Base angle welding equipment for mounting large electromechanical equipment

Abstract

The invention relates to the technical field of welding and polishing, and discloses base angle welding equipment for large electromechanical equipment installation, which comprises a base mechanism, a welding mechanical arm, a polishing mechanical arm, a wind direction adjusting mechanism and a control system, the welding mechanical arm is fixedly connected to the base mechanism, the polishing mechanical arm is fixedly connected to the base mechanism, and the wind direction adjusting mechanism is fixedly connected to the wind direction adjusting mechanism. The welding seam size and the welding thickness of the bottom of the large electromechanical equipment are detected through the sensor, the control system preliminarily judges the welding quality through the thickness, detected by the sensor, of a welding spot, and the welding quality of the large electromechanical equipment is judged by detecting the amount of chippings generated when the welding spot is polished. And secondary confirmation is conducted on the welding quality, the welding problem is reduced by adjusting the grinding speed and the grinding pressure of the grinding disc, chippings generated by grinding are blown away through the air direction adjusting bin mechanism, the welding and grinding quality and efficiency are improved, and the service life of equipment is prolonged.

Description

Technical Field

[0001] The invention relates to the technical field of welding and grinding, in particular to bottom corner welding equipment used for installing large electromechanical equipment. Background Art

[0002] Weld grinding is a post-processing process performed on welds during or after welding to improve the quality and appearance of welds. This technology is widely used in many industries, such as automotive manufacturing, aerospace, construction and machinery manufacturing.

[0003] In the traditional welding and grinding process, manual handheld grinding tools are usually used for grinding. This method is inefficient, labor-intensive, and the grinding quality is difficult to guarantee. Due to the uncertainty of manual operation, the grinding quality of existing bottom corner welding equipment may fluctuate, affecting the consistency and reliability of the product. Summary of the invention

[0004] 1. Technical issues to be solved

[0005] In view of the deficiencies in the prior art, the present invention provides a bottom corner welding device for the installation of large electromechanical equipment, which has the advantages of being able to preliminarily judge the welding quality based on the size and thickness of the weld, secondarily judge the welding quality by comparing the amount of debris, solve welding problems by adjusting the rotation speed and pressure of the grinding disk, cool the weld and blow away the debris by adjusting the wind direction, etc., thereby solving the problems in the above-mentioned background technology.

[0006] (II) Technical solution

[0007] To achieve the above-mentioned object, the present invention provides the following technical solutions: A bottom corner welding device for installation of large electromechanical equipment, comprising a base mechanism, a welding mechanical arm, a grinding mechanical arm, a wind direction adjustment mechanism and a control system, wherein the welding mechanical arm is fixedly connected to the base mechanism, the grinding mechanical arm is fixedly connected to the base mechanism, the wind direction adjustment mechanism is fixedly connected to the grinding mechanical arm, and the control system controls the operation and working process of the base mechanism, the welding mechanical arm, the grinding mechanical arm and the wind direction adjustment mechanism;

[0008] The wind direction adjustment mechanism includes a rotating shaft five, a wind direction adjustment chamber is fixedly connected to the rotating shaft five, the rotating shaft five is used to control the angle of the wind direction adjustment chamber, a rotating shaft four is fixedly connected in the wind direction adjustment chamber, a rotor blade is fixedly connected below the rotating shaft four, the rotor is fixedly connected to the rotating shaft three, a pulley is fixedly connected to the rotor and the rotor blade, an adjustment tube is fixedly connected below the wind direction adjustment chamber, an electromagnetic valve is fixedly connected to the adjustment tube, and a temperature sensor is fixedly connected below the wind direction adjustment chamber.

[0009] Preferably, the base mechanism includes a slide, a movable seat is fixedly connected to the slide, a support column is fixedly connected below the slide, a fixed platform is fixedly connected to the support column, and is used to place large electromechanical equipment, a motor is fixedly connected to the movable seat, two left and right motors are fixedly connected to the movable seat, a sensor is fixedly connected to the motor, the movable seat is arranged on the four sides of the slide, the movable seat can slide on the top of the slide, and the movable seat is used to drive the welding robot arm and the grinding robot arm to move the welding and grinding bottom angles.

[0010] Preferably, the grinding robot arm includes a frame, a rotating joint 1 is fixedly connected to the frame, a motor 2 is fixedly connected to one side of the rotating joint 1, the motor 2 drives the rotating joint 1 to rotate, and the movement of the rotating joint 1 can drive the robot arm of the grinding robot arm to move up and down, a rotating shaft 1 is fixedly connected to the frame, a fixed block is fixedly connected to the rotating shaft 1, a rotating joint 2 is fixedly connected to the fixed block, a rotating shaft 2 is fixedly connected below the rotating joint 2, a rotating shaft 5 is fixedly connected below the rotating shaft 2, a rotating shaft 3 is fixedly connected below the rotating shaft 5, a rotating wheel is fixedly connected to the rotating shaft 3, a universal joint is fixedly connected below the rotating shaft 3, a grinding disc is fixedly connected below the universal joint, a pressure sensor is fixedly connected to the grinding disc, and the rotating shaft 3 is used to control the rotation of the grinding disc.

[0011] Preferably, the welding robot arm is fixedly connected to the moving base.

[0012] Preferably, the base mechanism, the welding robot arm, the grinding robot arm, and the wind direction adjustment mechanism are connected to a control system.

[0013] Preferably, the system of bottom corner welding equipment for installation of large electromechanical equipment comprises the following steps:

[0014] The weld size range detected by the sensor is D1 and D2, where D1 represents a larger weld and D2 represents a smaller weld.

[0015] The temperature range detected by the temperature sensor is W1 and W2, where W1 means the temperature can be used for normal weld grinding immediately; W2 means the temperature is too high and normal grinding cannot be carried out immediately;

[0016] The thickness range of the weld detected by the sensor is X1, X2, and X3, where X2 represents a medium weld thickness; X1 represents a thin weld thickness; and X3 represents a thick weld thickness.

[0017] The sensor detects the amount of debris produced by grinding the grinding disc per unit length in the range of N1, N2, and N3, where N2 represents the normal amount of debris produced by grinding per unit length; N1 represents a small amount of debris produced by grinding per unit length; and N3 represents a large amount of debris produced by grinding per unit length.

[0018] S10: When the control system controls the sensor to detect that the weld is large, the sensor is used to detect the weld thickness, the temperature sensor is used to detect the temperature around the weld, and the parameters of the grinding robot arm are adjusted according to the thickness and temperature of the weld to grind the bottom corner welding of the large electromechanical machine;

[0019] S20: When the control system controls the sensor to detect the size of the weld, it then detects the weld thickness through the sensor, detects the temperature around the weld through the temperature sensor, and adjusts the parameters of the grinding robot arm according to the thickness and temperature of the weld to grind the bottom corner welding of the large electromechanical machine.

[0020] Preferably, the step S10 includes the following specific steps:

[0021] S110: When the control system receives the welding thickness detected by the sensor as X2 and the detection result of the temperature sensor as W1, the control system preliminarily determines that the weld is large and the welding quality is average, there are many uneven parts on the weld surface, and the temperature around the weld is normal, and grinding can be started immediately. The control system adjusts the grinding strategy, controls the motor 2 to maintain a normal movement speed, and the control system increases the rotation speed of the grinding disc to 1200 revolutions per minute, and controls the shaft 3 to maintain a uniform rotation. Subsequently, the motor 1 starts, drives the moving seat to move at a uniform speed, and starts grinding and removing impurities from the weld together with the rotating grinding disc. At the same time, the rotation of the shaft 3 also drives the wind direction adjustment mechanism to work, driving air to flow out of the adjustment tube for cooling and blowing away debris during grinding. During this process, the pressure sensor sets the contact pressure between the grinding disc and the grinding point to normal pressure to ensure the grinding effect. At the same time, the sensor detects the amount of debris generated by the grinding disc per unit length in real time, and performs the following specific controls based on the detection results:

[0022] S1110: When the detected debris amount N1 is less than the preset normal threshold value N2, the control system determines that the welding quality is high. At this time, the control system adjusts the grinding strategy to reduce the rotation speed of the grinding disc and the contact pressure with the weld to prevent damage to the weld due to excessive grinding;

[0023] S1120: When the detected debris amount is equal to the preset normal threshold value N2, the control system determines that the welding quality is good and meets expectations. At this time, the normal rotation speed of the grinding disc and the normal contact pressure with the welding point, as well as the uniform welding speed, are maintained, and the grinding operation is continued;

[0024] S1130: When the detected debris amount N3 is greater than the preset normal threshold value N2, the control system determines that the welding quality is low and there are slag inclusions and pore defects. At this time, the control system adjusts the grinding strategy, increases the rotation speed of the grinding disc and increases the contact pressure with the welding point to enhance the grinding intensity, improve the weld quality, and reduce the probability of product rework;

[0025] S120: When the control system receives the welding thickness detected by the sensor as X1 and the detection result of the temperature sensor as W1, the control system preliminarily determines that the weld is large and the welding quality is high, the welding thickness is thin, the weld surface is relatively smooth, and the temperature around the weld is normal, and grinding can be started immediately. The control system adjusts the grinding strategy and controls Motor 2 to maintain a normal movement speed. The control system controls the grinding disc rotation speed to 1000 revolutions per minute and controls shaft 3 to maintain a uniform rotation. Subsequently, Motor 1 starts, driving the moving seat to move at a uniform speed, and starts grinding and removing impurities from the weld together with the rotating grinding disc. At the same time, the rotation of shaft 3 also drives the wind direction adjustment mechanism to work, driving air to flow out of the adjustment tube for cooling and blowing away debris during grinding. In this process, the pressure sensor controls to reduce the contact pressure between the grinding disc and the grinding point to ensure the grinding effect. At the same time, the sensor detects the amount of debris generated by the grinding disc per unit length in real time, and performs the following specific controls based on the detection results:

[0026] Repeat the comparison step S1110;

[0027] S130: When the control system receives the welding thickness detected by the sensor as X3 and the detection result of the temperature sensor as W2, the control system preliminarily determines that the weld is large and the welding quality is poor, there are weld discontinuities and pore defects, and the temperature around the weld is too high, and grinding cannot be started immediately. The control system adjusts the grinding strategy. The control system controls the motor 2 to reduce the movement speed according to the temperature reduction speed based on the temperature at the weld detected by the temperature sensor, and controls the grinding disc to gradually increase the rotation speed from 1000 revolutions per minute to 1400 revolutions per minute. The control shaft 3 is controlled to maintain uniform accelerated rotation, and the grinding disc rotates with The air flows, speeds up the cooling speed of the welding spot, and reduces the temperature around the welding seam to W1 when the grinding disc contacts the welding seam, and starts normal welding seam grinding. Then, the motor starts, drives the moving seat to move at a constant speed, and starts grinding and removing impurities from the welding seam together with the rotating grinding disc. At the same time, the rotation of the third shaft also drives the wind direction adjustment mechanism to work, driving air to flow out of the adjustment tube for cooling and blowing away debris during grinding. In this process, the pressure sensor controls to increase the contact pressure between the grinding disc and the grinding point to ensure the grinding effect. At the same time, the sensor detects the amount of debris generated by the grinding disc per unit length in real time, and performs the following specific controls based on the detection results:

[0028] Repeat the comparison step S1110.

[0029] (III) Beneficial effects

[0030] The present invention detects the size and thickness of the weld at the bottom of large-scale electromechanical equipment through sensors. The control system preliminarily judges the welding quality through the thickness of the weld detected by the sensor, and makes a secondary confirmation of the welding quality by detecting the amount of debris generated when the weld is polished. By adjusting the polishing speed and polishing pressure of the polishing disc, welding problems are solved during polishing, the probability of product rework is reduced, and work efficiency is improved. The wind force adjusted by the wind direction adjustment mechanism can blow away the debris generated by polishing and cool the polishing area at the same time, thereby improving the quality and efficiency of welding and polishing and increasing the service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0032] Figure 2 For the present invention Figure 1 Schematic diagram of the structure of A in FIG.

[0033] Figure 3 It is a schematic diagram of the base mechanism structure of the present invention;

[0034] Figure 4 It is a schematic diagram of the side view structure of the base mechanism of the present invention;

[0035] Figure 5 This is a schematic diagram of the structure of the polishing robot arm of the present invention;

[0036] Figure 6 This is a schematic diagram of the front view structure of the grinding robot arm of the present invention;

[0037] Figure 7 It is a schematic diagram of the structure of the wind force regulating mechanism of the present invention;

[0038] Figure 8 This is a schematic diagram of the structure of the polishing robot arm pressure sensor of the present invention.

[0039] In the figure:

[0040] 1. Base mechanism; 101. Slide; 102. Support column; 103. Moving seat; 104. Motor 1; 105. Sensor; 106. Fixed platform;

[0041] 2. Welding robot arm;

[0042] 3. Grinding robot arm; 301. Frame; 302. Rotating joint 1; 303. Motor 2; 304. Rotating shaft 1; 305. Fixed block; 306. Rotating joint 2; 307. Rotating shaft 2; 308. Rotating shaft 3; 309. Universal joint; 310. Grinding disc; 311. Pressure sensor;

[0043] 4. Wind direction adjustment mechanism; 401. Rotating shaft five; 402. Wind direction adjustment chamber; 403. Rotating wheel; 404. Pulley; 405. Rotating shaft four; 406. Rotating wheel blades; 407. Adjusting tube; 408. Solenoid valve; 409. Temperature sensor. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] Embodiment 1, a preferred embodiment of a bottom corner welding device for installation of large electromechanical equipment provided by the present invention is as follows Figures 1 to 8 As shown: A bottom corner welding device used for installation of large electromechanical equipment includes a base mechanism 1, a welding mechanical arm 2, a grinding mechanical arm 3, a wind direction adjustment mechanism 4 and a control system.

[0046] like Figure 2-4 As shown, the base mechanism 1 includes a slide 101, a moving seat 103 is fixedly connected to the slide 101, a support column 102 is fixedly connected below the slide 101, a fixed platform 106 is fixedly connected to the support column 102, and is used to place large electromechanical equipment, a motor 104 is fixedly connected to the moving seat 103, two left and right motors 104 are fixedly connected to the moving seat 103, a sensor 105 is fixedly connected to the motor 104, the moving seat 103 is arranged on the four sides of the slide 101, the moving seat 103 can slide on the top of the slide 101, and the moving seat 103 is used to drive the welding robot arm 2 and the grinding robot arm 3 to move the welding and grinding bottom angles.

[0047] like Figure 5-8As shown, the grinding robot arm 3 includes a frame 301, a rotating joint 1 302 is fixedly connected to the frame 301, a motor 2 303 is fixedly connected to one side of the rotating joint 1 302, the motor 2 303 drives the rotating joint 1 302 to rotate, and the movement of the rotating joint 1 302 can drive the mechanical arm of the grinding robot arm 3 to move up and down, a rotating shaft 1 304 is fixedly connected to the frame 301, a fixed block 305 is fixedly connected to the rotating shaft 1 304, a rotating joint 2 306 is fixedly connected to the fixed block 305, a rotating shaft 2 307 is fixedly connected below the rotating joint 2 306, a rotating shaft 5 401 is fixedly connected below the rotating shaft 2 307, and a rotating shaft 5 401 is fixedly connected below the rotating shaft 5 401 There is a rotating shaft three 308, a rotating wheel 403 is fixedly connected to the rotating shaft three 308, a universal joint 309 is fixedly connected below the rotating shaft three 308, a grinding disc 310 is fixedly connected below the universal joint 309, and a pressure sensor 311 is fixedly connected to the grinding disc 310. The rotating shaft three 308 is used to control the rotation of the grinding disc 310. When the grinding robot arm 3 is working, the rotating shaft three 308 rotates to drive the grinding disc 310 and the rotating wheel 403 on the rotating shaft three 308 to rotate, the rotating wheel 403 rotates to drive the pulley 404 to rotate, the rotating wheel fan blades 406 rotate to drive air to flow out from the regulating tube 407, and the debris generated during grinding is blown away.

[0048] like Figure 5-8 As shown, the wind direction adjustment mechanism 4 includes a rotating shaft 5 401, to which a wind direction adjustment chamber 402 is fixedly connected. The rotating shaft 5 401 is used to control the angle of the wind direction adjustment chamber 402. A rotating shaft 405 is fixedly connected inside the wind direction adjustment chamber 402. A rotating wheel blade 406 is fixedly connected below the rotating shaft 405. The wheel 403 is fixedly connected to the rotating shaft 308. A pulley 404 is fixedly connected to the rotating wheel 403 and the rotating wheel blade 406. An adjusting tube 407 is fixedly connected below the wind direction adjustment chamber 402. An electromagnetic valve 408 is fixedly connected to the adjusting tube 407. A temperature sensor 409 is fixedly connected below the wind direction adjustment chamber 402 for detecting the temperature around the weld.

[0049] The welding robot arm 2 is fixedly connected to the moving base 103 .

[0050] The base mechanism 1, the welding mechanical arm 2, the grinding mechanical arm 3, and the wind direction adjustment mechanism 4 are connected to the control system.

[0051] Embodiment 2, based on embodiment 1, a preferred embodiment of a bottom corner welding device for installation of large electromechanical equipment provided by the present invention is as follows: Figures 1 to 8As shown: a bottom corner welding device for installation of large electromechanical equipment, the control system detects the size and thickness of the weld at the bottom of the large electromechanical equipment through the sensor 105, the control system preliminarily judges the welding quality through the thickness of the weld detected by the sensor 105, and performs secondary confirmation of the welding quality by detecting the amount of debris generated when the weld is polished, and reduces welding problems by adjusting the polishing speed and polishing pressure of the polishing disc 310, while the wind direction adjustment mechanism 4 generates the adjusted wind force, which is used for cooling during polishing and blowing away debris;

[0052] The weld size range detected by the sensor 105 is D1 and D2, where D1 represents a larger weld; D2 represents a smaller weld;

[0053] The temperature range detected by the temperature sensor 409 is W1 and W2, where W1 represents that the temperature can be immediately used for normal weld grinding; W2 represents that the temperature is too high and normal grinding cannot be immediately performed;

[0054] The thickness range of the weld detected by the sensor 105 is X1, X2, and X3, wherein X2 represents a moderate weld thickness, which is a standard weld thickness; X1 represents a thin weld thickness and good welding quality, and the rotation speed of the grinding disc 310 needs to be reduced to avoid excessive grinding; X3 represents a thick weld thickness and poor welding quality, and slag inclusions or pores may occur, and the rotation speed of the grinding disc 310 needs to be increased to increase the degree of grinding;

[0055] The sensor 105 detects that the amount of debris produced by grinding the grinding disc 310 per unit length ranges from N1, N2, and N3, wherein N2 represents the normal amount of debris produced by grinding per unit length; N1 represents less debris produced by grinding per unit length, and the welding quality is high; N3 represents a large amount of debris produced by grinding per unit length, and the welding quality is poor;

[0056] The large electromechanical equipment and the base are placed on the fixed platform 106 of the base mechanism 1 by using the existing auxiliary lifting equipment, and the bottom corner welding thickness and weld size of the large electromechanical equipment are detected by the sensor 105;

[0057] The control system controls the welding robot arm 2 to start welding the bottom angle, and at the same time controls the motor 104 installed on the four moving seats 103 to start, drive the four moving seats 103 to move, and weld the bottom angle of the large electromechanical machine. At the same time, the sensors 105 on the four moving seats 103 detect the welding thickness in real time;

[0058] S10: The control system controls the sensor 105 to detect the size and thickness of the weld, and adjusts the parameters of the four groups of grinding mechanical arms 3 according to the size and thickness of the weld, so that the grinding mechanical arms 3 can maintain a uniform grinding motion. When the control system receives the sensor 105 and detects that the weld size is D1, the weld is relatively large. Specifically:

[0059] S110: When the control system receives the welding thickness detected by the sensor 105 as X2 and the detection result of the temperature sensor 409 as W1, the control system preliminarily determines that the weld is large and the welding quality is average, there are many uneven parts on the weld surface, and the temperature around the weld is normal, and grinding can be started immediately. The control system adjusts the grinding strategy, controls the motor 2 303 to maintain a normal movement speed, increases the rotation speed of the grinding disc 310 to 1200 revolutions per minute, and controls the shaft 308 to maintain a uniform rotation speed. Subsequently, the motor 104 starts The movable seat 103 moves at a constant speed, and together with the rotating grinding disc 310, the weld is ground and impurities are removed. At the same time, the rotation of the rotating shaft 308 also drives the wind direction adjustment mechanism 4 to work, driving air to flow out from the adjustment tube 407 for cooling and blowing away debris during grinding. In this process, the pressure sensor 311 sets the contact pressure between the grinding disc 310 and the grinding point to normal pressure to ensure the grinding effect. At the same time, the sensor 105 detects the amount of debris generated by the grinding disc 310 per unit length in real time, and performs the following specific controls according to the detection results:

[0060] S1110: When the detected debris amount N1 is less than the preset normal threshold value N2, the control system determines that the welding quality is high. At this time, the control system adjusts the grinding strategy to reduce the rotation speed of the grinding disc 310 and the contact pressure with the weld to prevent the weld from being damaged due to excessive grinding;

[0061] S1120: When the detected debris amount is equal to the preset normal threshold value N2, the control system determines that the welding quality is good and meets expectations. At this time, the normal rotation speed of the grinding disc 310 and the normal contact pressure with the welding point, as well as the uniform welding speed, are maintained, and the grinding operation is continued;

[0062] S1130: When the detected debris amount N3 is greater than the preset normal threshold value N2, the control system determines that the welding quality is low and there are slag inclusions and pore defects. At this time, the control system adjusts the grinding strategy, increases the rotation speed of the grinding disc 310 and increases the contact pressure with the welding point to enhance the grinding intensity, improve the weld quality, and reduce the probability of product rework;

[0063] S120: When the control system receives the welding thickness detected by the sensor 105 as X1 and the detection result of the temperature sensor 409 as W1, the control system preliminarily determines that the weld is large and the welding quality is high, the welding thickness is thin, the weld surface is relatively smooth, and the temperature around the weld is normal, and the grinding can be started immediately. The control system adjusts the grinding strategy, controls the motor 2 303 to maintain a normal movement speed, controls the grinding disc 310 to rotate at a speed of 1000 revolutions per minute, and controls the shaft 308 to rotate at a constant speed. Subsequently, the motor 1 104 The mobile seat 103 is started to move at a constant speed, and the rotating grinding disc 310 starts to grind and remove impurities from the weld. At the same time, the rotation of the rotating shaft 308 also drives the wind direction adjustment mechanism 4 to work, driving air to flow out from the adjustment tube 407 for cooling and blowing away debris during grinding. In this process, the pressure sensor 311 controls to reduce the contact pressure between the grinding disc 310 and the grinding point to ensure the grinding effect. At the same time, the sensor 105 detects the amount of debris generated by the grinding disc 310 per unit length in real time, and performs the following specific controls based on the detection results:

[0064] Repeat the comparison step S1110;

[0065] S130: When the control system receives the welding thickness detected by sensor 105 as X3 and the detection result of temperature sensor 409 as W2, the control system preliminarily determines that the weld is large and the welding quality is poor, there are weld discontinuities and pore defects, the temperature around the weld is too high, and grinding cannot be started immediately. The control system adjusts the grinding strategy. The control system controls motor 2 303 to reduce the movement speed according to the temperature reduction speed based on the temperature at the weld detected by temperature sensor 409 and the temperature reduction speed. At the same time, the grinding disc 310 is controlled to rotate and gradually increase the rotation speed from 1000 revolutions per minute to 1400 revolutions per minute. The shaft 308 is controlled to maintain uniform accelerated rotation, and the rotation of the grinding disc 310 drives the air. Flow, speed up the cooling speed of the welding spot, make the temperature around the welding seam drop to W1 when the grinding disc 310 contacts the welding seam, start normal welding seam grinding, then, the motor 104 starts, drives the moving seat 103 to move at a constant speed, and starts grinding and removing impurities from the welding seam together with the rotating grinding disc 310, at the same time, the rotation of the rotating shaft 308 also drives the wind direction adjustment mechanism 4 to work, drives the air to flow out from the adjustment tube 407, which is used for cooling and blowing away the debris during grinding, in this process, the pressure sensor 311 controls to increase the contact pressure between the grinding disc 310 and the grinding point, to ensure the grinding effect, at the same time, the sensor 105 detects the amount of debris generated by the grinding disc 310 per unit length in real time, and performs the following specific controls according to the detection results:

[0066] Repeat the comparison step S1110;

[0067] S20: The control system controls the sensor 105 to detect the size and thickness of the weld, and adjusts the parameters of the four groups of grinding mechanical arms 3 according to the size and thickness of the weld, so that the grinding mechanical arms 3 can maintain a uniform grinding motion. When the control system receives the sensor 105 and detects that the weld size is D2, the weld is relatively small. Specifically:

[0068] S210: When the control system receives the welding thickness detected by sensor 105 as X2 and the detection result of temperature sensor 409 as W1, the control system preliminarily determines that the weld is small and the welding quality is average, the weld is small and the debris to be removed is small, the weld surface is not smooth enough, and the temperature around the weld is normal, and grinding can be started immediately. The control system adjusts the grinding strategy, controls motor 2 303 to maintain a normal movement speed, controls the grinding disc 310 to maintain a speed of 1000 revolutions per minute, and controls shaft 308 to maintain a uniform rotation speed. Subsequently, motor 1 1 04 starts, driving the moving seat 103 to move at a constant speed, and starts grinding and removing impurities from the weld together with the rotating grinding disc 310. At the same time, the rotation of the rotating shaft 308 also drives the wind direction adjustment mechanism 4 to work, driving air to flow out from the adjustment tube 407 for cooling and blowing away debris during grinding. In this process, the pressure sensor 311 sets the contact pressure between the grinding disc 310 and the grinding point to normal pressure to ensure the grinding effect. At the same time, the sensor 105 detects the amount of debris generated by the grinding disc 310 per unit length in real time, and performs the following specific controls based on the detection results:

[0069] Repeat the comparison step S1110;

[0070] S220: When the control system receives the welding thickness detected by sensor 105 as X1 and the detection result of temperature sensor 409 as W1, the control system preliminarily determines that the weld is small and the welding quality is high, the welding thickness is thin and the weld surface is smooth, and the temperature around the weld is normal, and grinding can be started immediately. The control system adjusts the grinding strategy, controls motor 2 303 to maintain a normal movement speed, and controls the grinding disc 310 to reduce the rotation speed from 1000 revolutions per minute to 800 revolutions per minute. After the speed is reduced, the control system controls shaft 308 to maintain a uniform rotation speed, and then , the motor 104 is started, driving the moving seat 103 to move at a constant speed, and together with the rotating grinding disc 310, the welding seam is started to be ground and impurities are removed. At the same time, the rotation of the rotating shaft 308 also drives the wind direction adjustment mechanism 4 to work, driving air to flow out from the adjustment tube 407, which is used for cooling and blowing away debris during grinding. In this process, the pressure sensor 311 controls to reduce the contact pressure between the grinding disc 310 and the grinding point to ensure the grinding effect. At the same time, the sensor 105 detects the amount of debris generated by the grinding disc 310 per unit length in real time, and performs the following specific controls according to the detection results:

[0071] Repeat the comparison step S1110;

[0072] S230: When the control system receives the welding thickness detected by sensor 105 as X3 and the detection result of temperature sensor 409 as W2, the control system preliminarily determines that the weld is large and the welding quality is poor, and the weld thickness is thick, and the temperature around the weld is too high, and grinding cannot be started immediately. The control system adjusts the grinding strategy. The control system controls the motor 2 303 to reduce the movement speed according to the temperature reduction speed based on the temperature at the weld detected by temperature sensor 409 and the temperature reduction speed, and at the same time controls the grinding disc 310 to rotate and gradually increase the rotation speed, gradually increasing from 800 revolutions per minute to 1200 revolutions per minute, and controls the shaft 308 to maintain uniform accelerated rotation. The rotation of the grinding disc 310 drives air flow. The cooling speed of the welding spot is accelerated, so that the temperature around the welding seam is reduced to W1 when the grinding disc 310 contacts the welding seam, and the welding seam is normally ground. Subsequently, the motor 104 is started, driving the moving seat 103 to move at a constant speed, and the welding seam is ground and impurities are removed together with the rotating grinding disc 310. At the same time, the rotation of the rotating shaft 308 also drives the wind direction adjustment mechanism 4 to work, driving air to flow out from the adjustment tube 407 for cooling and blowing away debris during grinding. In this process, the pressure sensor 311 controls to increase the contact pressure between the grinding disc 310 and the grinding point to ensure the grinding effect. At the same time, the sensor 105 detects the amount of debris generated by the grinding disc 310 per unit length in real time, and performs the following specific controls according to the detection results:

[0073] Repeat the comparison step S1110.

[0074] The control system blows the debris away from the grinding area by controlling the opening size of the solenoid valve 408, specifically:

[0075] The control system controls the rotation of shaft three 308 to drive the grinding disc 310 to rotate and grind. The rotation of shaft three 308 will drive the wheel 403 on shaft three 308 to rotate, and the rotation of wheel 403 drives the pulley 404 to rotate. The rotation of pulley 404 drives the wheel blade 406 under shaft four 405 to rotate. The rotation of wheel blade 406 drives air to flow out from regulating tube 407, and the adjusted wind force flows out through regulating tube 407, and controls the solenoid valve 408 to open to T1, T1 is the maximum value, and T2 is the minimum value, which can be adjusted according to specific needs. At the same time, the control system can control the rotation of shaft five 401 to drive the wind direction adjustment bin 402 to rotate, thereby changing the blowing direction and angle of the wind force, so that the wind force generated by the rotation of the wheel blade 406 can better cool down the grinding and blow the debris generated by grinding away from the grinding area.

[0076] The present invention detects the size and thickness of the weld at the bottom of large electromechanical equipment through the sensor 105. The control system preliminarily judges the welding quality through the thickness of the weld detected by the sensor 105, and performs a second confirmation of the welding quality by detecting the amount of debris generated when the weld is polished. By adjusting the polishing speed and polishing pressure of the polishing disc 310, welding problems are solved during polishing, the probability of product rework is reduced, and work efficiency is improved. The wind force adjusted by the wind direction adjustment mechanism 4 is used to blow away the debris generated by polishing and cool the polishing area at the same time, thereby improving the quality and efficiency of welding and polishing and increasing the service life of the equipment.

[0077] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0078] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A bottom corner welding device for installation of large electromechanical equipment, comprising a base mechanism (1), a welding mechanical arm (2), a grinding mechanical arm (3), a wind direction adjustment mechanism (4) and a control system, characterized in that: The welding mechanical arm (2) is fixedly connected to the base mechanism (1), the grinding mechanical arm (3) is fixedly connected to the base mechanism (1), the wind direction adjustment mechanism (4) is fixedly connected to the grinding mechanical arm (3), and the control system controls the operation and working process of the base mechanism (1), the welding mechanical arm (2), the grinding mechanical arm (3), and the wind direction adjustment mechanism (4); The wind direction adjustment mechanism (4) comprises a rotating shaft five (401), a wind direction adjustment chamber (402) is fixedly connected to the rotating shaft five (401), the rotating shaft five (401) is used to control the angle of the wind direction adjustment chamber (402), a rotating shaft four (405) is fixedly connected inside the wind direction adjustment chamber (402), a rotating wheel blade (406) is fixedly connected below the rotating shaft four (405), the rotating wheel (403) is fixedly connected to the rotating shaft three (308), a pulley (404) is fixedly connected to the rotating wheel (403) and the rotating wheel blade (406), an adjusting tube (407) is fixedly connected below the wind direction adjustment chamber (402), an electromagnetic valve (408) is fixedly connected to the adjusting tube (407), and a temperature sensor (409) is fixedly connected below the wind direction adjustment chamber (402).

2. The bottom corner welding equipment for installation of large electromechanical equipment according to claim 1 is characterized in that: The base mechanism (1) comprises a slideway (101), a movable seat (103) is fixedly connected to the slideway (101), a support column (102) is fixedly connected below the slideway (101), a fixed platform (106) is fixedly connected to the support column (102), and is used to place large electromechanical equipment; a motor (104) is fixedly connected to the movable seat (103), two motors (104) on the left and right are fixedly connected to the movable seat (103), and a sensor (105) is fixedly connected to the motor (104); the movable seat (103) is arranged on four sides of the slideway (101), the movable seat (103) can slide on the top of the slideway (101), and the movable seat (103) is used to drive a welding robot arm (2) and a grinding robot arm (3) to move the welding and grinding bottom angles.

3. The bottom corner welding device for installation of large electromechanical equipment according to claim 2 is characterized in that: The grinding robot arm (3) comprises a frame (301), a rotating joint 1 (302) is fixedly connected to the frame (301), a motor 2 (303) is fixedly connected to one side of the rotating joint 1 (302), the motor 2 (303) drives the rotating joint 1 (302) to rotate, and the movement of the rotating joint 1 (302) can drive the mechanical arm of the grinding robot arm (3) to move up and down, a rotating shaft 1 (304) is fixedly connected to the frame (301), a fixed block (305) is fixedly connected to the rotating shaft 1 (304), and a rotating joint 2 (306) is fixedly connected to the fixed block (305), A second rotating shaft (307) is fixedly connected below the second rotating joint (306), a fifth rotating shaft (401) is fixedly connected below the second rotating shaft (307), a third rotating shaft (308) is fixedly connected below the fifth rotating shaft (401), a rotating wheel (403) is fixedly connected to the third rotating shaft (308), a universal joint (309) is fixedly connected below the third rotating shaft (308), a grinding disc (310) is fixedly connected below the universal joint (309), a pressure sensor (311) is fixedly connected to the grinding disc (310), and the third rotating shaft (308) is used to control the rotation of the grinding disc (310).

4. The bottom corner welding device for installation of large electromechanical equipment according to claim 3 is characterized in that: The welding mechanical arm (2) is fixedly connected to the moving seat (103).

5. The bottom corner welding device for installation of large electromechanical equipment according to claim 4 is characterized in that: The base mechanism (1), the welding mechanical arm (2), the grinding mechanical arm (3), and the wind direction adjustment mechanism (4) are connected to a control system.

6. A system of bottom corner welding equipment for installation of large electromechanical equipment according to claim 5, characterized in that: The steps include: The size range of the weld detected by the sensor (105) is D1 and D2, where D1 represents a larger weld; D2 represents a smaller weld; The temperature sensor (409) detects a temperature range of W1 and W2, wherein W1 represents a temperature at which normal welding seam grinding can be performed immediately; W2 represents a temperature that is too high and normal grinding cannot be performed immediately; The thickness range of the weld detected by the sensor (105) is X1, X2, and X3, wherein X2 represents a medium weld thickness; X1 represents a relatively thin weld thickness; and X3 represents a relatively thick weld thickness; The sensor (105) detects that the amount of debris produced by grinding the grinding disc (310) per unit length ranges from N1, N2, and N3, wherein N2 represents a normal amount of debris produced by grinding per unit length; N1 represents a small amount of debris produced by grinding per unit length; and N3 represents a large amount of debris produced by grinding per unit length. S10: When the control system controls the sensor (105) to detect that the weld is large, the sensor (105) detects the weld thickness, the temperature sensor (409) detects the temperature around the weld, and adjusts the parameters of the grinding robot arm (3) according to the thickness and temperature of the weld to grind the bottom corner welding of the large electromechanical machine; S20: When the control system controls the sensor (105) to detect the size of the weld, the sensor (105) detects the weld thickness, the temperature sensor (409) detects the temperature around the weld, and adjusts the parameters of the grinding robot arm (3) according to the thickness and temperature of the weld to grind the bottom corner welding of the large electromechanical machine.

7. A system of bottom corner welding equipment for installation of large electromechanical equipment according to claim 6, characterized in that: The step S10 includes the following specific steps: S110: When the control system receives the welding thickness detected by the sensor (105) as X2 and the detection result of the temperature sensor (409) as W1, the control system preliminarily determines that the weld is large and the welding quality is average, there are many uneven parts on the weld surface, and the temperature around the weld is normal, and grinding can be started immediately. The control system adjusts the grinding strategy, controls the motor 2 (303) to maintain a normal movement speed, increases the rotation speed of the grinding disc (310) to 1200 revolutions per minute, and controls the shaft 3 (308) to maintain a uniform rotation speed, then starts the motor 1 (104), and drives the motor 2 (303) to rotate at a constant speed. The movable seat (103) moves at a constant speed and starts grinding and removing impurities from the weld together with the rotating grinding disc (310). At the same time, the rotation of the rotating shaft (308) also drives the wind direction adjustment mechanism (4) to work, driving air to flow out from the adjustment tube (407) for cooling and blowing away debris during grinding. During this process, the pressure sensor (311) sets the contact pressure between the grinding disc (310) and the grinding point to normal pressure to ensure the grinding effect. At the same time, the sensor (105) detects the amount of debris generated by the grinding disc (310) per unit length in real time, and performs the following specific controls based on the detection results: S1110: When the detected debris amount N1 is less than a preset normal threshold value N2, the control system determines that the welding quality is high. At this time, the control system adjusts the grinding strategy to reduce the rotation speed of the grinding disc (310) and the contact pressure with the welding part to prevent the welding part from being damaged due to excessive grinding; S1120: When the detected debris amount is equal to the preset normal threshold value N2, the control system determines that the welding quality is good and meets expectations. At this time, the grinding disc (310) maintains a normal rotation speed and a normal contact pressure with the welding point, as well as a uniform welding speed, and continues the grinding operation; S1130: When the detected debris amount N3 is greater than the preset normal threshold value N2, the control system determines that the welding quality is low and there are slag inclusion and porosity defects. At this time, the control system adjusts the grinding strategy, increases the rotation speed of the grinding disc (310) and increases the contact pressure with the welding point to enhance the grinding intensity, improve the weld quality, and reduce the probability of product rework; S120: When the control system receives the welding thickness detected by the sensor (105) as X1 and the detection result of the temperature sensor (409) as W1, the control system preliminarily determines that the weld is large and the welding quality is high, the weld thickness is thin, the weld surface is relatively smooth, and the temperature around the weld is normal, and grinding can be started immediately. The control system adjusts the grinding strategy, controls the motor 2 (303) to maintain a normal movement speed, controls the grinding disc (310) to rotate at a speed of 1000 revolutions per minute, and controls the shaft 3 (308) to rotate at a constant speed. Subsequently, the motor 1 (104) is started. The movable seat (103) is driven to move at a constant speed, and together with the rotating grinding disc (310), the weld is started to be ground and impurities are removed. At the same time, the rotation of the rotating shaft (308) also drives the wind direction adjustment mechanism (4) to work, driving air to flow out from the adjustment tube (407) for cooling and blowing away debris during grinding. In this process, the pressure sensor (311) controls to reduce the contact pressure between the grinding disc (310) and the grinding point to ensure the grinding effect. At the same time, the sensor (105) detects the amount of debris generated by the grinding disc (310) per unit length in real time, and performs the following specific controls according to the detection results: Repeat the comparison step S1110; S130: When the control system receives the welding thickness detected by the sensor (105) as X3 and the detection result of the temperature sensor (409) as W2, the control system preliminarily determines that the weld is large and the welding quality is poor, there are weld discontinuities and pore defects, and the temperature around the weld is too high, and grinding cannot be started immediately. The control system adjusts the grinding strategy. The control system controls the motor 2 (303) to reduce the movement speed according to the temperature reduction speed based on the temperature at the weld detected by the temperature sensor (409) and the temperature reduction speed, and at the same time controls the grinding disc (310) to gradually increase the rotation speed, gradually increasing from 1000 revolutions per minute to 1400 revolutions per minute, and controls the rotating shaft 3 (308) to maintain uniform accelerated rotation. The rotation of the grinding disc (310) drives air flow to speed up the welding process. The temperature reduction speed is set to reduce the temperature around the weld to W1 when the grinding disc (310) contacts the weld, and normal grinding of the weld begins. Subsequently, the motor 1 (104) is started to drive the moving seat (103) to move at a constant speed, and together with the rotating grinding disc (310), the weld is ground and impurities are removed. At the same time, the rotation of the rotating shaft 3 (308) also drives the wind direction adjustment mechanism (4) to work, driving air to flow out from the adjustment tube (407) for cooling and blowing away debris during grinding. During this process, the pressure sensor (311) controls to increase the contact pressure between the grinding disc (310) and the grinding point to ensure the grinding effect. At the same time, the sensor (105) detects the amount of debris generated by the grinding disc (310) per unit length in real time, and performs the following specific controls based on the detection results: Repeat the comparison step S1110.

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