CN111673337B - Welding robot and welding process for welding auger blade - Google Patents
Welding robot and welding process for welding auger blade Download PDFInfo
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- CN111673337B CN111673337B CN202010532988.1A CN202010532988A CN111673337B CN 111673337 B CN111673337 B CN 111673337B CN 202010532988 A CN202010532988 A CN 202010532988A CN 111673337 B CN111673337 B CN 111673337B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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Abstract
The invention discloses a welding robot which can continuously weld spiral welding seams, and the welding robot comprises a support unit, a walking power unit, a walking path constraint unit and a welding unit; the walking power unit, the walking path restraining unit and the welding unit are all fixedly arranged on the bracket unit; the invention can realize spiral continuous welding specially aiming at spiral welding seams, and has strong welding efficiency and consistency compared with manual welding.
Description
Technical Field
The invention belongs to the field of welding.
Background
The welding seam of the screw blade and the screw blade shaft is a complex spiral welding seam, the welding range of the spiral welding seam is long, the spiral welding seam is generally manually welded, and the situation that the consistency of the welding effect is not good is easily caused.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides a welding robot and a welding process for welding auger blades, which can perform continuous spiral welding.
The technical scheme is as follows: in order to achieve the purpose, the welding robot for welding the auger blade comprises a spiral auger blade coaxially sleeved on the outer side of a horizontally fixed auger blade shaft, wherein a spiral welding seam waiting for welding is formed at the root of the spiral inner edge of the spiral auger blade;
the spiral welding line welding device further comprises a welding robot, wherein the welding robot can continuously weld the spiral welding line and comprises a support unit, a walking power unit, a walking path constraint unit and a welding unit; the walking power unit, the walking path restraining unit and the welding unit are all fixedly mounted on the support unit.
Furthermore, the support unit comprises a U-shaped frame, the welding unit is installed in the middle of the U-shaped frame, and the walking power unit and the walking path restraining unit are respectively installed at two ends of the U-shaped frame;
when the walking power unit is arranged below the auger blade shaft, the walking path restraining unit is just arranged above the spiral auger blade, the walking power unit forms upward jacking force on the auger blade shaft, and the walking path restraining unit has downward jacking force on the spiral auger blade.
Furthermore, the walking power unit comprises a power motor, the output end of the power motor is in driving connection with a driving wheel, and the power motor can drive the driving wheel to rotate; the wheel axis of the driving wheel is parallel to the axis of the auger blade shaft, and the wheel surface of the driving wheel is tangent to the outer wall of the auger blade shaft in a rolling manner.
Furthermore, the walking path restraining unit comprises an arc-shaped support which is coaxial with the outer side of the spiral auger blade, and the arc-shaped support is fixed at one end of the U-shaped support; a first traveling path restraint device, a second traveling path restraint device and a third traveling path restraint device are sequentially arranged on the inner side of the arc body of the arc-shaped support along the spiral path of the spiral outer edge of the spiral auger blade; the first traveling path restraint device, the second traveling path restraint device and the third traveling path restraint device are all rolled and clasped on the spiral outer edge of the spiral auger blade; the first traveling path restraint device, the second traveling path restraint device and the third traveling path restraint device can all travel and roll along the spiral outer edge of the spiral auger blade.
Furthermore, the first walking path restraint device, the second walking path restraint device and the third walking path restraint device comprise motor bases fixed on the arc-shaped support; a vertical stepping motor is fixedly installed below the motor base, a middle guide block is arranged below the stepping motor, a left guide block and a right guide block which incline downwards are symmetrically arranged on the left side and the right side of the middle guide block, and the left guide block and the right guide block are fixedly connected with the motor base through a support; the middle guide block is provided with a middle guide hole in a hollowed-out manner, a middle guide rod is arranged in the middle guide hole in a coaxial sliding manner, an internal thread channel with an opening at the upper end is arranged in the middle guide rod in a coaxial manner, the output end of the stepping motor is synchronously connected with a threaded rod in a coaxial manner, and the threaded rod is in threaded transmission connection with the internal thread channel; the lower end of the middle guide rod is fixedly connected with a spring baffle disc with the same axle center;
a walking wheel support is fixedly connected to the lower side of the spring baffle disc, and walking wheels are rotatably mounted on the walking wheel support; the wheel surface of the walking wheel is in rolling fit with the spiral outer edge of the spiral auger blade, and a left sliding rod extending leftwards and a right sliding rod extending rightwards are fixedly connected to the two sides of the walking wheel support in a bilateral symmetry manner; the walking wheel support is characterized in that a left linkage block and a right linkage block are symmetrically arranged on two sides of the walking wheel support, a left slide bar through hole and a right slide bar through hole are respectively and transversely arranged on the left linkage block and the right linkage block in a penetrating manner, and the left slide bar and the right slide bar respectively pass through the left slide bar through hole and the right slide bar through hole in a coaxial sliding manner; the lower sides of the left linkage block and the right linkage block are respectively and fixedly connected with a left fixed wheel shaft and a right fixed wheel shaft, and the axes of the left fixed wheel shaft and the right fixed wheel shaft are parallel to the middle guide rod; the left fixed wheel shaft is coaxially and rotatably provided with a left restraint wheel through a left bearing; the right fixed wheel shaft is coaxially and rotatably provided with a right constraint wheel through a right bearing, and the left constraint wheel and the right constraint wheel are respectively in rolling fit with two sides of the spiral outer edge of the spiral auger blade; the left guide block and the right guide block are respectively provided with a left guide hole and a right guide hole in a hollow manner, a left guide rod and a right guide rod respectively pass through the left guide hole and the right guide hole in a coaxial sliding manner, and the axes of the left guide rod and the right guide rod and the axis of the middle guide rod form included angles of 15-30 degrees; the lower end of the left guide rod is fixedly connected with the left linkage block, and the lower end of the right guide rod is fixedly connected with the right linkage block; under the guide of left guide bar and right guide bar, when middle part guide bar was upwards motion, can the linkage left side interlock piece and right interlock piece still do the motion of keeping away from each other when following together upward motion.
Furthermore, a pre-tightening spring is coaxially sleeved on the middle guide rod, the lower end of the pre-tightening spring is pressed against the spring retaining disc, and the upper end of the pre-tightening spring is pressed against the lower side surface of the middle guide block;
furthermore, the welding unit comprises a welder body and a telescopic welding gun, a welding liquid nozzle at the tail end of the welding gun corresponds to the spiral welding line, and welding liquid can be sprayed to the spiral welding line from the welding liquid nozzle.
Further, the welding method of the welding robot for welding the auger blade comprises the following steps:
pre-connection process:
sleeving the coaxial axis of the spiral auger blade on the outer side of the auger blade shaft which is horizontally fixed, and then fixing two ends of the horizontal auger blade shaft through a tooling fixture; at the moment, a spiral welding seam waiting for welding is formed at the root part of the spiral inner edge of the spiral auger blade; then, manually and respectively carrying out spot welding on the head end and the tail end of the spiral welding line to preliminarily integrate the spiral welding line and the auger blade shaft, thereby realizing the pre-connection process;
robot tooling preparation process:
the walking power unit is positioned below the walking path restraining unit, in order to prevent interference in the process of tooling and smoothly install the walking power unit on the spiral auger blade, the distance between the walking power unit and the walking path restraining unit needs to be increased before the tooling, and the specific method is that the stepping motors of the first walking path restraining device, the second walking path restraining device and the third walking path restraining device are controlled to enable the threaded rods to rotate in the forward direction, so that each middle guide rod is enabled to move upwards under the action of thread transmission matching, and the upward movement of each middle guide rod enables each walking wheel support and each walking wheel to gradually move upwards to a position high enough, so that the distance between the walking power unit and the walking path restraining unit is increased; meanwhile, the walking wheel support synchronously drives the left linkage block and the right linkage block to synchronously and gradually move upwards through the left sliding rod and the right sliding rod, and because the axis of the left guide rod and the axis of the right guide rod form an included angle of 15-30 degrees with the axis of the middle guide rod, the motion guide direction of the left linkage block and the right linkage block by the left guide rod and the right guide rod also forms an included angle of 15-30 degrees with the axis of the middle guide rod, in the process of synchronously and gradually moving upwards, the left linkage block and the right linkage block can also do mutual distant motion, so that in the process of gradually moving upwards, the distance between the left restraint wheel and the right restraint wheel is gradually increased, and the distance between the left restraint wheel and the right restraint wheel is larger than the wall thickness of the spiral auger blade; the robot assembly preparation process is completed:
robot tooling process: firstly, the walking power unit reaches the lower side of the auger blade shaft, then the wheel surface of the driving wheel of the walking power unit is contacted with the outer wall of the auger blade shaft in a rolling way, at the moment, the walking path restraining unit is positioned above the auger blade, at the moment, the stepping motors of the first walking path restraint device, the second walking path restraint device and the third walking path restraint device are simultaneously controlled to make the threaded rods rotate reversely, so that the middle guide rods are displaced downwards under the action of the thread transmission coordination,
the downward movement of the middle guide rod can enable the walking wheel supports and the walking wheels to gradually move downwards close to the spiral auger blade until the wheel surfaces of the walking wheels on the first walking path restraint device, the second walking path restraint device and the third walking path restraint device are all pressed against the spiral outer edge of the spiral auger blade, so that the walking wheels on the first walking path restraint device, the second walking path restraint device and the third walking path restraint device are all matched with the spiral outer edge of the spiral auger blade in a rolling manner; meanwhile, the left restraint wheel and the right restraint wheel can do gradually downward movement under the guidance of the left guide rod and the right guide rod, and meanwhile, the left restraint wheel and the right restraint wheel do mutually close clamping movement, so that the distance between the left restraint wheel and the right restraint wheel is gradually reduced; when the traveling wheel is just matched with the spiral outer edge of the spiral auger blade in a rolling way, the left restraining wheel and the right restraining wheel just move to the two sides clamped on the spiral outer edge of the spiral auger blade, and the left restraining wheel and the right restraining wheel are respectively matched with the two sides of the spiral outer edge of the spiral auger blade in a rolling way; under the restraint of each left restraint wheel and each right restraint wheel, the travelling wheels on the first travelling path restraint device, the second travelling path restraint device and the third travelling path restraint device can stably roll along the spiral outer edge of the spiral auger blade to travel;
and (3) a spiral welding process:
controlling the welding gun to gradually extend until a welding liquid nozzle at the tail end of the welding gun moves to correspond to the spiral welding line, so that the welding liquid sprayed out from the welding liquid nozzle can be just sprayed to the spiral welding line;
controlling a power motor, so that the driving wheel rotates automatically, and further, the driving wheel rolls along the circumferential direction of the outer wall of the auger blade shaft, so that the whole welding robot is driven to slowly rotate around the auger blade shaft, at the moment, the travelling wheels on the first travelling path restraint device, the second travelling path restraint device and the third travelling path restraint device roll along the spiral outer edge of the auger blade under the restraint action of the left restraint wheel and the right restraint wheel, and the whole welding robot can do spiral motion along the spiral outer edge of the auger blade due to the fact that the auger blade is fixed by spot welding and further rolls along the spiral outer edge of the auger blade; and the welding liquid nozzle at the tail end of the welding gun can continuously sweep the spiral welding line along the spiral path in the process that the welding robot integrally makes spiral motion, and the welding liquid nozzle is controlled to continuously spray the welding liquid, so that the continuous welding of the spiral welding line is realized.
Has the advantages that: the invention can realize spiral continuous welding specially aiming at spiral welding seams, and has strong welding efficiency and consistency compared with manual welding.
Drawings
FIG. 1 is a first structural diagram of a welding process of a welding robot;
FIG. 2 is a second schematic diagram of a welding process of the welding robot;
FIG. 3 is a cross-sectional view of FIG. 1;
FIG. 4 is an enlarged partial schematic view of FIG. 3;
FIG. 5 is an axial view of FIG. 2;
FIG. 6 is a schematic view of the overall structure of the welding robot;
FIG. 7 is a schematic structural view of a first/second/third travel path restrainer;
FIG. 8 is a cross-sectional view of FIG. 7;
FIG. 9 is a schematic view of the structure of the helical auger blade to be welded separated from the auger blade shaft.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The welding robot for welding the auger blades as shown in the attached fig. 1 to 9 comprises a spiral auger blade 34 coaxially sleeved outside a horizontally fixed auger blade shaft 32, wherein a spiral welding seam 33 waiting for welding is formed at the root of the spiral inner edge of the spiral auger blade 34;
the welding robot can continuously weld the spiral welding seam 33 and comprises a support unit, a walking power unit 101, a walking path constraint unit 100 and a welding unit; the walking power unit, the walking path restraining unit and the welding unit are all fixedly mounted on the support unit.
The support unit comprises a U-shaped frame 38, the welding unit is arranged in the middle of the U-shaped frame 38, and the walking power unit 101 and the walking path restraining unit 100 are respectively arranged at two ends of the U-shaped frame 38;
when the walking power unit 101 is arranged below the auger blade shaft 32, the walking path restraining unit 100 is just arranged above the spiral auger blade 34, at the moment, the walking power unit 101 forms upward jacking force on the auger blade shaft 32, and the walking path restraining unit 100 has downward jacking force on the spiral auger blade 34.
The walking power unit 101 comprises a power motor 36, the output end of the power motor 36 is in driving connection with a driving wheel 37, and the power motor 36 can drive the driving wheel 37 to rotate; the wheel axis of the driving wheel 37 is parallel to the axis of the auger blade shaft 32, and the wheel surface of the driving wheel 37 is tangential to the outer wall of the auger blade shaft 32 in a rolling manner.
The walking path restraining unit 100 comprises an arc-shaped support 60 which is coaxial with the outer side of the spiral auger blade 34 and is fixed at one end of the U-shaped frame 38; a first traveling path restraint device 43, a second traveling path restraint device 44 and a third traveling path restraint device 45 are sequentially arranged on the inner side of the arc body of the arc-shaped support 60 along the spiral path of the spiral outer edge 35 of the spiral auger blade 34; the first walking path restraint device 43, the second walking path restraint device 44 and the third walking path restraint device 45 are all rolled and clasped on the spiral outer edge 35 of the spiral auger blade 34; the first traveling path restraint 43, the second traveling path restraint 44 and the third traveling path restraint 45 can all travel and roll along the spiral outer edge 35 of the spiral auger blade 34.
The first traveling path restraint 43, the second traveling path restraint 44 and the third traveling path restraint 45 each include a motor base 10 fixed to an arc bracket 60; a vertical stepping motor 9 is fixedly arranged below the motor base 10, a middle guide block 8 is arranged below the stepping motor 9, a left guide block 4 and a right guide block 15 which incline downwards are symmetrically arranged at the left side and the right side of the middle guide block 8, and the left guide block 4 and the right guide block 15 are fixedly connected with the motor base 10 through a support 7; a middle guide hole 13 is hollowed in the middle guide block 8, a middle guide rod 19 is coaxially and slidably arranged in the middle guide hole 13, an internal thread channel 12 with an opening at the upper end is coaxially arranged in the middle guide rod 19, the output end of the stepping motor 9 is synchronously and coaxially connected with a threaded rod 11, and the threaded rod 11 is in threaded transmission connection with the internal thread channel 12; the lower end of the middle guide rod 19 is fixedly connected with a spring stop disc 16 with the same axle center;
a walking wheel support 25 is fixedly connected to the lower side of the spring catch disc 16, and a walking wheel 26 is rotatably mounted on the walking wheel support 25; the wheel surface of the walking wheel 26 is in rolling fit with the spiral outer edge 35 of the spiral auger blade 34, and the left sliding rod 1 extending leftwards and the right sliding rod 20 extending rightwards are fixedly connected to the two sides of the walking wheel support 25 in a bilateral symmetry manner; the traveling wheel support 25 is further symmetrically provided with a left linkage block 30 and a right linkage block 20 on two sides, a left slide bar through hole 2 and a right slide bar through hole 23 are respectively transversely arranged on the left linkage block 30 and the right linkage block 20 in a penetrating manner, and a left slide bar 1 and a right slide bar 20 respectively coaxially slide through the left slide bar through hole 2 and the right slide bar through hole 23; the lower sides of the left linkage block 30 and the right linkage block 20 are respectively and fixedly connected with a left fixed wheel shaft 27 and a right fixed wheel shaft 24, and the axes of the left fixed wheel shaft 27 and the right fixed wheel shaft 24 are parallel to the middle guide rod 19; a left restraint wheel 28 is coaxially and rotatably arranged on the left fixed wheel shaft 27 through a left bearing 29; the right fixed wheel shaft 24 is coaxially and rotatably provided with a right restraint wheel 22 through a right bearing 21, and the left restraint wheel 28 and the right restraint wheel 22 are respectively matched with two sides of the spiral outer edge 35 of the spiral auger blade 34 in a rolling way; the left guide block 4 and the right guide block 15 are respectively provided with a left guide hole 5 and a right guide hole 14 in a hollow way, a left guide rod 3 and a right guide rod 17 respectively pass through the left guide hole 5 and the right guide hole 14 in a sliding way with the same axis, and the axis of the left guide rod 3 and the axis of the right guide rod 17 form an included angle of 15-30 degrees with the axis of the middle guide rod 19; the lower end of the left guide rod 3 is fixedly connected with the left linkage block 30, and the lower end of the right guide rod 17 is fixedly connected with the right linkage block 20; when the middle guide rod 19 moves upward under the guidance of the left guide rod 3 and the right guide rod 17, the left linkage block 30 and the right linkage block 20 move upward together and move away from each other.
A pre-tightening spring 18 is coaxially sleeved on the middle guide rod 19, the lower end of the pre-tightening spring 18 presses against the spring baffle disc 16, the upper end presses against the lower side surface of the middle guide block 8, and the pre-tightening spring 18 plays a pre-tightening role to prevent the threaded fit between the internal thread channel 12 and the threaded rod 11 from loosening;
the welding unit includes a welder body 40 and a retractable welding torch 41, a welding liquid spout 42 at the tip of the welding torch 41 corresponds to the spiral weld 33, and the welding liquid can be ejected from the welding liquid spout 42 toward the spiral weld 33.
The welding method and the working principle of the welding robot for welding the auger blade are as follows:
pre-connection process:
sleeving the spiral auger blade 34 coaxially outside the auger blade shaft 32 which is horizontally fixed, and fixing two ends of the horizontal auger blade shaft 32 through a tooling fixture; at the moment, a spiral welding seam 33 waiting for welding is formed at the root part of the spiral inner edge of the spiral auger blade 34; then, manually and respectively carrying out spot welding on the head end and the tail end of the spiral welding seam 33 to preliminarily integrate the spiral welding seam 33 and the auger blade shaft 32, thereby realizing the pre-connection process;
robot tooling preparation process:
in order to ensure that the walking power unit 101 is positioned below the walking path restriction unit 100 and is smoothly arranged on the spiral auger blade 34 without interference in the tooling process, the distance between the walking power unit 101 and the walking path restriction unit 100 needs to be increased before tooling, and the specific method is to control the stepping motors 9 of the first walking path restriction device 43, the second walking path restriction device 44 and the third walking path restriction device 45 to enable the threaded rods 11 to rotate in the forward direction, so that the middle guide rods 19 are displaced upwards under the action of thread transmission matching, and the travelling wheel supports 25 and the travelling wheels 6 are gradually displaced upwards to a sufficiently high position by the upward displacement of the middle guide rods 19, so that the distance between the walking power unit 101 and the walking path restriction unit 100 is increased; meanwhile, the traveling wheel support 25 synchronously drives the left linkage block 30 and the right linkage block 20 to synchronously and gradually move upwards through the left sliding rod 1 and the right sliding rod 20, since the axis of the left guide rod 3 and the axis of the right guide rod 17 are both at an angle of 15 to 30 to the axis of the middle guide rod 19, so that the motion guiding directions of the left guide rod 3 and the right guide rod 17 to the left linkage block 30 and the right linkage block 20 are also at an included angle of 15-30 degrees with the axis of the middle guide rod 19, so that in the process that the left linkage block 30 and the right linkage block 20 synchronously and gradually move upwards, the left linkage block 30 and the right linkage block 20 can also move away from each other, so that in the process of gradually displacing the left restraining wheel 28 and the right restraining wheel 22 upwards, the distance between the left restraining wheel 28 and the right restraining wheel 22 is gradually increased, so that the distance between the left restraint wheel 28 and the right restraint wheel 22 is larger than the wall thickness of the spiral auger blade 43; the robot assembly preparation process is completed:
robot tooling process: firstly, the walking power unit 101 reaches the lower side of the auger blade shaft 32, then the wheel surface of the driving wheel 37 of the walking power unit 101 is contacted with the outer wall of the auger blade shaft 32 in a rolling manner, at the moment, the walking path restraining unit 100 is positioned above the spiral auger blade 34, at the moment, the stepping motors 9 of the first walking path restraint device 43, the second walking path restraint device 44 and the third walking path restraint device 45 are simultaneously controlled, all the threaded rods 11 are reversely rotated, and all the middle guide rods 19 are downwards displaced under the action of the thread transmission matching
The downward movement of the middle guide rod 19 can enable the walking wheel supports 25 and the walking wheels 26 to gradually move downwards close to the spiral auger blade 34 until the wheel surfaces of the walking wheels 26 on the first walking path restraint device 43, the second walking path restraint device 44 and the third walking path restraint device 45 are all pressed against the spiral outer edge 35 of the spiral auger blade 34, so that the walking wheels 26 on the first walking path restraint device 43, the second walking path restraint device 44 and the third walking path restraint device 45 are all in rolling fit with the spiral outer edge 35 of the spiral auger blade 34; meanwhile, the left restraint wheel 28 and the right restraint wheel 22 move downwards gradually under the guidance of the left guide rod 3 and the right guide rod 17, and simultaneously the left restraint wheel 28 and the right restraint wheel 22 move close to each other in a clamping manner, so that the distance between the left restraint wheel 28 and the right restraint wheel 22 is gradually reduced; when the traveling wheel 26 is just matched with the spiral outer edge 35 of the spiral auger blade 34 in a rolling way, the left restraint wheel 28 and the right restraint wheel 22 just move to the two sides clamped on the spiral outer edge 35 of the spiral auger blade 34, and the left restraint wheel 28 and the right restraint wheel 22 are respectively matched with the two sides of the spiral outer edge 35 of the spiral auger blade 34 in a rolling way; under the restraint of each left restraint wheel 28 and each right restraint wheel 22, the walking wheels 26 on the first walking path restraint device 43, the second walking path restraint device 44 and the third walking path restraint device 45 can stably roll and walk along the spiral outer edge 35 of the spiral auger blade 34;
and (3) a spiral welding process:
controlling the welding gun 41 to gradually extend until the welding liquid nozzle 42 at the tail end of the welding gun 41 moves to correspond to the spiral welding line 33, so that the welding liquid sprayed out from the welding liquid nozzle 42 can be sprayed to the spiral welding line 33 just;
controlling the power motor 36, so that the driving wheel 37 rotates automatically, and further the driving wheel 37 rolls along the circumferential direction of the outer wall of the auger blade shaft 32, so as to drive the whole welding robot to slowly rotate around the auger blade shaft 32, at the moment, the walking wheels 26 on the first walking path restraint 43, the second walking path restraint 44 and the third walking path restraint 45 roll and walk along the spiral outer edge 35 of the spiral auger blade 34 under the restraint action of the left restraint wheel 28 and the right restraint wheel 22, and because the spiral auger blade 34 is fixed by spot welding, the walking wheels 26 roll and walk along the spiral outer edge 35 of the spiral auger blade 34, so that the whole welding robot can do spiral motion along the spiral outer edge 35 of the spiral auger blade 34; and the welding liquid spout 42 at the tail end of the welding gun 41 can sweep the spiral welding line 33 continuously along the spiral path in the process that the whole welding robot does spiral motion, and the welding liquid spout 42 is controlled to continuously spray out the welding liquid, so that the spiral welding line 33 can be continuously welded at the same time.
The above is only a preferred embodiment of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (7)
1. A welding robot for welding auger blade, its characterized in that: the spiral auger blade welding machine comprises a spiral auger blade (34) coaxially sleeved on the outer side of an auger blade shaft (32) which is horizontally fixed, wherein a spiral welding seam (33) waiting for welding is formed at the root part of the spiral inner edge of the spiral auger blade (34);
the method is characterized in that: the welding robot can continuously weld the spiral welding seam (33), and comprises a bracket unit, a walking power unit (101), a walking path constraint unit (100) and a welding unit; the walking power unit, the walking path restraining unit and the welding unit are all fixedly arranged on the bracket unit;
the support unit comprises a U-shaped frame (38), the welding unit is installed in the middle of the U-shaped frame (38), and the walking power unit (101) and the walking path restraining unit (100) are installed at two ends of the U-shaped frame (38) respectively;
when the walking power unit (101) is arranged below the auger blade shaft (32), the walking path restraining unit (100) is just arranged above the spiral auger blade (34), at the moment, the walking power unit (101) forms upward jacking force on the auger blade shaft (32), and the walking path restraining unit (100) has downward jacking force on the spiral auger blade (34).
2. The welding robot for welding the auger blade according to claim 1, characterized in that: the walking power unit (101) comprises a power motor (36), the output end of the power motor (36) is in driving connection with a driving wheel (37), and the power motor (36) can drive the driving wheel (37) to rotate; the wheel axis of drive wheel (37) with the axis of auger blade axle (32) is parallel, just the wheel face of drive wheel (37) with the outer wall of auger blade axle (32) rolls tangentially.
3. The welding robot for welding the auger blade according to claim 2, characterized in that: the walking path restraining unit (100) comprises an arc-shaped support (60) which is coaxial with the outer side of the spiral auger blade (34), and the arc-shaped support is fixed at one end of the U-shaped frame (38); a first walking path restraint device (43), a second walking path restraint device (44) and a third walking path restraint device (45) are sequentially arranged on the inner side of the arc body of the arc-shaped support (60) along the spiral path of the spiral outer edge (35) of the spiral auger blade (34); the first walking path restraint device (43), the second walking path restraint device (44) and the third walking path restraint device (45) are all rolled and clasped on the spiral outer edge (35) of the spiral auger blade (34); the first traveling path restraint device (43), the second traveling path restraint device (44) and the third traveling path restraint device (45) can all travel and roll along the spiral outer edge (35) of the spiral auger blade (34).
4. The welding robot for welding the auger blade according to claim 3, characterized in that: the first walking path restraint device (43), the second walking path restraint device (44) and the third walking path restraint device (45) comprise motor bases (10) fixed on arc-shaped supports (60); a vertical stepping motor (9) is fixedly mounted below the motor base (10), a middle guide block (8) is arranged below the stepping motor (9), a left guide block (4) and a right guide block (15) which incline downwards are symmetrically arranged on the left side and the right side of the middle guide block (8), and the left guide block (4) and the right guide block (15) are fixedly connected with the motor base (10) through a support (7); a middle guide hole (13) is arranged on the middle guide block (8) in a hollow manner, a middle guide rod (19) is coaxially and slidably arranged in the middle guide hole (13), an internal thread channel (12) with an opening at the upper end is coaxially arranged in the middle guide rod (19), the output end of the stepping motor (9) is synchronously and coaxially connected with a threaded rod (11), and the threaded rod (11) is in threaded transmission connection with the internal thread channel (12); the lower end of the middle guide rod (19) is fixedly connected with a spring stop disc (16) with the same axle center;
a walking wheel support (25) is fixedly connected to the lower side of the spring baffle disc (16), and a walking wheel (26) is rotatably mounted on the walking wheel support (25); the wheel surface of the walking wheel (26) is in rolling fit with the spiral outer edge (35) of the spiral auger blade (34), and a left sliding rod (1) extending leftwards and a right sliding rod (1-20) extending rightwards are fixedly connected to the two sides of the walking wheel support (25) in a bilateral symmetry manner; the walking wheel support is characterized in that a left linkage block (30) and a right linkage block (20) are symmetrically arranged on two sides of the walking wheel support (25), a left slide bar through hole (2) and a right slide bar through hole (23) are respectively and transversely arranged on the left linkage block (30) and the right linkage block (20) in a penetrating mode, and the left slide bar (1) and the right slide bar (1-20) respectively pass through the left slide bar through hole (2) and the right slide bar through hole (23) in a coaxial sliding mode; the lower sides of the left linkage block (30) and the right linkage block (20) are respectively and fixedly connected with a left fixed wheel shaft (27) and a right fixed wheel shaft (24), and the axial lines of the left fixed wheel shaft (27) and the right fixed wheel shaft (24) are parallel to the middle guide rod (19); a left restraint wheel (28) is coaxially and rotatably arranged on the left fixed wheel shaft (27) through a left bearing (29); the right fixed wheel shaft (24) is coaxially and rotatably provided with a right restraint wheel (22) through a right bearing (21), and the left restraint wheel (28) and the right restraint wheel (22) are respectively in rolling fit with two sides of a spiral outer edge (35) of a spiral auger blade (34); the left guide block (4) and the right guide block (15) are respectively provided with a left guide hole (5) and a right guide hole (14) in a hollow manner, a left guide rod (3) and a right guide rod (17) respectively pass through the left guide hole (5) and the right guide hole (14) in a sliding manner with the same axis, and the axis of the left guide rod (3) and the axis of the right guide rod (17) form an included angle of 15-30 degrees with the axis of the middle guide rod (19); the lower end of the left guide rod (3) is fixedly connected with the left linkage block (30), and the lower end of the right guide rod (17) is fixedly connected with the right linkage block (20); under the guide of the left guide rod (3) and the right guide rod (17), when the middle guide rod (19) moves upwards, the left linkage block (30) and the right linkage block (20) can be linked to move upwards together and move away from each other.
5. The welding robot for welding auger blades according to claim 4, characterized in that: and a pre-tightening spring (18) is coaxially sleeved on the middle guide rod (19), the lower end of the pre-tightening spring (18) is pressed against the spring baffle disc (16), and the upper end of the pre-tightening spring is pressed against the lower side surface of the middle guide block (8).
6. The welding robot for welding the auger blade according to claim 5, characterized in that: the welding unit comprises a welder body (40) and a telescopic welding gun (41), wherein a welding liquid nozzle (42) at the tail end of the welding gun (41) corresponds to the spiral welding seam (33), and welding liquid can be sprayed out of the spiral welding seam (33) from the welding liquid nozzle (42).
7. The welding method of the welding robot for welding the auger blade according to claim 6, characterized in that:
pre-connection process:
sleeving the spiral auger blade (34) on the outer side of the auger blade shaft (32) which is horizontally fixed with the same axis, and fixing two ends of the horizontal auger blade shaft (32) through a tool clamp; at the moment, a spiral welding seam (33) waiting for welding is formed at the root part of the spiral inner edge of the spiral auger blade (34); then, the head end and the tail end of the spiral welding seam (33) are respectively spot-welded manually, so that the spiral welding seam (33) and the auger blade shaft (32) are integrated preliminarily, and the pre-connection process is realized;
robot tooling preparation process:
the walking power unit (101) is positioned below the walking path restraining unit (100), in order to ensure that interference does not occur in the process of tooling and the threaded rods (11) are smoothly arranged on the spiral auger blade (34), the distance between the traveling power unit (101) and the traveling path restraint unit (100) needs to be enlarged before the tooling, and the specific method is to control the stepping motors (9) of the first traveling path restraint device (43), the second traveling path restraint device (44) and the third traveling path restraint device (45) to enable the threaded rods (11) to rotate forwards, thereby enabling each middle guide rod (19) to displace upwards under the action of the screw thread transmission fit, and the upward displacement of each central guide rod (19) can gradually displace each travelling wheel support (25) and travelling wheel (26) upwards to a sufficiently high position, thereby realizing the increase of the distance between the walking power unit (101) and the walking path constraint unit (100); meanwhile, the traveling wheel support (25) synchronously drives the left linkage block (30) and the right linkage block (20) to synchronously and gradually move upwards through the left sliding rod (1) and the right sliding rod (1-20), and because the axial line of the left guide rod (3) and the axial line of the right guide rod (17) form an included angle of 15 degrees to 30 degrees with the axial line of the middle guide rod (19), the motion guide direction of the left guide rod (3) and the right guide rod (17) to the left linkage block (30) and the right linkage block (20) also form an included angle of 15 degrees to 30 degrees with the axial line of the middle guide rod (19), so that in the process of synchronously and gradually moving upwards of the left linkage block (30) and the right linkage block (20), the left linkage block (30) and the right linkage block (20) can also move away from each other, and the left restraint wheel (28) and the right restraint wheel (22) gradually move upwards, the distance between the left restraint wheel (28) and the right restraint wheel (22) is gradually increased, so that the distance between the left restraint wheel (28) and the right restraint wheel (22) is larger than the wall thickness of the spiral auger blade (34); the robot assembly preparation process is completed:
robot tooling process: firstly, the walking power unit (101) reaches the lower side of the auger blade shaft (32), then the wheel surface of a driving wheel (37) of the walking power unit (101) is contacted with the outer wall of the auger blade shaft (32) in a rolling way, at the moment, the walking path restraining unit (100) is positioned above the spiral auger blade (34), at the moment, the stepping motors (9) of the first walking path restraint device (43), the second walking path restraint device (44) and the third walking path restraint device (45) are simultaneously controlled to enable each threaded rod (11) to rotate in the reverse direction, so that each middle guide rod (19) is enabled to move downwards under the action of thread transmission matching,
the downward movement of the middle guide rod (19) can enable each walking wheel support (25) and each walking wheel (26) to gradually move downwards close to the spiral auger blade (34) until the wheel surfaces of the walking wheels (26) on the first walking path restraint device (43), the second walking path restraint device (44) and the third walking path restraint device (45) are all pressed against the spiral outer edge (35) of the spiral auger blade (34), so that the walking wheels (26) on the first walking path restraint device (43), the second walking path restraint device (44) and the third walking path restraint device (45) are all in rolling fit with the spiral outer edge (35) of the spiral auger blade (34); meanwhile, the left restraining wheel (28) and the right restraining wheel (22) can gradually move downwards under the guidance of the left guide rod (3) and the right guide rod (17), meanwhile, the left restraining wheel (28) and the right restraining wheel (22) can also perform mutually close clamping movement, and further the distance between the left restraining wheel (28) and the right restraining wheel (22) is gradually reduced; when the traveling wheel (26) is just matched with the spiral outer edge (35) of the spiral auger blade (34) in a rolling way, the left restraint wheel (28) and the right restraint wheel (22) just move to the two sides clamped on the spiral outer edge (35) of the spiral auger blade (34), and the left restraint wheel (28) and the right restraint wheel (22) are respectively matched with the two sides of the spiral outer edge (35) of the spiral auger blade (34) in a rolling way; under the restraint of each left restraint wheel (28) and each right restraint wheel (22), the walking wheels (26) on the first walking path restraint device (43), the second walking path restraint device (44) and the third walking path restraint device (45) can stably walk along the spiral outer edge (35) of the spiral auger blade (34) in a rolling manner;
and (3) a spiral welding process:
controlling the welding gun (41) to gradually extend until a welding liquid nozzle (42) at the tail end of the welding gun (41) moves to correspond to the spiral welding line (33), so that the welding liquid sprayed out from the welding liquid nozzle (42) can be just sprayed to the spiral welding line (33);
controlling a power motor (36) to enable the driving wheel (37) to rotate automatically, and further enable the driving wheel (37) to roll along the circumferential direction of the outer wall of the auger blade shaft (32), so that the whole welding robot is driven to slowly rotate around the auger blade shaft (32), and at the moment, walking wheels (26) on a first walking path restraint device (43), a second walking path restraint device (44) and a third walking path restraint device (45) roll along the spiral outer edge (35) of the auger blade (34) under the restraint action of a left restraint wheel (28) and a right restraint wheel (22), and the spiral auger blade (34) is fixed through spot welding, so that the walking wheels (26) roll along the spiral outer edge (35) of the auger blade (34) to enable the whole welding robot to do spiral motion along the spiral outer edge (35) of the auger blade (34); and the welding liquid nozzle (42) at the tail end of the welding gun (41) can continuously sweep the spiral welding line (33) along a spiral path in the process that the whole welding robot does spiral motion, and the welding liquid nozzle (42) is controlled to continuously spray the welding liquid, so that the spiral welding line (33) is continuously welded at the same time.
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| CN203804429U (en) * | 2014-05-07 | 2014-09-03 | 河北创力机电科技有限公司 | Welding device for spiral drill rod |
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| JP5890937B2 (en) * | 2013-04-26 | 2016-03-22 | 本田技研工業株式会社 | Seam welding method and system |
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| CN203804429U (en) * | 2014-05-07 | 2014-09-03 | 河北创力机电科技有限公司 | Welding device for spiral drill rod |
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| CN204800166U (en) * | 2015-07-14 | 2015-11-25 | 崔彪 | A automatic welder for last spiral welding bead of helical blade |
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