CN101391354A - Suspended type pipe-jointing welding robot - Google Patents
Suspended type pipe-jointing welding robot Download PDFInfo
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- CN101391354A CN101391354A CNA2008101374711A CN200810137471A CN101391354A CN 101391354 A CN101391354 A CN 101391354A CN A2008101374711 A CNA2008101374711 A CN A2008101374711A CN 200810137471 A CN200810137471 A CN 200810137471A CN 101391354 A CN101391354 A CN 101391354A
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Abstract
The invention provides a hanging-style pipe connecting welding robot composed of an electrical sliding loop part, a rotary mechanism, a stretching mechanism, a lifting mechanism, a sewing mechanism and a manually lifting adjusting mechanism. The rotary mechanism consists of a fixed part and a rotary part. The fixed part of the rotary mechanism is fixed on the end of the horizontal arm of the cross arm as a seat of the hanging-style robot, and the stretching mechanism is arranged on the rotary part of the rotary mechanism. The lifting mechanism is arranged on the stretching mechanism, and the lifting adjusting mechanism is arranged on the lifting mechanism, the sewing mechanism is arranged on the manually lifting adjusting mechanism. The electrical sliding loop part is arranged on the rotary mechanism. By adjusting the relative position between the welding robot and the connecting pipe and adjusting the manually lifting adjusting mechanism to proper welding position, the hanging-style pipe connecting welding robot can realize linkage at four degrees of freedom, and can perform automatic welding for different shape of pipes with the advantages of good welding quality, high efficiency and reduced labor intensity of workers.
Description
(1) 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.
(2) 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.
(3) 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 part comprises: shell I4, shell II5, end cap 1, axle 2 and slip ring 3; Shell II5 lower end is fixed on the big hanger 9, and shell I4 lower end is by being fixed on indirectly on the big hanger 9 with fixedlying connected of shell II5 upper end, and end cap 1 is installed in shell I4 upper end; 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.
(4) 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.
(5) 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 I4 of axle 2 generations that is installed on the rotation square frame 10 simultaneously, the rotation of shell II5 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 (7)
1, a kind of suspended type pipe-jointing welding robot, by electric sliding ring part, rotating mechanism, telescoping mechanism, elevating mechanism, swing mechanism and hand-operated lifting guiding mechanism constitute, it is characterized in that: 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, 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 is installed on the rotating mechanism.
2, suspended type pipe-jointing welding robot according to claim 1 is characterized in that: 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 ring is installed in big hanger [9] bottom; The rotating part of rotating mechanism be installed on pivoting support [32] external toothing rotation square frame [10] but the relatively fixed part rotate, 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 toothing on the reducer output shaft; Laser instrument [38] is installed on rotation square frame [10] lower end, and the laser beam that laser instrument [38] is sent is concentric with the pivot of rotating mechanism.
3, suspended type pipe-jointing welding robot according to claim 2 is characterized in that: 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] one ends are installed on the side of rotation square frame [10] lower end, 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] one ends, ball-screw support [36] is fixed on telescopic arm [11] inwall, ball-screw [37] one ends are installed on ball-screw support [36] by angular contact ball bearing, and are connected with decelerator [34] output shaft by shaft coupling [35]; Line slide rail [12] is fixed on telescopic arm [11] outer wall, 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 the telescopic moving piece [43] and the two arm contiguous blocks [42] of feed screw nut [41] drive installation on the ball-screw [37] on slide block [16] and slide block [17].
4, suspended type pipe-jointing welding robot according to claim 3 is characterized in that: 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] one 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 end, ball-screw support [40] is fixed on lifting arm [15] inwall, ball-screw [44] one ends are installed on ball-screw support [40] by angular contact ball bearing, and are connected with decelerator [14] output shaft by shaft coupling [39]; Line slide rail [18] is fixed on telescopic arm [15] outer wall, feed screw nut [45] on the ball-screw [44] is installed on lifting contiguous block [19], and is connected with slide block [27] with slide block [21] on the line slide rail [18] by lifting contiguous block [19], and is mobile along line slide rail [18] by the lifting contiguous block [19] of feed screw nut [45] drive installation on slide block [21] and slide block [27] on the ball-screw [44].
5, suspended type pipe-jointing welding robot according to claim 4 is characterized in that: 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], and make tooth bar pipe [46] direction of motion identical with lifting arm [15] direction 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] hole 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 end.
6, suspended type pipe-jointing welding robot according to claim 5 is characterized in that: 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 place, 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] hole.
7, suspended type pipe-jointing welding robot according to claim 6 is characterized in that: the formation of described electric sliding part comprises: shell I[4], shell II[5], end cap [1], axle [2] and slip ring [3]; Shell II[5] lower end is fixed on the big hanger [9] shell I[4] lower end by with shell II[5] fixedlying connected of upper end and being fixed on indirectly on the big hanger [9], end cap [1] is installed in shell I[4] upper end; Axle [2] is passed pivoting support [32] endoporus and is fixed on rotation square frame [10] top; One end of circuit slip ring [3] is installed on the axle [2], and the other end is installed on the end cap [1].
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101374711A CN101391354B (en) | 2008-11-06 | 2008-11-06 | Suspended type pipe-jointing welding robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101374711A CN101391354B (en) | 2008-11-06 | 2008-11-06 | Suspended type pipe-jointing welding robot |
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| Publication Number | Publication Date |
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| CN101391354A true CN101391354A (en) | 2009-03-25 |
| CN101391354B CN101391354B (en) | 2010-12-01 |
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| CN2008101374711A Active CN101391354B (en) | 2008-11-06 | 2008-11-06 | Suspended type pipe-jointing welding robot |
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