CN104526218B - A kind of from walking bonding machine - Google Patents
A kind of from walking bonding machine Download PDFInfo
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- CN104526218B CN104526218B CN201510010510.1A CN201510010510A CN104526218B CN 104526218 B CN104526218 B CN 104526218B CN 201510010510 A CN201510010510 A CN 201510010510A CN 104526218 B CN104526218 B CN 104526218B
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- walking
- tooth bar
- cantilever
- bonding machine
- support body
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
Abstract
The invention provides a kind of from walking bonding machine, belong to automation equipment field, including support body, control system it is provided with in described support body, support body is provided with the first tooth bar, the second tooth bar, the first cantilever and the second cantilever, first tooth bar and the second tooth bar are provided with electric magnet and walking mechanism, should can realize walking from walking bonding machine by electric magnet and walking mechanism；First cantilever and the second cantilever can complete welding job.This bonding machine of walking certainly can automatically control, it is possible to remote control, instead of traditional human weld's work, greatly improves working security and efficiency of construction.
Description
Technical field
The present invention relates to automation equipment field, in particular to one from walking bonding machine.
Background technology
Welding is one of currently manufactured connected mode the most frequently used in the industry, particularly in main equipment manufacturing process, it is necessary to the position of welding is very many.
For large ship, present large ship is the large-scale bulk freighter of a few ton mostly, and hull is the assembly being first combined into bulk by steel plate, then installs splicing on the spot by the eminence of traveling crane to tens meter.Needing welding during installation, traditional operating type is usually by being accomplished manually welding, welder when work high above the ground, not still wind and weather Exposure to Sunlight, and danger coefficient is high, falling from high altitude etc., and major accident happens occasionally.
Therefore, there is great defect in traditional welding equipment and welding method.
Summary of the invention
The invention provides a kind of from walking bonding machine, it is intended to improve the problems referred to above.
The present invention is achieved in that
From walking bonding machine, including support body, control system it is provided with in described support body, support body is additionally provided with the first tooth bar and the second tooth bar, the two ends of described first tooth bar and the two ends of the second tooth bar are equipped with leg, each leg is provided with the electric magnet being connected with control system, first tooth bar and the second tooth bar are connected with support body each through walking mechanism, this walking mechanism is connected with controlling system, the relative support body motion respectively of the first tooth bar and the second tooth bar can be made by described walking mechanism, make from walking bonding machine walking.
All with tooth on first tooth bar and the second tooth bar, therefore walking mechanism is very simple, and in the present invention, walking mechanism includes movable motor, and the output shaft of this movable motor is connected to walking gear, and described walking gear can engage with the first tooth bar or the second tooth bar.Specifically, walking gear and first tooth bar of the walking mechanism being connected with the first tooth bar engage, and walking gear and second tooth bar of the walking mechanism being connected with the second tooth bar engage.
This walking mechanism operationally, can drive walking gear to rotate by movable motor, makes the first tooth bar and the second tooth bar move relative to movable motor, indirectly reaches the purpose of " walking ".
For Fig. 4 and Fig. 5, this two width figure has reacted the first tooth bar and has fixed the process of the second tooth bar walking, in the diagram, control system controls two electric magnet of the first tooth bar and is in "on" position, disconnect the power supply of two electric magnet of the second tooth bar, control two walking mechanism operatings, make support body run to the other end from one end of the first tooth bar and the second tooth bar, reach the state of Fig. 5, complete the process that row makes a move.
Subsequently, control system controls two electric magnet connection power supplys of the second tooth bar, disconnects the power supply of two electric magnet of the first tooth bar, can complete next step walking.Concrete walking process no longer describes in detail.
It is additionally provided with the first rotating mechanism being connected with control system between described first tooth bar and the second tooth bar, the first tooth bar can be made to rotate relative to the second tooth bar by described first rotating mechanism.
Rotating mechanism is also existing mechanism, specifically can be realized by motor and gear.Fig. 6 and Fig. 7 illustrates the state diagram when rotated of the first rotating mechanism, now the second tooth bar rotation fixed by the first tooth bar, in figure 6, control system controls two electric magnet of the first tooth bar and is in "on" position, disconnect the power supply of two electric magnet of the second tooth bar, control the first rotating mechanism, make the second tooth bar rotate relative to the first tooth bar, the state of Fig. 7 can be reached.
Being additionally provided with the first cantilever on support body, one end of described first cantilever is connected with support body by the second rotating mechanism, and this second rotating mechanism is connected with controlling system, the first cantilever can be made to rotate in horizontal plane and vertical plane relative to support body by described second rotating mechanism.
Horizontal plane herein refers to the face parallel with the plane at four leg places, and vertical plane refers to the face being perpendicular to horizontal plane.
The function of the second rotating mechanism is also relatively simple, therefore, it is possible to the concrete mechanism realizing this function is more, the invention provides a kind of the second concrete rotating mechanism: described second rotating mechanism includes housing, this housing is located on support body, the first electric rotating machine it is provided with in described housing, the output shaft of described first electric rotating machine is provided with driving gear, one end of described first cantilever extends in described housing and is connected to the driven gear engaged with described driving gear, this driven gear is rotationally connected with in housing, the bottom of housing is connected to the second electric rotating machine, described second electric rotating machine is fixed on support body and vertical with the direction of rotation of the first electric rotating machine, described first electric rotating machine and the second electric rotating machine are all connected with control system.
Drive driven gear can realize the first cantilever by driving gear when first electric rotating machine rotates to rotate in vertical plane.First cantilever rotates the height being intended merely to the end adjusting the first cantilever in vertical plane, complete circular motion need not be done, and general motor speed is very fast, it is not easily accomplished accurate control, therefore, decelerator can be set on the first electric rotating machine to control its output speed, it is achieved the accurate control of the height of the end of the first cantilever.
The second electric rotating machine being located at housing bottom horizontally rotates, and housing can be driven at horizontal rotation in surface, indirectly realizes the first cantilever at horizontal rotation in surface.
Second rotating mechanism simple in construction of this version, function is also comparatively complete, it is not easy to breaking down, maintenance cost is relatively low.
The other end of the first cantilever is connected by the 3rd rotating mechanism and the second cantilever being connected with control system, can make relative first cantilever-rotating of the second cantilever by described 3rd rotating mechanism, and the free end of the second cantilever is provided with the welding gun being connected with control system.
The function of the 3rd rotating mechanism and the first rotating mechanism is similar, therefore can adopt similar structure.Welding gun is existing apparatus, and the free end being contained in the second cantilever can realize welding.
This relatively simple from walking bonding machine structure, during use, it runs prepared in advance can to control programme-control well, it is possible to inside sets wireless transmitter module, is manipulated with the control equipment of wireless receiving module by other.This automatic welding that can realize equipment from walking bonding machine, compares the mode of traditional human weld, drastically increases efficiency of construction, substantially stopped security incident simultaneously.
Free end at the second cantilever is additionally provided with the photographic head being connected with control system.Photographic head can photograph the position of welding gun on the second cantilever and the situation of equipment to be welded, can pass to the control equipment on ground, and then manipulation should be welded from walking bonding machine；Set up image processing system in walking bonding machine, can also passing to image processing system by the information of camera collection, this information is carried out process and can be precisely controlled welding gun and weld by image processing system, it is achieved should from the automatic welding of bonding machine of walking.
Preferably, the second cantilever is also provided with searchlight, opens searchlight and make photographic head also can gather information in night.
Further, being additionally provided with accumulator in described support body, this accumulator is connected with controlling system.
This bonding machine of walking certainly is operationally connected with alternating current power supply, and it is operationally not necessarily in plane, it is also possible to is on comparatively precipitous inclined-plane, even hangs upside down the end face in equipment.If power-off operationally occurs suddenly, then should be likely to, from walking bonding machine, situations such as landing occurring, fall.If pounding people, consequence is hardly imaginable.
The accumulator set up can improve this situation.When alternating current power-off occurs suddenly, control system control accumulator and be connected with each electric magnet, make each electric magnet be still in "on" position, keep the duty before alternating current power-off.Now staff can take corresponding measure after finding immediately, and prevention accident occurs.
Further, the bottom of each described leg is provided with the range sensor being connected with control system.
It is not necessarily plane, it is also possible to step occurs from the work surface of walking bonding machine.For Fig. 4 and Fig. 5, when the second tooth bar is walked forward, if preceding leg runs into downward step, then it can be in vacant state, and its speed of travel is very fast, is now easy to of short duration falling occur, cause the vibrations from bonding machine of walking, it is adversely affected.
Set up the range sensor bottom leg and can improve this problem to a certain extent.In the process of walking, if after some range sensor detects that this leg is in vacant state, it it is such as some leg on the second tooth bar, now can be made improvements by different control methods, such as: control this by control system and stop walking from the walking mechanism of bonding machine of walking, and make the electric magnet of the second tooth bar be energized, the second tooth bar is fixed so that it is will not produce to fall；Or, the deceleration walking of this walking mechanism is controlled by control system, and making the electric magnet of the second tooth bar be energized, the rear leg of such second tooth bar is fitted with equipment to be welded, and front support leg slowly moves forward, now by its gravity, and the suction of electric magnet and equipment to be welded on front support leg, front support leg can move down slowly, eventually with equipment laminating to be welded, realize the whole work of getting out of a predicament or an embarrassing situation from bonding machine of walking, improve the problems referred to above.
Designer is additionally arranged range sensor corresponding with each leg in walking mechanism, and this range sensor is connected with controlling system.Range sensor herein has four, respectively each leg corresponding.
Walking mechanism when walking, due to the limited length of the first tooth bar and the second tooth bar, therefore walk and be bound to stop after a segment distance by walking mechanism.Walking and the stopping of walking mechanism can be so controlled: by the length input control system of the first tooth bar and the second tooth bar before being not provided with range sensor, record walking mechanism position on the first tooth bar and the second tooth bar simultaneously, control system when walking and automatically calculate walking mechanism distance the first tooth bar and the distance of the second tooth bar end, determine when to stop walking.
Walking and the stopping of walking mechanism can be so controlled: for the first tooth bar after being additionally arranged range sensor, when the walking mechanism on the first tooth bar when walking, range sensor senses that (this distance preset can set the distance between walking mechanism and leg according to practical situation less than default distance, generally can be decided to be 5m-10mm) after, control this walking mechanism by control system and stop walking, in case walking mechanism knocks leg down.
Further, this is defined by designer from the first tooth bar of walking bonding machine and the length of the second tooth bar, its length is 0.8m-1.5m, first tooth bar of such length and the second tooth bar make this moderate from walking welded body type, subject range is wider, can the welding rod of load more, once can complete more weld task.
Further, the first tooth bar and the tooth pitch on the second tooth bar are 3mm-6mm, and the tooth pitch of such distance is less, make this higher from the precision of bonding machine of walking, it is possible to complete various weld task in high quality.
Should removably connecting with welding gun by the second cantilever on walking bonding machine, dismountable welding gun makes follow-up maintenance more convenient.
The invention has the beneficial effects as follows: the bonding machine of certainly walking that the present invention is obtained by above-mentioned design, program can be set in advance in its control system, with can complete every welding job after power on: by walking mechanism and the first tooth bar and the second tooth bar, walking should can be realized from walking bonding machine, can should realize rotating from walking bonding machine by the first rotating mechanism, the rotation of the first cantilever can be realized by the second rotating mechanism and raise, the rotation of the second cantilever can be realized by the 3rd rotating mechanism, and then realize the location of welding gun, welding.This bonding machine of walking certainly can automatically control, it is possible to remote control, alternative traditional human weld's work, greatly improves working security and efficiency of construction.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, the accompanying drawing used required in embodiment will be briefly described below, it is to be understood that, the following drawings illustrate only certain embodiments of the present invention, therefore the restriction to scope it is not construed as, for those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other relevant accompanying drawings according to these accompanying drawings.
Fig. 1 is the structural representation from bonding machine of walking that the embodiment of the present invention provides；
Fig. 2 is the structural representation of the walking mechanism from bonding machine of walking that the embodiment of the present invention provides；
Fig. 3 is the structural representation of the second rotating mechanism from bonding machine of walking that the embodiment of the present invention provides；
Fig. 4 is the structural representation from bonding machine the first state when walking of walking that the embodiment of the present invention provides；
Fig. 5 is the structural representation from bonding machine the second state when walking of walking that the embodiment of the present invention provides；
Fig. 6 is the structural representation from bonding machine the first state when rotated of walking that the embodiment of the present invention provides；
Fig. 7 is the structural representation from bonding machine the second state when rotated of walking that the embodiment of the present invention provides.
Figure acceptance of the bid note is respectively as follows:
First tooth bar 101；Second tooth bar 102；Leg 103；Electric magnet 104；Walking mechanism 105；First rotating mechanism 106；First cantilever 107；Second rotating mechanism 108；Second cantilever 109；3rd rotating mechanism 110；Walking gear 111；Housing 112；First electric rotating machine 113；Driving gear 114；Driven gear 115；Second electric rotating machine 116.
Detailed description of the invention
Welding is one of currently manufactured connected mode the most frequently used in the industry, particularly in main equipment manufacturing process, it is necessary to the position of welding is very many.
For large ship, present large ship is the large-scale bulk freighter of a few ton mostly, and hull is the assembly being first combined into bulk by steel plate, then installs splicing on the spot by the eminence of traveling crane to tens meter.Needing welding during installation, traditional operating type is usually by being accomplished manually welding, welder when work high above the ground, not still wind and weather Exposure to Sunlight, and danger coefficient is high, falling from high altitude etc., and major accident happens occasionally.
Therefore, there is great defect in traditional welding equipment and welding method.
Those skilled in the art are seeking a kind of instrument improving this problem or method for a long time always.
In consideration of it, the designer of the present invention is by long-term exploration and trial, and experiment repeatedly and effort, constantly reforms and innovates, have devised a kind of from walking bonding machine, use and this can improve the problems referred to above preferably from walking bonding machine.
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearly, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is a part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention.Therefore, below the detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit claimed the scope of the present invention, but is merely representative of the selected embodiment of the present invention.Based on the embodiment in the present invention, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of protection of the invention.
Embodiment, refers to Fig. 1-7
The bonding machine of certainly walking that the present embodiment provides, including support body, control system it is provided with in described support body, support body is additionally provided with the first tooth bar 101 and the second tooth bar 102, the two ends of described first tooth bar 101 and the two ends of the second tooth bar 102 are equipped with leg 103, the supporting surface same plane that four legs 103 are positioned at, each leg 103 is provided with the electric magnet 104 being connected with control system, first tooth bar 101 and the second tooth bar 102 are connected with support body each through walking mechanism 105, this walking mechanism 105 is connected with controlling system, the relative support body motion respectively of the first tooth bar 101 and the second tooth bar 102 can be made by described walking mechanism 105, make from walking bonding machine walking.Specifically, in the present embodiment, the first tooth bar 101 and the second tooth bar 102 are setting up and down.
All with tooth on first tooth bar 101 and the second tooth bar 102, therefore walking mechanism 105 is very simple, in the present embodiment, walking mechanism 105 includes movable motor, and the output shaft of this movable motor is connected to walking gear 111, and described walking gear 111 can engage with the first tooth bar 101 or the second tooth bar 102.Specifically, the walking gear 111 of the walking mechanism 105 being connected with the first tooth bar 101 engages with the first tooth bar 101, and the walking gear 111 of the walking mechanism 105 being connected with the second tooth bar 102 engages with the second tooth bar 102.
This walking mechanism 105 operationally, can drive walking gear 111 to rotate by movable motor, makes the first tooth bar 101 and the second tooth bar 102 move relative to movable motor, indirectly reaches the purpose of " walking ".
For Fig. 4 and Fig. 5, this two width figure has reacted fixing (i.e. two the electric magnet energisings of the first tooth bar 101 of the first tooth bar 101, with equipment laminating to be welded) the second tooth bar 102 when not fixing from the process of walking bonding machine walking, in the diagram, control system controls two electric magnet 104 of the first tooth bar 101 and is in "on" position, disconnect the power supply of two electric magnet 104 of the second tooth bar 102, control two walking mechanisms 105 to operate, support body is made to run to the other end from one end of the first tooth bar 101 and the second tooth bar 102, reach the state of Fig. 5, complete the process that row makes a move.
Subsequently, control system controls two electric magnet 104 of the second tooth bar 102 and connects power supply, disconnects the power supply of two electric magnet 104 of the first tooth bar 101, can complete next step walking.Concrete walking process no longer describes in detail.It is noted that the movable motor each row of two walking mechanisms 105 makes a move needs direction of rotation of switching, this so just can be made to walk toward the direction from walking bonding machine.
It is additionally provided with, between described first tooth bar 101 and the second tooth bar 102, the first rotating mechanism 106 being connected with control system, the first tooth bar 101 can be made to rotate relative to the second tooth bar 102 by described first rotating mechanism 106.
Rotating mechanism is also existing mechanism, specifically can be realized by motor and gear.Fig. 6 and Fig. 7 illustrates the state diagram when rotated of the first rotating mechanism 106, now the first tooth bar 101 is fixed the second tooth bar 102 and is rotated, in figure 6, control system controls two electric magnet 104 of the first tooth bar 101 and is in "on" position, disconnect the power supply of two electric magnet 104 of the second tooth bar 102, control the first rotating mechanism 106, make the second tooth bar 102 rotate relative to the first tooth bar 101, the state of Fig. 7 can be reached.
Support body is additionally provided with the first cantilever 107, one end of described first cantilever 107 is connected with support body by the second rotating mechanism 108, this second rotating mechanism 108 is connected with controlling system, the first cantilever 107 can be made to rotate in horizontal plane and vertical plane relative to support body by described second rotating mechanism 108.
Horizontal plane herein refers to the face parallel with the plane at four leg 103 places, and vertical plane is perpendicular to horizontal plane.
nullThe function of the second rotating mechanism 108 is also relatively simple，Therefore, it is possible to the concrete mechanism realizing this function is more，Present embodiments provide a kind of the second concrete rotating mechanism 108: described second rotating mechanism 108 includes housing 112，This housing 112 is located on support body，The first electric rotating machine 113 it is provided with in described housing 112，The output shaft of described first electric rotating machine 113 is provided with driving gear 114，One end of described first cantilever 107 extends in described housing 112 and is connected to the driven gear 115 engaged with described driving gear 114，This driven gear 115 is rotationally connected with in housing 112，The bottom of housing 112 is connected to the second electric rotating machine 116，Described second electric rotating machine 116 is fixed on support body and is vertically arranged with the first electric rotating machine 113，Described first electric rotating machine 113 and the second electric rotating machine 116 are all connected with control system.
Drive driven gear 115 can realize the first cantilever 107 by driving gear 114 when first electric rotating machine 113 rotates to rotate in vertical plane.First cantilever 107 rotates the height being intended merely to the end adjusting the first cantilever 107 in vertical plane, complete circular motion need not be done, and general motor speed is very fast, it is not easily accomplished accurate control, therefore, decelerator can be set on the first electric rotating machine 113 to control its output speed, it is achieved the accurate control of the height of the end of the first cantilever 107.
It is located at the second electric rotating machine 116 bottom housing 112 to horizontally rotate, housing 112 can be driven at horizontal rotation in surface, indirectly realize the first cantilever 107 at horizontal rotation in surface.
Second rotating mechanism 108 simple in construction of this version, function is also comparatively complete, it is not easy to breaking down, maintenance cost is relatively low.
The other end of the first cantilever 107 is connected with the second cantilever 109 by the 3rd rotating mechanism 110 being connected with control system, the second cantilever 109 can being made to rotate relative to the first cantilever 107 by described 3rd rotating mechanism 110, the free end of the second cantilever 109 is provided with the welding gun being connected with control system.
3rd rotating mechanism 110 is similar with the function of the first rotating mechanism 106, therefore can adopt similar structure.Welding gun is existing apparatus, and the free end being contained in the second cantilever 109 can realize welding.
This relatively simple from walking bonding machine structure, during use, it runs prepared in advance can to control programme-control well, it is possible to inside sets wireless transmitter module, is manipulated with the control equipment of wireless receiving module by other.This automatic welding that can realize equipment from walking bonding machine, compares the mode of traditional human weld, drastically increases efficiency of construction, substantially stopped security incident simultaneously.
Free end at the second cantilever 109 is additionally provided with the photographic head being connected with control system.Photographic head can photograph the position of welding gun on the second cantilever 109 and the situation of equipment to be welded, can pass to control equipment, should be welded from walking bonding machine by the manipulation of control equipment；Image processing system can also be set up in walking bonding machine certainly, image processing system is passed to by the information of camera collection, this information is carried out process and can be precisely controlled welding gun by control system and weld by image processing system, it is achieved should from the automatic welding of bonding machine of walking.
Preferably, the second cantilever 109 is also provided with searchlight, opens searchlight and make photographic head also can gather information in night.
Further, being additionally provided with accumulator in described support body, this accumulator is connected with controlling system.
This bonding machine of walking certainly is operationally connected with alternating current power supply, and it is operationally not necessarily in horizontal plane, it is also possible to is on comparatively precipitous inclined-plane, even hangs upside down in the end face of equipment to be welded.If power-off operationally occurs suddenly, then should be likely to, from walking bonding machine, situations such as landing occurring, fall.If pounding people, consequence is hardly imaginable.
The accumulator set up can improve this situation.When there is suddenly alternating current power-off, control system controls accumulator and is connected with each electric magnet 104, makes each electric magnet 104 be still in "on" position, keeps the duty before alternating current power-off.Now staff takes corresponding measure after finding immediately, and prevention accident occurs.
Further, the bottom of each described leg 103 is provided with the range sensor being connected with control system.
It is not necessarily plane, it is also possible to step occurs from the work surface of walking bonding machine.For Fig. 4 and Fig. 5, when the second tooth bar 102 is walked forward, if preceding leg 103 runs into downward step, then it can be in vacant state, and its speed of travel is very fast, is now easy to of short duration falling occur, cause the vibrations from bonding machine of walking, it is adversely affected.
Set up the range sensor bottom leg 103 and can improve this problem to a certain extent.In the process of walking, if after some range sensor detects that this leg 103 is in vacant state, it it is such as some leg 103 on the second tooth bar 102, now can pass through different control methods it is controlled, prevent it from falling, for instance: control this by control system and stop walking from the walking mechanism 105 of bonding machine of walking, and make the electric magnet 104 of the second tooth bar 102 be energized, second tooth bar 102 is fixed so that it is will not produce to fall；Or, the deceleration walking of this walking mechanism 105 is controlled by control system, and make the electric magnet 104 of the second tooth bar 102 be energized, the rear leg 103 of such second tooth bar 102 and equipment to be welded laminating, front support leg 103 slowly moves forward, now by the suction of electric magnet 104 on its gravity and front support leg 103 with equipment to be welded, front support leg 103 can move down slowly, eventually with equipment laminating to be welded, make the whole slowly decline from bonding machine of walking, improve the problems referred to above.
Designer is additionally arranged range sensor corresponding with each leg 103 in walking mechanism, and this range sensor is connected with controlling system.Range sensor herein has four, respectively each leg 103 corresponding.
Walking mechanism 105 when walking, due to the limited length of the first tooth bar 101 and the second tooth bar 102, therefore walk and be bound to stop after a segment distance by walking mechanism 105.Walking and the stopping of walking mechanism 105 can be so controlled: by the length input control system of the first tooth bar 101 and the second tooth bar 102 before being not provided with range sensor, the record walking mechanism 105 position on the first tooth bar 101 and the second tooth bar 102 simultaneously, control system when walking and automatically calculate the distance of walking mechanism 105 distance the first tooth bar 101 and the second tooth bar 102 end, determine when to stop walking.
Walking and the stopping of walking mechanism 105 can be so controlled: for the first tooth bar 101 after being additionally arranged range sensor, when the walking mechanism 105 on the first tooth bar 101 when walking, range sensor senses that (this distance preset can set the distance between walking mechanism 105 and leg 103 according to practical situation less than default distance, generally can be decided to be 5m-10mm) after, control this walking mechanism 105 by control system and stop walking, in case walking mechanism 105 knocks leg 103 down.
Further, this is defined by designer from the first tooth bar 101 of walking bonding machine and the length of the second tooth bar 102, its length is 0.8m-1.5m, first tooth bar 101 of such length and the second tooth bar 102 make this moderate from walking welded body type, subject range is wider, can the welding rod of load more, once can complete more weld task.
Further, the tooth pitch on the first tooth bar 101 and the second tooth bar 102 is 3mm-6mm, and the tooth pitch of such distance is less, makes this higher from the precision of bonding machine of walking, it is possible to complete various weld task in high quality.
Should removably connecting with welding gun by the second cantilever 109 on walking bonding machine, dismountable welding gun makes follow-up maintenance more convenient.
The bonding machine of certainly walking that the present embodiment is obtained by above-mentioned design, has the function of automatic walking, automatic welding, and meanwhile, its welding precision is high, accurate positioning, and welding efficiency is high, alternative traditional human weld, improves efficiency of construction.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, any amendment of making, equivalent replacement, improvement etc., should be included within protection scope of the present invention.
Claims (10)
1. a bonding machine of certainly walking, it is characterised in that including support body, be provided with control system in described support body, support body is provided with:
First tooth bar and the second tooth bar, the two ends of described first tooth bar and the two ends of the second tooth bar are equipped with leg, each leg is provided with the electric magnet being connected with control system, first tooth bar and the second tooth bar are connected with support body each through walking mechanism, this walking mechanism is connected with controlling system, the relative support body motion respectively of the first tooth bar and the second tooth bar can be made by described walking mechanism, make from walking bonding machine walking, the first rotating mechanism being connected with control system it is additionally provided with between described first tooth bar and the second tooth bar, the first tooth bar can be made to rotate relative to the second tooth bar by described first rotating mechanism；
First cantilever, one end of described first cantilever is connected with support body by the second rotating mechanism, this second rotating mechanism is connected with controlling system, the first cantilever can be made to rotate in horizontal plane and vertical plane relative to support body by described second rotating mechanism, the other end of the first cantilever is connected by the 3rd rotating mechanism and the second cantilever being connected with control system, can making relative first cantilever-rotating of the second cantilever by described 3rd rotating mechanism, the free end of the second cantilever is provided with the welding gun being connected with control system.
2. according to claim 1 from walking bonding machine, it is characterized in that, described walking mechanism includes movable motor, the output shaft of this movable motor is connected to walking gear, the walking gear of the walking mechanism being connected with the first tooth bar and the engagement of the first tooth bar, the walking gear of the walking mechanism being connected with the second tooth bar and the engagement of the second tooth bar.
3. according to claim 1 from walking bonding machine, it is characterised in that the free end of described second cantilever is additionally provided with the photographic head being connected with control system.
4. according to claim 1 from walking bonding machine, it is characterised in that being additionally provided with accumulator in described support body, this accumulator is connected with controlling system.
5. according to claim 1 from walking bonding machine, it is characterized in that, described second rotating mechanism includes housing, the first electric rotating machine it is provided with in described housing, the output shaft of described first electric rotating machine is provided with driving gear, one end of described first cantilever extends in described housing and is connected to the driven gear engaged with described driving gear, this driven gear is rotationally connected with in housing, the bottom of housing is connected to the second electric rotating machine, described second electric rotating machine is fixed on support body and is vertically arranged with the first electric rotating machine, described first electric rotating machine and the second electric rotating machine are all connected with control system.
6. according to claim 1 from walking bonding machine, it is characterised in that the bottom of each described leg is provided with the range sensor being connected with control system.
7. according to claim 1 from walking bonding machine, it is characterised in that described walking mechanism is provided with range sensor corresponding with each leg, and this range sensor is connected with controlling system.
8. according to claim 1 from walking bonding machine, it is characterised in that the length of described first tooth bar and the second tooth bar is 0.8m-1.5m.
9. according to claim 8 from walking bonding machine, it is characterised in that the tooth pitch of described first tooth bar and the second tooth bar is 3mm-6mm.
10. according to claim 1 from walking bonding machine, it is characterised in that described second cantilever and welding gun removably connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510010510.1A CN104526218B (en) | 2015-01-08 | 2015-01-08 | A kind of from walking bonding machine |
Applications Claiming Priority (1)
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| US4323223A (en) * | 1980-03-24 | 1982-04-06 | Maschinen- und Armaturen- J & W Muller, fabrik GmbH | Apparatus for forming a closed cut surface in a wall of a workpiece |
| CN201988870U (en) * | 2011-03-11 | 2011-09-28 | 郑州市科慧高科技发展有限公司 | Compact self-walking welding mechanism |
| CN203566116U (en) * | 2013-10-02 | 2014-04-30 | 桐庐天元机电有限公司 | Transverse adjustment device of welding gun of rotary welding machine |
| WO2014082425A1 (en) * | 2012-11-29 | 2014-06-05 | 山东水泊焊割设备制造有限公司 | Cantilevered automatic welding machine for dumper truck box panel |
| CN203863250U (en) * | 2014-06-12 | 2014-10-08 | 龙泉市恒丰汽车空调配件有限公司 | Welding gun fixing and adjusting mechanism of automobile air-conditioner accessory welding machine |
| CN204366300U (en) * | 2015-01-08 | 2015-06-03 | 江西东江机电有限公司 | A kind of from walking bonding machine |
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2015
- 2015-01-08 CN CN201510010510.1A patent/CN104526218B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4323223A (en) * | 1980-03-24 | 1982-04-06 | Maschinen- und Armaturen- J & W Muller, fabrik GmbH | Apparatus for forming a closed cut surface in a wall of a workpiece |
| CN201988870U (en) * | 2011-03-11 | 2011-09-28 | 郑州市科慧高科技发展有限公司 | Compact self-walking welding mechanism |
| WO2014082425A1 (en) * | 2012-11-29 | 2014-06-05 | 山东水泊焊割设备制造有限公司 | Cantilevered automatic welding machine for dumper truck box panel |
| CN203566116U (en) * | 2013-10-02 | 2014-04-30 | 桐庐天元机电有限公司 | Transverse adjustment device of welding gun of rotary welding machine |
| CN203863250U (en) * | 2014-06-12 | 2014-10-08 | 龙泉市恒丰汽车空调配件有限公司 | Welding gun fixing and adjusting mechanism of automobile air-conditioner accessory welding machine |
| CN204366300U (en) * | 2015-01-08 | 2015-06-03 | 江西东江机电有限公司 | A kind of from walking bonding machine |
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| CN104526218A (en) | 2015-04-22 |
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