Biomass boiler assembly machining and welding equipment

Abstract

The invention relates to the technical field of automatic welding, and particularly discloses biomass boiler assembly machining and welding equipment which comprises moving equipment, the moving equipment is used for driving a to-be-welded part to be close to the welding position of a boiler, and an adsorption plate used for adsorbing the part is rotationally mounted on the moving equipment; a first driving piece for driving the adsorption plate to rotate to adjust the angle of the part is mounted on one side of the adsorption plate; a laser welding head is rotationally mounted on one side of the mobile equipment through a rotating disc, the rotating disc rotates through a second driving part, a first telescopic device used for enabling the laser welding head to be close to or away from the central axis of the rotating disc is connected between the laser welding head and the rotating disc, and the laser welding head is aligned to the to-be-welded contour of the part and the boiler; the laser welding head is driven by the rotating disc to form an annular welding path, the welding smoothness and speed can be improved, and the problem that heat input per unit area is remarkably increased is solved through continuous output of the protective gas.

Description

Technical Field

[0001] The invention relates to the technical field of automated welding, and in particular to a biomass boiler component processing and welding device. Background Art

[0002] Prior art publication number CN114769853B discloses a laser welding device for circular welding. The technology includes a frame and a welding bracket installed on the frame. The welding bracket is used to install a laser welding head. The laser welding device for circular welding also includes a workpiece fixture and a rotating drive member. The workpiece fixture is rotatably connected to the frame. The rotating drive member is connected to the frame through a guide structure. A rotating head is fixedly installed on the shaft end of the rotating drive member. The laser welding device for circular welding positions the workpiece, improves the close fit and coaxiality of the two workpieces to be welded, not only improves the welding accuracy during circular welding, but also has a simple device structure and simple procedures, and also speeds up the welding efficiency to meet the development needs of modern industry. When welding parts, rapid cooling will intensify the phase change of metal structure, leading to the formation of hard and brittle phases (such as martensite), especially for materials such as carbon steel and low alloy steel, which are prone to hydrogen-induced cracking. For example, when the welding speed exceeds 8m / min, the cooling rate is too high, which will prevent the diffusible hydrogen from escaping, increasing the risk of cold cracking; Too slow cooling can also have an impact: long-term high temperature can cause thin plates (such as 1-3mm stainless steel) to warp or collapse, especially low-melting-point materials (such as aluminum and magnesium alloys) are more likely to cause uncontrolled diffusion of the molten pool due to heat accumulation. Slow cooling allows heat to be transferred more fully to the surrounding parent material, expanding the heat-affected zone (HAZ), resulting in coarsening of the material grains and a decrease in hardness. For example, aluminum alloys have a significant softening problem after welding. Too slow cooling prolongs the processing cycle, increases energy consumption and equipment occupancy time, and increases unit costs. In addition, oil stains (such as grease, mold release wax, workers' touch or accidental contamination during production) will quickly boil and vaporize under the high temperature of the laser, and the generated gas cannot overflow the molten pool in time, resulting in the formation of pores inside the weld or explosion points on the surface. For example, when welding stainless steel or aluminum alloy, uncleaned oil stains may increase the porosity by more than 30%, directly reducing the density and tensile strength of the weld; In the prior art, when welding the end cover of a biomass boiler to the boiler, the end cover with a welding machine is usually fixed at the welding position of the boiler by a bracket, and then welding is performed. Since the contour of the welded parts is irregular, the prior art usually uses a multi-axis moving component to drive the laser welding head to move on the welding path. The disadvantage of this is that the multi-axis moving component needs to fine-tune the accuracy of the path for complex paths. In this process, the laser welding head will continuously release heat, which significantly increases the heat input per unit area of ​​the part, causing the molten pool to be in a high temperature state for a long time, resulting in coarsening of the material grains and a decrease in hardness, causing the part to warp or collapse. Summary of the invention

[0003] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0004] The present invention provides a biomass boiler component processing and welding equipment, which can solve the problem that "the laser welding head continuously increases the heat input per unit area of ​​the parts significantly, causing the molten pool to be in a high temperature state for a long time, resulting in coarsening of material grains, reduction of hardness, and warping or collapse of the parts". The specific scheme is as follows: A biomass boiler component processing and welding device comprises a mobile device, the mobile device is used to drive the parts to be welded to approach the welding position of the boiler, an adsorption plate for adsorbing the parts is rotatably installed on the mobile device, and a first driving member for driving the adsorption plate to rotate to adjust the angle of the parts is installed on one side of the adsorption plate; A laser welding head is installed on one side of the mobile device through a rotating disk, and the rotating disk is rotated by a second driving member. A first telescopic device is connected between the laser welding head and the rotating disk, which is used to make the laser welding head approach or move away from the central axis of the rotating disk, so that the laser welding head is aligned with the contours of the parts and the boiler to be welded; The mobile device is equipped with a scanning component and an industrial computer. The scanning component is used to scan the welding contour data of the boiler and send it to the industrial computer. The industrial computer controls the mobile device to move closer to the welding position according to the data, and then the first driving member moves to align the parts on the adsorption plate with the contour to be welded on the boiler. The industrial computer generates a welding path according to the data signal, and drives the laser welding head to move on the contour to be welded through the cooperation of the first telescopic device and the rotating disk. By setting a rotating disk, the laser welding head can be driven to move in a circular motion, and a first telescopic device is connected between the laser welding head and the rotating disk, which can move the laser welding head away from or close to the rotating disk. Therefore, through the synergistic effect of the first telescopic device and the rotating disk, and the advance planning of the path by the industrial computer, the laser welding head can be moved along the welding contour line of the irregular parts, so as to achieve smooth and fast welding, avoid a significant increase in the heat input per unit area of ​​the parts, and further avoid thermal deformation of the parts.

[0005] Preferably, a grinding assembly is installed on the rotating disk, and the grinding assembly grinds along the contours of the parts and the boiler to be welded. During welding, the positions of the grinding assembly and the laser welding head are relatively stationary.

[0006] Preferably, a blowing assembly for blowing out protective gas is installed on the rotating disk, and the blowing assembly blows along the welding contour of the parts and the boiler. During welding, the positions of the blowing assembly and the laser welding head are relatively stationary.

[0007] Preferably, the grinding assembly comprises: The grinding wheel has a taper that matches the angle between the part and the boiler. During grinding, the outer wall of the grinding wheel contacts the part and the boiler respectively. A third driving member is used to drive the grinding wheel to rotate; The first connecting frame is relatively stationary with the laser welding head during operation, and the grinding wheel and the third driving member are connected to the first connecting frame.

[0008] Preferably, the blowing assembly comprises: The blowing nozzle has its blowing direction aligned with the position of the laser welding head after welding; The gas storage tank is installed on the mobile device and connected to the blowing nozzle through a solenoid valve and a pipeline.

[0009] Preferably, a third telescopic device is fixedly connected to the top of the first connecting frame, a second bracket is fixedly connected to the top of the third telescopic device, the other end of the second bracket is fixedly connected to the outer wall of the rotating disk, a cleaning plate is provided on one side of the grinding wheel, the cleaning plate is fixedly connected to the first connecting frame through a connecting seat, the shape of the cleaning plate matches the side shape of the grinding wheel, and a metal brush is connected to the side of the cleaning plate close to the grinding wheel.

[0010] Preferably, the gas storage tank is connected to the blowing nozzle through a solenoid valve and a pipeline, a second connecting frame is arranged outside the blowing nozzle, a fourth telescopic device is connected to the top of the second connecting frame, a third bracket is connected to the top of the fourth telescopic device, and the third bracket is fixed on the rotating disk.

[0011] Preferably, the outer wall of the rotating disk is connected to a first limiting ring, one end of the rotating plate is connected to a second limiting ring, one end of the pipe is connected to the air inlet end of the blowing nozzle and then connected to the air storage tank through the first limiting ring and the second limiting ring in sequence, and a storage section is provided at the part where the pipe is connected to the air storage tank.

[0012] Preferably, the rear end of the adsorption plate is also connected to a first gear ring, a first gear is fixedly mounted on the output shaft of the first driving member, the first gear is meshed with the first gear ring, a second gear ring is fixedly connected around the rotating disk, a second gear is connected to the output shaft of the second driving member, the second gear is meshed with the second gear ring.

[0013] Preferably, the scanning assembly is composed of a plurality of visual sensors, and the plurality of visual sensors are mounted on a side of the adsorption plate close to the parts. The industrial computer is mounted on the rotating plate and then connected to the visual sensors by wireless or wired means.

[0014] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects: 1. The present invention can drive the laser welding head to move in a circular motion by setting a rotating disk, and a first telescopic device is also connected between the laser welding head and the rotating disk, which can make the laser welding head move away from or close to the rotating disk. Therefore, through the synergistic effect of the first telescopic device and the rotating disk, and the advance planning of the path by the industrial computer, the laser welding head can move along the welding contour line of the irregular part, so as to achieve smooth and fast welding, avoid a significant increase in the heat input per unit area of ​​the part, and further avoid thermal deformation of the part.

[0015] 2. The present invention uses a rotating disk to drive the laser welding head to form an annular welding path, which can improve the smoothness and speed of welding, and continuously output the protective gas to reduce the problem of significantly increased heat input per unit area.

[0016] 3. The present invention provides a grinding assembly so that the position to be welded can be polished before welding, thereby removing grease or dirt from the welding position of the parts and the boiler, thereby avoiding the formation of pores inside the weld or explosion points on the surface.

[0017] 4. The present invention integrates the functions of welding, grinding and blowing protection, and drives the laser welding head to move in a circle through a rotating disk. Grinding can be performed immediately after welding, and the weld can be protected by argon blowing to reduce oxidation and deformation, thereby realizing integrated welding and post-processing operations and improving processing efficiency and quality.

[0018] 5. The present invention, through the synergistic effect of mobile equipment, rotating plates, lifting plates and adsorption plates, combined with the intelligent control of visual sensors and industrial computers, can accurately adjust the position and angle of parts, ensure that the parts are accurately aligned with the welding contour of the boiler, and automatically complete the welding path planning, significantly improving the welding accuracy and degree of automation.

[0019] Other features and advantages of the present invention will be described in the following specific embodiments, and part of them will become obvious from the description, or will be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them: Figure 1 It is a stereoscopic diagram of the present invention before overall processing; Figure 2 It is a first state diagram of the present invention during overall processing; Figure 3 It is a second state diagram of the present invention during overall processing; Figure 4 It is a third state diagram of the present invention during overall processing; Figure 5 It is an overall side view of the present invention; Figure 6 It is an overall exploded view of the present invention; Figure 7 A perspective view of the boiler and parts removed for the present invention; Figure 8 The other side perspective view with the boiler and parts removed for the present invention; Fig. 9 It is a cross-sectional view from a first viewing angle of the present invention; Fig.10 It is a cross-sectional view from a second viewing angle of the present invention; Fig.11 A three-dimensional diagram of the laser welding head and the rotating disk of the present invention; Fig.12 A three-dimensional diagram of the grinding assembly and the rotating disk of the present invention; Fig.13 A perspective view of a grinding assembly of the present invention; Fig.14 is a three-dimensional diagram of a cleaning plate of the present invention; Fig.15 It is a stereoscopic view of the blowing assembly and the rotating disk of the present invention.

[0021] The reference numerals are as follows: 1. Boiler; 2. Parts; 3. Welding profile; 4. Rotating plate; 5. Slide plate; 6. Slide rail; 7. Articulated seat; 8. Fourth drive member; 9. Adsorption plate; 10. First drive member; 11. First gear; 12. First gear ring; 13. Rotating disk; 14. Second drive member; 15. Second gear ring; 16. Second gear; 17. Lifting plate; 18. Second telescopic device; 19. Laser welding head; 20. Electromagnet; 21. Annular track; 22. Negative pressure pump; 23. Negative pressure pipe; 24. Spring ; 25. First telescopic device; 26. First bracket; 27. Grinding wheel; 28. First connecting frame; 29. ​​Third driving member; 30. Third telescopic device; 31. Second bracket; 32. Cleaning plate; 33. Metal brush; 34. Connecting seat; 35. Blowing nozzle; 36. Second connecting frame; 37. Fourth telescopic device; 38. Third bracket; 39. Pipeline; 40. Gas tank; 41. Storage section; 42. First limiting ring; 43. Second limiting ring; 44. Visual sensor; 45. Hydraulic rod. DETAILED DESCRIPTION

[0022] Preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present invention and are used to explain the principles of the present invention together with the embodiments of the present invention.

[0023] Embodiment 1: Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, this embodiment provides a biomass boiler component processing and welding device, including a mobile device, the mobile device includes a rotating plate 4, a slide plate 5, a slide rail 6 and a hinge seat 7, the hinge seat 7 is fixedly connected to the slide plate 5, the slide rail 6 is fixed to one side of the boiler 1 to be processed, the slide plate 5 is slidably connected to the slide rail 6, and the slide plate 5 can be driven to slide on the slide rail 6 by a linear motor, the two ends of the rotating plate 4 are respectively hinged to the two hinge seats 7, one end of one of the hinge seats 7 is also installed with a fourth driving member 8, the output shaft of the fourth driving member 8 is connected to one end of the rotating plate 4, thereby driving the rotating plate 4 to rotate; wherein, the mobile device is used to drive the parts 2 to be welded to move closer to the welding position of the boiler 1; like Figure 6 , Figure 7 , Figure 8 As shown in FIG. 1 , as a possible embodiment, a lifting plate 17 is provided on one side of the rotating plate 4, and a limiting slider and a limiting slot are provided on the side of the lifting plate 17 adjacent to the rotating plate 4, respectively, wherein the cross-sectional shapes of the limiting slider and the limiting slot are both T-shaped, and the lifting plate 17 is slidably connected to the rotating plate 4, as shown in FIG. Figure 5As shown, a second telescopic device 18 is connected between the bottom end of the lifting plate 17 and the bottom of the rotating plate 4. The second telescopic device 18 can drive the lifting plate 17 to move up and down, so that the part 2 adsorbed thereon can be adjusted in height up and down, so that the part 2 can overlap with the contour 3 to be welded of the boiler 1; like Fig. 9 , Fig.10 As shown, a suction plate 9 for adsorbing the part 2 is rotatably installed on the mobile device, and a first driving member 10 is installed on one side of the suction plate 9. The first driving member 10 is a servo motor or a stepping motor. The first driving member 10 drives the suction plate 9 to rotate to adjust the angle of the part 2. The rear end of the suction plate 9 is rotatably connected to the lifting plate 17 through a plane bearing. A first gear ring 12 is also connected to the rear end of the suction plate 9. The first driving member 10 is installed at one end of the lifting plate 17. The position where the lifting plate 17 is installed with the first driving member 10 extends to one side of the rotating plate 4. In order to allow the lifting plate 17 to rotate, the first driving member 10 is installed on the lifting plate 17. When the plate 17 is lifted or lowered, it does not cause motion interference with the rotating plate 4. Therefore, an avoidance groove is opened at the position where the rotating plate 4 matches the first driving member 10. The avoidance groove can allow the lifting plate 17 and the first driving member 10 to move up and down for a certain distance. A first gear 11 is fixedly installed on the output shaft of the first driving member 10. The first gear 11 is meshed with the first gear ring 12, so that the first driving member 10 can drive the first gear ring 12 and the adsorption plate 9 to rotate, thereby realizing the effect of "the first driving member 10 drives the adsorption plate 9 to rotate to adjust the angle of the part 2".

[0024] like Fig. 9 As shown, in order to realize the adsorption effect of the adsorption plate 9 on the part 2, an electromagnet 20 is arranged on the adsorption plate 9. In order to install the electromagnet 20, a movable groove is opened on one side of the adsorption plate 9, and a spring 24 is connected between the electromagnet 20 and the inner wall of the movable groove. A negative pressure pump 22 is connected to the rear end of the rotating plate 4, and the negative pressure pump 22 is connected to the movable groove through a negative pressure pipe 23, and the negative pressure pipe 23 is made of soft material. In order to prevent the lifting plate 17 from generating motion interference with the rotating plate 4 when lifting, an avoidance groove is also opened at the position where the rotating plate 4 matches the negative pressure pipe 23. The avoidance groove can allow the lifting plate 17 and the negative pressure pipe 23 to move up and down for a distance, and a through hole is opened in the middle of the electromagnet 20, and the through hole can allow the outside to communicate with the inside of the movable groove; It should be noted that, in the above scheme, as a possible implementation method, when the magnetic part 2 is adsorbed, only the electromagnet 20 is used to adsorb the part 2; When adsorbing a weakly magnetic or non-magnetic part 2, while the electromagnet 20 is running, a negative pressure is formed inside the movable groove through the negative pressure pump 22, and under the action of the negative pressure, the electromagnet 20 also moves toward the inside of the movable groove, and under the connection of the through hole, the contact position of the electromagnet 20 and the part 2 can also form a negative pressure condition, so that the part 2 is tightly adsorbed on the adsorption plate 9, achieving the effect of adsorbing the part 2; like Figure 7 , Fig. 9 As shown, a laser welding head 19 is rotatably installed on one side of the mobile device through a rotating disk 13, a ring track 21 is fixedly connected to one side of the rotating plate 4 close to the rotating disk 13, the rotating disk 13 is rotatably installed on the ring track 21, and the cross-sections of the ring track and the rotating disk 13 respectively have a T-shape that is interlocked with each other, the second driving member 14 is a servo motor or a stepping motor, a second gear ring 15 is fixedly connected around the rotating disk 13, a second gear 16 is connected to the output shaft of the second driving member 14, and the second gear 16 is meshed with the second gear ring 15, so that when the second driving member 14 is started, the second gear ring 15 is driven to rotate by the second gear 16, and the rotating disk 13 is connected to rotate, so that the rotating disk 13 can realize self-rotation through the second driving member 14.

[0025] like Fig.11 As shown, a first telescopic device 25 is also connected between the laser welding head 19 and the rotating disk 13. The first telescopic device 25 drives the laser welding head 19 to approach or move away from the central axis of the rotating disk 13, so that the laser welding head 19 is aligned with the welding contour 3 of the part 2 and the boiler 1. The first telescopic device 25 and the rotating disk 13 are connected by a first bracket 26, so that the first telescopic device 25 and the rotating disk 13 rotate synchronously.

[0026] Embodiment 2: Fig.12 , Fig.13 As shown, the technical solution of this embodiment is different from that of the first embodiment in that the present embodiment also includes a grinding assembly, which includes a grinding wheel 27, a first connecting frame 28 and a third driving member 29; the taper of the grinding wheel 27 matches the angle between the part 2 and the boiler 1, and when grinding, the outer wall of the grinding wheel 27 contacts the side adjacent to the part 2 and the boiler 1 respectively, and the third driving member 29 is used to drive the grinding wheel 27 to rotate, and the third driving member 29 is a servo motor or a stepping motor, and the third driving member 29 is installed inside the first connecting frame 28, wherein the output shaft of the third driving member 29 is connected to one end of the grinding wheel 27, and the top of the first connecting frame 28 is fixedly connected to a third telescopic device 30, and the third telescopic device 30 is a linear motor, and the top of the third telescopic device 30 is fixedly connected to a second bracket 31, and the other end of the second bracket 31 is fixedly connected to the outer wall of the rotating disk 13; like Fig.14As shown, when the grinding wheel 27 is grinding the outer wall of the part 2 and the boiler 1, metal debris may adhere to the grinding wheel 27. Therefore, in order to clean the grinding wheel 27 to a certain extent and keep it in the best grinding state, a cleaning plate 32 is provided on one side of the grinding wheel 27. The cleaning plate 32 is fixedly connected to the first connecting frame 28 through a connecting seat 34, and the shape of the cleaning plate 32 matches the side shape of the grinding wheel 27. A metal brush 33 is connected to the side of the cleaning plate 32 close to the grinding wheel 27. The metal brush 33 can be Fig.13 The V-shaped sheet structure shown may also be in the form of densely distributed thin rods (not shown in the figure).

[0027] Embodiment 3: Fig.15 As shown, the technical solution of this embodiment is different from that of the first embodiment in that this embodiment also includes a blowing assembly, which blows along the welding contour 3 of the part 2 and the boiler 1, and the blown gas is argon. During welding, the blowing assembly and the laser welding head 19 are relatively stationary, and the blowing assembly includes a blowing nozzle 35 and a gas storage tank 40. The blowing direction of the blowing nozzle 35 is aligned with the position of the laser welding head 19 after welding. The gas storage tank 40 is installed on one side of the rotating plate 4, and the gas storage tank 40 is connected to the blowing nozzle 35 through a solenoid valve and a pipeline 39; a second connecting frame 36 is provided on the outside of the blowing nozzle 35, and a fourth telescopic device 37 is connected to the top of the second connecting frame 36, and the fourth telescopic device 37 is a linear motor. The top of the fourth telescopic device 37 is connected to a third bracket 38, and the third bracket 38 is fixed on the rotating disk 13; It should be noted that, in the above solution, the gas blown out by the blowing nozzle 35 can fall on the intersection of the laser emitted by the laser welding head 19 and the contour 3 to be welded, so as to cool down the welded part.

[0028] As a possible embodiment, the outer wall of the rotating disk 13 is connected to a first limiting ring 42, one end of the rotating plate 4 is connected to a second limiting ring 43, one end of the pipe 39 is connected to the air inlet end of the blowing nozzle 35, and then connected to the air storage tank 40 through the first limiting ring 42 and the second limiting ring 43 in sequence, and a storage section 41 is provided at the part where the pipe 39 is connected to the air storage tank 40, and the storage section 41 is S-shaped or spiral, and the outer wall of the storage section 41 is provided with magnetic material, and when not subject to external force, the pipe 39 on the storage section 41 is adsorbed into an S shape or a spiral shape.

[0029] Embodiment 4: The technical solution of this embodiment is different from that of embodiment 1 in that, in this embodiment, a scanning component and an industrial computer are also installed on the mobile device, and the scanning component is composed of a plurality of visual sensors 44 and laser rangefinders, for example, three. The three visual sensors 44 are respectively installed on the left and right sides and the bottom of the adsorption plate 9, and the industrial computer is installed on the rotating plate 4 or other facilities on the ground, and then connected to the visual sensor 44 by wireless or wired means. The scanning component is used to scan the data of the contour 3 to be welded of the boiler 1 and send it to the industrial computer. The industrial computer controls the mobile device to move toward the welding position according to the data, and then the first driving member 10 moves to align the part 2 on the adsorption plate 9 with the contour 3 to be welded on the boiler. The industrial computer forms a welding path according to the data signal, and drives the laser welding head to move on the contour line to be welded of the part 2 and the boiler 1 through the cooperation of the first telescopic device 25 and the rotating disk 13 to achieve welding; The specific implementation process is as follows: S1. The rotating plate 4 is driven to rotate by the fourth driving member 8, so that the adsorption plate 9 rotates synchronously with the rotating plate 4, so that the rotating plate 4 and the adsorption plate 9 are in a horizontal or inclined state, and then the part 2 to be welded is placed on the adsorption plate 9, and in order to make the part 2 just in the middle of the adsorption plate 9, baffles are provided on both sides or all around the adsorption plate 9, so that the part 2 can be accurately installed on the adsorption plate 9. After installation, if the part 2 is made of magnetic material, the electromagnet 20 is started to generate magnetic force to adsorb the part 2 on the adsorption plate 9. If the part 2 is made of weak magnetic or non-magnetic material, when the electromagnet 20 is started, the negative pressure pump 22 is started, and negative pressure is formed inside the movable groove by the negative pressure pump 22. Under the action of negative pressure, the electromagnet 20 also moves toward the inside of the movable groove, and under the action of the connection of the through hole, the contact position of the electromagnet 20 and the part 2 can also form a negative pressure condition, so that the part 2 is tightly adsorbed on the adsorption plate 9, so as to achieve the effect of adsorbing the part 2. S2. Next, the fourth driving member 8 drives the rotating plate 4 and the adsorption plate 9 to rotate to a vertical state, and then drives the slide plate 5 to move on the slide rail 6 through the linear motor, gradually approaching the welding position of the boiler 1 to be processed. During this movement, the contour 3 to be welded is scanned by a plurality of visual sensors 44 to generate image information, and the distance between the part 2 and the contour 3 to be welded is detected by the laser rangefinder, and then the CPU of the industrial computer plans the moving distance of the linear motor according to the image information; S3. After the mobile device drives the part 2 to the side of the contour 3 to be welded of the boiler 1, the industrial computer controls the first driving member 10 to drive the first gear 11 to rotate through the first driving member 10, and then the first gear 11 drives the first gear ring 12 at one end of the adsorption plate 9 to rotate, so as to adjust the angle of the adsorption plate 9, and then according to the real-time feedback of the image recognition signal, the contour around the part 2 on the adsorption plate 9 is made to coincide with the contour 3 to be welded, and then the mobile device is further moved closer to the boiler 1 to make the part 2 contact with the boiler; S4. At this time, the industrial computer controls the first telescopic device 25, and then the first telescopic device 25 drives the laser welding head 19 to adjust up and down, so that the laser beam of the laser welding head 19 intersects with the contour 3 to be welded; The industrial computer controls the third telescopic device 30 to drive the grinding wheel 27 to adjust up and down, so that the working surface of the grinding wheel 27 contacts the part 2 and the side wall of the boiler 1, thereby removing grease and dirt from the part 2 and the side wall of the boiler 1; The industrial computer controls the fourth telescopic device 37 to drive the blowing nozzle 35 to adjust up and down, so that the gas blown out of the blowing nozzle 35 can fall on the intersection of the laser welding head 19 and the contour 3 to be welded; S5, the second driving member 14 drives the second gear 16 to rotate, and the second gear 16 drives the second gear ring 15 to rotate, so that the rotating disk 13 rotates, thereby driving the laser welding head 19, the grinding wheel 27 and the blowing nozzle 35 to rotate. After working for one circle, the second driving member 14 drives the rotating disk 13 to return along the path (the purpose of this is to automatically return the pipe 39 and the storage section 41 at one end of the pipe 39 to their original positions); It should be noted that after welding is completed, the negative pressure pump 22 and the electromagnet 20 can be turned off, and the welded part 2 is supported only by the hydraulic rod 45 and the support plate at the top thereof, and then after the weld is completely firm, the entire mobile device is withdrawn; It should also be noted that the above steps can also be used to perform fully automatic welding on the subsequent part 2 through advance debugging.

[0030] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0031] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the embodiments of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] In the embodiments of the present application, the devices or elements referred to or implied must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present application. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise precisely and specifically specified.

[0033] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A biomass boiler component processing and welding device, comprising a mobile device, the mobile device is used to drive the parts to be welded (2) to move closer to the welding position of the boiler (1), characterized in that: An adsorption plate (9) for adsorbing the part (2) is rotatably mounted on the mobile device, and a first driving member (10) for driving the adsorption plate (9) to rotate so as to adjust the angle of the part (2) is mounted on one side of the adsorption plate (9); A laser welding head (19) is rotatably mounted on one side of the mobile device via a rotating disk (13), the rotating disk (13) drives the second driving member (14) to rotate, and a first telescopic device is connected between the laser welding head (19) and the rotating disk (13) for moving the laser welding head (19) closer to or farther away from the central axis of the rotating disk (13), so that the laser welding head (19) is aligned with the contour (3) to be welded of the part (2) and the boiler (1); The mobile device is equipped with a scanning component and an industrial computer. The scanning component is used to scan the welding contour data of the boiler and send it to the industrial computer. The industrial computer controls the mobile device to move toward the welding position according to the data. Then the first driving member moves to align the part (2) on the adsorption plate (9) with the contour to be welded on the boiler. The industrial computer generates a welding path according to the data signal and drives the laser welding head (19) to move on the contour to be welded (3) through the cooperation of the first telescopic device and the rotating disk (13).

2. A biomass boiler component processing and welding equipment as claimed in claim 1, characterized in that: A grinding assembly is mounted on the rotating disk (13), and the grinding assembly grinds along the contours (3) to be welded of the parts (2) and the boiler (1). During welding, the grinding assembly and the laser welding head (19) are relatively stationary.

3. The biomass boiler component processing and welding equipment according to claim 1, characterized in that: A blowing assembly is mounted on the rotating disk (13), and the blowing assembly blows along a welding contour (3) of the part (2) and the boiler (1). During welding, the blowing assembly and the laser welding head (19) are relatively stationary.

4. A biomass boiler component processing and welding equipment as claimed in claim 2, characterized in that: The grinding kit includes: A grinding wheel, the taper of which matches the angle between the part (2) and the boiler (1), and during grinding, the outer wall of the grinding wheel contacts the part (2) and the boiler (1) respectively; A third driving member (29) is used to drive the grinding wheel (27) to rotate; The first connecting frame (28) is relatively stationary with the laser welding head (19) during operation, and the grinding wheel (27) and the third driving member (29) are connected to the first connecting frame (28).

5. The biomass boiler component processing and welding equipment according to claim 3, characterized in that: The air blowing assembly includes: A blowing nozzle (35) whose blowing direction is aligned with the position of the laser welding head (19) after welding; The gas storage tank (40) is installed on the mobile device and is connected to the air blowing nozzle (35) via a solenoid valve and a pipeline (39).

6. A biomass boiler component processing and welding equipment as claimed in claim 4, characterized in that: A third telescopic device (30) is fixedly connected to the top of the first connecting frame (28); a second bracket (31) is fixedly connected to the top of the third telescopic device (30); the other end of the second bracket (31) is fixedly connected to the outer wall of the rotating disk (13); a cleaning plate (32) is provided on one side of the grinding wheel (27); the cleaning plate (32) is fixedly connected to the first connecting frame (28) via a connecting seat (34); the shape of the cleaning plate (32) matches the side shape of the grinding wheel (27); and a metal brush (33) is connected to the side of the cleaning plate (32) close to the grinding wheel (27).

7. A biomass boiler component processing and welding equipment as claimed in claim 5, characterized in that: The gas storage tank (40) is connected to the air blowing nozzle (35) via a solenoid valve and a pipeline (39); a second connecting frame (36) is provided outside the air blowing nozzle (35); a fourth telescopic device (37) is connected to the top of the second connecting frame (36); a third bracket (38) is connected to the top of the fourth telescopic device (37); and the third bracket (38) is fixed on the rotating disk (13).

8. A biomass boiler component processing and welding equipment as claimed in claim 7, characterized in that: The outer wall of the rotating disk (13) is connected to a first limiting ring (42), one end of the rotating plate (4) is connected to a second limiting ring (43), one end of the pipeline (39) is connected to the air inlet end of the blowing nozzle (35) and then connected to the air storage tank (40) through the first limiting ring (42) and the second limiting ring (43) in sequence, and a storage section (41) is provided at the portion where the pipeline (39) is connected to the air storage tank (40).

9. A biomass boiler component processing and welding equipment as described in any one of claims 1 to 8, characterized in that: The rear end of the adsorption plate (9) is also connected to a first gear ring (12); a first gear (11) is fixedly mounted on the output shaft of the first driving member (10), the first gear (11) meshes with the first gear ring (12); a second gear ring (15) is fixedly connected around the rotating disk (13); a second gear (16) is connected to the output shaft of the second driving member (14), the second gear (16) meshes with the second gear ring (15).

10. A biomass boiler component processing and welding equipment as claimed in any one of claims 1 to 8, characterized in that: The scanning component is composed of a plurality of visual sensors (44), wherein the plurality of visual sensors (44) are mounted on a side of the adsorption plate (9) close to the part (2), and the industrial computer is mounted on the rotating plate (4) and then connected to the visual sensor (44) by wireless or wired means.

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