CN212122019U - Online welding device for weld joint fracture of large arm connecting rod of GLAMA manipulator - Google Patents
Online welding device for weld joint fracture of large arm connecting rod of GLAMA manipulator Download PDFInfo
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- CN212122019U CN212122019U CN202020695532.2U CN202020695532U CN212122019U CN 212122019 U CN212122019 U CN 212122019U CN 202020695532 U CN202020695532 U CN 202020695532U CN 212122019 U CN212122019 U CN 212122019U
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Abstract
The utility model discloses a GLAMA manipulator large arm connecting rod weld fracture online welding device, which is characterized by comprising a door-shaped structural member frame, a U-shaped steel frame, a hoisting device and a bottom steel plate; the bottom steel plates are respectively arranged at two ends of the bottom of the door-shaped structural member frame, and the U-shaped steel frame is arranged on the lower surface of the middle of the door-shaped structural member frame; the lifting device is movably connected to the U-shaped steel frame. The utility model also discloses a device's repair technology uses the utility model discloses can realize carrying out online welding to GLAMA manipulator forearm connecting rod welding seam fracture department and restoreing, practice thrift maintenance duration, reduce cost of maintenance, reduce the loss of shutting down, produce for reasonable group and provide the guarantee.
Description
Technical Field
The utility model relates to a GLAMA manipulator big arm connecting rod welding seam fracture online welding device and technology.
Background
After several rounds of technical transformation, the marten Steel trade company has available thirty-five various GLAMA manipulators which are respectively distributed on various machine tools, a furnace group, a ring production line, a wheel II production line, a wheel III production line and the like. The structural form can be roughly divided into a fixed joint type, a fixed bridge type, a tire moving type and the like, and the connecting rods of the four-bar mechanism on the large arm of the body movement adopt a welding structure in any form. For the mechanical arm, the stability of the motion rod piece is a main factor determining the operation precision of the mechanical arm, and as the mechanical arms are in a full-load operation state on a production line, long-term operation impact load and fatigue operation can cause the failure of a part of large arm connecting rod connecting welding seams, so that structural parts are deformed and torn, the motion instability is caused, and the breakage of the large arm connecting rod of the main bearing part can directly cause the serious consequence of production interruption. And may even result in direct rejection of the robot motion housing. If the replacement of the purchased spare parts is long, the cost is high, the replacement difficulty is high, and the consumed time is long. Therefore, in order to recover production as soon as possible, an online welding device for the weld joint fracture of the large arm connecting rod of the GLAMA manipulator and a matched repair process are needed to be designed to solve the problem.
At present, various manipulator structural parts are generally applied in welding repair, a plurality of documents are described, but the main difficulties of the online welding repair of the welding line fracture of the large arm connecting rod of the GLAMA manipulator of the train wheel are that the GLAMA manipulator special for the train wheel is not used in the welding repair, and the problems are that: the method comprises the steps of online weld fracture resetting (so that the weld joint of the large-arm connecting rod of the large manipulator cannot be restored to the original shape by hoisting a crane and other hoisting equipment in a factory and mine environment), complex weld joint position and difficulty in operation, and the processes of a single-side welding and double-side forming welding operation technology, local reinforcement and the like are difficult to complete, so that structural deformation cannot occur after the large-arm connecting rod is repaired and welded, and various performance which cannot reach the standard cannot be generated without affecting the precision installation of other assemblies of the whole GLAMA manipulator in cooperation with the large-arm connecting rod and the stability of a moving rod.
SUMMERY OF THE UTILITY MODEL
To the problem of the big arm connecting rod welding seam fracture repair difficulty of GLAMA manipulator that exists among the above-mentioned background art, the utility model provides a GLAMA manipulator big arm connecting rod welding seam fracture online welding set and technology is implemented, the utility model discloses can realize carrying out online welding to GLAMA manipulator big arm connecting rod welding seam fracture department and restoreing, practice thrift maintenance duration, reduce cost of maintenance, reduce the loss of shutting down, provide the guarantee for reasonable group's product.
The utility model provides a technical problem's technical scheme as follows:
the utility model relates to a GLAMA manipulator big arm connecting rod welding seam fracture on-line welding device, which is characterized in that the device comprises a door-shaped structural component frame, a U-shaped steel frame, a hoisting device and a bottom steel plate; the bottom steel plates are respectively arranged at two ends of the bottom of the door-shaped structural member frame, and the U-shaped steel frame is arranged on the lower surface of the middle of the door-shaped structural member frame; the lifting device is movably connected to the U-shaped steel frame and can move left and right on the U-shaped steel frame.
As a further improvement of the technical scheme of the utility model, every it is provided with two removal universal wheels still to symmetry on the bottom steel sheet.
As the technical scheme of the utility model further improve, the symmetry is provided with fixed oblique pull rod respectively between the both sides of door font structure frame and the bottom steel sheet.
As a further improvement of the technical scheme of the utility model, the hoisting device is a chain block.
The utility model relates to a GLAMA manipulator big arm connecting rod welding seam fracture on-line welding process, the bottom of the big arm of manipulator be provided with link structure, each connecting rod among the link structure after long-term operation, fracture, the tearing condition appear in welding seam department above that, utilize now among the above-mentioned technical scheme GLAMA manipulator big arm connecting rod welding seam fracture on-line welding set weld the restoration to appearing cracked welding seam department, the repair process is as follows:
step one, setting an online welding device; manufacturing the online welding device according to the specification of the large arm connecting rod of the GLAMA manipulator, moving the online welding device above the large arm of the GLAMA manipulator, moving a lifting device suspended on a U-shaped steel frame above a broken welding line, and lifting the broken welding line;
step two, preparing and implementing a welding process; the method comprises the steps of pre-welding preparation, welding and post-welding reinforcement;
2.1), preparation before welding:
2.1.1), the welding equipment is HT400D digital control inversion type manual direct current welding machine, and a reverse connection method is adopted;
2.1.2), heating and heat treatment equipment: h01-20 baking gun, 3# welding nozzle, throat hoop, oxyacetylene bottle and oxyacetylene wind belt;
2.1.3), welding technical requirements: the overlaying layer fuses base materials, and a welding seam cannot have any welding defects;
2.1.4), the material of the body: the material of the connecting rod structure; the material of the reinforcing rib plate: 45# steel;
2.1.5), welding material: e5015 welding rod;
2.1.6), auxiliary facilities: magnifying glasses, wire brushes, sand paper, movable spanners, straight grinders, angle grinders, wire pliers, hacksaw blades, labor protection articles and the like;
2.1.7) determining welding process parameters according to welding requirements;
2.2), welding and post-welding reinforcement;
after the on-line welding device lifts the position of a broken weld joint on the connecting rod structure, a manual angle grinder is used for machining and cutting the original weld joint along the broken weld joint, then a manual straight grinder and the angle grinder are used for machining and welding a V-shaped groove at the original weld joint, the assembly size is checked and accepted after the first procedure is completed, and symmetrical spot welding fixing is carried out after the technical requirements are met; preheating the groove and the peripheral area of the groove by using an H01-20 baking gun before welding by using central flame, after preheating is finished, intermittently extinguishing arc by using a welding method of a bottom coating, ensuring that current is not too large to ensure that a molten hole penetrates through a body to achieve a single-side welding double-side forming effect, cleaning the surface of a welding seam by using a manual angle grinder after welding the bottom coating, carrying out visual inspection and instrument detection on the polished welding seam, carrying out filling layer welding after confirming that no welding defect exists, and carrying out repair if welding defects exist; the welding of more than two filling layers must ensure the interlayer temperature, the current is increased by 20-30% compared with the bottoming layer, the short arc on-line or crescent welding operation is carried out, the base metal is fused at the two sides of the welding line, the detection is carried out after the welding is finished layer by layer, the cover surface layer waits for the temperature of the whole welding line to be reduced, the welding line must be filled with the groove, can be slightly higher than the base material, after the whole welding seam is confirmed to have no welding defects, the H01-20 baking gun is used for heating the whole welding seam and the periphery by adopting central flame, then the temperature is preserved and then cooled to room temperature, the part of the welding line which is higher than the parent metal of the body is processed, cut and ground by a manual angle grinder after being cooled, then, reinforcing rib plates are welded on the upper assembly of the welding seams of the connecting rod, the reinforcing rib plates are only subjected to surfacing along two sides of the connecting rod, the size of a welding leg is larger than 1/3 of the thickness of the reinforcing rib plate, the upper part and the lower part of the reinforcing rib plates are not allowed to be welded, and cracks are prevented from being generated directly due to the fact that welding stress cannot be released after the integral welding; and finally, checking and delivering for use after the product is qualified.
As the further improvement of the technical scheme of the utility model, when the bottoming layer is welded, the welding rod adopts an E5015 welding rod with the diameter of 3.2mm, the welding current is 90-120A, the arc voltage is 24 +/-1V, and the welding speed is 17 +/-1 cm/min; when the filling and covering layer is welded, an E5015 welding rod with the diameter of 4.0mm is adopted as the welding rod, the welding current is 130-180A, the arc voltage is 24 +/-1V, and the welding speed is 17 +/-1 cm/min.
Compared with the prior art, a GLAMA manipulator forearm connecting rod welding seam fracture online welding set and technology, it can realize carrying out online welding to GLAMA manipulator forearm connecting rod welding seam fracture department and restoreing, practices thrift maintenance duration, reduces cost of maintenance, reduces the loss of shutting down, provides the guarantee for reasonable group's product.
Drawings
FIG. 1 is a schematic structural view of a GLAMA bridge type manipulator box beam crack repair of the present invention;
FIG. 2 is a schematic view of the front structure of the online welding device for the weld joint fracture of the large arm connecting rod of the GLAMA manipulator of the present invention;
fig. 3 is a schematic side view of the online welding device for the weld joint fracture of the arm connecting rod of the GLAMA manipulator according to the present invention;
in the figure: 1. the large arm 2, the connecting rod structure 3, the welding seam 4, the reinforcing rib plate 5, the door-shaped structural member frame 6, the U-shaped steel frame 7, the hoisting device 8, the fixed diagonal draw bar 9, the bottom steel plate 10 and the movable universal wheel.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The terms "upper", "lower", "left", "right", "front", "rear", and the like used in the specification and claims of the present disclosure are used only to indicate relative positional relationships, and when the absolute position of a described object is changed, the relative positional relationships are changed accordingly; the terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect.
Example 1:
as shown in fig. 1 to 3, the utility model relates to a GLAMA manipulator large arm connecting rod weld fracture on-line welding device, which is characterized in that the device comprises a door-shaped structural member frame 5, a U-shaped steel frame 6, a lifting device 7 and a bottom steel plate 9; the bottom steel plates 9 are respectively arranged at two ends of the bottom of the door-shaped structural member frame 5, and the U-shaped steel frame 6 is arranged on the lower surface of the middle of the door-shaped structural member frame; the lifting device 7 is movably connected to the U-shaped steel frame 6 and can move left and right on the U-shaped steel frame 6 so as to adjust a lifting position.
In this embodiment, each of the bottom steel plates 9 is further symmetrically provided with two movable universal wheels 10, so as to facilitate the movement of the online repair device.
In this embodiment, the fixed diagonal draw bars 8 are symmetrically arranged between the two sides of the door-shaped structural member frame 5 and the bottom steel plate 9 respectively, so as to increase the stability of the online repairing device.
In this embodiment, the hoisting device 7 is a chain block, and is simple and practical.
Example 2:
the utility model relates to a GLAMA manipulator big arm connecting rod welding seam fracture on-line welding process, the bottom of manipulator big arm 1 be provided with connecting rod structure 2, each connecting rod in connecting rod structure 2 is cuboid hollow steel pipe, connecting rod structure 2 is after long-term operation, fracture or the tearing condition can generally appear in welding seam 3 department on it, the innovation point of this embodiment is, utilize embodiment 1 in GLAMA manipulator big arm connecting rod welding seam fracture on-line welding set weld the 3 departments of fracture to appear weld and repair, repair process as follows:
step one, setting an online welding device; manufacturing the online welding device according to the specification of the large arm connecting rod of the GLAMA manipulator, moving the online welding device above the large arm 1 of the GLAMA manipulator, moving a lifting device 7 suspended on a U-shaped steel frame 6 above a fractured welding seam 3, and lifting the fractured welding seam 3;
step two, preparing and implementing a welding process; the method comprises the steps of pre-welding preparation, welding and post-welding reinforcement;
2.1), preparation before welding:
2.1.1), the welding equipment is HT400D digital control inversion type manual direct current welding machine, and a reverse connection method is adopted;
2.1.2), heating and heat treatment equipment: h01-20 baking gun, 3# welding nozzle, throat hoop, oxyacetylene bottle and oxyacetylene wind belt;
2.1.3), welding technical requirements: the overlaying layer fuses base materials, and a welding seam cannot have any welding defects;
2.1.4), the material of the body: the material of the connecting rod structure is equivalent to national standard Q345; the material of the reinforcing rib plate: 45# steel;
2.1.5), welding material: e5015 welding rod;
2.1.6), auxiliary facilities: magnifying glasses, wire brushes, sand paper, movable wrenches, straight grinders, angle grinders, wire pliers, hacksaw blades, labor protection articles (work clothes, gloves, shoes, hats, planoscopes), etc.;
7. determining welding process parameters according to welding requirements;
manual shielded metal arc welding
| Welding rod type | Welding layer | Diameter/mm of welding rod | Welding current A | Arc voltage/v | Welding speed/(cm' min)-1） |
| E5015 | Priming layer | 3.2 | 90-120 | 24±1 | 17±1 |
| E5015 | Filled capstock layer | 4.0 | 130-180 | 24±1 | 17±1 |
2.2), welding and post-welding reinforcement;
after the position of a broken welding seam 3 on the connecting rod structure 2 is lifted by the online welding device, a manual angle grinder is used for machining and cutting the original welding seam 3 along the broken welding seam, then a manual straight grinder and an angle grinder are used for machining and welding a V-shaped groove at the original welding seam 3, the first procedure is finished, the assembly size is checked, and symmetrical spot welding is carried out after the technical requirements are met; preheating a groove and a peripheral area (an area of about 50mm on two sides of the groove) of the groove by using an H01-20 baking gun before welding, after preheating is finished, intermittently extinguishing arc by using a welding method of a bottom layer, ensuring that a molten hole penetrates through a body to achieve a single-side welding double-side forming effect, cleaning the surface of a welding line by using a manual angle grinder after welding the bottom layer, carrying out visual inspection and instrument detection on the polished welding line, carrying out filling layer welding after confirming that no welding defect exists, and carrying out repair if a welding defect exists; the welding of more than two filling layers must ensure interlayer temperature, the current is increased by 20-30% compared with the bottoming layer, short arc on-line or crescent welding operation is carried out, base materials are fused at two sides of a welding seam, the welding is completed layer by layer, the next layer welding can be carried out after the welding is qualified, when the cover layer is welded, the temperature of the whole welding seam is waited to be reduced firstly, when the welding seam is welded, a groove is filled in the welding seam, the groove is slightly higher than the base materials, after the whole welding seam is confirmed to have no welding defect, an H01-20 baking gun is used for heating the whole welding seam and the periphery by using central flame, the temperature is kept for 1-2H firstly and then cooled to room temperature, the part higher than the base material of the body is machined, cut and ground by using a manual angle grinder, then the reinforcing rib plate 4 is welded on the welding seam of the connecting rod, the reinforcing rib plate 4 is only surfacing along, welding is not allowed to be carried out on the upper part and the lower part of the rib plate, so that cracks are prevented from being generated directly due to the fact that welding stress cannot be released after the integral welding is carried out; and finally, checking and delivering for use after the product is qualified.
Claims (4)
1. A GLAMA manipulator large arm connecting rod weld joint fracture online welding device is characterized by comprising a door-shaped structural part frame (5), a U-shaped steel frame (6), a hoisting device (7) and a bottom steel plate (9); the bottom steel plates (9) are respectively arranged at two ends of the bottom of the door-shaped structural member frame (5), and the U-shaped steel frame (6) is arranged on the lower surface of the middle of the door-shaped structural member frame; the lifting device (7) is movably connected to the U-shaped steel frame (6).
2. A GLAMA manipulator boom link weld break on-line welding apparatus as claimed in claim 1, wherein each of said bottom steel plates (9) is further symmetrically provided with two moving universal wheels (10).
3. The GLAMA manipulator large arm connecting rod weld joint breakage online welding device according to claim 1 or 2, wherein fixed diagonal draw bars (8) are symmetrically arranged between two sides of the door-shaped structural member frame (5) and the bottom steel plate (9) respectively.
4. The online welding device for the weld joint fracture of the large arm connecting rod of the GLAMA manipulator as claimed in claim 1, wherein the lifting device (7) is a chain block.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020695532.2U CN212122019U (en) | 2020-04-29 | 2020-04-29 | Online welding device for weld joint fracture of large arm connecting rod of GLAMA manipulator |
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| CN202020695532.2U CN212122019U (en) | 2020-04-29 | 2020-04-29 | Online welding device for weld joint fracture of large arm connecting rod of GLAMA manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390341A (en) * | 2020-04-29 | 2020-07-10 | 安徽马钢设备检修有限公司 | G L AMA manipulator large arm connecting rod weld fracture online welding device and process |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111390341A (en) * | 2020-04-29 | 2020-07-10 | 安徽马钢设备检修有限公司 | G L AMA manipulator large arm connecting rod weld fracture online welding device and process |
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