CN111375944A - Cantilever beam type saddle-shaped welding robot - Google Patents
Cantilever beam type saddle-shaped welding robot Download PDFInfo
- Publication number
- CN111375944A CN111375944A CN202010012503.6A CN202010012503A CN111375944A CN 111375944 A CN111375944 A CN 111375944A CN 202010012503 A CN202010012503 A CN 202010012503A CN 111375944 A CN111375944 A CN 111375944A
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- CN
- China
- Prior art keywords
- cantilever
- lift
- welding robot
- cantilever beam
- 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
- B23K37/02—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
- 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
Abstract
The invention relates to a cantilever beam type saddle welding robot, comprising: the welding robot comprises two parts, namely a lifting mechanism and a welding robot body. The lifting mechanism consists of an upright post, a cantilever beam, a lifting sliding table and a cantilever beam lifting driving motor. The welding robot body comprises a beam, a cantilever and a welding gun. The welding of a spatial three-dimensional saddle-shaped welding line formed by butt joint of pipes and pipes is realized by controlling the rotation and lifting of a cantilever arranged on a cross beam and the swinging of a welding gun arranged on the cantilever. The invention realizes the control of the position and the posture of the welding gun through the cooperative control motor, avoids the error caused by manual welding through the precise cooperative operation of each part mechanism, and has the advantages of simple structure, reliable operation, precise control and the like.
Description
Technical Field
The invention relates to a saddle welding robot, in particular to a cantilever beam type saddle welding robot.
Background
Saddle-shaped welding seam welding technology is an extremely important process technology in industrial production, and excellent welding quality is a key for ensuring long-term safe operation of welding equipment. The welding of the saddle-shaped welding seam not only needs to be interpolated up and down in the rotating process of the welding gun, but also needs to continuously adjust the swing angle of the welding gun according to the angle of the groove, the manual welding is difficult to realize and avoids welding errors, in order to improve the welding quality, the automatic cooperative operation of the rotation, interpolation and swing angle adjustment of the welding gun is realized by replacing the traditional manual welding, the welding quality and the welding efficiency of the saddle-shaped welding seam are improved, and the labor intensity of workers is reduced.
Disclosure of Invention
The invention aims to provide a cantilever beam type saddle welding seam welding robot, which can provide a rectangular coordinate system welding robot for automatic cooperative operation of welding gun rotation, interpolation and swing angle adjustment in the saddle welding seam welding process.
The above technical problem of the present invention is solved by the following means.
The invention relates to a cantilever beam type saddle welding robot, comprising: the welding robot comprises two parts, namely a lifting mechanism and a welding robot body. The lifting mechanism consists of an upright post, a cantilever beam, a lifting sliding table and a cantilever beam lifting driving motor. The welding robot body comprises a beam, a cantilever and a welding gun. The welding of a spatial three-dimensional saddle-shaped welding line formed by butt joint of pipes and pipes is realized by controlling the rotation and lifting of a cantilever arranged on a cross beam and the swinging of a welding gun arranged on the cantilever.
A cantilever beam formula saddle seam welding robot, its characterized in that: cantilever beam formula saddle shape welding robot constitute by elevating system and welding robot body, elevating system constitute by stand, cantilever beam, lift slip table and cantilever beam lift driving motor, the welding robot body constitute by crossbeam, cantilever and welder, the cantilever comprises cantilever lift accommodate the lead screw 12 and connecting rod 13, stand 1 is installed subaerial, cantilever beam lift driving motor 2 installs on stand 1, cantilever beam lift accommodate the lead screw 14 installs on stand 1, cantilever beam lift guide arm 15 installs on stand 1, lift slip table 4 installs on cantilever beam lift guide arm 15, cantilever beam 5 installs on lift slip table 4, hold-in range 3 is connected cantilever beam lift accommodate the lead screw 14 and cantilever beam lift driving motor 2, wire rope 10 walks around fixed pulley 11 and connects balancing weight 9 and lift slip table 4.
A cantilever beam formula saddle seam welding robot, its characterized in that: the cantilever lifting adjusting screw rod 12 is arranged on the cantilever lifting adjusting sliding block 19, the cantilever lifting adjusting sliding block 19 is arranged on the cantilever feeding driving sliding table 24, the cantilever feeding guide rod 25 is arranged on the cross beam 20, the cantilever feeding adjusting screw rod 21 is arranged on the cross beam 20, and the cantilever feeding driving sliding table 24 is arranged on the cantilever feeding guide rod 25.
A cantilever beam formula saddle seam welding robot, its characterized in that: the connecting rod 13 is connected with the lower cantilever mounting plate 18 and the upper cantilever mounting plate 23, the cantilever lifting adjusting motor 6 is mounted on the upper cantilever mounting plate 23, and the second synchronous belt 22 is connected with the cantilever lifting adjusting motor 6 and the cantilever lifting adjusting screw rod 12.
A cantilever beam formula saddle seam welding robot, its characterized in that: welder (8) install on welder mounting bracket 17, welder mounting bracket 17 installs under the cantilever on mounting panel 18, welder angle accommodate motor 7 passes through gear 26 transmission power and gives welder mounting bracket 17.
The invention realizes the automatic cooperative operation of the rotation, interpolation and swing angle adjustment of the welding gun, improves the welding quality and the welding efficiency of the saddle-shaped welding line and reduces the labor intensity of workers.
Drawings
Fig. 1 is an overall structural view of the present invention.
Fig. 2 is a front view of the present invention.
Fig. 3 is a left side view of the present invention.
Fig. 4 is a right side view of the present invention.
Fig. 5 is a partial schematic view of the welding robot body of the present invention.
Reference numbers in the figures: the device comprises an upright post 1, a cantilever beam lifting driving motor 2, a synchronous belt I3, a lifting sliding table 4, a cantilever beam 5, a cantilever lifting adjusting motor 6, a welding gun angle adjusting motor 7, a welding gun 8, a balancing weight 9, a steel wire rope 10, a fixed pulley 11, a cantilever lifting adjusting screw rod 12, a connecting rod 13, a cantilever lifting adjusting screw rod 14, a cantilever lifting guide rod 15, a cantilever feeding driving motor 16, a welding gun mounting frame 17, a cantilever lower mounting plate 18, a cantilever lifting adjusting slider 19, a cross beam 20, a cantilever feeding adjusting screw rod 21, a synchronous belt II 22, a cantilever upper mounting plate 23, a cantilever feeding driving sliding table 24, a cantilever feeding guide rod 25 and a driving gear 26.
Detailed Description
For a better understanding and appreciation of the structural features and advantages achieved by the present invention, reference is made to the following detailed description of the preferred embodiments taken in conjunction with the accompanying drawings, in which:
as shown in fig. 1, in the cantilever type saddle welding robot according to the present invention, a lifting mechanism and a welding robot body are connected by a rotating shaft.
The lifting mechanism consists of an upright post, a cantilever beam, a lifting sliding table and a cantilever beam lifting driving motor. The welding robot body comprises a beam, a cantilever and a welding gun. The welding of a spatial three-dimensional saddle-shaped welding line formed by butt joint of pipes and pipes is realized by controlling the rotation and lifting of a cantilever arranged on a cross beam and the swinging of a welding gun arranged on the cantilever.
Cantilever beam formula saddle shape welding robot constitute by elevating system and welding robot body, elevating system constitute by stand, cantilever beam, lift slip table and cantilever beam lift driving motor, the welding robot body constitute by crossbeam, cantilever and welder, the cantilever comprises cantilever lift accommodate the lead screw 12 and connecting rod 13, stand 1 is installed subaerial, cantilever beam lift driving motor 2 installs on stand 1, cantilever beam lift accommodate the lead screw 14 installs on stand 1, cantilever beam lift guide arm 15 installs on stand 1, lift slip table 4 installs on cantilever beam lift guide arm 15, cantilever beam 5 installs on lift slip table 4, hold-in range 3 is connected cantilever beam lift accommodate the lead screw 14 and cantilever beam lift driving motor 2, wire rope 10 walks around fixed pulley 11 and connects balancing weight 9 and lift slip table 4.
A cantilever beam formula saddle seam welding robot, its characterized in that: the cantilever lifting adjusting screw rod 12 is arranged on the cantilever lifting adjusting sliding block 19, the cantilever lifting adjusting sliding block 19 is arranged on the cantilever feeding driving sliding table 24, the cantilever feeding guide rod 25 is arranged on the cross beam 20, the cantilever feeding adjusting screw rod 21 is arranged on the cross beam 20, and the cantilever feeding driving sliding table 24 is arranged on the cantilever feeding guide rod 25.
A cantilever beam formula saddle seam welding robot, its characterized in that: the connecting rod 13 is connected with the lower cantilever mounting plate 18 and the upper cantilever mounting plate 23, the cantilever lifting adjusting motor 6 is mounted on the upper cantilever mounting plate 23, and the second synchronous belt 22 is connected with the cantilever lifting adjusting motor 6 and the cantilever lifting adjusting screw rod 12.
A cantilever beam formula saddle seam welding robot, its characterized in that: welder (8) install on welder mounting bracket 17, welder mounting bracket 17 installs under the cantilever on mounting panel 18, welder angle accommodate motor 7 passes through gear 26 transmission power and gives welder mounting bracket 17.
The welding gun position and posture control is realized through the cooperative control motor, the cantilever beam 5 is driven to rise to a proper height through the cantilever beam lifting driving motor 2, the welding robot body rotates around the rotating shaft, the cantilever lifting adjusting motor 6 drives the welding gun 8 to perform vertical interpolation, the welding gun angle adjusting motor 7 drives the welding gun mounting frame 17 to swing through the gear 26 to complete the swinging of the welding gun 8, and the welding of the saddle-shaped welding seam is realized through the cooperative operation of the control motor.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. The utility model provides a cantilever beam formula saddle seam welding robot which characterized in that: cantilever beam formula saddle shape welding robot constitute by elevating system and welding robot body, elevating system constitute by stand, cantilever beam, lift slip table and cantilever beam lift driving motor, the welding robot body constitute by crossbeam, cantilever and welder, the cantilever comprises cantilever lift accommodate the lead screw (12) and connecting rod (13), stand (1) is installed subaerial, cantilever beam lift driving motor (2) are installed on stand (1), cantilever beam lift accommodate the lead screw (14) and are installed on stand (1), cantilever beam lift guide arm (15) are installed on stand (1), lift slip table (4) are installed on cantilever beam lift guide arm (15), cantilever beam (5) are installed on lift slip table (4), hold-in range (3) are connected cantilever beam lift accommodate the lead screw (14) and cantilever beam lift driving motor (2), the steel wire rope (10) is connected with the balancing weight (9) and the lifting sliding table (4) by bypassing the fixed pulley (11).
2. The cantilever type saddle seam welding robot according to claim 1, wherein: cantilever lift accommodate the lead screw (12) install on cantilever lift accommodate the slider (19), cantilever lift accommodate the slider (19) and install on cantilever feed drive slip table (24), the cantilever feeds guide arm (25) and installs on crossbeam (20), cantilever feed accommodate the lead screw (21) and install on crossbeam (20), the cantilever feeds drive slip table (24) and installs on cantilever feed guide arm (25).
3. The cantilever type saddle seam welding robot according to claim 1, wherein: the connecting rod (13) connect under the cantilever mounting panel (18) and cantilever mounting panel (23) on, cantilever lift adjustment motor (6) are installed on cantilever mounting panel (23), cantilever lift adjustment motor (6) and cantilever lift accommodate the lead screw (12) are connected in hold-in range two (22).
4. The cantilever type saddle seam welding robot according to claim 1, wherein: welder (8) install on welder mounting bracket (17), on installation board (18) under the cantilever welder mounting bracket (17) install, welder angle accommodate motor (7) are installed under the cantilever on mounting board (18), welder angle accommodate motor (7) transmit power for welder mounting bracket (17) through gear (26).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010012503.6A CN111375944A (en) | 2020-01-07 | 2020-01-07 | Cantilever beam type saddle-shaped welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010012503.6A CN111375944A (en) | 2020-01-07 | 2020-01-07 | Cantilever beam type saddle-shaped welding robot |
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| Publication Number | Publication Date |
|---|---|
| CN111375944A true CN111375944A (en) | 2020-07-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010012503.6A Pending CN111375944A (en) | 2020-01-07 | 2020-01-07 | Cantilever beam type saddle-shaped welding robot |
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| CN (1) | CN111375944A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112548404A (en) * | 2020-11-23 | 2021-03-26 | 南京创科电气有限公司 | Suspension type saddle welding device and working method thereof |
| CN112628537A (en) * | 2020-12-01 | 2021-04-09 | 国电长源第一发电有限责任公司 | Supporting and fixing device for mounting pulverized coal burner and using method thereof |
| CN113601484A (en) * | 2021-07-28 | 2021-11-05 | 合肥市春华起重机械有限公司 | Lining-changing manipulator cantilever structure |
-
2020
- 2020-01-07 CN CN202010012503.6A patent/CN111375944A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112548404A (en) * | 2020-11-23 | 2021-03-26 | 南京创科电气有限公司 | Suspension type saddle welding device and working method thereof |
| CN112628537A (en) * | 2020-12-01 | 2021-04-09 | 国电长源第一发电有限责任公司 | Supporting and fixing device for mounting pulverized coal burner and using method thereof |
| CN113601484A (en) * | 2021-07-28 | 2021-11-05 | 合肥市春华起重机械有限公司 | Lining-changing manipulator cantilever structure |
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