1. A multi-dimensional magnetic stirring surfacing device based on a three-legged parallel mechanism, characterized in that: It includes a magnetic stirring system, a surplus flux recycling system, a three-degree-of-freedom welding torch pose adjustment system, a movable welding machine walking bracket, a multi-jaw chuck, a plug and a probe; The multi-jaw chuck clamps one end of the workpiece to be welded, and the plug presses against the other end of the workpiece to be welded; The three-degree-of-freedom welding torch pose adjustment system is installed on the movable welding machine walking bracket to realize the three-way position movement adjustment of the welding torch head in the x, y, and z directions, and the probe is fixedly connected to the welding torch head; The magnetic stirring head of the magnetic stirring system is fixedly connected to the z-direction sliding guide rail of the three-degree-of-freedom welding torch pose adjustment system, so that the welding torch head is placed in the middle position between the two magnetic pole heads of the magnetic stirring system. It swings and rotates at multiple angles through a three-legged parallel mechanism, randomly adjusts the spatial position of the magnetic pole head, and at the same time periodically changes the direction of the current in the iron core coil to generate a multi-dimensional magnetic field stirring effect on the formed submerged arc surfacing molten pool; The surplus flux recycling system recovers the flux and transports it to the flux hopper. The surplus flux after welding is collected into a sieve through the surplus flux collection funnel, and the surplus flux is screened to realize full-automatic feeding and flux recycling; The magnetic stirring system is composed of two groups of magnetic stirring heads arranged side by side. The submerged arc molten pool is placed in the middle position of the two groups of magnetic stirring heads. The magnetic stirring heads are symmetrically hung on the z-direction sliding guide rail and respectively realize their own position movement through the lead screw driven by the self-adjusting motor of the magnetic stirring head; The single-sided magnetic stirring head consists of a parallel mechanism J-shaped rotating arm, a parallel mechanism U-shaped swinging arm, and a parallel mechanism active U-shaped rotating arm to form a three-legged parallel mechanism. The three-legged parallel mechanism is respectively driven by the J-shaped rotating arm driving motor and the active U-shaped rotating arm driving motor to realize multi-angle swinging and rotation, thereby driving the coil-wound iron core connected and supported by it to swing in multiple dimensions. The real-time positions of the two-sided stirring heads correspond to form a complete magnetic field circuit, and generate a Lorentz force on the metal positive ions in the submerged arc surfacing molten pool.

2. The multi-dimensional magnetic stirring surfacing equipment based on a three-legged parallel mechanism according to claim 1, characterized in that: As the stirring head swings at multiple angles, the direction of the Lorentz force is further changed to apply a stirring effect; At the same time, the current transmission direction in the iron core coil is periodically adjusted to apply a stirring effect from another dimension; The entire magnetic stirring system moves up and down with the welding torch, and the single-sided stirring head randomly adjusts its own position to adapt to the surfacing process requirements of rollers with different diameters; The magnetic field strength is changed by adjusting the current to meet the processing requirements.

3. A multi-dimensional magnetic stirring surfacing device based on a three-legged parallel mechanism according to claim 1, characterized in that: The surplus flux recycling system includes a flux recovery vibration separator and a flux circulation recovery conveyor system. A surplus flux collection funnel is arranged under the workpiece to be welded to collect the flux dropped during the first processing into the flux recovery vibration separator. The screening drive motor drives the belt drive, and the belt drives the eccentric wheel to rotate through the rotating shaft. The eccentric wheel is connected to the sieve body through a connecting rod to form a offset crank-slider mechanism to realize periodic screening; There are sieve body rolling wheels at the bottom of the sieve body, and the sieve body rolling wheels move along the walking track.

4. A multi-dimensional magnetic stirring surfacing device based on a three-legged parallel mechanism according to claim 3, characterized in that: The sieve body of the flux recovery vibrating separator is arranged in upper and lower layers. Welding slag and waste enter the welding slag collection tank through the upper sieve body. The recoverable flux falls on the lower sieve plate and finally drops onto the lower conveyor belt of the flux recovery, which transports the flux into the feeding trolley. When the dropped flux reaches the set amount, the gravity sensor sends a signal to the winch motor. The winch motor drives the feeding trolley to move upward. After reaching the designated position, the front wheels of the trolley are limited and stop. Under the drive of the winch motor, a tipping action is realized to pour the recyclable flux into the feeding conveyor belt; the winch motor reverses, and the trolley returns to its original position. The feeding conveyor belt transports the recovered flux into the flux funnel, realizing full-automatic feeding and flux recycling.

5. A multi-dimensional magnetic stirring surfacing device based on a three-legged parallel mechanism according to claim 1, characterized in that: The three-degree-of-freedom welding torch pose adjustment system is placed on the top of the movable welding machine walking bracket. The three-degree-of-freedom welding torch pose adjustment system realizes the adjustment of the three-way position movement of the welding torch head in the x, y, and z directions; the welding torch x-direction adjustment is realized by the drive motor of the welding torch x-direction adjustment system driving the welding torch x-direction adjustment drive gear - the welding torch x-direction adjustment rack to move linearly in the x direction. The welding torch y-direction adjustment is realized by the drive motor of the welding torch y-direction adjustment system driving the lead screw to move linearly in the y direction. The welding torch z-direction adjustment is realized by the drive motor of the welding torch z-direction adjustment system driving the lead screw to move linearly in the z direction.

6. The multi-dimensional magnetic stirring surfacing equipment based on a three-legged parallel mechanism according to claim 5, characterized in that: The three-degree-of-freedom welding torch pose adjustment system is provided with a welding torch y-direction moving frame and a z-direction moving frame; 4 wire feeding rollers are evenly distributed in the upper and lower rows on the welding torch z-direction moving frame. The wire feeding roller drive motor drives the wire feeding rollers to rotate to clamp the flux-cored wire for wire feeding; the flux funnel is fixedly connected to the welding torch y-direction moving frame, and the lower part is connected to the lower welding torch head through a flux delivery hose to realize the submerged arc surfacing process.

7. A multi-dimensional magnetic stirring surfacing device based on a three-legged parallel mechanism according to claim 1, characterized in that: The movable welding machine walking bracket includes two side-by-side gantry frames. The tops of the two side-by-side gantry frames are fixedly connected by a top cross beam. Four welding machine walking bracket floor rollers are arranged at the bottoms of the two side-by-side gantry frames. The welding machine walking bracket floor rollers are placed on the welding machine walking slide rail.

8. A multi-dimensional magnetic stirring surfacing device based on a three-legged parallel mechanism according to claim 1, characterized in that: The multi-jaw chuck adopts a three-jaw chuck, and the top head is a movable tailstock top head that can move; the probe adopts a phased array scanning probe.

9. A surfacing process for a multi-dimensional magnetic stirring surfacing device based on a three-legged parallel mechanism according to claim 8, characterized in that, Specifically, it includes: 1) Adding a multi-dimensional electromagnetic stirring effect during the surfacing process to refine the surfacing structure, effectively reducing welding process defects and optimizing the surfacing process; it has good applicability to the welding process of surfacing WC cemented carbide wire for descaling rolls in the iron and steel metallurgy industry; 2) The welding torch head is fixedly connected with a phased array scanning probe to perform real-time defect detection during the surfacing weld bead process to ensure the surfacing quality.

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