CN114888494A - High-altitude steel beam welding robot, welding head adjusting mechanism and welding method - Google Patents
High-altitude steel beam welding robot, welding head adjusting mechanism and welding method Download PDFInfo
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- CN114888494A CN114888494A CN202210739299.7A CN202210739299A CN114888494A CN 114888494 A CN114888494 A CN 114888494A CN 202210739299 A CN202210739299 A CN 202210739299A CN 114888494 A CN114888494 A CN 114888494A
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- 238000003466 welding Methods 0.000 title claims abstract description 185
- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 70
- 239000010959 steel Substances 0.000 title claims abstract description 70
- 230000007246 mechanism Effects 0.000 title claims abstract description 57
- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000001681 protective effect Effects 0.000 claims description 4
- 230000004886 head movement Effects 0.000 claims description 2
- 230000005389 magnetism Effects 0.000 description 18
- 238000001179 sorption measurement Methods 0.000 description 7
- 230000008901 benefit Effects 0.000 description 5
- 210000000078 claw Anatomy 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 229910001315 Tool steel Inorganic materials 0.000 description 1
- QJVKUMXDEUEQLH-UHFFFAOYSA-N [B].[Fe].[Nd] Chemical compound [B].[Fe].[Nd] QJVKUMXDEUEQLH-UHFFFAOYSA-N 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910001172 neodymium magnet Inorganic materials 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
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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
- B23K37/0247—Driving means
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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
- B23K37/006—Safety devices
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/28—Beams
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- 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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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Abstract
The invention discloses a high-altitude steel beam welding robot, a welding head adjusting mechanism and a welding method, and belongs to the technical field of welding. According to the invention, the welding head is adjusted by the first horizontal adjusting assembly to move along the horizontal X direction, the welding head is adjusted by the second horizontal adjusting assembly to move along the horizontal Y direction, the welding head is adjusted by the first vertical adjusting assembly to move along the vertical Z direction, the second vertical adjusting assembly can rotate 90 degrees relative to the first vertical adjusting assembly, and the welding head can be adjusted to move along the horizontal X direction. The welding head fixing assembly is connected with the second vertical adjusting assembly, and the welding head fixing assembly can also adjust the welding head to rotate within a certain angle range. The first horizontal adjusting assembly, the second horizontal adjusting assembly, the first vertical adjusting assembly and the second vertical adjusting assembly all adopt a structure that a motor drives a screw rod to realize the movement of the welding head. According to the robot welding robot, the robot is conveyed to the overhead steel beam for welding, so that the labor cost is reduced, the upper surface and the lower surface of the steel beam can be respectively welded, and the robot welding efficiency is ensured.
Description
Technical Field
The invention relates to the technical field of welding, in particular to a high-altitude steel beam welding robot, a welding head adjusting mechanism and a welding method.
Background
The welding of steel beams is an essential step in modern machining and manufacturing industries, and industrial robots have been greatly developed in the field of welding. At present, the common industrial welding robot has the problems of limited working range, high price and the like of a single industrial robot due to large volume, and is difficult to be widely applied to high-altitude welding task execution.
The existing mobile welding robot cannot realize double-sided welding of the high-altitude beam due to various problems. Thus, the welding of the steel girders in the air still requires manual operations. With the continuous improvement of the welding process, the requirements of people on the welding precision and quality of the steel beam are higher and higher, meanwhile, electric arcs, sparks, smoke and the like during welding cause harm to human health, the overhead steel beam welding task is heavy and has certain danger, and the overhead steel beam welding task is more and more difficult to be competent by only manpower.
Through search, chinese patent application No. 2015105185225, the patent name is: the truss branch pipe welding robot; this application includes the box, circumference adjustment mechanism, axial adjustment mechanism, radial adjustment mechanism and welder mechanism, circumference adjustment mechanism includes first motor and rotation axis, the rotation axis is installed on first motor, axial adjustment mechanism includes second motor and first screw rod, the second motor is rotationally installed on the rotation axis, first screw rod is installed on the second motor, and first screw rod is parallel with the rotation axis, first screw rod has the slider through threaded connection, radial adjustment mechanism includes third motor and second screw rod, the third motor is fixed on the slider, the second screw rod is installed on the third motor, and the second screw rod is perpendicular with first screw rod, the second screw rod has the slide bar through threaded connection, welder mechanism includes the fourth motor and installs the welder on the fourth motor, welder is articulated mutually with the bottom of slide bar. According to the application, through the structural design of the motor driving screw, the automatic control of the welding gun is realized, and the labor force is saved; however, the application is not suitable for welding the aerial steel beam, and is particularly not suitable for double-side welding of the aerial steel beam.
Chinese patent application No. 2019103157375, the patent names: the metal wall surface self-adaptive climbing robot; this application includes the frame and locates a plurality of wheels of frame bottom, and wherein at least one wheel is equipped with drive arrangement, and two at least wheels are installed in pairs in a plurality of wheels of frame bottom, are equipped with at least one magnetism between two wheels of installing in pairs and adsorb the module, magnetism adsorbs the module and includes upper bracket, lower carriage and permanent magnet, the relative fixed mounting of upper bracket is in the frame bottom, the lower carriage is through the installation of a rotatory degree of freedom in upper bracket bottom, permanent magnet fixed mounting is at the lower extreme of lower carriage, the permanent magnet bottom height is less than the wheel bottom height, the permanent magnet is including the flat yoke that is located the top and the fixed polylith rectangle neodymium iron boron permanent magnet array with the flat yoke bottom. This application improves the adaptivity that the robot climbed through the magnetism adsorption module of axial degree of freedom, but this application is bulky, and the structure is also more complicated, uses it to have defects with high costs, that factor of safety is not high in high altitude girder steel welding field.
Disclosure of Invention
1. Technical problem to be solved by the invention
Aiming at the defects of the prior art, the invention provides a high-altitude steel beam welding robot, a welding head adjusting mechanism and a welding method; the robot can be conveyed to the overhead steel beam through the lifting platform for welding, so that the labor cost is reduced, the upper surface and the lower surface of the steel beam can be respectively welded, the welding efficiency of the robot is ensured, and the robot has the advantages of small volume, flexible structure, safety, reliability and the like.
2. Technical scheme
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
the invention relates to a welding head adjusting mechanism which comprises a first horizontal adjusting assembly, a second horizontal adjusting assembly, a first vertical adjusting assembly, a second vertical adjusting assembly and a welding head fixing assembly, wherein the first horizontal adjusting assembly adjusts a welding head to move along the horizontal X direction, the second horizontal adjusting assembly adjusts the welding head to move along the horizontal Y direction, the first vertical adjusting assembly adjusts the welding head to move along the vertical Z direction, the second vertical adjusting assembly adjusts the welding head to move along the vertical Z direction or the horizontal X direction, and the welding head fixing assembly is connected with the second vertical adjusting assembly; the first horizontal adjusting assembly, the second horizontal adjusting assembly, the first vertical adjusting assembly and the second vertical adjusting assembly all adopt a structure that a motor drives a screw rod to realize the movement of the welding head.
Furthermore, the first horizontal adjusting assembly comprises a first screw rod and a first connecting piece, the first screw rod is connected with the motor, the first screw rod penetrates through the first connecting piece, the motor drives the first screw rod to drive the first connecting piece to move, and the first connecting piece is connected with the second horizontal adjusting assembly.
Furthermore, the second horizontal adjusting assembly comprises a second screw rod and a second connecting piece, the second screw rod is connected with the motor, the second screw rod penetrates through the second connecting piece, and the motor drives the second screw rod to drive the second connecting piece to move; the second connecting piece is connected with the first connecting piece.
Furthermore, the first vertical adjusting assembly comprises a third screw rod, the third screw rod is connected with a motor, a third connecting piece is arranged at one end of the second connecting piece, the third screw rod penetrates through the third connecting piece, the motor drives the third screw rod, and the third screw rod moves along the vertical Z direction.
Furthermore, the second vertical adjusting assembly comprises a fourth screw rod and a fourth connecting piece, the fourth screw rod is connected with the motor, one end of the fourth connecting piece is connected with the first vertical adjusting assembly, the fourth screw rod penetrates through one end of the fourth connecting piece, and the motor drives the fourth screw rod to move.
Furthermore, the first vertical adjusting assembly is further provided with a third mounting seat, the third mounting seat is arranged at one end of the third screw rod, first rotating shafts are arranged on two sides of the third mounting seat and connected with a fourth connecting piece, the first rotating shafts are simultaneously connected with a motor, and the motor drives the first rotating shafts to further drive the fourth connecting piece to rotate.
Furthermore, the welding head fixing assembly comprises a fifth connecting piece, a fourth mounting seat is arranged at one end of a fourth lead screw, second rotating shafts are arranged on two sides of the fourth mounting seat and connected with the fifth connecting piece, the second rotating shafts are simultaneously connected with a motor, the motor drives the second rotating shafts to further drive the fifth connecting piece to rotate, and an industrial camera and a welding head are arranged on the fifth connecting piece.
The high-altitude steel beam welding robot comprises a robot body and the welding head adjusting mechanism, wherein a rotary supporting table is arranged on the robot body, and the welding head adjusting mechanism is arranged on the rotary supporting table.
Furthermore, four wheels are installed on the robot body, and permanent magnet wheels are adopted as the wheels; and one end of the bottom of the robot body, which is far away from the welding head adjusting mechanism, is provided with an electric permanent magnet opening, and the electric permanent magnet is arranged in the electric permanent magnet opening.
Furthermore, the robot body is provided with four wheels, the wheels comprise permanent magnet wheel bodies, electric permanent magnet openings are formed in connecting shafts of the wheels and the robot body, and the electric permanent magnets are arranged in the electric permanent magnet openings.
Still further, the permanent magnetism wheel includes magnetism wheel exterior, first yoke, magnetic core, second yoke and flange, and the magnetic core sets up between first yoke, second yoke, and first yoke opposite side sets up magnetism wheel exterior, and the second yoke opposite side sets up the flange, and magnetism wheel exterior, first yoke, magnetic core, second yoke and flange pass through fastening nut and assemble as an organic wholely.
Furthermore, two side edges of the robot body are provided with claws, and opposite sides of the two claws are provided with force sensors.
Furthermore, the four wheels of the robot body are provided with protective covers.
Furthermore, the robot body is provided with a first welding head adjusting mechanism and a second welding head adjusting mechanism, the first welding head adjusting mechanism is arranged at the front end of the moving direction of the robot, and the second welding head adjusting mechanism is arranged on the side edge of the robot body.
The invention relates to a welding method of a high-altitude steel beam, which utilizes a robot to weld the high-altitude steel beam.
Furthermore, the welding position is identified through the industrial camera, the robot is guided to move to the position near the welding position through the controller, the controller controls the first horizontal adjusting assembly, the second horizontal adjusting assembly, the first vertical adjusting assembly and the second vertical adjusting assembly, the welding head is enabled to weld on the surface of the steel beam, after one surface is welded, the controller controls the fourth connecting piece to drive the second vertical adjusting assembly to rotate, controls the fifth connecting piece to drive the welding head to rotate, and welding is continuously carried out on the other opposite surface of the steel beam.
3. Advantageous effects
Compared with the prior art, the technical scheme provided by the invention has the following remarkable effects:
(1) according to the welding head adjusting mechanism, the first horizontal adjusting assembly, the second horizontal adjusting assembly, the first vertical adjusting assembly and the second vertical adjusting assembly are arranged, the welding head is arranged up and down, left and right and rotated through the matching of the horizontal adjusting assembly and the vertical adjusting assembly, the welding head at the tail end is controlled to weld the upper surface and the lower surface of a steel beam, and the welding head adjusting mechanism can adapt to the welding of steel beams with different thicknesses.
(2) According to the high-altitude steel beam welding robot, the permanent magnets and the electro-permanent magnets are matched for use, so that the robot is reliably fixed on the steel beam, the light weight design is adopted, the difficulty of robot balance is reduced, the structure is simple, flexible and light, and the robot can move at high altitude and automatically weld.
(3) According to the high-altitude steel beam welding robot, the high-temperature-resistant protective housings can be respectively arranged outside the four permanent magnet wheels of the robot body, so that splashes are prevented from being adsorbed on the wheels when a welding task is executed, and the adsorption force of the wheels is weakened; simultaneously set up a flexible fixture respectively in robot both sides, fixture sets up force sensor at the end, and fixture passes through the firm clamp in the girder steel of force sensor when carrying out the welding task, avoids the welding process high temperature to influence to lead to the adsorption affinity not enough.
(4) According to the high-altitude steel beam welding robot, the welding head adjusting mechanisms can be arranged at the front end and the side edge of the robot body in the moving direction respectively, when a welding task is executed, the two welding head adjusting mechanisms can be controlled to weld the upper surface and the lower surface of a steel beam oppositely, the two welding head adjusting mechanisms can also be controlled to weld at different positions of the steel beam, and the working efficiency is improved.
Drawings
FIG. 1 is a schematic structural diagram of a high-altitude steel beam welding robot according to embodiment 1 of the present invention;
FIG. 2 is a schematic view of a rotary support assembly according to the present invention;
FIG. 3 is a schematic view of the horizontal adjustment assembly of the present invention;
FIG. 4 is a schematic view of the vertical adjustment assembly of the present invention;
FIG. 5 is a schematic view of a weld head attachment assembly according to the present invention;
FIG. 6 is a side view of the wheel of the present invention;
fig. 7 is a schematic structural diagram of a robot body according to embodiment 6 of the present invention;
fig. 8 is a schematic structural diagram of a robot body according to embodiment 7 of the present invention;
FIG. 9 is a schematic structural view of the overhead steel beam welding robot according to embodiment 8 of the present invention;
FIG. 10 is a schematic view of the welding robot of the present invention performing the lower surface welding of the high altitude steel beam.
The reference numerals in the schematic drawings illustrate:
1. a robot body; 2. a wheel; 21. a permanent magnet wheel body; 211. a magnetic wheel outer member; 212. a first yoke; 213. a magnetic core; 214. a second yoke; 215. a flange; 22. an electro-permanent magnet; 23. a protective cover;
3. rotating the support table; 31. a rotating bearing; 32. a supporting seat; 321. a first limit hole; 322. a second limiting hole; 323. a third limiting hole;
4. a first level adjustment assembly; 41. a first lead screw; 42. a first mounting seat; 43. a first connecting member;
5. a second level adjustment assembly; 51. a second lead screw; 52. a second mounting seat; 53. a second connecting member; 54. a third connecting member; 55. a first limit pin;
6. a first vertical adjustment assembly; 61. a third screw rod; 62. a third mounting seat; 63. a first limit bracket; 64. a first rotating shaft;
7. a second vertical adjustment assembly; 71. a fourth screw rod; 72. a fourth mounting seat; 73. a second limiting frame; 74. a second limit pin; 75. a fourth connecting member;
8. the welding head fixes the assembly; 81. a fifth connecting member; 82. a second rotation shaft; 83. an industrial camera; 84. a welding head;
91. a claw; 92. a force sensor;
I. a first weld head adjustment mechanism; II. A second weld head adjustment mechanism.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, specific embodiments accompanied with figures are described in detail below, and it is apparent that the described embodiments are a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, shall fall within the scope of the present invention.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below. The horizontal X direction, the horizontal Y direction and the vertical Z direction are directions shown by placing the robot on a horizontal plane, and the X direction, the Y direction and the Z direction are mutually vertical.
Example 1
With reference to the drawings, the welding head adjusting mechanism of the embodiment includes a first horizontal adjusting assembly 4, a second horizontal adjusting assembly 5, a first vertical adjusting assembly 6, a second vertical adjusting assembly 7, and a welding head fixing assembly 8, the first horizontal adjusting assembly 4 is connected to the second horizontal adjusting assembly 5, the first horizontal adjusting assembly 4 adjusts the welding head to move along the horizontal X direction, and the second horizontal adjusting assembly 5 adjusts the welding head to move along the horizontal Y direction. The second horizontal adjusting assembly 5 is connected with the first vertical adjusting assembly 6, and the first vertical adjusting assembly 6 adjusts the welding head to move along the vertical Z direction. The first vertical adjusting assembly 6 is connected with the second vertical adjusting assembly 7, the second vertical adjusting assembly 7 can adjust the welding head to move along the vertical Z direction, meanwhile, the second vertical adjusting assembly 7 can rotate 90 degrees relative to the first vertical adjusting assembly 6, and therefore, the second vertical adjusting assembly 7 can adjust the welding head to move along the horizontal X direction. The welding head fixing assembly 8 is connected with the second vertical adjusting assembly 7, and the welding head fixing assembly 8 can also adjust the welding head to rotate within a certain angle range.
According to the welding head adjusting mechanism of the embodiment, firstly, the first horizontal adjusting assembly 4, the second horizontal adjusting assembly 5, the first vertical adjusting assembly 6 and the second vertical adjusting assembly 7 all adopt a classic motor-driven screw rod structure to realize welding head movement, and the structure can enable the welding head to move flexibly and stably. On the other hand, through the cooperation of horizontal adjustment subassembly and vertical adjustment subassembly, the setting of upper and lower, left and right sides and rotation can be carried out to the welding head to this embodiment, and the welding of control end bonding tool steel beam upper and lower surface carries out, and the advantage that this possesses in high altitude girder steel welding process is very obvious, has improved robot welding efficiency greatly.
Example 2
With reference to fig. 2 to 5, a welding head adjusting mechanism according to the present embodiment is specifically designed as follows:
the first horizontal adjusting component 4 and the second horizontal adjusting component 5 are disposed on the supporting seat 32, and a first limiting hole 321, a second limiting hole 322 and a third limiting hole 323 are respectively disposed on the 3 side walls of the supporting seat 32, wherein the second limiting hole 322 and the third limiting hole 323 are disposed oppositely. The first limiting hole 321, the second limiting hole 322 and the third limiting hole 323 are all kidney-shaped holes.
The first horizontal adjusting assembly 4 comprises two first screw rods 41 and a first connecting piece 43, the first screw rods 41 penetrate through first limiting holes 321, a motor is arranged on the other side of the first limiting holes 321, an output shaft of the motor is connected with the first screw rods 41 through a coupler, a first mounting seat 42 can be arranged on the other side of the first limiting holes 321, and the first mounting seat 42 is used for fixing the motor. The first lead screw 41 passes through the first connecting piece 43, and the motor drives the first lead screw 41 to drive the first connecting piece 43 to move.
The second horizontal adjusting assembly 5 comprises a second screw rod 51 and a second connecting piece 53, the second screw rod 51 respectively penetrates through a second limiting hole 322 and a third limiting hole 323, a motor is arranged on one side of the third limiting hole 323, an output shaft of the motor is connected with the second screw rod 51 through a coupler, a second mounting seat 52 can also be arranged on one side of the third limiting hole 323, and the second mounting seat 52 is used for fixing the motor. The second lead screw 51 passes through a second connecting piece 53, and the second connecting piece 53 is connected with the first connecting piece 43. When the motor drives the first lead screw 41 to drive the first connecting member 43 to move, the second lead screw 51 moves along the length direction of the second limiting hole 322 and the third limiting hole 323. The motor drives the second screw rod 51 to drive the second connecting piece 53 to move, and the first screw rod 41 moves along the length direction of the first limiting hole 321, so that the first horizontal adjusting component 4 and the second horizontal adjusting component 5 are organically combined together.
The end of the second connecting piece 53 far away from the first mounting seat 42 is provided with a third connecting piece 54, and the third connecting piece 54 is two sleeves provided with internal threads. The first vertical adjusting assembly 6 comprises a third screw rod 61 and a third mounting seat 62, the third mounting seat 62 is arranged at one end of the third screw rod 61, the third screw rod 61 sequentially penetrates through the third connecting piece 54 and the third mounting seat 62 and is connected with a motor, the motor drives the third screw rod 61, the third connecting piece 54 keeps stationary in the vertical Z direction, and the third screw rod 61 moves along the vertical Z direction. The two sides of the third connecting piece 54 are provided with a first limiting pin 55 and a first limiting frame 63, a strip-shaped limiting hole is formed in the first limiting frame 63, and the first limiting pin 55 is inserted into the strip-shaped limiting hole to limit the range of the third screw rod 61 to move along the vertical Z direction.
The second vertical adjusting assembly 7 comprises a fourth screw rod 71 and a fourth connecting piece 75, a fourth mounting seat 72 is arranged at one end of the fourth screw rod 71, the fourth screw rod 71 sequentially penetrates through one end of the fourth connecting piece 75 and the fourth mounting seat 72 and is connected with a motor, and the motor drives the fourth screw rod 71 to move. The first rotating shaft 64 is arranged on two sides of the third mounting seat 62, the first rotating shaft 64 is connected with one end of the fourth connecting piece 75, the first rotating shaft 64 is connected with the motor, the motor can be arranged in the third mounting seat 62, the motor drives the first rotating shaft 64 to further drive the fourth connecting piece 75 to rotate within a 90-degree range, and the fourth connecting piece 75 can drive the whole second vertical adjusting assembly 7 to rotate. The second limit pin 74 and the second limit bracket 73 are arranged on two sides of the fourth connecting piece 75, a strip-shaped limit hole is formed in the second limit bracket 73, and the second limit pin 74 is inserted into the strip-shaped limit hole to limit the moving range of the fourth screw rod 71.
The welding head fixing assembly comprises a fifth connecting piece 81, second rotating shafts 82 are arranged on two sides of a fourth mounting seat 72, the second rotating shafts 82 are connected with the fifth connecting piece 81, the second rotating shafts 82 are simultaneously connected with a motor, the motor can be arranged in the fourth mounting seat 72, the motor drives the second rotating shafts 82 to further drive the fifth connecting piece 81 to rotate, and an industrial camera 83 and a welding head 84 are arranged on the fifth connecting piece 81. Identification of the beam welding location by the industrial camera 83 directs the welding robot to move to the weld to perform the welding task.
The welding head adjusting mechanism of the embodiment has the advantages that after one surface is welded, the controller controls the fourth connecting piece to drive the second vertical adjusting assembly to rotate, and controls the fifth connecting piece to drive the welding head to rotate, so that welding can be continued to be performed on the other opposite surface of the steel beam, welding of the upper surface and the lower surface of the high-altitude steel beam is achieved, and welding of the steel beams with different thicknesses can be adapted.
Example 3
With reference to fig. 1, the high altitude girder welding robot of this embodiment, including robot body 1 and welding head adjustment mechanism as in embodiment 2, set up rotary supporting platform 3 on the robot body 1, rotary supporting platform 3 include swivel bearing 31 and supporting seat 32, supporting seat 32 sets up on swivel bearing 31, can rotate under swivel bearing 31's drive, first horizontal adjustment subassembly 4, second horizontal adjustment subassembly 5 then set up on supporting seat 32, so, welding head adjustment mechanism can realize 360 rotations (actually do not confine to rotatory 360, set up as required can, can realize 360 rotations the biggest).
The high-altitude steel beam welding robot of this embodiment can send the robot to welding on the high-altitude steel beam through the elevating platform, has reduced the human cost, can realize that the girder steel welds respectively on the lower surface, has guaranteed robot welding efficiency, and possesses advantages such as small, the structure is dexterous, safe and reliable.
Example 4
The high altitude girder welding robot of this embodiment, its difference lies in basically with embodiment 3: the robot body 1 is provided with four wheels 2, and the wheels 2 adopt permanent magnet wheels; the permanent magnet wheel is driven by a servo motor, a controller is arranged on one side inside the robot body, and a power supply is arranged on the other side inside the robot body. The permanent magnet wheel, the servo motor, the industrial camera, the welding head and the electric permanent magnet are all controlled by the controller.
The permanent magnet wheel comprises a magnet wheel outer part 211, a first magnetic yoke 212, a magnetic core 213, a second magnetic yoke 214 and a flange 215, wherein the magnetic core 213 is arranged between the first magnetic yoke 212 and the second magnetic yoke 214, the magnet wheel outer part 211 is arranged on the other side of the first magnetic yoke 212, the flange 215 is arranged on the other side of the second magnetic yoke 214, the magnet wheel outer part 211, the first magnetic yoke 212, the magnetic core 213, the second magnetic yoke 214 and the flange 215 are assembled into a whole through fastening nuts, and the flange 215 is used for connecting a driving motor.
The welding head adjusting mechanism of the embodiment is arranged at the front end of the robot in the moving direction, an electric permanent magnet opening is formed in one end (namely the rear end of the robot in the moving direction) of the bottom of the robot body 1, which is far away from the welding head adjusting mechanism, a magnetic isolating layer is arranged between the electric permanent magnet opening and the inside of the robot body, and the electric permanent magnet 22 is arranged in the electric permanent magnet opening (not shown in the figure). The electro-permanent magnet 22 is used as an auxiliary electromagnet, has the characteristics of being electrified to be magnetized and being cut off to be demagnetized, is arranged at the rear end electro-permanent magnet opening in the moving direction of the robot, on one hand, the adsorption force of the robot is increased, on the other hand, the effect of a counterweight can be achieved, the front end and the rear end of the robot are balanced in stress, and the robot cannot topple.
This embodiment uses through the collocation of permanent magnetism and electric permanent magnetism, realizes the reliable fixed of robot on the girder steel, adopts lightweight design, has reduced the balanced degree of difficulty of robot, and simple structure, dexterous light can remove autonomous welding at the high altitude.
Example 5
With reference to fig. 6, the overhead steel beam welding robot of the present embodiment is basically the same as embodiment 3, except that: the robot body 1 install four wheels 2, wheel 2 includes permanent magnetism wheel body 21, permanent magnetism wheel body 21 structure with embodiment 4 wheel 2, seted up electric permanent magnetism opening on permanent magnetism wheel body 21's the output shaft, electric permanent magnetism 22 sets up in electric permanent magnetism opening. To electric permanent magnet 22, the setting can cause certain degree of electromagnetic interference to inside electrical apparatus original paper in chassis bottom (although set up the magnetic partition layer, also has electromagnetic interference's risk), so can set up auxiliary electromagnet on the output shaft that robot body 1 and permanent magnetism wheel body 21 are connected, both can avoid electromagnetic interference at the in-process that the robot removed, realize the effect of increase adsorption affinity again.
Example 6
Referring to fig. 7, in the overhead steel beam welding robot of the present embodiment, two claws 91 are disposed on two sides of the robot body 1, and force sensors 92 are disposed on opposite sides of the two claws 91. The jaws 91 can be extended and retracted in the horizontal direction, and the force sensor 92 can transmit detection data to the controller. Through set up a flexible fixture respectively in 1 both sides of robot, the fixture end sets up force sensor, and fixture passes through force sensor firm the girder steel of carrying when carrying out the welding task, avoids the welding process in the high temperature influence lead to the adsorption affinity not enough.
Example 7
With reference to fig. 8, the high-altitude steel beam welding robot of the present embodiment has the high temperature resistant protection covers 23 installed on the four wheels 2 of the robot body 1 to prevent spatters from being adsorbed on the wheels when performing a welding task, so that the adsorption force of the wheels is weakened.
Example 8
With reference to fig. 9, the robot for welding high-altitude steel beams in this embodiment includes a robot body 1, a first welding head adjusting mechanism I and a second welding head adjusting mechanism II, wherein the first welding head adjusting mechanism I is disposed at the front end of the robot in the moving direction, and the second welding head adjusting mechanism II is disposed at the side of the robot body 1. When the welding task is executed, the two welding head adjusting mechanisms can be controlled to weld the upper surface and the lower surface of the steel beam oppositely, and the two welding head adjusting mechanisms can also be controlled to weld at different positions of the steel beam, so that the working efficiency is improved.
Meanwhile, in the embodiment, the electro-permanent magnet 22 of the left wheel in front of the robot can be taken down, so that the unstable gravity center caused by driving is avoided. In the embodiment, the welding head causes the gravity center shift when the lower surface of the steel beam is welded, so that the robot topples, and the welding head adjusting mechanism is added to avoid the gravity center shift, so that the welding process of the robot is more stable and safer.
Example 9
According to the welding method of the high-altitude steel beam, the robot is used for welding the high-altitude steel beam. Use the lift to send the robot to high altitude girder steel on, permanent magnetism wheel adsorbs on the girder steel surface with the electric permanent magnetism, discern welding position through industry camera 83, it is near to remove welding position through controller guide robot, the controller is to first horizontal adjustment subassembly 4, second horizontal adjustment subassembly 5, first vertical adjustment subassembly 6, second vertical adjustment subassembly 7 is controlled, make bonding tool 84 weld on the girder steel surface, a surface welding is accomplished the back, controller control fourth connecting piece 75 drives the rotation of second vertical adjustment subassembly 7, and control fifth connecting piece 81 and drive bonding tool 84 rotatory, continue to weld at another opposite face of girder steel, welding robot carries out high altitude girder steel lower surface welded schematic diagram and refers to figure 10. After welding is completed, the electric permanent magnet receives the command of the controller, and the magnetic force is lost when power is cut off, so that the welding robot can be conveniently taken down from the steel beam.
Claims (16)
1. A welding head adjusting mechanism is characterized in that: the welding head adjusting device comprises a first horizontal adjusting component (4), a second horizontal adjusting component (5), a first vertical adjusting component (6), a second vertical adjusting component (7) and a welding head fixing component (8), wherein the first horizontal adjusting component (4) adjusts the welding head to move along the horizontal X direction, the second horizontal adjusting component (5) adjusts the welding head to move along the horizontal Y direction, the first vertical adjusting component (6) adjusts the welding head to move along the vertical Z direction, the second vertical adjusting component (7) adjusts the welding head to move along the vertical Z direction or the horizontal X direction, and the welding head fixing component (8) is connected with the second vertical adjusting component (7); the first horizontal adjusting assembly (4), the second horizontal adjusting assembly (5), the first vertical adjusting assembly (6) and the second vertical adjusting assembly (7) all adopt a structure that a motor drives a screw rod to realize welding head movement.
2. A weld head adjustment mechanism according to claim 1, wherein: the first horizontal adjusting assembly (4) comprises a first screw rod (41) and a first connecting piece (43), the first screw rod (41) is connected with a motor, the first screw rod (41) penetrates through the first connecting piece (43), the motor drives the first screw rod (41) to drive the first connecting piece (43) to move, and the first connecting piece (43) is connected with the second horizontal adjusting assembly (5).
3. A weld head adjustment mechanism according to claim 2, wherein: the second horizontal adjusting assembly (5) comprises a second screw rod (51) and a second connecting piece (53), the second screw rod (51) is connected with a motor, the second screw rod (51) penetrates through the second connecting piece (53), and the motor drives the second screw rod (51) to drive the second connecting piece (53) to move; the second connecting piece (53) is connected with the first connecting piece (43).
4. A weld head adjustment mechanism according to claim 3, wherein: the first vertical adjusting assembly (6) comprises a third screw rod (61), the third screw rod (61) is connected with a motor, a third connecting piece (54) is arranged at one end of the second connecting piece (53), the third screw rod (61) penetrates through the third connecting piece (54), the motor drives the third screw rod (61), and the third screw rod (61) moves along the vertical Z direction.
5. The weld head adjustment mechanism of claim 4, wherein: the second vertical adjusting assembly (7) comprises a fourth screw rod (71) and a fourth connecting piece (75), the fourth screw rod (71) is connected with a motor, one end of the fourth connecting piece (75) is connected with the first vertical adjusting assembly (6), the fourth screw rod (71) penetrates through one end of the fourth connecting piece (75), and the motor drives the fourth screw rod (71) to move.
6. A weld head adjustment mechanism according to claim 4 or 5, wherein: the first vertical adjusting assembly (6) is further provided with a third mounting seat (62), the third mounting seat (62) is arranged at one end of a third screw rod (61), first rotating shafts (64) are arranged on two sides of the third mounting seat (62), the first rotating shafts (64) are connected with a fourth connecting piece (75), the first rotating shafts (64) are connected with a motor simultaneously, and the motor drives the first rotating shafts (64) to further drive the fourth connecting piece (75) to rotate.
7. A weld head adjustment mechanism according to claim 6, wherein: the welding head fixing assembly comprises a fifth connecting piece (81), a fourth mounting seat (72) is arranged at one end of a fourth screw rod (71), second rotating shafts (82) are arranged on two sides of the fourth mounting seat (72), the fifth connecting piece (81) is connected with the second rotating shafts (82), the second rotating shafts (82) are connected with a motor simultaneously, the motor drives the second rotating shafts (82) to further drive the fifth connecting piece (81) to rotate, and an industrial camera (83) and a welding head (84) are arranged on the fifth connecting piece (81).
8. The utility model provides a high altitude girder steel welding robot which characterized in that: comprising a robot body (1) and a horn adjusting mechanism according to any of claims 1-7, the robot body (1) being provided with a rotary support (3), said horn adjusting mechanism being provided on the rotary support (3).
9. The overhead steel beam welding robot of claim 8, wherein: the robot is characterized in that four wheels (2) are installed on the robot body (1), and the wheels (2) adopt permanent magnet wheels; and one end of the bottom of the robot body (1), which is far away from the welding head adjusting mechanism, is provided with an electric permanent magnet opening, and the electric permanent magnet (22) is arranged in the electric permanent magnet opening.
10. The overhead steel beam welding robot of claim 8, wherein: the robot is characterized in that four wheels (2) are installed on the robot body (1), each wheel (2) comprises a permanent magnet wheel body (21), an electric permanent magnet opening is formed in a connecting shaft of each wheel (2) and the robot body (1), and an electric permanent magnet (22) is arranged in each electric permanent magnet opening.
11. The overhead steel beam welding robot as claimed in claim 9 or 10, wherein: the permanent magnet wheel comprises a magnet wheel outer piece (211), a first magnetic yoke (212), a magnetic core (213), a second magnetic yoke (214) and a flange (215), wherein the magnetic core (213) is arranged between the first magnetic yoke (212) and the second magnetic yoke (214), the other side of the first magnetic yoke (212) is provided with the magnet wheel outer piece (211), the other side of the second magnetic yoke (214) is provided with the flange (215), and the magnet wheel outer piece (211), the first magnetic yoke (212), the magnetic core (213), the second magnetic yoke (214) and the flange (215) are assembled into a whole through fastening nuts.
12. The overhead steel beam welding robot as claimed in any one of claims 8 to 10, wherein: two side edges of the robot body (1) are provided with clamping jaws (91), and force sensors (92) are arranged on the opposite sides of the two clamping jaws (91).
13. The overhead steel beam welding robot as claimed in any one of claims 8 to 10, wherein: the four wheels (2) of the robot body (1) are provided with protective covers (23).
14. The overhead steel beam welding robot as claimed in any one of claims 8 to 10, wherein: the robot is characterized in that the robot body (1) is provided with a first welding head adjusting mechanism (I) and a second welding head adjusting mechanism (II), the first welding head adjusting mechanism (I) is arranged at the front end of the moving direction of the robot, and the second welding head adjusting mechanism (II) is arranged on the side edge of the robot body (1).
15. A high-altitude steel beam welding method is characterized by comprising the following steps: welding a high-altitude steel beam by using the robot as claimed in any one of claims 8 to 14.
16. The overhead steel beam welding method of claim 15, wherein: discernment welding position through industry camera (83), move near welding position through controller guide robot, the controller is to first horizontal adjustment subassembly (4), second horizontal adjustment subassembly (5), first vertical adjustment subassembly (6), second vertical adjustment subassembly (7) are controlled, make bonding tool (84) weld on the girder steel surface, a surface welding accomplishes the back, controller control fourth connecting piece (75) drive second vertical adjustment subassembly (7) rotatory, and it is rotatory to control fifth connecting piece (81) drive bonding tool (84), continue to weld at another opposite face of girder steel.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210739299.7A CN114888494B (en) | 2022-06-28 | 2022-06-28 | High-altitude steel beam welding robot, welding head adjusting mechanism and welding method |
| PCT/CN2022/127570 WO2024000952A1 (en) | 2022-06-28 | 2022-10-26 | High-altitude steel beam welding robot, welding head adjusting mechanism, and welding method |
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| CN202210739299.7A CN114888494B (en) | 2022-06-28 | 2022-06-28 | High-altitude steel beam welding robot, welding head adjusting mechanism and welding method |
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| CN114888494B CN114888494B (en) | 2023-04-25 |
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| WO (1) | WO2024000952A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024000952A1 (en) * | 2022-06-28 | 2024-01-04 | 中国十七冶集团有限公司 | High-altitude steel beam welding robot, welding head adjusting mechanism, and welding method |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117943727B (en) * | 2024-03-25 | 2024-06-04 | 扬州宏运车业有限公司 | Improved new energy automobile frame splice welding device |
| CN118162755B (en) * | 2024-05-13 | 2024-07-30 | 江西赣粤高速公路股份有限公司 | Welding device for machining steel-concrete composite beam |
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| WO2024000952A1 (en) | 2024-01-04 |
| CN114888494B (en) | 2023-04-25 |
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Denomination of invention: A high-altitude steel beam welding robot, welding head adjustment mechanism, and welding method Effective date of registration: 20231229 Granted publication date: 20230425 Pledgee: Maanshan Branch of Agricultural Bank of China Co.,Ltd. Pledgor: CHINA MCC17 GROUP Co.,Ltd. Registration number: Y2023980075633 |
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Granted publication date: 20230425 Pledgee: Maanshan Branch of Agricultural Bank of China Co.,Ltd. Pledgor: CHINA MCC17 GROUP Co.,Ltd. Registration number: Y2023980075633 |