CN204183088U - Narrow dark cabinets cavity welding robot - Google Patents

Abstract

A kind of narrow dark cabinets cavity welding robot, comprise welding gun, described welding gun is arranged on welding gun fixture, described welding gun fixture is connected with the angular adjustment assembly in order to control angle of welding gun, described angular adjustment assembly is arranged on three axle micro-adjusting mechanisms, described three axle micro-adjusting mechanisms are arranged on slide block, described slide block is slidably sleeved on guide rail, described three axle micro-adjusting mechanisms are connected with nut seat, described nut seat and the first leading screw are connected, described first screw mandrel connects with the output shaft of machine's drive motor, described guide rail and machine's drive motor are installed on mounting platform, described mounting platform is provided with for the clamp system fixing with casing to be welded.The utility model provides a kind of narrow dark cabinets cavity welding robot being applicable to weld in narrow dark casing, welding efficiency is high, welding quality is higher.

Description

Welding robot for narrow and deep box cavity

technical field

The utility model relates to a robot, in particular to a welding robot.

Background technique

Medium and thick steel plate products (usually referring to steel plates with a thickness ranging from 6 to 80mm) have accounted for almost half of all flat steel products, and are considered to be the most important components of today's steel structure bridges, ships and offshore platforms, high-rise building steel structures, pipelines, and pressure vessels. Leading products of steel used in manufacturing fields. In the product parts of these medium and thick plates, there are many inner cavity structures like the middle tank of the scraper conveyor, the boom of the crane or the crane, etc. Such a narrow and long inner cavity structure makes it impossible for ordinary welding robots to penetrate into it. Complete the welding of the inner cavity.

With the development of technology, more and more welding robots have been applied to welding. However, during the welding process of the back cover of similar structures such as the middle tank and the boom, the existing welding robots cannot enter the inner cavity for welding. This part Most of the welded coal machine manufacturers now use manual welding, only a few parts are welded, the weld shape is not beautiful, the depth of penetration cannot be guaranteed, the welding efficiency is low, and the welding quality cannot be guaranteed. If this problem can be solved , will effectively improve the quality of the product.

Contents of the invention

In order to overcome the shortcomings of manual welding in narrow and deep cabinets, the penetration depth cannot be guaranteed, the welding efficiency is low, and the welding quality is low. Higher narrow deep box cavity welding robot.

The technical scheme that the utility model solves its technical problem adopts is:

A welding robot for the inner cavity of a narrow and deep box, including a welding torch, the welding torch is installed on a welding torch clamp, and the welding torch clamp is connected with an angle adjustment assembly for controlling the angle of the welding torch, and the angle adjustment assembly is installed on a three-axis fine-tuning mechanism , the three-axis fine-tuning mechanism is installed on the slider, the slider is slidably set on the guide rail, the three-axis fine-tuning mechanism is connected with the nut seat, and the nut seat is connected with the first lead screw. The first screw rod is connected with the output shaft of the drive motor of the whole machine, and the guide rail and the drive motor of the whole machine are installed on the installation platform, which is provided with a clamping mechanism for fixing with the box to be welded.

Further, the angle adjustment assembly includes an angle drive motor and a planetary reducer, the output shaft of the angle drive motor is connected to the input shaft of the planetary reducer, and the welding torch clamp is fixedly installed on the output shaft of the planetary reducer .

Still further, the three-axis fine-tuning mechanism includes an X-direction linear module, a Y-direction linear module, and a Z-direction linear module. The three linear molds all include a direction drive motor, a screw, a nut and a connecting block, and the direction drive The motor is installed on the motor mounting plate, the output shaft of the direction drive motor is connected to the rear end of the lead screw, the nut is sleeved on the second lead screw, the nut is fixedly connected to the connecting block, and the second lead screw The two sides of the connecting block are provided with optical axes, the two sides of the connecting block are provided with linear bearings, the optical axis passes through the linear bearings, the front end of the second lead screw is installed in the front bearing of the front plate, and the optical axis The front end of the shaft is fixed on the front plate, the rear end of the optical shaft is installed on the motor mounting plate, and the motor mounting plate and the front plate are fixed on the bottom plate;

The angle adjustment assembly is connected to the connecting block of the Z-direction linear module, the bottom plate of the Z-direction linear module is connected to the connecting plate of the X-direction linear module, and the bottom plate of the X-direction linear module is connected to the Y-direction linear module. The connection plates of the linear modules are connected, and the bottom plate of the linear modules in the Y direction is installed on the slider.

Further, the middle part of the installation platform is equipped with the drive motor of the whole machine and the first lead screw, and two guide rails are arranged symmetrically on both sides of the installation platform, and the slide blocks are slidably set on the guide rails, and three guide rails are installed on the slide blocks. Axis fine-tuning mechanism.

The clamping mechanism is a G-shaped clamp.

The lower end of the welding torch clamp is provided with a welding torch mounting hole, the upper end of the welding torch is installed in the welding torch mounting hole, and the welding torch mounting hole is provided with a positioning hole for fixing a locking screw.

The beneficial effects of the utility model are mainly manifested in that it is suitable for welding inside a narrow and deep box, has high welding efficiency and high welding quality.

Description of drawings

Figure 1 is a front view of a welding robot for a narrow and deep box cavity;

Fig. 2 is the view of the welding robot in the inner cavity of the narrow and deep box;

Figure 3 is a schematic diagram of the linear module structure.

Fig. 4 is the A-A sectional view of Fig. 3;

Figure 5 is a front view of the three-axis fine-tuning mechanism;

Fig. 6 is a schematic diagram of a welding torch fixture;

Fig. 7 is a schematic diagram of the clamping mechanism;

Fig. 8 is a working schematic diagram of a welding robot for a narrow and deep box cavity.

Detailed ways

Below in conjunction with accompanying drawing, the utility model is further described.

Referring to Figures 1 to 8, a welding robot for a narrow and deep box cavity includes a welding torch 5, the welding torch 5 is mounted on a welding torch holder 6, and the welding torch holder 6 is connected to an angle adjustment assembly for controlling the angle of the welding torch, so The angle adjustment assembly is installed on a three-axis fine-tuning mechanism, and the three-axis fine-tuning mechanism is installed on the slider 4, and the slider 4 is slidably set on the guide rail 3, and the three-axis fine-tuning mechanism is connected with the nut seat, Described nut seat is connected with the first lead screw 12, and described first lead screw 12 is connected with the output shaft of complete machine driving motor, and described guide rail 3 and complete machine drive motor are all installed on the installation platform, and described installation platform There is a clamping mechanism for fixing with the box to be welded.

Further, the angle adjustment assembly includes an angle drive motor and a planetary reducer, the output shaft of the angle drive motor is connected to the input shaft of the planetary reducer, and the welding torch clamp is fixedly installed on the output shaft of the planetary reducer .

Still further, the three-axis fine-tuning mechanism includes an X-direction linear module, a Y-direction linear module, and a Z-direction linear module. The three linear molds all include a direction drive motor, a screw, a nut and a connecting block, and the direction drive The motor is installed on the motor mounting plate, the output shaft of the direction drive motor is connected to the rear end of the lead screw, the nut is sleeved on the second lead screw, the nut is fixedly connected to the connecting block, and the second lead screw The two sides of the connecting block are provided with optical axes, the two sides of the connecting block are provided with linear bearings, the optical axis passes through the linear bearings, the front end of the second lead screw is installed in the front bearing of the front plate, and the optical axis The front end of the shaft is fixed on the front plate, the rear end of the optical shaft is installed on the motor mounting plate, and the motor mounting plate and the front plate are fixed on the bottom plate;

The angle adjustment assembly is connected to the connecting block of the Z-direction linear module, the bottom plate of the Z-direction linear module is connected to the connecting plate of the X-direction linear module, and the bottom plate of the X-direction linear module is connected to the Y-direction linear module. The connection plates of the linear modules are connected, and the bottom plate of the linear modules in the Y direction is installed on the slider.

Further, the middle part of the installation platform is equipped with the drive motor of the whole machine and the first lead screw, and two guide rails are arranged symmetrically on both sides of the installation platform, and the slide blocks are slidably set on the guide rails, and three guide rails are installed on the slide blocks. Axis fine-tuning mechanism.

The effect of described locating plate 11 is to be used for the positioning usefulness when robot is installed in the middle part groove, and locating plate 11 is abutted against middle part groove bottom plate 34 during installation, can make robot be identical with welding direction on linear motion direction.

The clamping mechanism is a G-shaped clamp, which is composed of a shrimp bow frame 29, a third screw rod 30, and a wrench 31. Rotating the wrench converts the rotation into a linear motion through the third screw rod, so that the front end of the screw rod and the shrimp bow frame The distance between them is reduced to achieve the purpose of locking.

The lower end of the welding torch clamp is provided with a welding torch mounting hole, the upper end of the welding torch is installed in the welding torch mounting hole, and the welding torch mounting hole is provided with a positioning hole for fixing a locking screw.

In this embodiment, as shown in Figures 1 and 2, the welding robot mainly consists of three parts: the robot moving part, the welding torch three-axis fine-tuning part, and the welding torch swing. The robot moving part consists of a first stepping motor 1 and two guide rails 3 , four sliders 4, the first screw 12, coupling 13 and other components. Each linear module in the welding robot is shown in Figure 3, the front plate 14, the optical axis 15, the linear bearing 16, the bottom plate 17, the motor mounting plate 18, the second stepping motor 19, the coupling 20, the second wire Rod 21, nut 22, connecting block 23, bearing 24 form. As shown in Figure 4, the linear modules in the Y direction are connected to the linear modules in the X direction through the connecting block 23. The connecting block 23 of the linear modules in the X direction is connected to the connecting plate 25, and the connecting plate 25 is connected to the bottom plate of the linear modules in the Z direction. 17, so that the torch can be linked in the X, Y, and Z directions. Fig. 5 is a schematic diagram of the welding torch fixture, the welding torch is located in the welding torch mounting hole, the locking screw 26 can fix the welding torch, loosen the locking screw 26, and the position of the welding torch can be manually adjusted.

Take the welding process of the middle slot as an example to illustrate how the robot completes the welding process for a similar inner cavity mechanism:

Before welding, the whole welding robot is vertically put into the inner cavity of the middle groove, as shown in Figure 4, the positioning plate 11 is used to be close to any side of the bottom plate 34 of the middle groove to ensure that the whole robot and the middle groove need to be welded. Seams are basically parallel, continue to adjust the welding robot is basically in the middle of the middle groove, adjust the welding torch 5 and welding torch clamp 6, so that the welding nozzle of the welding torch is close to the welding seam. After the adjustment, use the G-shaped clamp to fix the welding robot with the middle slot. Start the welding robot through the controller. When starting the arc, adjust the speed of the linear module stepper motor in the Y direction to ensure the smooth completion of the welding arc. After the arc is started, the stepper motor 1 passes through the coupling 13 to drive The first screw mandrel 12 is used to push the whole robot forward at a uniform speed, and the speed of the stepping motor 1 is adjusted to meet the moving speed of the welding robot in different welding processes such as backing welding, filling welding and capping. During the welding process, the data returned by the laser tracking welding seam is used to adjust the stepper motors of the X-direction linear module 9 and the Y-direction linear module 10 to realize the welding seam tracking. At the same time, it is necessary to measure the change of the welding current and control the Z direction. The stepping motor of the linear module 8 is used to adjust the height of the welding torch and the welding seam, so as to ensure that the welding current is kept within a certain range, no arc break occurs, and the welding quality is reliable. Due to the large weld seam, it is necessary to control the positive and negative rotation of the stepper motor on the planetary reducer 7 to make the welding torch swing to complete the welding in the filling welding and cover welding projects.

Claims (6)

1. one kind narrow dark cabinets cavity welding robot, comprise welding gun, described welding gun is arranged on welding gun fixture, it is characterized in that: described welding gun fixture is connected with the angular adjustment assembly in order to control angle of welding gun, described angular adjustment assembly is arranged on three axle micro-adjusting mechanisms, described three axle micro-adjusting mechanisms are arranged on slide block, described slide block is slidably sleeved on guide rail, described three axle micro-adjusting mechanisms are connected with nut seat, described nut seat and the first leading screw are connected, described first screw mandrel connects with the output shaft of machine's drive motor, described guide rail and machine's drive motor are installed on mounting platform, described mounting platform is provided with for the clamp system fixing with casing to be welded.

2. narrow dark cabinets cavity welding robot as claimed in claim 1, it is characterized in that: described angular adjustment assembly comprises angle drive motors and planetary reduction gear, the output shaft of described angle drive motors is connected with the power shaft of described planetary reduction gear, and the output shaft of described planetary reduction gear fixedly mounts described welding gun fixture.

3. narrow dark cabinets cavity welding robot as claimed in claim 1 or 2, it is characterized in that: described three axle micro-adjusting mechanisms comprise X-direction straight line module, Y-direction straight line module and Z-direction straight line module, three straight line moulds include direction drive motor, screw mandrel, nut and contiguous block, described direction drive motor is arranged on motor mounting plate, the output shaft of described direction drive motor is connected with the rear end of leading screw, described nut sleeve is contained on the second leading screw, described nut is fixedly connected with described contiguous block, the both sides of the second screw mandrel arrange optical axis, the both sides of described contiguous block are provided with linear bearing, described optical axis is through described linear bearing, the front end of described second leading screw is arranged in the fore bearing of header board, the front end of described optical axis is all fixed on header board, the rear end of described optical axis is arranged on described motor mounting plate, described motor mounting plate and header board are fixed on base plate,

Described angular adjustment assembly is connected with the contiguous block of described Z-direction straight line module, the base plate of described Z-direction straight line module is connected with the connecting plate of X-direction straight line module, the base plate of described X-direction straight line module is connected with the connecting plate of Y-direction straight line module, and the base plate of described Y-direction straight line module is arranged on slide block.

4. narrow dark cabinets cavity welding robot as claimed in claim 1 or 2, it is characterized in that: machine's drive motor and the first leading screw are installed in the middle part of described mounting platform, the both sides of described mounting platform are symmetrical arranged two guide rails respectively, guide rail is set with slide block slidably, described slide block is installed three axle micro-adjusting mechanisms.

5. narrow dark cabinets cavity welding robot as claimed in claim 1 or 2, is characterized in that: described clamp system is G word geometrical clamp.

6. narrow dark cabinets cavity welding robot as claimed in claim 1 or 2, it is characterized in that: the lower end of described welding gun fixture is provided with welding gun installing hole, the upper end of described welding gun is arranged in described welding gun installing hole, is provided with for the fixing locating hole of lock screw in described welding gun installing hole.