CN114473276A - Tunnel arch welding robot - Google Patents

Abstract

The invention relates to a tunnel arch welding robot, comprising welding equipment, an arch installation tool I and an arch installation tool II located on both sides of the welding equipment, the welding equipment includes a fixed welding mechanism and a walking welding mechanism, and the A gun cleaning station is arranged between the fixed welding mechanism and the walking welding mechanism, and the walking welding mechanism includes a first walking ground rail set along the length direction of the arch mounting tool I and a second walking ground rail that can travel along the first walking ground rail. A walking slide, on which a first welding robot is installed, the fixed welding mechanism includes a second welding robot, the second welding robot is installed on the ground through a base, and the gun cleaning The station is located between the second welding robot and the first walking ground rail. The invention has the following beneficial effects: 1. higher work efficiency; 2. stable welding quality; 3. reduced labor intensity.

Description

Tunnel arch welding robot

technical field

The invention relates to a tunnel arch welding robot, which belongs to the technical field of tunnel arch welding.

Background technique

Among the many schemes of tunnel support construction, tunnel arch construction is the most important for tunnel safety. The tunnel arch itself has a certain strength, can resist bending, and has a hard texture. After the tunnel arch is constructed, the working environment in the tunnel will be obvious. improve. The tunnel arch is generally assembled from multiple arch segments to form a whole, and the arch segment is generally prefabricated in the factory according to the tunnel design size. After the arch segment is prefabricated, it is transferred to the site for assembly. As shown in FIG. 11 , the arch section of the tunnel arch includes arch shaped steel 29 , and connecting plates 30 are welded on both ends of the arch shaped steel 29 .

More than 99.99% of the welding work of the existing tunnel arches is done by manual welding. There are low efficiency, uncontrollable quality, high labor intensity and serious bodily injury of workers. At the same time, the existing welding robot has a small working range, which is one of the reasons why welding robots are not used to replace manual welding of tunnel arches.

SUMMARY OF THE INVENTION

According to the above deficiencies in the prior art, the technical problem to be solved by the present invention is: in order to solve one of the above problems, a tunnel arch welding robot is provided.

The tunnel arch welding robot according to the present invention is characterized in that it includes welding equipment, an arch installation tool I and an arch installation tool II located on both sides of the welding equipment, and the welding equipment includes a fixed welding mechanism and a walking welding mechanism. Mechanism, a gun cleaning station is provided between the fixed welding mechanism and the walking welding mechanism, and the walking welding mechanism includes the first walking ground rail set along the length direction of the arch installation tool I and the first walking ground rail that can be installed along the first walking ground. A first walking slide for rail travel, a first welding robot is installed on the first walking slide, the fixed welding mechanism includes a second welding robot, and the second welding robot is installed on the ground through a base, The gun cleaning station is located between the second welding robot and the first walking ground rail.

Preferably, a first travel motor is installed at the bottom of the first travel slide, a drive gear A is installed on the power output shaft of the first travel motor, and the first rack is fixedly arranged along the length direction of the first travel rail. On the first walking ground rail, the driving gear A and the first rack are meshed with each other to form a gear first rack transmission mechanism.

Preferably, the arch frame installation tool 1 includes a second walking ground rail, and the second walking ground rail is close to one end of the fixed welding mechanism and is fixed with a fixed handpiece, and also includes a walking ground rail that can travel along the second walking ground rail. The lower surface of the walking head casing has a slider matched with the second walking ground rail, the inner bottom of the walking head is installed with a second walking motor, and the power output of the second walking motor is A driving gear B is installed on the shaft, and the second rack is fixedly arranged on the second walking rail along the length direction of the second walking rail. The driving gear B and the second rack are meshed with each other to form a gear No. Two rack drive mechanism.

Preferably, the lower surface of the stationary head case is fixed to one end of the second running ground rail.

Preferably, the stationary head is provided with a first rotary clamping tool for clamping the tunnel arch, and the traveling head is provided with a second rotary clamping tool for clamping the tunnel arch.

Preferably, the second rotary clamping tool includes a case, and a vertically arranged turntable is installed on the upper part of the front side of the case through a rotary shift mechanism, and the rotary shift mechanism provides rotational motion and support for the turntable, so A connecting plate positioning and clamping mechanism is installed on the outer surface of the turntable through an angle adjustment mechanism.

Preferably, the angle adjustment mechanism includes a tool mounting plate, one side of the tool mounting plate is hinged with a connecting shaft, the other side of the tool mounting plate is fixed with a hinge plate, and the other end of the hinge plate is hinged to the turntable On the outer side of the turntable, the connecting shaft is sleeved with a sleeve that can slide along the length direction of the connecting shaft, the sleeve has a rotating shaft, the rotating shaft is installed on the outer side of the turntable through the rotating shaft connecting seat, and the rotating shaft can be relative to the rotating shaft. The connecting seat rotates, the turntable is provided with an escape hole for the connecting shaft to pass through, a set screw is installed in the threaded hole opened by the outer wall of the casing, and the inner end of the set screw abuts on the outer wall of the connecting shaft superior.

Preferably, the connecting plate positioning and clamping mechanism comprises a top connecting plate clamping cylinder installed on the upper part of the tooling installation plate, a bottom connecting plate clamping cylinder installed on the lower part of the tooling installation plate, and the top connecting plate clamping the telescopic end of the cylinder. The block and the clamping block at the telescopic end of the clamping cylinder of the bottom connecting plate move towards each other to clamp the connecting plate. A side connecting plate clamping cylinder is installed on one side of the tooling mounting plate. In the working state, the lateral connecting plate clamps The clamping block of the telescopic end of the tight cylinder abuts on the side of the connecting plate.

Preferably, it also includes a profiled steel fixture mounting plate, two ends of the profiled steel fixture mounting plate are integrally formed with a connecting rib plate, and the other ends of the two connecting rib plates are respectively fixed on the turntables on both sides of the tooling mounting plate, A first support seat and a second support seat are installed at intervals on the upper surface of the profiled steel clamp mounting plate. The clamping block of the telescopic end of the side clamping cylinder is arranged opposite to the clamping surface, and can be relatively close to or away from the clamping surface to clamp or release the arched steel, and also includes a cross between the first support seat and the second support seat. The support plate on the support seat, the support plate is detachably connected with the first support seat and the second support seat respectively through connecting bolts, the support plate is installed with a profiled steel upper clamping cylinder, and the upper surface of the profiled steel fixture mounting plate is installed There is a bottom positioning plate, and the clamping block on the section steel that clamps the telescopic end of the cylinder is arranged opposite to the bottom positioning plate, and can be relatively close to or away from the bottom positioning plate to clamp or release the arch section steel.

Preferably, a removable backing plate is also installed in the middle of the outer side of the tooling mounting plate. The projected area of the backing plate is smaller than the projected area of the connecting plate. As a result, it is not conducive to welding, and also includes a side positioning shaft, the side positioning shaft is detachably installed on the connecting rib plate through a positioning plate, and the side positioning shaft is arranged on the same side as the second support seat.

Preferably, the first rotary clamping tool has the same structure as the second rotary clamping tool, but is arranged in a mirror image.

Preferably, the slewing shifting mechanism is a traditional slewing support, which is driven by a slewing drive member disposed thereon, and its two connecting ends are respectively connected to the turntable and the chassis.

Compared with the prior art, the present invention has the following beneficial effects:

The tunnel arch welding robot of the present invention has the following advantages:

1. Higher work efficiency

In this welding system, the operator places the workpiece, the robot automatically welds, the workpiece does not need to be manually reversed, but is automatically reversed by the positioner, and the robot automatically welds according to the programmed program. Productivity.

2. Welding quality is stable

Robot welding is more stable than manual welding, and the welding seam is beautiful, which can ensure good welding quality.

3. Reduce labor intensity

The welding machine of this system adopts CM500 water-cooled welding machine, which can continuously and continuously weld. The worker only needs to load the workpiece once, and the positioner automatically reverses the workpiece. Manual welding needs to reverse the workpiece several times. The labor intensity is high and the labor is reduced. labor intensity.

Description of drawings

In order to illustrate the specific embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that are required to be used in the description of the specific embodiments or the prior art. Similar elements or parts are generally identified by similar reference numerals throughout the drawings. In the drawings, each element or section is not necessarily drawn to actual scale.

Fig. 1 is the structural representation one of the present invention;

Fig. 2 is the structural representation two of the present invention;

Fig. 3 is the structural representation three of the present invention;

Fig. 4 is the structural representation one of arch frame installation tooling I;

Fig. 5 is the structural representation two of arch frame installation tooling 1;

Fig. 6 is the structural representation three of arch frame installation tooling 1;

Fig. 7 is the structure schematic diagram 1 of the walking head;

Fig. 8 is the structural schematic diagram 2 of the walking head;

Fig. 9 is the structural schematic diagram three of the walking head;

Figure 10 is a schematic diagram of the structure of the walking head four;

FIG. 11 is a structural diagram of an arch section of a tunnel arch.

In the figure: 1. Arch installation tool I 1.1, second walking floor rail 1.2, fixed head 1.3, walking head 1.4, second travel motor 1.5, second rack 2, arch installation tool II 3, Fixed welding mechanism 4, walking welding mechanism 4.1, first walking ground rail 4.2, first walking slide 4.3, first welding robot 4.4, first walking motor 4.5, first rack 5, gun cleaning station 6, chassis 7. Rotary shifting mechanism 8, turntable 9, tooling mounting plate 10, hinge plate 11, connecting shaft 12, sleeve 13, rotating shaft 14, rotating shaft connecting seat 15, set screw 16, top connecting plate clamping cylinder 17, bottom The connecting plate clamping cylinder 18, the side connecting plate clamping cylinder 19, the backing plate 20, the profiled steel clamp mounting plate 21, the connecting rib plate 22, the first support seat 23, the second support seat 24, the profiled steel side clamping cylinder 25, The support plate 26, the upper clamping cylinder 27 on the profile steel, the bottom positioning plate 28, and the side positioning shaft.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings:

The present invention will be further described below through specific examples, but it is not intended to limit the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention. .

Example

As shown in Figures 1-6, the tunnel arch welding robot includes welding equipment, an arch installation tool I1 and an arch installation tool II2 located on both sides of the welding equipment, and the welding equipment includes a fixed welding mechanism 3 and a walking Type welding mechanism 4, a gun cleaning station 5 is provided between the fixed welding mechanism 3 and the walking welding mechanism 4, and the walking welding mechanism 4 includes a first walking ground rail set along the length direction of the arch mounting tool I1 4.1 and the first walking slide 4.2 that can walk along the first walking rail 4.1, the first walking slide 4.2 is installed with a first welding robot 4.3, and the fixed welding mechanism 3 includes a second welding robot, so The second welding robot is installed on the ground through the base, and the gun cleaning station 5 is located between the second welding robot and the first walking ground rail 4.1.

In this embodiment, a first travel motor 4.4 is installed at the bottom of the first travel slide 4.2, a drive gear A is installed on the power output shaft of the first travel motor 4.4, and the first rack 4.5 runs along the first travel ground rail 4.1. The length direction of the rack is fixed on the first walking ground rail 4.1, and the driving gear A and the first rack are meshed with each other to form a gear first rack transmission mechanism; the arch installation tooling I1 includes a second walking The ground rail 1.1, the end of the second walking ground rail 1.1 close to the fixed welding mechanism 3 is fixed with a fixed type head 1.2, and also includes a walking type head 1.3 that can walk along the second walking ground rail 1.1, the walking type The lower surface of the casing of the machine head 1.3 has a slider matched with the second walking ground rail 1.1. The inner bottom of the walking head 1.3 is installed with a second walking motor 1.4, which is installed on the power output shaft of the second walking motor 1.4. There is a driving gear B, the second rack 1.5 is fixedly arranged on the second walking ground rail 1.1 along the length direction of the second walking ground rail 1.1, and the driving gear B and the second rack are meshed with each other to form the first gear. Two rack transmission mechanism; the lower surface of the casing of the fixed head 1.2 is fixed on one end of the second walking ground rail 1.1; the fixed head 1.2 has a first rotary clamp for clamping the tunnel arch Tooling, the walking head 1.3 is provided with a second rotary clamping tool for clamping the tunnel arch.

Further, referring to FIGS. 7-10 , the second rotary clamping tool includes a case 6, and the upper part of the front side of the case 6 is installed with a vertically arranged turntable 8 through a rotary shift mechanism 7. The rotary shift The mechanism 7 provides rotary motion and support for the turntable 8, and a connecting plate positioning and clamping mechanism is installed on the outer side of the turntable 8 through an angle adjustment mechanism; the angle adjustment mechanism includes a tooling mounting plate 9, and the A connecting shaft 11 is hinged on one side, a hinge plate 10 is fixed on the other side of the tool mounting plate 9 , and the other end of the hinge plate 10 is hinged on the outer side of the turntable 8 , and the connecting shaft 11 is sleeved with a hinge plate 10 . A sleeve 12 that can slide along the length of the connecting shaft 11, the sleeve 12 has a rotating shaft 13, the rotating shaft 13 is installed on the outer side of the turntable 8 through the rotating shaft connecting seat 14, and the rotating shaft 13 can rotate relative to the rotating shaft connecting seat 14, The turntable 8 is provided with an escape hole for the connecting shaft 11 to pass through. A set screw 15 is installed in the threaded hole opened by the outer wall of the sleeve 12, and the inner end of the set screw 15 abuts against the connecting shaft 11. The connecting plate positioning and clamping mechanism includes the top connecting plate clamping cylinder 16 installed on the upper part of the tooling installation plate 9, the bottom connecting plate clamping cylinder 17 installed on the lower part of the tooling installation plate 9, and the top connecting plate clamping The clamping block of the telescopic end of the cylinder 16 and the clamping block of the telescopic end of the bottom connecting plate clamping cylinder 17 move toward each other to clamp the connecting plate. One side of the tool mounting plate 9 is installed with a lateral connecting plate clamping cylinder 18. In the working state, the clamping block of the telescopic end of the lateral connecting plate clamping the cylinder 18 abuts on the side edge of the connecting plate; it also includes a profiled steel fixture mounting plate 20, and both ends of the profiled steel fixture mounting plate 20 are integrally formed respectively. There is a connecting rib plate 21, the other ends of the two connecting rib plates 21 are respectively fixed on the turntables 8 on both sides of the tooling mounting plate 9, and the upper surface of the shaped steel fixture mounting plate 20 is installed with spaced first support seats 22 and a second support base 23, the first support base 22 is mounted with a profiled steel side clamping cylinder 24, the inner wall of the second support base 23 has a clamping surface, the profiled steel side clamps the clamping block at the telescopic end of the cylinder 24 and the clamp The holding surfaces are relatively arranged and can be relatively close to or away from the holding surfaces to clamp or release the arched steel, and also include a support plate 25 spanning the first support seat 22 and the second support seat 23, the support plate 25 Removably connected to the first support base 22 and the second support base 23 through connecting bolts, the support plate 25 is mounted with a profiled steel upper clamping cylinder 26, and the profiled steel fixture mounting plate 20 is mounted on the upper surface with a bottom surface positioning plate 27. The clamping block at the telescopic end of the clamping cylinder 26 on the profile steel is arranged opposite to the bottom positioning plate 27, and can be relatively close to or away from the bottom positioning plate 27 to clamp or release the arch profile steel.

Further, a removable backing plate 19 is also installed in the middle of the outer side of the tooling mounting plate 9, and the projected area of the backing plate 19 is smaller than that of the connecting plate. , to avoid the welding torch, and it is not conducive to welding. It also includes a side positioning shaft 28. The side positioning shaft 28 is detachably installed on the connecting rib plate 21 through a positioning plate. The side positioning shaft 28 is set on the same side as the second support seat 23. The structure of the first rotary clamping tool is the same as that of the second rotary clamping tool, but is set in mirror image; The two connection ends are respectively connected to the turntable 8 and the chassis 6 .

The welding process of the present invention:

1. The worker first adjusts the tooling mounting plate 9 on the fixed head 1.2 and the walking head 1.3 to the appropriate position (specifically adjusted according to the length and arc of the arch steel 29 to be processed), and holds the positioning plate 30. On the surface of the backing plate 19, the top connecting plate is used to clamp the cylinder 16, the bottom connecting plate to clamp the cylinder 17 and the side connecting plate to clamp the cylinder 18 to clamp the connecting plate. For the positioning plate 30, the installation process of the two positioning plates 30 is the same;

2. According to the length of the arch section steel 29, adjust the position of the walking head 1.3, clamp the arch section steel 29 with a spreader, and hoist it to the tooling position with a crane. One end of the arch section steel 29 is supported on the bottom surface of the fixed head section 1.2. On the upper surface of the positioning plate 27, the other end of the arch shaped steel 29 is supported on the upper surface of the positioning plate 27 on the bottom surface of the walking head 1.3. First, the arch shaped steel 29 at the fixed head 1.2 is pressed against the position of the connecting plate 30, Install the support plate 25 on the fixed head 1.2, and the clamping block at the telescopic end of the profiled steel side clamping cylinder 24 on the fixed head 1.2 is arranged opposite to the clamping surface and is relatively close to clamp the fixed head. Tight arch section steel 29 at 1.2;

3. Move the walking head 1.3 slightly, and then adjust the position of the arch section steel 29 at the walking head 1.3 to the position of the connecting plate 30, and install the support plate 25 on the walking head 1.3, and the walking head 1.3. The clamping block of the telescopic end of the clamping cylinder 24 on the side of the profiled steel is arranged opposite to the clamping surface and is relatively close to clamp the tight arch profiled steel at 1.2 of the fixed head;

4. The first welding robot 4.3 and the second welding robot automatically weld the steel arch frame according to the pre-edited program. The workpiece does not need to be manually reversed, but is automatically reversed by the positioner;

5. After the welding is completed, disassemble the welded steel arch;

6. Robotic arm automatically clears the gun;

7. Weld another station.

The adjustment method of the tooling mounting plate 9 is: changing the position of the sleeve 12 on the connecting shaft 11 through the set screw 15, and adjusting, the distance between the sleeve 12 and the tooling mounting plate 9 increases, so that the tooling mounting plate 9 and the tooling mounting plate 9 are adjusted. The angle between the turntables 8 becomes larger.

In the working state, the clamping block of the telescopic end of the clamping cylinder 26 on the section steel abuts on the web of the arch section steel 29, and the clamping block of the telescopic end of the clamping cylinder 24 on the side of the section steel abuts on one of the wings of the arch section steel 29. On the upper side, the clamping surface of the second support base 23 is positioned in abutment with another wing plate.

The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments, and the descriptions in the above-mentioned embodiments and the description are only to illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have Various changes and modifications fall within the scope of the claimed invention. The claimed scope of the present invention is defined by the appended claims and their equivalents.

Claims (8)

1. A tunnel arch welding robot, characterized in that: it comprises welding equipment and an arch installation tool I (1) and an arch installation tool II (2) located on both sides of the welding equipment, and the welding equipment includes a fixed welding A mechanism (3) and a walking welding mechanism (4), a gun cleaning station (5) is arranged between the stationary welding mechanism (3) and the walking welding mechanism (4), and the walking welding mechanism (4) It comprises a first walking ground rail (4.1) arranged along the length direction of the arch mounting tool I (1) and a first walking sliding platform (4.2) which can travel along the first walking ground rail (4.1). A first welding robot (4.3) is installed on the table (4.2), the fixed welding mechanism (3) includes a second welding robot, the second welding robot is installed on the ground through a base, and the gun cleaning station ( 5) Between the second welding robot and the first walking ground rail (4.1). 2. The tunnel arch welding robot according to claim 1, characterized in that: a first travel motor (4.4) is installed at the bottom of the first travel slide (4.2), and the power output of the first travel motor (4.4) is A drive gear A is installed on the shaft, and the first rack (4.5) is fixedly arranged on the first walking ground rail (4.1) along the length direction of the first walking ground rail (4.1). The first racks mesh with each other to form a first rack gear transmission mechanism. 3. The tunnel arch welding robot according to claim 2, characterized in that: the arch installation tool I (1) comprises a second walking ground rail (1.1), and the second walking ground rail (1.1) is close to One end of the fixed welding mechanism (3) is fixed with a fixed head (1.2), and further includes a walking head (1.3) that can travel along the second walking ground rail (1.1), the walking head (1.3) The lower surface of the casing is provided with a sliding block matched with the second walking ground rail (1.1), and a second walking motor (1.4) is installed at the inner bottom of the walking head (1.3). A driving gear B is installed on the power output shaft, and the second rack (1.5) is fixedly arranged on the second walking ground rail (1.1) along the length direction of the second walking ground rail (1.1). The driving gear B and the The second racks mesh with each other to form a second rack gear transmission mechanism. 4. The tunnel arch welding robot according to claim 3, characterized in that: the lower surface of the casing of the fixed head (1.2) is fixed on one end of the second walking ground rail (1.1). 5. The tunnel arch welding robot according to claim 4, characterized in that: the stationary head (1.2) is provided with a first rotary clamping tool for clamping the tunnel arch, and the walking head (1.2) (1.3) with a second rotary clamping tool for clamping the tunnel arch. 6 . The tunnel arch welding robot according to claim 5 , wherein the second rotary clamping tool comprises a chassis ( 6 ), and the upper part of the front side of the chassis ( 6 ) passes through a rotary shifting mechanism ( 6 . 7) A vertically arranged turntable (8) is installed, the rotary shift mechanism (7) provides rotational motion and support for the turntable (8), and the outer surface of the turntable (8) is connected with an angle adjustment mechanism. Plate positioning clamping mechanism. 7 . The tunnel arch welding robot according to claim 6 , wherein the angle adjustment mechanism comprises a tool mounting plate ( 9 ), and a connecting shaft ( 11 ) is hinged on one side of the tool mounting plate ( 9 ). 8 . , a hinge plate (10) is fixed on the other side of the tool mounting plate (9), the other end of the hinge plate (10) is hinged on the outer side of the turntable (8), and the connecting shaft (11) A sleeve (12) capable of sliding along the length direction of the connecting shaft (11) is sleeved, the sleeve (12) is provided with a rotating shaft (13), the center line of the rotating shaft (13) and the center line of the connecting shaft (11) Vertically intersecting, the rotating shaft (13) is installed on the outer side of the turntable (8) through the rotating shaft connecting seat (14), the rotating shaft (13) can rotate relative to the rotating shaft connecting seat (14), and the rotating plate (8) is provided with a supply The escape hole through which the connecting shaft (11) passes, a set screw (15) is installed in the threaded hole opened on the outer wall of the sleeve (12), and the inner end of the set screw (15) abuts against the connecting shaft ( 11) on the outer wall. 8 . The tunnel arch welding robot according to claim 7 , wherein the connecting plate positioning and clamping mechanism comprises a top connecting plate clamping cylinder ( 16 ) installed on the upper part of the tooling installation plate ( 9 ). The bottom connecting plate at the lower part of the tooling mounting plate (9) clamps the cylinder (17), the clamping block at the telescopic end of the top connecting plate clamping cylinder (16) and the clamping block at the telescopic end of the bottom connecting plate clamping cylinder (17) move toward each other, For clamping the connecting plate, a lateral connecting plate clamping cylinder (18) is installed on one side of the tooling mounting plate (9). In the working state, the lateral connecting plate clamps the clamping block at the telescopic end of the cylinder (18). Abut on the side of the connecting plate.

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