CN110722259A - Plasma welding robot - Google Patents
Plasma welding robot Download PDFInfo
- Publication number
- CN110722259A CN110722259A CN201911002218.XA CN201911002218A CN110722259A CN 110722259 A CN110722259 A CN 110722259A CN 201911002218 A CN201911002218 A CN 201911002218A CN 110722259 A CN110722259 A CN 110722259A
- Authority
- CN
- China
- Prior art keywords
- welding gun
- welding
- adjusting mechanism
- position adjusting
- slide rail
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
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
- B23K10/00—Welding or cutting by means of a plasma
- B23K10/02—Plasma welding
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Laser Beam Processing (AREA)
Abstract
The invention discloses a plasma welding robot, which comprises a track, a welding trolley and a plasma power supply, wherein the trolley is provided with a driving travelling mechanism and a bracket thereof, a welding gun angle and position adjusting mechanism and a welding gun bracket; the traveling mechanism provides motion control in the X-axis track direction and the Y-axis vertical track direction; the angle adjusting mechanism is provided with an angle sensor to realize the angle rotation adjustment of the R-axis welding gun; the welding gun position adjusting mechanism provides Z-axis front-back direction and AVC-axis welding gun fire line direction position adjustment, and the laser tracking sensor controls the position adjustment of front and back deviation of a ZX-axis laser point from a welding line; the trolley is provided with three contact sensors, two of the three contact sensors are used for judging the position of the curved surface to control the trolley to walk and the angle of the welding gun to be adjusted, and the other contact sensor is used for measuring the local deformation of the plate to realize the automatic adjustment of the height of the electric arc. The invention adopts the guide rail which can be quickly installed, and realizes the automatic welding of the lap joint of the stainless steel corrugated plate at all positions by controlling the 6-axis linkage robot and the automatic welding seam laser tracking system through the PLC.
Description
Technical Field
The invention relates to a welding robot, in particular to a plasma welding robot.
Background
The main screen wall of the Mark III film type LNG ship cargo containment system is formed by lap-joint and butt-welding stainless steel plates (304L) with the thickness of 1.2mm and criss-cross corrugations, welding is complex, welding workload is huge, a manual welding method is adopted, welding production efficiency is low, and welding quality is not easy to control. Therefore, a high-precision automatic welding robot is needed to meet the requirement of automatic welding; the welding robot particularly needs to meet the requirement that the angle of a welding gun is quickly and flexibly changed under the condition that the position of a fire point of the welding gun is not changed, so that the welding robot can adapt to the optimal reasonable angle of the welding gun required by automatic welding of the complicated shape of a stainless steel corrugated plate of a Mark III film type LNG ship, and the quality of a welding spot is stable and reliable; the welding robot needs to be capable of automatically walking through waves, and welding parameters are controlled in a segmented mode during the wave passing; the length of the welding arc is required to be automatically adjusted; the welding robot needs high-precision automatic tracking and adjustment of the welding wire direction.
Disclosure of Invention
The invention mainly aims to provide a plasma welding robot which can effectively solve the problems in the background technology.
In order to achieve the purpose, the invention adopts the technical scheme that:
a plasma welding robot comprises a track, a welding trolley, a plasma welding power supply, a PLC control box with a touch display screen, a wire control box or a wireless remote controller. The welding trolley is provided with a driving travelling mechanism and a support thereof, a welding gun angle adjusting mechanism, a welding gun position adjusting mechanism and a welding gun support thereof, a welding gun is arranged on the welding gun support, the driving travelling mechanism support is provided with an R-axis motor, the welding gun angle adjusting mechanism is arranged between the welding gun support and the driving travelling mechanism support, and the welding gun realizes angle adjustment through the welding gun angle adjusting mechanism; the welding gun position adjusting mechanism is provided with a welding gun support, and the welding gun is positioned on the welding gun support; a position adjusting R-axis motor is arranged on the welding gun position adjusting mechanism and used for realizing position tracking adjustment of a welding fire point; the welding trolley is also provided with three contact sensors, two of which are arranged on the welding gun position adjusting mechanism bracket and used for judging the position of a curved surface and feeding back data to control the trolley to walk and the welding gun angle adjusting mechanism to adjust the angle of the welding gun; the other one is arranged on the welding gun bracket and is used for measuring the local deformation of the plate and feeding back data to adjust the height of the welding gun so as to realize the automatic adjustment of the height of the electric arc. And the welding parameters such as corresponding welding speed, welding current, plasma gas flow, pulse frequency, pulse width and the like are called under the control of a PLC (programmable logic controller) according to different welding positions, so that the stability of the quality of a welding spot is ensured.
Preferably, the travelling mechanism comprises an X-axis position adjusting mechanism and a Y-axis position adjusting mechanism, and drives the whole welding robot to move in the X-axis track direction and can drive the welding gun angle adjusting mechanism, the welding gun position adjusting mechanism and the support thereof to move in the direction perpendicular to the track along the Y axis; the welding gun angle adjusting mechanism realizes the rotation adjustment of the angle of the R-axis welding gun; the welding gun position adjusting mechanism comprises a Z-axis front-back direction position adjusting mechanism and an AVC-axis welding gun fire line direction position adjusting mechanism; and the welding gun position adjusting mechanism support is also provided with a laser tracking sensor which is used for controlling a position adjusting mechanism of the ZX-axis laser point which deviates from the welding line from front to back.
Preferably, the Y-axis position adjusting mechanism comprises a vertical slide rail frame arranged on the driving travelling mechanism support, a vertical slider arranged in the vertical slide rail frame, a Z-axis motor fixed on the vertical slide rail frame, and a vertical lead screw which is in threaded connection with the vertical slide rail frame and is vertically arranged, wherein a gear disc is connected to the end part of an output shaft of the Z-axis motor, and the gear disc is meshed with the vertical lead screw.
Preferably, two sides of the vertical slide rail frame are provided with slide rail frame mounting frames which can vertically slide along the vertical slide rail frame, the welding gun position adjusting mechanism comprises a transverse slide rail frame arranged on the slide rail frame mounting frames, a transverse slide block arranged in the transverse slide rail frame, an AVC shaft motor fixed on the transverse slide rail frame and a transverse screw rod which is in threaded connection with the transverse slide rail frame and is transversely arranged, the end part of an output shaft of the AVC shaft motor is connected with a gear disc, the gear disc is meshed with the transverse screw rod, and the transverse slide rail frame is connected with the vertical slide block; the welding head mechanism is fixed on the transverse sliding block.
Preferably, the laser tracking sensor is arranged on the welding gun support and is connected with the welding gun support through a horizontal fine adjustment mechanism, and the horizontal fine adjustment mechanism is a servo motor and a screw rod guide rail.
Preferably, the welding gun angle adjusting mechanism comprises a rotary indexing mechanism which combines sector gear transmission and chain wheel chain transmission; the rotary indexing mechanism comprises a sector gear disc, and the rotary indexing mechanism is connected with the two supports through sliding tables of arc-shaped sliding rails arranged on the sector gear disc; the fan-shaped gear disc is connected with the driving travelling mechanism bracket and rotates along the arc-shaped sliding rail through gear transmission; the welding gun position adjusting mechanism bracket is connected with the fan-shaped gear disc and rotates along the arc-shaped slide rail through the transmission of the chain wheel and the chain; the sector gear dish and two arc slide rails of welder angular adjustment mechanism all distribute on the different radial concentric circles circular arcs in the same centre of a circle, distribute around same centre of a circle, guarantee that welder angular adjustment mechanism no matter how many angle welder's of horizontal hunting ignition point is unchangeable all the time-indicate the concentric circles centre of a circle all the time, be favorable to can in time on the different welding position, it is convenient, quick adjustment welder angle does not influence the ignition point, accomplish stable welding ignition point and need adjust reasonable welder angle at any time, both are organic unified, satisfy the welding position rapid change's of complicated shape welding automated control requirement.
Preferably, the rotary indexing mechanism is rotated through a gear transmission mechanism, the gear transmission mechanism comprises a sector gear arranged on the outer edge of the sector gear disc and a gear arranged at the output end of the driving mechanism, and the driving gear is meshed with the sector gear so as to drive the sector gear disc to rotate in a gear transmission mode.
Preferably, the rotary indexing mechanism rotates through a chain wheel and chain transmission mechanism, and the chain wheel and chain transmission mechanism comprises two connecting arms which are arranged at the top of the fan-shaped indexing disc and connected with the driving travelling mechanism bracket and respectively connected to two ends of the chain; the chain comprises an inner section and an outer section, the outer section is attached to the outer side wall of the fan-shaped gear disc, an arc-shaped groove is formed in one side, close to the welding gun, of the fan-shaped gear disc, and the inner section is arranged in the arc-shaped groove, extends to the middle of the arc-shaped groove and is connected with the welding gun position adjusting mechanism support; chain wheels are arranged at the end parts of two ends of the arc-shaped groove on the fan-shaped gear plate and meshed with the chains; on the sector gear plate which has rotated, the welding gun position adjusting mechanism bracket is driven to rotate relative to the sector gear plate through meshing transmission of the chain wheel and the chain, so that the rotating angle of the welding gun position adjusting mechanism bracket is increased by times, and the rotation angle maximization in a limited space is facilitated.
Preferably, the sector gear is located on an outer side wall of the sector gear plate; the front and back surfaces of the fan-shaped gear disc are provided with arc-shaped sliding rail grooves, the bottoms of the sliding rail grooves on two sides are provided with sliding rails and sliding tables clamped on the sliding rails, the sliding tables on two sides are respectively connected with the welding gun position adjusting mechanism support and the driving travelling mechanism support, and the double-sliding-rail structure is favorable for stable structure and stable movement and improves the movement control precision; the side wall of the slide rail groove is also provided with a guide groove, guide wheels are arranged on the welding gun position adjusting mechanism bracket and the driving travelling mechanism bracket, and the guide wheels extend into the guide groove to be matched with the guide groove; the slide rail groove is respectively arranged on the lower side wall of the slide rail groove on one side of the welding gun position adjusting mechanism support and the upper side wall of the slide rail groove on one side of the driving travelling mechanism support; the slide rail on one side of the welding gun position adjusting mechanism support is arranged in the middle of the slide rail groove, and the slide rail on one side of the driving travelling mechanism support is arranged on the lower side of the slide rail groove.
Preferably, the R-axis motor is connected with a driven gear box, and the sector gear disc rotates to drive the driven gear to rotate; driven gear box is connected with the electron graduated scale, and the electron graduated scale is connected with the PLC controller, and the PLC controller is connected in order to pass through PLC control turned angle position with actuating mechanism, can set up reasonable welder angle at any time, guarantees to obtain stable welding quality.
The invention has the following beneficial effects: aiming at the fact that the main screen wall of the Mark III type LNG ship is of a criss-cross corrugated stainless steel plate complex structure, the automatic welding of all-position stainless steel corrugated plates of a cabin is achieved through PLC control by adopting a 6-axis linkage robot and a guide rail system capable of being installed rapidly; through PLC control, 1 high-precision laser sensor with the spot width of 0.5mm is utilized, the height difference of lap joint and superposition of the welded steel plates is taken as a calculation basis, a spot deviation correction method is adopted to determine a welding reference line, automatic precision welding is realized, and the precision of a welding position reaches within 0.1 mm; by independently developing the fan-shaped follow-up type welding gun angle adjusting device based on chain wheel transmission, the condition that the position of a welding gun fire point is not changed can be met, and the angle of the welding gun fire point can be quickly and flexibly changed through the indexing teeth under the control of a PLC (programmable logic controller); the stability of rotation is ensured through the mutual matching of the guide wheels and the guide grooves on the two sides, the sliding rails and the sliding tables as well as the transmission mechanism, so that the stability of the quality of welding spots is ensured; 3 contact sensors are utilized, the three-dimensional space position of a welding gun fire point relative to a welding seam is calculated and judged through a PLC, and the angle of the welding gun is automatically adjusted to enable the welding gun to be always at the optimal welding angle; a welding gun firepower point position tracking system and a plasma welding intelligent control system based on complex ripples are controlled by a PLC (programmable logic controller) according to different welding positions, and corresponding welding parameters such as welding speed, welding current, plasma gas flow, pulse frequency and pulse width are called, so that the stability of the quality of welding points is ensured.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of the overall structure of the present invention (with the outer case removed).
Fig. 3 and 4 are schematic views of the overall structure of the present invention (without a traveling mechanism).
Fig. 5 and 6 are perspective views (different angles) of the torch angle adjustment mechanism.
Fig. 7 is a schematic structural view of the Y-axis position adjustment mechanism.
Fig. 8 is a schematic structural view of the X-axis position adjustment mechanism.
In the figure: 001-AVC shaft motor, 002-Z shaft motor, 003-X shaft motor, 004-Y shaft motor, 005-ZX shaft motor, 006-digital optical fiber probe, 1-driving walking mechanism bracket, 2-welding gun position adjusting mechanism bracket, 3-sector gear disc, 300-welding gun angle adjusting mechanism, 301-indexing tooth, 302-groove, 3021-guide groove, 303-arc groove, 304-slide rail, 305-slide table, 306-guide wheel, 307-connecting piece, 4-welding gun, 401-Y shaft position adjusting mechanism, 4011-vertical slide rail frame, 4012-vertical slide block, 4013-vertical screw rod, 402-welding gun position adjusting mechanism, 4021-horizontal slide rail frame, 4022-horizontal slide block, 4023-slide rail frame mounting rack, 4024-horizontal screw rod, 403-welding head, 404-contact sensor, 405-laser tracking sensor, 406-welding gun bracket, 407-slide rail, 408-slide block, 5-R shaft motor, 6-sprocket chain drive mechanism, 601-link span, 602-linking arm, 603-chain, 604-gear, 7-driven gear box, 8-electronic graduated scale, 9-track, 91-welding dolly.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Examples
A plasma welding robot is shown in figures 1-8 and comprises a track 9 and a welding trolley 91, wherein the welding trolley 91 is provided with a driving travelling mechanism and a support 1 thereof, a welding gun angle adjusting mechanism, a welding gun position adjusting mechanism 402 and a welding gun support 2 thereof, the driving travelling mechanism support 1 is provided with an R-axis motor 004, the welding gun angle adjusting mechanism 300 is arranged between the welding gun position adjusting mechanism support 2 and the driving travelling mechanism support 1, and a welding gun 4 realizes angle adjustment through the welding gun angle adjusting mechanism; the welding gun position adjusting mechanism 402 is provided with a welding gun support 406, and the welding gun 4 is positioned on the welding gun support 406; a position adjusting R-axis motor is arranged on the welding gun position adjusting mechanism and used for realizing position tracking adjustment of a welding fire point; the welding trolley 91 is also provided with three contact sensors 404, two of which are arranged on the welding gun position adjusting mechanism bracket and used for judging the position of a curved surface and feeding back data to control the trolley to travel and the welding gun angle adjusting mechanism 300 to adjust the angle of the welding gun; and the other is arranged on a welding gun bracket 406 and is used for measuring the local deformation of the plate and feeding back data to adjust the height of the welding gun so as to realize the automatic adjustment of the height of the electric arc.
Preferably, the traveling mechanism comprises an X-axis position adjusting mechanism and a Y-axis position adjusting mechanism, the traveling mechanism drives the whole welding robot to move in the X-axis track direction, and simultaneously drives the welding gun angle adjusting mechanism 300, the welding gun position adjusting mechanism and the welding gun position adjusting mechanism bracket to move in the Y-axis vertical track direction; the welding gun angle adjusting mechanism realizes the rotation adjustment of the angle of the R-axis welding gun; the welding gun position adjusting mechanism comprises a Z-axis front-back direction position adjusting mechanism and an AVC-axis welding gun fire line direction position adjusting mechanism; and the welding gun position adjusting mechanism support is also provided with a laser tracking sensor which is used for controlling a position adjusting mechanism of the ZX-axis laser point which deviates from the welding line from front to back.
Preferably, the Y-axis position adjusting mechanism 401 includes a vertical slide rail frame 4011 arranged on the driving travelling mechanism support 1, a vertical slider 4012 arranged in the vertical slide rail frame 4011, a Z-axis motor 002 fixed on the vertical slide rail frame 4011, and a vertical lead screw 4013 connected with the vertical slide rail frame 4011 through threads and vertically arranged, an output shaft end of the Z-axis motor 002 is connected with a gear disc, and the gear disc is meshed with the vertical lead screw 4013.
Preferably, two sides of the vertical slide rail frame 4011 are provided with slide rail frame mounting brackets 4023 which can vertically slide along the vertical slide rail frame 4011, the welding gun position adjusting machine 402 comprises a transverse slide rail frame 4021 arranged on the slide rail frame mounting brackets 4023, a transverse slider 4022 arranged in the transverse slide rail frame 4021, an AVC shaft motor 001 fixed on the transverse slide rail frame 4021, and a transverse screw rod 4024 which is in threaded connection with the transverse slide rail frame 4021 and is transversely arranged, the end part of an output shaft of the AVC shaft motor 001 is connected with a gear disc, the gear disc is meshed with the transverse screw rod 4024, and the transverse slide rail frame 4021 is connected with the vertical slider 4012; the welding head mechanism is fixed on the transverse slider 4022. Wherein, the two sides of the vertical slide rail frame 4011 are provided with a slide rail 407 and a slide block 408 which are matched with each other, and the horizontal slide rail frame is fixed on the slide block 408.
Preferably, the laser tracking sensor 405 is arranged on the welding gun support 406, the laser tracking sensor 405 is connected with the welding gun support 406 through a horizontal fine adjustment mechanism, the horizontal fine adjustment mechanism is a servo motor and a lead screw guide rail, and the single laser irradiates the welding seam of the welded plate along the length direction of the welding seam; the laser beam is reflected to the photosensitive element through the welding seam and areas on two sides of the welding seam to generate corresponding electric signals, the distance between the laser generating device and the welded plate is calculated by using the measuring principle of single-point laser triangulation, the average value of the measured distance of the single laser beam is calculated, if the average value of the distance is larger than the arithmetic average value of the distance between the laser generating device and the surface of the bottom plate and the distance between the laser generating device and the surface of the top plate, the center of the laser beam is deviated towards the center of the welding seam towards the direction of the bottom plate, namely towards the left; if the average distance is smaller than the arithmetic average of the distance from the laser generating device to the surface of the bottom plate and the distance from the laser generating device to the surface of the top plate, the center of the laser beam deviates to the right towards the direction of the top plate relative to the center of the welding seam; if the average distance D is equal to the arithmetic average of the distance from the laser generating device to the surface of the bottom plate and the distance from the laser generating device to the surface of the top plate, the center of the laser beam and the center of the welding seam are overlapped without deviation; when the welding track deviates, feeding back the deviation amount and the deviation direction signal to each position adjusting mechanism on the welding machine to adjust the welding track; because the method can measure small offset, high-precision control and tracking can be realized.
Preferably, the welding gun angle adjusting mechanism 300 comprises a rotary indexing mechanism combining sector gear transmission and sprocket chain transmission; the rotary indexing mechanism comprises a sector gear disc 3, and the rotary indexing mechanism and the two supports 1 and 2 are in sliding connection with a sliding table 305 connected with the two supports 1 and 2 through the matching of an arc-shaped sliding rail 304 arranged on the sector gear disc 3; the sector gear plate 3 is connected with the driving travelling mechanism bracket 1 and rotates along the arc-shaped slide rail 304 through gear transmission; the welding gun position adjusting mechanism support 2 is connected with the fan-shaped gear disc 3 and rotates along the arc-shaped slide rail 304 through chain transmission of the chain wheel. According to the scheme, the fan-shaped follow-up type welding gun angle adjusting device based on chain wheel and chain transmission is developed autonomously, so that the condition that the position of a welding gun fire point is not changed can be met, the angle of the welding gun fire point can be changed rapidly and flexibly through PLC control, and the stability of the quality of a welding spot is ensured; the fan-shaped gear disc 3 and the two arc-shaped sliding rails 304 of the welding gun angle adjusting mechanism 300 are distributed around the same circle center on concentric circular arcs with the same circle center and different radiuses, so that the fire point of the welding gun is always unchanged and points to the circle center no matter how many angles the welding gun swings left and right by the welding gun angle adjusting mechanism 300; meanwhile, the double-sliding-rail 304 structure is beneficial to stable structure and stable movement, and improves the movement control precision.
Preferably, the rotary indexing mechanism realizes gear transmission through a gear transmission mechanism, the gear transmission mechanism comprises a sector gear 301 arranged on the outer edge of the sector gear disc 3 and a gear box arranged on the output end of the driving mechanism 5, the gear box is meshed with the sector gear 301, and the driving mechanism 5 drives the sector gear disc 3 to rotate through a gear transmission mode.
Preferably, the rotary indexing mechanism realizes sprocket chain transmission through a sprocket chain transmission mechanism 6, the sprocket chain transmission mechanism 6 comprises a connecting frame 601 arranged on the welding gun position adjusting mechanism support 2, a transmission mechanism arranged on the fan-shaped indexing disc and a connecting piece 307 arranged on the welding gun support, the transmission mechanism comprises two connecting arms 602 arranged at the top of the fan-shaped indexing disc and one ends of the two connecting arms are connected with the connecting frame 601, and two chains 603 respectively connected to the other ends of the connecting arms 602, each of the two chains 603 comprises an inner section and an outer section, the outer section is attached to the outer side wall of the fan-shaped indexing disc, an arc-shaped groove 303 is arranged on one side of the fan-shaped indexing disc close to the welding gun 4, and the inner section is arranged in the arc-shaped groove 303 and; two side edges on the outer side wall of the sector index plate are respectively provided with a gear 604, and the gears 604 are meshed with the chain 603. This configuration provides a chain 603 drive.
Preferably, the front and back surfaces of the sector gear plate 3 are provided with arc-shaped slide rail grooves 302, the rotating mechanism comprises slide rails 304 arranged at the bottoms of the two slide rail grooves 302 and slide tables 305 clamped on the slide rails 304, and the slide tables 305 on the two sides are respectively connected with the welding gun position adjusting mechanism support 2 and the driving travelling mechanism support 1; the rotating mechanism further comprises a guide groove 3021 arranged on the side wall of the slide rail groove 302 and guide wheels 306 arranged on the welding gun position adjusting mechanism bracket 2 and the driving and traveling mechanism bracket 1, and the guide wheels 306 extend into the guide groove 3021 to be matched with the guide groove 3021. The guide is provided by the sliding rail 304 and the sliding table 305, the guide groove 3021 and the guide wheel 306, and the guide is matched with the chain 603 for transmission combination to form a chain wheel transmission mode, so that the stability and the accuracy of angle adjustment are improved, meanwhile, the stability can be indirectly enhanced, and the welding quality is improved. The slide rail grooves 302 are respectively arranged on the lower side wall of the slide rail groove 302 on one side of the welding gun position adjusting mechanism bracket 2 and the upper side wall of the slide rail groove 302 on one side of the driving travelling mechanism bracket 1; the slide rail 304 on one side of the welding gun position adjusting mechanism support 2 is arranged in the middle of the slide rail groove 302, and the slide rail 304 on one side of the driving travelling mechanism support 1 is arranged on the lower side of the slide rail groove 302; the slide rail 304 is an arc-shaped rail with an i-shaped cross section, and is detachably fixed on the rotary index plate 3 through bolts.
Preferably, an R-axis motor 004 of the R-axis motor is connected with a driven gear box 7, and the sector gear disc 3 rotates to drive a driven gear to rotate; driven gear 7 is connected with electron graduated flask 8, and electron graduated flask 8 is connected with the PLC controller, and the PLC controller is connected with actuating mechanism in order to pass through PLC control turned angle position, can set up reasonable welder angle at any time, guarantees to obtain stable welding quality. And the welding parameters such as corresponding welding speed, welding current, plasma gas flow, pulse frequency, pulse width and the like are called under the control of a PLC (programmable logic controller) according to different welding positions, so that the stability of the quality of a welding spot is ensured.
The 001-AVC axis motor, the 002-Z axis motor, the 003-X axis motor, the 004-Y axis motor, and the 005-ZX axis motor shown in fig. 7 are respectively responsible for powering the mechanisms to drive the mechanisms to move in the corresponding directions.
The specific embodiments are only for explaining the present invention, and the present invention is not limited thereto, and those skilled in the art can make modifications without inventive contribution to the present embodiments as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (10)
1. A plasma welding robot comprises a track, a welding trolley and a plasma power supply, wherein the welding trolley is provided with a driving travelling mechanism and a support thereof, a welding gun angle adjusting mechanism, a welding gun position adjusting mechanism, a welding gun and a support thereof; be equipped with R axle motor on the drive running gear support, its characterized in that: the welding gun angle adjusting mechanism is arranged between the position adjusting mechanism support and the driving travelling mechanism support, and the angle of the welding gun is adjusted through the angle adjusting mechanism; the welding gun position adjusting mechanism is provided with a welding gun support, and the welding gun is positioned on the welding gun support; a position adjusting R-axis motor is arranged on the welding gun position adjusting mechanism and used for realizing position tracking adjustment of a welding fire point; the welding trolley is also provided with three contact sensors, two of which are arranged on the welding gun position adjusting mechanism bracket and used for judging the position of a curved surface and feeding back data to control the trolley to walk and the welding gun angle adjusting mechanism to adjust the angle of the welding gun; the other one is arranged on the welding gun bracket and is used for measuring the local deformation of the plate and feeding back data to adjust the height of the welding gun so as to realize the automatic adjustment of the height of the electric arc; the automatic welding of the lap joint of the stainless steel corrugated plate at all positions is realized by controlling a 6-axis linkage robot and a weld laser automatic tracking system through a PLC.
2. The plasma welding robot of claim 1, wherein: the travelling mechanism comprises an X-axis position adjusting mechanism and a Y-axis position adjusting mechanism, the travelling mechanism drives the whole welding robot to move in the X-axis track direction, and meanwhile, the welding gun angle adjusting mechanism, the welding gun position adjusting mechanism and the welding gun position adjusting mechanism support can be driven to move along the Y-axis direction perpendicular to the track; the welding gun angle adjusting mechanism realizes the rotation adjustment of the angle of the R-axis welding gun; the welding gun position adjusting mechanism comprises a Z-axis front-back direction position adjusting mechanism and an AVC-axis welding gun fire line direction position adjusting mechanism, and a laser tracking sensor is further arranged on a welding gun position adjusting mechanism support and used for controlling a ZX-axis laser point to deviate from a welding line in the front-back direction.
3. The plasma welding robot of claim 2, wherein: the Y-axis position adjusting mechanism comprises a vertical slide rail frame arranged on the driving travelling mechanism support, a vertical sliding block arranged in the vertical slide rail frame, a Z-axis motor fixed on the vertical slide rail frame, and a vertical lead screw which is in threaded connection with the vertical slide rail frame and is vertically arranged, wherein a gear disc is connected to the end part of an output shaft of the Z-axis motor, and the gear disc is meshed with the vertical lead screw.
4. A plasma welding robot as defined in claim 3, wherein: the welding gun position adjusting mechanism comprises a transverse slide rail frame arranged on the slide rail frame mounting rack, a transverse slide block arranged in the transverse slide rail frame, an AVC shaft motor fixed on the transverse slide rail frame and a transverse lead screw which is in threaded connection with the transverse slide rail frame and is transversely arranged, wherein a gear disc is connected to the end part of an output shaft of the AVC shaft motor, the gear disc is meshed with the transverse lead screw, and the transverse slide rail frame is connected with the vertical slide block; the welding head mechanism is fixed on the transverse sliding block.
5. The welding robot of any one of claims 2, wherein: the laser tracking sensor is arranged on the welding gun support and is connected with the welding gun support through a fine adjustment mechanism, and the fine adjustment mechanism is an R-axis motor and a lead screw guide rail.
6. The plasma welding robot of claim 1, wherein: the welding gun angle adjusting mechanism comprises a rotary indexing mechanism which combines sector gear transmission and chain wheel chain transmission; the rotary indexing mechanism comprises a sector gear disc, and the rotary indexing mechanism is connected with the two supports through sliding tables of arc-shaped sliding rails arranged on the sector gear disc; the fan-shaped gear disc is connected with the driving travelling mechanism bracket and rotates along the arc-shaped sliding rail through gear transmission; the welding gun bracket is connected with the fan-shaped gear disc and rotates along the arc-shaped slide rail through the transmission of the chain wheel and the chain; the sector gear dish and two arc slide rails of welder angle adjustment mechanism all distribute on the different radial concentric circles circular arcs in the same centre of a circle, distribute around same centre of a circle, guarantee that welder angle adjustment mechanism no matter how many angle welder's of horizontal hunting ignition point is unchangeable all the time-indicate the concentric circles centre of a circle all the time, be favorable to can in time on the different welding position, it is convenient, quick adjustment welder angle does not influence the ignition point, accomplish stable welding ignition point and need adjust reasonable welder angle at any time, both are organic unified, satisfy the welding position rapid change's of complicated shape welding automated control requirement.
7. The plasma welding robot of claim 6, wherein: the rotary indexing mechanism is rotated through the gear transmission mechanism, the gear transmission mechanism comprises a sector gear arranged on the outer edge of the sector gear disc and a gear arranged at the output end of the driving mechanism, and the driving gear is meshed with the sector gear so as to drive the sector gear disc to rotate in a gear transmission mode.
8. The plasma welding robot of claim 6, wherein: the rotary indexing mechanism realizes rotation through a chain wheel and chain transmission mechanism, and the chain wheel and chain transmission mechanism comprises two connecting arms which are arranged at the top of the fan-shaped indexing disc and connected with the driving travelling mechanism bracket and respectively connected to two ends of the chain; the chain comprises an inner section and an outer section, the outer section is attached to the outer side wall of the fan-shaped gear disc, an arc-shaped groove is formed in one side, close to the welding gun, of the fan-shaped gear disc, and the inner section is arranged in the arc-shaped groove, extends to the middle of the arc-shaped groove and is connected with the welding gun position adjusting mechanism support; chain wheels are arranged at the end parts of two ends of the arc-shaped groove on the fan-shaped gear plate and meshed with the chains; on the sector gear plate which has rotated, the welding gun position adjusting mechanism bracket is driven to rotate relative to the sector gear plate through meshing transmission of the chain wheel and the chain, so that the rotating angle of the welding gun position adjusting mechanism bracket is increased by times, and the rotation angle maximization in a limited space is facilitated.
9. The plasma welding robot of claim 6, wherein: the sector gear is positioned on the outer side wall of the sector gear disc; the front and back surfaces of the fan-shaped gear disc are provided with arc-shaped sliding rail grooves, the bottoms of the sliding rail grooves on two sides are provided with sliding rails and sliding tables clamped on the sliding rails, the sliding tables on two sides are respectively connected with the welding gun position adjusting mechanism support and the driving travelling mechanism support, and the double-sliding-rail structure is favorable for stable structure and stable movement and improves the movement control precision; the side wall of the slide rail groove is also provided with a guide groove, guide wheels are arranged on the welding gun position adjusting mechanism bracket and the driving travelling mechanism bracket, and the guide wheels extend into the guide groove to be matched with the guide groove; the slide rail groove is respectively arranged on the lower side wall of the slide rail groove on one side of the welding gun position adjusting mechanism support and the upper side wall of the slide rail groove on one side of the driving travelling mechanism support; the slide rail on one side of the welding gun position adjusting mechanism support is arranged in the middle of the slide rail groove, and the slide rail on one side of the driving travelling mechanism support is arranged on the lower side of the slide rail groove.
10. The plasma welding robot of claim 6, wherein: the R-axis motor is connected with a driven gear box, and the sector gear disc rotates to drive the driven gear to rotate; driven gear box is connected with the electron graduated scale, and the electron graduated scale is connected with the PLC controller, and the PLC controller is connected in order to pass through PLC control turned angle position with actuating mechanism, can set up reasonable welder angle at any time, guarantees to obtain stable welding quality.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911002218.XA CN110722259A (en) | 2019-10-21 | 2019-10-21 | Plasma welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911002218.XA CN110722259A (en) | 2019-10-21 | 2019-10-21 | Plasma welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110722259A true CN110722259A (en) | 2020-01-24 |
Family
ID=69220501
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911002218.XA Pending CN110722259A (en) | 2019-10-21 | 2019-10-21 | Plasma welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110722259A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390418A (en) * | 2020-03-31 | 2020-07-10 | 绍兴汉立工业自动化科技有限公司 | Automatic welding process for container corrugated welding |
| CN111451623A (en) * | 2020-05-26 | 2020-07-28 | 上海法信机电设备制造有限公司 | Plasma welding seam tracking device |
| CN112192096A (en) * | 2020-09-27 | 2021-01-08 | 中国一冶集团有限公司 | Welding device and welding method for cooling wall sealing box |
| CN112207396A (en) * | 2020-10-16 | 2021-01-12 | 中国化学工程第六建设有限公司 | Automatic weld seam tracking and correcting system |
| CN112719721A (en) * | 2020-12-02 | 2021-04-30 | 海门市帕源路桥建设有限公司 | Three-dimensional multi-head welding spot automatic tracking and positioning welding machine |
| CN113333926A (en) * | 2021-07-09 | 2021-09-03 | 南京顶瑞科技有限公司 | A intelligent welding machine for LNG boats and ships bunker inner wall |
| CN113649699A (en) * | 2021-07-27 | 2021-11-16 | 上海工程技术大学 | Mobile robot walking on U-shaped workpiece and application thereof |
| CN113681114A (en) * | 2021-09-01 | 2021-11-23 | 山东通祥环保科技有限责任公司 | Automatic environment-friendly welding system based on laser tracking |
| CN114055042A (en) * | 2021-12-21 | 2022-02-18 | 宁波凯荣新能源有限公司 | Special automatic welding device for wave-shaped plate of thin film type liquid cargo containment system |
| CN114227092A (en) * | 2021-12-21 | 2022-03-25 | 宁波凯荣新能源有限公司 | Driving device of automatic welding device of thin film type liquid cargo containment system |
| CN114309905A (en) * | 2022-01-14 | 2022-04-12 | 金乡县恒业商贸有限公司 | Intelligent welding device is used in computer hardware processing |
| CN115070290A (en) * | 2022-08-19 | 2022-09-20 | 苏州耀康医疗科技有限公司 | Insulin pen instrument is researched and developed with accurate welding equipment of metalwork |
| CN117415566A (en) * | 2023-10-27 | 2024-01-19 | 浙江畅轮实业有限公司 | Rim production line and production process |
-
2019
- 2019-10-21 CN CN201911002218.XA patent/CN110722259A/en active Pending
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390418B (en) * | 2020-03-31 | 2022-02-22 | 绍兴汉立工业自动化科技有限公司 | Automatic welding process for container corrugated welding |
| CN111390418A (en) * | 2020-03-31 | 2020-07-10 | 绍兴汉立工业自动化科技有限公司 | Automatic welding process for container corrugated welding |
| CN111451623A (en) * | 2020-05-26 | 2020-07-28 | 上海法信机电设备制造有限公司 | Plasma welding seam tracking device |
| CN111451623B (en) * | 2020-05-26 | 2021-04-27 | 上海法信机电设备制造有限公司 | Plasma welding seam tracking device |
| CN112192096A (en) * | 2020-09-27 | 2021-01-08 | 中国一冶集团有限公司 | Welding device and welding method for cooling wall sealing box |
| CN112207396A (en) * | 2020-10-16 | 2021-01-12 | 中国化学工程第六建设有限公司 | Automatic weld seam tracking and correcting system |
| CN112719721A (en) * | 2020-12-02 | 2021-04-30 | 海门市帕源路桥建设有限公司 | Three-dimensional multi-head welding spot automatic tracking and positioning welding machine |
| CN113333926A (en) * | 2021-07-09 | 2021-09-03 | 南京顶瑞科技有限公司 | A intelligent welding machine for LNG boats and ships bunker inner wall |
| CN113649699A (en) * | 2021-07-27 | 2021-11-16 | 上海工程技术大学 | Mobile robot walking on U-shaped workpiece and application thereof |
| CN113649699B (en) * | 2021-07-27 | 2022-07-29 | 上海工程技术大学 | Mobile robot walking on U-shaped workpiece and application thereof |
| CN113681114A (en) * | 2021-09-01 | 2021-11-23 | 山东通祥环保科技有限责任公司 | Automatic environment-friendly welding system based on laser tracking |
| CN114227092A (en) * | 2021-12-21 | 2022-03-25 | 宁波凯荣新能源有限公司 | Driving device of automatic welding device of thin film type liquid cargo containment system |
| CN114055042A (en) * | 2021-12-21 | 2022-02-18 | 宁波凯荣新能源有限公司 | Special automatic welding device for wave-shaped plate of thin film type liquid cargo containment system |
| CN114309905A (en) * | 2022-01-14 | 2022-04-12 | 金乡县恒业商贸有限公司 | Intelligent welding device is used in computer hardware processing |
| CN114309905B (en) * | 2022-01-14 | 2023-10-13 | 东莞市畅网计算机科技有限公司 | Intelligent welding device for computer hardware processing |
| CN115070290A (en) * | 2022-08-19 | 2022-09-20 | 苏州耀康医疗科技有限公司 | Insulin pen instrument is researched and developed with accurate welding equipment of metalwork |
| CN115070290B (en) * | 2022-08-19 | 2022-11-15 | 苏州耀康医疗科技有限公司 | Insulin pen instrument is researched and developed with accurate welding equipment of metalwork |
| CN117415566A (en) * | 2023-10-27 | 2024-01-19 | 浙江畅轮实业有限公司 | Rim production line and production process |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110722259A (en) | Plasma welding robot | |
| CN109396700A (en) | It creeps welding robot and its control method | |
| KR102591350B1 (en) | Dynamic seam tracking device and laser welding system comprising same | |
| CN112372108B (en) | Intersecting line fillet weld overlaying realizing mechanism of automatic welding machine | |
| CN103990893B (en) | Mechanical type welding seam tracking device | |
| CN211052813U (en) | Plasma welding robot | |
| CN110653538A (en) | Angle swing adjusting mechanism for welding gun of welding machine | |
| JPS644875B2 (en) | ||
| CN111906419B (en) | Automatic welding device and welding method for interior of sugar-making evaporation tank | |
| JP5972081B2 (en) | One-side welding equipment for bent plate | |
| JP7111666B2 (en) | Welding control method for portable welding robot, welding control device, portable welding robot, and welding system | |
| CN210703272U (en) | Double-gun automatic welding machine for corrugated board | |
| CN101823191B (en) | Automatic welding device of curved plate | |
| CN209319076U (en) | It creeps welding robot | |
| CN113102865A (en) | Automatic welding equipment for welding square steel pipe plate elevation angle and flat fillet weld | |
| CN103394833B (en) | High-precision postwelding weld joint tracking and residual stress relieving system | |
| CN113199113A (en) | Girder laser tracking double-wire submerged arc automatic welding system and correction method | |
| CN102756198B (en) | Automatic welding device for longitudinal joint of heavy-caliber elbow | |
| CN203495379U (en) | Automatic welding device for breast board | |
| CN208628765U (en) | A kind of horizontal rotation automatic welding machine | |
| CN211490202U (en) | Angle swing adjusting mechanism for welding gun of welding machine | |
| CN202479669U (en) | Welding device for welding main beam longitudinal seams | |
| CN106041259A (en) | Welding machine | |
| CN203830884U (en) | Mechanical welded joint tracking device | |
| CN210548758U (en) | Remote control's submerged arc welding automatic regulating apparatus |
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 |