CN118003007B - Metal support welding robot - Google Patents
Metal support welding robot Download PDFInfo
- Publication number
- CN118003007B CN118003007B CN202410421213.5A CN202410421213A CN118003007B CN 118003007 B CN118003007 B CN 118003007B CN 202410421213 A CN202410421213 A CN 202410421213A CN 118003007 B CN118003007 B CN 118003007B
- Authority
- CN
- China
- Prior art keywords
- guide rail
- moving
- piece
- guide
- rail main
- 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.)
- Active
Links
- 238000003466 welding Methods 0.000 title claims abstract description 83
- 239000002184 metal Substances 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 56
- 238000001125 extrusion Methods 0.000 claims abstract description 36
- 238000009434 installation Methods 0.000 claims abstract description 18
- 230000009471 action Effects 0.000 claims abstract description 15
- 230000001360 synchronised effect Effects 0.000 claims abstract description 14
- 230000002787 reinforcement Effects 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 15
- 230000000149 penetrating effect Effects 0.000 claims description 15
- 230000003014 reinforcing effect Effects 0.000 claims description 5
- 238000003780 insertion Methods 0.000 claims 1
- 230000037431 insertion Effects 0.000 claims 1
- 230000005484 gravity Effects 0.000 abstract description 7
- 230000033001 locomotion Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 5
- 238000003825 pressing Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a metal bracket welding robot, in particular to the technical field of welding robots, which comprises a guide rail piece, wherein the guide rail piece is formed by correspondingly splicing a plurality of guide rail main bodies, a plurality of fixing tables are uniformly distributed at the bottom of the guide rail main bodies, and a slideway is concavely arranged in the middle position of the upper surface of the guide rail main body. According to the invention, the moving mechanism can stably limit the welding robot body on the guide rail member, so that the welding robot body can stably and freely select the side hanging and the reverse hanging of the following guide rail member to finish welding work under different environments, and under the action of the following mechanism, when the welding robot body follows the guide rail member to finish reverse hanging, the counterweight assembly falls under the gravity to finish the action of the extrusion wheel and the synchronous assembly, the following mechanisms at two sides of the installation table are synchronously driven to act, and the clamping pieces and the plug-in pieces of the following mechanisms at two sides of the installation table are respectively inserted into the limiting channel and the positioning groove to finish double limitation.
Description
Technical Field
The invention relates to the technical field of welding robots, in particular to a metal bracket welding robot.
Background
In the field of construction, metal supports such as upright posts and cross beams made of metal are often used, assistance is provided for building construction through the metal supports, wherein the heights of the upright posts are relatively high, and the upright posts are erected after welding work is completed on the ground;
When using welding robot body to weld the stand, because the welding seam of stand is longer, so set up the operation guide rail of welding robot body, welding robot body removes along the guide rail and welds the welding seam, saves the manual work, wherein is limited to welding environment's influence, can freely select tiling, side hanging and the switching of hanging the use to operation guide rail according to environmental factor and welding product influence.
Publication (bulletin) number: CN117260103a discloses a welding robot for building, this welding robot body lays the guide rail along the direction that needs welded, the motor drives gear axial rotation, thereby drive mobile station and welding robot body and remove along direction and the guide rail direction of guide part, thereby make welding robot body can weld rectangular form stand, need not the manual welding set of holding welds the stand, and the guide part plays spacing, guiding effect to rotating the wheel, prevent to rotate wheel and mobile station and rock about taking place or rocking, and be convenient for carry out side to the guide rail through the permanent magnet and hang, hang upside down.
According to the welding robot body, the limit of the welding robot body during walking is finished only through the isosceles trapezoid-shaped guide part and the rotating wheels, and the effective limit and guide functions can be finished when the guide rail is tiled for use;
however, when the guide rail and the welding robot are used in a side hanging and reverse hanging mode, the gravity center of the welding robot is far away from the guide rail, good limiting capacity cannot be obtained only by means of the isosceles trapezoid shape of the guide part and the rotating wheel, the guide part and the rotating wheel are prone to being worn and aggravated to shake when the welding robot walks for a long time, meanwhile, safety accidents caused by falling off and separation of the welding robot and the guide rail are prone to occurring, running risks are increased, and safety is poor.
Disclosure of Invention
The invention aims to provide a metal bracket welding robot so as to solve the technical problems.
In order to solve the technical problems, the invention is realized by the following technical scheme.
The invention relates to a metal bracket welding robot which comprises a guide rail piece, wherein the guide rail piece is formed by correspondingly splicing a plurality of guide rail main bodies, a plurality of fixing tables are uniformly distributed at the bottom of the guide rail main body, a slideway is concavely arranged in the middle of the upper surface of the guide rail main body, guide channels extend towards the inside of the guide rail main body at two sides of the bottom of the slideway on the guide rail main body, limiting channels are concavely arranged at two sides of the outer wall of the guide rail main body symmetrically, a moving mechanism is arranged on the guide rail main body in a sliding clamping manner and correspondingly acts on the guide channels to finish limiting, the moving mechanism is used for moving on the guide rail main body, an assembling table is detachably arranged on the moving mechanism, positioning grooves are concavely arranged at two sides of the assembling table symmetrically, a welding robot body is detachably and fixedly arranged on the assembling table, and simultaneously, the two follow-up mechanisms are arranged at two sides of the moving mechanism and are used for actively sensing the installation mode of the guide rail piece and finishing follow-up actions, the two follow-up mechanisms act on the limiting channels to finish the reinforcing limiting of the moving mechanism and the guide rail main body, and the two follow-up mechanisms act on the reinforcing mechanism to finish the robot in the positioning groove.
Further, two protruding blocks symmetrically extend outwards from one end of the guide rail main body, two grooves are symmetrically and inwards concavely formed in the other end of the guide rail main body, connecting pieces are detachably mounted on two sides of the bottom of the guide rail main body through bolts, splicing actions are completed by corresponding splicing of the two protruding blocks and the two grooves on the adjacent guide rail main body, and racks are inwards concavely formed on two sides of the upper surface of the guide rail main body.
Further, linear guide rails are arranged on two sides of the guide rail main body above the limiting channel, and two ball sliding blocks are symmetrically and slidably clamped on the two linear guide rails.
Further, the moving mechanism comprises a sliding piece which is slidably arranged on the sliding way, an installation table is integrally welded at the top of the sliding piece, the installation table is detachably and fixedly connected with the assembly table, and four corners of the bottom of the installation table are respectively and fixedly connected with two ball sliding blocks on two linear guide rails.
Further, the guide strips are outwards extended from two sides of the bottom of the sliding part and correspondingly clamped into the guide channels, mounting areas matched with two racks are inwards concavely arranged on one side of the mounting table, a transmission shaft is rotatably arranged on one side of the mounting table, two gears are symmetrically and fixedly sleeved outside the transmission shaft and correspondingly hidden in the two mounting areas, the two gears are respectively meshed with the two racks to complete the walking action, a gear motor is mounted on one side of the mounting table through a support, the output end of the gear motor is in transmission connection with the transmission shaft, a fixing area is inwards concavely arranged on the lower surface of the sliding part, a plurality of rollers are rotatably distributed in the fixing area at equal intervals, and the rollers are in rotary contact with the bottoms of the sliding ways.
Further, the follower includes the concave seat of installing at the mount table lateral wall, sliding limitation has the linkage piece in the concave seat, install reset spring between linkage piece inboard and concave seat, install the extrusion wheel through the support rotation in the linkage piece bottom, install the fastener in the extrusion wheel inboard, this fastener can be corresponding to insert in the restriction way and accomplish the reinforcement restriction to mount table and guide rail main part, install the plug-in components at the linkage piece top, and this plug-in components can be corresponding to insert in the constant head tank and accomplish the reinforcement to the assembly table, install two parallel pieces at mount table lateral wall symmetry interval, the guide block is all installed at two parallel piece inner walls, slidable mounting has the counter weight subassembly between two parallel pieces, the sloping of this counter weight subassembly bottom is installed, the sloping of this sloping contacts with the extrusion wheel cooperation, accomplish the extrusion promotion to the extrusion wheel under the sloping extrusion of sloping, install synchronous component at counter weight subassembly top, this synchronous component is used for promoting the cooperation at linkage piece top.
Further, the bottom of the clamping piece is concavely provided with a reserved area, a guide frame is limited in the reserved area in a vertical sliding mode, the bottom of the guide frame is in an open design, a plurality of rotating wheels are installed in the guide frame in an equidistant interval rotation mode, and a plurality of extrusion springs are installed between the top of the guide frame and the reserved area.
Further, the counter weight subassembly is including being the counter weight frame that runs through the setting, inwards concave being equipped with the removal district in counter weight frame bilateral symmetry, should two remove district and two guide blocks on the parallel piece correspond slip block, sliding mounting has the pouring weight in counter weight frame, install two fixed plates towards linkage one side interval in counter weight frame bottom, all slide on two fixed plates and wear to be equipped with the screw sleeve, install the threaded rod through the screw spin in the screw sleeve, install the extrusion head in the threaded rod bottom, and screw sleeve top and pouring weight are connected, all overlap at two screw sleeve outsides and be equipped with positioning spring, and positioning spring is located between fixed plate and the pouring weight.
Further, the synchronous assembly is including being the frame that runs through the setting, runs through the frame inner wall both sides intermediate position and all inwards concave be equipped with one and move the way, and two one moves and says that equal slidable mounting has one to move the platform, moves a platform bottom and one and move and say and install the restriction spring between the way, is located one and moves that the equal symmetry of way both sides has been seted up two No. two and has moved the way, two No. three move the way in running through frame inner wall both sides.
Further, two sliding tables are installed in the two sliding passages, a first arm is hinged between the two sliding tables, a second arm is hinged between the two sliding tables, a push plate is installed on one side, close to the counterweight frame, of the penetrating frame, the push plate is fixedly connected with the side walls of the two sliding tables, hinge plates are installed on the lower surface of the push plate, two sides of the hinge plates are hinged with the first arm and the second arm respectively, push arms are installed on one side of the two sliding tables, the push arms slide through the penetrating frame, and the front ends of the push arms are in separable contact with the linkage pieces.
Compared with the prior art, the invention has the beneficial effects that:
1. According to the invention, the moving mechanism is arranged, the mounting table and the guide rail main body are clamped through the matching of the guide bar and the guide way, the falling of the mounting table and the guide rail main body is avoided, the gear motor is started to drive the transmission shaft and the two gears to rotate, and the two gears are meshed with the two racks, so that the mounting table is pushed to walk in the guide rail main body, and due to the design of the two groups of gears and the racks, the power of the mounting table is more stable during walking, the bearing capacity is stronger, the welding robot main body obtains a stable moving walking effect, and the welding work is convenient;
2. According to the invention, the follow-up mechanism is arranged, the installation table follows the guide rail piece to finish the inverted hanging, so that the counterweight component moves downwards under the combined gravity of the counterweight frame and the counterweight, the inclined plane of the inclined table is utilized to push the extrusion wheel, the clamping piece at one side of the extrusion wheel is inserted into the limiting channel, meanwhile, the extrusion wheel acts on the linkage piece when moving forwards, the linkage piece moves on the concave seat against the reset spring, at the moment, the counterweight component moves downwards and also acts on the synchronous component, the continuous compensation pushing on the top of the linkage piece is finished through the pushing arm, the clamping piece and the plug-in piece can be stably inserted into the corresponding limiting channel and the positioning channel to finish the reinforcement limiting, and the external limiting of the clamping piece and the plug-in piece is finished through the counterweight component;
3. According to the invention, the counterweight assembly is arranged, and the mounting table follows the guide rail to finish side hanging, so that the follow-up mechanism on one side above the mounting table acts, the weight on the follow-up mechanism moves downwards under the action of gravity to compress the positioning spring, the linkage piece is extruded through the extrusion head, the elastic force of the return spring is overcome by the linkage piece, the clamping piece and the plug-in unit connected with the linkage piece are pushed to move downwards in a following way, the clamping piece and the plug-in unit are respectively inserted into the limiting channel and the positioning groove to respectively finish the reinforcement and limitation on the mounting table and the welding robot body, and the falling problem is avoided.
Of course, it is not necessary for any one product to practice the invention to achieve all of the advantages set forth above at the same time.
Drawings
FIG. 1 is a front view of the whole of the present invention;
FIG. 2 is a schematic diagram of the distribution of the welding robot body and rail members of the present invention;
FIG. 3 is a schematic view of the mounting of the moving mechanism of the present invention on a rail member;
FIG. 4 is a schematic view of a track member of the present invention;
FIG. 5 is a schematic view showing the moving mechanism separated from the guide rail member according to the present invention;
FIG. 6 is a schematic diagram of a movement mechanism according to the present invention;
FIG. 7 is a schematic diagram of the follower mechanism of the present invention separated from the mounting table;
FIG. 8 is a schematic diagram of the distribution of the follower and rail members of the present invention;
FIG. 9 is a schematic view of the welding robot body of the present invention mounted on a moving mechanism;
FIG. 10 is a schematic view of a linear guide and ball slider connection according to the present invention;
FIG. 11 is a schematic view of a follower mechanism of the present invention;
FIG. 12 is a schematic diagram of a synchronization assembly and counterweight assembly distribution according to the invention;
FIG. 13 is a schematic view of the guide frame of the present invention mounted on a clip;
FIG. 14 is a schematic view of the connection of the linkage with the card and the insert of the present invention;
FIG. 15 is a schematic view of a synchronous assembly structure according to the present invention;
Fig. 16 is a schematic view of a counterweight assembly according to the invention.
In the figure: 1. a guide rail member; 101. a guide rail main body; 102. a fixed table; 103. a slideway; 104. a guide way; 105. limiting the track; 106. a bump; 107. a groove; 108. a connecting sheet; 109. a rack; 2. an assembly table; 3. a positioning groove; 4. welding a robot body; 5. a welding head; 6. a linear guide rail; 7. a ball slider; 8. a slider; 9. a mounting table; 10. a guide bar; 11. an installation area; 12. a transmission shaft; 13. a gear; 14. a speed reducing motor; 15. a fixed zone; 16. pushing arms; 17. a roller; 18. a concave seat; 19. a sliding region; 20. moving the block; 21. a linkage member; 22. a return spring; 23. a pressing wheel; 24. a clamping piece; 25. an insert; 26. a parallel member; 27. a guide block; 28. a ramp; 29. a reserved area; 30. a guide frame; 31. a rotating wheel; 32. extruding a spring; 33. a counterweight frame; 34. a moving area; 35. a weight block; 36. a fixing plate; 37. a threaded sleeve; 38. a threaded rod; 39. an extrusion head; 40. a positioning spring; 41. a through frame; 42. a first lane; 43. a first moving table; 44. a limiting spring; 45. a second lane; 46. a third lane; 47. a second moving table; 48. moving the third table; 49. a first arm; 50. a second arm; 51. a push plate; 52. a hinge plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
In the description of the present invention, it should be understood that the terms "open," "upper," "lower," "thickness," "top," "middle," "length," "inner," "peripheral," and the like indicate orientation or positional relationships, merely for convenience in describing the present invention and to simplify the description, and do not indicate or imply that the components or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
Embodiment one: the invention provides a technical scheme that: as shown in fig. 1,2,4 and 10, a metal bracket welding robot comprises a guide rail member 1, wherein the guide rail member 1 is formed by correspondingly splicing a plurality of guide rail main bodies 101, a plurality of fixed tables 102 are uniformly distributed at the bottom of the guide rail main bodies 101, a slideway 103 is concavely arranged in the middle of the upper surface of the guide rail main bodies 101, guide channels 104 extend towards the inside of the guide rail main bodies 101 at two sides of the bottom of the slideway 103 on the guide rail main bodies 101, limiting channels 105 are symmetrically concavely arranged at two sides of the outer wall of the guide rail main bodies 101, a moving mechanism is installed on the guide rail main bodies 101 in a sliding and clamping manner and correspondingly acts on the guide channels 104 to complete the limitation, the moving mechanism is used for moving and walking on the guide rail main bodies 101, the assembly table 2 is detachably mounted on the moving mechanism through bolts, positioning grooves 3 are symmetrically and inwards concavely formed in two sides of the assembly table 2, the welding robot body 4 is detachably and fixedly mounted on the assembly table 2, the welding head 5 is arranged on the welding robot body 4, the welding robot body 4 is used for completing welding, and simultaneously, follow-up mechanisms are mounted on two sides of the moving mechanism and are used for actively sensing the mounting mode of the guide rail piece 1 and completing follow-up, the two follow-up mechanisms act on the limiting channel 105 to complete reinforcement limitation of the moving mechanism and the guide rail piece 1, and meanwhile, the two follow-up mechanisms act on the positioning grooves 3 to complete reinforcement action of the welding robot body 4;
Noteworthy are: when assembling, when the guide rail pieces 1 are required to be spliced and assembled, the adjacent guide rail main bodies 101 are mutually close, the bumps 106 of the adjacent guide rail main bodies 101 are correspondingly inserted into the grooves 107 of the adjacent guide rail main bodies 101 to complete simple splicing, the assembly and disassembly are convenient and quick, time and labor are saved, the connecting pieces 108 are used for connecting and fixing the adjacent guide rail main bodies 101 through bolts, the spliced guide rail pieces 1 are more stable, and the guide rail pieces 1 can be used by limiting and fixing through the fixing table 102.
Wherein, two lugs 106 are outwards extended symmetrically at one end of the guide rail main body 101, two grooves 107 are inwards concavely arranged symmetrically at the other end of the guide rail main body 101, connecting pieces 108 are detachably arranged at two sides of the bottom of the guide rail main body 101 through bolts, the two connecting pieces 108 are detachably connected with the adjacent guide rail main bodies 101 respectively, splicing actions are completed by corresponding splicing of the two lugs 106 and the two grooves 107, reinforcing connection between the adjacent guide rail main bodies 101 is completed through the connecting pieces 108, racks 109 are inwards concavely arranged at two sides of the upper surface of the guide rail main body 101, linear guide rails 6 are arranged above the limiting channels 105 at two sides of the guide rail main body 101, and two ball sliding blocks 7 are symmetrically and slidingly clamped on the two linear guide rails 6.
Wherein, the electrical components such as the welding robot body 4, the gear motor 14, etc. are all connected with a switch through wires, and the switch is electrically connected with a controller, and the specific structure of the controller is not limited.
Embodiment two: according to the moving mechanism provided in the first embodiment, the present embodiment provides a further technical solution of the moving mechanism.
As shown in fig. 3, 5, 6 and 9, the moving mechanism comprises a slide 8 slidably mounted on a slide 103, a mounting table 9 is integrally welded at the top of the slide 8, the mounting table 9 is detachably and fixedly connected with the mounting table 2, two handles are symmetrically mounted on the upper surface of the mounting table 9, two sides of the mounting table 9 extend out of a guide rail main body 101 for arrangement, and four corners at the bottom of the mounting table 9 are fixedly connected with two ball sliding blocks 7 on two linear guide rails 6 respectively.
Noteworthy are: when the mobile welding is performed: through being equipped with moving mechanism, slide 8 sliding block with mount table 9 bottom is in slide 103, the gib block 10 of slide 8 both sides corresponds sliding block to in the gib block 104 this moment, the cooperation through gib block 10 and gib block 104 has been accomplished the inside block to mount table 9 and guide rail main part 101, the drop of mount table 9 and guide rail main part 101 has been avoided, and be distributed with a plurality of gyro wheels 17 in slide 8 bottom, utilize gyro wheel 17 and slide 103's rotation contact to guarantee the smooth and easy of mount table 9 removal on guide rail main part 101, during the follow-up walking, only need start gear motor 14, drive transmission shaft 12 and two gears 13 rotate, because two gears 13 and two racks 109 mesh, thereby promote mount table 9 and walk in guide rail main part 101, and adopt the design of two sets of gears 13 and racks 109, make mount table 9 power more stable when walking, the bearing capacity is stronger, make welding robot body 4 obtain stable removal walking effect, the convenience carries out welding work, be provided with linear guide rail 6 at guide rail main part 101 lateral wall, and mount table 9 passes through ball 7 and guide rail 6 and linear guide rail 6, make the smooth and easy connection of mount table 9 and guide rail 101 through the ball 6 and the cooperation of linear guide rail 7, make the smooth and stable connection of mount table 9.
In the embodiment of the invention, guide strips 10 are outwards extended on two sides of the bottom of a sliding part 8, the guide strips 10 are correspondingly and slidably clamped into a guide channel 104, a mounting area 11 matched with two racks 109 is inwards concavely arranged on one side of a mounting table 9, a transmission shaft 12 is rotatably arranged on one side of the mounting table 9, two gears 13 are symmetrically and fixedly sleeved outside the transmission shaft 12, the two gears 13 are correspondingly hidden in the two mounting areas 11, the two gears 13 are respectively meshed with the two racks 109 to complete the walking action, a speed reducing motor 14 is arranged on one side of the mounting table 9 through a bracket, the output end of the speed reducing motor 14 is in transmission connection with the transmission shaft 12, a fixing area 15 is inwards concavely arranged on the lower surface of the sliding part 8, a plurality of rollers 17 are rotatably distributed in the fixing area 15 at equal intervals, and the rollers 17 are in rotary contact with the bottom of the sliding way 103.
Embodiment III: according to the follower provided in the first embodiment, the present embodiment provides a further technical solution of the follower.
As shown in fig. 7, 8, 11 and 13-15, the follower mechanism comprises a concave seat 18 installed on the side wall of the mounting table 9, sliding areas 19 are symmetrically penetrated and opened on two side walls of the concave seat 18, a moving block 20 is slidably installed in both sliding areas 19, a linkage piece 21 is limited in the sliding way in the concave seat 18, the linkage piece 21 is fixedly connected with the moving block 20, the linkage piece 21 is guided to move forwards and backwards through the limitation of the sliding area 19 and the concave seat 18, a reset spring 22 is installed between the inner side of the linkage piece 21 and the concave seat 18, a pressing wheel 23 is rotatably installed at the bottom of the linkage piece 21 through a bracket, a clamping piece 24 is installed at the inner side of the pressing wheel 23, the clamping piece 24 can correspondingly insert into a limiting channel 105 to complete the reinforcement limitation of the mounting table 9 and the guide rail main body 101, an insert 25 is installed at the top of the linkage piece 21, the insert 25 is matched with the positioning groove 3, and the insert 25 can correspondingly insert into the positioning groove 3 to complete the reinforcement of the mounting table 2;
Two parallel pieces 26 are symmetrically arranged on the side wall of the mounting table 9 at intervals, guide blocks 27 are arranged on the inner walls of the two parallel pieces 26, a counterweight component is slidably arranged between the two parallel pieces 26, an inclined table 28 is arranged at the bottom of the counterweight component, the inclined surface of the inclined table 28 is in matched contact with the extrusion wheel 23, extrusion pushing of the extrusion wheel 23 is completed under the extrusion of the inclined surface of the inclined table 28, a synchronous component is arranged at the top of the counterweight component and used for collaborative pushing of the top of the linkage piece 21, a reserved area 29 is concavely arranged at the bottom of the clamping piece 24, a guide frame 30 is limited in the reserved area 29 in an up-down sliding manner, the bottom of the guide frame 30 is in an open design, a plurality of rotating wheels 31 are rotatably arranged in the guide frame 30 at equal intervals, the rotating wheels 31 are in rotary contact with the inner wall of the limiting channel 105, and a plurality of extrusion springs 32 are arranged between the top of the guide frame 30 and the reserved area 29;
Wherein, when the guiding is performed: and be provided with gliding guide frame 30 in fastener 24 bottom, utilize runner 31 and restriction way 105 inner wall rotation contact to accomplish the rotation direction, further promoted the smooth and easy of mount table 9 walking to under the promotion of extrusion spring 32, can carry out initiative compensation to the position of runner 31, make runner 31 can with restriction way 105 effective contact, the fastener 24 inserts in the restriction way 105 simultaneously and accomplishes the reinforcement restriction to mount table 9, avoids mount table 9 and guide rail main part 101 to appear droing.
In the embodiment of the invention, the synchronous assembly comprises a penetrating frame 41 which is arranged in a penetrating way, the penetrating frame 41 is connected with guide blocks 27 on two parallel pieces 26 through a bracket, a first moving channel 42 is concavely arranged in the middle position of two sides of the inner wall of the penetrating frame 41, a first moving table 43 is slidably arranged in the two first moving channels 42, a limiting spring 44 is arranged between the bottom of the first moving table 43 and the first moving channel 42, two second moving channels 45 and two third moving channels 46 are symmetrically arranged on two sides of the first moving channel 42 on two sides of the inner wall of the penetrating frame 41, when the mounting table 9 is hung upside down along with a guide rail main body 101, the counterweight frame 33 and the counterweight 35 overcome the elasticity of the limiting spring 44 to push the clamping piece 24 and the plug-in piece 25, and the weight of the counterweight frame 33 and the counterweight 35 can overcome the elasticity of the limiting spring 22 and the limiting spring 44 to push the linkage piece 21;
Noteworthy are: when the reverse hanging is used: by arranging the following mechanism, since the mounting table 9 follows the guide rail 1 to finish the reverse hanging, the counterweight assembly moves downwards under the combined gravity of the counterweight frame 33 and the counterweight 35, the counterweight assembly performs guiding sliding through the guide block 27 on the parallel piece 26, the downward moving stability is ensured, when the counterweight assembly moves downwards, the inclined table 28 is pulled to move, the inclined surface of the inclined table 28 is utilized to push the extrusion wheel 23, the clamping piece 24 on one side of the extrusion wheel 23 is inserted into the limiting channel 105, meanwhile, the extrusion wheel 23 acts on the linkage piece 21 when moving forwards, the linkage piece 21 overcomes the movement of the reset spring 22 on the concave seat 18, at the moment, the counterweight assembly moves downwards and also acts on the synchronous assembly, the counterweight assembly contacts with the push plate 51, the push plate 51 is driven to move downwards along the first moving table 43 to compress the limiting spring 44, the first arm 49 and the second arm 50 are extruded through the hinge plate 52 in the downward movement of the push plate 51, the first arm 49 and the second arm 50 are pushed to slide in the second moving channel 45 and the third moving channel 46, meanwhile, the linkage pushing arm 16 moves when the first arm 49 moves, continuous compensation pushing on the top of the linkage piece 21 is completed through the pushing arm 16, the clamping piece 24 and the plug-in piece 25 can be stably inserted into the corresponding limiting channel 105 and the positioning groove 3 to complete reinforcement limitation, the external limitation of the clamping piece 24 and the plug-in piece 25 is completed through the counterweight component, the problem that the clamping piece 24 and the plug-in piece 25 are moved out of the limiting channel 105 and the positioning groove 3 due to the interference of external force is avoided, the clamping piece 24 and the plug-in piece 25 can enter the limiting channel 105 and the positioning groove 3 with certain pushing force, the assembly table 9 can complete reinforcement on the assembly table 2 after the plug-in piece 25 is inserted into the positioning groove 3, the safety problem that the welding robot body 4 on the assembly table 2 drops is avoided, the two follow-up mechanisms can follow-up reset after the follow-up guide rail piece 1 resets, the whole operation of the welding robot body 4 is more stable;
Wherein, sliding installation has two No. two to move the platform 47 in two No. two to move the way 45, sliding installation has two No. three to move the platform 48 in two No. three to move the way 46, it has No. one arm 49 to move to the platform 47 in two No. two, it has No. two arms 50 to hinge between two No. three to move to the platform 48, it has push pedal 51 to run through frame 41 and be close to counterweight frame 33 one side, this push pedal 51 is with two No. one to move the platform 43 lateral wall fixed connection, surface mounting has hinge plate 52 under push pedal 51, this hinge plate 52 both sides respectively with No. one arm 49, no. two arms 50 hinge, no. one arm 49 under the normality, no. two arms 50 are the slope setting, install push arm 16 in two No. two to move to the platform 47 one side, this push arm 16 slides and passes and runs through the frame 41 setting of running through, and push arm 16 front end and the separable contact of link 21, adopt separable contact makes push arm 16 can accomplish separation and contact action with link 21, avoid appearing the motion interference.
Embodiment four: according to the counterweight assembly provided in the first embodiment, the present embodiment provides a further technical solution of the counterweight assembly.
As shown in fig. 12 and 16, the counterweight assembly comprises a counterweight frame 33 which is arranged in a penetrating way, the bottom of the counterweight frame 33 is connected with a ramp 28, moving areas 34 are symmetrically and inwards concavely arranged at two sides of the counterweight frame 33, the two moving areas 34 are correspondingly and slidably engaged with guide blocks 27 on two parallel pieces 26, the guide sliding of the counterweight frame 33 is completed through the guide blocks 27 on the two parallel pieces 26 and the two moving areas 34, a weight 35 is slidably arranged in the counterweight frame 33, meanwhile, the weight 35 can be freely increased on the weight 35 according to the use requirement, the operation stability of a follow-up mechanism is ensured, a sliding track matched with the weight 35 is reserved in the counterweight frame 33, the limiting sliding of the weight 35 is completed in the counterweight frame 33, the weight 35 is prevented from being separated from the counterweight frame 33, two fixing plates 36 are arranged at intervals at the bottom of the counterweight frame 33 towards one side of the linkage piece 21, the two fixing plates 36 are respectively provided with a threaded sleeve 37 in a sliding manner, a threaded rod 38 is installed in the threaded sleeve 37 through threaded screwing, an extrusion head 39 is installed at the bottom of the threaded rod 38, the threaded rod 38 can rotate to finish fine adjustment of the position of the extrusion head 39, the top of the threaded sleeve 37 is connected with the weight 35, positioning springs 40 are respectively sleeved outside the two threaded sleeves 37, the positioning springs 40 are positioned between the fixing plates 36 and the weight 35, the position of the weight 35 is limited through the positioning springs 40, the weight of the weight 35 can overcome the elasticity of the positioning springs 40 to finish movement, the weight 35 can overcome the elasticity of the return springs 22 to finish pushing of the linkage piece 21, and when the mounting table 9 is hung on the guide rail main body 101 side, the weight 35 overcomes the elasticity of the positioning springs 40 to finish extrusion of the linkage piece 21;
Noteworthy are: when the side hanging is used: by arranging the counterweight assembly, the mounting table 9 completes the side hanging along with the guide rail piece 1, so that the follow-up mechanism on one side above the mounting table is operated, the weight 35 on the mounting table moves downwards by gravity to compress the positioning spring 40, the linkage piece 21 is extruded by the extrusion head 39, the elastic force of the return spring 22 is overcome by the linkage piece 21, the clamping piece 24 and the plug-in unit 25 connected with the linkage piece 21 are pushed to move downwards along with the movement, the clamping piece 24 and the plug-in unit 25 are respectively inserted into the limiting channel 105 and the positioning groove 3 to respectively complete the reinforcement restriction on the mounting table 9 and the welding robot body 4, the reinforcement action between the mounting table 9 and the guide rail body 101 and the mounting table 9 and the welding robot body 4 can be completed, the stability of the mounting table 9 and the welding robot body 4 is ensured, and the problem of falling off is avoided.
The invention provides a metal bracket welding robot, which has the following specific working principle: firstly, a metal support to be welded is laid down, then the guide rail piece 1 is paved according to the welding direction of the metal support, then a moving mechanism and a welding robot body 4 are started, the moving mechanism drives the welding robot body 4 to walk on the guide rail piece 1, the welding robot body 4 welds the metal support through a welding head 5 on the welding robot body in the walking process, a manual hand-held welding device is not required to weld the metal support, and the welding efficiency is improved;
meanwhile, the moving mechanism can stably limit the welding robot body 4 on the guide rail piece 1, so that the welding robot body 4 can stably and freely select the side hanging and the reverse hanging of the following guide rail piece 1 to finish welding work under different environments, safety accidents caused by falling off of the welding robot body 4 from the guide rail piece 1 are avoided, and the whole welding work is safely and stably carried out;
And under the effect of follower, when welding robot body 4 follows guide rail spare 1 and accomplishes the use of hanging, the follower action of corresponding one side, promote the linkage piece 21 and make fastener 24, plug-in components 25 insert restriction way 105 respectively, in constant head tank 3, accomplish the reinforcement restriction to welding robot body 4 and mount pad 9, avoid welding robot body 4 and moving mechanism and guide rail spare 1 to appear the problem that drops, when welding robot body 4 follows guide rail spare 1 and accomplishes the use of hanging upside down, the counter weight subassembly receives gravity whereabouts to accomplish the effect to extrusion wheel 23, synchronous subassembly, the follower action of synchronous drive mount pad 9 both sides, make the fastener 24 of follower, plug-in components 25 of mount pad 9 both sides insert restriction way 105 respectively, accomplish dual restriction in the constant head tank 3, the stability of welding robot body 4 operation has been improved.
In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean 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.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (5)
1. The utility model provides a metal support welding robot, includes guide rail piece (1), and this guide rail piece (1) is formed by a plurality of guide rail main part (101) corresponding concatenation, guide rail main part (101) bottom evenly distributed has a plurality of fixed stations (102), is equipped with slide (103) at guide rail main part (101) upper surface intermediate position indent, its characterized in that:
Guide channels (104) extend towards the inside of the guide rail main body (101) at two sides of the bottom of the slideway (103) on the guide rail main body (101), and limiting channels (105) are symmetrically and inwards concavely arranged at two sides of the outer wall of the guide rail main body (101);
A moving mechanism is installed on the guide rail main body (101) in a sliding clamping manner, the moving mechanism correspondingly acts on the guide way (104) to finish limiting, the moving mechanism is used for moving and walking on the guide rail main body (101), an assembling table (2) is detachably installed on the moving mechanism, positioning grooves (3) are symmetrically and inwards concavely formed in two sides of the assembling table (2), a welding robot body (4) is detachably and fixedly installed on the assembling table (2), the welding robot body (4) is used for finishing welding, and simultaneously, follow-up mechanisms are installed on two sides of the moving mechanism and used for actively sensing the installation mode of the guide rail piece (1) and finishing follow-up, the two follow-up mechanisms act on the limiting way (105) to finish reinforcing and limiting of the moving mechanism and the guide rail piece (1), and meanwhile, the two follow-up mechanisms act on the positioning grooves (3) to finish reinforcing actions of the welding robot body (4);
the two sides of the guide rail main body (101) are positioned above the limiting channel (105) and are provided with linear guide rails (6), and two ball sliding blocks (7) are symmetrically and slidably clamped on the two linear guide rails (6);
The moving mechanism comprises a sliding piece (8) which is slidably arranged on a sliding way (103), an installation table (9) is integrally welded at the top of the sliding piece (8), the installation table (9) is detachably and fixedly connected with the assembly table (2), and four corners at the bottom of the installation table (9) are respectively and fixedly connected with two ball sliding blocks (7) on two linear guide rails (6);
The follow-up mechanism comprises a concave seat (18) arranged on the side wall of the mounting table (9), a linkage piece (21) is limited in the concave seat (18) in a sliding way, a return spring (22) is arranged between the inner side of the linkage piece (21) and the concave seat (18), an extrusion wheel (23) is rotatably arranged at the bottom of the linkage piece (21) through a bracket, a clamping piece (24) is arranged on the inner side of the extrusion wheel (23), and the clamping piece (24) can be correspondingly inserted into a limiting channel (105) to complete the reinforcement and limitation on the mounting table (9) and the guide rail main body (101);
An insert (25) is arranged at the top of the linkage piece (21), the insert (25) can be correspondingly inserted into the positioning groove (3) to finish the reinforcement of the assembly table (2), two parallel pieces (26) are symmetrically arranged on the side wall of the mounting table (9) at intervals, guide blocks (27) are arranged on the inner walls of the two parallel pieces (26), a counterweight component is slidably arranged between the two parallel pieces (26), an inclined table (28) is arranged at the bottom of the counterweight component, the inclined surface of the inclined table (28) is in matched contact with the extrusion wheel (23), the extrusion pushing of the extrusion wheel (23) is finished under the extrusion of the inclined surface of the inclined table (28), and a synchronous component is arranged at the top of the counterweight component and is used for cooperatively pushing the top of the linkage piece (21);
The counterweight assembly comprises a counterweight frame (33) which is arranged in a penetrating way, moving areas (34) are symmetrically and inwards concavely arranged at two sides of the counterweight frame (33), the two moving areas (34) are correspondingly and slidably clamped with guide blocks (27) on two parallel pieces (26), and a weight (35) is slidably arranged in the counterweight frame (33);
Two fixing plates (36) are arranged at intervals at the bottom of the counterweight frame (33) towards one side of the linkage piece (21), threaded sleeves (37) are arranged on the two fixing plates (36) in a sliding mode, threaded rods (38) are arranged in the threaded sleeves (37) in a screwed mode, extrusion heads (39) are arranged at the bottoms of the threaded rods (38), the tops of the threaded sleeves (37) are connected with the weights (35), positioning springs (40) are sleeved outside the two threaded sleeves (37), and the positioning springs (40) are located between the fixing plates (36) and the weights (35);
The synchronous assembly comprises a penetrating frame (41) which penetrates through the synchronous assembly, a first moving channel (42) is inwards concavely arranged at the middle position of two sides of the inner wall of the penetrating frame (41), a first moving table (43) is slidably arranged in the two first moving channels (42), a limiting spring (44) is arranged between the bottom of the first moving table (43) and the first moving channel (42), and two second moving channels (45) and two third moving channels (46) are symmetrically arranged on two sides of the inner wall of the penetrating frame (41) and positioned on two sides of the first moving channel (42).
2. A metal bracket welding robot as defined in claim 1, wherein: two protruding blocks (106) are symmetrically and outwards extended at one end of the guide rail main body (101), two grooves (107) are symmetrically and inwards recessed at the other end of the guide rail main body (101), connecting pieces (108) are detachably arranged on two sides of the bottom of the guide rail main body (101) through bolts, splicing actions are completed by corresponding insertion of the two protruding blocks (106) and the two grooves (107) on the adjacent guide rail main body (101), and racks (109) are inwards recessed on two sides of the upper surface of the guide rail main body (101).
3. A metal bracket welding robot as defined in claim 2, wherein: the two sides of the bottom of the sliding piece (8) are outwards extended with guide strips (10), the guide strips (10) are correspondingly and slidably clamped into the guide channels (104), one side of the installation table (9) is inwards concavely provided with an installation area (11) matched with two racks (109), one side of the installation table (9) is rotatably provided with a transmission shaft (12) in a penetrating mode, two gears (13) are symmetrically and fixedly sleeved outside the transmission shaft (12), the two gears (13) are correspondingly hidden in the two installation areas (11), and the two gears (13) are respectively meshed with the two racks (109) to complete walking actions;
A gear motor (14) is arranged on one side of the mounting table (9) through a bracket, the output end of the gear motor (14) is in transmission connection with the transmission shaft (12), a fixed area (15) is concavely arranged on the lower surface of the sliding piece (8), a plurality of rollers (17) are rotationally distributed in the fixed area (15) at equal intervals, and the rollers (17) are rotationally contacted with the inner bottom of the slideway (103).
4. A metal stand welding robot as claimed in claim 3, wherein: the bottom of the clamping piece (24) is concavely provided with a reserved area (29), a guide frame (30) is limited in the reserved area (29) in a vertical sliding mode, the bottom of the guide frame (30) is of an open design, a plurality of rotating wheels (31) are installed in the guide frame (30) in an equidistant interval rotation mode, and a plurality of extrusion springs (32) are installed between the top of the guide frame (30) and the reserved area (29).
5. The metal bracket welding robot of claim 4, wherein: two second moving tables (47) are slidably mounted in the two second moving channels (45), two third moving tables (48) are slidably mounted in the two third moving channels (46), a first arm (49) is hinged between the two second moving tables (47), a second arm (50) is hinged between the two third moving tables (48), a push plate (51) is mounted on one side, close to the counterweight frame (33), of the penetrating frame (41), and the push plate (51) is fixedly connected with the side walls of the two first moving tables (43);
A hinge plate (52) is arranged on the lower surface of the push plate (51), two sides of the hinge plate (52) are respectively hinged with a first arm (49) and a second arm (50), a push arm (16) is arranged on one side of the two second moving tables (47), the push arm (16) is arranged in a sliding mode through the penetrating frame (41), and the front end of the push arm (16) is in separable contact with the linkage piece (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410421213.5A CN118003007B (en) | 2024-04-09 | 2024-04-09 | Metal support welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410421213.5A CN118003007B (en) | 2024-04-09 | 2024-04-09 | Metal support welding robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN118003007A CN118003007A (en) | 2024-05-10 |
| CN118003007B true CN118003007B (en) | 2024-06-11 |
Family
ID=90945818
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410421213.5A Active CN118003007B (en) | 2024-04-09 | 2024-04-09 | Metal support welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118003007B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100684614B1 (en) * | 2005-12-21 | 2007-02-22 | 삼성중공업 주식회사 | Mark automatic welding robot and control method thereof |
| CN113182724A (en) * | 2021-05-22 | 2021-07-30 | 沈阳天通电气有限公司 | Flexible assembling and welding workstation for finned radiator for transformer and production method |
| CN214444107U (en) * | 2021-03-25 | 2021-10-22 | 无锡金红鹰工业自动化有限公司 | Biax longmen hangs weldment work station upside down |
| CN115570311A (en) * | 2022-10-31 | 2023-01-06 | 安徽机电职业技术学院 | Welding robot |
| CN218638906U (en) * | 2022-12-12 | 2023-03-17 | 河南昊盾领航激光科技有限公司 | Gantry type multi-axis welding robot |
| CN116394221A (en) * | 2023-03-29 | 2023-07-07 | 深圳陕煤高新技术研究院有限公司 | Intelligent safety detection lifting rail inspection robot for coal mine |
| CN219598493U (en) * | 2023-03-30 | 2023-08-29 | 刘振英 | Robot welding system suitable for shield constructs quick-witted blade disc processing |
| CN117260103A (en) * | 2023-10-08 | 2023-12-22 | 中建钢构股份有限公司 | Welding robot for building |
-
2024
- 2024-04-09 CN CN202410421213.5A patent/CN118003007B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100684614B1 (en) * | 2005-12-21 | 2007-02-22 | 삼성중공업 주식회사 | Mark automatic welding robot and control method thereof |
| CN214444107U (en) * | 2021-03-25 | 2021-10-22 | 无锡金红鹰工业自动化有限公司 | Biax longmen hangs weldment work station upside down |
| CN113182724A (en) * | 2021-05-22 | 2021-07-30 | 沈阳天通电气有限公司 | Flexible assembling and welding workstation for finned radiator for transformer and production method |
| CN115570311A (en) * | 2022-10-31 | 2023-01-06 | 安徽机电职业技术学院 | Welding robot |
| CN218638906U (en) * | 2022-12-12 | 2023-03-17 | 河南昊盾领航激光科技有限公司 | Gantry type multi-axis welding robot |
| CN116394221A (en) * | 2023-03-29 | 2023-07-07 | 深圳陕煤高新技术研究院有限公司 | Intelligent safety detection lifting rail inspection robot for coal mine |
| CN219598493U (en) * | 2023-03-30 | 2023-08-29 | 刘振英 | Robot welding system suitable for shield constructs quick-witted blade disc processing |
| CN117260103A (en) * | 2023-10-08 | 2023-12-22 | 中建钢构股份有限公司 | Welding robot for building |
Also Published As
| Publication number | Publication date |
|---|---|
| CN118003007A (en) | 2024-05-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111571564A (en) | A hang rail robot for patrolling and examining | |
| CN209973407U (en) | Transfer robot of full-automatic safe deposit box | |
| CN118003007B (en) | Metal support welding robot | |
| CN109079759A (en) | Three axis truss grabbing devices of one kind and its application method | |
| CN113770438A (en) | Plate shearing machine with prevent fish tail protection | |
| CN212668789U (en) | Cable laying device | |
| CN211033958U (en) | Rotary drum line | |
| CN208305036U (en) | Turning plate machinery hand | |
| CN202864332U (en) | Combined conveying line of heavy-duty-type overhead friction line and push rod chain | |
| CN218582102U (en) | Tapered roller bearing's pressure equipment device | |
| CN218643648U (en) | Prefabricated assembly type reinforcing bar building carrier plate | |
| CN213504504U (en) | Braking mechanism for roller rail car and roller rail car thereof | |
| CN211037926U (en) | Support for integrated building | |
| CN211974352U (en) | Building templates strutting arrangement | |
| CN110213913B (en) | Riveting and clamping device for processing multilayer printed circuit board and working method thereof | |
| CN217727579U (en) | Metal bellows processing welding set | |
| CN211441378U (en) | Carton stapler convenient for fixing carton | |
| CN114458047B (en) | Automatic sealant dispenser based on wall climbing robot | |
| CN112421453A (en) | Special frame assembling machine for centrally installed switchgear body | |
| CN216098505U (en) | Centering clamping mechanism | |
| CN217516618U (en) | Automatic turnover case lift platform of displacement | |
| CN220364005U (en) | CNC feeding and discharging trolley and cutter dismounting equipment | |
| CN216996278U (en) | Transfer device with assembling and stacking functions for flexible production line | |
| CN118060803B (en) | Operation platform for lintel plate welding | |
| CN216607953U (en) | Apron board circling mechanism and apron board production device applying same |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |