Design method of obstacle-avoiding wheel set of internal welding mobile platform and obstacle-avoiding wheel set

Abstract

The application relates to a design method of an obstacle-avoiding wheel set of an internal welding mobile platform and the obstacle-avoiding wheel set, the design method comprising the following steps: S1, acquiring a splash particle distribution and the weight, size and magnetic force of a secondary wheel of the internal welding mobile platform; S2, obtaining a wheel set design scheme according to the splash particle distribution, the weight, size and magnetic force of the secondary wheel of the internal welding mobile platform; the wheel set design scheme comprises an installation scheme of a primary wheel, a secondary wheel assembly and a limiting piece and length design of a wheel shaft; the installation scheme of the primary wheel, the secondary wheel assembly and the limiting piece comprises quantity design of the secondary wheel and quantity design of the limiting piece; S3, assembling a new wheel set according to the wheel set design scheme, testing the new wheel set, and judging whether the new wheel set needs to be optimized and adjusted according to a test result.

Description

Technical Field

[0001] This application relates to the field of welding equipment technology, specifically to a design method and a wheel assembly for an internal welding mobile platform that can avoid obstacles. Background Technology

[0002] Currently, the construction of large bridges, oil pipelines, pressure vessels, and other structures with internal spaces requires a significant amount of internal welding work. The number and total length of these internal welds can approach or even exceed those of external welds. Furthermore, welders often face difficulties accessing the structure's interior and enduring prolonged exposure to high temperatures, high dust levels, and poor ventilation. Therefore, increasingly, automated welding platforms are being used for internal welding operations. Non-destructive testing of internal welds is a crucial step; however, this testing also faces challenges such as poor personnel accessibility and harsh working conditions, necessitating the replacement of manual labor with automated weld inspection platforms.

[0003] During welding, the molten metal in the weld pool vibrates due to the contraction of the keyhole, causing a large number of molten metal droplets to splash out. These droplets solidify upon cooling in the air, forming spatter particles. These spatter particles landing on the workpieces on both sides of the weld can pose a hazard to subsequent weld inspection operations. The wheels of the moving platform may detach from the workpiece due to the impact of the spatter, or even become completely jammed, significantly reducing the efficiency and accuracy of weld inspection. Currently, there is no specific design method for such wheel sets, making it impossible to design wheel sets suitable for internal welding moving platforms that can effectively reduce the impact of spatter particles. Summary of the Invention

[0004] In order to solve the problems existing in the prior art, the purpose of this application is to provide a design method and a wheel set that can avoid obstacles for an internal welding mobile platform, so as to solve the technical problem that the prior art cannot design a wheel set that is suitable for an internal welding mobile platform and can effectively reduce the impact of splashed metal particles.

[0005] The obstacle-avoiding wheel assembly design method for the internal welding mobile platform described in this application includes an obstacle-avoiding wheel assembly comprising an axle, a main wheel, a secondary wheel assembly, a limiting member, and a locking member; both the main wheel and the secondary wheel assembly are mounted on the axle, and the main wheel and the secondary wheel assembly are spaced apart, with each secondary wheel assembly comprising a plurality of secondary wheels spaced apart; at least one limiting member is provided between the main wheel and the secondary wheel assembly, and at least one limiting member is provided between adjacent secondary wheels; the design method is characterized by comprising:

[0006] S1. Obtain the distribution of spatter particles, and obtain the weight, size, and magnetic force of the auxiliary wheels of the internal welding moving platform;

[0007] S2. Based on the distribution of the spatter particles, the weight and size of the internal welding moving platform, and the magnetic force of the auxiliary wheels, a wheel assembly design scheme is obtained; the wheel assembly design scheme includes the installation scheme of the main wheel, auxiliary wheel assembly, and limiting components, as well as the length design of the wheel axle; the installation scheme of the main wheel, auxiliary wheel assembly, and limiting components includes the design of the number of auxiliary wheels and the design of the number of limiting components;

[0008] S3. Assemble the new wheelset according to the wheelset design scheme, test the new wheelset, and determine whether the new wheelset needs to be optimized or adjusted based on the test results.

[0009] Preferably, obtaining the distribution of splash particles includes:

[0010] Metal collecting plates are placed on both sides of the weld, and the width of the metal collecting plates is not less than the width of the internal welding moving platform; the welding method is set, including MIG welding and laser welding; and the metal collecting plates are divided into N regions at equal intervals along their length from the position corresponding to the end of the main wheel away from the weld.

[0011] A three-dimensional scan is performed on the surface of the spatter particles collected on the metal plate, and the shortest straight-line distance L from the center point of each spatter particle to the weld is measured. H Identify the particle boundary of each of the splashed particles and calculate the particle projection diameter d. T .

[0012] Preferably, obtaining the distribution of splash particles further includes:

[0013] Based on the N regions, the particle projection diameter of each splash particle in each region is recorded, and the frequency of splash particles with different diameter ranges in each region is counted to obtain frequency distribution data.

[0014] A two-dimensional histogram is plotted with the shortest straight-line distance from the center point of the spattered particle to the weld as the abscissa and the projected diameter of the particle as the ordinate. The height of each histogram bar represents the frequency of spattered particles within the corresponding distance and diameter range, thus obtaining the distribution of the average projected diameter of the particles at different distances.

[0015] For the particle projection diameter data in each region, the mean and standard deviation are calculated. Combining the distance information, the two-dimensional histogram, and the calculated mean and standard deviation, the distribution of splash particles is obtained.

[0016] Preferably, the number of limiting members is designed to include:

[0017] Based on the distribution of the splashed particles, obtain the number of regions Y corresponding to a conventional wheel set, and obtain the maximum particle projection diameter d within the Y regions corresponding to the conventional wheel set. Tmax And the thickness H of the limiting component used. X Calculate the minimum number of limiting components Q required at the location with the largest particle projection diameter. X :

[0018] If d Tmax <H X The number of limit components Q X The value of Q is X =1;

[0019] If d Tmax ≥H X The number of limit components Q X The value is

[0020] Calculate the total number of limiters Q required for a single wheelset as follows: Z :

[0021]

[0022] in, Indicates taking The calculation result is rounded up; 1 ≤ Y ≤ N.

[0023] Preferably, obtaining the weight of the internal welding platform and the magnetic force of the auxiliary wheel includes:

[0024] The main wheel and the auxiliary wheel are subjected to pressure tests using pressure testing equipment to obtain the load-bearing capacity F of the main wheel. z The load-bearing capacity F of the auxiliary wheel f ;

[0025] Obtain the number M of wheel sets required for the internal welding moving platform and the weight G of the internal welding moving platform. P Calculate the weight G that a single wheelset needs to bear. L :

[0026]

[0027] The magnetic force of the main wheel and the auxiliary wheel is tested using a magnetic force testing device to obtain the magnetic force F of the main wheel. zB The magnetic force F of the secondary wheel fB .

[0028] Preferably, the design of the number of auxiliary wheels includes:

[0029] Based on the weight G that a single wheelset needs to bear. L and the load-bearing capacity F of the main wheel zCalculate the minimum number of secondary wheels n required for a single wheelset. fmin :

[0030]

[0031] in, Indicates to The calculation result is rounded up;

[0032] Based on the theoretical minimum magnetic force F required for a single wheelset LB And the magnetic force F of the main wheel zB The number of auxiliary wheels n required for a single wheelset is determined as follows: f :

[0033] If n fmin ·F fB ≥F LB -F zB Then the number of secondary wheels required for a single wheelset, n f =n fmin ;

[0034] If n fmin ·F fB <F LB -F zB Then calculate the magnetic force difference F. CX And based on the magnetic force difference, calculate the increase in the secondary wheel number Δn until (n fmin +Δn)·F fB ≥F LB -F zB The number of secondary wheels n required to obtain a single wheelset f =n fmin +Δn;

[0035] Wherein, the magnetic force difference F CX Obtained through the following formula:

[0036] F CX =F LB -F zB -(n fmin ·F fB );

[0037] The increase in the number of secondary wheels, Δn, is obtained by the following formula:

[0038]

[0039] Preferably, the length design of the axle includes:

[0040] The axle includes a locking section, a wheel assembly mounting section, a flange section, and a platform mounting section distributed sequentially along its axial direction;

[0041] The locking section is used to install the locking element, and the length of the locking section L1 = L 锁紧件 +ΔL;

[0042] The wheel assembly mounting section is used to mount the main wheel, the secondary wheel, and the limiting member; the thickness H of the main wheel is obtained. z and the thickness H of the secondary wheel f Calculate the length L2 of the wheel assembly installation section according to the following formula;

[0043] L2=(n f ·H f )+(Q Z ·H X )+H z +ΔL';

[0044] The flange segment is formed between the wheel assembly mounting segment and the platform mounting segment, and the length of the flange segment is L3 = aH. z ;

[0045] The platform mounting section is used to connect with the internal welding mobile platform, and the length L4 of the platform mounting section satisfies:

[0046] L4 = L 平台安装孔 +ΔL”;

[0047] The total length of the axle is: L 轮轴 =L1+L2+L3+L4;

[0048] Among them, L 锁紧件 L is the axial length of the locking element. 平台安装孔 The depth of the connecting holes for the internal welding moving platform; ΔL, ΔL', and ΔL” all represent the reserved length; a is an empirical coefficient; H z H is the thickness of the main wheel; f H is the thickness of the secondary wheel; X n is the thickness of the limiting component used; f Q represents the number of sidings required for a single wheelset; Z This refers to the total number of limiting components required for a single wheelset.

[0049] Preferably, step S2 further includes a secondary wheel rotation angle design, wherein the outer periphery of the secondary wheel has a plurality of notches, and the plurality of notches are arranged in a circumferential array, and the secondary wheel rotation angle design includes:

[0050] The secondary wheels are sorted in a direction away from the main wheel to obtain the sequence number n of each secondary wheel. f ', based on the number n of the gaps 缺口 The rotation angle θ is determined by the serial number of the secondary wheel:

[0051]

[0052] Preferably, step S3 includes:

[0053] According to the wheel set design scheme, the main wheel, the secondary wheel and the limiting component are assembled to obtain a new wheel set, and the new wheel set is installed on the internal welding moving platform;

[0054] A simulated welding test was conducted on the internal welding mobile platform equipped with the new wheel set. The simulated welding test included:

[0055] Test whether the new wheel set becomes loose under different working conditions;

[0056] Test whether the new wheel assembly deforms under different working conditions;

[0057] Test the pressure-bearing capacity of the new wheel assembly;

[0058] Test the new wheel assembly's ability to pass through splashed particles;

[0059] If all the above tests are passed, no adjustments are needed to the new wheelset.

[0060] If any of the above test items fails, adjustments will be made accordingly until all of the above test items pass.

[0061] This application also proposes an obstacle-avoiding wheel assembly, which is obtained by the obstacle-avoiding wheel assembly design method of the above-mentioned internally welded mobile platform.

[0062] The obstacle-avoiding wheel assembly design method and obstacle-avoiding wheel assembly of the internal welding mobile platform described in this application have the following advantages:

[0063] 1. By acquiring the distribution of spatter particles, the impact of spatter particles on the wheelset under different welding methods is analyzed. Based on the spatter particle distribution, the number of limiting components is determined, providing a basis for the wheelset's obstacle avoidance capability. The number of auxiliary wheels is determined according to the weight of the internal welding moving platform, the magnetic force of the main wheel, and the magnetic force of the auxiliary wheels. This ensures the wheelset has sufficient load-bearing capacity to support the internal welding moving platform while maintaining its stability during the welding process, preventing platform wobbling due to an unreasonable number of auxiliary wheels. The axle length is designed based on the dimensions of the internal welding moving platform, the dimensions of the main wheel, the limiting components, and the number of auxiliary wheels to ensure the wheelset is compatible with the platform, ensuring a secure installation and improving the overall structural coordination and reliability. Wheelset assembly methods are developed according to different welding technologies, allowing for the assembly of wheelsets adaptable to various welding scenarios. Through simulation testing and optimization, the reliability and stability of the wheelset in actual use are further improved, extending its service life. The wheelset design method for the internal welding moving platform effectively reduces the impact of spatter particles on the wheelset, ensures stable load-bearing capacity, adapts to the internal welding moving platform structure, and improves applicability and reliability.

[0064] 2. The obstacle-avoiding wheel set described in this application is obtained through the obstacle-avoiding wheel set design method of the aforementioned internal welding moving platform. The wheel set design method uses the study of the distribution of welding spatter particles to determine the number of limiting components, the gap between the main wheel and the auxiliary wheel assembly, and the gap between adjacent auxiliary wheels. The limiting components can form suitable gaps between the main wheel and the auxiliary wheel assembly and between adjacent auxiliary wheels, effectively avoiding spatter particles generated during welding, preventing them from hindering the movement of the wheel set, ensuring stable operation of the wheel set in the welding environment, and guaranteeing welding accuracy and quality. Because the magnetic main wheel and auxiliary wheel have adsorption capabilities, the need for manual cleaning of spatter particles is reduced to a certain extent, helping to improve work efficiency. The wheel set design method determines... The number of auxiliary wheels is matched with the weight and magnetic force of the internal welding mobile platform, providing sufficient support and attraction to ensure stability during welding operations and improve operational safety. The design of each section of the wheel axle is based on the platform dimensions and the number of limiting components and auxiliary wheels. The platform mounting section of the wheel axle connects to the internal welding mobile platform, adapting to its structure and ensuring the coordination and reliability of the entire device. The auxiliary wheels, limiting components, and locking components rotate synchronously with the wheel axle. The locking components and flange sections abut against the auxiliary wheels from both axial ends, restricting their axial movement. This structure makes the wheel assembly firmly connected, reducing relative displacement and wear between components, extending the service life of the wheel assembly, and reducing maintenance costs. Attached Figure Description

[0065] Figure 1 This is a flowchart illustrating the obstacle-avoiding wheel assembly design method for the internal welding mobile platform described in this application;

[0066] Figure 2This is a schematic diagram of the axle described in this application;

[0067] Figure 3 This is a schematic diagram of the secondary wheel described in this application;

[0068] Figure 4 This is a schematic diagram of one of the structures of the obstacle-avoiding wheel assembly described in this application;

[0069] Figure 5 This is another structural schematic diagram of the obstacle-avoiding wheel assembly described in this application.

[0070] Explanation of reference numerals in the attached drawings: 1-wheel axle, 11-locking section, 12-wheel assembly mounting section, 13-flange section, 14-platform mounting section; 2-main wheel; 3-secondary wheel; 4-limiting component; 5-locking component. Detailed Implementation

[0071] like Figure 1 As shown, the obstacle-avoiding wheel assembly design method for the internal welding mobile platform described in this application includes an obstacle-avoiding wheel assembly comprising an axle, a main wheel, a secondary wheel assembly, a limiting member, and a locking member; both the main wheel and the secondary wheel assembly are mounted on the axle, and the main wheel and the secondary wheel assembly are spaced apart, with the secondary wheel assembly comprising a plurality of secondary wheels spaced apart; at least one limiting member is provided between the main wheel and the secondary wheel assembly, and at least one limiting member is provided between two adjacent secondary wheels; the design method is characterized by comprising:

[0072] S1. Obtain the distribution of spatter particles, and obtain the weight, size, and magnetic force of the auxiliary wheels of the internal welding moving platform;

[0073] S2. Based on the distribution of spatter particles, the weight and size of the internal welding moving platform, and the magnetic force of the auxiliary wheels, obtain the wheel set design scheme; the wheel set design scheme includes the installation scheme of the main wheel, auxiliary wheel assembly and limiting components, as well as the length design of the wheel axle; the installation scheme of the main wheel, auxiliary wheel assembly and limiting components includes the design of the number of auxiliary wheels and the design of the number of limiting components;

[0074] S3. Assemble the new wheelset according to the wheelset design scheme, test the new wheelset, and determine whether the new wheelset needs to be optimized or adjusted based on the test results.

[0075] Furthermore, obtaining the distribution of splashed particles includes:

[0076] Place metal collecting plates on both sides of the weld, with the width of the metal collecting plates not less than the width of the internal welding moving platform; set the welding method, which includes MIG welding and laser welding; and divide the metal collecting plates into N equal areas along their length, starting from the position corresponding to the end of the main wheel away from the weld, in the direction away from the weld.

[0077] A three-dimensional scan was performed on the surface of the spatter particles collected on the metal plate, and the shortest straight-line distance L from the center point of each spatter particle to the weld was measured. H Identify the particle boundary of each splashing particle and calculate the particle projection diameter d. T .

[0078] Specifically, the above method simulates the actual welding process by setting metal collecting plates on both sides of the weld. The function of the metal collecting plates is to simulate an internal welding moving platform and collect the spatter particles simulated during actual welding. Since the method described in this application aims to design the wheel set of the internal welding moving platform, in some embodiments, according to the conventional setting position of the main wheel in the wheel set, N areas can be equally divided along the length direction of the metal collecting plate from the position corresponding to the end of the main wheel away from the weld. In some embodiments, in order to better collect spatter particles, the metal collecting plate is made of magnetic metal, and double-sided tape can also be laid on the metal collecting plate. During collection, the spatter particles can be adsorbed by the magnetism of the metal collecting plate, and the adsorption effect is enhanced by the double-sided tape.

[0079] The following is an example of the steps described above:

[0080] The width of the internal welding moving platform is 50cm, and the width of the metal collecting plate is not less than the width of the internal welding moving platform, with a allowance of 55cm. Along the length of the metal collecting plate, starting from the end of the main wheel furthest from the weld, 10 areas are equally spaced away from the weld. MIG welding is used. After welding, a 3D scanner is used to scan the surface with particles adhered to the double-sided tape, measuring the shortest straight-line distance from the center point of each particle to the weld. The particle boundary of each particle is identified, and the projected diameter of the particle is calculated. For example, the shortest straight-line distance L from the center point of a certain particle to the weld is measured. H =5cm, particle projection diameter d T =0.2cm.

[0081] Furthermore, obtaining the distribution of splashed particles also includes:

[0082] Based on the N regions, record the particle projection diameter of each splash particle in each region, and count the frequency of splash particles with different diameter ranges in each region to obtain frequency distribution data.

[0083] A two-dimensional histogram is plotted with the shortest straight-line distance from the center point of the spatter particle to the weld as the abscissa and the particle projection diameter as the ordinate. The height of each histogram bar represents the frequency of spatter particle occurrence within the corresponding distance and diameter range, thus obtaining the distribution of the average projected diameter of particles at different distances.

[0084] For the particle projection diameter data in each region, the mean and standard deviation are calculated. Combining distance information, a two-dimensional histogram, and the calculated mean and standard deviation, the distribution of splash particles is obtained.

[0085] Specifically, the distribution of spatter particles can effectively demonstrate how spatter particles change with distance under different welding methods. For example, for MIG welding, the obtained two-dimensional histogram is close to a straight line with a certain slope and a negative slope, meaning that the farther away from the weld, the smaller the size of the spattered metal particles, and the smaller the maximum size of the spatter particles at positions further away from the weld. For laser welding, the obtained two-dimensional histogram is close to a straight line parallel to the horizontal axis, meaning that the size of the spatter particles is not significantly related to the shortest straight-line distance from the center point of the spatter particles to the weld, indicating that the distribution of spatter particles is more uniform.

[0086] The following is an example of the steps described above:

[0087] Based on the division of 10 regions, i.e., N=10, they are sorted in the direction from the nearest to the farthest from the weld seam, and divided into region 1, region 2, region 3, region 4, ..., region 10;

[0088] For example, in region 1, the measured particle projection diameters were 0.20cm, 0.25cm, 0.30cm, and 0.50cm, respectively. The frequency of splashing particles in different diameter ranges (e.g., 0~0.20cm, 0.20~0.40cm, 0.40~0.60cm) was counted.

[0089] Statistics show that in region 1, particles with a diameter range of 0–0.20 cm appeared 4 times, particles with a diameter range of 0.20–0.40 cm appeared 5 times, and particles with a diameter range of 0.40–0.60 cm appeared once, thus obtaining the frequency distribution data for region 1.

[0090] A two-dimensional histogram is plotted with the shortest straight-line distance from the particle center point to the weld as the abscissa (for example, the average shortest straight-line distance from the particle center point to the weld in region 1 is 2cm) and the particle projection diameter as the ordinate. The height of each histogram bar corresponds to the frequency of spatter particles appearing within the corresponding distance and diameter range. For example, at the abscissa of 2cm, the height of the histogram bar corresponding to the diameter range of 0.2 to 0.4cm represents the frequency of occurrence of 5 times, thus presenting the distribution of spatter particle diameter at different distances.

[0091] Calculate the mean and standard deviation of the particle projection diameter data within region 1, for example, calculate the particle projection diameter d. T =0.2cm, standard deviation σ=0.05cm. By combining the distance information of each region, the two-dimensional histogram, and the calculated mean and standard deviation, the distribution of welding spatter particles in region 1 can be obtained. The analysis of other regions is similar.

[0092] Furthermore, the design of the number of limiting components includes:

[0093] Based on the distribution of splashed particles, obtain the number of regions Y corresponding to a regular wheel set, and obtain the maximum particle projection diameter d within the Y regions corresponding to a regular wheel set. Tmax And the thickness H of the limiting component used. X Calculate the minimum number of limiting components Q required at the location with the largest particle projection diameter. X :

[0094] If d Tmax <H X The number of limit components Q X The value of Q is X =1;

[0095] If d Tmax ≥H X The number of limit components Q X The value is

[0096] Calculate the total number of limiters Q required for a single wheelset as follows: Z :

[0097]

[0098] in, Indicates taking The calculation result is rounded up; 1 ≤ Y ≤ N.

[0099] The function of the limiting component is to separate the main wheel and the auxiliary wheel and to separate two adjacent auxiliary wheels according to the design scheme obtained by the design method, so that there are gaps between the main wheel and the auxiliary wheel assembly and between two adjacent auxiliary wheels, to prevent splashing particles from getting stuck in the obstacle-avoiding wheel assembly, thus enabling the obstacle-avoiding magnetic wheel assembly described in this application to achieve the "obstacle avoidance" function.

[0100] The following is an example of the steps described above:

[0101] For laser welding, the corresponding areas for conventional auxiliary wheel components are regions 1 to 7, i.e., Y = 7, and the thickness H of the limiting component is... X =0.40cm. Based on the previously obtained distribution of spatter particles, it can be seen that the distribution of spatter particles in laser welding is more uniform, and there is a maximum particle projection diameter d in each region. Tmax =0.30cm, because d Tmax <H X Therefore, the number of limit components Q X The value of Q is X =1, the total number of limiting components required for a single wheelset

[0102] For MIG welding, the corresponding regions for conventional sub-wheel assemblies are regions 1 to 4, i.e., Y=4. Based on the previously obtained spatter particle distribution, it can be seen that the farther away from the weld, the smaller the size of the spattered metal particles. The maximum size of the spattered particles is also smaller at positions further away from the weld. Region 1 contains the largest particle projection diameter d. Tmax =0.30cm, the maximum particle projection diameter d exists in region 2. Tmax =0.40cm, the maximum particle projection diameter d exists within region 1. Tmax =0.70cm, the maximum particle projection diameter d exists in region 1. Tmax "' = 0.90cm, for region 1, the number of limiting parts Q" X1 The value of Q is X1 =1; For region 2, the number of limiting components Q X2 The value is Number of limit components Q X3 The value is Number of limit components Q X4 The value is The total number Q of limiting components required for a single wheelset Z :

[0103]

[0104] Furthermore, obtaining the weight of the internal welding platform and the magnetic force of the auxiliary wheel includes:

[0105] The main wheel and auxiliary wheel are subjected to pressure tests using pressure testing equipment to obtain the load-bearing capacity F of the main wheel. z The load-bearing capacity F of the auxiliary wheel f ;

[0106] Obtain the number M of wheel sets required for the internal welding moving platform and the weight G of the internal welding moving platform. P Calculate the weight G that a single wheelset needs to bear. L :

[0107]

[0108] Using magnetic testing equipment such as a vibrating sample magnetometer, the magnetic force of the main wheel and the auxiliary wheel is tested to obtain the magnetic force F of the main wheel. zB The magnetic force F of the secondary wheel fB .

[0109] The following is an example of the steps described above:

[0110] The load-bearing capacity F of the main wheel was obtained by using pressure testing equipment to conduct pressure tests on the main wheel and a single auxiliary wheel. z=100N, the load-bearing capacity F of a single auxiliary wheel f =50N; The number of wheel sets required for the internal welding mobile platform is M=4, and the weight of the internal welding mobile platform is G. P =1200N; Magnetic force F of the main wheel zB =60N; Magnetic force F of the secondary wheel fB =30N; For MIG welding, the theoretical minimum magnetic force F required for a single wheel assembly LB =150N; For laser welding, the theoretical minimum magnetic force F required for a single wheel assembly is... LB =270N; the weight that a single wheelset needs to bear.

[0111] Furthermore, the design of the number of auxiliary wheels includes:

[0112] Based on the weight G that a single wheelset needs to bear. L and the load-bearing capacity F of the main wheel z Calculate the minimum number of secondary wheels n required for a single wheelset. fmin :

[0113]

[0114] in, Indicates to The calculation result is rounded up;

[0115] Based on the theoretical minimum magnetic force F required for a single wheelset LB And the magnetic force F of the main wheel zB The number of auxiliary wheels n required for a single wheelset is determined as follows: f :

[0116] If n fmin ·F fB ≥F LB -F zB Then the number of secondary wheels required for a single wheelset, n f =n fmin ;

[0117] If n fmin ·F fB <F LB -F zB Then calculate the magnetic force difference F. CX And based on the magnetic difference, calculate the increase in the secondary wheel number Δn until (n) is satisfied. fmin +Δn)·F fB ≥F LB -F zB The number of secondary wheels n required to obtain a single wheelset f =n fmin +Δn;

[0118] Among them, the magnetic force difference F CX Obtained through the following formula:

[0119] F CX =F LB -F zB -(n fmin ·F fB );

[0120] The increase in the number of auxiliary wheels, Δn, is obtained by the following formula:

[0121]

[0122] The following is an example of the steps described above:

[0123] Based on the examples above, we can obtain For MIG welding, due to n fmin ·F fB =4·30=120N>F LB -F zB =150-60=90N; therefore, for MIG welding, the number of auxiliary wheels required for a single wheelset is n. f =n fmin =4; For laser welding, since n fmin ·F fB =4·30=120N<F LB -F zB =270-60=210N; Calculate the magnetic force difference F CX =F LB -F zB -(n fmin ·F fB )=270-60-(4·30)=90N; Calculate Calculate (n) fmin +Δn)·F fB = (4+3)·30 = F LB -F zB =270-60=210N, therefore for laser welding, the number of auxiliary wheels required for a single wheel assembly is n. f =n fmin +Δn=7.

[0124] Furthermore, the length design of the wheel axle includes:

[0125] The wheel axle includes a locking section, a wheel assembly mounting section, a flange section, and a platform mounting section, which are distributed sequentially along its axial direction.

[0126] The locking section is used to install the locking element, and the length of the locking section L1 = L 锁紧件 +ΔL;

[0127] The wheel assembly mounting section is used to install the main wheel, auxiliary wheel, and limiting components; the thickness H of the main wheel is obtained. z and the thickness H of the secondary wheel f Calculate the length L2 of the wheel assembly section according to the following formula;

[0128] L2=(n f ·H f )+(Q Z ·H X )+H z +ΔL';

[0129] The flange section is formed between the wheel assembly section and the platform assembly section, and the length of the flange section is L3 = aH. z ;

[0130] The platform mounting section is used to connect with the internal welding mobile platform, and the length L4 of the platform mounting section satisfies:

[0131] L4 = L 平台安装孔 +ΔL”;

[0132] The total length of the wheel and axle is: L 轮轴 =L1+L2+L3+L4;

[0133] Among them, L 锁紧件 L represents the axial length of the locking element. 平台安装孔 The depth of the connecting holes for the internal welding moving platform; ΔL, ΔL', and ΔL” all represent the reserved length; a is an empirical coefficient; H z The thickness of the main wheel; H f H represents the thickness of the secondary wheel. X n is the thickness of the limiting component used; f Q represents the number of sidings required for a single wheelset; Z This refers to the total number of limiting components required for a single wheelset.

[0134] Specifically, for each segment of the wheel axle, a length must be reserved to prevent the entire wheelset from failing to assemble due to dimensional errors in the main wheel, auxiliary wheel, limiting components, locking components, etc. As for the length of the flange segment, since this segment needs to withstand the pressure exerted on it by the main wheel on the wheelset mounting section, the length of the flange segment is designed based on the thickness of the main wheel and an empirical coefficient to avoid the flange segment breaking due to excessive pressure. The empirical coefficient here is obtained based on the historical experience of barrier-free wheelsets.

[0135] The following is an example of the steps described above:

[0136] The locking element is a nut, and the axial length of the nut is L. 锁紧件 =2.0cm, the hole depth L of the internal welding moving platform connection hole 平台安装孔=5.0cm, ΔL=0.5cm, ΔL'=1.2cm, ΔL”=1.0cm, empirical coefficient a=1.5, thickness H of the main wheel z = 3.0cm, thickness H of the secondary wheel f =0.6cm, the thickness H of the limiting component X =0.4cm, n f =4, Q Z =10;

[0137] Based on the above data, the length of the locking section L1 = L 锁紧件 +ΔL=2.0+0.5=2.5cm;

[0138] The length L2 of the wheel assembly section is as follows:

[0139] L2=(n f ·H f )+(Q Z ·H X )+H z +ΔL'=(4·0.6)+(10·0.4)+3.0+1.2=10.6cm;

[0140] The length of the flange segment L3 = aH z =1.5·3.0=4.5cm;

[0141] The length of the platform installation section L4 = L 平台安装孔 +ΔL”=5.0+1.0=6.0cm;

[0142] The total length of the wheel and axle is: L 轮轴 =L1+L2+L3+L4=2.5+10.6+4.5+6.0=23.6cm.

[0143] Furthermore, step S2 also includes the design of the secondary wheel's rotation angle. The outer circumference of the secondary wheel has several notches, and these notches are arranged in a circular array. The design of the secondary wheel's rotation angle includes:

[0144] Sort the secondary wheels in the direction away from the primary wheels to obtain the sequence number n of each secondary wheel. f ', based on the number of gaps n 缺口 The rotation angle θ is determined by the serial number of the secondary wheel:

[0145]

[0146] Specifically, such as Figure 3As shown, since the splashed particles cannot all pass directly through the gap, some splashed particles come into contact with the edge of the auxiliary wheel. Both the splashed particles and the edge of the auxiliary wheel have high hardness, and their collision can easily cause wear on the auxiliary wheel. To prevent the auxiliary wheel from wearing out too quickly, several notches are formed on the outer circumference of the auxiliary wheel, and these notches are arranged in a circumferential array; the number of notches can be designed according to the actual situation.

[0147] Sort the secondary wheels in the direction away from the primary wheels, meaning the secondary wheel closest to the primary wheel is n. f1 Similarly, for the rotation angle, the angle of rotation relative to the secondary wheel is calculated using the secondary wheel closest to the main wheel as the reference.

[0148] The following is an example of the steps described above:

[0149] like Figure 3 As shown, there are 9 notches on the secondary wheel. Therefore, the angle by which the second secondary wheel needs to rotate relative to the first secondary wheel is:

[0150] That is, the second auxiliary wheel is installed by rotating it 40° relative to the first auxiliary wheel.

[0151] The setting of the rotation angle of the auxiliary wheel can create an additional rim gap between two adjacent auxiliary wheels. Splashed particles can be guided into the gap that matches their own size by the rim gap, thereby avoiding excessive collision with the edge of the auxiliary wheel.

[0152] Furthermore, step S3 includes:

[0153] According to the wheelset design, the main wheel, auxiliary wheel and limiting components are assembled to obtain a new wheelset, which is then installed on the internal welding moving platform.

[0154] Simulated welding tests were conducted on the internal welding mobile platform equipped with the new wheelset. The simulated welding tests included:

[0155] Test whether the new wheelset becomes loose under different working conditions;

[0156] Test whether the new wheel assembly deforms under different working conditions;

[0157] Test the pressure-bearing capacity of the new wheel assembly;

[0158] Test the new wheel assembly's ability to pass through splashed particles;

[0159] If all the above tests are passed, no adjustments are needed to the new wheelset.

[0160] If any of the above test items fails, adjustments will be made accordingly until all of the above test items pass.

[0161] Specifically, the above tests verify the wheel design scheme of the obstacle-avoiding wheel design method of the aforementioned internal welding mobile platform in the actual application process. If problems occur, corresponding adjustments are made. If all requirements are met, it proves that the wheel design scheme meets the requirements of actual application and can be directly applied to the internal welding mobile platform.

[0162] The following is an example of the steps described above:

[0163] The test content specifically includes:

[0164] Test whether the components of the new wheelset are loose under different vibration frequencies and amplitudes. If the components are loose during the vibration test, tighten them again and add anti-loosening measures.

[0165] Test whether the axle of the new wheelset deforms under different vibration frequencies and amplitudes. If the axle deforms, replace it with an axle of different strength.

[0166] Test the load-bearing capacity of the new wheelset under certain pressure and observe whether the components are damaged. If the components are damaged, the load-bearing capacity of the new wheelset is considered insufficient, and the corresponding components are replaced with higher strength components of the same type.

[0167] Welding was simulated in a simulated field to produce particles of different sizes. The obstacle avoidance of the new wheel set was observed. If the obstacle avoidance ability was poor, the gap between adjacent wheel discs was adjusted.

[0168] More specifically, MIG wheelsets and laser-welded wheelsets are assembled based on the wheel design schemes obtained by MIG welding and laser welding, respectively. According to the testing requirements, one set of wheelsets is installed on the internal welding moving platform. After the test is completed, the other set of wheelsets is replaced to continue the test.

[0169] Vibration test: The internal welding mobile platform for installing the new wheelset was placed in the welding simulation site. The vibration frequency was gradually increased from 5Hz to 20Hz, and the amplitude was gradually increased from 0.5mm to 2mm. For example, it was found during the test that when the vibration frequency reached 15Hz and the amplitude was 1.5mm, the end nut of the wheelset became loose. The nut was then tightened again, and anti-loosening measures such as anti-loosening washers were added.

[0170] Wheel and axle deformation test: Continue to test whether the wheel and axle are deformed under different vibration frequencies and amplitudes. If the wheel and axle do not show obvious deformation after testing, there is no need to replace the wheel and axle.

[0171] Load-bearing capacity test: Apply a pressure equivalent to 1.2 times the full load weight of the internal welded moving platform to the new wheelset. If the wheel is found to be deformed during the test, it indicates that the load-bearing capacity is insufficient. Subsequently, the wheel is thickened or a wheel of other thickness is used to optimize its structure.

[0172] Obstacle avoidance test: Welding was simulated in a simulated field to produce particles of different sizes. The obstacle avoidance performance of the new wheelset was observed. It was found that the wheelset had poor obstacle avoidance ability for particles with a diameter of 0.3cm or more. The spacing between adjacent wheels was appropriately increased, and the layout of the limit rings was adjusted, i.e., the number of limit rings between adjacent wheelsets was increased.

[0173] After making the above adjustments and optimizations, the welding test is carried out again until the new wheelset has no abnormalities during the welding test, and then the wheelset of the required design is obtained.

[0174] This application also proposes an obstacle-avoiding wheel assembly, which is obtained by the obstacle-avoiding wheel assembly design method of the internally welded mobile platform described above.

[0175] Specifically, such as Figures 2-5 As shown, the obstacle-avoiding wheel assembly includes: an axle 1, a main wheel 2, a secondary wheel 3 assembly, a limiting member 4, and a locking member 5; the axle 1 has a locking section 11, a wheel assembly mounting section 12, a flange section 13, and a platform mounting section 14 distributed sequentially along its axial direction; the locking section 11 is used to install the locking member 5, and the wheel assembly mounting section 12 is used to install the main wheel 2, the secondary wheel 3, and the limiting member 4; the flange section 13 is formed between the wheel assembly mounting section 12 and the platform mounting section 14, and the platform mounting section 14 is used to connect with the internal welded mobile platform.

[0176] The main wheel 2 and the auxiliary wheel 3 are spaced apart and installed on the wheel assembly mounting section 12. The auxiliary wheel 3 assembly includes several auxiliary wheels 3, with adjacent auxiliary wheels 3 spaced apart. Limiting members 4 are provided between the main wheel 2 and the auxiliary wheel 3 assembly and between adjacent auxiliary wheels 3. The function of the limiting members 4 is to separate the main wheel 2 and the auxiliary wheel 3 and to separate adjacent auxiliary wheels 3 according to the design scheme obtained by the design method, so that there are gaps between the main wheel 2 and the auxiliary wheel 3 assembly and between adjacent auxiliary wheels 3, to prevent splashing particles from getting stuck in the obstacle-avoiding wheel assembly, thus enabling the obstacle-avoiding magnetic wheel assembly described in this application to achieve the "obstacle avoidance" function.

[0177] Different assembly methods are used for the auxiliary wheel 3, such as... Figure 4 The image shows an example of a wheel assembly design corresponding to the MIG welding process. The auxiliary wheel 3 assembly includes a first auxiliary wheel, a second auxiliary wheel, a third auxiliary wheel, and a fourth auxiliary wheel. A limiting member 4 is provided between the main wheel 2 and the first auxiliary wheel, two limiting members 4 are provided between the first and second auxiliary wheels, three limiting members 4 are provided between the second and third auxiliary wheels, and four limiting members 4 are provided between the third and fourth auxiliary wheels.

[0178] like Figure 5The image shows an example of a wheel assembly design corresponding to the laser welding process. The auxiliary wheel 3 assembly includes a first auxiliary wheel, a second auxiliary wheel, a third auxiliary wheel, a fourth auxiliary wheel, a fifth auxiliary wheel, a sixth auxiliary wheel, and a seventh auxiliary wheel. A limiting member 4 is provided between the main wheel 2 and the first auxiliary wheel, between the first and second auxiliary wheels, between the second and third auxiliary wheels, between the third and fourth auxiliary wheels, between the fourth and fifth auxiliary wheels, between the fifth and sixth auxiliary wheels, and between the sixth and seventh auxiliary wheels.

[0179] In the description of this application, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is usually based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application.

[0180] For those skilled in the art, various other corresponding changes and modifications can be made based on the technical solutions and concepts described above, and all such changes and modifications should fall within the protection scope of the claims of this application.

Claims

1. A method for designing an obstacle-avoiding wheel assembly for an internal welding mobile platform, the obstacle-avoiding wheel assembly comprising an axle, a main wheel, a secondary wheel assembly, a limiting member, and a locking member; the main wheel and the secondary wheel assembly are both disposed on the axle, and the main wheel and the secondary wheel assembly are spaced apart, the secondary wheel assembly comprising a plurality of secondary wheels spaced apart; at least one limiting member is disposed between the main wheel and the secondary wheel assembly, and at least one limiting member is disposed between two adjacent secondary wheels; characterized in that, The design method includes: S1. Obtain the distribution of spatter particles, and obtain the weight, size, and magnetic force of the auxiliary wheels of the internal welding moving platform; S2. Based on the distribution of the spatter particles, the weight and size of the internal welding moving platform, and the magnetic force of the auxiliary wheels, a wheel assembly design scheme is obtained; the wheel assembly design scheme includes the installation scheme of the main wheel, auxiliary wheel assembly, and limiting components, as well as the length design of the wheel axle; the installation scheme of the main wheel, auxiliary wheel assembly, and limiting components includes the design of the number of auxiliary wheels and the design of the number of limiting components; The length design of the axle includes: The axle includes a locking section, a wheel assembly mounting section, a flange section, and a platform mounting section distributed sequentially along its axial direction; The locking section is used to install the locking element, and the length of the locking section is... ; The wheel assembly mounting section is used to mount the main wheel, the secondary wheel, and the limiting member; the thickness of the main wheel is obtained. and the thickness of the secondary wheel Calculate the length of the wheel assembly section according to the following formula. ; ； The flange segment is formed between the wheel assembly mounting segment and the platform mounting segment, and the length of the flange segment is... ; The platform mounting section is used to connect with the internal welding mobile platform, and the length of the platform mounting section is... satisfy: ； The total length of the axle is: ; in, The axial length of the locking element; The depth of the connecting holes for the internal welding moving platform; , and All indicate reserved length; This is an empirical coefficient; The thickness of the main wheel; The thickness of the secondary wheel; The thickness of the limiting component used; The number of secondary wheels required for a single wheelset; The total number of limiting components required for a single wheelset; S3. Assemble the new wheelset according to the wheelset design scheme, test the new wheelset, and determine whether the new wheelset needs to be optimized or adjusted based on the test results.

2. The obstacle-avoiding wheel assembly design method for the internal welding mobile platform according to claim 1, characterized in that, The acquisition of the splash particle distribution includes: Metal collecting plates are placed on both sides of the weld, the width of which is not less than the width of the internal welding moving platform; the welding method is set, including MIG welding and laser welding; and the metal collecting plates are divided at equal intervals along their length from the position corresponding to the end of the main wheel away from the weld. One region; A three-dimensional scan is performed on the surface of the spatter particles collected on the metal collecting plate to measure the shortest straight-line distance from the center point of each spatter particle to the weld. Identify the particle boundary of each of the splashed particles and calculate the particle projection diameter. .

3. The obstacle-avoiding wheel assembly design method for the internal welding mobile platform according to claim 2, characterized in that, The process of obtaining the distribution of splash particles also includes: According to the division The program is divided into several regions, and the projected diameter of each splashing particle in each region is recorded. The frequency of splashing particles with different diameter ranges in each region is statistically analyzed to obtain frequency distribution data. A two-dimensional histogram is plotted with the shortest straight-line distance from the center point of the spattered particle to the weld as the abscissa and the projected diameter of the particle as the ordinate. The height of each histogram bar represents the frequency of spattered particles within the corresponding distance and diameter range, thus obtaining the distribution of the average projected diameter of the particles at different distances. For the particle projection diameter data in each region, the mean and standard deviation are calculated. Combining the distance information, the two-dimensional histogram, and the calculated mean and standard deviation, the distribution of splash particles is obtained.

4. The obstacle-avoiding wheel assembly design method for the internal welding mobile platform according to claim 3, characterized in that, The quantity design of the limiting components includes: Based on the distribution of the splashed particles, obtain the number of regions corresponding to a conventional wheel set. And obtain the corresponding wheelset as a regular wheelset. Maximum particle projection diameter in each region And the thickness of the limiting components used. Calculate the minimum number of limiting components required at the location with the largest particle projection diameter. : like < The number of limit components The value is =1; like ≥ The number of limit components The value is ; Calculate the total number of limiters required for a single wheelset as follows: : in, express Round the result up; 1 ≤ ≤ .

5. The obstacle-avoiding wheel assembly design method for the internal welding mobile platform according to claim 4, characterized in that, The process of obtaining the weight of the internal welding platform and the magnetic force of the auxiliary wheel includes: The main wheel and the auxiliary wheel are subjected to pressure tests using pressure testing equipment to obtain the load-bearing capacity of the main wheel. and the load-bearing capacity of the auxiliary wheels ; Determine the number of wheel sets required for the internal welding mobile platform. And the weight of the internal welding moving platform Calculate the weight that a single wheelset needs to bear. : The magnetic force of the main wheel and the auxiliary wheel is tested using a magnetic force testing device to obtain the magnetic force of the main wheel. Magnetic force of the secondary wheel .

6. The obstacle-avoiding wheel assembly design method for the internal welding mobile platform according to claim 5, characterized in that, The design of the number of auxiliary wheels includes: Based on the weight that a single wheelset needs to bear. and the load-bearing capacity of the main wheel Calculate the minimum number of secondary wheels required for a single wheelset. : ； in, Indicates to The calculation result is rounded up; Based on the theoretical minimum magnetic force required for a single wheelset and the magnetic force of the main wheel Determine the number of auxiliary wheels required for a single wheelset as follows: : like The number of secondary wheels required for a single wheelset ; like Then calculate the magnetic force difference. And based on the magnetic force difference, calculate the increase in the number of auxiliary wheels. until satisfied The number of secondary wheels required to obtain a single wheelset ; Wherein, the magnetic force difference Obtained through the following formula: ； The number of additional sub-wheels Obtained through the following formula: 。 7. The obstacle-avoiding wheel assembly design method for the internal welding mobile platform according to claim 6, characterized in that, The S2 further includes a secondary wheel rotation angle design, wherein the outer periphery of the secondary wheel has several notches, and the several notches are arranged in a circumferential array. The secondary wheel rotation angle design includes: The secondary wheels are sorted in a direction away from the primary wheel to obtain the sequence number of each secondary wheel. According to the number of the gaps The rotation angle is determined by the serial number of the secondary wheel. : 。 8. The obstacle-avoiding wheel assembly design method for the internal welding mobile platform according to claim 1, characterized in that, S3 includes: According to the wheel set design scheme, the main wheel, the secondary wheel and the limiting component are assembled to obtain a new wheel set, and the new wheel set is installed on the internal welding moving platform; A simulated welding test was conducted on the internal welding mobile platform equipped with the new wheel set. The simulated welding test included: Test whether the new wheel set becomes loose under different working conditions; Test whether the new wheel assembly deforms under different working conditions; Test the pressure-bearing capacity of the new wheel assembly; Test the new wheel assembly's ability to pass through splashed particles; If all the above tests are passed, no adjustments are needed to the new wheelset. If any of the above test items fails, adjustments will be made accordingly until all of the above test items pass.

9. An obstacle-avoiding wheel assembly, characterized in that, Obtained by the obstacle-avoiding wheel set design method of the internal welding mobile platform described in any one of claims 1 to 8.

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