CN114473276A - Tunnel bow member welding robot - Google Patents
Tunnel bow member welding robot Download PDFInfo
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- CN114473276A CN114473276A CN202210092383.4A CN202210092383A CN114473276A CN 114473276 A CN114473276 A CN 114473276A CN 202210092383 A CN202210092383 A CN 202210092383A CN 114473276 A CN114473276 A CN 114473276A
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- 238000003466 welding Methods 0.000 title claims abstract description 101
- 230000007246 mechanism Effects 0.000 claims abstract description 58
- 238000004140 cleaning Methods 0.000 claims abstract description 5
- 238000009434 installation Methods 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 229910000831 Steel Inorganic materials 0.000 description 45
- 239000010959 steel Substances 0.000 description 45
- 238000010586 diagram Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000009417 prefabrication Methods 0.000 description 1
- 238000007493 shaping 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
- 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
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
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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
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
Abstract
The invention relates to a tunnel arch welding robot which comprises welding equipment, an arch mounting tool I and an arch mounting tool II, wherein the arch mounting tool I and the arch mounting tool II are positioned on two sides of the welding equipment, the welding equipment comprises a fixed welding mechanism and a walking welding mechanism, a gun cleaning station is arranged between the fixed welding mechanism and the walking welding mechanism, the walking welding mechanism comprises a first walking ground rail arranged along the length direction of the arch mounting tool I and a first walking sliding table capable of walking along the first walking ground rail, a first welding robot is arranged on the first walking sliding table, the fixed welding mechanism comprises a second welding robot, the second welding robot is arranged on the ground through a base, and the gun cleaning station is positioned between the second welding robot and the first walking ground rail. The invention has the following beneficial effects: 1. the working efficiency is higher; 2. the welding quality is stable; 3. the labor intensity is reduced.
Description
Technical Field
The invention relates to a tunnel arch welding robot, and belongs to the technical field of tunnel arch welding.
Background
Among many schemes of tunnel supporting construction, tunnel bow member construction is the most important to tunnel safety, and tunnel bow member itself has certain intensity, can the bending resistance, and self texture is harder, treats tunnel bow member construction shaping back, and operating environment can obviously improve in the tunnel. The tunnel arch is generally assembled by a plurality of arch sections to form a set of whole, and the arch sections are prefabricated in advance in a factory according to the design size of the tunnel, and the arch sections are transported to the site for assembly after the prefabrication is completed. As shown in fig. 11, the arch section of the tunnel arch includes arch section steel 29, and connection plates 30 are welded to both ends of the arch section steel 29.
More than 99.99% of the welding work of the arch center section of the existing tunnel arch center is completed by manual welding. The device has the disadvantages of low efficiency, uncontrollable quality, high labor intensity of workers and serious physical injury. Meanwhile, the existing welding robot has a small operation range, and is one of the reasons that the welding robot is not adopted to replace manual welding of the tunnel arch.
Disclosure of Invention
According to the defects in the prior art, the technical problems to be solved by the invention are as follows: to solve one of the above problems, a tunnel arch welding robot is provided.
The invention relates to a tunnel arch welding robot, which is characterized in that: including welding equipment and be located bow member installation frock I and bow member installation frock II of welding equipment both sides, welding equipment includes fixed welding mechanism and walking welding mechanism, be provided with clear rifle station between fixed welding mechanism and the walking welding mechanism, walking welding mechanism includes the first walking ground rail that sets up along bow member installation frock I length direction and can follow the first walking slip table of first walking ground rail walking, install first welding robot on the first walking slip table, fixed welding mechanism includes second welding robot, second welding robot passes through the base and installs subaerial, clear rifle station is in between second welding robot and the first walking ground rail.
Preferably, a first walking motor is installed to first walking slip table bottom, installs drive gear A on the power output shaft of first walking motor, and first rack is fixed to be set up along the length direction of first walking ground rail on the first walking ground rail, drive gear A with first rack intermeshing constitutes gear first rack gear.
Preferably, bow member installation frock I includes second walking ground rail, the one end that second walking ground rail is close to fixed welding mechanism is fixed with fixed aircraft nose, still includes the walking aircraft nose that can follow the walking of second walking ground rail, the lower surface of walking aircraft nose casing has the slider with second walking ground rail matched with, the bottom mounting has second walking motor in the walking aircraft nose, installs drive gear B on the power output shaft of second walking motor, and the second rack is fixed to be set up along the length direction of second walking ground rail on the second walking ground rail, drive gear B with gear second rack drive mechanism is constituteed to second rack intermeshing.
Preferably, the lower surface of the fixed machine head casing is fixed at one end of the second walking ground rail.
Preferably, the fixed machine head is provided with a first rotary clamping tool for clamping the tunnel arch, and the walking machine head is provided with a second rotary clamping tool for clamping the tunnel arch.
Preferably, the second rotation type centre gripping frock includes quick-witted case, the carousel of vertical setting is installed through gyration profile shifting mechanism in the upper portion of quick-witted case leading flank, gyration profile shifting mechanism provides rotary motion and support for the carousel, install connecting plate location clamping mechanism through angle adjustment mechanism on the lateral surface of carousel.
Preferably, angle adjustment mechanism includes the frock mounting panel, one side of frock mounting panel articulates there is the connecting axle, the opposite side of frock mounting panel is fixed with the articulated slab, the other end of articulated slab articulates on the lateral surface of carousel, the cover is equipped with and can follows the gliding sleeve pipe of connecting axle length direction on the connecting axle, the pivot has on the sleeve pipe, and the pivot is installed on the lateral surface of carousel through the pivot connecting seat, and the pivot can be rotatory for the pivot connecting seat, set up the hole of dodging that supplies the connecting axle to run through on the carousel, the threaded hole that the outer wall business of sleeve pipe was seted up installs holding screw, holding screw's inner butt is on the outer wall of connecting axle.
Preferably, the connecting plate positioning and clamping mechanism comprises a top connecting plate clamping cylinder arranged on the upper portion of the tool mounting plate and a bottom connecting plate clamping cylinder arranged on the lower portion of the tool mounting plate, wherein a clamping block at the telescopic end of the top connecting plate clamping cylinder and a clamping block at the telescopic end of the bottom connecting plate clamping cylinder move oppositely and clamp the connecting plate, a lateral connecting plate clamping cylinder is arranged on one side of the tool mounting plate, and the clamping block at the telescopic end of the lateral connecting plate clamping cylinder abuts against the side edge of the connecting plate in a working state.
Preferably, the fixture further comprises a section steel fixture mounting plate, two ends of the section steel fixture mounting plate are respectively and integrally formed with a connecting rib plate, the other ends of the two connecting rib plates are respectively fixed on turntables at two sides of the fixture mounting plate, the upper surface of the section steel fixture mounting plate is provided with a first supporting seat and a second supporting seat which are arranged at intervals, a section steel side clamping cylinder is arranged on the first supporting seat, the inner wall of the second supporting seat is provided with a clamping surface, a clamping block at the telescopic end of the section steel side clamping cylinder is opposite to the clamping surface and can be relatively close to or far away from the clamping surface so as to clamp or release arch frame section steel, the fixture further comprises a supporting plate which spans the first supporting seat and the second supporting seat, the supporting plate is detachably connected with the first supporting seat and the second supporting seat through connecting bolts respectively, and a section steel upper clamping cylinder is arranged on the supporting plate, the upper surface mounting of shaped steel anchor clamps mounting panel has the bottom surface locating plate, the tight piece of the clamp of the flexible end of die clamping cylinder on the shaped steel with the bottom surface locating plate sets up relatively to can be close to relatively or keep away from the bottom surface locating plate, with the tight or release arch shaped steel of clamp.
Preferably, the detachable backing plate is still installed at the lateral surface middle part of frock mounting panel, and the projected area of backing plate is less than the projected area of connecting plate, and bed hedgehopping connecting plate makes connecting plate and frock mounting panel break away from, avoids the butt welder to cause, is unfavorable for the welding, still includes side location axle, side location axle passes through a locating plate detachable and installs on connecting the gusset, and side location axle sets up with second supporting seat homonymy.
Preferably, the first rotary clamping tool and the second rotary clamping tool are identical in structure and are arranged in a mirror image mode.
Preferably, the rotary position changing mechanism is a traditional rotary support, the rotary support is driven by a rotary driving piece arranged on the rotary position changing mechanism, and two connecting ends of the rotary position changing mechanism are respectively connected with the rotary table and the case.
Compared with the prior art, the invention has the following beneficial effects:
the tunnel arch welding robot has the following advantages:
1. the working efficiency is higher
The welding system has the advantages that workpieces are placed by operators, the robot performs automatic welding, the workpieces do not need manual reversal, the workpieces are automatically reversed by the positioner, the robot performs automatic welding according to a programmed program, the workpiece placement and the robot welding can be performed synchronously, and the production efficiency is greatly improved.
2. Stable welding quality
Compared with manual welding, the robot welding has stable work, beautiful welding line and good welding quality.
3. Reduce labor intensity
The welding machine of the system adopts a CM500 water-cooling welding machine, continuous welding can be realized, a worker only needs to clamp a workpiece once, the positioner automatically drives the workpiece to rotate reversely, the workpiece needs to be rotated reversely for many times during manual welding, the labor intensity is high, and the labor intensity of the worker is reduced.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a first schematic structural diagram of the present invention;
FIG. 2 is a second schematic structural view of the present invention;
FIG. 3 is a third schematic structural view of the present invention;
FIG. 4 is a first structural schematic diagram of an arch center mounting tool I;
FIG. 5 is a structural schematic view II of an arch installing tool I;
FIG. 6 is a third schematic structural view of an arch installing tool I;
FIG. 7 is a first schematic structural diagram of a walking machine head;
FIG. 8 is a second schematic structural view of the walking handpiece;
FIG. 9 is a third schematic structural view of the walking handpiece;
FIG. 10 is a fourth schematic structural view of the walking handpiece;
fig. 11 is a block diagram of an arch section of a tunnel arch.
In the figure: 1. an arch center mounting tool I1.1, a second walking ground rail 1.2, a fixed machine head 1.3, a walking machine head 1.4, a second walking motor 1.5, a second rack 2, an arch center mounting tool II 3, a fixed welding mechanism 4, a walking welding mechanism 4.1, a first walking ground rail 4.2, a first walking sliding table 4.3, a first welding robot 4.4, a first walking motor 4.5, a first rack 5, a gun cleaning station 6, a case 7, a rotary displacement mechanism 8, a rotary table 9, a tool mounting plate 10, a hinged plate 11, a connecting shaft 12, a sleeve 13, a rotary shaft 14, a rotary shaft connecting seat 15, a set screw 16, a top connecting plate clamping cylinder 17, a bottom connecting plate clamping cylinder 18, a lateral connecting plate clamping cylinder 19, a base plate 20, a profile steel clamp mounting plate 21, a connecting rib plate 22 and a first supporting seat 23, A second supporting seat 24, a section steel side clamping cylinder 25, a supporting plate 26, a section steel upper clamping cylinder 27, a bottom positioning plate 28 and a side positioning shaft.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
the present invention is further illustrated by the following specific examples, which are not intended to limit the scope of the invention, and any modifications, equivalents, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.
Examples
As shown in fig. 1-6, tunnel bow member welding robot, including welding equipment and the bow member installation frock I1 and the bow member installation frock II2 that are located the welding equipment both sides, welding equipment includes fixed welding mechanism 3 and walking welding mechanism 4, be provided with clear rifle station 5 between fixed welding mechanism 3 and the walking welding mechanism 4, walking welding mechanism 4 includes the first walking ground rail 4.1 that sets up along bow member installation frock I1 length direction and can follow the first walking slip table 4.2 of first walking ground rail 4.1 walking, install first welding robot 4.3 on the first walking slip table 4.2, fixed welding mechanism 3 includes second welding robot, the second welding robot passes through the base and installs subaerial, clear rifle station 5 is in between second welding and the first walking ground rail 4.1.
In this embodiment, a first walking motor 4.4 is installed at the bottom of the first walking sliding table 4.2, a driving gear a is installed on a power output shaft of the first walking motor 4.4, a first rack 4.5 is fixedly arranged on the first walking ground rail 4.1 along the length direction of the first walking ground rail 4.1, and the driving gear a and the first rack are engaged with each other to form a first gear rack transmission mechanism; the arch center mounting tool I1 comprises a second walking ground rail 1.1, a fixed machine head 1.2 is fixed at one end, close to the fixed welding mechanism 3, of the second walking ground rail 1.1, the arch center mounting tool further comprises a walking machine head 1.3 capable of walking along the second walking ground rail 1.1, a sliding block matched with the second walking ground rail 1.1 is arranged on the lower surface of a casing of the walking machine head 1.3, a second walking motor 1.4 is mounted at the bottom in the walking machine head 1.3, a driving gear B is mounted on a power output shaft of the second walking motor 1.4, a second rack 1.5 is fixedly arranged on the second walking ground rail 1.1 along the length direction of the second walking ground rail 1.1, and the driving gear B and the second rack are meshed with each other to form a gear second rack transmission mechanism; the lower surface of the fixed machine head 1.2 casing is fixed at one end of the second walking ground rail 1.1; fixed aircraft nose 1.2 is last to have the first rotation type centre gripping frock of centre gripping tunnel bow member, walking aircraft nose 1.3 is last to have the second rotation type centre gripping frock of centre gripping tunnel bow member.
Further, referring to fig. 7-10, the second rotary clamping tool comprises a case 6, a vertically arranged turntable 8 is mounted on the upper portion of the front side surface of the case 6 through a rotary displacement mechanism 7, the rotary displacement mechanism 7 provides rotary motion and support for the turntable 8, and a connecting plate positioning and clamping mechanism is mounted on the outer side surface of the turntable 8 through an angle adjusting mechanism; the angle adjusting mechanism comprises a tool mounting plate 9, a connecting shaft 11 is hinged to one side of the tool mounting plate 9, a hinged plate 10 is fixed to the other side of the tool mounting plate 9, the other end of the hinged plate 10 is hinged to the outer side face of the rotary plate 8, a sleeve 12 capable of sliding in the length direction of the connecting shaft 11 is sleeved on the connecting shaft 11, a rotating shaft 13 is arranged on the sleeve 12, the rotating shaft 13 is mounted on the outer side face of the rotary plate 8 through a rotating shaft connecting seat 14, the rotating shaft 13 can rotate relative to the rotating shaft connecting seat 14, an avoiding hole for the connecting shaft 11 to penetrate through is formed in the rotary plate 8, a fastening screw 15 is mounted in a threaded hole formed in the outer wall of the sleeve 12, and the inner end of the fastening screw 15 abuts against the outer wall of the connecting shaft 11; the connecting plate positioning and clamping mechanism comprises a top connecting plate clamping cylinder 16 arranged at the upper part of the tooling mounting plate 9 and a bottom connecting plate clamping cylinder 17 arranged at the lower part of the tooling mounting plate 9, wherein a clamping block at the telescopic end of the top connecting plate clamping cylinder 16 and a clamping block at the telescopic end of the bottom connecting plate clamping cylinder 17 move oppositely to clamp the connecting plate, a lateral connecting plate clamping cylinder 18 is arranged at one side of the tooling mounting plate 9, and the clamping blocks at the telescopic end of the lateral connecting plate clamping cylinder 18 are abutted against the side edge of the connecting plate in a working state; the arch frame type steel fixture further comprises a section steel fixture mounting plate 20, two ends of the section steel fixture mounting plate 20 are respectively and integrally formed with a connecting rib plate 21, the other ends of the connecting rib plates 21 are respectively fixed on the turntables 8 on two sides of the fixture mounting plate 9, the upper surface of the section steel fixture mounting plate 20 is provided with a first supporting seat 22 and a second supporting seat 23 which are arranged at intervals, a section steel side clamping cylinder 24 is arranged on the first supporting seat 22, the inner wall of the second supporting seat 23 is provided with a clamping surface, a clamping block at the telescopic end of the section steel side clamping cylinder 24 is opposite to the clamping surface and can be relatively close to or far away from the clamping surface so as to clamp or release the arch frame type steel, the arch frame type steel fixture further comprises a supporting plate 25 crossing the first supporting seat 22 and the second supporting seat 23, the supporting plate 25 is detachably connected with the first supporting seat 22 and the second supporting seat 23 through connecting bolts respectively, the supporting plate 25 is provided with a section steel upper clamping cylinder 26, the upper surface mounting of shaped steel anchor clamps mounting panel 20 has bottom surface locating plate 27, the tight piece of the tight cylinder 26 of clamp on the shaped steel end that stretches out and draws back with bottom surface locating plate 27 sets up relatively to can be close to relatively or keep away from bottom surface locating plate 27, with the tight or release arch shaped steel of clamp.
Further, a detachable backing plate 19 is further mounted in the middle of the outer side face of the tool mounting plate 9, the projection area of the backing plate 19 is smaller than that of the connecting plate, the connecting plate is lifted, the connecting plate is separated from the tool mounting plate 9, the welding gun is prevented from being damaged, welding is not facilitated, and the tool mounting plate further comprises a side positioning shaft 28, the side positioning shaft 28 is detachably mounted on the connecting rib plate 21 through a positioning plate, and the side positioning shaft 28 and the second supporting seat 23 are arranged on the same side; the first rotary clamping tool and the second rotary clamping tool are identical in structure and are arranged in a mirror image mode; the rotary position changing mechanism 7 is a traditional rotary support, is driven by a rotary driving piece arranged on the rotary position changing mechanism, and two connecting ends of the rotary position changing mechanism are respectively connected with the rotary table 8 and the case 6.
The welding process of the invention comprises the following steps:
1. a worker firstly adjusts the tool mounting plates 9 on the fixed machine head 1.2 and the walking machine head 1.3 to proper positions (specifically, the tool mounting plates are adjusted according to the length and radian of an arch profile steel 29 to be processed), holds the positioning plates 30 and places the positioning plates on the surface of the backing plate 19, clamps the connecting plates by utilizing a top connecting plate clamping cylinder 16, a bottom connecting plate clamping cylinder 17 and a lateral connecting plate clamping cylinder 18, respectively fixes a positioning plate 30 on the fixed machine head 1.2 and the walking machine head 1.3, and the mounting processes of the two positioning plates 30 are the same;
2. adjusting the position of a walking type nose 1.3 according to the length of the arch section steel 29, clamping the arch section steel 29 by a lifting appliance, lifting the arch section steel to a tooling position by a travelling crane, supporting one end of the arch section steel 29 on the upper surface of a bottom positioning plate 27 of the fixed type nose 1.2, supporting the other end of the arch section steel 29 on the upper surface of the bottom positioning plate 27 of the walking type nose 1.3, firstly tightly pushing the arch section steel 29 at the fixed type nose 1.2 against a connecting plate 30, installing a supporting plate 25 on the fixed type nose 1.2, and arranging a clamping block at the telescopic end of a section steel side clamping cylinder 24 on the fixed type nose 1.2 opposite to and close to the clamping surface so as to clamp the tight arch section steel 29 at the fixed type nose 1.2;
3. slightly moving the walking machine head 1.3, adjusting the position of an arch frame section steel 29 at the position of the walking machine head 1.3 to tightly push against a connecting plate 30, installing a supporting plate 25 on the walking machine head 1.3, and arranging a clamping block at the telescopic end of a section steel side clamping cylinder 24 on the walking machine head 1.3 opposite to the clamping surface and relatively close to the clamping surface so as to clamp the tight arch frame section steel at the position of the fixed machine head 1.2;
4. the first welding robot 4.3 and the second welding robot automatically weld the steel arch frame according to a pre-edited program, and workpieces do not need manual reversal and are automatically reversed by a positioner;
5. disassembling the welded steel arch after welding;
6. the mechanical arm automatically cleans the gun;
7. and welding another station.
The adjustment mode of the tool mounting plate 9 is as follows: the position of the sleeve 12 on the connecting shaft 11 is changed through the set screw 15 for adjustment, the distance between the sleeve 12 and the tool mounting plate 9 is increased, and the included angle between the tool mounting plate 9 and the rotary disc 8 is increased.
In the working state, the clamping block at the telescopic end of the clamping cylinder 26 on the section steel abuts against the web plate of the arch-shaped steel 29, the clamping block at the telescopic end of the clamping cylinder 24 on the side surface of the section steel abuts against one of the wing plates of the arch-shaped steel 29, and the clamping surface of the second supporting seat 23 abuts against the other wing plate for positioning.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides a tunnel bow member welding robot which characterized in that: comprises welding equipment, an arch mounting tool I (1) and an arch mounting tool II (2) which are positioned at two sides of the welding equipment, the welding equipment comprises a fixed welding mechanism (3) and a walking welding mechanism (4), a gun cleaning station (5) is arranged between the fixed welding mechanism (3) and the walking type welding mechanism (4), the walking type welding mechanism (4) comprises a first walking ground rail (4.1) arranged along the length direction of the arch mounting tool I (1) and a first walking sliding table (4.2) capable of walking along the first walking ground rail (4.1), a first welding robot (4.3) is arranged on the first walking sliding table (4.2), the fixed welding mechanism (3) comprises a second welding robot which is arranged on the ground through a base, the gun cleaning station (5) is arranged between the second welding robot and the first walking ground rail (4.1).
2. The tunnel arch welding robot of claim 1, wherein: first walking motor (4.4) are installed to first walking slip table (4.2) bottom, install drive gear A on the power output shaft of first walking motor (4.4), and first rack (4.5) are fixed to be set up along the length direction of first walking ground rail (4.1) on first walking ground rail (4.1), drive gear A with first rack intermeshing constitutes the first rack gear.
3. The tunnel arch welding robot of claim 2, wherein: arch mount installation frock I (1) includes second walking ground rail (1.1), the one end that second walking ground rail (1.1) is close to fixed welding mechanism (3) is fixed with fixed aircraft nose (1.2), still includes walking aircraft nose (1.3) that can follow second walking ground rail (1.1) walking, the lower surface of walking aircraft nose (1.3) casing has the slider with second walking ground rail (1.1) matched with, second walking motor (1.4) are installed to walking aircraft nose (1.3) bottom, install drive gear B on the power output shaft of second walking motor (1.4), and second rack (1.5) are fixed to be set up along the length direction of second walking ground rail (1.1) on second walking ground rail (1.1), drive gear B with second rack intermeshing constitutes gear second rack drive mechanism.
4. The tunnel arch welding robot of claim 3, wherein: the lower surface of the fixed machine head (1.2) shell is fixed at one end of the second walking ground rail (1.1).
5. The tunnel arch welding robot of claim 4, wherein: the fixed machine head (1.2) is provided with a first rotary clamping tool for clamping the tunnel arch, and the walking machine head (1.3) is provided with a second rotary clamping tool for clamping the tunnel arch.
6. The tunnel arch welding robot of claim 5, wherein: the second rotation type centre gripping frock includes quick-witted case (6), carousel (8) of vertical setting are installed through gyration displacement mechanism (7) on the upper portion of quick-witted case (6) leading flank, gyration displacement mechanism (7) provide rotary motion and support for carousel (8), install connecting plate location clamping mechanism through angle adjustment mechanism on the lateral surface of carousel (8).
7. The tunnel arch welding robot of claim 6, wherein: the angle adjusting mechanism comprises a tool mounting plate (9), a connecting shaft (11) is hinged to one side of the tool mounting plate (9), a hinged plate (10) is fixed to the other side of the tool mounting plate (9), the other end of the hinged plate (10) is hinged to the outer side face of a rotary plate (8), a sleeve (12) capable of sliding along the length direction of the connecting shaft (11) is sleeved on the connecting shaft (11), a rotating shaft (13) is arranged on the sleeve (12), the central line of the rotating shaft (13) is perpendicularly intersected with the central line of the connecting shaft (11), the rotating shaft (13) is installed on the outer side face of the rotary plate (8) through a rotating shaft connecting seat (14), the rotating shaft (13) can rotate relative to the rotating shaft connecting seat (14), a avoiding hole for the connecting shaft (11) to run through is formed in the rotary plate (8), and a fastening screw (15) is installed in a threaded hole formed in the outer wall of the sleeve (12), the inner end of the set screw (15) is abutted against the outer wall of the connecting shaft (11).
8. The tunnel arch welding robot of claim 7, wherein: connecting plate location clamping mechanism installs bottom connecting plate die clamping cylinder (17) in frock mounting panel (9) lower part including installing top connecting plate die clamping cylinder (16) on frock mounting panel (9) upper portion, and the tight piece of clamp of the flexible end of top connecting plate die clamping cylinder (16) moves in opposite directions, presss from both sides with the tight piece of clamp of the flexible end of bottom connecting plate die clamping cylinder (17) the connecting plate, side direction connecting plate die clamping cylinder (18) are installed to one side of frock mounting panel (9), and under the operating condition, the tight piece butt of clamp of the flexible end of side direction connecting plate die clamping cylinder (18) is on the side of connecting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210092383.4A CN114473276A (en) | 2022-01-26 | 2022-01-26 | Tunnel bow member welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210092383.4A CN114473276A (en) | 2022-01-26 | 2022-01-26 | Tunnel bow member welding robot |
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| Publication Number | Publication Date |
|---|---|
| CN114473276A true CN114473276A (en) | 2022-05-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210092383.4A Pending CN114473276A (en) | 2022-01-26 | 2022-01-26 | Tunnel bow member welding robot |
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| CN (1) | CN114473276A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115070300A (en) * | 2022-06-02 | 2022-09-20 | 中铁十六局集团曹妃甸重工机械有限公司 | Steel bow member flange welding set and steel bow member automatic processing system |
| CN116000448A (en) * | 2022-12-30 | 2023-04-25 | 中铁七局集团广州工程有限公司 | Welding equipment for tunnel construction |
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| CN115070300A (en) * | 2022-06-02 | 2022-09-20 | 中铁十六局集团曹妃甸重工机械有限公司 | Steel bow member flange welding set and steel bow member automatic processing system |
| CN116000448A (en) * | 2022-12-30 | 2023-04-25 | 中铁七局集团广州工程有限公司 | Welding equipment for tunnel construction |
| CN116000448B (en) * | 2022-12-30 | 2023-08-25 | 中铁七局集团广州工程有限公司 | Welding equipment for tunnel construction |
| CN117817224A (en) * | 2024-03-06 | 2024-04-05 | 中铁二十二局集团第四工程有限公司 | Welding equipment for tunnel construction |
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