CN216990286U

CN216990286U - Welding robot

Info

Publication number: CN216990286U
Application number: CN202220249693.8U
Authority: CN
Inventors: 李云龙; 宁英杰; 楼树桢; 李清云; 白丽辉; 赵颖超; 李锋; 龚世文; 金一峰; 李佳琪
Original assignee: Shaoxing Science And Technology Industry Investment Co ltd; Shaoxing Chengtou Construction Industrialization Manufacturing Co ltd; Zhejiang Communications Construction Group Co Ltd
Current assignee: Shaoxing Science And Technology Industry Investment Co ltd; Shaoxing Chengtou Construction Industrialization Manufacturing Co ltd; Zhejiang Communications Construction Group Co Ltd
Priority date: 2022-01-30
Filing date: 2022-01-30
Publication date: 2022-07-19
Anticipated expiration: 2032-01-30

Abstract

The utility model relates to a welding robot, which comprises six mechanical arms, a motor base arranged at the end part of the six mechanical arms, a rotating motor arranged on the motor base, a transverse elastic support arranged on an output shaft of the rotating motor, a vertical elastic support and a welding head arranged on the transverse elastic support, and an abutting part arranged on the vertical elastic support, wherein the distance between the abutting part and the welding head is adjustable, and the distance adjusting direction between the abutting part and the welding head is vertical to the adjusting direction of the transverse elastic support. According to the utility model, the workpiece is initially limited by the welding head and the abutting part with adjustable positions, and the transverse elastic support and the vertical elastic support are used for weakening the vibration generated in a workshop, so that the phenomenon of welding position error when the lapping part of the workpiece is subjected to vibration for a long time to generate deviation can be avoided, and the welding quality is improved.

Description

Welding robot

Technical Field

The utility model relates to the technical field of steel bar processing equipment, in particular to a welding robot.

Background

The box girder is one of the middle girders in bridge engineering and is divided into a single box, a plurality of boxes and the like, the interior of the box girder is hollow, and flanges are arranged on two sides of the upper part of the box girder and are similar to the boxes, so that the box girder is named. The box girder of the reinforced concrete structure is divided into a prefabricated box girder and a cast-in-place box girder. The box girder combined bridge girder erection machine prefabricated in the independent site can be erected after the lower project is completed, the project progress can be accelerated, and the construction period can be saved. At present, when the box girder steel bars are welded, the lapping parts at two ends of the steel bars are finished in advance, so that the axes of the two lapping ends tend to be parallel, and a workpiece as shown in fig. 2 is obtained. And then welding the overlapped part of the workpieces by adopting electric arc welding, wherein the length of a double-sided welding seam is not less than 5d +50px, and the length of a single-sided welding seam is not less than 10d +50 px.

As the axes of the lap joint parts of the workpieces need to be parallel, full welding seams can be ensured, and the welding quality is ensured, so that the workpieces need to keep the same processing environment during welding. There are a large amount of equipment in the workshop now, can produce vibrations and conduct welding robot through ground with vibrations during equipment operation, because the work piece is after the clamping, only receives the spacing of horizontal direction between its overlap joint portion, and does not receive spacing in the welding direction, so the phenomenon that welding position is wrong can appear when work piece overlap joint portion receives the shake for a long time and produces the skew, influences welding quality.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the problems in the prior art and provides a welding robot which has the advantage of improving the welding quality.

The above object of the present invention can be achieved by the following technical solutions:

the utility model provides a welding robot, includes six arms, still including set up in the motor cabinet of six arm tip, set up in the rotating electrical machines of motor cabinet, set up in horizontal elastic support on the output shaft of rotating electrical machines, set up in vertical elastic support and soldered connection on the horizontal elastic support, set up in butt piece on the vertical elastic support, the interval between butt piece and the soldered connection is adjustable, the interval between butt piece and the soldered connection is adjusted the direction and is perpendicular with horizontal elastic support's regulation direction.

By adopting the technical scheme, before the welding device is used, the distance between the abutting part and the welding head is adjusted in advance according to the size of a workpiece, then the six-axis mechanical arm drives the abutting part to abut against the surface of the lap joint part of the workpiece in advance, the workpiece can be limited in the welding direction, workpiece shaking is initially avoided, and then the welding head is driven to rotate by the rotating motor until a connecting line between the welding head and the abutting part is parallel to a welding line of the lap joint part; in the process that the six-axis mechanical arm drives the welding head to move forwards, due to the elastic action of the transverse elastic support and the vertical elastic support, the vibration transmitted to the welding robot between the workshop and the welding robot is reduced by the transverse elastic support and the vertical elastic support, so that the abutting state between the abutting piece and the workpiece is ensured, and the phenomenon that the lapping part of the workpiece is shaken for a long time to generate deviation is avoided; in the process, the workpiece is preliminarily limited through the welding head with the adjustable position and the abutting part, the transverse elastic support and the vertical elastic support are used for weakening the vibration generated in a workshop, the phenomenon that the welding position is wrong when the lapping part of the workpiece is shaken for a long time and deviates can be avoided, and the welding quality is improved.

The utility model is further configured to: the transverse elastic support comprises a first supporting plate arranged on the motor base, a first sliding rod arranged on the first supporting plate, a second supporting plate connected to the first sliding rod in a sliding mode, and a pair of first springs sleeved on the first sliding rod, the pair of first springs are symmetrically arranged on two sides of the second supporting plate, and two ends of each first spring are fixed on the first supporting plate and the second supporting plate respectively.

Through adopting above-mentioned technical scheme, the moving direction of second layer board relative first layer board is perpendicular with the moving direction of butt piece, and through the pretension effect of first spring, it can offset the vibration of horizontal direction when six arms receive the vibration, avoids the butt piece to break away from the work piece.

The utility model is further configured to: the vertical elastic support comprises a third supporting plate arranged on the second supporting plate, a fourth supporting plate arranged on the abutting piece, an adjusting screw rod and a second sliding rod which are arranged on the fourth supporting plate, slidably penetrate through the third supporting plate, and a transmission nut which is rotatably connected to the third supporting plate and is in threaded connection with the adjusting screw rod.

Through adopting above-mentioned technical scheme, the third layer board that the fourth layer board can be close to or keep away from removes, is convenient for adjust the difference in height between the butt face of butt piece and the welding head tip to the welding operation of the work piece of adaptation different specifications has better commonality.

The utility model is further configured to: and a second spring is sleeved on the second sliding rod, and two ends of the second spring are respectively fixed on the third supporting plate and the fourth supporting plate.

By adopting the technical scheme, the vertical damping device has a better vertical damping effect, so that proper pre-pressure is kept between the abutting part and the workpiece.

The utility model is further configured to: the top of accommodate the lead screw is provided with the separation blade, the cover is equipped with the third spring on the accommodate the lead screw, the both ends of third spring are fixed in respectively on separation blade and the third layer board.

The utility model is further configured to: the welding head further comprises a T-shaped groove formed in the second supporting plate, a fifth supporting plate arranged on the welding head, a locking bolt connected to the T-shaped groove in a sliding mode and penetrating through the fifth supporting plate, and a locking nut connected to the locking bolt in a threaded mode and abutted against the fifth supporting plate.

By adopting the technical scheme, when the distance between the abutting part and the welding head needs to be adjusted, the locking nut is unscrewed firstly, the welding head is moved to a preset position, and then the locking nut is screwed until the locking nut is abutted against the fifth supporting plate, so that the operation is simple and rapid.

The utility model is further configured to: the abutting part is a pressing wheel, and the axis of the rotating axis of the pressing wheel is perpendicular to the adjusting direction of the transverse elastic support.

By adopting the technical scheme, the abutting part can move on the surface of the workpiece conveniently.

In conclusion, the beneficial technical effects of the utility model are as follows: carry out preliminary spacing through position adjustable soldered connection and butt piece to the work piece to being aided with the vibration that horizontal elastic support and vertical elastic support weaken the workshop and producing, can avoiding work piece overlap joint portion receiving the shake for a long time and can appear the phenomenon of welding position mistake when producing the skew, improving welding quality.

Drawings

Fig. 1 is a schematic structural view of a welding robot of the present invention.

Fig. 2 is a schematic view showing the connection relationship between the rotating electric machine, the lateral elastic supports, and the intermediate connecting member of the present invention.

Fig. 3 is a schematic view of the connection relationship among the abutment member, the lateral elastic support and the vertical elastic support of the present invention.

In the figure, 1, six mechanical arms; 2. a motor base; 3. a rotating electric machine; 4. a transverse elastic support; 41. a first pallet; 42. a first slide bar; 43. a second pallet; 44. a first spring; 5. a vertical elastic support; 51. a third pallet; 52. a fourth pallet; 53. adjusting the screw rod; 54. a second slide bar; 55. a second spring; 56. a baffle plate; 57. a third spring; 58. a drive nut; 6. welding a head; 7. an abutting member; 8. an intermediate connecting member; 81. a T-shaped groove; 82. a fifth support plate; 83. a locking bolt; 84. and locking the nut.

Detailed Description

In order to make the technical means, the creation features, the achievement purposes and the functions of the utility model clearer and easier to understand, the utility model is further explained in the following with the accompanying drawings and the detailed description.

Referring to fig. 1, the welding robot disclosed by the utility model comprises a six-axis robot arm 1, a motor base 2 arranged at the end of the six-axis robot arm 1, a rotating motor 3 arranged on the motor base 2, a transverse elastic support 4 arranged on an output shaft of the rotating motor 3, a vertical elastic support 5 and a welding head 6 arranged on the transverse elastic support 4, and an abutting piece 7 arranged on the vertical elastic support 5. Wherein, the abutting part 7 is a pinch roller, and the axis of the rotating axis of the pinch roller is vertical to the adjusting direction of the transverse elastic bracket 4. Horizontal elastic support 4 and vertical elastic support 5 pass through the mode of elastic damping, weaken the workshop and transmit the vibration to welding robot to make butt piece 7 and work piece keep the butt state, can carry on spacingly to the work piece on the welding direction, and then improve welding quality.

Referring to fig. 2, the transverse elastic bracket 4 includes a first supporting plate 41 disposed on the motor base 2, a first sliding rod 42 disposed on the first supporting plate 41, a second supporting plate 43 slidably connected to the first sliding rod 42, and a pair of first springs 44 sleeved on the first sliding rod 42. The pair of first springs 44 are symmetrically disposed at both sides of the second support plate 43, and both ends of the first springs 44 are fixed to the first support plate 41 and the second support plate 43, respectively. The second pallet 43 is perpendicular to the first pallet 41 in the moving direction of the contact piece 7, and when the six-axis robot arm 1 is vibrated, the horizontal vibration is cancelled by the biasing action of the first spring 44, thereby preventing the contact piece 7 from coming off the workpiece.

The abutment member 7 is mounted on the second carrier plate 43 by means of an intermediate connection member 8 so that the distance between the abutment member 7 and the welding head 6 is adjustable. The intermediate connecting member 8 includes a T-shaped groove 81 formed in the second support plate 43, a fifth support plate 82 provided on the welding head 6, a locking bolt 83 slidably connected to the T-shaped groove 81 and passing through the fifth support plate 82, and a locking nut 84 threadedly connected to the locking bolt 83 and abutting against the fifth support plate 82. When the distance between the abutting member 7 and the welding head 6 needs to be adjusted, the locking nut 84 is firstly unscrewed, the welding head 6 is moved to a preset position, and then the locking nut 84 is screwed until the locking nut abuts against the fifth supporting plate 82, so that the operation is simple and rapid.

Referring to fig. 3, the vertical elastic support 5 includes a third support plate 51 disposed on the second support plate 43, a fourth support plate 52 disposed on the abutting member 7, an adjusting screw 53 and a second slide rod 54 disposed on the fourth support plate 52 and slidably disposed on the third support plate 51, a second spring 55 sleeved on the second slide rod 54, a blocking piece 56 disposed on the top of the adjusting screw 53, a third spring 57 sleeved on the adjusting screw 53, and a transmission nut 58 rotatably connected to the third support plate 51 and in threaded connection with the adjusting screw 53. Both ends of the third spring 57 are fixed to the blocking piece 56 and the third supporting plate 51, respectively, and both ends of the third spring 57 are fixed to the blocking piece 56 and the third supporting plate 51, respectively. The fourth supporting plate 52 can move close to or away from the third supporting plate 51, so that the height difference between the abutting surface of the abutting piece 7 and the end part of the welding head 6 can be conveniently adjusted, the welding operation of workpieces with different specifications is adapted, and the universality is better. The third support plate 51 is again damped by the second spring 55 and the third spring 57, so that a suitable pre-pressure is maintained between the abutment 7 and the workpiece.

The implementation principle of the embodiment is as follows: before the welding device is used, the distance between the abutting part 7 and the welding head 6 is adjusted in advance according to the size of a workpiece, then the six-axis mechanical arm 1 drives the abutting part 7 to abut against the surface of the overlapping part of the workpiece in advance, the workpiece can be limited in the welding direction, workpiece shaking is avoided preliminarily, and then the welding head 6 is driven to rotate through the rotating motor 3 until a connecting line between the welding head 6 and the abutting part 7 is parallel to a welding line of the overlapping part. In the process that the six-axis mechanical arm 1 drives the welding head 6 to move forwards, due to the elastic action of the transverse elastic support 4 and the vertical elastic support 5, the vibration transmitted to the welding robot in a workshop is reduced by the transverse elastic support and the vertical elastic support, so that the abutting part 7 and the workpiece are in an abutting state, and the phenomenon that the lap joint part of the workpiece is shaken for a long time to generate deviation is avoided. In the process, the workpiece is limited preliminarily through the welding head 6 and the abutting part 7 with adjustable positions, the transverse elastic support 4 and the vertical elastic support 5 are used for weakening the vibration generated in a workshop, the phenomenon that the welding position is wrong when the lapping part of the workpiece is shaken for a long time and deviates can be avoided, and the welding quality is improved.

Finally, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that various changes and modifications may be made therein without departing from the spirit and scope of the utility model as defined by the appended claims.

Claims

1. The utility model provides a welding robot, includes six arms (1), its characterized in that: the six-shaft mechanical arm is characterized by further comprising a motor base (2) arranged at the end of the six-shaft mechanical arm (1), a rotating motor (3) arranged in the motor base (2), a transverse elastic support (4) arranged on an output shaft of the rotating motor (3), a vertical elastic support (5) and a welding head (6) arranged on the transverse elastic support (4), and a butt piece (7) arranged on the vertical elastic support (5), wherein the distance between the butt piece (7) and the welding head (6) is adjustable, and the distance adjusting direction between the butt piece (7) and the welding head (6) is perpendicular to the adjusting direction of the transverse elastic support (4).

2. The welding robot of claim 1, wherein: the transverse elastic support (4) comprises a first supporting plate (41) arranged on the motor base (2), a first sliding rod (42) arranged on the first supporting plate (41), a second supporting plate (43) connected to the first sliding rod (42) in a sliding mode, and a pair of first springs (44) sleeved on the first sliding rod (42), wherein the pair of first springs (44) are symmetrically arranged on two sides of the second supporting plate (43), and two ends of each first spring (44) are fixed on the first supporting plate (41) and the second supporting plate (43) respectively.

3. The welding robot according to claim 2, wherein: the vertical elastic support (5) comprises a third supporting plate (51) arranged on the second supporting plate (43), a fourth supporting plate (52) arranged on the abutting part (7), an adjusting screw rod (53) and a second sliding rod (54) which are arranged on the fourth supporting plate (52) and slidably penetrate through the third supporting plate (51), and a transmission nut (58) which is rotatably connected to the third supporting plate (51) and is in threaded connection with the adjusting screw rod (53).

4. The welding robot as set forth in claim 3, wherein: a second spring (55) is sleeved on the second sliding rod (54), and two ends of the second spring (55) are respectively fixed on the third supporting plate (51) and the fourth supporting plate (52).

5. The welding robot as set forth in claim 3, wherein: a blocking piece (56) is arranged at the top of the adjusting screw rod (53), a third spring (57) is sleeved on the adjusting screw rod (53), and two ends of the third spring (57) are fixed on the blocking piece (56) and the third supporting plate (51) respectively.

6. The welding robot of claim 2, wherein: the welding fixture is characterized by further comprising a T-shaped groove (81) formed in the second supporting plate (43), a fifth supporting plate (82) arranged on the welding head (6), a locking bolt (83) connected to the T-shaped groove (81) in a sliding mode and arranged on the fifth supporting plate (82) in a penetrating mode, and a locking nut (84) connected to the locking bolt (83) in a threaded mode and abutted to the fifth supporting plate (82).

7. The welding robot of claim 1, wherein: the abutting part (7) is a pressing wheel, and the axis of the rotating axis of the pressing wheel is vertical to the adjusting direction of the transverse elastic support (4).