CN207255441U - Digitlization fusing Qi Bao double wire weldings robot over long distances - Google Patents
Digitlization fusing Qi Bao double wire weldings robot over long distances Download PDFInfo
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- CN207255441U CN207255441U CN201721097232.9U CN201721097232U CN207255441U CN 207255441 U CN207255441 U CN 207255441U CN 201721097232 U CN201721097232 U CN 201721097232U CN 207255441 U CN207255441 U CN 207255441U
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Abstract
A kind of fusing Qi Bao double wire weldings of digitlization over long distances robot is the utility model is related to, its structure includes operation car and welding tractor and cable；Wherein operate and connected between car and welding tractor by cable；The cable is made of the welded pipe of A wire-feed motors and B wire-feed motors on operation car, the double-wire welding gun on the end connecting welding trolley of cable.Advantage：1）Using hybrid protection gas, extend the welding gun service life, improve welding quality, reduce and splash；2）Using digital spc programme-control, efficiency is improved, artificial work is reduced, reduces cost；3）Using mariages welding technology, efficient quick, reduces material consumption, can save 25% electric power, improves welding quality.
Description
Technical field
A kind of fusing Qi Bao double wire weldings of digitlization over long distances robot is the utility model is related to, belongs to robot welding skill
Art field.
Background technology
In existing welding technology field, traditional monofilament weldering such as gas shield welding, submerged-arc welding is there are unicity, during operation often
Need to expend a large amount of manpower and materials, it is difficult to improve work efficiency, can not meet modern industrial production to welding technique at a high speed, it is efficient, low
The demand of energy consumption；Therefore, the exploitation for mariages welding technology is always one of hot spot and difficulty of welding technology field.
For in, the welding of long slab, welding efficiency and quality are generally improved using mariages welding technology, because of Double Wire Welding electricity
Stream is smaller, advantageously forms larger fusion penetration, the mutual heat phase of two root wires, takes full advantage of the energy of electric arc, realize larger
Fusion penetration rate, makes have sufficient molten metal and mother metal fully to fuse in molten bath, welding wire beautiful appearance；But it is large-scale in, long slab
Structure be no longer appropriate for manual operations, how to solve the length in field such as the docking of such as warship, pipeline and vehicle shaping away from
From（Generally 10 ~ 20m）Caused by welding the problems such as a large amount of energy consumptions and low welding efficiency, seem very urgent.Thus, open
Hair digitlization, full automatic long range welding robot are key problem in technology point places of today.
Welding manner currently used for large-scale precision structure has rail mounted and infrared controlled standard, and equipment volume is big, structure
Complexity, the various mechanisms of installation are heavy, dumb, and adsorption capacity cannot have concurrently；To ensure that large-scale middle long slab groove is oblique
It is unanimous between the higher and lower levels to spend deposition, except the frequency that need to control torch swinging, also needs to meet the problem of deposition rate does not wait up and down, it is therefore desirable to open
Hair is capable of the welding robot system of autonomous in the thick plates of suitable large scale structure.
Utility model content
The utility model proposes a kind of fusing Qi Bao double wire weldings of digitlization over long distances robot, its object is to carry
For it is a kind of efficiently, high quality, in being used for, the autonomous formula Double Wire Welding robot device of long thick plates, overcome existing double
The problem of kinematic dexterity existing for wire bond robot and adsorption capacity cannot have both, using dipulse welding machine, concentrate two tricks
Word dipulse welding machine improves efficiency in long range welding process, at the same by improve cooling system extend conductive resistance and
The service life of welding gun, and by installing welding swing mechanism additional and using hybrid protection gas, lift welding quality, greatly reduce splashing
Thing, reduces polishing man-hour, improves efficiency.
The technical solution of the utility model：Digitlization fusing Qi Bao double wire weldings robot over long distances, its structure bag
Include operation car 1 and welding tractor 3 and cable 9；The operation car 1 is used for overall manipulation, and provides welding institute to welding tractor 3
Material and electric power are needed, the welding tractor 3 is used to control the stable mobile and swing of welding gun in welding process, operates 1 He of car
Connected between welding tractor 3 by cable 9；The cable 9 is made of the welded pipe of A wire-feed motor 11-1 and B wire-feed motors 11-2,
Double-wire welding gun 8 on the end connecting welding trolley 3 of cable 9.
The advantages of the utility model：
1）The arrangement of welding gun cooling water pipe is adjusted, the setting quantity of cooling water pipe is reduced, so as to greatly reduce welding
The weight of equipment and the volume of connecting pipeline, make welding gun overall weight reduce by 1/3 or so, reduce welding tractor and are welded in long range
During energy consumption, and can adapt to comprehensive welding demand；
2）Using dipulse welder power, while digital spc programme-control is used, improve efficiency, can weld
Deviation is corrected in journey in time, the welding swing mechanism of design causes torch swinging amplitude to closely follow welding process, and soldered quality is high,
Reduce the time of polishing operation；
3）Using Ar-CO2Hybrid protection gas, is cooled down by multiple spot and extends the welding gun service life, improves welding quality, is reduced and is flown
Splash；
4）Torch neck uses rare-earth copper alloy, wear-resisting, conductivity is good, and conductive nozzle bore is triangular in shape, is suitable for growing
Time, the welding process of long range.
Brief description of the drawings
Attached drawing 1 is that digitlization fusing gas protects double wire welding robot architecture's schematic diagram over long distances.
Attached drawing 2 is the structure diagram of welding tractor.
Attached drawing 3 is the A-A sectional views for welding swing mechanism.
Attached drawing 4 is the structure diagram of double-wire welding gun.
Attached drawing 5 is the B-B sectional views of double-wire welding gun A welded pipes.
Wherein 1 is operation car, and 2 be bearing base, and 3 be welding tractor, and 3-1 is movable motor, and 3-2 is guide motor, and 4 are
Directive wheel afterwards, 5 be preceding directional wheel, and 6 be strong magnetic ground jack, and 7 be welding swing mechanism；7-1 is travelling gear, and 7-2 is to swing electricity
Machine, 7-3 are sector gears, and 7-4 is screw, and 7-5 is column, and 7-6 is connection sliding block, and 7-7 is sliding rail, and 7-8 is lifting bottom
Plate, 7-9 are upper limit plates, and 7-10 is gag lever post；8 be double-wire welding gun, and 8-1 is A welded pipes, and 8-2 is B welded pipes, and 8-3 is set
Pipe, 8-4 are nozzles, and 8-1-1 is A cooling water pipes, and 8-1-2 is A wire feed snorkels, and 8-1-3 is A filament mouths, and 8-1-4 is A welding
Pipe shell, 8-1-5 are A welded pipe inner tubes, and 8-2-1 is B cooling water pipes, and 8-2-2 is B wire feed snorkels, and 8-2-3 is B filament mouths,
8-2-4 is B welding pipe shells, and 8-2-5 is B welded pipe inner tubes, and 9 be cable, and 10 be that tuner, 11-1 are A wire-feed motors, and 11-2 is
B wire-feed motors, 12-1 are the A sources of welding current, and 12-2 is that the B sources of welding current, 13-1 are A protection gas cylinders, and 13-2 is B protection gas cylinders, and 14 are
Welding gun water tank, 15 be control cabinet, and 16 be manual control lever.
Embodiment
As shown in Figure 1, digitlization fusing Qi Bao double wire weldings robot, its structure include operating 1 He of car over long distances
Welding tractor 3 and cable 9；The operation car 1 is used for overall manipulation, and provides welding material requested and electricity to welding tractor 3
Power, the welding tractor 3 are used to controlling stablizing mobile and swinging for welding gun in welding process, operate car 1 and welding tractor 3 it
Between connected by cable 9；The cable 9 is made of the welded pipe of A wire-feed motor 11-1 and B wire-feed motors 11-2, the end of cable 9
Double-wire welding gun 8 on connecting welding trolley 3.
As shown in Fig. 2, described its structure of operation car 1 includes bearing base 2, tuner 10, A wire-feed motor 11-1, B wire feeds
Machine 11-2, A source of welding current 12-1, B source of welding current 12-2, A protection gas cylinder 13-1, B protection gas cylinder 13-2, welding gun water tank 14, control
Case 15 processed, manual control lever 16；Wherein the bottom of bearing base 2 is equipped with 2 pairs of travel wheels, A protection gas cylinder 13-1, B protection gas cylinders
13-2 is arranged on the front end of bearing base 2 side by side, and 2 gas cylinder internals are equipped with Ar-CO2Mixed gas；Control cabinet 15 is arranged on protection
The rear side of gas cylinder；A source of welding current 12-1, B sources of welding current 12-2 is arranged on the rear side of control cabinet 15, the cathode of A sources of welding current 12-1
The A wire-feed motor 11-1 for the side of being connected thereto, anode ground connection；The B wire-feed motor 11-2 of the cathode side of being connected thereto of B sources of welding current 12-2,
Anode is grounded；The outlet side of A protection gas cylinders 13-1 connects the air inlet of A wire-feed motors 11-1, B protection gas cylinders 13-2 by A valves
Outlet side pass through the air inlet that B valves connect B wire-feed motors 11-2；It is equipped between A source of welding current 12-1 and B sources of welding current 12-2
Tuner 10, for tuning and reducing the interference of the magnetic force between two sources of welding current；Welding gun water tank 14 is arranged on bearing base 2 most
Rear end.
By cable, the switch with A wire-feed motors 11-1, the switch of B wire-feed motors 11-2, A are welded the control cabinet 15 respectively
The switch of power supply 12-1, the switch of B sources of welding current 12-2, the A valves of A protection gas cylinders 13-1, the B valves of B protection gas cylinders 13-2
Connection, is internally provided with control circuit, control panel, PLC and operation car power supply, and car 1 and welding are operated for Digital Control
The running of 3 each several part of trolley, and provide power to operate the movement of car 1；The movement of manual control lever 16 Yu the travel wheel
Mechanism connects, and for breaking down when carries out artificial emergency braking.
As shown in figure 3,3 structure of welding tractor includes：Movable motor 3-1, guide motor 3-2, rear directive wheel 4,
Preceding directional wheel 5, strong magnetic ground jack 6, weld swing mechanism 7, double-wire welding gun 8；Welding tractor bottom therein is equipped with 2 pairs of transports
Wheel, 2 pairs of transporting wheels of movable motor 3-1 connections, rear directive wheel 4 are arranged on the front end of welding tractor 3, and top is equipped with spring；Preceding orientation
Wheel 5 is arranged on the rear end of welding tractor 3 and connects guide motor 3-2；Swing mechanism 7 is welded to be arranged on the car body of welding tractor 3, it is preceding
End suspension double-wire welding gun 8, strong magnetic ground jack 6 are arranged between 2 pairs of transporting wheels of 3 bottom of welding tractor.
As Figure 3-Figure 4,7 structure of welding swing mechanism includes travelling gear 7-1, oscillating motor 7-2, sector
Gear 7-3, screw 7-4, column 7-5, connection sliding block 7-6, sliding rail 7-7, lifting bottom plate 7-8, upper limit plate 7-9, limit
Position bar 7-10；Wherein oscillating motor 7-2 connections travelling gear 7-1, travelling gear 7-1 are meshed with sector gear 7-3, sector
The middle part of wheel 7-3 is equipped with limit hole, and the lower rotation axis of sector gear 7-3 is fixed on welding tractor 3, and gag lever post 7-10 is passed through
The limit hole of sector gear 7-3, is fixed with connection sliding block 7-6 phases；4 root post 7-5 are each passed through four angles of lifting bottom plate 7-8
Hole, be fixed on welding tractor 3, upper limit plate 7-9 is fixed on lifting bottom plate 7-8's through the top of 4 root post 7-5
The right side of top, lifting bottom plate 7-8 and upper limit plate 7-9 are opposite to be equipped with threaded aperture, and screw 7-4 passes through lifting bottom plate
7-8 and aperture on upper limit plate 7-9 and fix；Sliding rail 7-7 is arranged on the upside of lifting bottom plate 7-8, connection sliding block 7-6
It is chimeric with sliding rail 7-7 by sliding slot.
The method for welding regulation and control 8 amplitude of fluctuation of double-wire welding gun of swing mechanism 7 is as follows：Oscillating motor 7-2 controls travelling gear
7-1, drives sector gear 7-3 to carry out wiggly reciprocating motion, and sector gear 7-3 drives the connection of gag lever post 7-10 connections
Sliding block 7-6 transverse shiftings on sliding rail 7-7, so as to drive double-wire welding gun 8 synchronously to be swung；Pass through rotary screw rod 7-4
Adjust the height of lifting bottom plate 7-8 so that the amplitude of fluctuation of connection sliding block 7-6 becomes larger, so that the amplitude of fluctuation of double-wire welding gun 8
Become larger therewith；Maximums of the connection sliding block 7-6 on sliding rail 7-7 is limited by upper limit plate 7-9 and 4 root post 7-5
Amplitude of fluctuation, while improve the stability of whole welding swing mechanism 7.
As shown in figure 4, the double-wire welding gun 8 includes A welded pipe 8-1, B welded pipes 8-2, casing 8-3, nozzle 8-4, spray
Blunt but water inlet pipe 14-1, nozzle cooling water outlet pipe 14-2, nozzle cooling collar 14-3；Wherein A welded pipes 8-1, B welded pipes 8-
2 are set up in parallel, and casing 8-3 is arranged on the outside of A welded pipe 8-1 and B welded pipes 8-2, and nozzle 8-4 is arranged on the top of double-wire welding gun 8,
Nozzle cooling collar 14-3 is arranged on the outside of nozzle 8-4, nozzle cooling water inlet pipe 14-1, nozzle cooling water outlet pipe 14-2 respectively with
Nozzle cooling collar 14-3 is connected with welding gun water tank 14；Nozzle 8-4 uses rare-earth copper alloy, and conductivity is good, and endoporus is in triangle
Shape, is suitable for for a long time, the welding process of long range.
As shown in fig. 4-5, the A welded pipes 8-1 goes out including A cooling water pipes 8-1-1, A wire feed snorkel 8-1-2, A
Silk mouth 8-1-3, A welding pipe shell 8-1-4, A welded pipe inner tube 8-1-5；Wherein A wire feeds snorkel 8-1-2 is arranged on A welded pipes 8-
1 center, A wire feed snorkels 8-1-2 are that A welded pipe inner tube 8-1-5, A welded pipe inner tubes 8-1-5 is outside A cooling water pipes 8- outside
The outermost layer of 1-1, A cooling water pipe 8-1-1 are A welding pipe shells 8-1-4；A part of A cooling water pipes 8-1-1 is welded through A
The tube wall of pipe inner tube 8-1-5, close to A wire feed snorkels 8-1-2；A filament mouths 8-1-3 is arranged on the end of A welded pipes 8-1.
The B welded pipes 8-2 includes B cooling water pipes 8-2-1, B wire feed snorkel 8-2-2, B filament mouth 8-2-3, B weldering
Adapter shell 8-2-4, B welded pipe inner tube 8-2-5；Wherein B wire feeds snorkel 8-2-2 is arranged on the center of B welded pipes 8-2, B wire feeds
It is that B welded pipe inner tube 8-2-5, B welded pipe inner tubes 8-2-5 is outside B cooling water pipes 8-2-1, B cooling water pipe outside snorkel 8-2-2
The outermost layer of 8-2-1 is B welding pipe shells 8-2-4；A part of B cooling water pipes 8-2-1 is through B welded pipe inner tubes 8-2-5's
Tube wall, close to B wire feed snorkels 8-2-2；B filament mouths 8-2-3 is arranged on the end of B welded pipes 8-2.
A, the cooling water pipe in B welded pipes is by transformation：The 4 of the inside and outside both sides of welded pipe inner tube will be respectively provided at originally
Root cooling water pipe（Water inlet pipe, the outlet pipe of 2 pairs of unicom）1 pair of cooling water pipe is reduced to, by bending the structure of cooling water pipe, is made
Welding pipe outer wall and internal wire feed snorkel can be cooled down at the same time by obtaining cooling water pipe, not only reduce the overall weight of welded pipe
And volume, the demand of long range welding on materials and energy consumption is also reduced, improves the efficiency welded over long distances from every side.
The strong magnetic ground jacks of the high magnetic 10SH of model that the strong magnetic ground jack 6 uses, can be adjusted according to welding situation
Magnetism intensity so that welding tractor 3 can be close to face of weld action, and not lose the mobile flexibility with swing, absorption
Freely, conveniently, it is heavy that the various mechanisms that install additional in the prior art are overcome, dumb, the problem of adsorption capacity cannot have concurrently, can
So that welding process is more smooth.
The model MIG/MAG-TANE double PMIG weldings that A wire-feed motor 11-1, the B wire-feed motors 11-2 is used pick silk
Machine, indirect working frequency, 180 ° of same frequency phase difference are used between 2 welding machines, while reduce electromagnetic interference using tuner 10,
Improve work efficiency.
Digitlization fusing Qi Bao double wire weldings robot, its operating method include the following steps over long distances：
1）In the fixed run-on tab of soldered two-end-point installation of workpiece to be welded, soldered bottom installation ceramic substrate；
2）Welding tractor is positioned over soldered section start, start-up operation car, according to the thickness of workpiece and soldered groove
The number of degrees speed of welding and torch swinging frequency are set, welding tractor follows operation car synchronously to be transported along the track on soldered
Dynamic, 2 welding machines start outlet wire vent, start to weld after striking；
3）Welding tractor stablizes the moving process of trolley, preceding directional wheel control by rear directive wheel when being moved on soldered
The moving direction of trolley processed, the frequency that welding swing mechanism control double-wire welding gun is swung in welding process；
4）Monitor and adjust the movement of operation car and welding tractor in real time by control cabinet, and by controlling wire feed rate,
The deviation in welding tractor walking process is reduced, when observing that undercut, sideslip occurs in soldered, is entangled in time by control cabinet
Partially；
5）After a wheel welding is completed, the position of adjustment operation car and welding tractor, improves welding gun height, keeps welding gun pendulum
Dynamic frequency is constant, carries out step 2 again）~ 4）Welding process, until soldered is finally completed, reached by single-sided welding double
Face is molded；
6）When carrying out all-position welding, strong magnetic ground jack can be opened so that welding tractor is adsorbed in face of weld, reaches
Comprehensive welding to curved surface, inclined-plane.
Claims (5)
1. digitlization fusing Qi Bao double wire weldings robot over long distances, it is characterized in that including operation car and welding tractor and cable；
Wherein operate and connected between car and welding tractor by cable；The cable is by A wire-feed motors and the welded pipe group of B wire-feed motors
Into the double-wire welding gun on the end connecting welding trolley of cable；
The operation car includes bearing base, tuner, A wire-feed motors, B wire-feed motors, the A sources of welding current, the B sources of welding current, A protections
Gas cylinder, B protections gas cylinder, welding gun water tank, control cabinet, manual control lever；Wherein the bottom of bearing base is equipped with 2 pairs of travel wheels, and A is protected
Protect gas cylinder, B protections gas cylinder is arranged on the front end of bearing base, rear side of the control cabinet arranged on protection gas cylinder side by side；The A sources of welding current, B
The source of welding current is arranged on the rear side of control cabinet, the A wire-feed motors of the cathode side of being connected thereto of the A sources of welding current, anode ground connection；B welding electricity
The B wire-feed motors of the cathode side of being connected thereto in source, anode ground connection；The outlet side of A protection gas cylinders connects A wire-feed motors by A valves
Air inlet, the outlet side of B protection gas cylinders connect the air inlet of B wire-feed motors by B valves；Between the A sources of welding current and the B sources of welding current
Equipped with tuner；Welding gun water tank is arranged on the rearmost end of bearing base；By cable, the switch with A wire-feed motors, B are sent control cabinet respectively
The silk switch of machine, the switch of the A sources of welding current, the switch of the B sources of welding current, the A valves of A protection gas cylinders, the B valves of B protection gas cylinders
Connection；Manual control lever and the motion of travel wheel connect；
The welding tractor includes movable motor, guide motor, rear directive wheel, preceding directional wheel, strong magnetic ground jack, and welding is swung
Mechanism, double-wire welding gun；Welding tractor bottom therein is equipped with 2 pairs of transporting wheels, and movable motor connects 2 pairs of transporting wheels, rear directive wheel
Arranged on the rear end of welding tractor, the top of rear directive wheel is equipped with spring；Preceding directional wheel is arranged on the front end of welding tractor, preceding directional wheel
Connect guide motor；Weld swing mechanism to be arranged on the car body of welding tractor, weld the rear suspension double-wire welding gun of swing mechanism,
Strong magnetic ground jack is arranged between 2 pairs of transporting wheels of welding tractor bottom.
2. long range digitlization fusing Qi Bao double wire weldings robot according to claim 1, it is characterized in that the weldering
Connecing swing mechanism includes travelling gear, oscillating motor, sector gear, screw, column, connection sliding block, sliding rail, lifting bottom
Plate, upper limit plate, gag lever post；Wherein oscillating motor connection travelling gear, travelling gear are meshed with sector gear, sector
The middle part of wheel is equipped with limit hole, and the lower rotation axis of sector gear is fixed on welding tractor, and gag lever post passes through sector gear
Limit hole is connected with connection sliding block；4 root posts are respectively by the hole at four angles of lifting bottom plate, on welding tractor,
The top that upper limit plate connects 4 root posts is arranged on the top of lifting bottom plate, and the right side of lifting bottom plate and upper limit plate is opposite
Equipped with threaded aperture, screw is connected by the aperture on lifting bottom plate with the aperture on upper limit plate；Sliding rail
Arranged on the upside of lifting bottom plate, connection sliding block is connected by sliding slot with sliding rail.
3. long range digitlization fusing Qi Bao double wire weldings robot according to claim 1, it is characterized in that described is double
Wire bond rifle includes A welded pipes, B welded pipes, casing, nozzle, nozzle cooling water inlet pipe, nozzle cooling water outlet pipe, nozzle coolant jacket
Pipe；Wherein A welded pipes, B welded pipes are set up in parallel, and casing is arranged on the outside of A welded pipes and B welded pipes, and nozzle is arranged on Double Wire Welding
The top of rifle, nozzle cooling collar are arranged on the outside of nozzle, and nozzle cooling water inlet pipe, nozzle cooling water outlet pipe are cold with nozzle respectively
But casing is connected with welding gun water tank.
4. long range digitlization fusing Qi Bao double wire weldings robot according to claim 3, it is characterized in that the A welderings
Adapter includes A cooling water pipes, A wire feed snorkels, A filament mouths, A welding pipe shells, A welded pipe inner tubes；Wherein A wire feeds snorkel
It is A welded pipe inner tubes arranged on the center of A welded pipes, outside A wire feeds snorkel, is A cooling water pipes outside A welded pipes inner tube, A cooling waters
The outermost layer of pipe is welding pipe shell；A filament mouths are arranged on the end of A welded pipes.
5. long range digitlization fusing Qi Bao double wire weldings robot according to claim 3, it is characterized in that the B welderings
Adapter includes B cooling water pipes, B wire feed snorkels, B filament mouths, B welding pipe shells, B welded pipe inner tubes；Wherein B wire feeds snorkel
It is B welded pipe inner tubes arranged on the center of B welded pipes, outside B wire feeds snorkel, is B cooling water pipes outside B welded pipes inner tube, B cooling waters
The outermost layer of pipe is B welding pipe shells；B filament mouths are arranged on the end of B welded pipes.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721097232.9U CN207255441U (en) | 2017-08-30 | 2017-08-30 | Digitlization fusing Qi Bao double wire weldings robot over long distances |
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| CN201721097232.9U CN207255441U (en) | 2017-08-30 | 2017-08-30 | Digitlization fusing Qi Bao double wire weldings robot over long distances |
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ID=61922626
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113305863A (en) * | 2021-06-23 | 2021-08-27 | 广西焊杰机器人技术有限公司 | Welding robot and welding method thereof |
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2017
- 2017-08-30 CN CN201721097232.9U patent/CN207255441U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113305863A (en) * | 2021-06-23 | 2021-08-27 | 广西焊杰机器人技术有限公司 | Welding robot and welding method thereof |
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