CN115722773A

CN115722773A - Multidimensional magnetic stirring surfacing welding equipment and technological method based on three-foot parallel mechanism

Info

Publication number: CN115722773A
Application number: CN202211549065.2A
Authority: CN
Inventors: 李昌; 赵晓玉; 罗丰华; 姜先晟; 冯磊; 韩兴
Original assignee: University of Science and Technology Liaoning USTL
Current assignee: University of Science and Technology Liaoning USTL
Priority date: 2022-12-05
Filing date: 2022-12-05
Publication date: 2023-03-03

Abstract

The invention relates to the technical field of welding equipment, in particular to multidimensional magnetic stirring surfacing welding equipment and a process method based on a three-foot parallel mechanism. The multi-jaw chuck clamps one end of the welded workpiece, and the top head tightly props the other end of the welded workpiece; the three-degree-of-freedom welding gun pose adjusting system is arranged on a movable welding machine walking bracket to realize the x, y and z three-way position moving adjustment of the welding gun head, and the probe is fixedly connected on the welding gun head; a magnetic stirring head of the magnetic stirring system is fixedly connected to a z-direction sliding guide rail of the three-degree-of-freedom welding gun pose adjusting system, multi-angle swinging and rotation are achieved through a three-foot parallel mechanism, a surfacing structure is refined through a multi-dimensional electromagnetic stirring effect, and surfacing quality is improved; the residual flux recycling system recycles the flux and conveys the flux to the flux hopper, and full-automatic feeding and flux recycling are achieved. And the welding process is detected, the defect early warning is carried out, the generation probability of the welding defect is effectively reduced, and the welding cost and the rejection rate are reduced.

Description

Multidimensional magnetic stirring surfacing welding equipment and technological method based on three-foot parallel mechanism

Technical Field

The invention relates to the technical field of welding equipment, in particular to multidimensional magnetic stirring surfacing welding equipment and a process method based on a three-foot parallel mechanism.

Background

With the rapid development of modern science and technology, the surfacing technology is used as an economical and rapid process method for modifying the surface of a material, and is widely applied to surface repair of metal parts and industrial products, wherein surfacing of circular roller products is an important part. Welding is carried out in order to increase and restore the size of parts, or to obtain a specific clad metal on the welding surface. During overlaying, the welding material and the surface of the base metal are melted to form an overlaying layer in metallurgical bonding. The bonding strength is high, the shock resistance is good, the welding layer is suitable for working conditions of high stress, high variable load, high stress abrasive wear and chipping wear, the components and the performance of the welding layer are adjustable, and a multifunctional coating is easy to form. The thickness of the overlaying layer can reach 2-30 mm, and the cladding efficiency is relatively high.

In industrial production, the surfacing roller is generally large in size, the cost of a base material is high, and the period required by surfacing machining is long. Welding microdefects such as air holes, cracks, slag inclusion, nodulation and the like are easy to appear in the surfacing process, so that the whole workpiece is scrapped, and huge economic loss is caused. In particular to the severe service working condition of a descaling roller on a finish rolling and rough rolling line in the ferrous metallurgy industry, the descaling roller can bear the high-pressure water erosion action for a long time, the dynamic impact action caused in the descaling process of high-temperature billets, and the multi-field strong coupling action of high temperature, strong abrasion, multi-cycle heat, force and flow. Wear and corrosion failure often occur, which affects continuous production of steel rolling and needs surface strengthening or repairing treatment. The surface of a descaling roller product in service under severe conditions is strengthened, the wear resistance and corrosion resistance of the descaling roller product need to be enhanced, and overlaying welding of a flux-cored wire containing a WC hard phase is an important method.

The existing surfacing equipment has the following defects: in the surfacing process, the action mechanism of a multi-element interface in the melting and solidification of the flux-cored wire containing a WC hard phase is extremely complex, the defects of slag inclusion, air holes, cracks and the like are easily formed, and the welding rejection rate is high. Welding defects cannot be found in time in the welding process, early warning cannot be achieved, the yield is further influenced, and the cost is increased. Moreover, the existing surfacing equipment lacks the effective recovery and recycling of the welding flux, has high welding cost and deviates from the targets of 'carbon peaking' and 'carbon neutralizing' advocated by the current country.

Application number CN 201820983973.5 discloses a build-up welding workstation and automatic build-up welding repair system for rollers, which comprises a robot welding device for performing build-up welding repair on the rollers, a double-station rotating tool table for station conversion and a bracket device for loading and unloading the rollers. Belonging to the conventional surfacing welding category. The method is only used for improving the structure of surfacing equipment, but the adding process of the welding flux is not reported, and the residual welding flux cannot be effectively screened and recovered. Especially, the multidimensional magnetic stirring effect on a submerged arc surfacing molten pool is lacked, so that the micro defects of cracks, air holes, slag inclusion and the like in surfacing cannot be effectively reduced, and meanwhile, the process discovery and early warning on the welding defects cannot be effectively carried out. The surfacing equipment disclosed in CN 200910077091.8 can be used for carrying out corrosion-resistant surfacing on the inner wall of a 90-degree bent pipe in a high-temperature, high-pressure and corrosive medium pressure container. However, submerged arc surfacing is not mentioned in the whole text, which is different from the invention of submerged arc surfacing provided in the text essentially, and the recovery and recycling of surplus flux are not mentioned, and electromagnetic disturbance is not applied in surfacing, so that micro defects such as cracks and the like cannot be effectively inhibited. CN 201410617509.0 discloses a metal member submerged arc surfacing forming method, and provides a surfacing forming method. The generation of welding defects in the submerged arc surfacing process cannot be avoided, a method for recycling the surplus welding flux is not mentioned, the applicable conditions of the equipment are cured, the surfacing operation on the long roller product cannot be carried out, the assistance of multi-dimensional magnetic stirring equipment is lacked, and the welding microscopic defects cannot be discovered and reduced or eliminated in the process.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides a multidimensional magnetic stirring surfacing welding device and a technological method based on a three-foot parallel mechanism. The roller welding machine can realize multi-dimensional magnetic field stirring surfacing, welding process detection, defect early warning and surplus flux saving screening recovery and automatic cyclic utilization aiming at roller products with different lengths and diameters, effectively reduces the generation probability of welding defects, improves the quality of a surfacing layer, reduces the welding cost and rejection rate, and improves the economic benefit.

In order to achieve the purpose, the invention adopts the following technical scheme:

a multidimensional magnetic stirring surfacing welding device based on a three-foot parallel mechanism comprises a magnetic stirring system, a surplus flux recycling system, a three-degree-of-freedom welding gun pose adjusting system, a movable welding machine walking bracket, a multi-jaw chuck, a top and a probe; the multi-jaw chuck clamps one end of the welded workpiece, and the top head tightly props the other end of the welded workpiece; the three-degree-of-freedom welding gun pose adjusting system is arranged on a movable welding machine walking bracket to realize the x, y and z three-way position moving adjustment of the welding gun head, and the probe is fixedly connected on the welding gun head; and a magnetic stirring head of the magnetic stirring system is fixedly connected on a z-direction sliding guide rail of the three-degree-of-freedom welding gun pose adjusting system, so that the welding gun head is arranged in the middle position of two magnetic pole heads of the magnetic stirring system. The spatial position of the magnetic pole head is randomly adjusted through multi-angle swinging and rotation of the three-foot parallel mechanism, and the current direction in the iron core coil is periodically changed at the same time, so that a multi-dimensional magnetic field stirring effect is generated on the formed submerged arc surfacing weld pool. Through the multi-dimensional electromagnetic stirring effect, the surfacing structure is refined, and the surfacing quality is improved; the residual welding flux recycling system is used for recycling the welding flux and conveying the welding flux into the welding flux hopper, the residual welding flux after welding is collected into the sieve through the residual welding flux collecting hopper, and the residual welding flux is screened by driving the offset crank to rotate through belt transmission. And full-automatic feeding and cyclic utilization of the welding flux are realized.

Furthermore, the magnetic stirring system is composed of two groups of magnetic stirring heads arranged side by side, the submerged arc molten pool is arranged at the center of the two groups of magnetic stirring heads, the magnetic stirring heads are symmetrically hung on the Z-direction sliding guide rail and are respectively driven by the motors to move the positions of the magnetic stirring heads.

The single-side magnetic stirring head is driven by a rotating motor to realize the motion of the three-foot parallel mechanism respectively, so that a coil wound iron core fixedly connected and supported by the single-side magnetic stirring head is driven to swing in multiple dimensions, the real-time positions of the two-side stirring heads correspond to each other to form a complete magnetic field loop, and the Lorentz force action is generated on metal positive ions in the submerged arc surfacing molten pool.

Furthermore, the stirring head swings at multiple angles, so that the Lorentz force direction is changed to apply a stirring effect; meanwhile, the current transmission direction in the iron core coil is periodically adjusted, and the stirring effect is exerted from the other dimension.

The whole magnetic stirring system moves up and down along with a welding gun, and the single-side stirring head randomly adjusts the position of the single-side stirring head so as to adapt to the surfacing process requirements of rollers with different diameters; the magnetic field intensity is changed by adjusting the current so as to meet the processing requirement.

Furthermore, the residual welding flux recycling system comprises a welding flux recycling vibration separation screen and a welding flux recycling and conveying system, a residual welding flux collecting funnel is arranged below a welded workpiece to collect the welding flux falling from primary processing into the welding flux recycling vibration separation screen, a screening driving motor drives a belt to drive the belt to rotate, the belt drives an eccentric wheel to rotate through a rotating shaft, and the eccentric wheel is connected with a screen body through a connecting rod to form an offset crank slider mechanism so as to realize periodic screening; the bottom of the screen body is provided with a screen body rolling wheel which moves along the walking track.

Furthermore, the screen body of the welding flux recovery vibration separation screen is divided into an upper layer and a lower layer, welding slag and waste materials enter a welding slag collecting tank from the upper layer screen body, recoverable welding flux falls on the lower layer screen plate and finally falls onto a welding flux recovery lower conveying belt, the welding flux is conveyed into a feeding trolley, when the falling welding flux reaches a set amount, a signal is sent to a winch motor by a gravity sensor, the winch motor drives the feeding trolley to move upwards, after a specified position is reached, the front wheel of the trolley stops limiting, a tipping action is realized under the driving of the winch motor, and the recyclable welding flux is poured onto a feeding conveying belt; capstan winch motor reversal, the dolly return is carried the recovery welding flux to the welding flux funnel by the pay-off conveyer belt in, realizes full automatic feeding and welding flux cyclic utilization.

Furthermore, the three-degree-of-freedom welding gun pose adjusting system is arranged at the top of the movable welding machine walking support, and the three-degree-of-freedom welding gun pose adjusting system realizes the x, y and z three-direction position moving adjustment of the welding gun head; the welding gun x-direction adjustment driving gear is driven by the welding gun x-direction adjustment system driving motor, the welding gun x-direction adjustment rack realizes x-direction linear movement, the welding gun y-direction adjustment system driving motor drives the screw rod to realize y-direction linear sliding, and the welding gun z-direction adjustment system driving motor drives the screw rod to realize z-direction linear sliding.

Furthermore, the three-degree-of-freedom welding gun pose adjusting system is provided with a welding gun y-direction moving frame and a welding gun z-direction moving frame; the 4 wire feeding rollers are divided into an upper row and a lower row and are uniformly distributed on the welding gun z-direction moving frame, and the wire feeding roller driving motor drives the wire feeding rollers to rotate to clamp the flux-cored wire for wire feeding; the flux funnel is fixedly connected to the y-direction moving frame of the welding gun, and the lower part of the funnel is connected with the lower part of the welding gun through a flux conveying hose, so that the submerged arc surfacing process is realized.

Further, portable welding machine walking support includes two door-type frame side by side, and two door-type frame top side by side link firmly through the top crossbeam, and four welding machine walking support lower margin gyro wheels are established to two door-type frame bottom side by side, and welding machine walking support lower margin gyro wheels are arranged in on the welding machine walking slide rail.

Furthermore, the multi-jaw chuck adopts a three-jaw chuck, the top head is a movable tailstock top head, and the top head can move; the probe adopts a phased array scanning probe.

A technology of multidimensional magnetic stirring surfacing equipment based on a three-foot parallel mechanism specifically comprises the following steps:

1) A multi-dimensional electromagnetic stirring effect is added in the surfacing process, the surfacing structure is refined, the defects in the welding process are effectively reduced, and the surfacing process is optimized; particularly, the welding process has good applicability to the welding process of the WC hard alloy welding wire by surfacing welding of the descaling roll in the ferrous metallurgy industry;

2) The welding gun head is fixedly connected with a phased array scanning probe, real-time defect detection is carried out in the process of surfacing welding bead carrying out, and surfacing quality is guaranteed.

Compared with the prior art, the invention has the beneficial effects that:

(1) The magnetic field disturbance assistance is added in the surfacing process, the surfacing process is optimized, the generation of cracks in the surfacing process is effectively reduced, and the production efficiency is improved.

Welding microdefects such as air holes, cracks, slag inclusion, nodulation and the like are easy to appear in the surfacing process, so that the whole workpiece is scrapped, and huge economic loss is caused. Especially, the descaling roller has bad service conditions, and surfacing welding of the flux-cored wire containing a WC hard phase is an important method for strengthening the surface of the descaling roller. However, the action mechanism of a multi-element interface in the flux-cored wire surfacing welding containing a WC hard phase is extremely complex, the defects of slag inclusion, air holes, cracks and the like are easily formed, and the welding rejection rate is high. And the multidimensional magnetic stirring effect is exerted, so that the welded structure can be effectively refined, bubbles can be discharged, the welding micro-defects can be reduced, and the surfacing welding quality can be improved.

(2) The three-degree-of-freedom welding gun pose adjusting system can realize x, y and z three-way movement, and meanwhile, the welding system walking support can walk through the ground foot rollers, so that the three-degree-of-freedom welding gun pose adjusting system can flexibly adapt to surfacing operation of rollers with different lengths and diameters, and the working application range is enlarged.

(3) The phased array scanning probe can timely find and early warn defects in the welding process, greatly improve the yield and save the cost. Meanwhile, a large amount of residual welding flux falls off in surfacing, welding slag and burnt welding flux are doped in the residual welding flux, and the residual welding flux can be recycled through screening, so that the production cost is effectively saved.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a front view of the present invention;

FIG. 3 is a schematic perspective view of another embodiment of the present invention;

FIG. 4 is a schematic three-dimensional structure diagram of a three-degree-of-freedom welding gun pose adjusting system according to the present invention;

FIG. 5 is a schematic perspective view of a magnetic stirring system according to the present invention;

FIG. 6 is a schematic perspective view of a vibratory separator for flux recovery in accordance with the present invention;

FIG. 7 is a schematic view of another angular perspective structure of the vibratory screen for flux recovery of the present invention;

FIG. 8 is a schematic perspective view of a drive portion of a flux recovery vibratory screen of the present invention;

FIG. 9 is a schematic perspective view of a magnetic stirring head according to the present invention;

FIG. 10 is a schematic view of another angle of the magnetic stirring head of the present invention;

FIG. 11 is a ladder diagram of a PLC of the present invention.

In the figure: 1-an electric control cabinet, 2-a spindle motor, 3-a welding machine tool, 4-a three-jaw chuck, 5-a welding flux hopper, 6-a welding flux recovery upper conveying belt driving motor, 7-a welding flux recovery upper conveying belt, 8-a welding machine walking support, 9-a feeding trolley support frame, 10-a winch, 11-a winch motor, 12-a steel wire rope, 13-a feeding trolley, 14-a gravity sensor, 15-a feeding trolley slide rail, 16-a welding flux recovery lower conveying belt, 17-a welding flux recovery lower conveying belt driving motor, 18-a welding machine walking support motor, 19-a welding flux recovery vibration separation sieve, 20-an upper conveying belt support, 21-a welding machine walking support roller, 22-a welding machine walking slide rail, 23-a welded roller, 24-a welding slag collecting tank, 25-a movable tailstock top head, 26-a welding gun x-direction adjusting system, 27-a welding gun x-direction adjusting system driving motor, 28-a welding gun x-direction walking track 29-welding gun y-direction moving frame, 30-welding gun y-direction adjusting system driving motor, 31-magnetic stirring head hanging frame, 32-magnetic stirring head, 33-welding gun head, 34-wire feeding pipe, 35-magnetic stirring head self-adjusting motor, 36-welding gun z-direction adjusting system driving motor, 37-welding flux conveying hose, 38-welding wire fixing sleeve, 39-flux-cored wire, 40-wire feeding roller driving motor, 41-wire feeding roller, 42-welding gun z-direction moving frame, 43-phased array scanning probe, 44-separating screen driving belt wheel, 45-separating screen driving main shaft, 46-upper screen body, 47-lower screen plate, 48-screen body rolling wheel, 49-separating screen supporting rail, 50-screening driving motor, 51-connecting rod, 52-eccentric wheel, 53-belt hanging frame, 54-magnetic stirring head upper part, 55-magnetic stirring head motor, 56-parallel mechanism J-shaped rotating arm, 56-magnetic stirring head hanging arm, 57-J-shaped rotating arm driving motor, 58-parallel mechanism U-shaped swinging arm, 59-magnetic stirring head electromagnetic coil, 60-magnetic stirring head electromagnetic iron core, 61-parallel mechanism driving U-shaped rotating arm, 62-driving U-shaped rotating arm driving motor, 63-residual flux collecting funnel, 64-welding gun x-direction adjusting driving gear and 65-welding gun x-direction adjusting rack.

Detailed Description

The following further illustrates embodiments of the invention, but is not intended to limit the scope thereof:

as shown in fig. 1, 2 and 3, the multidimensional magnetic stirring surfacing welding equipment based on the three-foot parallel mechanism comprises a magnetic stirring system, a surplus flux recycling system, a three-degree-of-freedom welding gun pose adjusting system, a movable welding machine walking support 8, a three-jaw chuck 4, a movable tailstock ejector 25, a phased array scanning probe 43, a flux funnel 5 and an electric control cabinet 1.

The spindle motor 2, the three-jaw chuck 4 and the movable tailstock ejector 25 are mounted on the welding machine tool 3, the spindle motor 2 is connected with the three-jaw chuck 4 to drive the three-jaw chuck to rotate, and the movable tailstock ejector 25 is mounted on a slide rail of the welding machine tool 3. The three-jaw chuck 4 clamps one end of the roller 23 to be welded, and the movable tailstock plug 25 pushes the other end of the roller 23 to be welded.

As shown in fig. 4, 5, 9 and 10, the magnetic stirring system is composed of two sets of magnetic stirring heads 32 arranged side by side, the submerged arc molten pool is arranged at the middle position of the two sets of magnetic stirring heads 32, the magnetic stirring heads 32 are symmetrically hung on the sliding guide rail of the z-direction moving frame 42 of the transverse arrangement welding gun through a T-shaped magnetic stirring head hanging bracket 31, and the magnetic stirring heads drive the screw rods to realize self-position movement through self-adjusting motors 35 of the magnetic stirring heads respectively. The unilateral magnetic stirring head 32 is by the parallel mechanism J-shaped swinging boom 56, the parallel mechanism U-shaped swing arm 58, the parallel mechanism initiative U-shaped swinging boom 61 constitutes the three-legged parallel mechanism, drive the three-legged parallel mechanism to realize multi-angle swing and rotation by J-shaped swinging boom driving motor 57 and initiative U-shaped swinging boom driving motor 62 respectively, thereby drive and link firmly magnetic stirring head electromagnetic core 60 multidimension swing and rotation that twines of magnetic stirring head electromagnetic coil 59 that supports rather than, the real-time position of both sides magnetic stirring head 32 corresponds, form complete magnetic field return circuit, produce the lorentz force effect to the metal positive ion in the submerged arc surfacing molten pool.

Along with the flexible multi-angle swing of the magnetic stirring head 32, the direction of the Lorentz force is changed to exert the stirring effect on the surfacing weld pool. At the same time, the direction of the current in the magnetic stir head solenoid 59 is periodically adjusted to impart a stirring effect from the other dimension. The whole electromagnetic stirring system can move up and down along with the welding gun head 33, and the position of the single-side magnetic stirring head 32 can be randomly adjusted so as to meet the requirements of the surfacing process of rollers with different diameters. Can change magnetic field intensity through adjustment current size to satisfy the processing demand, through the electromagnetic stirring effect of multidimension degree, refine the build-up welding tissue, promote the build-up welding quality. And the integral magnetic stirring system is fixedly connected with a z-direction sliding block of the three-degree-of-freedom welding gun pose adjusting system.

As shown in fig. 1, 2, 3, 6, 7 and 8, the residual flux recycling system is composed of a flux recycling vibration sieve 19 and a flux recycling conveyor system. The flux recovery vibrating screen 19 is located below the welding machine 3 near the position of the torch head 33. The lower part of the welding machine tool 3 is fixedly connected with a surplus welding flux collecting funnel 63, and the lower part of the collecting funnel 63 is opposite to the welding flux recovery vibration separating screen 19.

The welding flux recovery vibration separation screen 19 is composed of an upper screen 46 and a lower screen 47, the welding flux recovery vibration separation screen 19 rides on a recovery support guide rail 49 through four screen rolling wheels 48, the welding flux recovery vibration separation screen 19 is arranged at a certain inclination angle, the lower part of the separation screen is connected with a connecting rod 51 through a pin shaft, and the connecting rod 51 is connected with an eccentric wheel 52.

A large amount of residual welding flux falls off in surfacing welding, welding slag and burning-out welding flux are doped in the residual welding flux, and the residual welding flux needs to be recycled through screening, so that the production cost is effectively saved. The flux falling from the primary processing is collected into the flux recovery vibration separation screen 19 through a residual flux collection funnel 63 below the machine tool, a screening driving motor 50 drives a belt 53 to drive, the belt 53 drives an eccentric wheel 52 to rotate through a rotating shaft, the eccentric wheel 52 is connected with a screen body through a connecting rod 51 to form a bias crank block mechanism, periodic reciprocating screening is realized, and the screen body is supported through a screen body rolling wheel 48 and runs along a running rail 49.

The screen body is arranged in an upper layer and a lower layer, large waste materials such as welding slag enter the welding slag collecting tank 24 from the upper layer screen body 46, and the recoverable welding flux falls on the lower layer screen plate 47 and finally falls on the welding flux recovery lower conveying belt 16. Two sets of conveyer belts of upper and lower parallel arrangement on 3 right sides of welding lathe, the upper conveyer belt is a little higher than solder flux funnel 5, and upper conveyer belt is installed on upper conveyer belt support 20, has arranged material loading dolly slide rail 15 in the slope between upper and lower conveyer belt, and material loading dolly 13 is supported by four gyro wheels, and preceding, two liang of arrangements in back ride on material loading dolly slide rail 15. The rear part of the trolley is connected with a steel wire rope 12, the other end of the steel wire rope 12 is connected with a winch 10 at the top of a supporting frame 9 of the feeding trolley, and the steel wire rope 12 is parallel to a sliding rail 15 of the feeding trolley.

The welding flux is conveyed into a feeding trolley 13, when the falling welding flux reaches a certain amount, a gravity sensor 14 sends a signal to a winch motor 11, the winch motor 11 drives the feeding trolley 13 to move upwards, after the falling welding flux reaches a designated position, the front wheel of the trolley stops limiting, the overturning action is realized under the driving of the winch motor 11, and the recyclable welding flux is overturned to a feeding conveyor belt 16. The winch motor 11 rotates reversely, and the feeding trolley 13 returns. The recovered flux is conveyed to the flux hopper 5 by the feeding conveyor belt 16, so that full-automatic feeding and flux recycling are realized.

As shown in fig. 1, 2 and 3, the three-degree-of-freedom welding gun pose adjusting system is arranged at the top of the movable welding machine walking support 8, the three-degree-of-freedom welding gun pose adjusting system can realize the moving adjustment of the x, y and z three-way positions of the welding gun head, and the x direction drives the welding gun x direction adjusting driving gear 64 and the welding gun x direction adjusting rack 65 to move through the welding gun x direction adjusting system driving motor 27. And the y direction drives the screw rod to realize the sliding motion of the gun head system through the driving motor 30 of the welding gun y direction adjusting system. And the Z direction drives the screw rod to realize the sliding motion of the gun head system through the welding gun Z direction adjusting system driving motor 36.

Portable welding machine walking bracket 8 is linked firmly through the top crossbeam by two side by side portal frame structure, and four welding machine walking bracket lower margin gyro wheels 21 are established to welding machine walking bracket 8 bottom, and welding machine walking bracket lower margin gyro wheel 21 can freely move on arranging welding machine walking slide rail 22 in to the build-up welding operation of adaptation different length rollers. The 4 wire feeding rollers 41 are uniformly distributed on the welding gun z-direction moving frame 42 in an upper row and a lower row, and the wire feeding roller driving motor 40 drives the wire feeding rollers 41 to rotate and clamp the flux-cored wire 39 for wire feeding. And the flux funnel 5 is fixedly connected to the y-direction moving frame 29 of the welding gun, and the lower part of the flux funnel 5 is connected with the lower part welding gun head 33 through a flux conveying hose 37, so that the submerged arc surfacing process is realized. The welding gun head 33 is fixedly connected with a phased array scanning probe 43, so that in-process real-time defect detection is carried out on a surfacing welding bead, and the surfacing quality is ensured.

Fig. 11 is a PLC ladder diagram of the present invention, as shown in fig. 1 to 11, the working process of the present invention is as follows:

1. the welder walks the carriage motor 18, adjusts the welding gun system to the predetermined welding position. The welding gun x-direction adjustment system driving motor 27, the welding gun y-direction adjustment system driving motor 30 and the welding gun z-direction adjustment system driving motor 36 are respectively started to adjust the welding gun to a preset welding position by multi-degree-of-freedom adjustment.

2. The spindle motor 2 is started to drive the roller 23 to be welded to rotate, and the welding operation is performed in cooperation with the welding gun. And starting a wire feeding roller driving motor 40, clamping the flux-cored wire 39, feeding the welding gun head 33, and performing surfacing operation. And starting the J-shaped rotating arm driving motor 57 and the active U-shaped rotating arm driving motor 62 to drive the iron core 60 and the coil 59 to realize multi-dimensional adjustment, and performing electromagnetic stirring on the surfacing weld pool.

3. Then, a separation screen driving motor 50 is started to carry out periodic screening action, surplus welding flux falling in the surfacing process is screened, recoverable welding flux falls on a lower-layer screen plate 47, a welding flux recovery lower conveyor belt driving motor 17 is started, the recoverable welding flux falls into a feeding trolley 15 through a welding flux recovery lower conveyor belt 16, when the recoverable welding flux reaches a certain weight, a gravity sensor 14 at the lower end of the feeding trolley 13 is triggered, a winch motor 11 is started to drive a winch 10 to rotate to pull a steel wire rope 12 to ascend, the feeding trolley 13 is further pulled to ascend along a sliding rail 15 of the feeding trolley, when the feeding trolley reaches an upper limit position of a bracket of the feeding trolley, the front end of the trolley stops moving, the rear end of the trolley is pulled to ascend by the steel wire rope to realize the tilting action of the feeding trolley 13, the welding flux falls on a welding flux recovery upper conveyor belt 7, the welding flux recovery upper conveyor belt driving motor 6 is started, and the welding flux is conveyed to a hopper 5, so that the recycling of the welding flux is realized.

The invention can realize multi-dimensional magnetic field stirring surfacing welding, welding process detection, defect early warning, screening and recycling of saved flux and automatic cyclic utilization aiming at roller products with different lengths and diameters, effectively reduces the generation probability of welding defects, improves the quality of a surfacing layer, reduces the welding cost and rejection rate and improves the economic benefit.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered as the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.

Claims

1. The utility model provides a based on three-legged parallel mechanism multidimension magnetic stirring build-up welding equipment which characterized in that: the device comprises a magnetic stirring system, a surplus flux recycling system, a three-degree-of-freedom welding gun pose adjusting system, a movable welding machine walking bracket, a multi-jaw chuck, a top head and a probe;

the multi-jaw chuck clamps one end of the welded workpiece, and the top head tightly pushes the other end of the welded workpiece; the three-degree-of-freedom welding gun pose adjusting system is arranged on a movable welding machine walking bracket to realize the x, y and z three-way position moving adjustment of the welding gun head, and the probe is fixedly connected on the welding gun head;

a magnetic stirring head of the magnetic stirring system is fixedly connected on a z-direction sliding guide rail of the three-degree-of-freedom welding gun pose adjusting system, so that a welding gun head is arranged at the middle position of two magnetic pole heads of the magnetic stirring system, the spatial position of the magnetic pole heads is randomly adjusted through multi-angle swinging and rotation of a three-foot parallel mechanism, and the current direction in an iron core coil is periodically changed at the same time, so that a multi-dimensional magnetic field stirring effect is generated on a formed submerged arc surfacing weld pool;

surplus solder flux recovery cyclic utilization system retrieves the solder flux to in transporting it to the solder flux funnel, collect the sieve through surplus solder flux of the surplus solder flux collection funnel of postweld surplus solder flux, sieve surplus solder flux of festival, realize full-automatic feeding and solder flux cyclic utilization.

2. The multidimensional magnetic stirring surfacing welding device based on the three-foot parallel mechanism according to claim 1 is characterized in that: the magnetic stirring system consists of two groups of magnetic stirring heads which are arranged side by side, the submerged arc molten pool is arranged in the middle of the two groups of magnetic stirring heads, and the magnetic stirring heads are symmetrically hung on a Z-direction sliding guide rail and can move self positions through being driven by a motor respectively;

the single-side magnetic stirring heads are respectively driven by a rotating motor to realize the movement of the three-foot parallel mechanism, so that coils fixedly connected with the three-foot parallel mechanism are driven to swing in multiple dimensions, the real-time positions of the stirring heads on the two sides correspond to each other to form a complete magnetic field loop, and Lorentz force action is generated on metal positive ions in the submerged arc surfacing molten pool.

3. The multidimensional magnetic stirring surfacing welding device based on the three-foot parallel mechanism according to claim 2 is characterized in that: along with the multi-angle swing of the stirring head, the Lorentz force direction is changed to exert a stirring effect; meanwhile, the current transmission direction in the iron core coil is periodically adjusted, and the stirring effect is exerted from the other dimension;

the whole magnetic stirring system moves up and down along with a welding gun, and the position of a single-side stirring head is randomly adjusted to meet the technological requirements of surfacing of rollers with different diameters; the magnetic field intensity is changed by adjusting the current so as to meet the processing requirement.

4. The multidimensional magnetic stirring surfacing welding device based on the three-foot parallel mechanism according to claim 1 is characterized in that: the surplus welding flux recycling system comprises a welding flux recycling vibration separation screen and a welding flux recycling and conveying system, a surplus welding flux collecting funnel is arranged below a welded workpiece to collect welding flux falling from primary processing into the welding flux recycling vibration separation screen, a screening driving motor drives a belt to drive the belt to rotate, the belt drives an eccentric wheel to rotate through a rotating shaft, the eccentric wheel is connected with a screen body through a connecting rod, a bias crank slider mechanism is formed, and periodic screening is achieved; the bottom of the screen body is provided with a screen body rolling wheel which moves along the walking track.

5. The multidimensional magnetic stirring surfacing equipment based on the three-foot parallel mechanism according to claim 4 is characterized in that: the screen body of the welding flux recovery vibration separation screen is arranged in an upper layer and a lower layer, welding slag and waste materials enter a welding slag collecting tank from an upper layer screen body, the recoverable welding flux falls on a lower layer screen plate and finally falls on a welding flux recovery lower conveying belt, the welding flux is conveyed into a feeding trolley, when the falling welding flux reaches a set amount, a signal is sent to a winch motor by a gravity sensor, the winch motor drives the feeding trolley to move upwards, after a specified position is reached, the front wheel of the trolley stops limiting, a tipping action is realized under the driving of the winch motor, and the recyclable welding flux is poured to a feeding conveying belt; capstan winch motor reversal, the dolly return is carried the recovery welding flux to the welding flux funnel by the pay-off conveyer belt in, realizes full automatic feeding and welding flux cyclic utilization.

6. The multidimensional magnetic stirring surfacing equipment based on the three-foot parallel mechanism according to claim 1 is characterized in that: the three-degree-of-freedom welding gun pose adjusting system is arranged at the top of the movable welding machine walking support, and the three-degree-of-freedom welding gun pose adjusting system realizes x, y and z three-direction position moving adjustment of the welding gun head; the welding gun x-direction adjustment driving gear is driven by the welding gun x-direction adjustment system driving motor, the welding gun x-direction adjustment rack realizes x-direction linear movement, the welding gun y-direction adjustment system driving motor drives the screw rod to realize y-direction linear sliding, and the welding gun z-direction adjustment system driving motor drives the screw rod to realize z-direction linear sliding.

7. The multidimensional magnetic stirring surfacing welding device based on the three-foot parallel mechanism according to claim 6 is characterized in that: the three-degree-of-freedom welding gun pose adjusting system is provided with a welding gun y-direction moving frame and a welding gun z-direction moving frame; the 4 wire feeding rollers are divided into an upper row and a lower row and are uniformly distributed on the welding gun z-direction moving frame, and the wire feeding roller driving motor drives the wire feeding rollers to rotate to clamp the flux-cored wire for wire feeding; the flux funnel is fixedly connected to the y-direction moving frame of the welding gun, and the lower part of the funnel is connected with the lower part of the welding gun through a flux conveying hose, so that the submerged arc surfacing process is realized.

8. The multidimensional magnetic stirring surfacing welding device based on the three-foot parallel mechanism according to claim 1 is characterized in that: the movable welding machine walking support comprises two parallel portal frames, the tops of the two parallel portal frames are fixedly connected through a top cross beam, four welding machine walking support foundation rollers are arranged at the bottoms of the two parallel portal frames, and the welding machine walking support foundation rollers are arranged on a welding machine walking slide rail.

9. The multidimensional magnetic stirring surfacing equipment based on the three-foot parallel mechanism according to claim 1 is characterized in that: the multi-jaw chuck adopts a three-jaw chuck, the top is a movable tailstock top, and the top can move; the probe adopts a phased array scanning probe.

10. The process based on the multidimensional magnetic stirring surfacing equipment with the three-foot parallel mechanism is characterized by comprising the following steps of: