A mining machinery welding device

Abstract

The present invention relates to the technical field of welding devices, and specifically to: a mining machinery welding device, comprising a first frame and a second frame, a welding robot is arranged on the second frame, conveying components are arranged at both ends of the first frame, a clamping component is arranged on the outside of the conveying component, a first fixing plate is fixedly connected to the outside of the first frame, a mounting seat is arranged on the first fixing plate, a hinge seat is arranged on the mounting seat, and a rotating arm is rotatably connected to the outside of the hinge seat; in the present invention, the parts to be welded can be clamped and fixed by the clamping component, the parts can be transported by the conveying component, and the rotating arm can be rotated upward by the setting of the pushing component, so that the cleaning cloth can be contacted with the welding position, and then the parts are driven to rotate by the clamping component, so that the cleaning cloth can be rubbed, and the welding position can be cleaned before and after welding, thereby ensuring the welding quality.

Description

Technical Field

[0001] The invention relates to the technical field of welding devices, in particular to a mining machinery welding device. Background Art

[0002] In the mining industry, the quality and reliability of mining machinery are of vital importance. Welding, as a key process in the manufacturing process of mining machinery, directly affects the overall performance and service life of the equipment. Before and after using welding equipment to weld mining machinery (such as drill rods), the welding position must be cleaned in advance to avoid adhering dust that affects the welding quality.

[0003] In the prior art, a Chinese patent with publication number: CN 117564556 A discloses a welding device for mining machinery parts, which specifically includes: a machine base, guard plates are fixedly installed on both sides of the top of the front side of the machine base, a neutral piece is fixedly installed in the middle of the top of the machine base, and the neutral piece is located between the front and back sides of the guard plates, an adjustment device is movably installed in the middle of the front side of the neutral piece, and a welding mechanism is fixedly installed on the middle top of the machine base.

[0004] The welding equipment in this patent cannot clean the welding position of the parts before or even after welding, which will affect the welding quality of the parts.

[0005] The above information disclosed in the background technology is only used to increase the understanding of the background technology of the present application, and therefore, it may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0006] In view of the technical problem that the welding equipment in the patent mentioned in the background technology cannot clean the welding position of the parts before or even after welding, thereby affecting the welding quality of the parts, the present invention provides a mining machinery welding device.

[0007] The technical solution adopted by the present invention is: a mining machinery welding device, comprising a first frame and a second frame, a welding robot is provided on the second frame, conveying components are provided at both ends of the first frame, a clamping component is provided on the outside of the conveying component, a first fixed plate is fixedly connected to the outside of the first frame, a mounting seat is provided on the first fixed plate, a hinged seat is provided on the mounting seat, a rotating arm is rotatably connected to the outside of the hinged seat, a cleaning cloth is fixedly connected to the outside of the rotating arm, a pushing component is provided on the mounting seat, the pushing component is used to push the mounting seat to reciprocate longitudinally, a synchronous motion component is provided on the outside of the mounting seat, the synchronous motion component is used to push the hinged seat to reciprocate laterally, and a pushing component is also provided on the outside of the first frame, the pushing component is used to push the rotating arm to rotate.

[0008] In one embodiment, at least one slide rail is fixedly connected to the top of the second frame, a slider is slidably connected to the slide rail, a sliding seat is fixedly connected to the outside of the sliding seat, the welding robot is fixedly connected to the sliding seat, a first rack is fixedly connected to the outside of the second frame, a third motor is fixedly connected to the outside of the sliding seat, a first gear is fixedly connected to the output end of the third motor, and the first gear is meshed with the first rack.

[0009] In one embodiment, the conveying assembly includes a first motor fixedly connected to two ends of a first frame and a threaded rod fixedly connected to an output end of the first motor, and both ends of the first frame are fixedly connected to a cross bar.

[0010] In one embodiment, the clamping assembly includes an annular shell, a gear ring slidably connected in the annular shell, an inner ring arranged in the gear ring, and a plurality of sliding columns penetrating the inner ring, both sides of the gear ring are fixedly connected to limit plates, the limit plates abut against the outside of the annular shell, the outside of the inner ring is fixedly connected to a connecting rod, the connecting rod is fixedly connected to the gear ring, the bottom of the sliding column is fixedly connected to a clamping rod, the outside of the sliding column is fixedly connected to a fixing ring, the outside of the sliding column is sleeved with a second spring, the two ends of the second spring are respectively connected to the fixing ring and the inner ring, the sliding column The top of the annular shell is rotatably connected to a roller, both ends of the annular shell are fixedly connected to a fixed seat, the top of the annular shell is fixedly connected to a side frame, the outside of the side frame is fixedly connected to a fourth motor, the output end of the fourth motor is fixedly connected to a third gear, the third gear is meshed with a gear ring, the outside of the limit plate is fixedly connected to a cylinder, the output end of the cylinder is fixedly connected to a synchronous ring, the outside of the synchronous ring is fixedly connected to multiple groups of inclined plates, the inclined plates correspond to the rollers, one of the fixed seats is rotatably connected to the threaded rod, and the other fixed seat slides through to the outside of the cross bar.

[0011] In one embodiment, the pushing assembly includes a mounting groove arranged on a first fixed plate, a first reciprocating screw rotatably connected in the mounting groove, and a first reciprocating nut threadedly connected to the outside of the first reciprocating screw, the first reciprocating nut is fixedly connected to the mounting seat, the outside of the first fixed plate is fixedly connected to a second motor, and the output end of the second motor is fixedly connected to the first reciprocating screw.

[0012] In one embodiment, the synchronous motion assembly includes a second fixed plate fixedly connected to the mounting seat, a second reciprocating screw rotatably connected to the outside of the second fixed plate, and a second reciprocating nut threadedly connected to the outside of the second reciprocating screw, the second reciprocating nut is fixedly connected to the hinge seat, the outside of the second fixed plate is fixedly connected to a guide rod, the guide rod passes through the second reciprocating nut, the outside of the second fixed plate is rotatably connected to a second gear, the outside of the first fixed plate is fixedly connected to a second rack, and the second gear is meshed with the second rack.

[0013] In one of the embodiments, a groove is provided in the first frame, and the pushing assembly includes a lifting seat arranged in the groove, inclined blocks fixedly connected to both sides of the bottom of the lifting seat, and a fixed frame fixedly connected to one side of the annular shell, one end of the fixed frame is provided with a fixed frame, and the top of the fixed frame is rotatably connected to a resistance roller.

[0014] In one embodiment, a sliding rod is fixedly connected to the bottom of the lifting seat, and the sliding rod passes through the first fixed frame. The outside of the sliding rod is fixedly connected to a limiting ring. The outside of the sliding rod is sleeved with a first spring, and the two ends of the first spring are respectively connected to the limiting ring and the first fixed frame.

[0015] In one embodiment, the outside of the fixing frame is fixedly connected to a fifth motor, the output end of the fifth motor is fixedly connected to a threaded column, the outside of the fixing frame is fixedly connected to a limit rod, the limit rod passes through the fixing frame, the threaded column is threadedly connected to the fixing frame, and the bottom of the rotating arm is rotatably connected to a ball.

[0016] In one of the embodiments, the outside of the first frame is fixedly connected to a top frame, the top frame is fixedly connected to an electric push rod, the output end of the electric push rod is fixedly connected to a mounting plate, and the mounting plate is fixedly connected to a detection component.

[0017] The beneficial effects of the present invention are:

[0018] 1. Compared with the prior art, in the present invention, the parts to be welded can be clamped and fixed by the clamping assembly, the parts can be conveyed by the conveying assembly, and the setting of the pushing assembly can allow the rotating arm to rotate upward, so that the cleaning cloth can contact the welding position, and then the parts are driven to rotate by the clamping assembly, so that the cleaning cloth can be rubbed, and the welding position can be cleaned before and after welding, thereby ensuring the welding quality.

[0019] 2. Compared with the prior art, in the present invention, the two parts to be welded are placed in the corresponding two inner rings, and the parts are clamped and fixed by the clamping rod; the threaded rod is driven to rotate by the first motor, so that the annular shell can be pushed to slide, and the annular shell drives the drill rods to be welded to approach each other. When the annular shell slides, it will drive the fixed frame to move synchronously, and the fixed frame drives the resistance roller to resist the bottom of the inclined block, so that the lifting seat can be lifted up, and the lifting seat resists the ball at the bottom of the rotating arm, and the rotating arm is rotated to lift it up, so that the cleaning cloth is in contact with the two drill rods to be welded; the mounting seat is driven to slide reciprocally by the first reciprocating nut, and the second reciprocating screw is rotated to drive the articulated seat to reciprocate horizontally, so that the cleaning cloth can be cleaned during the longitudinal reciprocating movement of the drill rod. In addition, the fourth motor drives the third gear to rotate, and the third gear drives the gear ring to rotate, so that the parts can be driven to rotate in a circle, so that its components are in contact with the cleaning cloth for cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a three-dimensional structural schematic diagram of the mining machinery welding device of the present invention when welding;

[0021] Figure 2 It is a schematic diagram of the axonometric structure of the mining machinery welding device of the present invention when welding;

[0022] Figure 3 It is a schematic diagram of the bottom arrangement structure of the first rack and the second rack in the present invention;

[0023] Figure 4 It is a schematic diagram of the three-dimensional structure of the first frame and the second frame in the present invention;

[0024] Figure 5 is a schematic diagram of the three-dimensional structure of the second frame in the present invention;

[0025] Figure 6 is a schematic diagram of the bottom structure of the second frame in the present invention;

[0026] Figure 7 yes Figure 6 Schematic diagram of the enlarged structure of the A area in the middle;

[0027] Figure 8 It is a schematic diagram of the three-dimensional structure of the first frame in the present invention;

[0028] Fig. 9 is a schematic diagram of the bottom structure of the first frame in the present invention;

[0029] Fig.10 It is a structural schematic diagram of the first frame and the first fixing plate in the present invention;

[0030] Fig.11 It is a structural schematic diagram of the lifting seat in the present invention;

[0031] Fig.12 It is a schematic diagram of the structure of the cleaning cloth in the present invention;

[0032] Fig.13 yes Fig.12 Schematic diagram of the enlarged structure of the middle B area;

[0033] Fig.14 It is a schematic diagram of the bottom structure of the lifting seat in the present invention;

[0034] Fig.15 It is a schematic diagram of the ball structure at the bottom of the rotating arm in the present invention;

[0035] Fig.16 It is a schematic diagram of the axonometric structure of the clamping assembly in the present invention;

[0036] Fig.17 It is a schematic diagram of the three-dimensional structure of the clamping assembly in the present invention;

[0037] Fig.18 It is a schematic cross-sectional structure diagram of the gear ring and the annular housing in the present invention;

[0038] Fig.19 It is a structural schematic diagram of the gear ring in the present invention;

[0039] Fig. 20 It is a structural schematic diagram of the annular shell in the present invention.

[0040] The markings in the figure are:

[0041] 100, first frame; 1001, first motor; 1002, threaded rod; 1003, first fixing plate; 1004, mounting groove; 1005, second motor; 1006, first reciprocating screw rod; 1007, first reciprocating nut; 1008, groove; 1009, crossbar;

[0042] 200, second rack; 2001, slide rail; 2002, slider; 2003, slide seat; 2004, welding robot; 2005, third motor; 2006, first rack; 2007, first gear;

[0043] 300, mounting seat; 3001, second fixing plate; 3002, guide rod; 3003, second reciprocating screw rod; 3004, second reciprocating nut; 3005, hinged seat; 3006, rotating arm; 3007, second gear; 3008, second rack; 3009, cleaning cloth; 30010, ball bearing;

[0044] 400, lifting seat; 4001, inclined block; 4002, sliding rod; 4003, first spring; 4004, limiting ring;

[0045] 500, annular housing; 5001, third gear; 5002, fourth motor; 5003, inclined plate; 5004, synchronous ring; 5005, cylinder; 5006, inner ring; 5007, connecting rod; 5008, sliding column; 5009, fixing ring; 50010, second spring; 50011, roller; 50012, fixing seat; 50013, side frame; 50014, limiting plate; 50015, gear ring; 50016, clamping rod;

[0046] 600, fixed frame; 6001, fifth motor; 6002, limit rod; 6003, threaded column; 6004, fixed frame; 6005, abutting roller;

[0047] 700, top frame; 7001, electric push rod; 7002, mounting plate; 7003, detection component. DETAILED DESCRIPTION

[0048] In the description of the present invention, it should be noted that the orientations or positional relationships indicated by terms such as “front”, “up”, “down”, “left”, “right”, “vertical” and “horizontal” 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 a limitation on the present invention.

[0049] In the description of the present invention, it should be noted that, unless otherwise clearly 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 direct connection, or an indirect connection through an intermediate medium, or 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.

[0050] The following is combined with Figure 1-20 The present invention is further described.

[0051] Embodiment 1:

[0052] In order to solve the problems existing in the background technology, the present application proposes the following technical solutions: a mining machinery welding device, comprising a first frame 100 and a second frame 200, the second frame 200 is provided with a welding robot 2004, both ends of the first frame 100 are provided with a conveying assembly, the outside of the conveying assembly is provided with a clamping assembly, the outside of the first frame 100 is fixedly connected to a first fixed plate 1003, the first fixed plate 1003 is provided with a mounting seat 300, the mounting seat 300 is provided with a hinged seat 3005, the outside of the hinged seat 3005 is rotatably connected to a rotating arm 3006, the outside of the rotating arm 3006 is fixedly connected to a cleaning cloth 3009, and the cleaning cloth 3009 is used to clean the welding part and the part after welding.

[0053] In a further design, a pushing component is provided on the mounting seat 300, and the pushing component is used to push the mounting seat 300 to reciprocate longitudinally. A synchronous motion component is provided on the outside of the mounting seat 300, and the synchronous motion component is used to push the articulated seat 3005 to reciprocate laterally. A pushing component is also provided on the outside of the first frame 100, and the pushing component is used to push the rotating arm 3006 to rotate.

[0054] Among them, at least one slide rail 2001 is fixedly connected to the top of the second frame 200. In this embodiment, two slide rails 2001 are fixedly connected to the top of the second frame 200, and a slider 2002 is slidably connected to the slide rail 2001. The outside of the slider 2002 is fixedly connected to a sliding seat 2003. The welding robot 2004 is fixedly connected to the sliding seat 2003. The welding robot 2004 is a six-axis robotic arm, which is an existing product. The outside of the frame is fixedly connected to a first rack 2006, and the outside of the sliding seat 2003 is fixedly connected to a third motor 2005. The output end of the third motor 2005 is fixedly connected to a first gear 2007, and the first gear 2007 is meshed with the first rack 2006. The third motor 2005 drives the first gear 2007 to rotate, and the first gear 2007 is meshed with the first rack 2006, thereby driving the sliding seat 2003 to slide, thereby completing the position adjustment of the welding robot 2004.

[0055] In a further design, the conveying assembly in this embodiment includes a first motor 1001 fixedly connected to both ends of the first frame 100 and a threaded rod 1002 fixedly connected to the output end of the first motor 1001, and both ends of the first frame 100 are fixedly connected with a cross bar 1009.

[0056] The clamping assembly includes an annular housing 500 , a gear ring 50015 slidably connected in the annular housing 500 , an inner ring 5006 disposed in the gear ring 50015 , and a plurality of sliding posts 5008 penetrating the inner ring 5006 .

[0057] In addition, limiting plates 50014 are fixedly connected on both sides of the gear ring 50015, and the limiting plates 50014 abut against the outside of the annular shell 500. The outside of the inner ring 5006 is fixedly connected with a connecting rod 5007, and the connecting rod 5007 is fixedly connected to the gear ring 50015 to achieve synchronous movement.

[0058] Among them, a clamping rod 50016 is fixedly connected to the bottom of the sliding column 5008, and the clamping rod 50016 is a V-shaped structure, and a fixing ring 5009 is fixedly connected to the outside of the sliding column 5008. The outside of the sliding column 5008 is sleeved with a second spring 50010, and the two ends of the second spring 50010 are respectively connected to the fixing ring 5009 and the inner ring 5006, and the second spring 50010 plays a role in resetting; a side frame 50013 is fixedly connected to the top of the annular shell 500, and a fourth motor 5002 is fixedly connected to the outside of the side frame 50013, and the output end of the fourth motor 5002 is fixedly connected to the third gear 5001, and the third gear 5001 is meshed with the ring gear 50015. The fourth motor 5002 drives the third gear 5001 to rotate, and the third gear 5001 drives the ring gear 50015 to rotate, thereby driving the drill rod to be welded to rotate in a circle, which is convenient for the welding robot 2004 to weld.

[0059] Among them, the top of the sliding column 5008 is rotatably connected to the roller 50011, both ends of the annular shell 500 are fixedly connected to the fixing seat 50012, the outside of the limiting plate 50014 is fixedly connected to the cylinder 5005, the output end of the cylinder 5005 is fixedly connected to the synchronization ring 5004, the outside of the synchronization ring 5004 is fixedly connected to multiple groups of inclined plates 5003, the inclined plates 5003 correspond to the roller 50011, the cylinder 5005 pushes the synchronization ring 5004 to slide, the synchronization ring 5004 pushes the inclined plates 5003 to slide, the inclined plates 5003 resist the roller 50011, after the roller 50011 is subjected to force, it will drive the sliding column 5008 to slide downward, and the sliding column 5008 drives the clamping rod 50016 to clamp and fix the drill pipe.

[0060] In order to facilitate movement, one of the fixing seats 50012 is rotatably connected to the threaded rod 1002 , and the other fixing seat 50012 slides through the outside of the cross bar 1009 .

[0061] In this embodiment, the pushing assembly includes a mounting groove 1004 arranged on the first fixed plate 1003, a first reciprocating screw rod 1006 rotatably connected in the mounting groove 1004, and a first reciprocating nut 1007 threadedly connected to the outside of the first reciprocating screw rod 1006, the first reciprocating nut 1007 is fixedly connected to the mounting seat 300, the outside of the first fixed plate 1003 is fixedly connected with a second motor 1005, the output end of the second motor 1005 is fixedly connected to the first reciprocating screw rod 1006, the second motor 1005 drives the first reciprocating screw rod 1006 to rotate, the first reciprocating screw rod 1006 drives the first reciprocating nut 1007 to reciprocate, the first reciprocating nut 1007 drives the mounting seat 300 to slide back and forth, and during the reciprocating sliding process of the mounting seat 300, it drives the cleaning cloth 3009 to clean the connection part of the two drill rods.

[0062] In this embodiment, the synchronous motion component includes a second fixed plate 3001 fixedly connected to the mounting seat 300, a second reciprocating screw rod 3003 rotatably connected to the outside of the second fixed plate 3001, and a second reciprocating nut 3004 threadedly connected to the outside of the second reciprocating screw rod 3003, the second reciprocating nut 3004 is fixedly connected to the hinge seat 3005, the outside of the second fixed plate 3001 is fixedly connected to a guide rod 3002, the guide rod 3002 passes through the second reciprocating nut 3004, and the outside of the second fixed plate 3001 is rotatably connected to a second gear. Wheel 3007, the outside of the first fixed plate 1003 is fixedly connected with the second rack 3008, the second gear 3007 is meshed with the second rack 3008, and during the reciprocating sliding process of the mounting seat 300, the cooperation of the second gear 3007 and the second rack 3008 can drive the second reciprocating screw 3003 to rotate. When the second reciprocating screw 3003 rotates, it will drive the articulated seat 3005 to reciprocate horizontally, thereby realizing the longitudinal reciprocating motion of the cleaning cloth 3009 and synchronously realizing the lateral reciprocating motion, thereby completing the cleaning of the drill rod connection part.

[0063] In a further design, a groove 1008 is provided in the first frame 100, and the push assembly includes a lifting seat 400 arranged in the groove 1008, inclined blocks 4001 fixedly connected to both sides of the bottom of the lifting seat 400, and a fixing frame 600 fixedly connected to one side of the annular shell 500, one end of the fixing frame 600 is provided with a fixing frame 6004, the top of the fixing frame 6004 is rotatably connected to a resisting roller 6005, a sliding rod 4002 is fixedly connected to the bottom of the lifting seat 400, the sliding rod 4002 passes through the first fixing frame 600, and the outer portion of the sliding rod 4002 is fixedly connected to a limit ring 4 004, the outer sleeve of the sliding rod 4002 is provided with a first spring 4003, and the two ends of the first spring 4003 are respectively connected to the limit ring 4004 and the first fixed frame 600. When the annular shell 500 slides, it will drive the fixed frame 6004 to move synchronously. The fixed frame 6004 drives the abutment roller 6005 to abut against the bottom of the inclined block 4001, so that the lifting seat 400 can be lifted up. The lifting seat 400 abuts against the ball 30010 at the bottom of the rotating arm 3006, and the rotating arm 3006 is rotated to lift it up, so that the cleaning cloth 3009 abuts against the two drill rods to be welded, which is convenient for cleaning.

[0064] In order to further adjust the friction between the cleaning cloth 3009 and the drill rod to be welded, and to facilitate the adjustment of the opening angle of the rotating arm 3006, a fifth motor 6001 is fixedly connected to the outside of the fixed frame 600, and a threaded column 6003 is fixedly connected to the output end of the fifth motor 6001. The outside of the fixed frame 600 is fixedly connected with a limiting rod 6002, and the limiting rod 6002 penetrates the fixed frame 6004. The threaded column 6003 is threadedly connected to the fixed frame 6004. In order to facilitate lateral and longitudinal movement, a ball 30010 is rotatably connected to the bottom of the rotating arm 3006. The fifth motor 6001 drives the threaded column 6003 to rotate, and through the guidance of the limiting rod 6002, the fixed frame 6004 can be slidably adjusted, thereby further adjusting the position of the resistance roller 6005.

[0065] The method of using this embodiment is as follows:

[0066] Place two drill rods to be welded (in this embodiment, the parts to be welded are replaced by drill rods) in the corresponding two inner rings 5006, then start the cylinder 5005, the cylinder 5005 pushes the synchronous ring 5004 to slide, the synchronous ring 5004 pushes the inclined plate 5003 to slide, the inclined plate 5003 resists the roller 50011, and after the roller 50011 is stressed, it drives the sliding column 5008 to slide downward, and the sliding column 5008 drives the clamping rod 50016 to clamp and fix the drill rod;

[0067] The first motor 1001 drives the threaded rod 1002 to rotate, thereby pushing the annular housing 500 to slide, and the annular housing 500 drives the drill rods to be welded to approach each other and finally collide with each other;

[0068] In addition, when the annular housing 500 slides, it will drive the fixed frame 6004 to move synchronously, and the fixed frame 6004 drives the abutting roller 6005 to abut against the bottom of the inclined block 4001, so that the lifting seat 400 can be lifted up, and the lifting seat 400 abuts against the ball 30010 at the bottom of the rotating arm 3006, and the rotating arm 3006 is rotated and lifted up, so that the cleaning cloth 3009 is abutted against the two drill rods to be welded;

[0069] Subsequently, the fourth motor 5002 and the second motor 1005 are started, the second motor 1005 drives the first reciprocating screw 1006 to rotate, the first reciprocating screw 1006 drives the first reciprocating nut 1007 to reciprocate, the first reciprocating nut 1007 drives the mounting seat 300 to slide back and forth, and during the reciprocating sliding of the mounting seat 300, the cleaning cloth 3009 is driven to clean the connection between the two drill rods. At the same time, during the reciprocating sliding of the mounting seat 300, the second reciprocating screw 3003 can be driven to rotate through the cooperation of the second gear 3007 and the second rack 3008. When the second reciprocating screw 3003 rotates, it will drive the articulated seat 3005 to reciprocate horizontally, so that the cleaning cloth 3009 can realize the horizontal reciprocating motion synchronously during the longitudinal reciprocating motion, and the drilling rod connection part is cleaned. After the welding robot 2004 performs welding, the welding position can also be cleaned according to the same principle.

[0070] The fourth motor 5002 drives the third gear 5001 to rotate, and the third gear 5001 drives the gear ring 50015 to rotate, thereby driving the parts to rotate in a circle, so that its components come into contact with the cleaning cloth 3009 for cleaning.

[0071] Embodiment 2:

[0072] This embodiment is different from the first embodiment in that a top frame 700 is fixedly connected to the outside of the first frame 100, an electric push rod 7001 is fixedly connected to the top frame 700, a mounting plate 7002 is fixedly connected to the output end of the electric push rod 7001, a detection component 7003 is fixedly connected to the mounting plate 7002, and the detection component 7003 includes a laser vision sensor, a CCD camera, a phased array ultrasonic sensor and an eddy current sensor.

[0073] In this embodiment, the weld at the welding position is mainly detected, and the specific technical solution is as follows:

[0074] These include welding detection systems, which are composed of multimodal sensor detection units, data acquisition and transmission modules, analysis and diagnosis modules based on big data and artificial intelligence, intelligent evaluation and decision-making modules, and human-computer interaction and visualization platforms;

[0075] Among them, the multimodal sensing detection unit is specifically introduced as follows:

[0076] The laser vision sensor works based on the principle of triangulation. The laser transmitter emits a laser beam to illuminate the weld surface. The laser reflected by the weld surface is received by the CCD camera. The angle between the laser beam and the normal line of the weld surface is , the angle between the optical axis of the CCD camera and the laser beam is , the lateral displacement of the laser spot on the weld surface is ,According to the triangular geometric relationship, the height change of the weld surface It can be calculated by the following formula:

[0077]

[0078] The CCD camera has a pixel of 50000×3000 or more and a frame rate of no less than 50fps, ensuring that the laser stripe image on the weld surface can be captured quickly and clearly.

[0079] By processing the laser stripe image, the surface morphology of the weld can be obtained, such as the weld width , Yu Gao , surface flatness For the measurement of weld width, the pixel coordinates of the edges on both sides of the weld are determined by edge detection algorithm of laser stripe image in the direction perpendicular to the weld. and , then the weld width It can be calculated by the following formula:

[0080]

[0081] in It is the ratio coefficient between image pixels and actual size, which is determined by pre-calibration.

[0082] The phased array ultrasonic sensor is composed of multiple ultrasonic transducer array elements. By precisely controlling the time delay between the array elements transmitting and receiving ultrasonic pulses, the focusing, deflection and scanning of the ultrasonic beam are achieved. Assume that the propagation speed of ultrasound in the workpiece is The array element spacing is , the desired beam deflection angle is , then the transmission time delay between adjacent array elements is It can be determined by the following formula:

[0083]

[0084] The operating frequency range of the ultrasonic phased array sensor is 2-5MHz, and the number of array elements is 64-128. It can perform high-resolution detection of defects at different depths and positions inside the weld. By collecting and processing the ultrasonic echo signal and using algorithms such as synthetic aperture focusing technology (SAFT), an ultrasonic image inside the weld is generated to clearly show the location, shape and size of the defect. Assume that the amplitude of the ultrasonic echo signal is , the imaging point after SAFT algorithm processing Ultrasonic signal strength It can be expressed as:

[0085]

[0086] in is the number of array elements involved in imaging, is the ultrasonic frequency, For the The time delay of the echo signal of each array element can be calculated to obtain detailed information of the internal defects of the weld, such as the depth of the defect. , Horizontal size wait;

[0087] Among them, the eddy current sensor uses the principle that an alternating magnetic field generates eddy currents on the surface of a metal workpiece to detect defects on the weld surface and near the surface. When there are defects in the weld, it will cause changes in the eddy current, thereby causing changes in the output signal of the eddy current sensor.

[0088] Assume the self-inductance of the eddy current sensor coil is , the excitation current is , the operating frequency is According to the principle of electromagnetic induction, the impedance of the coil It can be expressed by the following formula: in is the coil resistance;

[0089] When there are defects on the weld surface, the distribution of eddy currents will change, thus affecting the inductance of the coil. and resistor , resulting in impedance By measuring the impedance change of the sensor output , it can be determined whether there are defects on the weld surface and near the surface, as well as the approximate location and size of the defects.

[0090] Among them, the data acquisition and transmission module includes the following introduction:

[0091] In order to ensure the consistency of the data acquired by the multimodal sensing detection unit in time and space, a high-precision synchronous acquisition technology is used. Through the synchronous trigger signal, the laser vision sensor, phased array ultrasonic sensor and eddy current sensor start data acquisition at the same time. The rising edge time of the synchronous trigger signal is set to ,The exposure time of the laser vision sensor is ,The pulse transmission period of the phased array ultrasonic sensor is , the sampling period of the eddy current sensor is , the following relationship should be satisfied:

[0092]

[0093] in and is a positive integer, ensuring that data from different sensors are collected at the same time, which is convenient for subsequent data fusion and analysis. 2. High-speed data transmission: the collected data is transmitted to the analysis and diagnosis module based on big data and artificial intelligence through a high-speed data transmission interface, and optical fiber communication technology is used to achieve high-speed and stable data transmission. Assume that the data transmission rate is , the amount of data is , then the transmission time It can be calculated by the following formula:

[0094]

[0095] By selecting a suitable optical fiber transmission rate (such as 10Gbps or higher), it is ensured that a large amount of image data, ultrasonic signal data and eddy current signal data can be transmitted to the analysis and diagnosis module in a timely and accurate manner to meet the requirements of real-time detection.

[0096] Among them, the analysis and diagnosis modules based on big data and artificial intelligence specifically include the following:

[0097] Data preprocessing and fusion:

[0098] The collected data of different modes are preprocessed, including grayscale, filtering, edge detection of laser vision images, noise reduction, gain adjustment, beam synthesis of ultrasonic phased array data, and filtering, amplification and feature extraction of eddy current sensor data. Then, the data of the three modes are fused using a data fusion algorithm. For example, the data fusion algorithm based on Kalman filtering, by establishing state equations and observation equations, fuses the surface features of the weld measured by laser vision and the internal defect information detected by ultrasonic phased array, thereby improving the accuracy and completeness of the data. Assume that the weld width measured by laser vision is , the defect depth of ultrasonic phased array detection is , the weld width and defect depth after fusion are and , then the state update equation of Kalman filter is:

[0099]

[0100]

[0101] in is the time step, and is the process noise, and is the observation matrix, and is the observation noise. By continuously updating the state estimation, the optimal fusion of data is achieved.

[0102] Defect recognition based on deep learning:

[0103] The deep learning algorithm is used to identify and classify defects in the fused data. A convolutional neural network (CNN) model is constructed, and the preprocessed data is used as input. After multiple convolutional layers, pooling layers, and fully connected layers, the type of weld defects (such as cracks, pores, slag inclusions, etc.) and severity level are output. Assume that the input data of the CNN model is , the weight matrix is , the bias vector is After the feature extraction of the convolution layer and the pooling layer, the feature map is obtained. , and then the classification decision is made by the fully connected layer to output the defect type and severity level , then the forward propagation process of the model can be expressed as:

[0104]

[0105] in is the activation function (such as ReLU function), is the number of convolution kernels, and are the weights and biases of the fully connected layer, and the softmax function is used to convert the output into a probability distribution to determine the type and severity level of the defect. The CNN model is trained with a large amount of annotated weld data so that it can accurately identify various types of defects.

[0106] The intelligent assessment and decision-making modules are as follows:

[0107] Quantitative defect assessment:

[0108] Defects are quantitatively evaluated based on the defect type and location identified by the analysis and diagnosis module based on big data and artificial intelligence. For crack defects, their length is measured. ,width and depth The depth information of ultrasonic phased array detection and the surface position information of laser vision detection are used to calculate the size parameters of the crack in combination with the geometric relationship. Assume that the starting depth of the crack detected by the ultrasonic phased array is , the end depth is , the length of the crack detected by laser vision on the surface is , then the crack length and depth It can be approximately calculated as:

[0109]

[0110]

[0111] in It is the angle between the crack and the weld surface, determined by ultrasonic phased array imaging analysis or combined with multi-view detection data. For pores and slag inclusion defects, their size and volume are estimated based on the area and volume characteristics of ultrasonic phased array imaging, combined with the material properties of the workpiece and ultrasonic propagation parameters.

[0112] Quality Assessment Model:

[0113] A weld quality evaluation model based on fuzzy comprehensive evaluation method is established. (including defect type, size, quantity, distribution and other factors), evaluation level set (such as excellent, good, qualified, unqualified), by determining the weight vector of each evaluation factor and fuzzy relationship matrix (in Indication factors Evaluation level ), calculate the fuzzy comprehensive evaluation vector (o is the fuzzy synthesis operator), and the quality grade of the weld is determined according to the maximum membership principle. For example, for a weld, after analyzing and calculating each evaluation factor, the fuzzy comprehensive evaluation vector is obtained. , the maximum membership degree is 0.4, corresponding to the qualified level, and the weld quality is judged to be qualified.

[0114] The quality assessment results provide a basis for subsequent treatment measures. For qualified welds, they are allowed to proceed to the next process; for unqualified welds, corresponding repair suggestions are made according to the type and severity of the defects. For example, for small surface cracks, they can be repaired by grinding and re-testing; for larger internal defects, repair welding or re-welding is required, and welding process parameters such as welding current, voltage, welding speed, etc. are adjusted.

[0115] In the human-computer interaction and visualization platform, the test results are presented to the user in an intuitive and clear way. Through 3D modeling technology, a 3D model of the weld is constructed, and the location, type, size and other information of the defects are marked on the model. Different colors and symbols are used to distinguish defects of different severity. At the same time, various quality parameters of the weld are displayed in the form of charts, such as surface roughness, excess height, number and size of internal defects, etc., so that users can quickly understand the overall quality of the weld.

[0116] It also includes an operation and management interface, providing a friendly operation interface through which users can start and stop the detection process, set detection parameters (such as the sensor's operating frequency, gain, image acquisition frame rate, etc.), view detection history and generate detection reports. In addition, it also has a user authority management function to ensure the security of the system and the confidentiality of data. Users with different permissions can perform different levels of operations. For example, administrators can fully set system parameters and assign user permissions, while ordinary operators can only perform detection operations and view detection results.

[0117] In summary, in this embodiment, through the integration of multimodal sensing detection technology, the advantages of laser vision, ultrasonic phased array and eddy current sensors are fully utilized, and tiny surface defects and internal defects can be detected to effectively avoid missed detection and misjudgment, ensuring the high quality of mining machinery welds, and through automated synchronous acquisition and high-speed data transmission technology, as well as intelligent data analysis and processing algorithms, the detection efficiency is greatly improved. The defect recognition and quantitative evaluation method based on deep learning solves the problem of difficult qualitative and quantitative analysis of defects in traditional detection. It can accurately determine the type of defects and accurately measure the size and location of defects, providing a reliable basis for subsequent quality evaluation and repair measures, improving the pertinence and effectiveness of repair work, reducing repair costs and time, and overcoming the subjectivity and unscientificity of traditional quality evaluation methods through scientific quality evaluation models such as fuzzy comprehensive evaluation methods.

[0118] The standard parts used in the present invention can all be purchased from the market, and special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. Machinery, parts and equipment all adopt conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here. The content not described in detail in this specification belongs to the prior art known to professional and technical personnel in this field.

[0119] While the embodiments of the present invention have been shown and described, it will be apparent to those skilled in the art that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A mining mechanical welding device, comprising a first frame (100) and a second frame (200), wherein a welding robot (2004) is arranged on the second frame (200), characterized in that: Both ends of the first frame (100) are provided with conveying components, and the outside of the conveying component is provided with a clamping component, the outside of the first frame (100) is fixedly connected to a first fixing plate (1003), the first fixing plate (1003) is provided with a mounting seat (300), the mounting seat (300) is provided with a hinge seat (3005), the outside of the hinge seat (3005) is rotatably connected to a rotating arm (3006), the outside of the rotating arm (3006) is fixedly connected to a cleaning cloth (3009), the mounting seat (300) is provided with a pushing component, the pushing component is used to push the mounting seat (300) to reciprocate longitudinally, the outside of the mounting seat (300) is provided with a synchronous motion component, the synchronous motion component is used to push the hinge seat (3005) to reciprocate laterally, and the outside of the first frame (100) is also provided with a pushing component, the pushing component is used to push the rotating arm (3006) to rotate; The clamping assembly comprises an annular housing (500), a gear ring (50015) slidably connected in the annular housing (500), an inner ring (5006) disposed in the gear ring (50015), and a plurality of groups of sliding posts (5008) penetrating the inner ring (5006); A groove (1008) is provided in the first frame (100), and the push assembly comprises a lifting seat (400) arranged in the groove (1008), inclined blocks (4001) fixedly connected to both sides of the bottom of the lifting seat (400), and a fixed frame (600) fixedly connected to one side of the annular shell (500), one end of the fixed frame (600) is provided with a fixed frame (6004), and the top of the fixed frame (6004) is rotatably connected to a resistance roller (6005).

2. A mining machinery welding device according to claim 1, characterized in that: At least one slide rail (2001) is fixedly connected to the top of the second frame (200), a slider (2002) is slidably connected to the slide rail (2001), a sliding seat (2003) is fixedly connected to the outside of the sliding seat (2002), the welding robot (2004) is fixedly connected to the sliding seat (2003), a first rack (2006) is fixedly connected to the outside of the second frame (200), a third motor (2005) is fixedly connected to the outside of the sliding seat (2003), a first gear (2007) is fixedly connected to the output end of the third motor (2005), and the first gear (2007) is meshed with the first rack (2006).

3. A mining machinery welding device according to claim 1, characterized in that: The conveying assembly comprises a first motor (1001) fixedly connected to both ends of a first frame (100) and a threaded rod (1002) fixedly connected to an output end of the first motor (1001), and both ends of the first frame (100) are fixedly connected to a crossbar (1009).

4. A mining machinery welding device according to claim 3, characterized in that: Both sides of the gear ring (50015) are fixedly connected to limit plates (50014), and the limit plates (50014) are in contact with the outside of the annular housing (500). The outside of the inner ring (5006) is fixedly connected to a connecting rod (5007), and the connecting rod (5007) is fixedly connected to the gear ring (50015). The bottom of the sliding column (5008) is fixedly connected to a clamping rod (50016), and the outside of the sliding column (5008) is fixedly connected to a fixing ring (5009). The outside of the sliding column (5008) is sleeved with a second spring (50010), and the two ends of the second spring (50010) are respectively connected to the fixing ring (5009) and the inner ring (5006). The top of the sliding column (5008) is rotatably connected to a roller (50011), and both ends of the annular housing (500) are fixedly connected to a fixing seat (5001 2), the top of the annular housing (500) is fixedly connected to a side frame (50013), the outside of the side frame (50013) is fixedly connected to a fourth motor (5002), the output end of the fourth motor (5002) is fixedly connected to a third gear (5001), the third gear (5001) is meshed with a gear ring (50015), the outside of the limit plate (50014) is fixedly connected to a cylinder (5005), the output end of the cylinder (5005) is fixedly connected to a synchronous ring (5004), the outside of the synchronous ring (5004) is fixedly connected to multiple groups of inclined plates (5003), the inclined plates (5003) correspond to the rollers (50011), one of the fixed seats (50012) is rotatably connected to the threaded rod (1002), and another of the fixed seats (50012) slides through the outside of the cross bar (1009).

5. A mining machinery welding device according to claim 1, characterized in that: The pushing assembly comprises a mounting groove (1004) arranged on a first fixed plate (1003), a first reciprocating screw (1006) rotatably connected in the mounting groove (1004), and a first reciprocating nut (1007) threadedly connected to the outside of the first reciprocating screw (1006), the first reciprocating nut (1007) being fixedly connected to the mounting seat (300), the outside of the first fixed plate (1003) being fixedly connected to a second motor (1005), and the output end of the second motor (1005) being fixedly connected to the first reciprocating screw (1006).

6. A mining machinery welding device according to claim 1, characterized in that: The synchronous motion component comprises a second fixed plate (3001) fixedly connected to the mounting seat (300), a second reciprocating screw (3003) rotatably connected to the outside of the second fixed plate (3001), and a second reciprocating nut (3004) threadedly connected to the outside of the second reciprocating screw (3003), the second reciprocating nut (3004) being fixedly connected to the hinge seat (3005), the outside of the second fixed plate (3001) being fixedly connected to a guide rod (3002), the guide rod (3002) passing through the second reciprocating nut (3004), the outside of the second fixed plate (3001) being rotatably connected to a second gear (3007), the outside of the first fixed plate (1003) being fixedly connected to a second rack (3008), the second gear (3007) being meshed with the second rack (3008).

7. A mining machinery welding device according to claim 6, characterized in that: The bottom of the lifting seat (400) is fixedly connected to a sliding rod (4002), the sliding rod (4002) passes through the first fixed frame (600), the outside of the sliding rod (4002) is fixedly connected to a limiting ring (4004), the outside of the sliding rod (4002) is sleeved with a first spring (4003), and the two ends of the first spring (4003) are respectively connected to the limiting ring (4004) and the first fixed frame (600).

8. A mining machinery welding device according to claim 7, characterized in that: The fixing frame (600) is fixedly connected to the outside of the fixing frame (600), the output end of the fifth motor (6001) is fixedly connected to a threaded column (6003), the fixing frame (6000) is fixedly connected to the outside of the fixing frame (6000), the threaded column (6003) passes through the fixing frame (6004), the threaded column (6003) is threadedly connected to the fixing frame (6004), and the bottom of the rotating arm (3006) is rotatably connected to a ball bearing (30010).

9. A mining machinery welding device according to claim 1, characterized in that: The first frame (100) is fixedly connected to the outside with a top frame (700), the top frame (700) is fixedly connected to an electric push rod (7001), the output end of the electric push rod (7001) is fixedly connected to a mounting plate (7002), and the mounting plate (7002) is fixedly connected to a detection component (7003).

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