CN106624514B - A kind of pile tube welding robot - Google Patents
A kind of pile tube welding robot Download PDFInfo
- Publication number
- CN106624514B CN106624514B CN201611167763.0A CN201611167763A CN106624514B CN 106624514 B CN106624514 B CN 106624514B CN 201611167763 A CN201611167763 A CN 201611167763A CN 106624514 B CN106624514 B CN 106624514B
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- CN
- China
- Prior art keywords
- axis
- fixed
- track
- rocking arm
- dolly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
Abstract
A kind of pile tube welding robot, including dolly jig, rail mechanism, supporting mechanism, calibrating device, described supporting mechanism is made up of three groups of supporting members, and in etc. equal 120 ° of distributions be fixed on pile tube body periphery, the rail mechanism is arranged on supporting mechanism, dolly jig passes through the first rocking arm bolt and rocking arm, along the track and locking nut in the groove fastening rail mechanism of the first roller, by the three-point fix mode of three the first rollers in dolly jig, by whole dolly jig fix in position；When needing concentricity to demarcate, the calibrating device blocks track and locking nut in rail mechanism by the groove among the second roller by demarcating rocking arm and the second rocking arm bolt, and demarcation wheel is in contact with pile tube body periphery and demarcated by calibration device；The present invention has the advantages of reliability, rapidity, convenience.
Description
Technical field
The invention belongs to Industrial Robot Technology field, more particularly to a kind of pile tube welding robot.
Background technology
As Chinese Industrialization process is extended to industry-by-industry, industrial robot supplements rapidly or substitutes tradition each
The manual operation of industry.In terms of conventional piles based device, due to technology, technological ability limitation and other reasonses, journey is automated
Degree is still within reduced levels.According to investigation, in the comparatively severe building site of condition, at present all using manual welding mode
Pile tube weld job is carried out, there is no a equipment to substitute human weld's pile tube.
The content of the invention
It is an object of the invention to overcome the shortcomings of the prior art, and provide a kind of with reliability, rapidity, side
Just the pile tube welding robot of property, to meet that the needs of fast-developing is welded in domestic construction field to pile tube.
The purpose of the present invention is completed by following technical solution, including dolly jig, rail mechanism, support
Mechanism, calibrating device, described supporting mechanism are made up of three groups of supporting members, and in etc. it is equal 120 ° distribution be fixed on pile tube body circle
On side face, the supporting member by support shaft, adjust support, mark closely screw, pressing plate, supporting plate, anti-skid rubber cushion, vertical A chis mark
Formed with vertical B chis mark；Described rail mechanism is by track, track A supporting plates, hinge axis, latch and track B gripper shoe groups
Into the track is made up of three arc-shaped tracks, and the both ends of every arc-shaped track are respectively equipped with track A supporting plates, track B branch
Fagging, it is connected by track A supporting plates, track B supporting plates by hinge axis, latch between adjacent two panels arc-shaped track
Together；The rail mechanism is arranged on supporting mechanism, and is fixed together by the screw of marking closely of latch and supporting member, and
Three groups of supporting members are respectively on the node between the adjacent two panels arc-shaped track；Described dolly jig is by welding
Rifle, Z-axis mechanism, Y-axis mechanism, rotary shaft, rocking arm, the first servomotor, the first reductor, dolly, the first rocking arm bolt, first
Roller forms, and the dolly jig is by the first rocking arm bolt and rocking arm, along the groove fastening rail mechanism of the first roller
Track and locking nut, by the three-point fix mode of three the first rollers in dolly jig, whole dolly is welded
Connect platform fix in position；Described calibrating device is by demarcating wheel, center demarcate bar, demarcation wheel end cap, demarcation wheel shaft, demarcate bar bullet
Spring, roller shaft, bottom plate, the second roller, rocker arm shaft, demarcation rocking arm, the second rocking arm bolt, demarcation trestle, demarcation stem nut, spring
Finger forms, and when needing concentricity to demarcate, the calibrating device is by demarcating rocking arm and the second rocking arm bolt, by the second roller
Between groove block track in rail mechanism and locking nut, demarcation wheel is in contact with pile tube body periphery and passes through calibration device
Demarcation.
Preferably, the demarcation wheel in described calibrating device is arranged on one end of center demarcate bar by demarcating wheel shaft
On, and demarcation wheel end cap is covered thereunder, the other end of center demarcate bar is fixed on mark by demarcate bar spring, spring finger
Determine on trestle, the demarcation trestle is fixed on bottom plate, and the end in the center demarcate bar is provided with demarcation stem nut, the second roller
It is fixed on by roller shaft on bottom plate, the bottom plate is connected by rocker arm shaft with demarcation rocking arm.
Preferably, pressing plate, supporting plate, the anti-skid rubber cushion in described supporting member are fixedly linked, support shaft passes through
Mark closely screw to be fixed on adjustment support, adjustment support is fixed on the supporting plate, and vertical A chis mark and vertical B chis mark are in support
On plate, three groups of supporting members are fixed on pile tube body periphery by chain and buckle between its center platen, supporting plate, and pile tube
Anti-skid rubber cushion is provided between body periphery and supporting plate.
Preferably, the Z-axis mechanism in described dolly jig is assemblied in the terminal of Y-axis mechanism, the installation of Y-axis mechanism
On dolly, welding gun is fixed on Z-axis mechanism, and rocking arm is connected by rotary shaft with dolly, and the first servomotor and first slows down
Machine is connected, and first reductor is connected by timing belt with the first roller.
Preferably, described Z-axis mechanism is by the second servomotor, the second reductor, Bearing housing, stretcher, first
Synchronous A belt wheels, the first timing belt, the first adjustment wheel, the first synchronous B belt wheels, motor fixing plate, Z axis group baffle plate, first are led
Rail, the first screw mandrel, sleeve, the first sliding block, Z axis nut seat, welding gun retaining sleeve, welding gun fixed seat, the first block composition, this second
Servomotor is connected with the second reductor, and second reductor is located at the lower section of motor fixing plate, and is set with motor fixing plate
There is Bearing housing, the output shaft of the second reductor A belt wheels synchronous with first are connected, and the first synchronous A belt wheels are same by first
Step band B belt wheels synchronous with first are connected, and the first synchronous B belt wheels are connected with the first screw mandrel, and the first screw mandrel is provided with sleeve, set
Cylinder is provided with welding gun fixed seat, and the welding gun fixed seat is fixed with welding gun with welding gun clamping inner room, and the lower section of motor fixing plate is fixed
There is Z axis group baffle plate, the first guide rail is provided with the Z axis group baffle plate, the first sliding block is located on first guide rail and done up and down
Motion, is connected with Z axis nut seat, the Z axis nut seat is connected with sleeve with the first sliding block stationary phase.
Preferably, described Y-axis mechanism is by the 3rd servomotor, rebound, the 3rd reductor, motor mounting plate, machine
Structure installing plate, the second synchronous A belt wheels, the second timing belt, the second synchronous B belt wheels, second adjustment wheel, locking nut, bearing (ball) cover,
Y-axis group baffle plate, Y-axis nut seat, the second screw mandrel, the second block, the second sliding block, the second guide rail composition, the 3rd servomotor
It is connected with the 3rd reductor, and is fixed on rebound, the output shaft A belt wheels synchronous with second of the 3rd reductor are connected,
The second synchronous A belt wheels are connected by the second timing belt B belt wheels synchronous with second, the second synchronous B belt wheels and the second screw mandrel phase
Connection, second screw mandrel are fixed in Y-axis group baffle plate and bearing (ball) cover, the Y-axis group baffle plate respectively with Y-axis nut seat and the
Two sliding blocks are fixed, and the second sliding block is located on second guide rail and moved forward and backward, the Z axis of described Y-axis nut seat and Z-axis mechanism
Nut seat is mutually fixedly connected.
Beneficial effects of the present invention are：
First, the present invention is adjusted in a manner of track circumference rotating welding by servo-drive, weld seam is carried out complex
Welding operation；Supporting mechanism ensure that overall rigidity meets the requirement of pile tube welding procedure；It is multivariant adjustable to allow weldering
The posture of rifle welding has multiple choices；The reliability of integrated model, ensure that the stabilization of final welding quality with it is reliable；
2nd, the present invention has liberated productivity, it is no longer necessary to has the skilled worker that professional skill is good, common laborer is by letter
Single training can replace necessary special work post originally, in addition, using welding robot weld job, avoid in welding process
Possible damage is caused to worker, and fatigue phenomenon is not present in robot, can continuously be worked, significantly reduce construction party
Personnel cost and pressure；
To sum up, the present invention accelerates the paces of China's building automation, and alleviate needs to technical work post increasingly in short supply
Ask, improve the welding quality of pile tube.
Brief description of the drawings
Fig. 1 is the general structure schematic diagram of the present invention.
Fig. 2 is the dolly jig structural representation of the present invention.
Fig. 3 is the calibrating device structural representation of the present invention.
Fig. 4 is the Z-axis mechanism structural representation of the present invention.
Fig. 5 is the Y-axis mechanism structure schematic diagram of the present invention.
Fig. 6 is calibrating device, supporting mechanism and the rail mechanism structural relation figure of the present invention.
Fig. 7 is the supporting mechanism structural representation of the present invention.
Fig. 8 is the rail mechanism structural representation of the present invention.
Label in accompanying drawing is respectively：1st, pile tube body；2nd, rail mechanism；3rd, dolly jig；4th, sheet metal box body；5th, prevent
Fan housing；6th, supporting mechanism；7th, calibrating device；8th, chain；9th, buckle；2-1, track；2-2, track A supporting plates；2-3, hinge axis；
2-4, latch；2-5, track B supporting plates；2-11, arc-shaped track；3-0, welding gun；3-1, Z-axis mechanism；3-2, Y-axis mechanism；3-
3rd, rotary shaft；3-4, rocking arm；3-5, the first servomotor；3-6, the first reductor；3-7, dolly；3-8, the first rocking arm bolt；
3-9, the first roller；6-1, support shaft；6-2, adjustment support；6-3, mark closely screw；6-4, pressing plate；6-5, supporting plate；6-6, prevent
Sliding rubber blanket；6-7, vertical A chis mark；6-8, vertical B chis mark；7-0, demarcation wheel；7-1, center demarcate bar；7-2, demarcation wheel end
Lid；7-3, demarcation wheel shaft；7-4, demarcate bar spring；7-5, roller shaft；7-6, bottom plate；7-7, the second roller；7-8, rocker arm shaft；7-
9th, rocking arm is demarcated；7-10, the second rocking arm bolt；7-11, demarcation trestle；7-12, demarcation stem nut；7-13, spring finger；3-1-
1st, the second servomotor；3-1-2, the second reductor；3-1-3, Bearing housing；3-1-4, stretcher；3-1-5, the first synchronous A bands
Wheel；3-1-6, the first timing belt；3-1-7, the first adjustment wheel；3-1-8, the first synchronous B belt wheels；3-1-9, motor fixing plate；3-
1-10, Z axis group baffle plate；3-1-11, the first guide rail；3-1-12, the first screw mandrel；3-1-13, sleeve；3-1-14, the first sliding block；
3-1-15, Z axis nut seat；3-1-16, welding gun retaining sleeve；3-1-17, welding gun fixed seat；3-1-18, the first block；3-2-1,
Three servomotors；3-2-2, rebound；3-2-3, the 3rd reductor；3-2-4, motor mounting plate；3-2-5, mechanism's installing plate；3-
2-6, the second synchronous A belt wheels；3-2-7, the second timing belt；3-2-8, the second synchronous B belt wheels；3-2-9, the second adjustment wheel；3-2-
10th, locking nut；3-2-11, bearing (ball) cover；3-2-12, Y-axis group baffle plate；3-2-13, Y-axis nut seat；3-2-14, second
Bar；3-2-15, the second block；3-2-16, the second sliding block；3-2-17, the second guide rail.
Embodiment
Below in conjunction with accompanying drawing, 1 to 8 couple of present invention does detailed introduction：The present invention includes dolly jig 3, track machine
Structure 2, supporting mechanism 6, calibrating device 7, described 6 a total of three groups of supporting member compositions of supporting mechanism, are substantially distributed in 120 °,
And it is fixed on by chain 8 and buckle 9 on the periphery of pile tube body 1.Chain 8 and buckle 9 pass through pressing plate 6-4 and supporting plate 6-5 and branch
Support mechanism 6 coordinates.Rail mechanism 2 is arranged on supporting mechanism 6, and limitation is fixed by marking closely the modes such as screw 6-3, latch 2-4
The free degree, tightened finally having demarcated concentricity with being fixed again after height.Pass through vertical A chis mark 6-7 and vertical B chis mark
6-8 demarcates the height of track 2-1 and welding post, the distance change amount of orbital distance pad is met technological requirement.Use
Calibration device, the second rocking arm bolt 7-10 is opened, release Fig. 3 demarcation rocking arm 7-9, rail is blocked with the groove among the second roller 7-7
Road 2-1, rocking arm 7-9 is then demarcated on card, the second rocking arm bolt 7-10 is sticked into demarcation rocking arm 7-9 groove, locking nut,
Then demarcated using calibration device.By constantly adjusting demarcation wheel 3-0 and the distance of the iron plate of pile tube body 1, finally obtain and meet
The concentricity of technological requirement.After the completion of demarcation, nut is turned on, the second rocking arm bolt 7-10, demarcation rocking arm 10 is opened, removes demarcation
Device is placed.Prepare dolly jig 3 installing upper rail 2-1.Dolly jig 3 and track 2-1 parts are using height
Intensity aluminium, while ensureing structural strength, quality is reduced as far as possible, allows user to use lighter, also to a certain degree
Reduce the movement inertia of welding bench.
The method demarcated using calibration device, the distance of actual welding point position and track can be accurately controlled, in building site
Under complicated operating mode, error is controlled effectively, directly ensure that the quality of last welded seam.
Dolly jig 3 opens the first rocking arm bolt 3-8 and rocking arm 3-4 as the mounting means of calibration device, along the
One roller 3-9 groove fastening guide rail 2-1, locking nut, will by three the first roller 3-9 of dolly three-point fix mode
The whole fix in position of dolly jig 3.
First servomotor 3-5, power is conveyed to by synchronous pulley by the first reductor 3-6, passes through toothed belt transmission
Mechanism outputs power to the first roller 3-9 one of driving wheel, and driving wheel moves in a circle along track, carries out circumference
Weld job.The Y-axis mechanism 3-2 of dolly jig 3, by the adjustment to rebound 3-2-2 screws, whole Y-axis mechanism 3-2
It can outward be translated along backer, 400mm diameters pile tube, 500mm diameters pile tube and 600mm diameter pile tubes can be met simultaneously
Welding requirements.By the transmission of power, Y-axis mechanism 3-2 can meet in actual welding, when the second lap welding connects, welding procedure butt welding
The adjustment of displacement requirements of rifle 3-0 in the longitudinal direction.Welding gun fixed seat 3-1- in the Z-axis mechanism 3-1 of dolly jig 3
17, by knockout screw, the rotation up and down at 60 ° of angles can be circumferentially carried out, when meeting welding, Butt welding gun 3-0 angles in technique
Adjustment demand.By the transmission of power, Z-axis mechanism 3-1 can meet the swinging arc adjusting process need of welding gun 3-0 in vertical direction
Ask.
Weld in implementation process, it is contemplated that the possibility of the complex environment factor such as wind and rain, in dolly jig 3 and support
Hurricane globe 5 and sheet metal box body 4 are mounted with mechanism 6, mechanical wounding is prevented and protects the core institution component of the present invention.
The present invention operation principle be：After the completion of the preparation of early stage, the first servomotor of dolly jig 3
When 3-5 works, driving wheel is output power to by synchronous belt drive mechanism, driving wheel carries out weld job along track.Press
According to technological requirement, Fig. 5 the 3rd servomotor 3-2-1 is worked, and the second synchronous A belt wheels 3- is driven by the 3rd reductor 3-2-3
2-6, the second timing belt 3-2-7 transfer force to the second screw mandrel 3-2-14, and Y-axis nut seat 3-2-13 is along the second guide rail 3-2-17
Move forward and backward.Fig. 4 the second servomotor 3-1-1 work, the first synchronous A belt wheels 3- is driven by the second reductor 3-1-2
1-5, the first timing belt 3-1-6 transfer force to the first screw mandrel 3-1-12, and Z axis nut seat 3-1-15 is along the first guide rail 3-1-11
Move up and down.
It is understood that it will be understood by those skilled in the art that technical scheme and inventive concept are subject to
The protection domain of appended claims of the invention should all be belonged to replacement or change.
Claims (6)
1. a kind of pile tube welding robot, including dolly jig（3）, rail mechanism（2）, supporting mechanism（6）, calibrating device
（7）, it is characterised in that：Described supporting mechanism（6）Be made up of three groups of supporting members, and in etc. equal 120 ° of distributions be fixed on pile tube
Body（1）On periphery, the supporting member is by support shaft（6-1）, adjustment support（6-2）, mark closely screw（6-3）, pressing plate（6-4）、
Supporting plate（6-5）, anti-skid rubber cushion（6-6）, vertical A chis mark（6-7）With vertical B chis mark（6-8）Composition；Described rail mechanism
（2）By track（2-1）, track A supporting plates（2-2）, hinge axis（2-3）, latch（2-4）With track B supporting plates（2-5）Composition,
The track（2-1）By three arc-shaped tracks（2-11）Composition, every arc-shaped track（2-11）Both ends be respectively equipped with track A
Supporting plate（2-2）, track B supporting plates（2-5）, adjacent two panels arc-shaped track（2-11）Between by track A supporting plates（2-2）、
Track B supporting plates（2-5）Pass through hinge axis（2-3）, latch（2-4）Be connected and fixed；The rail mechanism（2）It is arranged in
Supporting mechanism（6）On, and pass through latch（2-4）Screw is marked closely with supporting member（6-3）It is fixed together, and three groups of support structures
Part is located at the adjacent two panels arc-shaped track respectively（2-11）Between node on；Described dolly jig（3）By welding gun
（3-0）, Z-axis mechanism（3-1）, Y-axis mechanism（3-2）, rotary shaft（3-3）, rocking arm（3-4）, the first servomotor（3-5）, first
Reductor（3-6）, dolly（3-7）, the first rocking arm bolt（3-8）, the first roller（3-9）Composition, the dolly jig（3）It is logical
Cross the first rocking arm bolt（3-8）And rocking arm（3-4）, along the first roller（3-9）Groove fastening rail mechanism（2）Interior track
（2-1）And locking nut, pass through dolly jig（3）Three interior the first rollers（3-9）Three-point fix mode, will be whole
Dolly jig（3）Fix in position；Described calibrating device（7）Taken turns by demarcation（7-0）, center demarcate bar（7-1）, demarcation wheel
End cap（7-2）, demarcation wheel shaft（7-3）, demarcate bar spring（7-4）, roller shaft（7-5）, bottom plate（7-6）, the second roller（7-7）、
Rocker arm shaft（7-8）, demarcation rocking arm（7-9）, the second rocking arm bolt（7-10）, demarcation trestle（7-11）, demarcation stem nut（7-12）、
Spring finger（7-13）Composition, when needing concentricity to demarcate, the calibrating device（7）By demarcating rocking arm（7-9）With the second rocking arm
Bolt（7-10）, pass through the second roller（7-7）Middle groove blocks rail mechanism（2）Interior track（2-1）And locking nut,
Demarcation wheel（7-0）With pile tube body（1）Periphery is in contact and demarcated by calibration device.
2. pile tube welding robot according to claim 1, it is characterised in that：Described calibrating device（7）Interior demarcation
Wheel（7-0）By demarcating wheel shaft（7-3）Installed in center demarcate bar（7-1）One end on, and thereunder cover demarcation wheel end
Lid（7-2）, center demarcate bar（7-1）The other end pass through demarcate bar spring（7-4）, spring finger（7-13）It is fixed on demarcation frame
Post（7-11）On, the demarcation trestle（7-11）It is fixed on bottom plate（7-6）On, and the center demarcate bar（7-1）On end be provided with
Demarcate stem nut（7-12）, the second roller（7-7）Pass through roller shaft（7-5）It is fixed on bottom plate（7-6）On, the bottom plate（7-6）It is logical
Cross rocker arm shaft（7-8）With demarcating rocking arm（7-9）It is connected.
3. pile tube welding robot according to claim 1, it is characterised in that：Pressing plate in described supporting member（6-
4）, supporting plate（6-5）, anti-skid rubber cushion（6-6）It is fixedly linked, support shaft（6-1）By marking closely screw（6-3）It is fixed on adjustment
Support（6-2）On, adjust support（6-2）It is fixed on supporting plate（6-5）On, vertical A chis mark（6-7）With vertical B chis mark（6-8）Position
In supporting plate（6-5）On, its center platen（6-4）, supporting plate（6-5）Between pass through chain（8）And buckle（9）By three groups of supporting members
It is fixed on pile tube body（1）On periphery, and pile tube body（1）Periphery and supporting plate（6-5）Between be provided with anti-skid rubber cushion（6-6）.
4. pile tube welding robot according to claim 1, it is characterised in that：Described dolly jig（3）Interior Z
Axis mechanism（3-1）It is assemblied in Y-axis mechanism（3-2）Terminal, Y-axis mechanism（3-2）Installed in dolly（3-7）On, welding gun（3-0）Gu
It is scheduled on Z-axis mechanism（3-1）On, rocking arm（3-4）Pass through rotary shaft（3-3）With dolly（3-7）Connection, the first servomotor（3-5）
With the first reductor（3-6）It is connected, and first reductor（3-6）Pass through timing belt and the first roller（3-9）It is connected.
5. pile tube welding robot according to claim 4, it is characterised in that：Described Z-axis mechanism（3-1）Watched by second
Take motor（3-1-1）, the second reductor（3-1-2）, Bearing housing（3-1-3）, stretcher（3-1-4）, the first synchronous A belt wheels
（3-1-5）, the first timing belt（3-1-6）, first adjustment wheel（3-1-7）, the first synchronous B belt wheels（3-1-8）, motor fixing plate
（3-1-9）, Z axis group baffle plate（3-1-10）, the first guide rail（3-1-11）, the first screw mandrel（3-1-12）, sleeve（3-1-13）,
One sliding block（3-1-14）, Z axis nut seat（3-1-15）, welding gun retaining sleeve（3-1-16）, welding gun fixed seat（3-1-17）, first gear
Block（3-1-18）Composition, second servomotor（3-1-1）With the second reductor（3-1-2）It is connected, second reductor（3-
1-2）Positioned at motor fixing plate（3-1-9）Lower section, and and motor fixing plate（3-1-9）Provided with Bearing housing（3-1-3）, second
Reductor（3-1-2）Output shaft A belt wheels synchronous with first（3-1-5）It is connected, the first synchronous A belt wheels（3-1-5）Pass through
First timing belt（3-1-6）B belt wheels synchronous with first（3-1-8）It is connected, the first synchronous B belt wheels（3-1-8）With the first screw mandrel
（3-1-12）It is connected, the first screw mandrel（3-1-12）It is provided with sleeve（3-1-13）, sleeve（3-1-13）Fixed provided with welding gun
Seat（3-1-17）, the welding gun fixed seat（3-1-17）With welding gun retaining sleeve（3-1-16）Between be fixed with welding gun（3-0）, motor fixes
Plate（3-1-9）Lower section be fixed with Z axis group baffle plate（3-1-10）, in the Z axis group baffle plate（3-1-10）Led provided with first
Rail（3-1-11）, the first sliding block（3-1-14）Positioned at first guide rail（3-1-11）Go up and move up and down, with first sliding block
（3-1-14）Stationary phase is connected with Z axis nut seat（3-1-15）, the Z axis nut seat（3-1-15）With sleeve（3-1-13）It is connected.
6. pile tube welding robot according to claim 4, it is characterised in that：Described Y-axis mechanism（3-2）Watched by the 3rd
Take motor（3-2-1）, rebound（3-2-2）, the 3rd reductor（3-2-3）, motor mounting plate（3-2-4）, mechanism's installing plate（3-
2-5）, the second synchronous A belt wheels（3-2-6）, the second timing belt（3-2-7）, the second synchronous B belt wheels（3-2-8）, second adjustment wheel
（3-2-9）, locking nut（3-2-10）, bearing (ball) cover（3-2-11）, Y-axis group baffle plate（3-2-12）, Y-axis nut seat（3-2-
13）, the second screw mandrel（3-2-14）, the second block（3-2-15）, the second sliding block（3-2-16）, the second guide rail（3-2-17）Composition,
3rd servomotor（3-2-1）With the 3rd reductor（3-2-3）It is connected, and is fixed on rebound（3-2-2）On, the 3rd subtracts
Fast machine（3-2-3）Output shaft A belt wheels synchronous with second（3-2-6）It is connected, the second synchronous A belt wheels（3-2-6）Pass through
Two timing belts（3-2-7）B belt wheels synchronous with second（3-2-8）It is connected, the second synchronous B belt wheels（3-2-8）With the second screw mandrel（3-
2-14）It is connected, second screw mandrel（3-2-14）It is fixed on Y-axis group baffle plate（3-2-12）With bearing (ball) cover（3-2-11）It is interior,
The Y-axis group baffle plate（3-2-12）Respectively with Y-axis nut seat（3-2-13）With the second sliding block（3-2-16）It is fixed, the second sliding block
（3-2-16）Positioned at second guide rail（3-2-17）Go up and move forward and backward, described Y-axis nut seat（3-2-13）With Z-axis mechanism
（3-1）Z axis nut seat（3-1-15）Mutually it is fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611167763.0A CN106624514B (en) | 2016-12-16 | 2016-12-16 | A kind of pile tube welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611167763.0A CN106624514B (en) | 2016-12-16 | 2016-12-16 | A kind of pile tube welding robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106624514A CN106624514A (en) | 2017-05-10 |
| CN106624514B true CN106624514B (en) | 2018-04-10 |
Family
ID=58822921
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611167763.0A Expired - Fee Related CN106624514B (en) | 2016-12-16 | 2016-12-16 | A kind of pile tube welding robot |
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| WO2019220827A1 (en) * | 2018-05-18 | 2019-11-21 | 株式会社アットロボティクス | Vertical multi-joint welding robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP5616159B2 (en) * | 2010-08-09 | 2014-10-29 | 株式会社三誠 | Steel pipe pile welding equipment |
| CN103286494B (en) * | 2013-05-27 | 2015-05-20 | 清华大学 | Rail type all-position welding robot for box-type steel structures |
| CN104139265B (en) * | 2014-08-06 | 2015-10-28 | 哈尔滨工程大学 | Elastic track formula pipeline outer wall automatic welding mechanism |
| CN104475940B (en) * | 2014-11-12 | 2017-04-05 | 中国石油天然气集团公司 | A kind of pile pipe submerged-arc automatic welding device |
| CN104985310B (en) * | 2015-07-07 | 2017-06-06 | 扬州鑫凯诚机器人系统有限公司 | Welding workstation welding chuck |
| CN205642345U (en) * | 2016-04-11 | 2016-10-12 | 华电曹妃甸重工装备有限公司 | Fraising axiality detection device |
| CN105855766B (en) * | 2016-05-06 | 2017-10-03 | 哈尔滨工程大学 | A kind of welding robot for docking tubular type |
| CN106166651B (en) * | 2016-06-20 | 2019-03-26 | 湖北三江航天红阳机电有限公司 | A kind of outer root bead device of pipeline |
| CN206445397U (en) * | 2016-12-16 | 2017-08-29 | 浙江大成智能装备股份有限公司 | A kind of pile tube welding robot |
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