CN111633312B - Welding system adopting welding moving trolley to load welding gun - Google Patents

Welding system adopting welding moving trolley to load welding gun Download PDF

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Publication number
CN111633312B
CN111633312B CN202010458367.3A CN202010458367A CN111633312B CN 111633312 B CN111633312 B CN 111633312B CN 202010458367 A CN202010458367 A CN 202010458367A CN 111633312 B CN111633312 B CN 111633312B
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China
Prior art keywords
welding
fixed
gear
fixedly connected
roller
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CN202010458367.3A
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Chinese (zh)
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CN111633312A (en
Inventor
程远
袁玉荣
郭振
曾德河
李�浩
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Nanjing Yingnigema Industrial Automation Technology Co ltd
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Nanjing Yingnigema Industrial Automation Technology Co ltd
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Priority to CN202010458367.3A priority Critical patent/CN111633312B/en
Priority to PCT/CN2020/104617 priority patent/WO2021237920A1/en
Publication of CN111633312A publication Critical patent/CN111633312A/en
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Publication of CN111633312B publication Critical patent/CN111633312B/en
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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
    • B23K9/00—Arc welding or cutting
    • B23K9/32—Accessories
    • 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
    • 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
    • B23K9/00—Arc welding or cutting
    • B23K9/095—Monitoring or automatic control of welding parameters
    • 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
    • B23K9/095—Monitoring or automatic control of welding parameters
    • B23K9/0956—Monitoring or automatic control of welding parameters using sensing means, e.g. optical

Abstract

The invention discloses a welding system adopting a welding moving trolley to load a welding gun, which comprises a PLC control box, the welding moving trolley, a track laid on a position to be welded, a digital fuse wire power supply system and the welding gun, wherein the track is arranged on the position to be welded; the welding moving trolley comprises a trolley body, a travelling mechanism and a displacement adjusting mechanism, wherein the travelling mechanism is fixed on the trolley body and used for driving the trolley body to travel along a rail, the displacement adjusting mechanism is fixed on the trolley body and used for adjusting the longitudinal position and the horizontal position of a welding gun, the displacement adjusting mechanism comprises a longitudinal moving mechanism and a transverse swinging mechanism, a terminal tool connecting module is connected to the end portion of the transverse swinging mechanism, the welding gun is connected with the transverse swinging mechanism through the terminal tool connecting module, the welding gun is connected with a digital fuse wire power supply system through a cable, and the travelling mechanism, the displacement adjusting mechanism and the digital fuse wire power supply system in the welding moving trolley are respectively connected with a PLC.

Description

Welding system adopting welding moving trolley to load welding gun
Technical Field
The invention relates to a welding system adopting a welding moving trolley to load a welding gun, and belongs to the technical field of welding equipment.
Background
The existing welding work of welded objects generally comprises manual welding and automatic welding, wherein the manual welding is realized by holding a welding gun by an operator, the manual welding is influenced by the working environment and the working difficulty, the quality of the manual welding is unstable, the quality of a welding seam is poor, and the manual welding causes harm to a human body. Therefore, people adopt the electromechanical integrated electric welding machine, but the electric welding machine still needs to be operated by people in a close range, still can not be influenced, and the welding efficiency is low. For example, when a natural gas pipeline is welded, the diameter of a ring pipe needs to be welded, so that the pipeline to be welded needs to be moved and rotated, and the requirement for high-efficiency and high-quality welding is not met.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to solve the technical problem of providing a welding system adopting a welding moving trolley to load a welding gun, wherein the welding system drives the welding gun to travel along a track arranged on a welding position through the welding moving trolley, so that automatic welding without manually holding the welding gun by hand is realized, and arc pressure tracking of welding is realized by adjusting the welding position and the height of the welding gun through a displacement adjusting mechanism.
The invention content is as follows: in order to solve the technical problems, the technical means adopted by the invention is as follows:
a welding system adopting a welding moving trolley to load a welding gun comprises a PLC control box, the welding moving trolley, a track laid on a position to be welded, a digital fuse wire power supply system and the welding gun; the welding moving trolley comprises a trolley body, a travelling mechanism and a displacement adjusting mechanism, wherein the travelling mechanism is fixed on the trolley body and used for driving the trolley body to travel along an external track, the displacement adjusting mechanism is fixed on the trolley body and used for adjusting the longitudinal position and the horizontal position of a welding gun, the displacement adjusting mechanism comprises a longitudinal moving mechanism and a transverse swinging mechanism, a terminal tool connecting module is connected to the end portion of the transverse swinging mechanism, the welding gun is connected with the transverse swinging mechanism through the terminal tool connecting module, the welding gun is connected with a digital fuse wire power supply system through a cable, and the travelling mechanism, the displacement adjusting mechanism and the digital fuse wire power supply system in the welding moving trolley are respectively connected with a PLC.
The walking mechanism comprises a positioning plate arranged on a bottom plate of the welding trolley, a driving mechanism fixed on the positioning plate and a gear set in transmission connection with a driving end of the driving mechanism, and the gear set is in transmission connection with insections on an external track; still include gyro wheel mechanism, gyro wheel mechanism includes the gyro wheel of symmetry setting, and the welding tractor passes through the gyro wheel and walks along the track.
The gear set comprises five gear structures which are sequentially connected in a transmission manner, the first gear structure is fixedly connected with a driving part of the driving mechanism, the second gear structure is fixed on a rotating shaft I, the rotating shaft I is fixed on a positioning plate through a bearing, the second gear structure comprises an outer gear and an inner gear which are coaxially arranged, the outer gear of the second gear is in transmission connection with the first gear, the inner gear of the second gear is in transmission connection with a third gear, the third gear and a fourth gear are symmetrically arranged on two sides of the positioning plate, the third gear and the fourth gear are fixed on the same rotating shaft II, and the rotating shaft II is also fixed on the positioning plate through a bearing; the fifth gear comprises a large gear and a small gear which are coaxially arranged, the fourth gear is in transmission connection with the small gear of the fifth gear, and the large gear of the fifth gear is in transmission connection with the insections on the external track; the fifth gear is fixed on the rotating shaft III, and the rotating shaft III is fixed on the positioning plate through a bearing.
The roller mechanism comprises four roller assemblies, wherein two roller assemblies I comprise a base I and a mounting seat I fixedly connected with the base I, the roller assemblies I are fixedly connected with the welding trolley through the mounting seat I, the roller I is fixed on the base I through a rotating shaft I, and the roller I is rotatably connected relative to the base I; the other two roller assemblies II comprise a base II with a sliding groove, a mounting base II fixedly connected with the base II and a sliding block embedded in the sliding groove, the sliding block moves back and forth relative to the sliding groove, the roller II is fixed at one end part of the sliding block through a rotating shaft II, the roller II is rotatably connected with the sliding block, a transfer block is fixed at the other end part of the sliding block, and the transfer block is fixedly connected with a screw rod with external threads; the handle structure is fixedly connected with the mounting seat II through a bearing structure, and a through hole with internal threads is formed in the handle structure; wheel components II passes through mount pad II and welding carriage fixed connection, and the handle structure is located the mount pad II outside, and the screw rod of outband screw thread passes through the through-hole on the mount pad II lateral wall and mutually supports fixed connection through interior external screw thread with the handle structure.
The displacement adjusting mechanism comprises a longitudinal moving mechanism, a transverse swinging mechanism and a transfer plate for connecting the longitudinal moving mechanism and the transverse swinging mechanism, the longitudinal moving mechanism comprises a support plate and a motor fixed on one side of the support plate, an output shaft of the motor penetrates through the support plate to be fixedly connected with a gear positioned on the other side of the support plate, and a guide rail extending along the longitudinal direction is further arranged on the other side of the support plate; a rack which is mutually matched and connected with the gear and a sliding block which is mutually matched and connected with the guide rail are arranged on the opposite surfaces of the adapter plate and the support plate, the transverse swinging mechanism is fixed on the adapter plate, and the transverse swinging mechanism is in sliding connection with the support plate through the adapter plate; the end part of the transverse swinging mechanism is connected with a terminal tool connecting module; the supporting plate is also provided with a limit stop at the side edge of the guide rail.
The displacement adjusting mechanism further comprises two organ dust covers and mounting plates corresponding to the two organ dust covers respectively, the two organ dust covers are mounted on the upper side and the lower side of the adapter plate one by one, one ends of the organ dust covers are fixedly mounted on the mounting plates, and the other ends of the organ dust covers are fixedly connected with the end portions of the adapter plate; the mounting panel is the L type, and mounting panel one side is fixed at the backup pad lower extreme, mounting panel another side and organ dust cover fixed connection.
The transverse swinging mechanism comprises a shell, a driving motor positioned in the shell, a fixed seat and a sliding block which are fixed on an upper bottom plate of the shell, and a rack which is fixed on the side wall of the shell; the driving end of the driving motor is fixedly connected with a gear, the gear is in transmission connection with a rack fixed on the side wall of the shell, a sleeve is sleeved outside the fixed seat, the fixed end of the driving motor is fixedly connected with the sleeve, and the fixed end of the driving motor moves horizontally relative to the fixed seat through the sleeve; a guide rail which moves horizontally relative to the sliding block is arranged in the sliding block and is fixedly connected with the fixed end of the driving motor; the guide rail extends out of the shell, and one end of the guide rail extending out of the shell is a tool end interface; a protective shell is sleeved outside the tool end interface; still be equipped with position sensor in the casing, position sensor has two, and the extending direction of tandem edge rack sets up.
The terminal tool connecting module comprises a welding gun connecting module and a camera connecting module; one side of the welding gun connecting module is fixedly connected with a tool end interface of the transverse swinging mechanism, and the other side of the welding gun connecting module is fixedly connected with a welding gun through a welding gun holder; one side of the camera connecting module is fixedly connected with a protective shell sleeved outside the tool end interface, and the other side of the camera connecting module is provided with a camera.
The welding gun connecting module comprises a fixed seat I, a fixed seat II, a fixed seat III, a connecting rod and a welding gun holder; the tool end connector is arranged on the fixed seat I, and the tool end connector is embedded into the tool end connector; the fixed seats II and III are also provided with guide rod embedding inlets for embedding guide rods; fixing base I, fixing base II and fixing base III all are equipped with the handle that is used for adjusting guide arm embedding mouth internal diameter size, the fixed guide arm that even has on fixing base II and the fixing base III, fixing base II's guide arm inlays the mouth along the level to embedding fixing base I's guide arm, fixing base III's guide arm inlays in the mouth along vertical embedding fixing base II's guide arm, during connecting rod one end embedding fixing base III's guide arm inlays the mouth, the connecting rod other end and welder holder fixed connection.
The camera connecting module comprises a connecting seat, a first fixed seat with a guide rod, a second fixed seat with a guide rod, a first connecting rod and a camera mounting seat; the protective shell sleeved outside the end interface of the tool is placed in the U-shaped groove and is fixed in the U-shaped groove through a bolt; the connecting seat, the first fixing seat and the second fixing seat are respectively provided with an embedding opening, the first fixing seat and the second fixing seat are also fixedly connected with a guide rod structure, and meanwhile, the first fixing seat and the second fixing seat are also provided with handle structures for adjusting the inner diameter of the embedding openings; one end of the first connecting rod is embedded into the embedding inlet of the second fixing seat, and the other end of the first connecting rod is fixedly connected with the camera mounting seat; the camera is mounted in the camera mount.
Has the advantages that: according to the welding system, the welding gun is driven by the welding moving trolley to travel along the track arranged on the welding position, so that automatic welding without manually holding the welding gun by hand is realized, and the welding position and the height of the welding gun are adjusted by the displacement adjusting mechanism to realize arc voltage tracking of welding.
Drawings
FIG. 1 is a system schematic of a welding system of the present invention;
FIG. 2 is a schematic structural diagram I of a welding moving trolley placed on a track;
FIG. 3 is an exploded view of the welding carriage;
FIG. 4 is a schematic structural view II of the welding traveling trolley placed on the rail;
FIG. 5 is a partial schematic view of the welding carriage positioned on the rail;
FIG. 6 is a schematic structural diagram of the running gear on the track;
FIG. 7 is a schematic structural diagram of a roller assembly on one side of the walking mechanism;
FIG. 8 is a side view of the travel mechanism gear set;
FIG. 9 is a side view of the travel mechanism on the track;
FIG. 10 is a diagram of the relative positions of the roller mechanism and the rail;
FIG. 11 is a schematic view of the handle structure driving the slider to move back and forth along the sliding slot;
FIG. 12 is a top view of the roller mechanism as it travels on the track;
FIG. 13 is a top view of the roller mechanism removed from the track;
FIG. 14 is a partial schematic view of the traveling mechanism;
FIG. 15 is an exploded view of the longitudinal movement mechanism and the lateral swing mechanism of the displacement adjustment mechanism mounted on the welding carriage;
FIG. 16 is a schematic structural view of the longitudinal moving mechanism and the transverse swinging mechanism of the displacement adjusting mechanism mounted on the welding carriage;
FIG. 17 is a schematic view of a partial structure of a longitudinal moving mechanism and a transverse swinging mechanism of a displacement adjusting mechanism mounted on a welding carriage;
fig. 18 is a schematic structural view of the adaptor plate and the dustproof cover of the wind instrument mounted on the support plate;
FIG. 19 is a schematic view of the connection of the adapter plate to the support plate;
FIG. 20 is a schematic view of the connection of the adapter plate to the support plate;
FIG. 21 is a schematic structural view of the supporting plate without the bellows dust cover;
FIG. 22 is a schematic view showing the structure of the supporting plate with the bellows dust cover;
FIG. 23 is a top view of the relative positions of the motor and the adapter plate;
FIG. 24 is a partial schematic view of the components on the support plate;
FIG. 25 is a schematic view of the structure of the lateral swinging mechanism;
FIG. 26 is a partial schematic view of the lateral swinging mechanism;
FIG. 27 is a schematic structural view of a lateral swinging mechanism;
FIG. 28 is a schematic view of the connection of the end tool connection module to the traverse swing mechanism and the welding gun;
FIG. 29 is a schematic view of a torch connection module of the terminal tool connection module;
FIG. 30 is an exploded view of the torch connection module;
FIG. 31 is a schematic view of a weld gun connection module interfacing with the tool end of the traverse mechanism and a weld gun;
fig. 32 is a schematic view of a camera connection module in the end tool connection module.
Detailed Description
The invention will be better understood from the following examples. However, those skilled in the art will readily appreciate that the description of the embodiments is only for illustrating the present invention and should not be taken as limiting the invention as detailed in the claims.
As shown in fig. 1 to 32, the welding system using the welding mobile cart for loading the welding gun of the present invention includes a PLC control box 119, a welding mobile cart 68, a rail 71 laid on a position to be welded, a digital fuse power supply system 118, and a welding gun 39; the welding moving trolley 68 comprises a trolley body 68, a travelling mechanism fixed on the trolley body 68 and used for driving the trolley body to travel along a rail 71, and a displacement adjusting mechanism fixed on the trolley body 68 and used for adjusting the longitudinal and horizontal positions of the welding gun 39, wherein the rail 71 is arranged on a rail fixing device 115; the displacement adjusting mechanism comprises a longitudinal moving mechanism and a transverse swinging mechanism 30, the end part of the transverse swinging mechanism 30 is connected with a terminal tool connecting module 70, and the welding gun 39 is connected with the transverse swinging mechanism through the terminal tool connecting module 70; the welding gun 39 is connected with a digital fuse power supply system 118 through a cable, and the travelling mechanism and the displacement adjusting mechanism in the welding moving trolley 68 and the digital fuse power supply system 118 are respectively connected with a PLC control box 119 through cables.
The welding trolley body 68 comprises a bottom plate 63, side plates 120 fixed on two sides of the bottom plate 63, an L-shaped sealing plate 113 and a supporting plate 56 fixed on the bottom plate 63, wherein one end of the L-shaped sealing plate 113 is fixedly connected with the top end of the supporting plate 56, and the other end of the L-shaped sealing plate 113 is fixed on the bottom plate 63; one side of the L-shaped sealing plate 113 is also provided with a power supply interface 111. The welding carriage body 68 is also provided with a hand-held part 110 for holding. The welding trolley further comprises a cable fixing device 112, a cable penetrates through the cable fixing device 112, one end of the cable is connected with a digital fuse wire power supply system 118, the other end of the cable is connected with the welding gun 39, the cable fixing device 112 is fixed on the L-shaped sealing plate 113 through a positioning seat 114, the cable fixing device 112 penetrates through a positioning hole in the positioning seat 114, and then the cable fixing device 112 is fixed in the positioning hole through a rotating handle in the positioning seat 114.
The walking mechanism comprises a positioning plate 84 arranged on the bottom plate 63 of the welding trolley 68, a driving mechanism 73 fixed on the positioning plate 84 and a gear set 74 in transmission connection with the driving end of the driving mechanism 73, and the gear set 74 is in transmission connection with the insections 82 on the external track 71; the positioning plate 84 is vertically arranged on the bottom plate 63; the travelling mechanism of the welding travelling trolley further comprises a roller mechanism 72, the roller mechanism 72 comprises symmetrically arranged rollers 86, and the welding trolley 68 travels along the track 71 through the rollers 86. When the pipeline needs to be welded, the annular rail 71 is arranged on the periphery of the pipeline, the welding trolley body 68 is placed on the annular rail 71, and the welding gun 39 is driven by the trolley body 68 to move along the annular rail 71 through the traveling mechanism, so that the pipeline is welded. The driving mechanism 73 is a driving motor and is connected to the PLC control box 119 through a cable.
The gear set 74 includes five gear structures which are in sequential transmission connection, namely a first gear structure 87, a second gear structure 88, a third gear structure 91, a fourth gear structure/92 and a fifth gear structure 93, wherein the first gear structure 87 is fixedly connected with a driving part of the driving mechanism 73, the second gear structure 88 is fixed on a rotating shaft I, the rotating shaft I is fixed on the positioning plate 84 through a bearing, the second gear structure 88 includes an outer gear 89 and an inner gear 90 which are coaxially arranged, the outer gear 89 of the second gear 88 is in transmission connection with the first gear 87, the inner gear 90 of the second gear 88 is in transmission connection with the third gear 91, the third gear 91 and the fourth gear 92 are symmetrically arranged on two sides of the positioning plate 84, the third gear 91 and the fourth gear 92 are fixed on the same rotating shaft II, and the rotating shaft II is also fixed on the positioning plate 84 through a bearing; the fifth gear 93 comprises a large gear 95 and a small gear 94 which are coaxially arranged, the fourth gear 92 is in transmission connection with the small gear 94 of the fifth gear 93, and the large gear 95 of the fifth gear 93 is in transmission connection with the insections 82 on the external track 71; the fifth gear 93 is fixed on the rotating shaft III96, and the rotating shaft III96 is fixed on the positioning plate 84 through a bearing.
The roller mechanism 72 comprises four roller assemblies, wherein two roller assemblies I83 (two roller assemblies I83 are located on the same side of the welding trolley 68) comprise a base I97 and a mounting base I98 fixedly connected with the base I97, the roller assemblies I83 are fixedly connected with the welding trolley 68 through the mounting base I98, the roller I99 is fixed on the base I97 through a rotating shaft I100, and the roller I99 rotates relative to the base I97 with the rotating shaft I100 as a shaft when walking along the track 71 (the rotating shaft I100 is fixed in the base I97, the roller I99 is sleeved outside the rotating shaft I100 and is rotatably connected with the rotating shaft I100, or the rotating shaft I100 is fixedly connected with the base I97 through a bearing, and the roller I99 is sleeved outside the rotating shaft I100 and is fixedly connected with the rotating shaft I100); the other two roller assemblies II85 (two roller assemblies II85 are located on the same side of the welding trolley 68) include a base II75 with a sliding groove 76, a mounting base II77 fixedly connected with the base II75 (the base II75 is fixed inside the mounting base II 77), and a sliding block 102 embedded in the sliding groove 76, the sliding block 102 moves back and forth in the sliding groove 76 relative to the sliding groove 76, the roller II78 is fixed at one end of the sliding block 102 through a rotating shaft II81, the roller II78 is rotatably connected relative to the sliding block 102, and the roller II78 rotates relative to the sliding block 102 with the rotating shaft II81 as a shaft when walking along the rail 71; the other end part of the sliding block 102 is fixed with a switching block 103, and the switching block 103 is fixedly connected with a screw 104 with external threads; the roller assembly II85 further comprises a handle structure 79, the handle structure 79 is rotatably connected with the mounting base II77 through a bearing structure, and a through hole 106 with internal threads is formed in the handle structure 79; the roller assembly II85 is fixedly connected with the welding trolley 68 through the mounting seat II77, the handle structure 79 is positioned on the outer side of the mounting seat II77 relative to the welding trolley, and the screw 104 with external threads penetrates through a through hole on the side wall of the mounting seat II77 to be mutually matched and fixedly connected with the handle structure 79 through the internal threads and the external threads. The handle structure 79 rotates forwards or reversely in situ, so that the screw 104 which is in threaded fit connection with the handle structure 79 moves forwards or backwards along the horizontal direction relative to the handle structure 79, the slide block 102 which is fixedly connected with the screw 104 through the switching block 103 is driven to move forwards or backwards along the horizontal direction relative to the handle structure 79, the slide block 102 moves forwards and backwards along the sliding groove 76 in the space of the mounting seat II77, and the limiting part 101 is arranged at the end part of the screw 104 which is connected with the switching block 103 to prevent the screw 104 from moving excessively. The tops of mount I98 and mount II77 are each provided with a cover plate 80.
The welding trolley 68 is placed on the track 71, the roller I99 is clamped on one side edge of the track 71, the handle structure 79 is rotated, the roller II78 on the sliding block 102 is driven to move forwards until the roller II78 is clamped on the other side edge of the track 71, the driving mechanism 73 is started, the driving mechanism 73 (the driving motor 73) rotates to drive the gear set 74 to rotate, and the large gear 95 of the fifth gear 93 is in transmission connection with the insections 82 on the track 71, so that the welding trolley 68 runs along the track 71 through the roller 86. When it is desired to remove the trolley 68 from the track 71, the drive mechanism 73 is closed and the handle structure 79 is rotated in the opposite direction, and the roller II78 on the slider 102 moves rearwardly relative to the track 71 until the roller II78 clears the side of the track 71.
The displacement adjusting mechanism comprises a longitudinal moving mechanism, a transverse swinging mechanism 30 and an adapter plate 59 connecting the longitudinal moving mechanism and the transverse swinging mechanism 30, the longitudinal moving mechanism comprises a supporting plate 56 and a motor 57 fixed on one side of the supporting plate 56, an output shaft of the motor 57 penetrates through the supporting plate 56 to be fixedly connected with a gear 62 positioned on the other side of the supporting plate 56, a guide rail 58 extending along the longitudinal direction is further arranged on the other side of the supporting plate 56, a U-shaped limit stop 69 is further arranged on the side edge of the guide rail 58, and protruding parts on two sides of the U-shaped limit stop 69 are used for limiting the maximum distance that the sliding block 60 can move upwards or downwards; the support plate 56 is fixed on the bottom plate 63 of the welding trolley 68, the support plate 56 is in an L shape, one side of the support plate 56 is fixed on the bottom plate 63 of the welding trolley 68 through bolts, and the other side of the support plate 56 is used for bearing other components fixed on the support plate; a rack 61 which is mutually matched and connected with a gear 62 and a slide block 60 which is mutually matched and connected with a guide rail 58 are arranged on the opposite surfaces of the adapter plate 59 and the support plate 56, the transverse swinging mechanism is fixed on the adapter plate 59, the transverse swinging mechanism 30 is in sliding connection with the support plate 56 through the adapter plate 59, namely, the transverse swinging mechanism 30 moves upwards or downwards relative to the support plate 56 through the adapter plate 59; the end of the traversing mechanism 30 is connected to a terminal tool connection module 70.
The displacement adjusting mechanism further comprises two organ dust covers 64 and mounting plates 65 corresponding to the two organ dust covers 64 respectively, the two organ dust covers 64 are mounted on the upper side and the lower side of the adapter plate 59 one by one, one ends of the organ dust covers 64 are fixedly mounted on the mounting plates 65 through bolts, and the other ends of the organ dust covers 64 are fixedly connected with the upper/lower ends of the adapter plate through bolts; the mounting plate 65 is L-shaped, one side of the mounting plate 65 is fixedly mounted on the side edge of the bottom plate 63 of the welding trolley 68 through bolts, and the other side of the mounting plate 65 is fixedly connected with the organ dust cover 64 through bolts.
The motor 57 and the driving motor 11 are respectively connected with the PLC controller 119 through cables, the displacement adjusting mechanism is an AVC arc voltage tracking mechanism, and the displacement adjusting mechanism drives the rotation of the motor 57 and the driving motor 11 through the PLC controller 119.
The transverse swinging mechanism 30 comprises a shell 13, a driving motor 11 positioned in the shell 13, a fixed seat 18 and a sliding block 15 which are fixed on the upper bottom plate of the shell 13, and a rack 14 fixed on the side wall of the shell 13; the top of the shell 13 is provided with a through hole 21 for a threading (for a cable to pass through); the driving end of the driving motor 11 is fixedly connected with the gear 12, the gear 12 is in transmission connection with a rack 14 fixed on the side wall of the shell 13, a sleeve 19 is sleeved outside the fixed seat 18, the fixed end of the driving motor 11 is fixedly connected with the sleeve 19, the fixed end of the driving motor 11 moves horizontally relative to the fixed seat 18 through the sleeve 19, namely the sleeve 19 is sleeved on the fixed seat 18 and can move left and right along the fixed seat 18, and the fixed end of the driving motor 11 is fixedly connected with the sleeve 19; a guide rail 16 which moves horizontally relative to the sliding block 15 is arranged in the sliding block 15, and the guide rail 16 is fixedly connected with the fixed end of the driving motor 11; one end of the rack 14 is fixed on the side wall of the shell 13, and the other end of the rack 14 is provided with a limiting block 22; the guide rail 16 extends out of the shell 13, and one end of the guide rail 16 extending out of the shell 13 is a tool end interface 17; the tool end interface 17 is externally sleeved with a guide rail protective shell 20, the shell 13 is internally provided with two position sensors 23, and the two position sensors 23 are arranged in tandem along the extension direction of the rack 14. The sensor 23 is used for detecting the position of the gear 12 moving on the rack 14, so as to know the moving distance of the gear 12 on the rack 14.
The terminal tool connection module 70 includes a welding gun connection module 116 and a camera connection module 117; one side of the welding gun connection module 116 is fixedly connected with the tool end interface 17 of the transverse swing mechanism 30, and the other side of the welding gun connection module 116 is fixedly connected with a welding gun 39 through a welding gun holder 34; one side of the camera connecting module 117 is fixedly connected with the protective shell 20 sleeved outside the tool end interface 17, and the other side of the camera connecting module 117 is provided with the camera 54; the welding gun 39 and camera 54 are arranged in tandem with respect to the traverse mechanism 30.
One side of the welding gun connection module 116 is fixedly connected with the tool end interface 17 of the swing mechanism 30 through the first insertion port 26, the other side of the welding gun connection module 116 is fixedly connected with the welding gun 39 through the welding gun holder 34, and the welding gun holder 34 is fixedly connected with the welding gun 39 through the adapter plate 28.
The welding gun connection module 116 comprises a fixed seat I24, a fixed seat II27, a fixed seat III31, a connecting rod 35 and a welding gun clamper 34; wherein, the fixed seat I24 is provided with a first embedding opening 26 for embedding the tool end interface 17 and a guide rod embedding opening 25 for embedding a guide rod; guide rod embedding openings (37, 38) for embedding guide rods are also formed in the fixing seat II27 and the fixing seat III 31; fixing base I24, fixing base II27 and fixing base III31 all are equipped with and are used for adjusting handle (36, 29, 32) of guide rod embedding mouth internal diameter size, fixed connection has guide rod I40 on fixing base II27, fixed connection has guide rod II33 on fixing base III31, guide rod I40 of fixing base II27 inlays in I25 along the guide rod embedding mouth of level to embedding fixing base I24, guide rod II33 of fixing base III31 inlays in II37 along the guide rod embedding mouth of vertical embedding fixing base II27, the guide rod embedding mouth III38 of connecting rod 35 one end embedding fixing base III31 is in, the connecting rod 35 other end and welder holder 34 fixed connection. A guide rod I40 of a fixed seat II27 is embedded in the guide rod embedding opening I25, a guide rod 140 of a fixed seat II27 can horizontally move left and right relative to a guide rod embedding opening I25 of a fixed seat I24, when the guide rod I40 moves to a required position, the guide rod I40 is fixed in the guide rod embedding opening I25 of the fixed seat I24 through a rotating handle I36, a tool end interface 17 is embedded in the first embedding opening 26 of the fixed seat I24, the tool end interface 17 can horizontally move left and right relative to the first embedding opening 26 of the fixed seat I24, when the tool end interface 17 moves to the required position in the first embedding opening 26, the tool end interface 17 is fixed in the first embedding opening 26 of the fixed seat I24 through the rotating handle I36, namely, the handle I36 rotates to simultaneously fix the tool end interface 17 in the first embedding opening 26 of the fixed seat I24 and the guide rod I40 is fixed in the guide rod embedding opening I25 of the fixed seat I24; when the guide rod II33 of the fixed seat III31 moves up and down along the longitudinal direction relative to the guide rod inserting port II37 of the fixed seat II27, when the guide rod II33 moves to a required position relative to the guide rod inserting port II37, the guide rod II33 is fixed on the fixed seat II27 through the rotating handle II29, the connecting rod 35 moves back and forth along the horizontal direction relative to the guide rod inserting port III38 of the fixed seat III31, and when the connecting rod 35 moves to a required position relative to the guide rod inserting port III38, the connecting rod 35 is fixed on the fixed seat III31 through the rotating handle III 32.
The camera connecting module 117 includes a connecting base 41, a first fixing base 44 with a guide rod, a second fixing base 48 with a guide rod, a first connecting rod 52 and a camera mounting base 53; a U-shaped groove 43 is formed in the connecting seat 41, bolt holes 55 are formed in baffle plates on two sides of the U-shaped groove 43, and the protective shell 20 sleeved outside the tool end interface 17 is placed in the U-shaped groove 43 and fixed in the U-shaped groove 43 through bolts; the connecting seat 41, the first fixed seat 44 and the second fixed seat 48 are respectively provided with an embedding opening (42, 47, 51), the first fixed seat 44 is fixedly connected with a guide rod structure 46, the second fixed seat 48 is fixedly connected with a guide rod structure 50, and meanwhile, the first fixed seat 44 and the second fixed seat 48 are also provided with handle structures (45, 49) for adjusting the inner diameter of the embedding openings (47, 51); one end of a first connecting rod 52 is embedded into the embedding opening 51 of the second fixing seat 48, and the other end of the first connecting rod 52 is fixedly connected with a camera mounting seat 53 through the mutual matching of internal and external threads; the camera 54 is mounted in the camera mount 53. The guide rod structure I46 penetrates through the embedding opening I42 (through hole structure) on the connecting seat 41, the guide rod structure I46 can perform front and back telescopic movement relative to the embedding opening I42, and the guide rod structure I46 is fixed at the corresponding position in the embedding opening I42 through the gravity of the protective shell 20 pressing on the U-shaped groove 43; the guide rod structure II50 passes through the embedding opening II47 (through hole structure) on the first fixed seat 44, the guide rod structure II50 can horizontally move left and right relative to the embedding opening II47, and the guide rod structure II50 is fixed at the corresponding position in the embedding opening II47 through the handle structure I45; the first connecting rod 52 passes through the insertion opening III51 (through hole structure) of the second fixing seat 48, the first connecting rod 52 can move up and down longitudinally relative to the insertion opening III51, and the handle structure II49 fixes the first connecting rod 52 at a corresponding position in the insertion opening III 51.
The welding gun connection module 116 in the terminal tool connection module 70 is fixedly connected with the horizontal moving end of the transverse swing mechanism 30, the camera connection module 117 in the terminal tool connection module 70 is fixedly connected with the protective shell 20 outside the tool end interface 17 of the transverse swing mechanism 30, the transverse swing mechanism 30 moves up and down along the supporting plate 56 through the adapter plate 59, the welding gun connection module 116 is driven by the transverse swing mechanism 30 to move in the horizontal direction, meanwhile, the welding gun 39 can be manually adjusted in position in the three-dimensional direction (front, back, left, right, up and down) through the welding gun connection module 116, and the camera 54 on the camera connection module 117 is used for monitoring pictures and parameters of the welding process.

Claims (8)

1. The utility model provides an adopt welding moving trolley to load welding gun's welding system which characterized in that: the device comprises a PLC control box, a welding travelling car, a track laid on a position to be welded, a digital fuse wire power supply system and a welding gun; the welding moving trolley comprises a trolley body, a travelling mechanism and a displacement adjusting mechanism, wherein the travelling mechanism is fixed on the trolley body and used for driving the trolley body to travel along a track, the displacement adjusting mechanism is fixed on the trolley body and used for adjusting the longitudinal position and the horizontal position of a welding gun, the displacement adjusting mechanism comprises a longitudinal moving mechanism and a transverse swinging mechanism, the end part of the transverse swinging mechanism is connected with a terminal tool connecting module, the welding gun is connected with the transverse swinging mechanism through the terminal tool connecting module, the welding gun is connected with a digital fuse wire power supply system through a cable, and the travelling mechanism, the displacement adjusting mechanism and the digital fuse wire power supply system in the welding moving trolley are respectively connected with a PLC; the walking mechanism comprises a positioning plate arranged on a bottom plate of the welding trolley, a driving mechanism fixed on the positioning plate and a gear set in transmission connection with a driving end of the driving mechanism, and the gear set is in transmission connection with insections on an external track; the welding trolley also comprises a roller mechanism, the roller mechanism comprises symmetrically arranged rollers, and the welding trolley travels along the track through the rollers;
the roller mechanism comprises four roller assemblies, wherein two roller assemblies I are positioned on the same side of the welding trolley, each roller assembly I comprises a base I and a mounting base I fixedly connected with the base I, each roller assembly I is fixedly connected with the welding trolley through the mounting base I, each roller I is fixed on the base I through a rotating shaft I, and each roller I rotates relative to the base I by taking the rotating shaft I as a shaft when walking along a track; the other two roller assemblies II are positioned on the same side of the welding trolley, each roller assembly II comprises a base II with a sliding groove, a mounting base II fixedly connected with the base II and a sliding block embedded in the sliding groove, the sliding block moves back and forth in the sliding groove relative to the sliding groove, the roller II is fixed at one end of the sliding block through a rotating shaft II, the roller II is rotatably connected with the sliding block, and the roller II rotates relative to the sliding block by taking the rotating shaft II as a shaft when walking along a track; a transfer block is fixed at the other end of the sliding block and is fixedly connected with a screw with external threads; the roller component II also comprises a handle structure, the handle structure is fixedly connected with the mounting seat II through a bearing structure, and a through hole with internal threads is arranged in the handle structure; the roller assembly II is fixedly connected with the welding trolley through a mounting seat II, the handle structure is positioned on the outer side of the mounting seat II relative to the welding trolley, and a screw rod with external threads penetrates through a through hole in the side wall of the mounting seat II to be mutually matched and fixedly connected with the handle structure through internal and external threads; the handle structure rotates forwards or backwards in situ, so that a screw rod which is in threaded fit connection with the handle structure moves forwards or backwards along the horizontal direction relative to the handle structure, a sliding block which is fixedly connected with the screw rod through a switching block is driven to move forwards or backwards along the horizontal direction relative to the handle structure, the sliding block moves forwards and backwards along a sliding groove in a space of a mounting seat II in the sliding groove, and a limiting part is arranged at the end part of the screw rod, which is connected with the switching block; placing the welding trolley on a track, clamping a roller I on the side edge of one side of the track, rotating a handle structure, driving a roller II on a sliding block to move forwards until the roller II is clamped on the side edge of the other side of the track, starting a driving mechanism, rotating the driving mechanism to drive a gear set to rotate, and enabling the gear set to be in transmission connection with insections on the track, so that the welding trolley travels along the track through the roller; when the welding tractor needs to be taken down from the rail, the driving mechanism is closed, the handle structure is rotated reversely, and the roller II on the sliding block moves backwards relative to the rail until the roller II leaves the side edge of the rail.
2. The welding system of claim 1, wherein the welding carriage is configured to carry a welding gun, and further comprising: the gear set comprises five gear structures which are sequentially in transmission connection, a first gear structure is fixedly connected with a driving part of the driving mechanism, a second gear structure is fixed on a rotating shaft I, the rotating shaft I is fixed on the positioning plate through a bearing, the second gear structure comprises an outer gear and an inner gear which are coaxially arranged, the outer gear of the second gear is in transmission connection with the first gear, the inner gear of the second gear is in transmission connection with a third gear, the third gear and a fourth gear are symmetrically arranged on two sides of the positioning plate, the third gear and the fourth gear are fixed on the same rotating shaft II, and the rotating shaft II is also fixed on the positioning plate through a bearing; the fifth gear comprises a large gear and a small gear which are coaxially arranged, the fourth gear is in transmission connection with the small gear of the fifth gear, and the large gear of the fifth gear is in transmission connection with the insections on the external track; the fifth gear is fixed on the rotating shaft III, and the rotating shaft III is fixed on the positioning plate through a bearing.
3. The welding system of claim 1, wherein the welding carriage is configured to carry a welding gun, and further comprising: the displacement adjusting mechanism comprises a longitudinal moving mechanism, a transverse swinging mechanism and a transfer plate for connecting the longitudinal moving mechanism and the transverse swinging mechanism, the longitudinal moving mechanism comprises a support plate and a motor fixed on one side of the support plate, an output shaft of the motor penetrates through the support plate to be fixedly connected with a gear positioned on the other side of the support plate, and a guide rail extending along the longitudinal direction is further arranged on the other side of the support plate; a rack which is mutually matched and connected with the gear and a sliding block which is mutually matched and connected with the guide rail are arranged on the opposite surfaces of the adapter plate and the support plate, the transverse swinging mechanism is fixed on the adapter plate, and the transverse swinging mechanism is in sliding connection with the support plate through the adapter plate; the end part of the transverse swinging mechanism is connected with a terminal tool connecting module; the supporting plate is also provided with a limit stop at the side edge of the guide rail.
4. The welding system of claim 3, wherein the welding carriage is configured to carry a welding gun, and further comprising: the displacement adjusting mechanism further comprises two organ dust covers and mounting plates corresponding to the two organ dust covers respectively, the two organ dust covers are mounted on the upper side and the lower side of the adapter plate one by one, one ends of the organ dust covers are fixedly mounted on the mounting plates, and the other ends of the organ dust covers are fixedly connected with the end portions of the adapter plate; the mounting panel is the L type, and mounting panel one side is fixed at the backup pad lower extreme, mounting panel another side and organ dust cover fixed connection.
5. The welding system of claim 3, wherein the welding carriage is configured to carry a welding gun, and further comprising: the transverse swinging mechanism comprises a shell, a driving motor positioned in the shell, a fixed seat and a sliding block which are fixed on an upper bottom plate of the shell, and a rack which is fixed on the side wall of the shell; the driving end of the driving motor is fixedly connected with a gear, the gear is in transmission connection with a rack fixed on the side wall of the shell, a sleeve is sleeved outside the fixed seat, the fixed end of the driving motor is fixedly connected with the sleeve, and the fixed end of the driving motor moves horizontally relative to the fixed seat through the sleeve; a guide rail which moves horizontally relative to the sliding block is arranged in the sliding block and is fixedly connected with the fixed end of the driving motor; the guide rail extends out of the shell, and one end of the guide rail extending out of the shell is a tool end interface; a protective shell is sleeved outside the tool end interface; still be equipped with position sensor in the casing, position sensor has two, and the extending direction of tandem edge rack sets up.
6. The welding system of claim 1, wherein the welding carriage is configured to carry a welding gun, and further comprising: the terminal tool connecting module comprises a welding gun connecting module; one side of the welding gun connecting module is fixedly connected with a tool end interface of the transverse swinging mechanism, and the other side of the welding gun connecting module is fixedly connected with a welding gun through a welding gun holder.
7. The welding system of claim 6, wherein the welding carriage is configured to carry a welding gun, and further comprising: the welding gun connecting module comprises a fixed seat I, a fixed seat II, a fixed seat III, a connecting rod and a welding gun holder; the tool end connector is arranged on the fixed seat I, and the tool end connector is embedded into the tool end connector; the fixed seats II and III are also provided with guide rod embedding inlets for embedding guide rods; fixing base I, fixing base II and fixing base III all are equipped with the handle that is used for adjusting guide arm embedding mouth internal diameter size, the fixed guide arm that even has on fixing base II and the fixing base III, fixing base II's guide arm inlays the mouth along the level to embedding fixing base I's guide arm, fixing base III's guide arm inlays in the mouth along vertical embedding fixing base II's guide arm, during connecting rod one end embedding fixing base III's guide arm inlays the mouth, the connecting rod other end and welder holder fixed connection.
8. The welding system of claim 6, wherein the welding carriage is configured to carry a welding gun, and further comprising: the terminal tool connecting module further comprises a camera connecting module; one side of the camera connecting module is fixedly connected with a protective shell sleeved outside the tool end interface, and the other side of the camera connecting module is provided with a camera; the camera connecting module comprises a connecting seat, a first fixed seat with a guide rod, a second fixed seat with a guide rod, a first connecting rod and a camera mounting seat; the protective shell sleeved outside the end interface of the tool is placed in the U-shaped groove and is fixed in the U-shaped groove through a bolt; the connecting seat, the first fixing seat and the second fixing seat are respectively provided with an embedding opening, the first fixing seat and the second fixing seat are also fixedly connected with a guide rod structure, and meanwhile, the first fixing seat and the second fixing seat are also provided with handle structures for adjusting the inner diameter of the embedding openings; one end of the first connecting rod is embedded into the embedding inlet of the second fixing seat, and the other end of the first connecting rod is fixedly connected with the camera mounting seat; the camera is mounted in the camera mount.
CN202010458367.3A 2020-05-26 2020-05-26 Welding system adopting welding moving trolley to load welding gun Active CN111633312B (en)

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