Blade welding device and welding method

Abstract

The invention discloses a blade welding device and a welding method, and relates to the technical field of blade welding, comprising: a loading area, which is arranged on one side of the welding area, and a unloading area is arranged on the other side of the welding area, and the loading area, the welding area and the unloading area are all operated by robots; a wire changing component, which is arranged in the welding area, and the wire changing component comprises a welding wire posture adjustment structure, a welding wire drum, a welding wire feeding structure and a welding wire limiting structure arranged from top to bottom, the bottom small hole of the welding wire drum matches the diameter size of a welding wire, and the welding wire feeding structure is arranged corresponding to the bottom small hole of the welding wire drum; when the welding wire passes through the welding wire feeding structure, the welding wire moves downward until it reaches the induction switch; when the welding wire drum is stuck, the welding wire posture adjustment structure adjusts the welding wire in the welding wire drum; the device can ensure the welding accuracy and welding quality of the blade, and improve the wire feeding efficiency of the welding robot to meet the requirements of mass production of blades.

Description

Technical Field

[0001] The present invention belongs to the technical field of blade welding, and more specifically, relates to a blade welding device and a blade welding method. Background Art

[0002] This welding method is suitable for surfacing of blades. The purpose is to make the blade products more durable. A dissimilar wear-resistant material is surfacing on the surface of the cast blade that needs friction. Among them, when welding such a complex curved surface, the accuracy of the welding position is relatively high, and the positioning and weld identification requirements are relatively high. In the existing welding technology, the known method is to manually weld through auxiliary tooling. Manual welding has the problem of overall unstable weld forming quality caused by human factors, and the welding preparation time is also very long. However, the welding accuracy requirements of the blades are relatively high, the skill level requirements for manual labor are also relatively high, and the work is labor-intensive. If manual welding operations are still insisted on, it will not be able to adapt to the mass production of blades. Summary of the invention

[0003] The purpose of the present invention is to address the deficiencies in the prior art and provide a blade welding device and a welding method, which can ensure the welding accuracy and welding quality of the blades and improve the wire feeding efficiency of the welding robot to meet the requirements of mass production of blades.

[0004] In order to achieve the above object, the present invention provides a blade welding device, comprising:

[0005] A loading area is arranged on one side of the welding area, and a unloading area is arranged on the other side of the welding area. The loading area, the welding area and the unloading area are all operated by robots;

[0006] A wire changing component is arranged in the welding area, and the wire changing component includes a welding wire posture adjustment structure, a welding wire drum, a welding wire feeding structure and a welding wire limiting structure arranged from top to bottom, the bottom small hole of the welding wire drum matches the diameter size of a welding wire, and the welding wire feeding structure is arranged correspondingly to the bottom small hole of the welding wire drum;

[0007] When the welding wire passes through the welding wire feeding structure, the welding wire moves downward until it reaches the sensing area of ​​the sensing switch, which proves that the welding wire barrel is normally discharged. Driven by the welding wire feeding structure, the welding wire continues to move downward and passes through the welding robot. After passing through the welding robot, the welding wire continues to move downward until it touches the welding wire limiting structure.

[0008] When the welding wire barrel is stuck, the welding wire posture adjustment structure adjusts the welding wire in the welding wire barrel.

[0009] Optionally, the welding wire barrel is a structure of a top cylinder and a bottom cone, the top of the cylinder is open, and the small hole is centered at the bottom of the cone.

[0010] Optionally, the welding wire posture adjustment structure includes a lifting cylinder and a clamping cylinder. The clamping cylinder is arranged on the welding wire barrel through the lifting cylinder. The clamping cylinder reciprocates in the vertical direction above the welding wire barrel. When the welding wire barrel is stuck, the clamping cylinder adjusts the welding wire in the welding wire barrel.

[0011] Optionally, the induction switch is arranged below the welding wire barrel.

[0012] Optionally, the welding wire feeding structure includes two rollers rotatably arranged on the bracket, and the outer periphery of the rollers is provided with a limiting groove, the welding wire passes between the two rollers, and the limiting groove matches the outer peripheral profile of the welding wire.

[0013] Optionally, the loading area includes:

[0014] A loading slide plate is slidably arranged on the loading bracket, and the loading slide plate is used for placing the blades to be welded;

[0015] A visual camera is arranged on one side of the feeding bracket, and the visual camera collects information on the placement status of the blade to be welded;

[0016] The feeding robot gripper grabs the blade to be welded according to the information collected by the visual camera.

[0017] Optionally, the welding area also includes a positioner and a welding robot, the positioner is provided with a turntable, the turntable is provided with three tooling fixtures, the tooling fixtures are used to clamp and fix the blades, the control unit controls the welding robot and the rotating motor of the turntable, the welding robot includes a visual measurement structure, a molten pool monitoring camera, an anti-collision sensor and a welding gun, the visual measurement structure and the molten pool monitoring camera are facing the nozzle position of the welding gun.

[0018] Optionally, the blanking area includes:

[0019] A material unloading slide plate is slidably arranged on the material unloading slide rail, a material unloading tray is arranged on the material unloading slide plate, and a plurality of cavities are arranged in the material unloading tray;

[0020] A motor, drivingly connected to the unloading slide rail;

[0021] The unloading robot gripper grabs the blades from the welding area to the unloading tray.

[0022] The present invention also provides a blade welding method, using the blade welding device, the welding method comprises:

[0023] The blades to be welded are placed in the loading area, and the robot in the loading area transfers the blades to be welded to the welding area;

[0024] The blade to be welded is welded in the welding area, a welding wire leaks out from the small hole at the bottom of the welding wire barrel, and the welding wire is fed to the robot in the welding area through the welding wire feeding structure, and the welding wire passes through the welding robot until the welding wire contacts the welding wire limiting structure, and then the robot in the welding area welds the blade to be welded;

[0025] The blade welding assembly in the welding area is grabbed into the unloading area by the robot in the unloading area.

[0026] Optionally, when the welding wire tube is stuck, the welding wire posture adjustment structure clamps the welding wire in the welding wire tube, and then drives the welding wire to move upward through the welding wire posture adjustment structure. Next, the welding wire posture adjustment structure loosens the welding wire, and the above actions are repeated until the welding wire leaks out of the small hole at the bottom of the welding wire tube.

[0027] The present invention provides a blade welding device and a welding method, which have the following beneficial effects: a welding wire drum and a welding wire feeding structure are provided in the welding device, and only one welding wire can be discharged downward from the welding wire drum each time, and the welding wire can also be guided for feeding by the welding wire feeding structure, so that the welding wire can be accurately installed on the welding robot, and when the welding wire contacts the welding wire limiting structure, it indicates that the welding wire is installed in place on the welding robot, and the welding wire reaches the welding zero point position, which is convenient for confirming the relative position relationship between the end position of the welding wire and the welding robot, and then the welding robot can perform surfacing welding on the blade to be welded, thereby improving the preparation time of the welding robot for loading the welding wire, and in addition, a visual measurement structure and a molten pool monitoring camera are provided on the welding robot, so that when the blade is surfacing welded, the welding position can be visually monitored to improve the welding quality.

[0028] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0030] Figure 1 A schematic diagram of the upper structure of a wire changing component according to an embodiment of the present invention is shown.

[0031] Figure 2 A structural schematic diagram of a welding wire posture adjustment structure according to an embodiment of the present invention is shown.

[0032] Figure 3 A schematic diagram showing the positions of a welding wire drum and a welding wire feeding structure according to an embodiment of the present invention is shown.

[0033] Figure 4 A schematic structural diagram of a wire changing component according to an embodiment of the present invention is shown.

[0034] Figure 5 A distribution diagram of a blade welding device according to an embodiment of the present invention is shown.

[0035] Figure 6 A schematic structural diagram of a loading area according to an embodiment of the present invention is shown.

[0036] Figure 7 A schematic structural diagram of a material discharge area according to an embodiment of the present invention is shown.

[0037] Figure 8 A schematic structural diagram of a positioner according to an embodiment of the present invention is shown.

[0038] Fig. 9 A structural schematic diagram of a welding robot according to an embodiment of the present invention is shown.

[0039] Fig.10 A schematic diagram of the structure around a welding gun in a welding robot according to an embodiment of the present invention is shown.

[0040] Fig.11 A schematic structural diagram of a loading and unloading robot gripper according to an embodiment of the present invention is shown.

[0041] Description of reference numerals:

[0042] 1. Wire posture adjustment structure; 2. Wire drum; 3. Wire feeding structure; 4. Wire limiting structure; 5. Lifting cylinder; 6. Clamping cylinder; 7. Bracket; 8. Induction switch; 9. Loading slide; 10. Loading bracket; 11. Visual camera; 12. Positioner; 13. Welding robot; 14. Turntable; 15. Fixture; 16. Visual measurement structure; 17. Molten pool monitoring camera; 18. Anti-collision sensor; 19. Welding gun; 20. Unloading slide; 21. Unloading tray; 22. Motor. DETAILED DESCRIPTION

[0043] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0044] The present invention provides a blade welding device, comprising:

[0045] The loading area is set on one side of the welding area, and the unloading area is set on the other side of the welding area. The loading area, welding area and unloading area are all operated by robots;

[0046] The wire changing component is arranged in the welding area, and the wire changing component includes a welding wire posture adjustment structure, a welding wire drum, a welding wire feeding structure and a welding wire limiting structure arranged from top to bottom. The bottom small hole of the welding wire drum matches the diameter size of a welding wire, and the welding wire feeding structure is arranged correspondingly to the bottom small hole of the welding wire drum;

[0047] When the welding wire passes through the wire feeding structure, the welding wire moves downward until it reaches the sensing area of ​​the sensing switch;

[0048] When the welding wire barrel is stuck, the welding wire posture adjustment structure adjusts the welding wire in the welding wire barrel.

[0049] Specifically, the welding device is provided with a loading area, a welding area and a unloading area. The blade to be welded is grabbed by a robot from the loading area to the welding area, and then the surface of the blade is welded by the robot in the welding area. After welding is completed, the blade welding assembly is transferred from the welding area to the unloading area by the robot in the unloading area to complete the blade welding operation. Among them, a wire changing component corresponding to the welding robot is provided in the welding area, which can improve the wire changing efficiency of the welding robot and the welding efficiency of the entire blade, so as to meet the mass production requirements of the blade; a plurality of welding wires are placed in the welding wire barrel, and the welding wires are exposed one by one from the small hole at the bottom by gravity. When the leaked welding wire contacts the welding wire feeding structure, the welding wire is controlled by the welding wire feeding structure to ensure that the welding wire can be introduced into the welding gun of the welding robot. After the welding wire enters the welding robot, the welding wire is driven by the welding wire feeding part in the welding robot to continue to be transmitted downward until the welding wire contacts the welding wire limiting structure. This shows that The welding wire is installed in place on the welding robot, and the welding end of the welding wire reaches the zero position on the welding robot, so that the wire changing component stops leaking wire, and the welding robot leaves the wire changing component and starts to weld the blade to be welded; in the process of wire leakage in the welding wire barrel, multiple welding wires will interfere with each other and get stuck at the bottom of the welding wire barrel, so the welding wire posture adjustment structure above the welding wire barrel can be used to clamp and fix all the welding wires in the welding wire barrel, grab all the welding wires upward, and then release the welding wires in the air, so that the welding wires will not interfere with each other when they enter the welding wire barrel again. After adjusting the welding wires for many times, the welding wire will leak out of the small hole at the bottom of the welding wire barrel.

[0050] Optionally, the welding wire barrel is a structure of a top cylinder and a bottom cone, the top of the cylinder is open, and the small hole is centrally arranged at the bottom of the cone.

[0051] Specifically, the welding wire drum is configured to have an open structure at both ends. The top of the welding wire drum is a large cylindrical cross-section that can accommodate multiple welding wires into the welding wire drum. A small hole that allows only one welding wire to pass through is provided at the bottom of the welding wire drum. In this way, the welding wire drum can install each welding wire on the welding robot in sequence and ensure that the welding wire is installed accurately on the welding robot.

[0052] Optionally, the welding wire posture adjustment structure includes a lifting cylinder and a clamping cylinder. The clamping cylinder is arranged on the welding wire barrel through the lifting cylinder. The clamping cylinder reciprocates in the vertical direction above the welding wire barrel. When the welding wire barrel is stuck, the clamping cylinder adjusts the welding wire in the welding wire barrel.

[0053] Optionally, the induction switch is arranged below the welding wire barrel.

[0054] Specifically, when the welding wire barrel is stuck, the two clamping arms on the output end of the clamping cylinder are first separated from each other and switched to the open state, and then the clamping cylinder is driven downward by the lifting cylinder to make the two clamping arms located on the outside of the welding wire. Next, the two clamping arms are closed to clamp all the welding wires and driven upward by the lifting cylinder. When all the welding wires are separated from the bottom cone of the welding wire barrel, the two clamping arms of the clamping cylinder are opened again, and all the welding wires fall into the welding wire barrel again. The bottom of the welding wire is rearranged in the bottom wall cone of the welding wire barrel, and the above-mentioned welding wire posture adjustment structure is repeated until only one welding wire leaks out through the bottom small hole, and the bottom of the leaked welding wire reaches the welding wire feeding structure. At the same time, the induction switch under the welding wire barrel also detects the passing of the welding wire, so that the welding wire posture adjustment structure will send a signal to stop running. In the device, the welding wire posture adjustment structure cooperates with the induction switch, and the automatic solution and processing of the welding wire jamming situation are realized through a simple induction element, thereby improving the wire changing efficiency of the welding robot arm.

[0055] Optionally, the welding wire feeding structure includes two rollers rotatably arranged on a bracket, and a limiting groove is provided on the outer periphery of the roller. The welding wire passes between the two rollers, and the limiting groove matches the outer peripheral profile of the welding wire.

[0056] Specifically, when welding wire leaks onto the welding wire feeding structure at the bottom of the welding wire tube, the welding robot can move between the welding wire feeding structure and the welding wire limiting structure at any time when there is no welding wire. When the welding robot and the welding wire feeding structure form an upper and lower position relationship, the two relatively fixed rollers rotate relative to each other, and the welding wire passes through the space formed by the limiting groove between the two rollers. The welding wire can be aligned with the wire feeding device of the welding robot, and the welding wire slowly enters the welding robot, and the lower end of the welding wire can also pass through the welding robot and move downward. When the lower end of the welding wire contacts the welding wire limiting structure, it means that the welding wire is installed in place on the welding robot. In this way, the two rollers will stop rotating, and the welding robot will leave the wire changing component and perform build-up welding on the blade to be welded, thereby realizing the step of automatically installing the welding wire.

[0057] Optionally, the loading area includes:

[0058] A loading slide is slidably arranged on the loading bracket, and is used for placing blades to be welded;

[0059] A visual camera is arranged on one side of the feeding bracket, and collects information on the placement status of the blades to be welded;

[0060] The loading robot gripper grabs the blade to be welded based on the information collected by the visual camera.

[0061] Optionally, the unloading area includes:

[0062] A material unloading slide plate is slidably arranged on the material unloading slide rail, a material unloading tray is arranged on the material unloading slide plate, and a plurality of cavities are arranged in the material unloading tray;

[0063] The motor is connected to the unloading slide rail drive;

[0064] The unloading robot gripper grabs the blades from the welding area to the unloading tray.

[0065] Specifically, a loading area and an unloading area are respectively set on both sides of the welding area. In the loading area, the blades to be welded are transported from the manual loading position to the gripping position by the loading slide. During the transportation process, the visual camera will capture the image of the placement posture of the blades, and then send the gripping signal to the loading robot gripper through program conversion. The loading robot gripper will grab the blades to be welded in different positions and then place them correctly in the welding area. When the welding in the welding area is completed, the blade welding assembly is grabbed by the unloading robot gripper and transferred to the unloading tray. When all the cavities in the unloading tray are filled, the motor drives the unloading slide rail to move, and transports the unloading tray full of blades to the manual unloading position to complete the entire welding process of the blades.

[0066] Optionally, the welding area also includes a positioner and a welding robot. The positioner is provided with a turntable. Three fixtures are provided on the turntable. The fixtures are used to clamp and fix the blades. The control unit controls the rotating motor of the welding robot and the turntable. The welding robot includes a visual measurement structure, a molten pool monitoring camera, an anti-collision sensor and a welding gun. The visual measurement structure and the molten pool monitoring camera are facing the nozzle position of the welding gun.

[0067] Specifically, after the loading robot gripper places the blade to be welded on the first fixture, the first fixture will be driven to rotate by the rotating motor, and the first fixture will be rotated to the area close to the welding robot. When the welding robot is performing cladding welding on the blade, the loading robot gripper places another blade to be welded on the second fixture. When the cladding welding of the blade on the first fixture is completed, the turntable continues to be rotated by the rotating motor to rotate the first fixture to the side close to the unloading robot gripper. At the same time, the blade to be welded on the second fixture is rotated to the side close to the robot gripper, and the third fixture without any parts is rotated to the side of the loading robot gripper. At this time, the loading robot gripper loads the parts, the welding robot cladding is performed, and the unloading robot gripper unloads the parts at the same time. The three robot operations are not affected by each other and can form continuous operation. When the loading, welding and unloading operations are completed, the turntable can be driven to rotate again by the rotating motor to repeat the above-mentioned robot operations. In addition, when the welding robot is surfacing the blade, the welding position, welding length and welding quality are visually monitored through the visual measurement structure and the molten pool monitoring camera to ensure that the welding quality meets the requirements. The anti-collision sensor monitors the movement trajectory of the welding robot. When the welding robot comes into contact with other parts, the anti-collision sensor immediately sends a stop signal to the welding robot to avoid damage to the equipment.

[0068] The present invention also provides a blade welding method, using the blade welding device, the welding method comprises:

[0069] The blades to be welded are placed in the loading area, and the robot in the loading area transfers the blades to be welded to the welding area;

[0070] The blade to be welded is welded in the welding area, a welding wire leaks out from the small hole at the bottom of the welding wire tube, and is fed to the robot in the welding area by the welding wire feeding structure, the welding wire passes through the welding robot until the welding wire contacts the welding wire limiting structure, and then the robot in the welding area welds the blade to be welded;

[0071] The robot in the unloading area grabs the blade welding assembly in the welding area and brings it to the unloading area.

[0072] Optionally, when the welding wire tube is stuck, the welding wire posture adjustment structure clamps the welding wire in the welding wire tube, and then drives the welding wire upward through the welding wire posture adjustment structure. Next, the welding wire posture adjustment structure loosens the welding wire, and the above actions are repeated until the welding wire leaks out of the small hole at the bottom of the welding wire tube.

[0073] Specifically, the welding device can realize automatic operation of blade loading, welding and unloading. When the welding robot installs the welding wire, it can also quickly and accurately install a welding wire into the welding robot, so that the welding robot can realize automatic wire changing and welding. When the welding wire barrel is stuck, the welding wire posture adjustment structure can be used to readjust the accumulation of the welding wire in the welding wire barrel to avoid mutual interference when the welding wire leaks out from the small hole in the welding wire barrel. Example

[0074] like Figures 1 to 11 As shown, the present invention provides a blade welding device, comprising:

[0075] The loading area is set on one side of the welding area, and the unloading area is set on the other side of the welding area. The loading area, welding area and unloading area are all operated by robots;

[0076] The wire changing component is arranged in the welding area, and the wire changing component includes a welding wire posture adjustment structure 1, a welding wire drum 2, a welding wire feeding structure 3 and a welding wire limiting structure 4 arranged from top to bottom, the bottom small hole of the welding wire drum 2 matches the diameter size of a welding wire, and the welding wire feeding structure 3 is arranged correspondingly to the bottom small hole of the welding wire drum 2;

[0077] When the welding wire passes through the wire feeding structure 3, the welding wire moves downward until it contacts the induction switch 8;

[0078] When the welding wire barrel 2 is stuck, the welding wire posture adjustment structure 1 adjusts the welding wire in the welding wire barrel 2 .

[0079] In this embodiment, the welding wire barrel 2 is a structure of a top cylinder and a bottom cone, the top of the cylinder is open, and the small hole is centrally arranged at the bottom of the cone.

[0080] In this embodiment, the welding wire posture adjustment structure 1 includes a lifting cylinder 5 and a clamping cylinder 6. The clamping cylinder 6 is arranged on the welding wire tube 2 through the lifting cylinder 5. The clamping cylinder 6 reciprocates in the vertical direction above the welding wire tube 2. When the welding wire tube 2 is stuck, the clamping cylinder 6 adjusts the welding wire in the welding wire tube.

[0081] In this embodiment, the induction switch 8 is arranged below the welding wire drum 2 .

[0082] In this embodiment, the wire feeding structure 3 includes two rollers rotatably arranged on a bracket 7, and a limiting groove is provided on the outer periphery of the roller. The welding wire passes between the two rollers, and the limiting groove matches the outer peripheral profile of the welding wire.

[0083] In this embodiment, the loading area includes:

[0084] A loading slide 9 is slidably arranged on a loading bracket 10, and the loading slide 9 is used to place blades to be welded;

[0085] A visual camera 11 is arranged on one side of the loading bracket 10, and the visual camera 11 collects information on the placement status of the blade to be welded;

[0086] The feeding robot gripper grabs the blade to be welded according to the information collected by the visual camera 11.

[0087] In this embodiment, the welding area also includes a positioner 12 and a welding robot 13. The positioner 12 is provided with a turntable 14. Three fixtures 15 are provided on the turntable 14. The fixtures 15 are used to clamp and fix the blades. The control unit controls the rotating motors of the welding robot 13 and the turntable 14. The welding robot 13 includes a visual measurement structure 16, a molten pool monitoring camera 17, an anti-collision sensor 18 and a welding gun 19. The visual measurement structure 16 and the molten pool monitoring camera 17 are facing the nozzle position of the welding gun 19.

[0088] In this embodiment, the unloading area includes:

[0089] A material unloading slide 20 is slidably disposed on the material unloading slide rail, a material unloading tray 21 is disposed on the material unloading slide 20, and a plurality of cavities are disposed in the material unloading tray 21;

[0090] The motor 22 is connected to the unloading slide rail;

[0091] The unloading robot gripper grabs the blades from the welding area to the unloading tray.

[0092] The present invention also provides a blade welding method, using the blade welding device, the welding method comprises:

[0093] The blades to be welded are placed in the loading area, and the robot in the loading area transfers the blades to be welded to the welding area;

[0094] The blade to be welded is welded in the welding area, a welding wire leaks out from the small hole at the bottom of the welding wire tube 2, and the welding wire is sent to the robot in the welding area through the welding wire feeding structure. The welding wire passes through the welding robot until the welding wire contacts the welding wire limiting structure 4, and then the robot in the welding area welds the blade to be welded;

[0095] The robot in the unloading area grabs the blade welding assembly in the welding area and brings it to the unloading area.

[0096] In this embodiment, when the welding wire tube 2 is stuck, the welding wire posture adjustment structure 1 clamps the welding wire in the welding wire tube 2, and then drives the welding wire to move upward through the welding wire posture adjustment structure 1. Next, the welding wire posture adjustment structure 1 loosens the welding wire, and the above actions are repeated until the welding wire leaks out of the small hole at the bottom of the welding wire tube 2.

[0097] In summary, during the operation of the welding device, the blade to be welded is placed on the loading slide 9, and after moving to the robot grabbing position, the loading robot gripper grabs the blade to be welded and puts it on the tooling fixture 15, and the turntable 14 drives the tooling fixture 15 to rotate, so that the tooling fixture 15 with the blade to be welded is rotated to the welding position, so that the welding robot 13 can perform surfacing welding on the blade. After the blade welding operation is completed, the turntable 14 drives the tooling fixture 15 to continue to rotate, so that the tooling fixture 15 with the blade welding assembly is rotated to the unloading position, and finally the workpiece is transferred to the unloading tray 21 by the unloading robot gripper. After the unloading tray 21 is full, the unloading slide transports the unloading tray 21 to the manual pickup position to complete the entire blade welding operation process. In addition, when the welding wire is installed in the welding robot 13, the wire changing component is also sampled for automatic wire changing, and multiple welding wires are placed in the welding wire tube 2. The welding wire leaks out of the welding wire tube 2 through the small hole at the bottom due to gravity. After the lower end of the welding wire enters the monitoring area of ​​the sensing switch 8, the sensing switch 8 sends a start signal to the welding wire feeding structure 3. The welding wire continues to move downward under the guidance of the welding wire feeding structure 3, and the welding wire passes through the welding robot 13 and finally reaches the welding wire limiting structure 4, so that the welding wire is installed in place on the welding robot 13; when the welding head of the welding robot is in the welding wire feeding structure, the two rollers start to rotate to align the welding wire with the welding head, and feed the welding wire downward into the welding head, and the welding The wire continues to move downward through the welding head. When the bottom of the welding wire contacts the welding wire limiting structure 4, it means that the welding wire is installed in place on the welding robot 13, and the welding end of the welding wire reaches the welding zero point of the welding robot. After the position of the welding end of the welding wire is determined, it is convenient for the welding end of the welding robot to accurately reach the welding area of ​​the blade, so that the welding robot 13 can perform surfacing welding on the blade on the fixture 15; when the induction switch 8 does not detect the leakage of welding wire at the bottom of the welding wire tube 2, the welding wire posture adjustment structure 1 can be used to clamp all the welding wire in the welding wire tube 2, and then the welding wire is put back into the welding wire tube 2, and the above actions are repeated until welding wire leaks out from the small hole at the bottom of the welding wire tube.

[0098] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A blade welding device, characterized in that: include: A loading area is arranged on one side of the welding area, and a unloading area is arranged on the other side of the welding area. The loading area, the welding area and the unloading area are all operated by robots; A wire changing component is arranged in the welding area, and the wire changing component includes a welding wire posture adjustment structure, a welding wire drum, a welding wire feeding structure and a welding wire limiting structure arranged from top to bottom, the bottom small hole of the welding wire drum matches the diameter size of a welding wire, and the welding wire feeding structure is arranged correspondingly to the bottom small hole of the welding wire drum; When the welding wire passes through the welding wire feeding structure, the welding wire moves downward until it reaches the induction switch; When the welding wire barrel is stuck, the welding wire posture adjustment structure adjusts the welding wire in the welding wire barrel; The welding wire barrel is a structure of a top cylinder and a bottom cone, the top of the cylinder is open, and the small hole is centrally arranged at the bottom of the cone; The welding wire posture adjustment structure includes a lifting cylinder and a clamping cylinder, wherein the clamping cylinder is arranged on the welding wire drum through the lifting cylinder, and the clamping cylinder reciprocates in the vertical direction above the welding wire drum, and when the welding wire drum is stuck, the clamping cylinder adjusts the welding wire in the welding wire drum; First, the two clamping arms on the output end of the clamping cylinder are separated from each other and switched to an open state, and then the clamping cylinder is driven downward by the lifting cylinder to make the two clamping arms located on the outside of the welding wire. Next, the two clamping arms are closed to clamp all the welding wires and driven upward by the lifting cylinder. When all the welding wires are separated from the bottom cone of the welding wire barrel, the two clamping arms of the clamping cylinder are opened again, and all the welding wires fall into the welding wire barrel again. The bottom of the welding wire is rearranged in the bottom wall cone of the welding wire barrel, and the above-mentioned action of the welding wire posture adjustment structure is repeated until only one welding wire leaks out through the small hole at the bottom, and the bottom of the leaked welding wire reaches the welding wire feeding structure. At the same time, the induction switch under the welding wire barrel also detects the passage of the welding wire, which will send a signal to the welding wire posture adjustment structure to stop operation.

2. The blade welding device according to claim 1, characterized in that: The induction switch is arranged below the welding wire cylinder.

3. The blade welding device according to claim 2, characterized in that: The welding wire feeding structure comprises two rollers rotatably arranged on a bracket, the outer peripheries of the rollers are provided with limiting grooves, the welding wire passes between the two rollers, and the limiting grooves match the outer peripheral profile of the welding wire.

4. The blade welding device according to claim 1, characterized in that: The feeding area includes: A loading slide plate is slidably arranged on the loading bracket, and the loading slide plate is used for placing the blades to be welded; A visual camera is arranged on one side of the feeding bracket, and the visual camera collects information on the placement status of the blade to be welded; The feeding robot gripper grabs the blade to be welded according to the information collected by the visual camera.

5. The blade welding device according to claim 1, characterized in that: The welding area also includes a positioner and a welding robot. The positioner is provided with a turntable. Three fixtures are provided on the turntable. The fixtures are used to clamp and fix the blades. The control unit controls the rotating motor of the welding robot and the turntable. The welding robot includes a visual measurement structure, a molten pool monitoring camera, an anti-collision sensor and a welding gun. The visual measurement structure and the molten pool monitoring camera are facing the nozzle position of the welding gun.

6. The blade welding device according to claim 1, characterized in that: The unloading area includes: A material unloading slide plate is slidably arranged on the material unloading slide rail, a material unloading tray is arranged on the material unloading slide plate, and a plurality of cavities are arranged in the material unloading tray; A motor, drivingly connected to the unloading slide rail; The unloading robot gripper grabs the blades from the welding area to the unloading tray.

7. A blade welding method, using the blade welding device according to any one of claims 1 to 6, characterized in that: The welding method includes: The blades to be welded are placed in the loading area, and the robot in the loading area transfers the blades to be welded to the welding area; The blade to be welded is welded in the welding area, a welding wire leaks out from the small hole at the bottom of the welding wire barrel, and the welding wire is fed to the robot in the welding area through the welding wire feeding structure, and the welding wire passes through the welding robot until the welding wire contacts the welding wire limiting structure, and then the robot in the welding area welds the blade to be welded; The blade welding assembly in the welding area is grabbed into the unloading area by the robot in the unloading area.

8. The blade welding method according to claim 7, characterized in that: When the welding wire tube is stuck, the welding wire posture adjustment structure clamps the welding wire in the welding wire tube, and then drives the welding wire upward through the welding wire posture adjustment structure. Next, the welding wire posture adjustment structure loosens the welding wire, and the action is repeated until the welding wire leaks out of the small hole at the bottom of the welding wire tube.

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