CN216991903U - Mobile robot structure for automatic welding of single derrick sheet - Google Patents
Mobile robot structure for automatic welding of single derrick sheet Download PDFInfo
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- CN216991903U CN216991903U CN202220317147.3U CN202220317147U CN216991903U CN 216991903 U CN216991903 U CN 216991903U CN 202220317147 U CN202220317147 U CN 202220317147U CN 216991903 U CN216991903 U CN 216991903U
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- 230000000007 visual effect Effects 0.000 claims description 4
- 241000209140 Triticum Species 0.000 claims description 3
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- 238000009434 installation Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 10
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- 230000001360 synchronised effect Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 230000002265 prevention Effects 0.000 description 3
- 238000005538 encapsulation Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
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Abstract
The utility model discloses a mobile robot structure for automatic welding of a derrick single sheet, which comprises a telescopic energy supply vehicle, wherein one side of the telescopic energy supply vehicle is fixedly connected with a full-moving platform, the top of the full-moving platform is fixedly provided with a robot welding unit, one side of the full-moving platform is provided with a derrick single sheet, the bottom of the derrick single sheet is supported by a platform vehicle, and the full-moving platform comprises a trolley front-driving structure and a trolley rear-driving structure. This a mobile robot structure for automatic welding of derrick monolithic, automatic welding operation is realized to derrick monolithic overall process, improves work efficiency, need not artifical the participation, has also improved welding operation's efficiency when having reduced staff intensity of labour, can satisfy monolithic automatic welding process, improves automatic level, and the three-dimensional vision scanner that sets up can guarantee welded effect.
Description
Technical Field
The utility model relates to the technical field of automatic welding, in particular to a mobile robot structure for automatic welding of a derrick single piece.
Background
The derrick is used for placing tools such as a crown block, a suspended traveling block, a hook, a hanging ring, an elevator and the like and a device for taking up and down and storing a drill rod, an oil pipe and an oil pumping rod in the drilling or workover process, a single derrick sheet is a part of the derrick, the existing single oil derrick sheet is of a metal sheet structure, is 11-13 meters long, 2.5-3.5 meters wide and 0.3 meter thick, and is formed by splicing and assembling profile steels, and in the installation process of the single derrick sheet, gaps among the metal sheets need to be welded through a welding robot.
The existing welding robot has limited arm moving range, is difficult to cover all welding seams of a derrick single sheet, needs to be manually and continuously slowly adjusted, increases the labor intensity of workers, reduces the whole welding efficiency, and has low back-and-forth welding efficiency, so that a 'moving robot structure for automatically welding the derrick single sheet' is provided "
SUMMERY OF THE UTILITY MODEL
Aiming at the defects of the prior art, the utility model provides a mobile robot structure for automatic welding of a derrick single piece, which solves the problem that the welded mobile robot is not good in effect.
In order to achieve the purpose, the utility model is realized by the following technical scheme: the utility model provides a mobile robot structure for automatic welding of derrick monolithic, includes that the telescopic energy supplies with the car, the full moving platform of one side fixedly connected with of car is supplied with to the top fixed mounting of full moving platform has the robot welding unit, one side of full moving platform is provided with the derrick monolithic to the bottom of derrick monolithic supports through the platform truck.
Preferably, full moving platform drives the structure after including dolly forerunner's structure and dolly, drive and connect through the connecting axle between the structure behind dolly forerunner's structure and the dolly, the equal fixed mounting in both sides of driving the structure bottom behind both sides of dolly forerunner's structure bottom and the dolly has jacking motor to jacking motor's output fixedly connected with lead screw jacking mechanism, the equal fixed mounting in one side that jacking motor is relative has driving motor in both sides of driving the structure bottom behind both sides of dolly forerunner's structure bottom and the dolly to driving motor's output fixedly connected with hold-in range, one side transmission of hold-in range is connected with the wheat card wheel.
Preferably, the middle part of the bottom of the trolley front driving structure 21 is provided with an aviation plug 28, the bottom of the trolley front driving structure 21 is provided with a connecting shaft 29 in front of the aviation plug, the surface of the connecting shaft 29 is rotatably connected through a bearing seat 211 arranged at the bottom of the trolley rear driving structure 22, the bottom of the trolley rear driving structure 22 is fixedly connected with a cable box 212, the cable box 212 at the bottom of the trolley rear driving structure 22 is fixedly connected with an anti-overturning block 213, and the trolley front driving structure and the trolley rear driving structure are ensured not to overturn.
Preferably, an encapsulation plate 214 is fixedly installed on one side of the front trolley driving structure 21 and one side of the rear trolley driving structure 22, an anti-collision block 215 is fixedly connected to one side of the encapsulation plate 214, a hanging ring 216 is fixedly connected to the tops of the front trolley driving structure 21 and the rear trolley driving structure 22, and fork truck holes 217 are formed in two side faces of the front trolley driving structure 21 and the rear trolley driving structure 22.
Preferably, the robot welding unit includes switch board, laser radar and six manipulators, and the top of switch board and laser radar's bottom fixed connection, the switch board is installed in one side at full moving platform top.
Preferably, a six-axis robot 33 is installed at the other side of the top of the full moving platform 2, and an output end of the six-axis robot 33 is fixedly connected with a welding gun 34, one end of the welding gun 34 is provided with a collision avoidance mechanism 35, and the bottom of the welding gun 34 is fixedly connected with a three-dimensional vision scanner 36.
Advantageous effects
The utility model provides a mobile robot structure for derrick single-sheet automatic welding. Compared with the prior art, the method has the following beneficial effects:
(1) the mobile robot structure for the automatic welding of the derrick single sheet is characterized in that jacking motors are fixedly arranged on two sides of the bottom of the trolley front driving structure and two sides of the bottom of the trolley rear driving structure, and the output end of the jacking motor is fixedly connected with a screw rod jacking mechanism, the two sides of the bottom of the trolley front driving structure and the two sides of the bottom of the trolley rear driving structure and the side opposite to the jacking motor are both fixedly provided with a driving motor, the output end of the driving motor is fixedly connected with a synchronous belt, one side of the synchronous belt is in transmission connection with a microphone wheel, the whole process of the derrick single sheet realizes automatic welding operation, the working efficiency is improved, manual participation is not needed, the labor intensity of workers is reduced, and meanwhile, the welding operation efficiency is also improved, the single-chip automatic welding process can be met, the automation level is improved, and the welding effect can be guaranteed by the aid of the three-dimensional visual scanner.
(2) The mobile robot structure for automatic welding of the single derrick sheet adapts to automatic welding operation of various sheet metal structural components.
Drawings
FIG. 1 is a perspective view of the structure of the present invention;
FIG. 2 is a top view of the structure of the present invention;
FIG. 3 is a perspective view of the full motion platform configuration of the present invention;
FIG. 4 is a bottom view of the full motion platform configuration of the present invention;
FIG. 5 is a front view of the full motion platform configuration of the present invention;
fig. 6 is a schematic structural diagram of a robot welding unit according to the present invention.
In the figure: the system comprises a 1-telescopic energy supply vehicle, a 2-full moving platform, a 21-trolley front driving structure, a 22-trolley rear driving structure, a 23-jacking motor, a 24-screw rod jacking mechanism, a 25-driving motor, a 26-synchronous belt, a 27-microphone wheel, a 28-aviation plug, a 29-connecting shaft, a 211-bearing seat, a 212-cable box, a 213-overturn prevention block, a 214-packaging plate, a 215-collision prevention block, a 216-lifting ring, a 217-forklift hole, a 3-robot welding unit, a 31-control cabinet, a 32-laser radar, a 33-six-shaft manipulator, a 34-welding gun, a 35-collision prevention mechanism, a 36-three-dimensional visual scanner, a 4-derrick single sheet and a 5-platform vehicle.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-6, the present invention provides a technical solution: a mobile robot structure for automatic welding of a derrick single sheet comprises a telescopic energy supply vehicle 1, wherein a full-moving platform 2 is fixedly connected to one side of the telescopic energy supply vehicle 1, a robot welding unit 3 is fixedly mounted at the top of the full-moving platform 2, a derrick single sheet 4 is arranged behind the full-moving platform 2, the bottom of the derrick single sheet 4 is supported by a platform vehicle 5, and the details which are not described in detail in the specification belong to the prior art which is well known by a person skilled in the art.
Referring to fig. 1-6, the full-moving platform 2 includes a trolley front driving structure 21 and a trolley rear driving structure 22, the trolley front driving structure 21 and the trolley rear driving structure 22 are connected through a connecting shaft 29, both sides of the bottom of the trolley front driving structure 21 and both sides of the bottom of the trolley rear driving structure 22 are fixedly installed with a jacking motor 23, an output end of the jacking motor 23 is fixedly connected with a screw rod jacking mechanism 24, both sides of the bottom of the trolley front driving structure 21 and both sides of the bottom of the trolley rear driving structure 22 and located at the opposite side of the jacking motor 23 are fixedly installed with a driving motor 25, an output end of the driving motor 25 is fixedly connected with a synchronous belt 26, one side of the synchronous belt 26 is in transmission connection with a wheat clamping wheel 27, an aviation plug 28 is arranged at the middle part of the bottom of the trolley front driving structure 21 and located at the front of the aviation plug is provided with the connecting shaft 29, the surface of the connecting shaft 29 is rotatably connected through a bearing seat 211 arranged at the bottom of the trolley rear-drive structure 22, a cable box 212 is fixedly connected to the bottom of the trolley rear-drive structure 22, and an anti-turning block 213 is fixedly connected to the cable box 212 at the bottom of the trolley rear-drive structure 22, so that the trolley front-drive structure and the trolley rear-drive structure are prevented from turning over.
Referring to fig. 1-6, a packaging plate 214 is fixedly mounted on one side of the front trolley driving structure 21 and one side of the rear trolley driving structure 22, and one side of the packaging plate 214 is fixedly connected with an anti-collision block 215, the tops of the trolley front-driving structure 21 and the trolley rear-driving structure 22 are connected with a lifting ring 216, two side surfaces of the front-driving structure 21 and the trolley rear-driving structure 22 are respectively provided with a forklift hole 217, the robot welding unit 3 comprises a control cabinet 31, a laser radar 32 and a six-axis manipulator 33, the top of the control cabinet 31 is fixedly connected with the bottom of the laser radar 32, the control cabinet 31 is installed on one side of the top of the full-moving platform 2, the six-axis manipulator 33 is installed on the other side of the top of the full-moving platform 2, and the output end of the six-axis manipulator 33 is fixedly connected with a welding gun 34, the surface of the welding gun 34 is provided with a rear collision avoidance mechanism 35, and the bottom of the welding gun 34 is fixedly connected with a three-dimensional visual scanner 36.
When the telescopic energy supply vehicle is used, the full-moving platform 2 carries the robot welding unit 3 to move along a set route station, the welding unit stops automatically when reaching a welding position, the robot welding unit 3 completes welding line welding, after welding is completed, the full-moving platform 2 continues to move at the next station until all welding operations are completed, the telescopic energy supply vehicle 1 automatically follows the full-moving platform 2 to move linearly, and the supply of electric power and protective gas required by the robot welding unit 3 is guaranteed.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. A mobile robot structure for derrick single-sheet automatic welding comprises a telescopic energy supply vehicle (1), and is characterized in that: one side fixedly connected with full moving platform (2) of telescopic energy supply car (1) to the top fixed mounting of full moving platform (2) has robot welding unit (3), one side of full moving platform (2) is provided with derrick monolithic (4) to the bottom of derrick monolithic (4) is supported through platform truck (5).
2. The mobile robot structure for single-piece automated welding of a derrick according to claim 1, wherein: full moving platform (2) drive structure (22) after including dolly forerunner's structure (21) and dolly, drive structure (22) after dolly forerunner's structure (21) and dolly and connect through connecting axle (29) between driving structure (22), the equal fixed mounting in both sides of the both sides of driving structure (21) bottom and dolly rear drive structure (22) bottom has jacking motor (23) to the output fixedly connected with lead screw jacking mechanism (24) of jacking motor (23), the both sides of driving structure (21) bottom and dolly rear drive structure (22) both sides and lie in the equal fixed mounting in one side that jacking motor (23) is relative has driving motor (25) to the output fixedly connected with hold-in range (26) of driving motor (25), one side transmission of hold-in range (26) is connected with wheat card wheel (27).
3. A mobile robotic structure for automated welding of a mast single piece according to claim 2, characterized in that: the middle part of dolly forerunner's structure (21) bottom is provided with circular connector (28) to the bottom of dolly forerunner's structure (21) and the place ahead that is located circular connector are provided with connecting axle (29), the surface of connecting axle (29) is through dolly rear drive structure (22) bottom installation bearing frame (211) rotate the connection, the bottom fixedly connected with cable box (212) of dolly rear drive structure (22), dolly rear drive structure (22) bottom cable box (212) department fixedly connected with prevents turning over piece (213), guarantees that dolly forerunner's structure and dolly rear drive structure can not overturn.
4. A mobile robotic structure for automated welding of a mast single piece according to claim 3, characterized in that: the packaging plate (214) is fixedly mounted on one side of the trolley front driving structure (21) and one side of the trolley rear driving structure (22), the anti-collision block (215) is fixedly connected to one side of the packaging plate (214), the lifting rings (216) are fixedly connected to the tops of the trolley front driving structure (21) and the trolley rear driving structure (22), and fork truck holes (217) are formed in two side faces of the trolley front driving structure (21) and the trolley rear driving structure (22).
5. A mobile robotic structure for automated welding of a mast single piece according to claim 1, wherein: robot welding unit (3) include switch board (31), laser radar (32) and six manipulators (33), the bottom fixed connection of the top of switch board (31) and laser radar (32), install in one side at full moving platform (2) top switch board (31).
6. The mobile robot structure for single piece automated welding of a derrick according to claim 5, wherein: the six-axis manipulator (33) is installed on the other side of the top of the full-moving platform (2), the output end of the six-axis manipulator (33) is fixedly connected with a welding gun (34), one end of the welding gun (34) is provided with an anti-collision mechanism (35), and the bottom of the welding gun (34) is fixedly connected with a three-dimensional visual scanner (36).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220317147.3U CN216991903U (en) | 2022-02-17 | 2022-02-17 | Mobile robot structure for automatic welding of single derrick sheet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220317147.3U CN216991903U (en) | 2022-02-17 | 2022-02-17 | Mobile robot structure for automatic welding of single derrick sheet |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216991903U true CN216991903U (en) | 2022-07-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220317147.3U Active CN216991903U (en) | 2022-02-17 | 2022-02-17 | Mobile robot structure for automatic welding of single derrick sheet |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216991903U (en) |
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2022
- 2022-02-17 CN CN202220317147.3U patent/CN216991903U/en active Active
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231123 Address after: Building 6, No.1 Road 3, Aviation Power Industry Functional Zone, Lichun Town, Pengzhou City, Chengdu City, Sichuan Province, 611930 Patentee after: Chengdu Renxin Shangyang Robot Technology Co.,Ltd. Address before: 618000 No. 74 Tai Zhong Road, Guanghan, Deyang, Sichuan Patentee before: Sichuan Shang Yang Electromechanical Equipment Co.,Ltd. |
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| TR01 | Transfer of patent right |