CN107598418A - Tube-sheet Welding robot automatic alignment device - Google Patents
Tube-sheet Welding robot automatic alignment device Download PDFInfo
- Publication number
- CN107598418A CN107598418A CN201710768606.3A CN201710768606A CN107598418A CN 107598418 A CN107598418 A CN 107598418A CN 201710768606 A CN201710768606 A CN 201710768606A CN 107598418 A CN107598418 A CN 107598418A
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- castor
- tube
- automatic alignment
- elevating feet
- welding robot
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Abstract
The present disclosure provides a kind of Tube-sheet Welding robot automatic alignment device.The automatic alignment device is fixedly mounted on the bottom of Tube-sheet Welding robot, and the automatic alignment device includes：Frame, driving castor, driven castor, elevating feet, driving castor is arranged on bottom of the frame side, driven castor, elevating feet are arranged on bottom of the frame opposite side, form supported at three point, drive the rotation of the wheel on castor that support body can be driven to be rotated around elevating feet；Elevating feet can oscilaltion, rotary shaft and the plate face perpendicularity of welding gun are measured by Tube-sheet Welding robot, is calculated through industrial computer and controls the adjustable height of the anglec of rotation for driving castor and elevating feet, the rotary shaft for reaching automatic alignment welding gun is vertical with plate face.
Description
Technical field
The present invention relates to Tube-sheet Welding robot field, and in particular to a kind of Tube-sheet Welding robot and welded piece plate face
Automatic alignment device.
Background technology
Tube-sheet heat exchanger is used widely in numerous industries, and the welding of wherein tube-to-tube sheet connection is production tube-sheet type
The important procedure of heat exchanger.Existing technique is picked in addition to welding except using traditional-handwork, Tubesheet Welding, and Tube-sheet Welding robot also obtains
Substantial amounts of application is arrived.The rotary shaft of its welding gun and the central coaxial of pipe are needed during Tube-sheet Welding robot welding pipe,
Be exactly welding gun rotary shaft it is vertical with plate face, existing Tube-sheet Welding robot uses manual adjustment more, such as regulation welding gun
Rotary shaft vertical with the horizontal direction of plate face is realized by the castor mechanism of Tube-sheet Welding robot bottom installation, is needed
Artificial displacement；The rotary shaft of regulation welding gun vertical with the vertical direction of plate face is installed by Tube-sheet Welding robot bottom
Lower margin supporting mechanism needs manual adjustment come what is realized.Another way is the posture by adjusting welding head, such as regulation weldering
The rotary shaft of rifle with the horizontal direction of plate face is vertical is realized by vertically-mounted rotating shaft mechanism, need manual adjustment；
The rotary shaft of regulation welding gun vertical with the vertical direction of plate face is realized by the rotating shaft mechanism being horizontally mounted, and is needed artificial
Regulation.
The rotary shaft of Tube-sheet Welding robotic gun has weight with plate face perpendicularity for its welding quality and welding efficiency
Influence.And there is following shortcoming in the above mode in use：1st, perpendicularity is difficult to measure, and regulated quantity is difficult to determine；2、
Heavy dependence manual operation, labor intensity is big, automaticity is low, efficiency is low.
The content of the invention
The purpose of the present invention is exactly to solve the above-mentioned problems in the prior art, there is provided a kind of Tube-sheet Welding machine
People's automatic alignment device, using automatic control technology, manual adjustment is not required to, automatically adjusts the rotation for making Tube-sheet Welding robotic gun
Rotating shaft is vertical with plate face.
The determination of the regulated quantity of the Tube-sheet Welding robot automatic alignment device of the present invention is to utilize Tube-sheet Welding robot
Measurement function realize, rotary shaft and the plate face perpendicularity of welding gun measured by Tube-sheet Welding robot, measured in measurement
With plate face in the horizontal direction and after the perpendicularity of vertical direction, industrial computer passes through to be carried out the rotary shaft of welding gun to automatic alignment device
Adjustment is allowed to overlap with tube center, not only ensure that quality but also has improved efficiency.
In order to realize the purpose of the present invention, adopt the following technical scheme that：A kind of Tube-sheet Welding robot automatic alignment device,
Including frame, driving castor, driven castor, elevating feet, wherein the driving castor is arranged on bottom of the frame side, driven pin
Wheel, elevating feet are arranged on bottom of the frame opposite side.
The Tube-sheet Welding robot automatic alignment device of the present invention, wherein the driving castor and driven castor and lifting
Leg contacts with ground forms supported at three point；Wheel rotation on driving castor can drive support body to be rotated around elevating feet；Rise
Descending branch pin can oscilaltion.
The beneficial effects of the invention are as follows：Realize the welding gun rotary shaft and welded part pipe of Tube-sheet Welding robot
Automatic alignment function, is not participated in manually, reduces labor strength, not only ensure that quality but also has been improved efficiency.
Brief description of the drawings
The above and other features of the present invention, property and advantage will pass through retouching with reference to the accompanying drawings and examples
State and become readily apparent from, wherein：
Accompanying drawing 1 is that Tube-sheet Welding robot aligns principle analysis figure.
Accompanying drawing 2 is schematic structural view of the invention.
Accompanying drawing 3 is another structural representation of the present invention.
Embodiment
With reference to the accompanying drawings and examples, the present invention is expanded on further.In the following detailed description, only explanation is passed through
Mode describes some one exemplary embodiments of the present invention.
As shown in figure 1, Tubesheet Welding robot 101 is positioned over ground, because the injustice on ground, tube sheet workpiece 102 are put
Situations such as not positive, the rotary shaft 103 and the out of plumb of plate face 104 of welding gun, the rotary shaft 103 of welding gun and the water of plate face 104 can be caused
Square to angle be α, the rotary shaft 103 of welding gun and the angle of the vertical direction of plate face 104 are β, when the two angles are distinguished
During more than 0.3 °, by strong influence welding quality.
As shown in Fig. 2 Tube-sheet Welding robot automatic alignment device is by frame 201, driving castor 202, driven castor
203rd, elevating feet 204 is formed, and driving castor 202 is arranged on the bottom side of frame 201, driven castor 203, elevating feet 204
Installed in the bottom opposite side of frame 201.Driving castor 202 contacts composition three with driven castor 203 and elevating feet 204 with ground
Point support；The rotation of wheel 205 on driving castor 202 can drive support body 201 to be rotated around elevating feet 204, adjust α；Lifting
Leg 204 can oscilaltion, adjust β.The driving structure of driving castor 202 is not limited to motor driving, can also use air motor
Or hydraulic motor etc..The driving structure of elevating feet 204 is not limited to motor driving, can also use the driving such as hydraulic jack.
As shown in figure 3, Tube-sheet Welding robot automatic alignment device is by support body 301, driving castor 302, the first driven pin
Take turns the 303, second driven castor 304, the first elevating feet 305, the second elevating feet 306, the 3rd elevating feet 307, wheel 308
Composition, driving castor 302 are arranged on the bottom side of support body 301, and the first driven castor 303, the second driven castor 304 are arranged on
The opposite side of support body 301, and the both sides of support body 301 of living apart, the first elevating feet 305, the second elevating feet 306 are arranged on support body
The bottom of 301 front ends both sides, the 3rd elevating feet 307 are arranged on the bottom of the back-end central of support body 301.Drive castor 302 and the
One driven 303 and second driven castor 304 of castor forms 3 supporting constructions；First elevating feet 305, the second elevating feet
306th, the 3rd elevating feet 307 can oscilaltion；Driving castor 302 drives the rotation of wheel 308 to drive support body 301 around the
One driven castor 303, the second driven castor 304 rotate.
Although the present invention is disclosed as above with preferred embodiment, it is not for limiting the present invention, any this area skill
Art personnel without departing from the spirit and scope of the present invention, can make possible variation and modification.Therefore, it is every without departing from
The content of technical solution of the present invention, any modification made according to technical spirit of the invention to above example, equivalent variations
And modification, each fall within the protection domain that the claims in the present invention are defined.
Claims (2)
1. a kind of Tube-sheet Welding robot automatic alignment device, including frame, driving castor, driven castor, elevating feet, it is special
Sign is：Driving castor is arranged on bottom of the frame side, and driven castor, elevating feet are arranged on bottom of the frame opposite side.
2. Tube-sheet Welding robot according to claim 1 automatic alignment device, it is characterised in that：The driving castor,
Contacted with driven castor and elevating feet with ground and form supported at three point；Wheel rotation on driving castor can drive support body to surround
Elevating feet rotates；Elevating feet can oscilaltion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710768606.3A CN107598418A (en) | 2017-08-31 | 2017-08-31 | Tube-sheet Welding robot automatic alignment device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710768606.3A CN107598418A (en) | 2017-08-31 | 2017-08-31 | Tube-sheet Welding robot automatic alignment device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107598418A true CN107598418A (en) | 2018-01-19 |
Family
ID=61056841
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710768606.3A Withdrawn CN107598418A (en) | 2017-08-31 | 2017-08-31 | Tube-sheet Welding robot automatic alignment device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107598418A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN86204936U (en) * | 1986-07-02 | 1986-12-24 | 钟向文 | Three-point marker |
| CN202574310U (en) * | 2012-05-08 | 2012-12-05 | 陕西理工学院 | Multifunctional moving tool trolley |
| CN202747929U (en) * | 2012-08-26 | 2013-02-20 | 长葛市吉庆机械厂 | Stable gun salute |
| CN204121694U (en) * | 2014-10-30 | 2015-01-28 | 广州市毅拓体育用品有限公司 | Mobile basketball frame |
| CN204171573U (en) * | 2014-10-27 | 2015-02-25 | 大连交通大学 | Multifunctional mobile wire-feed motor bracket tool stand |
-
2017
- 2017-08-31 CN CN201710768606.3A patent/CN107598418A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN86204936U (en) * | 1986-07-02 | 1986-12-24 | 钟向文 | Three-point marker |
| CN202574310U (en) * | 2012-05-08 | 2012-12-05 | 陕西理工学院 | Multifunctional moving tool trolley |
| CN202747929U (en) * | 2012-08-26 | 2013-02-20 | 长葛市吉庆机械厂 | Stable gun salute |
| CN204171573U (en) * | 2014-10-27 | 2015-02-25 | 大连交通大学 | Multifunctional mobile wire-feed motor bracket tool stand |
| CN204121694U (en) * | 2014-10-30 | 2015-01-28 | 广州市毅拓体育用品有限公司 | Mobile basketball frame |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20180903 Address after: 241007 Ling Qiao Road, national robotics Industrial Park, Jiujiang District, Wuhu, Anhui, 16 Applicant after: Wuhu Xingjian intelligent robot Co Ltd Applicant after: HARBIN XIROBOT TECHNOLOGY CO., LTD. Address before: 150069 A4 building, No. 9 Wenzhou Road, Ha Ping Road concentrated area, Harbin City, Heilongjiang Province Applicant before: HARBIN XIROBOT TECHNOLOGY CO., LTD. |
|
| TA01 | Transfer of patent application right | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180119 |
|
| WW01 | Invention patent application withdrawn after publication |