Welding, back gouging and polishing integrated device

Abstract

The utility model provides a welding, back gouging and polishing integrated device. The welding, back gouging and polishing integrated device comprises a mechanical arm, a quick-change disc and a tool module. The tool module is connected with the mechanical arm through the quick-change disc, the tool module comprises at least one welding tool, at least one back chipping tool and at least one grinding tool, and the mechanical arm is used for loading the tool module to a target object; the quick-change disc is provided with a tool end and a connecting end, the tool end is detachably connected with the tool module, and the connecting end is connected with the mechanical arm and used for providing accessories of the tool module; the mechanical arm drives the tool end and the connecting end to be connected or disconnected, so that switching and using of different tools are achieved. Through the configuration, the welding, back gouging and grinding integrated device integrates a welding tool, a back gouging tool and a grinding tool, rapid switching and using can be achieved through the rapid changing disc, the efficiency of traditional welding, back gouging and weld bead grinding is improved, and operation is easy.

Description

Technical Field

[0001] The utility model relates to the field of mechanical equipment, in particular to an integrated device for welding root cleaning and grinding. Background Art

[0002] In the thick plate welding process, the welding quality of each layer directly affects the performance and reliability of the workpiece. In the multi-layer and multi-pass welding process, impurities such as oxides, welding slag, and oil stains are often generated on the surface of the welded joint. These impurities will affect the strength and sealing of the welded joint, and even cause welding defects such as weld cracks and pores. In order to ensure the welding quality of thick plate joints, it is usually necessary to clean the welded joints before welding, that is, to clean the weld root, so as to remove surface impurities, increase the welding area, and improve the welding strength. After welding, in order to further improve the quality of the welded joint, it is usually necessary to grind the welded joint to remove the uneven surface and other defects generated during the welding process, so as to make the weld surface smoother and smoother.

[0003] Traditionally, thick plate welding, root cleaning and weld bead grinding processes are usually carried out separately, and different equipment and processes are required to complete them. This separate processing method has the following problems:

[0004] 1. Low efficiency: Traditional welding, root cleaning and grinding processes need to be carried out separately, which increases the process and operation time and reduces production efficiency.

[0005] 2. Complicated operation: Welding, root cleaning and grinding processes require different equipment and operating skills. Operators need to frequently switch equipment and adjust parameters, which is cumbersome and error-prone.

[0006] 3. Quality is difficult to guarantee: welding, root cleaning and grinding processes are carried out separately, and the cleanliness and surface quality of the welded joints are difficult to ensure consistency, which may lead to unstable welding quality.

[0007] Based on this, how to integrate welding, root cleaning and grinding tools to improve production efficiency, reduce operation difficulty and ensure production quality has become a technical problem that technical personnel in this field need to solve. Utility Model Content

[0008] The utility model aims to provide an integrated device for welding root cleaning and grinding, so as to solve the problems that the existing device cannot have the welding, root cleaning and grinding functions at the same time, has low production efficiency and is complicated to operate.

[0009] In order to achieve the above-mentioned purpose, the utility model provides an integrated device for welding root cleaning and grinding, including: a mechanical arm, a quick-change plate and a tool module;

[0010] The tool module is connected to the robot arm through the quick-change plate, the tool module includes at least one welding tool, at least one root cleaning tool and at least one grinding tool, and the robot arm is used to load the tool module to the target object;

[0011] The quick-change plate has a tool end and a connection end, the tool end is detachably connected to the tool module, and the connection end is connected to the robot arm to provide accessories for the tool module;

[0012] The robot arm drives the tool end and the connection end to connect or disconnect, so as to realize switching and use between different tools.

[0013] Optionally, the tool module also includes a welding tool rack, a root cleaning tool rack and a grinding tool rack, the welding tool is placed on the welding tool rack, the root cleaning tool is placed on the root cleaning tool rack, and the grinding tool is placed on the grinding tool rack, the welding tool rack, the root cleaning tool rack and the grinding tool rack are each provided with the tool end, and the robotic arm drives the connecting end to move to different positions and connect or disconnect with different tool ends.

[0014] Optionally, the quick-change disc further includes: a positioning pin and a locking steel ball, and the connecting end and the tool end are positioned and connected through the positioning pin and the locking steel ball.

[0015] Optionally, the connection end is provided with a protrusion, the locking steel ball is arranged along the circumference of the protrusion, and the positioning pin is arranged around the protrusion and protrudes toward the direction close to the tool end;

[0016] The tool end is provided with a first connecting hole adapted to the protrusion and a second connecting hole adapted to the positioning pin, the protrusion is inserted into the first connecting hole, and the positioning pin is inserted into the second connecting hole.

[0017] Optionally, an anti-collision module is provided on the welding tool placement rack, and the anti-collision module is arranged on one side of the welding tool to prevent collision between the welding tool and the target object or the quick-change plate.

[0018] Optionally, the integrated welding root cleaning and grinding device further includes a positioning module, and the positioning module is disposed at the end of the robotic arm to realize the positioning of the target object.

[0019] Optionally, the connecting end further includes at least a gas module, a fluid module and a power module, and the gas module and the fluid module are respectively connected to different tools when the connecting end and the tool end are connected; the power module is connected to the tool module when the connecting end and the tool end are connected.

[0020] Optionally, the integrated welding root cleaning and grinding device further includes a wire feeding module, which is connected to the robot arm and is used to feed wire to the welding tool during welding.

[0021] Optionally, the quick-change plate is further provided with a dust removal module, and the dust removal module is used to absorb smoke and dust generated when the welding tool is welding.

[0022] Optionally, the grinding tool has a force control mode and a displacement control mode;

[0023] When the grinding tool is in the force control mode, it can contact the target object with a preset contact force to achieve grinding of the target object;

[0024] When the grinding tool is in the displacement control mode, the target object can be ground within a preset range.

[0025] In summary, the integrated welding root cleaning and grinding device provided by the utility model includes: a robotic arm, a quick-change disk and a tool module; the tool module is connected to the robotic arm through the quick-change disk, the tool module includes at least one welding tool, at least one root cleaning tool and at least one grinding tool, and the robotic arm is used to load the tool module to the target object; the quick-change disk has a tool end and a connecting end, the tool end is detachably connected to the tool module, and the connecting end is connected to the robotic arm to provide accessories for the tool module; the robotic arm drives the tool end and the connecting end to connect or disconnect to achieve switching and use between different tools.

[0026] Compared with existing welding, root cleaning and grinding tools, the integrated welding root cleaning and grinding device provided in this application has the following advantages:

[0027] (1) The present application sets the quick-change disk as a connection end and a tool end, the connection end is connected to the robot arm, the tool end is connected to the tool module, and the robot arm drives the connection end and the tool end to connect or disconnect, thereby realizing the switching and use of different tool parts. With such a configuration, the welding root cleaning and grinding integrated device provided by the present application integrates welding tools, root cleaning tools and grinding tools, and can realize rapid switching and use through the quick-change disk, thereby improving the efficiency of traditional welding, root cleaning and weld grinding, and is simple to operate.

[0028] (2) The tool end and the connection end are positioned and connected by the positioning pin and the locking steel ball, which reduces the probability of abnormal connection of the quick-change disc, further ensures the processing efficiency, and also ensures the safety performance during the processing.

[0029] (3) By setting the positioning module at the end of the robotic arm, the target object can be positioned in real time, and the robotic arm can be guided to perform operations such as welding, root cleaning and grinding, thereby ensuring the processing quality.

[0030] (4) The grinding tool has a force control mode and a displacement control mode. The control mode can be switched according to the usage requirements, which improves the application range of the device. At the same time, it can provide real-time feedback on the current contact state, position and actual contact force. It has the advantages of high load-bearing capacity and high rigidity, low vibration and stable processing performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A structural stereogram of a welding root cleaning and grinding integrated device provided in an embodiment of the utility model;

[0032] Figure 2 for Figure 1 A partial enlarged view of

[0033] Figure 3 A schematic diagram of the connection relationship between the welding tool placement rack and the tool end provided in an embodiment of the utility model;

[0034] Figure 4 A schematic diagram of the connection relationship between the grinding tool placement rack (root cleaning tool placement rack) and the tool end provided in an embodiment of the utility model;

[0035] Figure 5 A schematic diagram of the connection relationship between the connection end and the tool end provided in an embodiment of the utility model;

[0036] Figure 6 A schematic diagram of the structure of the connection end and the tool end provided in an embodiment of the utility model;

[0037] Figure 7 A schematic diagram of loading a welding tool provided in an embodiment of the utility model;

[0038] Figure 8 A schematic diagram of loading a grinding tool (root cleaning tool) provided in an embodiment of the utility model;

[0039] The description of each reference numeral is as follows:

[0040] 10-Robotic arm;

[0041] 20-quick change plate; 201-tool end; 202-connection end; 203-positioning pin; 204-locking steel ball; 205-dust removal module; 2011-first connection hole; 2012-second connection hole; 2021-protrusion; 2022-gas module; 2023-fluid module; 2024-power module;

[0042] 30- tool module; 301- welding tool; 302- root cleaning tool; 303- grinding tool; 304- welding tool rack; 305- root cleaning tool rack; 306- grinding tool rack; 3011- TIG welding gun; 3012- MIG welding gun; 3031- electric spindle; 3032- two-dimensional floating module; 3041- anti-collision module;

[0043] 40- Positioning module. DETAILED DESCRIPTION

[0044] In order to make the purpose, advantages and features of the utility model clearer, the utility model is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the utility model. In addition, the structure shown in the drawings is often a part of the actual structure. In particular, the emphasis of each drawing is different, and sometimes different scales are used.

[0045] As used in this specification, the singular forms "a", "an" and "the" include plural objects, the term "or" is generally used to include the meaning of "and / or", the term "several" is generally used to include the meaning of "at least one", and the term "at least two" is generally used to include the meaning of "two or more". In addition, the terms "first", "second" and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second" and "third" may explicitly or implicitly include one or at least two of the features, "one end" and "the other end" and "the proximal end" and "the distal end" generally refer to two corresponding parts, which include not only the endpoints, and the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral body; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. In addition, as used in this specification, an element disposed on another element generally only indicates that there is a connection, coupling, cooperation or transmission relationship between the two elements, and the connection, coupling, cooperation or transmission between the two elements may be direct or indirect through an intermediate element, and it cannot be understood as indicating or implying the spatial position relationship between the two elements, that is, one element may be in any orientation such as inside, outside, above, below or on one side of another element, unless the content clearly indicates otherwise. The terms "upper", "lower", "top" and "bottom" are generally relative position relationships arranged in the direction of gravity; the terms "vertical, vertical direction" generally refer to the direction of gravity, which is generally perpendicular to the ground, and "horizontal, horizontal plane direction" generally refers to the direction parallel to the ground; for ordinary technicians in this field, the specific meanings of the above terms in this specification can be understood according to specific circumstances.

[0046] The utility model aims to provide an integrated device for welding root cleaning and grinding, so as to solve the problems that the existing device cannot have the welding, root cleaning and grinding functions at the same time, has low production efficiency and is complicated to operate.

[0047] The following description is given with reference to the accompanying drawings.

[0048] Please refer to Figures 1 to 3The embodiment of the utility model provides an integrated device for welding root cleaning and grinding, including: a robot arm 10, a quick-change disk 20 and a tool module 30; the tool module 30 is connected to the robot arm 10 through the quick-change disk 20, the tool module 30 includes at least one welding tool 301, at least one root cleaning tool 302 and at least one grinding tool 303, and the robot arm 10 is used to load the tool module 30 to the target object; the quick-change disk 20 has a tool end 201 and a connection end 202, the tool end 201 is detachably connected to the tool module 30, and the connection end 202 is connected to the robot arm 10 to provide accessories for the tool module 30; the robot arm 10 drives the tool end 201 and the connection end 202 to connect or disconnect to achieve switching and use between different tools. It should be noted that the robot arm 10 in this embodiment can use the Yaskawa SP80 robot, which has a wingspan of 2236mm, a load of 80kg, and an accuracy of ±0.07mm, which can meet the needs of daily welding, root cleaning, and grinding. The tool module 30 includes a TIG welding (Tungsten Inert Gas Welding) welding gun, a MIG welding (Melt Inert Gas Welding) welding gun and a grinding head, wherein the TIG welding gun 3011 and the MIG welding gun 3012 are used for welding processes, and the grinding head is used for root cleaning processes and grinding processes; in this embodiment, the grinding head is used to complete root cleaning and grinding, and in other embodiments, carbon arc gouging or other mechanical methods can also be used to complete the root cleaning process, which is not limited in this embodiment. As an optional embodiment, the integrated device for welding root cleaning and grinding may also be provided with a control button, which is communicated with the robot arm 10. The operator can drive the robot arm 10 by pressing the control button to connect or disconnect the tool end 201 and the connection end 202; or, the robot arm 10 may have a built-in control chip or realize communication connection through an APP. The operator can set the duration of each process and the corresponding process parameters. After the robot arm 10 runs for a corresponding period of time according to the process parameters, it can proceed to the next process and be replaced with the corresponding tool to realize the automation and intelligence of the integrated device for welding root cleaning and grinding. Those skilled in the art may make reasonable configurations according to actual conditions, and this embodiment does not limit this.

[0049] By setting the quick-change disk 20 as a connection end 202 and a tool end 201, the connection end 202 is connected to the robot arm 10, and the tool end 201 is connected to the tool module 30. The robot arm 10 drives the connection end 202 and the tool end 201 to connect or disconnect, thereby realizing the switching and use of different tool parts; the tool module 30 includes at least one welding tool 301, at least one root cleaning tool 302 and at least one grinding tool 303, integrating welding, root cleaning and grinding functions, and can realize rapid switching and use through the quick-change disk 20, thereby improving the efficiency of traditional welding, root cleaning and weld grinding, and is simple to operate.

[0050] As an optional embodiment, the tool module 30 also includes a welding tool rack 304, a root cleaning tool rack 305 and a grinding tool rack 306. The welding tool 301 is placed on the welding tool rack 304, the root cleaning tool 302 is placed on the root cleaning tool rack 305, and the grinding tool 303 is placed on the grinding tool rack 306. The welding tool rack 304, the root cleaning tool rack 305 and the grinding tool rack 306 are each provided with a tool end 201. The robot arm 10 drives the connection end 202 to move to different positions and connect or disconnect with different tool ends 201. It should be noted that in Figure 3 and Figure 4 In the illustrated example, after the welding tool 301 (TIG welding gun 3011 or MIG welding gun 3012 in the present embodiment) completes the corresponding welding process, the integrated welding root cleaning and grinding device will enter the root cleaning process. At this time, the robot arm 10 drives the connecting end 202 to disconnect from the tool end 201 on the welding tool placement rack 304, and moves to the root cleaning tool placement rack 305, and connects with the tool end 201 on the root cleaning tool 302 (grinding head in the present embodiment) placement rack, thereby realizing switching and use between different tools.

[0051] Further, as a preferred embodiment, please refer to Figures 5 and 6 The quick-change disk 20 also includes: a positioning pin 203 and a locking steel ball 204. The connection end 202 and the tool end 201 are positioned and connected through the positioning pin 203 and the locking steel ball 204. The connection end 202 is provided with a protrusion 2021, and the locking steel ball 204 is arranged along the circumference of the protrusion 2021. The positioning pin 203 is arranged around the protrusion 2021 and protrudes toward the direction close to the tool end 201; the tool end 201 is provided with a first connecting hole 2011 adapted to the protrusion 2021 and a second connecting hole 2012 adapted to the positioning pin 203. The protrusion 2021 is inserted into the first connecting hole 2011, and the positioning pin 203 is inserted into the second connecting hole 2012. It should be noted that in Figure 6In the illustrated example, the protrusion 2021 is a cylindrical component, the locking steel ball 204 is arranged on the side wall of the protrusion 2021, the positioning pins 203 are evenly arranged along the circumference of the protrusion 2021, the protrusion 2021 and the first connecting hole 2011 are positioned, and accordingly, the aperture of the first connecting hole 2011 should be larger than the diameter of the protrusion 2021, so that the locking steel ball 204 can pass through it, and at the same time, a groove matching the locking steel ball 204 should be provided in the first connecting hole 2011, so that the locking steel ball 204 can be engaged with the groove, thereby achieving locking. In this configuration, the positioning pins 203 and the locking steel ball 204 are used to position and connect the tool end 201 and the connection end 202, reducing the probability of abnormal connection of the quick-change disk 20, further ensuring the processing efficiency, and also ensuring the safety performance during the processing.

[0052] Furthermore, the welding tool placement rack 304 is provided with an anti-collision module 3041, which is provided on one side of the welding tool 301 to prevent the welding tool 301 from colliding with the target object or the quick-change plate 20. Figure 3 and Figure 7 The anti-collision module 3041 can be a columnar component, which protrudes from the tool end 201 in the direction close to the target object. It can prevent the welding tool 301 from colliding with the target object due to being too close to the target object during the welding process. It can also prevent the welding tool 301 from colliding with other tool racks during the tool switching process.

[0053] In an alternative embodiment, please refer to Figure 2 and Figure 7 The integrated device for welding root cleaning and grinding also includes a positioning module 40, which is arranged at the end of the robot arm 10 and is used to realize the positioning of the target object. It should be noted that the positioning module 40 can be a laser vision sensor, specifically a CCD vision sensor, which can be connected to an external display or can be connected to the robot arm 10 for communication. The positioning module 40 is arranged at the end of the robot arm 10, and can realize the precise positioning of the weld to drive the robot arm 10 to move and weld. In this embodiment, the MIG welding gun 3012 and the TIG welding gun 3011 share a positioning module 40, and the positioning module 40 has the functions of weld starting point detection, cross-area sensing, tracking and correcting the weld leg deviation after arc initiation, etc., wherein the weld tracking accuracy reaches ±0.1mm, thereby realizing the automatic welding and root cleaning of the robot arm 10.

[0054] As an alternative embodiment, please refer to Figure 5, the connection end 202 at least includes a gas module 2022, a fluid module 2023 and a power module 2024. The gas module 2022 and the fluid module 2023 are respectively connected to different tools when the connection end 202 and the tool end 201 are connected; the power module 2024 is connected to the tool module 30 when the connection end 202 and the tool end 201 are connected. It should be noted that the gas module 2022 can provide an inert gas, such as argon, to the target object when the TIG welding gun 3011 is welding; it can also provide an inert gas, such as argon or helium, to the target object when the MIG welding gun 3012 is welding. The fluid module 2023 can provide corresponding fluid materials during welding, root cleaning and grinding processes. The power module 2024 can provide voltage to the tool module 30 after the connection end 202 and the tool end 201 are connected, so that the tools in the tool module 30 can run smoothly. In other embodiments, other functional modules may be configured on the connection end 202, and those skilled in the art may configure them according to actual conditions.

[0055] In another alternative embodiment, the welding root cleaning and grinding integrated device further includes a wire feeding module (not shown in the figure), which is connected to the robot arm 10 and is used to feed wire to the welding tool 301 during welding. It should be noted that in this embodiment, the wire feeding module includes a TIG wire feeder and a MIG wire feeder, which respectively feed different welding wires during the welding process of the TIG welding gun 3011 and the MIG welding gun 3012 to meet the different requirements of different welding processes for welding wires. Of course, in some other embodiments, the wire feeding module can also be used to provide welding rods or other raw materials for welding. Those skilled in the art can reasonably configure the wire feeding module according to actual conditions.

[0056] Furthermore, the quick-change plate 20 is also provided with a dust removal module 205, which is used to absorb the smoke generated when the welding tool 301 is welding. Figure 7 It should be noted that the dust removal module 205 can be a fan with a dust removal port, and the fan rotates and absorbs the smoke generated during the welding process through the dust removal port. In this embodiment, the TIG welding gun 3011 and the MIG welding gun 3012 share a dust removal module 205. In other embodiments, different operation processes can also be adapted to different dust removal modules 205 to reduce the smoke pollution of the overall processing environment.

[0057] As a preferred embodiment, please refer to Figure 8, the grinding tool 303 has a force control mode and a displacement control mode; when the grinding tool 303 is in the force control mode, it can contact the target object with a preset contact force to achieve grinding of the target object; when the grinding tool 303 is in the displacement control mode, it can grind the target object within a preset range. It should be noted that in this embodiment, the grinding tool 303 is an adaptive hydraulic floating grinding head, including an electric spindle 3031 and a two-dimensional floating module 3032, wherein the two-dimensional floating module 3032 has a force control mode and a displacement control mode, and has an automatic head changing function, which can achieve rapid switching of the grinding head. Specifically, the floating force accuracy in the force control mode is above ±2N, and the floating force range is 0N-500N; the displacement accuracy in the displacement control mode is above ±0.01mm, and the floating displacement is ±10mm; the rated speed of the electric spindle 3031 is above 8000r / min, the rated torque is between 6Nm-10Nm, and the weight of the grinding tool 303 is less than 10kg. With such configuration, the grinding tool 303 has the advantages of high load-bearing capacity and high rigidity, small vibration, stable processing performance, etc., and can adapt to the grinding requirements of different workpieces.

[0058] In another optional embodiment, the quick-change disk 20 also includes a motion sensor (not shown in the figure) and a surface detection sensor (not shown in the figure), and the motion sensor and the surface detection sensor are both arranged on the connection end 202, and are used to monitor whether the connection end 202 and the tool end 201 are in contact with each other when they are connected, so as to further ensure the stability of the connection between the two, thereby improving the safety performance of the welding root cleaning and grinding integrated device. In another embodiment, the quick-change disk 20 can also include a mechanical anti-falling module (not shown in the figure), which can be arranged at the connection part between the quick-change disk 20 and the robot arm 10, the connection part between the quick-change disk 20 and the tool module 30, and the connection part between the connection end 202 and the tool end 201. It can be a card slot and a buckle, which can ensure that the modules will not fall off from each other when an accidental power failure or gas failure occurs, so as to extend the service life of each module. In another embodiment, the welding root cleaning and grinding integrated equipment can also be provided with a socket probe (not shown in the figure) to realize the connection between the components. The life of the socket probe is up to one million times, and a single needle can be quickly replaced to improve work efficiency.

[0059] In summary, the integrated welding root cleaning and grinding device provided in the embodiment of the utility model includes: a robotic arm, a quick-change disk and a tool module; the tool module is connected to the robotic arm through the quick-change disk, the tool module includes at least one welding tool, at least one root cleaning tool and at least one grinding tool, and the robotic arm is used to load the tool module to the target object; the quick-change disk has a tool end and a connecting end, the tool end is detachably connected to the tool module, and the connecting end is connected to the robotic arm to provide accessories for the tool module; the robotic arm drives the tool end and the connecting end to connect or disconnect to achieve switching and use between different tools.

[0060] In this configuration, by setting the quick-change disc as the connection end and the tool end, the connection end is connected to the robot arm, and the tool end is connected to the tool module. The robot arm drives the connection end and the tool end to connect or disconnect, thereby realizing the switching and use of different tool parts. The welding root cleaning and grinding integrated device integrates welding tools, root cleaning tools and grinding tools, and can realize rapid switching and use through the quick-change disc, which improves the efficiency of traditional welding, root cleaning and weld grinding, and is simple to operate.

[0061] Furthermore, the tool end and the connection end are positioned and connected by the positioning pin and the locking steel ball, which reduces the probability of abnormal connection of the quick-change disc, further ensures the processing efficiency, and also ensures the safety performance during the processing.

[0062] Furthermore, by setting the positioning module at the end of the robotic arm, the target object can be positioned in real time, and the robotic arm can be guided to perform operations such as welding, root cleaning and grinding, thereby ensuring the processing quality.

[0063] Furthermore, the grinding tool has a force control mode and a displacement control mode, and the control mode can be switched according to usage requirements, which improves the applicability of the device. At the same time, it can provide real-time feedback on the current contact state, position and actual contact force, and has the advantages of high load-bearing capacity and high rigidity, low vibration and stable processing performance.

[0064] The above description is only a description of the preferred embodiment of the utility model, and is not any limitation on the scope of the utility model. Any changes and modifications made by ordinary technicians in the field of the utility model based on the above disclosure shall fall within the scope of protection of the claims.

Claims

1. A welding root cleaning and grinding integrated device, characterized in that: include: Robotic arm, quick-change plate and tool module; The tool module is connected to the robot arm through the quick-change plate, the tool module includes at least one welding tool, at least one root cleaning tool and at least one grinding tool, and the robot arm is used to load the tool module to the target object; The quick-change plate has a tool end and a connection end, the tool end is detachably connected to the tool module, and the connection end is connected to the robot arm to provide accessories for the tool module; The robot arm drives the tool end and the connection end to connect or disconnect, so as to realize switching and use between different tools.

2. The welding root cleaning and grinding integrated device according to claim 1, characterized in that: The tool module also includes a welding tool placement rack, a root cleaning tool placement rack and a grinding tool placement rack, the welding tool is placed on the welding tool placement rack, the root cleaning tool is placed on the root cleaning tool placement rack, and the grinding tool is placed on the grinding tool placement rack, and the welding tool placement rack, the root cleaning tool placement rack and the grinding tool placement rack are each provided with the tool end, and the robotic arm drives the connecting end to move to different positions and connect or disconnect with different tool ends.

3. The welding root cleaning and grinding integrated device according to claim 2, characterized in that: The quick-change disc further comprises: a positioning pin and a locking steel ball, and the connection end and the tool end are positioned and connected through the positioning pin and the locking steel ball.

4. The welding root cleaning and grinding integrated device according to claim 3, characterized in that: The connecting end is provided with a protruding portion, the locking steel ball is arranged along the circumference of the protruding portion, and the positioning pin is arranged around the protruding portion and protrudes toward the direction close to the tool end; The tool end is provided with a first connecting hole adapted to the protrusion and a second connecting hole adapted to the positioning pin, the protrusion is inserted into the first connecting hole, and the positioning pin is inserted into the second connecting hole.

5. The welding root cleaning and grinding integrated device according to claim 2, characterized in that: The welding tool placement rack is provided with an anti-collision module, which is arranged on one side of the welding tool and is used to prevent the welding tool from colliding with the target object or the quick-change plate.

6. The welding root cleaning and grinding integrated device according to claim 1, characterized in that: The integrated welding root cleaning and grinding device further comprises a positioning module, which is arranged at the end of the mechanical arm and is used to realize the positioning of the target object.

7. The welding root cleaning and grinding integrated device according to claim 1, characterized in that: The connecting end also includes at least a gas module, a fluid module and a power module. The gas module and the fluid module are respectively connected to different tools when the connecting end and the tool end are connected; the power module is connected to the tool module when the connecting end and the tool end are connected.

8. The welding root cleaning and grinding integrated device according to claim 1, characterized in that: The integrated welding root cleaning and grinding device also includes a wire feeding module, which is connected to the robot arm and is used to feed wire to the welding tool during welding.

9. The welding root cleaning and grinding integrated device according to claim 1, characterized in that: The quick-change plate is also provided with a dust removal module, and the dust removal module is used to absorb smoke and dust generated when the welding tool is welding.

10. The welding root cleaning and grinding integrated device according to claim 1, characterized in that: The grinding tool has a force control mode and a displacement control mode; When the grinding tool is in the force control mode, it can contact the target object with a preset contact force to achieve grinding of the target object; When the grinding tool is in the displacement control mode, the target object can be ground within a preset range.

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