CN103286494B - Rail type all-position welding robot for box-type steel structures - Google Patents
Rail type all-position welding robot for box-type steel structures Download PDFInfo
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- CN103286494B CN103286494B CN201310201215.5A CN201310201215A CN103286494B CN 103286494 B CN103286494 B CN 103286494B CN 201310201215 A CN201310201215 A CN 201310201215A CN 103286494 B CN103286494 B CN 103286494B
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- 238000003466 welding Methods 0.000 title claims abstract description 100
- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 34
- 239000010959 steel Substances 0.000 title claims abstract description 34
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- 230000033001 locomotion Effects 0.000 claims description 25
- 230000006835 compression Effects 0.000 claims description 6
- 238000007906 compression Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 abstract description 5
- 230000035515 penetration Effects 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 4
- 230000004927 fusion Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000011551 heat transfer agent Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
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Abstract
The invention relates to a rail type all-position welding robot for box-type steel structures. The rail type all-position welding robot comprises a rail, a mounting mechanism is arranged on the left of the rail, a slider is slidably connected on the rail, a servo motor is arranged on the lower portion of the slider, a control box is arranged on the upper portion of the slider, a digital control system is arranged in the control box, an actuating mechanism is arranged on the left of the control box, a CCD (charge coupled device) and a laser generator are arranged on the actuating mechanism, a welding gun fixture is arranged at the left end of the actuating mechanism, and a welding gun is arranged on the welding gun fixture. The rail type all-position welding robot has the advantages that symmetric welding is realized, and welding stress is reduced; the rail type all-position welding robot adapts to influences of welding gun angles on welding process stability during welding of different positions, and weld penetration and forming quality are guaranteed; and welding parameter stability is guaranteed, and further, welding quality is guaranteed.
Description
Technical field
The present invention relates to robotics, particularly relate to a kind of box shape steel structure rail mounted all-position welding machine.
Background technology
Box shape steel structure has lightweight, plasticity and good toughness, isotropism, manufacture is easy, the construction and installation cycle is short, the plurality of advantages such as sealing and good heat resistance, more and more extensive in the application in the fields such as Offshore Engineering equipment, steel house, steel structure bridge.Along with the development of process industry, increasing welding robot system comes into operation, the development level of Automation of Welding also obtain and greatly improves, especially with automobile production, the fields such as engineering machinery are representative, but to the welding of box shape steel structure erecting bed, also mainly based on traditional manual welding, therefore the stability of welding quality is difficult to meet manufacture requirements, and relating to Offshore Engineering equipment, steel house, during the welding at the Steel Structure Installation scene in the fields such as steel structure bridge, usually need work high above the ground, welding operating mode is severe, even threaten the life security of welder.Meanwhile, the weld defect that manual welding produces, has a strong impact on the service life of some steel buildings, has buried hidden danger for some accidents.
The major defect of traditional manual welding is: need two welders to implement balanced welding, and weldingvoltage when welding of two welders and electric current, speed of welding and the welding number of plies should be consistent, and require very high to the harmony of welder; And Site Welding operating mode is severe, affects the many factors of welding quality, thus manual welding is difficult to ensure welding quality.
Therefore, existing box shape steel structure welding manner needs reform badly, the present invention is directed to this problem, has invented a kind of box shape steel structure rail mounted all-position welding machine system.
Summary of the invention
The object of this invention is to provide a kind of box shape steel structure rail mounted all-position welding machine, to overcome currently available technology above shortcomings.
The object of the invention is to be achieved through the following technical solutions:
A kind of box shape steel structure rail mounted all-position welding machine, comprise track, the left side of described track is provided with installing mechanism, described track slidably connects slide block, described slide block bottom is provided with servomotor, described slide block top is provided with control box, Digitizing And Control Unit is provided with in described control box, the left side of described control box is provided with executing agency, described executing agency is provided with CCD(charge coupled cell) device and laser generator, the left end of described executing agency is provided with welding gun fixture, and described welding gun fixture is provided with welding gun.
Further, the right side of described track is provided with tooth bar, and described track is vertical rail or horizontal track, and vertical rail and horizontal track include the arc orbit that radian is 90 degree, and described arc orbit two ends are all connected with several rectilinear orbits in turn; Described rectilinear orbit is connected by alignment pin and locating slot with arc orbit.
Further, described installing mechanism comprises the track support be connected with track bolt, and the left end of described track support has been connected by screw several permanent magnetic chucks, and described permanent magnetic chuck is provided with control handle.
Further, described slide block is connected with non-orbiting scroll respectively by two bearings of track both sides; Locking bearing module is equipped with between described two bearings, described locking bearing module comprises module housing, described module housing is positioned at track side and is provided with locking bearing, described locking bearing is provided with compression spring away from track side, described module housing is rotationally connected locking bearing by the support of bearing, and described module housing is provided with installing hole.
Further, described executing agency comprises horizontal rectilinear motion slide block and height rectilinear motion slide block, described horizontal rectilinear motion slide block is rotatably connected to large mechanical arm, described large mechanical arm left end is connected with gadget arm, and described horizontal rectilinear motion slide block, height rectilinear motion slide block, large mechanical arm and gadget arm are equipped with drive motors.Described executing agency is connected by screw by fixed head and slide block.
Beneficial effect of the present invention is: the position that two cover welding robot robot movement mechanisms are relative in box shape steel structure cross section is welded along identical rotation direction, realizes being symmetrically welded, reduces welding stress.Both the technological requirement of diverse location welding in V-type and Y type groove had been met by the movement in executing agency four free degree directions, to ensure fusion penetration and forming quality, adapt to again angle of welding gun when diverse location welds and, on the impact of welding process stability, ensure that weld penetration and forming quality.Adopt active light source method, monitor welded condition in real time by CCD, and feed back to control system, control system adjusts welding deviation in time by the motor speed controlling welding motion and welding executing agency, guarantee welding condition is stablized, and then guarantees welding quality.
Accompanying drawing explanation
With reference to the accompanying drawings the present invention is described in further detail below.
Fig. 1 is the using state figure of box shape steel structure rail mounted all-position welding machine described in the embodiment of the present invention;
Fig. 2 is the structural representation of vertical rail part described in the embodiment of the present invention;
Fig. 3 is the structural representation of horizontal rail portion described in the embodiment of the present invention;
Fig. 4 is the upward view of slide block described in the embodiment of the present invention;
Fig. 5 is the side view of locking bearing module described in the embodiment of the present invention;
Fig. 6 is the structural representation of executing agency described in the embodiment of the present invention.
In figure:
1, box shape steel structure workpiece; 2, CCD device; 3, horizontal rectilinear motion slide block; 4, height rectilinear motion slide block; 5, control box; 6, slide block; 7, servomotor; 8, arc orbit; 9, rectilinear orbit; 10, track support; 11, permanent magnetic chuck; 12, weld seam; 13, welding gun; 14, welding gun fixture; 15, gadget arm; 16, large mechanical arm; 17, bearing; 18, bearing module is locked; 19, bearing is locked; 20, the support of bearing; 21, module housing; 22, installing hole; 23, compression spring; 24, turning cylinder; 25, drive motors; 26, fixed head.
Detailed description of the invention
As shown in figures 1 to 6, a kind of box shape steel structure rail mounted all-position welding machine described in the embodiment of the present invention, comprise track, the left side of described track is provided with installing mechanism, described track slidably connects slide block 6, described slide block 6 bottom is provided with servomotor 7, described slide block 6 top is provided with control box 5, Digitizing And Control Unit is provided with in described control box 5, the left side of described control box 5 is provided with executing agency, described executing agency is provided with CCD device 2, and the left end of described executing agency is provided with welding gun fixture 14, and described welding gun fixture 14 is provided with welding gun 13.The right side of described track is provided with tooth bar, and described track is vertical rail or horizontal track, and vertical rail and horizontal track include the arc orbit 8 that radian is 90 degree, and described arc orbit 8 two ends are all connected with several rectilinear orbits 9 in turn.Described rectilinear orbit 9 is connected by alignment pin and locating slot with arc orbit 8.Described installing mechanism comprises the track support 10 be connected with track bolt, and the left end of described track support 10 has been connected by screw several permanent magnetic chucks 11, and described permanent magnetic chuck 11 is provided with control handle.Described slide block 6 is connected with non-orbiting scroll respectively by two bearings 17 of track both sides.Described slide block 6 is equipped with locking bearing module 18 between arranged on left and right sides two bearings 17, described locking bearing module 18 comprises module housing 21, described module housing 21 is positioned at track side and is provided with locking bearing 19, described locking bearing 19 is provided with compression spring 23 away from track side, described module housing 21 is rotationally connected locking bearing 19 by the support of bearing 20 and turning cylinder 24, and described module housing 21 is provided with installing hole 22.Described executing agency comprises horizontal rectilinear motion slide block 3 and height rectilinear motion slide block 4, described horizontal rectilinear motion slide block 3 is rotatably connected to large mechanical arm 16, described large mechanical arm 16 left end is connected with gadget arm 15, and described horizontal rectilinear motion slide block 3, height rectilinear motion slide block 4, large mechanical arm 16 and gadget arm 15 are equipped with drive motors 25.Described executing agency is connected with slide block 6 screw by fixed head 26.Described CCD device 2 is provided with laser generator.
Box shape steel structure rail mounted all-position welding machine provided by the invention, comprise the permanent magnetic chuck 11 be fixed on box shape steel structure workpiece 1, permanent magnetic chuck 11 side has control handle can control absorption or not adsorb, with track for convenience detach, track support 10 is connected with permanent magnetic chuck 11 by screw.Track support 10 is connected with track by screw.The two ends of arc orbit 8 respectively comprise the rectilinear orbit 9 of a section shorter, be beneficial to track support 10 be connected with track, and have locating slot to be used for being connected with other rectilinear orbit in rectilinear orbit 9 end, the automatic welding demand of the box shape steel structure workpiece 1 meeting different size can be combined like this by arc orbit 8 and the rectilinear orbit 9 of different length.Track can be divided into horizontal rail portion (as Fig. 3) and vertical rail part (as Fig. 2) two kinds by track near the position relationship of slide block 6 one side surface and workpiece.Track has good ride comfort after mounting, welding robot walking mechanism even running requirement can be met, and the lifting capacity of track is enough to for welding robot walking mechanism provides omnibearing support, to adapt to the all-position welding of box column, the different welding position of beam.
As shown in Figure 1 and Figure 4, slide block 6 and track assemble in orbit by 4 bearings 17, in order to meet the free transition of slide block 6 at rectilinear orbit 9 and arc orbit 8, the riding position of 4 bearings 17 on slide block 6 needs to be calculated by the diameter of arc orbit 8 to determine.In order to make slide block 6 move reposefully in orbit, even if also reduce shake when being transitioned into arc orbit 8 by rectilinear orbit 9 as far as possible, slide block 6 with the addition of a pair locking bearing module 18.The side view of locking bearing module 18 as shown in Figure 5, it is primarily of module housing 21, composition such as locking bearing 19, compression spring 23 etc., when matching loose with track of slide block 6, coupling mechanism force can be produced to ensure that slide block 6 and track closely cooperate by compression spring 23.And then ensure gear or the tooth bar good engagement of the gear that servomotor 7 drives and track lower end, make slide block 6 even running in orbit.
As shown in Figure 6, welding executing agency of the present invention forms primarily of horizontal rectilinear motion slide block 3, height rectilinear motion slide block 4, large mechanical arm 16, gadget arm 15 and their respective drive motors and welding gun fixture 14 and welding gun 13, and wherein firm banking 29 is fixed on whole welding executing agency on slide block 6.Wherein adjustment walk crosswise moving slide block 3 welding gun transverse adjusting mechanism mainly in order to adapt to the position deviation of orbital distance weld seam 12, and the change of groove width during thick plates; Adjustment height rectilinear motion slide block 4 can meeting spatial diverse location (particularly when the revolution welding of box shape steel structure) and groove root, filling and cover welding time Height Adjustment requirement; The rotation of large mechanical arm 16 can realize welding gun lateral angles and swing, mainly in order to adapt to the technological requirement of diverse location welding in V-type and Y type groove, to ensure fusion penetration and forming quality; The rotation of gadget arm 15 can realize welding gun front and rear angles and swing, and mainly on the impact of welding process stability, ensures weld seam 12 fusion penetration and forming quality in order to adapt to angle of welding gun when diverse location welds.
CCD device 2 and laser active light source constitute weld seam 12 tracking system, by real-time detection, in time the positional information of weld seam is fed back to control system, the spatial attitude that servomotor 7 for Digitizing And Control Unit adjustment walking mechanism changes speed of welding, the drive motors 25 of adjustment welding executing agency changes welding gun 13 end in time provides foundation, and then ensures welding quality.
The Digitizing And Control Unit be placed in control box 5 should comprise: the motion control of welding robot walking mechanism and drive system, comprises motor and driving thereof, transmission mechanism and speed (position) and detects and feedback control system; Welding executing agency's motion control and drive system, comprises motor and driving, transmission mechanism, and carries out speed (position) FEEDBACK CONTROL according to welding position (groove) heat transfer agent and welding condition; Digital integrated control system can carry out Comprehensive Control according to sensing and Detection Information to walking and executing agency; The instruction that wireless operated box sends can be accepted, and send information needed to wireless operated box.In addition this robot also comprises welding power source system and wire feed, plenum system, and their stability is also the key factor determining robot system welding quality, and these systems are the prior art of existing factory internally-fixed welding robot, are not repeated herein.
The present invention is not limited to above-mentioned preferred forms; anyone can draw other various forms of product under enlightenment of the present invention; no matter but any change is done in its shape or structure; every have identical with the application or akin technical scheme, all drops within protection scope of the present invention.
Claims (10)
1. a box shape steel structure rail mounted all-position welding machine, comprise track, it is characterized in that: the left side of described track is provided with installing mechanism, described track slidably connects slide block (6), described slide block (6) bottom is provided with servomotor (7), described slide block (6) top is provided with control box (5), described control box is provided with Digitizing And Control Unit in (5), the left side of described control box (5) is provided with executing agency, described executing agency is provided with CCD device (2), the left end of described executing agency is provided with welding gun fixture (14), described welding gun fixture (14) is provided with welding gun (13).
2. box shape steel structure rail mounted all-position welding machine according to claim 1, it is characterized in that: the right side of described track is provided with tooth bar, described track is vertical rail or horizontal track, described vertical rail and horizontal track include the arc orbit (8) that radian is 90 degree, and described arc orbit (8) two ends are all connected with several rectilinear orbits (9) in turn.
3. box shape steel structure rail mounted all-position welding machine according to claim 2, is characterized in that: described rectilinear orbit (9) is connected by alignment pin and locating slot with arc orbit (8).
4. box shape steel structure rail mounted all-position welding machine according to claim 3, it is characterized in that: described installing mechanism comprises the track support (10) be connected with track bolt, the left end of described track support (10) has been connected by screw several permanent magnetic chucks (11), and described permanent magnetic chuck (11) is provided with control handle.
5. box shape steel structure rail mounted all-position welding machine according to claim 4, is characterized in that: described slide block (6) is connected with non-orbiting scroll respectively by two bearings (17) of track both sides.
6. box shape steel structure rail mounted all-position welding machine according to claim 5, is characterized in that: be equipped with locking bearing module (18) between described two bearings (17).
7. box shape steel structure rail mounted all-position welding machine according to claim 6, it is characterized in that: described locking bearing module (18) comprises module housing (21), described module housing (21) is positioned at track side and is provided with locking bearing (19), described locking bearing (19) is provided with compression spring (23) away from track side, described module housing (21) is rotationally connected locking bearing (19) by the support of bearing (20) and turning cylinder (24), and described module housing (21) is provided with installing hole (22).
8. box shape steel structure rail mounted all-position welding machine according to claim 7, it is characterized in that: described executing agency comprises horizontal rectilinear motion slide block (3) and height rectilinear motion slide block (4), described horizontal rectilinear motion slide block (3) is rotatably connected to large mechanical arm (16), described large mechanical arm (16) left end is connected with gadget arm (15), and described horizontal rectilinear motion slide block (3), height rectilinear motion slide block (4), large mechanical arm (16) and gadget arm (15) are equipped with drive motors (25).
9. box shape steel structure rail mounted all-position welding machine according to claim 8, is characterized in that: described executing agency is connected by screw by fixed head (26) and slide block (6).
10. the box shape steel structure rail mounted all-position welding machine according to any one of claim 1-9, is characterized in that: described CCD device (2) is provided with laser generator.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310201215.5A CN103286494B (en) | 2013-05-27 | 2013-05-27 | Rail type all-position welding robot for box-type steel structures |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310201215.5A CN103286494B (en) | 2013-05-27 | 2013-05-27 | Rail type all-position welding robot for box-type steel structures |
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| CN103286494A CN103286494A (en) | 2013-09-11 |
| CN103286494B true CN103286494B (en) | 2015-05-20 |
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| CN103506788A (en) * | 2013-09-23 | 2014-01-15 | 北京石油化工学院 | Complex-track all-position double gun automatic welding robot |
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| CN105945475B (en) * | 2016-06-20 | 2018-08-03 | 湖北三江航天红阳机电有限公司 | A kind of side hanging pipeline all position welding robot |
| CN106216902A (en) * | 2016-08-25 | 2016-12-14 | 湖北三江航天红阳机电有限公司 | A kind of all position welding picks |
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| CN117102794A (en) * | 2023-10-25 | 2023-11-24 | 河北赵宏建筑工程有限公司 | Welding jig and welding equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| SU1063565A1 (en) * | 1982-05-21 | 1983-12-30 | Государственный Проектный Институт "Укрпроектстальконструкция" | Tipper |
| SU1286376A1 (en) * | 1985-05-21 | 1987-01-30 | Специальное Конструкторско-Технологическое Бюро Главмосинжстроя При Мосгорисполкоме | Apparatus for welding non-rotatable pipe joints |
| CN101700609B (en) * | 2009-11-13 | 2011-07-20 | 天津振汉机械装备有限公司 | Rotator for welding box-shaped structural member |
| CN102514156B (en) * | 2011-12-28 | 2014-01-29 | 台州市黄岩炜大塑料机械有限公司 | Gear and rack core-pulling demolding mechanism for plastic elbow mold |
| CN202622192U (en) * | 2012-06-07 | 2012-12-26 | 中国东方电气集团有限公司 | Autonomous mobile robot system for plasma metal-inert gas welding (MIG) hybrid welding |
| CN203292732U (en) * | 2013-05-27 | 2013-11-20 | 清华大学 | Box-type steel structure rail-type all-position welding robot |
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