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 PDFInfo
- 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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- Prior art keywords
- welding
- wire
- side chains
- pair
- reinforcing bar
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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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
-
- 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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
-
- 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
- B23K9/00—Arc welding or cutting
- B23K9/12—Automatic feeding or moving of electrodes or work for spot or seam welding or cutting
- B23K9/133—Means for feeding electrodes, e.g. drums, rolls, motors
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Plasma & Fusion (AREA)
- Optics & Photonics (AREA)
- Resistance Welding (AREA)
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
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.
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 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107234317A true CN107234317A (en) | 2017-10-10 |
Family
ID=59991944
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710690764.1A Pending CN107234317A (en) | 2017-08-14 | 2017-08-14 | A kind of automatic welding main body mechanism for building and its welding system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107234317A (en) |
Cited By (3)
| 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 |
| CN113894480A (en) * | 2021-11-15 | 2022-01-07 | 安徽精工钢结构有限公司 | Automatic welding device and welding method for building steel structure |
| CN114473178A (en) * | 2022-03-08 | 2022-05-13 | 大连理工大学 | Automatic wire-feeding friction stir material additive manufacturing machine |
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| 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 |
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| 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 |
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Cited By (5)
| 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 |
| CN113894480A (en) * | 2021-11-15 | 2022-01-07 | 安徽精工钢结构有限公司 | Automatic welding device and welding method for building steel structure |
| CN113894480B (en) * | 2021-11-15 | 2023-09-08 | 安徽精工钢结构有限公司 | Automatic welding device and welding method for building steel structure |
| CN114473178A (en) * | 2022-03-08 | 2022-05-13 | 大连理工大学 | Automatic wire-feeding friction stir material additive manufacturing machine |
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Application publication date: 20171010 |