CN218533304U - Robot system for welding steel structure - Google Patents
Robot system for welding steel structure Download PDFInfo
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- CN218533304U CN218533304U CN202222856128.0U CN202222856128U CN218533304U CN 218533304 U CN218533304 U CN 218533304U CN 202222856128 U CN202222856128 U CN 202222856128U CN 218533304 U CN218533304 U CN 218533304U
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- welding
- welding robot
- sensor
- steel structure
- welding gun
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- 238000003466 welding Methods 0.000 title claims abstract description 172
- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 34
- 239000010959 steel Substances 0.000 title claims abstract description 34
- 238000009434 installation Methods 0.000 claims abstract description 13
- 230000001681 protective effect Effects 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 5
- 238000003825 pressing Methods 0.000 claims description 5
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 229920001971 elastomer Polymers 0.000 claims description 2
- 239000000806 elastomer Substances 0.000 claims description 2
- 238000004804 winding Methods 0.000 claims description 2
- 238000010276 construction Methods 0.000 abstract description 11
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000002788 crimping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000005304 joining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
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Abstract
The utility model provides a steel construction welding robot system belongs to the welding technology field, include: the welding moving platform is provided with a driving seat and an installation frame, a moving plate is installed on the driving seat in a sliding mode, the installation frame is connected to the bottom of the driving seat, the installation frame is provided with a plurality of extension arms extending towards two sides transversely, and magnetic force seats used for being adsorbed to a steel structure are arranged at the end portions of the extension arms; the welding robot is provided with a base, a mechanical arm and a welding gun clamp, wherein the base is detachably arranged on a movable plate of the welding movable platform, the mechanical arm is arranged on the base, and the welding gun clamp is arranged at the tail end of the mechanical arm; the utility model discloses a steel construction welding robot system installs welding robot detachably on welding moving platform, through welding moving platform's drive, can make welding robot carry out the bulk movement to improve welding robot's operation scope, realize carrying out the welding of the groove of great length on the steel construction.
Description
Technical Field
The utility model relates to the field of welding technology, concretely relates to steel construction welding robot system.
Background
Welding is a manufacturing process and technique for joining metals by heating and high temperature.
In the prior art, the welding of the steel structure generally adopts manual welding operation, and also adopts a welding robot to perform welding operation.
However, since the working radius of the welding robot is short, when the welding robot is used for welding a groove with a large length, the welding robot needs to be moved manually, and the welding path needs to be re-planned by the moved welding robot, which leads to complex operation.
SUMMERY OF THE UTILITY MODEL
Therefore, the to-be-solved technical problem of the utility model lies in overcoming the welding robot among the prior art and being not suitable for the steel construction groove welded defect of great length to a steel construction welding robot system is provided.
In order to solve the technical problem, the utility model provides a steel construction welding robot system, include:
the welding moving platform is provided with a driving seat and an installation frame, a moving plate is slidably installed on the driving seat and connected with a driving motor, and the driving motor is used for driving the moving plate to slide on the driving seat; the mounting frame is connected to the bottom of the driving seat, the mounting frame is provided with a plurality of extension arms which transversely extend towards two sides, magnetic force seats used for being adsorbed to a steel structure are arranged at the end parts of the extension arms, and the extension arms are suitable for being wound with binding bands and are connected to the steel structure in a winding mode through the binding bands;
welding robot has base, arm and welder anchor clamps, base detachably installs on welding moving platform's the movable plate, the arm is installed on the base, the end installation of arm welder anchor clamps, be connected with welder and sensor on the welder anchor clamps.
Optionally, the strap is a ratchet strap.
Optionally, a sliding plate of the welding moving platform is provided with a positioning pin, and a base of the welding robot is provided with a positioning hole opposite to the positioning pin.
Optionally, the positioning pins have at least two symmetrically arranged pins, including: the positioning structure comprises a first positioning pin and a second positioning pin, wherein the part of the first positioning pin, which is used for being inserted into the positioning hole, is of a cylindrical structure matched with the inner diameter of the positioning hole, the cross section of the part of the second positioning pin, which is used for being inserted into the positioning hole, is of a flat structure, the long axis of the flat structure is matched with the inner diameter of the positioning hole, and the length of the short axis of the flat structure is smaller than the inner diameter of the positioning hole.
Optionally, a sliding plate of the welding moving platform is provided with a plurality of fixed compactors, and the fixed compactors are arranged around a base of the welding robot at intervals.
Optionally, the ram of the fixed compactor is an elastomer.
Optionally, the robotic arm of the welding robot is a six-axis robotic arm.
Optionally, a welding gun clamp is arranged on a welding gun clamp of the welding robot, a welding gun is mounted on the welding gun clamp, and the head of the welding gun is located on the axis of the last shaft of the mechanical arm.
Optionally, the welding gun clamp comprises:
a bracket having a mounting structure for attachment to a robotic arm;
the welding gun clamp is connected to the support and provided with a clamping space for penetrating through a welding gun, and the clamping space is locked through a fastener to clamp the welding gun;
the sensor clamp is connected to the support and provided with a containing groove for containing the sensor, a threaded hole for connecting a fastener in a threaded mode is formed in the side wall of the containing groove, and the sensor is suitable for being clamped in the containing groove through the fastener penetrating through the threaded hole.
Optionally, the sensor is sleeved with a protective cover, and the protective cover includes:
the sensor comprises a housing, a sensor detection port and a sensor detection device, wherein the housing is internally provided with an installation space for installing a sensor, and the housing is provided with a position avoiding hole for exposing the sensor detection port;
the shielding plate is movably arranged in the housing and can shield and relieve shielding of the shielding plate through being driven by the shielding plate.
The utility model discloses technical scheme has following advantage:
the utility model provides a steel construction welding robot system installs welding robot detachably on welding moving platform, through welding moving platform's drive, can make welding robot carry out the bulk movement to improve welding robot's operation scope, thereby realize carrying out the welding of the groove of great length on the steel construction.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a perspective view of an embodiment of a steel structure welding robot system provided in an embodiment of the present invention;
FIG. 2 is a perspective view of the welding carriage of FIG. 1;
FIG. 3 is a perspective view of two of the alignment pins on the slide plate of FIG. 2;
FIG. 4 is a perspective view of the weld gun fixture of FIG. 1;
fig. 5 is a perspective view showing an internal structure of the shield cap of fig. 4.
Description of reference numerals:
1. a welding robot; 2. welding the mobile platform; 3. a mounting frame; 4. a driving seat; 5. moving the plate; 6. an extension arm; 7. a magnetic base; 8. a base; 9. a mechanical arm; 10. a welding gun clamp; 11. a first positioning pin; 12. a second positioning pin; 13. fixing the compactor; 14. a pressure head; 15. a support; 16. welding gun clamp; 17. a welding gun; 18. a sensor clip; 19. a threaded hole; 20. a sensor; 21. a protective cover; 22. avoiding holes; 23. a shielding plate; 24. a magnetic control switch.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
The welding robot 1 system provided by the embodiment can be used for groove welding on a steel structure.
As shown in fig. 1, a specific embodiment of the welding robot 1 system provided in this embodiment includes: the welding device comprises a welding moving platform 2, a welding robot 1 and a welding gun 17, wherein the welding moving platform 2 is provided with a driving seat 4 and an installation frame 3, a moving plate 5 is arranged on the driving seat 4 in a sliding mode, and the moving plate 5 is connected with a driving motor which is used for driving the moving plate 5 to move on the driving seat 4 in a sliding mode; the mounting frame 3 is connected to the bottom of the driving seat 4, the mounting frame 3 is provided with a plurality of extension arms 6 transversely extending towards two sides, the end parts of the extension arms 6 are provided with magnetic force seats 7 for being adsorbed to a steel structure, and the extension arms 6 are suitable for being wound with binding bands which are wound and connected on the steel structure; the welding robot 1 is provided with a base 8, a mechanical arm 9 and a welding gun clamp 10, wherein the base 8 is detachably mounted on a moving plate 5 of the welding moving platform 2, the mechanical arm 9 is mounted on the base 8, the welding gun clamp 10 is mounted at the tail end of the mechanical arm 9, and a welding gun 17 and a sensor 20 are connected to the welding gun clamp 10; in use, the end of the welding torch 17 is connected to a welding power supply, and the sensor 20 is electrically connected to the controller.
The welding robot 1 system that this embodiment provided installs welding robot 1 detachably on welding moving platform, through the drive of welding moving platform 2, can make welding robot 1 carry out the bulk movement to improve welding robot 1's operation scope, thereby realize carrying out the welding of the groove of great length on the steel construction. Wherein, welding moving platform 2 passes through magnetic base 7 on the mounting bracket 3, and installation that can be swift is through the setting of extension arm 6 on the steel construction, can further improve the installation steadiness of magnetic meter seat.
As shown in fig. 2, in the system of the welding robot 1 provided in this embodiment, the binding band wound on the extension arm 6 of the welding moving platform 2 may be a ratchet binding band, which is convenient for disassembly and assembly.
As shown in fig. 2 and 3, in the welding robot 1 system provided in this embodiment, a sliding plate of the welding moving platform 2 is provided with a positioning pin, and a base 8 of the welding robot 1 is provided with a positioning hole opposite to the positioning pin. Through the cooperation of locating pin and locating hole, the convenience when installing welding robot 1 on the sliding plate can be improved to and the steadiness after the installation. In addition, as an alternative embodiment, the positioning pins and holes may be omitted, and the base 8 of the welding robot 1 and the sliding plate may be directly connected using fasteners.
As shown in fig. 3, the present embodiment provides a system of a welding robot 1, in which the positioning pins have two symmetrically arranged pins, including: the positioning structure comprises a first positioning pin 11 and a second positioning pin 12, wherein the part, used for being inserted into the positioning hole, of the first positioning pin 11 is of a cylindrical structure matched with the inner diameter of the positioning hole, the cross section of the part, used for being inserted into the positioning hole, of the second positioning pin 12 is of a flat structure, the long axis of the flat structure is matched with the inner diameter of the positioning hole, and the length of the short axis of the flat structure is smaller than the inner diameter of the positioning hole. Through the setting, can reduce the required precision of assembly when installing welding robot 1's base 8 on the sliding plate, further improve the convenience of assembly. In addition, as an alternative embodiment, only one or more positioning pins may be provided.
As shown in fig. 2, in the system of the welding robot 1 provided in the present embodiment, a plurality of fixed compactors 13 are provided on the sliding plate of the welding moving platform 2, and the fixed compactors 13 are provided at intervals around the base 8 of the welding robot 1. Specifically, the number of the fixed pressing devices 13 is four, and the base 8 of the welding robot 1 can be connected to the sliding plate more conveniently by matching the fixed pressing devices 13 with the positioning pins, so that the disassembly and assembly operations are facilitated. Further, the pressing head 14 of the fixed pressing device 13 is an elastic body. Through this setting, can improve the friction between the pressure head 14 of fixed compactor 13 and base 8, further improve the steadiness of carrying out the crimping connection.
As shown in fig. 1, in the system of the welding robot 1 provided in this embodiment, the robot arm 9 of the welding robot 1 is a six-axis robot arm, which can meet the welding requirement of multiple positions or angles. In addition, as an alternative embodiment, the mechanical arm 9 may be a single-axis or multi-axis mechanical arm 9 with other structures.
As shown in fig. 4, in the welding robot 1 system according to the present embodiment, the welding gun holder 10 of the welding robot 1 has the welding gun holder 16, the welding gun 17 is mounted on the welding gun holder 16, and the head of the welding gun 17 is located on the axis of the final axis of the robot arm 9. So set up, can be convenient for adjust welding position through arm 9 to carry out more accurate welding. In addition, as an alternative embodiment, the position of the head of the welding gun 17 may be offset from the axis of the robot arm 9.
As shown in fig. 4, in the welding robot 1 system provided in the present embodiment, the welding gun holder 10 includes: a bracket 15, a torch clamp 16, and a sensor clamp 18; the bracket 15 is provided with a mounting structure for connecting to the mechanical arm 9, specifically, two strip-shaped mounting holes are arranged on the bracket 15, and the bracket 15 can be fixedly mounted on the mechanical arm 9 by passing fasteners through the two strip-shaped mounting holes; in addition, as an alternative embodiment, the bracket 15 may be mounted to the robot arm 9 by other mounting structures, such as a snap fit. The welding gun clamp 16 is connected to the bracket 15, the welding gun clamp 10 is provided with a clamping space for penetrating the welding gun 17, and the clamping space is locked by a fastener to clamp the welding gun 17; the sensor clip 18 is attached to the bracket 15, the sensor clip 18 having a receiving slot for receiving a sensor 20, the receiving slot having a threaded hole 19 in a side wall thereof for receiving a fastener, the sensor 20 being adapted to be clamped in the receiving slot by the fastener passing through the threaded hole 19. The welding gun clamp 16 and the sensor clamp 18 are respectively connected to two ends of the support 15, so that a welding gun 17 and a sensor 20 are simultaneously installed on one support 15, and when the position of a welding opening is detected through the sensor 20, the welding path can be planned through fine adjustment.
As shown in fig. 4 and 5, in the welding robot 1 system provided in this embodiment, a protective cover 21 is sleeved on the sensor 20, and the protective cover 21 includes: the sensor comprises a cover, a sensor 20 and a sensor holder, wherein the cover is internally provided with an installation space for installing the sensor 20, and the cover is provided with a clearance hole 22 for exposing a detection port of the sensor 20; a shielding plate 23 is movably arranged in the housing, and the shielding plate 23 can shield and relieve shielding of the position-avoiding hole 22 of the housing by being driven; specifically, the shielding plate 23 is rotatably connected in the housing and is driven by the magnetic switch 24, so as to shield or open the clearance hole 22 of the housing.
Application method
The welding robot 1 system provided in this embodiment, when in use, includes the following steps:
firstly, mounting a welding moving platform 2 on a steel structure to be welded;
then the welding robot 1 is mounted on the sliding plate of the welding moving platform 2;
opening the protective cover 21 of the sensor 20;
driving the welding robot 1 to move by adopting the welding moving platform 2, and scanning the groove by using the sensor 20 so as to plan a welding path;
closing the protective cover 21, and welding the groove by the welding robot 1 according to the welding path;
after welding, the protective cover 21 is opened, and the weld craters can be scanned and detected by the sensor 20, so that the welding quality can be checked.
By adopting the welding method, the sensor 20 cannot be damaged by high temperature generated during welding, and the safety and the service life of the sensor 20 are ensured.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious changes and modifications may be made without departing from the scope of the present invention.
Claims (10)
1. A steel structure welding robot system, characterized by comprising:
the welding moving platform (2) is provided with a driving seat (4) and an installation frame (3), a moving plate (5) is installed on the driving seat (4) in a sliding mode, the moving plate (5) is connected with a driving motor, and the driving motor is used for driving the moving plate (5) to move on the driving seat (4) in a sliding mode; the mounting frame (3) is connected to the bottom of the driving seat (4), the mounting frame (3) is provided with a plurality of extension arms (6) extending transversely towards two sides, the end parts of the extension arms (6) are provided with magnetic force seats (7) used for being adsorbed to a steel structure, and the extension arms (6) are suitable for being wound with a binding belt and are connected to the steel structure in a winding manner through the binding belt;
the welding robot (1) is provided with a base (8), a mechanical arm (9) and a welding gun clamp (10), the base (8) is detachably mounted on a moving plate (5) of the welding moving platform (2), the mechanical arm (9) is mounted on the base (8), and the welding gun clamp (10) is mounted at the tail end of the mechanical arm (9); the welding gun clamp (10) is connected with a welding gun (17) and a sensor (20).
2. The steel structure welding robotic system of claim 1, wherein the strap is a ratchet strap.
3. The steel structure welding robot system according to claim 1, characterized in that a sliding plate of the welding moving platform (2) is provided with a positioning pin, and a base (8) of the welding robot (1) is provided with a positioning hole opposite to the positioning pin.
4. The steel structure welding robotic system of claim 3, characterized in that the locating pins have at least two of a symmetrical arrangement, comprising: the positioning structure comprises a first positioning pin (11) and a second positioning pin (12), wherein the part, used for being inserted into the positioning hole, of the first positioning pin (11) is of a cylindrical structure matched with the inner diameter of the positioning hole, the cross section of the part, used for being inserted into the positioning hole, of the second positioning pin (12) is of a flat structure, the long shaft of the flat structure is matched with the inner diameter of the positioning hole, and the length of the short shaft of the flat structure is smaller than the inner diameter of the positioning hole.
5. The steel structure welding robot system according to claim 3, characterized in that a plurality of fixed compactors (13) are provided at intervals around the base (8) of the welding robot (1) on the sliding plate of the welding moving platform (2).
6. The steel structure welding robot system according to claim 5, characterized in that the pressing head (14) of the fixed presser (13) is an elastomer.
7. The steel structure welding robot system according to any one of claims 1-6, characterized in that the robotic arm (9) of the welding robot (1) is a six-axis robotic arm.
8. The steel structure welding robot system according to any one of claims 1-6, characterized in that a welding gun clamp (16) is arranged on the welding gun clamp (10) of the welding robot (1), a welding gun (17) is mounted on the welding gun clamp (16), and the head of the welding gun (17) is located on the axis of the last shaft of the mechanical arm (9).
9. The steel structure welding robot system according to any one of claims 1-6, characterized in that the welding gun clamp (10) comprises:
a support (15) having a mounting structure for attachment to a robotic arm (9);
the welding gun clamp (16) is connected to the support (15), the welding gun clamp (10) is provided with a clamping space for penetrating the welding gun (17), and the clamping space is locked through a fastener to clamp the welding gun (17);
a sensor clip (18) attached to the bracket (15), the sensor clip (18) having a receiving slot for receiving a sensor (20), the receiving slot having a threaded hole (19) in a sidewall thereof for threaded attachment of a fastener, the sensor (20) adapted to be clamped in the receiving slot by a fastener passing through the threaded hole (19).
10. The steel structure welding robot system according to claim 9, characterized in that a protective cover (21) is sleeved on the sensor (20), and the protective cover (21) comprises:
the sensor comprises a housing, a sensor body and a sensor cover, wherein the housing is internally provided with an installation space for installing a sensor (20), and the housing is provided with a clearance hole (22) for exposing a detection port of the sensor (20);
the shielding plate (23) is movably arranged in the housing, and the shielding plate (23) can shield and release the shielding of the position avoiding hole (22) of the housing by being driven.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222856128.0U CN218533304U (en) | 2022-10-27 | 2022-10-27 | Robot system for welding steel structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222856128.0U CN218533304U (en) | 2022-10-27 | 2022-10-27 | Robot system for welding steel structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218533304U true CN218533304U (en) | 2023-02-28 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222856128.0U Active CN218533304U (en) | 2022-10-27 | 2022-10-27 | Robot system for welding steel structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218533304U (en) |
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2022
- 2022-10-27 CN CN202222856128.0U patent/CN218533304U/en active Active
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