CN108044276B - Robot device for welding two intersecting cylinders - Google Patents
Robot device for welding two intersecting cylinders Download PDFInfo
- Publication number
- CN108044276B CN108044276B CN201810022042.3A CN201810022042A CN108044276B CN 108044276 B CN108044276 B CN 108044276B CN 201810022042 A CN201810022042 A CN 201810022042A CN 108044276 B CN108044276 B CN 108044276B
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- pair
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- connecting rod
- rod
- cylinder
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- 238000003466 welding Methods 0.000 title claims abstract description 38
- 238000010276 construction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000004146 energy storage Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
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
- B23K37/0252—Steering means
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- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Resistance Welding (AREA)
Abstract
A be used for two through cylinder welded robot device, by frame, pivot, slide bar, connecting rod, side link, welder guider and three revolute pair, a revolute pair and a cylinder pair are constituteed, wherein the pole length of slide bar, side link and connecting rod is adjustable, and its assembly characteristics are: one end of the rotating shaft is connected with the frame through a first revolute pair, the other end of the rotating shaft is connected with the sliding rod through a second revolute pair, one end of the connecting rod is connected with the sliding rod through a second revolute pair, the other end of the connecting rod is connected with the side link through a third revolute pair, and the other end of the side link is connected with the frame through a cylindrical pair. The rotating axis of the rotating pair I, the sliding rail of the moving pair and the rotating axis of the rotating pair II are parallel to each other, the rotating axis of the rotating pair III and the rotating axis of the cylindrical pair are parallel to each other, and the rotating axis of the rotating pair II, the rotating axis of the rotating pair III and the tail end of the welding gun guiding device point to the three to intersect at one point. The invention has the advantages of simple structure, convenient control, wide application range and the like.
Description
Technical Field
The invention relates to a welding robot device, and provides a novel welding robot device for two intersecting (positive, oblique and eccentric) cylinders.
Background
The pressure vessel is widely applied in the fields of industry, agriculture, construction, chemical industry and the like, especially in the petrochemical field, and accounts for about 50% of the total amount of the pressure vessel. Pressure vessels are also widely used in industry sectors, such as various energy storages in engineering machinery, auxiliary machines for various power machines, various gas and liquefied gas storage tanks for cities and enterprises, various large-scale engineering pipelines, etc. It is important to study the welding of pressure vessels.
In welding production, because the space shape of each part of the pressure vessel is complex, and particularly the welding seam formed by splicing the cylindrical pipeline and the cylindrical pipeline is a space curve, certain difficulty exists in welding, the welding of the welding seam is mainly finished by manpower at present, the manual welding working environment is bad, the production period is long, the working efficiency is low, the welding quality is difficult to ensure, and the development of a welding robot aiming at the welding seam is urgently needed. In China, automatic welding equipment starts to develop in the 50 s, partial semi-automatic and automatic serial welding robots exist at present, however, the welding robots generally have the defects of multiple degrees of freedom, complex structure, difficult control, high cost and the like, so that the welding robots are not well developed and applied.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a novel robot device for welding two intersecting (positive, oblique and eccentric) cylinders.
The invention is realized by the following technical scheme.
The invention discloses a robot device for welding two intersecting cylinders, which consists of a rotating shaft (1), a sliding rod (2), a connecting rod (3), a side link (4), a frame (5) and a welding gun guiding device (6), and is characterized in that: one end of a rotating shaft (1) is connected with a frame (5) through a rotating pair I (R1), the other end of the rotating shaft (1) is connected with a sliding rod (2) through a moving pair P1, one end of a connecting rod (3) is connected with the sliding rod (2) through a rotating pair II (R2), the other end of the connecting rod (3) is connected with a connecting rod (4) through a rotating pair III (R3), the other end of the connecting rod (4) is connected with the frame (5) through a cylindrical pair C1, and a welding gun guiding device (6) is fixedly connected on the sliding rod (2). The rotation axis of the first revolute pair (R1), the sliding rail of the moving pair (P1) and the rotation axis of the second revolute pair (R2) are parallel to each other; the rotation axes of the third revolute pair (R3) and the cylindrical pair (C1) are parallel to each other; the rotation axis of the second rotating pair (R2), the rotation axis of the third rotating pair (R3) and the tail end of the welding gun guiding device (6) point to intersect at one point. The rod length of the sliding rod (2), the connecting rod (3) and the side link (4) can be adjusted.
The cylindrical pair (C1) can be replaced by a combination of a revolute pair and a movable pair, wherein the axes of the revolute pair and the movable pair are coincident or parallel.
The rotating pair I (R1) and the moving pair P1 can be replaced by a cylindrical pair.
The cylinder pair (C1) and the revolute pair three (R3) can exchange positions with each other.
The invention has the advantages of simple structure, convenient control, wide application range and the like.
Drawings
Fig. 1 is a schematic view of a construction of one embodiment of a welding robot device of the invention.
Fig. 2 is a schematic view of one embodiment of the device of the present invention in use for welding two intersecting cylinders.
In the figure, 1 is a rotating shaft, 2 is a sliding rod, 3 is a connecting rod, 4 is a side link, 5 is a frame, 6 is a welding gun guiding device, 7 is a cylinder I to be welded, 8 is a cylinder II to be welded, R1 is a revolute pair I, R2 is a revolute pair II, R3 is a revolute pair III, P1 is a movable pair, and C1 is a cylinder pair.
Detailed Description
The invention is further illustrated by the following figures and examples.
The welding mechanism shown in fig. 1 may be one of embodiments of the present invention, and the technical scheme is as follows: a robot device for welding two intersecting (positive, oblique and eccentric) cylinders comprises a rotating shaft 1, a sliding rod 2, a connecting rod 3, a side link 4, a frame 5 and a welding gun guiding device 6, and is characterized in that: one end of a rotating shaft 1 is connected with a frame 5 through a revolute pair I R1, the other end of the rotating shaft 1 is connected with a sliding rod 2 through a movable pair P1, one end of a connecting rod 3 is connected with the sliding rod 2 through a revolute pair II R2, the other end of the connecting rod 3 is connected with a side link 4 through a revolute pair III R3, the other end of the side link is connected with the frame 5 through a cylindrical pair C1, and a welding gun guiding device 6 is fixedly connected on the sliding rod 2; the rotation axis of the first revolute pair R1 is collinear with the sliding rail of the movable pair P1 and parallel to the rotation axis of the second revolute pair R2, the rotation axes of the third revolute pair R3 and the cylindrical pair C1 are mutually parallel, and the rotation axis of the second revolute pair R2, the rotation axis of the third revolute pair R3 and the tail end of the welding gun guiding device 6 point to intersect at one point; the rod length of the sliding rod 2, the connecting rod 3 and the side link 4 can be adjusted.
FIG. 2 shows one of the mounting embodiments of the device of the present invention for welding two intersecting cylinders, wherein the axis of the rotating shaft 1 coincides with the axis of the first cylinder 7 to be welded, and the rotation axis of the cylinder pair C1 coincides with the axis of the second cylinder 8 to be welded; the length of the rod after the adjustment of the sliding rod 2 is equal to the radius of the first cylinder 7 to be welded, and the length of the rod after the adjustment of the side link 4 is equal to the radius of the second cylinder 8 to be welded.
Because the degree of freedom of the mechanism is equal to one, the welding gun can move along the intersecting line between two cylindrical surfaces to be welded only by driving the rotating shaft 1.
Claims (4)
1. A robot device for welding two intersecting cylinders comprises a rotating shaft (1), a sliding rod (2), a connecting rod (3), a side link (4), a frame (5) and a welding gun guiding device (6), and is characterized in that:
One end of a rotating shaft (1) is connected with a frame (5) through a rotating pair I (R1), the other end of the rotating shaft (1) is connected with a sliding rod (2) through a moving pair P1, one end of a connecting rod (3) is connected with the sliding rod (2) through a rotating pair II (R2), the other end of the connecting rod (3) is connected with a side connecting rod (4) through a rotating pair III (R3), the other end of the side connecting rod (4) is connected with the frame (5) through a cylindrical pair C1, and a welding gun guiding device (6) is fixedly connected on the sliding rod (2);
The rotation axis of the first revolute pair (R1), the sliding rail of the moving pair (P1) and the rotation axis of the second revolute pair (R2) are parallel to each other; the rotation axes of the third revolute pair (R3) and the cylindrical pair (C1) are parallel to each other; the rotation axis of the second rotating pair (R2), the rotation axis of the third rotating pair (R3) and the tail end of the welding gun guiding device (6) point to intersect at one point;
The rod length of the sliding rod (2), the connecting rod (3) and the side link (4) can be adjusted;
The axis of the rotating shaft (1) is coincident with the axis of a cylinder I (7) to be welded, and the rotating axis of the cylinder pair (C1) is coincident with the axis of a cylinder II (8) to be welded; the length of the rod adjusted by the sliding rod (2) is equal to the radius of a first cylinder (7) to be welded, and the length of the rod adjusted by the side link (4) is equal to the radius of a second cylinder (8) to be welded.
2. Robot device according to claim 1, characterized in that said cylindrical pair (C1) is replaced by a combination of a revolute pair and a kinematic pair with coincident or parallel axes.
3. The robot apparatus according to claim 1, wherein the revolute pair one (R1) and the movable pair (P1) are replaced with a cylindrical pair.
4. The robot apparatus according to claim 1, wherein the cylinder pair (C1) and the revolute pair three (R3) are exchangeable in position with each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810022042.3A CN108044276B (en) | 2018-01-10 | 2018-01-10 | Robot device for welding two intersecting cylinders |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810022042.3A CN108044276B (en) | 2018-01-10 | 2018-01-10 | Robot device for welding two intersecting cylinders |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108044276A CN108044276A (en) | 2018-05-18 |
| CN108044276B true CN108044276B (en) | 2024-05-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810022042.3A Active CN108044276B (en) | 2018-01-10 | 2018-01-10 | Robot device for welding two intersecting cylinders |
Country Status (1)
| Country | Link |
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| CN (1) | CN108044276B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109822269B (en) * | 2019-03-28 | 2023-07-28 | 南昌大学 | Be used for two intersecting cone welding robot device |
| CN109822267B (en) * | 2019-03-28 | 2023-05-30 | 南昌大学 | Be used for cylinder and circular cone to run through welding robot device |
Citations (8)
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|---|---|---|---|---|
| CN101234462A (en) * | 2007-12-07 | 2008-08-06 | 上海气焊机厂有限公司 | Intersecting line dual-annular seam automatic welding machine |
| CN201161333Y (en) * | 2008-01-11 | 2008-12-10 | 范文利 | T shape pipe joint welding machine |
| CN101850467A (en) * | 2010-05-18 | 2010-10-06 | 江苏大学 | Revolving body intersection line cutting and welding device |
| CN103962761A (en) * | 2013-02-05 | 2014-08-06 | 新疆大学 | Fast-assembled numerical-control double-head three-dimensional curve welding machine |
| KR20150049663A (en) * | 2013-10-30 | 2015-05-08 | 대우조선해양 주식회사 | Two-way wire supply apparatus for orbital welding robot |
| CN105234933A (en) * | 2015-10-08 | 2016-01-13 | 南昌大学 | Dual-translation dual-rotation parallel-connection robot device |
| CN107466260A (en) * | 2015-04-02 | 2017-12-12 | 弗劳恩霍夫应用研究促进协会 | For enduringly engaging the weld assembly of the first tubular element and second component |
| CN207953010U (en) * | 2018-01-10 | 2018-10-12 | 南昌大学 | It is a kind of to be used for two robot devices for passing through friendship cylinder welding |
-
2018
- 2018-01-10 CN CN201810022042.3A patent/CN108044276B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101234462A (en) * | 2007-12-07 | 2008-08-06 | 上海气焊机厂有限公司 | Intersecting line dual-annular seam automatic welding machine |
| CN201161333Y (en) * | 2008-01-11 | 2008-12-10 | 范文利 | T shape pipe joint welding machine |
| CN101850467A (en) * | 2010-05-18 | 2010-10-06 | 江苏大学 | Revolving body intersection line cutting and welding device |
| CN103962761A (en) * | 2013-02-05 | 2014-08-06 | 新疆大学 | Fast-assembled numerical-control double-head three-dimensional curve welding machine |
| KR20150049663A (en) * | 2013-10-30 | 2015-05-08 | 대우조선해양 주식회사 | Two-way wire supply apparatus for orbital welding robot |
| CN107466260A (en) * | 2015-04-02 | 2017-12-12 | 弗劳恩霍夫应用研究促进协会 | For enduringly engaging the weld assembly of the first tubular element and second component |
| CN105234933A (en) * | 2015-10-08 | 2016-01-13 | 南昌大学 | Dual-translation dual-rotation parallel-connection robot device |
| CN207953010U (en) * | 2018-01-10 | 2018-10-12 | 南昌大学 | It is a kind of to be used for two robot devices for passing through friendship cylinder welding |
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| Publication number | Publication date |
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| CN108044276A (en) | 2018-05-18 |
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Inventor after: Ye Meiyan Inventor after: Shi Zhixin Inventor after: Xie Dongfu Inventor before: Shi Zhixin Inventor before: Ye Meiyan Inventor before: Xie Dongfu |
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