CN206898554U - Mobile robot's TIG weld system - Google Patents
Mobile robot's TIG weld system Download PDFInfo
- Publication number
- CN206898554U CN206898554U CN201720459338.2U CN201720459338U CN206898554U CN 206898554 U CN206898554 U CN 206898554U CN 201720459338 U CN201720459338 U CN 201720459338U CN 206898554 U CN206898554 U CN 206898554U
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- Prior art keywords
- wire
- manipulator shaft
- feeding pipe
- tig
- welding
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Abstract
The utility model discloses a kind of mobile robot's TIG weld system, it includes welding gun pipette tips, welding gun gun barrel, fiber feeder, directive wheel, extension spring, support frame, wire-feeding pipe, water-cooled cable etc., TIG power supplys are connected by water-cooled cable with guide rod, two guide rods are arranged on the top of wire feed support, wire feed support bottom is installed by two mobile universal wheels, straightener, wire feeding disc, wire-feed motor are all connected with wire feed support, wire feeding disc is connected by wire-feeding pipe with straightener, wire feeding disc is connected by wire-feeding pipe with wire-feed motor, and wire-feed motor is connected by wire-feeding pipe with directive wheel.The utility model disclosure satisfy that the process requirements of multilayer multiple tracks difference welding wire switching, it is ensured that arcing initiation success rate a hundred per cent during automatic welding, it is ensured that arc length strict conformance when TIG welding guns weld, prevent heat input change caused by arc length change and wire feed change.
Description
Technical field
A kind of welding system is the utility model is related to, more particularly to a kind of mobile robot's TIG weld system.
Background technology
The sealing surface of high temperature and high pressure steam valve is in body cavity depths (＞ 500mm (millimeter)), and sealing surface is producing
The method that special plane carries out plasma arc powder surfacing is employed in manufacture and maintenance process mostly, welding material is selected
Stellite6-PM (cobalt-based).The temperature of plasma arc reaches 18000~24000 DEG C (degree), and W elements are caused in weld deposit process
A large amount of scaling loss, the probability cracked increase substantially, and directly affect the use of the quality and equipment of product, and can not expire simultaneously
The process requirements of sufficient multilayer multiple tracks difference welding wire switching.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of mobile robot's TIG weld system, and it can
Meet the process requirements of multilayer multiple tracks difference welding wire switching, it is ensured that arcing initiation success rate a hundred per cent during automatic welding, it is ensured that TIG is welded
Arc length strict conformance when rifle welds, prevent heat input change caused by arc length change and wire feed change.
The utility model is that solve above-mentioned technical problem by following technical proposals：A kind of mobile robot TIG
Welding system, it includes welding gun pipette tips, welding gun gun barrel, fiber feeder, directive wheel, extension spring, support frame, wire-feeding pipe, water-cooled cable, led
To rod, straightener, wire feeding disc, wire-feed motor, TIG power supplys, wire feed support, mobile universal wheel, robot base, the first robot
Axle, the second manipulator shaft, the 3rd manipulator shaft, the 4th manipulator shaft, the 5th manipulator shaft, the 6th manipulator shaft, tungsten electrode, clamping
Part, high temperature camera, TIG power supplys are connected by water-cooled cable with guide rod, and two guide rods are arranged on the top of wire feed support
Two mobile universal wheels are installed in end, wire feed support bottom, and straightener, wire feeding disc, wire-feed motor are all connected with wire feed support, wire feeding disc
It is connected by wire-feeding pipe with straightener, wire feeding disc is connected by wire-feeding pipe with wire-feed motor, and wire-feed motor passes through wire-feeding pipe and directive wheel
Be connected, guide rod is connected by water-cooled cable with directive wheel, and wire-feeding pipe is located at the lower section of water-cooled cable, directive wheel by extension spring and
Support frame is connected, and directive wheel is connected by wire-feeding pipe with fiber feeder, and directive wheel is connected by water-cooled cable with fiber feeder, fiber feeder
It is connected with welding gun gun barrel, welding gun gun barrel is connected with welding gun pipette tips, and welding gun pipette tips are connected with tungsten electrode, and high temperature camera is arranged on welding gun
On gun barrel, fiber feeder is connected with holder, and holder is connected with the 6th manipulator shaft, the 6th manipulator shaft and the 5th manipulator shaft
It is connected, the 5th manipulator shaft is connected with the 4th manipulator shaft, and the 4th manipulator shaft is connected with the 3rd manipulator shaft, the 3rd robot
Axle is connected with the second manipulator shaft, and support frame is arranged on the 3rd manipulator shaft, the second manipulator shaft and, the first manipulator shaft phase
Even, the first manipulator shaft is connected with robot base, and robot base is located on the right side of wire feed support, and wire feed support is located at TIG electricity
The right side in source.
Preferably, the guide rod includes insulating bar, miniature bearing, two miniature bearings both ends phase with insulating bar respectively
Even.
Preferably, the wire feed support uses a kind of resin or bakelite material with insulation function.
Preferably, wrapped up on the water-cooled cable and applied two layers of insulating materials that can be resistant to 10kV high pressures.
Positive effect of the present utility model is：The utility model disclosure satisfy that high temperature and high pressure steam valve sealing face
Manufacture demand, also directly can carry out built-up welding and reparation to producing rejected region install the Overhaul site of equipment；This practicality
The new species and speed that according to actual process demand, can flexibly switch wire feed at the scene, meets to steam in HTHP
The built-up welding of all positon dell and compound increasing material manufacturing of steam valve door inner sealing surface；The utility model scene does not have to change wire tray, can
To switch the species and quantity of TIG welding guns welding process filling metal at any time.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the structural representation of the utility model guide rod.
Embodiment
The utility model preferred embodiment is provided below in conjunction with the accompanying drawings, to describe the technical solution of the utility model in detail.
As shown in figure 1, the utility model mobile robot TIG (non-melt pole inert gas tungsten electrode protection weldering) welding system
System includes welding gun pipette tips 1, welding gun gun barrel 2, fiber feeder 3, directive wheel 4, extension spring 5, support frame 6, wire-feeding pipe 7, water-cooled cable 8, led
To rod 9, straightener 10, wire feeding disc 11, wire-feed motor 12, TIG power supplys 13, wire feed support 14, mobile universal wheel 15, robot base
16th, the first manipulator shaft 17, the second manipulator shaft 18, the 3rd manipulator shaft 19, the 4th manipulator shaft 20, the 5th manipulator shaft
21st, the 6th manipulator shaft 22, tungsten electrode 23, holder 24, high temperature camera 25, TIG power supplys 13 pass through water-cooled cable 8 and guide rod
9 are connected, and two guide rods 9 are arranged on the top of wire feed support 14, and two mobile universal wheels 15 are installed in the bottom of wire feed support 14, rectify
Straight device 10, wire feeding disc 11, wire-feed motor 12 are all connected with wire feed support 14, and wire feeding disc 11 is connected by wire-feeding pipe 7 with straightener 10,
Wire feeding disc 11 is connected by wire-feeding pipe 7 with wire-feed motor 12, and wire-feed motor 12 is connected by wire-feeding pipe 7 with directive wheel 4, and guide rod 9 is logical
Cross water-cooled cable 8 with directive wheel 4 to be connected, wire-feeding pipe 7 is located at the lower section of water-cooled cable 8, and directive wheel 4 passes through extension spring 5 and support frame 6
It is connected, directive wheel 4 is connected by wire-feeding pipe 7 with fiber feeder 3, and directive wheel 4 is connected by water-cooled cable 8 with fiber feeder 3, fiber feeder
3 are connected with welding gun gun barrel 2, and welding gun gun barrel 2 is connected with welding gun pipette tips 1, and welding gun pipette tips 1 are connected with tungsten electrode 23, high temperature camera 25
On welding gun gun barrel 2, fiber feeder 3 is connected with holder 24, and holder 24 is connected with the 6th manipulator shaft 22, the 6th machine
People's axle 22 is connected with the 5th manipulator shaft 21, and the 5th manipulator shaft 21 is connected with the 4th manipulator shaft 20, the 4th manipulator shaft 20
It is connected with the 3rd manipulator shaft 19, the 3rd manipulator shaft 19 is connected with the second manipulator shaft 18, and support frame 6 is arranged on the 3rd machine
On people's axle 19, the second manipulator shaft 18 is connected with, the first manipulator shaft 17, the first manipulator shaft 17 and the phase of robot base 16
Even, robot base 16 is located at the right side of wire feed support 14, and wire feed support 14 is located at the right side of TIG power supplys 13.
As shown in Fig. 2 the guide rod 9 include insulating bar 26, miniature bearing 27, two miniature bearings 27 respectively with insulation
The both ends of rod 26 are connected, and so ensure the movement of water-cooled cable and length change in welding.
The wire feed support 14 uses a kind of resin or bakelite material with insulation function, can so improve resistance to pressure
(can pressure-resistant 10Kv (kilovolt)).
Wrapped up on the water-cooled cable 8 and applied two layers of insulating materials that can be resistant to 10kV (kilowatt) high pressure, can so improved absolutely
Edge performance.
The top of wire feeding disc 11 is provided with the bottom plate of a wire-feed motor, and the bottom plate of the wire-feed motor with horizontal line in 45 degree with pressing from both sides
Angle, so ensure that the welding wire sent out has certain elevation angle, ensure that wire feed can be smooth.
Operation principle of the present utility model is as follows：The utility model at work, gathers the welding under stable arc length first
Voltage, while voltage is calculated using the voltage as reference during height tracing, if the voltage deviation reference that actual acquisition obtains
Voltage then adjusts welding gun gun barrel and welding gun pipette tips form the Z-direction height of a TIG welding gun；The utility model is in practical application
In, two wire-feed motors are employed, load nickel-base alloy bare welding filler metal and cobalt-base alloy welding wire respectively, two kinds of welding wires are distinguished by wire leading pipe
Sent out along the both sides of tungsten electrode, the species of specific works wire-feed motor, wire feed rate by, robot base, the first manipulator shaft, second
Manipulator shaft, the 3rd manipulator shaft, the 4th manipulator shaft, the 5th manipulator shaft, a robot of the 6th manipulator shaft composition
It is determined that before welding instructs, actual use first sets wire-feed motor selection and corresponding wire feed rate；Robot drives TIG welding guns
Welding task, while start and stop and logic of the robot as central processing unit for processing signal are completed, its requirement is six-axis linkage
Loading is not less than 20Kg (kilogram), and brachium is not less than 1.65m (rice), and protection level is not less than IP (Ingress Protection
Rating, protection safety rank) 67, can any angle installation, there is arc voltage following function, repetitive positioning accuracy (RP) is not more than
0.04mm (millimeter), and the function of robot arc voltage tracking, according to the arc voltage monitored, it is high that electric arc is adjusted in time
Degree, ensure shaping when TIG welding guns weld and quality；TIG power supplys can have different control models, and there is control two to send for it
The function of silk machine, while TIG power supplys have the function that digital communication is realized with robot；For electric current, it passes through one to straightener
Hall current sensor obtains, and concrete methods of realizing is that a ground wire cable obtains through Hall current sensor；For voltage
The voltage exported when gathering TIG power solders by Hall voltage, in order to avoid high-frequency signal output is to the shadow of collection signal
Ring, for its ground wire of the anode of Hall current sensor, for negative terminal, it accesses Manual welding gun output end；Wire-feed motor contains
Two independent wire feeders, in addition to having a straightener after a wire feeding disc, one is also added in TIG welding guns front end
Fiber feeder, ensure not hinder silk during the rotation of TIG welding guns, silk device is pushed away in welding and is cooperated with fiber feeder, fiber feeder speed is omited
More than a wire feed rate (about 5%) is pushed away, robot can select to need the wire-feed motor of work by wire-feed motor switching control position, together
When control the start and stop of the wire-feed motor；A wire-feed motor realizes that nickel-based welding wire is filled during actual welding, in addition a wire-feed motor
Realize the filling of cobalt-based welding wire；Wire feed support is used to carry wire-feed motor, wire feeding disc and straightener；Water-cooled cable and wire-feeding pipe all by
It is fixed on the directive wheel of robot, directive wheel function is to guide wire-feeding pipe, the direction of water-cooled cable, ensures that TIG welding guns exist
It is smooth that wire feed is remained able to when being acted on the holder of robot according to 360 degree of any attitudes；The current regulation scope of TIG power supplys
5~200A (ampere), minimum adjustable section are not more than 1A, a termination TIG welding guns, are so used to accelerate the molten of cobalt-base alloy welding wire
Efficiency is applied, improves speed of welding；Welding gun pipette tips are used to weld, and welding gun gun barrel is used to connect welding gun pipette tips, and so convenient regulation is high
Degree, extension spring play stretching action, and support frame, wire feed support play a supportive role, and mobile universal wheel is used to move wire feed support, and tungsten electrode rises
Protective effect, holder play a supportive role, and high temperature camera is used to shoot, and prevents the interference of arclight, can so meet multilayer
The process requirements of multiple tracks difference welding wire switching, it is ensured that arcing initiation success rate a hundred per cent during automatic welding, it is ensured that when TIG welding guns weld
Arc length strict conformance, heat input change caused by arc length change and wire feed change are prevented, while disclosure satisfy that high temperature and high pressure steam
The manufacture demand of valve sealing face, also the Overhaul site of equipment can be installed directly to producing rejected region progress built-up welding and repairing
It is multiple；The utility model according to actual process demand, can flexibly switch the species and speed of wire feed at the scene, meet in height
The built-up welding of all positon dell and compound increasing material manufacturing of warm high pressure steam valve inner sealing surface；The utility model scene does not have to change
Wire tray, the species and quantity of TIG welding guns welding process filling metal can be switched at any time.
Particular embodiments described above, to the technical problem, technical scheme and beneficial effect of solution of the present utility model
It is further described, should be understood that and the foregoing is only specific embodiment of the utility model, not
It is all within the spirit and principles of the utility model for limiting the utility model, any modification for being made, equivalent substitution, change
Enter, should be included within the scope of protection of the utility model.
Claims (4)
- A kind of 1. mobile robot's TIG weld system, it is characterised in that it include welding gun pipette tips, welding gun gun barrel, fiber feeder, Directive wheel, extension spring, support frame, wire-feeding pipe, water-cooled cable, guide rod, straightener, wire feeding disc, wire-feed motor, TIG power supplys, wire feed branch Frame, mobile universal wheel, robot base, the first manipulator shaft, the second manipulator shaft, the 3rd manipulator shaft, the 4th manipulator shaft, 5th manipulator shaft, the 6th manipulator shaft, tungsten electrode, holder, high temperature camera, TIG power supplys pass through water-cooled cable and guide rod It is connected, two guide rods are arranged on the top of wire feed support, and wire feed support bottom is installed two mobile universal wheels, straightener, sent Wire tray, wire-feed motor are all connected with wire feed support, and wire feeding disc is connected by wire-feeding pipe with straightener, and wire feeding disc is by wire-feeding pipe with sending Silk machine is connected, and wire-feed motor is connected by wire-feeding pipe with directive wheel, and guide rod is connected by water-cooled cable with directive wheel, wire-feeding pipe position In the lower section of water-cooled cable, directive wheel is connected by extension spring with support frame, and directive wheel is connected by wire-feeding pipe with fiber feeder, is oriented to Wheel is connected by water-cooled cable with fiber feeder, and fiber feeder is connected with welding gun gun barrel, and welding gun gun barrel is connected with welding gun pipette tips, welding gun rifle Head is connected with tungsten electrode, and high temperature camera is arranged on welding gun gun barrel, and fiber feeder is connected with holder, holder and the 6th robot Axle is connected, and the 6th manipulator shaft is connected with the 5th manipulator shaft, and the 5th manipulator shaft is connected with the 4th manipulator shaft, the 4th machine People's axle is connected with the 3rd manipulator shaft, and the 3rd manipulator shaft is connected with the second manipulator shaft, and support frame is arranged on the 3rd robot On axle, the second manipulator shaft is connected with, the first manipulator shaft, and the first manipulator shaft is connected with robot base, robot base On the right side of wire feed support, wire feed support is located at the right side of TIG power supplys.
- 2. mobile robot's TIG weld system as claimed in claim 1, it is characterised in that the guide rod includes insulation Rod, miniature bearing, two miniature bearings are connected with the both ends of insulating bar respectively.
- 3. mobile robot's TIG weld system as claimed in claim 1, it is characterised in that the wire feed support uses one Resin or bakelite material of the kind with insulation function.
- 4. mobile robot's TIG weld system as claimed in claim 1, it is characterised in that wrapped up on the water-cooled cable deposited The insulating materials of two layers of resistance to 10kV high pressure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720459338.2U CN206898554U (en) | 2017-04-27 | 2017-04-27 | Mobile robot's TIG weld system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720459338.2U CN206898554U (en) | 2017-04-27 | 2017-04-27 | Mobile robot's TIG weld system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206898554U true CN206898554U (en) | 2018-01-19 |
Family
ID=61291299
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720459338.2U Expired - Fee Related CN206898554U (en) | 2017-04-27 | 2017-04-27 | Mobile robot's TIG weld system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206898554U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106984891A (en) * | 2017-04-27 | 2017-07-28 | 上海电力股份有限公司吴泾热电厂 | Mobile robot's TIG weld system |
| CN110340491A (en) * | 2019-07-26 | 2019-10-18 | 电王精密电器(北京)有限公司 | A kind of welding control method, apparatus and system |
| CN110539124A (en) * | 2019-08-14 | 2019-12-06 | 甘肃酒钢集团西部重工股份有限公司 | Open arc online surfacing repair device and method for medium-speed grinding roller |
| CN110744303A (en) * | 2019-10-24 | 2020-02-04 | 江南大学 | Electric arc additive and forging-milling combined machining forming device and method |
-
2017
- 2017-04-27 CN CN201720459338.2U patent/CN206898554U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106984891A (en) * | 2017-04-27 | 2017-07-28 | 上海电力股份有限公司吴泾热电厂 | Mobile robot's TIG weld system |
| CN110340491A (en) * | 2019-07-26 | 2019-10-18 | 电王精密电器(北京)有限公司 | A kind of welding control method, apparatus and system |
| CN110539124A (en) * | 2019-08-14 | 2019-12-06 | 甘肃酒钢集团西部重工股份有限公司 | Open arc online surfacing repair device and method for medium-speed grinding roller |
| CN110744303A (en) * | 2019-10-24 | 2020-02-04 | 江南大学 | Electric arc additive and forging-milling combined machining forming device and method |
| CN110744303B (en) * | 2019-10-24 | 2021-10-15 | 江南大学 | Electric arc additive and forging-milling combined machining forming device and method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180119 Termination date: 20210427 |
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| CF01 | Termination of patent right due to non-payment of annual fee |