CN207479887U - A kind of heavy type pressure container saddle shape weld seam welding robot - Google Patents

A kind of heavy type pressure container saddle shape weld seam welding robot Download PDF

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Publication number
CN207479887U
CN207479887U CN201721536175.XU CN201721536175U CN207479887U CN 207479887 U CN207479887 U CN 207479887U CN 201721536175 U CN201721536175 U CN 201721536175U CN 207479887 U CN207479887 U CN 207479887U
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China
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plate
bearing
welding
welding gun
adjustment
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CN201721536175.XU
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Chinese (zh)
Inventor
杨涛
魏敏
薛良豪
卢永鑫
张立新
徐宏伟
施宁强
张志阳
张锋
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Shihezi University
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Shihezi University
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Abstract

The utility model discloses a kind of heavy pressure container saddle shape weld seam welding robots, it is related to a kind of saddle-shaped seam welding robot mechanical system, the welding robot can be hung on liftable crossbeam platform, it realizes to different-diameter pressure container cylinder and the welding taken over, solves the problems, such as heavy pressure container saddle shape weld seam Automation of Welding;The welding robot mainly includes fuselage cross moving assembly(1), fuselage lifting assembly(2), body rotation component(3), welding gun clamp assemblies(4), heavy pressure container saddle shape weld seam Automation of Welding is realized by the coordinated movement of various economic factors between each component, have the characteristics that it is stable, easy to operate, easy to maintain, using economical, meet the demand that different size heavy type pressure container saddle shape weld seam welds.

Description

A kind of heavy type pressure container saddle shape weld seam welding robot
Technical field
The utility model is related to a kind of heavy pressure container saddle shape weld seam welding robot mechanical systems, and in particular to one Kind is by fuselage longitudinal direction and transverse movement component (1), take over rotation and downward motion component (2), welding gun revolution and stretching motion group Part (3), welding gun are up and down and attitude angle adjusts the welding robot mechanical system that moving parts (4) form, and belong to robot application Field.
Background technology
In engineering practice, the saddle-shaped seam weld job that pipe pipe connects or bulb connects formed is frequently encountered, is lifted For example, cylinder is frequently encountered in pressure vessels for the chemical industry manufacturing process and takes over formed saddle-shaped seam, due to current Saddle-shaped seam welder majority can only adapt to medium-small diameter and take over the welding of saddle-shape weld seam formed with cylinder, for one The welding of a little heavy type pressure container saddle weld seams cannot then complete weld task well, with the development of society and welding skill The progress of art increasingly improves heavy pressure container cylinder with the demand of Automation of Welding degree taken over, then just needs one The welding robot that kind is welded for heavy pressure container saddle shape weld seam, to realize heavy pressure container saddle shape weld seam Automation of Welding.
For realize saddle-shaped seam automatic welding operation, at present frequently with robotic mechanical system have chuck mode, Suspension type, articulated type, electromagnetic adsorption type, these welding robot majorities can be only done medium-small diameter cylinder and the welding taken over, Weld task cannot then be completed well for the welding of heavy pressure container saddle shape weld seam, some are directed to heavy pressure vessel Then there are Design of Mechanical Structure is complicated, structural volume is big, production cost is high, poor universality etc. for the robot of saddle-shaped seam welding Defect can not meet the function of heavy pressure container saddle shape weld seam welding robot and economic needs at present.
Utility model content
The utility model is to solve the above-mentioned problems, it is proposed that a kind of welding robot hung on hoisting cross beam platform The welding robot hung on crossbeam platform according to the heavy pressure vessel of different size, is risen to conjunction by people's mechanical system Suitable height passes through fuselage longitudinal direction and transverse movement component, take over rotation and downward motion component, welding gun revolution and stretching motion group Part, welding gun are up and down and the coordinated movement of various economic factors of attitude angle adjustment moving parts, the heavy pressure container saddle shape weld seam welding of realization are automatic Change, have the characteristics that structure is stable, processing cost is low, it is easy to operate, using economical, ensure that heavy pressure container saddle Shape weld seam welding quality and welding efficiency.
To achieve the above object, the utility model provides following technical solution:
The welding robot at work, beforehand through the pneumatic three-jaw card in take over rotation and downward motion component (2) The take over clamping that disk (2.1) will weld according to wanted welding pressure container cylinder and take over specification, will be welded by hoisting cross beam Welding robot rises to proper height, then using fuselage longitudinal direction and transverse movement component (1), is being risen by welding robot Vertical and horizontal movement on crossbeam is dropped, and realization is taken over to work with the centering of cylinder saddle-shaped groove coordinate center, is rotated using taking over The accurate fit with cylinder saddle-shaped groove is taken over downward motion component (2) realization, is ready for welding job, passes through weldering Rifle turns round and stretching motion component (3), welding gun hold up and down with the heavy pressure of attitude angle adjustment moving parts (4) coordinated movement of various economic factors realization Device saddle-shaped seam automatic welding operation.
The fuselage longitudinal direction and transverse movement component (1), it is characterised in that the driving motor I being fixed on hoisting cross beam (1.13) adjusting screw I (1.4) is driven to be rotated by coupling band (1.18), adjustment screw I (1.5) and adjustment screw Seat (1.6) cooperation, adjustment nut seat (1.6) are connect with upper sliding plate (1.7), and upper sliding plate (1.7) is with sliding side plate (1.3) Connection under the rotary motion of adjusting screw I (1.4), coordinates sliding block (1.2) edge being connect with sliding side plate (1.3) to be fixed on Longitudinal movement of the welding robot on hoisting cross beam is realized in the slip of the linear guide (1.1) on hoisting cross beam;It is fixed on branch The driving motor II (1.16) for supportting crossbeam (1.17) bottom drives adjusting screw II (1.9) to carry out by coupling band II (1.19) Rotary motion, adjustment screw II (1.15) hole intermediate with keeping seat II (1.14) are coordinated, keep seat I (1.12), keep Upper sliding plate (1.7) is fixed in II (1.14) of seat, slides feed rod (1.11) across the holding seat I for being equipped with linear bearing (1.12), seat II (1.14) is kept, slides feed rod (1.11) both ends and the feed rod support for being fixed on support beam (1.17) bottom Seat (1.10) matches, and under the rotary motion of adjusting screw II (1.9), cooperation slides feed rod (1.11) along holding seat I (1.12), the linear motion of seat II (1.14) is kept, realizes transverse movement of the welding robot on hoisting cross beam (1.1); Driving motor I (1.13), driving motor II (1.16) transmission under longitudinal movement of the realization welding robot on hoisting cross beam And transverse movement.
The take over rotation and downward motion component (2), it is characterised in that by the piston rod of thin cylinder (2.9) with Cylinder connecting plate (2.12) connects, and cylinder connecting plate (2.12) is connect by screw with decelerating motor (2.8), decelerating motor (2.8) flange is connect with middle-end top plate (2.28), and middle-end top plate (2.28) is connected with vertical side plate (2.7), middle-end back plate (2.16) It connects, upper end back plate (2.13) is fixed on support beam (1.17), and the linear guide (2.14) is fixed on upper end back plate (2.13), sliding block (2.15) middle-end back plate (2.16) is fixed on, by the linear motion of thin cylinder (2.9) piston rod, coordinates sliding block (2.15) edge The linear guide (2.14) slide up and down, and realize the up and down motion of lifting assembly;Decelerating motor (2.8) is driven by flat key to be blocked Disk shaft (2.3) is rotated, and chuck shaft (2.3) the lower end shaft shoulder is connected by screw with chuck connecting plate (2.2), card Disk connecting plate (2.2) is connect with pneumatic scroll chuck (2.1), and angular contact ball bearing I (2.17) passes through bottom end bearing gland (2.5), bottom end bearing seat (2.6), bottom end bearing housing (2.18), bottom end bearing inner sleeve (2.19), middle spacer (2.20) and card Disk shaft (2.3) matches;Thrust ball bearing (2.35) is by bottom end bearing seat (2.6), middle-end bearing gland (2.21) in Spacer (2.20) coordinates;Angular contact ball bearing II (2.25) passes through middle spacer (2.20), middle-end bearing gland (2.21), middle-end axis Bearing (2.22), middle-end bearing outside (2.23), middle-end axis inner sleeve (2.24), middle-end bottom plate (2.34), small garden nuts I (2.26) It is matched with chuck shaft (2.3);Angular contact ball bearing III (2.33) passes through small garden nuts II (2.27), middle-end top plate (2.28), upper end bearing gland (2.29), upper end bearing block (2.30), upper end bearing outside (2.31) upper end bearing inner sleeve (2.32) it is matched with chuck shaft (2.3), it is real by take over rotation and the coordinated movement of various economic factors of downward motion component (2) each part The clamping taken over, rotation and pushing are now welded, completes to take over the accurate fit with cylinder saddle-shaped groove, convenient for welding robot Follow-up weld job.
The welding gun revolution and stretching motion component (3), it is characterised in that driving motor I (3.4) is driven by flat key Electrical machine belt pulley (3.10), electrical machine belt pulley (3.10) pass through synchronous belt and the rotation belt wheel being fixed in chuck shaft (3.2) (2.3) it is driven, realizes the welding gun rotary motion in welding gun revolution and stretching motion component (3);It is fixed on middle-end holding plate (3.3) Following driving motor II (3.9) moves forward and backward leading screw (3.6) by coupling band drive and is rotated, front and rear adjustment screw (3.7) it with moving forward and backward connecting plate (3.5) cooperation, moves forward and backward connecting plate (3.5) and coordinates with advance and retreat feed rod (3.2), into matting Thick stick (3.2) is matched with being fixed on the feed rod sliding block (3.1) of middle-end holding plate (3.3) above, and then is realized welding gun revolution and stretched Welding gun stretching motion in contracting moving parts (3) realizes welding gun revolution and stretching motion by the cooperation of two movements.
The welding gun is up and down and attitude angle adjusts moving parts (4), it is characterised in that driving motor (4.6) passes through electricity Machine belt wheel (4.9) drives adjustment belt wheel (4.10) up and down, adjusts belt wheel (4.10) up and down and passes through with upper and lower adjusting screw (4.11) Flat key coordinates, in bearing block (4.20), angular contact ball bearing (4.21), bearing inner sleeve (4.22), bearing outside (4.23), bearing Gland (4.24), small garden nuts (4.25) cooperation under realize up and down adjusting screw (4.11) rotary motion, adjust silk up and down Female (4.12) coordinate with upper and lower adjusting screw (4.11), adjust screw (4.12) up and down and are connect with adjustment top plate (4.13), are adjusted Top plate (4.13) is connected with lower back plate (4.19), lower side panel (4.14), and sliding block (4.18) is fixed on lower back plate (4.19), directly Line guide rail (4.17) is fixed on back plate (4.5), passes through the rotary motion of upper and lower adjusting screw (4.11), cooperation sliding block (4.18) Realize that welding gun moves up and down along the linear motion of the linear guide (4.17);Decelerating motor (4.15) drives lower rotary shaft (4.3), under Shaft (4.3) is matched with lower rotation side plate (4.2), lower rotary shaft set (4.4), is realized to be mounted on welding gun installing plate (4.1) and be welded The adjustment of rifle attitude angle, by being welded above and below welding gun with the coordinated movement of various economic factors of attitude angle adjustment moving parts (4) each part, realization Welding gun up and down motion and the adjustment at posture of welding torch angle in journey.
The beneficial effects of the utility model are:Can hoisting cross beam will be hung on according to the different size of heavy pressure vessel On welding robot rise to proper height;The welding robot is by ball-screw, sliding block and the linear guide, synchronous pulley Be driven, high transmission accuracy, it is stable and easy to operate, easy to maintain, using economy, realize heavy pressure vessel Saddle-shaped seam Automation of Welding functional requirement and economy demand.
Description of the drawings
Fig. 1 is the whole axonometric drawing of the utility model:
In figure:1st, fuselage longitudinal direction with transverse movement component, 2, take over rotation and downward motion component, 3, welding gun turn round and stretch Contracting moving parts, 4, welding gun up and down and attitude angle adjustment moving parts.
Fig. 2 is the utility model entirety left view.
Fig. 3 is the utility model fuselage longitudinal direction and transverse movement component axonometric schematic diagram:
In figure:1.1st, the linear guide, 1.2, sliding block, 1.3, slide side plate, 1.4, adjusting screw I, 1.5, adjustment screw I, 1.6th, adjust nut seat, 1.7, upper sliding plate, 1.8, Self-aligning bearing and seat, 1.9, adjusting screw II, 1.10, feed rod support Seat, 1.11, slide feed rod, 1.12, keep seat I, 1.13, driving motor I, 1.14, keep seat II, 1.15, adjustment screw II, 1.16th, driving motor II, 1.17, support beam.
Fig. 4 is the fuselage longitudinal direction of the utility model and transverse movement component bottom view:
In figure:1.18th, coupling band I, 1.19, coupling band II.
Fig. 5 is the rotation of the utility model take over and downward motion component front view:
In figure:2.1st, pneumatic scroll chuck, 2.2, chuck connecting plate, 2.3, chuck shaft, 2.4, rotation belt wheel, 2.5, under End bearing gland, 2.6, bottom end bearing seat, 2.7, vertical side plate, 2.8, decelerating motor, 2.9, thin cylinder, 2.10, cylinder seat board.
Fig. 6 is the rotation of the utility model take over and downward motion component left view:
In figure:2.11st, side plate is strengthened in upper end, and 2.12, cylinder connecting plate, 2.13, upper end back plate, 2.14, the linear guide, 2.15th, sliding block, 2.16, middle-end back plate.
Fig. 7 is the rotation of the utility model take over and downward motion component partial sectional view:
In figure:2.17th, angular contact ball bearing I, 2.18, bottom end bearing housing, 2.19, bottom end bearing inner sleeve, 2.20, in Spacer, 2.21, middle-end bearing gland, 2.22, middle end bearing block, 2.23, middle-end bearing outside, 2.24, middle-end axis inner sleeve, 2.25th, angular contact ball bearing II, 2.26, small garden nuts I, 2.27, small garden nuts II, 2.28, middle-end top plate, 2.29, upper shaft Pressure cap, 2.30, upper end bearing block, 2.31, upper end bearing outside, 2.32 upper end bearing inner sleeves, 2.33, angular contact ball bearing III, 2.34, middle-end bottom plate, 2.35, thrust ball bearing.
Fig. 8 is the revolution of the utility model welding gun and stretching motion component axonometric drawing:
In figure:3.1st, feed rod sliding block, 3.2, advance and retreat feed rod, 3.3, middle-end holding plate, 3.4 driving motors I, 3.5, front and rear fortune Dynamic connecting plate, 3.6, move forward and backward leading screw, 3.7, front and rear adjustment screw, 3.8, coupling band, 3.9 driving motors II, 3.10, electricity Machine belt wheel.
Fig. 9 is the revolution of the utility model welding gun and stretching motion component bottom view.
Figure 10 is the utility model welding gun up and down and attitude angle adjusts moving parts front view:
In figure:4.1st, welding gun installing plate, 4.2, lower rotation side plate, 4.3, lower rotary shaft, 4.4, lower rotary shaft set, 4.5, it is upper after Plate, 4.6, driving motor, 4.7, upper plate, 4.8, motor adjustment plate, 4.9, electrical machine belt pulley, about 4.10 adjustment belt wheels, 4.11st, upper and lower adjusting screw, 4.12, adjust screw up and down, 4.13, adjustment top plate, 4.14, lower side panel.
Figure 11 is the utility model welding gun up and down and attitude angle adjusts moving parts left view:
In figure:4.15th, decelerating motor, 4.16, strengthen side plate, 4.17, the linear guide, 4.18, sliding block, 4.19, lower back plate.
Figure 12 is the utility model welding gun up and down and attitude angle adjusts moving parts partial sectional view:
In figure:4.20th, bearing block, 4.21, angular contact ball bearing, 4.22, bearing inner sleeve, 4.23, bearing outside, 4.24, Bearing gland, 4.25, small garden nuts.
Specific embodiment
Understand for the ease of those of ordinary skill in the art and implement the utility model and be explained in detail with reference to the accompanying drawings, please refer to The axonometric drawing of the utility model entirety shown in Fig. 1 is transported by hoisting cross beam fuselage longitudinal direction and transverse movement component, take over rotation with pushing Dynamic component, welding gun revolution and stretching motion component, welding gun form up and down with attitude angle adjustment moving parts;The welding robot exists During work, card is taken over beforehand through what the pneumatic scroll chuck (2.1) in take over rotation and downward motion component (2) will weld Tightly, welding robot is risen to by proper height by hoisting cross beam, then using fuselage longitudinal direction with transverse movement component (1), By welding robot, vertical and horizontal move on hoisting cross beam, and realization is taken over and cylinder saddle-shaped groove coordinate center centering Work takes over the accurate fit with cylinder saddle-shaped groove using take over rotation and downward motion component (2) realization, is Welder It is ready, adjusts moving parts (4) with attitude angle up and down by welding gun revolution and stretching motion component (3), welding gun and coordinate The weld joint automatized weld job of heavy pressure container saddle shape is realized in movement.
The longitudinal direction of the utility model fuselage shown in Fig. 3 and transverse movement component axonometric schematic diagram are please referred to, welding robot exists Before work, taken over beforehand through take over rotation with what the pneumatic scroll chuck (2.1) in downward motion component (2) will weld Welding robot is risen to proper height by clamping by hoisting cross beam, then utilizes fuselage longitudinal direction and transverse movement component (1), by welding robot, vertical and horizontal move on hoisting cross beam, and realization is taken over and cylinder saddle-shaped groove centre coordinate Centering works.
Fig. 5, Fig. 6 are please referred to, show the rotation of the utility model take over and downward motion component front view and left view, profit The rotary motion of chuck shaft (2.3) is driven with decelerating motor (2.8), take over rotary motion is realized, then utilizes thin cylinder (2.9) linear motion realizes the pushing taken over, and the standard taken over cylinder saddle-shaped groove is realized by the cooperation of two movements Really cooperation is ready for subsequent weld job.
Referring to Fig. 8, it show the revolution of the utility model welding gun and stretching motion component axonometric drawing, driving motor I (3.4) Driving realize welding gun rotary motion;Welding gun stretching motion is realized in the driving of driving motor II (3.9), is moved by two The rotary motion and stretching motion of welding gun in welding process are realized in cooperation.
Please refer to Fig.1 0, Figure 11, show the utility model welding gun up and down and attitude angle adjustment moving parts front view with Left view, the driving of driving motor (4.6) realize that welding gun moves along a straight line up and down;Installation is realized in the driving of decelerating motor (4.15) The adjustment at posture of welding torch angle on welding gun installing plate (4.1), by adjusting each part of moving parts with attitude angle above and below welding gun and assisting Allocation and transportation are dynamic, realize the adjustment that welding gun moves up and down with posture of welding torch angle in welding process.

Claims (5)

1. a kind of heavy type pressure container saddle shape weld seam welding robot, include fuselage longitudinally with transverse movement component (1), connect Pipe rotation and downward motion component (2), welding gun revolution and stretching motion component (3), welding gun are up and down and attitude angle adjusts exercise group Part (4), fuselage longitudinally include with transverse movement component (1):The linear guide (1.1), sliding block (1.2) slide side plate (1.3), adjust Whole leading screw I (1.4), adjustment screw I (1.5), adjustment nut seat (1.6), upper sliding plate (1.7), Self-aligning bearing and seat (1.8), adjusting screw II (1.9), feed rod support base (1.10) slide feed rod (1.11), keep seat I (1.12), driving motor I (1.13), seat II (1.14), adjustment screw II (1.15), driving motor II (1.16), support beam (1.17), coupling band are kept I (1.18), coupling band II (1.19), take over rotation include with downward motion component (2):Pneumatic scroll chuck (2.1), chuck connect Fishplate bar (2.2), chuck shaft (2.3), rotation belt wheel (2.4), bottom end bearing gland (2.5), bottom end bearing seat (2.6) stand side Side plate (2.11) is strengthened in plate (2.7), decelerating motor (2.8), thin cylinder (2.9), cylinder seat board (2.10), upper end, and cylinder connects Fishplate bar (2.12), upper end back plate (2.13), the linear guide (2.14), sliding block (2.15), middle-end back plate (2.16), angular contact ball axis Hold I (2.17), bottom end bearing housing (2.18), bottom end bearing inner sleeve (2.19), middle spacer (2.20), middle-end bearing gland (2.21), middle end bearing block (2.22), middle-end bearing outside (2.23), middle-end axis inner sleeve (2.24), angular contact ball bearing II (2.25), small garden nuts I (2.26), small garden nuts II (2.27), middle-end top plate (2.28), upper end bearing gland (2.29), on End bearing block (2.30), upper end bearing outside (2.31), upper end bearing inner sleeve (2.32), angular contact ball bearing III (2.33), in Bottom plate (2.34) thrust ball bearing (2.35) is held, welding gun revolution and stretching motion component (3) include:Feed rod sliding block (3.1) is retreated Feed rod (3.2), middle-end holding plate (3.3), driving motor I (3.4) move forward and backward connecting plate (3.5), move forward and backward leading screw (3.6), it is front and rear adjustment screw (3.7), coupling band (3.8), driving motor II (3.9), electrical machine belt pulley (3.10), welding gun up and down and Attitude angle adjustment moving parts (4) include:Welding gun installing plate (4.1), lower rotation side plate (4.2), lower rotary shaft (4.3), lower rotary shaft It covers (4.4), upper back plate (4.5), driving motor (4.6), upper plate (4.7), motor adjustment plate (4.8), electrical machine belt pulley (4.9), Adjustment belt wheel (4.10) up and down, upper and lower adjusting screw (4.11) adjust screw (4.12), adjustment top plate (4.13), downside up and down Plate (4.14), decelerating motor (4.15) strengthen side plate (4.16), the linear guide (4.17), sliding block (4.18), lower back plate (4.19), bearing block (4.20), angular contact ball bearing (4.21), bearing inner sleeve (4.22), bearing outside (4.23), bearing gland (4.24), small garden nuts (4.25), the welding robot at work, beforehand through take over rotation and downward motion component (2) In the take over clamping that will weld of pneumatic scroll chuck (2.1), welding robot is risen to by suitable height by hoisting cross beam Degree, then using fuselage longitudinal direction and transverse movement component (1), by welding robot, vertical and horizontal are transported on hoisting cross beam Dynamic, realization is taken over to work with the centering of cylinder saddle-shaped groove coordinate center, is realized using take over rotation and downward motion component (2) The accurate fit with cylinder saddle-shaped groove is taken over, is ready for welding job, passes through welding gun revolution and stretching motion component (3), welding gun is up and down and the weld joint automatized weldering of heavy pressure container saddle shape is realized in attitude angle adjustment moving parts (4) coordinated movement of various economic factors Connect operation.
2. a kind of heavy pressure container saddle shape weld seam welding robot according to claim 1, feature is described Fuselage longitudinal direction and transverse movement component (1), pass through coupling band (1.18) with the driving motor I (1.13) being fixed on hoisting cross beam Adjusting screw I (1.4) is driven to be rotated, adjustment screw I (1.5) coordinates with adjustment nut seat (1.6), adjusts nut seat (1.6) it is connect with upper sliding plate (1.7), upper sliding plate (1.7) is connect with sliding side plate (1.3), in adjusting screw I (1.4) Under rotary motion, sliding block (1.2) edge being connect with sliding side plate (1.3) is coordinated to be fixed on the linear guide on hoisting cross beam (1.1) longitudinal movement of the welding robot on hoisting cross beam is realized in slip;It is fixed on the drive of support beam (1.17) bottom Dynamic motor II (1.16) drives adjusting screw II (1.9) to be rotated by coupling band II (1.19), adjusts screw II (1.15) hole intermediate with keeping seat II (1.14) is coordinated, and keeps seat I (1.12), seat II (1.14) is kept to be fixed on cunning Movable plate (1.7) slides feed rod (1.11) across being equipped with the holding seat I (1.12) of linear bearing, keeping seat II (1.14), slides Feed rod (1.11) both ends are matched with being fixed on the feed rod support base (1.10) of support beam (1.17) bottom, in adjusting screw II (1.9) under rotary motion, cooperation slides feed rod (1.11) edge and keeps seat I (1.12), the linear motion for keeping seat II (1.14), Realize transverse movement of the welding robot on hoisting cross beam;In the transmission of driving motor I (1.13), driving motor II (1.16) The lower longitudinal movement and transverse movement for realizing welding robot on hoisting cross beam.
3. a kind of heavy pressure container saddle shape weld seam welding robot according to claim 1, it is characterised in that described Take over rotation and downward motion component (2), connect by the piston rod of thin cylinder (2.9) with cylinder connecting plate (2.12), Cylinder connecting plate (2.12) is connect by screw with decelerating motor (2.8), decelerating motor (2.8) flange and middle-end top plate (2.28) Connection, middle-end top plate (2.28) are connected with vertical side plate (2.7), middle-end back plate (2.16), and upper end back plate (2.13) is fixed on branch Crossbeam (1.17) is supportted, the linear guide (2.14) is fixed on upper end back plate (2.13), and sliding block (2.15) is fixed on middle-end back plate (2.16), by the linear motion of thin cylinder (2.9) piston rod, coordinate sliding block (2.15) along the upper and lower of the linear guide (2.14) It slides, realizes take over rotation and the downward motion in downward motion component (2);Decelerating motor (2.8) drives chuck by flat key Shaft (2.3) is rotated, and chuck shaft (2.3) the lower end shaft shoulder is connected by screw with chuck connecting plate (2.2), chuck Connecting plate (2.2) is connect with pneumatic scroll chuck (2.1), angular contact ball bearing I (2.17) by bottom end bearing gland (2.5), Bottom end bearing seat (2.6), bottom end bearing housing (2.18), bottom end bearing inner sleeve (2.19), middle spacer (2.20) and chuck shaft (2.3) it matches;Thrust ball bearing (2.35) passes through bottom end bearing seat (2.6), middle-end bearing gland (2.21) and middle spacer (2.20) coordinate;Angular contact ball bearing II (2.25) passes through middle spacer (2.20), middle-end bearing gland (2.21), middle end bearing block (2.22), middle-end bearing outside (2.23), middle-end axis inner sleeve (2.24), middle-end bottom plate (2.34), small garden nuts I (2.26) and card Disk shaft (2.3) matches;Angular contact ball bearing III (2.33) by small garden nuts II (2.27), middle-end top plate (2.28), on End bearing gland (2.29), upper end bearing block (2.30), upper end bearing outside (2.31) upper end bearing inner sleeve (2.32) and chuck Shaft (2.3) matches, and by take over rotation and the coordinated movement of various economic factors of downward motion component (2) each part, realizes what is taken over Clamping, rotation and pushing are completed to take over the accurate fit with cylinder saddle-shaped groove, work are subsequently welded convenient for welding robot Industry.
A kind of 4. heavy pressure container saddle shape weld seam welding robot according to claim 1, it is characterised in that welding gun Revolution and stretching motion component (3) drive electrical machine belt pulley (3.10), electrical machine belt pulley with driving motor I (3.4) by flat key (3.10) it is driven, realizes welding gun revolution and stretched by synchronous belt and the rotation belt wheel (2.4) being fixed in chuck shaft (2.3) Welding gun rotary motion in moving parts (3);It is fixed on the driving motor II (3.9) of middle-end holding plate (3.3) below and passes through connection Axle sleeve drive moves forward and backward leading screw (3.6) and is rotated, and front and rear adjustment screw (3.7) is with moving forward and backward connecting plate (3.5) Cooperation moves forward and backward connecting plate (3.5) and coordinates with advance and retreat feed rod (3.2), and advance and retreat feed rod (3.2) is with being fixed on middle-end holding plate (3.3) feed rod sliding block (3.1) matches above, and then realizes that the welding gun in welding gun revolution and stretching motion component (3) stretches fortune It is dynamic, welding gun revolution and stretching motion are realized by the cooperation of two movements.
5. a kind of heavy pressure container saddle shape weld seam welding robot according to claim 1, it is characterised in that described Welding gun up and down and attitude angle adjustment moving parts (4), with driving motor (4.6) by electrical machine belt pulley (4.9) drive on lower Whole belt wheel (4.10) adjusts belt wheel (4.10) and is coordinated with upper and lower adjusting screw (4.11) by flat key, up and down in bearing block (4.20), angular contact ball bearing (4.21), bearing inner sleeve (4.22), bearing outside (4.23), bearing gland (4.24), small garden spiral shell The rotary motion of adjusting screw (4.11) up and down is realized under the cooperation of female (4.25), adjusts screw (4.12) and adjustment up and down up and down Leading screw (4.11) coordinates, and adjusts screw (4.12) up and down and is connect with adjustment top plate (4.13), adjustment top plate (4.13) and lower back plate (4.19), lower side panel (4.14) is connected, and sliding block (4.18) is fixed on lower back plate (4.19), and the linear guide (4.17) is fixed on Back plate (4.5) by the rotary motion of upper and lower adjusting screw (4.11), coordinates sliding block (4.18) along the straight of the linear guide (4.17) Line movement realizes that welding gun moves up and down;Decelerating motor (4.15) drives lower rotary shaft (4.3), lower rotary shaft (4.3) and lower rotation side plate (4.2), lower rotary shaft set (4.4) matches, and realizes the adjustment for being mounted on posture of welding torch angle on welding gun installing plate (4.1), passes through weldering Rifle is up and down and attitude angle adjusts moving parts (4) each part coordinated movement of various economic factors, realizes welding gun up and down motion and welding gun in welding process The adjustment of attitude angle.
CN201721536175.XU 2017-11-17 2017-11-17 A kind of heavy type pressure container saddle shape weld seam welding robot Expired - Fee Related CN207479887U (en)

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CN201721536175.XU CN207479887U (en) 2017-11-17 2017-11-17 A kind of heavy type pressure container saddle shape weld seam welding robot

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Application Number Priority Date Filing Date Title
CN201721536175.XU CN207479887U (en) 2017-11-17 2017-11-17 A kind of heavy type pressure container saddle shape weld seam welding robot

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