CN103111720B - Automatic welding device for deep groove box body structure in narrow space - Google Patents
Automatic welding device for deep groove box body structure in narrow space Download PDFInfo
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- CN103111720B CN103111720B CN201310048242.3A CN201310048242A CN103111720B CN 103111720 B CN103111720 B CN 103111720B CN 201310048242 A CN201310048242 A CN 201310048242A CN 103111720 B CN103111720 B CN 103111720B
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- 238000003466 welding Methods 0.000 title claims abstract description 25
- 238000004458 analytical method Methods 0.000 claims description 30
- 238000005476 soldering Methods 0.000 claims description 12
- 239000000725 suspension Substances 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000006243 chemical reaction Methods 0.000 abstract 1
- 230000008520 organization Effects 0.000 abstract 1
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000003908 quality control method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 230000001737 promoting effect Effects 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
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Abstract
The invention relates to an automatic welding device for a deep groove box body structure in a narrow space. An upper hanging support and a lower hanging support are arranged on an X directional portal frame. A first Y directional upper cantilever beam and a second Y directional upper cantilever beam are arranged on the upper hanging support. A first Z directional lower lifting arm and a second Z directional lower lifting arm are arranged on the lower hanging support. A first Z directional upper lifting arm and a second Z directional upper lifting arm are respectively connected with the first Y directional upper cantilever beam and the second Y directional upper cantilever beam in a sliding mode. A first Y directional lower cantilever beam and a second Y directional lower cantilever beam are respectively connected with the first Z directional lower lifting arm and the second Z directional lifting arm in the sliding mode. The first Y directional lower cantilever beam, the second Y directional lower cantilever beam, the first Z directional upper lifting arm and the second Z directional upper lifting arm are respectively provided with a mechanical arm. According to the automatic welding device for the deep groove box body structure in the narrow space, a modernized production organization mode with high automatic degree is achieved so that product quality is stabilized and improved, conversion from traditional manual welding to automatic welding is achieved by an enterprise and market requirements in rapid development are adapted.
Description
Technical field
The present invention relates to a kind of automatic soldering device of the deep trouth body structure for small space, belong to weld seam intensity, the narrow and small box-type welding structural body field of automatic welding of mechanism form complexity.
Background technology
Because the structural member being similar to mine hydraulic bracket is box-type Welding Structure, weld seam is intensive, and version is complicated, and requirement of strength is high, and domestic and international traditional handicraft mostly is human weld, and labor strength is large, work under bad environment.Owing to being affected by human factors, weldquality is unstable, uniformity is poor, outward appearance is shaping bad, and production efficiency is low.In recent years, along with user to the inherent quality of product and the demand of presentation quality more and more higher, existing manual welding technique can not adapt to the fast-developing market demand.The leading enterprise of some domestic coal production, keeps on improving especially to the quality of product, and its large hydraulic support mostly is external import support.If there is no advanced equipment, the technique of facility and advanced person ensures do not have reliable quality to do prerequisite, domestic market is at war with being difficult to external hydraulic support.And so highdensity, the weld seam of deep trouth is that 6 shaft industrial robots be can not be completed.
Summary of the invention
The present invention is directed to the automatic soldering device that above-mentioned deficiency provides a kind of deep trouth body structure for small space.
The present invention adopt following on almost scheme:
The automatic soldering device of a kind of deep trouth body structure for small space of the present invention, comprise X to portal frame, first Y-direction upper cantilever beam, the second Y-direction upper cantilever beam, the first Y-direction Analysis of A Cantilever Beam Under, second Y-direction Analysis of A Cantilever Beam Under, lifting arm in first Z-direction, lifting arm in the second Z-direction, lifting arm under the first Z-direction, lifting arm under second Z-direction, two-axle interlocking manipulator; Described X arranges upper and lower suspension bracket on portal frame, its over sling is arranged the first Y-direction upper cantilever beam and the second Y-direction upper cantilever beam, and lifting arm under lifting arm and the second Z-direction to be arranged under the first Z-direction by lower suspension bracket; In first Z-direction, in lifting arm and the second Z-direction, lifting arm is slidably connected with the first Y-direction upper cantilever beam, the second Y-direction upper cantilever beam respectively, and the first Y-direction Analysis of A Cantilever Beam Under and the second Y-direction Analysis of A Cantilever Beam Under are slidably connected with lifting arm under lifting arm, the second Z-direction under the first Z-direction respectively; Placement of mechanical hand respectively on lifting arm in lifting arm and the second Z-direction in first Y-direction Analysis of A Cantilever Beam Under, the second Y-direction Analysis of A Cantilever Beam Under, the first Z-direction.
The automatic soldering device of the deep trouth body structure for small space of the present invention, under the first described Y-direction upper cantilever beam, the second Y-direction upper cantilever beam, the first Z-direction, under lifting arm, the second Z-direction, lifting arm is connected to the upper and lower suspension bracket of portal frame with X with thread forms by guide rail; First Y-direction Analysis of A Cantilever Beam Under, the second Y-direction Analysis of A Cantilever Beam Under is connected with lifting arm under lifting arm, the second Z-direction under the first Z-direction with thread forms by guide rail; In first Z-direction, in lifting arm, the second Z-direction, lifting arm is connected with the first Y-direction upper cantilever beam, the second Y-direction upper cantilever beam with thread forms by guide rail.
The automatic soldering device of the deep trouth body structure for small space of the present invention, microscler welding gun arranged by described each manipulator.
The automatic soldering device of the deep trouth body structure for small space of the present invention, first Y-direction upper cantilever beam and the second Y-direction upper cantilever beam install laser welded seam checkout gear respectively, the first Y-direction Analysis of A Cantilever Beam Under and the second Y-direction Analysis of A Cantilever Beam Under install laser welded seam checkout gear respectively.
Beneficial effect
The automatic soldering device of the deep trouth body structure for small space provided by the invention, do not rely on the automatic welding device of 6 shaft industrial robots, thus change current structural member manual welding production model, formed and be welded as master with machine, closely the labour intensity of the workman that enhances productivity, reduces, reaches and is convenient to for the purpose of quality control, Improving The Quality of Products.
The present invention realizes the higher modern production enterprise schema of automaticity, stabilizes and increases product quality, and promoting enterprise is welded by traditional-handwork and changes to automatic welding direction, to adapt to the fast-developing market demand.
Accompanying drawing explanation
Fig. 1 is the structural representation of one embodiment of the invention.
Fig. 2 is the structural representation of the side-looking of Fig. 1.
Fig. 3 is the structural representation of detection device.
In figure, 1 is that X is to portal frame, 2 is first Y-direction upper cantilever beams, 3 is second Y-direction upper cantilever beams, and 4 is first Y-direction Analysis of A Cantilever Beam Unders, and 5 is second Y-direction Analysis of A Cantilever Beam Unders, 6 is lifting arms in the first Z-direction, 7 is lifting arms in the second Z-direction, and 8 is lifting arms under the first Z-direction, and 9 is lifting arms under the second Z-direction, 10 is two-axle interlocking manipulators, and 11 is microscler welding guns.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in more detail:
A kind of automatic welding device of the deep trouth body structure for small space as shown in the figure, comprise gantry support body 1 of X to movement, the upper cantilever beam 2 of the first Y-direction movement, the upper cantilever beam 3 of the second Y-direction movement, the Analysis of A Cantilever Beam Under 4 of the first Y-direction movement, the Analysis of A Cantilever Beam Under 5 of the second Y-direction movement, first Z-direction moves lifting arm component 6, second Z-direction moves lifting arm component 7, first Z-direction moves lower lifting arm assembly 8, second Z-direction moves lower lifting arm assembly 9, and the micromanipulator 10 of two-axle interlocking, the upper cantilever beam 2 of described first Y-direction movement, the upper cantilever beam 3 of the second Y-direction movement, first Z-direction is moved lower lifting arm assembly 8 and the second Z-direction and moves lower lifting arm assembly 9 and be connected and fixed to gantry support body 1 of movement with the form of screw thread and X by guide rail, described first Z-direction is moved lifting arm component 6 and is connected and fixed with the upper cantilever beam 2 of the form of screw thread and the first Y-direction movement by guide rail, described second Z-direction is moved lifting arm component 7 and is connected and fixed with the upper cantilever beam 3 of the form of screw thread and the second Y-direction movement by guide rail, the Analysis of A Cantilever Beam Under 4 of the first Y-direction movement moves lower lifting arm assembly 8 by guide rail with the form of screw thread and the first Z-direction and is connected and fixed, the Analysis of A Cantilever Beam Under 5 of the second Y-direction movement moves lower lifting arm assembly 9 by guide rail with the form of screw thread and the second Z-direction and is connected and fixed, the micromanipulator 10 of four groups of two-axle interlockings respectively with the Analysis of A Cantilever Beam Under 4 of the first Y-direction movement, the Analysis of A Cantilever Beam Under 5 of the second Y-direction movement, first Z-direction moves lifting arm component 6, second Z-direction moves lifting arm component 7 and is mutually threaded connection locking formation.Special microscler welding gun 11 arranged by each manipulator 10.
First Y-direction upper cantilever beam 2 and the second Y-direction upper cantilever beam 3 install laser welded seam checkout gear respectively, the first Y-direction Analysis of A Cantilever Beam Under 4 and the second Y-direction Analysis of A Cantilever Beam Under 5 install laser welded seam checkout gear respectively.
The automatic welding device of the deep trouth body structure for small space of the present invention as shown in Figure 1, special long welding gun 11 is arranged on the top of the micromanipulator 10 of two-axle interlocking, four groups of two-axle interlockings (R axle is that arc welding gun head rotates, and S axle is that arc welding gun head swings along Z-direction).
Directive motion is all driven by servomotor, laser seam tracking device 12 can ensure the degree of accuracy of weld seam, the micromanipulator 10 of two-axle interlocking (R axle is that arc welding gun head rotates, and S axle is that arc welding gun head swings along Z-direction) can according to the angle of the special long welding gun 11 of position adjustment of weld seam.
Facts have proved, the automatic welding device of the deep trouth body structure for small space of the present embodiment is enhanced productivity, reduces the labour intensity of workman, reaches and is convenient to quality control, Improving The Quality of Products.
In addition to the implementation, the present invention can also have other embodiments.All employings are equal to the technical scheme of replacement or equivalent transformation formation, all drop on the protection domain of application claims.
Claims (4)
1. the automatic soldering device for the deep trouth body structure of small space, it is characterized in that: comprise X to portal frame (1), first Y-direction upper cantilever beam (2), the second Y-direction upper cantilever beam (3), the first Y-direction Analysis of A Cantilever Beam Under (4), second Y-direction Analysis of A Cantilever Beam Under (5), lifting arm (6) in first Z-direction, lifting arm (7) in the second Z-direction, lifting arm (8) under the first Z-direction, lifting arm (9) under second Z-direction, two-axle interlocking manipulator (10); Described X arranges upper and lower suspension bracket to portal frame (1) is upper, its over sling is arranged the first Y-direction upper cantilever beam (2) and the second Y-direction upper cantilever beam (3), lower suspension bracket is arranged lifting arm (8) and lifting arm (9) under the second Z-direction under the first Z-direction; In first Z-direction, lifting arm (6) is slidably connected with the first Y-direction upper cantilever beam (2), the second Y-direction upper cantilever beam (3) respectively with lifting arm (7) in the second Z-direction, and the first Y-direction Analysis of A Cantilever Beam Under (4) and the second Y-direction Analysis of A Cantilever Beam Under (5) are slidably connected with lifting arm (9) under lifting arm (8), the second Z-direction under the first Z-direction respectively; Lifting arm (6) respectively placement of mechanical hand (10) upper with lifting arm (7) in the second Z-direction in first Y-direction Analysis of A Cantilever Beam Under (4), the second Y-direction Analysis of A Cantilever Beam Under (5), the first Z-direction.
2. the automatic soldering device of the deep trouth body structure for small space according to claim 1, is characterized in that: under the first described Y-direction upper cantilever beam (2), the second Y-direction upper cantilever beam (3), the first Z-direction, under lifting arm (8), the second Z-direction, lifting arm (9) is connected to the upper and lower suspension bracket of portal frame (1) with X with thread forms by guide rail; First Y-direction Analysis of A Cantilever Beam Under (4), the second Y-direction Analysis of A Cantilever Beam Under (5) is connected with lifting arm (9) under lifting arm (8), the second Z-direction under the first Z-direction with thread forms by guide rail; In first Z-direction, in lifting arm (6), the second Z-direction, lifting arm (7) is connected with the first Y-direction upper cantilever beam (2), the second Y-direction upper cantilever beam (3) with thread forms by guide rail.
3. the automatic soldering device of the deep trouth body structure for small space according to claim 1, is characterized in that: described each manipulator (10) is upper arranges microscler welding gun (11).
4. the automatic soldering device of the deep trouth body structure for small space according to claim 1, it is characterized in that: the first Y-direction upper cantilever beam (2) and the second Y-direction upper cantilever beam (3) install laser welded seam checkout gear respectively, the first Y-direction Analysis of A Cantilever Beam Under (4) and the second Y-direction Analysis of A Cantilever Beam Under (5) install laser welded seam checkout gear respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310048242.3A CN103111720B (en) | 2013-02-07 | 2013-02-07 | Automatic welding device for deep groove box body structure in narrow space |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310048242.3A CN103111720B (en) | 2013-02-07 | 2013-02-07 | Automatic welding device for deep groove box body structure in narrow space |
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| Publication Number | Publication Date |
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| CN103111720A CN103111720A (en) | 2013-05-22 |
| CN103111720B true CN103111720B (en) | 2015-02-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310048242.3A Active CN103111720B (en) | 2013-02-07 | 2013-02-07 | Automatic welding device for deep groove box body structure in narrow space |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104353937B (en) * | 2014-10-22 | 2016-12-07 | 杭萧钢构股份有限公司 | Yi word pattern steel pipe bundle automatic assembling welder |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7429716B2 (en) * | 1998-04-10 | 2008-09-30 | Bong William L | Modular welding system |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE20012982U1 (en) * | 2000-07-27 | 2000-12-28 | Eisenmann Kg Maschbau | Welding boom for a device for electrical welding |
| CN101596633B (en) * | 2009-06-27 | 2011-01-26 | 山西平阳重工机械有限责任公司 | Mutual tack welding method for hydraulic support grid box type structure |
| CN201728486U (en) * | 2010-05-25 | 2011-02-02 | 中煤张家口煤矿机械有限责任公司 | Cantilever type middle pan double-gun special automatic welding machine |
| CN201871880U (en) * | 2010-10-27 | 2011-06-22 | 山东奥太电气有限公司 | Cantilever welding device of middle slot of novel coal machine |
| CN102441720B (en) * | 2011-09-23 | 2013-08-07 | 山西平阳重工机械有限责任公司 | Automatic welding method of flow production line for hydraulic support grid box type structure members |
| CN102909506B (en) * | 2012-11-02 | 2015-03-18 | 无锡华联科技集团有限公司 | Inverted walking mechanism of cantilever-type welding machine |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7429716B2 (en) * | 1998-04-10 | 2008-09-30 | Bong William L | Modular welding system |
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Owner name: CHINA SHIPBUILDING INDUSTRY PENGLI (NANJING) INTEL Free format text: FORMER NAME: NANJING PRIDE TECHNOLOGY CO., LTD. |
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Address after: Jiangning Development Zone in Nanjing City, Jiangsu province 211153 Evergreen Street No. 32 Patentee after: CSIC PRIDE(Nanjing)Intelligent Equipment System Co.,Ltd Address before: 211106 No. 346, Xiaguan District, Jiangsu, Nanjing, Zhongshan North Road Patentee before: NANJING PRIDE TECHNOLOGY Co.,Ltd. |
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Address after: 211153 No.32 Changqing street, Jiangning Development Zone, Nanjing City, Jiangsu Province Patentee after: China Shipbuilding Pengli (Nanjing) Intelligent Equipment System Co.,Ltd. Country or region after: China Address before: 211153 No.32 Changqing street, Jiangning Development Zone, Nanjing City, Jiangsu Province Patentee before: CSIC PRIDE(Nanjing)Intelligent Equipment System Co.,Ltd Country or region before: China |