CN111940956B - Cold type welding slag removing method applied to robot welding - Google Patents

Cold type welding slag removing method applied to robot welding Download PDF

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CN111940956B
CN111940956B CN202010837889.4A CN202010837889A CN111940956B CN 111940956 B CN111940956 B CN 111940956B CN 202010837889 A CN202010837889 A CN 202010837889A CN 111940956 B CN111940956 B CN 111940956B
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welding
dissolving
layer
fixedly connected
bedplate
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CN111940956A (en
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董志
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Lu'an Keya Information Technology Co ltd
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Lu'an Keya Information Technology Co ltd
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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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25B—REFRIGERATION MACHINES, PLANTS OR SYSTEMS; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS
    • F25B21/00—Machines, plants or systems, using electric or magnetic effects
    • F25B21/02—Machines, plants or systems, using electric or magnetic effects using Peltier effect; using Nernst-Ettinghausen effect
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25B—REFRIGERATION MACHINES, PLANTS OR SYSTEMS; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS
    • F25B2321/00—Details of machines, plants or systems, using electric or magnetic effects
    • F25B2321/02—Details of machines, plants or systems, using electric or magnetic effects using Peltier effects; using Nernst-Ettinghausen effects

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  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Optics & Photonics (AREA)
  • Thermal Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Toys (AREA)
  • Pressure Welding/Diffusion-Bonding (AREA)

Abstract

The invention discloses a cold type welding slag removing method applied to robot welding, belonging to the technical field of robots, the scheme can drive a liquid drop enrichment prick to crush a pre-dissolving attachment plate by starting a mechanical arm, and can promote the liquid drop to form liquid drops when the surface of the liquid drop enrichment prick is refrigerated and drop to the upper side of a pre-dissolving layer by virtue of the refrigeration action of a contact circular plate, so that the pre-dissolving layer is gradually dissolved, thereby promoting the nitre fragments to contact with water, rapidly refrigerating and gradually promoting the surface of a welding bedplate to form an ice layer, on one hand, the water ice sprayed on the welding bedplate in advance can be rapidly expanded by virtue of the volume expansion effect in the water ice process, and the welding slag is extruded to be separated from the welding bedplate, on the other hand, the shape of the welding slag is porous, so that the contact area between the welding slag and the ice layer can be increased along with the continuous icing of water, therefore, after the ice blocks are crushed, the separation efficiency of the welding slag and the welding bedplate is improved.

Description

Cold type welding slag removing method applied to robot welding
Technical Field
The invention relates to the technical field of robots, in particular to a cold type welding slag removing method applied to robot welding.
Background
A Robot (Robot) is an intelligent machine that can work semi-autonomously or fully autonomously. Historically, the earliest robots were found in puppet robots created by the institute of people and people, which were equipped with organs and had the ability to sit, rise, worship, and lie, and the robots have the basic characteristics of perception, decision, execution, and the like, and can assist or even replace human beings to complete dangerous, heavy and complex work, improve work efficiency and quality, serve human life, and expand or extend the range of activities and abilities of the human beings.
As people's understanding of the intelligent nature of robotics has deepened, robotics has begun to continually infiltrate into various areas of human activity. In combination with the application characteristics in these fields, people develop various special robots and various intelligent robots with sensing, decision-making, action and interaction capabilities. Although there is no strict and accurate robot definition, we want some confidence in the nature of the robot: a robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. Its task is to assist or replace human work. It is a product of advanced integrated control theory, mechano-electronics, computer, material and bionics, and has important application in the fields of industry, medicine, agriculture, service industry, building industry and even military affairs.
The technology of the robot for welding is well developed at present, but in the actual welding process, as the welding is a method of joining metal or other thermoplastic materials in a heating, high-temperature or high-pressure mode, fine welding slag melted at high temperature is generated in the welding process, and the welding slag is continuously generated in the welding process and is accumulated on a welding table plate, so that the welding work can be influenced again, the robot is generally wiped in the prior art, but the surface of the welding table plate is easily contused.
Disclosure of Invention
1. Technical problem to be solved
Aiming at the problems in the prior art, the invention aims to provide a cold type welding slag removing method applied to robot welding, the scheme can drive a liquid drop enrichment prick to crush a pre-dissolving attachment plate by starting a mechanical arm, and can promote the liquid drop to form liquid drops when the surface of the liquid drop enrichment prick is refrigerated by virtue of the refrigeration action of a contact circular plate, and the liquid drops gradually drop to the upper side of the pre-dissolving layer to ensure that the pre-dissolving layer is gradually dissolved, so that nitre stone fragments in a built-in storage cavity are promoted to be contacted with water, thereby rapidly refrigerating and gradually promoting the surface of a welding table plate to form an ice layer, on one hand, the water sprayed on the welding table plate in advance is promoted to rapidly expand by virtue of the volume expansion effect in the water freezing process, and the welding slag is squeezed to be separated from the welding table plate, on the other hand, the shape of the welding slag is porous, so that the welding slag is continuously frozen along with the water, the contact area of the welding slag and the ice layer can be increased, and therefore the separation efficiency of the welding slag and the welding bedplate is improved after the ice blocks are broken.
2. Technical scheme
In order to solve the above problems, the present invention adopts the following technical solutions.
A cold type welding slag removing method applied to robot welding comprises the following steps:
s1, spraying cold water on the welded bedplate after welding, cooling the welded bedplate, and keeping the cold water to be fully distributed on the surface of the whole welded bedplate under the action of welding slag;
s2, paving the pre-dissolving flitch on the surface of the welding bedplate, refrigerating the upper side of the pre-dissolving flitch, and promoting the water vapor in the air to be continuously dripped on the upper surface of the pre-dissolving flitch when meeting the cold and being liquefied to form liquid drops until the surface of the pre-dissolving flitch is frozen;
and S3, moving and rubbing the mechanical arm on the surface of the pre-dissolving flitch to accelerate the breaking of the ice blocks and to take away welding slag on the welding bedplate in the process of breaking the ice blocks.
Further, the pre-dissolving flitch in the S2 includes a pre-dissolving layer, a built-in storage cavity is drilled in the pre-dissolving layer, a plurality of first release holes are drilled at the bottom end of the built-in storage cavity, a plurality of connecting round blocks are embedded and installed at the upper end of the pre-dissolving layer, the bottom end of each connecting round block is fixedly connected with an arc-shaped metal claw positioned in the built-in storage cavity, the bottom end of each arc-shaped metal claw is fixedly connected with a vertical connecting rope, the bottom end of each vertical connecting rope is fixedly connected with a swinging release ball, the bottom end of each swinging release ball is fixedly connected with a swinging loosening rope, the outer end of each swinging loosening rope is fixedly connected with a plurality of capillary fiber stabs which are uniformly distributed, the liquid drop enrichment stabs can be driven to crush the pre-dissolving flitch by starting a mechanical arm, and liquid drops can be formed when the surface of the liquid drop enrichment stabs is refrigerated by virtue of a contact circular plate, and drop to the upper side of dissolving the layer in advance gradually along with the liquid drop, make dissolve the layer in advance gradually, promote the nitre fragment of built-in storage intracavity to contact with water with this, thereby refrigerate rapidly and promote welding platen surface formation ice sheet gradually, can promote the water that sprinkles in advance on the welding platen to freeze and expand rapidly with the help of the effect of the in-process volume expansion that water freezes on the one hand, and extrude the welding slag, impel its and welding platen separation, on the other hand because the shape of welding slag is porous, consequently along with the continuous icing of water, can improve the area of contact of welding slag and ice sheet, thereby after the ice-cube is broken, improve the separation efficiency of welding slag and welding platen.
Furthermore, a contact circular plate is fixedly connected to the bottom end of the mechanical arm in the step S3, a semiconductor refrigerating sheet is installed in the contact circular plate, the refrigerating end of the semiconductor refrigerating sheet is close to the pre-dissolving flitch, a plurality of uniformly distributed liquid drop enrichment conical spines are fixedly connected to the bottom end of the contact circular plate, the pre-dissolving layer can be broken by means of the liquid drop enrichment conical spines, so that the contact between water in the pre-dissolving layer and the saltpeter fragments is accelerated, the breaking of the liquid drop enrichment conical spines on the ice layer can be promoted after the ice is frozen, the swinging release ball and the swinging stirring loosening rope can be pulled to swing by means of the suction effect of the liquid drop enrichment conical spines on the swinging release ball during the ice breaking, the efficiency of the saltpeter fragments entering the pre-dissolving flitch and the welding bedplate from the first release hole is accelerated, and the suction effect of the liquid drop enrichment conical spines on the swinging release ball during the ice breaking can also be assisted, the efficiency of splitting between ice cubes is improved.
Furthermore, the swing release ball comprises an outer rubber ball bag, an outer reaction ring layer is fixedly connected to the outer end of the outer rubber ball bag, a pair of symmetrical second release holes are formed in the outer end of the outer rubber ball bag, a pair of abutting rubber sealing sheets is fixedly connected to the inner wall of each second release hole, in the ice breaking process, the melting of local ice cubes around the outer rubber ball bag can be accelerated by means of the heat release characteristic of the outer reaction ring layer after the outer rubber ball bag is contacted with outside air, so that the ice breaking efficiency is improved, the arc-shaped metal claws can be bent upwards by means of the temperature improvement, technicians can conveniently pull the arc-shaped metal claws to enable the ice cubes to be separated from the welding bedplate by carrying welding slag, meanwhile, the outer rubber ball bag can be deformed by means of pulling of a vertical connecting rope, the magnetic fluid in the outer rubber ball bag is extruded out of the second release holes, and the magnetic fluid flows, further improving the separation efficiency of the ice blocks with the welding slag and the welding bedplate.
Furthermore, the magnet block is fixedly connected inside the liquid drop enrichment prick, the outer end of the liquid drop enrichment prick is fixedly connected with a plurality of micro villi which are uniformly distributed, the distance between every two adjacent micro villi is 50 micrometers, the magnet block is arranged in the liquid drop enrichment prick, the liquid drop enrichment prick can be promoted to drive the swinging release ball to swing in the moving process, and the hydrophilicity of the surface of the liquid drop enrichment prick can be improved by arranging the micro villi, so that the efficiency of the water vapor in the air which is liquefied when encountering cold and is enriched on the surface of the liquid drop enrichment prick is improved.
Further, the pre-dissolving layer is made of edible gelatin materials, the thickness of the pre-dissolving layer is 0.5 cm, the saltpeter fragments are filled in the built-in storage cavity, the particle size of the saltpeter fragments is 0.25 cm, the pre-dissolving layer can be gradually dissolved after the pre-dissolving layer meets water by manufacturing the pre-dissolving layer through the edible gelatin materials, and the saltpeter fragments can be rapidly refrigerated after contacting the saltpeter fragments with water and can be continuously contacted with the saltpeter fragments to form an ice layer.
Further, connect the round piece outer end fixedly connected with inflation layer, the inflation layer is made by meeting water expanded material, through setting up the inflation layer, can expand after the inflation layer meets water to improve the efficiency of breaking on predissolved layer.
Furthermore, the arc-shaped metal claw is made of a nickel-titanium memory alloy material, the equilibrium temperature of the arc-shaped metal claw is 40 ℃, and the arc-shaped metal claw is made of the nickel-titanium memory alloy material, so that the temperature of the arc-shaped metal claw can be promoted to reach the equilibrium temperature and then is recovered to the high-temperature phase state.
Furthermore, the outer rubber saccule is filled with magnetic fluid, the outer reaction ring layer is formed by polymerizing reducing iron powder, the outer reaction ring layer is made of the reducing iron powder, the outer reaction ring layer can be prompted to rapidly generate heat after being contacted with air, and the flowing magnetic fluid can be collected by means of ferroferric oxide powder generated after reaction.
3. Advantageous effects
Compared with the prior art, the invention has the advantages that:
(1) the scheme can drive the liquid drop enrichment prick to crush the pre-dissolving flitch by starting the mechanical arm and by means of the refrigeration function of the contact circular plate, can promote the liquid drop to form liquid drops when the liquid drop enrichment prick surface is refrigerated and gradually fall to the upper side of the pre-dissolving layer along with the liquid drops, so that the pre-dissolving layer is gradually dissolved to promote the nitre fragments in the built-in storage cavity to contact with water, thereby rapidly refrigerating and gradually promoting the surface of the welding bedplate to form an ice layer, on one hand, the water ice sprayed on the welding bedplate in advance can be rapidly expanded by virtue of the volume expansion effect in the water icing process, and the welding slag is extruded to be separated from the welding bedplate, on the other hand, as the shape of the welding slag is porous, the welding slag is frozen along with the continuous icing of water, the contact area of the welding slag and the ice layer can be increased, and therefore the separation efficiency of the welding slag and the welding bedplate is improved after the ice blocks are broken.
(2) The bottom end of the mechanical arm in the S3 is fixedly connected with a contact circular plate, a semiconductor refrigerating sheet is installed in the contact circular plate, the refrigerating end of the semiconductor refrigerating sheet is close to the pre-dissolving flitch, the bottom end of the contact circular plate is fixedly connected with a plurality of uniformly distributed liquid drop enrichment pricks, the pre-dissolving layer can be cracked by means of the liquid drop enrichment pricks, thereby accelerating the contact of the water in the glass tube and the broken glass of the saltpeter, on the other hand, promoting the liquid drop enrichment prick to break the ice layer after the ice is frozen, and by means of the attraction of the liquid drop enrichment prick to the swinging release ball, when icing, the swinging release ball and the swinging stirring loosening rope are pulled to swing, the efficiency of the saltpeter fragments entering between the pre-dissolving flitch and the welding bedplate from the first release hole is accelerated, secondly, the liquid drop enrichment prick can also be used for attracting the swinging release ball during ice breaking, and the cracking efficiency among ice blocks is improved.
(3) The swing release ball comprises an outer rubber ball bag, the outer end of the outer rubber ball bag is fixedly connected with an outer reaction ring layer, the outer end of the outer rubber ball bag is provided with a pair of second release holes which are symmetrical to each other, the inner wall of each second release hole is fixedly connected with a pair of rubber sealing sheets which are abutted to each other, in the process of ice breaking, the melting of local ice blocks around the outer reaction ring layer can be accelerated on one hand by virtue of the characteristic that the outer reaction ring layer releases heat after contacting with the outside air, thereby improving the efficiency of crushing the ice cubes, on the other hand, the arc-shaped metal claws can be promoted to bend upwards by the improvement of the temperature, can facilitate technicians to separate the ice blocks carrying the welding slag from the welding bedplate by pulling the arc-shaped metal claws, meanwhile, by pulling the vertical connecting rope, the outer rubber saccule can be promoted to deform and the magnetic fluid in the outer rubber saccule can be extruded out through the second release hole, and the separation efficiency of the ice block with the welding slag and the welding bedplate is further improved by means of the flow of the magnetic fluid.
(4) The magnet block is fixedly connected inside the liquid drop enrichment awl, the micro villi which are uniformly distributed are fixedly connected at the outer end of the liquid drop enrichment awl, the distance between every two adjacent micro villi is 50 micrometers, the magnet block is arranged in the liquid drop enrichment awl, the liquid drop enrichment awl can be promoted to move in the moving process, the swinging release ball can be driven to swing, the hydrophilicity of the surface of the liquid drop enrichment awl can be improved by arranging the micro villi, and therefore the efficiency of the water vapor in the air which is liquefied when meeting cold and enriched on the surface of the liquid drop enrichment awl is improved.
(5) The pre-dissolving layer is made of edible gelatin materials, the thickness of the pre-dissolving layer is 0.5 cm, the built-in storage cavity is filled with the saltpeter fragments, the particle size of the saltpeter fragments is 0.25 cm, the pre-dissolving layer is made of the edible gelatin materials, the pre-dissolving layer can be promoted to be gradually dissolved after the pre-dissolving layer meets water, and the saltpeter fragments can be promoted to be rapidly refrigerated after contacting the saltpeter fragments with the water and to be continuously contacted with the saltpeter fragments to form an ice layer.
(6) Connect the round piece outer end fixedly connected with inflation layer, the inflation layer is made by meeting water inflation material, through setting up the inflation layer, can expand after the inflation layer meets water to improve the efficiency of breaking on predissolved layer.
(7) The arc-shaped metal claw is made of nickel-titanium memory alloy materials, the equilibrium temperature of the arc-shaped metal claw is 40 ℃, and the arc-shaped metal claw is made of the nickel-titanium memory alloy materials, so that the temperature of the arc-shaped metal claw can be promoted to reach the equilibrium temperature and then is recovered to the high-temperature phase state.
(8) The outer rubber saccule is filled with magnetic fluid, the outer reaction ring layer is formed by polymerization of reducing iron powder, the outer reaction ring layer is made of the reducing iron powder, the outer reaction ring layer can be prompted to rapidly generate heat after being contacted with air, and the flowing magnetic fluid can be collected by means of ferroferric oxide powder generated after reaction.
Drawings
FIG. 1 is a dynamic perspective view of the present invention with weld spatter removed from a welding platen;
FIG. 2 is a dynamic cross-sectional view of the present invention with slag removed from a welding platen;
FIG. 3 is a sectional view of a portion of the present invention covering a dissolving iron plate;
FIG. 4 is a cross-sectional view of a portion of the swing release ball of the present invention;
FIG. 5 is a cross-sectional view of a droplet enrichment barb of the present invention.
The reference numbers in the figures illustrate:
the device comprises a pre-dissolving attachment plate 1, a mechanical arm 2, a contact circular plate 3, a liquid drop enrichment awl thorn 4, a microvilli 401, a pre-dissolving layer 5, a built-in storage cavity 6, a first release hole 7, a connecting circular block 8, an expansion layer 801, an arc-shaped metal claw 9, a vertical connecting rope 10, a swinging release ball 11, a swinging stirring release rope 12, a capillary fiber thorn 13, an outer rubber balloon 14, a magnetic fluid 1401, an outer reaction ring layer 15, a second release hole 16 and a rubber sealing sheet 17.
Detailed Description
The drawings in the embodiments of the invention will be combined; the technical scheme in the embodiment of the invention is clearly and completely described; obviously; the described embodiments are only some of the embodiments of the invention; but not all embodiments, are based on the embodiments of the invention; all other embodiments obtained by a person skilled in the art without making any inventive step; all fall within the scope of protection of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1:
referring to fig. 1, a method for removing welding slag by cooling applied to robot welding includes the following steps:
s1, spraying cold water on the welded bedplate after welding, cooling the welded bedplate, and keeping the cold water to be fully distributed on the surface of the whole welded bedplate under the action of welding slag;
s2, spreading the pre-dissolving flitch 1 on the surface of the welding bedplate, refrigerating the upper side of the pre-dissolving flitch 1, and promoting the water vapor in the air to be continuously dropped on the upper surface of the pre-dissolving flitch 1 when meeting the cold and liquefied liquid drops until the surface of the pre-dissolving flitch 1 is frozen;
s3, the mechanical arm 2 is started to move and rub on the surface of the pre-dissolving flitch 1, so that the crushing of ice blocks is accelerated, and welding slag on the welding bedplate is taken away in the process of breaking the ice blocks.
Referring to fig. 1 and 3, a pre-dissolving flitch 1 in S2 includes a pre-dissolving layer 5, a built-in storage cavity 6 is drilled in the pre-dissolving layer 5, a plurality of first release holes 7 are drilled at an inner bottom end of the built-in storage cavity 6, a plurality of connecting circular blocks 8 are mounted at an upper end of the pre-dissolving layer 5 in an embedded manner, an arc-shaped metal claw 9 is fixedly connected to a bottom end of each connecting circular block 8, a vertical connecting rope 10 is fixedly connected to a bottom end of each arc-shaped metal claw 9, a swing release ball 11 is fixedly connected to a bottom end of each vertical connecting rope 10, a swing release rope 12 is fixedly connected to a bottom end of each swing release ball 11, a plurality of capillary fiber spines 13 are fixedly connected to an outer end of each swing release rope 12, the liquid drop enrichment awl 4 can be driven to crush the pre-dissolving flitch 1 through a starting mechanical arm 2, and liquid drops can be formed on the surface of the liquid drop enrichment awl 4 by virtue of a refrigeration effect of contacting the circular plate 3, and drop to the upper side of dissolving layer 5 in advance gradually along with the liquid drop for dissolve layer 5 in advance gradually, with this make the nitre fragment of putting in the storage chamber 6 contact with water, thereby refrigerate rapidly and impel welding platen surface formation ice sheet gradually, can impel the water that sprinkles in advance on the welding platen to freeze rapidly to expand with the help of the in-process volume expansion's that water freezes effect on the one hand, and extrude the welding slag, impel its and welding platen separation, on the other hand because the shape of welding slag is porous, consequently freeze with the continuation of water, can improve the area of contact of welding slag and ice sheet, thereby after the ice-cube is broken, improve the separation efficiency of welding slag and welding platen.
Referring to fig. 2, a contact circular plate 3 is fixedly connected to the bottom end of a mechanical arm 2 in S3, a semiconductor refrigerating plate is installed in the contact circular plate 3, the refrigerating end of the semiconductor refrigerating plate is close to a pre-dissolving flitch 1, a plurality of uniformly distributed liquid drop enrichment pricks 4 are fixedly connected to the bottom end of the contact circular plate 3, on one hand, the pre-dissolving layer 5 can be broken by means of the liquid drop enrichment pricks 4, so that the contact between water in the pre-dissolving layer and saltpeter fragments is accelerated, on the other hand, the breaking of the ice layer by the liquid drop enrichment pricks 4 can be promoted after freezing, and on the other hand, the swinging release ball 11 and the swinging stirring and loosening rope 12 can be pulled to swing by means of the suction effect of the liquid drop enrichment pricks 4 on the swinging release ball 11 during freezing, so that the efficiency of the saltpeter fragments entering from a first release hole 7 to the area between the pre-dissolving flitch 1 and a welding release plate is accelerated, and on the suction effect of the swinging release ball 11 by means of the liquid drop enrichment pricks 4 during ice breaking, the efficiency of splitting between ice cubes is improved.
Referring to fig. 4, the swing releasing ball 11 includes an outer rubber balloon 14, an outer end of the outer rubber balloon 14 is fixedly connected with an outer reaction ring layer 15, an outer end of the outer rubber balloon 14 is drilled with a pair of symmetrical second releasing holes 16, an inner wall of each second releasing hole 16 is fixedly connected with a pair of rubber sealing sheets 17 which are tightly abutted against each other, in the ice breaking process, by means of the characteristic that the outer reaction ring layer 15 is contacted with outside air to release heat, on one hand, melting of local ice cubes around the outer reaction ring layer can be accelerated, so that the efficiency of breaking the ice cubes is improved, on the other hand, the arc-shaped metal claws 9 can be promoted to be bent upwards by means of temperature improvement, technicians can promote the ice cubes carrying welding slag to be separated from a welding bedplate by pulling the arc-shaped metal claws 9, and simultaneously, by means of pulling the vertical connecting rope 10, the outer rubber balloon 14 can be promoted to deform and extrude a magnetic fluid 1401 in the outer rubber balloon through the second releasing holes 16, and the separation efficiency of the ice blocks with the welding slag and the welding bedplate is further improved by the flow of the magnetic fluid 1401.
Referring to fig. 5, a magnet block is fixedly connected inside the liquid droplet enrichment prick 4, a plurality of uniformly distributed micro-villi 401 are fixedly connected at the outer end of the liquid droplet enrichment prick 4, the distance between every two adjacent micro-villi 401 is 50 μm, the magnet block is arranged in the liquid droplet enrichment prick 4, so that the liquid droplet enrichment prick 4 can drive the swing release ball 11 to swing in the moving process, and the hydrophilicity of the surface of the liquid droplet enrichment prick 4 can be improved by arranging the micro-villi 401, so that the efficiency of liquefying and enriching water vapor in the air on the surface of the liquid droplet enrichment prick 4 when the water vapor meets cold is improved.
Referring to fig. 3, the pre-dissolving layer 5 is made of edible gelatin material, the thickness of the pre-dissolving layer 5 is 0.5 cm, the built-in storage cavity 6 is filled with saltpeter fragments, the particle size of the saltpeter fragments is 0.25 cm, the pre-dissolving layer 5 is made of the edible gelatin material, the pre-dissolving layer 5 can be gradually dissolved after encountering water, the saltpeter fragments can be rapidly cooled after encountering water by arranging the saltpeter fragments, the saltpeter fragments can be continuously contacted with the saltpeter fragments to form an ice layer, the outer end of the connecting round block 8 is fixedly connected with an expansion layer 801, the expansion layer 801 is made of water-swelling material, the expansion layer 801 can be expanded after encountering water by arranging the expansion layer 801, so that the cracking efficiency of the pre-dissolving layer 5 is improved, the arc-shaped metal claw 9 is made of nickel-titanium memory alloy material, the equilibrium temperature of the arc-shaped metal claw 9 is 40 ℃, the arc-shaped metal claw 9 is made of the nickel-titanium memory alloy material, the temperature of the arc-shaped metal claw 9 can be promoted to reach the equilibrium temperature and then be recovered to the high-temperature phase state.
Referring to fig. 4, the magnetic fluid 1401 is filled in the outer rubber balloon 14, the outer reaction ring layer 15 is formed by polymerizing reducing iron powder, the outer reaction ring layer 15 is made of reducing iron powder, the outer reaction ring layer 15 can be prompted to rapidly generate heat after contacting with air, and the flowing magnetic fluid 1401 can be collected by means of ferroferric oxide powder generated after reaction.
The above; but are merely preferred embodiments of the invention; the scope of the invention is not limited thereto; any person skilled in the art is within the technical scope of the present disclosure; the technical scheme and the improved concept of the invention are equally replaced or changed; are intended to be covered by the scope of the present invention.

Claims (7)

1. A cold type welding slag removing method applied to robot welding is characterized in that: the method comprises the following steps:
s1, spraying cold water on the welded bedplate after welding, cooling the welded bedplate, and keeping the cold water to be fully distributed on the surface of the whole welded bedplate under the action of welding slag;
s2, spreading the pre-dissolving flitch (1) on the surface of a welding table plate, refrigerating the upper side of the pre-dissolving flitch (1), and promoting the liquid drops formed by the liquefaction of water vapor in the air when meeting cold to continuously drop on the upper surface of the pre-dissolving flitch (1) until the surface of the pre-dissolving flitch (1) is frozen; the pre-dissolving flitch (1) in the S2 comprises a pre-dissolving layer (5), a built-in storage cavity (6) is chiseled in the pre-dissolving layer (5), a plurality of first release holes (7) which are uniformly distributed are formed at the bottom end of the built-in storage cavity (6), the upper end of the pre-dissolving layer (5) is embedded with a plurality of evenly distributed connecting round blocks (8), the bottom end of the connecting round block (8) is fixedly connected with an arc-shaped metal claw (9) positioned in the built-in storage cavity (6), the bottom end of the arc-shaped metal claw (9) is fixedly connected with a vertical connecting rope (10), the bottom end of the vertical connecting rope (10) is fixedly connected with a swinging release ball (11), the bottom end of the swinging release ball (11) is fixedly connected with a swinging stirring and loosening rope (12), the outer end of the swinging and loosening rope (12) is fixedly connected with a plurality of capillary fiber spines (13) which are uniformly distributed;
s3, starting a mechanical arm (2) to move and rub on the surface of the pre-dissolving flitch (1), accelerating the crushing of ice blocks and taking away welding slag on the welding bedplate in the process of breaking the ice blocks; arm (2) bottom fixedly connected with contact plectane (3) in S3, install the semiconductor refrigeration piece in contact plectane (3), the refrigeration end of semiconductor refrigeration piece is close to dissolves flitch (1) in advance, the liquid droplet enrichment awl thorn (4) of a plurality of even subdivisions of contact plectane (3) bottom fixedly connected with.
2. The cold type slag removing method applied to robot welding as claimed in claim 1, wherein: the swing release ball (11) comprises an outer rubber ball bag (14), an outer reaction ring layer (15) is fixedly connected to the outer end of the outer rubber ball bag (14), a pair of symmetrical second release holes (16) are formed in the outer end of the outer rubber ball bag (14), and a pair of rubber sealing pieces (17) which are abutted to each other is fixedly connected to the inner wall of each second release hole (16).
3. The cold type slag removing method applied to robot welding as claimed in claim 1, wherein: the magnet block is fixedly connected inside the liquid drop enrichment prick (4), the outer end of the liquid drop enrichment prick (4) is fixedly connected with a plurality of micro villi (401) which are uniformly distributed, and the distance between every two adjacent micro villi (401) is 50 micrometers.
4. The cold type slag removing method applied to robot welding as claimed in claim 1, wherein: the pre-dissolving layer (5) is made of edible gelatin materials, the thickness of the pre-dissolving layer (5) is 0.5 cm, the built-in storage cavity (6) is filled with saltpeter fragments, and the particle size of the saltpeter fragments is 0.25 cm.
5. The cold type slag removing method applied to robot welding as claimed in claim 1, wherein: the outer end of the connecting round block (8) is fixedly connected with an expansion layer (801), and the expansion layer (801) is made of water-swellable material.
6. The cold type slag removing method applied to robot welding as claimed in claim 1, wherein: the arc-shaped metal claw (9) is made of a nickel-titanium memory alloy material, and the equilibrium temperature of the arc-shaped metal claw (9) is 40 ℃.
7. The cold type slag removing method applied to robot welding as claimed in claim 2, wherein: the outer rubber saccule (14) is filled with magnetic fluid (1401), and the outer reaction ring layer (15) is formed by polymerizing reducing iron powder.
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JP3723319B2 (en) * 1997-04-14 2005-12-07 株式会社神戸製鋼所 Welding slag removal device
JP3539935B2 (en) * 2001-05-02 2004-07-07 千住金属工業株式会社 Solder dross separation equipment
US6723955B2 (en) * 2001-06-21 2004-04-20 Intertech Systems, Inc. Cleaning system for welding torches which effects cleaning by means of cold temperature
IT1404381B1 (en) * 2011-02-23 2013-11-22 Acetilene E Derivati S I A D Spa In Breve S I A D Spa Soc It EQUIPMENT IMPROVED FOR THE CLEANING OF WELDING TORCHES BY USING COLD, AND ITS RELATIVE DEVICE FOR A COOLING FLOW.
CN102962625A (en) * 2012-11-23 2013-03-13 保定天威集团有限公司 Method for removing slag in submerged arc welding of thick steel plate
CN103706957B (en) * 2013-12-16 2015-07-22 中山大学 Thermoelectric refrigerating device and laser processing method using same
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CN211052786U (en) * 2019-12-03 2020-07-21 成都信息工程大学 Circuit welding device

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