CN101391354B

CN101391354B - Suspension takeover welding robot

Info

Publication number: CN101391354B
Application number: CN2008101374711A
Authority: CN
Inventors: 王宗义; 刘涛; 王霞
Original assignee: Harbin Engineering University
Current assignee: Anhui Xingjian Intelligent Manufacturing Equipment Co ltd
Priority date: 2008-11-06
Filing date: 2008-11-06
Publication date: 2010-12-01
Anticipated expiration: 2028-11-06
Also published as: CN101391354A

Abstract

The invention provides a suspended pipe welding robot. It is composed of electric slip ring, rotating mechanism, telescopic mechanism, lifting mechanism, swinging mechanism and manual lifting adjustment mechanism. The rotating mechanism is composed of a fixed part and a rotating part. The fixed part of the rotating mechanism is fixed on the cross arm as the base of the suspended robot. At the end of the cross arm, the telescopic mechanism is installed on the rotating part of the rotating mechanism, the lifting mechanism is installed on the telescopic mechanism, the manual lifting adjustment mechanism is installed on the lifting mechanism, the swing mechanism is installed on the manual lifting adjustment mechanism, and the electric slip ring is installed on the on the rotating mechanism. Adjust the relative position between the welding robot and the connecting pipe and adjust the manual lifting adjustment mechanism to the appropriate welding position, the suspended connecting pipe welding robot can realize the linkage of four degrees of freedom, and can carry out automatic welding of different shapes of connecting pipes. It has good welding quality, High efficiency and reduce the labor intensity of workers.

Description

Suspended type pipe-jointing welding robot

Technical field

What the present invention relates to is a kind of industrial welding robot, particularly relates to a kind of adapter intersecting line welding robot that is used for cylindrical shell, ellipsoid hat, spherical crown and cone.

Background technology

Pipe-jointing welding robot adopts three-jaw or chuck to be installed more at present, is installed in the soldered adapter, and the heat that is very easily welded generation conducts to chuck makes it stuck because of thermal deformation, causes chuck to be difficult to dismounting; The clamp pipe type welding robot is in taking over the welding closely that distributes, the weld job space is seriously limited, the clamp pipe type welding robot is unfavorable for operating personnel's Real Time Observation and operation because of the mounting means of self structure is also very little to the working space that the operator stays simultaneously; Use the clamp pipe type welding robot of three-jaw or chuck that being installed of square tube, elliptical tube, Taper Pipe and other irregular adapter welding is difficult to realize, thereby can't realize being installed weld; Be badly in need of a kind of workman's of being convenient to observation and operation in the practice, can avoid chuck to be heated stuck and can adapt to the robot that difformity is taken over welding because of welding.

Summary of the invention

The object of the present invention is to provide a kind ofly can adapt to different pipe end shapes and take over welding, can increase work efficiency, guarantee welding quality and reduce the suspended type pipe-jointing welding robot of labor strength effectively.

The object of the present invention is achieved like this:

By electric sliding ring part, rotating mechanism, telescoping mechanism, elevating mechanism, swing mechanism and hand-operated lifting guiding mechanism constitute, rotating mechanism is made up of standing part and rotating part, the standing part of rotating mechanism is fixed on the end of spider transverse arm as the pedestal of suspension type robot, the rotating part of rotating mechanism is installed on the external toothing of pivoting support, telescoping mechanism is installed on the rotating part of rotating mechanism, elevating mechanism is installed on the telescoping mechanism, the hand-operated lifting guiding mechanism is installed on the elevating mechanism, swing mechanism is installed on the hand-operated lifting guiding mechanism, and electric slip ring two ends are installed in respectively on the counterrotating two parts of rotating mechanism.

The present invention can also comprise some architectural features like this:

1, the formation of described rotating mechanism comprises: big hanger 9, pivoting support 32, rotation square frame 10, servomotor 6, decelerator 7, support 8, rotary pinion 31 and laser instrument 38; The standing part of rotating mechanism is the end that big hanger 9 is fixed on the spider transverse arm, and pivoting support 32 inner rings are installed in big hanger 9 bottoms; But rotate rotation square frame 10 relatively fixed parts that the rotating part of rotating mechanism is installed on pivoting support 32 external toothings, servomotor 6 is installed on the big hanger by support 8 with decelerator 7, is installed in rotary pinion 31 and the engagement of pivoting support 32 external toothings on decelerator 7 output shafts; Laser instrument 38 is installed on rotation square frame 10 lower ends, and the laser beam that laser instrument 38 is sent is concentric with the pivot of rotating mechanism.

2, the formation of described telescoping mechanism comprises: telescopic arm 11, ball-screw 37, line slide rail 12, stepper motor 33, decelerator 34, ball-screw support 36, feed screw nut 41, shaft coupling 35, telescopic moving piece 43, two arm contiguous blocks 42, slide block 16 and slide block 17; Telescopic arm 11 1 ends are installed on the side of rotation square frame 10 lower ends, make the telescopic shaft axle center vertical with the pivot of rotating mechanism; Stepper motor 33 and decelerator 34 are installed on telescopic arm 11 1 ends, ball-screw support 36 is fixed on telescopic arm 11 inwalls, ball-screw 37 1 ends are installed on ball-screw support 36 by angular contact ball bearing, and are connected with decelerator 34 output shafts by shaft coupling 35; Line slide rail 12 is fixed on telescopic arm 11 outer walls, and the feed screw nut 41 on the ball-screw 37 is installed on telescopic moving piece 43, and is connected with slide block 17 with slide block 16 on the line slide rail 12 by telescopic moving piece 43; Two arm contiguous blocks 42 are installed on the telescopic moving piece 43, move along line slide rail 12 together by 41 drive installations of the feed screw nut on the ball-screw 37 telescopic moving piece 43 and two arm contiguous blocks 42 on slide block 16 and slide block 17.

3, the formation of described elevating mechanism comprises: lifting arm 15, ball-screw 44, line slide rail 18, stepper motor 13, decelerator 14, ball-screw support 40, feed screw nut 45, shaft coupling 39, lifting contiguous block 19, slide block 21 and slide block 27; Lifting arm 15 1 ends are installed on two arm contiguous blocks 42, and make telescopic arm 11 and lifting arm 15 orthogonal, lifting drive is that stepper motor 13 and decelerator 14 are installed on lifting arm 15 upper ends, ball-screw support 40 is fixed on lifting arm 15 inwalls, ball-screw 44 1 ends are installed on ball-screw support 40 by angular contact ball bearing, and are connected with decelerator 14 output shafts by shaft coupling 39; Line slide rail 18 is fixed on lifting arm 15 outer walls, feed screw nut 45 on the ball-screw 44 is installed on lifting contiguous block 19, and be connected with slide block 27 with slide block 21 on the line slide rail 18 by lifting contiguous block 19, move along line slide rail 18 by the lifting contiguous block 19 of 45 drive installations of the feed screw nut on the ball-screw 44 on slide block 21 and slide block 27.

4, the formation of described hand-operated lifting guiding mechanism comprises: tooth bar pipe 46, lift adjustment pinion 24, handwheel 25, key 20, terminal contiguous block 28, screw 23, screw 26 and clamper 22; Described hand-operated lifting guiding mechanism is installed on lifting contiguous block 19, be that clamper 22 is installed on the lifting contiguous block 19, and make tooth bar pipe 46 directions of motion identical with lifting arm 15 directions of motion, tooth bar pipe 46 is installed in the hole of clamper 22, match with the key 20 that is fixed in clamper 22 holes by oneself long keyway on one's body with hour rack pipe 46, lift adjustment pinion 24 is installed on the clamper 22 by bearing, handwheel 25 and lift adjustment pinion 24 are installed terminal contiguous block 28 for fixedlying connected in tooth bar pipe 46 lower ends.

5, the formation of described swing mechanism comprises: stepper motor 30, turbine and worm decelerator 29, folder rifle device 47 and welding gun 48; Turbine and worm decelerator 29 is installed on terminal contiguous block 28, and stepper motor 30 is installed at turbine and worm decelerator 29 power shaft places, and the turbine and worm reducer output shaft is installed folder rifle device 47, and welding gun 48 is installed in folder rifle device 47 holes.

6, the formation of described electric sliding ring part comprises shell I 4, shell II 5, end cap 1, axle 2 and slip ring 3; Shell II 5 lower ends are fixed on the big hanger 9, and shell I 4 lower ends are by being fixed on indirectly on the big hanger 9 with shell II 5 fixedlying connected of upper end, and end cap 1 is installed in shell I 4 upper ends; Axle 2 is passed pivoting support 32 endoporus and is fixed on rotation square frame 10 tops; One end of circuit slip ring 3 is installed on the axle 2, and the other end is installed on the end cap 1.

The invention provides and be used for the pipe-jointing welding robot that spider hangs or other equipment hang; Practice shows that welding pool was difficult to moulding when the angle that becomes with horizontal plane when welding track surpassed 17 °, can't ensure welding quality, and suspended structure can during greater than 17 °, be realized working in coordination welding to the weldment displacement by deflection machine in welding track and horizontal plane angle; It is not very big taking over the axial high low head of welding because of the overwhelming majority, by stretching of hand-operated lifting guiding mechanism, can realize the welding than long pipe, has avoided the effective travel of elevating mechanism excessive; The working space of suspended type pipe-jointing welding robot/structural volume is than big, so be convenient to workman's on-site supervision and operation; Suspended type pipe-jointing welding robot have by means of spider make welding robot location rapidly, can adapt to different pipe end shapes and take over the advantage of welding and have the advantage that can increase work efficiency, guarantee welding quality and reduce labor strength effectively.

Owing to adopt structure of the present invention, adjust the relative position of welding robot and adapter and adjust the hand-operated lifting guiding mechanism to suitable welding position, suspended type pipe-jointing welding robot just can be realized the interlock of four frees degree, thereby can carry out the automatic welding that difformity is taken over, it has the advantages that welding quality is good, efficient is high and reduce labor strength.

Description of drawings

Fig. 1 and 2 is used to take over the suspended type pipe-jointing welding robot structural representation of intersection welding for the present invention.

Fig. 3 is telescopic arm of the present invention and lifting arm transmission mechanism schematic diagram.

Fig. 4 is that hand-operated lifting of the present invention is adjusted structural representation.

Fig. 5 is a swing mechanism schematic diagram of the present invention.

Fig. 6 is installed in the schematic diagram of cross for the present invention.

The specific embodiment

For example the present invention is done description in more detail below in conjunction with accompanying drawing:

Each part symbol among Fig. 1-Fig. 6 of the present invention is represented respectively: 1. end cap, 2. axle, 3. circuit slip ring, 4. shell I, 5. shell II, 6. servomotor, 7. decelerator, 8. support, 9. big hanger, 10. rotation square frame, 11. telescopic arm, 12. line slide rail, 13. stepper motor, 14. decelerator, 15. lifting arm, 16,17. slide block, 18. line slide rail, 19. lifting contiguous block, 20. key, 21. slide block, 22. clamper, 23,26. screw, 24. lift adjustment pinion, 25. handwheel, 27. slide block, 28. terminal contiguous block, 29. turbine and worm decelerator, 30. stepper motor, 31. rotary pinion, 32. pivoting support, 33. stepper motor, 34. decelerator, 35. shaft coupling, 36. ball-screw support, 37. ball-screw, 38. laser instrument, 39. shaft coupling, 40. ball-screw support, 41. feed screw nut, 42. two arm contiguous blocks, 43. telescopic moving piece, 44. ball-screw, 45. feed screw nut, 46. tooth bar pipe, 47. folder rifle device, 48. welding gun.

Fig. 6 is installed in schematic diagram on the spider for suspended type pipe-jointing welding robot, the flexible welding robot that is fixed on the transverse arm end that makes of the lifting of the rotation by the spider base, perpendicular arm and transverse arm realizes that piece speed moves, and by adjusting the relative position relation of welding robot pivots and adapter with the coaxial laser instrument 38 of bonding machine rotating mechanism pivot.

In conjunction with Fig. 1 and Fig. 2, rotating driving device drives the external toothing of pivoting support 32 around the pivoting support 32 inner rings rotation that is fixed on the big hanger 9 by rotary pinion 31 and pivoting support 32 external toothing engaged transmission, thereby the rotation square frame 10 of drive installation on pivoting support 32 external toothings is rotated, and then the telescoping mechanism of drive installation on rotation square frame 10, be installed in the elevating mechanism on the telescoping mechanism, the swing mechanism that is installed in the hand-operated lifting guiding mechanism on the elevating mechanism and is installed on the hand-operated lifting guiding mechanism rotates in the axle center of wraparound commentaries on classics supporting 32 together, also makes the relative shell I 4 of axle 2 generations that is installed on the rotation square frame 10 simultaneously, the rotation of shell II 5 and end cap 1.

In conjunction with Fig. 1, Fig. 2 and Fig. 4, retractable driving device in the telescoping mechanism is arranged on an end of telescopic arm 11, decelerator 34 output shafts are connected by shaft coupling 35 with ball-screw 37, ball-screw 37 1 ends are installed in the ball-screw support 36 by angular contact ball bearing, make ball-screw 37 have only the one degree of freedom of rotating around self axle center, when stepper motor 33 drives, drive installation on ball-screw 37 feed screw nut 41 and do stretching motion with slide block 16 and slide block 17 hard-wired telescopic moving pieces 43 along line slide rail 12, thereby drive elevating mechanism, swing mechanism and hand-operated lifting guiding mechanism are done stretching motion together.

In conjunction with Fig. 1, Fig. 2 and Fig. 4, lifting drive in the elevating mechanism is arranged on lifting arm 15 1 ends, decelerator 14 output shafts are connected by shaft coupling 39 with ball-screw 44, ball-screw 44 1 ends are installed in the ball-screw support 40 by angular contact ball bearing, make ball-screw 44 have only the one degree of freedom of rotating around self axle center, when stepper motor 13 drives, drive installation on ball-screw 44 feed screw nut 45 and move up and down along line slide rail 18 with slide block 21 and slide block 27 hard-wired lifting contiguous blocks 19, thereby drive swing mechanism and the hand-operated lifting guiding mechanism moves up and down together.

In conjunction with Fig. 1, Fig. 2 and Fig. 3, described hand-operated lifting guiding mechanism is installed on lifting contiguous block 19, clamper 22 is installed on lifting contiguous block 19 sides, be installed in tooth bar pipe 46 in clamper 22 holes because of being subjected to the constraint of key 20, make the only one degree of freedom on the lifting direction of tooth bar pipe 46, the handwheel 25 driving tooth bar pipes 46 that are installed on the lift adjustment pinion 24 by rotation move up and down together with the swing mechanism that is installed in tooth bar pipe 46 lower ends, elasticity by screw 23 and screw 26 adjustment clampers 22 clamping tooth bar pipes 46 guarantees that the chucking power of 22 pairs of tooth bar pipes 46 of clamper can make things convenient for handwheel 25 to carry out manual rotation and lifting adjustment again.

In conjunction with Fig. 1, Fig. 2 and Fig. 5, described swing mechanism comprises: motor 30, turbine and worm decelerator 29, folder rifle device 47 and welding gun 48 constitute, when motor 30 is done output action, the folder rifle device 47 that driving is connected on decelerator 29 output shafts produces swing, and the welding gun 48 that is installed in the folder rifle device 47 is swung.

In conjunction with Fig. 1 and Fig. 2, the two ends of circuit slip ring 3 can relatively infinitely rotate, and the one end is installed on axle 2, and the other end is installed on end cap 1; Control power supply, source of welding current control line and the source of welding current just can be introduced by the hole of circuit slip ring 3 one ends on shell I, draw and hole on axle 2 walls enters hollow axle 2 inside by circuit slip ring 3 other ends, pass pivoting support 32 inside because of axle 2 and fixedly connected, so control power supply, source of welding current control line and the source of welding current are introduced into rotation square frame 10 inside and draw through the square hole that rotates square frame 10 lower ends with rotation square frame 10.Because of circuit slip ring 3 can be realized unlimited rotation, so when the standing part that is connected with the circuit slip ring and rotating part relatively rotated, the connection line at circuit slip ring 3 two ends just can be realized unlimited rotation.

Just the control cabinet of control system can be housed on rotation square frame 10 on the basis of said structure, and hang auxiliary equipment such as wire-feed motor, hopper, source of welding current control cabinet and wire reel; It is four-axle linked to control each joint realization by control system according to space tracking, realizes that the multi-pass welding of taking over connects.

Claims

1. A hanging type welding robot is composed of an electric slip ring part, a rotating mechanism, a telescoping mechanism, a lifting mechanism, a swinging mechanism and a manual lifting adjustment mechanism. It is characterized in that: the rotating mechanism is composed of a fixed part and a rotating part, and the rotating mechanism The fixed part is fixed on the end of the cross arm as the base of the suspended robot, the telescopic mechanism is installed on the rotating part of the rotating mechanism, the lifting mechanism is installed on the telescopic mechanism, and the manual lifting adjustment mechanism is installed on the lifting mechanism. The mechanism is installed on the manual lifting adjustment mechanism, and the electric slip ring is installed on the rotating mechanism.

2. The hanging type welding robot according to claim 1, characterized in that: the composition of the rotating mechanism includes: a large hanger (9), a slewing bearing (32), a rotating frame (10), a servo motor ( 6), reducer (7), bracket (8), rotating pinion (31) and laser (38); the fixed part of the rotating mechanism is a large hanger (9) fixed on the end of the cross arm of the cross arm, and the slewing bearing (32) The inner ring is installed on the bottom of the large hanger (9); the rotating part of the rotating mechanism is installed on the rotating frame (10) on the outer ring gear of the slewing bearing (32) to rotate relative to the fixed part, and the servo motor (6) and The reducer (7) is installed on the large hanger through the bracket (8), and the rotating pinion (31) installed on the output shaft of the reducer meshes with the outer ring gear of the slewing bearing (32); the laser (38) is installed on the rotating side Frame (10) lower end, and make the laser beam that laser (38) sends and the center of rotation of rotating mechanism concentric.

3. The hanging type welding robot according to claim 2, characterized in that: the telescopic mechanism comprises: a telescopic arm (11), a ball screw (37), a linear slide rail (12), a stepping motor (33), reducer (34), ball screw bracket (36), lead screw nut (41), coupling (35), telescopic moving block (43), two-arm connecting block (42), slider ( 16) and slide block (17); one end of the telescopic arm (11) is installed on the side of the lower end of the rotating box (10), so that the axis of the telescopic shaft is perpendicular to the center of rotation of the rotary mechanism; the stepper motor (33) and the speed reducer ( 34) Installed on one end of the telescopic arm (11), the ball screw bracket (36) is fixed on the inner wall of the telescopic arm (11), and one end of the ball screw (37) is installed on the ball screw bracket (36) through an angular contact ball bearing, It is connected with the output shaft of the reducer (34) through a coupling (35); the linear slide rail (12) is fixed on the outer wall of the telescopic arm (11), and the screw nut (41) on the ball screw (37) is installed on the The telescopic moving block (43) is connected with the slide block (16) and the sliding block (17) on the linear slide rail (12) by the telescopic moving block (43); the two-arm connecting block (42) is installed on the telescopic moving block (43), drive the telescopic moving block (43) and the two-arm connecting block (42) installed on the slide block (16) and the slide block (17) by the screw nut (41) on the ball screw (37) Move along the linear slide rail (12) together.

4. The hanging type welding robot according to claim 3, characterized in that: the composition of the lifting mechanism includes: lifting arm (15), ball screw (44), linear slide rail (18), stepping motor (13), reducer (14), ball screw bracket (40), screw nut (45), coupling (39), lifting connection block (19), slider (21) and slider (27) One end of the lifting arm (15) is installed on the two arm connecting blocks (42), and the telescopic arm (11) and the lifting arm (15) are perpendicular to each other, and the lifting drive device is the stepper motor (13) and the speed reducer (14). On the upper end of the lifting arm (15), the ball screw bracket (40) is fixed on the inner wall of the lifting arm (15), and one end of the ball screw (44) is installed on the ball screw bracket (40) through an angular contact ball bearing, and is connected through the joint. The shaft device (39) is connected with the output shaft of the reducer (14); the linear slide rail (18) is fixed on the outer wall of the telescopic arm (15), and the screw nut (45) on the ball screw (44) is installed on the lifting connection block (19), and connected with the slide block (21) and the slide block (27) on the linear slide rail (18) through the lifting connecting block (19), and the lead screw nut (45) on the ball screw (44) Drive the lifting connection block (19) installed on the slide block (21) and the slide block (27) to move along the linear slide rail (18).

5. The suspended welding robot according to claim 4, characterized in that: the manual lifting adjustment mechanism comprises: a rack tube (46), a lifting adjustment pinion (24), a hand wheel (25), key (20), terminal connection block (28), screw (23), screw (26) and clamper (22); the manual lifting adjustment mechanism is installed on the lifting connection block (19), and the rack tube ( 46) The direction of movement is the same as that of the lifting arm (15), the rack tube (46) is installed in the hole of the clamper (22), and the rack tube (46) is fixed on the holder through the long keyway on itself The key (20) in the hole of the holder (22) matches, the lifting adjustment pinion (24) is installed on the holder (22) through the bearing, and the handwheel (25) is fixedly connected with the lifting adjustment pinion (24). End connection block (28) is installed at the lower end of rack tube (46).

6. The suspended welding robot according to claim 5, characterized in that: the swing mechanism comprises: a stepper motor (30), a worm gear reducer (29), a torch clamp (47) and a welding torch (48); the worm gear reducer (29) is installed on the end connection block (28), the stepper motor (30) is installed at the input shaft of the worm gear reducer (29), and the gun gripper (47) is installed on the output shaft of the worm gear reducer ), welding torch (48) is installed in the torch clamp (47) hole.

7. The hanging type welding robot according to claim 6, characterized in that: said electric slip ring part comprises shell I (4), shell II (5), end cover (1), mandrel (2 ) and slip ring (3); the lower end of the shell II (5) is fixed on the large hanger (9), and the lower end of the shell I (4) is indirectly fixed on the large hanger ( 9), the end cover (1) is installed on the upper end of the shell I (4); the mandrel (2) passes through the inner hole of the slewing bearing (32) and is fixed on the upper part of the rotating frame (10); one end of the circuit slip ring (3) It is installed on the mandrel (2), and the other end is installed on the end cover (1).