Welding device and welding process for compressor impeller

Abstract

The application discloses a welding device and welding process for a compressor impeller, and the welding device comprises a track, a walking module arranged on the track, and a welding module arranged on the walking module; the welding module comprises 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. When welding a closed impeller, the welding module only needs to walk along a set track once to realize bilateral welding of the blade, without the need of resetting the walking track and welding work after welding one side, so that the welding efficiency is improved, and 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, so that the bilateral welding of the blade by the welding module is more accurate in the welding process.

Description

Technical Field

[0001] This invention relates to the field of welding technology, and in particular to a welding device and welding process for compressor impellers. Background Technology

[0002] Closed impellers, with front and rear cover plates on both sides of the blades, offer high efficiency and are suitable for conveying clean liquids free of impurities. Closed impellers for steam compressors are typically designed with narrow flow channels and large diameters, offering advantages such as high speed, high efficiency, and high reliability. They are commonly used in water treatment, pharmaceuticals, and chemical industries.

[0003] For larger closed impeller products, the traditional method is to manufacture the impeller in three parts: the impeller disk, the blades, and the impeller disk. Assembly grooves are set on the assembly surfaces of the two impeller disks. After the blades and the impeller disk are positioned, the blades are welded to the impeller disk to complete the preparation of the closed impeller.

[0004] In existing technologies, welding robots are typically used to weld impellers and blades. The welding process involves welding one side of the blades and impeller first, then using a positioner to flip the impeller to the other side, and finally operating the welding robot to weld the blades and impeller on the other side. This welding method requires the welding robot to scan the welding path twice, resulting in long welding times and low welding efficiency. Summary of the Invention

[0005] The purpose of this invention is to provide a welding device and welding process for compressor impellers to overcome the shortcomings of the prior art, enabling simultaneous welding of both sides of the blade to two impeller discs and improving welding efficiency.

[0006] To achieve one of the above objectives, the present invention provides a welding apparatus for a compressor impeller, comprising:

[0007] track;

[0008] The walking module is mounted on the track;

[0009] A welding module is disposed on the walking module. The welding module includes a first welding component and a second welding component arranged in a vertical direction. The second welding component is movably disposed relative to the first welding component.

[0010] As a further improvement of one embodiment of the present invention, the first welding assembly includes a first base disposed on the walking module and a first welding head movably disposed on the first base, and the second welding assembly includes a second base disposed on the first base and a second welding head movably disposed on the second base.

[0011] As a further improvement of one embodiment of the present invention, the first base is provided with an annular slide, and the second base is provided with a bearing mechanism. The bearing mechanism includes a slide seat that cooperates with the annular slide and a force-bearing block connected to the slide seat. The slide seat forms an annular moving path along the annular slide.

[0012] As a further improvement of one embodiment of the present invention, the first base is provided with a first driving mechanism for driving the slide to move along the moving path. 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, and at least a portion of the driving rod extends onto the moving path. The driving rod overlaps with the force-bearing block within a horizontal range.

[0013] As a further improvement of one embodiment of the present invention, the supporting mechanism further includes a connecting rod fixed to the second base, the connecting rod being rotatably connected to the slide.

[0014] A second driving mechanism for driving the second base to rotate around the connecting rod is provided 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 gear ring disposed on the first base. The gear ring has a first position engaged with the gear and a second position separated from the gear.

[0015] As a further improvement of one embodiment of the present invention, the gear ring includes a first gear ring and a second gear ring, both of which are configured as semi-circular. At the first position, the first gear ring and the second gear ring are spliced ​​together to form a complete ring structure, and at the second position, the first gear ring and the second gear ring are spaced apart.

[0016] As a further improvement of one embodiment of the present invention, a bidirectional cylinder is provided 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.

[0017] As a further improvement of one embodiment of the present invention, a collar is fixed to the inner ring of the gear, and a buffer member is fixed between the collar and the connecting rod. The buffer member is deformable to form a buffer space between the gear and the connecting rod.

[0018] To achieve one of the above objectives, the present invention provides a welding process for compressor impellers, comprising the following steps:

[0019] Obtain the first trajectory information;

[0020] The walking trajectory of the walking module is preset based on the first trajectory information;

[0021] Obtain the second trajectory information;

[0022] 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 component relative to the first welding component 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.

[0023] As a further improvement of one embodiment of the present invention, during the welding process, weld information is acquired to determine whether the weld meets the welding standard; if it does, the walking module, the first welding component, and the second welding component are controlled to run forward along the walking trajectory; if it does not meet the standard, the first welding component is controlled to stop running, the second welding component is selectively controlled to move in the opposite direction relative to the first welding component, and the walking module is controlled to run in the opposite direction; or, if it does not meet the standard, the second welding component is controlled to stop running, and the walking module is controlled to run in the opposite direction.

[0024] Compared with existing technologies, this invention, when controlling the welding device in a control system, can preset the travel trajectory of the traveling module according to the shape of the blades in the closed impeller. During operation, the traveling module drives the welding module, with the first and second welding components operating synchronously. The first and second welding components respectively weld the connection seams between the blades and the impeller. Therefore, when welding a closed impeller, the welding module only needs to travel along the preset trajectory once to achieve welding on both sides of the blade, eliminating the need to reset the travel trajectory and restart the welding process after welding one side, thus improving welding efficiency.

[0025] Meanwhile, 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 the blade more precisely on both sides. Attached Figure Description

[0026] Figure 1 This is a top view of a welding device for a compressor impeller provided by the present invention;

[0027] Figure 2 This is an isometric view of a welding device for a compressor impeller provided by the present invention;

[0028] Figure 3 This is a front view of a welding device for a compressor impeller provided by the present invention;

[0029] Figure 4 yes Figure 1 Sectional view along the middle AA direction;

[0030] Figure 5 yes Figure 4 Enlarged structural diagram of section B;

[0031] Figure 6 This is an exploded schematic diagram of a portion of the structure in a welding device for a compressor impeller provided by the present invention;

[0032] Figure 7 yes Figure 6 A magnified schematic diagram of the structure of section C.

[0033] Figure label:

[0034] 10. Track; 20. Walking module; 30. Welding module; 31. First welding assembly; 311. First base; 312. First welding head; 313. Slide rail; 314. Drive motor; 315. Drive rod; 316. Two-way cylinder; 317. First gear ring; 318. Second gear ring; 319. Mounting slot; 32. Second welding assembly; 321. Second base; 322. Second welding head; 323. Slide block; 324. Force-bearing block; 325. Connecting rod; 326. Gear; 327. Collar; 328. Buffer. Detailed Implementation

[0035] The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0036] The terms used in this embodiment, such as "upper," "above," "lower," and "below," which indicate spatial relative positions, are used for ease of explanation to describe the relationship of one unit or feature relative to another unit or feature as shown in the accompanying drawings. The terms "spatial relative position" may be intended to include different orientations of the equipment during use or operation besides those shown in the figures. For example, in this embodiment, "upper," "lower," "left," "right," "horizontal," and "vertical" all refer to the spatial relative positions of the welding apparatus under normal operating conditions.

[0037] The terms "first," "second," etc., used in this invention are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Furthermore, it should be noted that, unless otherwise explicitly stated and limited, the term "connection" should be interpreted broadly. For example, a connection can be a direct connection or an indirect connection through an intermediate medium; it can be a fixed connection, a movable connection, a detachable connection, or an integral connection. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0038] To enable those skilled in the art to better understand the technical solutions of this invention, the appendices in the embodiments of this invention will be described below. Figure 1-7The technical solutions in the embodiments of the present invention will be clearly and completely described.

[0039] An embodiment of the present invention provides a welding apparatus for a compressor impeller, referring to... Figure 1 and Figure 2 The welding device includes a track 10, a traveling module 20 mounted on the track 10, and a welding module 30 mounted on the traveling module 20. The welding device may also be equipped with a control system for controlling the operation of the welding device. The welding module 30 includes a first welding component 31 and a second welding component 32 arranged vertically, with the second welding component 32 located above the first welding component 31.

[0040] When the control system controls the welding device, the travel trajectory of the walking module 20 can be preset according to the shape of the blades in the closed impeller. During the operation of the walking module 20, the welding module 30 will move. The first welding component 31 and the second welding component 32 operate synchronously, respectively welding the connecting seams between the two sides of the blade and the impeller. Therefore, when welding the closed impeller, the welding module 30 only needs to travel along the preset trajectory once to achieve welding on both sides of the blade, without having to reset the travel trajectory and welding work after welding one side, thus improving welding efficiency.

[0041] Reference Figure 3 The first welding assembly 31 includes a first base 311 mounted on the walking module 20 and a first welding head 312 movably mounted on the first base 311. The second welding assembly 32 includes a second base 321 mounted on the first base 311 and a second welding head 322 movably mounted on the second base 321. The first base 311 is rotatably connected to the mounting platform of the walking module 20. 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 horizontally on the first base 311. 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 the blade more precisely on both sides.

[0042] The first welding head 312 and the second welding head 322 mentioned above can be configured as a laser welding gun. The first welding head 312 and the second welding head 322 can be movably connected to the first base 311 and the second base 321 respectively through the connecting seat (not shown in the figure), so that the first welding head 312 and the 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 more precise.

[0043] The first base 311 and the second base 321 can be configured as plate-like or block-like structures. For example, in this embodiment, the first base 311 is configured as a cylindrical block structure, and the second base 321 is configured as a prism block structure. The first welding head 312 and the second welding head 322 are respectively disposed on the sidewalls of the first base 311 and the second base 321 along the vertical direction. It should be noted that, to facilitate the connection of the first welding head 312 and the second welding head 322, the surface of the first base 311 for connection of the first welding head 312 is configured as a plane.

[0044] Reference Figure 4 and Figure 5 The first base 311 is provided with an annular slide rail 313. In this embodiment, the annular slide rail 313 is configured as a full circular annular slide rail 313. The second base 321 is provided with a bearing mechanism that cooperates with the annular slide rail 313 and supports the second base 321. The second base 321 can be displaced along the annular slide rail 313. Of course, in optional embodiments, the annular slide rail 313 can also be configured as a semi-circular, superior arc, or inferior arc slide rail 313. Here, this embodiment does not make specific limitations.

[0045] During the movement of the second base 321 along the annular slide 313, the second base 321 will move in the horizontal direction and the position of the second base 321 relative to the first base 311 will be offset. Therefore, 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.

[0046] The supporting mechanism includes a slide block 323 that cooperates with the annular slide rail 313 and a force-bearing block 324 connected to the slide block 323. The slide block 323 is located within the annular slide rail 313 and forms an annular moving path along the annular slide rail 313. The cross-section of the annular slide rail 313 can be set to T-shape, which can limit the movement of the slide block 323 and make the movement of the slide block 323 more stable. The cross-sectional area of ​​the force-bearing block 324 is larger than that of the slide block 323. The force-bearing block 324 is in contact with the upper end surface of the first base 311, increasing the stability of the force-bearing block 324 in supporting the second base 321. Rollers or balls can be provided at the bottom of the force-bearing block 324 to facilitate the displacement of the force-bearing block 324 on the first base 311.

[0047] The first base 311 is provided with a first driving mechanism for driving the slide 323 to move. 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. The driving rod 315 extends horizontally toward the side away from the driving shaft. At least part of the driving rod 315 extends into the moving path, and the driving rod 315 overlaps with the force block 324 in the horizontal range. That is, in the horizontal direction, the projection part of the driving rod 315 coincides with that of the force block 324.

[0048] When the position of the second welding assembly 32 relative to the first welding assembly 31 needs to be adjusted, the drive motor 314 is started. The drive motor 314 drives the drive shaft and drive rod 315 to rotate. When the drive rod 315 rotates, it abuts against the side wall of the force-bearing block 324. Under the driving action, the force-bearing block 324 can move along the annular movement path, thereby displacing the second welding assembly 32 in the horizontal direction. Furthermore, through the cooperation between the first drive mechanism and the force-bearing 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).

[0049] In alternative embodiments, other structures can be used to drive the drive rod 315, such as a rotary cylinder or other rotary drive elements. This embodiment is not specifically limited to these methods.

[0050] Reference Figure 5 The supporting 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, and the lower end of the connecting rod 325 passes through the force-bearing block 324 and is rotatably connected to the slide block 323. The connecting rod 325 and the slide block 323 are connected by a bearing, and the connecting rod 325 is fixedly connected to the force-bearing block 324.

[0051] A second driving mechanism is provided between the first welding assembly 31 and the second welding assembly 32. The second driving mechanism can drive the second base 321 to rotate clockwise or counterclockwise around the axis of the connecting rod 325.

[0052] As an example, refer to Figure 4 and Figure 6 The second drive mechanism includes a bidirectional cylinder 316 mounted on the first base 311, a gear ring connected to the two piston rods of the bidirectional cylinder 316, and a gear 326 fixedly connected to the connecting rod 325. The gear ring is movably mounted on the first base 311 and has a first position engaged with the gear 326 and a second position disengaged from the gear 326. When the gear 326 is in the first position, as the slide 323 drives the second base 321 to move along the annular movement path, the gear 326 and the gear ring cooperate to realize the rotation of the second base 321, thus simultaneously realizing the displacement and rotation of the second welding assembly 32 on the horizontal plane. When it is not necessary 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 can be realized.

[0053] A mounting groove 319 can be provided at the bottom of the first base 311. A bidirectional cylinder 316 is fixedly connected to the mounting groove 319. The opposing piston rods in the bidirectional cylinder 316 can be connected to extension rods. The extension rods are arranged vertically 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. Both the first gear ring 317 and the second gear ring 318 are configured as semi-circular. 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 a first position and a second position, driving the bidirectional cylinder 316 can realize the spliced ​​state of the first gear ring 317 and the second gear ring 318 in the first position, and the separated state of the first gear ring 317 and the second gear ring 318 in the second position.

[0054] It should be noted that, in this embodiment, the horizontal rotation of the second welding assembly 32 requires the cooperation of the first and second drive mechanisms. Of course, the horizontal rotation of the second welding assembly 32 can also be achieved through an independent drive structure.

[0055] In this embodiment, to facilitate the control and monitoring of the rotation angle of the second welding assembly 32, stroke sensors corresponding to the positions of the force block 324 can be embedded on the side walls where the drive rod 315 and the force block 324 cooperate. The sensing surface of the stroke 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 drive rod 315 abuts against the force block 324, the force block 324 rotates and comes into contact with the stroke sensor. The stroke sensor can monitor the rotation circumference of the force block 324, and thus the rotation angle of the second base 321 can be determined, which facilitates precise control of the rotation angle of the second base 321 during the welding process.

[0056] It is relatively easy to understand that since gear 326 and the gear ring have two states—engaged and disengaged—tooth misalignment may occur when the gear ring mates with gear 326. To solve this problem, a buffer structure is provided between gear 326 and connecting rod 325. For example, refer to... Figure 7The buffer structure includes a collar 327 fixed to the inner ring of gear 326 and a buffer member 328 fixed between the collar 327 and the connecting rod 325. The buffer member 328 is made of a deformable material. When the gear ring and gear 326 are not precisely meshed, the gear ring will generate a force that pushes against gear 326. The buffer member 328 creates a buffer space between gear 326 and connecting rod 325, allowing gear 326 to move towards connecting rod 325 in any direction. When the drive rod 315 abuts against the force block 324, gear 326 can precisely mesh with gear ring under the action of buffer member 328. The buffer member 328 can be made of elastic plastic or silicone.

[0057] The working process of the welding device for compressor impellers 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 moves along the direction of the track 10. Then, the position of the second welding component 32 relative to the first welding component 31 is adjusted according to the blade shape on the other side of the blade.

[0058] If it is only necessary to adjust the position of the second welding component 32 in the horizontal direction relative to the first welding component 31, then keep the gear ring in the second position, start the drive motor 314, and drive the drive rod 315 to rotate. During the rotation of the drive rod 315, it abuts against the force block 324. Under the action of the connecting rod 325, the force block 324 drives the slide block 323 to move in the slide rail 313, so that the second base 321 moves along the annular movement path.

[0059] If it is necessary to synchronously adjust the position and rotation angle of the second welding assembly 32 in the horizontal direction relative to the first welding assembly 31, then the bidirectional cylinder 316 is activated, causing the piston rod of the bidirectional cylinder 316 to retract. The first gear ring 317 and the second gear ring 318 move to the first position and are spliced ​​into a complete gear ring, with the gear 326 meshing with the gear ring. During the displacement of the second base 321, the gear 326 drives the connecting rod 325 to rotate, causing the second base 321 to rotate around the axis of the connecting rod 325.

[0060] 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 component 32 according to the blade shape on both sides of the blade, so as to simultaneously achieve precise welding between the blade and the cover plates on both sides.

[0061] An embodiment of the present invention provides a welding process for a welding apparatus for a compressor impeller, wherein the welding process employs the welding apparatus described in the above embodiment. The welding process includes the following steps:

[0062] S1 acquires the first trajectory information, which can be the leaf shape on any side of the blade, the leaf shape that can be identified by a detector or other means, or the first trajectory information can be generated based on the initial information of the leaf shape.

[0063] S2 presets the walking trajectory of the walking module 20 according to the first trajectory information. The walking trajectory of the walking module 20 is the extension path of the track 10. The track 10 can be set as an adjustable track 10.

[0064] S3 acquires the second trajectory information, which is the leaf shape on the other side of the leaf.

[0065] S4 determines whether there is a deviation trajectory between the first trajectory information and the second trajectory information. This 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.

[0066] If there is no deviation between the first trajectory information and the second trajectory information, then the running and 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, then the second welding component 32 is controlled to move in the positive direction relative to the first welding component 31 according to the deviation trajectory, and then the running and walking module 20 and the welding module 30 are controlled to perform welding.

[0067] During the welding process, weld information is acquired to determine whether the weld meets the welding standards. Industrial cameras or infrared sensors can be installed 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.

[0068] If the weld meets the welding standards, the walking module 20, the first welding component 31, and the second welding component 32 are controlled to move forward along the walking trajectory.

[0069] If the weld does not meet the welding standards, the first welding assembly 31 is stopped, and simultaneously the second welding assembly 32 is stopped. The second welding assembly 32 is then repositioned in the opposite direction relative to the first welding assembly 31. After adjusting the relative position and angle between the second welding assembly 32 and the first welding assembly 31, the traveling module 20 is reversed, and the second welding assembly 32 continues to operate. The reverse displacement is the opposite direction to the aforementioned forward displacement. The weld may be the weld between one side of the blade and the cover plate.

[0070] Alternatively, if the weld does not meet the welding standards, the second welding assembly 32 will stop operating, and the traveling module 20 will reverse while the first welding assembly 31 continues to operate. The weld is the weld between the other side of the blade and the cover plate. The reverse operation is relative to the aforementioned forward operation; specifically, forward operation is the traveling module 20 moving forward along the track 10, and reverse operation is the traveling module 20 moving backward along the track 10.

[0071] This setup allows for precise control of the welding equipment's operation should poor weld quality occur during the welding process. If poor weld quality occurs on one side of the blade, the corresponding welding module can be adjusted and the welding can be repeated.

[0072] 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 second welding assembly 32 to move in the opposite direction relative to the first welding assembly 31, then control the first welding assembly 31 and the second welding assembly 32 to start, and at the same time control the walking module 20 to run in the opposite direction, so as to achieve synchronous repair welding of the welds on both sides.

[0073] When both sides of the blade welds show poor welding quality, the two welding modules can be adjusted simultaneously for re-welding. This significantly improves welding quality and reduces subsequent weld surface quality inspection steps, resulting in higher welding efficiency.

[0074] Before controlling the reverse displacement of the second welding component 32 relative to the first welding component 31, within the travel range of 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 standard), it is necessary to identify whether the second welding component 32 has a positive displacement relative to the first welding component 31. If there is displacement information, the above-mentioned reverse displacement operation is performed; if there is no displacement information, the above-mentioned reverse displacement operation does not need to be controlled.

[0075] 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 of the above-mentioned welding process methods.

[0076] The electronic device can be integrated into the welding apparatus, a local terminal device, or part of a cloud server.

[0077] The processing module can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. General-purpose processors can be microprocessors or any conventional processor. The processing module is the control center of the welding apparatus, connecting various parts of the welding apparatus via various interfaces and lines.

[0078] The storage module can be used to store the computer programs and / or modules. The processing module implements various functions of the welding device by running or executing the computer programs and / or modules stored in the storage module and by calling the data stored in the storage module. The storage module may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function, etc. In addition, the storage module may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0079] For example, the computer program can be divided into one or more modules / units, which are stored in a storage module and executed by a processing module to complete the present invention. The one or more modules / units can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the welding apparatus.

[0080] Furthermore, one embodiment of the present invention provides a readable storage medium storing a computer program that, when executed by a processing module, can implement the steps in the above-described welding process, that is, implement the steps in any of the technical solutions of the above-described welding process.

[0081] If the welding process integrated module is implemented as 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, all or part of the processes in the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by the processing module, it can implement the steps of the above-described method embodiments.

[0082] The computer program includes computer program code, which may be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording media, U disk, portable hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc.

[0083] The above description, based on the embodiments shown in the figures, details the structure, features, and effects of the present invention. The above description is only a preferred embodiment of the present invention, but the present invention is not limited to the scope of implementation shown in the figures. Any changes made in accordance with the concept of the present invention, or equivalent embodiments modified to have equivalent changes, that do not exceed the spirit covered by the specification and figures, should be within the protection scope of the present invention.

Claims

1. A welding device for a compressor impeller, characterized by, Comprise: Track (10); Walking module (20) is arranged on the track (10); Welding module (30) is arranged on the walking module (20), the welding module (30) comprises first welding assembly (31) and second welding assembly (32) arranged along the vertical direction, and the second welding assembly (32) is movably arranged relative to the first welding assembly (31); the first welding assembly (31) comprises first base (311) arranged on the walking module (20), first welding head (312) movably arranged on the first base (311), and the second welding assembly (32) comprises second base (321) arranged on the first base (311), and second welding head (322) movably arranged on the second base (321); The first base (311) is provided with annular slide (313), the second base (321) is provided with bearing mechanism, the bearing mechanism comprises slide (323) matched with the annular slide (313), stress block (324) connected to the slide (323), the slide (323) forms annular movement path along the annular slide (313); the first base (311) is provided with first drive mechanism for driving the slide (323) to displace along the movement path, the first drive mechanism comprises drive motor (314) fixed to the first base (311), drive rod (315) connected to the drive shaft of the drive motor (314), the drive rod (315) extends along the horizontal direction, at least part of the drive rod (315) extends to the movement path, and the drive rod (315) and the stress block (324) overlap in the horizontal interval range; The bearing mechanism further comprises connecting rod (325) fixed to the second base (321), and the connecting rod (325) is rotatably connected to the slide (323); The first welding assembly (31) and the second welding assembly (32) are provided with second drive mechanism for driving the second base (321) to rotate around the connecting rod (325), the second drive mechanism comprises gear (326) fixedly connected to the connecting rod (325), and gear ring arranged on the first base (311), the gear ring has first position meshing with the gear (326) and second position separated from the gear (326); The gear ring comprises a first gear ring (317) and a second gear ring (318), both of which are arranged as half rings, in the first position, the first gear ring (317) and the second gear ring (318) are spliced to form a whole ring structure, in the second position, the first gear ring (317) and the second gear ring (318) are arranged at intervals; the first base (311) is provided with a double-acting pneumatic cylinder (316), one of the piston rods of the double-acting pneumatic cylinder (316) is connected with the first gear ring (317), and the other piston rod of the double-acting pneumatic cylinder (316) is connected with the second gear ring (318).

2. The welding apparatus for compressor impellers as set forth in claim 1, wherein: The inner ring of the gear (326) is fixed with a sleeve ring (327), and the sleeve ring (327) and the connecting rod (325) are fixed with a buffer (328), which can be deformed to form a buffer space between the gear (326) and the connecting rod (325).

3. A welding process for a welding apparatus for compressor impellers as claimed in any one of claims 1-2, characterized in that, The method comprises the following steps: Obtaining first trajectory information; Presetting the walking trajectory of the walking module (20) according to the first trajectory information; Obtaining second trajectory information; Judging whether there is a deviation trajectory between the first trajectory information and the second trajectory information; if yes, controlling the forward displacement of the second welding assembly (32) relative to the first welding assembly (31) according to the deviation trajectory, and then controlling the walking module (20) and the welding module (30) to run; if not, controlling the walking module (20) and the welding module (30) to run.

4. The welding process of claim 3, wherein: During the welding process, the weld information is obtained, and it is judged whether the weld meets the welding standard; if yes, the walking module (20), the first welding assembly (31) and the second welding assembly (32) are controlled to run forward along the walking trajectory; if not, the first welding assembly (31) is controlled to stop running, the second welding assembly (32) is selectively controlled to move reversely relative to the first welding assembly (31), and the walking module (20) is controlled to run reversely; or, if not, the second welding assembly (32) is controlled to stop running, and the walking module (20) is controlled to run reversely.

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