Steam turbine generator stator core positioning rib welding workstation and welding method thereof

Abstract

The invention relates to the technical field of steam turbine generator stator welding, aims to solve the problems that in the prior art, the welding period is long, the labor intensity is large, products are high, a welding machine needs to be moved frequently, and the welding quality is unstable, and provides a steam turbine generator stator core positioning rib welding workstation and a welding method thereof. Comprising an automatic lifting platform and a central supporting and positioning platform which are concentrically arranged; a first three-axis walking mechanism and a second three-axis walking mechanism are symmetrically distributed on the two sides of the automatic lifting platform. The first three-axis walking mechanism and the second three-axis walking mechanism are each provided with a welding robot, a barreled welding wire, a visual recognition module, a line laser module and an electric control system. The electrical control system is electrically connected with the automatic lifting platform, the welding robot, the first three-axis walking mechanism and the second three-axis walking mechanism. The automatic welding machine has the beneficial effects of high automation degree, short welding period, low labor intensity, no need of frequently moving the welding machine, stable welding quality, simplicity, easiness in use and high production efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of steam turbine generator stator welding, and in particular to a steam turbine generator stator core positioning rib welding workstation and a welding method thereof. Background Art

[0002] When the support ring is assembled after the stator core of the steam turbine generator is stacked, the support ring and the positioning rib need to be welded. The welding positions are the welds at the joints of the support rings and the welds between the positioning ribs and the support rings. The welding postures involve flat welding, vertical welding and overhead welding. Multi-layer and multi-pass welds have the characteristics of long welding cycle, simple actions, high repetition rate and high labor intensity.

[0003] The existing stator core positioning rib welding work is operated by two people, and the symmetrical positioning ribs are required to be welded at the same time. In order to avoid excessive welding stress affecting product quality, during the operation, the fillet weld needs to be welded in three to four layers, and the vertical weld needs to be welded in five layers; this welding method can ensure smaller welding shrinkage and ensure the quality of the weld by manually controlling the welding process; but due to the high height of the product, the welding machine needs to be moved frequently; there are differences in the operating level of welders, and the consistency of welding quality cannot be effectively guaranteed; and there are a large number of welds, and multi-layer and multi-pass welding brings a large workload, which places high demands on the skill level and physical load bearing capacity of the welding operator. Its output cycle and welding quality stability have become key bottlenecks restricting the development of the industry. Summary of the invention

[0004] The present invention aims to provide a steam turbine generator stator core positioning rib welding workstation and a welding method thereof, so as to solve the problems in the prior art of long welding cycle, simple action with high repetition rate, high labor intensity, high product height, frequent movement of the welding machine, large differences in welder operation levels, inability to effectively guarantee welding quality consistency, long output cycle and unstable welding quality.

[0005] The embodiment of the present invention is achieved as follows:

[0006] The embodiment of the present invention provides a steam turbine generator stator core positioning rib welding workstation, which includes an automatic lifting platform;

[0007] The interior of the automatic lifting platform is provided with a concentrically arranged central support positioning platform, and the bottom ends of the central support positioning platform and the automatic lifting platform are fixedly connected to the factory foundation or a separate platform;

[0008] A first three-axis walking mechanism and a second three-axis walking mechanism are respectively provided on both sides of the automatic lifting platform, and the first three-axis walking mechanism and the second three-axis walking mechanism are symmetrically distributed on both sides of the automatic lifting platform, and both the first three-axis walking mechanism and the second three-axis walking mechanism have an X-axis, a Y-axis and a Z-axis;

[0009] The first three-axis walking mechanism and the second three-axis walking mechanism both have a welding robot, a barreled welding wire, a visual recognition module and a line laser module. The barreled welding wire is connected to the welding robot. The welding robot is slidably connected to the inner end of the Y-axis of the first three-axis walking mechanism or the second three-axis walking mechanism. The barreled welding wire is fixedly connected to the outer end of the Y-axis of the first three-axis walking mechanism or the second three-axis walking mechanism. The visual recognition module and the line laser module are respectively distributed on both sides of the front end of the welding robot.

[0010] An electrical control system is provided on the outer side of the first three-axis walking mechanism or the second three-axis walking mechanism, and the electrical control system is electrically connected to the automatic lifting platform, the first three-axis walking mechanism and the second three-axis walking mechanism.

[0011] The steam turbine generator stator core positioning rib welding workstation disclosed in the present embodiment adopts the above-mentioned automatic lifting platform to realize the lifting of personnel or avoid affecting the welding robot to weld the steam turbine generator stator core or check the weld quality after the welding work is completed, and the steam turbine generator stator core is fixed by the above-mentioned central support positioning platform, and the above-mentioned welding robot is driven to a suitable welding position by the above-mentioned first three-axis walking mechanism or the above-mentioned second three-axis walking mechanism to perform welding. At the same time, the above-mentioned visual recognition module and the above-mentioned line laser module provide welding positions, which are convenient for the above-mentioned first three-axis walking mechanism or the above-mentioned second three-axis walking mechanism to adjust the welding posture of the welding robot, and realize the welding of the weld at the joint of the support ring of the steam turbine generator stator core and the welding of the weld between the positioning rib and the support ring, thereby making a steam turbine generator stator core positioning rib welding workstation have the beneficial effects of high degree of automation, short welding cycle, low labor intensity, adjustable product height, no need to frequently move the welding machine, good welding quality consistency, short output cycle, stable welding quality, simple and easy to use and high production efficiency.

[0012] Optionally: the automatic lifting platform has a working platform, and a plurality of scissor arms are fixedly connected to the bottom of the working platform. The plurality of scissor arms are evenly distributed at the bottom of the working platform and fixedly connected to the factory foundation or a separate platform. A circular guardrail is provided on the top outer edge of the working platform.

[0013] With such an arrangement, a plurality of scissor arms can adjust the height of the working platform, thereby facilitating the lifting function and controlling the height of the automatic lifting platform, and facilitating the welding of the support ring and the positioning rib when the support ring is assembled after the stator core laminations. At the same time, the annular guardrail can serve as a safety support for the operator when installing and disassembling the lifting tools during the process of the workpiece entering and exiting, and for inspecting the weld quality after the welding work is completed.

[0014] Optionally: the top surface of the above-mentioned central support positioning platform has four groups of symmetrically distributed T-shaped grooves in the radial direction, and a rotatable screw rod is provided in the groove of the above-mentioned T-shaped groove, and a T-shaped slider is threadedly connected to the above-mentioned screw rod, and the above-mentioned T-shaped slider is adapted to the above-mentioned T-shaped groove.

[0015] With such arrangement, the screw rod drives the T-shaped slider to move bidirectionally along the groove direction of the T-shaped slide slot, so that the central support positioning platform can fix the stator core through the T-shaped slider, which is suitable for fixing stator cores of different sizes.

[0016] Optionally, the central support positioning platform is connected to the factory foundation or a separate platform in a fixed installation manner.

[0017] With such arrangement, the fixed installation method itself has good rigidity and can effectively bear the weight of small and medium-sized thermoelectric stator cores.

[0018] Optionally, a digital ruler is provided on one side of the T-shaped slide groove, and the digital ruler is arranged to extend along the groove direction of the T-shaped slide groove.

[0019] In this way, the setting of the above-mentioned digital ruler is convenient for providing accurate assembly positions according to the positioning data of different models, ensuring the assembly accuracy of the workpiece during crane transportation, thereby improving the positioning welding accuracy of the stator core.

[0020] Optionally: the X-axis of the first three-axis walking mechanism and the second three-axis walking mechanism is provided with a longitudinal slide rail, the longitudinal slide rail is adapted to be provided with a longitudinal slide table, the top surface of the longitudinal slide table is provided with a vertical slide rail, the vertical slide rail is perpendicular to the top surface of the longitudinal slide table, the bottom end of the vertical slide rail is provided with a bottom plate, and the bottom plate is fixedly connected to the top surface of the longitudinal slide table;

[0021] The vertical slide rail is equipped with a vertical slide platform, and a side of the vertical slide platform away from the vertical slide rail is fixedly connected with a transverse slide rail, and the welding robot is slidably connected to the transverse slide rail.

[0022] In this way, the longitudinal slide is adapted to the longitudinal slide rail, the vertical slide is adapted to the vertical slide rail, and the welding robot is adapted to the transverse slide rail, which enables the first three-axis walking mechanism or the second three-axis walking mechanism to have walking functions in the X direction, Y direction and Z direction, and adopts the form of high-precision servo motor + precision reducer + linear guide rail to achieve high-precision coordinated movement between the three axes and complete a complex movement path. The welding robot can be slidably connected to the transverse slide rail and moved by the first three-axis walking mechanism or the second three-axis walking mechanism, so as to facilitate the welding robot to be sent to a suitable spatial position.

[0023] Optionally: a sliding trolley is provided on the side of the vertical slide rail away from the automatic lifting platform, a welding power supply, a cooling water tank and a robot control device are provided on the top of the sliding trolley, the welding power supply, the cooling water tank and the robot control device are all fixedly connected to the sliding trolley, the welding power supply and the robot control device are connected to the welding robot via cables, and the cooling water tank is connected to the welding robot via a water pipe.

[0024] Such a setting can effectively reduce vibration and displacement and ensure the stability of the equipment during operation.

[0025] Optionally: one side of the sliding trolley is fixedly connected to the base plate of the vertical slide rail, a plurality of columns are vertically fixedly connected to the bottom surface of the sliding trolley, one end of the plurality of columns away from the sliding trolley is detachably connected to a directional pulley, and the sliding trolley moves in bidirectional directions along the axial direction of the longitudinal slide rail through the plurality of directional pulleys.

[0026] With such an arrangement, the above-mentioned directional pulleys enable the above-mentioned sliding trolley to follow the above-mentioned first three-axis walking mechanism or the above-mentioned second three-axis walking mechanism to complete bidirectional movement along the above-mentioned X-axis. Since the relative position of the above-mentioned sliding trolley and the above-mentioned vertical slide rail on the above-mentioned Z-axis is fixed, through the above-mentioned Z-axis drag chain design, the cables and cooling water pipelines of the equipment can move relatively freely, thereby avoiding the cables and cooling water pipelines connecting the above-mentioned welding robot from breaking during the movement of the above-mentioned welding robot.

[0027] Optionally: the welding robot has a base, the base is connected to a bottom arm, the bottom arm is connected to a forearm, and the forearm is connected to a welding gun;

[0028] A wire feeding device is provided at the rear end of the forearm of the welding robot, and the wire feeding device is installed on the rear side of the forearm. A straightening wheel mechanism is provided between the wire feeding device and the forearm, and the welding wire in the barreled welding wire is connected to the welding gun on the forearm through the wire feeding device and the straightening wheel mechanism.

[0029] In this way, the above-mentioned base, the above-mentioned bottom arm and the above-mentioned forearm are arranged so that the above-mentioned welding gun at the front end of the above-mentioned welding robot can weld more flexibly. The above-mentioned wire feeding device is installed on the rear side of the above-mentioned forearm of the above-mentioned welding robot, and adopts a unique precision gear transmission system. The above-mentioned correction wheel mechanism configured at the front end realizes low noise, low vibration and high precision in the wire feeding process; it is convenient to adjust the wire feeding speed in real time according to the welding parameters through the intelligent wire feeding control system to ensure the wire feeding stability and accuracy during the welding process; at the same time, the above-mentioned wire feeding device and the above-mentioned correction wheel mechanism support a variety of diameters and types of welding wires, and can automatically adjust the tension according to the welding wire diameter and the wire feeding speed to prevent the welding wire from knotting or breaking.

[0030] Optionally: a gun cleaning and wire cutting device is fixedly connected to the side of the above-mentioned transverse slide rail, and the above-mentioned gun cleaning and wire cutting device has a wire cutting mechanism for cutting the welding wire and a clamping mechanism for clamping the above-mentioned welding gun and performing cleaning work.

[0031] With such arrangement, after the welding robot has worked with the welding gun for a period of time, the welding robot automatically goes to the gun cleaning and wire cutting device to clean the welding spatter adhered to the nozzle of the welding gun, and the gun cleaning and wire cutting device also sprays a small amount of silicone oil into the interior of the welding gun to avoid the spatter from firmly adhering during welding, which is beneficial for cleaning the gun next time. The wire cutting mechanism pushes the movable annular knife to contact the fixed annular knife through the electric telescopic rod to cut the welding wire, thereby ensuring the identity of the welding base point and reducing tool wear. The clamping mechanism clamps the welding gun and performs cleaning work through the cooperation of the electric telescopic rod and the transmission gear, thereby preventing the welding gun from being squeezed and displaced during the wire cutting process.

[0032] In one implementation of this embodiment: a welding method of a steam turbine generator stator core positioning rib welding workstation is also provided, comprising the following steps:

[0033] Step 1: Complete the assembly of the stator core of the steam turbine generator at the press station. This process requires the assembly of the press ring, positioning ribs and support ring components;

[0034] Step 2: Use special hoisting equipment to hoist the unwelded stator core onto the central support positioning platform. The operator stands on the working platform of the automatic lifting platform and rotates the screw rod on the central support positioning platform. The screw rod drives the T-shaped slider to move in the T-shaped slide groove, and the stator core is placed accurately by the T-shaped slider.

[0035] Step 3: Use offline programming software to plan the welding sequence and match the corresponding welding parameters;

[0036] Step 4, controlling the first three-axis walking mechanism and the second three-axis walking mechanism to move synchronously through the electrical control system, so that the first three-axis walking mechanism and the second three-axis walking mechanism slide and adjust along the X-axis, Y-axis and Z-axis, so as to send the welding robot to a suitable welding position;

[0037] Step 5, the welding robot identifies the spatial position to be welded through the features of the position to be welded set in advance by the visual recognition module, and the line laser module scans the detailed coordinates of the position to be welded according to the position information provided by the visual recognition module, and feeds the data back to the welding robot;

[0038] Step 6, the electrical control system adjusts the welding posture of the welding robot according to the positions provided by the visual recognition module and the line laser module;

[0039] Step seven, the barreled welding wire provides welding wire to the welding gun of the welding robot through the wire feeding device and the correction wheel mechanism, the welding power supply on the sliding trolley provides power to the welding robot, the cooling water tank provides cooling for the welding robot, and the welding robot calls the welding parameters in the parameter library to perform welding work on different welding positions. After welding for a period of time, the welding robot automatically goes to the gun cleaning and wire cutting device to clean the welding spatter adhered to the nozzle of the welding gun.

[0040] Based on the above description, the steam turbine generator stator core positioning rib welding workstation and welding method disclosed in the present invention have the beneficial effects of high degree of automation, short welding cycle, low labor intensity, adjustable product height, no need to frequently move the welding machine, good welding quality consistency, short output cycle, stable welding quality, simple and easy to use and high production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0042] Figure 1 A three-dimensional stereogram of a steam turbine generator stator core positioning rib welding workstation according to an embodiment of the present invention;

[0043] Figure 2 For the embodiment of the present invention Figure 1 The enlarged schematic diagram at A in the middle;

[0044] Figure 3 For the embodiment of the present invention Figure 1 The enlarged schematic diagram of point B in the middle;

[0045] Figure 4 For the embodiment of the present invention Figure 1 The enlarged schematic diagram at C in the middle;

[0046] Figure 5 It is a front view of a steam turbine generator stator core positioning rib welding workstation in an embodiment of the present invention;

[0047] Figure 6 It is a rear view of a steam turbine generator stator core positioning rib welding workstation in an embodiment of the present invention;

[0048] Figure 7 For the embodiment of the present invention Figure 6 The enlarged schematic diagram at D in the middle;

[0049] Figure 8 The figure is a left view of a steam turbine generator stator core positioning rib welding workstation according to an embodiment of the present invention.

[0050] Icons: 1-Automatic lifting platform, 2-Central support positioning platform, 3-First three-axis walking mechanism, 4-Second three-axis walking mechanism, 5-X axis, 6-Y axis, 7-Z axis, 8-Welding robot, 9-Barreled welding wire, 10-Visual recognition module, 11-Line laser module, 12-Electrical control system, 13-Working platform, 14-Annular guardrail, 15-T-shaped slide, 16-Screw rod, 17-T-shaped slide, 18-Digital ruler, 19-Longitudinal slide rail, 2 0-longitudinal slide, 21-vertical slide rail, 22-bottom plate, 23-vertical slide, 24-transverse slide rail, 25-sliding trolley, 26-welding power supply, 27-cooling water tank, 28-robot control equipment, 29-column, 30-directional pulley, 31-base, 32-bottom arm, 33-forearm, 34-welding gun, 35-wire feeding device, 36-correction wheel mechanism, 37-gun cleaning and wire cutting device, 38-longitudinal drag chain, 39-vertical drag chain, 40-transverse drag chain. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0052] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] Example

[0054] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 This embodiment proposes a steam turbine generator stator core positioning rib welding workstation which is simple to use, ingeniously designed, highly efficient, and has good welding quality consistency, to achieve the welding of the welds at the joint of the steam turbine generator stator core support ring and the welds between the positioning rib and the support ring, including an automatic lifting platform 1;

[0055] The interior of the automatic lifting platform 1 is provided with a concentrically arranged central support positioning platform 2, and the bottom ends of the central support positioning platform 2 and the automatic lifting platform 1 are fixedly connected to the factory foundation or a separate platform;

[0056] A first three-axis walking mechanism 3 and a second three-axis walking mechanism 4 are respectively provided on both sides of the automatic lifting platform 1. The first three-axis walking mechanism 3 and the second three-axis walking mechanism 4 are symmetrically distributed on both sides of the automatic lifting platform 1. The first three-axis walking mechanism 3 and the second three-axis walking mechanism 4 both have an X-axis 5, a Y-axis 6 and a Z-axis 7;

[0057] The first three-axis walking mechanism 3 and the second three-axis walking mechanism 4 both have a welding robot 8, a barreled welding wire 9, a visual recognition module 10 and a line laser module 11, the barreled welding wire 9 is connected to the welding robot 8, the welding robot 8 is slidably connected to the inner end of the Y-axis 6 of the first three-axis walking mechanism 3 or the second three-axis walking mechanism 4, the barreled welding wire 9 is fixedly connected to the outer end of the Y-axis 6 of the first three-axis walking mechanism 3 or the second three-axis walking mechanism 4, and the visual recognition module 10 and the line laser module 11 are respectively distributed on the left and right sides of the front end of the welding robot 8;

[0058] An electrical control system 12 is provided on the outer side of the first three-axis walking mechanism 3 or the second three-axis walking mechanism 4 , and the electrical control system 12 is electrically connected to the automatic lifting platform 1 , the first three-axis walking mechanism 3 and the second three-axis walking mechanism 4 .

[0059] The steam turbine generator stator core positioning rib welding workstation disclosed in the present embodiment adopts an automatic lifting platform 1 to realize the lifting of personnel or avoid affecting the welding robot 8 to weld the steam turbine generator stator core or check the weld quality after the welding work is completed. The steam turbine generator stator core is fixed by the central support positioning platform 2, and the welding robot 8 is driven to a suitable welding position by the first three-axis walking mechanism 3 or the second three-axis walking mechanism 4 to perform welding. At the same time, the visual recognition module 10 and the line laser module 11 provide welding positions, which are convenient for the first three-axis walking mechanism 3 or the second three-axis walking mechanism 4 to adjust the welding posture of the welding robot 8, and realize the welding of the weld at the joint of the support ring of the steam turbine generator stator core and the welding of the weld between the positioning rib and the support ring, thereby making the steam turbine generator stator core positioning rib welding workstation have the beneficial effects of high degree of automation, short welding cycle, low labor intensity, adjustable product height, no need to frequently move the welding machine, good welding quality consistency, short output cycle, stable welding quality, simple and easy to use and high production efficiency.

[0060] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6, Figure 7 and Figure 8 The automatic lifting platform 1 has a working platform 13, and a plurality of scissor arms (not shown in the figure) are fixedly connected to the bottom of the working platform 13. The plurality of scissor arms are evenly distributed at the bottom of the working platform 13 and are fixedly connected to the factory foundation or a separate platform. An annular guardrail 14 is provided on the top outer edge of the working platform 13. The plurality of scissor arms can adjust the height of the working platform 13, which is convenient for realizing the lifting function, and is beneficial for controlling the height of the automatic lifting platform 1, and is convenient for welding the support ring and the positioning rib when assembling the support ring after the stator core is laminated. At the same time, the annular guardrail 14 can serve as a safety support for the operator to install and disassemble the lifting tools during the process of the workpiece entering and exiting, and to inspect the weld quality after the welding work is completed.

[0061] In this embodiment, the automatic lifting platform 1 is connected to the factory foundation or a separate platform by a sunken fixed installation method, and a scissor-type structure is used to realize the lifting function. After the automatic lifting platform 1 is lowered, its own height is less than 1000mm, the maximum stroke is ≥4000mm, and the rated load is ≥2T; in order to meet the changes in the outer diameter of small and medium-sized thermoelectric stator cores in different models, the inner diameter of the automatic lifting platform 1 can be adjusted in four gears within the range of 2250mm to 2900mm, with a maximum inner diameter of 2900mm and an outer diameter of 4000mm, and is equipped with a 1200mm circular guardrail 14 to effectively ensure personal safety during operation; the control mode of the automatic lifting platform 1 is a "wireless + fixed" dual control mode, with safety functions such as hydraulic locking, overload protection, and limit protection.

[0062] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 The top surface of the central support positioning platform 2 has four groups of mutually symmetrically distributed T-shaped slots 15 in the radial direction. A rotatable screw rod 16 is provided in the slot of the T-shaped slot 15. A T-shaped slider 17 is threadedly connected to the screw rod 16. The T-shaped slider 17 is adapted to the T-shaped slot 15. The screw rod 16 drives the T-shaped slider 17 to move in both directions along the slot direction of the T-shaped slot 15, so that the central support positioning platform 2 can fix the stator core through the T-shaped slider 17, which is suitable for fixing stator cores of different sizes.

[0063] The central support positioning platform 2 is connected to the plant foundation or a separate platform by a fixed installation method. The fixed installation method itself has good rigidity and can effectively bear the weight of small and medium-sized thermoelectric stator cores.

[0064] A digital scale 18 is provided on one side of the T-shaped slide groove 15, and the digital scale 18 is arranged to extend along the groove direction of the T-shaped slide groove 15. The setting of the digital scale 18 is convenient for providing accurate assembly position according to the positioning data of different models, ensuring the assembly accuracy of the workpiece during crane transportation, thereby improving the positioning welding accuracy of the stator core.

[0065] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 The first three-axis walking mechanism 3 and the second three-axis walking mechanism 4 have a longitudinal slide rail 19 on the X-axis 5, and the longitudinal slide rail 19 is adapted to be equipped with a longitudinal slide table 20. A vertical slide rail 21 is provided on the top surface of the longitudinal slide table 20, and the vertical slide rail 21 is perpendicular to the top surface of the longitudinal slide table 20. The bottom end of the vertical slide rail 21 has a bottom plate 22, and the bottom plate 22 is fixedly connected to the top surface of the longitudinal slide table 20; the vertical slide rail 21 is adapted to be equipped with a vertical slide table 23, and the side of the vertical slide table 23 away from the vertical slide rail 21 is fixedly connected with a transverse slide rail 24, and the welding robot 8 is slidably connected to the transverse slide rail 24, and the longitudinal slide table 20 is adapted to the longitudinal slide rail 19, the vertical slide 23 is adapted to the vertical slide rail 21, and the welding robot 8 is adapted to the transverse slide rail 24, which enables the first three-axis walking mechanism 3 or the second three-axis walking mechanism 4 to have the walking functions in the X direction, Y direction and Z direction, and adopts the form of high-precision servo motor + precision reducer + linear guide rail to realize high-precision coordinated movement between the three axes and complete complex movement paths. The welding robot 8 can be slidably connected to the transverse slide rail 24 and moved by the first three-axis walking mechanism 3 or the second three-axis walking mechanism 4, so as to facilitate the welding robot 8 to be sent to the appropriate spatial position.

[0066] A sliding trolley 25 is provided on the side of the vertical slide rail 21 away from the automatic lifting platform 1. A welding power supply 26, a cooling water tank 27 and a robot control device 28 are provided on the top of the sliding trolley 25. The welding power supply 26, the cooling water tank 27 and the robot control device 28 are all fixedly connected to the sliding trolley 25. The welding power supply 26 and the robot control device 28 are connected to the welding robot 8 through cables, and the cooling water tank 27 is connected to the welding robot 8 through a water pipe. This can effectively reduce vibration and displacement and ensure the stability of the equipment during operation.

[0067] One side of the sliding trolley 25 is fixedly connected to the bottom plate 22 of the vertical slide rail 21, and a plurality of columns 29 are vertically fixedly connected to the bottom surface of the sliding trolley 25. The ends of the plurality of columns 29 away from the sliding trolley 25 are detachably connected to directional pulleys 30. The sliding trolley 25 moves bidirectionally along the axial direction of the longitudinal slide rail 19 through the plurality of directional pulleys 30. The plurality of directional pulleys 30 enable the sliding trolley 25 to follow the first three-axis walking mechanism 3 or the second three-axis walking mechanism 4 to complete bidirectional movement along the X-axis 5. Since the relative position of the sliding trolley 25 and the vertical slide rail 21 on the Z-axis 7 is fixed, the Z-axis 7 drag chain design allows the equipment's cables (not shown in the figure) and cooling water pipelines (not shown in the figure) to move relatively freely, thereby preventing the cables and cooling water pipelines connected to the welding robot 8 from breaking during the movement of the welding robot 8.

[0068] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 The welding robot 8 has a base 31, a bottom arm 32 is connected to the base 31, a forearm 33 is connected to the bottom arm 32, and a welding gun 34 is connected to the forearm 33; a wire feeding device 35 is provided at the rear end of the forearm 33 of the welding robot 8, the wire feeding device 35 is installed on the rear side of the forearm 33, a correction wheel mechanism 36 is provided between the wire feeding device 35 and the forearm 33, and the welding wire in the barreled welding wire 9 is connected to the welding gun 34 on the forearm 33 through the wire feeding device 35 and the correction wheel mechanism 36. The arrangement of the base 31, the bottom arm 32 and the forearm 33 enables the welding gun 34 at the front end of the welding robot 8 to be more In order to make welding more flexible, the wire feeding device 35 is installed on the rear side of the forearm 33 of the welding robot 8, and adopts a unique precision gear transmission system. The straightening wheel mechanism 36 configured at the front end realizes low noise, low vibration and high precision in the wire feeding process; it is convenient to adjust the wire feeding speed in real time according to the welding parameters through the intelligent wire feeding control system (not shown in the figure) to ensure the wire feeding stability and accuracy during the welding process; at the same time, the wire feeding device 35 and the straightening wheel mechanism 36 support a variety of diameters and types of welding wires, and can automatically adjust the tension according to the wire diameter and wire feeding speed to prevent the welding wire from knotting or breaking.

[0069] In this embodiment, the welding wire diameter can be 1.0 mm to 1.6 mm, and the wire feeding speed can be 0.5 m / min to 22 m / min.

[0070] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8A gun cleaning and wire cutting device 37 is fixedly connected to the side of the transverse slide rail 24. The gun cleaning and wire cutting device 37 has a wire cutting mechanism for cutting the welding wire (not shown in the figure) and a clamping mechanism for clamping the welding gun 34 and performing cleaning work (not shown in the figure). After the welding robot 8 has worked with the welding gun 34 for a period of time, the welding robot 8 automatically goes to the gun cleaning and wire cutting device 37 to remove the welding spatter adhered to the nozzle of the welding gun 34. In addition, the gun cleaning and wire cutting device 37 also sprays a small amount of silicone oil into the inside of the welding gun 34 to avoid the spatter from firmly adhering during welding, which is conducive to cleaning the gun next time. The wire cutting mechanism pushes the mobile annular knife to contact the fixed annular knife through the electric telescopic rod to cut the welding wire, thereby ensuring the identity of the welding base point and reducing tool wear. The clamping mechanism clamps the welding gun 34 and performs cleaning work through the cooperation of the electric telescopic rod and the transmission gear to prevent the welding gun 34 from being squeezed and displaced during the wire cutting process.

[0071] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 In this embodiment, when the support ring is assembled after the steam turbine generator stator core is laminated, the support ring and the positioning rib need to be welded. The welding positions are the weld at the support ring joint and the weld between the positioning rib and the support ring. The steam turbine generator stator is placed on the top of the central support positioning platform 2 and fixed. The welding robot 8 on the first three-axis walking mechanism 3 and the second three-axis walking mechanism 4 realizes the welding of the weld at the support ring joint and the welding of the weld between the positioning rib and the support ring.

[0072] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 In this embodiment, the welds at the joints of the support rings and the welds between the positioning ribs and the support rings are welded simultaneously with symmetrical positioning ribs, and the welding is performed in the middle first and then at the two ends, following the welding logic of vertical welding first and then flat welding or overhead welding. In order to avoid excessive welding stress affecting product quality, during the operation, the fillet welds need to be welded in 3 to 4 layers, and the vertical welds need to be welded in 5 layers. This welding method can ensure smaller welding shrinkage and thus ensure the quality of the welds.

[0073] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8In this embodiment, the central support and positioning platform 2 is located at the center of the welding workstation, responsible for the load-bearing and precise positioning of the workpiece; the automatic lifting platform 1 is located outside the central support and positioning platform 2 and is arranged concentrically therewith, responsible for the operator's installation and removal of lifting tools during the workpiece in and out process and the safety support of the weld quality inspection after the welding work is completed; the first three-axis walking mechanism 3 and the second three-axis walking mechanism 4 are located outside the automatic lifting platform 1 and are arranged in parallel, responsible for the support of the welding robot 8, the wire feeding device 35, the gun cleaning and wire cutting device 37 and the barreled welding wire 9, and the sliding trolley 25 is adjacent to the first three-axis walking mechanism 3 or The second three-axis walking mechanism 4 is arranged on the outside and fixed thereto to support the robot control device 28, the welding power supply 26 and the cooling water tank 27, and move along the X-axis 5 direction; the welding robot 8 is located on the inner side of the Y-axis 6 in the first three-axis walking mechanism 3 or the second three-axis walking mechanism 4, and the welding robot 8 is transported to a suitable spatial position by moving the first three-axis walking mechanism 3 or the second three-axis walking mechanism 4; the visual recognition module 10 and the line laser module 11 are distributed on the left and right sides of the front end of the welding robot 8 to realize accurate identification of the welding position; the electrical control system 12 is arranged on the outside of the workstation through a wire trough.

[0074] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 In this embodiment, the first three-axis walking mechanism 3 and the second three-axis walking mechanism 4 are both driven by external shaft motors and coordinated with the welding robot 8 through programming, so as to move on the slide rails to achieve spatial position movement and give full play to the motion range of the welding robot 8; the longitudinal slide rail 19, the vertical slide rail 21 and the transverse slide rail 24 use high-strength materials with a hardness test of up to HRC60 to provide ultra-smooth movement; the longitudinal slide rail 19, the vertical slide rail 21 and the transverse slide rail 24 are all protected by retractable protective accordion covers. The protective accordion cover material is resistant to high temperature and oil stains, and adopts a fully enclosed structure to effectively prevent metal splashes and foreign matter generated during welding and cleaning processes from damaging the longitudinal slide rail 19, the vertical slide rail 21, the transverse slide rail 24 and the system, thereby enhancing the service life of internal components.

[0075] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8In this embodiment, the welding robot 8 is fixed on the transverse slide rail 24. The welding robot 8 is sent to a suitable spatial position by moving the first three-axis walking mechanism 3 and the second three-axis walking mechanism 4. The visual recognition module 10 and the line laser module 11 are distributed on the left and right sides of the front end of the welding robot 8. The system establishes a parameter library of the position to be welded. The welding robot 8 scans the position to be welded through the visual recognition module 10, and then identifies the specific position of the area to be welded of the small and medium-sized thermoelectric stators. The line laser module 11 is used to scan the area to be welded to obtain accurate welding position characteristics, and then feedback is given to the welding robot 8, so that the welding robot 8 can adjust the optimal welding posture for welding.

[0076] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 In this embodiment, the longitudinal slide 20 is meshedly connected with the longitudinal slide rail 19, and the longitudinal slide 20 moves on the longitudinal slide rail 19 and is driven by the motor and the longitudinal drag chain 38; the vertical slide 23 is meshedly connected with the vertical slide rail 21, and the vertical slide 23 moves on the vertical slide rail 21 and is driven by the motor and the vertical drag chain 39; the welding robot 8 is meshedly connected with the transverse slide rail 24, and the welding robot 8 moves on the transverse slide rail 24 and is driven by the motor and the transverse drag chain 40.

[0077] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 and Figure 8 In one implementation of this embodiment: a welding method of a steam turbine generator stator core positioning rib welding workstation is also provided, comprising the following steps:

[0078] Step 1: Complete the assembly of the stator core of the steam turbine generator at the press station. This process requires the assembly of the press ring, positioning ribs and support ring components;

[0079] Step 2: Use special lifting equipment to lift the unwelded stator core onto the central support positioning platform 2. The operator stands on the working platform 13 of the automatic lifting platform 1 and rotates the screw rod 16 on the central support positioning platform 2. The screw rod 16 drives the T-shaped slider 17 to move in the T-shaped slide groove 15, and the T-shaped slider 17 ensures the placement accuracy of the stator core.

[0080] Step 3: Use offline programming software to plan the welding sequence and match the corresponding welding parameters;

[0081] Step 4: Control the first three-axis walking mechanism 3 and the second three-axis walking mechanism 4 to move synchronously through the electrical control system 12, so that the first three-axis walking mechanism 3 and the second three-axis walking mechanism 4 slide and adjust along the X-axis 5, the Y-axis 6 and the Z-axis 7, so as to send the welding robot 8 to a suitable welding position;

[0082] Step 5: The welding robot 8 identifies the spatial position to be welded through the features of the position to be welded set in advance by the visual recognition module 10; the line laser module 11 scans the detailed coordinates of the position to be welded according to the position information provided by the visual recognition module 10, and feeds the data back to the welding robot 8;

[0083] Step 6, the electrical control system 12 adjusts the welding posture of the welding robot 8 according to the position provided by the visual recognition module 10 and the line laser module 11;

[0084] Step seven, the barreled welding wire 9 provides welding wire to the welding gun 34 of the welding robot 8 through the wire feeding device 35 and the correction wheel mechanism 36, the welding power supply 26 on the sliding trolley 25 provides power for the welding robot 8, and the cooling water tank 27 provides cooling for the welding robot 8. The welding robot 8 calls the welding parameters in the parameter library to perform welding work on different welding positions. After welding for a period of time, the welding robot 8 automatically goes to the gun cleaning and wire cutting device 37 to remove the welding spatter adhering to the nozzle of the welding gun 34.

[0085] 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 steam turbine generator stator core positioning rib welding workstation, characterized in that: It comprises an automatic lifting platform (1); The interior of the automatic lifting platform (1) is provided with a concentrically arranged central support positioning platform (2), and the bottom ends of the central support positioning platform (2) and the automatic lifting platform (1) are both fixedly connected to the factory building foundation or a separate platform; A first three-axis walking mechanism (3) and a second three-axis walking mechanism (4) are respectively provided on both sides of the automatic lifting platform (1); the first three-axis walking mechanism (3) and the second three-axis walking mechanism (4) are symmetrically distributed on both sides of the automatic lifting platform (1); and the first three-axis walking mechanism (3) and the second three-axis walking mechanism (4) both have an X-axis (5), a Y-axis (6) and a Z-axis (7); The first three-axis walking mechanism (3) and the second three-axis walking mechanism (4) both have a welding robot (8), a barreled welding wire (9), a visual recognition module (10) and a line laser module (11); the barreled welding wire (9) is connected to the welding robot (8); the welding robot (8) is slidably connected to the inner end of the Y axis (6) of the first three-axis walking mechanism (3) or the second three-axis walking mechanism (4); the barreled welding wire (9) is fixedly connected to the outer end of the Y axis (6) of the first three-axis walking mechanism (3) or the second three-axis walking mechanism (4); the visual recognition module (10) and the line laser module (11) are respectively distributed on both sides of the front end of the welding robot (8); An electrical control system (12) is provided on the outside of the first three-axis walking mechanism (3) or the second three-axis walking mechanism (4), and the electrical control system (12) is electrically connected to the automatic lifting platform (1), the first three-axis walking mechanism (3) and the second three-axis walking mechanism (4).

2. A steam turbine generator stator core positioning rib welding workstation according to claim 1, characterized in that: The automatic lifting platform (1) has a working platform (13), the bottom of the working platform (13) is fixedly connected to a plurality of scissor arms, the plurality of scissor arms are evenly distributed at the bottom of the working platform (13) and fixedly connected to a factory foundation or a separate platform, and the top outer edge of the working platform (13) is provided with an annular guardrail (14).

3. A steam turbine generator stator core positioning rib welding workstation according to claim 1, characterized in that: The top surface of the central support positioning platform (2) has four groups of mutually symmetrically distributed T-shaped grooves (15) in the radial direction, and a rotatable screw rod (16) is provided in the groove of each T-shaped groove (15). A T-shaped slider (17) is threadedly connected to the screw rod (16), and the T-shaped slider (17) is adapted to the T-shaped groove (15).

4. A steam turbine generator stator core positioning rib welding workstation according to claim 3, characterized in that: A digital scale (18) is provided on one side of the T-shaped slide groove (15), and the digital scale (18) is arranged to extend along the groove direction of the T-shaped slide groove (15).

5. The steam turbine generator stator core positioning rib welding workstation according to claim 1, characterized in that: The X-axis (5) of the first three-axis walking mechanism (3) and the second three-axis walking mechanism (4) is provided with a longitudinal slide rail (19), the longitudinal slide rail (19) is adapted to be provided with a longitudinal slide table (20), a vertical slide rail (21) is provided on the top surface of the longitudinal slide table (20), the vertical slide rail (21) is perpendicular to the top surface of the longitudinal slide table (20), the bottom end of the vertical slide rail (21) is provided with a bottom plate (22), and the bottom plate (22) is fixedly connected to the top surface of the longitudinal slide table (20); The vertical slide rail (21) is equipped with a vertical slide platform (23), and a side of the vertical slide platform (23) away from the vertical slide rail (21) is fixedly connected to a transverse slide rail (24), and the welding robot (8) is slidably connected to the transverse slide rail (24).

6. A steam turbine generator stator core positioning rib welding workstation according to claim 5, characterized in that: A sliding trolley (25) is provided on the side of the vertical slide rail (21) away from the automatic lifting platform (1), and a welding power source (26), a cooling water tank (27) and a robot control device (28) are provided on the top of the sliding trolley (25). The welding power source (26), the cooling water tank (27) and the robot control device (28) are all fixedly connected to the sliding trolley (25), the welding power source (26) and the robot control device (28) are connected to the welding robot (8) via cables, and the cooling water tank (27) is connected to the welding robot (8) via a water pipe.

7. A steam turbine generator stator core positioning rib welding workstation according to claim 6, characterized in that: One side of the sliding trolley (25) is fixedly connected to the bottom plate (22) of the vertical slide rail (21); a plurality of columns (29) are vertically fixedly connected to the bottom surface of the sliding trolley (25); one end of the plurality of columns (29) away from the sliding trolley (25) is detachably connected to a directional pulley (30); the sliding trolley (25) moves bidirectionally along the axial direction of the longitudinal slide rail (19) via the plurality of directional pulleys (30).

8. A steam turbine generator stator core positioning rib welding workstation according to claim 7, characterized in that: The welding robot (8) comprises a base (31), a bottom arm (32) is connected to the base (31), a forearm (33) is connected to the bottom arm (32), and a welding gun (34) is connected to the forearm (33); A wire feeding device (35) is provided on the rear side of the forearm (33) of the welding robot (8), and the wire feeding device (35) is installed on the rear side of the forearm (33). A straightening wheel mechanism (36) is provided between the wire feeding device (35) and the forearm (33). The welding wire in the barreled welding wire (9) is connected to the welding gun (34) on the forearm (33) through the wire feeding device (35) and the straightening wheel mechanism (36).

9. A steam turbine generator stator core positioning rib welding workstation according to claim 8, characterized in that: A gun cleaning and wire cutting device (37) is fixedly connected to the side of the transverse slide rail (24), and the gun cleaning and wire cutting device (37) comprises a wire cutting mechanism for cutting the welding wire and a clamping mechanism for clamping the welding gun (34) and performing cleaning work.

10. A welding method using a steam turbine generator stator core positioning rib welding workstation as claimed in any one of claims 1 to 9, characterized in that: The steps include: Step 1: Complete the assembly of the stator core of the steam turbine generator at the press station. This process requires the assembly of the press ring, positioning ribs and support ring components; Step 2: Use special lifting equipment to lift the unwelded stator core onto the central support positioning platform (2); an operator stands on the working platform (13) of the automatic lifting platform (1) and rotates the screw rod (16) on the central support positioning platform (2), so that the screw rod (16) drives the T-shaped slide block (17) to move in the T-shaped slide groove (15), and the stator core is placed accurately by the T-shaped slide block (17); Step 3: Use offline programming software to plan the welding sequence and match the corresponding welding parameters; Step 4: Controlling the first three-axis walking mechanism (3) and the second three-axis walking mechanism (4) to move synchronously through the electrical control system (12), so that the first three-axis walking mechanism (3) and the second three-axis walking mechanism (4) slide and adjust along the X-axis (5), the Y-axis (6) and the Z-axis (7), so as to facilitate sending the welding robot (8) to the welding position; Step 5: the welding robot (8) identifies the spatial position to be welded through the features of the position to be welded set in advance by the visual recognition module (10); the line laser module (11) scans the detailed coordinates of the position to be welded according to the position information provided by the visual recognition module (10), and feeds back the data to the welding robot (8); Step six, the electrical control system (12) adjusts the welding posture of the welding robot (8) according to the position provided by the visual recognition module (10) and the line laser module (11); Step seven, the barreled welding wire (9) provides welding wire to the welding gun (34) of the welding robot (8) through the wire feeding device (35) and the correction wheel mechanism (36), the welding power supply (26) on the sliding trolley (25) provides power to the welding robot (8), the cooling water tank (27) provides cooling for the welding robot (8), the welding robot (8) calls the welding parameters in the parameter library to perform welding work on different welding positions, and after welding for a period of time, the welding robot (8) automatically goes to the gun cleaning and wire cutting device (37) to remove the welding spatter adhering to the nozzle of the welding gun (34).

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