Automatic centering and welding device for electrode rods

Abstract

The application discloses an electrode rod automatic centering and welding device and belongs to the technical field of electrode rod welding. The electrode rod automatic centering and welding device comprises a welding robot, further comprises a head alignment baffle, and the left and right sides of the head alignment baffle are respectively provided with an electrode rod rotating counter wheel mechanism and a dummy electrode lifting counter wheel mechanism. The electrode rod rotating counter wheel mechanism comprises a first driving wheel and a first driven wheel capable of being deflected and adjusted, can drive the electrode rod to rotate and advance beyond the head alignment baffle. The dummy electrode lifting counter wheel mechanism comprises a lifting table capable of lifting, the lifting table is provided with a second driving wheel and an inclined second driven wheel, and the dummy electrode is driven to move close to the electrode rod. One side of the electrode rod rotating counter wheel mechanism is provided with a diameter measuring instrument, the measured distance can be converted into the diameter of the electrode rod, and feedback is given to the dummy electrode lifting counter wheel mechanism to control the lifting of the lifting table, so that the dummy electrode is aligned with the electrode rod, and welding is completed under the operation of the welding robot.

Description

Technical Field

[0001] This invention belongs to the field of electrode rod welding technology, and specifically relates to an automatic centering welding device for electrode rods. Background Technology

[0002] Manufacturers typically use electroslag remelting (ESR) to produce steel ingots to improve steel quality. ESR production requires aligning and welding dummy electrodes to the electrode plates to be remelted, then installing them in the ESR furnace. This alignment welding process demands high concentricity; insufficient precision can cause uneven gaps, leading to breakdowns or leaks in the crystallizer walls. Manual alignment welding of the electrode rods and dummy electrodes often presents accuracy issues, is complex and time-consuming, and is prone to errors, preventing subsequent work from being completed on time or in sufficient quantities. In severe cases, it can also cause material waste and increase operating costs for the company.

[0003] Currently, some alignment and welding techniques exist for electrode rods and dummy electrodes. Patent CN202010621425, "An Alignment Device and Alignment Method for Dummy Electrode Welding," describes a semi-automatic dummy electrode alignment and welding device. This method involves adjusting the steel ingot and dummy electrode with a jack, manually activating a pusher to bring them into close contact, and then starting a drive device to rotate and weld. However, this method suffers from certain alignment accuracy issues during jack adjustment; it has a low degree of automation, requiring real-time operator intervention, resulting in low welding efficiency; and the lack of a buffer device during the dropping of heavy steel ingots can easily pose a safety hazard. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide an automatic electrode rod centering and welding device, which solves the problems in the prior art.

[0005] The objective of this invention can be achieved through the following technical solutions:

[0006] An automatic electrode rod centering welding device includes a welding robot and a baffle. An electrode rod rotating wheel mechanism and a dummy electrode lifting wheel mechanism are respectively arranged on the left and right sides of the baffle. The electrode rod rotating wheel mechanism includes a first driving wheel and a first driven wheel capable of deflection adjustment, which can drive the electrode rod to rotate forward past the baffle. The dummy electrode lifting wheel mechanism includes a lifting platform, on which a second driving wheel and an inclined second driven wheel are arranged, and drives the dummy electrode to approach the electrode rod.

[0007] A diameter measuring instrument is installed on one side of the electrode rod rotating wheel mechanism. It can convert the measured distance into the diameter of the electrode rod and feed it back to the dummy electrode lifting wheel mechanism to control the lifting platform to lift and lower, so that the dummy electrode is aligned with the electrode rod.

[0008] Furthermore, a lifting and receiving mechanism is provided in the middle of the electrode rod rotating wheel mechanism. The lifting and receiving mechanism includes a V-shaped receiving hand that can be lifted and lowered to control the electrode rod to leave or fall between the first driving wheel and the first driven wheel.

[0009] Furthermore, the electrode rod rotating wheel mechanism includes a first wheel base, and a first drive wheel is rotatably mounted on the first wheel base;

[0010] The first pair of wheel bases are rotatably connected to multiple driven wheel seats via a rotating shaft. Each driven wheel seat is connected to a first driven wheel. Each driven wheel seat is equipped with a connecting pin, and the multiple driven wheel seats are connected in series with a connecting rod via the connecting pin. A drive motor is provided on the first pair of wheel bases to drive the driven wheel seats to deflect by an angle, thereby causing the first driven wheel to be adjusted synchronously.

[0011] Furthermore, a proximity switch is provided on the first pair of wheel bases, which can control the electrode rod to decelerate when it approaches the end baffle.

[0012] Furthermore, an encoder is provided on the first drive wheel to control the electrode rod to rotate 120 degrees each time during the welding process.

[0013] Furthermore, the baffle plate includes a base, on which a swing arm capable of swinging up and down is provided.

[0014] Furthermore, a fixed base is installed on the ground, with a slot in the middle of the fixed base, and the swing arm can cooperate with the slot.

[0015] Furthermore, the diameter measuring instrument includes a support, with a rotating frame at the upper end of the support. An upper distance measuring instrument is installed at one end of the rotating frame, and a lower distance measuring instrument is installed on one side of the lower end of the support. The upper and lower distance measuring instruments are located directly above and directly below the electrode rod, respectively, and the diameter of the electrode rod is calculated by measuring the distance.

[0016] Furthermore, the formula for calculating the diameter d of the electrode rod is:

[0017] d = d3 - d1 - d2

[0018] In the formula, d1 is the measured value of the upper rangefinder, d2 is the measured value of the lower rangefinder, and d3 is the distance between the upper and lower rangefinders.

[0019] Furthermore, the dummy electrode lifting wheel mechanism is equipped with a third hydraulic cylinder to drive the lifting platform to rise and fall. A displacement sensor is installed on one side of the third hydraulic cylinder, and the lifting position of the lifting platform is controlled according to the electrode rod diameter fed back by the diameter measuring instrument.

[0020] The beneficial effects of this invention are:

[0021] 1. This invention provides an automatic electrode rod centering and welding device. Through the design of the V-shaped lifting and receiving mechanism, compared with the overhead crane directly dropping the heavy electrode rod onto the roller, the receiving mechanism can reduce the impact damage of the electrode rod to the roller equipment.

[0022] 2. This invention provides an automatic electrode rod centering and welding device. Through the design of the driven wheel connected by the connecting rod, the angle of the driven wheel can be adjusted, thereby enabling the electrode rod to switch between a forward-rotating mode and a rotating welding mode.

[0023] 3. The present invention provides an automatic electrode rod centering welding device. By setting the diameter measuring instrument rotating frame, the upper distance measuring instrument can be rotated to the measuring position during measurement and rotated back to the original position after the measurement is completed, thereby preventing the electrode rod from damaging the upper distance measuring instrument when the crane lowers the electrode rod.

[0024] 4. This invention provides an automatic electrode rod centering welding device. Through the design of an upper rangefinder, a lower rangefinder, and a displacement sensor, data is fed back to a PLC for calculation and control. This drives the lifting platform at the position of the dummy electrode to rise and fall, thereby achieving automatic centering, improving the accuracy of centering, and reducing labor intensity. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the overall structure of the automatic centering welding device of the present invention;

[0027] Figure 2 This is a schematic diagram of the lifting and receiving mechanism of the present invention;

[0028] Figure 3 This is a schematic diagram of the electrode rod rotating wheel mechanism of the present invention;

[0029] Figure 4 This is a schematic diagram of the flush baffle structure of the present invention;

[0030] Figure 5 This is a schematic diagram of the diameter measuring instrument of the present invention;

[0031] Figure 6 This is a schematic diagram of the dummy electrode lifting wheel mechanism of the present invention;

[0032] Figure 7 This is a schematic diagram illustrating the principle of calculating the linear velocity of the wheelsets in this invention;

[0033] Figure 8 This is a schematic diagram illustrating the diameter measurement calculation principle of the present invention;

[0034] Figure 9 This is a schematic diagram illustrating the principle of calculating the lifting stroke of the present invention;

[0035] In the diagram: 1-Lifting and receiving mechanism, 2-Electrode rod rotating wheel mechanism, 3-End-aligning baffle, 4-Diameter gauge, 5-Welding robot, 6-Dummy electrode lifting and receiving wheel mechanism, 101-First hydraulic cylinder, 102-First guide sleeve and guide post, 103-Base, 104-V-type receiving hand, 201-First geared motor, 202-Sprocket and chain, 203-First driving wheel, 204-First driven wheel, 205-Connecting rod, 206-Geared motor base, 207-First wheel base, 208-Encoder, 209-Drive motor, 210-Proximity switch, 211-Driven wheel Wheel base, 301-base, 302-cylinder base, 303-cylinder, 304-fixed base, 305-swing arm, 401-bracket, 402-upper rangefinder, 403-lower rangefinder, 404-rotating frame, 405-cylinder, 501-robotic arm, 502-welding torch, 503-robot base, 601-lifting platform, 602-third hydraulic cylinder, 603-second guide sleeve and guide post, 604-second wheel base, 605-second driven wheel, 606-second driving wheel, 607-second geared motor, 608-synchronous shaft, 609-displacement sensor. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] Example 1

[0038] like Figure 1 As shown, an automatic electrode rod centering welding device includes a lifting and receiving mechanism 1, an electrode rod rotating wheel mechanism 2, a head-aligning baffle 3, a diameter measuring instrument 4, a welding robot 5, and a dummy electrode lifting and wheel mechanism 6.

[0039] The lifting and receiving mechanism 1 is located in the middle of the electrode rod rotating wheel mechanism 2. It is used to lift and receive the electrode rod and lower it to gently place the electrode rod on the rotating wheel mechanism 2. The electrode rod rotating wheel mechanism 2 is used to make the electrode rod rotate and move forward until the head of the electrode rod is aligned with the head-aligning baffle 3. The head-aligning baffle 3 is located on the right side of the electrode rod rotating wheel mechanism 2 and is used to make the head of the electrode rod and the dummy electrode aligned. The diameter measuring instrument 4 is located above the electrode rod rotating wheel mechanism 2 and can convert the measured distance into the diameter of the electrode rod and feed the value back to the dummy electrode lifting wheel mechanism 6. The welding robot 5 is located opposite the diameter measuring instrument 4 and is used to automatically weld the electrode rod and the dummy electrode within a 120-degree area. It works in conjunction with the electrode rod rotating wheel mechanism 2 to realize the automatic welding of the electrode rod and the dummy electrode. The dummy electrode lifting wheel 6 is located on the right side of the head-aligning baffle 3. It lifts and lowers the wheel according to the data fed back by the diameter measuring instrument 4, adjusts the center height of the dummy electrode, and is used for the precise alignment of the dummy electrode and the electrode rod. After alignment, the dummy electrode rotates and moves forward until it tops the electrode rod.

[0040] like Figure 2 As shown, the lifting and receiving mechanism 1 includes a base 103 installed on the ground. A first hydraulic cylinder 101 is installed inside the base 103. A V-shaped receiving hand 104 is fixed to the end of the drive shaft of the first hydraulic cylinder 101 to drive it to rise, thereby realizing the lifting and lowering of the electrode rod. A first guide sleeve and guide post 102 are provided between the V-shaped receiving hand 104 and the base 103 to play a role in stabilizing and guiding.

[0041] like Figure 3 As shown, the electrode rod rotating wheel mechanism 2 includes a geared motor base 206 and a first wheel base 207 mounted on the ground. Multiple first drive wheels 203 are rotatably connected to the first wheel base 207. A first geared motor 201 is mounted on the geared motor base 206, and the first geared motor 201 drives the first drive wheels 203 to rotate via a sprocket and chain 202. Multiple driven wheel seats 211 are rotatably connected to the first wheel base 207, and first driven wheels 204 are rotatably connected to the driven wheel seats 211. The multiple driven wheel seats 211 are connected in series via connecting rods 205, enabling synchronous and unidirectional rotation of the multiple driven wheel seats 211 to simultaneously adjust the deflection angle of the multiple first driven wheels 204. The electrode rod is located between the first drive wheels 203 and the first driven wheels 204. The first driven wheels 204 are arranged at an angle to drive the electrode rod to rotate and move forward simultaneously.

[0042] In this embodiment, each of the multiple driven wheel seats 211 is provided with a connecting pin, which is rotatably connected to the connecting rod 205 (similar to the series connection between train wheels), so that the driven wheel seats 211 are connected in series through the connecting rod 205. By setting a drive motor 209 on the first pair of wheel bases 207, the drive motor 209 drives the driven wheel seats 211 to rotate, thereby driving the rotation of multiple driven wheel seats 211 through the connecting rod, realizing the adjustment of the angle of the first driven wheel 204 above the wheel seat. When the electrode rod rotates forward, the drive motor 209 drives the driven wheel seats 211 to make the first driven wheel 204 tilted. When the head touches the head baffle 3, the drive motor 209 drives the driven wheel seats 211 to rotate, so that the first driven wheel 204 is placed upright, and the electrode rod loses the axial driving force.

[0043] An encoder 208 is installed on the first drive wheel 203 to control the electrode rod to rotate 120 degrees each time during the welding process. A proximity switch 210 is installed on the first pair of wheel bases 207. When the electrode rod approaches the end baffle 3, the proximity switch 210 detects the head of the electrode rod and sends a signal to control the first reduction motor 201 to decelerate, thereby controlling the electrode rod to decelerate.

[0044] like Figure 4 As shown, the end-aligning baffle 3 includes a base 301 installed on the ground. The base 301 is provided with a swing arm 305 that can swing up and down. Before the electrode rod is aligned, the swing arm 305 rises to align and constrain the end of the electrode rod. After the electrode rod is aligned, the swing arm 305 descends to make way for the alignment and contact between the dummy electrode and the electrode rod.

[0045] In this embodiment, a hydraulic cylinder base 302 is installed on the ground, and a hydraulic cylinder 303 is installed on the hydraulic cylinder base 302. The hydraulic cylinder 303 can drive the swing arm 305 to swing up and down. A fixed seat 304 is also installed on the ground. A slot is provided in the middle of the fixed seat 304. The swing arm 305 can cooperate with the slot to constrain the swing arm 305 to swing back and forth.

[0046] like Figure 5 As shown, the diameter measuring instrument 4 includes a bracket 401 fixed on the first pair of wheel bases 207. A rotating frame 404 is rotatably connected to the upper end of the bracket 401. An upper distance measuring instrument 402 is provided at one end of the rotating frame 404, and a lower distance measuring instrument 403 is provided on one side of the lower end of the bracket 401 and installed on the first pair of wheel bases 207. The upper distance measuring instrument 402 and the lower distance measuring instrument 403 are located directly above and directly below the electrode rod, respectively, and are used to convert the measured distance into the diameter of the electrode rod.

[0047] A cylinder 405 is provided at the upper end of the bracket 401. The cylinder is used to drive the rotating frame 404 to rotate to the measurement position during measurement and to rotate back to its original position after measurement is completed.

[0048] like Figure 6 As shown, the dummy electrode rotating wheel mechanism 6 includes a second wheel base 604 installed on the ground, a lifting platform 601 is provided above the second wheel base 604, and the lifting platform 601 is driven to rise and fall by a third hydraulic cylinder 602 provided on the second wheel base 604. A second guide sleeve and guide post 603 are provided between the lifting platform 601 and the second wheel base 604 to play a stable guiding role.

[0049] The upper end of the lifting platform 601 is provided with a rotatable synchronous shaft 608. Multiple second driving wheels 606 are fixed on the synchronous shaft 608. Multiple inclined driven wheels 605 are provided on the upper end of the lifting platform 601. The lifting platform 601 is provided with a second reduction motor 607 to drive the synchronous shaft 608 to rotate and drive the dummy electrode to rotate and move forward towards the electrode rod.

[0050] In this embodiment, a displacement sensor 609 is provided on one side of the third hydraulic cylinder 602. Based on the diameter of the electrode rod fed back by the diameter measuring instrument 4, the center height of the dummy electrode is adjusted for precise alignment between the dummy electrode and the electrode rod.

[0051] like Figure 1 As shown, the welding robot 5 includes a robot base 503 fixed on the ground. A robotic arm 501 is mounted on the robot base 503. A welding torch 502 is mounted on the head of the robotic arm 501 to perform 120-degree rotational welding on the electrode rod and the dummy electrode. With the help of the electrode rod rotation wheel mechanism 2 (the first driven wheel 204 is aligned and the first driving wheel 203 rotates), 360-degree circumferential welding between the electrode rod and the dummy electrode can be achieved.

[0052] Example 2

[0053] The welding method of the automatic electrode rod centering welding device in Example 1 adopts the following steps:

[0054] Step 1: Welding material preparation: The left overhead crane feeds electrode rods with a diameter of Φ240 to Φ840 mm, a length of 700 mm to 3800 mm, and a maximum weight of 12 T; the right overhead crane feeds dummy electrodes with a diameter of Φ260, a length of 800 mm to 3400 mm, and a maximum weight of 1.5 T.

[0055] Step 2, Preparations before loading electrode rods: The V-shaped receiving hand 104 is raised by the hydraulic cylinder 101; the drive motor 209 drives the first driven wheel 204, so that the first driven wheel 204 is tilted at a certain angle; the end baffle 3 is driven by the oil cylinder 303 to raise the swing arm 305.

[0056] Step 3, Aligning the Electrode Rods: After the trolley places the material onto the lifting and receiving mechanism 1, the device descends, gently placing the electrode rods on the opposite wheels. The first reduction motor 201 drives the first drive wheel 203 via the sprocket and chain 202, causing the electrode rods to rotate and move forward towards the alignment baffle 3. The proximity switch 210 in front of the alignment baffle 3 detects the electrode rods and drives the first reduction motor 201 to decelerate, causing the electrode rods to stop after moving forward at a reduced speed for a period of time. The swing arm 305 of the alignment baffle 3 descends, and the drive motor 209 drives the first driven wheel 204 to reset and align.

[0057] Step 4, Diameter Measurement: After the electrode rod is aligned, the cylinder 405 drives the upper distance measuring instrument 402 on the rotating frame 404 to rotate and align with the center of the electrode rod. The upper and lower distance measuring instruments 402 and 403 measure together and transmit the data to the PLC. After the diameter measurement is completed, the diameter measuring instrument 4 is driven by the cylinder 405 to rotate and reset, avoiding the overhead crane loading.

[0058] Step 5: Alignment of the dummy electrode: The overhead crane places the material directly on the rollers. The displacement sensor 609 adjusts the height of the dummy electrode based on the feedback electrode rod diameter, thereby driving the third hydraulic cylinder 602 to drive the lifting platform 601, which in turn aligns the dummy electrode on the rollers with the electrode rod. After alignment, the second reduction motor 607 drives the second drive wheel 606 of the dummy electrode, and the angled second driven wheel 605 causes the dummy electrode to rotate and advance towards the electrode rod until the head of the dummy electrode touches the electrode rod, at which point the rollers stop rotating.

[0059] Step Six, Welding: After centering and aligning the ends, welding robot 5 receives the command and begins to evenly spot weld three points around the circumference of the aligned ends of the two rods. After spot welding, the robotic arm 501 of welding robot 5 rotates 120 degrees, and the welding torch 502 retracts. The encoder 208 controls the wheel on the electrode rod side to rotate the rod 120 degrees and then the wheel stops. After repeating the same operation three times, the welding of the electrode rod and the dummy electrode is completed. Welding robot 5 resets, and the crane lifts the welded assembly away from the wheel.

[0060] Please see Figure 7 , 3 6. Ensure the motor operates at a frequency of 50Hz. When both the first driven wheels 204 and 605 of the electrode rod rotating wheel mechanism 2 and the dummy electrode rotating wheel 6 are inclined wheels, calculate the linear velocity of the wheels:

[0061] The linear velocity of the wheel is V = πdn / 60 = π × 0.45 × 14 / 60 = 0.33 m / s

[0062] Linear velocity normal component V n =V×cosα=0.31m / s

[0063] Linear velocity tangential component V t =V×sinα=0.11m / s

[0064] Where π is pi, d is the diameter of the wheel, n is the rotational speed of the wheel, and α is the angle of inclination. Here, d = 450 mm, n = 14 r / min, and α = 20°.

[0065] Please see Figure 3 During implementation, considering the safety and stability of the electrode rod rotation wheel mechanism 2, the power parameters of the first reduction motor 201 were selected based on the specific situation: friction force F = fmg; f is the coefficient of friction, which is taken as 0.2 here, m is the weight of the rod, which is a maximum of 12T here, and g is the acceleration due to gravity.

[0066] Frictional force F = 0.2 × 12 × 1000 × 9.8 = 23520 N

[0067] Power P = FV = 23520 × 0.33 = 7761 W = 7.761 kW;

[0068] Considering various factors, the safety factor is taken as 2. 7.761×2=15.523kW. A total of three first geared motors 201 drive the motor. 15.523 / 3=5.17kW. Therefore, the final rounded rated power of a single first geared motor 201 is taken as 5.5kW.

[0069] Please see Figure 6 During implementation, considering the safety and stability of the rotating dummy electrode wheel 6, the power parameters of the second reduction motor 607 were calculated and selected based on the specific circumstances: Friction force: F = fmg; f is the coefficient of friction, here taken as 0.2, m is the weight of the rod, here m is a maximum of 1.5T, and g is the acceleration due to gravity.

[0070] Frictional force F = 0.2 × 1.5 × 1000 × 9.8 = 2940 N

[0071] Power P = FV = 2940 × 0.31 = 911.4 W = 0.9114 kW

[0072] Considering various factors, the safety factor is taken as 2, 0.9114×2=1.8228kW, driven by a second geared motor 607, so the final rounded rated power of the second geared motor 607 is taken as 3kW.

[0073] Please see Figure 1-6 To achieve precise control during the working process, the present invention adopts the following control algorithm:

[0074] In the electrode rod alignment step, the first reduction motor 201 drives the first driving wheel 203 and the first driven wheel 204 to make the electrode rod rotate and move forward at a constant speed. During this process, the PID control algorithm and the feedback loop of the encoder 208 control the electrode rod speed to maintain a stable and uniform forward speed of 0.11 m / s. After the proximity switch 210 detects the electrode rod, it uses an adaptive control algorithm to adjust the speed of the first reduction motor 201 and provides speed feedback through the encoder 208, so that the electrode rod decelerates forward for a period of time and then stops. This solves the nonlinear characteristics of the motor system generated during deceleration, such as friction and inertial forces, and ensures that the electrode rod smoothly and accurately reduces its speed from 0.11 m / s to 0 m / s within the delay time, thereby achieving electrode rod alignment.

[0075] During the sham electrode alignment process, the second geared motor 607 drives the second driving wheel 606 and the second driven wheel 605 to make the sham electrode rotate and move forward at a constant speed. The PID control algorithm and the feedback loop of the encoder inside the second geared motor 607 control the sham electrode to move forward at a constant and stable speed of 0.11m / s.

[0076] Please refer to further information. Figure 8 In the diameter measurement step, the calculation principle is as follows: the distance d3 between the upper and lower distance measuring instruments 402 and 403 is a fixed value, d1 and d2 are measured values, d is the diameter of the bar, and the calculation formula is d = d3 - d1 - d2.

[0077] Further reading Figure 9 During the alignment of the dummy electrode, when the electrode rod is 260mm in diameter and has the same diameter as the dummy electrode, the position of the third hydraulic cylinder 602 is set to "0", and the displacement sensor 609 takes a value of 0. After setting the "0" position, the lifting stroke of the dummy electrode is calculated based on the electrode diameter fed back by the diameter gauge 4, so that the electrode rod and the dummy electrode are concentric. The diameter of the dummy electrode is d′=260mm. The distance between the two wheels of the electrode rod is D1=550mm, the distance between the two wheels of the dummy electrode is D2=500mm, and the wheel diameter is D=450mm. The formula for calculating the lifting stroke S1 is as follows:

[0078]

[0079]

[0080] The errors and uncertainties generated by the upper and lower diameter measuring instruments 402 and 403 and the displacement sensor 609 are used as fuzzy factors. The fuzzy control algorithm is used to control the third hydraulic cylinder 602 through the feedback loop of the displacement sensor 609 to achieve precise and stable control of the lifting stroke of the lifting platform 601, thereby achieving precise alignment of the electrode rod and the dummy electrode.

[0081] During operation, the first hydraulic cylinder 101 drives the V-shaped receiving hand 104 to rise and fall; the drive motor 209 drives the driven wheel seat 211 to rotate, thereby adjusting the oblique angle of the first driven wheel 204; the oil cylinder 303 drives the end plate 3 swing arm 305 to rise and fall; and the air cylinder 405 drives the rotating frame 404 to rotate, all controlled by a PID control algorithm.

[0082] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0083] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. An automatic electrode rod centering welding device, comprising a welding robot (5), characterized in that, It also includes a baffle plate (3), on the left and right sides of the baffle plate (3) are respectively provided an electrode rod rotating wheel mechanism (2) and a dummy electrode lifting wheel mechanism (6). The electrode rod rotating wheel mechanism (2) includes a first driving wheel (203) and a first driven wheel (204) that can be deflected and adjusted, which can drive the electrode rod to rotate and move forward toward the baffle plate (3); the dummy electrode lifting wheel mechanism (6) is equipped with a lifting platform (601) that includes lifting, a second driving wheel (606) and a second driven wheel (605) that is inclined, and drives the dummy electrode to move closer to the electrode rod; A diameter measuring instrument (4) is provided on one side of the electrode rod rotating wheel mechanism (2), which can convert the measured distance into the diameter of the electrode rod and feed it back to the dummy electrode lifting wheel mechanism (6) to control the lifting platform (601) to lift and lower, so that the dummy electrode is aligned with the electrode rod. The electrode rod rotating wheel mechanism (2) includes a first wheel base (207), and a first drive wheel (203) is rotatably mounted on the first wheel base (207); The first pair of wheel bases (207) is rotatably connected to a plurality of driven wheel seats (211) via a rotating shaft. A first driven wheel (204) is connected to each driven wheel seat (211). Connecting pins are installed on the plurality of driven wheel seats (211), and the plurality of driven wheel seats (211) are connected in series with a connecting rod (205) via connecting pins. A drive motor (209) is provided on the first pair of wheel bases (207) to drive the driven wheel seats (211) to deflect by an angle, thereby driving the first driven wheel (204) to be adjusted synchronously. The first pair of wheel bases (207) is provided with a proximity switch (210), which can control the electrode rod to decelerate when it approaches the end baffle (3); The baffle (3) includes a base (301) and a swing arm (305) that can swing up and down is provided on the base (301). The diameter measuring instrument (4) includes a support (401), a rotating frame (404) that can rotate is provided at the upper end of the support (401), an upper distance measuring instrument (402) is provided at one end of the rotating frame (404), and a lower distance measuring instrument (403) is provided on one side of the lower end of the support (401). The upper distance measuring instrument (402) and the lower distance measuring instrument (403) are located directly above and directly below the electrode rod, respectively, and the diameter of the electrode rod is converted by measuring the distance.

2. The automatic electrode rod centering and welding device according to claim 1, characterized in that, The electrode rod rotating wheel mechanism (2) is provided with a lifting and receiving mechanism (1) in the middle. The lifting and receiving mechanism (1) includes a V-shaped receiving hand (104) that can be lifted and lowered to control the electrode rod to leave or fall between the first driving wheel (203) and the first driven wheel (204).

3. The automatic electrode rod centering and welding device according to claim 1, characterized in that, An encoder (208) is provided on the first drive wheel (203) to control the electrode rod to rotate 120 degrees each time during the welding process.

4. The automatic electrode rod centering and welding device according to claim 1, characterized in that, A fixed base (304) is installed on the ground. A slot is provided in the middle of the fixed base (304), and the swing arm (305) can cooperate with the slot.

5. The automatic electrode rod centering and welding device according to claim 1, characterized in that, The formula for calculating the diameter d of the electrode rod is: In the formula, d1 is the measured value of the upper rangefinder, d2 is the measured value of the lower rangefinder (403), and d3 is the distance between the upper rangefinder (402) and the lower rangefinder.

6. The automatic electrode rod centering and welding device according to claim 1, characterized in that, The dummy electrode lifting wheel mechanism (6) is equipped with a third hydraulic cylinder (602) to drive the lifting platform (601) to lift. A displacement sensor (609) is provided on one side of the third hydraulic cylinder (602), and the lifting position of the lifting platform (601) is controlled according to the electrode rod diameter fed back by the diameter measuring instrument (4).

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