CN113857741B - Automatic welding robot for curved-surface tube plates - Google Patents
Automatic welding robot for curved-surface tube plates Download PDFInfo
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- CN113857741B CN113857741B CN202111449983.3A CN202111449983A CN113857741B CN 113857741 B CN113857741 B CN 113857741B CN 202111449983 A CN202111449983 A CN 202111449983A CN 113857741 B CN113857741 B CN 113857741B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted for a procedure covered by only one of the other main groups of this subclass
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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Abstract
The invention discloses an automatic welding robot for curved tube plates, which belongs to the field of welding equipment and comprises a welding gun position adjusting assembly, a welding gun positioning assembly, a welding gun assembly and two deviation rectifying supports, wherein a radial module can drive the welding gun positioning assembly to move radially, and enables a positioning rod to be inserted into a circular hole in a curved tube plate, and stress generated when the positioning rod is abutted against the edge of the circular hole can be transmitted to the two deviation rectifying supports through the welding gun position adjusting assembly, so that springs in a plurality of supporting rods on the deviation rectifying supports are compressed; the automatic deviation rectifying device has the function of automatically rectifying the position error smaller than the radius value of the circular hole, and the deviation rectifying support can absorb the stress generated when the pipe plate hole is not accurately aligned due to the error, so that the whole service life of welding equipment is prolonged, and the welding work can be accurately finished under the condition of the error.
Description
Technical Field
The invention relates to the field of intelligent manufacturing, in particular to an automatic welding robot for curved tube plates.
Background
In the production of boiler and heat exchanger industry, the side surface curved plate of the cylindrical furnace body is welded with the tube, the number of joints is large, the welding workload is large, the diameter of the furnace body cylinder is small, the diameter is about 900mm, and because of the limitation of conditions, the furnace body can only be drilled into the furnace body manually at present, and the manual tube plate welding is carried out by adopting a manual electric arc welding method; the worker construction gesture is the operation of lying prone, and high intensity is labors, and the operational environment is poor, and when the welding time is long, workman's physical power is difficult to bear, causes the product to have many quality problems, and the welding seam reproducibility is poor, can't guarantee the high quality and the time limit for a project of product. Therefore, aiming at the industrial pain points in the boiler and heat exchanger tube plate welding production, the automatic welding robot for the curved tube plate needs to be designed, the use is convenient, the quality of a welding product can be ensured, and the problems that the high-strength welding operation of workers and the reproducibility of welding seams are poor, and the high quality and the construction period of the product cannot be ensured are solved.
In other trial-produced curved-surface tube plate semi-automatic welding robots at the present stage, a track for supporting an automatic tube plate welding gun is fixed on the inner wall of a curved-surface barrel, the automatic tube plate welding gun needs to be manually moved by manually drilling the interior of a furnace body, the welding is started after the automatic tube plate welding gun is manually aligned with a tube plate hole to perform center positioning, the problem of high-intensity labor operation of manually drilling the interior of the furnace body cannot be fundamentally solved, and the welding quality of products is difficult to ensure.
Disclosure of Invention
The invention provides an automatic welding robot for curved tube plates, which can solve the problems that workers have poor reproducibility of high-strength welding operation and welding seams, and the high quality and the construction period of products cannot be guaranteed.
A curved tube sheet automatic welding robot, comprising:
the welding gun position adjusting assembly comprises an axial module and a radial module arranged on the axial module;
the welding gun positioning assembly comprises a positioning table arranged on the radial module and a positioning rod fixedly arranged on the positioning table, and the positioning rod can be inserted into a circular hole in the curved-surface tube plate under the driving of the radial module;
the welding gun assembly comprises a welding gun support arranged on the positioning table and a welding gun arranged on the welding gun support; and
two supports of rectifying, two the support of rectifying sets up respectively the both ends department of axial module, the support of rectifying includes that pneumatic center plate and assembly are in a plurality of bracing pieces on the pneumatic center plate, be provided with in the tip of bracing piece the spring and with spring coupling's bull's eye wheel under the effect of pneumatic center plate, it is a plurality of bull's eye wheel homoenergetic is contradicted on the inner wall of curved surface tube sheet.
The radial module can drive the welding gun positioning assembly to move radially, the positioning rod is inserted into a round hole in the curved-surface tube plate, and stress generated when the positioning rod abuts against the edge of the round hole is transmitted to the two deviation rectifying supports through the welding gun position adjusting assembly, so that the springs in the supporting rods on the deviation rectifying supports are compressed under stress.
Preferably, the end part of the positioning rod is provided with an air expansion fastening sleeve and a locking nut for locking the air expansion fastening sleeve, and the end part of the locking nut is arc-shaped.
Preferably, a rotating mechanism for driving the welding gun assembly to rotate around the positioning rod is arranged on the positioning table, the rotating mechanism comprises a rotating ring rotatably arranged on the positioning table and a first motor for driving the rotating ring to rotate, and the first motor is arranged in the positioning table.
The welding gun support comprises a slide rail, a slide block arranged on the slide rail in a sliding mode and an electric push rod used for pushing the slide block to move, the electric push rod is fixed on the slide rail, and the electric push rod and the slide rail are both fixedly arranged on the rotating ring; the welding gun is fixedly arranged on the sliding block.
Preferably, the two ends of the axial module are provided with rotating shafts, the two rotating shafts are respectively assembled in the central bearings of the two pneumatic central disks, and one of the pneumatic central disks is further fixedly provided with a rotating assembly for driving the rotating shafts to rotate.
The rotating assembly comprises a worm gear speed reducer, a secondary speed reducer and a second motor.
The worm and gear speed reducer is fixedly arranged on one side of the pneumatic central disc, an output shaft of the worm and gear speed reducer is connected with the rotating shaft, the secondary speed reducer is assembled on the worm and gear speed reducer, and the motor II is assembled on the secondary speed reducer.
Preferably, the number of the supporting rods is not less than 3.
Compared with the prior art, the invention has the beneficial effects that: the automatic welding machine has the function of automatically welding the curved tube plate, has a simple structure, is convenient to operate, and solves the problems that workers have poor reproducibility of high-strength welding operation and welding seams, and the high quality and the construction period of products cannot be guaranteed.
The welding production cost is low, and the problems of high production cost of manual welding and waste of labor of welders are solved.
The application range is wide, the method is suitable for various boiler industries, petrochemical industries and pressure vessel industries, and the social effect and the economic benefit are good.
The deviation rectifying support can have the function of automatically rectifying the position error smaller than the radius value of the circular hole, and can absorb the stress generated when the deviation rectifying support is not accurately aligned with the hole of the pipe plate due to the error, so that the overall service life of the welding equipment is prolonged, and the welding work can be accurately finished under the condition of the error.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a schematic view of a torch assembly of the present invention;
fig. 4 is a partial enlarged view of fig. 3 a according to the present invention.
Description of reference numerals:
1. the welding device comprises an axial module, 2, a radial module, 3, a positioning table, 4, a positioning rod, 5, a welding gun support, 6, a welding gun, 7, a pneumatic central disc, 8, a supporting rod, 9, a spring, 10, a bull-eye wheel, 11, a curved tube plate, 12, an air expansion fastening sleeve, 13, a locking nut, 14, a rotating ring, 15, a sliding rail, 16, a sliding block, 17, an electric push rod, 31, a rotating shaft, 32, a worm and gear speed reducer, 33, a secondary speed reducer, 34 and a motor II.
Detailed Description
An embodiment of the present invention will be described in detail below with reference to the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the embodiment.
As shown in fig. 1 to 4, an automatic welding robot for curved tube plates according to an embodiment of the present invention includes:
the welding gun position adjusting assembly comprises an axial module 1 and a radial module 2 arranged on the axial module 1;
the welding gun positioning assembly comprises a positioning table 3 arranged on the radial module 2 and a positioning rod 4 fixedly arranged on the positioning table 3, and the positioning rod 4 can be inserted into a circular hole in the curved tube plate 11 under the driving of the radial module 2;
the welding gun assembly comprises a welding gun bracket 5 arranged on the positioning table 3 and a welding gun 6 arranged on the welding gun bracket 5; and
two support of rectifying, two the support of rectifying sets up respectively axial module 1's both ends department, the support of rectifying includes pneumatic center plate 7 and assembles a plurality of bracing pieces 8 on the pneumatic center plate 7, be provided with spring 9 in the tip of bracing piece 8 and with bull's eye wheel 10 that spring 9 is connected pneumatic center plate 7's effect is down, and is a plurality of bull's eye wheel 10 homoenergetic is contradicted on the inner wall of curved surface tube sheet 11, and when pushing welding robot into wait to weld the boiler in, bull's eye wheel 10 can slide on the inner wall of curved surface tube sheet 11.
Axial module 1 and radial module 2 are current removal module, and radial module 2 is installed on axial module 1's layer board, and welder locating component installs on radial module 2's layer board.
The radial module 2 can drive the welding gun positioning assembly to move radially, the positioning rod 4 is inserted into a circular hole in the curved-surface tube plate 11, and stress generated when the positioning rod 4 abuts against the edge of the circular hole is transmitted to the two deviation rectifying supports through the welding gun position adjusting assembly, so that the springs 9 in the support rods 8 on the deviation rectifying supports are compressed under stress.
The end part of the positioning rod 4 is provided with an air expansion fastening sleeve 12 and a locking nut 13 used for locking the air expansion fastening sleeve 12, the end part of the locking nut 13 is arc-shaped, the locking nut 13 is in threaded connection with the end part of the positioning rod 4, and an inflation unit connected with an air nozzle of the air expansion fastening sleeve 12 can be arranged in the positioning table 3.
The welding gun assembly positioning device is characterized in that a rotating mechanism used for driving the welding gun assembly to rotate around the positioning rod 4 is arranged on the positioning table 3, the rotating mechanism comprises a rotating ring 14 rotatably arranged on the positioning table 3 and a first motor (not shown in the figure) used for driving the rotating ring 14 to rotate, and the first motor is arranged in the positioning table 3.
The welding gun support 5 comprises a slide rail 15, a slide block 16 arranged on the slide rail 15 in a sliding manner, and an electric push rod 17 used for pushing the slide block 16 to move, wherein the electric push rod 17 is fixed on the slide rail, and the electric push rod 17 and the slide rail 15 are both fixedly arranged on the swivel 14; the welding gun 6 is fixedly arranged on the slide block 16.
The two ends of the axial module 1 are respectively provided with a rotating shaft 31, the two rotating shafts are respectively assembled in the central bearings of the two pneumatic central disks 7, and one of the pneumatic central disks 7 is further fixedly provided with a rotating component for driving the rotating shaft 31 to rotate.
The rotating assembly comprises a worm gear speed reducer 32, a secondary speed reducer 33 and a second motor 34.
The worm and gear speed reducer 32 is fixedly arranged on one side of the pneumatic central disc 5, an output shaft of the worm and gear speed reducer is connected with the rotating shaft 31, the second-stage speed reducer 33 is assembled on the worm and gear speed reducer 32, and the second motor 34 is assembled on the second-stage speed reducer 33.
The quantity of bracing piece 8 is not less than 3, has at least three bracing piece 8 just to play the effect of stable support welding robot.
The working principle is as follows: when the automatic welding robot for the curved tube plate is used, the automatic welding robot for the curved tube plate is pushed into a furnace body to be welded until the robot reaches a preset position, at the moment, the pneumatic central disc 7 is ventilated, the plurality of support rods 8 are outwards supported, and the bull-eye wheel 10 is abutted against the inner wall of the curved tube plate 11; the radial module 2 and the axial module 1 move to move the welding gun assembly to an initial position, the welding robot drives the rotating shaft 31 to rotate through the second motor 34 according to a preset coordinate point of the center of a circular hole to be welded, so that the axis of the locking nut 13 is aligned with a first circular hole, then the radial module 2 pushes the welding gun assembly to move, so that the locking nut 13 is inserted into the circular hole, the proper insertion depth is selected through the position of the welding gun 6, then the air expansion fastening sleeve 12 conducts ventilation expansion in the circular hole, the relative position of the positioning rod 4 and a welding pipe is fixed, then the first motor in the positioning table 3 is started, the motor drives the rotating ring 14 to rotate, so that the welding gun assembly on the positioning ring rotates around the positioning rod 4 to weld the curved pipe plate 11 until the welding work of the hole is completed, then the air expansion fastening sleeve 12 conducts deflation contraction, the radial module 2 drives the welding gun assembly to reset, namely the positioning rod 4 is extracted from the circular hole, and then the numerical control system moves to the center of the round hole of the next curved tube plate 11 through the axial module 1 or the rotating assembly, and the operation process is repeated, so that the welding production work of the curved tube plate 11 can be automatically carried out.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should make the description as a whole, and the embodiments may be appropriately combined to form other embodiments understood by those skilled in the art.
Claims (5)
1. The utility model provides a curved surface tube sheet automatic weld robot which characterized in that includes:
the welding gun position adjusting assembly comprises an axial module and a radial module arranged on the axial module;
the welding gun positioning assembly comprises a positioning table arranged on the radial module and a positioning rod fixedly arranged on the positioning table, and the positioning rod can be inserted into a circular hole in the curved-surface tube plate under the driving of the radial module;
the welding gun assembly comprises a welding gun support arranged on the positioning table and a welding gun arranged on the welding gun support; and
the two deviation rectifying supports are respectively arranged at two ends of the axial module and comprise a pneumatic central disc and a plurality of supporting rods assembled on the pneumatic central disc, springs and bull-eye wheels connected with the springs are arranged in the end parts of the supporting rods, and the bull-eye wheels can be abutted against the inner wall of the curved-surface tube plate under the action of the pneumatic central disc;
the radial module can drive the welding gun positioning assembly to move radially, the positioning rod is inserted into a round hole in the curved-surface tube plate, and stress generated when the positioning rod abuts against the edge of the round hole is transmitted to the two deviation rectifying supports through the welding gun position adjusting assembly, so that springs in the rods on the deviation rectifying supports are compressed.
2. The automatic welding robot for the curved tube plates according to claim 1, wherein an air expansion fastening sleeve and a locking nut for locking the air expansion fastening sleeve are arranged at the end part of the positioning rod, and the end part of the locking nut is in a circular arc shape.
3. The automatic welding robot for the curved tube plate according to claim 1, wherein a rotating mechanism for driving the welding gun assembly to rotate around the positioning rod is arranged on the positioning table, the rotating mechanism comprises a rotating ring rotatably arranged on the positioning table, and a first motor for driving the rotating ring to rotate, and the first motor is arranged in the positioning table;
the welding gun support comprises a slide rail, a slide block arranged on the slide rail in a sliding mode and an electric push rod used for pushing the slide block to move, the electric push rod is fixed on the slide rail, and the electric push rod and the slide rail are both fixedly arranged on the rotating ring; the welding gun is fixedly arranged on the sliding block.
4. The automatic welding robot for the curved tube plates according to claim 1, wherein rotating shafts are arranged at two ends of the axial module, the two rotating shafts are respectively assembled in central bearings of two pneumatic central discs, and a rotating assembly for driving the rotating shafts to rotate is fixedly arranged on one of the pneumatic central discs;
the rotating assembly comprises a worm gear speed reducer, a secondary speed reducer and a motor II;
the worm and gear speed reducer is fixedly arranged on one side of the pneumatic central disc, an output shaft of the worm and gear speed reducer is connected with the rotating shaft, the secondary speed reducer is assembled on the worm and gear speed reducer, and the motor II is assembled on the secondary speed reducer.
5. The automatic welding robot for curved tube plates according to claim 1, wherein the number of the support rods is not less than 3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111449983.3A CN113857741B (en) | 2021-12-01 | 2021-12-01 | Automatic welding robot for curved-surface tube plates |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111449983.3A CN113857741B (en) | 2021-12-01 | 2021-12-01 | Automatic welding robot for curved-surface tube plates |
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| Publication Number | Publication Date |
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| CN113857741A CN113857741A (en) | 2021-12-31 |
| CN113857741B true CN113857741B (en) | 2022-02-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111449983.3A Active CN113857741B (en) | 2021-12-01 | 2021-12-01 | Automatic welding robot for curved-surface tube plates |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114473326B (en) * | 2022-04-14 | 2022-07-08 | 湖北工业大学 | Combination equipment and method for electrical engineering accessories |
| CN116079196A (en) * | 2023-04-10 | 2023-05-09 | 西安航天华威化工生物工程有限公司 | Method and device for automatically welding thick tube plate and thin-wall tube |
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| GB1319238A (en) * | 1969-09-22 | 1973-06-06 | Long Co Ltd A | Internal line-up clamps for pipelines |
| JPS59223178A (en) * | 1983-06-01 | 1984-12-14 | Ube Ind Ltd | Automatic welding machine for tube sheets |
| JPH09108833A (en) * | 1995-10-19 | 1997-04-28 | Fuji Kuki Kk | Circumference welding machine |
| JP2000015437A (en) * | 1998-06-26 | 2000-01-18 | Toshiba Corp | Tube end automatic sealing welding machine |
| JP2007253161A (en) * | 2006-03-20 | 2007-10-04 | Ihi Corp | Seal-welding apparatus for pipe end, and electrode exchanging method |
| CN102019487A (en) * | 2010-11-23 | 2011-04-20 | 茂名重力石化机械制造有限公司 | Recessed type tube head automatic welding machine |
| CN104708169A (en) * | 2013-12-12 | 2015-06-17 | 中国核工业第五建设有限公司 | Automatic pipe plate welder |
| CN108942012A (en) * | 2018-06-27 | 2018-12-07 | 河海大学常州校区 | A kind of heat exchanger tube sheet connector ring seam automatic welding equipment |
| CN109623228A (en) * | 2018-12-27 | 2019-04-16 | 河北创力机电科技有限公司 | A kind of weld seam deviation correcting device |
| CN211661378U (en) * | 2019-12-16 | 2020-10-13 | 欧米尼自动化科技（苏州）有限公司 | Full-automatic tube plate welding machine |
-
2021
- 2021-12-01 CN CN202111449983.3A patent/CN113857741B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1319238A (en) * | 1969-09-22 | 1973-06-06 | Long Co Ltd A | Internal line-up clamps for pipelines |
| JPS59223178A (en) * | 1983-06-01 | 1984-12-14 | Ube Ind Ltd | Automatic welding machine for tube sheets |
| JPH09108833A (en) * | 1995-10-19 | 1997-04-28 | Fuji Kuki Kk | Circumference welding machine |
| JP2000015437A (en) * | 1998-06-26 | 2000-01-18 | Toshiba Corp | Tube end automatic sealing welding machine |
| JP2007253161A (en) * | 2006-03-20 | 2007-10-04 | Ihi Corp | Seal-welding apparatus for pipe end, and electrode exchanging method |
| CN102019487A (en) * | 2010-11-23 | 2011-04-20 | 茂名重力石化机械制造有限公司 | Recessed type tube head automatic welding machine |
| CN104708169A (en) * | 2013-12-12 | 2015-06-17 | 中国核工业第五建设有限公司 | Automatic pipe plate welder |
| CN108942012A (en) * | 2018-06-27 | 2018-12-07 | 河海大学常州校区 | A kind of heat exchanger tube sheet connector ring seam automatic welding equipment |
| CN109623228A (en) * | 2018-12-27 | 2019-04-16 | 河北创力机电科技有限公司 | A kind of weld seam deviation correcting device |
| CN211661378U (en) * | 2019-12-16 | 2020-10-13 | 欧米尼自动化科技（苏州）有限公司 | Full-automatic tube plate welding machine |
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