CN105817798A - Environment-friendly sewage treatment pipe and dirt baffle plate welding robot - Google Patents
Environment-friendly sewage treatment pipe and dirt baffle plate welding robot Download PDFInfo
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- CN105817798A CN105817798A CN201610348326.2A CN201610348326A CN105817798A CN 105817798 A CN105817798 A CN 105817798A CN 201610348326 A CN201610348326 A CN 201610348326A CN 105817798 A CN105817798 A CN 105817798A
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- 238000003466 welding Methods 0.000 title claims abstract description 128
- 239000010865 sewage Substances 0.000 title claims abstract description 57
- 230000007246 mechanism Effects 0.000 claims abstract description 56
- 230000033001 locomotion Effects 0.000 claims abstract description 33
- 229910000831 Steel Inorganic materials 0.000 claims description 29
- 239000010959 steel Substances 0.000 claims description 29
- 238000003860 storage Methods 0.000 claims description 29
- 230000000903 blocking effect Effects 0.000 claims description 20
- 238000000034 method Methods 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 13
- 244000309464 bull Species 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 8
- 239000000463 material Substances 0.000 claims description 8
- 239000004033 plastic Substances 0.000 claims description 4
- 229920003023 plastic Polymers 0.000 claims description 4
- 241000276425 Xiphophorus maculatus Species 0.000 claims description 3
- 238000013519 translation Methods 0.000 description 11
- 230000014616 translation Effects 0.000 description 11
- 230000000694 effects Effects 0.000 description 6
- 230000001360 synchronised effect Effects 0.000 description 5
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 3
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- 230000004899 motility Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0247—Driving means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/04—Tubular or hollow articles
- B23K2101/06—Tubes
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Abstract
The invention relates to an environment-friendly sewage treatment pipe and dirt baffle plate welding robot. The robot comprises a base, a lifting device, a rotary driving device, a six-degree-of-freedom parallel mechanism, a welding actuation device and fixing devices; the lifting device is positioned at the back side end of the base, and is fixedly connected with the base; the rotary driving device is positioned rightly above the lifting device, and is fixedly connected with the lifting device; the six-degree-of-freedom parallel mechanism is positioned below the front end of the rotary driving device; the welding actuation device is positioned rightly below the six-degree-of-freedom parallel mechanism, and is fixedly connected with the six-degree-of-freedom parallel mechanism; and the fixing devices are symmetrically arranged on the upper end surface of the base, and are fixedly connected with the base. The robot can perform full-automatic intelligent welding operation between a sewage treatment pipe and a dirt baffle plate, is adjustable in whole position during welding, flexible in motion in local positions and high in stability, can realize the function of feeding welding wires while welding, and is high in welding efficiency and excellent in welding quality.
Description
Technical field
The present invention relates to welding technology field, a kind of environment protection sewage processes pipeline sewage blocking plate welding robot.
Background technology
Welding also referred to as welding or connect, welding is a kind of jointing metal or the manufacturing process of other thermoplastics such as plastics and technology in the way of heating, high temperature or high pressure；The energy source of modern welding has a variety of, including gas flame, electric arc, laser, electron beam, friction and ultrasound wave etc., in addition to using in the factory, welding can also be carried out in a variety of contexts, such as field, under water and space, the most wherein, welding all may bring danger to operator, so suitable safeguard procedures must be taked when welding, weld the injury being likely to result in human body and include burn, electric shock, inpairment of vision, suction toxic gas, ultraviolet overexposure etc..
Sewage treatment pipeline is mainly used in the occasions such as municipal works, chemical plant, petroleum works and public waterworks, always it is welded with sewage blocking plate in the middle of sewage treatment pipeline, sewage blocking plate Main Function is that gear blocks the foreign material flowing in sewage treatment pipeline, on the one hand prevent the situation that sewage treatment pipeline is blocked by foreign material, on the other hand also play preliminary sewage disposal and block the effect of dirt；Welding for current sewage treatment pipeline sewage blocking plate uses human weld more, the most not only occupies substantial amounts of cost of labor, and welding efficiency is low, poor welding quality, and due to human weld, welding process is often accompanied by peril and produces, bring certain Personal Risk to welder.In consideration of it, the invention provides a kind of environment protection sewage to process pipeline sewage blocking plate welding robot.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of environment protection sewage and process pipeline sewage blocking plate welding robot.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of environment protection sewage processes pipeline sewage blocking plate welding robot, performs device and fixing device including base, lowering or hoisting gear, device for revolving and driving, six-degree-of-freedom parallel connection mechanism, welding；The T-shaped platy structure of described base, lowering or hoisting gear is positioned at base rear side end, and be connected between lowering or hoisting gear and base, device for revolving and driving is positioned at directly over lowering or hoisting gear, and device for revolving and driving is connected with lowering or hoisting gear, six-degree-of-freedom parallel connection mechanism is located at turn around below driving means front end, welding performs device and is positioned at immediately below six-degree-of-freedom parallel connection mechanism, and welding performs device and is connected with six-degree-of-freedom parallel connection mechanism, fixing device quantity is four, fixing device is respectively symmetrically and is arranged on base upper surface, and is connected between fixing device and base.
Further, described fixing device includes line slideway, mobile slide block, fixation clamp and clamping screw；Spacing hole linearly it is evenly arranged with on described line slideway upper surface, mobile slide block is arranged on line slideway, and offer through hole on movement slide block, fixation clamp front end is arc shape structure, fixation clamp rear end is connected with mobile slip front, uses clamping screw to be fixed between mobile slide block and line slideway；During concrete operations, sewage treatment pipeline lower end is placed in the middle of four fixing devices, during use, by mobile slide block motion on line slideway, when fixation clamp front end contacts with sewage treatment pipeline lateral wall, by clamping screw, movement slide block is fixed on line slideway, reach the effect fixing to sewage treatment pipeline, prevent the problem that dislocation is moved in sewage treatment pipeline position in welding process, after sewage treatment pipeline fixes, sewage blocking plate is placed into sewage treatment pipeline upper end, and the four of sewage blocking plate lug one_to_one corresponding respectively are placed at sewage treatment pipeline upper port in the counterbore of four incomplete circles.
Further, described lowering or hoisting gear includes lifting screw, sleeve, lifting motor, motor cabinet, rotating shaft, driving gear, locking end cap, fixed mount and driven gear；Described lifting screw, the quantity of sleeve and driven gear is two, lifting screw lower end is arranged in sleeve, sleeve inner offers the female thread that the external screw thread with lifting screw matches, sleeve bottom end is arranged on base upper surface by bearing, lifting motor uses adjustable speed reducing motor, lifting motor is fixed on base upper surface by motor cabinet, it is connected between rotating shaft one end with lifting motor main shaft, key is used to be attached between the rotating shaft other end and driving gear, and driving gear upper end is locked by locking end cap, it is fixed by fixed mount in the middle part of rotating shaft, fixed mount is in the U-shape structure stood upside down, the bearing installed that matches with rotating shaft it is provided with at fixed mount medium position, driven gear is fixed at sleeve medium position, and driven gear is meshed with driving gear；By the rotation rotarily driving driving gear of lifting motor, driving gear is meshed with driven gear, two driven gear synchronous axial system in the same direction, and driven gear and sleeve are fixing is connected, thus the synchronous rotary in the same direction of band moving sleeve, carry out transmission by screw thread between lifting screw and sleeve, and then achieve the function of the raising and lowering motion of lifting screw, it is simple to the whole height of regulation lowering or hoisting gear.
Further, described device for revolving and driving includes elevator, longitudinal electric slide rail, longitudinal sliding block, electric turntable, transverse electric slide rail, transverse slider and fixing seat, described elevator rectangular-blocklike structure, the longitudinal electric slide rail back side is fixed on elevator front end, longitudinal electric slide rail two ends are respectively arranged with longitudinal baffle, longitudinal sliding block is arranged on longitudinal electric slide rail, electric turntable rear end is fixed on longitudinal sliding block, electric turntable front end is provided with transverse electric slide rail, and the quantity of transverse electric slide rail and transverse slider is two, transverse electric slide rail Parallel Symmetric is arranged, transverse electric slide rail front end is provided with transverse baffle, the vertical cross section of transverse electric slide rail is I-shaped structure, transverse slider is arranged on transverse electric slide rail, fixing seat structure in the form of annular discs, fixing seat two ends are connected with transverse slider respectively；Device for revolving and driving can realize moving left and right and gyration movable and on the vertical plane on horizontal plane, the i.e. motion in two translation one rotation three degree of freedom directions altogether in space, can ensure that welding performs the device overall large scale when welding and the regulation in big orientation by device for revolving and driving, improve the welding performance of the present invention.
Further, described six-degree-of-freedom parallel connection mechanism includes fixed platform, moving platform, connection seat, upper spherical hinge, electric pushrod, block plate seat, lower spherical hinge, Triangulum and limit spring；nullDescribed connection seat and Triangulum quantity are three，Upper spherical hinge、Electric pushrod、The quantity of block plate seat and lower spherical hinge is six，Described fixed platform and moving platform the most rounded shape structure，Connect seat to be arranged on the lower surface of fixed platform，And connect seat on fixed platform in equilateral triangle location arrangements，Triangulum is arranged on moving platform upper surface，And the installation site connected between seat and Triangulum interlocks two-by-two，And Triangulum is equilateral triangle column structure，Triangulum is respectively symmetrically along its vertical center line and is provided with inclined plane，The installation screwed hole matched with lower spherical hinge lower end external screw thread is offered in inclined plane，Electric pushrod bottom is connected with being connected seat by upper spherical hinge，Electric pushrod top is connected with block plate seat upper end，Block plate seat lower end is connected with lower spherical hinge one end，The lower spherical hinge other end is arranged on Triangulum，Limit spring is around being enclosed within electric pushrod，And limit spring one end is connected with electric pushrod，The limit spring other end is connected with block plate seat；Six-degree-of-freedom parallel connection mechanism uses the six-degree-of-freedom parallel connection mechanism of 6-SPS, big with serial mechanism phase specific stiffness, six-degree-of-freedom parallel connection mechanism Stability Analysis of Structures, kinematic dexterity is high, bearing capacity is strong and fine motion precision is high, six-degree-of-freedom parallel connection mechanism can carry out three translations three in space and rotate the motion in six-freedom degree direction altogether, and space is little, movement velocity is fast and kinematic dexterity is good, in the present invention, drive whole welding to perform device by six-degree-of-freedom parallel connection mechanism and can carry out the motion in three translations three rotation six-freedom degree directions altogether in space, it is easy to welding and performs device regulation in the precisely little orientation of microsize, local when welding.
Further, described welding performs device and includes servomotor, welding gun, steel wire storage mechanism and wire feeder；Described servomotor is connected with welding gun upper end, and steel wire storage mechanism is positioned at directly over wire feeder；Described steel wire storage mechanism includes U-shaped ear mount, steel wire storage rotating shaft and steel wire storage wheel, and steel wire storage wheel is arranged in U-shaped ear mount by steel wire storage rotating shaft, and steel wire storage mechanism is mainly used in storing of welding wire；Described wire feeder includes guide pipe, welding wire, wire feed guide rail, wire feed ear mount, wire feed driving wheel and wire feed drive motor, welding wire one ends wound is in steel wire storage wheel, the welding wire other end passes guide pipe, guide pipe material is PP plastic material, wire feed guide rail, wire feed ear mount, wire feed driving wheel and wire feed drive the quantity of motor to be two, wire feed guide rail lays respectively at the welding wire left and right sides, wire feed ear mount upper end is provided with wire feed guide block, wire feed guide block is arranged on wire feed guide rail, wire feed ear mount lower end is the U-shape structure stood upside down, wire feed driving wheel rear and front end is respectively symmetrically and is provided with bull stick, bull stick is arranged in wire feed ear mount, wire feed driving wheel is that circumferential direction is evenly arranged with driving post respectively along its center axis, and drive post semicircular in shape column structure, wire feed drives electric machine main shaft to be connected with the bull stick of wire feed driving wheel；When specifically welding, the rotation rotating drive wire feed driving wheel of motor is driven by wire feed, because being provided with driving post on wire feed driving wheel, and two wire feed driving wheel symmetry engagement installations, welding wire vertical basipetal conveying from steel wire storage mechanism is achieved so being rotated by the engagement of wire feed driving wheel, and the partial rotational of welding gun can be driven by servomotor, it is simple to the motility of welding.
During concrete welding operation, first pass through fixing device and sewage treatment pipeline and sewage blocking plate are carried out that position is fixing to be tightened, then regulate welding by lowering or hoisting gear and device for revolving and driving and perform the substantially orientation of device, welding can be driven to perform device motion in three translation three rotation six-freedom degree directions altogether in space by six-degree-of-freedom parallel connection mechanism again, serve and welding is performed the device flexible motion when performing weld job, and motion size orientation is accurate, serve the effect of good welding position regulation, improve the quality of welding, in welding performs operation, perform device by welding and can realize welding while feeding the function of welding wire, welding efficiency is high, welding quality is good.
Compared with prior art, the invention have the advantages that
(1) present invention can be to carrying out fully-automatic intelligent weld job between sewage treatment pipeline and sewage blocking plate, and integral position scalable during welding, and local location motion is flexibly, stability is high, can realize welding while feeding the function of welding wire, welding efficiency is high, and welding quality is good simultaneously.
(2) welding of the present invention performs device and achieves welding wire vertical basipetal conveying from steel wire storage mechanism by the engagement rotation of wire feed driving wheel, and the partial rotational of welding gun can be driven by servomotor, it is easy to the motility of welding, can realize welding the function feeding welding wire simultaneously.
(3) six-degree-of-freedom parallel connection mechanism of the present invention uses the six-degree-of-freedom parallel connection mechanism of 6-SPS, big with serial mechanism phase specific stiffness, six-degree-of-freedom parallel connection mechanism Stability Analysis of Structures, kinematic dexterity is high, bearing capacity is strong and fine motion precision is high, six-degree-of-freedom parallel connection mechanism can carry out three translations three in space and rotate the motion in six-freedom degree direction altogether, and space is little, movement velocity is fast and kinematic dexterity is good, drive whole welding to perform device by six-degree-of-freedom parallel connection mechanism and can carry out the motion in three translations three rotation six-freedom degree directions altogether in space, it is easy to welding and performs device regulation in the precisely little orientation of microsize, local when welding.
(4) lowering or hoisting gear of the present invention is meshed with driven gear by driving gear, two driven gear synchronous axial system in the same direction, it is achieved that the synchronization of lifting screw rises and synchronizes the function of descending motion, it is simple to the whole height of regulation lowering or hoisting gear.
(5) device for revolving and driving of the present invention can realize moving left and right and gyration movable and on the vertical plane on horizontal plane, the i.e. motion in two translation one rotation three degree of freedom directions altogether in space, can ensure that welding performs the device overall large scale when welding and the regulation in big orientation by device for revolving and driving, improve the welding performance of the present invention.
(6) sewage treatment pipeline of different model and sewage blocking plate can be fixed by the fixing device of the present invention, prevent the problem that dislocation is moved in sewage treatment pipeline position in welding process.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the perspective view of the present invention；
Fig. 2 is the perspective view of lowering or hoisting gear of the present invention and device for revolving and driving；
Fig. 3 is the perspective view of lowering or hoisting gear of the present invention；
Fig. 4 is the top view of lowering or hoisting gear of the present invention；
Fig. 5 is the perspective view of device for revolving and driving of the present invention；
Fig. 6 is perspective view when device for revolving and driving of the present invention and six-degree-of-freedom parallel connection mechanism cooperation；
Fig. 7 is perspective view when six-degree-of-freedom parallel connection mechanism of the present invention and welding execution device cooperation；
Fig. 8 is the perspective view of six-degree-of-freedom parallel connection mechanism of the present invention；
Fig. 9 is that the present invention welds the perspective view (seeing from front to back) performing device；
Figure 10 is that the present invention welds the perspective view (seeing from left to right) performing device；
Figure 11 is the perspective view of fixing device of the present invention.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below in conjunction with being specifically illustrating, the present invention is expanded on further.
As shown in Figure 1 to 11, a kind of environment protection sewage processes pipeline sewage blocking plate welding robot, performs device 5 and fixing device 6 including base 1, lowering or hoisting gear 2, device for revolving and driving 3, six-degree-of-freedom parallel connection mechanism 4, welding；The described T-shaped platy structure of base 1, lowering or hoisting gear 2 is positioned at base 1 rear side end, and be connected between lowering or hoisting gear 2 and base 1, device for revolving and driving 3 is positioned at directly over lowering or hoisting gear 2, and device for revolving and driving 3 is connected with lowering or hoisting gear 2, six-degree-of-freedom parallel connection mechanism 4 is located at turn around below driving means 3 front end, welding performs device 5 and is positioned at immediately below six-degree-of-freedom parallel connection mechanism 4, and welding performs device 5 and is connected with six-degree-of-freedom parallel connection mechanism 4, fixing device 6 quantity is four, fixing device 6 is respectively symmetrically and is arranged on base 1 upper surface, and be connected between fixing device 6 and base 1.
As shown in figure 11, described fixing device 6 includes line slideway 61, mobile slide block 62, fixation clamp 63 and clamping screw 64；Spacing hole linearly it is evenly arranged with on described line slideway 61 upper surface, mobile slide block 62 is arranged on line slideway 61, and offer through hole on movement slide block 62, fixation clamp 63 front end is arc shape structure, fixation clamp 63 rear end is connected with mobile slide block 62 front end, uses clamping screw 64 to be fixed between mobile slide block 62 and line slideway 61；During concrete operations, sewage treatment pipeline 7 lower end is placed in the middle of four fixing devices 6, during use, by the mobile slide block 62 motion on line slideway 61, when fixation clamp 63 front end contacts with sewage treatment pipeline 7 lateral wall, by clamping screw 64, movement slide block 62 is fixed on line slideway 61, reach the fixing effect of sewage treatment pipeline 7, prevent the problem that dislocation is moved in sewage treatment pipeline 7 position in welding process, after sewage treatment pipeline 7 fixes, sewage blocking plate 8 is placed into sewage treatment pipeline 7 upper end, and four lug one_to_one corresponding respectively of sewage blocking plate 8 are placed at sewage treatment pipeline 7 upper port in the counterbore of four incomplete circles.
As shown in Figures 2 to 4, described lowering or hoisting gear 2 includes lifting screw 21, sleeve 22, lifting motor 23, motor cabinet 24, rotating shaft 25, driving gear 26, locking end cap 27, fixed mount 28 and driven gear 29；nullDescribed lifting screw 21、The quantity of sleeve 22 and driven gear 29 is two，Lifting screw 21 lower end is arranged in sleeve 22，Sleeve 22 is internal offers the female thread that the external screw thread with lifting screw 21 matches，Sleeve 22 bottom is arranged on base 1 upper surface by bearing，Lifting motor 23 uses adjustable speed reducing motor，Lifting motor 23 is fixed on base 1 upper surface by motor cabinet 24，It is connected between rotating shaft 25 one end with lifting motor 23 main shaft，Key is used to be attached between rotating shaft 25 other end and driving gear 26，And driving gear 26 upper end is locked by locking end cap 27，It is fixed by fixed mount 28 in the middle part of rotating shaft 25，Fixed mount 28 is in the U-shape structure stood upside down，The bearing installed that matches with rotating shaft 25 it is provided with at fixed mount 28 medium position，Driven gear 29 is fixed at sleeve 22 medium position，And driven gear 29 is meshed with driving gear 26；By the rotation rotarily driving driving gear 26 of lifting motor 23, driving gear 26 is meshed with driven gear 29, two driven gear 29 synchronous axial system in the same direction, and driven gear 29 and sleeve 22 is fixing is connected, thus the synchronous rotary in the same direction of band moving sleeve 22, carry out transmission by screw thread between lifting screw 21 and sleeve 22, and then achieve the function of the raising and lowering motion of lifting screw 21, it is simple to the whole height of regulation lowering or hoisting gear 2.
nullAs shown in Figure 5 and Figure 6，Described device for revolving and driving 3 includes elevator 31、Longitudinal electric slide rail 32、Longitudinal sliding block 33、Electric turntable 34、Transverse electric slide rail 35、Transverse slider 36 and fixing seat 37，Described elevator 31 rectangular-blocklike structure，Longitudinal electric slide rail 32 back side is fixed on elevator 31 front end，Longitudinal electric slide rail 32 two ends are respectively arranged with longitudinal baffle，Longitudinal sliding block 33 is arranged on longitudinal electric slide rail 32，Electric turntable 34 rear end is fixed on longitudinal sliding block 33，Electric turntable 34 front end is provided with transverse electric slide rail 32，And the quantity of transverse electric slide rail 35 and transverse slider 36 is two，Transverse electric slide rail 35 Parallel Symmetric is arranged，Transverse electric slide rail 35 front end is provided with transverse baffle，The vertical cross section of transverse electric slide rail 35 is I-shaped structure，Transverse slider 36 is arranged on transverse electric slide rail 35，Fixing seat 37 structure in the form of annular discs，Fixing seat 37 two ends are connected with transverse slider 36 respectively；Device for revolving and driving 3 can realize moving left and right and gyration movable and on the vertical plane on horizontal plane, the i.e. motion in two translation one rotation three degree of freedom directions altogether in space, can ensure that welding performs the device 5 overall large scale when welding and the regulation in big orientation by device for revolving and driving 3, improve the welding performance of the present invention.
As shown in Figure 7 and Figure 8, described six-degree-of-freedom parallel connection mechanism 4 includes fixed platform 41, moving platform 42, connects seat 43, upper spherical hinge 44, electric pushrod 45, block plate seat 46, lower spherical hinge 47, Triangulum 48 and limit spring 49；nullDescribed connection seat 43 and Triangulum 48 quantity are three，Upper spherical hinge 44、Electric pushrod 45、The quantity of block plate seat 46 and lower spherical hinge 47 is six，Described fixed platform 41 and moving platform 42 the most rounded shape structure，Connect seat 43 to be arranged on the lower surface of fixed platform 41，And connect seat 43 on fixed platform 41 in equilateral triangle location arrangements，Triangulum 48 is arranged on moving platform 42 upper surface，And the installation site connected between seat 43 and Triangulum 48 interlocks two-by-two，And Triangulum 48 is in equilateral triangle column structure，Triangulum 48 is respectively symmetrically along its vertical center line and is provided with inclined plane，The installation screwed hole matched with lower spherical hinge 47 lower end external screw thread is offered in inclined plane，Electric pushrod 45 bottom is connected with being connected seat 43 by upper spherical hinge 44，Electric pushrod 45 top is connected with block plate seat 46 upper end，Block plate seat 46 lower end is connected with lower spherical hinge 47 one end，Lower spherical hinge 47 other end is arranged on Triangulum 48，Limit spring 49 is around being enclosed within electric pushrod 45，And limit spring 49 one end is connected with electric pushrod 45，Limit spring 49 other end is connected with block plate seat 46；Six-degree-of-freedom parallel connection mechanism 4 uses the six-degree-of-freedom parallel connection mechanism of 6-SPS, big with serial mechanism phase specific stiffness, six-degree-of-freedom parallel connection mechanism 4 Stability Analysis of Structures, kinematic dexterity is high, bearing capacity is strong and fine motion precision is high, six-degree-of-freedom parallel connection mechanism 4 can carry out three translations three in space and rotate the motion in six-freedom degree direction altogether, and space is little, movement velocity is fast and kinematic dexterity is good, in the present invention, drive whole welding to perform device 5 by six-degree-of-freedom parallel connection mechanism 4 and can carry out the motion in three translations three rotation six-freedom degree directions altogether in space, it is easy to welding and performs device 5 regulation in the precisely little orientation of microsize, local when welding.
As shown in Figure 9 and Figure 10, described welding performs device 5 and includes servomotor 51, welding gun 52, steel wire storage mechanism 53 and wire feeder 54；Described servomotor 51 is connected with welding gun 52 upper end, and steel wire storage mechanism 53 is positioned at directly over wire feeder 54；Described steel wire storage mechanism 53 includes that U-shaped ear mount 531, steel wire storage rotating shaft 532 and steel wire storage wheel 533, steel wire storage wheel 533 are arranged in U-shaped ear mount 531 by steel wire storage rotating shaft 532, and steel wire storage mechanism 53 is mainly used in storing of welding wire；nullDescribed wire feeder 54 includes guide pipe 541、Welding wire 542、Wire feed guide rail 543、Wire feed ear mount 544、Wire feed driving wheel 545 and wire feed drive motor 546，Welding wire 542 one ends wound is in steel wire storage wheel 533，Welding wire 542 other end passes guide pipe 541，Guide pipe 541 material is PP plastic material，Wire feed guide rail 543、Wire feed ear mount 544、Wire feed driving wheel 545 and wire feed drive the quantity of motor 546 to be two，Wire feed guide rail 543 lays respectively at welding wire 542 left and right sides，Wire feed ear mount 544 upper end is provided with wire feed guide block，Wire feed guide block is arranged on wire feed guide rail 543，Wire feed ear mount 544 lower end is the U-shape structure stood upside down，Wire feed driving wheel 545 rear and front end is respectively symmetrically and is provided with bull stick，Bull stick is arranged in wire feed ear mount 544，Wire feed driving wheel 545 is that circumferential direction is evenly arranged with driving post respectively along its center axis，And drive post semicircular in shape column structure，Wire feed drives motor 546 main shaft to be connected with the bull stick of wire feed driving wheel 545；When specifically welding, the rotation rotating drive wire feed driving wheel 545 of motor 546 is driven by wire feed, because being provided with driving post on wire feed driving wheel 545, and two wire feed driving wheel 545 symmetrical engagement installations, welding wire 542 vertical basipetal conveying from steel wire storage mechanism 53 is achieved so being rotated by the engagement of wire feed driving wheel 545, and the partial rotational of welding gun 52 can be driven by servomotor 51, it is simple to the motility of welding.
During concrete welding operation, first pass through fixing device 6 and sewage treatment pipeline 7 and sewage blocking plate 8 are carried out that position is fixing to be tightened, then regulate welding by lowering or hoisting gear 2 and device for revolving and driving 3 and perform the substantially orientation of device 5, welding can be driven to perform device 5 motion in three translation three rotation six-freedom degree directions altogether in space by six-degree-of-freedom parallel connection mechanism 4 again, serve and welding is performed the device 5 flexible motion when performing weld job, and motion size orientation is accurate, serve the effect of good welding position regulation, improve the quality of welding, in welding performs operation, perform device 5 by welding and can realize welding while feeding the function of welding wire, welding efficiency is high, welding quality is good.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.Skilled person will appreciate that of the industry; the present invention is not restricted to the described embodiments; the principle that the present invention is simply described of the description in above-described embodiment and description; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements both fall within scope of the claimed invention.Claimed scope is defined by appending claims and equivalent thereof.
Claims (3)
1. an environment protection sewage processes pipeline sewage blocking plate welding robot, it is characterised in that: include that base, lowering or hoisting gear, device for revolving and driving, six-degree-of-freedom parallel connection mechanism, welding perform device and fixing device；The T-shaped platy structure of described base, lowering or hoisting gear is positioned at base rear side end, and be connected between lowering or hoisting gear and base, device for revolving and driving is positioned at directly over lowering or hoisting gear, and device for revolving and driving is connected with lowering or hoisting gear, six-degree-of-freedom parallel connection mechanism is located at turn around below driving means front end, welding performs device and is positioned at immediately below six-degree-of-freedom parallel connection mechanism, and welding performs device and is connected with six-degree-of-freedom parallel connection mechanism, fixing device quantity is four, fixing device is respectively symmetrically and is arranged on base upper surface, and is connected between fixing device and base；Wherein:
Described six-degree-of-freedom parallel connection mechanism includes fixed platform, moving platform, connection seat, upper spherical hinge, electric pushrod, block plate seat, lower spherical hinge, Triangulum and limit spring；nullDescribed connection seat and Triangulum quantity are three，Upper spherical hinge、Electric pushrod、The quantity of block plate seat and lower spherical hinge is six，Described fixed platform and moving platform the most rounded shape structure，Connect seat to be arranged on the lower surface of fixed platform，And connect seat on fixed platform in equilateral triangle location arrangements，Triangulum is arranged on moving platform upper surface，And the installation site connected between seat and Triangulum interlocks two-by-two，And Triangulum is equilateral triangle column structure，Triangulum is respectively symmetrically along its vertical center line and is provided with inclined plane，The installation screwed hole matched with lower spherical hinge lower end external screw thread is offered in inclined plane，Electric pushrod bottom is connected with being connected seat by upper spherical hinge，Electric pushrod top is connected with block plate seat upper end，Block plate seat lower end is connected with lower spherical hinge one end，The lower spherical hinge other end is arranged on Triangulum，Limit spring is around being enclosed within electric pushrod，And limit spring one end is connected with electric pushrod，The limit spring other end is connected with block plate seat；
Described welding performs device and includes servomotor, welding gun, steel wire storage mechanism and wire feeder；Described servomotor is connected with welding gun upper end, and steel wire storage mechanism is positioned at directly over wire feeder；Described steel wire storage mechanism includes U-shaped ear mount, steel wire storage rotating shaft and steel wire storage wheel, and steel wire storage wheel is arranged in U-shaped ear mount by steel wire storage rotating shaft；Described wire feeder includes guide pipe, welding wire, wire feed guide rail, wire feed ear mount, wire feed driving wheel and wire feed drive motor, welding wire one ends wound is in steel wire storage wheel, the welding wire other end passes guide pipe, guide pipe material is PP plastic material, wire feed guide rail, wire feed ear mount, wire feed driving wheel and wire feed drive the quantity of motor to be two, wire feed guide rail lays respectively at the welding wire left and right sides, wire feed ear mount upper end is provided with wire feed guide block, wire feed guide block is arranged on wire feed guide rail, wire feed ear mount lower end is the U-shape structure stood upside down, wire feed driving wheel rear and front end is respectively symmetrically and is provided with bull stick, bull stick is arranged in wire feed ear mount, wire feed driving wheel is that circumferential direction is evenly arranged with driving post respectively along its center axis, and drive post semicircular in shape column structure, wire feed drives electric machine main shaft to be connected with the bull stick of wire feed driving wheel；
Described fixing device includes line slideway, mobile slide block, fixation clamp and clamping screw；Spacing hole linearly it is evenly arranged with on described line slideway upper surface, mobile slide block is arranged on line slideway, and offer through hole on movement slide block, fixation clamp front end is arc shape structure, fixation clamp rear end is connected with mobile slip front, uses clamping screw to be fixed between mobile slide block and line slideway.
A kind of environment protection sewage the most according to claim 1 processes pipeline sewage blocking plate welding robot, it is characterised in that: described lowering or hoisting gear includes lifting screw, sleeve, lifting motor, motor cabinet, rotating shaft, driving gear, locking end cap, fixed mount and driven gear；Described lifting screw, the quantity of sleeve and driven gear is two, lifting screw lower end is arranged in sleeve, sleeve inner offers the female thread that the external screw thread with lifting screw matches, sleeve bottom end is arranged on base upper surface by bearing, lifting motor uses adjustable speed reducing motor, lifting motor is fixed on base upper surface by motor cabinet, it is connected between rotating shaft one end with lifting motor main shaft, key is used to be attached between the rotating shaft other end and driving gear, and driving gear upper end is locked by locking end cap, it is fixed by fixed mount in the middle part of rotating shaft, fixed mount is in the U-shape structure stood upside down, the bearing installed that matches with rotating shaft it is provided with at fixed mount medium position, driven gear is fixed at sleeve medium position, and driven gear is meshed with driving gear.
nullA kind of environment protection sewage the most according to claim 1 processes pipeline sewage blocking plate welding robot，It is characterized in that: described device for revolving and driving includes elevator、Longitudinal electric slide rail、Longitudinal sliding block、Electric turntable、Transverse electric slide rail、Transverse slider and fixing seat，Described elevator rectangular-blocklike structure，The longitudinal electric slide rail back side is fixed on elevator front end，Longitudinal electric slide rail two ends are respectively arranged with longitudinal baffle，Longitudinal sliding block is arranged on longitudinal electric slide rail，Electric turntable rear end is fixed on longitudinal sliding block，Electric turntable front end is provided with transverse electric slide rail，And the quantity of transverse electric slide rail and transverse slider is two，Transverse electric slide rail Parallel Symmetric is arranged，Transverse electric slide rail front end is provided with transverse baffle，The vertical cross section of transverse electric slide rail is I-shaped structure，Transverse slider is arranged on transverse electric slide rail，Fixing seat structure in the form of annular discs，Fixing seat two ends are connected with transverse slider respectively.
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| CN201610348326.2A CN105817798B (en) | 2016-05-23 | 2016-05-23 | A kind of environment protection sewage handles pipeline sewage blocking plate welding robot |
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| CN201610348326.2A CN105817798B (en) | 2016-05-23 | 2016-05-23 | A kind of environment protection sewage handles pipeline sewage blocking plate welding robot |
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| CN105817798B CN105817798B (en) | 2017-07-18 |
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| CN106271288A (en) * | 2016-11-02 | 2017-01-04 | 王飞 | A kind of power switch cabinet interlayer special welding device |
| CN106312401A (en) * | 2016-11-02 | 2017-01-11 | 王飞 | Clamping and welding equipment for partition board of power distribution cabinet |
| CN106514089A (en) * | 2016-11-02 | 2017-03-22 | 王飞 | Distribution-box partition plate clamping and supporting device |
| CN116765722A (en) * | 2023-08-24 | 2023-09-19 | 成都航空职业技术学院 | Lightweight car B post assembly welding frock |
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| CN107717299B (en) * | 2016-11-02 | 2019-04-19 | 王辉 | A kind of power distribution cabinet partition Intelligent welding equipment with clamping function |
| CN116765722A (en) * | 2023-08-24 | 2023-09-19 | 成都航空职业技术学院 | Lightweight car B post assembly welding frock |
| CN116765722B (en) * | 2023-08-24 | 2023-10-24 | 成都航空职业技术学院 | Lightweight car B post assembly welding frock |
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