Welding seam destressing and slag removing device

Abstract

The invention discloses a weld joint destressing and slag removing device which comprises a frame body, and a positioning mechanism, a walking mechanism, a slag removing mechanism and a slag sucking mechanism which are respectively arranged on the frame body, the positioning mechanism is arranged at the front end of the frame body in the walking direction and used for detecting the welding seam position. The walking mechanism is used for driving the frame body to walk along the weld joint according to detection results of the positioning mechanism. The slag removing mechanism comprises a lifting assembly, a distance sensor and a destressing assembly, the destressing assembly is used for knocking welding slag in the welding seam and removing stress of the welding seam, the distance sensor is used for detecting the vertical distance of the destressing assembly relative to the welding seam in real time, and the lifting assembly is used for driving the destressing assembly to ascend and descend according to the detection result of the distance sensor; the slag suction mechanism comprises a slag suction assembly and a slag suction pipe connected with the slag suction assembly, and the slag suction pipe is arranged on the lifting assembly. The weld joint destressing and slag removing device provided by the invention can adapt to weld joints of different paths, and realizes full-automatic walking along the weld joints, and slag removing, destressing and slag sucking operations on the weld joints.

Description

Technical Field

[0001] The invention relates to the technical field of weld surface treatment, in particular to a weld stress relief and slag removal device. Background Art

[0002] In the narrow gap welding process, due to the small volume of the molten pool and the stronger three-dimensional heat dissipation capacity, the liquid state of the molten pool exists for a shorter time and the probability of slag inclusion is higher. Therefore, whether the slag is cleaned cleanly or not has a great impact on the quality of the welding weld, especially for multi-layer and multi-pass narrow gap welding, which is easy to cause multi-pass and multi-layer slag inclusions and pores, seriously affecting the welding quality. If the slag is not cleaned cleanly, it will need to be planed off and re-grinded for welding at the least, or the workpiece will be scrapped, causing huge economic losses. In addition, there is a certain amount of deformation in narrow gap welding. If stress relief treatment is not performed, it will also seriously affect the welding quality and cause quality problems such as product size out of tolerance.

[0003] At present, in order to prevent the occurrence of slag inclusion process defects, slag is generally removed manually, mostly using pneumatic or electric tools such as pneumatic shovels, pneumatic hammers, pneumatic grinders, etc., and some people use wire wheels to rotate to remove slag. This not only increases the workload of workers in the later stage of welding slag cleaning, reduces the efficiency of welding slag cleaning, affects the work progress, but also increases the labor intensity of workers, and there is no guarantee that the welding slag is completely removed. Summary of the invention

[0004] The invention provides a weld stress relief slag cleaning device to solve the technical problems of low efficiency and unguaranteed quality of existing narrow gap weld slag cleaning.

[0005] According to one aspect of the present invention, there is provided a weld stress relief and slag removal device, comprising a frame, and a positioning mechanism, a walking mechanism, a slag removal mechanism and a slag suction mechanism respectively arranged on the frame;

[0006] The positioning mechanism is arranged at the front end of the frame along the walking direction and is used to detect the position of the weld;

[0007] The walking mechanism is arranged at the bottom of the frame and is used to drive the frame to walk along the weld according to the detection result of the positioning mechanism;

[0008] The slag cleaning mechanism includes a lifting component, a distance sensor and a stress relief component, wherein the distance sensor and the stress relief component are both installed on the lifting component, the stress relief component is used to knock the welding slag in the weld and remove the stress of the weld, the distance sensor is used to detect the vertical distance of the stress relief component relative to the weld in real time, and the lifting component is used to drive the stress relief component to move up and down according to the detection result of the distance sensor, so as to control the vertical distance of the stress relief component relative to the weld within a preset range;

[0009] The slag suction mechanism includes a slag suction component and a slag suction pipe connected to the slag suction component, the slag suction component is used to suck away welding slag through the slag suction pipe, the slag suction pipe is arranged on the lifting component, the pipe mouth of the slag suction pipe is located at the rear end of the stress relief component along the walking direction of the frame, and the lifting component is used to drive the slag suction pipe and the stress relief component to move synchronously up and down.

[0010] Preferably, the lifting assembly includes a fixed seat, a guide rod, a guide seat, a lifting seat and a lifting drive assembly, the guide rod is vertically arranged on the fixed seat, a plurality of guide seats are vertically spaced, a plurality of guide seats are sequentially sleeved on the guide rod and are all used for guiding and sliding along the guide rod, the lifting seat is respectively connected to a plurality of guide seats, the lifting drive assembly is arranged on the fixed seat and is used for driving the lifting seat to move up and down, and the stress relief assembly is installed on the lifting seat.

[0011] Preferably, two guide rods are provided, and the two guide rods are arranged side by side and at intervals along the width direction of the lifting seat.

[0012] Preferably, one of the plurality of guide seats extends in a direction away from the lifting seat to form a driving portion, the driving portion and the lifting seat are arranged on opposite sides of the guide rod, and a threaded hole is provided on the driving portion;

[0013] The lifting drive assembly includes a lifting motor installed on the fixed seat and a driving screw connected to the lifting motor and vertically inserted into the threaded hole. The lifting motor is used to drive the driving screw to rotate and drive the driving part to move up and down through threaded engagement when the driving screw rotates.

[0014] Preferably, the lifting assembly also includes a limit plate, the top ends of the two guide rods are respectively connected to the fixed seat, and the bottom ends of the two guide rods are respectively connected to the limit plate, the fixed seat is used to abut the guide seat at the top end when the lifting seat rises to the maximum stroke, and the limit plate is used to abut the guide seat at the bottom end when the lifting seat descends to the maximum stroke.

[0015] Preferably, the slag suction component includes a slag collecting bin body, a filter component and a fan. The slag collecting bin body is respectively provided with a slag suction interface and a fan interface. The filter component is arranged in the inner cavity of the slag collecting bin body and divides the inner cavity of the slag collecting bin body into a slag collecting chamber connected to the slag suction interface and an air guide chamber connected to the fan interface. The slag suction pipe is connected to the slag suction interface, and the fan is connected to the fan interface and is used to evacuate the inner cavity of the slag collecting bin body.

[0016] Preferably, the slag suction assembly also includes a slag discharge drawer and a hinged door, the slag discharge drawer is arranged in the slag collecting chamber and is used to collect the welding slag filtered out by the filter assembly, and the hinged door is hinged to the preset window of the air guide chamber and is used to expose the filter assembly after opening.

[0017] Preferably, the positioning mechanism comprises a mounting frame, a horizontal rotating assembly, a vertical rotating assembly and a positioning assembly;

[0018] The mounting bracket is arranged on the frame body, the fixed end of the horizontal rotating assembly is connected to the mounting bracket, the driving end of the horizontal rotating assembly is connected to the fixed end of the vertical rotating assembly, the driving end of the vertical rotating assembly is connected to the positioning assembly, the horizontal rotating assembly is used to drive the vertical rotating assembly to rotate along the horizontal plane, thereby driving the positioning assembly to rotate along the horizontal plane to adjust the positioning direction, and the vertical rotating assembly is used to drive the positioning assembly to rotate along the vertical plane, thereby driving the positioning assembly to rotate along the vertical plane to adjust the positioning angle.

[0019] Preferably, the positioning assembly comprises two cameras, the two cameras are arranged side by side along the rotation axis of the vertical rotation assembly, and the rotation axis of the horizontal rotation assembly is located between the two cameras.

[0020] Preferably, the weld stress relief and slag cleaning device also includes a guide member arranged on the lifting assembly, wherein the guide member is located at the front end of the stress relief assembly along the moving direction of the frame, and the guide member is used to be inserted into the weld and move along the weld when the frame moves, thereby guiding and positioning the working positions of the stress relief assembly and the slag suction pipe.

[0021] The present invention has the following beneficial effects:

[0022] The weld stress relief slag cleaning device provided by the present invention automatically identifies the position of the weld through a positioning mechanism, so that the frame can be driven by the walking mechanism to move along the weld, and adapt to welds of different paths, so that the working positions of the slag cleaning mechanism and the slag suction mechanism can be kept facing the weld. Secondly, the slag cleaning mechanism drives the stress relief component to lift and move through the cooperation of the lifting component and the distance sensor, and the vertical distance of the stress relief component relative to the weld can be controlled within a preset range, ensuring that the stress relief component can stably strike the welding slag in the weld at a suitable height position with a preset force and remove the stress of the weld. Moreover, since the slag suction pipe of the slag suction mechanism is also arranged on the lifting component, the slag suction pipe can be lifted and moved synchronously with the stress relief component, and the vertical distance of the slag suction pipe relative to the weld can be controlled within a preset range, and the welding slag in the weld can be accurately sucked away by the slag suction pipe, effectively improving the slag cleaning and slag suction effects. Therefore, the weld stress relief slag cleaning device can realize fully automated walking along the weld, slag cleaning of the weld, stress relief and slag suction operations, reduce manual labor intensity, improve welding slag cleaning efficiency, and ensure welding slag cleaning quality.

[0023] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0025] Figure 1 A reference diagram of a use state of a weld stress relief and slag removal device provided in an embodiment of the present invention;

[0026] Figure 2 for Figure 1 Another reference diagram of the weld stress relief and slag removal device in use;

[0027] Figure 3 for Figure 1 The structural schematic diagram of the weld stress relief and slag cleaning device shown;

[0028] Figure 4 for Figure 3 A three-dimensional diagram of a slag cleaning mechanism in a weld stress relief slag cleaning device shown;

[0029] Figure 5 for Figure 4 The partial structural assembly diagram of the slag cleaning mechanism shown;

[0030] Figure 6 for Figure 3 A three-dimensional view of a slag suction assembly in a weld stress relief slag cleaning device shown;

[0031] Figure 7 for Figure 6 A partial structural assembly diagram of the slag suction component shown;

[0032] Figure 8 for Figure 3 A three-dimensional view of the positioning mechanism in the weld stress relief and slag cleaning device is shown.

[0033] Legend:

[0034] 1000. Weld stress relief and slag removal device; 1. Frame; 2. Positioning mechanism; 21. Mounting frame; 22. Horizontal swivel assembly; 23. Vertical swivel assembly; 231. Crossbeam; 232. Longitudinal beam; 233. Swivel frame; 234. Swivel motor; 24. Positioning assembly; 241. Camera; 242. Adjustable fixture; 3. Traveling mechanism; 31. Driving steering wheel; 4. Slag removal mechanism; 41. Lifting assembly; 411. Fixed seat; 412. Guide rod; 413. Guide seat; 4131. Driving unit; 414. Lifting seat; 415. Lifting drive assembly; 4151. Lifting motor; 4152. Driving screw; 4153. Reversing gear box; 417. Guide sleeve; 418. Connecting plate; 42. Stress relief assembly; 5. Slag suction mechanism; 51. Slag suction assembly; 511. Slag collecting bin; 5111. Slag suction interface; 5112. Fan interface; 512. Filter assembly; 513. Fan; 514. Slag discharge drawer; 515. Hinged door; 52. Slag suction pipe; 6. Guide; 2000. Weld. DETAILED DESCRIPTION

[0035] The embodiments of the present invention are described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways as defined and covered below.

[0036] Figures 1 to 8 The weld stress relief and slag removal device provided in an embodiment of the present invention is collectively shown, which is used to automatically move along the weld and perform slag removal, stress relief and slag suction operations on the weld, and can realize fully automated operation with high slag removal efficiency and good quality.

[0037] like Figure 3 As shown, the weld stress relief slag removal device 1000 includes a frame 1, a positioning mechanism 2, a walking mechanism 3, a slag removal mechanism 4 and a slag suction mechanism 5, wherein the positioning mechanism 2, the walking mechanism 3, the slag removal mechanism 4 and the slag suction mechanism 5 are respectively installed on the frame 1. The positioning mechanism 2 is arranged at the front end of the frame 1 along the walking direction and is used to detect the position of the weld 2000, the walking mechanism 3 is arranged at the bottom of the frame 1 and is used to drive the frame 1 to walk along the weld 2000 according to the detection result of the positioning mechanism 2, the slag removal mechanism 4 is used to knock the welding slag in the weld 2000 and remove the stress of the weld 2000 through the knocking vibration force, and the slag suction mechanism 5 is used to suck away the welding slag.

[0038] Please combine Figure 4 and Figure 5The slag removal mechanism 4 includes a lifting assembly 41, a distance sensor (not shown in the figure, the same below) and a stress relief assembly 42. The distance sensor and the stress relief assembly 42 are both installed on the lifting assembly 41. The stress relief assembly 42 is used to knock the welding slag in the weld 2000 and remove the stress of the weld 2000. The distance sensor can specifically adopt an optical distance sensor, an infrared distance sensor or an ultrasonic distance sensor. The distance sensor is used to detect the vertical distance of the stress relief assembly 42 relative to the weld 2000 in real time. The lifting assembly 41 is used to drive the stress relief assembly 42 to move up and down according to the detection result of the distance sensor, so as to control the vertical distance of the stress relief assembly 42 relative to the weld 2000 within a preset range. It should be understood that the preset range refers to the working height requirement of the stress relief assembly 42, so that the stress relief assembly 42 can stably knock the welding slag in the weld 2000 with a preset force at a suitable height position and remove the stress of the weld 2000.

[0039] Please combine Figure 6 The slag suction mechanism 5 includes a slag suction component 51 and a slag suction pipe 52 connected to the slag suction component 51, the slag suction component 51 is used to suck away the welding slag through the slag suction pipe 52, the slag suction pipe 52 is arranged on the lifting component 41, the pipe mouth of the slag suction pipe 52 is located at the rear end of the stress relief component 42 along the walking direction of the frame 1, and the lifting component 41 is used to drive the slag suction pipe 52 and the stress relief component 42 to move synchronously.

[0040] like Figure 1 and Figure 2 As shown, the weld stress relief and slag removal device 1000 automatically identifies the position of the weld 2000 through the positioning mechanism 2, so that the frame 1 can be driven by the walking mechanism 3 to walk along the weld 2000 and adapt to the welds 2000 of different paths, for example Figure 1 The straight weld 2000 or Figure 2The curved weld 2000 in the embodiment can keep the operating positions of the slag cleaning mechanism 4 and the slag suction mechanism 5 facing the weld 2000. Secondly, the slag cleaning mechanism 4 drives the stress relief component 42 to rise and fall through the cooperation of the lifting component 41 and the distance sensor, and can control the vertical distance of the stress relief component 42 relative to the weld 2000 within a preset range, ensuring that the stress relief component 42 can stably strike the welding slag in the weld 2000 with a preset force at a suitable height position and remove the stress of the weld 2000. In addition, since the slag suction pipe 52 of the slag suction mechanism 5 is also arranged on the lifting component 41, the slag suction pipe 52 can be synchronously lifted and moved with the stress relief component 41, and the vertical distance of the slag suction pipe 52 relative to the weld 2000 can be controlled within a preset range. The welding slag in the weld 2000 is accurately sucked away by the slag suction pipe 52, which effectively improves the slag cleaning and slag suction effects. Therefore, the weld stress relief slag cleaning device 1000 can realize fully automated walking along the weld, weld slag cleaning, stress relief and slag suction operations, reduce manual labor intensity, improve welding slag cleaning efficiency, and ensure welding slag cleaning quality.

[0041] Please combine Figure 4 and Figure 5 The lifting assembly 41 includes a fixed seat 411, a guide rod 412, a guide seat 413, a lifting seat 414 and a lifting drive assembly 415. The guide rod 412 is vertically arranged on the fixed seat 411. A plurality of guide seats 413 are vertically spaced. The plurality of guide seats 413 are sequentially sleeved on the guide rod 412 and are all used for guiding and sliding along the guide rod 412. The lifting seat 414 is respectively connected to the plurality of guide seats 413. The lifting and lowering movement direction of the lifting seat 414 is guided and limited by the cooperation of the guide seats 413 and the guide rod 412. The lifting drive assembly 415 is arranged on the fixed seat 411 and is used for driving the lifting seat 414 to move up and down. The stress relief assembly 42 is installed on the lifting seat 414.

[0042] Specifically, the stress relief assembly 42 can be an electric pick, which can reduce the space occupied by the air circuit system, reduce the volume, and improve applicability compared to the pneumatic structure. Since the guide seat 413 is provided with multiple guide seats 413 at intervals along the vertical direction, and the multiple guide seats 413 are respectively connected to the lifting seat 414, through the guidance cooperation between the multiple guide seats 413 and the guide rod 412, the lifting seat 414 can be guided and limited at multiple positions along its height direction at the same time, effectively improving the stability of the lifting seat 414 and avoiding looseness, so as to better support and fix the electric pick, avoid displacement of the electric pick due to vibration generated during operation, and thus ensure the slag cleaning accuracy and slag cleaning effect.

[0043] Preferably, there are two guide rods 412, which are arranged side by side and at intervals along the width direction of the lifting seat 414, and the two guide rods 412 are both passed through the guide seat 413. The guide seat 413 is guided and limited by the two guide rods 412, which can not only further improve the stability and guiding accuracy of the guide seat 413, but also achieve circumferential anti-rotation of the guide seat 413, thereby preventing the guide seat 413 from rotating relative to the guide rod 412, thereby preventing the lifting seat 414 and the electric pickaxe on the lifting seat 414 from being misaligned.

[0044] Preferably, one of the plurality of guide seats 413 extends in a direction away from the lifting seat 414 to form a driving portion 4131, the driving portion 4131 and the lifting seat 414 are respectively arranged on opposite sides of the guide rod 412, and a threaded hole is provided on the driving portion 4131. The lifting drive assembly 415 includes a lifting motor 4151 and a driving screw 4152, the lifting motor 4151 is installed on the fixed seat 411, the lifting motor 4151 is connected to the driving screw 4152 and is used to drive the driving screw 4152 to rotate, the driving screw 4152 is vertically penetrated in the threaded hole, and the driving screw 4152 is used to drive the driving portion 4131 to move up and down through threaded engagement when rotating, thereby driving the lifting seat 414 to move up and down through the guide seat 413.

[0045] The lifting drive assembly 415 drives the guide seat 413 to move up and down through the driving screw 4152, forming a screw nut assembly, which can ensure the lifting accuracy and stability, and can also achieve a self-locking effect through a large transmission ratio, and can stably fix the lifting seat 414 after the lifting seat 414 moves to a preset height. Secondly, since the driving part 4131 and the lifting seat 414 are arranged on opposite sides of the guide rod 412, the two ends of the guide seat 413 can also be balanced in force, and can slide along the guide rod 412 more stably and smoothly to avoid jamming.

[0046] Furthermore, the lifting drive assembly 415 also includes a reversing gear box 4153, the lifting motor 4151 is arranged in the horizontal direction, the output shaft of the lifting motor 4151 is connected to the input end of the reversing gear box 415, and the driving screw 4152 is connected to the output end of the reversing gear box 415. The power direction of the lifting motor 4151 is reversed by the reversing gear box 4153, so that the shell of the lifting motor 4151 can be flat against the upper surface of the fixed seat 411, so that the lifting motor 4151 can be fixed more stably, and the space occupied by the lifting motor 4151 in the height direction can be reduced, which is more conducive to the miniaturized design of the weld stress relief and slag cleaning device 1000, and the output torque of the lifting motor 4151 can be improved by the reversing gear box 4153, and a small-power motor can be used to stably drive the stress relief assembly 42 to move up and down, thereby improving the driving effect and saving motor costs.

[0047] Preferably, the lifting assembly 41 further includes a limit plate 416, the top ends of the two guide rods 412 are respectively connected to the fixed seat 411, and the bottom ends of the two guide rods 412 are respectively connected to the limit plate 416, the fixed seat 411 is used to abut the guide seat 413 at the top when the lifting seat 414 rises to the maximum stroke, and the limit plate 416 is used to abut the guide seat 413 at the bottom when the lifting seat 414 descends to the maximum stroke. The lifting and lowering travel of the lifting seat 414 is limited by the limit plate 416 and the fixed seat 411, the limit structure is simple and efficient, and can also strengthen the fixing of the two ends of the guide rods 412, so that the two guide rods 412 remain in a parallel state to ensure the guiding effect, and one set of structures has multiple uses.

[0048] like Figure 5 As shown, the lifting assembly 41 also includes a guide sleeve 417 adapted to the guide rod 412, and the guide sleeve 417 is detachably mounted on the guide seat 413. The guide sleeve 417 is made of solid self-lubricating material. The guide sleeve 417 is sleeved on the guide rod 412 and is used to be lifted and moved along the guide rod 412 to enhance the guiding effect, and the guide sleeve 417 can be easily disassembled and replaced after being worn, without replacing the entire guide seat 413.

[0049] Preferably, the lifting assembly 41 further includes a connecting plate 418 arranged vertically, the connecting plate 418 and the lifting seat 414 are arranged on opposite sides of the guide rod 412, and the connecting plate 418 is arranged between two adjacent guide seats 413 and connects the two adjacent guide seats 413 into a whole. The connecting plate 418 strengthens the connection of multiple guide seats 413, further improving the overall strength and stability.

[0050] like Figure 6 and Figure 7 As shown, the slag suction component 51 includes a slag collecting bin body 511, a filter component 512 and a fan 513. A slag suction interface 5111 and a fan interface 5112 are respectively provided on the outer wall of the slag collecting bin body 511. The filter component 512 is arranged in the inner cavity of the slag collecting bin body 511 and divides the inner cavity of the slag collecting bin body 511 into a slag collecting cavity and an air guide cavity. The slag suction interface 5111 is communicated with the slag collecting cavity, the fan interface 5112 is communicated with the air guide cavity, the slag suction pipe 52 is connected with the slag suction interface 5111, and the fan 513 is connected with the fan interface 5112 and is used to evacuate the inner cavity of the slag collecting bin body 511.

[0051] Specifically, the inner cavity of the slag collecting bin 511 is evacuated by the fan 513 to generate negative pressure at the slag suction interface 5111, and the welding slag can be sucked by the pipe mouth of the slag suction pipe 52. After the welding slag is sucked into the inner cavity of the slag collecting bin 511, it will be filtered out by the filter component 512, so that the welding slag is retained in the slag collecting cavity, and the gas that filters out the welding slag enters the air guide cavity and is sucked away by the fan 513, forming a complete air path system with a simple and efficient slag suction structure.

[0052] Furthermore, the slag collecting chamber is arranged at the lower end of the slag collecting bin body 511, and the air guide chamber is arranged at the upper end of the slag collecting bin body 511, so that the filtered welding slag can automatically fall to the bottom of the slag collecting bin body 511 under the action of gravity to avoid blocking the filter component 512.

[0053] Preferably, the slag suction component 51 also includes a slag discharge drawer 514, which is arranged in the slag collecting chamber and is used to collect the welding slag filtered out by the filtering component 512. The welding slag can be quickly removed by pulling the slag discharge drawer 514, and the cleaning is convenient and quick.

[0054] Preferably, the residue suction assembly 51 further comprises a hinged door 515, which is hinged to a preset window of the air guide chamber. The hinged door 515 is used to rotate and open, and can expose the filter assembly 512 after opening, so as to facilitate the disassembly and replacement of the filter assembly 512.

[0055] like Figure 8As shown, the positioning mechanism 2 includes a mounting frame 21, a horizontal rotating component 22, a vertical rotating component 23 and a positioning component 24; the mounting frame 21 is arranged on the frame body 1, the fixed end of the horizontal rotating component 22 is connected to the mounting frame 21, the driving end of the horizontal rotating component 22 is connected to the fixed end of the vertical rotating component 23, the driving end of the vertical rotating component 23 is connected to the positioning component 24, the horizontal rotating component 22 is used to drive the vertical rotating component 23 to rotate along the horizontal plane, thereby driving the positioning component 24 to rotate along the horizontal plane to adjust the positioning direction, and the vertical rotating component 23 is used to drive the positioning component 24 to rotate along the vertical plane, thereby driving the positioning component 24 to rotate along the vertical plane to adjust the positioning angle. Through the cooperation of the horizontal rotating component 22 and the vertical rotating component 23, the horizontal position and the tilt angle of the positioning component 24 can be flexibly adjusted according to the bending or height change of the weld 2000, so that the positioning component 24 remains in a state facing the weld 2000, thereby improving the positioning accuracy.

[0056] Preferably, the positioning assembly 24 includes two cameras 241, and the two cameras 241 are arranged side by side along the rotation axis of the vertical rotation assembly 23, and the rotation axis of the horizontal rotation assembly 22 is located between the two cameras 241. The two cameras 241 jointly shoot the weld 2000 and track and locate the weld 2000, forming a binocular vision system, which can clearly determine the specific position, specific shape and specific height of the weld 2000 in three-dimensional space, further improving the positioning effect and positioning accuracy, and the two cameras 241 are arranged side by side along the rotation axis of the vertical rotation assembly 23, so that the vertical rotation assembly 23 can drive the two cameras 241 to rotate synchronously, ensuring that the relative position between the two cameras 241 remains unchanged, and more importantly, because the rotation axis of the horizontal rotation assembly 22 is located between the two cameras 241, when the horizontal rotation assembly 22 drives the two cameras 241 to rotate along the horizontal plane, the center point between the two cameras 241 can be kept fixed, so that the weld 2000 is kept between the two cameras 241.

[0057] Further, the vertical rotating assembly 23 includes a crossbeam 231, a longitudinal beam 232, a rotating frame 233 and a rotating motor 234. The crossbeam 231 is arranged in the horizontal direction and connected to the horizontal rotating assembly 22. Two longitudinal beams 232 are provided. The two longitudinal beams 232 are arranged at opposite ends of the crossbeam 231 and are both extended vertically downward. The rotating frame 233 is arranged between the two longitudinal beams 232. The two ends of the rotating frame 233 are hinged to the two longitudinal beams 232 in a one-to-one correspondence. The rotating motor 234 is arranged on one of the longitudinal beams 232 and is used to drive the rotating frame 233 to rotate relative to the longitudinal beam 232. The positioning assembly 24 is arranged on the rotating frame 233. By supporting and fixing the opposite ends of the rotating frame 233 by two longitudinal beams 232, the stability of the rotating frame 233 can be improved, so that the positioning assembly 24 can be stably supported and driven to rotate with high precision.

[0058] Preferably, the positioning assembly 24 also includes an adjustable clamp 242 connected one-to-one with the camera 241. The adjustable clamp 242 is installed on the rotating frame 233 and is used to move and adjust the installation position along the length direction of the rotating frame 233, so as to accurately adjust the specific position and spacing of the two cameras 241 to meet the parameter requirements of the binocular vision system.

[0059] like Figure 3 As shown, the weld stress relief and slag removal device 1000 also includes a guide member 6 arranged on the lifting assembly 41, and the guide member 6 is located at the front end of the stress relief assembly 42 along the moving direction of the frame 1, and the guide member 6 is used to be inserted into the weld 2000 and move along the weld 2000 when the frame 1 moves, so that the operating positions of the stress relief assembly 42 and the slag suction pipe 52 are guided and positioned by the guide member 6.

[0060] Specifically, along the direction from the front end to the rear end in the walking direction of the frame 1, the guide member 6, the stress relief component 42 and the slag suction pipe 52 are arranged in sequence, and the lifting component 41 is used to drive the guide member 6, the stress relief component 42 and the slag suction pipe 52 to rise and fall synchronously. The guide member 6 guides and positions the working positions of the stress relief component 42 and the slag suction pipe 52, which can further improve the slag cleaning and stress relief effect of the stress relief component 42 and the slag suction effect of the slag suction component 51.

[0061] Furthermore, the walking mechanism 3 includes a plurality of driving steering wheels 31 disposed on the bottom of the frame 1 , and the frame 1 is supported by the plurality of driving steering wheels 31 and driven to walk along a preset direction without occupying the internal space of the frame 1 .

[0062] Furthermore, a protective cover is provided on the frame 1, and the slag cleaning mechanism 4 and the slag suction mechanism 5 are both arranged in the protective cover. The slag cleaning mechanism 4 and the slag suction mechanism 5 are protected by the protective cover to improve the service life of the equipment.

[0063] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A weld stress relief and slag removal device, characterized in that: It comprises a frame (1), and a positioning mechanism (2), a walking mechanism (3), a slag cleaning mechanism (4) and a slag suction mechanism (5) respectively arranged on the frame (1); The positioning mechanism (2) is arranged at the front end of the frame (1) along the walking direction and is used to detect the position of the welding seam (2000); The walking mechanism (3) is arranged at the bottom of the frame (1) and is used to drive the frame (1) to walk along the weld (2000) according to the detection result of the positioning mechanism (2); The slag cleaning mechanism (4) comprises a lifting component (41), a distance sensor and a stress relief component (42); the distance sensor and the stress relief component (42) are both mounted on the lifting component (41); the stress relief component (42) is used to knock the welding slag in the weld (2000) and remove the stress of the weld (2000); the distance sensor is used to detect the vertical distance of the stress relief component (42) relative to the weld (2000) in real time; and the lifting component (41) is used to drive the stress relief component (42) to move up and down according to the detection result of the distance sensor, so as to control the vertical distance of the stress relief component (42) relative to the weld (2000) within a preset range; The slag suction mechanism (5) comprises a slag suction component (51) and a slag suction pipe (52) connected to the slag suction component (51); the slag suction component (51) is used to suck away welding slag through the slag suction pipe (52); the slag suction pipe (52) is arranged on the lifting component (41); the pipe mouth of the slag suction pipe (52) is located at the rear end of the stress relief component (42) along the moving direction of the frame (1); the lifting component (41) is used to drive the slag suction pipe (52) and the stress relief component (42) to move synchronously.

2. The weld stress relief and slag removal device according to claim 1, characterized in that: The lifting assembly (41) comprises a fixed seat (411), a guide rod (412), a guide seat (413), a lifting seat (414) and a lifting drive assembly (415); the guide rod (412) is vertically arranged on the fixed seat (411); a plurality of guide seats (413) are arranged at intervals along the vertical direction; the plurality of guide seats (413) are sequentially sleeved on the guide rod (412) and are all used for guiding and sliding along the guide rod (412); the lifting seat (414) is respectively connected to the plurality of guide seats (413); the lifting drive assembly (415) is arranged on the fixed seat (411) and is used for driving the lifting seat (414) to move up and down; and the stress relief assembly (42) is installed on the lifting seat (414).

3. The weld stress relief and slag removal device according to claim 2, characterized in that: Two guide rods (412) are provided, and the two guide rods (412) are arranged side by side and at intervals along the width direction of the lifting seat (414).

4. The weld stress relief and slag removal device according to claim 2 or 3, characterized in that: One of the plurality of guide seats (413) extends in a direction away from the lifting seat (414) to form a driving portion (4131), the driving portion (4131) and the lifting seat (414) are arranged on opposite sides of the guide rod (412), and a threaded hole is arranged on the driving portion (4131); The lifting drive assembly (415) includes a lifting motor (4151) installed on the fixing seat (411) and a driving screw (4152) connected to the lifting motor (4151) and vertically inserted into the threaded hole. The lifting motor (4151) is used to drive the driving screw (4152) to rotate and drive the driving part (4131) to move up and down through threaded engagement when the driving screw (4152) rotates.

5. The weld stress relief and slag removal device according to claim 4, characterized in that: The lifting assembly (41) further comprises a limit plate (416), the top ends of the two guide rods (412) are respectively connected to the fixed seat (411), and the bottom ends of the two guide rods (412) are respectively connected to the limit plate (416), the fixed seat (411) is used to abut against the guide seat (413) at the top end when the lifting seat (414) rises to a maximum stroke, and the limit plate (416) is used to abut against the guide seat (413) at the bottom end when the lifting seat (414) descends to a maximum stroke.

6. The weld stress relief and slag removal device according to claim 1, characterized in that: The slag suction component (51) comprises a slag collecting bin body (511), a filter component (512) and a fan (513); the slag collecting bin body (511) is provided with a slag suction interface (5111) and a fan interface (5112), respectively; the filter component (512) is arranged in the inner cavity of the slag collecting bin body (511) and divides the inner cavity of the slag collecting bin body (511) into a slag collecting cavity connected to the slag suction interface (5111) and an air guide cavity connected to the fan interface (5112); the slag suction pipe (52) is connected to the slag suction interface (5111); the fan (513) is connected to the fan interface (5112) and is used to evacuate the inner cavity of the slag collecting bin body (511).

7. The weld stress relief and slag removal device according to claim 6, characterized in that: The slag suction component (51) further comprises a slag discharge drawer (514) and a hinged door (515); the slag discharge drawer (514) is arranged in the slag collecting chamber and is used to collect welding slag filtered out by the filter component (512); the hinged door (515) is hinged to a preset window of the air guide chamber and is used to expose the filter component (512) after being opened.

8. The weld stress relief and slag removal device according to claim 1, characterized in that: The positioning mechanism (2) comprises a mounting frame (21), a horizontal rotating assembly (22), a vertical rotating assembly (23) and a positioning assembly (24); The mounting frame (21) is arranged on the frame body (1), the fixed end of the horizontal rotating component (22) is connected to the mounting frame (21), the driving end of the horizontal rotating component (22) is connected to the fixed end of the vertical rotating component (23), and the driving end of the vertical rotating component (23) is connected to the positioning component (24). The horizontal rotating component (22) is used to drive the vertical rotating component (23) to rotate along the horizontal plane, thereby driving the positioning component (24) to rotate along the horizontal plane to adjust the positioning direction, and the vertical rotating component (23) is used to drive the positioning component (24) to rotate along the vertical plane, thereby driving the positioning component (24) to rotate along the vertical plane to adjust the positioning angle.

9. The weld stress relief and slag removal device according to claim 8, characterized in that: The positioning component (24) comprises two cameras (241), the two cameras (241) are arranged side by side along the rotation axis of the vertical rotation component (23), and the rotation axis of the horizontal rotation component (22) is located between the two cameras (241).

10. The weld stress relief and slag removal device according to claim 1, characterized in that: The weld stress relief and slag removal device also includes a guide member (6) arranged on the lifting assembly (41), and the guide member (6) is located at the front end of the stress relief assembly (42) along the moving direction of the frame (1). The guide member (6) is used to be inserted into the weld (2000) and move along the weld (2000) when the frame (1) moves, so as to guide and position the working positions of the stress relief assembly (42) and the slag suction pipe (52).

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