CN113369771B - Automatic welding system and method for node balls - Google Patents
Automatic welding system and method for node balls Download PDFInfo
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- CN113369771B CN113369771B CN202110668681.9A CN202110668681A CN113369771B CN 113369771 B CN113369771 B CN 113369771B CN 202110668681 A CN202110668681 A CN 202110668681A CN 113369771 B CN113369771 B CN 113369771B
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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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
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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
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Engineering & Computer Science (AREA)
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- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention relates to an automatic node ball welding system and method, comprising a machine base, a lifting mechanism, a traversing mechanism, a clamping mechanism, a welding manipulator, a control device and a clamp for positioning the node ball, wherein the lifting mechanism is fixed on the machine base, the traversing mechanism is arranged at the top of the lifting mechanism, the clamping mechanism comprises a driven top wheel assembly and a driving top wheel assembly, the driven top wheel assembly and the driving top wheel assembly clamp the node ball and rotate the node ball, and the welding manipulator welds the node ball under the control of the control device. According to the invention, the clamp is adopted to initially position the node ball, and then the control device is used for controlling the lifting mechanism, the traversing mechanism and the clamping mechanism in a matched manner, so that the node ball placed on the traversing mechanism can be automatically clamped by the clamping mechanism, at the moment, the clamp is detached, the control device controls the clamping mechanism to drive the node ball to rotate, and meanwhile, the welding manipulator is controlled to weld the node ball.
Description
Technical Field
The invention relates to the technical field of node ball welding processing, in particular to an automatic node ball welding system and method.
Background
The grid structure has the advantages of no need of support for space stress, light weight, high rigidity, good earthquake resistance, attractive appearance and the like, and is widely applied to roofs of buildings such as stadiums, theatres, exhibition halls, waiting halls, stadium stand awning, hangars, two-way large-column grid structure distance workshops and the like. The adoption of the welded node balls for connection is a common connection form of the grid structure, so that the processing quality of the node balls has great influence on the quality and safety of the grid structure.
The node ball is formed by welding two hemispheres, alignment operation is needed in the welding process, then welding is carried out, the current welding is generally completed by manual butt joint, so that at least two persons are needed in the welding process to complete the welding, the welding mode is greatly influenced by human factors, the requirement on the welding skills of a craftsman is high, the control difficulty of welding quality is high, and the welding efficiency is low.
In the prior art, welding platforms or devices for welding the node balls are partially arranged, and the welding platforms or devices solve the problem of clamping the node balls, but the platforms are low in common automation degree, still require more manual intervention, and are not beneficial to improving the production efficiency and the product quality.
For example, chinese patent publication No. CN112247455a discloses a welding platform for realizing rapid positioning of a welding ball by using a guide plate and a control method thereof, the welding platform is complex to operate when two hemispheres are installed, and has high requirements for operators; as another chinese patent with publication No. CN211028716U, a welding ball welding butt joint device is disclosed, the device adsorbs two hemispheres through a vacuum pump, and then makes the hemispheres rotate through a rotating mechanism to complete welding, so that the flatness, uniformity and low welding quality of the welding seam cannot be ensured.
Disclosure of Invention
In order to solve the technical problems, a first object of the present invention is to provide an automatic node ball welding system, which has high automation degree, convenient operation and good welding quality; the second object of the invention is to provide an automatic welding method for the node ball.
In order to achieve the above object of the first invention, the present invention adopts the following technical scheme:
the utility model provides a node ball automatic weld system, includes frame, elevating system, sideslip mechanism, clamping mechanism, welding manipulator, controlling means and is used for pressing from both sides the anchor clamps of tight node ball, anchor clamps include a plurality of arc connectors, and a plurality of arc connectors are articulated each other, and still are equipped with locking structure between two arc connectors from beginning to end, elevating system fixes on the frame, sideslip mechanism sets up the top at elevating system, still be equipped with the location structure of placing node ball and anchor clamps on the sideslip mechanism, clamping mechanism includes driven top wheel subassembly and the initiative top wheel subassembly of sliding setting on the frame respectively, and both are located the both sides of elevating system respectively, initiative top wheel subassembly includes initiative top wheel frame, driving shaft, rotating electrical machines and first actuating mechanism, the driving shaft rotates and sets up on initiative top wheel frame upper portion, and is driven by the rotating electrical machines, initiative top wheel frame slides and sets up on the frame, and drives through first actuating mechanism; the driven top wheel assembly comprises a second driving mechanism, a driven top wheel rack and a driven shaft which is rotatably arranged on the driven top wheel rack, the driven top wheel rack is arranged on the machine base in a sliding manner and driven by the second driving mechanism, and a torque limiter is further arranged on the second driving mechanism; the driving shaft and the driven shaft clamp the node ball and rotate the node ball, and the welding manipulator welds the node ball under the control of the control device.
As a preferable scheme: the locking structure comprises a locking handle, a locking cam and a locking bolt, wherein the locking handle is fixed on the locking cam and protrudes outwards, the locking cam is rotatably arranged on one arc-shaped connector, the locking bolt is fixed on the other arc-shaped connector, a saw tooth part is arranged on one side, close to the locking bolt, of the locking cam, and the locking bolt is clamped in the saw tooth part.
As a preferable scheme: the first driving mechanism comprises a translation motor, a speed reducer D and a screw rod C, the translation motor is connected with the speed reducer D, the speed reducer D is fixed on the machine base, the screw rod C is arranged on the machine base through the screw rod base C, one end of the screw rod C is connected with the speed reducer D through a coupler, a T-shaped nut C is further arranged on the screw rod C, the T-shaped nut C is fixed at the bottom of the driving top turbine frame, and the driving top turbine frame is slidably arranged on the machine base and is driven to move through the translation motor.
As a preferable scheme: the second driving mechanism comprises a gear motor and a screw rod B, the gear motor is fixed on the machine base, the screw rod B is arranged on the machine base through a screw rod seat B, one end of the screw rod B is connected with the gear motor, the torque limiter is arranged between the gear motor and the screw rod B, a T-shaped nut B is further arranged on the screw rod B, the T-shaped nut B is fixed at the bottom of the driving top turbine frame, and the driving top turbine frame is slidably arranged on the machine base and driven to move by the gear motor.
As a preferable scheme: the lifting mechanism comprises a lifting driving motor, a speed reducer A and lifters, a base plate is further arranged on the base, the base plate is located between the driven top wheel assembly and the driving top wheel assembly, the lifting driving motor is connected with the speed reducer A, the speed reducer A is fixed on the base plate, the two lifters are respectively arranged at two ends of the base plate, lifting plates are fixed at the tops of the lifters, the two lifters are connected through a synchronous shaft, and an output shaft of the speed reducer A is connected with the lifters to drive the lifting plates to move up and down.
As a preferable scheme: guide shafts are further fixed at four corners of the bottom of the lifting plate, guide bearings are fixed at four corners of the bottom plate, and the lifting plate is arranged on the bottom plate in a vertical sliding mode through cooperation of the guide shafts and the guide bearings.
As a preferable scheme: the speed reducer A is fixed on the bottom plate through a speed reducer base, and the speed reducer base is also provided with a primary point photoelectric sensor for determining the origin of the lifting position.
As a preferable scheme: the transverse moving mechanism comprises a transverse moving plate, a transverse moving motor, a speed reducer B and a screw rod A, wherein the transverse moving plate is arranged on the upper portion of the lifting plate in a sliding mode, a positioning structure is further arranged on the upper portion of the transverse moving plate, the transverse moving motor is connected with the speed reducer B, the speed reducer B is fixed at one end of the lifting plate, two ends of the screw rod A are respectively arranged on the lifting plate through a screw rod seat A and a screw rod fixing seat, one end of the screw rod A is further connected with the speed reducer B through a shaft coupling, a T-shaped nut A is further arranged on the screw rod A, the T-shaped nut A is fixed with the bottom of the transverse moving plate, and the transverse moving motor drives the transverse moving plate to move.
As a preferable scheme: the positioning structure comprises a positioning shaft and positioning shaft installation seats, grooves are formed in two sides of the transverse moving plate along the extending direction of the transverse moving guide rail respectively, the positioning shaft installation seats are fixed in the grooves, and two ends of the positioning shaft are rotatably arranged in the positioning shaft installation seats through bearings.
In order to achieve the above object of the second invention, the present invention adopts the following technical scheme:
an automatic welding method for node balls adopts the welding system, and comprises the following steps:
firstly, a node ball to be welded comprises a first node hemisphere and a second node hemisphere which are subjected to preliminary positioning welding, and a clamp is arranged at the positions of grooves to be welded of the first node hemisphere and the second node hemisphere;
then, place the node ball of installing anchor clamps on the location structure of sideslip mechanism, controlling means control sideslip mechanism removes the node ball to clamping mechanism below, and control elevating system lifts the node ball to clamping mechanism same height, controlling means control driven top wheel subassembly and initiative top wheel subassembly are close to each other and press from both sides tight node ball, and judge whether initiative top wheel subassembly and driven top wheel subassembly press from both sides the node ball that waits to weld according to the signal of moment of torsion limiter, demolish anchor clamps after the node ball is pressed from both sides tightly, controlling means control initiative top wheel subassembly drives the node ball and rotates, control welding manipulator welds the node ball simultaneously.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the lifting mechanism, the traversing mechanism and the clamping mechanism are cooperatively controlled by the control device, so that the node ball placed on the traversing mechanism can be automatically clamped by the clamping mechanism, and the clamp is adopted to initially position the node ball, so that the stability of the position of a groove to be welded on the node ball in the motion process is ensured, the welding quality is improved, the clamp is detached at the moment, the control device controls the clamping mechanism to drive the node ball to rotate, and simultaneously controls the welding manipulator to weld the node ball.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not limit the application.
FIG. 1 is a schematic top view of the overall structure of the present invention;
FIG. 2 is a schematic illustration of the overall structure of the present invention (except for the control device);
FIG. 3 is a schematic view of a frame and a lifting mechanism according to the present invention;
FIG. 4 is a schematic view of a traversing mechanism according to the present invention;
FIG. 5 is a schematic view of an explosion structure of the stand and the lifting mechanism of the present invention;
FIG. 6 is a schematic diagram of an exploded view of the traversing mechanism of the present invention;
FIG. 7 is a schematic view of a clamping mechanism according to the present invention;
FIG. 8 is a schematic structural view of an active roof wheel assembly of the present invention;
FIG. 9 is a schematic structural view of a driven top wheel assembly of the present invention;
FIG. 10 is a schematic view of the mounting structure of the clamp and the node ball of the present invention;
FIG. 11 is a schematic view of the structure of the clamp of the present invention when opened;
fig. 12 is a schematic cross-sectional view of the clip and the node ball of the present invention.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
the automatic node ball welding system comprises a machine base 1, a lifting mechanism 2, a traversing mechanism 3, a clamping mechanism, a welding manipulator 7, a control device 8 and a clamp 6 for positioning a node ball 9, wherein the lifting mechanism 2 is fixed on the machine base 1, the traversing mechanism 3 is arranged at the top of the lifting mechanism 2, the traversing mechanism 3 is also provided with a positioning structure for placing the node ball 9 and the clamp, the clamping mechanism comprises a driven top wheel assembly 4 and a driving top wheel assembly 5 which are respectively arranged on the machine base 1 in a sliding manner, the driven top wheel assembly 4 and the driving top wheel assembly 5 are respectively positioned at two sides of the lifting mechanism 2, the control device 8 is connected with the welding manipulator 7, the lifting mechanism 2, the traversing mechanism 3 and the clamping mechanism through cables, the node ball 9 provided with the clamp 6 is placed on the positioning structure of the clamping mechanism 3, the control device 8 controls the traversing mechanism 3 to move the node ball 9 to the lower side of the clamping mechanism, the lifting mechanism 2 is controlled to lift the node ball 9 to the same height as the clamping mechanism, the control device 8 controls the driven top wheel assembly 4 and the driving top wheel assembly 5 to be close to each other, the node ball 9 is controlled to be dismounted, and the welding manipulator 9 is controlled to simultaneously rotate the node ball 9, and the welding manipulator is controlled to weld the node ball 9.
As shown in fig. 3 and fig. 5, the base 1 is further provided with a bottom plate 20 and a guide rail 11, the two sections of guide rails 11 are respectively located at two sides of the bottom plate 20, the bottom plate 20 is perpendicular to the guide rail 11, the lifting mechanism 2 comprises a lifting driving motor 23, a speed reducer a24 and a lifter 28, the lifting driving motor 23 is connected with the speed reducer a24, the speed reducer a24 is fixed on the bottom plate 20 through a speed reducer base 26, the two lifters 28 are respectively arranged at two ends of the bottom plate 20, the top of the lifter 28 is fixedly provided with a lifter 21, the two lifters 28 are connected through a synchronizing shaft 27, an output shaft of the speed reducer a24 is connected with the lifters 28, and the two lifters 28 are driven to synchronously move so as to lift or lower the lifter 21.
In order to further improve the stability of the movement of the lifting plate 21, guide shafts 22 are further fixed at four corners of the bottom of the lifting plate 21, guide bearings 29 are fixed at four corners of the bottom plate 20, and the lifting plate 21 is arranged on the bottom plate 20 in a vertically sliding manner through the cooperation of the guide shafts 22 and the guide bearings 29.
The speed reducer base 26 is further provided with an original point photoelectric sensor 25, the lifting plate 21 is confirmed to be at the original point of the lifting position by the original point photoelectric sensor before lifting, the lifting end point is controlled by the control device to the lifting driving motor in real time according to the actual diameter of the node ball to be welded, when the lifting end point is lifted in place, the node ball to be welded and the clamping mechanism are located at the same height, and the lifting plate 21 is guided by four guide shafts distributed at four corners during lifting, so that position deviation in the lifting process is avoided.
As shown in fig. 4 and 6, the traversing mechanism 3 includes a traversing plate 301, a traversing motor 302, a speed reducer B303 and a screw a308, a traversing rail 311 is disposed on an upper portion of the lifting plate 21, the traversing plate 301 is slidably disposed on the lifting plate 21 through a cooperation of the traversing slider 312 and the traversing rail 311, a positioning structure is further disposed on the upper portion of the traversing plate 301, the positioning structure includes a positioning shaft 313 and a positioning shaft mounting seat 314, grooves are disposed on two sides of the traversing plate 301 along an extending direction of the traversing rail 311, the positioning shaft mounting seat 314 is fixed in the grooves, and two ends of the positioning shaft 313 are rotatably disposed in the positioning shaft mounting seat 314 through bearings. The node ball is supported by two positioning shafts 313, and for better bearing the node ball, two ends of the positioning shafts 313, which are close to the inner side wall of the positioning shaft mounting seat 314, are also provided with check rings.
The transverse moving motor 302 is connected with the speed reducer B303, the speed reducer B303 is fixed at one end of the lifting plate 21 through the speed reducer mounting seat 304, two ends of the screw rod A308 are respectively arranged on the lifting plate 21 through the screw rod seat A306 and the screw rod fixing seat 310, the screw rod A308 is respectively arranged with the screw rod seat A306 and the screw rod fixing seat 310 through bearings, one end of the screw rod A308 is connected with the speed reducer B303 through a coupler, the screw rod A308 is also provided with a T-shaped nut A307, the T-shaped nut A307 is fixed with the bottom of the transverse moving plate 301, and the transverse moving motor 302 drives the screw rod A308 to rotate, so that the position of the T-shaped nut A307 at the screw rod A308 is changed, and the purpose of driving the transverse moving bottom plate is realized.
The lifting plate 21 is also provided with a front photoelectric sensor and a rear photoelectric sensor. The traversing motor drives the traversing plate to transversely move on the traversing guide rail 311 through the screw rod A308, and the loading and unloading of the node balls to be welded are completed. In the traversing process, the traversing travel is limited by the front in-place photoelectric sensor and the rear in-place photoelectric sensor, so that dislocation of the traversing plate is avoided.
As shown in fig. 7 and 8, the driving top wheel assembly 5 includes a driving top wheel frame 501, a driving shaft 503, a speed reducer C505, a rotating motor 504, a translation motor 507, a speed reducer D508 and a screw rod C512, a translation guide rail slider B514 is disposed at the bottom of the driving top wheel frame 501, the driving top wheel frame 501 is slidably disposed on the base 1 through cooperation of a guide rail on one side of a bottom plate and the translation guide rail slider B514, the translation motor 507 is connected with the speed reducer D508, the speed reducer D is fixed on the base 1 through a speed reducer base 509, the screw rod C512 is disposed on the base 1 through a screw rod base C511, one end of the screw rod C512 is connected with the speed reducer D508 through a coupling, a T-shaped nut C513 is further disposed on the screw rod C512, and the T-shaped nut C513 is fixed at the bottom of the driving top wheel frame 501, the translation motor 507 drives the screw rod to rotate, so that the position of the T-shaped nut C513 on the screw rod is changed, and the driving top wheel frame 501 is close to or far away from the welding ball.
The rotating motor 504 is connected with the speed reducer C505, the speed reducer C505 is fixed on the upper portion of the driving top turbine frame 501 through the speed reducer mounting plate 506, the driving shaft 503 is rotatably arranged on the upper portion of the driving top turbine frame 501 through a bearing, one end of the driving shaft 503 is fixedly provided with the driving friction plate 502, the other end of the driving shaft is connected with the speed reducer C505, the rotating motor 504 drives the driving shaft to rotate, the driving top turbine frame 501 is further provided with a rotation origin switch used for meeting different welding angles, and welding of different angle positions of the node balls can be achieved through calibration of the rotation origin switch before rotation.
As shown in fig. 7 and 9, the driven top wheel assembly 4 includes a driven top wheel frame 401, a driven shaft 402, a gear motor 404 and a screw rod B409, a translation guide rail slider a412 is disposed at the bottom of the driven top wheel frame 401, the driven top wheel frame 401 is slidably disposed on the base 1 through the cooperation of a guide rail on the other side of the bottom plate and the translation guide rail slider a412, the driven shaft 402 is rotatably disposed on the upper portion of the driven top wheel frame 401 through a bearing, one end of the driven shaft 402 is fixed with a driven friction disc 403, the gear motor 404 is fixed on the base 1 through a motor base 408, a bearing plate 406 and a screw rod base B407 are respectively embedded at two ends of the motor base 408, two ends of the screw rod B409 are respectively disposed on the bearing plate 406 and the screw rod base B407 through bearings, one end of the screw rod B409 is connected with the gear motor 404, a torque limiter 405 is further disposed between the gear motor 404 and the screw rod B409, a limiter switch is further disposed on the screw rod B409, and the T-shaped nut B410 is fixed on the bottom of the motor base 408 through a nut base, the driving top of the motor base 501, and the screw rod B409 is driven by the motor base 501 to drive the screw rod B to be close to the position of the driven top wheel frame or the screw rod B409, so that the position of the driven top wheel frame is kept away from the welding ball 409.
The working process of the invention is as follows,
firstly, a node ball to be welded comprises a first node hemisphere and a second node hemisphere which are preliminarily welded in a positioning way, and a clamp is arranged at the positions of grooves to be welded of the first node hemisphere 91 and the second node hemisphere 92; the specific structure of the clamp 6 is shown in fig. 10 to 12, the clamp 6 comprises a plurality of arc-shaped connecting bodies 61, the arc-shaped connecting bodies 61 are hinged with each other, a locking structure is further arranged between the head arc-shaped connecting body 61 and the tail arc-shaped connecting body 61, the locking structure comprises a locking handle 63, a locking cam 64 and a locking bolt 65, the locking handle 63 is fixed on the locking cam 64 and protrudes outwards, the locking cam 64 is rotatably arranged on one arc-shaped connecting body 61, the locking bolt 65 is fixed on the other arc-shaped connecting body 61, a saw tooth part is arranged on one side, close to the locking bolt 65, of the locking cam 64, the locking bolt 65 comprises a shell and a locking shaft penetrating through the shell, a spring is further arranged between the locking shaft and the shell, the locking shaft is always inserted to the locking cam 64 under the action of the spring, the arc-shaped connecting body 61 is in a frame structure, a plurality of positioning wheels 62 are arranged in the middle through the shaft, and the positioning wheels 62 protrude out of the inner sides of the arc-shaped connecting bodies 61.
Then, the joint ball 9 with the fixture 6 mounted thereon is placed at the positioning structure of the traversing mechanism 3, the control device 8 makes the lifting plate 21 and the traversing plate 301 reach the clamping mechanism by controlling the traversing motor 302 and the lifting driving motor 23, the control device 8 makes the driving top wheel assembly and the driven top wheel assembly approach each other by controlling the translating motor and the reducing motor, and judges whether the driving top wheel assembly and the driven top wheel assembly clamp the joint ball to be welded according to the signal of the torque limiter, and after the driving friction disc and the driven friction disc clamp the first joint hemisphere 91 and the second joint hemisphere 92, the fixture is removed.
Finally, the control device drives the driving shaft to rotate through controlling the rotating motor, the rotating motor can drive the node ball to rotate through the driving shaft under the action of friction force between the driving friction disc and the node ball, in addition, the driven friction disc can rotate along with the node ball due to the action of friction force between the driven friction disc and the node ball, and the welding manipulator 7 finishes welding operation of all angles on the node ball under the control of the control device 8.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by those skilled in the art without departing from the spirit and principles of the invention, and any simple modification, equivalent variation and modification of the above embodiments in light of the technical principles of the invention may be made within the scope of the present invention.
Claims (7)
1. An automatic welding system for node balls is characterized in that: the automatic welding machine comprises a machine base (1), a lifting mechanism (2), a traversing mechanism (3), a clamping mechanism, a welding manipulator (7), a control device (8) and a clamp (6) for positioning a node ball (9), wherein the clamp (6) comprises a plurality of arc-shaped connecting bodies (61), the arc-shaped connecting bodies (61) are hinged with each other, a locking structure is further arranged between the two arc-shaped connecting bodies (61) at the front and the tail, the lifting mechanism (2) is fixed on the machine base (1), the traversing mechanism (3) is arranged at the top of the lifting mechanism (2), the traversing mechanism (3) is further provided with a positioning structure for placing the node ball (9) and the clamp (6), the clamping mechanism comprises a driven top wheel assembly (4) and a driving top wheel assembly (5) which are respectively arranged on the machine base (1) in a sliding mode, the two sides of the lifting mechanism (2), the driving top wheel assembly (5) comprises a driving top wheel frame (501), a driving shaft (503), a rotating motor (504) and a first driving mechanism, the driving wheel assembly (503) is rotatably arranged on the driving wheel frame (501), and the driving wheel (501) is driven by the driving wheel frame (501) to be driven by the driving wheel frame (1); the driven top wheel assembly (4) comprises a second driving mechanism, a driven top wheel frame (401) and a driven shaft (402) rotatably arranged on the driven top wheel frame (401), the driven top wheel frame (401) is slidably arranged on the machine base (1) and driven by the second driving mechanism, and a torque limiter (405) is further arranged on the second driving mechanism; the welding manipulator (7) welds the node ball (9) under the control of the control device (8), the locking structure comprises a locking handle (63), a locking cam (64) and a locking bolt (65), the locking handle (63) is fixed on the locking cam (64) and protrudes outwards, the locking cam (64) is rotationally arranged on one arc-shaped connecting body (61), the locking bolt (65) is fixed on the other arc-shaped connecting body (61), a sawtooth part is arranged on one side, close to the locking bolt (65), of the locking cam (64) and is clamped in the sawtooth part, the arc-shaped connecting body (61) is in a frame structure, a plurality of positioning wheels (62) are arranged in the middle of the locking mechanism through shafts, and the positioning wheels (62) protrude out of the inner side of the arc-shaped connecting body (61);
the lifting mechanism (2) comprises a lifting driving motor (23), a speed reducer A (24) and lifters (28), the base (1) is further provided with a bottom plate (20), the bottom plate (20) is positioned between the driven top wheel assembly (4) and the driving top wheel assembly (5), the lifting driving motor (23) is connected with the speed reducer A (24), the speed reducer A (24) is fixed on the bottom plate (20), the two lifters (28) are respectively arranged at two ends of the bottom plate (20), the top of each lifter (28) is fixedly provided with a lifting plate (21), the two lifters (28) are connected through a synchronous shaft (27), and an output shaft of the speed reducer A (24) is connected with the lifter (28) to drive the lifting plates (21) to move up and down;
sideslip mechanism (3) are including sideslip board (301), sideslip motor (302), speed reducer B (303) and lead screw A (308), sideslip board (301) slip sets up the upper portion at lifter plate (21), the upper portion of sideslip board (301) still is equipped with location structure, speed reducer B (303) are connected to sideslip motor (302), speed reducer B (303) are through fixing the one end at lifter plate (21), the both ends of lead screw A (308) set up on lifter plate (21) through lead screw seat A (306) and lead screw fixing base (310) respectively, and the one end of lead screw A (308) still is connected with speed reducer B (303) through the shaft coupling, still be equipped with T shape nut A (307) on lead screw A (308), T shape nut A (307) are fixed with the bottom of sideslip board (301), and sideslip motor (302) drive sideslip board (301) motion.
2. The automatic node ball welding system according to claim 1, wherein: the first driving mechanism comprises a translation motor (507), a speed reducer D (508) and a screw rod C (512), the translation motor (507) is connected with the speed reducer D (508), the speed reducer D (508) is fixed on the machine base (1), the screw rod C (512) is arranged on the machine base (1) through a screw rod base C (511), one end of the screw rod C is connected with the speed reducer D (508) through a coupler, a T-shaped nut C (513) is further arranged on the screw rod C (512), the T-shaped nut C (513) is fixed at the bottom of the active top turbine frame (501), and the active top turbine frame (501) is slidably arranged on the machine base (1) and is driven to move through the translation motor (507).
3. The automatic node ball welding system according to claim 1, wherein: the second driving mechanism comprises a gear motor (404) and a screw rod B (409), the gear motor (404) is fixed on the machine base (1), the screw rod B (409) is arranged on the machine base (1) through a screw rod seat B (407), one end of the screw rod B (409) is connected with the gear motor (404), the torque limiter (405) is arranged between the gear motor (404) and the screw rod B (409), the screw rod B (409) is also provided with a T-shaped nut B (410), the T-shaped nut B (410) is fixed at the bottom of the active top turbine frame (501), and the active top turbine frame (501) is arranged on the machine base (1) in a sliding mode and is driven to move by the gear motor (404).
4. The automatic node ball welding system according to claim 1, wherein: four corners of the bottom of the lifting plate (21) are further fixed with guide shafts (22), four corners of the bottom plate (20) are fixed with guide bearings (29), and the lifting plate (21) is arranged on the bottom plate (20) in a vertically sliding mode through the cooperation of the guide shafts (22) and the guide bearings (29).
5. The automatic node ball welding system according to claim 1, wherein: the speed reducer A (24) is fixed on the bottom plate (20) through a speed reducer base (26), and a primary photoelectric sensor (25) for determining the origin of the lifting position is further arranged on the speed reducer base (26).
6. An automatic node ball welding system according to claim 1, wherein: the positioning structure comprises a positioning shaft (313) and a positioning shaft mounting seat (314), grooves are formed in two sides of the transverse moving plate (301) along the extending direction of the transverse moving guide rail (311) respectively, the positioning shaft mounting seat (314) is fixed in the grooves, and two ends of the positioning shaft (313) are rotatably arranged in the positioning shaft mounting seat (314) through bearings.
7. An automatic welding method for a node ball is characterized by comprising the following steps of: the welding system of any one of claims 1 to 6, comprising the steps of:
firstly, a node ball (9) to be welded comprises a first node hemisphere (91) and a second node hemisphere (92) which are preliminarily welded in a positioning way, and a clamp (6) is arranged at the positions of grooves to be welded of the first node hemisphere (91) and the second node hemisphere (92);
then, place node ball (9) of anchor clamps (6) on the location structure of sideslip mechanism (3), controlling means (8) control sideslip mechanism (3) remove node ball (9) to clamping mechanism below, and control elevating system (2) promote node ball (9) to clamping mechanism same altitude, controlling means (8) control driven top wheel subassembly (4) and initiative top wheel subassembly (5) are close to each other and press from both sides node ball (9), and judge whether initiative top wheel subassembly (5) and driven top wheel subassembly (4) press from both sides node ball (9) to be welded according to the signal of moment limiter (405), demolish anchor clamps (6) after node ball (9) are pressed from both sides tightly, controlling means (8) control initiative top wheel subassembly (5) drive node ball (9) rotate, simultaneously control welding manipulator (7) weld node ball (9).
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| CN115533401A (en) * | 2022-10-31 | 2022-12-30 | 陕西风润智能制造研究院有限公司 | Wheel body automatic welding machine |
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| CN208033999U (en) * | 2018-03-12 | 2018-11-02 | 江苏民诺特种设备有限公司 | A kind of steel cylinder encircling welding equipment |
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