CN211438514U

CN211438514U - Narrow-gap rail type multi-axis welding robot

Info

Publication number: CN211438514U
Application number: CN201921259656.XU
Authority: CN
Inventors: 鲁立; 周杰; 徐忠峰; 赵建仓
Original assignee: China General Nuclear Power Corp; CGN Power Co Ltd; Suzhou Nuclear Power Research Institute Co Ltd
Current assignee: China General Nuclear Power Corp; CGN Power Co Ltd; Suzhou Nuclear Power Research Institute Co Ltd
Priority date: 2019-08-05
Filing date: 2019-08-05
Publication date: 2020-09-08
Anticipated expiration: 2029-08-05

Abstract

The utility model relates to a narrow clearance rail mounted multiaxis welding robot, including being used for and being carried out the track fixed by the welded pipe, be used for carrying out welded welding actuating mechanism to being welded the pipeline on the track, welding actuating mechanism can follow the rail walking, welding actuating mechanism includes welder, welder includes automatic welder head, automatic welder head includes the aircraft nose casing, set up the tungsten electrode at aircraft nose casing and stretch out aircraft nose casing front end, the aircraft nose casing has the rear portion casing, set up the anterior casing to its the place ahead extension on the casing of rear portion, anterior casing, the rear portion casing is linked together, the longitudinal section of aircraft nose casing is T shape, the tungsten electrode stretches out the preceding terminal surface of anterior casing. The longitudinal section of the handpiece shell of the embodiment is T-shaped, and the front shell extends out of the rear shell and is flat, so that the handpiece shell can be deeply inserted into a groove, the size of the narrow-gap groove to be processed is reduced, the workload required to be welded is reduced, and the groove processing efficiency and the welding efficiency are greatly improved.

Description

Narrow-gap rail type multi-axis welding robot

Technical Field

The utility model relates to the field of welding technique, especially, relate to a narrow clearance rail mounted multiaxis welding robot.

Background

In the fields of electric power and the like, the outer diameters of pipes such as a nuclear power main pipeline, a main steam pipeline, a thermal power four-large pipeline and the like are generally more than 350mm, the wall thickness is more than 30mm, and the large-wall and thick-wall pipeline belongs to large and thick-wall pipelines. Because the manual welding is inefficient, with high costs, welding quality is difficult to guarantee scheduling problem, simultaneously along with the more mature of automatic welding technique, adopt narrow clearance rail mounted multiaxis welding robot to the welding of this type of pipeline gradually. This kind of multiaxis welding robot has five axle type structures, send silk axle, walking axle, aircraft nose oscillating axle, aircraft nose arc pressure tracking axle and tungsten electrode oscillating axle promptly, and welding robot passes through the track to be installed on being welded the pipeline, is welded the pipeline and generally adopts narrow clearance groove structure, and in the welding process, automatic weld head need go deep into the groove, carries out the welding of one deck, is filled up to whole groove and accomplishes. Because the wall thickness of the welded pipeline is large, in order to reduce the welding wire filling amount, a narrow gap groove structure is adopted, and the welding can be completed only by welding more than dozens of layers. When the lower part of a welded pipeline is welded, a machine head is required to be capable of penetrating into a groove, and protective gas is required to fully protect the whole groove and a molten pool near the machine head.

Generally, the existing narrow gap orbital multi-axis welding robot has the following problems:

(1) the shell at the front part of the machine head is generally of a cylindrical structure, so that the machine head cannot go deep into a narrow-gap groove, the size of the applicable groove is increased, and the welding workload is increased;

(2) the protection gas sending port of the shell at the front part of the machine head is only one generally, when the upper part of a welded pipeline is welded, the protection of gas to a groove and a molten pool is generally sufficient, but when the lower part of the welded pipeline is welded, the protection of the protection gas to the whole groove and the molten pool near the machine head is insufficient, gas holes and oxidation are easily generated, and the welding quality is influenced.

Disclosure of Invention

The utility model aims at providing a narrow clearance rail mounted multiaxis welding robot, especially robot's automatic weld head.

In order to achieve the above purpose, the utility model adopts the technical scheme that:

the utility model provides a narrow clearance orbital multiaxis welding robot, including be used for with by welding the pipeline carry out fixed track, connect be used for on the track carrying out welded welding actuating mechanism to being welded the pipeline, welding actuating mechanism can follow rail walking, welding actuating mechanism include welder, welder include automatic welder head, automatic welder head include the aircraft nose casing, set up and be in the aircraft nose casing in and stretch out the tungsten electrode of aircraft nose casing front end, the aircraft nose casing have the rear portion casing, set up and be in the rear portion casing on to the anterior casing of its the place ahead extension, anterior casing, rear portion casing be linked together, the longitudinal section of aircraft nose casing be the T shape, the tungsten electrode stretch out the preceding terminal surface of anterior casing.

Preferably, the front housing is disposed at a middle portion of the rear housing.

Preferably, the width of the front housing is 4-6 mm.

Preferably, the front end surface of the front shell is provided with a front protective gas supply port.

Further preferably, two front shielding gas supply ports are arranged, and the two front shielding gas supply ports are located on the front end face of the front shell on two sides of the tungsten electrode.

Further preferably, the front shielding gas supply port extends along the length of the front housing.

Preferably, the front end surface of the rear shell is provided with a rear shielding gas supply port.

Further preferably, two rear shielding gas supply ports are provided, and the two rear shielding gas supply ports are located on the front end surface of the rear shell on two sides of the front shell.

Further preferably, the rear shielding gas supply port extends along the length of the rear housing.

Preferably, the automatic welding head comprises a shielding gas supply component, and the shielding gas supply component is communicated with the interior of the head shell.

Because of the application of the technical scheme, compared with the prior art, the utility model have following advantage and effect:

1. the longitudinal section of the machine head shell is T-shaped, the front shell extends out of the rear shell and is flat, so that the machine head shell can be deeply inserted into a groove, the size of the narrow-gap groove to be machined is reduced, the workload of welding is reduced, and the groove machining efficiency and the welding efficiency are greatly improved;

2. the front end surfaces of the front and rear shells are provided with a shielding gas supply port, and in the welding process, a tungsten electrode and a welded pipeline form electric arcs to melt a base metal and a welding wire; and protective gas flows out from the protective gas delivery ports respectively to fully protect the whole groove and the molten pool near the machine head, so that the welding quality is improved.

Drawings

FIG. 1 is a first perspective view of a first head unit of the present embodiment;

FIG. 2 is a second perspective view of the head unit of the present embodiment;

FIG. 3 is a side view (longitudinal section) of the head unit in the present embodiment;

fig. 4 is a top view of the head unit of the present embodiment.

Wherein: 1. a handpiece housing; 10. a front housing; 100. a front shielding gas supply port; 11. a rear housing; 110. a rear shielding gas supply port; 2. a tungsten electrode; l: a length direction; w: the width direction.

Detailed Description

The present invention is described below with reference to the accompanying drawings and embodiments:

the narrow-gap orbital multi-axis welding robot shown in the figures 1-4 comprises a track for fixing a welded pipeline and a welding executing mechanism connected on the track for welding the welded pipeline, wherein the welding executing mechanism can walk along the track. The welding actuating mechanism comprises a welding gun, the welding gun comprises an automatic welding head, and the automatic welding head is described in detail as follows:

in this embodiment: the automatic welding head comprises a head shell 1, a tungsten electrode 2 and a protective gas supply part, wherein the tungsten electrode 2 is arranged in the head shell 1 and extends out of the front end of the head shell 1, and the protective gas supply part is communicated with the inside of the head shell 1 and supplies protective atmosphere for the tungsten electrode 2.

The handpiece housing 1 has a rear housing 11, and a front housing 10 provided on the rear housing 11 and extending forward thereof, and the front housing 10 and the rear housing 11 are in communication. As shown in fig. 3: the front shell 10 is arranged in the middle of the rear shell 11, the cross sections of the front shell 10 and the rear shell 11 are both square, the length of the front shell 10 is not less than the length of the rear shell 11 (in this embodiment, the lengths of the front shell 10 and the rear shell 11 are equal), the width of the front shell 10 is less than the width of the rear shell 11, and the width of the front shell 10 is 4-6mm, for example, 5mm, so that the longitudinal section of the whole handpiece shell 1 is T-shaped, and the whole front shell 10 is flat and can penetrate into a pipeline groove. The tungsten electrode 2 protrudes from the front end surface of the front housing 10.

The front end face of the front shell 10 is provided with two front shielding gas supply ports 100, the two front shielding gas supply ports 100 are located on the front end faces of the front shell 10 on two sides of the tungsten electrode 1, and the front shielding gas supply ports 100 extend along the length direction of the front shell 10.

Similarly, the front end surface of the rear casing 11 is also provided with two rear shielding gas supply ports 110, the two rear shielding gas supply ports 110 are located on the front end surfaces of the rear casings 11 on both sides of the front casing 10, and the rear shielding gas supply ports 110 extend along the length direction of the rear casings 11.

Other parts of the welding executing mechanism are not related to improvement, the prior art can be adopted, and the details are not repeated.

The working process of the present embodiment is specifically described below, and the present embodiment takes the welding of a pipe with a diameter of 400 × 45mm as an example, and includes:

(1) installing a narrow-gap rail type multi-axis welding robot:

processing a narrow gap groove of the welded pipeline according to the technical specification; selecting a corresponding welding robot track according to the specification of the pipeline, and reliably and accurately installing the welding robot track on a corresponding position of the welded pipeline; and then the welding executing mechanism of the welding robot is arranged on the track.

(2) And welding the pipeline:

adjusting the shell of the machine head and penetrating into the groove of the pipeline to reach the designated position, setting process parameters, and welding until the whole groove is filled. In the welding process, a tungsten electrode and a welded pipeline form electric arcs to melt a base metal and a welding wire; and protective gas flows out from the two front protective gas supply ports and the two rear protective gas supply ports respectively to protect the whole groove and the molten pool near the machine head.

(3) And disassembling the welding robot:

and (5) checking the welding quality of the welding seam by a welder, then disassembling the welding robot and the rail, and cleaning the site.

The above embodiments are only for illustrating the technical concept and features of the present invention, and the purpose of the embodiments is to enable people skilled in the art to understand the contents of the present invention and to implement the present invention, which cannot limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered by the protection scope of the present invention.

Claims

1. A narrow-gap orbital multi-axis welding robot, comprising a track for fixing a welded pipeline and a welding executing mechanism connected to the track and used for welding the welded pipeline, wherein the welding executing mechanism can walk along the track, the welding executing mechanism comprises a welding gun, and the narrow-gap orbital multi-axis welding robot is characterized in that: welder include the automatic weld head, the automatic weld head include the aircraft nose casing, set up and be in the aircraft nose casing in and stretch out the tungsten electrode of aircraft nose casing front end, the aircraft nose casing have the rear portion casing, set up and be in the rear portion casing on to the anterior casing of its the place ahead extension, anterior casing, rear portion casing be linked together, the longitudinal section of aircraft nose casing be T shape, the tungsten electrode stretch out the preceding terminal surface of anterior casing.

2. The narrow gap orbital multi-axis welding robot of claim 1, wherein: the front shell is arranged in the middle of the rear shell.

3. The narrow gap orbital multi-axis welding robot of claim 1, wherein: the width of the front shell is 4-6 mm.

4. The narrow gap orbital multi-axis welding robot of claim 1, wherein: the front end surface of the front shell is provided with a front protective gas supply port.

5. The narrow gap orbital multi-axis welding robot of claim 4, wherein: the two front protective gas supply ports are positioned on the front end surface of the front shell on two sides of the tungsten electrode.

6. The narrow gap orbital multi-axis welding robot of claim 4, wherein: the front shielding gas air inlet extends along the length direction of the front shell.

7. The narrow gap orbital multi-axis welding robot of claim 1, wherein: the front end surface of the rear shell is provided with a rear protective gas supply port.

8. The narrow gap orbital multi-axis welding robot of claim 7, wherein: the rear protective gas air supply ports are arranged in two numbers, and the two rear protective gas air supply ports are positioned on the two sides of the front shell and on the front end surface of the rear shell.

9. The narrow gap orbital multi-axis welding robot of claim 7, wherein: the rear shielding gas air supply port extends along the length direction of the rear shell.

10. The narrow gap orbital multi-axis welding robot of claim 1, wherein: the automatic welding head further comprises a shielding gas supply component, and the shielding gas supply component is communicated with the interior of the head shell.