CN117086454B - Tungsten electrode automatic replacement device and method and automatic welding system in hot chamber - Google Patents
Tungsten electrode automatic replacement device and method and automatic welding system in hot chamber Download PDFInfo
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- CN117086454B CN117086454B CN202311347988.4A CN202311347988A CN117086454B CN 117086454 B CN117086454 B CN 117086454B CN 202311347988 A CN202311347988 A CN 202311347988A CN 117086454 B CN117086454 B CN 117086454B
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- WFKWXMTUELFFGS-UHFFFAOYSA-N tungsten Chemical compound [W] WFKWXMTUELFFGS-UHFFFAOYSA-N 0.000 title claims abstract description 308
- 229910052721 tungsten Inorganic materials 0.000 title claims abstract description 308
- 239000010937 tungsten Substances 0.000 title claims abstract description 308
- 238000003466 welding Methods 0.000 title claims abstract description 112
- 238000000034 method Methods 0.000 title claims description 20
- 238000006073 displacement reaction Methods 0.000 claims abstract description 42
- 230000008859 change Effects 0.000 claims description 4
- 238000011084 recovery Methods 0.000 claims 3
- 238000000605 extraction Methods 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 6
- 238000012423 maintenance Methods 0.000 description 5
- XKRFYHLGVUSROY-UHFFFAOYSA-N Argon Chemical compound [Ar] XKRFYHLGVUSROY-UHFFFAOYSA-N 0.000 description 4
- 230000007774 longterm Effects 0.000 description 4
- 230000002285 radioactive effect Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 239000002901 radioactive waste Substances 0.000 description 3
- 229910052786 argon Inorganic materials 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000000941 radioactive substance Substances 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000012857 radioactive material Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 229910000679 solder Inorganic materials 0.000 description 1
- 239000002915 spent fuel radioactive waste Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- 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
- B23K9/16—Arc welding or cutting making use of shielding gas
- B23K9/167—Arc welding or cutting making use of shielding gas and of a non-consumable electrode
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Resistance Welding (AREA)
Abstract
The invention discloses an automatic tungsten electrode replacement device which is arranged on one side of a welding gun, wherein the welding gun is provided with a tungsten electrode, the welding gun is arranged on an installation platform, the automatic tungsten electrode replacement device comprises a conveying assembly and a tungsten electrode bin assembly, and the conveying assembly and the tungsten electrode bin assembly are arranged on the installation platform; the transport assembly comprises a clamping part and a displacement part, the clamping part is connected with the displacement part, the clamping part is used for clamping or loosening the tungsten electrode, and the displacement part can drive the clamping part to displace at least two degrees of freedom relative to the mounting platform so as to move between the welding gun and the tungsten electrode bin assembly; the clamping part can take out the tungsten electrode in the welding gun, and the clamping part takes out the tungsten electrode in the tungsten electrode bin assembly and installs the tungsten electrode in the welding gun.
Description
Technical Field
The invention relates to a welding tungsten electrode replacement device, in particular to an automatic tungsten electrode replacement device and method and an automatic welding system in a hot chamber.
Background
The heat chamber is a special containing facility specially used for processing radioactive substances, and can be used for post-processing of nuclear power plant spent fuel, preparation of radioactive waste, inspection of radioactive elements, radiochemical test and the like. One important task to be performed in the hot cell is the solder packaging of the container containing the radioactive material. The containers are typically waste drums of different sizes, and the welding means used are typically argon tungsten-arc welding.
Because of the strong radioactivity in the hot cell, welding robots located inside the hot cell for a long time are greatly different from welding robots in other industrial fields. Because personnel cannot enter the hot room frequently to inspect and repair the equipment, the equipment is stained with radioactive substances in the hot room. Therefore, the welding robot in the hot chamber is generally simpler in structure, less in degree of freedom, less in auxiliary displacement, positioning, control and other equipment are not arranged near the welding gun, the complexity of the welding robot mechanism is reduced as much as possible on the premise of meeting the functionality, and the whole size is smaller.
The tungsten electrode can be worn in the welding process of the argon tungsten-arc welding, so that the welding quality is greatly influenced, and the tungsten electrode needs to be replaced in time. The existence of strong radioactivity in the hot chamber makes manual replacement of the tungsten electrode impossible, and the tungsten electrode needs to be replaced through a mechanical device. The mechanical device also needs to meet the conditions of simple structure, less need of inspection and maintenance, and the like.
The prior patent CN211727851U discloses an automatic tungsten electrode replacement device under a high-level environment, which needs to realize remote tungsten electrode replacement under the assistance of a master-slave manipulator, and the technical scheme has the following problems: the tungsten electrode replacement needs to be assisted by a mechanical arm, so that the complete automation cannot be realized, and the requirement on the operator of the mechanical arm is high; in the working condition environment without a mechanical arm, the tungsten electrode can not be replaced; the installation position of the device is limited by the position of the manipulator, and the device carries little new tungsten electrode reserves and cannot support the welding robot to work for a long time; the efficiency of replacing tungsten electrodes is low, etc.
The prior patent CN113751845U proposes an automatic tungsten electrode replacement device, an automatic tungsten electrode replacement system and an automatic tungsten electrode replacement method, and the technical scheme needs that a welding gun is frequently moved to be in butt joint with the tungsten electrode replacement device, and mechanisms such as movement and positioning of the welding gun are complex, so that the technical scheme is not beneficial to use in a hot chamber.
In view of the above technical problems, the present invention is particularly directed.
Disclosure of Invention
The invention mainly aims to provide an automatic tungsten electrode replacement device and method and an automatic welding system in a hot chamber, which are used for solving the problem that the prior art lacks an automatic tungsten electrode replacement device which is simple in structure, convenient to maintain and high in efficiency and is used in the hot chamber.
In order to achieve the above object, according to one aspect of the present invention, there is provided an automatic tungsten electrode replacement apparatus installed at one side of a welding gun having a tungsten electrode therein, the welding gun being disposed on a mounting platform, the automatic tungsten electrode replacement apparatus including a transport assembly and a tungsten electrode cartridge assembly, the transport assembly and the tungsten electrode cartridge assembly being disposed on the mounting platform;
the transport assembly comprises a clamping part and a displacement part, the clamping part is connected with the displacement part, the clamping part is used for clamping or loosening the tungsten electrode, and the displacement part can drive the clamping part to displace at least two degrees of freedom relative to the mounting platform so as to move between the welding gun and the tungsten electrode bin assembly;
the clamping part can take out the tungsten electrode in the welding gun, and the clamping part takes out the tungsten electrode in the tungsten electrode bin assembly and installs the tungsten electrode in the welding gun.
Further, the displacement portion is displaced with respect to the mounting platform in only two degrees of freedom.
Further, the displacement portion comprises a rotating shaft, the displacement portion can drive the clamping portion to rotate around the rotating shaft in the circumferential direction, the displacement portion can drive the clamping portion to move along the direction of the rotating shaft, the tungsten electrode bin assembly comprises a discharge hole, and the distance between the welding gun and the rotating shaft, and the distance between the discharge hole and the rotating shaft are equal to the rotation radius of the clamping portion.
Further, the displacement portion further comprises a rocker arm, the clamping portion and the rotating shaft are respectively located at two ends of the rocker arm, and the rocker arm can rotate around the rotating shaft.
Further, the displacement portion further comprises a sliding table, the sliding table is fixed on the mounting platform, the direction of the sliding table extends along the direction of the rotating shaft, and the rotating shaft can slide along the sliding table.
Further, the displacement portion further comprises a swinging cylinder, the swinging cylinder is coaxial with the rotating shaft, the swinging cylinder drives the rocker arm to rotate, the swinging cylinder is movably connected to the sliding table, the sliding table is a pneumatic sliding table, and the pneumatic sliding table drives the swinging cylinder to slide.
Further, mechanical limiting is arranged on two sides of the swing cylinder and used for limiting the rotation angle of the rocker arm, and the position of the mechanical limiting is adjustable so as to change the rotation angle of the rocker arm.
Further, the clamping part comprises a hollow part, an inner conical surface is arranged in the hollow part and used for being matched with the end part of the tungsten electrode, and an outer conical surface is arranged at the end part of the clamping part and used for being matched with the discharge hole.
Further, the end of the tungsten electrode is conical, the conical angle ranges from 12 degrees to 90 degrees, the conveying assembly comprises a plurality of replaceable clamping parts, and the clamping parts have different inner conical angles so as to be matched with the tungsten electrodes with different conical angles respectively.
Further, the inner surface of the discharge hole is a conical surface, and the angle of the conical surface is the same as that of the outer conical surface, so that the end part of the clamping part is in surface contact with the inner surface of the discharge hole.
Further, the clamping portion includes a plurality of clamping jaws driven by the clamping cylinder.
Further, the tungsten electrode bin assembly comprises a tungsten electrode bin and a driving part, a plurality of tungsten electrodes are accommodated in the tungsten electrode bin, the tungsten electrode bin comprises a first opening and a second opening, the first opening and the second opening are respectively positioned on two sides of the tungsten electrode bin, the first opening is connected with the driving part, and the second opening is connected with the discharge hole.
Further, the driving part comprises a needle-shaped air cylinder, the tungsten electrode bin assembly comprises a tungsten electrode bin chute, the tungsten electrode bin chute is fixed on the mounting platform, the needle-shaped air cylinder is fixed on the tungsten electrode bin chute, and the tungsten electrode bin is connected with the tungsten electrode bin chute through a quick-release structure.
Further, the tungsten electrode bin further comprises an elastic piece and a falling stopping block, wherein the elastic piece extrudes a plurality of tungsten electrodes in the tungsten electrode bin to one end, and the falling stopping block is arranged at the second opening.
Further, the tungsten electrode automatic replacement device further comprises an old tungsten electrode collection bin, and the old tungsten electrode collection bin is positioned below the tungsten electrode bin assembly.
In order to achieve the above object, according to one aspect of the present invention, there is provided a method for automatically replacing a tungsten electrode, using the automatic tungsten electrode replacing apparatus according to the above, comprising the steps of:
the old tungsten electrode is disassembled, the clamping part rotates to the position of the welding gun, the old tungsten electrode in the welding gun is clamped, and then the old tungsten electrode is taken out by moving along the direction of the rotating shaft;
a new tungsten electrode taking-out step, namely rotating the clamping part to the position of the discharge hole, matching the clamping part with the discharge hole for positioning, clamping the new tungsten electrode which extends out of the tungsten electrode bin assembly by the clamping part, and then moving along the direction of the rotating shaft to take out the new tungsten electrode;
and a new tungsten electrode mounting step, wherein the clamping part clamps the new tungsten electrode to rotate to the position of the welding gun, and then moves along the direction of the rotating shaft to insert the new tungsten electrode into the welding gun.
In order to achieve the above object, according to one aspect of the present invention, an automatic welding system in a hot room is provided, which comprises a mounting platform and a welding gun mounted on the mounting platform, and further comprises an automatic tungsten electrode replacement device according to the above.
By applying the technical scheme of the invention, at least the following beneficial effects are realized:
1. according to the tungsten electrode automatic replacement device, the displacement part of the conveying assembly can drive the clamping part to carry out displacement with two degrees of freedom, so that the clamping part can clamp the tungsten electrode to move between the welding gun and the tungsten electrode bin assembly, the tungsten electrode automatic replacement device can realize automatic replacement of the welding gun tungsten electrode in the hot chamber, no assistance of personnel or other equipment is needed in the whole process, the automation degree is high, and no limit of the installation position is arranged in the hot chamber.
2. According to the tungsten electrode automatic replacement device, the rocker arm, the sliding table and the clamping jaw are arranged, the pneumatic sliding table, the swinging air cylinder and the clamping air cylinder are used for driving respectively, the selected parts are simple in structure, and compared with electric parts, the tungsten electrode automatic replacement device is high in stability, less in maintenance requirement, free from radioactive influence and particularly suitable for long-term use in a hot chamber.
3. The tungsten electrode automatic replacement device has the advantages that the clamping part is provided with the structures such as the inner conical surface and the outer conical surface, so that the tungsten electrode automatic replacement device can be matched with tungsten electrodes with different specifications respectively through replacing the clamping part, and the device has high universality; the clamping part is matched with the discharge hole of the tungsten electrode bin assembly, so that the clamping part is positioned more accurately, and the requirement on installation precision is reduced.
4. The tungsten electrode automatic replacement device has the advantages of simple integral structure, small size, simple steps of a tungsten electrode replacement method, simple action, capability of accommodating a large number of tungsten electrodes in the tungsten electrode bin, capability of being stably used in a hot chamber for a long time, and high tungsten electrode replacement efficiency.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 illustrates a schematic view of an automatic tungsten electrode replacement device and welding gun assembly according to one embodiment;
FIG. 2 illustrates a schematic view of a transport assembly of one embodiment;
FIG. 3 illustrates a cross-sectional view of a clamp portion mated with a tap in one embodiment;
FIG. 4 illustrates a partial cross-sectional view of a tungsten cartridge assembly of one embodiment;
fig. 5 shows a left side view of fig. 4;
FIG. 6 illustrates a schematic view of a welding gun assembly according to one embodiment;
FIG. 7 illustrates a schematic diagram of an automated welding system within a hot room of an embodiment;
FIG. 8 shows an enlarged schematic view of the I position of FIG. 7;
FIG. 9 shows a flow chart for replacing a tungsten electrode using an automatic tungsten electrode replacement apparatus.
Wherein the above figures include the following reference numerals:
1. a welding gun assembly; 11. a welding gun; 12. a welding gun clamping block; 13. a welding gun fixing plate;
2. a transport assembly; 21. a slipway fixing plate; 22. a sliding table; 23. a swing cylinder; 24. a rocker arm; 25. a clamping cylinder;
26. a clamping part; 261. a clamping jaw; 262. a clamping jaw; 263. a hollow portion; 264. an inner conical surface; 265. an outer conical surface;
3. a tungsten electrode bin assembly; 31. a connecting plate; 32. tungsten electrode bin chute; 33. a needle cylinder; 34. a discharge port;
35. a tungsten electrode bin; 351. a case body; 352. an elastic member; 353. a first opening; 354. a second opening; 355. a falling stop block;
4. a mounting platform; 5. an old tungsten electrode collecting bin; 6. a tungsten electrode; 7. a welding device; 8. a running support; 9. lifting and rotating the platform.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
The invention is described in further detail below in connection with specific examples which are not to be construed as limiting the scope of the invention as claimed. The term "comprising" when used indicates the presence of a feature, but does not preclude the presence or addition of one or more other features; the positional or positional relationship indicated by the terms "transverse", "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., are based on the positional or positional relationship shown in the drawings, are for convenience of description only, and are not indicative or implying that the apparatus or element in question must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention; furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description, unless clearly indicated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art. Furthermore, in the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
Examples:
the invention provides an automatic tungsten electrode replacement device, which is arranged on one side of a welding gun 11, and a tungsten electrode 6 is arranged in the welding gun 11, as shown in figure 1. The tungsten electrode automatic replacement device is used for replacing the tungsten electrode 6 in the welding gun 11.
The welding gun assembly 1 is arranged on the mounting platform 4, as shown in fig. 6, the welding gun assembly 1 comprises a welding gun 11, a welding gun clamping block 12 and a welding gun fixing plate 13, the welding gun fixing plate 13 is fixedly connected with the mounting platform 4, the welding gun clamping block 12 is connected with the side edge of the welding gun fixing plate 13, the welding gun clamping block 12 can clamp the welding gun 11, and the welding gun 11 can clamp or loosen a tungsten electrode 6 positioned in the welding gun. Preferably, the welding torch 11 and tungsten electrode 6 are oriented perpendicular to the mounting platform 4.
The tungsten electrode automatic replacement device comprises a conveying assembly 2 and a tungsten electrode bin assembly 3, wherein the conveying assembly 2 and the tungsten electrode bin assembly 3 are arranged on a mounting platform 4. The welding gun assembly 1, the transportation assembly 2 and the tungsten electrode bin assembly 3 are arranged on the mounting platform at intervals.
The transport assembly 2 includes a clamping portion 26 and a displacement portion, where the clamping portion 26 is connected to the displacement portion, and the clamping portion 26 is used to clamp or unclamp the tungsten electrode 6, and the displacement portion can drive the clamping portion 26 to perform displacement with respect to the mounting platform 4 in at least two degrees of freedom, so that the clamping portion 26 moves between the welding gun 11 and the tungsten electrode bin assembly 3.
The clamping portion 26 can remove the tungsten electrode 6 from the welding gun 11, and the clamping portion 26 can remove and install the tungsten electrode 6 from the tungsten electrode holder assembly 3 into the welding gun 11.
Preferably, the displacement portion has only a displacement of two degrees of freedom with respect to the mounting platform 4. One of the degrees of freedom is movement in a direction perpendicular to the mounting platform 4 so that the clamping portion 26 can clamp the tungsten electrode in the welding gun 11 or tungsten electrode cartridge assembly 3, then translate in this direction to remove the tungsten electrode and push the tungsten electrode movement into the welding gun during installation.
The displacement portion includes a rotation axis, and the other degree of freedom is: the displacement portion can drive the clamping portion 26 to rotate circumferentially around the rotation axis. The direction of the rotation axis is perpendicular to the direction of the mounting platform 4, i.e. the displacement part can also drive the clamping part 26 to move along the direction of the rotation axis.
As shown in fig. 1, the tungsten electrode bin assembly 3 comprises a discharge hole 34, and the clamping part takes out the tungsten electrode in the tungsten electrode bin assembly 3 through the discharge hole 34. The distance L1 between the welding torch 11 and the rotation shaft and the distance L2 between the discharge port 34 and the rotation shaft are equal to the rotation radius of the clamping portion 26. I.e. l1=l2.
The displacement portion further includes a rocker arm 24, a holding portion 26 and a rotation shaft are respectively provided at both ends of the rocker arm 24, and the rocker arm 24 is rotatable about the rotation shaft. I.e. the rocker arm rotates the clamping part back and forth around the rotation axis between the position of the welding gun 11 and the position of the discharge opening 34.
In other embodiments, the other degree of freedom may be that the displacement portion drives the clamping portion to displace along the straight line direction from the welding gun 11 to the discharge port 34, but the reliability of the sliding table moving device adopted by the scheme is lower than that of the rocker arm.
According to the tungsten electrode automatic replacement device, the displacement part of the conveying assembly can drive the clamping part to carry out displacement with two degrees of freedom, so that the clamping part can clamp the tungsten electrode to move between the welding gun and the tungsten electrode bin assembly, the tungsten electrode automatic replacement device can realize automatic replacement of the welding gun tungsten electrode in the hot chamber, no assistance of personnel or other equipment is needed in the whole process, the automation degree is high, and no limit of the installation position is arranged in the hot chamber.
As shown in fig. 2, the displacement section further includes a slide table 22 and a slide table fixing plate 21, the slide table 22 is fixed on the mounting platform 4 by the slide table fixing plate 21, and the direction of the slide table 22 extends along the direction of the rotation axis, that is, the rotation axis can slide along the slide table 22. The outer part of the rotating shaft can be sleeved with a bearing, and the bearing can be used as a sliding block of the sliding table 22 and can slide up and down along the sliding table.
Preferably, the displacement part further comprises a swinging air cylinder 23, the swinging air cylinder 23 is coaxial with the rotating shaft, the swinging air cylinder 23 drives the rocker arm 24 to rotate, the swinging air cylinder 23 is movably connected to the sliding table 22, the sliding table 22 is a pneumatic sliding table, and the pneumatic sliding table drives the swinging air cylinder 23 to slide. The selected components have simpler structures, higher stability compared with the electric components, less maintenance requirement and no influence of radioactivity, and are particularly suitable for long-term use in a hot chamber.
In the present application, the rotation angle of the rocker arm is not limited, that is, the included angle between the discharge port 34 and the welding gun 11 may be any angle with respect to the rotation axis. Preferably, the included angle is 180 degrees, that is, as shown in fig. 1, the welding gun 11, the rotating shaft and the discharging hole 34 are on the same straight line. In this case, a cylinder rocker arm apparatus may be selected in which the rocker arm swings in a range of 180++5° with the swing cylinder as an axis.
Preferably, the swing cylinder 23 is provided with mechanical limits on both sides thereof for limiting the rotation angle of the rocker arm 24, and the position of the mechanical limit is adjustable to change the rotation angle of the rocker arm 24. The stopping position of the rocker arm is regulated through mechanical limiting, so that the accuracy of the swinging angle is further ensured.
As shown in fig. 3, the clamping portion 26 includes a plurality of clamping jaws, which are not limited in number, and may include a left clamping jaw 261 and a right clamping jaw 262 as shown in the drawing, and the plurality of clamping jaws are driven by the clamping cylinder 25 to perform clamping and unclamping operations of the tungsten electrode.
The clamping portion 26 includes a hollow portion 263, and the hollow portion 263 has an inner conical surface 264 for being matched with the end of the tungsten electrode 6, and also includes a section of cylindrical hollow portion for being matched with a section of the tungsten electrode.
An external conical surface 265 is also provided at the end of the clamping portion 26 for mating with the spout 34. The outer conical surface 265 is located at the upper end of the clamping portion 26.
In the application, both end parts of the tungsten electrode 6 are conical, the conical angle is adjustable according to the welding process requirement, and the conical angle range is 12-90 degrees. Thus, the transport assembly 2 includes a plurality of replaceable clips 26, the plurality of clips 26 having different internal taper 264 angles to respectively mate with the different taper tungsten electrodes 6.
Preferably, the inner surface of the discharge port 34 of the tungsten electrode cartridge assembly 3 is tapered with the same taper as the outer tapered surface 265 of the clamping portion so that the end of the clamping portion 26 can form a surface contact with the inner surface of the discharge port 34. As shown in fig. 3, the clamping portion is raised in position to engage the inner surface of the discharge port 34 with the jaws open to position the clamping portion such that the tungsten electrode extends from the discharge port and the clamping portion clamps the tungsten electrode after the end of the tungsten electrode engages the inner tapered surface 264.
The tungsten electrode automatic replacement device has the advantages that the clamping part is provided with the structures such as the inner conical surface and the outer conical surface, so that the tungsten electrode automatic replacement device can be matched with tungsten electrodes with different specifications respectively through replacing the clamping part, and the device has high universality; the clamping part is matched with the discharge hole of the tungsten electrode bin assembly, so that the clamping part is positioned more accurately, and the requirement on installation precision is reduced.
As shown in fig. 4, the tungsten electrode bin assembly 3 includes a tungsten electrode bin 35 and a driving part, the tungsten electrode bin 35 is designed into a magazine type structure, a plurality of tungsten electrodes 6 are accommodated in the tungsten electrode bin 35, the tungsten electrode bin 35 includes a first opening 353 and a second opening 354, the first opening 353 and the second opening 354 are respectively located at two sides of the tungsten electrode bin 35, the first opening 353 is connected with the driving part, and the second opening 354 is connected with the discharge hole 34. The driving part is used for providing driving force to the inner single tungsten electrode, so that the single tungsten electrode passes through the second opening 354 and is discharged from the discharging hole 34.
Specifically, as shown in fig. 5, the tungsten electrode bin assembly 3 further includes a connecting plate 31 and a tungsten electrode bin chute 32, the driving portion includes a needle cylinder 33, the tungsten electrode bin chute 32 is fixed on the mounting platform through the connecting plate 31, the needle cylinder 33 is fixed on the tungsten electrode bin chute 32, and one end of the needle cylinder 33 is communicated with the first opening 353 as shown in fig. 4. The needle cylinder can push out the tungsten electrode and control the stroke of the tungsten electrode.
The needle-shaped air cylinder and the clamping air cylinder adopt pneumatic components, compared with electric components, the needle-shaped air cylinder and the clamping air cylinder are higher in stability, less in maintenance requirement and free from radioactive influence, and are particularly suitable for long-term use in a hot chamber.
Preferably, the tungsten electrode bin 35 is connected with the tungsten electrode bin chute 32 through a quick-release structure. The tungsten electrode bin 35 can be quickly fixed in the tungsten electrode bin chute 32 by plugging and unplugging, and can be removed from the tungsten electrode bin chute 32. The tungsten electrode bin 35 can be quickly replaced, so that the operation of personnel in the hot chamber is facilitated, and the additional design of equipment for automatically replacing the tungsten electrode bin is also facilitated.
The tungsten electrode bin 35 further comprises an elastic piece 352 and a falling-stopping block 355, and the elastic piece 352 extrudes a plurality of tungsten electrodes 6 in the tungsten electrode bin 35 to one end so as to facilitate the needle-shaped air cylinder to drive the tungsten electrodes out of the tungsten electrode bin one by one. The falling-stopping block 355 is arranged at the second opening 354, the falling-stopping block 355 adopts a structure similar to a spring driving baffle, and the rightmost tungsten electrode is prevented from falling out of the tungsten electrode bin due to self gravity at ordinary times, and the falling-stopping block moves to be a tungsten electrode yielding channel when the needle cylinder is driven.
As shown in fig. 1, the automatic tungsten electrode replacement apparatus further comprises an old tungsten electrode collection chamber 5, and preferably the old tungsten electrode collection chamber 5 is located below the tungsten electrode chamber assembly 3. When the clamping part clamps the old tungsten electrode and turns to the upper part of the old tungsten electrode collecting bin 5, the clamping jaw is released, so that the old tungsten electrode is recovered into the old tungsten electrode collecting bin 5 by self gravity. In the present application, the position of the old tungsten electrode collection bin 5 is not limited. The distance L3 between the top of the old tungsten electrode collection bin 5 and the discharge hole or the mounting platform is at least greater than the length of the tungsten electrode.
According to the tungsten electrode automatic replacement device described in the embodiment, a method for automatically replacing a tungsten electrode is correspondingly provided, as shown in fig. 9, and the method comprises the following steps:
in the old tungsten electrode removing step S1, as shown in the first four diagrams in fig. 9, the clamping portion 26 is rotated to the position of the welding gun 11, the old tungsten electrode in the welding gun 11 is clamped, and then the old tungsten electrode is removed by moving in the direction of the rotation axis.
Specifically, the first schematic view shows that the automatic tungsten electrode replacement device is in an initial state, and the clamping part is located below the discharge hole. In the second schematic diagram, the pneumatic sliding table pushes the clamping part to descend, and the swinging cylinder swings 180 degrees, so that the clamping part rotates below the welding gun. In the third schematic view, the pneumatic sliding table pushes the clamping part to rise to the set position, the clamping part is in a loose state, and the old tungsten electrode is inserted into the clamping part. In the fourth schematic diagram, the clamping cylinder drives the clamping part to clamp the old tungsten electrode, the welding gun loosens the old tungsten electrode, and the pneumatic sliding table pushes the clamping part to descend to a designated position, so that the old tungsten electrode is completely separated from the welding gun.
In the step S2 of recovering the old tungsten electrode, as shown in the fifth and sixth schematic diagrams in FIG. 9, the swinging cylinder swings 180 degrees, so that the clamping part is turned to the lower part of the tungsten electrode bin assembly, namely the upper part of the old tungsten electrode collecting bin, and the clamping cylinder is clamped, so that the old tungsten electrode is loosened by the clamping part and automatically falls into the old tungsten electrode collecting bin by self gravity.
As shown in the seventh and eighth diagrams in fig. 9, the new tungsten electrode removing step S3 rotates the clamping portion 26 to the position of the discharge port 34, and the old tungsten electrode recovering step S2 does not rotate any more.
The pneumatic slide causes the clamping portion 26 to rise in position, which cooperates with the discharge port 34 to locate by taper. After the piston rod of the needle cylinder extends out and pushes the new tungsten electrode into the hollow part of the clamping part by a certain distance, the clamping part 26 clamps the new tungsten electrode extending out of the tungsten electrode bin assembly 3. The pneumatic sliding table enables the clamping part to descend, and the new tungsten electrode is completely taken out.
In the new tungsten electrode mounting step S4, as shown in the ninth and tenth diagrams in fig. 9, the clamping portion 26 clamps the new tungsten electrode to rotate to the position of the welding gun 11, and then moves in the direction of the rotation axis to insert the new tungsten electrode into the welding gun 11.
Specifically, the swinging cylinder swings 180 degrees, the clamping part is positioned below the welding gun, the pneumatic sliding table enables the clamping part to clamp the new tungsten electrode to rise, the new tungsten electrode is inserted into the welding gun, the welding gun clamps the new tungsten electrode, and the clamping block loosens the new tungsten electrode. So far, the replacement process of the tungsten electrode of the welding gun is realized.
Finally, as shown in eleventh and twelfth diagrams in fig. 9, the pneumatic sliding table makes the clamping part descend, the swinging cylinder swings 180 degrees, the pneumatic sliding table makes the clamping part ascend, the tungsten electrode automatic replacement device returns to the initial state, and the next tungsten electrode replacement instruction is waited.
The tungsten electrode automatic replacement device has the advantages of simple integral structure, small size, simple steps of a tungsten electrode replacement method, simple action, capability of accommodating a large number of tungsten electrodes in the tungsten electrode bin, capability of being stably used in a hot chamber for a long time, and high tungsten electrode replacement efficiency.
The tungsten electrode automatic replacement device is mainly suitable for the inside of a hot chamber, and therefore, the application further provides an automatic welding system in the hot chamber, so as to illustrate a typical use scene of the tungsten electrode automatic replacement device.
As shown in fig. 7 and 8, the automatic welding system in the hot room comprises a mounting platform 4 and a welding gun 11 mounted on the mounting platform 4, and further comprises an automatic tungsten electrode replacement device according to the present application.
When the radioactive waste barrel is prepared in the hot chamber, the final step is welding the barrel cover and the barrel body so as to ensure that the radioactive waste is safely and reliably contained in the barrel for further treatment.
As shown in fig. 7, the automatic welding system includes a lifting and rotating platform 9, a welding device 7, and a running bracket 8. The barrel cover and the barrel body are placed on the lifting rotating platform 9, the welding device 7 is fixed on the running support 8, and the welding device 7 can slide along the running support 8. When the barrel cover and the barrel body need to be welded, the welding device 7 moves to the upper part of the barrel cover and the barrel body, the welding gun assembly 1 starts to be welded after the lifting rotary platform 9 is adjusted to be at a preset position, and the lifting rotary platform 9 rotates according to a preset program, so that the welding of the barrel cover and the barrel body can be completed.
As shown in fig. 8, the welding apparatus 7 includes a welding gun assembly 1, a mounting platform 4, and an automatic tungsten electrode replacement apparatus.
In summary, from the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:
1. according to the tungsten electrode automatic replacement device, the displacement part of the conveying assembly can drive the clamping part to carry out displacement with two degrees of freedom, so that the clamping part can clamp the tungsten electrode to move between the welding gun and the tungsten electrode bin assembly, the tungsten electrode automatic replacement device can realize automatic replacement of the welding gun tungsten electrode in the hot chamber, no assistance of personnel or other equipment is needed in the whole process, the automation degree is high, and no limit of the installation position is arranged in the hot chamber.
2. According to the tungsten electrode automatic replacement device, the rocker arm, the sliding table and the clamping jaw are arranged, the pneumatic sliding table, the swinging air cylinder and the clamping air cylinder are used for driving respectively, the selected parts are simple in structure, and compared with electric parts, the tungsten electrode automatic replacement device is high in stability, less in maintenance requirement, free from radioactive influence and particularly suitable for long-term use in a hot chamber.
3. The tungsten electrode automatic replacement device has the advantages that the clamping part is provided with the structures such as the inner conical surface and the outer conical surface, so that the tungsten electrode automatic replacement device can be matched with tungsten electrodes with different specifications respectively through replacing the clamping part, and the device has high universality; the clamping part is matched with the discharge hole of the tungsten electrode bin assembly, so that the clamping part is positioned more accurately, and the requirement on installation precision is reduced.
4. The tungsten electrode automatic replacement device has the advantages of simple integral structure, small size, simple steps of a tungsten electrode replacement method, simple action, capability of accommodating a large number of tungsten electrodes in the tungsten electrode bin, capability of being stably used in a hot chamber for a long time, and high tungsten electrode replacement efficiency.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (14)
1. The utility model provides an automatic change device of tungsten electrode installs in one side of welder (11), have in welder (11) tungsten electrode (6), welder (11) set up on mounting platform (4), its characterized in that: the tungsten electrode automatic replacement device comprises a conveying assembly (2) and a tungsten electrode bin assembly (3), wherein the conveying assembly (2) and the tungsten electrode bin assembly (3) are arranged on the mounting platform (4);
the transporting assembly (2) comprises a clamping part (26) and a displacement part, wherein the clamping part (26) is connected with the displacement part, the clamping part (26) is used for clamping or loosening the tungsten electrode (6), and the displacement part can drive the clamping part (26) to displace with respect to the mounting platform (4) in two degrees of freedom so as to move between the welding gun (11) and the tungsten electrode bin assembly (3);
the tungsten electrode bin assembly (3) comprises a discharge hole (34), the clamping part (26) comprises a hollow part (263), an inner conical surface (264) is arranged in the hollow part (263) and is used for being matched with the end part of the tungsten electrode (6), and an outer conical surface (265) is arranged at the end part of the clamping part (26) and is used for being matched with the discharge hole (34);
the inner surface of the discharge hole (34) is provided with a conical surface, and the angle of the conical surface is the same as that of the outer conical surface (265), so that the end part of the clamping part (26) is in surface contact with the inner surface of the discharge hole (34);
the clamping part (26) can take out the tungsten electrode (6) in the welding gun (11), and the clamping part (26) can take out the tungsten electrode (6) in the tungsten electrode bin assembly (3) and install the tungsten electrode in the welding gun (11);
the end of the tungsten electrode (6) is conical, the angle range of the conical shape is 12-90 degrees, the conveying assembly (2) comprises a plurality of replaceable clamping parts (26), and the clamping parts (26) are provided with different inner conical surface (264) angles so as to be matched with the tungsten electrode (6) with different conical angles respectively.
2. The automatic tungsten electrode replacement apparatus according to claim 1 wherein: the displacement portion comprises a rotating shaft, the displacement portion can drive the clamping portion (26) to circumferentially rotate around the rotating shaft, the displacement portion can drive the clamping portion (26) to move along the direction of the rotating shaft, and the distance between the welding gun (11) and the rotating shaft and the distance between the discharge port (34) and the rotating shaft are equal to the rotating radius of the clamping portion (26).
3. The automatic tungsten electrode replacement apparatus according to claim 2, wherein: the displacement part further comprises a rocker arm (24), the clamping part (26) and the rotating shaft are respectively positioned at two ends of the rocker arm (24), and the rocker arm (24) can rotate around the rotating shaft.
4. The automatic tungsten electrode replacement apparatus according to claim 3 wherein: the displacement part further comprises a sliding table (22), the sliding table (22) is fixed on the mounting platform (4), the direction of the sliding table (22) extends along the direction of the rotating shaft, and the rotating shaft can slide along the sliding table (22).
5. The automatic tungsten electrode replacement according to claim 4 wherein: the displacement part further comprises a swinging air cylinder (23), the swinging air cylinder (23) is coaxial with the rotating shaft, the swinging air cylinder (23) drives the rocker arm (24) to rotate, the swinging air cylinder (23) is movably connected to the sliding table (22), the sliding table (22) is a pneumatic sliding table, and the pneumatic sliding table drives the swinging air cylinder (23) to slide.
6. The automatic tungsten electrode replacement according to claim 5 wherein: the swing cylinder (23) both sides are provided with mechanical limit, mechanical limit is used for limiting the rotation angle of rocking arm (24), the spacing position of machinery is adjustable to change the rotation angle of rocking arm (24).
7. The automatic tungsten electrode replacement apparatus according to claim 1 wherein: the clamping portion (26) comprises a plurality of clamping jaws (261, 262), the plurality of clamping jaws (261, 262) being driven by a clamping cylinder (25).
8. The automatic tungsten electrode replacement apparatus according to claim 1 wherein: tungsten electrode storehouse subassembly (3) include tungsten electrode storehouse (35) and drive division, tungsten electrode storehouse (35) are contained a plurality of tungsten electrode (6), tungsten electrode storehouse (35) include first opening (353) and second opening (354), first opening (353) with second opening (354) are located respectively tungsten electrode storehouse (35) both sides, first opening (353) with drive division is connected, second opening (354) with discharge gate (34) are connected.
9. The automatic tungsten electrode replacement according to claim 8 wherein: the driving part comprises a needle-shaped air cylinder (33), the tungsten electrode bin assembly (3) comprises a tungsten electrode bin sliding groove (32), the tungsten electrode bin sliding groove (32) is fixed on the mounting platform (4), the needle-shaped air cylinder (33) is fixed on the tungsten electrode bin sliding groove (32), and the tungsten electrode bin (35) is connected with the tungsten electrode bin sliding groove (32) through a quick-dismantling structure.
10. The automatic tungsten electrode replacement apparatus according to claim 9 wherein: the tungsten electrode bin (35) further comprises an elastic piece (352) and a falling stopping block (355), the elastic piece (352) extrudes a plurality of tungsten electrodes (6) in the tungsten electrode bin (35) to one end, and the falling stopping block (355) is arranged at the second opening (354).
11. The automatic tungsten electrode replacement apparatus according to claim 1 wherein: the tungsten electrode automatic replacement device further comprises an old tungsten electrode collection bin (5), and the old tungsten electrode collection bin (5) is located below the tungsten electrode bin assembly (3).
12. A method for automatically replacing a tungsten electrode, characterized in that an automatic tungsten electrode replacing device according to any one of the preceding claims 2-6 is used, comprising the steps of:
an old tungsten electrode disassembling step, namely rotating the clamping part (26) to the position of the welding gun (11), clamping the old tungsten electrode in the welding gun (11), and then moving along the direction of the rotating shaft to take out the old tungsten electrode;
a new tungsten electrode taking-out step, wherein the clamping part (26) rotates to the position of the discharge hole (34), the clamping part (26) is matched with the discharge hole (34) to be positioned, the clamping part (26) clamps a new tungsten electrode which extends out of the tungsten electrode bin assembly (3), and then the new tungsten electrode is taken out by moving along the direction of the rotating shaft;
and a new tungsten electrode mounting step, wherein the clamping part (26) clamps the new tungsten electrode to rotate to the position of the welding gun (11), and then moves along the direction of the rotating shaft to insert the new tungsten electrode into the welding gun (11).
13. The method for automatically replacing a tungsten electrode according to claim 12 wherein: the automatic tungsten electrode replacement device further comprises an old tungsten electrode collection bin (5), the automatic tungsten electrode replacement method further comprises an old tungsten electrode recovery step, the old tungsten electrode recovery step is located between the old tungsten electrode disassembly step and the new tungsten electrode extraction step, in the old tungsten electrode recovery step, the clamping portion (26) clamps the old tungsten electrode to rotate to the position above the old tungsten electrode collection bin (5), and the clamping portion (26) is loosened.
14. An automatic welding system in a hot room, which comprises a mounting platform (4) and a welding gun (11) arranged on the mounting platform (4), and is characterized in that: further comprising an automatic tungsten electrode replacement device according to any one of the preceding claims 1-11.
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| CN202311347988.4A CN117086454B (en) | 2023-10-17 | 2023-10-17 | Tungsten electrode automatic replacement device and method and automatic welding system in hot chamber |
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| CN202311347988.4A CN117086454B (en) | 2023-10-17 | 2023-10-17 | Tungsten electrode automatic replacement device and method and automatic welding system in hot chamber |
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| CN113751845A (en) * | 2021-08-12 | 2021-12-07 | 中国核电工程有限公司 | Automatic tungsten electrode replacing device, system and method |
| KR102423900B1 (en) * | 2021-03-12 | 2022-07-25 | (주)위드 | Apparatus and method for changing electrode |
| CN116275402A (en) * | 2023-04-28 | 2023-06-23 | 伯朗特机器人股份有限公司 | Workstation of welder tungsten needle is changed by oneself |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH06304756A (en) * | 1993-04-23 | 1994-11-01 | Hitachi Ltd | Automatic exchanging device for welding electrode |
| CN205764402U (en) * | 2016-06-15 | 2016-12-07 | 杨荣 | A kind of bonding machine tungsten bar more changing device |
| CN106552989A (en) * | 2017-01-12 | 2017-04-05 | 上海电气核电设备有限公司 | The gas shielded arc welding tungsten electrode apparatus for automatic change of robot welding system and method |
| CN111203615A (en) * | 2020-01-16 | 2020-05-29 | 常州坤达焊接技术有限公司 | Automatic tungsten electrode replacing device |
| KR102423900B1 (en) * | 2021-03-12 | 2022-07-25 | (주)위드 | Apparatus and method for changing electrode |
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| CN117086454A (en) | 2023-11-21 |
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