Weld stress relief and slag removal device

Abstract

The present invention discloses a weld stress relief and slag removal device, comprising a frame, and a positioning mechanism, a traveling mechanism, a slag removal mechanism, and a slag suction mechanism respectively arranged on the frame; the positioning mechanism is arranged at the front end of the frame along the traveling direction and is used to detect the position of the weld; the traveling mechanism is used to drive the frame to move along the weld according to the detection result of the positioning mechanism; the slag removal mechanism comprises a lifting assembly, a distance sensor, and a stress relief assembly, the stress relief assembly 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 assembly relative to the weld in real time, the lifting assembly is used to drive the stress relief assembly to move up and down according to the detection result of the distance sensor; the slag suction mechanism comprises a slag suction assembly and a slag suction pipe connected to the slag suction assembly, the slag suction pipe being arranged on the lifting assembly. The weld stress relief and slag removal device provided by the present invention can adapt to welds of different paths, and realize fully automated walking along the weld, slag removal, stress relief, and slag suction operations.

Description

Technical Field

[0001] This invention relates to the field of weld surface treatment technology, and in particular, to a stress-relieving and slag-removing device for welds. Background Technology

[0002] In narrow-gap welding, the small volume of the molten pool and its enhanced three-dimensional heat dissipation capacity result in a shorter liquid state and a higher probability of slag inclusions. Therefore, the thoroughness of slag removal significantly impacts weld quality, especially in multi-layer, multi-pass narrow-gap welding, where multiple slag inclusions and porosity are easily generated, severely affecting weld quality. Incomplete slag removal can lead to anything from needing to be planed out and re-welded to complete workpiece scrap, resulting in substantial economic losses. Furthermore, narrow-gap welding involves deformation; without stress relief, this can also severely affect weld quality, causing dimensional inconsistencies and other quality problems.

[0003] Currently, to prevent defects in the welding slag process, slag is generally removed manually, mostly using pneumatic or electric tools such as pneumatic shovels, pneumatic hammers, and pneumatic grinders. Some also use rotating wire wheels for slag removal. This not only increases the workload of workers in the later stages of welding slag removal, reduces the efficiency of welding slag removal, and affects the work progress, but also increases the labor intensity of workers and cannot guarantee that the welding slag is completely removed. Summary of the Invention

[0004] This invention provides a stress-relieving slag removal device for welds to solve the technical problems of low efficiency and unreliable quality in existing narrow-gap weld slag removal methods.

[0005] According to one aspect of the present invention, a stress-relieving slag removal device for welds is provided, comprising a frame, and a positioning mechanism, a traveling mechanism, a slag removal mechanism and a slag suction mechanism respectively disposed on the frame;

[0006] The positioning mechanism is located 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 located at the bottom of the frame and is used to drive the frame to walk along the weld seam according to the detection result of the positioning mechanism;

[0008] The slag removal mechanism includes a lifting assembly, a distance sensor, and a stress-relieving assembly. The distance sensor and the stress-relieving assembly are both mounted on the lifting assembly. The stress-relieving assembly is used to knock the weld slag in the weld and remove the stress in the weld. The distance sensor is used to detect the vertical distance of the stress-relieving assembly relative to the weld in real time. The lifting assembly is used to drive the stress-relieving assembly to move up and down according to the detection result of the distance sensor, thereby controlling the vertical distance of the stress-relieving assembly 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 suction away welding slag through the slag suction pipe. The slag suction pipe is located on the lifting component. The opening of the slag suction pipe is located at the rear end of the stress relief component along the walking direction of the frame. The lifting component is used to drive the slag suction pipe and the stress relief component to move up and down synchronously.

[0010] Preferably, the lifting assembly includes a fixed base, a guide rod, a guide seat, a lifting seat, and a lifting drive assembly. The guide rod is vertically disposed on the fixed base. Multiple guide seats are vertically spaced apart. Multiple 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 connected to multiple guide seats respectively. The lifting drive assembly is disposed on the fixed base and is used to drive the lifting seat to move up and down. The stress relief assembly is installed on the lifting seat.

[0011] Preferably, there are two guide rods, which are arranged side by side and spaced apart along the width direction of the lifting seat.

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

[0013] The lifting drive assembly includes a lifting motor mounted on the fixed base and a drive screw connected to the lifting motor and passing vertically through the threaded hole. The lifting motor is used to drive the drive screw to rotate and, when the drive screw rotates, drives the drive unit to move up and down through threaded engagement.

[0014] Preferably, the lifting assembly further includes a limiting 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 limiting plate. The fixed seat is used to abut against the topmost guide seat when the lifting seat rises to its maximum stroke, and the limiting plate is used to abut against the bottommost guide seat when the lifting seat falls to its maximum stroke.

[0015] Preferably, the slag suction assembly includes a slag collection bin, a filter assembly, and a blower. The slag collection bin is provided with a slag suction interface and a blower interface. The filter assembly is located in the inner cavity of the slag collection bin and divides the inner cavity of the slag collection bin into a slag collection chamber communicating with the slag suction interface and an air guide chamber communicating with the blower interface. The slag suction pipe is connected to the slag suction interface, and the blower is connected to the blower interface and is used to evacuate air from the inner cavity of the slag collection bin.

[0016] Preferably, the slag suction assembly further includes a slag discharge drawer and a hinged door. The slag discharge drawer is located in the slag collection chamber and is used to collect the welding slag filtered out by the filter assembly. The hinged door is hinged to a preset window of the air guide chamber and is used to expose the filter assembly when opened.

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

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

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

[0020] Preferably, the weld stress relief and slag removal device further includes a guide member disposed on the lifting assembly. The guide member is located at the front end of the stress relief assembly along the walking direction of the frame. The guide member is used to insert into the weld and move along the weld when the frame moves, thereby guiding and positioning the working position of the stress relief assembly and the slag suction pipe.

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

[0022] The weld stress-relieving and slag-removing device provided by this invention automatically identifies the position of the weld through a positioning mechanism. This allows the frame to move along the weld via a walking mechanism, adapting to different weld paths. This ensures that the slag-removing and slag-collecting mechanisms are always positioned directly opposite the weld. Furthermore, the slag-removing mechanism, through the cooperation of a lifting component and a distance sensor, drives the stress-relieving component to move up and down. This controls the vertical distance between the stress-relieving component and the weld within a preset range, ensuring that the stress-relieving component can stably strike the slag in the weld at a suitable height and with a preset force, removing the weld stress. Since the slag-collecting mechanism's suction pipe is also mounted on the lifting component, it can move up and down synchronously with the stress-relieving component. The vertical distance between the suction pipe and the weld can also be controlled within a preset range, allowing for precise removal of slag from the weld. This effectively improves the slag removal and collection efficiency. Therefore, this weld stress-relieving and slag-removing device can achieve fully automated operation of walking along the weld, cleaning the weld, relieving stress, and collecting slag, reducing manual labor intensity, improving slag cleaning efficiency, and ensuring slag cleaning quality.

[0023] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0024] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

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

[0026] Figure 2 for Figure 1 The diagram shows another usage state of the weld stress relief and slag removal device.

[0027] Figure 3 for Figure 1 A schematic diagram of the stress-relieving and slag-removing device for welds is shown.

[0028] Figure 4 for Figure 3 A three-dimensional view of the slag removal mechanism in the stress-relieving and slag-removing device for welds shown.

[0029] Figure 5 for Figure 4 The diagram shows a partial structural assembly of the slag removal mechanism.

[0030] Figure 6 for Figure 3 A perspective view of the slag suction component in the stress-relieving and slag-removing device for welds shown.

[0031] Figure 7 for Figure 6 The diagram shows a partial structural assembly of the slag suction component.

[0032] Figure 8 for Figure 3 A three-dimensional view of the positioning mechanism in the stress-relieving and slag-removing device for welds.

[0033] Legend:

[0034] 1000. Weld stress relief and slag removal device; 1. Frame; 2. Positioning mechanism; 21. Mounting frame; 22. Horizontal rotation assembly; 23. Vertical rotation assembly; 231. Crossbeam; 232. Longitudinal beam; 233. Rotating frame; 234. Rotary motor; 24. Positioning assembly; 241. Camera; 242. Adjustable clamp; 3. Traveling mechanism; 31. Drive steering wheel; 4. Slag removal mechanism; 41. Lifting assembly; 411. Fixed base; 412. Guide rod; 413. Guide seat; 4131. Drive unit; 414. Lifting seat; 415. Lifting drive assembly; 4151. Lifting motor; 4152. Drive screw; 4153. Reversing gearbox; 417. Guide sleeve; 418. Connecting plate; 42. Stress relief assembly; 5. Slag suction mechanism; 51. Slag suction assembly; 511. Slag collection 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 component; 2000. Weld. Detailed Implementation

[0035] The embodiments of the present invention will be 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 present invention provides a weld stress relief and slag removal device that can automatically move along the weld and perform slag removal, stress relief and slag suction operations. It can achieve fully automated operation with high slag removal efficiency and good quality.

[0037] like Figure 3 As shown, the weld stress relief and slag removal device 1000 includes a frame 1, a positioning mechanism 2, a traveling mechanism 3, a slag removal mechanism 4, and a slag suction mechanism 5. The positioning mechanism 2, the traveling 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 located at the front end of the frame 1 along the traveling direction and is used to detect the position of the weld 2000. The traveling mechanism 3 is located at the bottom of the frame 1 and is used to drive the frame 1 to travel 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. The slag suction mechanism 5 is used to suck up 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-relieving assembly 42. Both the distance sensor and the stress-relieving assembly 42 are mounted on the lifting assembly 41. The stress-relieving assembly 42 is used to tap the weld slag in the weld 2000 and remove the stress from the weld 2000. The distance sensor can specifically be 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-relieving assembly 42 relative to the weld 2000 in real time. The lifting assembly 41 is used to drive the stress-relieving assembly 42 to move up and down according to the detection result of the distance sensor, thereby controlling the vertical distance of the stress-relieving assembly 42 relative to the weld 2000 within a preset range. It should be understood that the preset range refers to meeting the working height requirements of the stress-relieving assembly 42, so that the stress-relieving assembly 42 can stably tap the weld slag in the weld 2000 at a suitable height position with a preset force and remove the stress from 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 suction away welding slag through the slag suction pipe 52. The slag suction pipe 52 is provided on the lifting component 41. The pipe opening 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. The lifting component 41 is used to drive the slag suction pipe 52 and the stress relief component 42 to move up and down 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, and thus can drive the frame 1 to move along the weld 2000 through the walking mechanism 3, adapting to different paths of the weld 2000, for example... Figure 1 The weld seam 2000 or in a straight line Figure 2The curved weld seam 2000 in the middle allows the working positions of the slag cleaning mechanism 4 and the slag suction mechanism 5 to be kept facing the weld seam 2000. Secondly, the slag removal mechanism 4, through the cooperation of the lifting component 41 and the distance sensor, drives the stress-relieving component 42 to move up and down, which can control the vertical distance of the stress-relieving component 42 relative to the weld 2000 within a preset range. This ensures that the stress-relieving component 42 can stably strike the slag in the weld 2000 at a suitable height with a preset force and remove the stress from the weld 2000. Furthermore, since the slag suction pipe 52 of the slag suction mechanism 5 is also located on the lifting component 41, the slag suction pipe 52 can move up and down synchronously with the stress-relieving component 41. The vertical distance of the slag suction pipe 52 relative to the weld 2000 can also be controlled within a preset range. The slag in the weld 2000 is accurately sucked away by the slag suction pipe 52, effectively improving the slag removal and suction effect. Therefore, the weld stress-relieving slag removal device 1000 can realize fully automated operation of walking along the weld, cleaning the weld, relieving stress, and suctioning slag, reducing manual labor intensity, improving slag cleaning efficiency, and ensuring slag cleaning quality.

[0041] Please combine Figure 4 and Figure 5 The lifting assembly 41 includes a fixed base 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 mounted on the fixed base 411. Multiple guide seats 413 are vertically spaced apart and sequentially sleeved on the guide rod 412, each used for guiding and sliding along the guide rod 412. The lifting seat 414 is connected to multiple guide seats 413 respectively. The lifting 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 mounted on the fixed base 411 and is used to drive the lifting seat 414 to move up and down. The stress relief assembly 42 is mounted on the lifting seat 414.

[0042] Specifically, the stress-relieving component 42 can be an electric pick, which reduces the space occupied by the air circuit system, shrinks the volume, and improves applicability compared to a pneumatic structure. Since multiple guide seats 413 are spaced vertically, and each guide seat 413 is connected to the lifting seat 414, the guide seats 413, in conjunction with the guide rod 412, can simultaneously guide and limit multiple positions of the lifting seat 414 along its height direction. This effectively improves the stability of the lifting seat 414, prevents loosening, and thus better supports and fixes the electric pick, preventing displacement due to vibrations during operation, thereby ensuring cleaning accuracy and cleaning effect.

[0043] Preferably, there are two guide rods 412, which are arranged side by side and spaced apart along the width direction of the lifting seat 414. Both guide rods 412 pass through the guide seat 413. The two guide rods 412 jointly guide and limit the guide seat 413, which can not only further improve the stability and guiding accuracy of the guide seat 413, but also realize the circumferential anti-rotation of the guide seat 413, and prevent the guide seat 413 from rotating relative to the guide rods 412, which would cause misalignment between the lifting seat 414 and the electric pick on the lifting seat 414.

[0044] Preferably, one of the plurality of guide seats 413 extends in a direction away from the lifting seat 414 to form a driving part 4131. The driving part 4131 and the lifting seat 414 are respectively disposed on opposite sides of the guide rod 412, and the driving part 4131 is provided with a threaded hole. The lifting drive assembly 415 includes a lifting motor 4151 and a drive screw 4152. The lifting motor 4151 is mounted on the fixed base 411. The lifting motor 4151 is connected to the drive screw 4152 and is used to drive the drive screw 4152 to rotate. The drive screw 4152 is vertically inserted into the threaded hole. The drive screw 4152 is used to drive the driving part 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 via the drive screw 4152, forming a screw and nut assembly. This ensures lifting accuracy and stability, and also achieves a self-locking effect through a large transmission ratio, stably fixing the lifting seat 414 after it has moved up and down to a preset height. Furthermore, since the drive unit 4131 and the lifting seat 414 are located on opposite sides of the guide rod 412, the forces on both ends of the guide seat 413 are balanced, allowing for more stable and smooth sliding along the guide rod 412, avoiding jamming.

[0046] Furthermore, the lifting drive assembly 415 also includes a reversing gearbox 4153. The lifting motor 4151 is arranged horizontally, and the output shaft of the lifting motor 4151 is connected to the input end of the reversing gearbox 415. The drive screw 4152 is connected to the output end of the reversing gearbox 415. By reversing the power direction of the lifting motor 4151 through the reversing gearbox 4153, the housing of the lifting motor 4151 can be flat against the upper surface of the fixed base 411, which can more stably fix the lifting motor 4151. It can also reduce the space occupied by the lifting motor 4151 in the height direction, which is more conducive to the miniaturization design of the weld stress relief and slag removal device 1000. In addition, the output torque of the lifting motor 4151 can be increased through the reversing gearbox 4153. A small-power motor can be used to stably drive the stress relief assembly 42 to move up and down, improve the driving effect and save motor costs.

[0047] Preferably, the lifting assembly 41 further includes a limiting 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 limiting plate 416. The fixed seat 411 is used to abut against the topmost guide seat 413 when the lifting seat 414 rises to its maximum stroke, and the limiting plate 416 is used to abut against the bottommost guide seat 413 when the lifting seat 414 descends to its maximum stroke. The limiting plate 416 and the fixed seat 411 limit the lifting stroke of the lifting seat 414. The limiting structure is simple and efficient, and it can also strengthen the fixation of both ends of the guide rods 412, keeping the two guide rods 412 in a parallel state and ensuring the guiding effect. 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. The guide sleeve 417 is detachably installed 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 move up and down along the guide rod 412 to improve the guiding effect. It is also convenient to disassemble and replace the guide sleeve 417 after it is worn, without having to replace the entire guide seat 413.

[0049] Preferably, the lifting assembly 41 further includes a vertically arranged connecting plate 418. The connecting plate 418 and the lifting seat 414 are respectively disposed on opposite sides of the guide rod 412. The connecting plate 418 is disposed 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 assembly 51 includes a slag collection bin 511, a filter assembly 512, and a blower 513. The outer wall of the slag collection bin 511 is provided with a slag suction interface 5111 and a blower interface 5112. The filter assembly 512 is located in the inner cavity of the slag collection bin 511 and divides the inner cavity of the slag collection bin 511 into a slag collection chamber and an air guide chamber. The slag suction interface 5111 is connected to the slag collection chamber, the blower interface 5112 is connected to the air guide chamber, the slag suction pipe 52 is connected to the slag suction interface 5111, and the blower 513 is connected to the blower interface 5112 and is used to evacuate air from the inner cavity of the slag collection bin 511.

[0051] Specifically, the blower 513 draws air into the inner cavity of the slag collection chamber 511, creating a negative pressure at the slag suction port 5111. This allows the slag to be sucked in through the opening of the slag suction pipe 52. Once the slag is drawn into the inner cavity of the slag collection chamber 511, it is filtered out by the filter assembly 512, leaving the slag in the slag collection chamber. The filtered air enters the air guide chamber and is drawn away by the blower 513, forming a complete air path system. The slag suction structure is simple and efficient.

[0052] Furthermore, the slag collection chamber is located at the lower end of the slag collection bin 511, and the air guide chamber is located at the upper end of the slag collection bin 511, so that the filtered welding slag can automatically fall to the bottom of the slag collection bin 511 under the action of gravity, avoiding clogging of the filter assembly 512.

[0053] Preferably, the slag suction assembly 51 further includes a slag discharge drawer 514, which is located in the slag collection chamber and is used to collect the welding slag filtered out by the filter assembly 512. The welding slag can be quickly removed by pulling out the slag discharge drawer 514, making cleaning convenient and quick.

[0054] Preferably, the slag suction assembly 51 further includes a hinged door 515, which is hinged to a preset window in the air guide cavity. The hinged door 515 is used to rotate open and close so that the filter assembly 512 can be exposed after opening, facilitating 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 rotation component 22, a vertical rotation component 23, and a positioning component 24. The mounting frame 21 is mounted on the frame 1. The fixed end of the horizontal rotation component 22 is connected to the mounting frame 21, and the driving end of the horizontal rotation component 22 is connected to the fixed end of the vertical rotation component 23. The driving end of the vertical rotation component 23 is connected to the positioning component 24. The horizontal rotation component 22 drives the vertical rotation component 23 to rotate along the horizontal plane, thereby causing the positioning component 24 to rotate along the horizontal plane to adjust the positioning direction. The vertical rotation component 23 drives the positioning component 24 to rotate along the vertical plane, thereby causing the positioning component 24 to rotate along the vertical plane to adjust the positioning angle. With the cooperation of the horizontal rotation component 22 and the vertical rotation component 23, the horizontal position and tilt angle of the positioning component 24 can be flexibly adjusted according to the bending or height changes of the weld 2000, so that the positioning component 24 is kept facing the weld 2000, thereby improving the positioning accuracy.

[0056] Preferably, the positioning component 24 includes two cameras 241 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. By having the two cameras 241 jointly capture images of the weld 2000 and track and locate it, a binocular vision system is formed. This system can clearly determine the specific position, shape, and height of the weld 2000 in three-dimensional space, further improving the positioning effect and accuracy. Furthermore, the side-by-side arrangement of the two cameras 241 along the rotation axis of the vertical rotation component 23 allows the vertical rotation component 23 to drive the two cameras 241 to rotate synchronously, ensuring that the relative position between the two cameras 241 remains unchanged. More importantly, since the rotation axis of the horizontal rotation component 22 is located between the two cameras 241, when the horizontal rotation component 22 drives the two cameras 241 to rotate along the horizontal plane, the center point between the two cameras 241 remains fixed, keeping the weld 2000 between the two cameras 241.

[0057] Furthermore, the vertical rotation assembly 23 includes a crossbeam 231, longitudinal beams 232, a rotation frame 233, and a rotation motor 234. The crossbeam 231 is arranged horizontally and connected to the horizontal rotation assembly 22. Two longitudinal beams 232 are provided, located at opposite ends of the crossbeam 231 and extending vertically downwards. The rotation frame 233 is located between the two longitudinal beams 232, with each end of the rotation frame 233 hinged to one of the longitudinal beams 232. The rotation motor 234 is located on one of the longitudinal beams 232 and drives the rotation frame 233 to rotate relative to the longitudinal beam 232. The positioning assembly 24 is located on the rotation frame 233. By supporting and fixing the opposite ends of the rotation frame 233 with the two longitudinal beams 232, the stability of the rotation frame 233 can be improved, thereby stably supporting the positioning assembly 24 and driving the positioning assembly 24 to rotate with high precision.

[0058] Preferably, the positioning component 24 further includes an adjustable clamp 242 that is connected to each of the cameras 241 in a one-to-one correspondence. The adjustable clamp 242 is mounted on the rotary frame 233 and is used to move along the length of the rotary frame 233 to adjust the installation position 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 6 disposed on the lifting assembly 41. The guide 6 is located at the front end of the stress relief assembly 42 along the walking direction of the frame 1. The guide 6 is used to insert into the weld 2000 and move along the weld 2000 when the frame 1 moves, thereby guiding and positioning the working position of the stress relief assembly 42 and the slag suction pipe 52 through the guide 6.

[0060] Specifically, along the walking direction of the frame 1 from the front end to the rear end, the guide 6, the stress-relieving component 42, and the slag suction pipe 52 are arranged sequentially. The lifting component 41 is used to drive the guide 6, the stress-relieving component 42, and the slag suction pipe 52 to move up and down synchronously. By guiding and positioning the working positions of the stress-relieving component 42 and the slag suction pipe 52 through the guide 6, the slag removal and stress relief effect of the stress-relieving component 42 and the slag suction effect of the slag suction component 51 can be further improved.

[0061] Furthermore, the walking mechanism 3 includes multiple drive steering wheels 31 disposed on the bottom of the frame 1. The multiple drive steering wheels 31 jointly support the frame 1 and drive the frame 1 to walk in a preset direction without occupying the internal space of the frame 1.

[0062] Furthermore, the frame 1 is equipped with a protective cover, and the slag cleaning mechanism 4 and the slag suction mechanism 5 are both located inside the protective cover. The protective cover protects the slag cleaning mechanism 4 and the slag suction mechanism 5, thereby extending the service life of the equipment.

[0063] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A stress-relieving and slag-removing device for welds, characterized in that, It includes a frame (1), and a positioning mechanism (2), a walking mechanism (3), a slag cleaning mechanism (4) and a slag suction mechanism (5) respectively provided on the frame (1); The positioning mechanism (2) is located 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 located 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) includes a lifting assembly (41), a distance sensor, and a stress relief assembly (42). The distance sensor and the stress relief assembly (42) are both mounted on the lifting assembly (41). The stress relief assembly (42) is used to knock the 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 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, thereby controlling the vertical distance of the stress relief assembly (42) relative to the weld (2000) within a preset range. 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 suction away welding slag through the slag suction pipe (52). The slag suction pipe (52) is located on the lifting component (41). The opening 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). The lifting component (41) is used to drive the slag suction pipe (52) and the stress relief component (42) to move up and down synchronously.

2. The weld stress relief and slag removal device according to claim 1, characterized in that, The lifting assembly (41) includes a fixed base (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 mounted on the fixed base (411). Multiple guide seats (413) are vertically spaced. Multiple 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 connected to multiple guide seats (413) respectively. The lifting drive assembly (415) is mounted on the fixed base (411) and is used to drive the lifting seat (414) to move up and down. 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 spaced apart along the width direction of the lifting seat (414).

4. The weld stress-relieving and slag-removing device according to claim 2 or 3, characterized in that, One of the multiple guide seats (413) extends in a direction away from the lifting seat (414) to form a drive part (4131). The drive part (4131) and the lifting seat (414) are respectively disposed on opposite sides of the guide rod (412). The drive part (4131) is provided with a threaded hole. The lifting drive assembly (415) includes a lifting motor (4151) mounted on the fixed base (411) and a drive screw (4152) connected to the lifting motor (4151) and vertically inserted into the threaded hole. The lifting motor (4151) is used to drive the drive screw (4152) to rotate and, when the drive screw (4152) rotates, drives the drive unit (4131) to move up and down through threaded engagement.

5. The weld stress relief and slag removal device according to claim 4, characterized in that, The lifting assembly (41) also includes a limiting 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 limiting plate (416). The fixed seat (411) is used to abut against the guide seat (413) at the top when the lifting seat (414) rises to the maximum stroke, and the limiting plate (416) is used to abut against the guide seat (413) at the bottom when the lifting seat (414) falls to the maximum stroke.

6. The weld stress-relieving and slag-removing device according to claim 1, characterized in that, The slag suction assembly (51) includes a slag collection bin (511), a filter assembly (512), and a blower (513). The slag collection bin (511) is provided with a slag suction interface (5111) and a blower interface (5112). The filter assembly (512) is located in the inner cavity of the slag collection bin (511) and divides the inner cavity of the slag collection bin (511) into a slag collection chamber that communicates with the slag suction interface (5111) and an air guide chamber that communicates with the blower interface (5112). The slag suction pipe (52) is connected to the slag suction interface (5111), and the blower (513) is connected to the blower interface (5112) and is used to evacuate air from the inner cavity of the slag collection bin (511).

7. The weld stress-relieving and slag-removing device according to claim 6, characterized in that, The slag suction assembly (51) also includes a slag discharge drawer (514) and a hinged door (515). The slag discharge drawer (514) is located in the slag collection chamber and is used to collect the welding slag filtered out by the filter assembly (512). The hinged door (515) is hinged to a preset window of the air guide chamber and is used to expose the filter assembly (512) when opened.

8. The weld stress relief and slag removal device according to claim 1, characterized in that, The positioning mechanism (2) includes a mounting bracket (21), a horizontal rotation assembly (22), a vertical rotation assembly (23), and a positioning assembly (24); The mounting bracket (21) is mounted on the frame (1). The fixed end of the horizontal rotating component (22) is connected to the mounting bracket (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. 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) includes two cameras (241), which 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-relieving and slag-removing device according to claim 1, characterized in that, The weld stress relief and slag removal device also includes a guide (6) disposed on the lifting assembly (41). The guide (6) is located at the front end of the stress relief assembly (42) along the walking direction of the frame (1). The guide (6) is used to insert into the weld (2000) and move along the weld (2000) when the frame (1) moves, thereby guiding and positioning the working position of the stress relief assembly (42) and the slag suction pipe (52).

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