CN112496494A - Precast pile splicing welding robot - Google Patents
Precast pile splicing welding robot Download PDFInfo
- Publication number
- CN112496494A CN112496494A CN202011305539.XA CN202011305539A CN112496494A CN 112496494 A CN112496494 A CN 112496494A CN 202011305539 A CN202011305539 A CN 202011305539A CN 112496494 A CN112496494 A CN 112496494A
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- welding
- tray
- precast pile
- welding robot
- precast
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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
- B23K9/0026—Arc welding or cutting specially adapted for particular articles or work
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
- Piles And Underground Anchors (AREA)
Abstract
A precast pile welding robot, comprising: the bottom has the removal shallow of 4 rubber wheels, set up the tray on the frame chassis of removal shallow, the last plane of tray has set up the circular orbit, and the welding dolly sets up on the last planar circular orbit of tray, and welding manipulator passes through welding dolly sliding connection in the circular orbit, welding manipulator and welding dolly all are connected with controller control, the tray is hollow structure, the hollow structure of tray is around the welding groove of butt joint on its end plate or the cuff outer fringe when the precast pile connects the stake. The defects that in the prior art, aiming at the welding groove on the outer edge of the end plate of the precast pile extension, the welding labor intensity is high, the welding quality is unstable, the welding efficiency is low, waste gas emission influences the health of a welder, the welder needs to weld for more than 3 times, and the phenomena of material stealing, material reduction and skillful operation of the feeder are frequently caused by manual slag removal before each welding are avoided.
Description
Technical Field
The invention relates to the technical field of precast pile splicing, and also relates to the technical field of welding robots, in particular to a welding robot for precast pile splicing.
Background
At present, when a precast pile with an end plate is spliced, aiming at welding of a welding groove on the outer edge of the end plate at the butt joint of the precast pile, a welder holds an arc welding tongs or a carbon dioxide gas shielded welding gun to manually weld a V-shaped groove spliced by 2 end plates, the labor intensity is high, the welding quality is unstable, the welding efficiency is low, and the body health of the welder is influenced by waste gas emission. In order to achieve the welding strength and the height of a welding seam, the welding is required to be carried out for more than 3 times, manual slag removal is required before each welding, the welding quality is unstable, the phenomena of material stealing and material reduction, machine throwing and skillful taking often occur, and the engineering quality problem is worried.
Disclosure of Invention
In order to solve the problems, the invention provides a welding robot for precast pile splicing, which effectively overcomes the defects that in the prior art, the welding labor intensity for a welding groove on the outer edge of an end plate of a precast pile splicing is high, the welding quality is unstable, the welding efficiency is low, the waste gas emission influences the body health of a welder, the welder needs to weld for more than 3 times, manual slag removal is needed before each welding, the welding quality is unstable, the phenomena of material stealing and material reduction, skillful operation and taking are frequently caused, and the engineering quality problem is great.
In order to overcome the defects in the prior art, the invention provides a solution for a welding robot for precast pile splicing, which comprises the following specific steps:
a welding robot for precast pile extension, comprising:
the bottom has 4 rubber wheel 1's removal shallow 2, set up tray 3 on the chassis 13 of removal shallow 2, the last plane of tray 3 has set up circular track 7, and the welding carriage setting is on the last planar circular track 7 of tray 3, and welding manipulator 8 passes through welding carriage sliding connection in circular track 7, welding manipulator 8 and welding carriage all are connected with controller control, tray 3 is hollow structure, circular track 7 surrounds hollow structure, the hollow structure of tray 3 is around the welding groove of butt joint department on its end plate or the cuff outer fringe when precast pile connects, the below of tray 3 is provided with the clamping mechanism who is used for pressing the precast pile firmly.
Further, a clamping mechanism for pressing the precast pile firmly includes hydraulic jack 4 of horizontal installation, hydraulic jack 4's quantity is a plurality of, hydraulic jack 4 centers on the precast pile establishes, hydraulic jack 4's tip is equipped with clamp plate 5, install rubber slab 6 on clamp plate 5's the terminal surface, 6 faces of rubber slab and treats the precast pile of pressing firmly, hydraulic jack 4 and controller control connection.
Further, a chassis 13 fixed on the frame of the cart 2 is arranged below the tray 3, the chassis 13 is parallel to the tray 3, and the chassis 13 is connected with a horizontal fine adjustment device.
Further, the horizontal fine-adjustment device comprises a plurality of worm and gear boxes 9 and a plurality of lead screws which are vertically fixed on the bottom wall of the chassis 13.
Further, a level sensor is also mounted on the tray 7.
Further, tray 3 with connect through elevating system between the chassis 13, elevating system includes the lead screw 14 that vertical setting's worm gear case 9 corresponds, worm gear case 9 with controller control connection, the bottom of worm gear case 9 links firmly on the chassis 13, the top of lead screw 14 is connected the bottom of tray 3.
Further, the tray 3 is divided into two sub-trays, and the two sub-trays are connected and spliced into the tray 3 through a pin joint member 10 and a hinge member 11.
Further, a handle push rod 12 is arranged at the tail part of the mobile cart 2.
The invention has the beneficial effects that:
the welding robot for splicing the precast piles is suitable for the welding occasions of end plates or cuffs when precast piles such as tubular piles, hollow square piles, solid square piles, concrete electric poles and the like are butted in the precast electric pole industry and 2 sections of piles are butted. At present, during pile splicing of concrete precast piles, electric arc welding or gas shielded welding is adopted manually for welding between pile head end plates, the labor intensity is high, the working environment is poor, metal smoke pollution, toxic gas pollution and electric arc light radiation are caused during welding, the human body is injured, the welding quality is not controllable, and the welding efficiency is low. The robot welding method is rapid, efficient, safe and good in welding quality. The present pile driver has a hammering pile driver and a static pressure pile driver, the pile driver has to drag the upper pile in the construction process, lift the lower pile, the clean pile end plane has to be checked when the precast pile is butted, adjust the verticality of 2 piles, the concentricity, if the end surface is not flat, the weld gap is large, the steel gasket has to be embedded in the gap, therefore, the welding robot has to move quickly (keep away from the butt joint position, avoid being damaged, vacate personnel come in and go out the inspection space), the welding is quick, the welding robot has to be shifted out of the field of the connecting pile quickly, prevent from being damaged by the collision of the precast pile or the self quality problem of the precast pile explodes the pile and damages and crush the welding robot. The defects that in the prior art, aiming at the welding groove on the outer edge of the end plate of the precast pile extension, the welding labor intensity is high, the welding quality is unstable, the welding efficiency is low, waste gas emission influences the body health of a welder, the welder needs to weld for more than 3 times, manual slag removal is needed before each welding, the phenomena of material stealing and material reduction, machine throwing and skillful taking are frequently caused, and the engineering quality problem is very serious are effectively overcome.
Drawings
Fig. 1 is a schematic view of a partial plan structure of a welding robot for precast pile splicing according to the present invention.
Fig. 2 is a schematic view of the overall structure of the welding robot for precast pile splicing according to the present invention.
The labels in the figures are: 1. a rubber wheel; 2. Moving the cart; 3. a tray; 4. a hydraulic jack; 5. pressing a plate; 6. a rubber plate; 7. an annular track; 8. welding a trolley; 8-1, welding a manipulator; 9. a worm gear box; 10. a pin connector; 11. an articulation member; 12. a handle push rod; 13. a chassis; 14. and a lead screw.
Detailed Description
When the precast pile with the end plate is welded, a welder holds an arc welding tongs or a carbon dioxide gas shielded welding gun to manually weld the V-shaped grooves spliced by the 2 end plates, the labor intensity is high, the welding quality is unstable, the welding efficiency is low, and the body health of the welder is influenced by the emission of waste gas. In order to achieve the welding strength and the height of a welding seam, the welding is required to be carried out for more than 3 times, and manual slag removal is required before each welding, so that the phenomena of material stealing and material reduction, and opportunity investment and skillful operation are frequently caused; the welding robot for the precast pile splicing can automatically weld through a set program, can ensure automatic welding of the V-shaped grooves spliced by the 2 end plates due to advanced structure and superior performance, has high welding speed, uniformity and stability and excellent quality, can completely achieve the required welding seam height and welding strength without slag removal.
The invention will be further described with reference to the following figures and examples.
As shown in fig. 1-2, a welding robot for precast piling includes:
the bottom has the removal shallow 2 of 4 rubber wheels 1, can reach quick safe purpose when using or withdrawing the transfer, because the welding robot who is used for the precast pile extension is very light, just only lays the carpenter's board on ground and just can promote to remove shallow 2 and advance on the carpenter's board. The tray 3 is arranged on a chassis of the movable trolley 2, the annular rail 7 is arranged on the upper plane of the tray 3, the welding trolley 8 is arranged on the annular rail 7 on the upper plane of the tray, and the welding manipulator 8-1 is connected in the annular rail 7 in a sliding mode through the welding trolley 2. The welding manipulator 8-1 and the welding trolley 8 are both in control connection with the controller, the tray 3 is of a hollow structure, the annular rail 7 surrounds the hollow structure, the hollow structure of the tray 3 surrounds the welding groove on the outer edge of an end plate or a hoop of a precast pile when the precast pile is connected, and a clamping mechanism for firmly pressing the precast pile is arranged below the tray 3. The welding trolley 8, the electric telescopic wall of the welding manipulator 8-1, the driving of the manipulator and the welding gun are electrically connected with the controller, and the controller controls the welding of the welding manipulator 8-1 and controls the transmission of the welding trolley 8. The welding carriage 8 can be an electrically controlled carriage.
The clamping mechanism for firmly pressing the precast pile comprises a hydraulic jack 4 which is horizontally installed, the number of the hydraulic jack 4 is a plurality of, preferably 4, the hydraulic jack 4 uniformly surrounds the precast pile, a pressing plate 5 is arranged at the end part of the hydraulic jack 4, a rubber plate 6 is installed on the end face of the pressing plate 5, the rubber plate 6 faces the precast pile to be firmly pressed, and the hydraulic jack 4 is in control connection with a controller. The rubber sheet 6 can increase the friction force when the precast pile is pressed firmly. Therefore, the precast pile can be compressed through stroke adjustment of a piston rod of the hydraulic jack 4 according to different specifications of the precast pile, and the whole trolley used as a welding robot rack is positioned and fixed.
A chassis 13 fixed on the frame of the cart 2 is arranged below the tray 3, the chassis 13 is parallel to the tray 3, and the chassis 13 is connected with a horizontal fine adjustment device which can ensure the horizontal state of the tray 3.
The horizontal fine-adjustment device comprises 3 worm and gear boxes and 3 lead screws which are vertically fixed on the chassis 13, and the worm and gear boxes 9 correspond to the lead screws 14 one by one. The worm and gear box 9 is in control connection with the controller, so that the controller receives signals of the level sensor, and the levelness of the tray 3 can be adjusted by automatically screwing the lead screw 14 through the worm and gear box 9. The hydraulic jack 4 is connected with the chassis 13 through a fixed support.
A level sensor is also mounted on the chassis 13. The level sensor is in control connection with the controller, so that the levelness of the tray 3 can be automatically adjusted by driving the lead screw 14 through the worm and worm gear box 9 according to the level sensor, and the problem that the chassis 13 and the tray 3 are prone to being inclined when a welding robot for precast pile splicing is placed on uneven ground is solved.
Tray 3 with connect through 14 elevating system of lead screw between the chassis 13, elevating system includes the worm gear case 9 of vertical setting, worm gear case 9 with controller control connection, the bottom of worm gear case 9 is linked firmly on the chassis 13, the top of the lead screw 14 that worm gear case 9 corresponds is connected the bottom of tray 3. Therefore, under the control of the controller, the lead screw 14 corresponding to the worm gear box 9 can stretch and retract to realize the lifting and the flexible control of the tray 3. The lead screw 14 lifting mechanism also serves as a horizontal fine adjustment structure.
Tray 3 divide into two sub-trays, and two sub-trays link to each other through pin joint spare 10 and articulated elements 11 and splice do tray 3 does do, do benefit to like this and split two sub-trays and let the precast pile quilt cover in hollow structure.
The tail part of the mobile cart 2 is also provided with a handle push rod 12. This facilitates the movement of the push cart 2.
The working principle of the invention is as follows: when a precast pile with an end plate or a hoop is welded, a handle push rod 12 is pushed by a hand to push the movable trolley 2 to the side of the precast pile, then the pin joint piece 10 and the hinge piece 11 are utilized to separate the two sub-trays, then the movable trolley 2 is pushed to enable the hollow structure part of one sub-tray with a notch to be inserted from the notch and surround the precast pile, then the other sub-tray is connected by the pin joint piece 10 and the hinge piece 11 to close the notch to enable the circular track 7 to be integrated, so that the hollow structure is surrounded on the periphery of the precast pile, then under the operation of the controller, a lead screw 14 corresponding to the worm gear box 9 can be stretched to realize the lifting of the tray 3, and the hollow structure of the tray 3 can surround the welding groove on the outer edge of the end plate or the hoop at the set position when the precast pile is surrounded, and then the controller controls the hydraulic jack 4 to tightly press the precast pile, then the controller controls the welding trolley 8 to run on the circular track and controls the welding manipulator 8-1 to weld, and thus, the welding groove on the outer edge of the end plate or the hoop can be automatically welded after the precast pile is wound around the circular track for one circle. All control work of the controller is automatically controlled by a program written into the controller in advance, and another sub-tray at the notch of the tray 3 is opened after welding.
The welding robot for splicing the precast piles is suitable for the welding occasions of end plates or cuffs when precast piles such as tubular piles, hollow square piles, solid square piles, concrete electric poles and the like are butted in the precast electric pole industry and 2 sections of piles are butted. At present, during pile splicing of concrete precast piles, arc welding gas protection welding is adopted manually, labor intensity is high, working environment is poor, metal smoke dust pollution, toxic gas pollution and electric arc light radiation are caused during welding, harm is caused to human bodies, welding quality is not controllable, and welding efficiency is low. The robot welding method is rapid, efficient, safe and good in welding quality. The existing pile driver is provided with a hammering pile driver and a static pressure pile driver, the pile driver has to drag an upper pile in the construction process, lift a lower pile, check and clean the end plane of the pile when butting the pile, adjust the verticality of 2 piles, concentricity, if the end surface is not flat, the gap of a welding seam is large, and embed a steel gasket in the gap, therefore, the cart structure of the welding robot can also move quickly when entering and exiting (the butt joint position is kept away after welding is finished, the collision is avoided, personnel come in and go out for checking and clearing up, and the welding is quick.
The present invention has been described in an illustrative manner by the embodiments above, and it should be understood by those skilled in the art that the present disclosure is not limited to the embodiments described above, but is capable of various changes, modifications and substitutions without departing from the scope of the present invention.
Claims (8)
1. A welding robot for precast pile extension, comprising:
the bottom has the removal shallow of 4 rubber wheels, set up the tray on the chassis of removal shallow, the last plane of tray has set up the circular orbit, and the welding dolly sets up on the last planar circular orbit of tray, and welding manipulator passes through welding dolly sliding connection in the circular orbit, welding manipulator and welding dolly all are connected with controller control, the tray is hollow structure, the circular orbit encircles hollow structure, the hollow structure of tray is around the welding groove of butt joint department on its end plate or the cuff outer fringe when the precast pile connects the stake, the below of tray is provided with the clamping mechanism who is used for pressing the firm precast pile.
2. The welding robot for precast pile extension of claim 1, wherein the clamping mechanism for precast pile pressing comprises a plurality of horizontally installed hydraulic jacks, the hydraulic jacks are arranged around the precast pile, a pressing plate is arranged at the end of each hydraulic jack, a rubber plate is arranged on the end surface of each pressing plate, the rubber plate faces the precast pile to be pressed, and the hydraulic jacks are in control connection with a controller.
3. Welding robot for precast pile splicing according to claim 1, characterized in that a chassis frame fixed on the frame of the mobile cart is arranged below the tray, the chassis frame is parallel to the tray, and a horizontal fine-adjustment device is connected to the chassis frame.
4. A welding robot for precast pile splicing according to claim 3, wherein the horizontal fine-tuning device comprises a plurality of worm and gear boxes and a plurality of lead screws which are vertically fixed on the plane of the chassis frame.
5. A welding robot for precast piling according to claim 3, wherein a level sensor is further installed on the tray.
6. A welding robot for precast pile extension according to claim 3, wherein the tray frame is connected with the chassis through a lifting mechanism, the lifting mechanism comprises a lead screw corresponding to a vertically arranged worm gear box, the worm gear box is in control connection with the controller, the bottom of the worm gear box is fixedly connected to the chassis frame, and the top of the lead screw corresponding to the worm gear box is connected to the bottom of the tray.
7. A welding robot for precast piling according to claim 3, wherein the tray is divided into two sub-trays, and the two sub-trays are joined and spliced into the tray as a whole by a pin joint and a hinge.
8. A welding robot for precast pile extension according to claim 3, characterized in that a handle push rod is further provided at the tail of the moving cart.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011305539.XA CN112496494B (en) | 2020-11-19 | 2020-11-19 | Precast pile splicing welding robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011305539.XA CN112496494B (en) | 2020-11-19 | 2020-11-19 | Precast pile splicing welding robot |
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| CN112496494A true CN112496494A (en) | 2021-03-16 |
| CN112496494B CN112496494B (en) | 2022-07-08 |
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| CN202011305539.XA Active CN112496494B (en) | 2020-11-19 | 2020-11-19 | Precast pile splicing welding robot |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1208464A (en) * | 1968-02-16 | 1970-10-14 | Nippon Concrete Ind Co Ltd | Automatic welding machine for welding an annular joint between concrete pile sections each having a steel end structure |
| RU2008141709A (en) * | 2006-03-28 | 2010-05-10 | Серимакс (Fr) | ORBITAL HOLDER CONTAINING AT LEAST TWO CONNECTING FRIENDS WITH OTHER ELEMENT IN THE FORM OF RING SEGMENTS; PIP BUTT WELDING DEVICE FOR PIPING FORMING CONTAINING SUCH ORBITAL HOLDER |
| CN203863248U (en) * | 2014-05-15 | 2014-10-08 | 上海泰胜风能装备股份有限公司 | Welding table |
| CN204371110U (en) * | 2014-11-28 | 2015-06-03 | 天津鑫港船务服务有限公司 | A kind of oil derrick detects adjusting device automatically |
| EP3141331A1 (en) * | 2015-09-11 | 2017-03-15 | Maritime Offshore Group GmbH | Method and device for smoothing a weld seam where two elements are connected together |
| CN206702476U (en) * | 2017-05-03 | 2017-12-05 | 中淳高科桩业股份有限公司 | A kind of prefabricated tubular pile docks Full-automatic welding equipment |
| CN108620782A (en) * | 2018-04-12 | 2018-10-09 | 清华大学 | The box shape steel structure scene all-position welding machine of view-based access control model servo |
| CN110732754A (en) * | 2019-11-27 | 2020-01-31 | 江苏科技大学 | TIG welding device for butt joint of LNG pipelines and welding method thereof |
| CN111922620A (en) * | 2020-09-01 | 2020-11-13 | 上海雅跃智能科技有限公司 | Quick butt joint of tubular pile and automatic weld equipment |
-
2020
- 2020-11-19 CN CN202011305539.XA patent/CN112496494B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1208464A (en) * | 1968-02-16 | 1970-10-14 | Nippon Concrete Ind Co Ltd | Automatic welding machine for welding an annular joint between concrete pile sections each having a steel end structure |
| RU2008141709A (en) * | 2006-03-28 | 2010-05-10 | Серимакс (Fr) | ORBITAL HOLDER CONTAINING AT LEAST TWO CONNECTING FRIENDS WITH OTHER ELEMENT IN THE FORM OF RING SEGMENTS; PIP BUTT WELDING DEVICE FOR PIPING FORMING CONTAINING SUCH ORBITAL HOLDER |
| CN203863248U (en) * | 2014-05-15 | 2014-10-08 | 上海泰胜风能装备股份有限公司 | Welding table |
| CN204371110U (en) * | 2014-11-28 | 2015-06-03 | 天津鑫港船务服务有限公司 | A kind of oil derrick detects adjusting device automatically |
| EP3141331A1 (en) * | 2015-09-11 | 2017-03-15 | Maritime Offshore Group GmbH | Method and device for smoothing a weld seam where two elements are connected together |
| CN206702476U (en) * | 2017-05-03 | 2017-12-05 | 中淳高科桩业股份有限公司 | A kind of prefabricated tubular pile docks Full-automatic welding equipment |
| CN108620782A (en) * | 2018-04-12 | 2018-10-09 | 清华大学 | The box shape steel structure scene all-position welding machine of view-based access control model servo |
| CN110732754A (en) * | 2019-11-27 | 2020-01-31 | 江苏科技大学 | TIG welding device for butt joint of LNG pipelines and welding method thereof |
| CN111922620A (en) * | 2020-09-01 | 2020-11-13 | 上海雅跃智能科技有限公司 | Quick butt joint of tubular pile and automatic weld equipment |
Non-Patent Citations (1)
| Title |
|---|
| 陈文: "谈静压预制桩施工工艺", 《福建轻纺》 * |
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