CN105945475B - A kind of side hanging pipeline all position welding robot - Google Patents
A kind of side hanging pipeline all position welding robot Download PDFInfo
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- CN105945475B CN105945475B CN201610446320.9A CN201610446320A CN105945475B CN 105945475 B CN105945475 B CN 105945475B CN 201610446320 A CN201610446320 A CN 201610446320A CN 105945475 B CN105945475 B CN 105945475B
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- directive wheel
- straight line
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- moving cell
- line moving
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Classifications
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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
- 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 pipeline welding technology fields, disclose a kind of side hanging pipeline all position welding robot, including：Pedestal, first straight line moving cell, second straight line moving cell, angle swing unit and welding gun；The first straight line moving cell is fixed on the base；The second straight line moving cell is fixed on the sliding block of the first straight line moving cell, and the glide direction of the sliding block of the second straight line moving cell is vertical with the glide direction of sliding block of first straight line moving cell；The angle swing unit is fixed on the sliding block of the second straight line moving cell；The welding gun is fixed on the angle swing unit；Wherein, the welding gun can generate the swing for stablizing the amplitude of oscillation with the angle swing unit in an equilbrium position both sides.The present invention provides a kind of efficient root bead robots.
Description
Technical field
The present invention relates to pipeline welding technology fields, more particularly to a kind of side hanging pipeline all position welding robot.
Background technology
Large-scale pipeline welds generally use welding robot, and remote control realizes control welding.
The all-position welding of the revolving parts such as pipeline at present is mainly added using ready-package all positon tube welder head soft
Property track mode complete, this mode mainly to meet Mobile welding technique to portable devices requirement.
With the raising of equipment integration degree, the requirement to robot is higher and higher；Existing welding robot volume
It is relatively large and complicated, it is poor for the deeper situation adaptability of weld seam, especially root bead when, effect is often unstable.
Invention content
The present invention provides a kind of side hanging pipeline all position welding robot, solves welding robot structure in the prior art
Complexity, depth welding, the undesirable technical problem of root bead welding effect.
In order to solve the above technical problems, the present invention provides a kind of side hanging pipeline all position welding robots, including：Bottom
Seat, first straight line moving cell, second straight line moving cell, angle swing unit and welding gun；
The first straight line moving cell is fixed on the base；
The second straight line moving cell is fixed on the sliding block of the first straight line moving cell, and the second straight line
The glide direction of the sliding block of moving cell is vertical with the glide direction of sliding block of first straight line moving cell；
The angle swing unit is fixed on the sliding block of the second straight line moving cell；
The welding gun is fixed on the angle swing unit；
Wherein, the welding gun can generate the swing for stablizing the amplitude of oscillation with the angle swing unit in an equilbrium position both sides.
Further, the angle swing unit includes：Angle swing bearing and first reducing motors；
The first reducing motors are fixed in the angle swing bearing, and the welding gun is fixed on described by welding gun fixture
In one output end of reducer；
The angle swing bearing is fixed on the sliding block of the second straight line moving cell.
Further, the robot further includes：Driving wheel and matching guide rail；
The driving wheel is fixed on the base by shaft, and the directive wheel is placed on the guide rail；
The driving wheel is connected with second reducing motors, and driven rotation is moved along the guide rail.
Further, the robot further includes：Directive wheel；
The directive wheel is fixed on the base by shaft, and the directive wheel is placed on the guide rail.
Further, the directive wheel includes：Upper directive wheel and lower directive wheel；
The upper directive wheel and the lower directive wheel are fixed on the base by shaft, and the upper directive wheel and
The lower directive wheel is resisted against the guide rail both sides.
Further, sliding slot is opened up on the pedestal, the shaft of the lower directive wheel, can be along described in the sliding slot
Sliding slot is separate or close to the upper directive wheel.
Further, the directive wheel further includes：Lower directive wheel hold-down mechanism；
The lower directive wheel hold-down mechanism is fixed on the base；
The lower directive wheel hold-down mechanism is connected with the shaft of the lower directive wheel, can apply the pressure to the upper directive wheel
Power.
Further, the lower directive wheel hold-down mechanism includes：Compression spring and strut；
It is hinged by hinged shaft and the pedestal in the middle part of the strut；
The strut first end and the shaft of the lower directive wheel are hinged, the second end of the strut and the one of the compression spring
End is hinged；
The other end of the compression spring is hinged with the pedestal.
Further, one handle is set on the strut.
Further, the driving wheel is gear, and the guide rail is annular rack.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages：
The side hanging pipeline all position welding robot provided in the embodiment of the present application, using the direction of motion it is vertical first
Linear motion unit and second straight line moving cell constitute welding torch position and adjust structure, so that it, which gos deep into weld seam, realizes welding,
Especially for root bead, the deep enough weld seam of energy adjusts welding position；Simultaneously using the implementation terminal amplitude of oscillation control of angle swing unit Butt welding gun
System, that is, make welding gun be swung according to certain amplitude of oscillation with equilbrium position both sides with certain frequency, to which effectively welding both sides are to be welded
Body overcomes rosin joint to weld the problems such as being not thorough, greatly improves welding quality, especially root bead, you can realize all position welding
It connects.
Further, by driving wheel, the structure design of directive wheel and guide rail realizes firm survey tubular structure, is convenient for
Efficient movement can be realized while all-position welding.
Description of the drawings
Fig. 1 is the structural schematic diagram of side hanging pipeline all position welding provided in an embodiment of the present invention robot；
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.
Specific implementation mode
The embodiment of the present application is welded in the prior art by providing a kind of side hanging pipeline all position welding robot, solution
Robot architecture is complicated, depth welding, the undesirable technical problem of root bead welding effect.
In order to better understand the above technical scheme, in conjunction with appended figures and specific embodiments to upper
It states technical solution to be described in detail, it should be understood that the specific features in the embodiment of the present invention and embodiment are to the application skill
The detailed description of art scheme, rather than to the restriction of technical scheme, in the absence of conflict, the embodiment of the present application
And the technical characteristic in embodiment can be combined with each other.
Referring to Fig. 1, Fig. 2 and Fig. 3, a kind of side hanging pipeline all position welding robot provided in an embodiment of the present invention, packet
It includes：Pedestal 1, first straight line moving cell 7, second straight line moving cell 8, angle swing unit (9,10) and welding gun 12.
The first straight line moving cell 7 is fixed on the pedestal 1；The second straight line moving cell 8 is fixed on institute
On the sliding block for stating first straight line moving cell 7, and the glide direction of the sliding block of the second straight line moving cell 8 and described first
The glide direction of the sliding block of linear motion unit 7 is vertical；Movement axially and radially can be thus achieved, adjust the position of welding gun.
The angle swing unit is fixed on the sliding block of the second straight line moving cell；The welding gun is fixed on the angle swing
On unit；Wherein, the welding gun can generate the swing for stablizing the amplitude of oscillation with the angle swing unit in an equilbrium position both sides.It is specific next
It says, you can realize swing in high frequency, welded convenient for the both sides of root bead, promote quality.
The angle swing unit includes：Angle swing bearing 9 and first reducing motors 10.
The first reducing motors 10 are fixed in the angle swing bearing 9, and the welding gun 12 is fixed by welding gun fixture 11
On 10 output end of the first speed reducer；The angle swing bearing 9 is fixed on the sliding block of the second straight line moving cell 8.
The robot further includes：Driving wheel 5 and matching guide rail 6；The driving wheel 5 is fixed on by shaft
On the pedestal 1, the driving wheel 5 is placed on the guide rail 6；The driving wheel 5 is connected with second reducing motors 4, is turned
It is dynamic, it is moved along the guide rail 6.
The robot further includes：Directive wheel 2 (13)；The directive wheel is fixed on by shaft on the pedestal 1, described
Directive wheel 2 (13) is placed on the guide rail 6.So as to form 2 guide support structures with the driving wheel 5, consolidates and transport
Dynamic smoothness.
The directive wheel includes：Upper directive wheel 2 and lower directive wheel 13；The upper directive wheel and the lower directive wheel are logical
It crosses shaft to fix on the base, and the upper directive wheel and the lower directive wheel are resisted against the guide rail both sides.
Specifically, the structure type being clamped up and down is formed, what guarantee robot can stablize moves along guide rail 6.
Further, sliding slot is opened up on the pedestal, the shaft of the lower directive wheel, can be along described in the sliding slot
Sliding slot is separate or close to the upper directive wheel.It realizes that the position of lower directive wheel is adjustable, conveniently adapts to all kinds of occasion demands.
Referring to Fig. 3 and Fig. 4, the directive wheel further includes：Lower directive wheel hold-down mechanism；The lower directive wheel hold-down mechanism is solid
Determine on the base；The lower directive wheel hold-down mechanism is connected with the shaft of the lower directive wheel, can apply and lead on described
To the pressure of wheel.Continual and steady compression force form is formed, the stabilization of robot is kept.
The lower directive wheel hold-down mechanism includes：Compression spring 16 and strut 3；The middle part of the strut 3 by hinged shaft with it is described
Pedestal 1 is hinged；3 first end of the strut and the shaft of the lower directive wheel 13 are hinged, the second end of the strut 3 and the pressure
One end of spring 16 is hinged；The other end of the compression spring 16 is hinged with the pedestal 1.
Specifically, compression spring 16 forms lever force application structure by strut, is continuously applied stable elastic pressure, will be described
Lower directive wheel 13 is pressed on the guide rail 6.
The compression spring 16 can be placed in a hollow connecting rod 15, keep its form.
Further, one handle 14 is set on the strut.It is conveniently adjusted position and the handling of lower directive wheel.
Further, the driving wheel 5 is gear, and the guide rail 6 is annular rack.Realize the driving of stability and high efficiency.
Pedestal 1 uses a plate shape substrate, is convenient for pendant.
The course of work of the welding robot is explained below.
In a pre-installation, the lower directive wheel 13 on pedestal 1 is in the open state, and when installation first sets entire welding robot
In in the side of annular rack, gear is made to be engaged with annular rack, upper directive wheel 2 is oriented to face paste with the both sides at the top of annular rack
It closes, then pulls handle 14, handle 14 drives lower directive wheel 13 to be swung up, and makes lower directive wheel 13 and two with annular rack bottom
Side guide surface is bonded, and handle 14 applies pressing force under the action of 15 inside compression spring 16 of hollow connecting rod to lower directive wheel 13 at this time,
Ensure that lower directive wheel 13 is fitted close with annular rack.
Operable welding robot completes all-position welding action after installation is complete, and second reducing motors 4 are driven by gear
Dynamic welding robot is completed circumference all positon along annular rack and is moved；First straight line moving cell 7 can complete welding gun 12 along pipeline
The translation of axis；Second straight line moving cell 28 can complete translation of the welding gun 12 along pipeline radial direction；It is fixed on angle swing shaft stool 9
On first reducing motors 10 can directly drive welding gun fixed block 11 and welding gun 12 and 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, using the direction of motion it is vertical first
Linear motion unit and second straight line moving cell constitute welding torch position and adjust structure, so that it, which gos deep into weld seam, realizes welding,
Especially for root bead, the deep enough weld seam of energy adjusts welding position；Simultaneously using the implementation terminal amplitude of oscillation control of angle swing unit Butt welding gun
System, that is, make welding gun be swung according to certain amplitude of oscillation with equilbrium position both sides with certain frequency, to which effectively welding both sides are to be welded
Body overcomes rosin joint to weld the problems such as being not thorough, greatly improves welding quality, especially root bead, you can realize all position welding
It connects.
Further, by driving wheel, the structure design of directive wheel and guide rail realizes firm survey tubular structure, is convenient for
Efficient movement can be realized while all-position welding.
Further, under conditions of meeting all-position welding technique, the number of axle and knot of welder device people are simplified
Structure.
It should be noted last that the above specific implementation mode is merely illustrative of the technical solution of the present invention and unrestricted,
Although being described the invention in detail with reference to example, it will be understood by those of ordinary skill in the art that, it can be to the present invention
Technical solution be modified or replaced equivalently, without departing from the spirit of the technical scheme of the invention and range, should all cover
In the scope of the claims of the present invention.
Claims (4)
1. a kind of side hanging pipeline all position welding robot, which is characterized in that including：Pedestal, first straight line moving cell,
Two linear motion units, angle swing unit and welding gun；
The first straight line moving cell is fixed on the base；
The second straight line moving cell is fixed on the sliding block of the first straight line moving cell, and the second straight line moves
The glide direction of the sliding block of unit is vertical with the glide direction of sliding block of first straight line moving cell；
The angle swing unit is fixed on the sliding block of the second straight line moving cell；
The welding gun is fixed on the angle swing unit；
Wherein, the welding gun can generate the swing for stablizing the amplitude of oscillation with the angle swing unit in an equilbrium position both sides；
The robot further includes：Driving wheel and matching guide rail, upper directive wheel and lower directive wheel, lower guiding wheel load
Tight mechanism；
The driving wheel is fixed on the base by shaft, and the driving wheel is placed on the guide rail；
The driving wheel is connected with second reducing motors, and driven rotation is moved along the guide rail；
The upper directive wheel and the lower directive wheel are fixed on the base by shaft, and the upper directive wheel and described
Lower directive wheel is resisted against the guide rail both sides；
Open up sliding slot on the pedestal, the shaft of the lower directive wheel in the sliding slot, can it is separate along the sliding slot or
Close to the upper directive wheel；
The lower directive wheel hold-down mechanism is fixed on the base；
The lower directive wheel hold-down mechanism is connected with the shaft of the lower directive wheel, can apply the pressure to the upper directive wheel；
Wherein, the lower directive wheel hold-down mechanism includes：Compression spring and strut；
It is hinged by hinged shaft and the pedestal in the middle part of the strut；
The strut first end and the shaft of the lower directive wheel are hinged, and the second end of the strut and one end of the compression spring are cut with scissors
It connects；
The other end of the compression spring is hinged with the pedestal.
2. side hanging pipeline all position welding as described in claim 1 robot, which is characterized in that the angle swing unit packet
It includes：Angle swing bearing and first reducing motors；
The first reducing motors are fixed in the angle swing bearing, and the welding gun is fixed on described first by welding gun fixture and subtracts
On fast machine output end；
The angle swing bearing is fixed on the sliding block of the second straight line moving cell.
3. side hanging pipeline all position welding as claimed in claim 2 robot, it is characterised in that：It is arranged one on the strut
Handle.
4. the side hanging pipeline all position welding robot as described in any one of claims 1 to 3, it is characterised in that：The driving
Wheel is gear, and the guide rail is annular 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 |
Applications Claiming Priority (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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105945475A CN105945475A (en) | 2016-09-21 |
| CN105945475B true CN105945475B (en) | 2018-08-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610446320.9A Active CN105945475B (en) | 2016-06-20 | 2016-06-20 | A kind of side hanging pipeline all position welding robot |
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| 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 |
| CN114406555B (en) * | 2021-12-31 | 2023-06-13 | 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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| CN201154425Y (en) * | 2008-02-01 | 2008-11-26 | 北京石油化工学院 | Welding tractor with slide block type locking mechanism |
| CN201455576U (en) * | 2009-07-16 | 2010-05-12 | 北京石油化工学院 | Pipeline all-position automatic welding conical surface locking type guide track |
| CN101712093B (en) * | 2009-11-24 | 2012-05-16 | 上海市安装工程有限公司 | Open gear ring type all position automatic welding device |
| US20130008881A1 (en) * | 2011-07-06 | 2013-01-10 | Paul John Berbakov | Orbital Welding Apparatus |
| CN103286494B (en) * | 2013-05-27 | 2015-05-20 | 清华大学 | Rail type all-position welding robot for box-type steel structures |
| CN203184812U (en) * | 2013-07-10 | 2013-09-11 | 中石化工建设有限公司 | Pipeline welding equipment |
| CN103506788A (en) * | 2013-09-23 | 2014-01-15 | 北京石油化工学院 | Complex-track all-position double gun automatic welding robot |
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- 2016-06-20 CN CN201610446320.9A patent/CN105945475B/en active Active
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