CN105945475A - Side-hung type all-position welding robot for pipeline - Google Patents
Side-hung type all-position welding robot for pipeline Download PDFInfo
- Publication number
- CN105945475A CN105945475A CN201610446320.9A CN201610446320A CN105945475A CN 105945475 A CN105945475 A CN 105945475A CN 201610446320 A CN201610446320 A CN 201610446320A CN 105945475 A CN105945475 A CN 105945475A
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- directive wheel
- linear motion
- fixed
- motion unit
- welding robot
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Classifications
-
- 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
-
- 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
- B23K37/0247—Driving means
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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of pipeline welding, and discloses a side-hung type all-position welding robot for a pipeline. The side-hung type all-position welding robot comprises a base, a first linear motion unit, a second linear motion unit, an angle swing unit and a welding gun. The first linear motion unit is fixed to the base. The second linear motion unit is fixed to a sliding block of the first linear motion unit, and the sliding direction of a sliding block of the second linear motion unit is perpendicular to the sliding direction of the sliding block of the first linear motion unit. The angle swing unit is fixed to the sliding block of the second linear motion unit. The welding gun is fixed to the angle swing unit. The welding gun can swing at stable swing amplitude on the two sides of a balance position along with the angle swing unit. The welding robot is efficient.
Description
Technical field
The present invention relates to pipeline welding technical field, particularly to a kind of side hanging pipeline all position welding
Robot.
Background technology
Large-scale pipeline welding generally uses welding robot, and long-range control realization controls welding.
The all-position welding of the revolving parts such as current pipeline mainly uses ready-package all positon tube welder
Head adds the mode of flexible rail to be completed, and this mode Mobile welding to be met technique is to equipment just
The property taken requirement.
Along with the raising of equipment integration degree, the requirement to robot is more and more higher；Existing bonding machine
Device people's volume is relatively large, and complicated, for weld seam deeper in the case of to adapt to ability poor, particularly root
During weldering, effect is the most unstable.
Summary of the invention
The present invention provides a kind of side hanging pipeline all position welding robot, solves to weld in prior art
Robot architecture is complicated, and the degree of depth is welded, the technical problem that root bead welding effect is undesirable.
For solving above-mentioned technical problem, the invention provides a kind of side hanging pipeline all position welding machine
People, including: base, the first linear motion unit, the second linear motion unit, angle swing unit and
Welding gun；
Described first linear motion unit is fixed on described base；
Described second linear motion unit is fixed on the slide block of described first linear motion unit, and institute
State the slide block of glide direction and described first linear motion unit of the slide block of the second linear motion unit
Glide direction is vertical；
Described angle swing unit is fixed on the slide block of described second linear motion unit；
Described welding gun is fixed on described angle swing unit；
Wherein, described welding gun can stablize the amplitude of oscillation with described angle swing unit in both sides, an equilbrium position generation
Swing.
Further, described angle swing unit includes: angle swing bearing and the first reducing motor；
Described first reducing motor is fixed in described angle swing bearing, and described welding gun is solid by welding gun fixture
It is scheduled in described first output end of reducer；
Described angle swing bearing is fixed on the slide block of described second linear motion unit.
Further, described robot also includes: driving wheel and the guide rail matched；
Described driving wheel is fixed on described base by rotating shaft, and described directive wheel is placed on described guide rail；
Described driving wheel and the second reducing motor are connected, and driven rotation is moved along described guide rail.
Further, described robot also includes: directive wheel；
Described directive wheel is fixed on described base by rotating shaft, and described directive wheel is placed on described guide rail.
Further, described directive wheel includes: upper directive wheel and lower directive wheel；
Described upper directive wheel and described lower directive wheel are all fixed on described base by rotating shaft, and described
Upper directive wheel and described lower directive wheel are resisted against described guide rail both sides.
Further, described base being offered chute, the rotating shaft of described lower directive wheel is embedded in described chute
In, can along described chute away from or near described upper directive wheel.
Further, described directive wheel also includes: lower directive wheel hold-down mechanism；
Described lower directive wheel hold-down mechanism is fixed on described base；
Described lower directive wheel hold-down mechanism is connected with the rotating shaft of described lower directive wheel, can apply on described
The pressure of directive wheel.
Further, described lower directive wheel hold-down mechanism includes: stage clip and pole；
Hinge is passed through hinged with described base in the middle part of described pole；
Described pole the first end is hinged with the rotating shaft of described lower directive wheel, the second end of described pole and institute
The one end stating stage clip is hinged；
The other end of described stage clip is hinged with described base.
Further, described pole arranges one handle.
Further, described driving wheel is gear, described guide rail rack.
The one or more technical schemes provided in the embodiment of the present application, at least have the following technical effect that
Or advantage:
The side hanging pipeline all position welding robot provided in the embodiment of the present application, uses the direction of motion
The first vertical linear motion unit and the second linear motion unit constitute welding torch position and adjust structure,
So that it gos deep into weld seam realizes welding, especially for root bead, it is possible to go deep into weld seam, adjust welding position；
Use the implementation terminal swing-scanning control of angle swing unit Butt welding gun, i.e. make welding gun exist with certain frequency simultaneously
Swing according to certain amplitude of oscillation with both sides, equilbrium position, thus effectively welding both sides body to be welded, overcome void
The problems such as weldering welding is the most thorough, are greatly improved welding quality, particularly root bead, and you are capable of entirely
Position is welded.
Further, the test tube realizing consolidating is designed by the structure of driving wheel, directive wheel and guide rail
Formula structure, it is simple to be capable of the most mobile while all-position welding.
Accompanying drawing explanation
The structural representation of Fig. 1 provides for the embodiment of the present invention side hanging pipeline all position welding robot
Figure；
Fig. 2 is the front view of Fig. 1.
Fig. 3 is the left view of Fig. 2.
Fig. 4 is the sectional view of A-A in Fig. 2.
Detailed description of the invention
The embodiment of the present application, by providing a kind of side hanging pipeline all position welding robot, solves existing
In technology, welding robot structure is complicated, and the degree of depth is welded, the technical problem that root bead welding effect is undesirable.
In order to be better understood from technique scheme, below in conjunction with Figure of description and concrete reality
Technique scheme is described in detail by mode of executing, it should be understood that the embodiment of the present invention and embodiment
In specific features be the detailed description to technical scheme rather than to present techniques side
The restriction of case, in the case of not conflicting, the technical characteristic in the embodiment of the present application and embodiment can
To be mutually combined.
See Fig. 1, Fig. 2 and Fig. 3, a kind of side hanging pipeline all-position that the embodiment of the present invention provides
Welding robot, including: base the 1, first linear motion unit the 7, second linear motion unit 8,
Angle swing unit (9,10) and welding gun 12.
Described first linear motion unit 7 is fixed on described base 1；Described second linear motion is single
Unit 8 is fixed on the slide block of described first linear motion unit 7, and described second linear motion unit
The glide direction of the slide block of 8 is vertical with the glide direction of the slide block of described first linear motion unit 7；
I.e. can realize movement axially and radially, adjust the position of welding gun.
Described angle swing unit is fixed on the slide block of described second linear motion unit；Described welding gun is fixed
On described angle swing unit；Wherein, described welding gun can be with described angle swing unit in both sides, equilbrium position
Produce the swing stablizing the amplitude of oscillation.Specifically, swing in high frequency can be realized, it is simple to the both sides weldering of root bead
Connect, promote quality.
Described angle swing unit includes: angle swing bearing 9 and the first reducing motor 10.
Described first reducing motor 10 is fixed in described angle swing bearing 9, and described welding gun 12 is by weldering
Rifle fixture 11 is fixed on described first reductor 10 outfan；Described angle swing bearing 9 is fixed on institute
State on the slide block of the second linear motion unit 8.
Described robot also includes: driving wheel 5 and the guide rail 6 matched；Described driving wheel 5
Being fixed on described base 1 by rotating shaft, described driving wheel 5 is placed on described guide rail 6；Described drive
Driving wheel 5 is connected with the second reducing motor 4, driven rotation, moves along described guide rail 6.
Described robot also includes: directive wheel 2 (13)；Described directive wheel is fixed on institute by rotating shaft
Stating on base 1, described directive wheel 2 (13) is placed on described guide rail 6.Thus define with described
2 guide support structures of driving wheel 5, firm and fluent motion.
Described directive wheel includes: upper directive wheel 2 and lower directive wheel 13；Described upper directive wheel and described
Lower directive wheel is all fixed on described base by rotating shaft, and described upper directive wheel and described lower directive wheel
It is resisted against described guide rail both sides.
Specifically, the version that clamps up and down is formed, it is ensured that robot can be stable along leading
Rail 6 moves.
Further, described base being offered chute, the rotating shaft of described lower directive wheel is embedded in described chute
In, can along described chute away from or near described upper directive wheel.The position realizing lower directive wheel is adjustable,
Conveniently adapt to all kinds of occasion demand.
Seeing Fig. 3 and Fig. 4, described directive wheel also includes: lower directive wheel hold-down mechanism；Lead under described
It is fixed on described base to wheel hold-down mechanism；Described lower directive wheel hold-down mechanism and described lower directive wheel
Rotating shaft be connected, the pressure to described upper directive wheel can be applied.I.e. form continual and steady compression force
Form, keeps stablizing of robot.
Described lower directive wheel hold-down mechanism includes: stage clip 16 and pole 3；Lead in the middle part of described pole 3
Cross hinge hinged with described base 1；Described pole 3 first end cuts with scissors with the rotating shaft of described lower directive wheel 13
Connecing, the second end of described pole 3 is hinged with one end of described stage clip 16；Another of described stage clip 16
Hold hinged with described base 1.
Specifically, stage clip 16 forms lever force application structure by pole, is continuously applied stable elasticity
Pressure, is pressed on described lower directive wheel 13 on described guide rail 6.
Described stage clip 16 is placed in a hollow connecting rod 15, keeps its form.
Further, described pole arranges one handle 14.It is conveniently adjusted position and the dress of lower directive wheel
Unload.
Further, described driving wheel is gear, described guide rail rack.Realize the driving of stability and high efficiency.
Base 1 uses a plate shape substrate, it is simple to pendant.
The work process of described welding robot is explained below.
In a pre-installation, the lower directive wheel 13 on base 1 is in open mode, first by whole during installation
Welding robot is placed at the side of annular rack 6, makes gear 5 engage with annular rack 6, above leads
To the both sides spigot surface laminating of wheel 2 with annular rack 6 top, then pulling handle 14, handle 14 carries
Dynamic lower directive wheel 13 is swung up, and makes lower directive wheel 13 and guides with the both sides bottom annular rack 6
Fit in face, now handle 14 under the effect of the internal stage clip 16 of hollow connecting rod 15 to lower directive wheel 13
Apply thrust, it is ensured that lower directive wheel 13 closely cooperates with annular rack 6.
After installation, operable welding robot completes all-position welding action, the second reducing motor 4
Drive welding robot annularly tooth bar 6 to complete circumference all positon by gear 5 to move；First straight line
Moving cell 7 can complete the welding gun 12 translation along conduit axis；Second linear motion unit 28 can be complete
Become welding gun 12 along the translation of pipeline radial direction；The first reducing motor 10 being fixed on angle swing shaft stool 9
Can directly drive welding gun fixed block 11 and welding gun 12 to rotate, and complete the angle swing action in welding.
The side hanging pipeline all position welding robot provided in the embodiment of the present application, uses the direction of motion
The first vertical linear motion unit and the second linear motion unit constitute welding torch position and adjust structure,
So that it gos deep into weld seam realizes welding, especially for root bead, it is possible to go deep into weld seam, adjust welding position；
Use the implementation terminal swing-scanning control of angle swing unit Butt welding gun, i.e. make welding gun exist with certain frequency simultaneously
Swing according to certain amplitude of oscillation with both sides, equilbrium position, thus effectively welding both sides body to be welded, overcome void
The problems such as weldering welding is the most thorough, are greatly improved welding quality, particularly root bead, and you are capable of entirely
Position is welded.
Further, the test tube realizing consolidating is designed by the structure of driving wheel, directive wheel and guide rail
Formula structure, it is simple to be capable of the most mobile while all-position welding.
Further, under conditions of meeting all-position welding technique, simplify welder device people
The number of axle and structure.
It should be noted last that, above detailed description of the invention is only in order to illustrate technical scheme
And unrestricted, although the present invention being described in detail with reference to example, the ordinary skill people of this area
Member should be appreciated that and can modify technical scheme or equivalent, without deviating from
The spirit and scope of technical solution of the present invention, it all should be contained in the middle of scope of the presently claimed invention.
Claims (10)
1. a side hanging pipeline all position welding robot, it is characterised in that including: base,
One linear motion unit, the second linear motion unit, angle swing unit and welding gun；
Described first linear motion unit is fixed on described base；
Described second linear motion unit is fixed on the slide block of described first linear motion unit, and institute
State the slide block of glide direction and described first linear motion unit of the slide block of the second linear motion unit
Glide direction is vertical；
Described angle swing unit is fixed on the slide block of described second linear motion unit；
Described welding gun is fixed on described angle swing unit；
Wherein, described welding gun can stablize the amplitude of oscillation with described angle swing unit in both sides, an equilbrium position generation
Swing.
2. as claimed in claim 1 side hanging pipeline all position welding robot, it is characterised in that
Described angle swing unit includes: angle swing bearing and the first reducing motor；
Described first reducing motor is fixed in described angle swing bearing, and described welding gun is solid by welding gun fixture
It is scheduled in described first output end of reducer；
Described angle swing bearing is fixed on the slide block of described second linear motion unit.
3. as claimed in claim 2 side hanging pipeline all position welding robot, it is characterised in that
Described robot also includes: driving wheel and the guide rail matched；
Described driving wheel is fixed on described base by rotating shaft, and described driving wheel is placed on described guide rail；
Described driving wheel and the second reducing motor are connected, and driven rotation is moved along described guide rail.
4. as claimed in claim 3 side hanging pipeline all position welding robot, it is characterised in that
Described robot also includes: directive wheel；
Described directive wheel is fixed on described base by rotating shaft, and described directive wheel is placed on described guide rail.
5. as claimed in claim 4 side hanging pipeline all position welding robot, it is characterised in that
Described directive wheel includes: upper directive wheel and lower directive wheel；
Described upper directive wheel and described lower directive wheel are all fixed on described base by rotating shaft, and described
Upper directive wheel and described lower directive wheel are resisted against described guide rail both sides.
6. as claimed in claim 5 side hanging pipeline all position welding robot, it is characterised in that:
Offering chute on described base, the rotating shaft of described lower directive wheel is embedded in described chute, can be along described cunning
Groove away from or near described upper directive wheel.
7. as claimed in claim 6 side hanging pipeline all position welding robot, it is characterised in that
Described directive wheel also includes: lower directive wheel hold-down mechanism；
Described lower directive wheel hold-down mechanism is fixed on described base；
Described lower directive wheel hold-down mechanism is connected with the rotating shaft of described lower directive wheel, can apply on described
The pressure of directive wheel.
8. as claimed in claim 7 side hanging pipeline all position welding robot, it is characterised in that
Described lower directive wheel hold-down mechanism includes: stage clip and pole；
Hinge is passed through hinged with described base in the middle part of described pole；
Described pole the first end is hinged with the rotating shaft of described lower directive wheel, the second end of described pole and institute
The one end stating stage clip is hinged；
The other end of described stage clip is hinged with described base.
9. as claimed in claim 8 side hanging pipeline all position welding robot, it is characterised in that:
On described pole, one handle is set.
10. side hanging pipeline all position welding robot as described in any one of claim 3～9, it is special
Levy and be: described driving wheel is gear, described guide rail rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610446320.9A CN105945475B (en) | 2016-06-20 | 2016-06-20 | A kind of side hanging pipeline all position welding robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610446320.9A CN105945475B (en) | 2016-06-20 | 2016-06-20 | A kind of side hanging pipeline all position welding robot |
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| CN105945475A true CN105945475A (en) | 2016-09-21 |
| CN105945475B CN105945475B (en) | 2018-08-03 |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106216902A (en) * | 2016-08-25 | 2016-12-14 | 湖北三江航天红阳机电有限公司 | A kind of all position welding picks |
| CN106238993A (en) * | 2016-09-28 | 2016-12-21 | 葛洲坝机械工业有限公司 | One is applicable to penstock stiffening ring automatic welding system and welding method |
| CN106735788A (en) * | 2017-03-28 | 2017-05-31 | 广船国际有限公司 | A kind of submerged-arc welding welding gun angle adjusting device and submerged arc welding machine |
| CN107322215A (en) * | 2017-08-18 | 2017-11-07 | 成都熊谷加世电器有限公司 | A kind of welding machine automatically walk system on guide rail |
| CN107984058A (en) * | 2018-01-19 | 2018-05-04 | 五冶集团上海有限公司 | Manual argon arc welding welding tooling |
| CN108213499A (en) * | 2018-01-29 | 2018-06-29 | 宁波海蔓汽车科技有限公司 | A kind of auto parts and components drilling device |
| CN108687470A (en) * | 2018-05-22 | 2018-10-23 | 徐州乐泰机电科技有限公司 | A kind of welding robot |
| CN110039395A (en) * | 2019-04-17 | 2019-07-23 | 吴雪杏 | A kind of new-energy automobile exhaust pipe soldering equipment |
| CN110328478A (en) * | 2019-08-02 | 2019-10-15 | 佳木斯大学 | A kind of computer pipe detection automatic welding machine people |
| CN110449297A (en) * | 2019-06-25 | 2019-11-15 | 浙江尚品店配信息科技有限公司 | A kind of spray painting for clothes showing shelf walks device |
| CN110524160A (en) * | 2019-09-25 | 2019-12-03 | 哈尔滨科能熔敷科技有限公司 | A kind of arc-shaped inner wall of high-pressure container deposition equipment |
| CN111136411A (en) * | 2020-01-06 | 2020-05-12 | 上海安宏建设工程有限公司 | Full-automatic outer welding machine for steel gas pipeline |
| CN112109093A (en) * | 2020-08-28 | 2020-12-22 | 中国科学院深圳先进技术研究院 | Nondestructive testing robot |
| CN113977158A (en) * | 2021-11-17 | 2022-01-28 | 浙江海洋大学 | Auxiliary device for welding small included angle position of pipe body shielding surface |
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| CN114406555A (en) * | 2021-12-31 | 2022-04-29 | 湖北三江航天红阳机电有限公司 | Welding robot and automatic welding system |
| CN116586769A (en) * | 2023-05-10 | 2023-08-15 | 中国长江电力股份有限公司 | Automatic composite welding equipment and method for butt joint between metal rings |
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| CN106216902A (en) * | 2016-08-25 | 2016-12-14 | 湖北三江航天红阳机电有限公司 | A kind of all position welding picks |
| CN106238993A (en) * | 2016-09-28 | 2016-12-21 | 葛洲坝机械工业有限公司 | One is applicable to penstock stiffening ring automatic welding system and welding method |
| CN106238993B (en) * | 2016-09-28 | 2017-11-10 | 中国葛洲坝集团机械船舶有限公司 | One kind is applied to penstock stiffening ring automatic welding system and welding method |
| CN106735788A (en) * | 2017-03-28 | 2017-05-31 | 广船国际有限公司 | A kind of submerged-arc welding welding gun angle adjusting device and submerged arc welding machine |
| WO2018176737A1 (en) * | 2017-03-28 | 2018-10-04 | 广船国际有限公司 | Device for adjusting angle of submerged-arc welding gun, and submerged-arc welding machine |
| CN107322215B (en) * | 2017-08-18 | 2019-01-01 | 成都熊谷加世电器有限公司 | A kind of welding machine automatically walk system on guide rail |
| CN107322215A (en) * | 2017-08-18 | 2017-11-07 | 成都熊谷加世电器有限公司 | A kind of welding machine automatically walk system on guide rail |
| CN107984058A (en) * | 2018-01-19 | 2018-05-04 | 五冶集团上海有限公司 | Manual argon arc welding welding tooling |
| CN108213499B (en) * | 2018-01-29 | 2019-04-30 | 宁波海蔓汽车科技有限公司 | A kind of auto parts and components drilling device |
| CN108213499A (en) * | 2018-01-29 | 2018-06-29 | 宁波海蔓汽车科技有限公司 | A kind of auto parts and components drilling device |
| CN108687470A (en) * | 2018-05-22 | 2018-10-23 | 徐州乐泰机电科技有限公司 | A kind of welding robot |
| CN110039395A (en) * | 2019-04-17 | 2019-07-23 | 吴雪杏 | A kind of new-energy automobile exhaust pipe soldering equipment |
| CN110449297B (en) * | 2019-06-25 | 2020-07-07 | 浙江尚品店配信息科技有限公司 | A device of walking that sprays paint for clothing show shelf |
| CN110449297A (en) * | 2019-06-25 | 2019-11-15 | 浙江尚品店配信息科技有限公司 | A kind of spray painting for clothes showing shelf walks device |
| CN110328478A (en) * | 2019-08-02 | 2019-10-15 | 佳木斯大学 | A kind of computer pipe detection automatic welding machine people |
| CN110524160A (en) * | 2019-09-25 | 2019-12-03 | 哈尔滨科能熔敷科技有限公司 | A kind of arc-shaped inner wall of high-pressure container deposition equipment |
| CN111136411A (en) * | 2020-01-06 | 2020-05-12 | 上海安宏建设工程有限公司 | Full-automatic outer welding machine for steel gas pipeline |
| CN112109093A (en) * | 2020-08-28 | 2020-12-22 | 中国科学院深圳先进技术研究院 | Nondestructive testing robot |
| CN114160338A (en) * | 2021-11-15 | 2022-03-11 | 佛山综合能源(公控)有限公司 | Anticorrosive treatment spraying device at insulating tube interface |
| CN113977158A (en) * | 2021-11-17 | 2022-01-28 | 浙江海洋大学 | Auxiliary device for welding small included angle position of pipe body shielding surface |
| CN113977158B (en) * | 2021-11-17 | 2023-04-28 | 浙江海洋大学 | Auxiliary device for welding small included angle position of shielding surface of pipe body |
| CN114406555A (en) * | 2021-12-31 | 2022-04-29 | 湖北三江航天红阳机电有限公司 | Welding robot and automatic welding system |
| CN116586769A (en) * | 2023-05-10 | 2023-08-15 | 中国长江电力股份有限公司 | Automatic composite welding equipment and method for butt joint between metal rings |
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| CN105945475B (en) | 2018-08-03 |
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