CN211072182U - High-precision moving device of welding robot - Google Patents
High-precision moving device of welding robot Download PDFInfo
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- CN211072182U CN211072182U CN201920620328.1U CN201920620328U CN211072182U CN 211072182 U CN211072182 U CN 211072182U CN 201920620328 U CN201920620328 U CN 201920620328U CN 211072182 U CN211072182 U CN 211072182U
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Abstract
The utility model provides a welding robot high accuracy mobile device, this welding robot high accuracy mobile device includes: the device comprises a workpiece platform, a submerged arc welding machine body, a vibration slag removal device and an absorption device; the rectangular frame is arranged on the workpiece platform, and the four directions on the workpiece platform are oppositely provided with clamping devices for clamping the workpieces to be welded in pairs; the submerged arc welding machine body is connected to the rectangular frame in a sliding mode through the tracking parallelogram linkage device, and a welding gun of the submerged arc welding machine is sequentially contacted with a welding seam of a workpiece to be welded; the vibration slag removing device is connected to the rear part of the submerged arc welding machine body through a connecting rod device and slides synchronously with the submerged arc welding machine body; the absorption device comprises a flux absorption pipe and a welding slag absorption pipe. Among the above-mentioned technical scheme, the submerged arc welding machine body removes the welding through tracking parallelogram aggregate unit, treats the welding work piece circulation to the polylith and carries out multilayer welding, and adopts the automatic clear welding slag and to the dual recovery of welding flux, makes the abundant recycle of welding flux.
Description
The technical field is as follows:
the utility model relates to welding robot's technical field especially involves a welding robot high accuracy mobile device.
Background art:
submerged arc welding (including submerged arc welding, electroslag welding, and the like) is a method in which an electric arc is burned under a flux layer to perform welding. The welding method has the advantages of stable inherent welding quality, high welding productivity, no arc light, little smoke and the like, and becomes a main welding method in the manufacture of important steel structures such as pressure vessels, pipe sections, box-type beam columns and the like.
When submerged arc welding is used for straight seam welding of thick steel, multilayer welding is often required; during multilayer welding, reciprocating welding is carried out after the submerged arc welding machine stops, the recovery of welding flux and the cleaning of welding slag are carried out manually, the defects that the welding speed is influenced and the slag is required to be cleaned manually exist, and the welding flux is not recovered sufficiently, so that unnecessary waste is caused.
The utility model has the following contents:
in view of the above, it is necessary to design a welding robot with precise movement to increase the working speed of multi-layer welding, remove the welding slag and fully recover the welding flux.
The utility model provides a welding robot high accuracy mobile device which characterized in that: the device comprises a workpiece platform, a submerged arc welding machine body, a vibration slag removal device and an absorption device;
the rectangular frame is arranged on the workpiece platform, and the four directions on the workpiece platform are oppositely provided with clamping devices for clamping the workpieces to be welded in pairs;
the submerged arc welding machine body is connected to the rectangular frame in a sliding mode through a tracking parallelogram linkage device, and a welding gun of the submerged arc welding machine is sequentially contacted with a welding seam of a workpiece to be welded;
the vibration slag removing device is connected to the rear part of the submerged arc welding machine body through a connecting rod device and slides synchronously with the submerged arc welding machine body;
the absorption device comprises a welding flux absorption pipe and a welding slag absorption pipe, wherein the welding flux absorption pipe is positioned between the submerged arc welding machine body and the vibration slag removal device, the welding slag absorption pipe is arranged behind the vibration slag removal device, and an air draft device and a filtering device are arranged inside the welding flux absorption pipe and the welding slag absorption pipe.
Preferably, the workpiece platform is provided with hydraulic struts for supporting four corners of the rectangular frame, and the rectangular frame is arranged horizontally.
Preferably, each clamping device comprises a clamping plate which is oppositely arranged on the workpiece platform, and each clamping plate is provided with an adjusting bolt.
Preferably, the tracking parallelogram linkage device comprises a sliding rod connected to two cross rods of the rectangular frame in a sliding manner, a sliding sleeve sliding along the sliding rod longitudinally, a rotating rod rotatably connected to the sliding sleeve, and a driving motor for driving the rotating rod to rotate; the two ends of the two transverse rods are provided with limiting blocks, the rotating rod is connected with the sliding sleeve through a fixing block, an output shaft of the driving motor is provided with a rotating sleeve which is sleeved on the rotating rod in a sliding mode, the rotating rod is sleeved with a compression spring which is connected with the rotating sleeve and the fixing block, and the submerged arc welding machine body is arranged on the sliding sleeve.
Preferably, the submerged arc welding machine further comprises an installation frame covering the shell of the submerged arc welding machine body, and a stepping motor connected with the installation frame is arranged on the sliding sleeve.
Preferably, the vibration deslagging device comprises a mounting plate arranged between the plurality of hydraulic struts in a circling manner, and a vibration motor connected to the mounting plate in a sliding manner; wherein, the output end of the vibration motor is provided with a vibration hammer.
Preferably, a sliding groove with an arc-shaped corner is formed in the mounting plate, and a sliding block matched with the sliding groove is arranged on the vibration motor; the connecting rod device comprises a first rod hinged with the mounting rack and a second rod hinged with the first rod; wherein, the one end that the second pole is kept away from the first pole articulates vibrating motor.
Preferably, the air draft device is an air draft fan, and the filter device is a filter screen with a pore size for flux particles to pass through; the submerged arc welding machine is characterized by further comprising a welding flux bin and a welding slag recovery bin, wherein the welding flux bin and the welding slag recovery bin are located on the submerged arc welding machine body, and the welding slag absorption tube are communicated with the welding flux bin and the welding slag recovery bin.
Preferably, a magnet filter plate is arranged inside the flux bin. And carrying out magnetic adsorption on the incompletely screened welding slag.
The utility model discloses a trail parallelogram aggregate unit and drive submerged arc welding machine body and remove the welding, treat to the polylith that the welding work piece circulation carries out multilayer welding to overcome current multilayer welding and needed reciprocating operation, the slow defect of welding speed, and adopt the automatic clear welding slag and to the dual recovery of solder flux, make the abundant recycle of solder flux.
Description of the drawings:
fig. 1 is a schematic structural diagram of a high-precision moving device of a welding robot provided by an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a clamping device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a device for tracing a parallelogram motion according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a submerged arc welding machine body according to an embodiment of the present invention;
fig. 5 is a schematic structural view of an air draft device and a filtering device provided by the embodiment of the present invention.
Reference numerals: the device comprises a workpiece platform, a 10 rectangular frame, a 20 submerged arc welding machine body, a 30 tracking parallelogram linkage, a 40 motor fixing frame, a 50 hydraulic prop, a 60 clamping device, a 70 flux bin, a 31 welding slag recovery bin, a 32 magnet filter plate, a 33 sliding rod, a 41 sliding sleeve, a 42 rotating rod, a 43 driving motor, a 44 fixed block, a 45 rotating sleeve, a 46 compression spring, a 47 mounting frame, a 48 stepping motor, a 49 workpiece to be welded, a 71 clamping plate, a 72 adjusting bolt, a 73 mounting plate, a 81 vibrating motor, a 82 vibrating hammer, an 83 connecting rod device, a 84 welding flux absorption pipe, a 91 welding slag absorption pipe, a 92 filter screen, and a 93 exhaust fan, wherein the welding slag absorption pipe is.
The specific implementation mode is as follows:
in order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Firstly, in order to facilitate understanding of the high-precision moving device of the welding robot provided by the embodiment of the application, an application scene of the high-precision moving device of the welding robot is explained, when the high-precision moving device of the welding robot provided by the embodiment of the application is used for carrying out multilayer welding on a deeper welding seam, a submerged arc welding machine needs to be moved back and forth to carry out welding operation, welding operation can be continued only after a molten pool is cooled and welding slag is removed, and therefore the welding speed is influenced; the submerged arc welding machine body in the high-precision moving device of the welding robot provided by the embodiment of the application carries out moving welding by tracking the parallelogram linkage device, circularly carries out multilayer welding on a plurality of workpieces to be welded, and adopts automatic slag removal and double recovery of the welding flux to fully recycle the welding flux. The following describes a high-precision moving device of a welding robot according to an embodiment of the present invention with reference to the drawings.
Referring to fig. 1-5 together, fig. 1 is a schematic structural diagram of a high-precision moving device of a welding robot according to an embodiment of the present invention; fig. 2 is a schematic structural diagram of a clamping device according to an embodiment of the present invention; fig. 3 is a schematic structural diagram of a device for tracing a parallelogram motion according to an embodiment of the present invention; FIG. 4 is a schematic structural diagram of a submerged arc welding machine body according to an embodiment of the present invention; fig. 5 is a schematic structural view of an air draft device and a filtering device provided by the embodiment of the present invention.
The embodiment of the utility model provides a welding robot high accuracy mobile device, this welding robot high accuracy mobile device includes: a workpiece platform 10, wherein the workpiece platform 10 is used as a support carrier of the high-precision moving device of the welding robot in the embodiment of the application, and clamping devices 70 for clamping workpieces 71 to be welded are arranged on the workpiece platform 10 in a pairwise opposite manner in four directions; as shown in fig. 1 and fig. 2, fig. 2 is a schematic structural diagram of a clamping device 70 according to an embodiment of the present invention; in particular, each clamping device 70 includes a clamping plate 72 oppositely disposed on the work platform 10, and each clamping plate 72 is provided with an adjusting bolt 73. By adjusting the thickness between the clamping plates 72, workpieces with different thicknesses are clamped, fixed and then welded, and deformation of the workpieces 71 to be welded caused by high temperature of a molten pool in a welding seam is effectively prevented. The four workpieces 71 to be welded are simultaneously fixed on the clamping plates 72 in different directions, so that the welding seams of the four workpieces 71 to be welded are arranged in a rectangular shape, the submerged arc welding machine body 30 is driven by the parallelogram linkage device 40, and different workpieces 71 to be welded are welded in sequence.
Referring to fig. 1 and 3 together, in the structure shown in fig. 1, a rectangular frame 20 is provided on a work platform 10, hydraulic supports 60 for supporting four corners of the rectangular frame 20 are provided on the work platform 10, and the rectangular frame 20 is horizontally disposed. In specific implementation, the hydraulic struts 60 supported at four corners are connected with a hydraulic pump, the hydraulic pump drives the four hydraulic struts 60 to synchronously lift, so that the rectangular frame 20 is always kept in a horizontal state, and when a workpiece is subjected to multi-layer welding, the hydraulic struts 60 need to move upwards for a proper height after the submerged arc welding machine body 30 moves for a circle along the rectangular frame 20; the submerged arc welding machine body 30 is slidably connected to the rectangular frame 20 through the tracking parallelogram linkage 40, and a welding gun of the submerged arc welding machine is sequentially in contact with a welding seam of a workpiece 71 to be welded.
In the concrete implementation of the sliding welding of the submerged arc welding machine body 30 on the rectangular frame 20 through the tracking parallelogram linkage 40, with continuing reference to the structure shown in fig. 3, the tracking parallelogram linkage 40 comprises a sliding rod 41 slidably connected to two cross rods of the rectangular frame 20, a sliding sleeve 42 longitudinally sliding along the sliding rod 41, a rotating rod 43 rotatably connected to the sliding sleeve 42, and a driving motor 44 for driving the rotating rod 43 to rotate; wherein, both ends of two horizontal poles all are provided with the stopper, and the bull stick 43 passes through fixed block 45 and connects sliding sleeve 42, is provided with the rotating sleeve 46 of slip suit on bull stick 43 on the output shaft of driving motor 44, and the cover is equipped with the compression spring 47 of connecting rotating sleeve 46 and fixed block 45 on the bull stick 43, and submerged arc welding machine body 30 sets up on the sliding sleeve 42.
In the present embodiment, the driving motor 44 is mounted above the rectangular frame 20 through the motor mount 50, and the driving motor 44 is disposed in an inverted manner; during the continuous rotation process of the driving motor 44, the rotating rod 43 extends and retracts in the rotating sleeve 46, the fixed block 45 is rotatably connected with the sliding sleeve 42, two ends of the sliding rod 41 are slidably sleeved on the cross rod of the rectangular frame 20, the rotating rod 43 rotates and drives the sliding rod 41 to slide on the cross rod of the rectangular frame 20, when the sliding rod 41 is in contact with the limit block on the rectangular frame 20, the sliding sleeve 42 longitudinally moves along the sliding rod 41, and the position of the sliding rod 41 is kept unchanged. Specifically, the driving motor 44 is a low-speed motor, and the compression spring 47 maintains the stability of the sliding sleeve 42 during the rotation process; in order to match the welding direction of the submerged arc welding machine body 30 with the moving direction of the tracking parallelogram linkage 40, the submerged arc welding machine further comprises a mounting frame 48 covered on the shell of the submerged arc welding machine body 30, and the mounting frame 48 is used for fixing the submerged arc welding machine body 30; the sliding sleeve 42 is provided with a stepping motor 49 connected with the mounting frame 48. The stepping motor 49 is also arranged in an inverted manner, an output shaft of the stepping motor 49 is connected to the top of the mounting frame 48, and the welding direction of the submerged arc welding machine body 30 is adjusted by the rotation of the stepping motor 49.
In order to recover the welding slag and the flux which is not fully used in the welding process, reference is continuously made to fig. 1, 4 and 5, and fig. 4 is a schematic structural diagram of a submerged arc welding machine body 30 provided by an embodiment of the present invention; fig. 5 is a schematic structural view of an air draft device and a filtering device provided by the embodiment of the present invention. In the structure of fig. 1, the high-precision moving device of the welding robot in the embodiment of the application further comprises a vibration deslagging device and an absorption device; the vibration deslagging device is connected to the rear part of the submerged arc welding machine body 30 through a connecting rod device 84 and slides synchronously with the submerged arc welding machine body 30; the vibration deslagging device comprises a mounting plate 81 arranged between the plurality of hydraulic supports 60 in a circling way, and a vibration motor 82 connected to the mounting plate 81 in a sliding way; wherein the output end of the vibration motor 82 is provided with a vibration hammer 83. When the device is specifically arranged, the vibration slag removing device is arranged at the rear part of the submerged arc welding machine body 30, after the welding gun of the submerged arc welding machine body 30 finishes welding the welding seam of the workpiece, the temperature of a molten pool is reduced after cooling for a period of time, and the vibration motor 82 drives the vibration hammer 83 to break the welding slag skin in the welding seam. When the submerged arc welding machine body 30 is in moving welding, the vibration slag removal device is driven to move in a coordinated mode, when the vibration motor 82 is installed specifically, a sliding groove with an arc-shaped corner is formed in the installation plate 81, and a sliding block matched with the sliding groove is arranged on the vibration motor 82; linkage 84 includes a first rod hingedly connected to mounting bracket 48, a second rod hingedly connected to the first rod; wherein, the end of the second rod far away from the first rod is hinged with a vibration motor 82. When the submerged arc welding machine body 30 is in moving welding, the vibration motor 82 is driven to move in the sliding chute; it should be specifically noted that the submerged arc welding machine body 30 is a commercially available submerged arc welding machine, and both the welding gun and the vibration hammer 83 of the submerged arc welding machine body 30 coincide with the weld of the workpiece 71 to be welded, which is not described herein in detail.
In the present embodiment, the absorption device includes a flux absorption pipe 91 located between the submerged arc welding machine body 30 and the vibration slag removal device, and a slag absorption pipe 92 provided behind the vibration slag removal device, and an air draft device and a filter device are provided inside each of the flux absorption pipe 91 and the slag absorption pipe 92. In the specific arrangement, the air extracting device is an air extracting fan 94, and the filter device is a filter screen 93 with the aperture for flux particles to pass through; the submerged arc welding machine further comprises a flux bin 31 and a welding slag recovery bin 32 which are positioned on the submerged arc welding machine body 30, and the welding slag absorption pipe 92 and the welding slag absorption pipe 91 are communicated with the flux bin 31 and the welding slag recovery bin 32. In the above configuration, the flux absorption tube 91 is located between the welding gun and the vibration hammer 83, and a large amount of the insufficiently burned flux is recovered in the flux absorption tube 91 to expose the slag layer in the weld to the surface, and the vibration hammer 83 vibrates and crushes the slag layer and separates the attached flux, and the slag absorption tube 92 recovers the slag and a small amount of the flux. In the structure shown in fig. 5, only the schematic structural diagram of the air draft device and the filtering device in the flux absorption pipe 91 is shown, the air draft device and the filtering device in the slag absorption pipe 91 are the same as those shown in fig. 5, the air draft fan 94 absorbs the slag and the flux at the same time, and separates the slag and the flux through the filter screen 93 and recovers the flux to the flux bin 31 and the slag to the slag recovery bin 32 according to specific gravity; it should be specifically noted that the flux recovery and the differentiated placement of the welding slag and the flux during the recovery process are known in the art and will not be described herein in detail.
With continued reference to fig. 4, in order to prevent fine slag from entering the flux hopper 31 and affecting the flux quality, a magnetic filter 33 is disposed inside the flux hopper 31. Some of the fine dross is attracted as it passes through the magnetic filter 33 as it enters the flux hopper 31 and is removed manually from the magnetic filter 33.
The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. A high-precision moving device of a welding robot is characterized by comprising: the device comprises a workpiece platform, a submerged arc welding machine body, a vibration slag removal device and an absorption device;
the rectangular frame is arranged on the workpiece platform, and the four directions on the workpiece platform are oppositely provided with clamping devices for clamping the workpieces to be welded in pairs;
the submerged arc welding machine body is connected to the rectangular frame in a sliding mode through a tracking parallelogram linkage device, and a welding gun of the submerged arc welding machine is sequentially contacted with a welding seam of a workpiece to be welded;
the vibration slag removing device is connected to the rear part of the submerged arc welding machine body through a connecting rod device and slides synchronously with the submerged arc welding machine body;
the absorption device comprises a welding flux absorption pipe and a welding slag absorption pipe, wherein the welding flux absorption pipe is positioned between the submerged arc welding machine body and the vibration slag removal device, the welding slag absorption pipe is arranged behind the vibration slag removal device, and an air draft device and a filtering device are arranged inside the welding flux absorption pipe and the welding slag absorption pipe.
2. The welding robot high-precision moving apparatus according to claim 1, wherein hydraulic supports for supporting four corners of the rectangular frame are provided on the work table, and the rectangular frame is horizontally disposed.
3. The welding robot high precision moving device according to claim 2, wherein the tracking parallelogram linkage comprises a slide bar slidably coupled to two cross bars of the rectangular frame, a slide sleeve longitudinally sliding along the slide bar, a rotating bar rotatably coupled to the slide sleeve, and a driving motor for driving the rotating bar to rotate; the two ends of the two transverse rods are provided with limiting blocks, the rotating rod is connected with the sliding sleeve through a fixing block, an output shaft of the driving motor is provided with a rotating sleeve which is sleeved on the rotating rod in a sliding mode, the rotating rod is sleeved with a compression spring which is connected with the rotating sleeve and the fixing block, and the submerged arc welding machine body is arranged on the sliding sleeve.
4. The welding robot high-precision moving device of claim 3, further comprising a mounting frame covering a housing of the submerged arc welding machine body, wherein a stepping motor connected with the mounting frame is arranged on the sliding sleeve.
5. The welding robot high-precision moving device according to claim 4, wherein the vibration deslagging device comprises a mounting plate looped between a plurality of the hydraulic props, a vibration motor slidably connected to the mounting plate; wherein, the output end of the vibration motor is provided with a vibration hammer.
6. The welding robot high-precision moving device according to claim 5, wherein the mounting plate is provided with a sliding groove having an arc-shaped corner, and the vibration motor is provided with a sliding block which is engaged with the sliding groove; the connecting rod device comprises a first rod hinged with the mounting rack and a second rod hinged with the first rod; wherein, the one end that the second pole is kept away from the first pole articulates vibrating motor.
7. The welding robot high-precision moving device of any one of claims 1 to 6, wherein the air draft device is an air draft fan, and the filtering device is a filter screen with a pore size for flux particles to pass through; the submerged arc welding machine is characterized by further comprising a welding flux bin and a welding slag recovery bin, wherein the welding flux bin and the welding slag recovery bin are located on the submerged arc welding machine body, and the welding slag absorption tube are communicated with the welding flux bin and the welding slag recovery bin.
8. The high-precision moving apparatus of a welding robot as claimed in claim 7, wherein said flux hopper is provided with a magnet filter plate inside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920620328.1U CN211072182U (en) | 2019-05-01 | 2019-05-01 | High-precision moving device of welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920620328.1U CN211072182U (en) | 2019-05-01 | 2019-05-01 | High-precision moving device of welding robot |
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| Publication Number | Publication Date |
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| CN211072182U true CN211072182U (en) | 2020-07-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920620328.1U Active CN211072182U (en) | 2019-05-01 | 2019-05-01 | High-precision moving device of welding robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109986179A (en) * | 2019-05-01 | 2019-07-09 | 宁夏吴忠市好运电焊机有限公司 | A kind of welding robot high precision movement device |
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2019
- 2019-05-01 CN CN201920620328.1U patent/CN211072182U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109986179A (en) * | 2019-05-01 | 2019-07-09 | 宁夏吴忠市好运电焊机有限公司 | A kind of welding robot high precision movement device |
| CN109986179B (en) * | 2019-05-01 | 2023-12-22 | 宁夏吴忠市好运电焊机有限公司 | High-precision moving device of welding robot |
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