Distributor shell welding equipment with intelligent cleaning function

Abstract

The invention discloses distributor shell welding equipment with an intelligent cleaning function, and relates to the technical field of intelligent welding equipment.The distributor shell welding equipment comprises a bottom frame, a case, a welding machine mechanical arm, a deslagging mechanism, a clamping mechanism and a recycling mechanism, the deslagging mechanism comprises a base, a distance adjusting mechanism and an air floating mechanism, and the clamping mechanism comprises a first rotary table; the recycling mechanism comprises a bottom plate, a slope table, a machine box, a welding machine mechanical arm and a base, the bottom plate is fixedly connected with the bottom frame, the slope table is fixedly connected with the bottom plate and the first rotary table, the distance adjusting mechanism comprises a laser instrument, the air floating mechanism comprises a servo motor, and the welding machine mechanical arm, the laser instrument, the servo motor and the clamping mechanism are connected with the machine box through electric signals. The self-positioning clamping and assembling distributor shell is accurately positioned and welded, the oxidation degree of welding slag is intelligently recognized, accurate sand blasting and slag removal are achieved, damage caused by the fact that the welding seam cleaning loss threshold value is exceeded is avoided, falling welding slag and abrasive materials are recycled, dust pollution to the working environment is reduced, and the recycling efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent welding equipment, and specifically to a feeder housing welding equipment with an intelligent cleaning function. Background Art

[0002] As a core equipment in industrial production and material handling processes, the feeder plays an irreplaceable role in many key links. Its working principle is based on power drive units such as motors and cylinders to precisely divert materials to different flow channels, and the realization of the flow channels depends on a carefully designed fork-shaped housing structure. However, in the existing process system, the welding process of the feeder housing mostly still relies on manual operation. The manual welding method not only has low efficiency, but also inevitably leads to errors due to the inherent influence of human factors. These errors directly affect the welding quality of the feeder housing, ultimately resulting in a decrease in the material distribution accuracy.

[0003] With the continuous progress of welding technology, automation, robotization, and intelligence have become the main development trends in this field. In the complex process of improving welding quality, the slag cleaning link is particularly crucial. Conducting in-depth analysis of the slag composition is an important research direction for optimizing the cleaning process. The future trend is to achieve efficient, low-damage, and environmentally friendly cleaning through an intelligent link from on-line component detection to real-time adjustment of process parameters to closed-loop feedback of cleaning effects, combined with the synergistic effect of multiple physical fields. Summary of the Invention

[0004] The purpose of the present invention is to provide a feeder housing welding equipment with an intelligent cleaning function to solve the problems in the prior art.

[0005] To achieve the above object, the present invention provides the following technical solution: A feeder housing welding equipment with an intelligent cleaning function includes a chassis, a machine case, a welding robot arm, a slag removal mechanism, a clamping mechanism, and a recycling mechanism. The slag removal mechanism includes a base, an adjustable distance mechanism, and an air floating mechanism. The clamping mechanism includes a first rotating table. The recycling mechanism includes a bottom plate and a ramp table. The machine case, the welding robot arm, the base, and the bottom plate are all fixedly connected to the chassis. The ramp table is fixedly connected to both the bottom plate and the first rotating table. The adjustable distance mechanism includes a laser instrument. The air floating mechanism includes a servo motor. The welding robot arm, the laser instrument, the servo motor, and the clamping mechanism are all electrically connected to the machine case.

[0006] The present invention is an intelligent device for self-positioning and precisely clamping and welding the housing of a material distributor. The clamping mechanism performs self-positioning recognition and clamping, pre-assembling four groups of steel plates that make up the material distributor housing into the material distributor housing. The chassis controls the welding robot arm to perform precise multi-directional welding on the welds of the pre-assembled material distributor housing. After welding is completed, the first turntable drives the material distributor housing to adjust its posture. The slag removal mechanism uses a laser to induce the spectrum of the slag on the weld to identify the different oxidation degrees of the remaining slag, and feeds back an electrical signal to the chassis. The chassis intelligently summarizes and analyzes the oxidation degree of the slag, including porous and fragile slag with low oxidation degree, partially sintered slag with medium oxidation degree containing microcracks, and dense, high-hardness, and high-oxidation slag. The chassis feeds back a control signal to the air flotation mechanism, and the air flotation mechanism adjusts the sandblasting slag removal mode to ensure precise removal of the slag, avoiding damage to the weld caused by sandblasting exceeding the cleaning loss threshold of the weld. The recycling mechanism recovers the fallen slag and abrasive, reducing dust pollution in the working environment and improving the recycling efficiency.

[0007] Further, the slag removal mechanism further includes a three-axis displacement module and an abrasive mechanism. The distance adjustment mechanism further includes a chassis and a ring frame. The abrasive mechanism includes an outer cylinder. The air flotation mechanism further includes a ring shell. The chassis and the base are both fixedly connected to the three-axis displacement module. The outer cylinder is slidably connected to the ring frame. The ring shell is fixedly connected to the outer cylinder. The three-axis displacement module is connected to the chassis through an electrical signal.

[0008] After welding is completed, the first turntable drives the material distributor housing to adjust its posture. The chassis controls the three-axis displacement module to move the abrasive mechanism to the weld position, and ensures that the distance between the abrasive mechanism and the weld is always constant through the distance adjustment mechanism. The air flotation mechanism exhausts air to the outside to generate an air film, and the abrasive mechanism sprays nano-abrasive aerosol onto the slag, completing the non-contact cleaning of the slag by air film suspension. The air flotation mechanism performs a cyclone impact on the nano-abrasive aerosol sprayed by the abrasive mechanism according to the feedback control signal from the chassis, adjusting the flow rate and impact cross-sectional area of the nano-abrasive aerosol impacting the slag to ensure precise removal of the slag.

[0009] Further, the distance adjustment mechanism further includes a spring. The spring is fixedly connected to both the outer cylinder and the chassis. The laser instrument is fixedly connected to the outer cylinder. The abrasive mechanism further includes a regulating valve and a sandblaster. The outer cylinder is provided with side holes. The regulating valve is fixedly connected to the side holes and the sandblaster. The regulating valve is connected to the chassis through an electrical signal.

[0010] The laser instrument is fixedly assembled on the outer cylinder. By using the laser of the laser instrument to induce the spectrum of the slag on the weld, the different oxidation degrees of the remaining slag are identified. The laser instrument identifies the distance between the outer cylinder and the weld according to the laser return time, and feeds back an electrical signal to the chassis. By controlling the air exhaust volume of the air flotation mechanism, the outer cylinder slides along the ring frame to compress the spring, making the distance between the outer cylinder and the weld constant. Through the feedback control signal from the chassis, the regulating valve adjusts the opening degree to control the flow rate of the nano-abrasive aerosol sprayed by the sandblaster.

[0011] Further, the air floating mechanism further includes an inner arc ring and a gear member. The servo motor is fixedly connected to the outer cylinder, and the output end of the servo motor is fixedly connected to the gear member. An arc groove is provided on the ring shell, and an arc gear pair is provided on the inner arc ring. The arc gear pair is slidably connected to the arc groove, and the arc gear pair is meshed with the tooth surface of the gear member.

[0012] The chassis intelligently summarizes and analyzes the oxidation degree of the welding slag into porous and fragile welding slag with low oxidation degree, partially sintered welding slag with medium oxidation degree containing microcracks, and dense and high-hardness welding slag. When the recognized welding slag has a low oxidation degree, due to its porous and fragile characteristics, the regulating valve controls to reduce the flow rate of the nano abrasive aerosol ejected by the sandblaster. The servo motor outputs a fixed-axis torque to the gear member. Through the meshing of the gear member with the tooth surface of the arc gear pair, the inner arc ring is driven to rotate to adjust the air floating mechanism, so that the flow rate of the ejected nano abrasive aerosol is accelerated, the cross-sectional area of the aerosol impacting the welding slag is reduced, and the impact force of the aerosol flow on the welding slag is increased. When reducing the flow rate of the nano abrasive aerosol, the impact force is increased. While ensuring that the impact does not exceed the cleaning loss threshold of the weld, the utilization rate of the nano abrasive aerosol is improved; when the recognized welding slag has a medium oxidation degree of partially sintered with microcracks, the regulating valve controls to increase the flow rate of the nano abrasive aerosol ejected by the sandblaster. By increasing the flow rate of the nano abrasive aerosol, it is ensured that the abrasive can impact and crush the sintered welding slag. At the same time, the inner arc ring rotates to adjust the air floating mechanism, increasing the cross-sectional area of the aerosol impacting the welding slag without decelerating the flow rate of the nano abrasive aerosol, reducing the average force per unit area of the welding slag on the weld, and ensuring that the weld containing partial microcracks will not be damaged due to exceeding the cleaning loss threshold; when the recognized welding slag has a high oxidation degree of dense and high hardness, the regulating valve controls to increase the flow rate of the nano abrasive aerosol ejected by the sandblaster. At the same time, the inner arc ring rotates to adjust the air floating mechanism, reducing the cross-sectional area of the aerosol impacting the welding slag and increasing the average force per unit area of the welding slag on the weld, ensuring that the impact force of the nano aerosol abrasive is increased enough to remove the dense and high-hardness welding slag with high oxidation degree.

[0013] Further, the air floating mechanism further includes a semi-cylindrical member. Air holes, flow valves, and inner ring cavities are further provided on the ring shell. Inclined sliding grooves are further provided on the inner arc ring. The semi-cylindrical member is rotatably connected to the inner ring cavity. There are several groups of the semi-cylindrical members, air holes, inner ring cavities, and inclined sliding grooves. The several groups of semi-cylindrical members, air holes, inner ring cavities, and inclined sliding grooves are evenly distributed along the circumference of the ring shell. The air holes are provided at one end of the ring shell away from the spring. A jet cylinder is provided on the semi-cylindrical member. The jet cylinder is slidably connected to the inclined sliding groove. The flow valve is provided at one end of the ring shell close to the spring.

[0014] The external air pump supplies air into the ring shell through a flow valve, and the gas is discharged through the circumferentially evenly distributed air holes, forming an air film between the ring shell and the weld. The laser instrument identifies the distance between the outer cylinder and the weld, and feeds back an electrical signal to the chassis. The exhaust volume of the air holes is controlled through the flow valve to make the outer cylinder slide along the ring frame and compress the spring, keeping the distance between the outer cylinder and the weld constant. When the slag is identified as having a low degree of oxidation, due to its porous and brittle characteristics, the regulating valve controls to reduce the flow rate of the nano abrasive aerosol ejected by the sandblasting device. In the initial state, the air outlet direction of the air jet cylinder is perpendicular to the ejection direction of the nano abrasive aerosol. The servo motor outputs a fixed-axis torque to the gear part, and drives the inner arc ring to rotate through the meshing of the gear part and the tooth surface of the spiral bevel gear pair. The air jet cylinder slides along the inclined chute. As the air jet cylinder continuously rotates away from the spring in the inner ring cavity, an accelerating rotating air flow in the same direction as the aerosol flow is formed around the nano abrasive aerosol. The radius of the virtual air flow circle formed by the rotating air flow gradually decreases, accelerating the flow rate of the ejected nano abrasive aerosol, reducing the cross-sectional area of the aerosol impacting the slag, and increasing the impact force of the aerosol flow on the slag. When the slag is identified as having a medium degree of oxidation with partial sintering and microcracks, the servo motor continuously outputs torque, and the air jet cylinder slides along the inclined chute, causing the air jet cylinder to rotate away from the spring in the inner ring cavity, forming an accelerating rotating air flow in the same direction as the aerosol flow around the nano abrasive aerosol. The radius of the virtual air flow circle formed by the rotating air flow gradually increases, increasing the cross-sectional area of the aerosol impacting the slag without decelerating the flow rate of the nano abrasive aerosol, reducing the average force per unit area of the slag on the weld, and ensuring that the weld containing partial microcracks will not exceed the cleaning loss threshold and cause damage; when the slag is identified as having a high degree of oxidation with high density and high hardness, the air jet cylinder rotates away from the spring in the inner ring cavity, forming an accelerating rotating air flow in the same direction as the aerosol flow around the nano abrasive aerosol. The radius of the virtual air flow circle formed by the rotating air flow gradually increases, increasing the cross-sectional area of the aerosol impacting the slag.

[0015] Furthermore, the clamping mechanism further includes side frames, first motors, turntables, servo push platforms, two-axis platforms, and torsion angle mechanisms. There are four sets of side frames, first motors, turntables, servo push platforms, two-axis platforms, and torsion angle mechanisms. The four sets of side frames, first motors, turntables, servo push platforms, two-axis platforms, and torsion angle mechanisms are all circumferentially evenly distributed along the first rotating table. The side frames are fixedly connected to both the first rotating table and the first motors. The turntables are fixedly connected to both the output ends of the first motors and the servo push platforms. The torsion angle mechanism includes a second rotating table and a bottom column. The two-axis platforms are fixedly connected to the output ends of the servo push platforms, the second rotating table, and the bottom column.

[0016] The torsion angle mechanism identifies the positioning marks on the steel plates of the diverter housing, and through the chassis feedback control signal, the two-axis platform adjusts the adsorption points of the torsion angle mechanism to correspond to the marked points. The output end of the servo push platform pushes the torsion angle mechanism to complete the self-positioning pre-assembly of the four groups of steel plates forming the diverter housing. During welding, the first motor outputs torque to the turntable, and the turntable drives the torsion angle mechanism to rotate, cooperating with the torsion angle mechanism to drive the overall inclination of the pre-assembled diverter housing to adjust the posture.

[0017] Furthermore, the torsion angle mechanism further includes a ball head rod, a suction disc, a hinge buckle, a servo cylinder, a pressure sensor and a locator. A ball cavity is provided on the bottom column. The ball head rod contacts the ball cavity. The ball head rod is fixedly connected to the suction disc. An air extraction valve and an annular groove are provided on the suction disc. The air extraction valve is provided at a position away from the center of the suction disc. The hinge buckle is slidably connected to the annular groove. A slide rail is provided on the second turntable. The servo cylinder is slidably connected to the slide rail. The output end of the servo cylinder is hinged to the hinge buckle. The pressure sensor and the locator are both fixedly connected to the suction disc. The first motor, the servo push table, the two-axis platform, the servo cylinder, the pressure sensor and the locator are all electrically connected to the chassis through electrical signals.

[0018] The locator is used to identify the positioning marks on the steel plate of the feeder housing. The two-axis platform adjusts the bottom column corresponding to the marked points. The output end of the servo push table pushes the suction disc to contact the steel plate, and the four groups of steel plates are pre-assembled. The pressure sensor contacts the steel plate and feeds back an electrical signal, and the servo push table stops pushing. The external air pump evacuates the suction disc through the air extraction valve, completing the self-positioning pre-assembly of the four groups of steel plates that make up the feeder housing. The output end of the servo cylinder adjusts the telescopic amount according to the control signal of the chassis. The output end of the servo cylinder pulls the hinge buckle, driving the ball head rod to rotate in the ball cavity. The servo cylinder slides on the second turntable along the slide rail, driving the servo cylinder to rotate around the bottom column through the second turntable. The hinge buckle slides in the annular groove, and the suction disc drives the steel plate to rotate in the ball cavity to adjust the inclination degree.

[0019] Furthermore, the recycling mechanism further includes a bottom frame and magnetic attraction columns. The bottom frame is fixedly connected to the bottom plate and the slope table. The magnetic attraction columns are fixedly connected to the bottom plate. There are four groups of magnetic attraction columns, and the four groups of magnetic attraction columns are arranged at the four corners of the rectangle of the bottom plate.

[0020] The welding slag removed by the nano-abrasive aerosol falls on the slope table under the constraint of the magnetic field formed by the four groups of magnetic attraction columns and falls into the bottom frame along the slope table for recycling.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention designs a slag removal mechanism. Gas is supplied into the ring shell through a flow valve, and air holes form an air film between the ring shell and the weld seam. A laser instrument identifies the distance from the weld seam, and the flow valve controls the exhaust volume of the air holes to keep the distance between the outer cylinder and the weld seam constant. A nano abrasive aerosol is sprayed towards the welding slag to complete the non-contact cleaning of the welding slag by air film suspension; The present invention designs an air floating mechanism. The laser of the laser instrument induces and breaks down the spectrum of the welding slag on the weld seam to identify the different oxidation degrees of the residual welding slag. When it is identified that the welding slag is porous, brittle, and of low oxidation degree, the regulating valve reduces the flow rate of the sprayed nano abrasive aerosol, and the servo motor drives the inner arc ring to rotate and adjust, accelerating the flow rate of the sprayed nano abrasive aerosol, reducing the cross-sectional area of the aerosol impacting the welding slag, increasing the impact force of the aerosol on the welding slag, increasing the impact force while reducing the flow rate of the nano abrasive aerosol, ensuring that the impact does not exceed the cleaning loss threshold of the weld seam, and at the same time improving the utilization rate of the nano abrasive aerosol. When it is identified that the welding slag is partially sintered with microcracks and of medium oxidation degree, the regulating valve increases the flow rate of the sprayed nano abrasive aerosol to ensure that the abrasive can impact and crush the sintered welding slag. The inner arc ring rotates and adjusts, increasing the cross-sectional area of the aerosol impacting the welding slag without reducing the flow rate of the nano abrasive aerosol, reducing the average force per unit area of the welding slag on the weld seam, ensuring that the weld seam containing partial microcracks will not be damaged beyond the threshold. When it is identified that the welding slag is dense, high-hardness, and of high oxidation degree, the regulating valve increases the flow rate of the nano abrasive aerosol, and the inner arc ring rotates and adjusts, reducing the cross-sectional area of the impact on the welding slag, increasing the average force per unit area of the weld seam, ensuring that the impact force of the nano aerosol abrasive is increased enough to remove the dense, high-hardness, and high-oxidation-degree welding slag; The present invention self-locates and clamps the feeder housing, precisely positions the weld seam for welding, intelligently identifies the oxidation degree of the welding slag, precisely removes the welding slag, avoids damage caused by sandblasting exceeding the cleaning loss threshold of the weld seam, recovers the dropped welding slag abrasive, reduces the dust pollution of the working environment, and improves the recovery efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is the overall structural schematic diagram of the present invention;

[0023] Figure 2 is the structural schematic diagram of the slag removal mechanism of the present invention;

[0024] Figure 3 is the structural schematic diagram of the distance adjustment mechanism of the present invention;

[0025] Figure 4 is the structural schematic diagram of the air floating mechanism of the present invention;

[0026] Figure 5 is the partial cross-sectional view of the air floating mechanism of the present invention;

[0027] Figure 6 is the structural schematic diagram of the clamping mechanism of the present invention;

[0028] Figure 7 is Figure 6Schematic enlarged view of local area A;

[0029] Figure 8 Schematic structural view of the torsion angle mechanism of the present invention;

[0030] Figure 9 Schematic structural view of the recycling mechanism of the present invention.

[0031] In the figure: 1, chassis; 2, chassis case; 3, welding machine robotic arm; 4, slag removal mechanism; 41, base; 42, three-axis displacement module; 43, distance adjustment mechanism; 431, chassis; 432, spring; 433, ring frame; 434, laser instrument; 44, abrasive mechanism; 441, outer cylinder; 4411, side hole; 442, regulating valve; 443, sandblaster; 45, air floating mechanism; 451, ring shell; 4511, air hole; 4512, flow valve; 4513, arc groove; 4514, inner ring cavity; 452, inner arc ring; 4521, arc tooth pair; 4522, inclined chute; 453, half cylinder part; 4531, air jet cylinder; 454, servo motor; 455, gear part; 5, clamping mechanism; 51, first rotary table; 52, side frame; 53, first motor; 54, turntable; 55, servo push table; 56, two-axis platform; 57, torsion angle mechanism; 571, second rotary table; 5711, slide rail; 572, bottom column; 5721, spherical cavity; 573, ball head rod; 574, suction disc; 5741, air extraction valve; 5742, ring groove; 575, hinge buckle; 576, servo cylinder; 577, pressure sensor; 578, positioning instrument; 6, recycling mechanism; 61, bottom plate; 62, ramp platform; 63, bottom frame; 64, magnetic attraction column. Detailed implementation manners

[0032] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0033] Such as Figure 1 、 Figure 2 、 Figure 3As shown in the figure, the technical solution of a feeder housing welding device with an intelligent cleaning function provided by the present invention includes a chassis 1, a chassis 2, a welding robot arm 3, a slag removal mechanism 4, a clamping mechanism 5, and a recycling mechanism 6. The slag removal mechanism 4 includes a base 41, a distance adjustment mechanism 43, and an air flotation mechanism 45. The clamping mechanism 5 includes a first rotary table 51. The recycling mechanism 6 includes a bottom plate 61 and a ramp 62. The chassis 2, the welding robot arm 3, the base 41, and the bottom plate 61 are all fixedly connected to the chassis 1. The ramp 62 is fixedly connected to both the bottom plate 61 and the first rotary table 51. The distance adjustment mechanism 43 includes a laser instrument 434. The air flotation mechanism 45 includes a servo motor 454. The welding robot arm 3, the laser instrument 434, the servo motor 454, and the clamping mechanism 5 are all connected to the chassis 2 through electrical signals.

[0034] The present invention is an intelligent device for self-positioning and precise clamping of a feeder housing. The clamping mechanism 5 performs self-positioning identification and clamping, pre-assembling four groups of steel plates that make up the feeder housing into the feeder housing. The chassis 2 controls the welding robot arm 3 to perform multi-directional precise welding on the welds of the pre-assembled feeder housing along a preset program. After welding, the first rotary table 51 drives the feeder housing to adjust its posture. The slag removal mechanism 4 uses the spectrum of the laser-induced breakdown of the slag on the weld by the laser instrument 434 to identify the different oxidation degrees of the residual slag, and feeds the electrical signal back to the chassis 2. The chassis 2 intelligently aggregates and analyzes the oxidation degree of the slag into porous and brittle slag with a low oxidation degree, partially sintered slag with microcracks and a medium oxidation degree, and dense, high-hardness, and high-oxidation slag. The chassis 2 feeds the control signal back to the air flotation mechanism 45. The air flotation mechanism 45 adjusts the sandblasting slag removal mode to ensure precise removal of the slag, avoiding damage to the weld caused by sandblasting exceeding the cleaning loss threshold of the weld. The recycling mechanism 6 recovers the fallen slag and abrasive, reducing dust pollution to the working environment and improving the recycling efficiency.

[0035] As Figure 2 、 Figure 3 As shown in the figure, the slag removal mechanism 4 further includes a three-axis displacement module 42 and an abrasive mechanism 44. The distance adjustment mechanism 43 further includes a chassis 431 and a ring frame 433. The abrasive mechanism 44 includes an outer cylinder 441. The air flotation mechanism 45 further includes a ring shell 451. The chassis 431 and the base 41 are both fixedly connected to the three-axis displacement module 42. The outer cylinder 441 is slidably connected to the ring frame 433. The ring shell 451 is fixedly connected to the outer cylinder 441. The three-axis displacement module 42 is connected to the chassis 2 through electrical signals.

[0036] After welding is completed, the first turntable 51 drives the feeder housing to adjust its posture. The chassis 2 controls the three-axis displacement module 42 to move the abrasive mechanism 44 to the weld position. The distance adjustment mechanism 43 ensures that the distance between the abrasive mechanism 44 and the weld is always constant. The air floating mechanism 45 exhausts air externally to generate an air film. The abrasive mechanism 44 sprays nano-abrasive aerosol towards the welding slag to complete the air-film suspension non-contact cleaning of the welding slag. The air floating mechanism 45 performs a cyclone impact on the nano-abrasive aerosol sprayed by the abrasive mechanism 44 according to the feedback control signal from the chassis 2, adjusts the flow rate and impact cross-sectional area of the nano-abrasive aerosol impacting the welding slag, and ensures the precise removal of the welding slag.

[0037] As Figure 3 、 Figure 4 shown, the distance adjustment mechanism 43 further includes a spring 432. The spring 432 is fixedly connected to both the outer cylinder 441 and the chassis 431. The laser instrument 434 is fixedly connected to the outer cylinder 441. The abrasive mechanism 44 further includes a regulating valve 442 and a sandblaster 443. The outer cylinder 441 is provided with a side hole 4411. The regulating valve 442 is fixedly connected to the side hole 4411 and the sandblaster 443. The regulating valve 442 is connected to the chassis 2 through an electrical signal.

[0038] The laser instrument 434 is fixedly assembled on the outer cylinder 441. By laser-induced breakdown spectroscopy of the welding slag on the weld by the laser instrument 434, the different oxidation degrees of the residual welding slag are identified. The laser instrument 434 identifies the distance between the outer cylinder 441 and the weld according to the laser return time, and feeds back an electrical signal to the chassis 2. By controlling the air exhaust volume of the air floating mechanism 45, the outer cylinder 441 slides along the ring frame 433 to compress the spring 432, so that the distance between the outer cylinder 441 and the weld is constant. Through the feedback control signal of the chassis 2, the regulating valve 442 adjusts the opening degree to control the flow rate of the nano-abrasive aerosol sprayed by the sandblaster 443.

[0039] As Figure 4 、 Figure 5 shown, the air floating mechanism 45 further includes an inner arc ring 452 and a gear member 455. The servo motor 454 is fixedly connected to the outer cylinder 441. The output end of the servo motor 454 is fixedly connected to the gear member 455. The ring shell 451 is provided with an arc groove 4513. The inner arc ring 452 is provided with an arc tooth pair 4521. The arc tooth pair 4521 is slidably connected to the arc groove 4513. The arc tooth pair 4521 is in meshing engagement with the tooth surface of the gear member 455.

[0040] The chassis 2 intelligently summarizes and analyzes the oxidation degree of welding slag into porous and brittle welding slag with low oxidation degree, partially sintered welding slag with microcracks and medium oxidation degree, and dense and high-hardness welding slag. When the welding slag is identified as having a low oxidation degree, due to its porous and brittle characteristics, the regulating valve 442 controls to reduce the flow rate of the nano-abrasive aerosol ejected by the sandblaster 443. The servo motor 454 outputs a fixed-axis torque to the gear part 455. Through the meshing of the gear part 455 with the tooth surface of the arc gear pair 4521, the inner arc ring 452 is driven to rotate to adjust the air-floating mechanism 45, so that the flow rate of the ejected nano-abrasive aerosol is accelerated, the cross-sectional area of the aerosol impacting the welding slag is reduced, and the impact force of the aerosol flow on the welding slag is increased. When reducing the flow rate of the nano-abrasive aerosol, the impact force is increased. While ensuring that the impact does not exceed the cleaning loss threshold of the weld, the utilization rate of the nano-abrasive aerosol is improved; when the welding slag is identified as partially sintered with microcracks and medium oxidation degree, the regulating valve 442 controls to increase the flow rate of the nano-abrasive aerosol ejected by the sandblaster 443. By increasing the flow rate of the nano-abrasive aerosol, it is ensured that the abrasive can impact and crush the sintered welding slag. At the same time, the inner arc ring 452 rotates to adjust the air-floating mechanism 45, increasing the cross-sectional area of the aerosol impacting the welding slag without decelerating the flow rate of the nano-abrasive aerosol, reducing the average force per unit area of the welding slag on the weld, and ensuring that the weld containing partial microcracks will not be damaged due to exceeding the cleaning loss threshold; when the welding slag is identified as dense, high-hardness and high oxidation degree, the regulating valve 442 controls to increase the flow rate of the nano-abrasive aerosol ejected by the sandblaster 443. At the same time, the inner arc ring 452 rotates to adjust the air-floating mechanism 45, reducing the cross-sectional area of the aerosol impacting the welding slag and increasing the average force per unit area of the welding slag on the weld, ensuring that the impact force of the nano-aerosol abrasive is increased enough to remove the dense, high-hardness and high oxidation degree welding slag.

[0041] As Figure 4 、 Figure 5 shown, the air-floating mechanism 45 further includes a semi-cylindrical part 453. The ring shell 451 is also provided with air holes 4511, a flow valve 4512 and an inner ring cavity 4514. The inner arc ring 452 is also provided with an inclined chute 4522. The semi-cylindrical part 453 is rotatably connected to the inner ring cavity 4514. The semi-cylindrical part 453, the air holes 4511, the inner ring cavity 4514 and the inclined chute 4522 are all provided with several groups. Several groups of the semi-cylindrical part 453, the air holes 4511, the inner ring cavity 4514 and the inclined chute 4522 are all evenly distributed along the circumference of the ring shell 451. The air holes 4511 are provided at one end of the ring shell 451 far from the spring 432. The semi-cylindrical part 453 is provided with an air jet cylinder 4531. The air jet cylinder 4531 is slidably connected to the inclined chute 4522. The flow valve 4512 is provided at one end of the ring shell 451 close to the spring 432.

[0042] The external air pump supplies air to the annular housing 451 through the flow valve 4512. The circumferentially evenly distributed air holes 4511 discharge the gas, forming an air film between the annular housing 451 and the weld. The laser instrument 434 identifies the distance between the outer cylinder 441 and the weld, feeds back an electrical signal to the chassis 2, and controls the exhaust volume of the air holes 4511 through the flow valve 4512 to make the outer cylinder 441 slide along the ring frame 433 and compress the spring 432, maintaining a constant distance between the outer cylinder 441 and the weld. When the identified welding slag has a low oxidation degree, due to its porous and brittle characteristics, the regulating valve 442 controls the reduction of the flow rate of the nano-abrasive aerosol ejected by the sandblaster 443. In the initial state, the air outlet direction of the air jet cylinder 4531 is perpendicular to the ejection direction of the nano-abrasive aerosol. The servo motor 454 outputs a fixed-axis torque to the gear part 455. Through the meshing of the gear part 455 with the tooth surface of the arc gear pair 4521, the inner arc ring 452 is driven to rotate. The air jet cylinder 4531 slides along the inclined chute 4522. As the air jet cylinder 4531 continuously rotates away from the spring 432 in the inner ring cavity 4514, an accelerating rotating air flow in the same direction as the aerosol flow is formed around the nano-abrasive aerosol. The radius of the virtual air flow circle formed by the rotating air flow gradually decreases, accelerating the flow rate of the ejected nano-abrasive aerosol, reducing the cross-sectional area of the aerosol impacting the welding slag, and increasing the impact force of the aerosol flow on the welding slag. When the identified welding slag has a medium oxidation degree with partial sintering and microcracks, the servo motor 454 continuously outputs torque, and the air jet cylinder 4531 slides along the inclined chute 4522, causing the air jet cylinder 4531 to rotate away from the spring 432 in the inner ring cavity 4514. An accelerating rotating air flow in the same direction as the aerosol flow is formed around the nano-abrasive aerosol. The radius of the virtual air flow circle formed by the rotating air flow gradually increases, increasing the cross-sectional area of the aerosol impacting the welding slag without decelerating the flow rate of the nano-abrasive aerosol, reducing the average force per unit area of the welding slag on the weld, and ensuring that the weld containing partial microcracks will not exceed the cleaning loss threshold and cause damage. When the identified welding slag has a high density, high hardness, and high oxidation degree, the air jet cylinder 4531 rotates away from the spring 432 in the inner ring cavity 4514. An accelerating rotating air flow in the same direction as the aerosol flow is formed around the nano-abrasive aerosol. The radius of the virtual air flow circle formed by the rotating air flow gradually increases, increasing the cross-sectional area of the aerosol impacting the welding slag.

[0043] Such as Figure 6 、 Figure 7 、 Figure 8As shown in the figure, the clamping mechanism 5 further includes side frames 52, first motors 53, turntables 54, servo push platforms 55, two-axis platforms 56, and torsion angle mechanisms 57. There are four sets of side frames 52, first motors 53, turntables 54, servo push platforms 55, two-axis platforms 56, and torsion angle mechanisms 57. The four sets of side frames 52, first motors 53, turntables 54, servo push platforms 55, two-axis platforms 56, and torsion angle mechanisms 57 are evenly distributed along the circumference of the first rotating table 51. The side frames 52 are fixedly connected to both the first rotating table 51 and the first motors 53. The turntables 54 are fixedly connected to both the output ends of the first motors 53 and the servo push platforms 55. The torsion angle mechanism 57 includes a second rotating table 571 and a bottom column 572. The two-axis platforms 56 are fixedly connected to both the output ends of the servo push platforms 55, the second rotating table 571, and the bottom column 572.

[0044] The torsion angle mechanism 57 identifies the positioning marks on the steel plates of the diverter housing, and feeds back control signals through the chassis 2. The two-axis platform 56 adjusts the adsorption points of the torsion angle mechanism 57 to correspond to the marked points. The output end of the servo push platform 55 pushes the torsion angle mechanism 57 to complete the self-positioning pre-assembly of the four groups of steel plates that make up the diverter housing. During welding, the first motor 53 outputs torque to the turntable 54, and the turntable 54 drives the torsion angle mechanism 57 to rotate, and cooperates with the torsion angle mechanism 57 to drive the overall tilt adjustment of the pre-assembled diverter housing.

[0045] As Figure 6 、 Figure 7 、 Figure 8 shown in the figure, the torsion angle mechanism 57 further includes a ball head rod 573, an adsorption disc 574, a hinge buckle 575, a servo cylinder 576, a pressure sensor 577, and a locator 578. The bottom column 572 is provided with a ball cavity 5721. The ball head rod 573 contacts the ball cavity 5721. The ball head rod 573 is fixedly connected to the adsorption disc 574. The adsorption disc 574 is provided with an air extraction valve 5741 and an annular groove 5742. The air extraction valve 5741 is arranged at a position away from the center of the adsorption disc 574. The hinge buckle 575 is slidably connected to the annular groove 5742. The second rotating table 571 is provided with a slide rail 5711. The servo cylinder 576 is slidably connected to the slide rail 5711. The output end of the servo cylinder 576 is hinged to the hinge buckle 575. The pressure sensor 577 and the locator 578 are both fixedly connected to the adsorption disc 574. The first motor 53, the servo push platform 55, the two-axis platform 56, the servo cylinder 576, the pressure sensor 577, and the locator 578 are all electrically connected to the chassis 2.

[0046] The positioning instrument 578 is used to identify the positioning marks on the steel plate of the diverter housing. The two-axis platform 56 adjusts the bottom column 572 to the corresponding marked points. The output end of the servo push table 55 pushes the suction cup 574 to contact the steel plate, and the four groups of steel plates are pre-assembled. The pressure sensor 577 contacts the steel plate and feeds back an electrical signal, and the servo push table 55 stops pushing. The external air pump evacuates the suction cup 574 through the air extraction valve 5741 to complete the self-positioning pre-assembly of the four groups of steel plates that make up the diverter housing. The output end of the servo cylinder 576 adjusts the telescopic amount according to the control signal of the chassis 2. The output end of the servo cylinder 576 pulls the hinge buckle 575, driving the ball head rod 573 to rotate in the ball cavity 5721. The servo cylinder 576 slides along the slide rail 5711 on the second turntable 571, and drives the servo cylinder 576 to rotate around the bottom column 572 through the second turntable 571. The hinge buckle 575 slides in the annular groove 5742, and the suction cup 574 drives the steel plate to rotate and adjust the inclination degree in the ball cavity 5721.

[0047] As Figure 9 shown, the recycling mechanism 6 further includes a bottom frame 63 and magnetic adsorption columns 64. The bottom frame 63 is fixedly connected to both the bottom plate 61 and the slope platform 62. The magnetic adsorption columns 64 are fixedly connected to the bottom plate 61. There are four groups of magnetic adsorption columns 64, and the four groups of magnetic adsorption columns 64 are arranged at the four corners of the rectangle of the bottom plate 61.

[0048] The welding slag removed by the nano-abrasive aerosol falls on the slope platform 62 under the constraint of the magnetic field formed by the four groups of magnetic adsorption columns 64 and falls into the bottom frame 63 along the slope platform 62 for recycling.

[0049] The working principle of the present invention:

[0050] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claims involved.

Claims

1. A feeder housing welding device with an intelligent cleaning function, characterized in that: The welding equipment includes a chassis (1), a machine case (2), a welding machine robotic arm (3), a slag removal mechanism (4), a clamping mechanism (5), and a recycling mechanism (6). The slag removal mechanism (4) includes a base (41), a distance adjustment mechanism (43), and an air floating mechanism (45). The clamping mechanism (5) includes a first rotating table (51). The recycling mechanism (6) includes a bottom plate (61) and a slope table (62). The machine case (2), the welding machine robotic arm (3), the base (41), and the bottom plate (61) are all fixedly connected to the chassis (1). The slope table (62) is fixedly connected to both the bottom plate (61) and the first rotating table (51). The distance adjustment mechanism (43) includes a laser instrument (434). The air floating mechanism (45) includes a servo motor (454). The welding machine robotic arm (3), the laser instrument (434), the servo motor (454), and the clamping mechanism (5) are all connected to the machine case (2) through electrical signals.

2. The feeder housing welding equipment with an intelligent cleaning function according to claim 1, characterized in that: The slag removal mechanism (4) further includes a three-axis displacement module (42) and an abrasive mechanism (44). The distance adjustment mechanism (43) further includes a chassis (431) and an annular frame (433). The abrasive mechanism (44) includes an outer cylinder (441). The air floating mechanism (45) further includes an annular shell (451). The chassis (431) and the base (41) are both fixedly connected to the three-axis displacement module (42). The outer cylinder (441) is slidably connected to the annular frame (433). The annular shell (451) is fixedly connected to the outer cylinder (441). The three-axis displacement module (42) is connected to the machine case (2) through electrical signals.

3. The welding device for the diverter housing with an intelligent cleaning function according to claim 2, characterized in that: The distance adjustment mechanism (43) further includes a spring (432). The spring (432) is fixedly connected to both the outer cylinder (441) and the chassis (431). The laser instrument (434) is fixedly connected to the outer cylinder (441). The abrasive mechanism (44) further includes a regulating valve (442) and a sandblaster (443). The outer cylinder (441) is provided with a side hole (4411). The regulating valve (442) is fixedly connected to the side hole (4411) and the sandblaster (443). The regulating valve (442) is connected to the machine case (2) through electrical signals.

4. The welding device for the feeder housing with intelligent cleaning function according to claim 2, characterized in that: The air floating mechanism (45) further includes an inner arc ring (452) and a gear member (455). The servo motor (454) is fixedly connected to the outer cylinder (441). The output end of the servo motor (454) is fixedly connected to the gear member (455). The annular shell (451) is provided with an arc groove (4513). The inner arc ring (452) is provided with an arc tooth pair (4521). The arc tooth pair (4521) is slidably connected to the arc groove (4513). The arc tooth pair (4521) is in tooth surface engagement with the gear member (455).

5. The welding device for the diverter housing with an intelligent cleaning function according to claim 4, characterized in that: The air floating mechanism (45) further includes a semi-cylindrical member (453). The ring shell (451) is further provided with air holes (4511), a flow valve (4512) and an inner ring cavity (4514). The inner arc ring (452) is further provided with inclined sliding grooves (4522). The semi-cylindrical member (453) is rotatably connected to the inner ring cavity (4514). The semi-cylindrical member (453), the air holes (4511), the inner ring cavity (4514), and the inclined sliding grooves (4522) are all provided with several groups. The several groups of the semi-cylindrical member (453), the air holes (4511), the inner ring cavity (4514), and the inclined sliding grooves (4522) are all evenly distributed along the circumference of the ring shell (451). The air holes (4511) are provided at one end of the ring shell (451) away from the spring (432). The semi-cylindrical member (453) is provided with an air jet cylinder (4531). The air jet cylinder (4531) is slidably connected to the inclined sliding groove (4522). The flow valve (4512) is provided at one end of the ring shell (451) close to the spring (432).

6. The welding device for the diverter housing with an intelligent cleaning function according to claim 1, characterized in that: The clamping mechanism (5) further includes side frames (52), a first motor (53), a turntable (54), a servo push platform (55), a two-axis platform (56) and a torsion angle mechanism (57). The side frames (52), the first motor (53), the turntable (54), the servo push platform (55), the two-axis platform (56), and the torsion angle mechanism (57) are all provided with four groups. The four groups of the side frames (52), the first motor (53), the turntable (54), the servo push platform (55), the two-axis platform (56), and the torsion angle mechanism (57) are all evenly distributed along the circumference of the first rotary table (51). The side frames (52) are fixedly connected to the first rotary table (51) and the first motor (53). The turntable (54) is fixedly connected to the output end of the first motor (53) and the servo push platform (55). The torsion angle mechanism (57) includes a second rotary table (571) and a bottom column (572). The two-axis platform (56) is fixedly connected to the output end of the servo push platform (55), the second rotary table (571), and the bottom column (572).

7. The welding device for the diverter housing with an intelligent cleaning function according to claim 6, characterized in that: The torsion angle mechanism (57) further includes a ball head rod (573), a suction disc (574), a hinge buckle (575), a servo cylinder (576), a pressure sensor (577) and a locator (578). A ball cavity (5721) is provided on the bottom column (572). The ball head rod (573) contacts the ball cavity (5721). The ball head rod (573) is fixedly connected to the suction disc (574). An air extraction valve (5741) and an annular groove (5742) are provided on the suction disc (574). The air extraction valve (5741) is provided at a position away from the center of the suction disc (574). The hinge buckle (575) is slidably connected to the annular groove (5742). A slide rail (5711) is provided on the second turntable (571). The servo cylinder (576) is slidably connected to the slide rail (5711). The output end of the servo cylinder (576) is hinged to the hinge buckle (575). The pressure sensor (577) and the locator (578) are both fixedly connected to the suction disc (574). The first motor (53), the servo push table (55), the two-axis platform (56), the servo cylinder (576), the pressure sensor (577), and the locator (578) are all electrically connected to the chassis (2).

8. A feeder housing welding device with an intelligent cleaning function according to claim 1, characterized in that: The recovery mechanism (6) further includes a bottom frame (63) and a magnetic attraction column (64). The bottom frame (63) is fixedly connected to both the bottom plate (61) and the slope table (62). The magnetic attraction column (64) is fixedly connected to the bottom plate (61). There are four groups of magnetic attraction columns (64), and the four groups of magnetic attraction columns (64) are arranged at the four corners of the rectangle of the bottom plate (61).

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