Intelligent welding device for flat gate production

Abstract

The application belongs to the technical field of intelligent welding equipment, and specifically relates to an intelligent welding device for flat gate production, which comprises a welding platform and a storage table. The storage table is slidably arranged above the welding platform, the bottom of the storage table is provided with a multi-axis mechanical arm, the end of the multi-axis mechanical arm is connected with a connecting arm, the connecting arm is rotatably arranged in the connecting support, the connecting support is provided with a welding gun, one side of the welding gun is fixedly provided with a connecting seat outside the connecting support, one end of the bottom of the connecting seat is communicatively provided with a gas jet pipe, one end of the outside of the gas jet pipe is connected with a gas jet head, the middle of the gas jet head is provided with a first air duct, and a plurality of second air ducts are arranged outside the first air duct in the circumference of the gas jet head. The application solves the problems of structural redundancy and insufficient overall structural stability of the existing flat gate welding device, and solves the technical problems of easy clogging and uneven coverage of the inert gas nozzle and lack of real-time detection of the weld quality.

Description

Technical Field

[0001] This invention belongs to the field of intelligent welding equipment technology, and in particular relates to an intelligent welding device for the production of flat gates. Background Technology

[0002] Flat sluice gates are widely used in water conservancy projects, municipal facilities, and industrial valve manufacturing. Their gate structure is composed of multiple rectangular steel plates joined together using T-welds and fillet welds. The welding process places stringent requirements on weld formation quality and positioning accuracy, as the welding quality directly affects the overall performance and reliability of the flat sluice gate. Traditional welding methods typically rely on manual positioning and fixing, resulting in problems such as large weld trajectory deviations and low repeatability. While some automated equipment incorporates robotic arms and vision systems, issues remain, such as the large gate size, inability to accommodate large workpieces in confined spaces, and inconvenient loading and unloading of flat sluice gates.

[0003] Patent publication number CN120696655A discloses an intelligent welding device and its usage method for producing flat gates. The device includes a base with four sets of columns fixedly installed on its upper end. A crossbeam is fixedly installed on the upper end of each set of columns. A longitudinal slide is slidably installed on the upper side of the crossbeam, and first guide rails are symmetrically installed on the upper side of the crossbeam. The left and right ends of the longitudinal slide are slidably connected to the first guide rails on the upper side of the crossbeam. A conveying screw is driven to rotate by the output shaft of a third drive motor on the conveying seat, which in turn drives the sliding seat to move back and forth on the conveying seat. This, in turn, drives two sets of lifting components to move left and right on the conveying seat. While the lifting component at the left end of the sliding seat feeds the flat gate to be welded, the lifting component at the right end of the sliding seat can unload and transport the flat gate clamped and fixed on the clamping platform to the right end of the conveying seat, thus improving the production efficiency of the welding operation.

[0004] Existing technology achieves automatic loading and unloading of flat gates and increases welding coverage through the coordinated operation of lifting components and clamping platforms, but it still has certain shortcomings in application: First, existing technologies use a large number of mechanical structures to achieve multi-degree-of-freedom motion and automatic loading and unloading. However, the overall structure is bulky, which poses a risk of spatial interference. The overall layout is redundant, the maintenance cost is high, and the overall stability is insufficient, which is not conducive to the welding and processing of large flat gates.

[0005] Secondly, although some existing technologies can spray inert gas onto the welding area in real time, the coverage of the inert gas is limited and easily affected by the ambient airflow, resulting in unstable protection. Furthermore, when the nozzle is in long-term use or in a shutdown state, dust easily adheres and causes blockage, further affecting the coverage effect of the inert gas. Existing technologies lack corresponding processing mechanisms to ensure nozzle cleanliness and unobstructed gas flow.

[0006] Finally, although existing technologies can achieve welding in most positions, they lack visual and physical inspection methods for welds, requiring manual secondary quality inspection of the welds. This makes it impossible to identify typical welding defects such as weld formation defects, insufficient penetration, or porosity in a timely manner, leaving a large blind spot in quality control and hindering the further achievement of high-precision welding quality requirements. Summary of the Invention

[0007] To overcome the shortcomings of existing technologies, this invention provides an intelligent welding device for the production of flat gates. This invention solves the problems of structural redundancy and insufficient overall structural stability in existing flat gate welding devices, and further addresses the technical problems of easy clogging and uneven coverage of inert gas nozzles, as well as the lack of real-time detection of weld quality.

[0008] To achieve the above objectives, the present invention provides the following technical solution: an intelligent welding device for the production of flat gates, comprising a welding platform and a placement platform, wherein a workpiece to be welded is placed on the upper surface of the welding platform, the placement platform is slidably arranged above the welding platform, a multi-axis robotic arm is arranged at the bottom of the placement platform, a connecting arm is connected to the end of the multi-axis robotic arm, a connecting bracket is rotatably arranged inside the connecting arm, and a welding torch is arranged inside the connecting bracket. A connecting seat is fixedly installed on one side of the welding torch outside the connecting bracket. A jet pipe is connected to one end of the bottom of the connecting seat. A jet head that can spray inert gas is connected to one end of the jet pipe. A first air duct is provided in the middle of the jet head. Multiple second air ducts are arranged around the inner circumference of the jet head outside the first air duct. Each second air duct is conical and narrow, and the air outlet direction is at an angle of 10°-15° with the axis of the first air duct. The first air duct and the second air duct together form a spiral secondary airflow surrounding the main airflow. An adapter is rotatably mounted on one side of the jet pipe within the connecting seat. A first visual probe is mounted on one end of the adapter, and a vibration detection component is mounted on the other end of the adapter.

[0009] Preferably, the welding platform is provided with two tracks on both sides, and a crawler seat is slidably provided on each of the two tracks. The crawler seat has built-in crawler wheels that mesh with the tracks and drive them to rotate. A support seat is connected to the upper end of the crawler seat. The two support seats are fixedly connected to the bottom of the platform. A slide is driven to the bottom of the platform. One end of the bottom of the slide is connected to the execution head of the multi-axis robotic arm.

[0010] Preferably, two reference plates are fixedly installed on both sides of the upper surface of the welding platform. The two reference plates form reference surfaces in the X and Y directions, respectively. A clamping plate is slidably installed on the opposite side of the two reference plates on the end face of the welding platform. The reference plates and clamping plates are respectively used to clamp and fix the workpiece to be welded. Multiple positioners for positioning are provided on the end faces of the reference plates and clamping plates.

[0011] Preferably, the connecting seat is provided with a vent seat, the air inlet at the top of the vent seat is externally located at the top of the connecting seat and connected to an external air supply system, the air outlet at the bottom of the vent seat is connected to a rubber joint, the rubber joint is fixedly connected to the jet pipe, and a detachable dustproof ring is provided at the air outlet of the jet head. A dustproof cloth and a dustproof net are provided at the center of the dustproof ring. The dustproof net is away from the jet head to intercept larger dust particles, and the dustproof cloth is close to the jet head to intercept smaller dust particles.

[0012] Preferably, each of the second air ducts in the jet head has a curved groove at its outlet. One half of the curved groove contains a ball bearing with irregular grooves and protrusions on its surface, allowing it to roll freely within the groove. A portion of the outer surface of the ball bearing extends out of the groove and contacts the dustproof cloth. The other half of the curved groove contains a fixed shaft, and a rotating ball fan is rotatably mounted outside the fixed shaft, rotating with the airflow.

[0013] Preferably, the vibration detection assembly includes a first vibrator disposed inside the adapter, an opening seat being provided on one side of the vibration end of the first vibrator at one end of the adapter, a vibration block being connected to the vibration end of the first vibrator and the vibration block extending out of the opening seat, a detachable vibration bracket being provided on one end of the vibration block extending out of the opening seat, a guide arm being obliquely connected to one bottom end of the vibration bracket, an abutment block being connected to one outer end of the guide arm, a plurality of abutment teeth being provided on the outer circumferential surface of the abutment block, and a second vision probe being provided on the end face of the adapter above the vibration bracket.

[0014] Preferably, both the abutment block and the guide arm's side walls are inclined outwards, and the upper surface of the abutment block and the guide arm is provided with an inwardly recessed dust accumulation groove. The dust accumulation groove is provided with an arc-shaped concave surface near the outer circular surface of the abutment block, and an air cylinder is fixedly installed on the side wall of the vibration bracket above the abutment block.

[0015] Preferably, an abutment frame is provided on one side wall of the opening seat. The abutment frame is semi-circular at the end away from the opening seat. A meniscus is embedded in the semi-circular part of the abutment frame. When the vibration detection component is flipped downward, the meniscus is stuck outside the jet pipe and transmits the vibration to the jet pipe and the jet head.

[0016] Preferably, the welding platform end face is provided with multiple openings, and a lifting plate is slidably arranged in each opening. Multiple second multi-push cylinder drive structures are provided on both sides of the lifting plate on the bottom end face of the welding platform. The drive end of the second multi-push cylinder drive structure is connected to a push plate. A second vibrator is fixedly connected to the upper surface of the push plate. The vibration end of the second vibrator is fixedly connected to one end of the bottom of the lifting plate.

[0017] Preferably, an adsorption plate is fixedly installed on one side wall of the adapter, and an electromagnet that generates magnetism when energized is installed on the inner side wall of the connector. When the first visual probe is facing downwards, the adsorption plate and the electromagnet are magnetically attracted and attached.

[0018] In summary, compared with existing technologies, the beneficial effects of this solution are as follows: (1) By setting up a crawling seat and a platform, as well as multiple clamping parts on the upper surface of the multi-axis robotic arm and welding platform, the overall structure of the device is relatively simple and not easily interfered with. It also enables rapid adaptation and stable clamping of flat gates of different sizes, significantly improving installation and fixing efficiency while strengthening structural stability. Furthermore, it can complete intelligent welding processing of various types of flat gates, thus improving the overall adaptability and safety of the device.

[0019] (2) By setting a dustproof cloth and a dustproof net at the nozzle of the jet head, this application can reduce the amount of dust entering the jet head and causing blockage. The synergistic effect of the first air duct and the second air duct can also form a spiral secondary airflow around the main airflow during the outward ejection of the airflow, which can effectively enhance the coverage and anti-disturbance ability of the inert gas. With the help of structures such as ball bearings and rotating ball fans, it can not only further improve the uniformity and continuity of gas protection, but also automatically clean the dustproof cloth and dustproof net by the rolling of the ball bearings, so that the dustproof cloth and dustproof net are always unobstructed, further ensuring the stable and reliable gas protection effect in the welding area.

[0020] (3) By setting the structure of the abutment block and guide arm, as well as the dust collection tank and air cylinder in the vibration detection component, this application enables the device to not only achieve fully automatic welding processing, but also to identify and record defects such as surface cracks, pores and lack of fusion in the weld in real time by performing high-frequency micro-vibration detection on the weld after welding, effectively improving the weld quality and reducing the frequency of manual re-inspection, and significantly reducing the rework rate.

[0021] (4) This application enables the adapter to quickly switch between vibration function and visual inspection function by rotating the adapter and engaging the abutment frame with the meniscus. It can also use the residual vibration of the first vibrator during vibration inspection to vibrate the jet pipe, thereby improving the cleaning effect on the filter structure. Attached Figure Description

[0022] Figure 1 This is a perspective view of the invention from a first viewpoint. Figure 2 This is a perspective view of the invention from a second viewpoint; Figure 3 This is the front view of the present invention; Figure 4 for Figure 3 A three-dimensional sectional view along the AA direction; Figure 5 This is a side view of the present invention; Figure 6 for Figure 5 A three-dimensional sectional view along the BB direction; Figure 7 A perspective view of parts such as the connecting arm and connecting seat; Figure 8 A three-dimensional view of the vibration support and guide arm, etc. Figure 9 for Figure 4 A magnified view of a section at point C; Figure 10 for Figure 6 A magnified view of a section at point D; Figure 11 for Figure 4 A magnified view of a section at point E in the middle; Figure 12 A three-dimensional view of parts such as ball bearings and rotating ball fans; Figure 13 for Figure 5 A three-dimensional sectional view at the FF point; Figure 14 for Figure 2 A magnified view of a section at point G in the middle; In the diagram: Welding platform 10, reference plate 11, clamping plate 12, track 13, crawler seat 14, support seat 15, storage table 16, multi-axis robotic arm 17, lifting plate 18, slide 19, positioner 20, servo drive structure 21, first multi-cylinder drive structure 22, push plate 23, slide table 24, connecting arm 25, welding torch 26, connecting seat 27, jet pipe 28, connecting bracket 29, jet head 30, first drive motor 31, second drive motor 32, adapter seat 33, suction plate 34, opening seat 35. Vibration block 36, vibration bracket 37, air cylinder 38, abutment frame 39, guide arm 40, abutment block 41, dust collection groove 42, abutment tooth 43, first vibrator 44, rubber joint 45, meniscus 47, vent seat 48, first air duct 49, second air duct 50, dustproof ring 51, dustproof cloth 52, dustproof net 53, ball bearing 54, rotating ball fan 55, slider 57, second multi-push cylinder drive structure 58, second vibrator 59, fixed shaft 60, first vision probe 61, second vision probe 62, electromagnet 63. Detailed Implementation

[0023] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0024] Example 1: Reference Appendix Figure 1 Appendix Figure 3 and attached Figure 4 A smart welding device for producing flat gates includes a welding platform 10. The upper surface of the welding platform 10 is used to place the flat gate workpiece to be welded. The welding platform 10 is made of high-strength cast iron and the surface is blackened to enhance wear resistance and rust prevention. Two reference plates 11 are fixedly installed on the two sides of the upper surface of the welding platform 10. The two reference plates 11 are reference positioning blocks in the X and Y directions, respectively. Their surfaces are precision ground and carburized to ensure positioning accuracy and hardness. The two reference plates 11 are set perpendicular to each other. Two clamping plates 12 are slidably installed on the corresponding side of each of the two reference plates 11. One clamping plate 12 corresponds to the reference plate 11 in the X direction, and the other clamping plate 12 corresponds to the reference plate 11 in the Y direction. The two clamping plates 12 are made of the same material and have the same surface treatment process as the reference plates 11, which will not be elaborated further in this application. When the flat gate needs to be welded, the workers can use a gantry crane or other handling equipment to lift the workpiece onto the upper surface of the welding platform 10. Then, the two clamping plates 12 will slide toward the corresponding reference plates 11 and contact the side wall of the flat gate during the sliding process. Then, the two clamping plates 12 will continue to apply pressure, so that the other two sides of the flat gate will contact the reference surfaces of the two reference plates 11 respectively, until the flat gate is accurately positioned and clamped in the X and Y directions.

[0025] Further, see attached document. Figure 1 Appendix Figure 2 Appendix Figure 3 and attached Figure 5To ensure effective welding at all positions of the flat gate, two tracks 13 are respectively set on both sides of the welding platform 10. The two tracks 13 are symmetrically arranged and have an overall "I" shape structure. In actual operation, the tracks 13 are connected to the ground or other fixed seats. Crawling seats 14 are set on the outer side of each track 13. Multiple roller groups driven by servo motors are set at the bottom of the crawling seats 14. The rollers cooperate with the "I" shaped groove of the track 13 to roll, so that the two crawling seats 14 can slide back and forth on the track 13 along the length direction. This is existing technology and will not be elaborated on in this application. Support seats 15 are set on the top end face of each crawling seat 14. A platform 16 is set on the top end face of each support seat 15. The upper end face of the platform 16 is used to place some welding execution units that need to move with the platform 16. The specific placement requirements are set according to the actual situation. A slide table 24 is slidably mounted on the bottom end face of the platform 16. The slide table 24 is driven to the bottom of the platform 16 by a mature servo screw structure, which is existing technology and will not be elaborated on in this application. A multi-axis robotic arm 17 is mounted on the bottom end face of the slide table 24. The multi-axis robotic arm 17 is a commercially available servo-driven multi-axis robotic arm with at least four degrees of freedom. A connecting arm 25 is fixedly mounted at the flange interface at the end of the multi-axis robotic arm 17. A connecting bracket 29 is rotatably mounted inside the end of the connecting arm 25. A cylindrical cavity is provided in the middle of the connecting bracket 29. A welding torch 26 is coaxially mounted in this cylindrical cavity. The welding torch 26 is a gas shielded welding torch such as a MIG / MAG welding torch, depending on the actual situation.

[0026] Further, see attached document. Figure 1 Appendix Figure 4 and attached Figure 7In actual operation, this application will install a control cabinet outside the overall device. The control cabinet integrates a PLC controller, servo driver, vision image processing unit, and welding parameter adjustment module. An external computer is installed outside the control cabinet for human-machine interaction and welding process parameter configuration. The specific control and structure are relatively mature existing technologies, and this application will not elaborate on them. The connecting bracket 29 and the connecting arm 25 are connected by a rotating shaft and bearing structure. A first drive motor 31 is installed on one side wall of the connecting arm 25. The first drive motor 31 is preferably a servo motor. The drive output end of the first drive motor 31 is connected to the rotating shaft structure of the connecting bracket 29, thereby driving the connecting bracket 29 to rotate around its axis, which can drive the welding torch 26 to rotate at a certain angle. A connecting seat 27 is detachably installed on one side of the connecting bracket 29 through bolts and threaded holes. An adapter seat 33 is rotatably installed on one side of the connecting seat 27. A connecting shaft is provided on the side wall, and a bearing is provided on the inner wall of the connecting seat 27. The connecting shaft of the adapter 33 is installed in conjunction with the bearing on the inner wall of the connecting seat 27. A second drive motor 32 is provided on one side wall of the connecting seat 27. The second drive motor 32 is preferably a servo motor. The drive output end of the second drive motor 32 is connected to the connecting shaft structure of the adapter 33, driving the adapter 33 to rotate around its axis. A first vision probe 61 is provided on one end of the adapter 33. The first vision probe 61 is a high-resolution industrial CMOS vision probe with a built-in LED ring light module.

[0027] Specifically, after the flat gate workpiece is placed on the welding platform, the reference plate 11 and clamping plate 12 complete the initial positioning and adaptive clamping. The operator can then activate the PLC controller in the control cabinet, calling the program to control the crawler seat 14 to move along the track 13 towards the predetermined welding starting point. Simultaneously, the servo screw in the platform 16 drives the slide 24 to slide along the bottom of the platform 16, synchronously adjusting the position of the multi-axis robotic arm 17. Subsequently, the multi-axis robotic arm 17, through the servo motors of each joint, drives the connecting arm 25 at the flange end, as well as the connecting bracket 29, connecting seat 27, and other structures to move synchronously. The second drive motor 32 will... The drive adapter 33 rotates, causing the first vision probe 61 to face the welding torch 26 area, enabling real-time visual acquisition and posture feedback of the weld area. Simultaneously, the first drive motor 31 can adjust the rotation angle of the connecting bracket 29 according to the angle requirements of the welding area, ensuring the welding end of the welding torch 26 points to the weld centerline. Subsequently, the welding torch 26 performs welding operations along a preset trajectory under servo drive. The PLC controller receives image data acquired by the first vision probe 61 in real time and extracts weld features based on image recognition algorithms, dynamically correcting the welding path and posture parameters of the welding torch 26 to ensure consistent welding quality and weld formation. During the welding process described above, the crawler seat 14 and the drive structure at the bottom of the platform 16 enable overall displacement and positioning of the welding device along the X / Y directions. The multi-stage rotation adjustment mechanism composed of the connecting arm 25, connecting bracket 29, and connecting seat 27 allows for multi-degree-of-freedom posture fine-tuning of the welding torch 26 in pitch, yaw, and roll directions, ensuring effective welding of the flat gate in all directions.

[0028] Furthermore, see the attached document. Figure 1 Appendix Figure 2 and attached Figure 13 To ensure the stability of the clamping plates 12 during sliding clamping, two sliding grooves 19 are provided on the end face of the welding platform 10 below each clamping plate 12. A slider 57 is slidably mounted inside each of the two sliding grooves 19. The upper end face of each slider 57 is fixedly connected to the bottom end face of the clamping plate 12. A trapezoidal guide groove is provided on the side wall of the sliding groove 19, and a guide protrusion matching the guide groove is provided on the side wall of the slider 57. Through the sliding cooperation between the guide protrusion and the guide groove, the slider 57 is stably guided and limited during displacement, ensuring the stability of the clamping plates 12 during clamping. It should be noted that in this application, the two clamping plates 12 can use the same driving structure or each can use an independent driving structure; see attached... Figure 2For example, a servo drive structure 21 is provided on the bottom end face of the welding platform 10 below one of the clamping plates 12. The servo drive structure 21 includes a servo motor, a coupling, and a lead screw nut. The lead screw drives the slider 57 to slide axially along the slide groove 19, thereby driving the clamping plate 12 to translate. On the bottom end face of the welding platform 10 below the other clamping plate 12, a first multi-push cylinder drive structure 22 is provided. The first multi-push cylinder drive structure 22 includes a self-locking hydraulic push cylinder. The telescopic end of the hydraulic push cylinder is connected to the bottom end face of the slider 57 through a connecting plate, so that the clamping plate 12 can be pushed to translate by driving the pneumatic push rod. This arrangement is made in this application to make the two drive methods redundant and backup. When one drive structure fails, the other drive structure can still independently complete the positioning action of the corresponding clamping plate 12.

[0029] It should be noted that each clamping plate 12 and reference plate 11 is equipped with a positioner 20 for positioning or determining the relative position of the workpiece. The positioner 20 is a high-precision positioning sensor, which, in conjunction with the controllers in the control cabinet, makes the positioning of the welding torch 26 more accurate during welding.

[0030] Furthermore, see the attached document. Figure 7 and attached Figure 9 To reduce oxidation and spatter in the weld area, this application includes a vent seat 48 inside the connecting seat 27. An air inlet pipe is located at the top of the vent seat 48, which connects to an external inert gas supply system. The inert gas supply system is existing technology and will not be described in detail here. Argon is the primary gas used in this application, as it is more compatible with the jet nozzle and welding torch. A control valve structure for controlling gas flow is located inside the vent seat 48. An outlet is located at the bottom of the vent seat 48. A rubber joint 45 is located outside this outlet at the bottom of the connecting seat 27. The rubber joint 45 is made of high-temperature resistant rubber material, is hollow inside, and has a gas channel communicating with the outlet of the vent seat 48. A jet pipe 28 is sealed inside the rubber joint 45 via threads and a sealing strip. The jet pipe 28 is bent, with the bent end facing the welding torch 26 and connected to a jet nozzle 30. When the welding torch 26 is welding, the inert gas is regulated by the control valve of the vent seat 48 and then delivered to the jet pipe 28 through the internal channel of the rubber joint 45. The gas is then evenly sprayed outward from the jet head 30 to the weld area, forming a stable protective gas flow layer to inhibit oxidation and improve the quality of the molten pool, thereby improving the welding quality.

[0031] Furthermore, see the attached document. Figure 4 and attached Figure 11The welding site is dusty, and dust tends to accumulate at the air outlet of the jet head 30 during long-term use or when the equipment is shut down. Therefore, a detachable dustproof ring 51 is installed at the air outlet of the jet head 30. Two dustproof structures are set in the middle of the dustproof ring 51. The one closer to the jet head 30 is a dustproof cloth 52, which is a microporous mesh. The dustproof net 53 further away from the outside of the jet head 30 is a metal filter. An elastic buffer cavity is formed between the two dustproof structures, which can effectively intercept and retain dust particles of different sizes. The metal filter is used to intercept large particles and provide structural support, while the mesh is used to capture fine dust and buffer the airflow impact. In addition, the surfaces of the dustproof net 53 and the dustproof cloth 52 are treated with oleophobic and hydrophobic coatings to reduce the tendency of dust adhesion. The dustproof ring 51 is connected to the screw through threaded holes, which facilitates regular disassembly for cleaning or replacement.

[0032] Furthermore, see the attached document. Figure 11 and attached Figure 12 To improve the uniformity of inert gas injection and the stability of airflow at the jet head 30, this application provides a first air duct 49 with a large diameter in the middle of the jet head 30, and arranges multiple second air ducts 50 in a ring around the jet head 30 outside the first air duct 49. Each second air duct 50 is conical and evenly distributed along the circumference, and its outlet direction forms an angle of 10°-15° with the axis of the first air duct 49. When the inert gas enters the internal cavity of the jet head 30 through the first air duct 49, part of the airflow is directly ejected from the center of the first air duct 49 to form the main protective airflow, while the remaining airflow is diverted to each of the second air ducts 50. Under the combined effect of centrifugal effect and guiding angle, a spiral secondary airflow is formed around the main airflow. This double-layer airflow structure can significantly enhance the coverage of the protective gas and the anti-disturbance capability, ensuring that the weld is in a stable inert range throughout the entire process.

[0033] Furthermore, see the attached document. Figure 11 and attached Figure 12To improve the coverage area of ​​the spiral secondary airflow and reduce the risk of clogging of dustproof structures such as dustproof cloth 52 and dustproof net 53, this application provides a curved groove 56 similar to a spherical groove at the air outlet of each second air duct 50. It should be noted that a plurality of balls 54 are arranged at intervals in half of the curved groove 56. The balls 54 are made of metal and have multiple grooves or protrusions irregularly arranged on their surfaces. They can roll freely in the curved groove 56, and a part of the outer surface of the balls 54 can also extend out of the curved groove 56 and contact the dustproof cloth 52. As gas rapidly enters the second air duct 50 and flows outward toward the curved groove 56, the impact force of the airflow collides with the ball bearings 54, causing them to roll randomly within the curved groove 56. During this rolling process, the grooves and protrusions on the surface of the ball bearings 54 continuously scrape the inner wall of the curved groove 56 and impact the dustproof cloth 52, thereby generating high-frequency micro-vibrations on the surface of the dustproof cloth 52. This process can peel off loose dust particles adhering to the surface of the dustproof cloth 52, while simultaneously causing the airflow to generate turbulent disturbances within the curved groove 56 before being ejected outward. This effectively enhances the turbulence intensity and radial diffusion capability of the spiral auxiliary airflow, and further improves the cleaning effect on the dustproof cloth 52 and the dustproof net 53.

[0034] Furthermore, see the attached document. Figure 11 and attached Figure 12 Fixed shafts 60 are spaced apart within the curved groove 56 of the other half, and rotating ball fans 55 are rotatably mounted on the outside of the fixed shafts 60. Except for the rotatable connection with the fixed shafts 60, the rotating ball fans 55 are all curved blade structures. When gas enters the second air duct 50 with the rotating ball fans 55 and flows toward the rotating ball fans 55, the gas will push the rotating ball fans 55 to rotate along the axis of the fixed shafts 60. During the rotation, the curved blades of the rotating ball fans 55 continuously disturb the airflow and generate periodic vortices, thereby further improving the coverage and turbulence intensity of the inert gas. At the same time, this periodic vortex will also cause the dustproof cloth 52 and the dustproof net 53 to generate high-frequency micro-amplitude resonance, thereby working with the ball bearings 54 to improve the dust removal efficiency on the surface of the dustproof cloth 52 and the dustproof net 53. This application achieves uniformity of inert gas flow, a larger coverage area, and automatic removal of dust from the surfaces of the dustproof cloth 52 and dustproof net 53 by configuring the second air duct 50 and the ball bearings 54 and rotating ball fan 55. The ball bearings 54 and rotating ball fan 55 are arranged alternately in their respective curved grooves 56, and adjacent sets of ball bearings 54 and rotating ball fan 55 are staggered along the circumferential direction to ensure the functional complementarity and superposition of micro-vibration excitation and vortex disturbance.

[0035] Example 2: Reference Appendix Figure 7 Appendix Figure 8 and attached Figure 9A smart welding device for the production of flat gates is disclosed. The device also includes a detection structure for online quality assessment of the weld after welding, including a first vibrator 44 disposed inside the adapter 33. The first vibrator 44 is an electromagnetic vibrator whose output end can generate high-frequency vibration after being powered on, which is prior art and will not be described in detail in this application. An opening seat 35 is provided on the end face of the adapter 33 away from the first vision probe 61. An opening is provided in the middle of the opening seat 35. The vibration end of the first vibrator 44 faces the opening seat 35 and is connected to a vibration block 36. One end of the vibration block 36 extends out of the opening of the opening seat 35 and extends to the outside of the adapter 33. The end of the vibration block 36 is fixedly connected to a vibration bracket 37 by bolts. A guide arm 40 inclined to one side is connected to one end of the bottom of the vibration bracket 37. An abutment block 41 is connected to the end of the guide arm 40. The abutment block 41 is cylindrical in shape, but both the side walls of the abutment block 41 and the guide arm 40 are inclined outward. Multiple abutment teeth 43 are provided on the outer circular surface of the abutment block 41. The abutment teeth 43 include a granular protrusion structure, a toothed protrusion structure, and a convex groove structure. The abutment teeth 43 increase the roughness and friction coefficient of the outer surface of the abutment block 41.

[0036] Furthermore, see the attached document. Figure 8 Appendix Figure 9 and attached Figure 10 A second vision probe 62 is also provided on the bottom end face of the adapter 33 on one side of the opening seat 35. The second vision probe 62 uses a shock-resistant vision inspection module. Its lens faces the abutment block 41 and has an existing shock-absorbing structure inside. In addition, the lens of the second vision probe 62 is treated with wear-resistant and dustproof adhesive. The second vision probe 62 collects the surface morphology image of the weld after the abutment block 41 vibrates in real time and transmits the image data to the PLC controller to determine whether the weld quality is qualified. It should be noted that, in order to ensure the image clarity of the second vision probe 62, an air cylinder 38 is fixedly installed on one side wall of the vibration bracket 37. The air cylinder 38 is connected to a dust collection device. Its bottom faces the guide arm 40 and the abutment block 41 and has an opening. When the abutment block 41 performs a vibration test on the weld, the external dust collection device will absorb dust through the opening of the air cylinder 38 to ensure that the weld area is clean when the image is collected.

[0037] Specifically, in this application, the first vision probe 61 and the abutment block 41 are located on the upper and lower sides of the adapter 33. That is, when the welding gun 26 is welding, the adapter 33 will rotate the first vision probe 61 downward, while the vibration structure such as the abutment block 41 will be flipped upward, thereby reducing unnecessary structural interference. When the abutment block 41 is subjected to vibration testing, even if the air cylinder 38 absorbs dust, a large amount of dust will inevitably be generated. At this time, the first vision probe 61 will also be flipped upward away from the vibration contact point, thereby reducing the risk of dust contamination and wear on the surface of the first vision probe 61. After the welding is completed, the adapter 33 drives the abutment block 41 to flip downwards, and the second vision probe 62 will open. Then, the outer surface of the abutment block 41 can be placed against the weld surface that needs vibration testing. Subsequently, the first vibrator 44 is started and drives the vibrating block 36 to vibrate up and down at high frequency, thereby driving the vibration bracket 37 and the abutment block 41 to perform micro-impact on the weld surface. During the vibration, the air cylinder 38 simultaneously absorbs floating dust, and the multi-axis robotic arm 17 and other structures also drive the abutment block 41 to move along the length of the weld, so that all parts of the weld are vibrated and detected. The second vision probe 62 collects images. If there are defects such as cracks, lack of fusion, or surface bulges in the weld, the corresponding gray-scale abnormal area will appear in the image. The staff can mark it in the system and then perform repair welding or rework to ensure the overall welding quality.

[0038] Furthermore, see the attached document. Figure 8 To improve the dust collection effect, an inwardly recessed dust collection groove 42 is provided on the upper surface of the abutment block 41 and the guide arm 40. Both sides of the dust collection groove 42 are beveled, similar to a flared mouth design. An arc-shaped concave surface is provided at the bottom of the dust collection groove 42 near the outer circular surface of the abutment block 41. When the abutment block 41 vibrates the weld, the concave structure can guide the dust generated by the vibration to slide into the dust collection groove 42 and be stored briefly, so that it can be continuously sucked to the external dust removal system by the air cylinder 38.

[0039] Furthermore, see the attached document. Figure 6 Appendix Figure 9 and attached Figure 10To improve the dust removal efficiency at the jet head 30, this application provides an abutment frame 39 on one side wall of the opening seat 35. The end of the abutment frame 39 away from the opening seat 35 is semi-circular. A meniscus 47 is embedded at the semi-circular end of the abutment frame 39. The meniscus 47 is also semi-circular and its inner surface is treated with anti-slip treatment. When the adapter seat 33 drives the guide arm 40 to rotate downward, the opening seat 35 will also drive the abutment frame 39 to rotate downward. At this time, the inner circular surface of the meniscus 47 will gradually come into contact with the outer circular surface of the jet pipe 28. When the first vibrator 44 vibrates, the vibrating block 36 will be in the opening seat The vibration within the 35 is transmitted to the opening seat 35. The opening seat 35 can then transmit the vibration to the jet pipe 28 through the abutment frame 39 and the rubber joint 45, thereby causing the jet pipe 28 and the jet head 30 at the bottom of the jet pipe 28 to vibrate. This allows the dust adsorbed on the ball bearing 54 and dustproof net 53 to be shaken off during the vibration detection of the weld. Since the abutment frame 39 and the rubber joint 45 are supported outside the jet pipe 28, the overall structure of the adapter seat 33 can also be guaranteed to be rigid and stable in positioning, avoiding the displacement of contact points such as the abutment block 41 due to vibration.

[0040] It should be noted that the vibration bracket 37 and the vibration block 36 are detachable. When the abutment block 41 and other components wear out after long-term use, they can be replaced periodically. In addition, the vibration structure such as the abutment block 41 can not only inspect the weld, but also vibrate the welded area before welding, and cooperate with the air pump 38 to remove dust. It can also vibrate and remove dust from the weld area, thereby further improving the welding effect.

[0041] Example 3: Reference Appendix Figure 7 An intelligent welding device for producing flat gates is disclosed. To improve the stability of visual inspection of the first vision probe 61 during welding, this application provides an adsorption plate 34 made of magnetic metal material on one side wall of the adapter 33 and roughens its surface. An electromagnet 63 is provided at a corresponding position on the inner side wall of the connecting seat 27. The electromagnet 63 generates magnetism when energized, which is existing technology and will not be elaborated on in this application. When the adapter 33 flips the first vision probe 61 downward, the adsorption plate 34 is driven to flip upward and abut against the end face of the electromagnet 63. At this time, the electromagnet 63 will be activated and generate magnetic force, thereby firmly adsorbing the adsorption plate 34 onto the surface of the electromagnet 63, realizing the rigid locking of the adapter 33 after it is flipped into place, thereby improving the posture stability of the first vision probe 61 during visual inspection.

[0042] Example 4: Reference Appendix Figure 1 and attached Figure 14An intelligent welding device for producing flat gates is disclosed. Flat gates are typically heavy after welding and require handling by cranes or forklifts. To facilitate workpiece transfer, this application provides multiple second multi-push cylinder drive structures 58 on the bottom end face of the welding platform 10. The multiple second multi-push cylinder drive structures 58 are self-locking hydraulic push cylinders, and their extension stroke is controlled by a PLC controller. The extension rods of the push cylinders of the multiple second multi-push cylinder drive structures 58 extend downward and are connected to a push plate 23. A second vibrator 59 is fixedly installed on the upper end face of the push plate 23. The second vibrator 59 is a relatively large mechanical vibrator. During operation, the high-frequency vibration of the second vibrator 59 is synchronously controlled by the PLC, so that the whole machine generates a slight resonance at the moment of lifting. An opening is provided above the second vibrator 59 and on the end face of the welding platform 10. A lifting plate 18 is connected to the vibrating end of the second vibrator 59, and the lifting plate 18 slides in cooperation with the opening on the end face of the welding platform 10. After the gate is welded, the clamping plate 12 will release its grip. At this time, the push cylinder of the second vibrator 59 will extend synchronously, driving the push plate 23 and the second multi-push cylinder drive structure 58 to move upward as a whole, thereby pushing the lifting plate 18 to move upward. The top end face of the multiple lifting plates 18 will abut against the bottom end face of the gate and push the gate upward to the preset ground height. At this time, the forklift forks can be smoothly inserted into the bottom of the gate to complete the transfer. If the friction between the gate and the reference plate 11 and other objects is large during this process, and it is difficult to push, the second vibrator 59 will start and make its vibrating end vibrate, thereby vibrating the lifting plate 18 and the gate, reducing the static friction between the gate and the reference plate 11, and ensuring that the lifting action is reliably executed.

[0043] If certain terms are used in the specification and claims to refer to specific components, those skilled in the art will understand that hardware manufacturers may use different names to refer to the same component. This specification and claims do not distinguish components based on differences in name, but rather on differences in function. The term "comprising" as used throughout the specification and claims is an open-ended term and should be interpreted as "comprising but not limited to." "Approximately" means that within an acceptable margin of error, those skilled in the art can solve the technical problem and substantially achieve the technical effect within a certain margin of error.

[0044] It should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a product or system comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a product or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the product or system that includes said element.

[0045] The foregoing description presents and describes several preferred embodiments of this application. However, as mentioned above, it should be understood that this application is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the application concept described herein through the foregoing teachings or techniques or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of this application should be within the protection scope of the appended claims.

Claims

1. An intelligent welding device for producing flat gates, comprising a welding platform (10) and a placement platform (16), wherein a workpiece to be welded is placed on the upper surface of the welding platform (10), the placement platform (16) is slidably arranged above the welding platform (10), a multi-axis robotic arm (17) is arranged at the bottom of the placement platform (16), a connecting arm (25) is connected to the end of the multi-axis robotic arm (17), a connecting bracket (29) is rotatably arranged inside the connecting arm (25), and a welding torch (26) is arranged inside the connecting bracket (29), characterized in that, A connecting seat (27) is fixedly installed on one side of the welding torch (26) outside the connecting bracket (29). A jet pipe (28) is connected to one end of the bottom of the connecting seat (27). A jet head (30) that can spray inert gas is connected to one end of the jet pipe (28). A first air duct (49) is provided in the middle of the jet head (30). Multiple second air ducts (50) are arranged around the inner circumference of the jet head (30) outside the first air duct (49). Each second air duct (50) is conical and its air outlet direction is at an angle of 10°-15° with the axis of the first air duct (49). The first air duct (49) and the second air ducts (50) together form a spiral secondary airflow surrounding the main airflow. A transition seat (33) is rotatably provided on one side of the jet pipe (28) within the connecting seat (27). A first visual probe (61) is provided at one end of the transition seat (33), and a vibration detection component is provided at the other end of the transition seat (33).

2. The intelligent welding device for producing flat gates according to claim 1, characterized in that, The welding platform (10) has two tracks (13) on both sides. Crawler seats (14) are slidably mounted on both tracks (13). The crawler seats (14) have built-in crawler wheels that mesh with the tracks (13) and drive them to rotate. Support seats (15) are connected to the upper surface of the crawler seats (14). The two support seats (15) are fixedly connected to the bottom of the platform (16). A slide (24) is driven to the bottom of the platform (16). One end of the bottom of the slide (24) is connected to the execution head of the multi-axis robotic arm (17).

3. The intelligent welding device for producing flat gates according to claim 2, characterized in that, Two reference plates (11) are fixedly installed on both sides of the upper end face of the welding platform (10). The two reference plates (11) form reference planes in the X and Y directions respectively. A clamping plate (12) is slidably installed on the opposite side of the two reference plates (11) on the end face of the welding platform (10). The reference plates (11) and the clamping plates (12) are respectively used to clamp and fix the workpiece to be welded. Multiple positioning devices (20) for positioning are provided on the end faces of the reference plates (11) and the clamping plates (12).

4. The intelligent welding device for producing flat gates according to claim 1, characterized in that, A vent seat (48) is provided inside the connecting seat (27). The air inlet at the top of the vent seat (48) is located on the top of the connecting seat (27) and connected to an external air supply system. The air outlet at the bottom of the vent seat (48) is connected to a rubber joint (45). The rubber joint (45) is fixedly connected to the jet pipe (28). A detachable dustproof ring (51) is provided at the air outlet of the jet head (30). A dustproof cloth (52) and a dustproof net (53) are provided at the center of the dustproof ring (51). The dustproof net (53) is away from the jet head (30) to intercept larger dust particles, and the dustproof cloth (52) is close to the jet head (30) to intercept smaller dust particles.

5. The intelligent welding device for producing flat gates according to claim 4, characterized in that, The jet head (30) has a curved groove (56) at the air outlet of each second air duct (50). One half of the curved groove (56) is provided with a ball (54). The ball (54) has irregular grooves and protrusions on its surface and can roll freely in the curved groove (56). A part of the outer surface of the ball (54) can extend out of the curved groove (56) and contact the dustproof cloth (52). The other half of the curved groove (56) is provided with a fixed shaft (60). A rotating ball fan (55) is rotatably provided on the outside of the fixed shaft (60). The rotating ball fan (55) rotates with the airflow.

6. The intelligent welding device for producing flat gates according to claim 1, characterized in that, The vibration detection assembly includes a first vibrator (44) disposed inside the adapter (33). The vibrating end of the first vibrator (44) is provided with an opening seat (35) at one end of the adapter (33). The vibrating end of the first vibrator (44) is connected to a vibrating block (36), and the vibrating block (36) extends out of the opening seat (35). A detachable vibration bracket (37) is provided on one end of the vibrating block (36) extending out of the opening seat (35). A guide arm (40) is inclinedly connected to one end of the bottom of the vibration bracket (37). An abutment block (41) is connected to one end of the guide arm (40). A plurality of abutment teeth (43) are provided on the outer circular surface of the abutment block (41). A second vision probe (62) is provided on the end face of the adapter (33) above the vibration bracket (37).

7. The intelligent welding device for producing flat gates according to claim 6, characterized in that, Both sides of the abutment block (41) and the guide arm (40) are inclined outward. The upper surface of the abutment block (41) and the guide arm (40) is provided with an inwardly recessed dust accumulation groove (42). The dust accumulation groove (42) is provided with an arc-shaped concave surface on the outer circular surface near the abutment block (41). An air cylinder (38) is fixedly installed on the side wall of the vibration bracket (37) above the abutment block (41).

8. The intelligent welding device for producing flat gates according to claim 6, characterized in that, An abutment frame (39) is provided on one side wall of the opening seat (35). The abutment frame (39) is semi-circular at one end away from the opening seat (35). A meniscus (47) is embedded in the semi-circular part of the abutment frame (39). When the vibration detection component is flipped downward, the meniscus (47) is stuck outside the jet pipe (28) and transmits the vibration to the jet pipe (28) and the jet head (30).

9. The intelligent welding device for producing flat gates according to claim 1, characterized in that, The welding platform (10) has multiple openings on its end face, and a lifting plate (18) is slidably arranged in each opening. Multiple second multi-push cylinder drive structures (58) are arranged on both sides of the lifting plate (18) on the bottom end face of the welding platform (10). The driving end of the second multi-push cylinder drive structure (58) is connected to a push plate (23). A second vibrator (59) is fixedly connected to the upper end face of the push plate (23). The vibration end of the second vibrator (59) is fixedly connected to one end of the bottom of the lifting plate (18).

10. The intelligent welding device for producing flat gates according to claim 1, characterized in that, An adsorption plate (34) is fixedly installed on one side wall of the adapter (33), and an electromagnet (63) that generates magnetism when energized is installed on the inner side wall of the connector (27). When the first vision probe (61) is facing down, the adsorption plate (34) and the electromagnet (63) are magnetically attracted to each other.

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