CN101712157A - Welding robot and device for adjusting posture of welding gun of welding robot - Google Patents
Welding robot and device for adjusting posture of welding gun of welding robot Download PDFInfo
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- CN101712157A CN101712157A CN200910210195A CN200910210195A CN101712157A CN 101712157 A CN101712157 A CN 101712157A CN 200910210195 A CN200910210195 A CN 200910210195A CN 200910210195 A CN200910210195 A CN 200910210195A CN 101712157 A CN101712157 A CN 101712157A
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Abstract
The invention discloses a device for adjusting the posture of a welding gun, which is used for a welding robot. The device comprises a first guide device arranged on the welding robot and a first driving device arranged on the upper part of the welding gun (0), wherein the first driving device drives the upper part of the welding gun (0) to sway along the first guide device, and the guiding center of the first guide device coincides with the endpoint at the tail end of the welding gun (0). In the working process of the welding gun, the first driving device drives the upper part of the welding gun (0) to sway along the first guide device, and because the guiding center of the first guide device coincides with the endpoint at the tail end of the welding gun (0), when the upper part of the welding gun (0) sways along the fist guide device, the position of the endpoint at the tail end of the welding gun (0) is not changed, and the posture of the welding gun (0) in the welding process is changed, so the welding stability and the welding seam quality can be stably ensured for a long time.
Description
Technical field
The present invention relates to technical field of welding equipment, particularly a kind of posture of welding torch adjusting device that is used for welding robot.The invention still further relates to a kind of welding robot that comprises above-mentioned posture of welding torch adjusting device.
Background technology
Along with the fast development of China's economic construction, solder technology connects advantages such as reliable, that cost is lower with it, is applied to the every field of engineering construction more and more widely.
In very long one period, China generally adopts the mode of artificial welding to carry out welding procedure, and working strength of workers is big, and welding quality and welding efficiency are lower, can't satisfy and produce actual requirement for solder technology.
Be to reduce working strength of workers, and improve welding quality and welding efficiency, various welding equipments arise at the historic moment, and the exploitation of especially various welding robots and development have promoted the modernization of solder technology.
In the welding procedure of relatively large spherical tank, pipeline and various pressure vessels, generally all utilize welding robot to carry out weld job.In above-mentioned each welding procedure process; because the space curve weld seam more complicated of welded part; in work progress, can relate to various welding positions (being all-position welding) such as downhand welding, vertical position welding, overhead welding usually; the end of welding robot is equipped with welding gun; and the acting in conjunction by drive unit and control device etc.; drive welding gun motion freely in the weld seam space, so that welding gun is walked out continuous space tracking on the surface of welded part.
In typical welding robot people, the general only location track of Butt welding gun is planned, so that welding gun can be by adjusting its location track, to select modes such as downhand welding, overhead welding according to the construction situation in the process of weld job.And in welding process, for example, when welding current is big, can make that molten pool metal is more, at this moment, when welding gun carried out downward welding in the inclined position, the direction of travel of welding gun was identical with flowing to of molten pool metal, can form comparatively serious following current welding phenomena; And when welding gun carried out uphill welding, the direction of travel of welding gun was opposite with the flow direction of molten pool metal, can form comparatively serious adverse current welding phenomena.As everyone knows, the phenomenon of following current welding that produces in the welding process and adverse current welding can cause the stability of welding process lower, and cause welding quality relatively poor.
Therefore, how to improve welding stability and welding quality, thereby can weld on long-time continuous stable ground, just become the problem that those skilled in the art need solve.
Summary of the invention
The purpose of this invention is to provide a kind of posture of welding torch adjusting device, it can improve welding stability and welding quality, thereby can realize the welding of long-time continuous stable ground.Another object of the present invention provides a kind of welding robot that comprises above-mentioned posture of welding torch adjusting device.
For solving the problems of the technologies described above, the invention provides a kind of posture of welding torch adjusting device, be used for welding robot, comprise first guider that is installed on described welding robot, and first drive unit that is installed on the top of welding gun, described first drive unit drives the top of described welding gun and swings along described first guider, and the guiding centre of described first guider coincides with the terminal point of described welding gun.
Preferably, the output of described first drive unit is first gear, and fixes by described first gear and described welding gun; Described first guider is first wildhaber-novikov gear with its outer ring and described first gears engaged, and its guiding centre is the center of circle of described first wildhaber-novikov gear.
Preferably, also comprise second guider that is installed on described welding robot, and fixedly connected with the top of described welding gun and drive second drive unit of the top of described welding gun along described second guider swing; The guiding centre of described second guider coincides with the terminal point of described welding gun, and its guide direction is perpendicular to the guide direction of described first guider.
Preferably, the output of described second drive unit is second gear, and described second guider is second wildhaber-novikov gear with its outer ring and described second gears engaged, and its guiding centre is the center of circle of described second wildhaber-novikov gear.
Preferably, also comprise first bracing frame and second bracing frame that all is fixed in described welding robot; Described first gear is installed on the top of described welding gun by described first bracing frame, and described second gear is installed on the top of described welding gun by described second bracing frame.
Preferably, the sidewall of described first wildhaber-novikov gear has first arc-shaped guide rail identical with its center of circle, and described first bracing frame has first slide block that slides along described first arc-shaped guide rail; The sidewall of described second wildhaber-novikov gear has second arc-shaped guide rail identical with its center of circle, and described second bracing frame has second slide block that slides along described second arc-shaped guide rail.
Preferably, described first slide block and second slide block are U type slide block, and described first arc-shaped guide rail and described second arc-shaped guide rail are installed in the described U type slide block.
Preferably, comprise that also output is the 3rd drive unit of the 3rd gear, described the 3rd gear is installed on the anchor clamps of described welding gun, and with the three-arc gears engaged that is installed on described second bracing frame, the end of described second bracing frame is equipped with ball bearing, and the top of described welding gun is installed on respectively in described anchor clamps and the described ball bearing.
Preferably, described three-arc gear is installed on described second bracing frame by connecting plate.
The present invention also provides a kind of welding robot, comprises above-mentioned each described posture of welding torch adjusting device.
Posture of welding torch adjusting device provided by the present invention is used for welding robot, comprises first guider that is installed on welding robot human body appropriate location, and first drive unit; First drive part is fixedlyed connected with the top of welding gun, and the top that drives welding gun swings along first guider, and the guiding centre of first guider and the terminal point of welding gun coincide.
In the course of work of welding gun, first drive unit drives the top of welding gun and swings along first guider, because the guiding centre of first guider and the terminal point of welding gun coincide, then the top of welding gun is in the process of swinging along first guider, the position of welding gun terminal point can not change, thereby changed the attitude of welding gun in welding process, and improved welding stability and weldquality by the change of posture of welding torch; Simultaneously, in the adjustment process of posture of welding torch, the track route of the terminal point of welding gun is always predefined movement locus, avoided posture of welding torch to adjust the influence of Butt welding gun welding position, and the attitude planning of welding gun is separated in its position planning, reduced the complexity of control algolithm in the design, thus the cost that has reduced design significantly and made.
A kind of preferred embodiment in, can also comprise second guider that is installed on the welding robot human body, and second drive unit; Second drive unit is fixedlyed connected with the top of welding gun and swing along second guider on the top that drives welding gun, and the guiding centre of second guider coincides with the terminal point of welding gun, and its guide direction is perpendicular to the guide direction of first guider.Like this, in the course of work of welding gun, the top of welding gun not only can be swung on first plane along first guider, can also swing on second plane along second guider simultaneously, thereby further improve welding quality.
In another preferred embodiment, can also comprise that output is the 3rd drive unit of the 3rd gear, the 3rd gear is installed on the anchor clamps of welding gun, and with the three-arc gears engaged that is installed on second bracing frame, the end of second bracing frame is equipped with ball bearing, and the top of welding gun is installed on respectively in anchor clamps and the ball bearing.In the course of work of welding gun, the 3rd drive unit drives the rotation of the 3rd gear, by the 3rd gear and three-arc gear meshing, driving the welding gun anchor clamps that are connected with the 3rd gear swings on the three-arc gear, because an end of welding gun is fixed in the welding gun anchor clamps, the other end is installed in the ball bearing, the end of welding gun can move around the center of ball bearing, thereby the end of having realized welding gun is the center with the weld seam center line, on perpendicular to the direction of weld seam, independently swing, satisfied the quality requirement of big groove welding.
Description of drawings
Fig. 1 is the structural representation of a kind of specific embodiment of posture of welding torch adjusting device provided by the present invention;
Structural representation when Fig. 2 is positioned at two maximal work positions for welding gun in the posture of welding torch adjusting device shown in Figure 1;
Fig. 3 is the structural representation of the side-looking direction of posture of welding torch adjusting device shown in Figure 1;
Fig. 4 is the stereogram of posture of welding torch adjusting device shown in Figure 1;
Fig. 5 is the structural representation of torch swinging device in the another kind of specific embodiment of posture of welding torch adjusting device provided by the present invention.
The specific embodiment
Core of the present invention provides a kind of posture of welding torch adjusting device, and it can improve welding stability and welding quality, thereby can realize the welding of long-time continuous stable ground.Another core of the present invention provides a kind of welding robot that comprises above-mentioned posture of welding torch adjusting device.
In order to make those skilled in the art person understand technical scheme of the present invention better, the present invention is described in further detail below in conjunction with the drawings and specific embodiments.
Please refer to Fig. 1 and Fig. 2, Fig. 1 is the structural representation of a kind of specific embodiment of posture of welding torch adjusting device provided by the present invention; Structural representation when Fig. 2 is positioned at two maximal work positions for welding gun in the posture of welding torch adjusting device shown in Figure 1.
In a kind of specific embodiment, posture of welding torch adjusting device provided by the present invention, be used for welding robot, comprise first guider and first drive unit, above-mentioned first guider is installed on welding robot human body's appropriate location, also promptly in the course of the work, first guider remains unchanged with respect to welding robot human body's position; Swing on its guide direction along first guider on the top that first drive unit is installed on the top of welding gun 0 and drives welding gun 0, and the guiding centre of first guider coincides with the terminal point of welding gun 0.
It is to be noted, above-mentioned first guider is installed on welding robot human body's appropriate location, be construed as, because the model size of welding robot is different, and, in different weld job occasions, the adjusting range difference of actual desired welding gun 0 attitude, then the first installation of guiding device position should not be restricted; Simultaneously, concrete parameter such as the size of first guider also should not be subjected to the restriction of this specification.
The top of above-mentioned welding gun 0 is meant the segment structure away from welding gun 0 pad, and the predetermined scheme that its concrete dimensions length is adjusted according to 0 attitude of the welding gun in the use is determined, does not do qualification at this; Correspondingly, the terminal point A of above-mentioned welding gun 0 is meant the part that welding gun 0 contacts with welded part in welding process.
The output of above-mentioned first drive unit can be first gear 11, at this moment, first guider can be specially first wildhaber-novikov gear 12, this first wildhaber-novikov gear 12 is the external tooth wildhaber-novikov gear, and by its external tooth and 11 engagements of above-mentioned first gear, the guiding centre of first wildhaber-novikov gear 12 is its center of circle.Like this, in the course of work of welding gun 0, the power of first drive unit output, driving first gear 11 rotates, because first wildhaber-novikov gear 12 and 11 engagements of first gear, and first wildhaber-novikov gear 12 is fixed on the body of welding robot, therefore, first gear 11 will move on first wildhaber-novikov gear 12, thereby drive and to be fixed in the top of the welding gun 0 on first gear 11 (this point while also is the guiding centre of first guider with the terminal point A of welding gun 0, also be the center of circle of first wildhaber-novikov gear 12) be the center of circle, camber line with first wildhaber-novikov gear 12 is that movement locus is realized swing, thereby realize realizing the attitude adjustment of Butt welding gun 0, and then having improved weldquality according to the projected path program.
Above-mentioned first drive unit can comprise motor and deceleration device, and the transmission of power that motor produces is to deceleration device, and the output of deceleration device is above-mentioned first gear 11, thereby power is spread out of by first gear 11.
Concrete parameter such as the modulus of above-mentioned first wildhaber-novikov gear 12, the number of teeth should determine that its concrete parameter values is not done qualification at this according to construction requirement; Correspondingly, the modulus of first gear 11, the number of teeth with and also all determine with the gearratio of first wildhaber-novikov gear 12 by the projected path pattern.
The material of above-mentioned first wildhaber-novikov gear 12 and first gear 11 can be for having the pinion steel of better rigidity and intensity, and certainly, its material also is not limited to pinion steel, also can be conventional other metal materials that use in this area, for example cast iron etc.
The above-mentioned mode of passing through first wildhaber- novikov gear 12 and 11 engagements of first gear; to realize the attitude adjustment of welding gun 0; only be a kind of specific embodiment, other specific embodiment under the situation that does not break away from its principle also should be the protection domain of claim of the present invention.
In the course of work of welding gun 0, first drive unit drives the top of welding gun 0 and swings along first guider, because the guiding centre of first guider and the terminal point A of welding gun 0 coincide, then the top of welding gun 0 is in the process of swinging along first guider, the position of welding gun 0 terminal point A can not change, thereby changed the attitude of welding gun 0 in welding process, and then improved welding stability and weldquality; Simultaneously, in the adjustment process of posture of welding torch, the track route of the terminal point A of welding gun 0 is always predefined movement locus, avoided posture of welding torch to adjust the influence of Butt welding gun 0 welding position, and the attitude planning of welding gun 0 is separated in its position planning, reduced the complexity of control algolithm in the design, thus the cost that has reduced design significantly and made.
Please refer to Fig. 3 and Fig. 4, and please continue with reference to figure 1 and Fig. 2; Fig. 3 is the structural representation of the side-looking direction of posture of welding torch adjusting device shown in Figure 1; Fig. 4 is the stereogram of posture of welding torch adjusting device shown in Figure 1.
On the basis of the above-mentioned specific embodiment, posture of welding torch adjusting device provided by the present invention, can also comprise second guider that is installed on welding robot human body appropriate location, and fixedly connected with the top of welding gun 0 and drive second drive unit of the top of welding gun 0 along the swing of second guider; The guiding centre of second guider coincides with the terminal point of welding gun 0, and its guide direction is perpendicular to the guide direction of first guider.
Like this, in the course of work of welding gun 0, the top of welding gun 0 not only can be swung on first plane along first guider, can also swing on second plane along second guider simultaneously, thereby further improve the weldquality in the welding process.
The output of above-mentioned second drive unit can be second gear 21, at this moment, second guider can be specially second wildhaber-novikov gear 22, this second wildhaber-novikov gear 22 is the external tooth wildhaber-novikov gear, and by its external tooth and 21 engagements of above-mentioned second gear, the guiding centre of second wildhaber-novikov gear 22 is its center of circle.Like this, in the course of work of welding gun 0, the power of second drive unit output, driving second gear 21 rotates, because second wildhaber-novikov gear 22 and 21 engagements of second gear, and second wildhaber-novikov gear 22 is fixed on the body of welding robot, therefore, second gear 21 will move on second wildhaber-novikov gear 22, thereby drive and to be fixed in the top of the welding gun 0 on second gear 21 (this point while also is the guiding centre of first guider and second guider with the terminal point A of welding gun 0, also be the center of circle of first wildhaber-novikov gear 12 and second wildhaber-novikov gear 22) be the center of circle, camber line with second wildhaber-novikov gear 22 is that movement locus is realized swing, thereby realize realizing the attitude adjustment of the other direction of Butt welding gun 0, and then having improved weldquality according to the projected path program.
Apparently, above-mentioned first wildhaber-novikov gear 12 and second wildhaber-novikov gear 22 are the isocentric circular arc gear, impact with the position that guarantees in the attitude adjustment process of welding gun 0 not terminal point A that can Butt welding gun 0.
The line of above-mentioned first wildhaber-novikov gear 12 and welding gun 0 terminal point A, perpendicular to the line of second wildhaber-novikov gear 22 and welding gun 0 terminal point A, to satisfy the adjustment of welding gun 0 attitude preferably, apparently, the two is not limited to vertical relation.
It is pointed out that aforementioned guiding centre is meant, the intersection point of the line of each point on the spigot surface of each guider and welding gun 0 terminal point; Above-mentioned guide direction is meant that welding gun 0 is the formed swinging track of guiding centre with its terminal point.
In the above-mentioned specific embodiment, posture of welding torch adjusting device provided by the present invention can also comprise first bracing frame 31, one end of this first bracing frame 31 is fixed in welding robot human body's appropriate location, and above-mentioned first gear 11 is installed on the top of welding gun 0 by first bracing frame 31; When first gear 11 moves on first wildhaber-novikov gear 12, one end of drive and its first fixing bracing frame 31 is with suitable angle swinging, thereby drive the top swing of welding gun 0, like this, the gear 11 of winning is installed on the welding gun 0 comparatively easily, and has improved the attitude adjustment precision of welding gun 0.
Correspondingly, above-mentioned posture of welding torch adjusting device can also comprise second bracing frame 32 that is fixed in the welding robot human body with the one end, second gear 21 is installed on the top of welding gun 0 by second bracing frame 32, when second gear 21 moves on second wildhaber-novikov gear 22, one end of drive and its second fixing bracing frame 32 is with suitable angle swinging, thereby swing on the top that drives welding gun 0.
The sidewall of above-mentioned first wildhaber-novikov gear 12 can have first arc guide rail 121 identical with its center of circle, and has first slide block 311 that slides along first arc-shaped guide rail 121 on above-mentioned first bracing frame 31; Correspondingly, the sidewall of second wildhaber-novikov gear 22 also can have second arc guide rail 221 identical with its center of circle, and has second slide block 321 that slides along second arc-shaped guide rail 221 on above-mentioned second bracing frame 32.Like this, when the top that first bracing frame 31 and second bracing frame 32 drive welding gun 0 respectively is the center swing with its terminal point A, first slide block 311 and second slide block 321 slide on first arc-shaped guide rail 121 and second arc-shaped guide rail 221 respectively, thereby have further improved the reliability that welding gun 0 attitude is adjusted.
Above-mentioned first slide block 311 and second slide block 321 can be the U-shaped slide block, and above-mentioned first arc-shaped guide rail 121 and second arc-shaped guide rail 221 are installed in respectively in above-mentioned first slide block 311 and second slide block 321; Because the length range of guide rail is bigger, and it is designed to simple strip structure, can reduce production costs, and process is comparatively simple.
Apparently, the concrete form of slide block and arc-shaped guide rail also is not limited to aforesaid form, other forms that can realize reliable guiding also can be used as concrete mode, for example, above-mentioned first slide block 311 and second slide block 321 are simple list structure, and are U type structure with first arc-shaped guide rail 121 and second arc-shaped guide rail 221.Certainly, above-mentioned recessed structure also is not limited to the U type, also can be forms such as V-type.
Please refer to Fig. 5, and please in the lump with reference to figure 4; Fig. 5 is the structural representation of torch swinging device in the another kind of specific embodiment of posture of welding torch adjusting device provided by the present invention.
In the another kind of specific embodiment, posture of welding torch adjusting device provided by the present invention can also comprise that output is the 3rd drive unit of the 3rd gear 41, the 3rd gear 41 is installed on the anchor clamps of welding gun 0, the above-mentioned second bracing frame mountain peak is equipped with three-arc gear 42, above-mentioned the 3rd gear 41 and 42 engagements of three-arc gear, the end of second bracing frame 32 is equipped with ball bearing, and the top of welding gun 0 is installed on respectively in welding gun 0 anchor clamps and the ball bearing.
In the course of work of welding gun, the 3rd drive unit drives 41 rotations of the 3rd gear, engagement by the 3rd gear 41 and three-arc gear 42, driving welding gun 0 anchor clamps that are connected with the 3rd gear 41 swings on three-arc gear 42, because an end of welding gun 0 is fixed in the anchor clamps of welding gun 0, the other end is installed in the ball bearing, the end of welding gun 0 can move around the center of ball bearing, thereby the terminal point A that has realized welding gun 0 is the center with the weld seam center line, on perpendicular to the direction of weld seam, independently swing, and then further satisfied big groove requirement of welding.
Above-mentioned three-arc gear 42 can be installed on above-mentioned second bracing frame 32 by connecting plate, with the simplification installation process, and improves installation reliability.
Except above-mentioned posture of welding torch adjusting device, the present invention also provides a kind of welding robot that comprises above-mentioned posture of welding torch adjusting device, and the structure of other each several parts of this welding robot please refer to prior art, does not repeat them here.
More than a kind of welding robot provided by the present invention and posture of welding torch adjusting device thereof are described in detail.Used specific case herein principle of the present invention and embodiment are set forth, the explanation of above embodiment just is used for helping to understand method of the present invention and core concept thereof.Should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the principle of the invention, can also carry out some improvement and modification to the present invention, these improvement and modification also fall in the protection domain of claim of the present invention.
Claims (10)
1. posture of welding torch adjusting device, be used for welding robot, it is characterized in that, comprise first guider that is installed on described welding robot, and first drive unit that is installed on the top of welding gun (0), described first drive unit drives the top of described welding gun (0) and swings along described first guider, and the guiding centre of described first guider coincides with the terminal point of described welding gun (0).
2. posture of welding torch adjusting device according to claim 1 is characterized in that, the output of described first drive unit is first gear (11), and fixing by described first gear (11) and described welding gun (0); Described first guider is first wildhaber-novikov gear (12) with its outer ring and described first gear (11) engagement, and its guiding centre is the center of circle of described first wildhaber-novikov gear (12).
3. posture of welding torch adjusting device according to claim 2, it is characterized in that, also comprise second guider that is installed on described welding robot, and fixedly connected with the top of described welding gun (0) and drive second drive unit of the top of described welding gun (0) along described second guider swing; The guiding centre of described second guider coincides with the terminal point of described welding gun (0), and its guide direction is perpendicular to the guide direction of described first guider.
4. posture of welding torch adjusting device according to claim 3, it is characterized in that, the output of described second drive unit is second gear (21), described second guider is second wildhaber-novikov gear (22) with its outer ring and described second gear (21) engagement, and its guiding centre is the center of circle of described second wildhaber-novikov gear (22).
5. posture of welding torch adjusting device according to claim 4 is characterized in that, also comprises first bracing frame (31) and second bracing frame (32) that all are fixed in described welding robot; Described first gear (11) is installed on the top of described welding gun (0) by described first bracing frame (31), and described second gear (21) is installed on the top of described welding gun (0) by described second bracing frame (32).
6. posture of welding torch adjusting device according to claim 5, it is characterized in that, the sidewall of described first wildhaber-novikov gear (12) has first arc-shaped guide rail (121) identical with its center of circle, and described first bracing frame (31) has first slide block (311) that slides along described first arc-shaped guide rail (121); The sidewall of described second wildhaber-novikov gear (22) has second arc-shaped guide rail (221) identical with its center of circle, and described second bracing frame (32) has second slide block (321) that slides along described second arc-shaped guide rail (221).
7. posture of welding torch adjusting device according to claim 6, it is characterized in that, described first slide block (311) and second slide block (321) are U type slide block, and described first arc-shaped guide rail (121) and described second arc-shaped guide rail (221) are installed in the described U type slide block.
8. posture of welding torch adjusting device according to claim 7, it is characterized in that, comprise that also output is the 3rd drive unit of the 3rd gear (41), described the 3rd gear (41) is installed on the anchor clamps of described welding gun (0), and with three-arc gear (42) engagement that is installed on described second bracing frame (32), the end of described second bracing frame (32) is equipped with ball bearing, and the top of described welding gun (0) is installed on respectively in described anchor clamps and the described ball bearing.
9. posture of welding torch adjusting device according to claim 8 is characterized in that described three-arc gear (42) is installed on described second bracing frame (32) by connecting plate.
10. a welding robot is characterized in that, comprises each described posture of welding torch adjusting device of claim 1 to 9.
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| CN2009102101951A CN101712157B (en) | 2009-10-30 | 2009-10-30 | Welding robot and device for adjusting posture of welding gun of welding robot |
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| CN2009102101951A CN101712157B (en) | 2009-10-30 | 2009-10-30 | Welding robot and device for adjusting posture of welding gun of welding robot |
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