Multifunctional combined mechanical device for gas metal arc welding

Abstract

The invention provides a multifunctional combined mechanical device for gas metal arc welding, and relates to the technical field of welding operation of gas metal arc welding in the boiler industry, the multifunctional combined mechanical device comprises a welding execution mechanical arm, a laser sensor and a welding gun which are assembled on the welding execution mechanical arm, and further comprises a welding wire reel for providing welding wires for the welding gun, a welding wire of the welding wire reel is fed into the welding gun through the wire feeder, the welding gun is installed at the execution end of the welding execution mechanical arm through the oscillator, and the oscillator is configured to drive the welding gun to swing left and right when the welding gun moves along a welding seam. Welding seam automatic locating tracking is achieved, the welding precision is improved, and the welding gun head automatically swings to meet the wide welding seam welding process requirement.

Description

Technical Field

[0001] The invention relates to the technical field of welding operation of metal-conducting electrode gas shielded welding in boiler industry, in particular to a multifunctional combined mechanical device for metal-conducting electrode gas shielded welding. Background Art

[0002] With the steady progress of national planning, industrial production has grown steadily, the industrial structure has continued to optimize, and positive factors have continued to accumulate. The transformation and upgrading of the manufacturing industry is an important direction for new industrialization. The country will formulate digital transformation action plans for key industries and key areas, highlighting artificial intelligence as a key variable, focusing on intelligent manufacturing, and promoting artificial intelligence to empower new industrialization in an all-round and in-depth manner; taking "intelligent transformation and digital transformation" as an important starting point, a number of digital transformation enterprise benchmarks will be created to create a good ecology.

[0003] However, at this stage, there are still many problems in the field of cylinder circumferential seam welding technology in the boiler industry. First, welding is mostly done manually, with a low level of intelligence and digitization, and the work intensity is high. Welding produces a large amount of harmful gases, which can easily affect the health of workers. Secondly, the weld formation after welding is not uniform enough, and the weld quality is greatly affected by human factors and depends on the professional ability of the welder.

[0004] For example, in the Chinese patent literature, the publication number is CN116197564A, the publication date is June 2, 2023, and the name is an invention patent for a steel component long weld intelligent welding workstation, including a walking track base, a welding robot arm device, a camera welding robot arm device, a steel component tire frame device and a control console; the walking track Tracks are arranged on both sides of the base and racks are arranged in the middle; a welding mechanical arm device and a photo welding mechanical arm device are arranged on the walking track base in sequence; a plurality of steel component tire frame devices for carrying and positioning steel components are installed on the side of the walking track base, and the console includes a control box and an alarm device. Electrically connected with the welding robot arm device and the photo-taking welding robot arm device, the present invention realizes the automated welding of long welds of steel components through the cooperation of the walking track base, the welding robot arm device, the photo-taking welding robot arm device, the steel component frame device and the control console, thereby reducing labor costs, reducing the dependence on the professional ability of welders, and also improving the quality of steel components.

[0005] However, the above-mentioned prior art still has shortcomings. In the prior art, the welding gun head cannot swing, and welding can only be performed according to the movement of the robot arm, which cannot meet the process requirements of wide welds. Summary of the invention

[0006] In order to solve the above-mentioned deficiencies of the prior art, the present invention provides a multifunctional combined mechanical device for metal electrode gas shielded welding, which realizes automatic positioning and tracking of the weld to improve welding accuracy, and automatically swings the welding gun to meet the welding process requirements for wide welds.

[0007] The present invention is achieved through the following technical solutions: A multifunctional combined mechanical device for metal-electrode gas shielded welding, comprising a welding execution robot arm, a laser sensor and a welding gun mounted on the welding execution robot arm, and a wire reel for providing welding wire to the welding gun, wherein the welding wire on the wire reel is fed into the welding gun through a wire feeder. The device is characterized in that: the welding gun is mounted on the execution end of the welding execution robot arm through an oscillator, and the oscillator is configured to drive the welding gun to swing left and right when moving along the weld.

[0008] Furthermore, it also includes a linear slide rail I and a slide plate. The welding execution robot arm is assembled on the linear slide rail I through the slide plate. The linear slide rail I is equipped with a rack I. The slide plate is equipped with a drive motor I and a gear I. The output shaft of the drive motor I is connected to the gear I, driving the gear I to reciprocate. Under the meshing action of its rack I, the welding execution robot arm moves along the length direction of the linear slide rail I.

[0009] Furthermore, the oscillator includes a linear slide rail II, a mounting bracket and a drive motor II, a rack II and a gear II. The welding gun is mounted on the linear slide rail II through the mounting bracket. The linear slide rail II is equipped with a rack II. The mounting bracket is equipped with a gear II and a drive motor II. The output shaft of the drive motor II is connected to the gear II, driving the gear II to reciprocate. Under the meshing action of its rack II, the welding gun moves left and right on the linear slide rail II.

[0010] Furthermore, it also includes an industrial vacuum cleaner and a fume hood, wherein the industrial vacuum cleaner is connected to the fume hood, the industrial vacuum cleaner is mounted on the slide plate, and the fume hood is mounted above the welding gun and faces the welding operation area.

[0011] Furthermore, a welding power source is mounted on the slide plate, and the welding power source is connected to the welding execution robot arm.

[0012] Furthermore, the welding execution robot arm is also equipped with a gun cleaning machine.

[0013] Furthermore, the welding gun is a single-wire welding gun with air cooling.

[0014] Furthermore, the welding gun adopts a TBI RM 82W single-wire welding gun.

[0015] Furthermore, the welding execution robot arm adopts a FANAC M-20ID / 25 model six-axis robot arm; the laser sensor adopts a CXZK-JXB300 model laser sensor.

[0016] Furthermore, it also includes a cable hanger, which is assembled on the skateboard.

[0017] The working principle of the present invention is as follows: The laser sensor identifies the weld position and feeds back the weld path data to the robotic arm in real time. The robotic arm controls the welding gun to prepare for the weld along the weld. The wire feeder drives the welding wire from the wire reel to the welding gun mouth at a uniform speed. The welding gun then welds the weld position. During the welding process, the smoke purification device collects the harmful gases generated during the welding process. After the welding is completed, the welding gun is cleaned by the gun cleaning machine and waits for the next weld.

[0018] The beneficial effects of the present invention are as follows: 1. In the present invention, the oscillator can drive the welding gun to swing left and right while moving along the weld, thereby achieving the welding process requirements of a wide weld.

[0019] 2. Compared with the prior art, the present invention adds an industrial vacuum cleaner and a fume hood to absorb harmful gases generated during welding, thereby ensuring that the working area is free of pollution and ensuring the safety of the working area.

[0020] 2. Compared with the prior art, the laser sensor of the present invention is fixed on the robotic arm to ensure that the laser sensor does not swing simultaneously with the welding gun, so as to realize the positioning tracking and deviation correction of the weld, and feed back the weld path data to the robotic arm in real time, so that the robotic arm controls the welding gun to weld along the weld to ensure the welding accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 Schematic diagram of the robotic arm structure for welding.

[0022] Figure markings: 1-welding execution robot arm, 2-welding gun, 3-laser sensor, 4-wire reel, 5-wire feeder, 6-gun cleaner, 7-linear slide rail I, 8-slide plate, 9-industrial vacuum cleaner, 10-fume hood, 11-welding power supply, 12-cable hanger, 13-linear slide rail II, 14-mounting bracket. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings of the present invention specification to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] Example 1 like Figure 1-Figure 2As shown, a multifunctional combined mechanical device for metal-electrode gas shielded welding includes a welding execution robot arm 1, a laser sensor 3 and a welding gun 2 mounted on the welding execution robot arm 1, and also includes a wire reel 4 for providing welding wire to the welding gun 2, and the welding wire of the wire reel 4 is fed into the welding gun 2 through a wire feeder 5. It is characterized in that: the welding gun 2 is installed on the execution end of the welding execution robot arm 1 through an oscillator, and the oscillator is configured to drive the welding gun 2 to swing left and right when moving along the weld.

[0025] The laser sensor 3 identifies the weld position and feeds back the weld path data to the welding execution robot 1 in real time. The welding execution robot 1 controls the welding gun 2 to prepare the weld along the weld. The wire feeder 5 drives the welding wire from the wire reel 4 to the welding gun 2 at a constant speed. Then the welding gun 2 welds the weld position, realizing automatic positioning and tracking of the weld to improve welding accuracy. The automatic swing of the welding gun 2 head realizes the welding process requirements for wide welds.

[0026] This embodiment 2 This embodiment further elaborates and supplements the implementation mode of the present invention on the basis of Embodiment 1.

[0027] As an implementation method of this embodiment, Figure 1 As shown, it also includes a linear slide rail Ⅰ7 and a slide plate 8. The welding execution robot arm 1 is assembled on the linear slide rail Ⅰ7 through the slide plate 8. The linear slide rail Ⅰ7 is equipped with a rack Ⅰ. The slide plate 8 is equipped with a drive motor Ⅰ and a gear Ⅰ. The output shaft of the drive motor Ⅰ is connected to the gear Ⅰ, driving the gear Ⅰ to reciprocate. Under the meshing action of its rack Ⅰ, the welding execution robot arm 1 moves along the length direction of the linear slide rail Ⅰ7, realizing the seventh-axis linear motion in addition to the spatial six-axis motion of the welding execution robot arm 1 itself.

[0028] As another implementation method of this embodiment, Figure 2 As shown, the oscillator includes a linear slide rail II 13, a mounting bracket 14 and a driving motor II, a rack II and a gear II. The welding gun 2 is mounted on the linear slide rail II 13 through the mounting bracket 14. The linear slide rail II 13 is equipped with a rack II. The mounting bracket 14 is equipped with a gear II and a driving motor II. The output shaft of the driving motor II is connected to the gear II, driving the gear II to reciprocate. Under the meshing action of its rack II, the welding gun 2 moves left and right on the linear slide rail II 13.

[0029] As another implementation of this embodiment, the oscillator includes a linear slide rail II 13, a mounting bracket 14, a drive motor II, and a screw nut pair. The welding gun 2 is mounted on the linear slide rail II 13 through the mounting bracket 14. The screw is rotatably mounted on the linear slide rail II 13. The drive motor II drives the screw to rotate. A connecting seat that cooperates with the screw thread is provided at the bottom of the mounting bracket. The screw and the connecting seat form the screw nut pair; the drive motor II drives the screw to reciprocate, thereby driving the mounting bracket 14 to move left and right along the screw.

[0030] As another implementation method of this embodiment, Figure 1 As shown, it also includes an industrial vacuum cleaner 9 and a fume hood 10. The industrial vacuum cleaner 9 is connected to the fume hood 10. The industrial vacuum cleaner 9 is mounted on the slide 8. The fume hood 10 is mounted above the welding gun 2 and faces the welding operation area. During the welding process, the harmful gas is absorbed by the fume hood 10 and the absorbed harmful gas is sucked into the industrial vacuum cleaner 9.

[0031] Example 3 This embodiment further elaborates and supplements the implementation mode of the present invention on the basis of Embodiment 1 or Embodiment 2.

[0032] As an implementation method of this embodiment, Figure 1 As shown, the slide plate 8 is equipped with a welding power source 11 , and the welding power source 11 is connected to the welding execution robot arm 1 .

[0033] As another implementation method of this embodiment, Figure 1 As shown, the welding execution robot arm 1 is also equipped with a gun cleaning machine 6. After the welding seam is completed, the gun cleaning machine 6 processes the welding gun 2.

[0034] As another implementation of this embodiment, the robot arm 1 adopts a FANAC M-20ID / 25 model six-axis robot arm 1, equipped with a high-performance robot controller R-30IB.

[0035] As another implementation of this embodiment, the welding gun 2 is a single-wire welding gun with air cooling.

[0036] As another implementation of this embodiment, the welding gun 2 adopts a TBI RM 82W single-wire welding gun 2 .

[0037] As another implementation of this embodiment, the laser sensor 3 adopts a CXZK-JXB300 model laser sensor.

[0038] As another implementation of this embodiment, it further includes a cable hanger 12 , which is assembled on the slide plate 8 and is used to carry cables of various components on the slide plate 8 .

Claims

1. A multifunctional combined mechanical device for metal arc welding, comprising a welding execution mechanical arm (1), a laser sensor (3) mounted on the welding execution mechanical arm (1) and a welding gun (2), and also comprising a welding wire reel (4) for supplying welding wire to the welding gun (2), the welding wire on the welding wire reel (4) being fed into the welding gun (2) via a wire feeder (5), characterized in that: The welding gun (2) is mounted on the execution end of the welding execution robot arm (1) via an oscillator, and the oscillator is configured to drive the welding gun (2) to swing left and right when moving along the weld.

2. A multifunctional combined mechanical device for metal arc welding according to claim 1, characterized in that: The invention also comprises a linear slide rail I (7) and a slide plate (8), wherein the welding execution robot arm (1) is mounted on the linear slide rail I (7) via the slide plate (8), the linear slide rail I (7) is mounted with a rack I, the slide plate (8) is mounted with a drive motor I and a gear I, the output shaft of the drive motor I is connected to the gear I, driving the gear I to reciprocate, and under the meshing action of the rack I, the welding execution robot arm (1) moves along the length direction of the linear slide rail I (7).

3. A multifunctional combined mechanical device for metal arc welding according to any one of claims 1 or 2, characterized in that: The oscillator comprises a linear slide rail II (13), a mounting bracket (14), a driving motor II, a rack II and a gear II. The welding gun (2) is mounted on the linear slide rail II (13) via the mounting bracket (14). The linear slide rail II (13) is mounted with a rack II. The mounting bracket (14) is mounted with a gear II and a driving motor II. The output shaft of the driving motor II is connected to the gear II to drive the gear II to reciprocate. Under the meshing action of the rack II, the welding gun (2) moves left and right on the linear slide rail II (13).

4. A multifunctional combined mechanical device for metal arc welding according to claim 3, characterized in that: It also includes an industrial vacuum cleaner (9) and a fume hood (10), wherein the industrial vacuum cleaner (9) is connected to the fume hood (10), the industrial vacuum cleaner (9) is mounted on the slide plate (8), and the fume hood (10) is mounted above the welding gun (2) and directly facing the welding operation area.

5. A multifunctional combined mechanical device for metal arc welding as claimed in claim 3, characterized in that: The slide plate (8) is equipped with a welding power source (11), and the welding power source (11) is connected to the welding execution robot arm (1).

6. A multifunctional combined mechanical device for metal arc welding as claimed in claim 3, characterized in that: The welding execution mechanical arm (1) is also equipped with a gun cleaning machine (6).

7. A multifunctional combined mechanical device for metal arc welding as claimed in claim 3, characterized in that: The welding gun (2) is a single-wire welding gun equipped with air cooling.

8. A multifunctional combined mechanical device for metal arc welding as claimed in claim 3, characterized in that: The welding gun (2) is a TBI RM 82W single-wire welding gun.

9. A multifunctional combined mechanical device for metal arc welding as claimed in claim 3, characterized in that: The welding execution robot arm (1) adopts a FANAC M-20ID / 25 six-axis robot arm; the laser sensor (3) adopts a CXZK-JXB300 laser sensor.

10. A multifunctional combined mechanical device for metal arc welding as claimed in claim 3, characterized in that: It also includes a cable hanger (12), which is mounted on the slide plate (8).

Images