Electroslag casting anode welding system

Abstract

The invention relates to an electroslag casting anode welding system which comprises a blank and a material rod. Welding openings; the material rod rotating device is used for grabbing the other end, connected with the blank, of the material rod and driving the material rod to rotate; the material rod supporting device supports the material rod to rotate horizontally and can lift and adjust the position of the material rod; a supporting seat; the rotating clamps are circular rings which are located on the upper portions of the supporting seats and are hollow inside, and the rotating clamps can be opened and closed in the axial direction and rotate around the axis direction of the material rod; an industrial robot; a single blank or a plurality of blanks are sleeved with the rotary clamp in a clustered mode and attached to the end of the material rod, and welding between the blanks and the material rod is completed through the industrial robot. The welding device has the beneficial effects that the industrial robot is matched with the rotary clamp and the material rod rotating device, positioning of the blanks to be welded is achieved, the welding efficiency is improved, and the welding quality is improved. And the purpose of automatic welding is achieved in cooperation with control over the welding path of the industrial robot.

Description

Technical Field

[0001] The invention belongs to the technical field of electroslag casting auxiliary tooling, and in particular relates to an electroslag casting anode welding system. Background Art

[0002] Electroslag metallurgy has been vigorously developed since the 1960s and has a history of more than 60 years. It includes many branch processes such as electroslag remelting, electroslag casting, and electroslag welding. Electroslag casting is an electroslag metallurgical process that completes metal refining and casting at one time to produce high-quality alloy castings. This technology uses the resistance heat generated by the current passing through the liquid slag to continuously melt the metal electrode. The molten metal gathers into droplets, drips through the slag layer into the metal molten pool, and solidifies into castings in a special-shaped water-cooled mold. It is a near-net-shape forming technology that integrates smelting and purification with crystallization and solidification. The casting has good metallurgical quality and the shape and size are close to or equal to the final product.

[0003] Therefore, the consumable electrodes need to be continuously replaced and replenished during the electroslag casting process. In the prior art, the welding of electrode billets in electroslag furnaces is all done manually. Due to the subjectivity and individual differences of manual operation, human errors are difficult to completely avoid in a high-intensity, fast-paced working environment, and these errors may cause product quality problems.

[0004] Therefore, there is an urgent need for an automatic welding system for electroslag casting anodes. Summary of the invention

[0005] In order to overcome the problem that electroslag casting electrodes in the prior art require manual welding, the present invention uses a robot and special auxiliary tooling to achieve automation and quality consistency of the welding process. The technical solution adopted by the present invention is:

[0006] An electroslag casting anode welding system, comprising:

[0007] Blank material is the consumable electrode to be melted and cast;

[0008] A material rod is a rod connected to the blank at the feeding end of the melting and casting system;

[0009] Welding joint, which is the welding part where the blank is connected to the material rod;

[0010] Also includes:

[0011] A material rod rotating device is a device for grabbing the other end of the material rod connected to the blank and driving the material rod to rotate;

[0012] A rod support device supports the rod to rotate horizontally and can lift and adjust the position of the rod;

[0013] A support seat, located in the axis direction of the material rod, with more than two sets of support devices;

[0014] The rotating fixture is a hollow ring located on the upper part of each supporting seat. The rotating fixture can be opened and closed axially and rotated around the axis of the material rod;

[0015] An industrial robot, located at the side of the blank, a six-degree-of-freedom mechanical arm for welding the weld;

[0016] The blank, either single or in a cluster, is mounted inside the rotating fixture and fits against the end of the material rod, and the welding between the blank and the material rod is completed by the industrial robot.

[0017] Furthermore,

[0018] The material rod rotating device comprises:

[0019] Bracket;

[0020] A rotary drive is a rotatable drive device located on the upper part of the bracket;

[0021] The clamping jaws are two or more openable and closable jaws located on the contact surface between the rotary drive and the material rod; the clamping jaws clamp and fix the end of the material rod and make the material rod rotate with the help of the rotary drive device.

[0022] Furthermore,

[0023] The rod supporting device comprises:

[0024] V support, supporting the material rod to be placed horizontally;

[0025] Bull's eye bearings, multiple of which are arranged in a row on the contact surface between the V-support and the material rod;

[0026] The lifting device is located at the lower side of the V-support and lifts the V-support.

[0027] Furthermore,

[0028] The rotating fixture comprises:

[0029] A clamping protrusion is located on the inner side of the rotating fixture, and is a protrusion toward the center of the circle, fixing the blank inside the rotating fixture;

[0030] The opening and closing mouth is an arc-shaped portion on the rotating fixture; one end or both ends can be separated from the rotating fixture to allow the blank to enter the interior of the rotating fixture.

[0031] Furthermore,

[0032] The clamping protrusion is T-shaped, and the top surface of the T-shape faces the center of the rotating clamp;

[0033] The number of the clamping protrusions is four and they are arranged at equal intervals.

[0034] Furthermore,

[0035] A non-powered arc-shaped slide rail is provided between the rotating fixture and the supporting seat.

[0036] Furthermore,

[0037] The industrial robot execution end is connected to a welding actuator and a vision system;

[0038] The visual system sends an action instruction to the industrial robot.

[0039] Furthermore,

[0040] The vision system includes a sensing system of a laser sensor, which detects and tracks the weld position.

[0041] Furthermore, it also includes:

[0042] Ground rail;

[0043] The support seat and / or the material rod rotating device moves linearly on the ground rail, and the blank and the material rod are fitted together by means of the ground rail to move closer or farther away.

[0044] Furthermore,

[0045] The electroslag casting anode welding systems are two groups arranged in parallel, and the industrial robot (300) is located between the two groups of the electroslag casting anode welding systems.

[0046] The beneficial effects of the present invention compared with the prior art are: the positioning of the blank to be welded is achieved by utilizing the cooperation of the industrial robot, the rotating fixture and the material rod rotating device, and the purpose of automatic welding is achieved by coordinating the control of the welding path of the industrial robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is an axial view of a specific embodiment of the present invention;

[0048] Figure 2 A side view of a specific embodiment of the present invention;

[0049] Figure 3 This is an axial view of a specific embodiment of the present invention after removing the blank and the material rod;

[0050] Figure 4 It is an axial view of a material rod rotating device according to a specific embodiment of the present invention;

[0051] Figure 5 It is an axial view of a material rod supporting device according to a specific embodiment of the present invention;

[0052] Figure 6 A top view of a specific embodiment of the present invention;

[0053] The annotations are:

[0054] 100-blanket; 110-stem; 120-weld;

[0055] 200-ground rail; 210-material rod rotating device; 211-bracket; 212-rotation drive; 213-gripping jaw; 220-material rod supporting device; 221-V support; 222-bull's eye bearing; 223-lifting device; 230-support seat; 240-rotating fixture; 241-clamping protrusion; 242-opening and closing mouth

[0056] 300-Industrial robot; 310-Welding actuator; 320-Vision system. DETAILED DESCRIPTION

[0057] The technical solutions in the embodiments are clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. In the description of the present invention, it should be understood that the orientations or positional relationships indicated by the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0058] In order to overcome the problem that electroslag casting electrodes in the prior art require manual welding, the present invention uses a robot and special auxiliary tooling to achieve automation and quality consistency of the welding process. Figures 1 to 6 The technical solution adopted in the embodiment of the present invention is: an electroslag casting anode welding system, comprising:

[0059] The blank 100 is a consumable electrode to be melted and cast;

[0060] The material rod 110 is a rod connected to the blank 100 at the feeding end of the melting and casting system. In the melting and casting system, the function of the material rod 110 is to bring the blank 100 down and into the slag pool.

[0061] Welding joint 120 is the welding part where the blank 100 is connected to the material rod 110; Figure 1The weld 120 described in this specific embodiment is not a real device, but the interface position after the blank 100 and the material rod 110 are connected. It should be noted that in this embodiment, the end contact surfaces of the blank 100 and the material rod 110 need to be relatively flush. If the position of the weld 120 is too large, the purpose of automatic welding cannot be achieved.

[0062] See also Figure 1 , also includes:

[0063] The material rod rotating device 210 is a device for grabbing the other end of the material rod 110 connected to the blank 100 and driving the material rod 110 to rotate;

[0064] The rod support device 220 supports the rod 110 to rotate horizontally and can lift and adjust the position of the rod 110. In this embodiment, the alignment of the rod 110 and the blank 100 is achieved by using the rod support device 220. Under the limitation of the rotating fixture 240, the center position of the blank 100 is fixed, and the centering is achieved by lifting and lowering the rod support device 220.

[0065] The support seat 230 is located in the axial direction of the material rod 110, and has more than two sets of support devices;

[0066] The rotating fixture 240 is a hollow ring located on the upper part of each supporting seat 230. The rotating fixture 240 can be opened and closed axially and rotated around the axis of the material rod 110.

[0067] An industrial robot 300, located at the side of the blank 100, is a six-degree-of-freedom mechanical arm for welding the weld 120;

[0068] The blank 100 is a single piece or a plurality of pieces are clustered, and are mounted inside the rotating fixture 240, and fit with the end of the material rod 110, and the welding between the blank 100 and the material rod 110 is completed by the industrial robot 300. In this embodiment, four pieces of blank 100 are clustered together. Of course, in other embodiments, a single piece, three pieces, or six pieces can be constrained into a cluster, and there is an exposed surface to facilitate the welding of the industrial robot 300.

[0069] In addition, one point that requires special attention is that, although in the present embodiment, the technical solution is partially limited to a horizontal arrangement, for those skilled in the art, the difficulty to be overcome between vertical and horizontal is low, and it should belong to equivalent technical features, that is, a vertical arrangement, and the material rod support device 220 and other devices adopt a clamping method, so that the present technical solution can be realized.

[0070] In some embodiments, see Figure 4 ,

[0071] The rod rotating device 210 comprises:

[0072] Bracket 211;

[0073] The rotation drive 212 is a rotatable driving device located on the upper part of the bracket 211;

[0074] The clamping jaws 213 are two or more openable and closable jaws located at the contact surface between the rotary drive 212 and the material rod 110 ; the clamping jaws 213 clamp and fix the end of the material rod 110 , and make the material rod 110 rotate with the help of the rotary drive 212 device.

[0075] In some embodiments, see Figure 5 ,

[0076] The rod support device 220 includes:

[0077] V-support 221, supporting the material rod 110 to be placed horizontally;

[0078] A plurality of bull's eye bearings 222 are arranged in a row on the contact surface between the V-support 221 and the material rod 110;

[0079] The lifting device 223 is located at the lower side of the V-support 221 and lifts the V-support 221 .

[0080] In some embodiments, see Figure 3 ,

[0081] The rotating fixture 240 includes:

[0082] The clamping protrusion 241 is located inside the rotating fixture 240 and is convex toward the center of the circle, fixing the blank 100 inside the rotating fixture 240;

[0083] The opening and closing mouth 242 is an arc-shaped portion on the rotating fixture 240; one or both ends can be separated from the rotating fixture 240, so that the blank 100 can enter the interior of the rotating fixture 230. Of course, the opening and closing mouth 242 should be a lockable mechanism to achieve both entry and restraint functions.

[0084] In some other embodiments, see Figure 3 In order to improve the restraining effect of the blank 100 and avoid position deviation during the rotation process.

[0085] The clamping protrusion 241 is T-shaped, and the top surface of the T-shaped protrusion faces the center of the rotating fixture 240;

[0086] There are four clamping protrusions 241 arranged at equal intervals.

[0087] In some other embodiments, see Figure 3The rotating fixture 240 is unpowered and can be turned over by manual rotation or by using the driving force of the rod rotating device 210 when the initial strength of the welding has been achieved.

[0088] A non-powered arc-shaped slide rail is provided between the rotating fixture 240 and the supporting seat 230 .

[0089] In some embodiments, preferably,

[0090] The execution end of the industrial robot 300 is connected to a welding actuator 310 and a visual system 320;

[0091] The visual system 320 sends an action instruction to the industrial robot 300. There are many ways to plan the path of the industrial robot 300, such as image recognition or laser ranging.

[0092] Preferably,

[0093] The vision system 320 includes a sensing system of a laser sensor, and the laser sensor detects and tracks the position of the weld 120 .

[0094] In order to further improve the automation capability and avoid inaccurate welding alignment, it also includes:

[0095] Ground track 200;

[0096] The support seat 230 and / or the material rod rotating device 210 moves linearly on the ground rail 200, and the blank 100 and the material rod 110 are fitted together by the ground rail 200 moving closer or farther away.

[0097] In some embodiments, see Figure 6 , improve the efficiency of the workstation, while one group is installing, another group is welding,

[0098] The electroslag casting anode welding systems are two groups arranged in parallel, and the industrial robot 300 is located between the two groups of electroslag casting anode welding systems.

[0099] During the specific operation: the material rod 110 is placed on the material rod supporting device 220, and the material rod rotating device 210 and the rotating clamp 240 are opened on one side, and a single or multiple clustered blanks 100 enter the rotating clamp 240, and the material rod supporting device 220 adjusts its position to align the blank 100 with the end of the material rod 110 to generate a weld 120. The execution end of the industrial robot 300 identifies the position of the weld 120, plans a path and welds. In the planned path, there is a certain space where the industrial robot cannot reach the corresponding position. At this time, the material rod rotating device 210 or the rotating clamp 240 rotates to rotate the position of the weld 120. The industrial robot 300 continues to identify the weld 120 and completes the overall welding. The rotating clamp 240 opens, and the material rod 110 and the blank 100 are moved to the next workstation as a whole to complete the welding work.

[0100] The beneficial effects are: the positioning of the blank to be welded is achieved by utilizing the cooperation of the industrial robot, the rotating fixture and the material rod rotating device, and the purpose of automatic welding is achieved by coordinating the control of the welding path of the industrial robot.

[0101] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An electroslag casting anode welding system, comprising: The blank (100) is a consumable electrode to be melt-cast; A material rod (110), which is a rod connected to the blank (100) at the feeding end of the melting and casting system; A weld (120), which is a welded portion where the blank (100) is connected to the material rod (110); It is characterized by further comprising: A material rod rotating device (210) is a device for grabbing the other end of the material rod (110) connected to the blank (100) and driving the material rod (110) to rotate; A material rod supporting device (220), which supports the material rod (110) to rotate horizontally and can lift and adjust the position of the material rod (110); A support seat (230) is located in the axial direction of the material rod (110), and has more than two sets of support devices; The rotating fixture (240) is a hollow ring located on the upper part of each supporting seat (230). The rotating fixture (240) can be opened and closed axially and rotates around the axis of the material rod (110); An industrial robot (300), located on the side of the blank (100), a six-degree-of-freedom mechanical arm for welding the weld (120); The blank (100) is a single piece or a plurality of pieces are clustered and mounted inside the rotating fixture (240) to fit the end of the material rod (110), and the welding between the blank (100) and the material rod (110) is completed by the industrial robot (300).

2. The electroslag casting anode welding system according to claim 1, characterized in that: The material rod rotating device (210) comprises: Bracket (211); A rotation drive (212), which is a rotatable driving device located on the upper part of the bracket (211); The clamping jaws (213) are two or more openable and closable jaws located at the contact surface between the rotary drive (212) and the material rod (110); the clamping jaws (213) clamp and fix the end of the material rod (110) and make the material rod (110) rotate with the help of the rotary drive (212) device.

3. The electroslag casting anode welding system according to claim 1, characterized in that: The material rod supporting device (220) comprises: A V-support (221) supports the material rod (110) to be placed horizontally; A plurality of bull's eye bearings (222) are arranged in a row on the contact surface between the V-support (221) and the material rod (110); The lifting device (223) is located at the lower side of the V-support (221) and lifts the V-support (221).

4. The electroslag casting anode welding system according to claim 1, characterized in that: The rotating fixture (240) comprises: A clamping protrusion (241), located on the inner side of the rotating fixture (240), protruding toward the center of the circle, fixing the blank (100) inside the rotating fixture (240); The opening and closing opening (242) is an arc-shaped opening on the rotating fixture (240); one or both ends can be separated from the rotating fixture (240) to allow the blank (100) to enter the interior of the rotating fixture (230).

5. The electroslag casting anode welding system according to claim 4, characterized in that: The clamping protrusion (241) is T-shaped, and the top surface of the T-shape faces the center of the rotating clamp (240); The number of the clamping protrusions (241) is four and they are arranged at equal intervals.

6. The electroslag casting anode welding system according to claim 1, characterized in that: A non-powered arc-shaped slide rail is provided between the rotating fixture (240) and the supporting seat (230).

7. The electroslag casting anode welding system according to claim 1, characterized in that: The execution end of the industrial robot (300) is connected to a welding actuator (310) and a visual system (320); The visual system (320) sends an action instruction to the industrial robot (300).

8. The electroslag casting anode welding system according to claim 7, characterized in that: The vision system (320) includes a sensing system of a laser sensor, and the laser sensor detects and tracks the position of the weld (120).

9. The electroslag casting anode welding system according to any one of claims 1 to 8, characterized in that: Also includes: Ground Rail (200); The support seat (230) and / or the material rod rotating device (210) move linearly on the ground rail (200), and with the help of the ground rail (200) move closer or farther away, so that the blank (100) and the material rod (110) fit together.

10. The electroslag casting anode welding system according to any one of claims 1 to 8, characterized in that: The electroslag casting anode welding systems are two groups arranged in parallel, and the industrial robot (300) is located between the two groups of the electroslag casting anode welding systems.

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