CN113843560B - Tube plate welding robot - Google Patents
Tube plate welding robot Download PDFInfo
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- CN113843560B CN113843560B CN202111436948.8A CN202111436948A CN113843560B CN 113843560 B CN113843560 B CN 113843560B CN 202111436948 A CN202111436948 A CN 202111436948A CN 113843560 B CN113843560 B CN 113843560B
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- welding gun
- welding
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- sleeve
- gun box
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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
- B23K37/0252—Steering means
Abstract
The invention discloses a tube plate welding robot, which belongs to the field of welding equipment and comprises a welding robot, a welding gun assembly and a welding gun platform for bearing the welding gun assembly, wherein the welding gun platform comprises: the welding gun comprises a welding gun box, a U-shaped support and an elastic hanger, wherein the elastic hanger comprises an upper sleeve, a lower sleeve and a tension spring, the positioning rod is abutted against stronger stress generated at the edge of a round hole to be welded and is transmitted to the elastic hanger through the welding gun box, so that the tension spring generates deformation capable of eliminating the stronger stress generated by positioning deviation; according to the invention, through the elastic hanger and the bull-eye wheel, the deviation rectifying and positioning functions of the welding gun can be realized, the welding robot can perform accurate welding work under the condition that the positioning error is smaller than the radius value of the central hole, and compared with the mode of adopting a laser scanner or an industrial camera to take pictures and position visually in the prior art, the method is more convenient to operate and lower in cost.
Description
Technical Field
The invention relates to the field of welding equipment, in particular to a pipe plate welding robot.
Background
In the production of boiler and heat exchanger industry, the end face plate of the pressure vessel needs to be welded with the tube, the number of joints is large, the welding workload is large, and at present, production enterprises mainly take automatic welding guns of the tube plate manually and need to insert the tube plate into the center hole of the tube plate one by one to weld the tube plate. Personal high-intensity labor, poor operation environment, long welding time of workers and hard physical bearing, so that a plurality of quality problems exist in products, the welding seam reproducibility is poor, and the high quality and the construction period of the products cannot be ensured.
The main pain point of the plane automatic tube plate welding is that the robot is difficult to accurately find the coordinate position of the center points of a plurality of tube plate holes, the robot for plane tube plate automatic welding at the present stage determines the coordinate of the center point of the plane tube plate hole by two means of visual photographing and positioning of a laser scanner or an industrial camera, the technical requirement of the scheme is high, the software algorithm is complex, the robot is easy to be interfered by the external environment, such as ambient light reflection interference, interference of metal reflected light on the end surface of a welded tube and the like, the coordinate of the center point of the tube plate hole can be accurately found by the scheme, a plurality of uncertain factors are brought, the accuracy of 100 percent is difficult to ensure, if the error of a few millimeters occurs, the automatic welding can not be realized, the smooth production is difficult to be ensured, the welding quality of a product is influenced, therefore, the robot needs to design a robot which can accurately find the coordinate position error of the center hole radius value of the plane tube plate under the condition that the positioning error is less than the radius value of the center hole, and the tube plate welding robot accurately positions the center coordinates of the tube plate holes.
Disclosure of Invention
The invention provides a tube plate welding robot which can solve the problem that the existing welding equipment can only carry out automatic welding work with 100% of accuracy.
A tube sheet welding robot, includes welding robot, welder subassembly and bears welder subassembly's welder platform, welder platform includes:
the front end of the welding gun box is provided with a positioning rod, and the welding gun assembly is arranged on the welding gun box;
the U-shaped bracket covers the welding gun box; and
an elastic hanger for connecting the welding gun box and the U-shaped bracket;
the elastic hanger comprises an upper sleeve, a lower sleeve and a tension spring, wherein the upper sleeve is arranged on the U-shaped support in a sliding mode, the lower sleeve is arranged on the welding gun box in a sliding mode, the tension spring is arranged in the upper sleeve and the lower sleeve, and an adjusting piece used for adjusting the horizontal position of the welding gun box is further arranged in the upper sleeve.
The positioning rod is abutted against stronger stress generated by the edge of the round hole to be welded and is transmitted to the elastic hanger through the welding gun box, so that the tension spring generates deformation capable of eliminating the stronger stress generated by positioning deviation;
and a connecting box is also arranged between the welding gun box and the U-shaped support and is fixedly arranged on the U-shaped support.
And one side of the welding gun box opposite to the connecting box is fixedly provided with a bull's eye wheel.
The bull-eye wheel is characterized in that a rolling plane seat is fixedly arranged in the connecting box, a yielding hole for yielding the bull-eye wheel is formed in the connecting box, and the bull-eye wheel can roll on the rolling plane seat.
Preferably, the welding gun box and the U-shaped support are both provided with yielding grooves for yielding the elastic hanger.
The top of U-shaped support is fixed and is provided with outer slide rail, the last outer slider that slides of outer slide rail, go up the sleeve with outer slider fixed connection.
An inner sliding rail is fixedly arranged in the welding gun box, an inner sliding block is arranged on the inner sliding rail in a sliding mode, and the lower sleeve is fixedly connected with the inner sliding block.
Preferably, the adjusting part is a hexagon socket head cap screw, the adjusting part is in threaded connection with the inside of the upper sleeve, a sleeve pin connected with the tension spring is arranged in the lower sleeve, and one end of the tension spring is connected with the bottom end and the other end of the hexagon socket head cap screw and connected with the sleeve pin.
Preferably, the front end of the welding gun box is also fixedly provided with a support rod.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, through the elastic hanger and the bull-eye wheel, the deviation rectifying and positioning functions of the welding gun can be realized, the welding robot can perform accurate welding work under the condition that the positioning error is smaller than the radius value of the central hole, and compared with the mode of adopting a laser scanner or an industrial camera to take pictures and position visually in the prior art, the method is more convenient to operate and lower in cost.
Drawings
FIG. 1 is a schematic of the structure of the present invention.
Fig. 2 is a partial cross-sectional view of the present invention.
Fig. 3 is a partially enlarged view of fig. 2 a according to the present invention.
Fig. 4 is a partial enlarged view of the invention at B of fig. 2.
Description of reference numerals: 1. welding gun box, 2, U-shaped support, 3, upper sleeve, 4, lower sleeve, 5, extension spring, 6, locating lever, 7, outer slide rail, 8, outer slider, 9, inner slide rail, 10, inner slider, 11, inner hexagonal screw, 12, sleeve pin, 21, connecting box, 22, bull's eye wheel, 23, rolling plane seat, 24, bracing piece.
Detailed Description
An embodiment of the present invention will be described in detail below with reference to the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the embodiment.
As shown in fig. 1 to 4, a tube plate welding robot provided by an embodiment of the present invention includes a welding robot, a welding gun assembly, and a welding gun platform for carrying the welding gun assembly, wherein the welding gun platform includes:
the front end of the welding gun box 1 is provided with a positioning rod 6, and the welding gun assembly is installed on the welding gun box 1;
the U-shaped bracket 2 covers the welding gun box 1; and
an elastic hanger for connecting the welding gun magazine 1 and the U-shaped support 2.
The elastic hanger comprises an upper sleeve 3 arranged on the U-shaped support 2 in a sliding mode, a lower sleeve 4 arranged on the welding gun box 1 in a sliding mode and a tension spring 5 arranged in the upper sleeve 3 and the lower sleeve 4, and an adjusting piece used for adjusting the horizontal position of the welding gun box 1 is further arranged in the upper sleeve 3.
The positioning rod 6 is abutted against stronger stress generated by the edge of the circular hole to be welded and is transmitted to the elastic hanger through the welding gun box 1, so that the tension spring 5 generates deformation capable of eliminating the stronger stress generated by positioning deviation.
The welding gun box 1 and the U-shaped support 2 are provided with yielding grooves for yielding the elastic hanger.
Because the existence of error, when welding robot promotion welding gun box 1 removed, there is the locating lever 6 can not just in time insert the downthehole condition of tube sheet, locating lever 6 can contradict at tube sheet hole edge promptly, because the tip shape of locating lever 6 is bullet head, consequently the locating lever 6 can insert in the hole on the tube sheet, but can produce a stronger stress like this, stress transmits to the elastic suspension ware on via welding gun box 1 body, make extension spring 5 produce deformation, and at this in-process, bull's eye wheel 22 can move on rolling plane seat 23 and release stronger stress.
The top of U-shaped support 2 is fixed and is provided with outer slide rail 7, outer slide rail 7 goes up the slip and is provided with outer slider 8, go up sleeve 3 with outer slider 8 fixed connection.
The interior fixed slide rail 9 that is provided with of welding gun box 1, slide on the interior slide rail 9 and be provided with interior slider 10, lower sleeve 4 with interior slider 10 fixed connection.
Slotted holes are formed in the welding gun box 1, the U-shaped support 2, the outer sliding block 8 and the inner sliding rail 9, so that when the inner sliding block 10 slides forwards and backwards to adjust the horizontal balance of the welding gun, the inner hexagonal screw 11 is screwed and is not blocked.
The adjusting part is an inner hexagonal screw rod 11, the thread of the adjusting part is connected with the inside of the upper sleeve 3, a sleeve pin 12 connected with the tension spring 5 is arranged in the lower sleeve 4, and one end of the tension spring 5 is connected with the bottom end and the other end of the inner hexagonal screw rod 11 and the sleeve pin 12.
A connecting box 21 is further arranged between the welding gun box 1 and the U-shaped support 2, and the connecting box 21 is fixedly arranged on the U-shaped support 2.
And a bull's eye wheel 22 is fixedly arranged on one side of the welding gun box 1 opposite to the connecting box 21.
The bull eye wheel 22 is fixed on the side surface of the welding gun box 1 through bolts, and the rolling plane seat 23 is fixed on the U-shaped bracket 2 through bolts.
The junction box 21 internal fixation is provided with a rolling plane seat 23, offer on the junction box 21 be used for giving the hole of stepping down that bull's eye wheel 22 stepped down, bull's eye wheel 22 can roll on the rolling plane seat 23.
The presence of the abdicating hole causes the bull's-eye wheel 22 to move on the rolling plane seat 23.
The front end of the welding gun box 1 is also fixedly provided with a support rod 24.
The working principle is as follows: u-shaped support 2 fixes on the robot, and follow the robot and remove, through removing outer slider 8, adjust welding gun box 1 and keep horizontal balanced state, adjust welding gun box 1 position on the vertical direction through rotating hexagon socket head cap screw 11, the robot promotes U-shaped support 2 to suitable position, locating lever 6 slides in tube sheet round hole center automatically, bracing piece 24 contradicts on the tube sheet inner wall, the robot stops promoting, in this process, bull's eye wheel 22 rolls on rolling plane seat 23 along the trend, adjust the position of welder at the perpendicular, release the produced powerful stress because of robot positioning deviation, its surface rolls and removes adjustment welder position, robot positioning deviation automatic adjustment eliminates, begin automatic welding operation.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should make the description as a whole, and the embodiments may be appropriately combined to form other embodiments understood by those skilled in the art.
Claims (4)
1. The utility model provides a tube sheet welding robot, includes welding robot, welder subassembly and bears the welder platform of welder subassembly, its characterized in that, the welder platform includes:
the front end of the welding gun box is provided with a positioning rod, and the welding gun assembly is arranged on the welding gun box;
the U-shaped bracket covers the welding gun box; and
an elastic hanger for connecting the welding gun box and the U-shaped bracket;
the elastic hanger comprises an upper sleeve, a lower sleeve and tension springs, wherein the upper sleeve is arranged on the U-shaped support in a sliding mode, the lower sleeve is arranged on the welding gun box in a sliding mode, the tension springs are arranged in the upper sleeve and the lower sleeve, and an adjusting piece used for adjusting the horizontal position of the welding gun box is further arranged in the upper sleeve;
the positioning rod is abutted against the stress generated by the edge of the round hole to be welded and is transmitted to the elastic hanger through the welding gun box, so that the tension spring generates deformation capable of eliminating the stress;
a connecting box is further arranged between the welding gun box and the U-shaped support, and is fixedly arranged on the U-shaped support;
a bull's eye wheel is fixedly arranged on one side of the welding gun box opposite to the connecting box;
the bull-eye wheel is characterized in that a rolling plane seat is fixedly arranged in the connecting box, a yielding hole for yielding the bull-eye wheel is formed in the connecting box, and the bull-eye wheel can roll on the rolling plane seat.
2. The pipe plate welding robot of claim 1, wherein the gun box and the U-shaped support are both provided with an abdicating groove for abdicating the elastic hanger;
an outer sliding rail is fixedly arranged at the top of the U-shaped support, an outer sliding block is arranged on the outer sliding rail in a sliding mode, and the upper sleeve is fixedly connected with the outer sliding block;
an inner sliding rail is fixedly arranged in the welding gun box, an inner sliding block is arranged on the inner sliding rail in a sliding mode, and the lower sleeve is fixedly connected with the inner sliding block.
3. The tube plate welding robot as claimed in claim 1 or 2, wherein the adjusting member is a socket head cap screw, which is screwed into the upper sleeve, a sleeve pin connected to the tension spring is provided in the lower sleeve, one end of the tension spring is connected to the bottom end of the socket head cap screw, and the other end of the tension spring is connected to the sleeve pin.
4. The tube plate welding robot as claimed in claim 1, wherein a support bar is further fixedly provided at a front end of the gun case.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111436948.8A CN113843560B (en) | 2021-11-30 | 2021-11-30 | Tube plate welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111436948.8A CN113843560B (en) | 2021-11-30 | 2021-11-30 | Tube plate welding robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113843560A CN113843560A (en) | 2021-12-28 |
| CN113843560B true CN113843560B (en) | 2022-02-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111436948.8A Active CN113843560B (en) | 2021-11-30 | 2021-11-30 | Tube plate welding robot |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3064120A (en) * | 1960-07-08 | 1962-11-13 | Westinghouse Electric Corp | Welding apparatus |
| JPS59223178A (en) * | 1983-06-01 | 1984-12-14 | Ube Ind Ltd | Automatic welding machine for tube plate |
| CN2897522Y (en) * | 2006-02-09 | 2007-05-09 | 苏州工业园区华焊科技有限公司 | Position controlling mechanism of automatic tubeplate MIG welder |
| CN101362266A (en) * | 2007-08-10 | 2009-02-11 | 苏州工业园区华焊科技有限公司 | Tube plate welder with optical positioning device and positioning method thereof |
| JP2009078282A (en) * | 2007-09-26 | 2009-04-16 | Daiichi Mekatetsuku:Kk | Apparatus for automatically seal-welding tube end |
| CN202291766U (en) * | 2011-10-14 | 2012-07-04 | 武汉星光石油化工设备有限公司 | Rapid positioning device for suspension type automatic argon arc welding machine for tube sheet |
| CN111112900A (en) * | 2020-02-17 | 2020-05-08 | 四川滕洋智能科技有限公司 | Full-automatic vision positioning tube plate welding device |
-
2021
- 2021-11-30 CN CN202111436948.8A patent/CN113843560B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3064120A (en) * | 1960-07-08 | 1962-11-13 | Westinghouse Electric Corp | Welding apparatus |
| JPS59223178A (en) * | 1983-06-01 | 1984-12-14 | Ube Ind Ltd | Automatic welding machine for tube plate |
| CN2897522Y (en) * | 2006-02-09 | 2007-05-09 | 苏州工业园区华焊科技有限公司 | Position controlling mechanism of automatic tubeplate MIG welder |
| CN101362266A (en) * | 2007-08-10 | 2009-02-11 | 苏州工业园区华焊科技有限公司 | Tube plate welder with optical positioning device and positioning method thereof |
| JP2009078282A (en) * | 2007-09-26 | 2009-04-16 | Daiichi Mekatetsuku:Kk | Apparatus for automatically seal-welding tube end |
| CN202291766U (en) * | 2011-10-14 | 2012-07-04 | 武汉星光石油化工设备有限公司 | Rapid positioning device for suspension type automatic argon arc welding machine for tube sheet |
| CN111112900A (en) * | 2020-02-17 | 2020-05-08 | 四川滕洋智能科技有限公司 | Full-automatic vision positioning tube plate welding device |
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| CN113843560A (en) | 2021-12-28 |
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