Welding device for converter bottom

Abstract

The invention provides a welding device for a converter bottom. The welding device comprises a base, and an annular rail is arranged on the base; the lifting platform is arranged on the annular track, and the lifting platform can move along the annular track; the welding robot is arranged on the lifting platform, and a welding gun is arranged at the tail end of the welding robot; the visual camera is arranged at the tail end of the welding robot, and the visual camera is used for scanning a welding seam between the furnace bottom and the furnace shell to obtain a welding path; and the welding robot and the visual camera are both electrically connected with the control system, and the control system can control the welding robot to conduct welding along the welding path. The problems that in the prior art, the labor intensity is high and the welding quality is low in the mode of welding the joint of the furnace bottom and the furnace shell are solved.

Description

Technical Field

[0001] The invention relates to the technical field of metallurgy, in particular to a welding device for a converter bottom. Background Art

[0002] Converter is a metallurgical furnace used for blowing steel or blowing matte. The converter body is made of steel plates, cylindrical in shape, and lined with refractory materials. It is heated by chemical reaction heat during blowing and does not require external heat source. It is the most important steelmaking equipment and can also be used for copper and nickel smelting. Converter steelmaking is mainly a steelmaking method using liquid pig iron as raw material.

[0003] At present, when manufacturing converters, the connection between the converter bottom and the furnace shell is mainly welded manually. Since the plate is thick and the welding workload is huge, and since the airtightness requirement of the converter is high, the quality requirement of the welding between the converter bottom and the furnace shell is high. Therefore, the current manual welding method has high labor intensity and low welding quality. Summary of the invention

[0004] In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a welding device for a converter bottom, which is used to solve the problem of high labor intensity and low welding quality in the prior art of manually welding the connection between the converter bottom and the furnace shell.

[0005] To achieve the above-mentioned purpose and other related purposes, the present invention provides a welding device for the bottom of a converter, comprising a base, on which a circular track is provided; a lifting platform, which is arranged on the circular track and can move along the circular track; a welding robot, which is arranged on the lifting platform and a welding gun is arranged at the end of the welding robot; a visual camera, which is arranged at the end of the welding robot and is used to scan the weld between the bottom of the furnace and the furnace shell to obtain a welding path; a control system, the welding robot and the visual camera are both electrically connected to the control system, and the control system can control the welding robot to perform welding along the welding path.

[0006] Furthermore, an arc tracker is provided at the end of the welding machine, and the arc tracker is electrically connected to the control system. The arc tracker can collect the current during the welding process in real time, and can determine the deviation information of the welding gun relative to the weld according to the current amplitude. The control system corrects the welding path based on the deviation information.

[0007] Furthermore, a laser sensor is provided at the end of the welding robot, and the laser sensor is electrically connected to the control system.

[0008] Furthermore, a cutting device is also provided at the end of the welding robot.

[0009] Furthermore, a moving trolley is provided on the circular track, and the moving trolley can move along the circular track, and the lifting platform is fixedly arranged on the moving trolley.

[0010] Furthermore, the moving trolley is provided with a locking mechanism, through which the moving trolley can be locked relative to the annular track.

[0011] Furthermore, the locking mechanism is a quick clamp.

[0012] Furthermore, the lifting platform includes an electric telescopic cylinder, which is fixedly mounted on the mobile trolley. A mounting platform is provided on the electric telescopic cylinder. The electric telescopic rod can drive the mounting platform to move up and down, and the welding robot is fixedly mounted on the mounting platform.

[0013] Furthermore, the lifting platform also includes four guide assemblies, each of which includes a guide sleeve and a guide column slidably arranged in the guide sleeve, the four guide sleeves are fixed on the moving trolley, and the four guide columns are connected to the bottom of the installation platform.

[0014] Furthermore, the welding robot is magnetically fixed on the lifting platform by a magnetic lock.

[0015] As described above, the welding device for the bottom of a converter furnace of the present invention has the following beneficial effects: during operation, the welding device is placed under the bottom of the furnace, and then the welding robot is lifted to a suitable welding height by the lifting platform, and the welding gun is connected to the welding gun electronic control machine. During welding, the welding path of the desired welding area is first obtained by the visual camera, and the welding path is transmitted to the control system. The control system controls the welding robot to weld along the welding path obtained by the visual camera according to the received welding path. When the welding of the welding area, i.e., the area that can be identified by the visual camera, is completed, the lifting platform drives the welding robot arranged thereon to move a section of the path along the circular track, thereby moving to a new position, reacquiring the welding path through the visual camera and then continuing to weld, until the welding of a circle of welds formed between the bottom of the furnace and the furnace shell is completed after moving one circle along the circular track. Thus, compared with the manual welding method in the prior art, the welding device for the bottom of a converter furnace of the present invention can greatly improve the welding efficiency and improve the welding quality, and also greatly reduce the labor cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The first view shows the welding device for the converter bottom provided by the present invention.

[0017] Figure 2A second view showing the welding device for the converter bottom provided by the present invention is shown.

[0018] Figure 3 The present invention provides Figure 2 Enlarged view of point A in the middle.

[0019] Figure 4 Shown is a schematic structural diagram of the lifting platform and the moving trolley provided by the present invention.

[0020] Description of Reference Numerals

[0021] 10 Base

[0022] 101 Loop Track

[0023] 1011 First Loop Track

[0024] 1012 Second Circular Orbit

[0025] 1013 Fixed bracket

[0026] 102 mobile car

[0027] 1021 first pulley

[0028] 1022 Second pulley

[0029] 1023 Quick Clamp

[0030] 20 Lifting platform

[0031] 21 Electric telescopic cylinder

[0032] 22 Installation Platform

[0033] 23 Guide components

[0034] 231 guide bushing

[0035] 232 guide column

[0036] 24 connection plate

[0037] 30 welding robots

[0038] 301 welding gun

[0039] 40 Vision Cameras

[0040] 50 welding gun electronic control machine

[0041] 60 cutting electronic control machine DETAILED DESCRIPTION

[0042] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0043] In the description of the present invention, it should be noted that, unless otherwise specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, it can be a mechanical connection, it can be an electrical connection, it can be a direct connection, it can be connected through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like used in the present invention to indicate the orientation or position relationship is based on the orientation or position relationship shown in the drawings, and is 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 operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0045] See also Figures 1 to 4 It should be noted that the illustrations provided in this embodiment are only used to illustrate the basic concept of the present invention in a schematic manner, and the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0046] The present invention provides a welding device for a converter bottom, such as Figure 1 and Figure 2As shown, the welding device for the bottom of the converter includes a base 10, a lifting platform 20, a welding robot 30, a visual camera 40 and a control system, wherein a circular track 101 is provided on the base 10, the lifting platform 20 is arranged on the circular track 101, and the lifting platform 20 can move along the circular track 101, the welding robot 30 is arranged on the lifting platform 20, a welding gun 301 is provided at the end of the welding robot 30, and the visual camera 40 is arranged at the end of the welding robot 30, and the visual camera is used to scan the weld between the furnace bottom and the furnace shell to obtain a welding path; the welding robot 30 and the visual camera 40 are both electrically connected to the control system, and the control system can control the welding robot 30 to weld along the welding path obtained by the visual camera 40.

[0047] The beneficial effect of the welding device for the bottom of the converter furnace of the present invention is as follows: when operating, the welding device is placed under the bottom of the furnace, and then the welding robot 30 is lifted to a suitable welding height by the lifting platform 20, and the welding gun 301 is connected to the welding gun electronic control machine 50. When welding, the welding path of the desired welding area is first obtained by the visual camera, and the welding path is transmitted to the control system. The control system controls the welding robot 30 to weld along the welding path obtained by the visual camera 40 according to the received welding path. When the welding of the welding area, i.e., the area that can be identified by the visual camera 40, is completed, the lifting platform 20 drives the welding robot 30 arranged thereon to move a section of the path along the circular track 101, thereby moving to a new position, re-obtaining the welding path through the visual camera and then continuing to weld, until the welding of a circle of welds formed between the bottom of the furnace and the furnace shell is completed after moving one circle along the circular track. Therefore, compared with the manual welding method in the prior art, the welding device for the bottom of the converter furnace of the present invention can greatly improve the welding efficiency and improve the welding quality, and also greatly reduce the labor cost.

[0048] Furthermore, considering that the control system may have deviations in the actual welding process when controlling the welding robot to weld according to the welding path pre-obtained by the visual camera, it is preferred that, in this embodiment, an arc tracker (not shown) is also provided at the end of the welding robot 30, and the arc tracker is electrically connected to the control system. During the welding process, the arc tracker can collect the current in the welding process in real time, and can judge the deviation information of the welding gun 301 relative to the weld according to the amplitude of the collected current. The arc tracker will transmit the deviation information to the control system in real time, and the control system can correct the welding path (i.e., the welding path pre-obtained by the visual camera) based on the deviation information. Therefore, the accuracy of the welding position can be guaranteed by the setting of the arc tracker, thereby improving the welding quality and efficiency.

[0049] In order to further improve the correction capability of the welding path and further improve the welding quality, preferably, in this embodiment, a laser sensor (not shown in the figure) is also provided at the end of the welding robot, and the laser sensor is electrically connected to the control system. Since there is a weld between the furnace bottom and the furnace shell, during operation, if the laser emitted by the laser sensor passes through the weld between the furnace bottom and the furnace shell, it means that the welding position of the welding gun is at the weld position for welding. If the laser emitted by the laser sensor is blocked by the edge of the furnace shell or the edge of the furnace bottom, it means that the welding gun has deviated from the welding path, i.e., the weld. At this time, the control system corrects the welding path, i.e., the position of the welding gun, according to the detection signal of the laser sensor. It can be understood that in this embodiment, the welding path can be corrected by the cooperation of the arc tracker and the laser sensor, or the welding path can be corrected according to the separate action of the laser sensor or the arc tracker.

[0050] Furthermore, considering that there is also a need to cut the furnace bottom in actual use, it is preferred that, in this embodiment, a cutting device (not shown) is also provided at the end of the welding robot 30. When performing the cutting operation, the cutting device is connected to the cutting electronic control machine 60, so that seamless switching between welding and cutting can be performed through the welding device. Specifically, in this embodiment, the cutting device is a plasma cutting machine.

[0051] Furthermore, if Figure 1 As shown, in this embodiment, a moving trolley 102 is provided on the circular track 101, and the moving trolley 102 can move along the circular track 101, and the lifting platform 20 is fixedly arranged on the moving trolley 102. When performing the operation, the lifting platform 20 and the welding robot 30 arranged on the lifting platform 20 are driven by the moving trolley 102 to move along the circular track 101. Specifically, as shown in 1 and Figure 3 As shown, in this embodiment, the annular guide rail 101 includes a first annular track 1011 and a second annular track 1012, the first annular track 1011 and the second annular track 1012 are arranged at intervals, and a plurality of fixing frames 1013 are evenly arranged between the first annular track 1011 and the second annular track 1012, the first annular track 1011 and the second annular track 1012 are fixed to the base 10 by the plurality of fixing frames 1013, and accordingly, Figure 4 As shown, the left and right sides of the moving trolley 102 are respectively provided with a first pulley 1021 and a second pulley 1022 . The first pulley 1021 on the moving trolley 102 is slidably set in the first circular track 1011 , and the second pulley 1022 is slidably set in the second circular track 1021 .

[0052] Furthermore, in order to improve the stability of the welding robot 30 during welding, preferably, in this embodiment, a locking mechanism is provided on the mobile trolley 102, and when the welding operation is performed or the mobile trolley 102 does not need to move relative to the circular track 101, the mobile trolley 102 can be locked relative to the circular track 101 through the locking mechanism. Specifically, in this embodiment, the locking mechanism is a quick clamp 1023. A quick clamp is a device for quickly positioning and clamping a workpiece, and is widely used in the welding process, riveting process, bonding process, machining process, assembly, logistics and other process of the product. It is an existing conventional mechanism, so it will not be introduced in detail here.

[0053] Furthermore, if Figure 2 and Figure 4 As shown, in this embodiment, the lifting platform 20 includes an electric telescopic cylinder 21, which is fixedly arranged on the mobile trolley 102. A mounting platform 22 is arranged on the electric telescopic cylinder 21. The electric telescopic cylinder 21 can drive the mounting platform 22 to move up and down. Specifically, the welding robot 30 is fixedly arranged on the mounting platform 22. When it is necessary to drive the welding robot 30 to move up and down, the mounting platform 22 is driven up and down by the electric telescopic cylinder 21, thereby driving the welding robot 30 to move up and down in the vertical direction.

[0054] Further, in order to improve the stability of driving the welding robot 30 to move up and down, it is preferred that Figure 4 As shown, in the present embodiment, the lifting platform 20 further includes four guide assemblies 23, each of which includes a guide sleeve 231 and a guide column 232 slidably disposed in the guide sleeve 231, wherein the four guide sleeves 231 are all fixed on the moving trolley 102, and the four guide columns 232 are all connected to the bottom of the mounting platform 22. When the electric telescopic cylinder 21 drives the welding robot 30 to move up and down, as the telescopic rod of the electric telescopic cylinder 21 drives the welding robot 30 to move up and down, the guide column 232 will expand and contract relative to the guide sleeve 231, so that the guide assembly 23 can guide the up and down movement of the welding robot 30, and can greatly improve the stability of the welding robot 30 when it moves up and down. Specifically, as Figure 4 As shown, four guide assemblies 23 are respectively arranged at four corners of the mounting platform 22 .

[0055] Furthermore, in order to improve the stability of the four guide sleeves, as Figure 4 As shown, in this embodiment, a connecting plate 24 is provided on the top of the four guide sleeves 231, and the four guide sleeves 231 are all connected to the connecting plate 24, and correspondingly, through holes are provided on the connecting plate 24 for four guide pillars 232 to pass through respectively, and the central axes of the four through holes correspond one by one to the central axes of the four guide sleeves 231 respectively.

[0056] Furthermore, in this embodiment, the welding robot 30 is fixed on the lifting platform 20, i.e., the installation platform 22, by magnetic attraction of a magnetic lock. Through this structural design, when it is necessary to adjust the fixed position of the welding robot 30 on the lifting platform, it is convenient to disassemble the welding robot relative to the lifting platform 20. Specifically, when the welding robot needs to be fixed relative to the lifting platform, the magnetic lock is powered on, and the magnetic lock will generate a strong magnetic attraction force to tightly adsorb on the lifting platform. When disassembly is required, the magnetic lock only needs to be powered off. The structure is simple and disassembly is convenient.

[0057] In summary, the welding device for the bottom of a converter of the present invention can greatly improve the welding efficiency and the welding quality of the converter, while also greatly reducing the labor cost. Therefore, the present invention effectively overcomes various shortcomings of the prior art and has a high industrial utilization value.

[0058] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A welding device for a converter bottom, characterized in that: include: A base, wherein a circular track is provided on the base; A lifting platform, the lifting platform is arranged on the annular track, and the lifting platform can move along the annular track; A welding robot, wherein the welding robot is arranged on the lifting platform and a welding gun is arranged at the end of the welding robot; A visual camera, which is arranged at the end of the welding robot and is used to scan the weld between the furnace bottom and the furnace shell to obtain a welding path; A control system, wherein the welding robot and the visual camera are both electrically connected to the control system, and the control system can control the welding robot to perform welding along the welding path.

2. The welding device for a converter bottom according to claim 1, characterized in that: An arc tracker is also provided at the end of the welding machine. The arc tracker is electrically connected to the control system. The arc tracker can collect the current during the welding process in real time and can determine the deviation information of the welding gun relative to the weld according to the current amplitude. The control system corrects the welding path based on the deviation information.

3. A welding device for a converter bottom according to claim 1 or 2, characterized in that: A laser sensor is also provided at the end of the welding robot, and the laser sensor is electrically connected to the control system.

4. The welding device for a converter bottom according to claim 1, characterized in that: A cutting device is also provided at the end of the welding robot.

5. The welding device for a converter bottom according to claim 1, characterized in that: A moving trolley is provided on the circular track, and the moving trolley can move along the circular track, and the lifting platform is fixedly arranged on the moving trolley.

6. The welding device for a converter bottom according to claim 5, characterized in that: The moving trolley is provided with a locking mechanism, through which the moving trolley can be locked relative to the annular track.

7. The welding device for a converter bottom according to claim 6, characterized in that: The locking mechanism is a quick clamp.

8. The welding device for a converter bottom according to claim 5, characterized in that: The lifting platform includes an electric telescopic cylinder, which is fixedly arranged on the moving trolley. A mounting platform is provided on the electric telescopic cylinder. The electric telescopic rod can drive the mounting platform to move up and down. The welding robot is fixedly arranged on the mounting platform.

9. The welding device for a converter bottom according to claim 8, characterized in that: The lifting platform also includes four guide assemblies, each of which includes a guide sleeve and a guide column slidably arranged in the guide sleeve. The four guide sleeves are fixed on the moving trolley, and the four guide columns are connected to the bottom of the installation platform.

10. The welding device for a converter bottom according to claim 1, characterized in that: The welding robot is fixed on the lifting platform by magnetic lock and magnetic attraction.

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