CN107234358A - 一种用于柱塞泵动力端壳体焊接的焊接机器人设备 - Google Patents
一种用于柱塞泵动力端壳体焊接的焊接机器人设备 Download PDFInfo
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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
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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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
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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Abstract
本发明提出了一种用于柱塞泵动力端壳体焊接的焊接机器人设备，包括控制系统、龙门架X‑Y‑Z坐标系、焊接系统、空间变位机和工装夹具，通过工装夹具用来夹持柱塞泵动力端壳体，可以对柱塞泵壳体实施一次装夹，通过空间变位机可将柱塞泵壳体所有焊缝变位至平焊位置或平角焊位置，焊接机械臂与龙门架X‑Y‑Z坐标系中的坐标系Z轴连接，完成不同位置焊缝的焊接，且焊接机械臂、坐标系X轴、坐标系Y轴和坐标系Z轴和空间变位机可以实现同步联动，确保焊接过程中连续性，保证了焊接质量与焊接效率。
Description
技术领域
本发明涉及一种焊接机器人设备，尤其涉及一种用于柱塞泵动力端壳体焊接的焊接机器人设备。
背景技术
随着石油行业的快速发展，石油增产压裂设备的需求也日益增加，压裂设备的关键部件—柱塞泵的需求也水涨船高，由于柱塞泵壳体的复杂性且异型结构，应用常规焊接机器人也无法完成所有焊缝的焊接，目前柱塞泵动力端壳体均为人工手工焊接完成。柱塞泵属于重型机械结构，焊接工作量非常大，人工手工焊接效率低下，且焊接操作者长时间作业易发生疲劳导致出现焊接缺陷，出现质量隐患。
本专利中涉及一种用于柱塞泵动力端壳体焊接的焊接机器人设备，该设备可以对柱塞泵壳体实施一次装夹，就完成柱塞泵壳体所有焊缝的焊接，通过空间变位机可将柱塞泵壳体所有焊缝变位至平焊位置或平角焊位置，焊接机械臂与龙门架X-Y-Z坐标系中的坐标系Z轴连接，完成不同位置焊缝的焊接，保证焊接质量与焊接效率。
发明内容
本发明提供一种用于柱塞泵动力端壳体焊接的焊接机器人设备，旨在解决柱塞泵动力端壳体焊接的质量和效率。
本发明是这样实现的，一种用于柱塞泵动力端壳体焊接的焊接机器人设备，包括：
控制系统，所述控制系统包括焊机、控制箱、周边控制箱、变压器；
龙门架X-Y-Z坐标系，所述龙门架X-Y-Z坐标系由龙门架、坐标系X轴、坐标系Y轴和坐标系Z轴组成，所述坐标系Y轴位于所述龙门架横梁的上方且与横梁的竖直面垂直，所述坐标系Z轴与坐标系X轴通过旋转轴承相连，可沿X轴360°旋转；
焊接机械臂、焊枪和桶装焊丝架，所述焊枪安装于焊接机械臂前端，焊接机械臂固定于坐标系Z轴下端，所述桶装焊丝架位于坐标系Y轴上；
空间变位机，所述空间变位机包括空间变位机底座、空间变位机齿轮回转盘、空间变位机收缩架、空间变位机收缩长臂，所述空间变位机齿轮回转盘固定于空间变位机底座上，空间变位机收缩架与空间变位机齿轮回转盘相接，可绕空间变位机齿轮回转盘实现360°旋转，所述空间变位机收缩长臂的一段与空间变位机收缩架相连；
工装夹具、回转轴，所述工装夹具用来夹持柱塞泵动力端壳体，通过回转轴与空间变位机收缩长臂的另一端相连。
优选地，所述回转轴为两个，分别位于工装夹具的两侧。
优选地，所述空间变位机收缩长臂为两个，分别与两个回转轴相连。
优选地，所述空间变位机收缩长臂与空间变位机收缩架为滑动连接，空间变位机收缩长臂沿空间变位机收缩架滑动的距离为0-3m。
本发明的有益效果是：通过空间变位机可将柱塞泵壳体所有焊缝变位至平焊位置或平角焊位置，焊接机械臂与龙门架X-Y-Z坐标系中的坐标系Z轴连接，完成不同位置焊缝的焊接，保证焊接质量与焊接效率。
附图说明
图1是本发明的一种用于柱塞泵动力端壳体焊接的焊接机器人设备的俯视图。
附图标记为：
1-控制系统；2-龙门架X-Y-Z坐标系；3-空间变位机；4-焊接机械臂；5-焊枪；6-桶装焊丝架；7-回转轴；8-工装夹具；11-控制开关；12-焊机；13-控制箱；14-周边控制箱；15-变压器；21-龙门架；22-坐标系X轴；23-坐标系Z轴；24-坐标系Y轴；31-空间变位机齿轮回转盘；32-空间变位机收缩架；33-变位机底座；34-空间变位机收缩长臂。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。
实施例
如图1所示，一种用于柱塞泵动力端壳体焊接的焊接机器人设备，包括：控制系统1、龙门架X-Y-Z坐标系2、空间变位机3、焊接机械臂4、焊枪5、桶装焊丝架6、回转轴7和工装夹具8。控制系统1包括控制开关11、焊机12、控制箱13、周边控制箱14、变压器15；龙门架X-Y-Z坐标系2由龙门架21、坐标系X轴22、坐标系Y轴24和坐标系Z轴23组成，坐标系Y轴24位于龙门架21横梁的上方且与横梁的竖直面垂直，坐标系Z轴23与坐标系X轴22通过旋转轴承相连，可沿坐标系X轴360°旋转；焊枪5安装于焊接机械臂4前端，焊接机械臂4固定于坐标系Z轴24下端，桶装焊丝架6位于坐标系Y轴24上；空间变位机3包括空间变位机底座33、空间变位机齿轮回转盘31、空间变位机收缩架32、空间变位机收缩长臂34，空间变位机齿轮回转盘31固定于空间变位机底座33上，空间变位机收缩架32与空间变位机齿轮回转盘31相接，可绕空间变位机齿轮回转盘31实现360°旋转，空间变位机收缩长臂34的一端与空间变位机收缩架32滑动连接，可沿空间变位机收缩架滑动0-3m；工装夹具8的两侧分别设置有回转轴7，左右两侧的回转轴7分别与空间变位机收缩长臂34的另一端相连。
使用时，按下控制开关11，启动焊机12，用工装夹具8夹持柱塞泵动力端壳体，通过控制箱13和周边控制箱14来控制空间变位机3，空间变位机3的空间变位机收缩长臂34通过回转轴7带动工装夹具8运动，从而将柱塞泵动力端壳体绕坐标系Y轴24回转变位，将所需焊接的位置旋转到焊枪5处，再通过控制箱13精确需要焊接的位置，通过调节坐标系系X轴22、坐标系Y轴24和坐标系Z轴23使焊枪5准确的移动到需要焊接的位置完成焊缝的焊接。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。
Claims (4)
1.一种用于柱塞泵动力端壳体焊接的焊接机器人设备，其特征在于，包括：
控制系统，所述控制系统包括焊机、控制箱、周边控制箱、变压器；
龙门架X-Y-Z坐标系，所述龙门架X-Y-Z坐标系由龙门架、坐标系X轴、坐标系Y轴和坐标系Z轴组成，所述坐标系Y轴位于所述龙门架横梁的上方且与横梁的竖直面垂直，所述坐标系Z轴与坐标系X轴通过旋转轴承相连，可沿X轴360°旋转；
焊接机械臂、焊枪和桶装焊丝架，所述焊枪安装于焊接机械臂前端，焊接机械臂固定于坐标系Z轴下端，所述桶装焊丝架位于坐标系Y轴上；
空间变位机，所述空间变位机包括空间变位机底座、空间变位机齿轮回转盘、空间变位机收缩架、空间变位机收缩长臂，所述空间变位机齿轮回转盘固定于空间变位机底座上，空间变位机收缩架与空间变位机齿轮回转盘相接，可绕空间变位机齿轮回转盘实现360°旋转，所述空间变位机收缩长臂的一段与空间变位机收缩架相连；
工装夹具、回转轴，所述工装夹具用来夹持柱塞泵动力端壳体，通过回转轴与空间变位机收缩长臂的另一端相连。
2.根据权利要求1所述的一种用于柱塞泵动力端壳体焊接的焊接机器人设备，其特征在于，所述回转轴为两个，分别位于所述工装夹具的两侧。
3.根据权利要求2所述的一种用于柱塞泵动力端壳体焊接的焊接机器人设备，其特征在于，所述空间变位机收缩长臂为两个，分别与两个回转轴相连。
4.根据权利要求3所述的一种用于柱塞泵动力端壳体焊接的焊接机器人设备，其特征在于，所述空间变位机收缩长臂与空间变位机收缩架为滑动连接，空间变位机收缩长臂沿空间变位机收缩架滑动的距离为0-3m。
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