CN218533295U - Multi-degree-of-freedom mechanical arm welding device suitable for tunnel - Google Patents

Abstract

The utility model belongs to the technical field of tunnel welding equipment technique and specifically relates to a multi freedom arm welding set suitable for tunnel, include: the bearing component is arranged on the top surface of the supporting plate through the linear guide pair and slides along the length direction of the supporting plate along the linear guide pair under the driving of the first driving mechanism; the tray is arranged on the bearing part through the arc-shaped guide pair, and slides along the arc-shaped guide pair under the driving of the second driving mechanism, and the sliding track is vertical to that of the bearing part; the arm is installed on the tray, and the welder is installed to the one end of keeping away from the tray. Slide in the backup pad through bearing part, and driving motor drives the swing board swing to drive the arm and rotate, the flexible welder that drives of rethread arm carries out welding jobs, and the condition that reduces the welding dead angle appears, improves welding efficiency, excellent in use effect.

Description

Multi-degree-of-freedom mechanical arm welding device suitable for tunnel

Technical Field

The utility model belongs to the technical field of tunnel welding equipment technique and specifically relates to a multi freedom arm welding set suitable for tunnel.

Background

The steel plate lining is a common pressure tunnel lining type, and is widely applied to the lining of the pumped storage pressure inclined shaft. The construction of the steel lining in the tunnel mainly comprises the working procedures of assembling, welding, quality detection and the like, wherein the welding of the steel lining is the key point in ensuring the construction quality of the lining, and particularly, the welding operation with multiple angles and no dead angles is very difficult to carry out in the limited space of the tunnel.

Disclosure of Invention

The objective of the present patent is to provide a multi-degree-of-freedom mechanical arm welding device suitable for tunnels, so as to solve the problems in the background art.

The utility model adopts the technical scheme as follows:

a multi freedom arm welding set suitable for tunnel includes:

the bearing component is arranged on the top surface of the supporting plate through the linear guide pair and slides along the length direction of the supporting plate along the linear guide pair under the driving of the first driving mechanism;

the tray is arranged on the bearing part through the arc-shaped guide pair, and slides along the arc-shaped guide pair under the driving of the second driving mechanism, and the sliding track is vertical to that of the bearing part;

the arm is installed on the tray, and the welder is installed to the one end of keeping away from the tray.

Further, the arc-shaped guide pair comprises a guide groove which is formed in the bearing part and is in the shape of a circular arc, and a sliding block which is slidably mounted in the guide groove, the sliding block is fixedly connected with the bottom surface of the tray, and an avoiding groove is formed in the bottom of the guide groove.

Furthermore, the second driving mechanism comprises a driving motor and a swinging plate, an output shaft of the driving motor is positioned at the circle center of the guide groove, the swinging plate is installed in the avoiding groove, one end of the swinging plate is connected with the output shaft of the driving motor, and the other end of the swinging plate is connected with the sliding block.

Furthermore, limiting grooves are formed in two sides of the guide groove, limiting parts are arranged on two sides of the sliding block, and the limiting parts are in sliding fit in the corresponding limiting grooves.

Furthermore, the linear guide pair comprises at least one guide rail fixed along the length direction of the support plate and a sliding groove arranged at the bottom of the bearing part, and the sliding groove is matched with the guide rail and used for guiding the bearing part to slide on the guide rail.

Further, the first driving mechanism comprises a screw rod, a nut and a servo motor, the screw rod is installed on the top surface of the supporting plate and is parallel to the guide rail, the nut is matched on the screw rod and is connected with the bearing part, and the servo motor is connected with one end of the screw rod.

Furthermore, hinged plates are rotatably connected to two sides of the supporting plate, and adjusting assemblies for driving the two hinged plates to rotate are arranged between the supporting plate and the hinged plates on the two sides.

Furthermore, the adjusting assembly comprises a hydraulic rod fixedly connected to the bottom of the supporting plate, a main wedge block is arranged on the bottom of the hydraulic rod, the two hinged plates are rotatably connected with driving plates, a driven wedge block is arranged at one end, close to the main wedge block, of each driving plate, and the main wedge block is abutted to the driven wedge blocks on the two sides of the main wedge block;

all be provided with the mount on the drive plate that two articulated sheets are connected, be connected with the extension spring between two mounts.

Furthermore, the adjusting assembly is provided with two or more groups, and the main wedge blocks between the groups are fixedly connected through connecting rods.

Furthermore, both ends of the supporting plate in the length direction are provided with limiting frames, trapezoidal rods are arranged between the main wedge blocks and the limiting frames, trapezoidal grooves are formed in the limiting frames, and the trapezoidal rods are arranged in the trapezoidal grooves in a sliding mode.

Compared with the prior art, the beneficial effect of this patent is: this multi freedom arm welding set suitable for tunnel, through the backup pad, the carrier part, the tray, welder, the arm, a drive mechanism, driving motor, the cooperation between the swinging plate, in the use, through carrier part linear motion in the backup pad, and driving motor passes through the swinging plate and drives the tray, and then drive the arm and make convex motion, linear motion and convex motion stack, the flexible welder that drives of rethread arm carries out welding operation, the condition that reduces the welding dead angle appears, and the welding efficiency is improved, excellent in use effect.

Drawings

In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in this patent, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings.

FIG. 1 is a schematic view of an overall structure provided in an embodiment of the present patent;

FIG. 2 is a schematic structural diagram of a load bearing member according to an embodiment of the present disclosure;

FIG. 3 is a schematic bottom structure diagram of a supporting plate according to an embodiment of the present invention;

FIG. 4 is a front view of a supporting plate according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a second driving mechanism provided in the embodiment of the present disclosure.

Description of reference numerals: a support plate 1; an avoidance groove 2; a carrier member 3; a guide groove 4; a slider 5; a tray 6; a robot arm 7; a welding gun 8; a drive motor 9; a swing plate 10; a limiting member 11; a limiting groove 12; a chute 13; a slide rail 14; a servo motor 15; a screw rod 16; a hinge plate 17; an adjustment assembly 18; a hydraulic rod 19; a main wedge block 20; from the wedge-shaped block 21; a drive plate 22; a fixed frame 23; a tension spring 24; a connecting rod 25; a stop 26.

Detailed Description

To make the objects, technical solutions and advantages of the present invention more clearly understood by those skilled in the art, the present invention will be further described with reference to the accompanying drawings and examples, but the present invention is not limited to the following examples.

In the description of the present invention, it is to be noted that unless otherwise explicitly specified and limited, specific meanings of the general terms in the present invention may be understood as specific conditions by those of ordinary skill in the art.

Referring to fig. 1-5, the utility model provides a multi freedom mechanical arm welding set suitable for tunnel, including backup pad 1, it is provided with a carrier 3 to slide along length direction through sharp guiding pair in backup pad 1, and this carrier 3 is driven by a actuating mechanism for carrier 3 slides in backup pad 1, is convenient for adjust this welding set's position according to the demand of the welding position of difference. The linear guide pair comprises two sliding rails 14 fixed along the length direction of the support plate 1 and a sliding groove 13 formed in the bottom of the bearing part 3, the sliding groove 13 is matched with the sliding rails 14, the bearing part 3 is guided to slide on the sliding rails 14, and the stability of the bearing part 3 during sliding is improved. The first driving mechanism comprises a screw rod 16, a nut and a servo motor 15, the screw rod 16 is installed on the top surface of the supporting plate 1 and is parallel to the sliding rail 14, the nut is matched on the screw rod 16 and is connected with the bearing part 3, and the servo motor 15 is connected with one end of the screw rod 16. When the bearing part 3 horizontally slides, the servo motor 15 is started, the servo motor 15 drives the screw rod 16 to rotate, so that the bearing part 3 is driven to horizontally slide, the using effect is good, the position of the bearing part 3 is convenient to adjust according to different working requirements, and the working efficiency is improved.

A tray 6 is installed on the bearing part 3 through an arc-shaped guide pair, the tray 6 slides along the arc-shaped guide pair under the driving of the second driving mechanism, and the sliding track of the tray 6 is perpendicular to that of the bearing part 3. The arc-shaped guide pair comprises a circular arc-shaped guide groove 4 arranged on the bearing part 3 and a sliding block 5 arranged in the guide groove 4 in a sliding mode, the sliding block 5 is fixedly connected with the bottom surface of the tray 6, and the avoiding groove 2 is formed in the bottom of the guide groove 4. The arc-shaped sliding of the tray 6 on the carrier part 3 facilitates the further adjustment of the position of the welding device according to different welding positions. The tray 6 is provided with a mechanical arm 7, specifically, the mechanical arm 7 is a multi-degree-of-freedom mechanical arm, which is the prior art and is not described herein; be provided with welder 8 in the one end that the tray 6 was kept away from to arm 7, when carrying out welding operation, adjust welder 8's position through arm 7 to be convenient for advance the welding to the inside steel lining of tunnel, excellent in use effect.

Specifically, the bearing member 3 is a semicircular plate, and the guide groove 4 is disposed at an outer edge of the semicircular plate. Wherein, be provided with one inside being used for ordering about tray 6 pivoted second actuating mechanism bearing part 3 to be convenient for according to the position of difference, adjust the position of arm 7, adjust welder 8's position through arm 7 and carry out welding operation, thereby can effectually avoid appearing welding the dead angle, improve welding efficiency, excellent in use effect. The second driving mechanism includes a driving motor 9 installed inside the bearing component 3, and more specifically, a mounting groove is opened inside the bearing component 3, wherein the driving motor 9 is installed inside the bearing component 3 through the mounting groove, and the center of circle of the output shaft of the driving motor 9 is consistent with that of the guide groove. An output shaft of the driving motor 9 is fixedly connected with a swinging plate 10, the swinging plate 10 is installed in the avoiding groove 2 and is fixedly connected with the tray 6, and position conflict and using effect are avoided when the swinging plate 10 swings. Therefore, when the tunnel welding machine is used, the swing plate 10 is driven to swing through the driving motor 9, the tray 6 is driven to move in a circular arc shape along the guide groove 4 through the swing plate 10, and then the mechanical arm 7 is driven to move, so that the position of the welding gun 8 can be adjusted according to different working requirements, steel linings in a tunnel are welded, the occurrence of welding dead angle positions is reduced, and the working efficiency is improved.

Preferably, the hinge plates 17 are rotatably connected to both sides of the support plate 1, and an adjusting assembly 18 for driving the hinge plates 17 to rotate is arranged between the support plate 1 and the hinge plates 17. In use, the positions of the hinged plates 17 are adjusted through the adjusting assembly 18, and when the two hinged plates 17 are in a vertical state and the mechanical arm 7 extends upwards to a longest state, the height of the welding device is at the highest position; when two articulated sheets 17 are in an inclined state, the height of the welding device can be reduced, the height of the welding device can be conveniently adjusted according to different working environments by matching with the mechanical arm 7, welding dead angles are reduced again, and the using effect is good.

Preferably, the adjusting assembly 18 comprises a hydraulic rod 19 fixedly connected to the bottom of the supporting plate 1, a main wedge block 20 is arranged on the bottom of the hydraulic rod 19, a driving plate 22 is rotatably connected to each hinge plate 17, a slave wedge block 21 is arranged at one end of each driving plate 22 close to the main wedge block 20, and the two slave wedge blocks 21 are abutted to the main wedge block 20. Specifically, referring to fig. 4, a mounting frame extends from the support plate 1, a limiting assembly is disposed between the mounting frame and the drive plate 22, and the drive plate 22 is slidably connected to the mounting frame through the limiting assembly. Specifically, limiting unit can adopt the limiting plate, and limiting plate fixed connection has seted up the adaptation groove in backup pad 1 on the limiting plate, is provided with the adaptation pole on the drive plate 22, and wherein the adaptation pole slides and sets up at the adaptation inslot. When the position of articulated slab 17 needs to be adjusted, through ordering about main wedge 20 downwards, main wedge 20 slides down, and then orders about two and slides to both sides from wedge 21, and then drives two articulated slabs 17 through drive plate 22 and rotate, is convenient for adjust this welding set's height according to the operational environment of difference, excellent in use effect.

Referring to fig. 4, the two driving plates 22 are both provided with a fixing frame 23, a tension spring 24 is arranged between the two fixing frames 23, and the elastic force of the tension spring 24 drives the secondary wedge-shaped blocks 21 connected with the two driving plates to approach each other. When the main wedge block 20 does not apply force to the auxiliary wedge block 21, the two auxiliary wedge blocks 21 are driven to approach each other by the aid of the process that the tension spring 24 recovers elastic deformation, the hinge plate 17 is driven to rotate, and the using effect is good.

Referring to fig. 3, preferably, there may be multiple sets of master wedge blocks 20, and the number of slave wedge blocks 21 corresponding to the multiple sets of master wedge blocks is the same as that of the master wedge blocks 20, and the master wedge blocks may be designed according to the requirement of the working environment; the main wedge blocks 20 between the groups are fixedly connected by a connecting rod 25. Therefore, the hydraulic rod 19 can drive the main wedge blocks 20 to slide synchronously, and the stability of the hinged plate 17 during rotation can be further improved.

Preferably, all be provided with spacing 26 on the both sides of backup pad 1, be provided with trapezoidal pole between main wedge 20 and the spacing 26, seted up the dovetail groove on the spacing 26, the trapezoidal pole slides and sets up in the dovetail groove, stability when improving main wedge 20 and slide.

Referring to fig. 2, preferably, the two sides inside the guide groove 4 are both provided with a limiting groove 12, the two sides of the slider 5 are both provided with limiting members 11, and each limiting member 11 is inserted into and slidably fitted in the corresponding limiting groove 12, so that the stability of the slider 5 during rotation can be further improved.

Although embodiments of the present patent have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the patent, the scope of which is defined in the appended claims and their equivalents.

Claims (10)

1. The utility model provides a multi freedom arm welding set suitable for tunnel which characterized in that includes:

the bearing component (3) is arranged on the top surface of the support plate (1) through a linear guide pair and slides along the length direction of the support plate (1) along the linear guide pair under the driving of a first driving mechanism;

the tray (6) is arranged on the bearing part (3) through an arc-shaped guide pair, and slides along the arc-shaped guide pair under the driving of the second driving mechanism, and the sliding track is vertical to that of the bearing part (3);

and the mechanical arm (7) is arranged on the tray (6), and one end of the mechanical arm, which is far away from the tray (6), is provided with a welding gun (8).

2. The multi-degree-of-freedom mechanical arm welding device suitable for the tunnel is characterized in that the arc-shaped guide pair comprises an arc-shaped guide groove (4) formed in the bearing part (3) and a sliding block (5) installed in the guide groove (4) in a sliding mode, the sliding block (5) is fixedly connected with the bottom surface of the tray (6), and an avoiding groove (2) is formed in the bottom of the guide groove (4).

3. The multi-degree-of-freedom mechanical arm welding device suitable for the tunnel according to claim 2, wherein the second driving mechanism comprises a driving motor (9) and a swinging plate (10), an output shaft of the driving motor (9) is located at the center of the guide groove (4), the swinging plate (10) is installed in the avoidance groove (2), one end of the swinging plate (10) is connected with an output shaft of the driving motor (9), and the other end of the swinging plate is connected with the sliding block (5).

4. The multi-degree-of-freedom mechanical arm welding device suitable for the tunnel according to claim 2 or 3, wherein the guide groove (4) is provided with a limiting groove (12) on both sides, the sliding block (5) is provided with a limiting piece (11) on both sides, and the limiting piece (11) is slidably fitted in the corresponding limiting groove (12).

5. The multi-degree-of-freedom mechanical arm welding device suitable for the tunnel is characterized in that the linear guide pair comprises at least one sliding rail (14) fixed along the length direction of the support plate (1) and a sliding groove (13) formed at the bottom of the bearing part (3), and the sliding groove (13) is matched with the sliding rail (14) to guide the bearing part (3) to slide on the sliding rail (14).

6. The multi-degree-of-freedom mechanical arm welding device suitable for the tunnel according to claim 5, wherein: the first driving mechanism comprises a screw rod (16), a nut and a servo motor (15), the screw rod (16) is installed on the top surface of the supporting plate (1) and is parallel to the sliding rail (14), the nut is matched on the screw rod (16) and is connected with the bearing part (3), and the servo motor (15) is connected with one end of the screw rod (16).

7. The multi-degree-of-freedom mechanical arm welding device suitable for the tunnel according to claim 6, wherein: the two sides of the supporting plate (1) are rotatably connected with hinged plates (17), and adjusting assemblies (18) used for driving the two hinged plates (17) to rotate are arranged between the supporting plate (1) and the hinged plates (17) on the two sides.

8. The multi-degree-of-freedom mechanical arm welding device suitable for the tunnel according to claim 7, wherein: the adjusting assembly (18) comprises a hydraulic rod (19) fixedly connected to the bottom of the supporting plate (1), a main wedge block (20) is arranged at the bottom of the hydraulic rod (19), two hinged plates (17) are rotatably connected with driving plates (22), one end, close to the main wedge block (20), of each driving plate (22) is provided with a slave wedge block (21), and the main wedge block (20) is abutted to the slave wedge blocks (21) on the two sides of the main wedge block;

all be provided with mount (23) on drive plate (22) that two articulated plates (17) are connected, be connected with extension spring (24) between two mount (23).

9. The multi-degree-of-freedom mechanical arm welding device suitable for the tunnel according to claim 8, wherein: the adjusting component (18) is provided with two or more groups, and the main wedge blocks (20) between the groups are fixedly connected through connecting rods (25).

10. The multi-degree-of-freedom mechanical arm welding device suitable for the tunnel according to claim 9, wherein: both ends of the length direction of the support plate (1) are provided with limit frames (26), a trapezoidal rod is arranged between the main wedge-shaped block (20) and the limit frames (26), a trapezoidal groove is formed in the limit frames (26), and the trapezoidal rod is arranged in the trapezoidal groove in a sliding mode.

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