CN116214057B - Barrel circumferential weld welding robot - Google Patents
Barrel circumferential weld welding robot Download PDFInfo
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- CN116214057B CN116214057B CN202310505309.5A CN202310505309A CN116214057B CN 116214057 B CN116214057 B CN 116214057B CN 202310505309 A CN202310505309 A CN 202310505309A CN 116214057 B CN116214057 B CN 116214057B
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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
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
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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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention discloses a cylinder circumferential seam welding robot, belongs to the technical field of welding, and solves the problems that a rotary driving mechanism of the traditional device cannot adapt to cylinders of different specifications and the cylinder is easy to slip when being driven, and comprises the following components: the welding tool comprises a welding base and a driving groove; the robot welding group is arranged in the welding base and is used for carrying out girth welding on the cylinder; the auxiliary welding mechanism is used for assisting the robot welding set to work and assisting the cylinder to feed and discharge; according to the embodiment of the invention, the angle adjusting assembly is arranged, the feeding and discharging of the cylinder to be welded are facilitated, the cylinder clamping assembly and the angle adjusting assembly are matched to realize the clamping and fixing of cylinders with different specifications and drive the cylinders to rotate, circular seam welding of the cylinders is facilitated, the cylinder guiding assembly can guide and limit the cylinders with different specifications, the falling of the cylinders is avoided, and the welding efficiency is improved.
Description
Technical Field
The invention belongs to the technical field of welding, and particularly relates to a cylinder circumferential seam welding robot.
Background
The automatic circular seam welder is one kind of universal automatic welding equipment capable of completing circular and circular seam welding, and may be used in high quality welding of carbon steel, low alloy steel, stainless steel, aluminum, alloy, etc.
Meanwhile, the retrieved China patent CN212420140U discloses a cylinder circumferential seam welding device which comprises a base, a rotary driving mechanism, a bracket and a clamping assembly; the rotary driving mechanism is arranged on the base, a plurality of pairs of rollers which are arranged at intervals are arranged on the rotary driving mechanism, and cylinders to be welded are sequentially placed on the rollers; the bracket is vertically arranged on the base; the tail end of the clamping assembly is hinged to the bracket, two pulleys are oppositely arranged at the bottom of the clamping assembly, and the two pulleys can be respectively rotatably placed on the side surfaces of two adjacent cylinders; however, the conventional rotary driving mechanism cannot adapt to cylinders of different specifications, and the phenomenon that the cylinder easily slips when the cylinder is driven is based on the phenomenon. We propose a cylinder girth welding robot.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a cylinder circumferential seam welding robot, and solves the problems that a rotary driving mechanism of the prior device cannot adapt to cylinders with different specifications and the cylinder is easy to slip when being driven.
The invention is realized in that a cylinder girth welding robot comprises:
the welding tool comprises a welding base and a driving groove arranged in the welding base;
the robot welding group is arranged in the welding base, is connected with the welding base in a sliding way and is used for carrying out girth welding on the cylinder;
the auxiliary welding mechanism is arranged in the welding base, is used for assisting the robot welding set to work and assisting the cylinder to feed and discharge;
wherein, auxiliary welding mechanism includes:
the angle adjusting component is arranged in the driving groove in a sliding manner and used for adjusting the angle of the cylinder body and assisting in feeding and discharging of the cylinder body, and is connected with an auxiliary displacement component which is arranged in the driving groove;
the cylinder clamping assembly is connected with the angle adjusting assembly and is used for clamping and fixing cylinders of different specifications and driving the cylinders to rotate, and
and the cylinder guide assembly is matched with the cylinder clamping assembly to work, and is used for guiding and limiting cylinders with different specifications.
Preferably, the auxiliary displacement assembly comprises:
the displacement driving piece is fixedly arranged in the driving groove;
the displacement transmission part is arranged at one side of the displacement driving part, the displacement transmission part is detachably connected with the displacement driving part, and
and the displacement sliding part is sleeved on the displacement transmission part and is slidably arranged in the driving groove.
Preferably, the angle adjusting assembly includes:
the angle adjusting seat is fixedly connected with the displacement sliding part and is respectively connected with the driving groove and the welding guide seat in a sliding manner;
the angle adjusting piece is fixedly arranged in the angle adjusting seat, the output end of the angle adjusting piece is fixedly connected with an angle driving piece, one side of the angle driving piece is provided with an angle transmission piece, and the angle transmission piece is arranged in the angle adjusting seat;
the adjusting swing seat is connected with the angle transmission piece, and the barrel guide assembly and the barrel clamping assembly are respectively installed on the adjusting swing seat.
Preferably, the barrel guide assembly includes:
the barrel guide seat is detachably arranged on the adjusting swing seat, barrel guide grooves are symmetrically formed in the barrel guide seat, the barrel guide grooves are connected through barrel moving seats, and moving seat protection pieces for protecting the barrel moving seats are arranged in the barrel guide grooves;
the guide driving piece is fixedly arranged in the cylinder guide seat, and the output end of the guide driving piece is fixedly connected with the cylinder moving seat;
at least one group of guiding pushing pieces, one end of each guiding pushing piece is hinged with the cylinder moving seat, the other end of each guiding pushing piece is connected with a guiding bearing seat, a guiding installation piece is detachably arranged on each guiding bearing seat, each guiding installation piece is fixedly connected with a cylinder guiding roller, and the cylinder guiding rollers are used for guiding and limiting cylinders with different specifications.
Preferably, the barrel guide assembly further comprises:
at least one group of stop positioning seats are fixedly arranged at one end of the cylinder guide seat, and the guide bearing seat is sleeved on the stop positioning seats in a sliding way.
Preferably, the cartridge holder assembly comprises:
the cylinder driving part is arranged on the adjusting swing seat and used for driving the cylinder to rotate so as to realize circumferential seam welding of the cylinder;
and the cylinder clamping part is connected with the cylinder driving part and used for clamping and fixing cylinders to be welded with different specifications.
Preferably, the cylinder driving part includes:
the cylinder driving piece is fixedly arranged on the adjusting swing seat;
the cylinder transmission part is fixedly connected with the cylinder driving part;
the cylinder driven piece is matched with the cylinder transmission piece to work, and is embedded in the driving guide seat, and the driving guide seat is fixedly connected with the adjusting swing seat through the driving support arm;
and the cylinder driving seat is fixedly connected with the cylinder driven piece, and a plurality of groups of cylinder clamping parts are arranged on the cylinder driving seat.
Preferably, the barrel holding part includes:
the clamping protection seat is used for clamping and fixing the cylinders with different specifications;
the clamping moving seat is fixedly connected with the clamping protection seat and is slidably arranged in the cylinder driving seat;
the clamping transmission piece penetrates through the clamping moving seat and is connected with the clamping moving seat, and the clamping transmission piece is fixedly connected with the clamping driving piece.
Preferably, the robot welding set includes:
a robot base;
the welding moving part comprises a moving driving piece, a moving transmission piece and a moving driven piece, wherein the moving driving piece is fixedly arranged in the robot seat, the output end of the moving driving piece is fixedly connected with the moving transmission piece, the moving driven piece is arranged on one side of the moving transmission piece, and the moving transmission piece is fixedly arranged on the welding base;
a welding adjusting part mounted on the robot base for adjusting a welding position, an
And a circular seam welding part connected with the welding adjusting part.
Preferably, the welding adjustment part includes:
the translation adjusting piece is fixedly arranged on the robot seat;
the welding adjusting seat is fixedly connected with the output end of the translation adjusting piece, and a welding adjusting piece is embedded in the welding adjusting seat;
the adjusting transmission seat is internally provided with an adjusting limit groove, an adjusting hinge block is slidably arranged in the adjusting limit groove, and the adjusting hinge block is fixedly connected with the welding adjusting piece through an adjusting disc;
at least one group of adjusting transmission wheels is arranged on one side of the adjusting transmission seat, the adjusting transmission wheels are connected through a transmission belt, any one of the adjusting transmission wheels is fixedly connected with an adjusting transmission shaft, and the adjusting transmission shaft is fixedly connected with the circular seam welding part.
Compared with the prior art, the embodiment of the application has the following main beneficial effects:
according to the embodiment of the invention, the angle adjusting assembly is arranged, the feeding and discharging of the cylinder to be welded are facilitated, the cylinder clamping assembly and the angle adjusting assembly are matched to realize the clamping and fixing of cylinders with different specifications and drive the cylinders to rotate, circular seam welding of the cylinders is facilitated, the cylinder guiding assembly can guide and limit the cylinders with different specifications, the falling of the cylinders is avoided, and the welding efficiency is improved.
In the embodiment of the invention, the cylinder driving part and the cylinder clamping part are arranged, the cylinder driving part can drive cylinders with different specifications to rotate, the robot welding group is matched to realize circumferential seam welding of the cylinders, and the cylinder clamping part can adjust the clamping range according to the shape of the cylinders, so that the stability of the cylinders during welding is ensured.
The clamping protection seat can firmly clamp cylinders of different specifications and can also protect the cylinders, so that the phenomenon that the cylinders are damaged during welding is avoided, the position of the clamping protection seat can be flexibly adjusted, and the clamping fixation of cylinders of different types is met.
The embodiment of the invention is provided with the welding adjusting part, the welding adjusting part can meet the requirement of fine adjustment of the position of the circular seam welding part, meanwhile, the adjustment is flexible and convenient, the operation flow of pause-welding-pause can be realized without the cooperation of a plurality of groups of driving components, the welding of gaps at different positions of the cylinder body can be ensured, the circular seam welding part can be assisted to be cooled in a pause mode, the damage of the circular seam welding part is avoided, and the service life of the circular seam welding part is prolonged.
Drawings
Fig. 1 is a schematic structural view of a cylinder girth welding robot provided by the invention.
Fig. 2 is an isometric view of the present invention.
Fig. 3 is a front view of the present invention.
Fig. 4 is a side view of the present invention.
Fig. 5 is a top view of the present invention.
Fig. 6 is a schematic structural view of an auxiliary welding mechanism provided by the invention.
Fig. 7 is a schematic perspective view of an auxiliary welding mechanism provided by the invention.
Fig. 8 is a front view of the auxiliary welding mechanism provided by the present invention.
Fig. 9 is a rear view of the auxiliary welding mechanism provided by the present invention.
Fig. 10 is a schematic structural view of a robot welding set provided by the present invention.
Fig. 11 is a schematic perspective view of a robot welding set according to the present invention.
Fig. 12 is a schematic structural view of another embodiment of a cylinder girth welding robot according to the present invention.
Fig. 13 is a front view of another embodiment of a cylinder girth welding robot provided by the present invention.
Fig. 14 is a top view of another embodiment of a cylinder girth welding robot provided by the present invention.
In the figure: 1-welding tool, 11-welding base, 111-driving slot, 112-welding guide holder, 2-auxiliary displacement assembly, 21-displacement drive, 22-displacement drive, 23-displacement slide, 3-auxiliary welding mechanism, 31-angle adjustment assembly, 311-angle adjustment holder, 312-angle adjustment member, 313-angle drive, 314-angle drive, 315-adjustment swing holder, 32-barrel guide assembly, 321-barrel guide holder, 322-guide drive, 323-barrel movement holder, 324-guide push member, 325-guide support bracket, 326-stop positioning holder, 327-guide mount, 328-barrel guide roller, 33-barrel clamp assembly, 331-barrel drive member, and 332-barrel drive, 333-barrel follower, 334-drive shoe, 335-barrel drive shoe, 336-drive support arm, 4-robot weld stack, 41-robot shoe, 42-weld move, 421-move drive, 422-move drive, 423-move follower, 43-weld adjust, 431-translate adjust, 432-weld adjust, 433-weld adjust, 434-adjust articulation block, 435-adjust drive shoe, 436-adjust drive wheel, 437-drive belt, 438-adjust drive shaft, 439-adjust limit slot, 44-girth weld, 441-weld master, 442-girth weld gun, 5-barrel clamp, 51-clamp drive, 52-clamping transmission piece, 53-clamping moving seat and 54-clamping protection seat.
Detailed Description
The rotary driving mechanism of the existing device cannot adapt to cylinders of different specifications, and meanwhile, the phenomenon that the cylinder slips easily occurs when the cylinder is driven is based on the phenomenon. The cylinder girth welding robot comprises a welding tool 1, a robot welding set 4 and an auxiliary welding mechanism 3, wherein the robot welding set 4 is arranged in a welding base 11 and is in sliding connection with the welding base 11 and is used for girth welding of a cylinder, the auxiliary welding mechanism 3 is arranged in the welding base 11 and is used for assisting the robot welding set 4 to work and assisting the feeding and discharging of the cylinder, and the auxiliary welding mechanism 3 comprises an angle adjusting component 31, a cylinder clamping component 33 connected with the angle adjusting component 31 and a cylinder guiding component 32 matched with the cylinder clamping component 33 to work; when the automatic welding device is operated, the auxiliary displacement assembly 2 is started to drive the angle adjusting assembly 31 and the barrel clamping assembly 33 to move, then the angle adjusting assembly 31 is started according to the position of the barrel, the angle adjusting assembly 31 drives the barrel clamping assembly 33 and the barrel guiding assembly 32 to move to corresponding angles, feeding of the barrel is facilitated, then the barrel clamping assembly 33 and the barrel guiding assembly 32 are driven by the angle adjusting assembly 31 to clamp and support the barrel, then the angle adjusting assembly 31 is started, the barrel to be welded is horizontally placed by the angle adjusting assembly 31, the robot welding set 4 and the barrel clamping assembly 33 are started, the barrel clamping assembly 33 drives the barrel to rotate anticlockwise or clockwise, and circular seam welding operation of the barrel is facilitated by the robot welding set 4. According to the embodiment of the invention, the angle adjusting assembly 31 is arranged, the angle adjusting assembly 31 facilitates loading and unloading of the cylinder to be welded, the cylinder clamping assembly 33 and the angle adjusting assembly 31 are matched to clamp and fix cylinders with different specifications and drive the cylinders to rotate, circular seam welding of the cylinders is facilitated, the cylinder guiding assembly 32 can guide and limit the cylinders with different specifications, falling of the cylinders is avoided, and welding efficiency is improved.
The embodiment of the invention provides a cylinder girth welding robot, as shown in figures 1-5, comprising:
a welding tool 1, wherein the welding tool 1 comprises a welding base 11 and a driving groove 111 arranged in the welding base 11;
the robot welding group 4 is arranged in the welding base 11, is connected with the welding base 11 in a sliding manner and is used for carrying out girth welding on the cylinder;
the auxiliary welding mechanism 3 is arranged in the welding base 11 and used for assisting the robot welding set 4 to work and assisting in feeding and discharging of the cylinder, the auxiliary welding mechanism 3 can be provided with a single set, can also be symmetrically arranged about the welding base 11 and respectively clamps and fixes the cylinders with different specifications.
It should be noted that, the welding base 11 may be a rectangular base or a round base, and the welding base 11 may be made of stainless steel or titanium alloy, the driving slot 111 may be a rectangular slot, and the driving slot 111 is formed at the center of the welding base 11. By way of example, the cartridges noted in this application may be conical, circular, dumbbell-shaped or rectangular weldable carbon, stainless steel or alloy cartridges.
In this embodiment, as shown in fig. 6 to 9, the auxiliary welding mechanism 3 includes:
the angle adjusting component 31 is slidably arranged in the driving groove 111 and used for adjusting the angle of the cylinder and assisting in feeding and discharging of the cylinder, the angle adjusting component 31 is connected with the auxiliary displacement component 2, and the auxiliary displacement component 2 is arranged in the driving groove 111;
a barrel clamping assembly 33 connected with the angle adjusting assembly 31, wherein the barrel clamping assembly 33 is used for clamping and fixing barrels with different specifications, driving the barrels to rotate, and
the cylinder guide assembly 32 is matched with the cylinder clamping assembly 33, and the cylinder guide assembly 32 is used for guiding and limiting cylinders with different specifications.
In this embodiment, at the during operation, open auxiliary displacement subassembly 2, auxiliary displacement subassembly 2 opens and can drive angle adjustment subassembly 31, barrel centre gripping subassembly 33 remove, then start according to the position of barrel angle adjustment subassembly 31, angle adjustment subassembly 31 drives barrel centre gripping subassembly 33 and barrel direction subassembly 32 and removes to corresponding angle, the material loading of barrel has been made things convenient for, then drive barrel centre gripping subassembly 33, barrel direction subassembly 32 carries out the centre gripping bearing to the barrel through angle adjustment subassembly 31, then start angle adjustment subassembly 31, make angle adjustment subassembly 31 place the barrel level that will weld, start robot welding group 4 and barrel centre gripping subassembly 33, thereby make barrel centre gripping subassembly 33 drive the barrel anticlockwise or clockwise rotation, make things convenient for robot welding group 4 to carry out the girth welding operation to the barrel.
According to the embodiment of the invention, the angle adjusting assembly 31 is arranged, the angle adjusting assembly 31 facilitates loading and unloading of the cylinder to be welded, the cylinder clamping assembly 33 and the angle adjusting assembly 31 are matched to clamp and fix cylinders with different specifications and drive the cylinders to rotate, circular seam welding of the cylinders is facilitated, the cylinder guiding assembly 32 can guide and limit the cylinders with different specifications, falling of the cylinders is avoided, and welding efficiency is improved.
In a further preferred embodiment of the present invention, as shown in fig. 1-2, the auxiliary displacement assembly 2 comprises:
a displacement driver 21, wherein the displacement driver 21 is fixedly installed in the driving groove 111;
a displacement transmission member 22 provided at one side of the displacement driving member 21, the displacement transmission member 22 being detachably connected to the displacement driving member 21, and
and a displacement sliding member 23 sleeved on the displacement transmission member 22, wherein the displacement sliding member 23 is slidably mounted in the driving groove 111.
In this embodiment, the displacement driving member 21 may be a servo motor, and the output end of the displacement driving member 21 is connected with the displacement driving member 22 in an interference fit manner.
In an alternative embodiment of the present application, the displacement driving member 22 may be a unidirectional threaded rod, and one end of the displacement driving member 22 is rotatably connected to the driving groove 111 through a bearing, the displacement sliding member 23 may be a threaded block or a threaded sleeve, and the displacement sliding member 23 is in threaded connection with the displacement driving member 22.
When the device works, the position of the angle adjusting component 31, the cylinder clamping component 33 and the cylinder guiding component 32 is required to be adjusted, the displacement driving piece 21 is started, the displacement driving piece 21 drives the displacement driving piece 22 to rotate, and the displacement driving piece 22 drives the displacement sliding piece 23 to move, so that the displacement sliding piece 23 drives the angle adjusting component 31, the cylinder clamping component 33 and the cylinder guiding component 32 to move, and feeding and discharging of the cylinder are facilitated.
In another alternative embodiment of the present invention, the displacement driving member 21 may be a hydraulic cylinder, an air cylinder or an electric push rod, and the telescopic end of the displacement driving member 21 is fixedly connected with the displacement driving member 22 through a clamp or a fastening bolt, the displacement driving member 22 may be a driving rod, and the displacement driving member 22 and the displacement sliding member 23 are connected through welding or a buckle.
In a further preferred embodiment of the present invention, as shown in fig. 6 to 9, the angle adjusting assembly 31 includes:
the angle adjusting seat 311 is fixedly connected with the displacement sliding piece 23, and the angle adjusting seat 311 is respectively connected with the driving groove 111 and the welding guide seat 112 in a sliding manner;
the angle adjusting piece 312 is fixedly arranged in the angle adjusting seat 311, the output end of the angle adjusting piece 312 is fixedly connected with an angle driving piece 313, one side of the angle driving piece 313 is provided with an angle transmission piece 314, and the angle transmission piece 314 is arranged in the angle adjusting seat 311;
the adjusting swing seat 315, the adjusting swing seat 315 is connected with the angle transmission member 314, and the barrel guiding component 32 and the barrel clamping component 33 are respectively installed on the adjusting swing seat 315.
In this embodiment, the angle adjusting seat 311 may be a rectangular seat, "L" seat, "i" seat or "U" seat, the welding guide seat 112 is fixedly connected with the welding base 11 by a fastening bolt or a seamless welding manner, and a slider is embedded in the welding guide seat 112 and can be fixedly connected with the angle adjusting seat 311 by a buckle or a fastening bolt.
The angle adjusting member 312 may be a hydraulic cylinder, an air cylinder or an electric push rod, and the angle adjusting member 312 is fixedly mounted in the angle adjusting seat 311 by a clamp or a fastening bolt, the telescopic end of the angle adjusting member 312 is fixedly connected with the angle driving member 313 by a fastening bolt or a welding manner, the angle driving member 313 may be a horizontal rack, the angle driving member 314 may be a gear rod or a gear, and the angle driving member 314 and the angle driving member 313 are engaged and driven, the angle driving member 314 is rotationally connected with the angle adjusting seat 311 by a bearing, and two ends of the angle driving member 314 are respectively fixedly connected with the adjusting swing seat 315 by a clamp or a clamping ring.
When the barrel feeding and discharging device works, the angle adjusting piece 312 is started, the angle adjusting piece 312 drives the angle driving piece 313 to move, and the angle driving piece 313 drives the angle driving piece 314 to rotate, so that the angle driving piece 314 drives the adjusting swing seat 315 to swing, the swing angle of the barrel guiding assembly 32 and the barrel clamping assembly 33 is adjusted, and feeding and discharging of the barrel are facilitated.
In a further preferred embodiment of the present invention, as shown in FIGS. 6-9, the barrel guide assembly 32 comprises:
the barrel guide seat 321, wherein the barrel guide seat 321 is detachably arranged on the adjusting swing seat 315, barrel guide grooves are symmetrically formed in the barrel guide seat 321, the barrel guide grooves are connected through a barrel moving seat 323, and a moving seat protection piece for protecting the barrel moving seat 323 is arranged in the barrel guide groove;
the guide driving piece 322 is fixedly arranged in the cylinder guide seat 321, and the output end of the guide driving piece 322 is fixedly connected with the cylinder moving seat 323;
at least one group of guiding pushing pieces 324, one end of the guiding pushing piece 324 is hinged with the cylinder moving seat 323, the other end of the guiding pushing piece 324 is connected with a guiding bearing bracket 325, a guiding installation piece 327 is detachably installed on the guiding bearing bracket 325, the guiding installation piece 327 is fixedly connected with a cylinder guiding roller 328, and the cylinder guiding roller 328 is used for guiding and limiting cylinders with different specifications.
At least one group of stop positioning seat 326, the stop positioning seat 326 is fixedly installed at one end of the cylinder guiding seat 321, the guiding bearing seat 325 is slidably sleeved on the stop positioning seat 326, the stop positioning seat 326 can be a rectangular seat or a round rod, the stop positioning seat 326 is fixedly connected with the cylinder guiding seat 321 through joggles or fastening bolts, and a through groove with the same shape as the stop positioning seat 326 is formed in the guiding bearing seat 325, so that the guiding bearing seat 325 is slidably connected with the stop positioning seat 326.
In this embodiment, the barrel guide seat 321 may be a "U" shaped seat or an "i" shaped seat, and the barrel guide seat 321 and the adjusting swing seat 315 are fixedly connected by welding or rivets, the barrel guide groove may be a rectangular groove or a round groove, the moving seat protecting member may be a spring telescopic rod, a hydraulic telescopic rod or a damping spring, one end of the moving seat protecting member is fixedly connected with the barrel moving seat 323, the guide driving member 322 may be a hydraulic cylinder or an air cylinder, the guide pushing member 324 may be a push rod obliquely arranged, the guide pushing member 324 is hinged with the guide bearing bracket 325, the guide mounting member 327 may be a mounting rod or a mounting shaft, the barrel guide roller 328 may be a round roller or a cylinder, meanwhile, in order to avoid the situation of insufficient friction force when the barrel rotates, multiple sets of barrel friction blocks may be uniformly distributed on the side wall of the barrel guide roller 328, and the barrel friction blocks are made of elastic rubber.
When the device works, the guide driving piece 322 is started, the guide driving piece 322 drives the cylinder moving seat 323 to move, and the cylinder moving seat 323 drives the guide pushing piece 324 and the guide bearing bracket 325 to move, so that the guide bearing bracket 325 drives the cylinder guide roller 328 to move in the same direction or in different directions, and the function of supporting and guiding cylinders with different specifications is further satisfied.
In a further preferred embodiment of the present invention, as shown in FIGS. 6-9, the cartridge holder assembly 33 comprises:
the cylinder driving part is arranged on the adjusting swing seat 315 and is used for driving the cylinder to rotate so as to realize circumferential seam welding of the cylinder;
and the cylinder clamping part 5 is connected with the cylinder driving part, and the cylinder clamping part 5 is used for clamping and fixing cylinders to be welded with different specifications.
In the embodiment of the invention, the cylinder driving part and the cylinder clamping part 5 are arranged, the cylinder driving part can drive cylinders with different specifications to rotate, the robot welding group 4 is matched to realize circumferential seam welding of the cylinders, and the cylinder clamping part 5 can adjust the clamping range according to the shape of the cylinders, so that the stability of the cylinders during welding is ensured.
In this embodiment, the cylinder driving part includes:
a cylinder driving part 331, the cylinder driving part 331 being fixedly installed on the adjustment swing seat 315;
a cylinder driving member 332 fixedly connected with the cylinder driving member 331;
the cylinder follower 333 is matched with the cylinder transmission member 332, the cylinder follower 333 is embedded in the driving guide seat 334, and the driving guide seat 334 is fixedly connected with the adjusting swing seat 315 through the driving support arm 336;
a cylinder driving seat 335 fixedly connected with the cylinder follower 333, wherein a plurality of groups of cylinder clamping parts 5 are arranged on the cylinder driving seat 335.
For example, the barrel driving member 331 may be a servo motor, the output end of the barrel driving member 331 is connected with the barrel driving member 332 in an interference fit manner, the barrel driving member 332 may be a gear, the barrel driving member 332 is disposed on the inner side or the outer side of the barrel driven member 333, the barrel driving member 332 may be an inner hollow ring gear or an outer hollow ring gear, the barrel driving member 332 and the barrel driven member 333 are engaged for driving, the barrel driven member 333 is rotationally connected with the driving guide holder 334 through a bearing ring, the driving guide holder 334 is fixedly connected with the driving support arm 336 through a fastening bolt, and the driving support arm 336 is fixedly connected with the adjusting swing arm through a buckle or a fastening bolt.
When the cylinder driving piece 331 is opened in operation, the cylinder driving piece 331 drives the cylinder driving piece 332 to rotate, the cylinder driving piece 332 drives the cylinder driven piece 333 to rotate, and the cylinder driven piece 333 drives the cylinder driving seat 335 and the cylinder clamping part 5 to rotate cylinders with different specifications, so that circumferential seam welding of the cylinders is facilitated.
In this embodiment, the barrel holding part 5 includes:
the clamping protection seat 54 is used for clamping and fixing the cylinders with different specifications;
a clamping moving seat 53 fixedly connected with the clamping protection seat 54, wherein the clamping moving seat 53 is slidably installed in the cylinder driving seat 335;
the clamping transmission piece 52 penetrates through the clamping moving seat 53 and is connected with the clamping moving seat 53, and the clamping transmission piece 52 is fixedly connected with the clamping driving piece 51.
The clamping driving member 51 is fixedly connected with the clamping driving member 52 in a joggle or welding mode, the clamping driving member 52 can be a screw rod, one end of the clamping driving member 52 is rotationally connected with the cylinder driving seat 335 through a bearing, the clamping driving member 52 is in threaded connection with the clamping moving seat 53, and the clamping moving seat 53 can be a threaded block or a threaded seat.
It should be noted that, the clamping protection seat 54 is circumferentially disposed on one side of the cylinder driving seat 335, the clamping protection seat 54 may be a rectangular seat or an arc seat, the clamping protection seat 54 may be made of a hard elastomer, which not only can firmly clamp cylinders with different specifications, but also can protect the cylinders, so as to avoid damage to the cylinders during welding, and the position of the clamping protection seat 54 can be flexibly adjusted, thereby meeting the requirement of clamping and fixing the cylinders with different types.
As another alternative embodiment of the present invention, as shown in fig. 12 to 14, two sets of auxiliary welding mechanisms 3 may be provided, the auxiliary welding mechanisms 3 are symmetrically disposed about the welding base 11, two sets of auxiliary welding mechanisms 3 are provided to meet the butt seam welding of two sets of cylinders, and the butt seam welding may be performed for two sets of cylinders with different specifications, where any one set of auxiliary welding mechanisms 3 is connected with the auxiliary displacement assembly 2, the other set of auxiliary welding mechanisms 3 may be fixed in the driving slot 111 or the welding base 11, and the two sets of auxiliary welding mechanisms 3 have the same structure and are not described herein.
In a further preferred embodiment of the present invention, as shown in fig. 10 to 11, the robot welding set 4 includes:
the robot seat 41 may be a rectangular seat or an L-shaped seat, and the robot seat 41 is slidably connected with the welding base 11 through a slider;
a welding moving part 42 connected with the robot base 41, wherein the welding moving part 42 comprises a moving driving piece 421, a moving transmission piece 422 and a moving driven piece 423, the moving driving piece 421 is fixedly installed in the robot base 41, the output end of the moving driving piece 421 is fixedly connected with the moving transmission piece 422, the moving driven piece 423 is arranged on one side of the moving transmission piece 422, and the moving transmission piece 422 is fixedly installed on the welding base 11;
for example, the moving driving member 421 may be a servo motor, and the moving driving member 421 is fixedly installed in the robot base 41 through a clamp or a bolt, the moving driving member 422 may be a gear, the moving driving member 422 and the moving driven member 423 are engaged and driven, the moving driven member 423 may be a horizontal rack, and the moving driven member 423 is fixedly installed on the welding base 11 through a fastening bolt.
A welding adjustment part 43, the welding adjustment part 43 being mounted on the robot base 41 for adjusting a welding position, and
it should be noted that, the girth welding portion 44 connected to the welding adjusting portion 43, the girth welding portion 44 includes a welding host 441 and a girth welding gun 442, the welding host 441 is detachably connected to the welding adjusting portion 43 through a fastener or a fastening bolt, the welding host 441 is fixedly connected with the girth welding gun 442, the welding host 441 is electrically connected to the girth welding gun 442, the girth welding gun 442 may be an automatic, numerical control or electric cabinet control type welding gun, and the power mode of the girth welding gun 442 may be an ultrasonic, laser, plasma or electric driving mode.
The embodiment of the invention is provided with the welding adjusting part 43, the welding adjusting part 43 can meet the requirement of fine adjustment of the position of the girth welding part 44, meanwhile, the adjustment is flexible and convenient, the operation flow of pause-welding-pause can be realized without the cooperation of a plurality of groups of driving components, the welding of gaps at different positions of the cylinder body can be ensured, the girth welding part 44 can be assisted to carry out pause cooling, the damage of the girth welding part 44 is avoided, and the service life of the girth welding part 44 is prolonged.
When the welding positions of the gaps at different positions on the cylinder body are required to be adjusted, the movable driving piece 421 is started during operation, and the movable driving piece 421 drives the movable driving piece 422 to rotate, so that the movable driving piece 422 and the movable driven piece 423 work cooperatively, and the adjustment of the positions of the robot seat 41, the welding adjusting part 43 and the girth welding part 44 is realized.
In the present embodiment, the welding adjustment part 43 includes:
a translation regulating member 431, wherein the translation regulating member 431 is fixedly installed on the robot base 41;
a welding adjusting seat 432 fixedly connected with the output end of the translation adjusting part 431, wherein a welding adjusting part 433 is embedded in the welding adjusting seat 432;
an adjusting transmission seat 435, an adjusting limit groove 439 is formed in the adjusting transmission seat 435, an adjusting hinge block 434 is slidably arranged in the adjusting limit groove 439, and the adjusting hinge block 434 is fixedly connected with the welding adjusting piece 433 through an adjusting disc;
at least one group of adjusting driving wheels 436, wherein the adjusting driving wheels 436 are arranged on one side of the adjusting driving seat 435, the adjusting driving wheels 436 are connected through a driving belt 437, and any one of the adjusting driving wheels 436 is fixedly connected with an adjusting driving shaft 438, and the adjusting driving shaft 438 is fixedly connected with the girth welding part 44.
In this embodiment, the translation adjusting member 431 may be a hydraulic cylinder, an air cylinder or an electric push rod, and the translation adjusting member 431 is fixedly mounted on the robot base 41 through a fastening bolt or a rivet, the telescopic end of the translation adjusting member 431 is fixedly connected with the welding adjusting base 432 through the fastening bolt, the bottom of the adjusting transmission base 435 is rotationally connected with the welding adjusting base 432 through a rotating shaft, the adjusting limiting groove 439 may be an "S" or "W" slot, the welding adjusting member 433 may be a servo motor, an adjusting disc is disposed between the welding adjusting member 433 and the adjusting transmission base 435, the welding adjusting member 433 and the adjusting disc are fixedly connected through a buckle or a bolt, the adjusting hinge block 434 is disposed at an eccentric position of the adjusting disc, the welding adjusting member 433 is opened to drive the adjusting disc to rotate, the adjusting hinge block 434 is rotated, and the adjusting hinge block 434 slides along the adjusting limiting groove 439, thereby achieving the auxiliary welding or cooling of the circumferential seam 44 at the end of the adjusting limiting groove 439.
It should be noted that, the adjusting driving wheel 436 may be provided with three groups, which are sequentially divided into an upper driving wheel, a left driving wheel and a right driving wheel, and the upper driving wheel and the right driving wheel are respectively connected with the end portions of the adjusting driving seat 435 in a rotating manner through a rotating shaft, and the left driving wheel may be connected with the welding adjusting seat 432 in a rotating manner, when the adjusting driving seat 435 rotates, the adjusting driving wheel 436 may rotate relative to the adjusting driving seat 435, so that any one of the adjusting driving wheels 436 drives the adjusting driving shaft 438 to rotate, thereby further fine adjustment of the rotation angle of the girth welding portion 44 is realized, and welding precision is ensured.
In summary, the present invention provides a cylinder circumferential seam welding robot, when in operation, the auxiliary displacement assembly 2 is started to drive the angle adjustment assembly 31 and the cylinder clamping assembly 33 to move, then the angle adjustment assembly 31 is started according to the position of the cylinder, the angle adjustment assembly 31 drives the cylinder clamping assembly 33 and the cylinder guiding assembly 32 to move to corresponding angles, the feeding of the cylinder is facilitated, then the angle adjustment assembly 31 drives the cylinder clamping assembly 33 and the cylinder guiding assembly 32 to clamp and support the cylinder, then the angle adjustment assembly 31 is started, the angle adjustment assembly 31 horizontally places the cylinder to be welded, and the robot welding assembly 4 and the cylinder clamping assembly 33 are started, so that the cylinder clamping assembly 33 drives the cylinder to rotate anticlockwise or clockwise, and the circumferential seam welding operation of the cylinder by the robot welding assembly 4 is facilitated.
According to the embodiment of the invention, the angle adjusting assembly 31 is arranged, the angle adjusting assembly 31 facilitates loading and unloading of the cylinder to be welded, the cylinder clamping assembly 33 and the angle adjusting assembly 31 are matched to clamp and fix cylinders with different specifications and drive the cylinders to rotate, circular seam welding of the cylinders is facilitated, the cylinder guiding assembly 32 can guide and limit the cylinders with different specifications, falling of the cylinders is avoided, and welding efficiency is improved.
It should be noted that, for simplicity of description, the foregoing embodiments are all illustrated as a series of acts, but it should be understood by those skilled in the art that the present invention is not limited by the order of acts, as some steps may be performed in other order or concurrently in accordance with the present invention. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present invention.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, such as the above-described division of units, merely a division of logic functions, and there may be additional manners of dividing in actual implementation, such as multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or communication connection shown or discussed as being between each other may be an indirect coupling or communication connection between devices or elements via some interfaces, which may be in the form of telecommunications or otherwise.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Claims (8)
1. A barrel girth welding robot, the barrel girth welding robot comprising:
the welding tool comprises a welding base and a driving groove arranged in the welding base;
the welding device is characterized in that the robot welding group is arranged in the welding base, is connected with the welding base in a sliding manner and is used for carrying out girth welding on the cylinder;
the auxiliary welding mechanism is arranged in the welding base, is used for assisting the robot welding set to work and assisting the cylinder to feed and discharge;
wherein, auxiliary welding mechanism includes:
the angle adjusting component is arranged in the driving groove in a sliding manner and used for adjusting the angle of the cylinder body and assisting in feeding and discharging of the cylinder body, and is connected with an auxiliary displacement component which is arranged in the driving groove;
the cylinder clamping assembly is connected with the angle adjusting assembly and is used for clamping and fixing cylinders of different specifications and driving the cylinders to rotate, and
the cylinder guide assembly is matched with the cylinder clamping assembly and used for guiding and limiting cylinders with different specifications;
the auxiliary displacement assembly comprises:
the displacement driving piece is fixedly arranged in the driving groove;
the displacement transmission part is arranged at one side of the displacement driving part, the displacement transmission part is detachably connected with the displacement driving part, and
the displacement sliding part is sleeved on the displacement transmission part and is slidably arranged in the driving groove;
the angle adjustment assembly includes:
the angle adjusting seat is fixedly connected with the displacement sliding part and is respectively connected with the driving groove and the welding guide seat in a sliding manner;
the angle adjusting piece is fixedly arranged in the angle adjusting seat, the output end of the angle adjusting piece is fixedly connected with an angle driving piece, one side of the angle driving piece is provided with an angle transmission piece, and the angle transmission piece is arranged in the angle adjusting seat;
the adjusting swing seat is connected with the angle transmission piece, and the barrel guide assembly and the barrel clamping assembly are respectively installed on the adjusting swing seat.
2. The barrel circumferential seam welding robot of claim 1, wherein: the barrel guide assembly includes:
the barrel guide seat is detachably arranged on the adjusting swing seat, barrel guide grooves are symmetrically formed in the barrel guide seat, the barrel guide grooves are connected through barrel moving seats, and moving seat protection pieces for protecting the barrel moving seats are arranged in the barrel guide grooves;
the guide driving piece is fixedly arranged in the cylinder guide seat, and the output end of the guide driving piece is fixedly connected with the cylinder moving seat;
at least one group of guiding pushing pieces, one end of each guiding pushing piece is hinged with the cylinder moving seat, the other end of each guiding pushing piece is connected with a guiding bearing seat, a guiding installation piece is detachably arranged on each guiding bearing seat, each guiding installation piece is fixedly connected with a cylinder guiding roller, and the cylinder guiding rollers are used for guiding and limiting cylinders with different specifications.
3. The barrel circumferential seam welding robot of claim 2, wherein: the barrel guide assembly further includes:
at least one group of stop positioning seats are fixedly arranged at one end of the cylinder guide seat, and the guide bearing seat is sleeved on the stop positioning seats in a sliding way.
4. A cylinder girth welding robot according to any one of claims 1 to 3, wherein: the barrel clamping assembly includes:
the cylinder driving part is arranged on the adjusting swing seat and used for driving the cylinder to rotate so as to realize circumferential seam welding of the cylinder;
and the cylinder clamping part is connected with the cylinder driving part and used for clamping and fixing cylinders to be welded with different specifications.
5. The cylinder girth welding robot of claim 4, wherein: the cylinder driving part includes:
the cylinder driving piece is fixedly arranged on the adjusting swing seat;
the cylinder transmission part is fixedly connected with the cylinder driving part;
the cylinder driven piece is matched with the cylinder transmission piece to work, and is embedded in the driving guide seat, and the driving guide seat is fixedly connected with the adjusting swing seat through the driving support arm;
and the cylinder driving seat is fixedly connected with the cylinder driven piece, and a plurality of groups of cylinder clamping parts are arranged on the cylinder driving seat.
6. The cylinder girth welding robot of claim 5, wherein: the barrel holding part includes:
the clamping protection seat is used for clamping and fixing the cylinders with different specifications;
the clamping moving seat is fixedly connected with the clamping protection seat and is slidably arranged in the cylinder driving seat;
the clamping transmission piece penetrates through the clamping moving seat and is connected with the clamping moving seat, and the clamping transmission piece is fixedly connected with the clamping driving piece.
7. A cylinder girth welding robot according to any one of claims 1 to 3, wherein: the robot welding set includes:
a robot base;
the welding moving part comprises a moving driving piece, a moving transmission piece and a moving driven piece, wherein the moving driving piece is fixedly arranged in the robot seat, the output end of the moving driving piece is fixedly connected with the moving transmission piece, the moving driven piece is arranged on one side of the moving transmission piece, and the moving transmission piece is fixedly arranged on the welding base;
a welding adjusting part mounted on the robot base for adjusting a welding position, an
And a circular seam welding part connected with the welding adjusting part.
8. The barrel circumferential weld robot of claim 7, wherein: the welding adjustment portion includes:
the translation adjusting piece is fixedly arranged on the robot seat;
the welding adjusting seat is fixedly connected with the output end of the translation adjusting piece, and a welding adjusting piece is embedded in the welding adjusting seat;
the adjusting transmission seat is internally provided with an adjusting limit groove, an adjusting hinge block is slidably arranged in the adjusting limit groove, and the adjusting hinge block is fixedly connected with the welding adjusting piece through an adjusting disc;
at least one group of adjusting transmission wheels is arranged on one side of the adjusting transmission seat, the adjusting transmission wheels are connected through a transmission belt, any one of the adjusting transmission wheels is fixedly connected with an adjusting transmission shaft, and the adjusting transmission shaft is fixedly connected with the circular seam welding part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202310505309.5A CN116214057B (en) | 2023-05-08 | 2023-05-08 | Barrel circumferential weld welding robot |
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| CN202310505309.5A CN116214057B (en) | 2023-05-08 | 2023-05-08 | Barrel circumferential weld welding robot |
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| CN116214057B true CN116214057B (en) | 2023-07-25 |
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