CN202639607U - Fully-automatic gas-shielded welding robot with single gun, double wires and high speed - Google Patents
Fully-automatic gas-shielded welding robot with single gun, double wires and high speed Download PDFInfo
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- CN202639607U CN202639607U CN 201120527670 CN201120527670U CN202639607U CN 202639607 U CN202639607 U CN 202639607U CN 201120527670 CN201120527670 CN 201120527670 CN 201120527670 U CN201120527670 U CN 201120527670U CN 202639607 U CN202639607 U CN 202639607U
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Abstract
A fully-automatic gas-shielded welding robot with a single gun, double wires and high speed is disclosed, and is characterized by comprising a robot walking trolley body (1), magnetic wheels (2), as well as a trolley acting system, a trolley steering system, an X-axis correction device and a Z-axis correction device disposed on the robot walking trolley body (1), wherein the trolley acting system is connected with the magnetic wheels (2), and a welding gun (7) is disposed on the Z-axis correction device. The utility model discloses a novel welding robot which is small in size, freely movable, flexible, fast in welding speed, high in welding quality, energy-saving, environment-friendly and intelligent. The fully-automatic gas-shielded welding robot with single gun, double wires and high speed is mainly used for heavy industrial factories with high welding quantity and very high welding demands, for example, large-scale shipyards.
Description
Technical field
The utility model relates to the Technology of Welding Robot field, specifically a kind of single rifle mariages high-speed full-automatic gas is protected welding robot, this robot be a kind of have small-sized, move freely, flexible, speed of welding is fast, welding quality is high, a kind of Novel welding machine people of environmental protection, intelligence.Be mainly used in very many to welding quantity and require very high heavy industrial works, such as large shipbuilding factory etc.
Background technology
[0002] for weld the very many and very high occasion of welding quality requirement of quantity as the shipyard, present most factories adopt artificial welding, and it is large to weld like this labour intensity, and the manufacturing cycle is long.It is to adopt welding equipment that part is also arranged, and said welding equipment is to adopt rail navigation welding tractor here, namely must add upper rail at seam track the right and left first before welding, and allows welding tractor walk at guide rail.Welding gun in the middle of the welding equipment is the welding gun of single rifle list ignition tip, and the speed during welding is slow, and welding quality is low, and splash is many.In the middle of the welding gun of the two ignition tips of single rifle is also arranged, but its speed of welding is very low (according to adding up greatly about 0.5m/min) still, and its maximum weakness is unsustainable work, because the temperature of welding gun rifle head part can rise gradually so that welding gun melts distortion when welding, so the workpeople needs work a period of time when welding, rest a period of time, come so that the welding gun cooling with this.So still, do not have so that the work period is well solved.
Summary of the invention
To be directed to speed of welding slow in order fundamentally to solve in the middle of factory, and workman's labor intensity is large, and splash is many, work period is long, navigation, the relevant issues such as welding quality, the utility model provides a kind of single rifle mariages high-speed full-automatic gas to protect welding robot.
The main technical schemes of robot of the present utility model is as follows:
A kind of single rifle mariages high-speed full-automatic gas is protected welding robot, comprise robot ambulation dolly car body 1 and magnet-wheel 2, and be arranged on dolly behavioral system, dolly steering, X-axis means for correcting and Z axis means for correcting on the robot ambulation dolly car body 1, described dolly behavioral system connects magnet-wheel 2, is provided with welding gun 7 on the Z axis means for correcting.
Described dolly behavioral system comprises trolley drive motor 3, dolly driving shaft 31, dynamic effect body 32, splined shaft 33, universal drive shaft 34, base plate 35, swivel mount 36 and motor cabinet 37, described trolley drive motor 3 connects dolly driving shaft 31, dolly driving shaft 31 connects splined shaft 33 by angular wheel, splined shaft 33 is arranged in the dynamic effect body 32, the two ends of splined shaft 33 connect respectively a universal drive shaft 34,2 universal drive shafts 34 are separately positioned in the corresponding swivel mount 36, and swivel mount 36 is arranged on base plate 35
And between the motor cabinet 37.
Described dolly steering comprise turn to drive motors 4, turn to driven wheel 41, rack frame 42, steering rack 43, describedly turn to drive motors 4 to connect to turn to driven wheel 41, turn to driven wheel 41 and the steering rack 43 that is arranged on the rack frame 42 to be connected with a joggle, rack frame 42 two ends are connected with 2 swivel mounts 36 respectively.
Described X-axis means for correcting comprises welding gun X-axis feeding motor 5, X-axis driven wheel 51, the driven tooth bar 52 of X-axis, gun rack base plate 53 and welding gun X-axis motion guide rail 54, described welding gun X-axis feeding motor 5 connects X-axis driven wheel 51, X-axis driven wheel 51 connects the driven tooth bar 52 of X-axis, the driven tooth bar 52 of X-axis is arranged on the gun rack base plate 53, gun rack base plate 53 is slidingly connected with welding gun X-axis motion guide rail 54, and welding gun X-axis motion guide rail 54 is arranged on the robot ambulation dolly car body 1.
Described Z axis means for correcting comprises that welding gun Z axis feeding motor 6, Z axis drive leading screw 61, gun rack portable plate 62, gun rack riser 63 and welding gun Z axis feeding guide rail 64, described welding gun Z axis feeding motor 6 connects Z axis and drives leading screw 61, the nut that is threaded with Z axis driving leading screw 61 is arranged on the gun rack base plate 53, welding gun Z axis feeding motor 6 is arranged on the gun rack portable plate 62, gun rack portable plate 62 is connected with gun rack riser 63 by welding gun Z axis feeding guide rail 64, and gun rack riser 63 is arranged on the gun rack base plate 53.
Described welding gun 7 comprises fan housing 71; cooling device 72; cooling copper tube 73; ignition tip 74; welding gun copper pipe 75; insulator 76; stainless steel tube 77; welding wire hole 78 and protective gas outlet 79; described fan housing 71 is positioned at welding gun 7 ends; be provided with ignition tip 74 in the fan housing 71; ignition tip 74 connects stainless steel tube 77 by welding gun copper pipe 75; ignition tip 74 is provided with welding wire hole 78; be provided with protective gas outlet 79 between ignition tip 74 and the fan housing 71; be provided with insulator 76 between stainless steel tube 77 and the welding gun copper pipe 75; fan housing 71 is connected with cooling device 72, and cooling device 72 connects cooling copper tube 73.
Described welding gun 7 sides are provided with industrial camera 8.
The beneficial effects of the utility model are:
The welding gun that single rifle mariages high-speed full-automatic gas of the present utility model is protected welding robot is to adopt a kind of special material, through applicant's oneself research and development technical process so that the fusing point of welding gun and conductance significantly improve, again because welding gun is single rifle pair ignition tips, thereby so that increasing substantially, the speed of welding tests factually the minimum 2.0m/min of reaching of data, continuing weld interval increases, splash reduces, thereby so that working environment improve.
The dolly that single rifle mariages high-speed full-automatic gas of the present utility model is protected welding robot has the movement that can freely track according to the track of weld seam, the independent navigation walking, can realize the trackless operation, automatically correct the welding position, have flexibility, quality is light, and walking accurately, constant airspeed can be in the advantage of inclined plane absorption walking.
The welding gun that single rifle mariages high-speed full-automatic gas of the present utility model is protected welding robot welds at walking robot, the welding conductance of its welding gun is high, weld reliable and stable, continuous working period is long, welding efficiency is high, quality is good, makes its equipment have energy-conservation advantage thereby carbon dioxide and welding wire availability are high.
The utility model be single rifle mariages high-speed full-automatic gas protect welding robot be a kind of have small-sized, move freely, flexible, speed of welding is fast, welding quality is high, a kind of Novel welding machine people of energy-conserving and environment-protective, intelligence.Be mainly used in and requirement very high heavy industrial works, for example large shipbuilding factory very many to welding quantity.
The utility model is that single rifle mariages high-speed full-automatic gas is protected welding robot can carry out work in the situation of working environment very severe, welding robot can be freely according to the welding that tracks of the shape of seam track in the middle of the steel plate, do not need the frame guide rail.
The utility model is single rifle mariages high-speed full-automatic gas to be protected welding robot but mainly to be divided into the two large divisions is welding gun part and walking dolly two parts, wherein welding gun mainly is to carry out welding job in the middle of welding job, and walking robot mainly is that frame welding gun and welded and track.
Show that according to a large amount of experimental studies the utility model is that single rifle mariages high-speed full-automatic gas is protected welding robot fundamentally to have solved the production cycle long, labor strength reaches greatly the relevant issues such as energy-conserving and environment-protective.In the middle of welding field, have great importance and the status.
Description of drawings:
Fig. 1 is that the utility model is the walking dolly structural representation that single rifle mariages high-speed full-automatic gas is protected welding robot.
Fig. 2 is that the utility model is the dolly chassis disassemblying structure schematic diagram that single rifle mariages high-speed full-automatic gas is protected welding robot.
Fig. 3 is that the utility model is dolly integral power and the navigation disassemblying structure schematic diagram that single rifle mariages high-speed full-automatic gas is protected welding robot.
Fig. 4 is the dolly chassis front view;
Fig. 5 is dolly chassis left view of the present utility model.
Fig. 6 is dolly chassis right view of the present utility model.
Fig. 7 is dolly chassis top view of the present utility model.
Fig. 8 is dolly profile front view of the present utility model.
Fig. 9 is dolly profile top view of the present utility model.
Figure 10 is dolly profile left view of the present utility model.
Figure 11 is dolly profile right view of the present utility model.
Figure 12 is dolly profile upward view of the present utility model.
Figure 13 is welding gun structure key diagram of the present utility model.
Figure 14 is industrial camera of the present utility model installation site schematic diagram.
Figure 15 is welding gun profile front view of the present utility model.
Figure 16 is welding gun profile top view of the present utility model.
Figure 17 is welding gun profile left view of the present utility model.
Figure 18 is that the utility model is the electrical control block diagram that single rifle mariages high-speed full-automatic gas is protected welding robot.
Among the figure: 1 is robot ambulation dolly car body; 2 is magnet-wheel; 3 is trolley drive motor; 31 is the dolly driving shaft; 32 is the dynamic effect body; 33 is splined shaft; 34 is universal drive shaft; 35 is base plate; 36 is swivel mount; 37 is motor cabinet; 4 for turning to drive motors; 41 for turning to driven wheel; 42 is rack frame; 43 is steering rack; 5 is welding gun X-axis feeding motor; 51 is the X-axis driven wheel; 52 is the driven tooth bar of X-axis; 53 is the gun rack base plate; 54 is welding gun X-axis motion guide rail; 6 is welding gun Z axis feeding motor; 61 are Z axis driving leading screw; 62 is the gun rack portable plate; 63 is the gun rack riser; 64 is welding gun Z axis feeding guide rail; 7 is welding gun; 71 is fan housing; 72 is cooling device; 73 is cooling copper tube; 74 is ignition tip; 75 is the welding gun copper pipe; 76 is insulator; 77 is stainless steel tube; 78 is the welding wire hole; 79 are the protective gas outlet; 8 is industrial camera.
Specific embodiments
Below in conjunction with accompanying drawing the utility model is further described:
A kind of single rifle mariages high-speed full-automatic gas is protected welding robot, comprise robot ambulation dolly car body 1 and magnet-wheel 2, and be arranged on dolly behavioral system, dolly steering, X-axis means for correcting and Z axis means for correcting on the robot ambulation dolly car body 1, described dolly behavioral system connects magnet-wheel 2, is provided with welding gun 7 on the Z axis means for correcting.
The dolly behavioral system comprises trolley drive motor 3, dolly driving shaft 31, dynamic effect body 32, splined shaft 33, universal drive shaft 34, base plate 35, swivel mount 36 and motor cabinet 37, described trolley drive motor 3 connects dolly driving shaft 31, dolly driving shaft 31 connects splined shaft 33 by angular wheel, splined shaft 33 is arranged in the dynamic effect body 32, the two ends of splined shaft 33 connect respectively a universal drive shaft 34,2 universal drive shafts 34 are separately positioned in the corresponding swivel mount 36, and swivel mount 36 is arranged on base plate 35
And between the motor cabinet 37.
The dolly steering comprise turn to drive motors 4, turn to driven wheel 41, rack frame 42, steering rack 43, describedly turn to drive motors 4 to connect to turn to driven wheel 41, turn to driven wheel 41 and the steering rack 43 that is arranged on the rack frame 42 to be connected with a joggle, rack frame 42 two ends are connected with 2 swivel mounts 36 respectively.
The X-axis means for correcting comprises welding gun X-axis feeding motor 5, X-axis driven wheel 51, the driven tooth bar 52 of X-axis, gun rack base plate 53 and welding gun X-axis motion guide rail 54, described welding gun X-axis feeding motor 5 connects X-axis driven wheel 51, X-axis driven wheel 51 connects the driven tooth bar 52 of X-axis, the driven tooth bar 52 of X-axis is arranged on the gun rack base plate 53, gun rack base plate 53 is slidingly connected with welding gun X-axis motion guide rail 54, and welding gun X-axis motion guide rail 54 is arranged on the robot ambulation dolly car body 1.
The Z axis means for correcting comprises that welding gun Z axis feeding motor 6, Z axis drive leading screw 61, gun rack portable plate 62, gun rack riser 63 and welding gun Z axis feeding guide rail 64, described welding gun Z axis feeding motor 6 connects Z axis and drives leading screw 61, the nut that is threaded with Z axis driving leading screw 61 is arranged on the gun rack base plate 53, welding gun Z axis feeding motor 6 is arranged on the gun rack portable plate 62, gun rack portable plate 62 is connected with gun rack riser 63 by welding gun Z axis feeding guide rail 64, and gun rack riser 63 is arranged on the gun rack base plate 53.
Single rifle mariages high-speed full-automatic welding robot comprises shown in Fig. 1,8,14: directions X means for correcting, Z apparatus for correcting direction, walking robot power set, guider.Wherein, Described directions X means for correcting includes motor, gear, tooth bar, gun rack, gun rack, gun rack, motor, guide rail, leading screw and welding gun.Motor connects the gear driven tooth bar, and tooth bar is fixed on the gun rack by screw, and gun rack is done as a wholely to feed back signal to industrial computer according to what industrial camera produced, and industrial computer sends pulse and drives welding gun and carry out directions X at guide rail and correct the welding position.
Shown in Fig. 1,8, above-described Z apparatus for correcting direction includes motor, leading screw, gun rack, gun rack, gun rack, guide rail and gun rack.Motor connects leading screw and is fixed on the gun rack, the pulse that motor sends according to industrial computer so that leading screw rotate and drive gun rack and welding gun carries out the correction of Z direction at guide rail.
As shown in Figure 3, the walking robot power set include motor, motor cabinet, conical gear speed changer, dynamic effect body, splined shaft, universal drive shaft, magnet-wheel.Motor connects the conical gear speed changer and rotarily drives splined shaft according to the pulse that industrial computer sends, thereby splined shaft drives the universal drive shaft rotation in the middle of universal drive shaft so that magnet-wheel produces power so that dolly advances or retreats.
Shown in Fig. 3,4, guider includes motor, gear, tooth bar, rack frame, swivel mount, swivel mount, magnet-wheel.Motor connects gear and moves at rack frame according to the signal rotation band carry-over bar that industrial computer sends, and rack frame connects swivel mount, and swivel mount connects swivel mount drive magnet-wheel and carries out the left rotation and right rotation motion.
Operation principle of the present utility model and the course of work are as follows:
1 is placed on robot car equipment on the steel plate that need to weld, welding gun will be aimed at the weld seam centre position and be equivalent to the central tool setting of machining center, at this moment open device power supply (DPS), machine is started working, industrial camera below the robot begins Automatic Track Finding, signal is sent to industrial computer, and power motor receives the industrial computer signal and starts working so that dolly is walked along seam track.
(2) industrial computer sends signal to welding gun after dolly begins walking, and welding gun carries out work.
(3) turn about the track of weld seam has when welding; industrial computer receives industrial camera tracing signal; then send and turn about signal carries out to the navigation motor; this moment, industrial camera sent again the correction form signals welding gun with respect to the position of weld seam, so that welding gun welds in weld seam all the time.Industrial camera of the present utility model has the characteristics such as high temperature resistant, anti-high light, diamagnetic interference.
(4) after welding is once complete, welding gun can be calculated by industrial computer according to artificial speed of welding and the wire-feed motor wire feed rate of setting, so that return welding motion (for the second time welding) behind the welding gun rising certain altitude (correction of Z direction), so repeatedly until the weld seam weldering is full.
Embodiment recited above is described preferred embodiment of the present utility model; be not that design of the present utility model and scope are limited; do not breaking away under the utility model design concept prerequisite; common engineers and technicians make the technical solution of the utility model in this area various modification and improvement; all should fall into protection domain of the present utility model, the technology contents that the utility model is asked for protection all is documented in claims.
Claims (7)
1. single rifle mariages high-speed full-automatic gas is protected welding robot, it is characterized in that comprising robot ambulation dolly car body (1) and magnet-wheel (2), and be arranged on dolly behavioral system, dolly steering, X-axis means for correcting and Z axis means for correcting on the robot ambulation dolly car body (1), described dolly behavioral system connects magnet-wheel (2), is provided with welding gun (7) on the Z axis means for correcting.
2. a kind of single rifle mariages high-speed full-automatic gas according to claim 1 is protected welding robot, it is characterized in that described dolly behavioral system comprises trolley drive motor (3), dolly driving shaft (31), dynamic effect body (32), splined shaft (33), universal drive shaft (34), base plate (35), swivel mount (36) and motor cabinet (37), described trolley drive motor (3) connects dolly driving shaft (31), dolly driving shaft (31) connects splined shaft (33) by angular wheel, splined shaft (33) is arranged in the dynamic effect body (32), the two ends of splined shaft (33) connect respectively a universal drive shaft (34), 2 universal drive shafts (34) are separately positioned in the corresponding swivel mount (36), and swivel mount (36) is arranged between base plate (35) and the motor cabinet (37).
3. a kind of single rifle mariages high-speed full-automatic gas according to claim 2 is protected welding robot, it is characterized in that described dolly steering comprise turn to drive motors (4), turn to driven wheel (41), rack frame (42), steering rack (43), describedly turn to drive motors (4) to connect to turn to driven wheel (41), turn to driven wheel (41) and the steering rack (43) that is arranged on the rack frame (42) to be connected with a joggle, rack frame (42) two ends are connected with 2 swivel mounts (36) respectively.
4. a kind of single rifle mariages high-speed full-automatic gas according to claim 1 is protected welding robot, it is characterized in that described X-axis means for correcting comprises welding gun X-axis feeding motor (5), X-axis driven wheel (51), the driven tooth bar of X-axis (52), gun rack base plate (53) and welding gun X-axis motion guide rail (54), described welding gun X-axis feeding motor (5) connects X-axis driven wheel (51), X-axis driven wheel (51) connects the driven tooth bar of X-axis (52), the driven tooth bar of X-axis (52) is arranged on the gun rack base plate (53), gun rack base plate (53) is slidingly connected with welding gun X-axis motion guide rail (54), and welding gun X-axis motion guide rail (54) is arranged on the robot ambulation dolly car body (1).
5. a kind of single rifle mariages high-speed full-automatic gas according to claim 4 is protected welding robot, it is characterized in that described Z axis means for correcting comprises welding gun Z axis feeding motor (6), Z axis drives leading screw (61), gun rack portable plate (62), gun rack riser (63) and welding gun Z axis feeding guide rail (64), described welding gun Z axis feeding motor (6) connects Z axis and drives leading screw (61), the nut that is threaded with Z axis driving leading screw (61) is arranged on the gun rack base plate (53), welding gun Z axis feeding motor (6) is arranged on the gun rack portable plate (62), gun rack portable plate (62) is connected with gun rack riser (63) by welding gun Z axis feeding guide rail (64), and gun rack riser (63) is arranged on the gun rack base plate (53).
6. a kind of single rifle mariages high-speed full-automatic gas according to claim 1 is protected welding robot; it is characterized in that described welding gun (7) comprises fan housing (71); cooling device (72); cooling copper tube (73); ignition tip (74); welding gun copper pipe (75); insulator (76); stainless steel tube (77); welding wire hole (78) and protective gas outlet (79); described fan housing (71) is positioned at welding gun (7) end; be provided with ignition tip (74) in the fan housing (71); ignition tip (74) connects stainless steel tube (77) by welding gun copper pipe (75); ignition tip (74) is provided with welding wire hole (78); be provided with protective gas outlet (79) between ignition tip (74) and the fan housing (71); be provided with insulator (76) between stainless steel tube (77) and the welding gun copper pipe (75); fan housing (71) is connected with cooling device (72), and cooling device (72) connects cooling copper tube (73).
7. protect welding robot to one of 6 described a kind of single rifle mariages high-speed full-automatic gas according to claim 1, it is characterized in that the other industrial camera (8) that is provided with of described welding gun (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120527670 CN202639607U (en) | 2011-12-15 | 2011-12-15 | Fully-automatic gas-shielded welding robot with single gun, double wires and high speed |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201120527670 CN202639607U (en) | 2011-12-15 | 2011-12-15 | Fully-automatic gas-shielded welding robot with single gun, double wires and high speed |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202639607U true CN202639607U (en) | 2013-01-02 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201120527670 Expired - Fee Related CN202639607U (en) | 2011-12-15 | 2011-12-15 | Fully-automatic gas-shielded welding robot with single gun, double wires and high speed |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202639607U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102489839A (en) * | 2011-12-15 | 2012-06-13 | 南京奔驰焊接机械厂 | Fully-automatic gas-shielded welding robot with single gun, double wires and high speed |
| CN106238989A (en) * | 2016-08-31 | 2016-12-21 | 安徽正道称重科技有限公司 | Vehicle claims to use welding tractor |
-
2011
- 2011-12-15 CN CN 201120527670 patent/CN202639607U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102489839A (en) * | 2011-12-15 | 2012-06-13 | 南京奔驰焊接机械厂 | Fully-automatic gas-shielded welding robot with single gun, double wires and high speed |
| CN106238989A (en) * | 2016-08-31 | 2016-12-21 | 安徽正道称重科技有限公司 | Vehicle claims to use welding tractor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130102 Termination date: 20131215 |