CN106271287A - A kind of Full-automatic welding machine people - Google Patents
A kind of Full-automatic welding machine people Download PDFInfo
- Publication number
- CN106271287A CN106271287A CN201610890581.XA CN201610890581A CN106271287A CN 106271287 A CN106271287 A CN 106271287A CN 201610890581 A CN201610890581 A CN 201610890581A CN 106271287 A CN106271287 A CN 106271287A
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- Prior art keywords
- track
- slide block
- welding
- actuator
- full
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- 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
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
-
- 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
-
- 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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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention belongs to robotics, provide a kind of Full-automatic welding machine people, including: 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, is provided with Digitizing And Control Unit in described control box, and the left side of described control box is provided with actuator, described actuator is provided with CCD device, and the left end of described actuator is provided with welding gun fixture.This Full-automatic welding machine people is welded along identical rotation direction by the position that two set welding robot robot movement mechanisms are relative in box shape steel structure cross section, it is achieved is 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 four degree of freedom directions of actuator, to ensure fusion penetration and forming quality, adapt to again the angle of welding gun impact on welding process stability during diverse location welding, it is ensured that weld penetration and forming quality.
Description
Technical field
The invention belongs to robotics, be specifically related to a kind of Full-automatic welding machine people.
Background technology
Along with the development of process industry, increasing welding robot system comes into operation, Automation of Welding
Level of development also obtain and is greatly enhanced, especially with the field such as automobile production, engineering machinery as representative, but, to box
The welding that Steel Structure Installation is on-the-spot, is also mainly based on traditional manual welding, and therefore the stability of welding quality is difficult to full
Foot manufacture requirements, and pacify at the steel construction relating to the fields such as Offshore Engineering equipment, steel house, steel structure bridge
During dress Site Welding, it is often necessary to carrying out work high above the ground, welding operating mode is severe, even threatens the life security of welder.
Meanwhile, weld defect produced by manual welding, have a strong impact on the service life of some steel buildings, sending out for some accidents
Hidden danger has been buried in life.
The major defect of traditional manual welding is: need two welders to implement balanced welding, and two welders are when welding
Weldingvoltage should keep consistent with electric current, speed of welding and the welding number of plies, requires the highest to the harmony of welder；And it is existing
Welding operating mode is severe, affects the many factors of welding quality, thus manual welding is it is difficult to ensure that welding quality.
No matter welder will be relied on to pay close attention to when manual welding or automatic weld spherical tank both at home and abroad at present
Weld seam molten bath, constantly regulates the traditional operation mode of welding gun.Work under bad environment time again owing to constructing in the wild, this tradition behaviour
The problems such as the labor intensity making mode is big, and technical difficulty height has resulted in welder and cultivates difficulty, and loss is serious.Domestic use automatic
Need welder to regulate centering weld seam in real time when changing welder welding, and be difficult to solder to spherical tank girth joint in addition to equator, because of
This is still badly in need of solving all positon from motion tracking multi-form and the adaptive control problem of parameter weld seam.
Summary of the invention
The purpose of the present invention is exactly for overcoming above-mentioned technical deficiency, it is provided that a kind of Full-automatic welding machine people.
For realizing technique scheme, the invention provides a kind of Full-automatic welding machine people, including: track, described rail
The left side in road is provided with installing mechanism, and described track slidably connects slide block, and described slide block bottom is provided with servomotor, described cunning
Block top is provided with control box, is provided with Digitizing And Control Unit in described control box, and the left side of described control box is provided with actuator,
Described actuator is provided with CCD device, and the left end of described actuator is provided with welding gun fixture, and described welding gun fixture is provided with weldering
Rifle；The right side of described track is provided with tooth bar, and described track is vertical rail or horizontal track, described vertical rail and horizontal
Track all includes that the arc orbit that radian is 90 degree, described arc orbit two ends are all connected with several rectilinear orbits in turn；Institute
State rectilinear orbit to be connected by alignment pin and locating slot with arc orbit；Described installing mechanism includes the rail being connected with track bolt
Road support, 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
Knob；Described slide block is connected with track rolling by two bearings of track both sides respectively；It is equipped with between said two bearing
Locking bearing module.
Preferably, described locking bearing module includes module housing, described module housing is positioned at track side and is provided with lock
Mandrel holds, and described locking bearing is provided with compression spring away from track side, and described module housing passes through the support of bearing and rotary shaft
Being rotationally connected locking bearing, described module housing is provided with installing hole.
Preferably, described actuator includes laterally move along a straight line slide block and height linear motion slide block, described the most straight
Being rotatably connected to big mechanical arm on line moving slide block, described big mechanical arm left end connects gadget arm, and described horizontal straight line is transported
It is equipped with driving motor on movable slider, height linear motion slide block, big mechanical arm and gadget arm.
Preferably, described actuator is connected by screw with slide block by fixed plate.
Preferably, described CCD device is provided with laser generator.
A kind of Full-automatic welding machine people that the present invention provides has the beneficial effects that: moved by two set welding robots
The mechanism position relative in box shape steel structure cross section is along identical rotation direction welding, it is achieved is 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 four degree of freedom directions of actuator,
To ensure fusion penetration and forming quality, adapt to again the angle of welding gun impact on welding process stability during diverse location welding, protected
Weld penetration and forming quality are demonstrate,proved.Use active light source method, monitored welded condition by CCD in real time, and feed back to control system
System, control system adjusts welding deviation in time by controlling the motor speed of welding motion and welding actuator, protects
Card welding condition is stable, and then guarantees welding quality.
Accompanying drawing explanation
Fig. 1 is the use state diagram of Full-automatic welding machine people 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 locking bearing module described in the embodiment of the present invention；
Fig. 6 is the structural representation of actuator described in the embodiment of the present invention.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Whole description, it is clear that described embodiment is only a part of embodiment of the present invention rather than whole embodiments.Ability
The every other embodiment that territory ordinary person is obtained under not making creative work premise, belongs to the protection of the present invention
Scope.
Embodiment: a kind of Full-automatic welding machine people.
As shown in figures 1 to 6, a kind of Full-automatic welding machine people described in the embodiment of the present invention, including track, described track
Left side be 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, is provided with Digitizing And Control Unit in described control box 5, and the left side of described control box 5 is provided with holds
Row mechanism, described actuator is provided with CCD device 2, and the left end of described actuator is provided with welding gun fixture 14, and described welding gun presss from both sides
Tool 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, vertical rail
Road and horizontal track all include the arc orbit 8 that radian is 90 degree, and it is straight that described arc orbit 8 two ends are all connected with several in turn
Trajectory 9.Described rectilinear orbit 9 is connected by alignment pin and locating slot with arc orbit 8.Described installing mechanism includes and track
The track support 10 that screw connects, the left end of described track support 10 has been connected by screw several permanent magnetic chucks 11, described
Permanent magnetic chuck 11 is provided with control handle.Described slide block 6 is connected with track rolling by two bearings 17 of track both sides respectively.
Being equipped with locking bearing module 18 on described slide block 6 between two bearings 17 of arranged on left and right sides, described locking bearing module 18 includes
Module housing 21, described module housing 21 is positioned at track side and is provided with locking bearing 19, and described locking bearing 19 is away from track
Side is provided with compression spring 23, and described module housing 21 is rotationally connected locking bearing 19 by the support of bearing 20 and rotary shaft 24,
Described module housing 21 is provided with installing hole 22.Described actuator includes laterally move along a straight line slide block 3 and height linear motion
Slide block 4, described horizontal linear motion slide block 3 is rotatably connected to big mechanical arm 16, and the connection of described big mechanical arm 16 left end has little
Mechanical arm 15, on described horizontal linear motion slide block 3, height linear motion slide block 4, big mechanical arm 16 and gadget arm 15 all
It is provided with driving motor 25.Described actuator is connected with slide block 6 screw by fixed plate 26.Described CCD device 2 is provided with laser
Generator.
The Full-automatic welding machine people that the present invention provides, including the permanent magnetic chuck 11 being fixed on box shape steel structure workpiece 1,
Permanent magnetic chuck 11 side has control handle can control absorption or not adsorb, and to facilitate dismounting track, track support 10 passes through
Screw is connected with permanent magnetic chuck 11.Track support 10 is connected with track by screw.The two ends of arc orbit 8 respectively comprise one section relatively
Short rectilinear orbit 9, is beneficial to track support 10 and is connected with track, and have in rectilinear orbit 9 end locating slot for
Other rectilinear orbit connects, and so can meet different size by rectilinear orbit 9 combination of arc orbit 8 with different length
The automatic welding demand of box shape steel structure workpiece 1.Can near the position relationship of slide block 6 one side surface Yu workpiece by track
Track to be divided into horizontal rail portion (such as Fig. 3) and vertical rail part (such as Fig. 2) two kinds.Track has well after mounting
Ride comfort, welding robot walking mechanism even running requirement can be met, and the lifting capacity of track be enough to as bonding machine
Device people's walking mechanism provides omnibearing support, to adapt to box column, the all-position welding of beam difference welding position.
As shown in Figure 1 and Figure 4, slide block 6 assembles in orbit, in order to meet slide block 6 directly with track by 4 bearings 17
Trajectory 9 and the free transition of arc orbit 8,4 bearings 17 riding position on slide block 6 needs by arc orbit 8
Diameter calculates and determines.In order to make slide block 6 move the most smoothly, even if being transitioned into arc orbit 8 by rectilinear orbit 9
Time reduce shake the most as far as possible, slide block 6 with the addition of a pair locking bearing module 18.The top view such as figure of locking bearing module 18
Shown in 5, it is mainly made up of, when the matching loose of slide block 6 with track module housing 21, locking bearing 19, compression spring 23 etc.
Time, coupling mechanism force can be produced to ensure that slide block 6 closely cooperates with track by compression spring 23.And then ensure that servomotor 7 drives
The gear of gear and track lower end or tooth bar good engagement, make slide block 6 even running in orbit.
As shown in Figure 6, the welding actuator of the present invention is mainly slided by the slide block 3 that laterally moves along a straight line, height linear motion
The driving motor of block 4, big mechanical arm 16, gadget arm 15 and each of which and welding gun fixture 14 and welding gun 13 form, its
The whole welding actuator of middle firm banking 29 is fixed on slide block 6.Wherein adjust and walk crosswise the welding gun of moving slide block 3 and laterally adjust
Complete machine structure is primarily to adapt to the position deviation of orbital distance weld seam 12, and the change of groove width during thick plates；Adjust
Whole height linear motion slide block 4 disclosure satisfy that space diverse location (particularly when the revolution of box shape steel structure is welded) and groove
Height adjustment requirement when root, filling and cover welding；The rotation of big mechanical arm 16 can realize welding gun lateral angles and swing,
Primarily to the technological requirement of diverse location welding in adapting to V-type and Y type groove, to ensure fusion penetration and forming quality；Little machine
The rotation of mechanical arm 15 can realize welding gun front and rear angles and swing, primarily to adapt to angle of welding gun butt welding during diverse location welding
The impact of termination process stability, it is ensured that weld seam 12 fusion penetration and forming quality.
CCD device 2 and laser active light source constitute weld seam 12 and follow the tracks of system, by detection in real time, in time weld seam
Positional information feeds back to control system, for Digitizing And Control Unit adjust walking mechanism servomotor 7 change speed of welding,
The spatial attitude driving motor 25 to change welding gun 13 end in time adjusting welding actuator provides foundation, and then ensures weldering
Connect quality.
It is placed in the Digitizing And Control Unit controlled in box 5 should include: welding robot walking mechanism motor control and driving
Dynamic system, detects and feedback control system including motor and driving, drive mechanism and speed (position)；Welding actuator fortune
Dynamic control and drive system, including motor and driving, drive mechanism, and according to welding position (groove) heat transfer agent and welding
Technological parameter carries out speed (position) feedback control；Digital integrated control system can according to sensing and detection information to walking and
Actuator carries out Comprehensive Control；The instruction that wireless operated box sends can be accepted, and send information needed to wireless operated box.
In addition this robot also includes welding power source system and wire feed, plenum system, and their stability is also to determine robot
The key factor of system welding quality, these systems are the prior art of existing factory internally-fixed welding robot, at this not
Repeat.
Above content is to combine concrete preferred implementation further description made for the present invention, it is impossible to assert
Being embodied as of the present invention is confined to these explanations.For those skilled in the art, do not taking off
On the premise of present inventive concept, it is also possible to make some equivalents and substitute or obvious modification, and performance or purposes are identical, all answer
When being considered as belonging to protection scope of the present invention.
Claims (5)
1. a Full-automatic welding machine people, it is characterised in that including: track, the left side of described track is provided with installing mechanism, institute
Stating and slidably connect slide block on track, described slide block bottom is provided with servomotor, and described slide block top is provided with control box, described control
Being provided with Digitizing And Control Unit in box processed, the left side of described control box is provided with actuator, and described actuator is provided with CCD dress
Putting, the left end of described actuator is provided with welding gun fixture, and described welding gun fixture is provided with welding gun；The right side of described track is provided with
Tooth bar, described track is that vertical rail or horizontal track, described vertical rail and horizontal track all include that radian is 90 degree
Arc orbit, described arc orbit two ends are all connected with several rectilinear orbits in turn；Described rectilinear orbit leads to arc orbit
Cross alignment pin and locating slot connects；Described installing mechanism includes the track support being connected with track bolt, described track support
Left end has been connected by screw several permanent magnetic chucks, and described permanent magnetic chuck is provided with control handle；Described slide block passes through respectively
Two bearings of track both sides roll with track and are connected；Locking bearing module it is equipped with between said two bearing.
Full-automatic welding machine people the most according to claim 1, it is characterised in that: described locking bearing module includes module
Shell, described module housing is positioned at track side and is provided with locking bearing, and described locking bearing is provided with pressure away from track side
Spring, described module housing is rotationally connected locking bearing by the support of bearing and rotary shaft, and described module housing is provided with installation
Hole.
Full-automatic welding machine people the most according to claim 2, it is characterised in that: described actuator includes horizontal straight line
Moving slide block and height linear motion slide block, described horizontal linear motion slide block is rotatably connected to big mechanical arm, described big machine
Mechanical arm left end connects gadget arm, described horizontal linear motion slide block, height linear motion slide block, big mechanical arm and little machine
Driving motor it is equipped with in mechanical arm.
Full-automatic welding machine people the most according to claim 3, it is characterised in that: described actuator by fixed plate with
Slide block is connected by screw.
5. according to the Full-automatic welding machine people described in any one of claim 1-4, it is characterised in that: set on described CCD device
There is laser generator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610890581.XA CN106271287A (en) | 2016-10-12 | 2016-10-12 | A kind of Full-automatic welding machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610890581.XA CN106271287A (en) | 2016-10-12 | 2016-10-12 | A kind of Full-automatic welding machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106271287A true CN106271287A (en) | 2017-01-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610890581.XA Pending CN106271287A (en) | 2016-10-12 | 2016-10-12 | A kind of Full-automatic welding machine people |
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| CN (1) | CN106271287A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107824966A (en) * | 2017-10-27 | 2018-03-23 | 惠州市齐力建筑工程有限公司 | A kind of annular solder equipment being used for advertising framework welding |
| CN108188620A (en) * | 2018-03-05 | 2018-06-22 | 哈尔滨阿尔特机器人技术有限公司 | A kind of Portable welding machine people based on mobile phone manipulation and welding image acquisition |
| CN108544151A (en) * | 2018-03-26 | 2018-09-18 | 北京石油化工学院 | Built-up welding robot and ring type separator pile-up welding system |
| CN112475704A (en) * | 2020-11-27 | 2021-03-12 | 上海振华重工(集团)股份有限公司 | Welding tractor |
| CN112719716A (en) * | 2021-01-27 | 2021-04-30 | 北京市住宅产业化集团股份有限公司 | Welding structure and construction method of box plate type steel structure house |
| CN112975231A (en) * | 2021-03-23 | 2021-06-18 | 北京石油化工学院 | Lightweight mobile welding robot |
| CN115351390A (en) * | 2022-09-16 | 2022-11-18 | 中交一公局第五工程有限公司 | Welding control method of tied arch bridge |
-
2016
- 2016-10-12 CN CN201610890581.XA patent/CN106271287A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107824966A (en) * | 2017-10-27 | 2018-03-23 | 惠州市齐力建筑工程有限公司 | A kind of annular solder equipment being used for advertising framework welding |
| CN108188620A (en) * | 2018-03-05 | 2018-06-22 | 哈尔滨阿尔特机器人技术有限公司 | A kind of Portable welding machine people based on mobile phone manipulation and welding image acquisition |
| CN108544151A (en) * | 2018-03-26 | 2018-09-18 | 北京石油化工学院 | Built-up welding robot and ring type separator pile-up welding system |
| CN112475704A (en) * | 2020-11-27 | 2021-03-12 | 上海振华重工(集团)股份有限公司 | Welding tractor |
| CN112719716A (en) * | 2021-01-27 | 2021-04-30 | 北京市住宅产业化集团股份有限公司 | Welding structure and construction method of box plate type steel structure house |
| CN112975231A (en) * | 2021-03-23 | 2021-06-18 | 北京石油化工学院 | Lightweight mobile welding robot |
| CN115351390A (en) * | 2022-09-16 | 2022-11-18 | 中交一公局第五工程有限公司 | Welding control method of tied arch bridge |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170104 |