CN107234317A - A kind of automatic welding main body mechanism for building and its welding system - Google Patents

A kind of automatic welding main body mechanism for building and its welding system Download PDF

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Publication number
CN107234317A
CN107234317A CN201710690764.1A CN201710690764A CN107234317A CN 107234317 A CN107234317 A CN 107234317A CN 201710690764 A CN201710690764 A CN 201710690764A CN 107234317 A CN107234317 A CN 107234317A
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CN
China
Prior art keywords
welding
wire
building
chains
pair
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.)
Pending
Application number
CN201710690764.1A
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Chinese (zh)
Inventor
郭聪
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Beijing University of Technology
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Beijing University of Technology
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Filing date
Publication date
Application filed by Beijing University of Technology filed Critical Beijing University of Technology
Priority to CN201710690764.1A priority Critical patent/CN107234317A/en
Publication of CN107234317A publication Critical patent/CN107234317A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/04Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
    • B23K37/0426Fixtures for other work
    • B23K37/0435Clamps
    • B23K37/0443Jigs
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/12Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00Arc welding or cutting
    • B23K9/12Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
    • B23K9/133Means for feeding electrodes, e.g. drums, rolls, motors

Abstract

A kind of automatic welding main body mechanism for building and its welding system, main body mechanism is 2RCC 2SCC parallel institutions, including fixed platform and moving platform, four side chains are connected between fixed platform and moving platform, two of which side chain is symmetrically arranged RCC side chains, another two side chains are symmetrically arranged SCC side chains, secondary one end of R in RCC side chains is arranged on fixed platform, the other end is arranged on moving platform, secondary one end of S in SCC side chains is arranged on fixed platform, the other end is arranged on moving platform, and it has the advantages that automaticity is high, welding efficiency is high, welding quality is good.

Description

A kind of automatic welding main body mechanism for building and its welding system
Technical field:
The present invention relates to building iron welding technology field, especially a kind of automatic welding main body mechanism for building and its weldering Welding system.
Background technology:
Welding is a kind of technique of jointing metal or other thermoplastics in the way of heating, high temperature or high pressure, Arc welding is a kind of welding manner commonly used in welding, is mainly completed by manually, but produced in welding process High temperature, welding slag, strong light etc. can be caused to burn, get an electric shock to skilled worker, visual impairment, suction toxic gas and ultraviolet are irradiated The personal injuries such as degree.By needing to build various support frames with reinforcing bar in building construction process, in order to strengthen the structure of support frame Intensity is frequently necessary to weld the reinforcing bar of connection, and the soldering angle of two reinforcing bars is usually 90 degree and 180 degree, at present, is being built Build field and relied primarily on for the welding of reinforcing bar and is accomplished manually, not only occupy that substantial amounts of cost of labor, welding efficiency be low, welding Quality is difficult to ensure that, and because human weld has certain danger, easily brings certain harm to welder.
The content of the invention:
The invention provides a kind of automatic welding main body mechanism and its welding system for building, it has automaticity The advantages of high, welding efficiency is high, welding quality is good, solves problems of the prior art.
The present invention is for the technical scheme that is used of solution above-mentioned technical problem:
A kind of automatic welding main body mechanism for building, main body mechanism is 2RCC-2SCC parallel institutions, including fixed platform and dynamic Platform, is connected with four side chains between fixed platform and moving platform, two of which side chain is symmetrically arranged RCC side chains, another two Side chain is that secondary one end of R in symmetrically arranged SCC side chains, RCC side chains is arranged on fixed platform, and the other end is arranged on moving platform On, secondary one end of S in SCC side chains is arranged on fixed platform, and the other end is arranged on moving platform.
The RCC side chains are connected and composed by revolute pair, the first cylindrical pair and the second cylindrical pair successively, SCC side chains successively by Ball is secondary, the 3rd cylindrical pair and the 4th cylindrical pair are connected and composed.
Prismatic pair in first cylindrical pair and the 3rd cylindrical pair is drive pair.
A kind of robot welding system for building, including welding stand, the welding stand are provided with crossbeam, and below the crossbeam is set There is the moving platform lower end in 2RCC-2SCC parallel institutions, 2RCC-2SCC parallel institutions to be provided with welding gun and wire feeder, crossbeam Provided with steel wire storage mechanism, steel wire storage mechanism is connected with wire feeder and welding gun successively by welding wire, is set on the welding stand below welding gun Have a reinforcing bar positioning and clamping mechanism, control system by wire respectively with 2RCC-2SCC parallel institutions, wire feeder, welding gun and steel Muscle positioning and clamping mechanism is connected.
Prismatic pair in the 2RCC-2SCC parallel institutions in the first cylindrical pair and the 3rd cylindrical pair is provided with driving electricity Machine, the motor is connected by wire with control system.
The steel wire storage mechanism includes the U-shaped frame being arranged on crossbeam, and U-shaped frame is provided with steel wire storage disk, and steel wire storage disk is provided with weldering Silk.
The wire feeder includes being arranged on two wire feeds seat below moving platform, and wire feed seat is provided with wire feed rolls, and two send Welding wire is provided between silk wheel, wire feed rolls is connected with wire feed motor, and wire feed motor is arranged on moving platform, wire feed driving Motor is connected by wire with control system.
The reinforcing bar positioning and clamping mechanism includes the workbench being arranged on welding stand, and workbench is mutual provided with two Several clamping cylinders are provided with above vertical reinforcing bar standing groove, reinforcing bar standing groove, clamping cylinder is connected with air pump, clamping cylinder It is connected by wire with control system.
The piston rod of the clamping cylinder is provided with ∧ type clamp pads.
The cross section of the reinforcing bar standing groove is semicircular structure.
The control system, which includes being provided with control cabinet, control cabinet on PLC, control cabinet, to be additionally provided with and PLC controls The liquid crystal display and control button of device connection.
The present invention uses such scheme, the technical problem existed for existing building reinforcement welding, devises a kind of building With automatic welding main body mechanism and its welding system, by designing 2RCC-2SCC parallel institutions, by with two RCC side chains and Prismatic pair in two SCC side chains realizes three translation one rotational motion of the moving platform in space for drive pair, disclosure satisfy that pair The required precision of reinforcement welding and the requirement of the spatial movement free degree, and the 2RCC-2SCC parallel institutions of the application also have The advantages of kinematic pair is simple, bearing capacity is strong, kinematic accuracy is high, equipment performance is good and is easy to processing and manufacturing;By designing steel wire storage Mechanism, wire feeder and welding gun, realize from trend welding gun wire feed, coordinate with 2RCC-2SCC parallel institutions, realize welding gun in space The interior rotational motion of three translation one, and then meet free degree requirement required during welding;By designing reinforcing bar positioning and clamping mechanism, Realize the clamping and positioning of 90 degree of reinforcing bar and two kinds of common reinforcement weldings of 180 degree, it is ensured that welding quality.
Brief description of the drawings:
Fig. 1 is the structural representation of main body mechanism of the present invention;
Fig. 2 is the structural representation of robot welding system of the present invention;
Fig. 3 is the top view of reinforcing bar positioning and clamping mechanism of the present invention;
In figure, 1, fixed platform, 2, moving platform, 3, RCC side chains, 301, revolute pair, the 302, first cylindrical pair, the 303, second circle Post pair, 4, SCC side chains, 401, ball pair, the 402, the 3rd cylindrical pair, the 403, the 4th cylindrical pair, 5, prismatic pair, 6, welding stand, 7, Crossbeam, 8, welding gun, 9, wire feeder, 901, wire feed seat, 902, wire feed rolls, 903, wire feed motor, 10, steel wire storage mechanism, 1001st, U-shaped frame, 1002, steel wire storage disk, 11, welding wire, 12, reinforcing bar positioning and clamping mechanism, 1201, workbench, 1202, steel wire places Groove, 1203, clamping cylinder, 1204, air pump, 1205, ∧ type clamp pads, 13, control system, 1301, control cabinet, 1302, PLC controls Device processed, 1303, liquid crystal display, 1304, control button.
Embodiment:
For the technical characterstic for illustrating this programme can be understood, below by embodiment, and its accompanying drawing is combined, to this hair It is bright to be described in detail.
As illustrated in fig. 1-3, a kind of automatic welding main body mechanism for building, main body mechanism is 2RCC-2SCC parallel institutions, Including fixed platform 1 and moving platform 2, four side chains are connected between fixed platform 1 and moving platform 2, two of which side chain is symmetrically to set The RCC side chains 3 put, another two side chains are that secondary one end of R in symmetrically arranged SCC side chains 4, RCC3 side chains is arranged on fixed platform 1 On, the other end is arranged on moving platform 2, and the secondary one end of the S in SCC side chains 4 is arranged on fixed platform 1, and the other end is arranged on dynamic flat On platform 2, by designing 2RCC-2SCC parallel institutions, by being with the prismatic pair 5 in two RCC side chains 3 and two SCC side chains 4 Drive pair realizes three translation one rotational motion of the moving platform in space, disclosure satisfy that the required precision to reinforcement welding and space The requirement of freedom of motion, and the 2RCC-2SCC parallel institutions of the application also have that kinematic pair is simple, bearing capacity strong, fortune The advantages of dynamic precision is high, equipment performance is good and is easy to processing and manufacturing.
RCC side chains 3 are connected and composed by revolute pair 301, the first cylindrical pair 302 and the second cylindrical pair 303 successively, SCC side chains 4 Connected and composed successively by ball pair 401, the 3rd cylindrical pair 402 and the 4th cylindrical pair 403.
Prismatic pair 5 in first cylindrical pair 302 and the 3rd cylindrical pair 402 is drive pair, and drive control more facilitates.
A kind of robot welding system for building, including welding stand 6, welding stand 6 are provided with crossbeam 7, and the lower section of crossbeam 7 is set There is the lower end of moving platform 2 in 2RCC-2SCC parallel institutions, 2RCC-2SCC parallel institutions to be provided with welding gun 8 and wire feeder 9, crossbeam 7 are provided with steel wire storage mechanism 10, and steel wire storage mechanism 10 is connected with wire feeder 9 and welding gun 8 successively by welding wire 11, the lower section of welding gun 8 Welding stand 6 be provided with reinforcing bar positioning and clamping mechanism 12, control system 13 by wire respectively with 2RCC-2SCC parallel institutions, Wire feeder 9, welding gun 8 and reinforcing bar positioning and clamping mechanism 12 are connected, by designing steel wire storage mechanism 10, wire feeder 9 and welding gun 8, Realize from trend welding gun wire feed, coordinate with 2RCC-2SCC parallel institutions, realize that three translations one of the welding gun in space rotate fortune It is dynamic, and then meet free degree requirement required during welding, by designing reinforcing bar positioning and clamping mechanism 12, realize 90 degree of reinforcing bar with The clamping and positioning of two kinds of common reinforcement weldings of 180 degree, it is ensured that welding quality.
Prismatic pair 5 in 2RCC-2SCC parallel institutions in the first cylindrical pair 302 and the 3rd cylindrical pair 402 is provided with driving Motor 14, motor 14 is connected by wire with control system 13.
Steel wire storage mechanism 10 includes the U-shaped frame 1001 being arranged on crossbeam 7, and U-shaped frame 1001 is provided with steel wire storage disk 1002, steel wire storage Disk 1002 is provided with welding wire 11, and welding wire is wrapped in steel wire storage disk 1002 by realization, and welding wire is improved for welding.
Wire feeder 9 includes the two wire feeds seat 901 for being arranged on the lower section of moving platform 2, and wire feed seat 901 is provided with wire feed rolls 902, welding wire 11 is provided between two wire feed rolls 902, wire feed rolls 902 is connected with wire feed motor 903, wire feed motor 903 It is arranged on moving platform 2, wire feed motor 903 is connected by wire with control system 13, by designing wire feed motor 903 and clamp welding wire by two wire feed rolls 902 and carry out wire feed, simple in construction, wire feed is accurate.
Reinforcing bar positioning and clamping mechanism 12 includes the workbench 1201 being arranged on welding stand 6, and workbench 1201 is provided with Two orthogonal reinforcing bar standing grooves 1202, the top of reinforcing bar standing groove 1202 is provided with several clamping cylinders 1203, clamps gas Cylinder 1203 is connected with air pump 1204, and clamping cylinder 1203 is connected by wire with control system 13, is conveniently realized and is treated The positioning of welded reinforcement is clamped, it is ensured that welding quality.
The piston rod of clamping cylinder 1203 is provided with ∧ types clamp pad 1205, ∧ types clamp pad 1205 and reinforcing bar standing groove 1202 coordinate, and realization can clamp the different reinforcing bar of diameter, widen gripping range.
The cross section of reinforcing bar standing groove 1202 is semicircular structure.
Control system 13 includes being provided with control cabinet 1301, control cabinet 1301 on PLC 1302, control cabinet 1301 also Provided with the liquid crystal display 1303 and control button 1304 being connected with PLC 1302, it is easy to observe and grasp whole system Operation conditions.
The course of work of the present invention:
Reinforcing bar to be welded is placed in reinforcing bar standing groove 1202 first, two reinforcing bars also can be able to be in 90 degree of settings 180 degree is set, and makes to be in close contact at two reinforcement weldings, is then fastened the bar clamp placed by clamping cylinder 1203 Fixed, then welding gun 8 switches on power, and wire feed motor 903, which is rotated, drives wire feed rolls 902 to rotate, and two wire feed rolls 902 clamp welding wire 11 rotate, and then realize the feeding of welding wire 11, control the moving platform 2 in 2RCC-2SCC parallel institutions to exist by motor 14 The rotational motion of three translation one is done in space, and then realizes that three translations one transhipment of the welding gun 8 in space is dynamic, so as to meet to reinforcing bar Welding campaign, above the reinforcing bar after firm welding, open clamping cylinder 1203, the reinforcing bar of reverse welding half is passing through folder Tight cylinder 1203 is clamped, and is repeated said process and is realized to second half welding of reinforcing bar, and then realizes the whole of two rebar junctions Welding job, the welding system of the application has the advantages that automaticity is high, welding quality is high and welding efficiency is high.
Above-mentioned embodiment cannot function as limiting the scope of the invention, for the technology people of the art For member, any alternate modification or conversion made to embodiment of the present invention are all fallen within protection scope of the present invention.
Part is not described in detail by the present invention, is the known technology of those skilled in the art of the present technique.

Claims (10)

1. a kind of automatic welding main body mechanism for building, it is characterised in that:Main body mechanism is 2RCC-2SCC parallel institutions, including Fixed platform and moving platform, are connected with four side chains between fixed platform and moving platform, two of which side chain is symmetrically arranged RCC branch Chain, another two side chains are that secondary one end of R in symmetrically arranged SCC side chains, RCC side chains is arranged on fixed platform, and the other end is set On moving platform, secondary one end of S in SCC side chains is arranged on fixed platform, and the other end is arranged on moving platform.
2. a kind of automatic welding main body mechanism for building according to claim 1, it is characterised in that:The RCC side chains according to Secondary to be connected and composed by revolute pair, the first cylindrical pair and the second cylindrical pair, SCC side chains are successively by ball pair, the 3rd cylindrical pair and the 4th Cylindrical pair is connected and composed.
3. a kind of automatic welding main body mechanism for building according to claim 2, it is characterised in that:First cylindrical pair It is drive pair with the prismatic pair in the 3rd cylindrical pair.
4. a kind of robot welding system for building, it is characterised in that:Including welding stand, the welding stand is provided with crossbeam, The moving platform lower end that below the crossbeam is provided with 2RCC-2SCC parallel institutions, 2RCC-2SCC parallel institutions is provided with welding gun and wire-feed motor Structure, crossbeam is provided with steel wire storage mechanism, and steel wire storage mechanism is connected with wire feeder and welding gun successively by welding wire, the welding below welding gun Frame be provided with reinforcing bar positioning and clamping mechanism, control system by wire respectively with 2RCC-2SCC parallel institutions, wire feeder, Welding gun and the connection of reinforcing bar positioning and clamping mechanism.
5. a kind of robot welding system for building according to claim 4, it is characterised in that:The 2RCC-2SCC is in parallel Prismatic pair in mechanism in the first cylindrical pair and the 3rd cylindrical pair is provided with motor, and the motor passes through wire and control System connection processed.
6. a kind of robot welding system for building according to claim 4, it is characterised in that:The steel wire storage mechanism includes setting The U-shaped frame on crossbeam is put, U-shaped frame is provided with steel wire storage disk, and steel wire storage disk is provided with welding wire.
7. a kind of robot welding system for building according to claim 4, it is characterised in that:The wire feeder includes setting Two wire feeds seat below moving platform is put, wire feed seat, which is provided between wire feed rolls, two wire feed rolls, is provided with welding wire, wire feed rolls connection There is wire feed motor, wire feed motor is arranged on moving platform, and wire feed motor is connected by wire with control system.
8. a kind of robot welding system for building according to claim 4, it is characterised in that:The reinforcing bar positions clamping machine Structure includes the workbench being arranged on welding stand, and workbench is placed provided with two orthogonal reinforcing bar standing grooves, reinforcing bar Several clamping cylinders are provided with above groove, clamping cylinder is connected with air pump, and clamping cylinder is connected by wire with control system.
9. a kind of robot welding system for building according to claim 8, it is characterised in that:The piston of the clamping cylinder Bar is provided with ∧ type clamp pads, and the cross section of the reinforcing bar standing groove is semicircular structure.
10. a kind of robot welding system for building according to claim 4, it is characterised in that:The control system includes It is provided with control cabinet, control cabinet on PLC, control cabinet and is additionally provided with the liquid crystal display being connected with PLC and control Button.
CN201710690764.1A 2017-08-14 2017-08-14 A kind of automatic welding main body mechanism for building and its welding system Pending CN107234317A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710690764.1A CN107234317A (en) 2017-08-14 2017-08-14 A kind of automatic welding main body mechanism for building and its welding system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710690764.1A CN107234317A (en) 2017-08-14 2017-08-14 A kind of automatic welding main body mechanism for building and its welding system

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CN107234317A true CN107234317A (en) 2017-10-10

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110582609A (en) * 2018-04-11 2019-12-17 潘迪 维拉萨米·塔瓦马尼 Construction system and method for combined U-shaped reinforcing beam bridge floor

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104259700A (en) * 2014-09-16 2015-01-07 芜湖市华益阀门制造有限公司 Supporting rack for special multifunctional welding platform for cylinder and square
CN105291091A (en) * 2015-11-11 2016-02-03 山东理工大学 Three-translation and one-rotation parallel robot with plane pair
CN205496775U (en) * 2016-04-18 2016-08-24 山东平安建筑工业化科技有限公司 Superimposed sheet reinforcing bar spot welding device
CN206154298U (en) * 2016-10-31 2017-05-10 洛阳栾川钼业集团股份有限公司 Parallel mechanism of shale shaker multi freedom motion
CN206287134U (en) * 2016-11-10 2017-06-30 中国地质大学(武汉) A kind of two-degree-of-freedom parallel mechanism for lifting load capacity
CN206366762U (en) * 2017-01-06 2017-08-01 兰州城市学院 A kind of new reinforcing steel bar welder

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104259700A (en) * 2014-09-16 2015-01-07 芜湖市华益阀门制造有限公司 Supporting rack for special multifunctional welding platform for cylinder and square
CN105291091A (en) * 2015-11-11 2016-02-03 山东理工大学 Three-translation and one-rotation parallel robot with plane pair
CN205496775U (en) * 2016-04-18 2016-08-24 山东平安建筑工业化科技有限公司 Superimposed sheet reinforcing bar spot welding device
CN206154298U (en) * 2016-10-31 2017-05-10 洛阳栾川钼业集团股份有限公司 Parallel mechanism of shale shaker multi freedom motion
CN206287134U (en) * 2016-11-10 2017-06-30 中国地质大学(武汉) A kind of two-degree-of-freedom parallel mechanism for lifting load capacity
CN206366762U (en) * 2017-01-06 2017-08-01 兰州城市学院 A kind of new reinforcing steel bar welder

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110582609A (en) * 2018-04-11 2019-12-17 潘迪 维拉萨米·塔瓦马尼 Construction system and method for combined U-shaped reinforcing beam bridge floor
CN110582609B (en) * 2018-04-11 2021-04-27 潘迪 维拉萨米·塔瓦马尼 Construction system and method for combined U-shaped reinforcing beam bridge floor

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Application publication date: 20171010