Welding device and welding process for compressor impeller

Abstract

The welding device comprises a track, a walking module arranged on the track and a welding module arranged on the walking module, and the welding module comprises a first welding assembly and a second welding assembly which are arranged in the vertical direction; the second welding assembly is movably arranged relative to the first welding assembly. When the closed impeller is welded, the welding module only needs to walk once according to the set track to achieve double-side welding of the blade, it is not needed to reset the walking track and conduct welding work after one side is welded, the welding efficiency is improved, and meanwhile the welding efficiency is improved. The specific position of the second base on the first base can be adjusted according to the deviation distance of the two sides of the blade, and therefore in the welding process, welding of the welding module on the two sides of the blade is more accurate.

Description

Technical Field

[0001] The invention relates to the technical field of welding, in particular to a welding device and a welding process for a compressor impeller. Background Art

[0002] The closed impeller has front and rear covers on both sides of the blades, which is highly efficient and suitable for conveying clean liquids without impurities. The closed impeller for steam compressors is usually designed with a narrower flow channel and a larger diameter. It has the advantages of high speed, high efficiency and high reliability, and is often used in water treatment, pharmaceuticals, chemicals and other fields.

[0003] For closed impeller products with larger sizes, the traditional method generally divides the impeller into three parts: disk, blades, and disk, and manufactures them separately. Assembly grooves are set on the assembly surfaces of the two disks. After limiting the blades and disks, the blades and disks are welded together to complete the preparation of the closed impeller.

[0004] In the prior art, a welding robot is usually used to weld the wheel disc and blades. During the welding process, the blades and wheel disc on one side are welded first, and then the impeller is flipped to the other side by a positioner, and then the welding robot is operated to weld the blades and wheel disc on the other side. This welding method requires the welding robot to scan the welding path twice, which consumes a long welding time and has low welding efficiency. Summary of the invention

[0005] The purpose of the present invention is to provide a welding device and a welding process for a compressor impeller, so as to solve the deficiencies in the prior art, realize welding between two wheels on both sides of the blade at the same time, and improve the welding efficiency.

[0006] In order to achieve one of the above objectives, the present invention provides a welding device for a compressor impeller, comprising: track; A walking module is arranged on the track; The welding module is arranged on the walking module, and the welding module includes a first welding assembly and a second welding assembly arranged in a vertical direction, and the second welding assembly is movably arranged relative to the first welding assembly.

[0007] As a further improvement of one embodiment of the present invention, the first welding assembly includes a first base arranged on the walking module and a first welding head movably arranged on the first base; the second welding assembly includes a second base arranged on the first base and a second welding head movably arranged on the second base.

[0008] As a further improvement of one embodiment of the present invention, an annular slide is arranged on the first base, and a bearing mechanism is arranged on the second base, the bearing mechanism includes a slide seat matching with the annular slide and a force block connected to the slide seat, and the slide seat forms an annular moving path along the annular slide.

[0009] As a further improvement of one embodiment of the present invention, a first driving mechanism for driving the slide to move along the moving path is provided on the first base, the first driving mechanism includes a driving motor fixed to the first base, and a driving rod connected to the driving shaft of the driving motor, the driving rod extends in a horizontal direction, at least a portion of the driving rod extends to the moving path, and the driving rod overlaps with the force block within a horizontal range.

[0010] As a further improvement of an embodiment of the present invention, the bearing mechanism further comprises a connecting rod fixed to the second base, and the connecting rod is rotatably connected to the sliding seat; A second driving mechanism for driving the second base to rotate around the connecting rod is arranged between the first welding assembly and the second welding assembly. The second driving mechanism includes a gear fixedly connected to the connecting rod and a ring gear arranged on the first base. The ring gear has a first position meshing with the gear and a second position separated from the gear.

[0011] As a further improvement of one embodiment of the present invention, the gear ring includes a first gear ring and a second gear ring, and the first gear ring and the second gear ring are both arranged in a semi-ring shape. In the first position, the first gear ring and the second gear ring are spliced ​​to form a full ring structure, and in the second position, the first gear ring and the second gear ring are arranged at intervals.

[0012] As a further improvement of an embodiment of the present invention, a bidirectional cylinder is arranged on the first base, one piston rod of the bidirectional cylinder is connected to the first gear ring, and the other piston rod of the bidirectional cylinder is connected to the second gear ring.

[0013] As a further improvement of an embodiment of the present invention, a collar is fixed to the inner ring of the gear, a buffer is fixed between the collar and the connecting rod, and the buffer can be deformed to form a buffer space between the gear and the connecting rod.

[0014] In order to achieve one of the above objectives, the present invention provides a welding process for a compressor impeller, comprising the following steps: Obtaining first trajectory information; Presetting a walking trajectory of the walking module according to the first trajectory information; Obtaining second trajectory information; Determine whether there is a deviation trajectory between the first trajectory information and the second trajectory information; if so, control the positive displacement of the second welding assembly relative to the first welding assembly according to the deviation trajectory, and then control the operation of the walking module and the welding module; if not, control the operation of the walking module and the welding module.

[0015] As a further improvement of one embodiment of the present invention, during the welding process, weld information is obtained to determine whether the weld meets the welding standards; if so, the walking module, the first welding assembly, and the second welding assembly are controlled to run forward along the walking trajectory; if not, the first welding assembly is controlled to stop running, and the second welding assembly is selectively controlled to be displaced in the opposite direction relative to the first welding assembly, and the walking module is controlled to run in the reverse direction; or, if not, the second welding assembly is controlled to stop running, and the walking module is controlled to run in the reverse direction.

[0016] Compared with the prior art, the present invention can preset the walking track of the walking module according to the shape of the blades in the closed impeller when the control system controls the operation of the welding device. The walking module will drive the welding module to move during the operation. The first welding assembly and the second welding assembly will operate synchronously. The first welding assembly and the second welding assembly will respectively weld the connection seams between the two sides of the blade and the wheel disc. Therefore, when welding the closed impeller, the welding module only needs to walk once according to the set track to achieve double-sided welding of the blade. There is no need to reset the walking track and welding work after welding one side, which improves the welding efficiency.

[0017] At the same time, when the bending angles on both sides of the blade are different, the specific position of the second base on the first base can be adjusted according to the deviation distance on both sides of the blade. Therefore, during the welding process, the welding module can weld both sides of the blade more accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a top view of a welding device for a compressor impeller provided by the present invention; Figure 2 It is an axonometric diagram of a welding device for a compressor impeller provided by the present invention; Figure 3 It is a front view of a welding device for a compressor impeller provided by the present invention; Figure 4 yes Figure 1 Sectional view along AA direction; Figure 5 yes Figure 4 A schematic diagram of the structure of part B in the middle; Figure 6 It is an exploded schematic diagram of a partial structure of a welding device for a compressor impeller provided by the present invention; Figure 7 yes Figure 6 Schematic diagram of the enlarged structure of part C.

[0019] Reference numerals: 10. Track; 20. Walking module; 30. Welding module; 31. First welding assembly; 311. First base; 312. First welding head; 313. Slide; 314. Driving motor; 315. Driving rod; 316. Bidirectional cylinder; 317. First gear ring; 318. Second gear ring; 319. Mounting groove; 32. Second welding assembly; 321. Second base; 322. Second welding head; 323. Slide; 324. Force block; 325. Connecting rod; 326. Gear; 327. Ring; 328. Buffer. DETAILED DESCRIPTION

[0020] The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, but should not be construed as limiting the present invention.

[0021] The terms used in this embodiment, such as "upper", "above", "lower", "below", etc., indicating relative positions in space, are used for the purpose of convenience to describe the relationship of one unit or feature relative to another unit or feature as shown in the drawings. The terms of relative positions in space may be intended to include different orientations of the device in use or operation other than the orientation shown in the drawings. For example, "upper", "lower", "left", "right", "horizontal", and "vertical" in this embodiment are all relative positions in space of the welding device in normal use.

[0022] The terms "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated; in addition, it should be noted that, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense, for example, the connection can be a direct connection or an indirect connection through an intermediate medium, and can be a fixed connection or a movable connection or a detachable connection or an integral connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] In order to enable those skilled in the art to better understand the technical solution of the present invention, the following will be combined with the attached embodiment of the present invention. Figure 1-7 , clearly and completely describe the technical solutions in the implementation modes of the present invention.

[0024] One embodiment of the present invention provides a welding device for a compressor impeller, referring to Figure 1 and Figure 2The welding device includes a track 10, a walking module 20 disposed on the track 10, and a welding module 30 disposed on the walking module 20. The welding device may also be provided with a control system, and the control system is used to control the operation of the welding device. The welding module 30 includes a first welding assembly 31 and a second welding assembly 32 arranged in a vertical direction, and the second welding assembly 32 is located above the first welding assembly 31.

[0025] When the control system controls the operation of the welding device, the walking track of the walking module 20 can be preset according to the shape of the blades in the closed impeller. The walking module 20 will drive the welding module 30 to move during the operation. The first welding assembly 31 and the second welding assembly 32 operate synchronously. The first welding assembly 31 and the second welding assembly 32 respectively weld the connection seams between the two sides of the blade and the wheel disc. Therefore, when welding the closed impeller, the welding module 30 only needs to walk once according to the set track to achieve double-sided welding of the blade. There is no need to reset the walking track and welding work after welding one side, which improves the welding efficiency.

[0026] Reference Figure 3 The first welding assembly 31 includes a first base 311 disposed on the walking module 20 and a first welding head 312 movably disposed on the first base 311. The second welding assembly 32 includes a second base 321 disposed on the first base 311 and a second welding head 322 movably disposed on the second base 321. The first base 311 can be rotatably connected to the mounting platform of the walking module 20, and the angle of the first welding head 312 in the horizontal direction can be adjusted by controlling the rotation direction of the first base 311. The second base 321 can move on the first base 311 in the horizontal direction. When the bending angles on both sides of the blade are different, the specific position of the second base 321 on the first base 311 can be adjusted according to the deviation distance on both sides of the blade. Therefore, during the welding process, the welding module 30 can weld both sides of the blade more accurately.

[0027] The above-mentioned first welding head 312 and second welding head 322 can be set as laser welding guns. The first welding head 312 and second welding head 322 can be movably connected to the first base 311 and second base 321 respectively through a connecting seat (not shown in the figure), so that the first welding head 312 and second welding head 322 can adjust the deflection angle within a certain range. During the welding process, the welding of the first welding head 312 and the second welding head 322 can be made more precise.

[0028] The first base 311 and the second base 321 can be set as a plate-like structure or a block-like structure. As an example, in this embodiment, the first base 311 is set as a cylindrical block-like structure, and the second base 321 is set as a prismatic block-like structure. The first welding head 312 and the second welding head 322 are respectively arranged on the side walls of the first base 311 and the second base 321 arranged in the vertical direction. It should be noted that in order to facilitate the connection of the first welding head 312 and the second welding head 322, the surface of the first base 311 for the first welding head 312 to connect is set as a plane.

[0029] Reference Figure 4 and Figure 5 , an annular slide 313 is provided on the first base 311. In this embodiment, the annular slide 313 is set as a full-circle annular slide 313. The second base 321 is provided with a bearing mechanism that cooperates with the annular slide 313 and supports the second base 321. The second base 321 can move along the annular slide 313. Of course, in an optional embodiment, the annular slide 313 can also be set as a semi-annular or major arc or minor arc slide 313, and this embodiment is not specifically limited thereto.

[0030] During the displacement of the second base 321 along the annular slide 313, the second base 321 moves in the horizontal direction, and the position of the second base 321 relative to the first base 311 is offset, so the position of the second base 321 on the first base 311 can be flexibly adjusted according to the blade shape on both sides of the blade.

[0031] The bearing mechanism includes a slide 323 matched with the annular slide 313, and a force block 324 connected to the slide 323. The slide 323 is located in the annular slide 313, and the slide 323 forms an annular moving path along the annular slide 313. The cross section of the annular slide 313 can be set to a T shape, which can limit the slide 323 and make the movement of the slide 323 more stable. The cross-sectional area of ​​the force block 324 is larger than the cross-sectional area of ​​the slide 323. The force block 324 fits with the upper end surface of the first base 311, which increases the stability of the force block 324 bearing the second base 321. Rollers or balls can be set at the bottom of the force block 324 to facilitate the displacement of the force block 324 on the first base 311.

[0032] A first driving mechanism for driving the slide 323 to move is provided on the first base 311, and the first driving mechanism includes a driving motor 314 fixed to the first base 311, and a driving rod 315 connected to the driving shaft of the driving motor 314, and the driving rod 315 extends in a horizontal direction toward a side away from the driving shaft, and at least a portion of the driving rod 315 extends to the moving path, and the driving rod 315 overlaps with the force block 324 in a horizontal range, that is, in the horizontal direction, the projection of the driving rod 315 and the force block 324 partially overlaps.

[0033] When the position of the second welding assembly 32 relative to the first welding assembly 31 needs to be adjusted, the driving motor 314 is started, and the driving motor 314 drives the driving shaft and the driving rod 315 to rotate. When the driving rod 315 rotates, it will abut against the side wall of the force block 324. The force block 324 can move along the annular moving path under the driving action, thereby, the second welding assembly 32 is displaced in the horizontal direction. In addition, through the cooperation between the first driving mechanism and the force block 324, the second welding assembly 32 can be controlled to achieve displacement in at least two directions (with the walking module 20 as a reference, the two directions are the width direction and the length direction of the walking module 20).

[0034] In an optional embodiment, other structures may be used to realize the driving of the driving rod 315, such as a rotary cylinder or other rotating driving elements, etc. This embodiment is not specifically limited here.

[0035] Reference Figure 5 The bearing mechanism also includes a connecting rod 325 fixed to the second base 321, the upper end of the connecting rod 325 is fixedly connected to the bottom surface of the second base 321, the lower end of the connecting rod 325 passes through the force block 324 and is rotatably connected to the slide seat 323, the connecting rod 325 and the slide seat 323 are connected by a bearing, and the connecting rod 325 is fixedly connected to the force block 324.

[0036] A second driving mechanism is disposed between the first welding assembly 31 and the second welding assembly 32 , and the second driving mechanism can drive the second base 321 to rotate clockwise or counterclockwise around the axis direction of the connecting rod 325 .

[0037] As an example, refer to Figure 4 and Figure 6 The second driving mechanism includes a bidirectional cylinder 316 disposed on the first base 311, a gear ring connected to two piston rods of the bidirectional cylinder 316, and a gear 326 fixedly connected to the connecting rod 325. The gear ring is movably disposed on the first base 311, and has a first position meshing with the gear 326 and a second position separated from the gear 326. When the gear 326 is in the first position, the slide 323 drives the second base 321 to move along the annular moving path, and the gear 326 cooperates with the gear ring to realize the rotation of the second base 321, that is, the displacement and rotation of the second welding assembly 32 on the horizontal plane can be realized synchronously. When there is no need to adjust the rotation angle of the second welding assembly 32 relative to the first welding assembly 31, the gear ring can be kept in the second position, and only the displacement of the second welding mold relative to the first welding assembly 31 on the horizontal plane is realized.

[0038] The bottom of the first base 311 may be provided with a mounting groove 319, and the bidirectional cylinder 316 is fixedly connected to the mounting groove 319. The piston rods opposite to each other in the bidirectional cylinder 316 may be connected to an extension rod, which is arranged in a vertical direction and located outside the mounting groove 319. The gear ring includes a first gear ring 317 connected to one of the piston rods of the bidirectional cylinder 316 and a second gear ring 318 connected to the other piston rod, and the first gear ring 317 and the second gear ring 318 are both arranged in a semi-annular shape. Specifically, the first gear ring 317 and the second gear ring 318 are respectively connected to the extension rods on both sides of the first base 311. When it is necessary to control the displacement of the first gear ring 317 and the second gear ring 318 between the first position and the second position, driving the bidirectional cylinder 316 can realize the splicing state of the first gear ring 317 and the second gear ring 318 when they are in the first position, and the separation state of the first gear ring 317 and the second gear ring 318 when they are in the second position.

[0039] It should be noted that in this embodiment, the rotation of the second welding assembly 32 along the horizontal direction requires the cooperation of the first driving mechanism and the second driving mechanism. Of course, the rotation of the second welding assembly 32 along the horizontal direction can also be achieved by an independent driving structure.

[0040] In this embodiment, in order to facilitate the control and monitoring of the rotation angle of the second welding assembly 32, a travel sensor corresponding to the position of the force block 324 can be embedded on the two side walls where the driving rod 315 cooperates with the force block 324, and the sensing surface of the travel sensor protrudes from the side wall surface (not shown in the figure). When the second base 321 rotates, the force block 324 rotates synchronously with the connecting rod 325, that is, when the driving rod 315 abuts against the force block 324, the force block 324 rotates and contacts with the travel sensor. The travel sensor can monitor the rotation circumference of the force block 324, so the rotation angle of the second base 321 can be known, which is convenient for accurately controlling the rotation angle of the second base 321 during the welding process.

[0041] It is easy to understand that since the gear 326 and the ring gear have two states, meshing and non-meshing, there may be tooth matching errors when the ring gear and the gear 326 are matched. In order to solve this problem, a buffer structure is provided between the gear 326 and the connecting rod 325. As an example, refer to Figure 7The buffer structure includes a collar 327 fixed to the inner ring of the gear 326, and a buffer 328 fixed between the collar 327 and the connecting rod 325. The buffer 328 is set to a deformable material. When the teeth of the ring gear and the gear 326 are not matched accurately, the ring gear will generate a force to push against the gear 326, and the buffer 328 forms a buffer space between the gear 326 and the connecting rod 325, so that the gear 326 can be displaced toward the connecting rod 325 in any direction. When the driving rod 315 pushes against the force block 324, the gear 326 can be precisely meshed with the ring gear under the action of the buffer 328. The buffer 328 can be set to an elastic plastic material or a silicone material.

[0042] The working process of the compressor impeller welding device provided in this embodiment is as follows: before welding, the path of the track 10 can be set according to the blade shape on one side of the blade, so that the walking module 20 walks along the direction of the track 10. Then, the position of the second welding assembly 32 relative to the first welding assembly 31 is adjusted according to the blade shape on the other side of the blade.

[0043] If only the position of the second welding assembly 32 relative to the first welding assembly 31 in the horizontal direction needs to be adjusted, the gear ring is kept in the second position, and the drive motor 314 is started, so that the drive motor 314 drives the drive rod 315 to rotate. During the rotation of the drive rod 315, the force block 324 is abutted. Under the action of the connecting rod 325, the force block 324 drives the slide seat 323 to move in the slideway 313, so that the second base 321 moves along the circular moving path.

[0044] If the position and rotation angle of the second welding assembly 32 between the first welding assembly 31 in the horizontal direction need to be adjusted synchronously, the bidirectional cylinder 316 is started to shrink the piston rod of the bidirectional cylinder 316, and the first gear ring 317 and the second gear ring 318 are moved to the first position and spliced ​​into a complete gear ring, and the gear 326 is meshed with the gear ring. During the displacement of the second base 321, the gear 326 drives the connecting rod 325 to rotate, so that the second base 321 rotates around the axis direction of the connecting rod 325.

[0045] Therefore, the welding device in this embodiment can accurately and multi-directionally adjust the relative position and relative angle between the two welding modules 30, and can adjust the second welding assembly 32 according to the blade shape on both sides of the blade to synchronously achieve precise welding between the blade and the cover plates on both sides.

[0046] An embodiment of the present invention provides a welding process for a compressor impeller welding device, and the welding process uses the welding device in the above embodiment. The welding process includes the following steps: S1 obtains first trajectory information, where the first trajectory information may be a blade shape on any side of the blade, and may be a blade shape that can be identified by a detector or the like. Of course, the first trajectory information may also be generated based on initial information of the blade shape.

[0047] S2 presets the walking track of the walking module 20 according to the first track information. The walking track of the walking module 20 is the extension path of the track 10 . The track 10 can be set as an adjustable track 10 .

[0048] S3 obtains second trajectory information, where the second trajectory information is the blade profile of the other side of the blade.

[0049] S4 determines whether there is a deviation trajectory between the first trajectory information and the second trajectory information. The deviation trajectory is the offset distance between the opposite sides of the blade. Of course, the first trajectory information and the second trajectory information can be different or the same.

[0050] If there is no deviation between the first trajectory information and the second trajectory information, the walking module 20 and the welding module 30 are controlled to perform welding. If there is a deviation between the first trajectory information and the second trajectory information, the second welding assembly 32 is controlled to move forward relative to the first welding assembly 31 according to the deviation trajectory, and then the walking module 20 and the welding module 30 are controlled to perform welding.

[0051] During the welding process, the weld information is obtained to determine whether the weld meets the welding standards. An industrial camera or infrared sensor can be set on the walking module 20 or the welding module 30 to monitor the welding quality of the weld in real time during the welding process.

[0052] If the weld meets the welding standard, the walking module 20, the first welding assembly 31, and the second welding assembly 32 are controlled to move forward along the walking track.

[0053] If the weld does not meet the welding standard, the first welding assembly 31 is controlled to stop running, and the second welding assembly 32 is controlled to stop running at the same time, and the second welding assembly 32 is controlled to move in the reverse direction relative to the first welding assembly 31. After adjusting the relative position relationship and angle between the second welding assembly 32 and the first welding assembly 31, the walking module 20 is controlled to move in the reverse direction and the second welding assembly 32 is controlled to continue to move. The reverse displacement is the displacement direction opposite to the aforementioned forward displacement. The weld may be a weld between one side of the blade and the cover plate.

[0054] Or, if the weld does not meet the welding standard, the second welding assembly 32 is controlled to stop running, and the walking module 20 is controlled to run in the reverse direction while the first welding assembly 31 is kept running. The weld is the weld between the other side of the blade and the cover plate. The reverse operation is relative to the forward operation mentioned above. Specifically, the forward operation is that the walking module 20 walks forward along the track 10, and the reverse operation is that the walking module 20 walks backward along the track 10.

[0055] With such arrangement, if the weld quality is poor during the welding process, the operation state of the welding device can be accurately controlled. When the weld quality is poor on one side of the blade, the corresponding welding module can be adjusted to perform welding again.

[0056] It should be noted that if the welds on both sides of the blade do not meet the welding standards, the above two operation steps need to be performed simultaneously, that is, first control the first welding assembly 31 and the second welding assembly 32 to stop running, then control the reverse displacement of the second welding assembly 32 relative to the first welding assembly 31, and then control the start of the first welding assembly 31 and the second welding assembly 32, and at the same time control the walking module 20 to run in reverse to achieve synchronous repair welding of the welds on both sides.

[0057] When the welding quality of both sides of the blade is poor, the two welding modules can be adjusted synchronously to weld again, which significantly improves the welding quality and reduces the subsequent weld surface quality inspection steps, making the welding efficiency higher.

[0058] Before controlling the reverse displacement of the second welding assembly 32 relative to the first welding assembly 31, within the travel range between the current position of the walking module 20 and the marked position (the position of the walking module 20 corresponding to the weld position that does not meet the standards), it is necessary to identify whether the second welding assembly 32 has generated a positive displacement relative to the first welding assembly 31. If displacement information exists, the above-mentioned reverse displacement operation is performed; if no displacement information exists, there is no need to control the above-mentioned reverse displacement operation.

[0059] The present invention also proposes an electronic device, which includes a storage module and a processing module. When the processing module executes a computer program, it can implement the steps in the above-mentioned welding process, that is, implement the steps in any technical solution in the above-mentioned welding process method.

[0060] The electronic device may be a part integrated into the welding device, or a local terminal device, or a part of a cloud server.

[0061] The processing module can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. The processing module is the control center of the welding device, and uses various interfaces and lines to connect various parts of the welding device.

[0062] The storage module can be used to store the computer program and / or module, and the processing module realizes various functions of the welding device by running or executing the computer program and / or module stored in the storage module, and calling the data stored in the storage module. The storage module can mainly include a storage program area and a storage data area, wherein the storage program area can store an operating system, an application required for at least one function, etc. In addition, the storage module can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0063] Exemplarily, the computer program may be divided into one or more modules / units, which are stored in a storage module and executed by a processing module to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program in a welding device.

[0064] Furthermore, an embodiment of the present invention provides a readable storage medium storing a computer program, which can implement the steps in the above-mentioned welding process when executed by a processing module, that is, implement the steps in any one of the technical solutions in the above-mentioned welding process.

[0065] If the welding process integrated module is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing related hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processing module, the steps of each of the above-mentioned method embodiments can be implemented.

[0066] The computer program includes computer program code, which may be in source code form, object code form, executable file or some intermediate form. The computer readable medium may include: any entity or device capable of carrying the computer program code, recording medium, disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer readable media do not include electric carrier signals and telecommunication signals.

[0067] The above describes in detail the structure, features and effects of the present invention based on the embodiments shown in the drawings. The above is only a preferred embodiment of the present invention, but the present invention is not limited to the scope of implementation shown in the drawings. Any changes made according to the concept of the present invention, or modifications to equivalent embodiments with equivalent changes, which still do not exceed the spirit covered by the description and drawings, should be within the protection scope of the present invention.

Claims

1. A welding device for a compressor impeller, characterized in that: include: Track (10); A walking module (20) is arranged on the track (10); A welding module (30) is arranged on the walking module (20), and the welding module (30) comprises a first welding assembly (31) and a second welding assembly (32) arranged in a vertical direction, and the second welding assembly (32) is movably arranged relative to the first welding assembly (31).

2. The compressor impeller welding device according to claim 1, characterized in that: The first welding assembly (31) comprises a first base (311) arranged on the walking module (20) and a first welding head (312) movably arranged on the first base (311); the second welding assembly (32) comprises a second base (321) arranged on the first base (311) and a second welding head (322) movably arranged on the second base (321).

3. The compressor impeller welding device according to claim 2, characterized in that: An annular slideway (313) is arranged on the first base (311), and a bearing mechanism is arranged on the second base (321), wherein the bearing mechanism comprises a slide seat (323) matched with the annular slideway (313) and a force bearing block (324) connected to the slide seat (323), and the slide seat (323) forms an annular moving path along the annular slideway (313).

4. The compressor impeller welding device according to claim 3, characterized in that: The first base (311) is provided with a first driving mechanism for driving the slide (323) to move along the moving path. The first driving mechanism comprises a driving motor (314) fixed to the first base (311), and a driving rod (315) connected to a driving shaft of the driving motor (314). The driving rod (315) extends in a horizontal direction, and at least a portion of the driving rod (315) extends onto the moving path. The driving rod (315) overlaps with the force block (324) within a horizontal range.

5. The compressor impeller welding device according to claim 3, characterized in that: The bearing mechanism further comprises a connecting rod (325) fixed to the second base (321), and the connecting rod (325) is rotatably connected to the sliding seat (323); A second driving mechanism for driving the second base (321) to rotate around the connecting rod (325) is provided between the first welding assembly (31) and the second welding assembly (32), the second driving mechanism comprising a gear (326) fixedly connected to the connecting rod (325) and a gear ring provided on the first base (311), the gear ring having a first position meshing with the gear (326) and a second position separated from the gear (326).

6. The compressor impeller welding device according to claim 5, characterized in that: The gear ring comprises a first gear ring (317) and a second gear ring (318), wherein the first gear ring (317) and the second gear ring (318) are both arranged in a semi-ring shape. In the first position, the first gear ring (317) and the second gear ring (318) are spliced ​​to form a full ring structure. In the second position, the first gear ring (317) and the second gear ring (318) are arranged to be spaced apart.

7. The compressor impeller welding device according to claim 6, characterized in that: A bidirectional cylinder (316) is disposed on the first base (311), one piston rod of the bidirectional cylinder (316) is connected to the first gear ring (317), and the other piston rod of the bidirectional cylinder (316) is connected to the second gear ring (318).

8. The compressor impeller welding device according to claim 6, characterized in that: A collar (327) is fixed on the inner ring of the gear (326), and a buffer member (328) is fixed between the collar (327) and the connecting rod (325). The buffer member (328) can be deformed to form a buffer space between the gear (326) and the connecting rod (325).

9. A welding process for a compressor impeller welding device according to any one of claims 1 to 8, characterized in that: The following steps are involved: Obtaining first trajectory information; Presetting a walking trajectory of the walking module (20) according to the first trajectory information; Obtaining second trajectory information; Determine whether there is a deviation trajectory between the first trajectory information and the second trajectory information; if so, control the positive displacement of the second welding assembly (32) relative to the first welding assembly (31) according to the deviation trajectory, and then control the operation of the walking module (20) and the welding module (30); if not, control the operation of the walking module (20) and the welding module (30).

10. The welding process according to claim 9, characterized in that: During the welding process, weld information is obtained to determine whether the weld meets the welding standard; if so, the walking module (20), the first welding assembly (31), and the second welding assembly (32) are controlled to move forward along the walking track; if not, the first welding assembly (31) is controlled to stop moving, the second welding assembly (32) is selectively controlled to move in the opposite direction relative to the first welding assembly (31), and the walking module (20) is controlled to move in the opposite direction; or, if not, the second welding assembly (32) is controlled to stop moving and the walking module (20) is controlled to move in the opposite direction.

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