CN204867888U - Three degree of freedom mobile welding robot of hoist box girder - Google Patents

Three degree of freedom mobile welding robot of hoist box girder Download PDF

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Publication number
CN204867888U
CN204867888U CN201520674079.6U CN201520674079U CN204867888U CN 204867888 U CN204867888 U CN 204867888U CN 201520674079 U CN201520674079 U CN 201520674079U CN 204867888 U CN204867888 U CN 204867888U
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China
Prior art keywords
welding
welding gun
servomotor
ball
base
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Withdrawn - After Issue
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CN201520674079.6U
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Chinese (zh)
Inventor
戴啟辉
王全先
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Anhui University of Technology AHUT
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Anhui University of Technology AHUT
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Priority to CN201520674079.6U priority Critical patent/CN204867888U/en
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Abstract

The utility model provides a three degree of freedom mobile welding robot of hoist box girder belongs to robot welding technique field. This welding robot includes the base, vertical movement mechanism, welding torch lifter, welder rotary mechanism, welding equipment and cable drum etc, welding equipment is including sending the silk machine, the welding machine, the gas cylinder seat, the carbon dioxide gas bottle, welder rotary mechanism passes through the elevating platform and installs on the welder elevating mechanism, the rack and pinion transmission cooperates the accurate positioning that realizes long displacement movement with linear guide sub phase, the automatic weld of long distance plane curve continuous smooth flat fillet weld seam is realized through three servo motor joint control welder position appearances. The utility model provides a technical characterstics such as welding robot has simple structure, the driving chain is short, the position is accurate, reliable operation, welding quality stability.

Description

Crane Box Main Girders Three Degree Of Freedom mobile welding robot
Technical field:
The utility model belongs to robotic welding technology field, is specifically related to the automatic soldering device of the long weld seam of a kind of Crane Box Main Girders Three Degree Of Freedom, for the continuous CO 2 gas shielded arc welding of fillet welding between Crane Box Main Girders web and cover plate.
Background technology:
Crane Box Main Girders is welded by upper and lower cover plates, web, large small gusset splicing, and upper and lower cover plate and web form arch up weld seam and a weld seams shaped zigzag line (plane curve).The traditional welding procedure of web weld seam is human weld, and Crane Box Main Girders span is larger, maximumly reach 50 meters, the weld job of continuous long distance not only makes workman tired out, and welding efficiency is low, welding quality is unstable, adopts the method strengthening weld size to ensure that welding quality not only increases the weight of box girder, also add manufacturing cost.
Summary of the invention:
In order to solve human weld's quality that Crane Box Main Girders web and fillet welding between cover plate exist unstable, weld the large problem of labour intensity, the utility model provides a kind of Crane Box Main Girders Three Degree Of Freedom mobile welding robot.
A kind of Crane Box Main Girders Three Degree Of Freedom mobile welding robot provided by the utility model comprises base 1, longitudinal moving mechanism, welding gun elevating mechanism 6, welding gun rotating mechanism, welding equipment and cable drum 17, described longitudinal moving mechanism comprises roller slide block 3, moving carriage 4, second servomotor 13, reductor 14, L shaped plate 15, gear 16 and tooth bar 18, described moving carriage 4 is rigidly connected by bolt with described roller slide block 3, described roller slide block 3 is sleeved on line slideway 2, described tooth bar 18 be fixed on described base 1 side and the flank of tooth of described tooth bar 18 down, described tooth bar 1 length direction is consistent with described line slideway 2 length direction, described gear 16 is arranged on the output shaft of described reductor 14, described decelerator 14 is fixedly installed in described moving carriage 4 by described L shaped plate 15, the position adjusting described L shaped plate 15 makes described gear 16 be meshed with described tooth bar 18, described second servomotor 13 is arranged on the input of described decelerator 14, described welding gun rotating mechanism comprises welding gun 7, welding gun fixture 8 and the first servomotor 9, described welding gun 7 is fixed in the square hole of described welding gun fixture 8 by trip bolt, described first servomotor 9 is fixed on lifting platform 10 end, and described welding gun fixture 8 is fixed on the rotating shaft of described first servomotor 9, described welding gun elevating mechanism comprises leading screw fixed mount 20, taper roll bearing 21, ball-screw 22, bearing (ball) cover 23, shaft coupling 24, 3rd servomotor 25, motor base 26, snap ring 27, cylinder guide rod 28, lifting slider 29 and copper nut 30, described ball-screw 22 is fixed on described leading screw fixed mount 20 by described taper roll bearing 21 and described bearing (ball) cover 23, described ball-screw 22 is axially connected by described shaft coupling 24 with described 3rd servomotor 25, described lifting slider 29 is connected with described copper nut 30 by screw, described ball-screw 22 is arranged in parallel with described cylinder guide rod 28, described ball-screw 22 is through described copper nut 30, described cylinder guide rod 28 passes described lifting slider 29 and adopts H7/f6 to coordinate between the two, described lifting slider 29 bore area processing helical oil groove, described lifting platform 10 is bolted on described lifting slider 29 by four groups, and described lifting platform 10 is provided with two mounting holes be parallel to each other, described welding gun rotating mechanism is arranged on described welding gun elevating mechanism by described lifting platform 10, described welding equipment comprises wire-feed motor 5, welding machine 12, gas cylinder seat 19 and dioxide bottle 11, described welding gun elevating mechanism 6, wire-feed motor 5, welding machine 12, gas cylinder seat 19 and described cable drum 17 are bolted in described moving carriage 4, described dioxide bottle 11 is placed in described gas cylinder seat 19, article two, Parallel Symmetric is arranged and highly equal described line slideway 2 is arranged along the length direction of described base 1, and described line slideway 2 is bolted on described base 1.Described base 1 is welded to form by channel-section steel, steel plate and I-steel, and the longitudinal length of described base 1 is greater than the maximum length of the Crane Box Main Girders that will weld.
The utility model adopts rack pinion scheme to realize the accurate location of long displacement movement, shift position is more accurate compared with wheeled, the flank of tooth can reach dust-proof effect down, increase gear pair service life, adopt roller line slideway can not only bear larger load, very high guiding accuracy can be ensured simultaneously, the automatic welding that welding gun pose realizes long distance plane curve continuous and derivable fillet weld in the flat position is jointly controlled by three servomotors, the utility model welding robot structure is simple, driving-chain is short, position is accurate, reliable operation, improve the welding efficiency of Crane Box Main Girders, reduce labor strength, welding quality stable.
Accompanying drawing illustrates:
Fig. 1 is the utility model Crane Box Main Girders mobile welding robot axle geodesic structure schematic diagram;
Fig. 2 is the main TV structure schematic diagram of Crane Box Main Girders mobile welding robot of the present utility model;
Fig. 3 is the side-looking structural representation of Crane Box Main Girders mobile welding robot of the present utility model;
Fig. 4 is the A-A sectional structure schematic diagram of Fig. 3.
In figure: 1: base; 2: line slideway; 3: roller slide block; 4: moving carriage; 5: wire-feed motor; 6: welding gun elevating mechanism; 7: welding gun; 8: welding gun fixture; 9: the first servomotors; 10: lifting platform; 11: dioxide bottle; 12: welding machine; 13: the second servomotors; 14: decelerator; 15:L shape plate; 16: gear; 17: cable drum; 18: tooth bar; 19: gas cylinder seat; 20: leading screw fixed mount; 21: taper roll bearing; 22: ball-screw; 23: bearing (ball) cover; 24: shaft coupling; 25: the three servomotors; 26: motor base; 27: snap ring; 28: cylinder guide rod; 29: lifting slider; 30: copper nut.
Detailed description of the invention:
See Fig. 1,2, a kind of Crane Box Main Girders Three Degree Of Freedom mobile welding robot, comprises base 1, longitudinal moving mechanism, welding gun elevating mechanism 6, welding gun rotating mechanism, welding equipment and cable drum 17.Described base 1 is welded to form by channel-section steel, steel plate and I-steel, its longitudinal (in Fig. 1 Y-direction) length is greater than the maximum length of the Crane Box Main Girders that will weld, line slideway 2 is bolted on base 1 along base length direction, article two, line slideway 2 is parallel and highly equal, to meet the requirement of long weld seam welding.
Described longitudinal moving mechanism comprises roller slide block 3, moving carriage 4, second servomotor 13, decelerator 14, L shaped plate 15, gear 16, tooth bar 18, moving carriage 4 and roller slide block 3 are rigidly connected by bolt, roller slide block 3 is sleeved on line slideway 2, tooth bar 18 be fixed on base 1 side and the flank of tooth down, tooth bar 1 length direction is consistent with line slideway 2 length direction.Gear 16 is arranged on decelerator 14 output shaft, is connected and fixed decelerator 14 in moving carriage 4 by L shaped plate 15, and adjustment L shaped plate 15 position makes gear 16 be meshed with tooth bar 18.Second servomotor 13 is arranged on decelerator 14 input, and the second servomotor 13 driven wheel 16 engages with tooth bar 18 and moving carriage 4 is moved along line slideway 2, realizes the long distance of welding equipment accurately mobile.
Described welding gun rotating mechanism comprises welding gun 7, welding gun fixture 8 and the first servomotor 9, described welding gun 7 is fixed in welding gun fixture 8 square hole by trip bolt, regulate welding gun 7 relative to the initial angle of welding gun fixture 8 by trip bolt described in degree of tightness, first servomotor 9 is fixed on lifting platform 10 end, welding gun fixture 8 is fixed on the rotating shaft of the first servomotor 9, drive the first servomotor 9 can make welding gun fixture 8 and drive welding gun 7 to realize rotating relative to X-axis, to meet soldering angle required between welding gun 7 and weld seam.
See Fig. 3,4, described welding gun elevating mechanism 6 comprises leading screw fixed mount 20, taper roll bearing 21, ball-screw 22, bearing (ball) cover 23, shaft coupling 24, the 3rd servomotor 25, motor base 26, snap ring 27, cylinder guide rod 28, lifting slider 29 and copper nut 30.Ball-screw 22 is fixed on leading screw fixed mount 20 by taper roll bearing 21 and bearing (ball) cover 23, and ball-screw 22 is axially connected by shaft coupling 24 with the 3rd servomotor 25.Lifting slider 29 is connected with copper nut 30 by screw, ball-screw 22 and cylinder guide rod 28 are arranged in parallel, ball-screw 22 is through copper nut 30, and cylinder guide rod 28 passes lifting slider 29 and adopts H7/f6 to coordinate between the two, and the H7 bore area processing helical oil groove of lifting slider 29 is in order to oil storage.As shown in Figure 4, described lifting platform 10 is fixed on lifting slider 29 by four groups of bolts, and described lifting platform 10 has two mounting holes be parallel to each other, convenient adjustment welding gun 7 outreach (X-direction in accompanying drawing 1).3rd servomotor 25 drives ball-screw 22 to rotate the lifting achieving welding gun 7.
See Fig. 1,2, described welding gun rotating mechanism is arranged on welding gun elevating mechanism 6 by lifting platform 10; Described welding equipment comprises wire-feed motor 5, welding machine 12, gas cylinder seat 19, dioxide bottle 11; Described welding gun elevating mechanism 6, wire-feed motor 5, welding machine 12, gas cylinder seat 19 and cable drum 17 are all bolted in moving carriage 4; Dioxide bottle 11 is placed in gas cylinder seat 19.
See Fig. 1, welded Crane Box Main Girders is placed on the utility model welding robot other and fixing, require repeatedly to detect to make box girder web parallel with line slideway 2, and distance is between the two suitable, make the Welded Joint Curve between web with cover plate in the scope that this welding robot can weld.Before continuous automatic welding, a few place of first spot welding between crane girder web and cover plate, with fixing web and cover plate position each other.At welding starting point place, crawl second servomotor 13 makes welding robot longitudinal (Y-direction) mobile, welding gun 7 is made to arrive welding position, repeatedly adjust transverse direction (X-direction) position of lifting platform 10 relative to lifting slider 29, adjustment welding gun 7 is 40 ~ 45 ° relative to the initial angle of welding gun fixture 8, crawl the 3rd servomotor 25 adjusts welding gun 7 height and position (Z-direction), crawl first servomotor 9 adjusts welding gun 7 and the angle 70 ~ 80 ° of welding curve near tangent direction, to meet welding process requirement, after adjusting the initial pose of welding gun, curvilinear equation machine entered people's controller interface will be welded, connect wire-feed motor 5 and welding gun 7, carbon dioxide tracheae is also received near welding gun 7, then the automatic welding of the pose realization long distance plane curve of welding gun 7 is jointly controlled by three servomotors.

Claims (2)

1. a Crane Box Main Girders Three Degree Of Freedom mobile welding robot, is characterized in that described welding robot comprises base (1), longitudinal moving mechanism, welding gun elevating mechanism (6), welding gun rotating mechanism, welding equipment and cable drum (17), described longitudinal moving mechanism comprises roller slide block (3), moving carriage (4), second servomotor (13), reductor (14), L shaped plate (15), gear (16) and tooth bar (18), described moving carriage (4) and described roller slide block (3) are rigidly connected by bolt, described roller slide block (3) is sleeved on line slideway (2), described tooth bar (18) be fixed on described base (1) side and the flank of tooth of described tooth bar (18) down, described tooth bar (1) length direction is consistent with described line slideway (2) length direction, described gear (16) is arranged on the output shaft of described reductor (14), described decelerator (14) is fixedly installed in described moving carriage (4) by described L shaped plate (15), the position adjusting described L shaped plate (15) makes described gear (16) be meshed with described tooth bar (18), described second servomotor (13) is arranged on the input of described decelerator (14), described welding gun rotating mechanism comprises welding gun (7), welding gun fixture (8) and the first servomotor (9), described welding gun (7) is fixed on by trip bolt in the square hole of described welding gun fixture (8), described first servomotor (9) is fixed on lifting platform (10) end, and described welding gun fixture (8) is fixed on the rotating shaft of described first servomotor (9), described welding gun elevating mechanism comprises leading screw fixed mount (20), taper roll bearing (21), ball-screw (22), bearing (ball) cover (23), shaft coupling (24), 3rd servomotor (25), motor base (26), snap ring (27), cylinder guide rod (28), lifting slider (29) and copper nut (30), described ball-screw (22) is fixed on described leading screw fixed mount (20) by described taper roll bearing (21) and described bearing (ball) cover (23), described ball-screw (22) is axially connected by described shaft coupling (24) with described 3rd servomotor (25), described lifting slider (29) is connected with described copper nut (30) by screw, described ball-screw (22) and described cylinder guide rod (28) are arranged in parallel, described ball-screw (22) is through described copper nut (30), described cylinder guide rod (28) adopts through described lifting slider (29) and between the two H7/f6 to coordinate, described lifting slider (29) bore area processing helical oil groove, described lifting platform (10) is bolted on described lifting slider (29) by four groups, and described lifting platform (10) is provided with two mounting holes be parallel to each other, described welding gun rotating mechanism is arranged on described welding gun elevating mechanism by described lifting platform (10), described welding equipment comprises wire-feed motor (5), welding machine (12), gas cylinder seat (19) and dioxide bottle (11), described welding gun elevating mechanism (6), wire-feed motor (5), welding machine (12), gas cylinder seat (19) and described cable drum (17) are bolted in described moving carriage (4), described dioxide bottle (11) is placed in described gas cylinder seat (19), article two, Parallel Symmetric is arranged and highly equal described line slideway (2) is arranged along the length direction of described base (1), and described line slideway (2) is bolted on described base (1).
2. a kind of Crane Box Main Girders Three Degree Of Freedom mobile welding robot according to claim 1, it is characterized in that being that described base (1) is welded to form by channel-section steel, steel plate and I-steel, the longitudinal length of described base (1) is greater than the maximum length of the Crane Box Main Girders that will weld.
CN201520674079.6U 2015-09-01 2015-09-01 Three degree of freedom mobile welding robot of hoist box girder Withdrawn - After Issue CN204867888U (en)

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Application Number Priority Date Filing Date Title
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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105081637A (en) * 2015-09-01 2015-11-25 安徽工业大学 Crane box girder three-degree-of-freedom movable welding robot
CN105904131A (en) * 2016-05-27 2016-08-31 大连智汇达科技有限公司 Full-automatic welding mechanical arm
CN107336860A (en) * 2017-06-21 2017-11-10 上海博信机器人科技有限公司 for military camouflage net automatic strapping machine
CN108161296A (en) * 2017-12-05 2018-06-15 安徽维力拓网络科技有限公司 A kind of welding robot
CN110142534A (en) * 2019-05-24 2019-08-20 中信国安建工集团有限公司 A kind of installation equipment and its application method for big ceiling decoration engineering

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105081637A (en) * 2015-09-01 2015-11-25 安徽工业大学 Crane box girder three-degree-of-freedom movable welding robot
CN105081637B (en) * 2015-09-01 2016-08-31 安徽工业大学 Crane Box Main Girders Three Degree Of Freedom mobile welding robot
CN105904131A (en) * 2016-05-27 2016-08-31 大连智汇达科技有限公司 Full-automatic welding mechanical arm
CN107336860A (en) * 2017-06-21 2017-11-10 上海博信机器人科技有限公司 for military camouflage net automatic strapping machine
CN107336860B (en) * 2017-06-21 2019-07-02 上海博信机器人科技有限公司 For military camouflage net automatic strapping machine
CN108161296A (en) * 2017-12-05 2018-06-15 安徽维力拓网络科技有限公司 A kind of welding robot
CN110142534A (en) * 2019-05-24 2019-08-20 中信国安建工集团有限公司 A kind of installation equipment and its application method for big ceiling decoration engineering

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GR01 Patent grant
C14 Grant of patent or utility model
AV01 Patent right actively abandoned

Granted publication date: 20151216

Effective date of abandoning: 20160831

C25 Abandonment of patent right or utility model to avoid double patenting