CN116967577B - Wind-powered electricity generation tower section of thick bamboo welding robot - Google Patents
Wind-powered electricity generation tower section of thick bamboo welding robot Download PDFInfo
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- CN116967577B CN116967577B CN202310858347.9A CN202310858347A CN116967577B CN 116967577 B CN116967577 B CN 116967577B CN 202310858347 A CN202310858347 A CN 202310858347A CN 116967577 B CN116967577 B CN 116967577B
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- 238000003466 welding Methods 0.000 title claims abstract description 140
- 235000017166 Bambusa arundinacea Nutrition 0.000 title description 2
- 235000017491 Bambusa tulda Nutrition 0.000 title description 2
- 241001330002 Bambuseae Species 0.000 title description 2
- 235000015334 Phyllostachys viridis Nutrition 0.000 title description 2
- 239000011425 bamboo Substances 0.000 title description 2
- 230000005611 electricity Effects 0.000 title description 2
- 238000004140 cleaning Methods 0.000 claims abstract description 143
- 230000007246 mechanism Effects 0.000 claims abstract description 136
- 239000002893 slag Substances 0.000 claims abstract description 27
- 230000004907 flux Effects 0.000 claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims description 29
- 230000005540 biological transmission Effects 0.000 claims description 16
- 238000010079 rubber tapping Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 5
- 238000010408 sweeping Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000010248 power generation Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 239000011324 bead Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
- B23K9/00—Arc welding or cutting
- B23K9/32—Accessories
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/18—Submerged-arc welding
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/24—Features related to electrodes
- B23K9/28—Supporting devices for electrodes
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Cleaning In General (AREA)
Abstract
The invention relates to the technical field of welding equipment, in particular to a wind power tower welding robot, wherein a welding device is arranged on a mechanical arm, and the mechanical arm is used for driving the welding device to move; the welding device comprises a submerged arc welding machine and a cleaning module, wherein the submerged arc welding machine is used for performing submerged arc welding on a welding line; the cleaning module comprises a front cleaning mechanism, a knocking mechanism, a rear cleaning mechanism and a driving mechanism, wherein the front and rear sides of the knocking mechanism are respectively provided with the front cleaning mechanism and the rear cleaning mechanism. According to the welding device, the welding device is arranged on the mechanical arm, the cleaning module which is arranged corresponding to the submerged arc welding machine is arranged in the welding device, and the front cleaning mechanism, the knocking mechanism and the rear cleaning mechanism in the cleaning module are matched, so that the sweeping out of welding flux, the knocking of slag shells and the sweeping out of slag shells are synchronously and automatically realized in the welding process, and the welded seam position after welding is observed more conveniently.
Description
Technical Field
The invention relates to the technical field of welding equipment, in particular to a wind power tower welding robot.
Background
Along with the rapid development of new energy industry, related industries of offshore wind power projects are also put into production on a large scale gradually, so that the production requirements of wind power generation equipment are vigorous, and more wind power generation equipment manufacturers start to improve the production efficiency so as to meet the market requirements; in wind power generation equipment, the tower pole is used as an important component, and the tower pole is formed by welding one section Duan Datong one by one due to the large volume, so that the production speed is low, and the improvement of the production efficiency is restricted. The existing tower welding process is mainly completed manually, the welding steps are mainly that two towers are butted and leveled by using auxiliary equipment, then a submerged arc welding machine is fed between the two towers, then the submerged arc welding machine is manually operated to perform submerged arc welding on a welding line between the two towers, some existing factories begin to replace manual tower welding by adopting a welding robot, the submerged arc welding machine is mainly arranged on a mechanical arm, and the submerged arc welding machine is fed into the tower to perform welding by using the mechanical arm. However, when submerged arc welding is performed by a submerged arc welding machine, primary backing welding is required to be performed in a welding line (welding of a backing weld bead is performed at the root of a groove at the back of a joint in order to prevent angular deformation or burn-through phenomenon during automatic welding when butt welding is performed by a thick single-sided groove), and a large amount of flux is required to be piled on the welding line, and slag shells remain at the welded welding line after the welding is completed, so that the welding line is not filled with melted welding materials, the welding line still has a certain depth, the appearance condition of the welding line is difficult to directly observe due to the existence of the flux and the slag shells, so that the welding quality is difficult to judge by the existing method, and the existing method is troublesome to break and pick the slag shells by using a tool after the flux is mainly or manually swept out by using the tool.
Disclosure of Invention
The invention aims to solve the defect that in the prior art, after a tool is manually utilized to sweep out flux, a slag shell is broken up and picked out by the tool, and the operation is troublesome.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
The welding robot for the wind power tower comprises a mechanical arm, wherein a welding device is arranged on the mechanical arm, and the mechanical arm is used for driving the welding device to move;
The welding device comprises a submerged arc welding machine and a cleaning module, wherein the submerged arc welding machine is used for performing submerged arc welding on a welding line, and the cleaning module is used for cleaning residual welding flux and slag shells in the welding line;
the cleaning module comprises a front cleaning mechanism, a knocking mechanism, a rear cleaning mechanism and a driving mechanism, wherein the front cleaning mechanism and the rear cleaning mechanism are respectively arranged on the front side and the rear side of the knocking mechanism, the driving mechanism is used for synchronously driving the front cleaning mechanism, the knocking mechanism and the rear cleaning mechanism to work, so that the front cleaning mechanism is used for cleaning residual welding flux in a welding line, the knocking mechanism is used for knocking slag shells in the welding line into pieces, and the rear cleaning mechanism is used for cleaning the broken slag shells.
Preferably, the driving mechanism comprises a fixed shaft, a toothed ring and a driving assembly, the toothed ring is coaxially and rotatably arranged on the fixed shaft, the driving assembly is connected with the toothed ring in a transmission way, two racks meshed with the toothed ring are respectively arranged on two sides of the toothed ring, the two racks are mutually parallel, the two racks can be slidably connected on the fixed shaft along the length direction of the rack through a guide mechanism, the front cleaning mechanism and the rear cleaning mechanism are respectively connected on one rack, and the knocking mechanism is arranged under the toothed ring and is connected with the toothed ring in a transmission way.
Preferably, the knocking mechanism comprises a knocking head and a transmission mechanism, the knocking head can be telescopically connected to the fixed shaft along the axis direction of the fixed shaft, and the knocking head is in transmission connection with the toothed ring through the transmission mechanism, so that the toothed ring can move to and fro along the axis of the fixed shaft through the transmission mechanism.
Preferably, the knocking head is conical.
Preferably, the lower surface of the toothed ring is fixedly provided with a plurality of flexible cleaning wires; wherein the flexible cleaning wire is always outside the weld during the welding process.
The rear cleaning mechanism comprises a vertical movement mechanism and a cleaning shovel, the lower end of the cleaning shovel is arranged below the toothed ring, the cleaning shovel is L-shaped, the cleaning rod is connected to the vertical movement mechanism, the vertical movement mechanism is fixedly connected to a corresponding rack, and the vertical movement mechanism is used for synchronously driving the cleaning shovel to vertically move when the cleaning shovel moves towards the direction of the toothed ring, so that the lower end of the cleaning shovel can be in contact with a flexible cleaning wire on the lower surface of the toothed ring.
Preferably, the flexible cleaning wires are made of rubber materials, and the flexible cleaning wires are distributed in a ring shape.
Preferably, the vertical movement mechanism comprises a vertical sliding rail, a connecting rod, a first magnetic attraction piece and a second magnetic attraction piece, the vertical sliding rail is parallel to the fixed shaft, the vertical sliding rail is fixedly connected to a corresponding rack, a sliding block is slidably mounted in the vertical sliding rail, the connecting rod is fixedly connected with the sliding block, the top end of the cleaning shovel is connected to the connecting rod, the first magnetic attraction piece is arranged above the cleaning shovel and is correspondingly arranged with the cleaning shovel, the first magnetic attraction piece is fixedly connected with the connecting rod, the second magnetic attraction piece is arranged right above the toothed ring, the second magnetic attraction piece and the movement path of the first magnetic attraction piece are correspondingly arranged, and the second magnetic attraction piece and the first magnetic attraction piece are mutually attracted.
Preferably, the cleaning shovel comprises a plurality of lifting rods, wherein the lifting rods are L-shaped, and the lifting rods are distributed at intervals transversely to form a cleaning shovel body.
The invention provides a wind power tower welding robot, which has the beneficial effects that: through installing welding set on the arm, and be provided with the clearance module that corresponds the setting with submerged arc welding machine in the welding set, utilize preceding cleaning mechanism in the clearance module, strike mechanism, back cleaning mechanism to cooperate, realize the sweeping out of welding flux, the breaking of slag shell, the sweeping out of slag shell in step and automation for observe more convenient to welding the welding seam department that the welding accomplished.
Drawings
FIG. 1 is a schematic diagram of a working state of a welding robot for a wind power tower;
FIG. 2 is a second schematic diagram of a working state of a welding robot for a wind power tower;
FIG. 3 is a schematic diagram of a welding device of a wind power tower welding robot;
FIG. 4 is a schematic diagram of a cleaning module of a wind power tower welding robot;
FIG. 5 is a schematic diagram II of a cleaning module of a wind power tower welding robot;
FIG. 6 is a schematic diagram of the internal structure of a cleaning module of a wind power tower welding robot according to the present invention;
FIG. 7 is a schematic view of a knocking head of a wind power tower welding robot according to the present invention;
FIG. 8 is a schematic diagram of a working state of a cleaning module of a wind power tower welding robot according to the present invention;
fig. 9 is a second schematic diagram of a working state of a cleaning module of a wind power tower welding robot according to the present invention.
In the figure: 1. a mobile platform; 2. a first vertical movement mechanism; 3. a lateral movement mechanism; 4. a rotating mechanism; 5. a second vertical movement mechanism; 6. a welding device; 61. submerged arc welding machine; 62. a cleaning module; 6201. a fixed shaft; 6202. a toothed ring; 6203. a drive assembly; 6204. a bracket; 6205. a slide rail; 6206. a slide bar; 6207. a rack; 6208. a push plate; 6209. a vertical slide rail; 6210. a connecting rod; 6211. a cleaning shovel; 6212. a flexible cleaning wire; 6213. a first magnetic attraction member; 6214. a second magnetic attraction member; 6215. a vertical rod; 6216. a contact body; 6217. a knocking head; 6218. a cylindrical cam; 7. a tower; 8. and (3) welding seams.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Example 1
1-9, A wind power tower welding robot comprises a mechanical arm, wherein a welding device 6 is arranged on the mechanical arm, and the mechanical arm is used for driving the welding device 6 to move; the mechanical arm comprises a moving platform 1, a first vertical moving mechanism 2, a transverse moving mechanism 3, a rotating mechanism 4 and a second vertical moving mechanism 5, wherein the first vertical moving mechanism 2 is fixedly installed on the moving platform 1, the transverse moving mechanism 3 is connected to the first vertical moving mechanism 2, the rotating mechanism 4 is connected to the transverse moving mechanism 3, the second vertical moving mechanism 5 is connected to the rotating mechanism 4, the first vertical moving mechanism 2 and the second vertical moving mechanism 5 are all used for driving a welding device 6 to do lifting motion in the same vertical direction, the transverse moving mechanism 3 is used for driving the welding device 6 to do transverse movement in the horizontal direction, the rotating mechanism 4 comprises a rotating motor, a main gear and a pinion, the moving direction of the central axis of the main gear is set up, the main gear is fixedly connected with the transverse moving mechanism 3, and the rotating motor is connected with the main gear through the pinion. The first vertical moving mechanism 2, the transverse moving mechanism 3 and the second vertical moving mechanism 5 are all electric push rods. The mechanical arm is used for adjusting the position and the posture of the welding device 6 so that the welding device 6 can correspond to the position of a welding line between two towers.
The welding device 6 comprises a submerged arc welding machine 61 and a cleaning module 62, wherein the submerged arc welding machine 61 is used for performing submerged arc welding on a welding line, and the cleaning module 62 is used for cleaning residual welding flux and slag shells in the welding line;
The cleaning module 62 includes a front cleaning mechanism, a knocking mechanism, a rear cleaning mechanism, and a driving mechanism, where the front and rear sides of the knocking mechanism are respectively provided with the front cleaning mechanism and the rear cleaning mechanism, and the driving mechanism is used for synchronously driving the front cleaning mechanism, the knocking mechanism, and the rear cleaning mechanism to work, so that the front cleaning mechanism is used for cleaning residual flux in the welding seam, the knocking mechanism is used for breaking slag shells in the welding seam, and the rear cleaning mechanism is used for cleaning broken slag shells. The front cleaning mechanism comprises a pushing plate 6208, the pushing plate 6208 is matched with the shape of the welding line, and the pushing plate 6208 is fixedly connected to the rack 6207.
The driving mechanism comprises a fixed shaft 6201, a toothed ring 6202 and a driving assembly 6203, wherein the toothed ring 6202 is coaxially and rotatably arranged on the fixed shaft 6201, the driving assembly 6203 is connected with the toothed ring 6202 in a transmission way, the driving assembly 6203 comprises a motor, an annular gear and a gear, the upper surface of the toothed ring 6202 is coaxially and fixedly provided with the annular gear, the gear is meshed with the annular gear, an output shaft of the motor is coaxially and fixedly connected with the gear, and the motor is fixedly connected with the fixed shaft 6201. The rack 6207 meshed with the rack 6202 is arranged on two sides of the toothed ring 6202 respectively, the two racks 6207 are arranged in parallel, the two racks 6207 are all connected to the fixed shaft 6201 in a sliding mode along the length direction of the rack 6207 through a guide mechanism, the guide mechanism comprises a bracket 6204, sliding rails 6205 and sliding rails 6206, each rack 6207 is fixedly connected with one sliding rail 6206 which is arranged in parallel with the rack 6207, the sliding rails 6205 are all slidably arranged on the sliding rails 6206, and the two sliding rails 6205 are all fixed to the fixed shaft 6201 through the bracket 6204. The front cleaning mechanism and the rear cleaning mechanism are respectively connected to one rack 6207, the knocking mechanism is arranged right below the toothed ring 6202, and the knocking mechanism is in transmission connection with the toothed ring 6202.
The knocking mechanism comprises a knocking head 6217 and a transmission mechanism, the knocking head 6217 can be telescopically connected to the fixed shaft 6201 along the axis direction of the fixed shaft 6201, a jack is coaxially arranged at the bottom end of the fixed shaft 6201, a vertical rod 6215 is inserted into the jack, the vertical rod 6215 is telescopically connected to the fixed shaft 6201 through an elastic element, and the vertical rod 6215 is fixedly connected with the knocking head 6217. The tapping head 6217 is in driving connection with the toothed ring 6202 through a driving mechanism, so that the moving toothed ring 6202 can drive the tapping head 6217 to reciprocate along the central axis of the fixed shaft 6201 through the driving mechanism. The transmission mechanism comprises a cylindrical cam 6218, a mounting hole is coaxially and penetratingly formed in the cylindrical cam 6218, the cylindrical cam 6218 and a fixed shaft 6201 are coaxially arranged, the cylindrical cam 6218 is arranged between a knocking head 6217 and a toothed ring 6202, the cylindrical cam 6218 is fixedly connected to the lower surface of the toothed ring 6202, a contact body 6216 is arranged between the cylindrical cam 6218 and the knocking head 6217, the bottom end of the contact body 6216 is fixedly connected to the knocking head 6217, the top end of the contact body 6216 is in surface contact with the bottom end of the cylindrical cam 6218, the contact body 6216 comprises a supporting rod and a ball, the top end of the supporting rod is fixedly provided with a universal ball in contact with the cylindrical cam 6218, and the bottom end of the supporting rod is fixedly connected to the knocking head 6217. Friction losses between the contact body 6216 and the cylindrical cam 6218 can be substantially reduced by the use of a universal ball. The tapping head 6217 is conical. The conical tapping head 6217 may better tap the slag shell.
Example 2
Referring to fig. 4 to 5, as another preferred embodiment of the present invention, the difference from embodiment 1 is that a plurality of flexible cleaning wires 6212 are fixedly installed on the lower surface of the toothed ring 6202; wherein the flexible cleaning wire 6212 is always outside the weld during the welding process. The provision of the flexible cleaning wire 6212 is due to the fact that the slag shell is continually shoveled forward simply by means of the cleaning blade 6211, which will flow behind the cleaning blade 6211 as the slag shell is more piled up in the weld.
The rear cleaning mechanism comprises a vertical movement mechanism and a cleaning shovel 6211, the lower end of the cleaning shovel 6211 is arranged below the toothed ring 6202, the cleaning shovel 6211 is L-shaped, a cleaning rod is connected to the vertical movement mechanism, the vertical movement mechanism is fixedly connected to a corresponding rack 6207, and the vertical movement mechanism is used for synchronously driving the cleaning shovel 6211 to vertically move when the cleaning shovel 6211 moves towards the direction of the toothed ring 6202, so that the lower end of the cleaning shovel 6211 can be in contact with a flexible cleaning wire 6212 on the lower surface of the toothed ring 6202.
Through being provided with flexible cleaning wire 6212 at ring gear 6202 lower surface to cleaning spade 6211 can do vertical motion, can utilize rotatory ring gear 6202 to drive flexible cleaning wire 6212 motion, thereby sweep away the slag of the cleaning spade 6211 shovel that is close to the welding seam both sides.
The flexible cleaning wires 6212 are made of rubber, and the flexible cleaning wires 6212 are annularly distributed.
The vertical motion mechanism comprises a vertical sliding rail 6209, a connecting rod 6210, a first magnetic attraction piece 6213 and a second magnetic attraction piece 6214, wherein the vertical sliding rail 6209 is parallel to a fixed shaft 6201, the vertical sliding rail 6209 is fixedly connected to a corresponding rack 6207, a sliding block is slidably mounted in the vertical sliding rail 6205, the connecting rod 6210 is fixedly connected with the sliding block, the top end of a cleaning shovel 6211 is connected to the connecting rod 6210, the first magnetic attraction piece 6213 is arranged above the cleaning shovel 6211 and corresponds to the cleaning shovel 6211, the first magnetic attraction piece 6213 is fixedly connected with the connecting rod 6210, the second magnetic attraction piece 6214 is arranged right above a toothed ring 6202, the second magnetic attraction piece 6214 corresponds to the motion path of the first magnetic attraction piece 6213, and the second magnetic attraction piece 6214 and the first magnetic attraction piece 6213 are mutually attracted.
Cleaning shovel 6211 includes the ram, and the ram is L type, and a plurality of rams are arranged along horizontal interval and are constituteed cleaning shovel 6211 wholly. The cleaning blade 6211 of the ram assembly can better pick out broken slag shells.
The overall workflow of the invention is as follows:
S1, butting and leveling two tower drums by using auxiliary equipment, moving a moving platform 1 to enable a robot to integrally approach one ends of the two corresponding tower drums, matching the moving platform 1 with a first vertical moving mechanism 2 as shown in the attached drawing 1-2, adjusting the position of a transverse moving mechanism 3 to enable an electric push rod in the transverse moving mechanism 3 to coincide with the central axis of the tower drum, enabling the transverse moving mechanism 3 to act to drive a welding device 6 to enter the tower drum and move to a position right above a welding line between the two tower drums, and enabling a second vertical moving mechanism 5 to drive the welding device 6 to move downwards to enable a ground submerged arc welding machine 61 and a cleaning module in the welding device 6 to approach the welding line to a proper distance;
S2, subsequently starting the submerged arc welding machine 61 to perform submerged arc welding, wherein in the welding process, the rotating mechanism 4 drives the submerged arc welding machine 61 to slowly perform circular motion around the central axis of the tower, so that the submerged arc welding machine 61 can automatically adjust along with the trend of the welding line; during welding, the toothed ring 6202 in the cleaning module 62 is driven by the driving component 6203 to perform reciprocating rotation, and the cylindrical cam 6218 is driven to rotate by the toothed ring 6202 in the reciprocating rotation, so that the cylindrical cam 6218 continuously drives the knocking head 6217 to perform knocking action, and slag remained in the welding seam can be knocked into pieces;
Meanwhile, the toothed ring 6202 which rotates reciprocally drives the racks 6207 on both sides to do straight reciprocating motion synchronously, wherein one rack 6207 drives the pushing plate 6208 in the front cleaning mechanism to continuously push out the residual flux in the welding seam forwards and backwards so that the knocking head 6217 can directly knock the slag crust; as shown in fig. 8-9, the other rack 6207 drives one side of the cleaning shovel 6211 of the rear cleaning mechanism to reciprocate linearly, so that the cleaning shovel 6211 can continuously scoop up the broken slag shell forward, and when the cleaning shovel 6211 is close to the side of the toothed ring 6202, the first magnetic attraction piece 6213 connected with the cleaning shovel 6211 is close to the second magnetic attraction piece 6214 above the toothed ring 6202, the cleaning shovel 6211 is sucked up to perform vertical movement by the magnetic attraction between the first magnetic attraction piece 6213 and the second magnetic attraction piece 6214, and further the cleaning shovel 6211 can be upwards close to a flexible cleaning wire 6212 arranged on the lower surface of the toothed ring 6202, and the flexible cleaning wire 6212 can sweep away slag scooped up by the cleaning shovel 6211 towards two sides of a welding seam while performing circular movement along with the toothed ring 6202, so as to avoid slag shell from remaining in the welding seam;
and S3, after the welding device 6 finishes the welding of the lowest section of welding seam between the two tower drums, operating auxiliary equipment to synchronously rotate the two tower drums at the moment, so that the welding seam between the two tower drums which is not welded moves to the position corresponding to the welding device 6, and then restarting the robot to weld.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (4)
1. The wind power tower welding robot comprises a mechanical arm, and is characterized in that a welding device (6) is arranged on the mechanical arm, and the mechanical arm is used for driving the welding device (6) to move;
the welding device (6) comprises a submerged arc welding machine (61) and a cleaning module (62), wherein the submerged arc welding machine (61) is used for performing submerged arc welding on a welding line, and the cleaning module (62) is used for cleaning residual welding flux and slag shells in the welding line;
The cleaning module (62) comprises a front cleaning mechanism, a knocking mechanism, a rear cleaning mechanism and a driving mechanism, wherein the front cleaning mechanism and the rear cleaning mechanism are respectively arranged on the front side and the rear side of the knocking mechanism, the driving mechanism is used for synchronously driving the front cleaning mechanism, the knocking mechanism and the rear cleaning mechanism to work, so that the front cleaning mechanism is used for cleaning welding flux remained in a welding line, the knocking mechanism is used for knocking slag shells in the welding line, and the rear cleaning mechanism is used for cleaning the broken slag shells;
the driving mechanism comprises a fixed shaft (6201), a toothed ring (6202) and a driving assembly (6203), the toothed ring (6202) is coaxially and rotatably arranged on the fixed shaft (6201), the driving assembly (6203) is connected with the toothed ring (6202) in a transmission way, two racks (6207) meshed with the toothed ring (6202) are respectively arranged on two sides of the toothed ring (6202), the two racks (6207) are mutually arranged in parallel, the two racks (6207) can be both connected onto the fixed shaft (6201) in a sliding way along the length direction through a guide mechanism, the front cleaning mechanism and the rear cleaning mechanism are respectively connected onto one rack (6207), the knocking mechanism is arranged right below the toothed ring (6202), and the knocking mechanism is in transmission connection with the toothed ring (6202);
The knocking mechanism comprises a knocking head (6217) and a transmission mechanism, the knocking head (6217) can be telescopically connected to the fixed shaft (6201) along the axial direction of the fixed shaft (6201), the knocking head (6217) is in transmission connection with the toothed ring (6202) through the transmission mechanism, so that the toothed ring (6202) which moves can drive the knocking head (6217) to reciprocate along the axial line of the fixed shaft (6201) through the transmission mechanism;
A plurality of flexible cleaning wires (6212) are fixedly arranged on the lower surface of the toothed ring (6202);
The rear cleaning mechanism comprises a vertical movement mechanism and a cleaning shovel (6211), wherein the lower end of the cleaning shovel (6211) is arranged below the toothed ring (6202), the cleaning shovel (6211) is L-shaped, the cleaning rod is connected to the vertical movement mechanism, the vertical movement mechanism is fixedly connected to a corresponding rack (6207), and the vertical movement mechanism is used for synchronously driving the cleaning shovel (6211) to vertically move when the cleaning shovel (6211) moves towards the direction of the toothed ring (6202), so that the lower end of the cleaning shovel (6211) can be in contact with a flexible cleaning wire (6212) on the lower surface of the toothed ring (6202);
the vertical motion mechanism comprises a vertical sliding rail (6209), a connecting rod (6210), a first magnetic attraction piece (6213) and a second magnetic attraction piece (6214), wherein the vertical sliding rail (6209) is parallel to a fixed shaft (6201), the vertical sliding rail (6209) is fixedly connected to a corresponding rack (6207), a sliding block is slidably installed in the vertical sliding rail (6205), the connecting rod (6210) is fixedly connected with the sliding block, the top end of a cleaning shovel (6211) is connected to the connecting rod (6210), the first magnetic attraction piece (6213) is arranged above the cleaning shovel (6211) and corresponds to the cleaning shovel, the first magnetic attraction piece (6213) is fixedly connected with the connecting rod (6210), the second magnetic attraction piece (6214) is arranged right above a toothed ring (6202), the second magnetic attraction piece (6214) corresponds to the motion path of the first magnetic attraction piece (6213), and the second magnetic attraction piece (6214) are mutually attracted with the first magnetic attraction piece (6213).
2. The wind tower welding robot of claim 1, wherein the tapping head (6217) is conical.
3. The wind power tower welding robot according to claim 1, wherein the flexible cleaning wires (6212) are made of rubber, and the flexible cleaning wires (6212) are annularly distributed.
4. The wind power tower welding robot of claim 1, wherein the cleaning shovel (6211) comprises a plurality of L-shaped rams, and the plurality of rams are arranged at intervals in the transverse direction to form the cleaning shovel (6211) as a whole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310858347.9A CN116967577B (en) | 2023-07-13 | 2023-07-13 | Wind-powered electricity generation tower section of thick bamboo welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310858347.9A CN116967577B (en) | 2023-07-13 | 2023-07-13 | Wind-powered electricity generation tower section of thick bamboo welding robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116967577A CN116967577A (en) | 2023-10-31 |
| CN116967577B true CN116967577B (en) | 2024-06-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310858347.9A Active CN116967577B (en) | 2023-07-13 | 2023-07-13 | Wind-powered electricity generation tower section of thick bamboo welding robot |
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| CN118081034B (en) * | 2024-04-28 | 2024-07-30 | 沈阳汉威机械制造有限公司 | Oil film bearing bush welding equipment |
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| CN111299773A (en) * | 2020-04-03 | 2020-06-19 | 佛山宇仁智能科技有限公司 | Full-automatic metal additive submerged arc printing equipment and method |
| CN111318521A (en) * | 2020-04-03 | 2020-06-23 | 佛山宇仁智能科技有限公司 | Gantry type slag removing device for metal submerged arc additive |
| CN111975180A (en) * | 2020-09-10 | 2020-11-24 | 杨梅英 | Striking formula construction steel bar submerged arc welding remains welding slag clearance ware |
| CN115815761A (en) * | 2022-12-09 | 2023-03-21 | 临沂职业学院 | Submerged arc welding machine |
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2023
- 2023-07-13 CN CN202310858347.9A patent/CN116967577B/en active Active
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| JPH0494875A (en) * | 1990-08-09 | 1992-03-26 | Ishihara Chem Co Ltd | Device for cleaning spatter and applying spatter sticking preventive for welding nozzle |
| CN110961768A (en) * | 2019-12-26 | 2020-04-07 | 宋佳 | 3D welding seam detection integrated intelligent welding system |
| CN111299773A (en) * | 2020-04-03 | 2020-06-19 | 佛山宇仁智能科技有限公司 | Full-automatic metal additive submerged arc printing equipment and method |
| CN111318521A (en) * | 2020-04-03 | 2020-06-23 | 佛山宇仁智能科技有限公司 | Gantry type slag removing device for metal submerged arc additive |
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| CN116967577A (en) | 2023-10-31 |
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