CN114211162A - Robot and method for welding rod body and flange of electric power tower - Google Patents
Robot and method for welding rod body and flange of electric power tower Download PDFInfo
- Publication number
- CN114211162A CN114211162A CN202111580752.6A CN202111580752A CN114211162A CN 114211162 A CN114211162 A CN 114211162A CN 202111580752 A CN202111580752 A CN 202111580752A CN 114211162 A CN114211162 A CN 114211162A
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- 238000003466 welding Methods 0.000 title claims abstract description 106
- 238000000034 method Methods 0.000 title claims abstract description 9
- 210000001503 joint Anatomy 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 238000013459 approach Methods 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 6
- 230000007306 turnover Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Classifications
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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
-
- 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
- B23K31/00—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups
- B23K31/02—Processes relevant to this subclass, specially adapted for particular articles or purposes, but not covered by only one of the preceding main groups relating to soldering or welding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/053—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
Abstract
The invention discloses a power tower rod body, a flange welding robot and a method thereof, wherein the power tower rod body comprises a base, a first fixing part and a second fixing part, the first fixing part is arranged at the upper end of the base and used for fixing a power rod, the second fixing part is arranged at the upper end of the base and used for fixing a flange, a welding part used for welding the contact position of the flange and the power rod is arranged between the first fixing part and the second fixing part, and the first fixing part, the second fixing part and the welding part are electrically connected with a control panel.
Description
Technical Field
The invention relates to the technical field of welding equipment, in particular to a power tower rod body, a flange welding robot and a method thereof.
Background
With the continuous expansion of the construction scale of the transmission line in China, the demand of the power pole tower is also continuously increased. In the process of welding the electric tower, welding works such as flange welding, rib plate welding and welding of other parts on the tower body are generally included. At present, manual welding is widely used, but during manual welding, the welding quality is easily influenced by the operation skills of workers, and side rib plates need to be welded simultaneously due to process requirements, so that the labor cost is greatly consumed, and the welding efficiency is low. Therefore, the problem that needs to be overcome in the field is to design a welding scheme with high automation degree, good welding precision and high welding efficiency.
Disclosure of Invention
The invention aims to provide a power tower rod body, a flange welding robot and a method thereof, and aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a welding robot for a rod body and a flange of an electric power tower comprises a base, a first fixing part and a second fixing part, wherein the first fixing part is arranged at the upper end of the base and used for fixing the electric power rod, the second fixing part is used for fixing the flange, a welding part used for welding the contact position of the flange and the electric power rod is arranged between the first fixing part and the second fixing part, and the first fixing part, the second fixing part and the welding part are electrically connected with a control panel;
the welding part comprises an installation vertical plate arranged at the upper end of the base, a penetrating port convenient for the flange to penetrate is formed in the installation vertical plate, a rotating ring is arranged at the penetrating position in a rotating mode, the rotating ring is connected with a turnover driving piece used for driving the rotating ring to turn over so as to switch the welding position, a welding fixing seat is arranged on the inner wall of the rotating ring, and a welding piece used for welding the connecting position of the flange and the power rod is arranged on the welding fixing seat.
As a further scheme of the invention: the welding part comprises an angle fixing plate, a welding machine is arranged on the angle fixing plate, a welding head is arranged at the output end of the welding machine, two angle adjusting rods are symmetrically arranged on a welding fixing seat where the angle fixing plate is located, the output ends of the two angle adjusting rods are rotatably connected with the bottom of the angle fixing plate through rotating shafts, and the tail portion of one of the angle adjusting rods is also rotatably connected with the welding fixing seat.
As a further scheme of the invention: the overturning driving part comprises a driven gear ring arranged on the outer side of the rotating ring, the driven gear ring is meshed with a driving gear, the driving gear is arranged at the output end of a steering motor, and the steering motor is arranged at the top of the mounting vertical plate.
As a further scheme of the invention: the second fixing part comprises a positioning seat arranged at the upper end of the base, a flange lifting push rod is arranged on one side of the positioning seat, the upper end of the flange lifting push rod is connected with a flange fixing plate, two second clamping side plates are symmetrically arranged at the upper end of the flange fixing plate and are arranged at the upper end of the flange fixing plate in a sliding mode, the second clamping side plates are connected with a thread pushing piece used for driving the second clamping side plates to be relatively close to or far away from the thread pushing piece, and the flange lifting push rod is connected with a butt joint displacement piece used for driving the second clamping side plates to be close to the first fixing part.
As a further scheme of the invention: the butt joint displacement piece comprises sliding openings formed in the positioning seat, a sliding strip is arranged in each sliding opening in a sliding fit mode, one end of each sliding strip is provided with a connecting end used for connecting a flange lifting push rod, the other end of each sliding strip is provided with a traction block, each traction block is connected with the output end of a traction telescopic rod, and the tail end of each traction telescopic rod is installed on the positioning seat.
As a further scheme of the invention: the threaded pushing part comprises transmission blocks arranged on the side face of the second clamping side plate, a clamping screw rod is in threaded connection with the two transmission blocks, one end of the clamping screw rod is rotatably connected with a fixed block on the side face of the flange fixing plate, and the other end of the clamping screw rod is connected with the output end of the clamping motor.
As a further scheme of the invention: first fixed part includes two parallel arrangement's support curb plate, support the curb plate lower extreme and connect and be used for driving its high power pole lift catch bar that adjusts, support the curb plate upper end and offer the support cambered surface that is used for supporting the power pole surface, the support curb plate upper end symmetry of supporting the cambered surface both sides is equipped with two first centre gripping curb plates, the centre gripping catch bar that is used for driving the two and is close to each other or keep away from is connected to first centre gripping curb plate.
As a further scheme of the invention: the support surface of the support cambered surface is distributed with a plurality of spherical cavities, a support ball is arranged in the spherical cavities in a matched mode, and the plurality of support balls form a rolling surface convenient for the electric power rod to turn over.
As a still further scheme of the invention: be equipped with the aligning gear who is used for detecting flange and electric power pole axiality on the welding fixing base, aligning gear is including running through the location side lever on the welding fixing base, location side lever and welding fixing base rotation path axis parallel arrangement, location side lever is equipped with the first distance sensor who is used for detecting apart from the electric power pole outside distance towards one side of first fixed part, it is equipped with the second distance sensor who is used for detecting apart from the flange outside distance to pull telescopic link towards one side of second fixed part.
Compared with the prior art, the invention has the beneficial effects that: this application designs to the drawback of current device, can fix flange and power pole to can coaxial adjustment, accomplish preliminary butt joint location after, cooperate welded fastening seat circumferential direction again to come to carry out circumference spot welding to the welding member and handle, guaranteed welded quality, the practicality is strong.
Drawings
FIG. 1 is a schematic view of a workpiece clamping structure according to the present invention.
Fig. 2 is a schematic structural diagram of the present invention.
Fig. 3 is a schematic structural view of a weldment of the present invention.
Fig. 4 is a schematic structural diagram of the alignment mechanism of the present invention.
Wherein: the device comprises a base 11, a supporting side plate 12, a clamping push rod 13, a first clamping side plate 14, a supporting arc surface 15, a supporting ball 16, a steering motor 17, a driving gear 18, a mounting vertical plate 19, a rotating ring 20, a welding fixed seat 21, a second clamping side plate 22, a clamping screw 23, a flange fixing plate 24, a traction block 25, a sliding strip 26, a traction telescopic rod 27, a positioning seat 28, a flange lifting push rod 29, a clamping motor 30, a welding piece 31, an angle adjusting rod 32, an angle fixing plate 33, a welding machine 34, a welding head 35, a first distance sensor 36, a positioning side rod 37 and a second distance sensor 38.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1-3, in an embodiment of the present invention, an electric tower rod body and flange welding robot includes a base 11, and a first fixing component and a second fixing component that are disposed on an upper end of the base and used for fixing an electric rod, wherein a welding component for welding a contact position between the flange and the electric rod is disposed between the first fixing component and the second fixing component, and the first fixing component, the second fixing component, and the welding component are electrically connected to a control panel;
the welding part comprises a mounting vertical plate 19 arranged at the upper end of the base 11, a through hole for the flange to pass through is formed in the mounting vertical plate 19, a rotating ring 20 is rotatably arranged at the through hole, the rotating ring 20 is connected with an overturning driving piece for driving the rotating ring to overturn so as to switch the welding position, a welding fixed seat 21 is arranged on the inner wall of the rotating ring 20, and a welding piece 31 for welding the connecting position of the flange and the power rod is arranged on the welding fixed seat 21;
the welding part 31 comprises an angle fixing plate 33, a welding machine 34 is arranged on the angle fixing plate 33, a welding head 35 is arranged at the output end of the welding machine 34, two angle adjusting rods 32 are symmetrically arranged on a welding fixing seat 21 where the angle fixing plate 33 is located, the output ends of the two angle adjusting rods 32 are rotatably connected with the bottom of the angle fixing plate 33 through rotating shafts, the tail of one angle adjusting rod 32 is also rotatably connected with the welding fixing seat 21, when the welding part is actually used, the radial position of the welding head 35 is adjusted by simultaneously extending the two angle adjusting rods 32, and the inclination angle of the angle fixing plate 33 is adjusted by respectively adjusting the lengths of the two angle adjusting rods 32, so that the welding angle is conveniently adjusted;
the overturning driving part comprises a driven gear ring arranged on the outer side of the rotating ring 20, the driven gear ring is meshed with a driving gear 18, the driving gear 18 is arranged at the output end of a steering motor 17, the steering motor 17 is arranged at the top of an installation vertical plate 19, the driving gear 18 is driven to rotate through the steering motor 17, the driving gear 18 is matched with the driven gear ring to drive the rotating ring 20 to rotate, and therefore driving force is provided for adjustment of a welding position;
the second fixing part comprises a positioning seat 28 arranged at the upper end of the base 11, one side of the positioning seat 28 is provided with a flange lifting push rod 29, the upper end of the flange lifting push rod 29 is connected with a flange fixing plate 24, the upper end of the flange fixing plate 24 is symmetrically provided with two second clamping side plates 22, the second clamping side plates 22 are arranged at the upper end of the flange fixing plate 24 in a sliding manner, the second clamping side plates 22 are connected with a thread pushing piece used for driving the second clamping side plates to be relatively close to or far away from the thread pushing piece, the flange lifting push rod 29 is connected with a butt joint displacement piece used for driving the flange to be close to the first fixing part, and the flange can be close to the end part of the power rod through the butt joint displacement piece so as to prepare for welding;
the butt joint displacement piece comprises sliding openings formed in a positioning seat 28, a sliding strip 26 is slidably matched in each sliding opening, one end of each sliding strip 26 is provided with a connecting end used for being connected with a flange lifting pushing rod 29, the other end of each sliding strip 26 is provided with a traction block 25, each traction block 25 is connected with the output end of a traction telescopic rod 27, the tail end of each traction telescopic rod 27 is installed on the positioning seat 28, and during butt joint operation, the traction telescopic rods 27 drive the sliding strips 26 to slide along the sliding openings, so that the flange lifting pushing rods 29 are driven to move towards electric power rods on the first fixing part, and the electric power rods correspond to the butt joint flanges in position;
the thread pushing part comprises transmission blocks arranged on the side surfaces of the second clamping side plates 22, a clamping screw 23 is in threaded connection with the two transmission blocks, one end of the clamping screw 23 is rotatably connected with a fixed block on the side surface of the flange fixing plate 24, the other end of the clamping screw is connected with the output end of the clamping motor 30, the clamping screw 23 and the transmission blocks relatively rotate under the action of the clamping motor 30, and the two second clamping side plates 22 are close to or far away from each other under the action of threads, so that clamping and loosening of workpieces are completed;
the first fixing part comprises two support side plates 12 which are arranged in parallel, the lower ends of the support side plates 12 are connected with a power rod lifting push rod for driving the height of the support side plates to be adjusted, the upper ends of the support side plates 12 are provided with support arc surfaces 15 for supporting the surface of the power rod, the upper ends of the support side plates 12 on two sides of each support arc surface 15 are symmetrically provided with two first clamping side plates 14, the first clamping side plates 14 are connected with clamping push rods 13 for driving the first clamping side plates and the second clamping side plates to be close to each other or far away from each other, when the first fixing part is actually used, the power rod to be processed is placed at the upper ends of the two support side plates 12 through hoisting equipment, and then the clamping push rods 13 drive the first clamping side plates 14 to be close to each other, so that the power rod is fully positioned;
the support surface of the support cambered surface 15 is distributed with a plurality of spherical cavities, a support ball 16 is arranged in the spherical cavities in a matching mode, and the support balls 16 form a rolling surface convenient for the electric power rod to turn over.
Example 2
Referring to fig. 1 to 4, the difference from embodiment 1 is: the welding fixing seat 21 is provided with a calibration mechanism for detecting the coaxiality of the flange and the power rod, the calibration mechanism comprises a positioning side rod 37 penetrating through the welding fixing seat 21, the positioning side rod 37 is arranged in parallel with the axis of a rotating path of the welding fixing seat 21, a first distance sensor 36 for detecting the distance from the outer side of the power rod is arranged on one side of the positioning side rod 37 facing the first fixing part, a second distance sensor 38 for detecting the distance from the outer side of the flange is arranged on one side of the traction telescopic rod 27 facing the second fixing part, and only when the flange, the power rod and the opening are coaxially arranged, the detected distances are fixed when the first distance sensor 36 and the second distance sensor 38 rotate, and the flange is close to the power rod, so that the primary butt joint is completed.
The working principle of the invention is as follows: in actual use, the electric power pole is placed on the two supporting side plates 12, then the clamping push rod 13 drives the first clamping side plates 14 to approach each other, thereby completing the fixing of the electric power pole, similarly, the flange is clamped and fixed by the two second clamping side plates 22, thereby completing the positioning of the flange, then the traction block 25 is pulled by the traction telescopic rod 27, thereby enabling the sliding strip 26 to slide along the positioning seat 28, then the flange approaches the electric power pole, before the butt joint, the rotary motion is performed by the welding fixing seat 21, the push rod 29 and the electric power pole are lifted and lowered by adjusting the flange, only when the flange, the electric power pole and the opening are coaxially arranged, the distance detected when the first distance sensor 36 and the second distance sensor 38 rotate is fixed, at this time, the flange approaches the electric power pole again, thereby completing the butt joint, then the flange and the electric power pole connecting position are primarily welded by the welding piece 31, and then the circumferential welding fixation is completed by matching with the rotation of the welding fixed seat 21.
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.
Claims (10)
1. A welding robot for a rod body and a flange of an electric power tower comprises a base (11), a first fixing part and a second fixing part, wherein the first fixing part is arranged at the upper end of the base and used for fixing an electric power rod, the second fixing part is used for fixing the flange, a welding part used for welding the contact position of the flange and the electric power rod is arranged between the first fixing part and the second fixing part, and the first fixing part, the second fixing part and the welding part are electrically connected with a control panel;
the welding part is characterized by comprising an installation vertical plate (19) arranged at the upper end of a base (11), a penetrating hole convenient for a flange to penetrate through is formed in the installation vertical plate (19), a rotating ring (20) is arranged at the penetrating position in a rotating mode, the rotating ring (20) is connected with a turnover driving piece used for driving the rotating ring to turn over so as to switch the welding position, a welding fixing seat (21) is arranged on the inner wall of the rotating ring (20), and a welding piece (31) used for welding the connecting position of the flange and the power rod is arranged on the welding fixing seat (21).
2. The electric tower rod body and flange welding robot as claimed in claim 1, wherein the welding part (31) comprises an angle fixing plate (33), a welding machine (34) is arranged on the angle fixing plate (33), a welding head (35) is arranged at an output end of the welding machine (34), two angle adjusting rods (32) are symmetrically arranged on a welding fixing seat (21) where the angle fixing plate (33) is located, output ends of the two angle adjusting rods (32) are rotatably connected with the bottom of the angle fixing plate (33) through rotating shafts, and the tail portion of one angle adjusting rod (32) is also rotatably connected with the welding fixing seat (21).
3. The power tower mast body and flange welding robot as claimed in claim 1, wherein the overturning driving member comprises a driven toothed ring arranged outside the rotating ring (20), the driven toothed ring is meshed with a driving gear (18), the driving gear (18) is arranged at the output end of a steering motor (17), and the steering motor (17) is arranged on the top of a mounting vertical plate (19).
4. The power tower rod body and flange welding robot as claimed in claim 1, wherein the second fixing part comprises a positioning seat (28) disposed at an upper end of the base (11), a flange lifting pushing rod (29) is disposed at one side of the positioning seat (28), the upper end of the flange lifting pushing rod (29) is connected to a flange fixing plate (24), two second clamping side plates (22) are symmetrically disposed at the upper end of the flange fixing plate (24), the second clamping side plates (22) are slidably disposed at the upper end of the flange fixing plate (24), the second clamping side plates (22) are connected to a threaded pushing member for driving the second clamping side plates to relatively approach or move away, and the flange lifting pushing rod (29) is connected to a butt joint displacement member for driving the second clamping side plates to approach the first fixing part.
5. The electric tower rod body and flange welding robot as claimed in claim 4, wherein the butt joint displacement member comprises sliding openings formed in the positioning seat (28), each sliding opening is slidably fitted with a sliding bar (26), one end of each sliding bar (26) is provided with a connecting end for connecting a flange lifting pushing rod (29), the other end of each sliding bar (26) is provided with a traction block (25), the traction block (25) is connected with an output end of a traction telescopic rod (27), and the tail end of the traction telescopic rod (27) is mounted on the positioning seat (28).
6. The electric tower rod body and flange welding robot as claimed in claim 4, wherein the screw pushing member comprises two transmission blocks arranged on the side of the second clamping side plate (22), two transmission blocks are in threaded connection with a clamping screw (23), one end of the clamping screw (23) is rotatably connected with a fixed block on the side of the flange fixing plate (24), and the other end of the clamping screw is connected with the output end of the clamping motor (30).
7. The power tower rod body and flange welding robot as claimed in claim 1, wherein the first fixing part comprises two parallel supporting side plates (12), the lower ends of the supporting side plates (12) are connected with a power rod lifting pushing rod for driving the height of the power rod to be adjusted, supporting arc surfaces (15) for supporting the surface of the power rod are formed at the upper ends of the supporting side plates (12), two first clamping side plates (14) are symmetrically arranged at the upper ends of the supporting side plates (12) on two sides of the supporting arc surfaces (15), and the first clamping side plates (14) are connected with a clamping pushing rod (13) for driving the two to approach to or keep away from each other.
8. The power tower rod body and flange welding robot as claimed in claim 7, wherein a plurality of spherical cavities are distributed on the supporting surface of the supporting arc surface (15), a supporting ball (16) is arranged in each spherical cavity in a matching manner, and the plurality of supporting balls (16) form a rolling surface facilitating the overturning of the power rod.
9. The power tower rod body and flange welding robot as claimed in claim 1, wherein the welding holder (21) is provided with an alignment mechanism for detecting the coaxiality of the flange and the power rod, the alignment mechanism comprises a positioning side rod (37) penetrating through the welding holder (21), the positioning side rod (37) is arranged in parallel with the axis of the rotation path of the welding holder (21), a first distance sensor (36) for detecting the distance from the outer side of the power rod is arranged on one side of the positioning side rod (37) facing the first fixing part, and a second distance sensor (38) for detecting the distance from the outer side of the flange is arranged on one side of the traction telescopic rod (27) facing the second fixing part.
10. Use method of the power tower rod body and flange welding robot as claimed in any one of claims 1-9, characterized by comprising the following steps:
the method comprises the following steps: placing the power rod on two supporting side plates (12), driving first clamping side plates (14) to be close to each other through clamping pushing rods (13) so as to finish fixing the power rod, clamping and fixing the flange through two second clamping side plates (22) so as to finish positioning the flange, and then drawing a drawing block (25) through a drawing telescopic rod (27) so as to enable a sliding strip (26) to slide along a positioning seat (28) and enable the flange to be close to the power rod;
step two: before butt joint, the flange is rotated by a welding fixed seat (21), and the flange lifting push rod (29) and the electric power rod lifting push rod are adjusted, so that only when the flange, the electric power rod and the opening are coaxially arranged, the distance detected by the rotation of the first distance sensor (36) and the second distance sensor (38) is fixed and unchanged, and at the moment, the flange is close to the electric power rod, and preliminary butt joint is completed;
step three: then, the connecting position of the flange and the power rod is welded through a welding piece (31), and then the circumferential welding and fixing are completed by matching with the rotation of the welding fixing seat (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111580752.6A CN114211162B (en) | 2021-12-22 | 2021-12-22 | Electric power pole body, flange welding robot and method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111580752.6A CN114211162B (en) | 2021-12-22 | 2021-12-22 | Electric power pole body, flange welding robot and method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114211162A true CN114211162A (en) | 2022-03-22 |
| CN114211162B CN114211162B (en) | 2024-03-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111580752.6A Active CN114211162B (en) | 2021-12-22 | 2021-12-22 | Electric power pole body, flange welding robot and method thereof |
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| CN114619179A (en) * | 2022-03-24 | 2022-06-14 | 湖北荆城银都杭萧钢构有限公司 | Intelligent welding device for assembled steel structural part |
| CN115026453A (en) * | 2022-06-15 | 2022-09-09 | 江苏齐天铁塔制造有限公司 | Automatic welding device and method for steel pipe pole of power transmission line |
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