CN219725129U - Offset compensation connection mechanism for welding of boiler barrels - Google Patents

Abstract

The utility model relates to the technical field of machines for drum welding, specifically to an offset compensation connection mechanism for drum welding, which includes a compensation component and a clamp; the compensation component includes a mounting frame, a cylinder, a fixed rod and a movable rod; The cylinder is installed on the mounting frame, one end of the fixed rod is connected to the movable end of the cylinder, the end of the fixed rod away from the cylinder is ball-jointed with one end of the movable rod, and the end of the movable rod away from the fixed rod is ball-jointed. The positioning shaft of the drum welding robot is connected; the clamp is set on the mounting frame, and the clamp is used to clamp the shaft of the movable rod. When the movable rod is clamped by the clamp, the movable rod and the fixed rod are connected at the same time. axis. The utility model can compensate for the offset between the positioning axis and the heat exchange tube to be welded, so that the positioning axis and the heat exchange tube to be welded are coaxial.

Description

An offset compensation connection mechanism for drum welding

Technical field

The utility model relates to the technical field of machines for drum welding, and in particular to an offset compensation connection mechanism for drum welding.

Background technique

The drum is a cylindrical pressure vessel used in water tube boilers to separate steam from water and purify steam, form a water circulation loop, and store boiler water. The drum is mainly composed of two rigid cylinders with a radius of 0.5m to 1.2m and thousands of heat exchange tubes with a radius of 44mm to 55mm. Since the connection between the drum and the heat exchange tube must be completely sealed, circumferential seam welding is required inside the drum along the outer wall of the heat exchange tube. Traditional manual welding requires multiple welders to take turns welding one by one in a rigid cylinder. This method is not only labor-intensive, inefficient, but also has many constraints. In order to improve welding efficiency, robot welding is used.

The difficulty of using robot welding in the drum lies in the need to accurately position the tube holes at different positions. During the welding process, the robot needs to first move the positioning axis and then extend the positioning axis into the heat exchange tube to be welded, with the positioning axis as the The circumferential seam center of the welding gun is used for circumferential seam welding. However, the curved surface space in the drum cannot guarantee that each heat exchange tube is perpendicular to the inner wall of the curved surface. There is a certain deviation. In addition, after multiple positionings of the positioning axis, errors accumulate. , the axis of the robot's positioning axis will not coincide with the axis of the heat exchange tube, causing the positioning axis to become stuck or the center of the circumferential seam of the welding gun to deviate, resulting in false welding, missing welding, etc. in robot welding.

Utility model content

The technical problem to be solved by this utility model is to provide an offset compensation joint mechanism for drum welding, which can make the positioning axis of the robot coaxial with the heat exchange tube to be welded and ensure the quality of circumferential seam welding.

In order to solve the above technical problems, the technical solution adopted by this utility model is: an offset compensation connection mechanism for drum welding, including a compensation component and a clamp; the compensation component includes a mounting frame, a cylinder, a fixed rod and a movable rod ;

The cylinder is installed on the mounting frame, one end of the fixed rod is connected to the movable end of the cylinder, the end of the fixed rod away from the cylinder is ball-jointed with one end of the movable rod, and the end of the movable rod away from the fixed rod is ball-jointed. The positioning axis connection of the drum welding robot;

The clamp is arranged on the mounting frame, and is used to clamp the shaft of the movable rod. When the movable rod is clamped by the clamp, the movable rod is coaxial with the fixed rod.

The beneficial effect of the utility model is that: the positioning shaft of the drum welding robot is connected to the compensation component, and the cylinder is used to extend the movable end to move the fixed rod, the movable rod and the positioning shaft toward the direction of the heat exchange tube to be welded, and the positioning shaft is extending During the process of inserting the heat exchange tube to be welded, since the movable rod and the fixed rod are ball-jointed, the positioning axis uses the swing of the movable rod to enable the positioning axis to compensate for the offset between the heat exchange tube to be welded. , and then make the positioning axis coaxial with the heat exchange tube to be welded. After the cylinder retracts the movable end to make the positioning shaft exit the heat exchange tube, the clamp can be used to clamp the movable rod and make the movable rod coaxial with the fixed rod. This can not only effectively control the movement of the movable rod, but also ensure the drum welding robot. When replacing another heat exchange tube to be welded and positioning it, the positioning axis is in the initial state so as to facilitate the next insertion of the heat exchange tube to be welded.

Description of the drawings

Figure 1 is a schematic structural diagram of an application scenario of an offset compensation joint mechanism for drum welding according to Embodiment 1 of the present utility model;

Figure 2 is a schematic cross-sectional structural diagram of an offset compensation connection mechanism for drum welding according to the first embodiment of the present invention;

Figure 3 is a schematic structural diagram of a clamp of an offset compensation connection mechanism for drum welding according to the first embodiment of the present invention;

Figure 4 is a schematic structural diagram of an application scenario of an offset compensation connection mechanism for drum welding according to the second embodiment of the present invention;

Figure 5 is a schematic cross-sectional structural view of an offset compensation connection mechanism for drum welding according to the second embodiment of the present utility model;

Figure 6 is a schematic structural diagram of a clamp of an offset compensation connection mechanism for drum welding according to the second embodiment of the present invention;

Label description:

1. Compensation component; 11. Mounting frame; 12. Cylinder; 13. Fixed rod; 14. Movable rod;

2. Clamp; 21. Thin air claw; 22. Clamp; 221. Chuck; 23. Motor;

24. Gear assembly; 241. Driving gear; 242. First rack; 243. Second rack;

3. Limit sleeve; 4. Positioning shaft.

Detailed ways

In order to describe the technical content, achieved objectives and effects of the present invention in detail, the following description will be made in combination with the embodiments and the accompanying drawings.

Please refer to Figure 1 or Figure 4, the utility model is an offset compensation connection mechanism for drum welding, including a compensation component 1 and a clamp 2; the compensation component 1 includes a mounting frame 11, a cylinder 12, and a fixed rod. 13 and movable lever 14;

The cylinder 12 is arranged on the mounting bracket 11. One end of the fixed rod 13 is connected to the movable end of the cylinder 12. The end of the fixed rod 13 away from the cylinder 12 is ball-jointed with one end of the movable rod 14. One end of the rod 14 away from the fixed rod 13 is connected to the positioning shaft 4 of the drum welding robot;

The clamp 2 is arranged on the mounting bracket 11 and is used to clamp the shaft of the movable rod 14. When the movable rod 14 is clamped by the clamp 2, the movable rod 14 is coaxial with the fixed rod 13.

As can be seen from the above description, the beneficial effect of the present invention is to connect the positioning shaft 4 of the drum welding robot with the compensation component 1, and use the cylinder 12 to extend the movable end to make the fixed rod 13, the movable rod 14 and the positioning shaft 4 face the direction to be welded. The heat exchange tube moves in the direction, and when the positioning shaft 4 is extending into the heat exchange pipe to be welded, since the movable rod 14 and the fixed rod 13 are ball-jointed, the positioning axis 4 uses the swing of the movable rod 14 to make the positioning axis 4 can automatically compensate for the offset between the heat exchange tube to be welded, thereby making the positioning axis 4 coaxial with the heat exchange tube to be welded. After the cylinder 12 retracts the movable end to make the positioning shaft 4 exit the heat exchange tube, the clamp 2 can be used to clamp the movable rod 14 and make the movable rod 14 coaxial with the fixed rod 13. This can not only effectively control the movement of the movable rod 14, but also Moreover, it can be ensured that the positioning axis 4 is in the initial state when the drum welding robot replaces another heat exchange tube to be welded, so as to facilitate the next insertion of the heat exchange tube to be welded.

Please refer to Figures 1 to 3. Further, the clamp 2 includes a thin air claw 21 and a clip; the thin air claw 21 is provided on the mounting frame 11, and the clip has a working end and an operating end. The operating end is used to control the working end to clamp the movable rod 14 , and is hingedly connected to the movable end of the thin air claw 21 .

Further, the clip includes two clips 22, the middle portions of the two clips 22 are hinged to each other, and one end of the clip 22 is provided with a clip 221 that abuts the shaft of the movable rod 14. The other end of the piece 22 is hinged with the movable end of the thin air claw 21.

It can be seen from the above description that the thin air claw 21 can be used to control the opening and closing states of the clamps 221 on the two clamping pieces 22.

Please refer to Figures 4 to 6. Further, the clamp 2 includes a motor 23, a gear assembly 24 and a clip; the motor 23 is provided on the mounting frame 11, and the gear assembly 24 has an input end and an output end. The input end is connected to the output shaft of the motor 23, the clamp has a working end and an operating end, and the

The operating end is used to control the working end to clamp the movable rod 14 , and is hingedly connected to the output end of the gear assembly 240 .

Further, the gear assembly 24 includes a driving gear 241, a first rack 242 and a second rack 243; the driving gear 241 is connected to the output shaft of the motor 23, and the first rack 242 and the second rack 243 are connected to the output shaft of the motor 23. 243 is slidably arranged on the mounting bracket 11, the first rack 242 and the second rack 243 are arranged oppositely and mesh with the driving gear 241;

5. The clip includes two clips 22. The middle portions of the two clips 22 are hinged to each other. The clips 22

One end of the clamp 22 is provided with a clamp 221 that abuts the shaft of the movable rod 14, and the other ends of the two clamps 22 are hinged with the first rack 242 and the second rack 243 respectively.

As can be seen from the above description, the motor 23 is used to rotate the driving gear 241, thereby causing the first rack 242 and the second rack 243 to move on the mounting bracket 11, thereby controlling the opening and closing states of the chucks 221 on the two clips 22. .

Please refer to Figure 1 or Figure 4, which further includes a limiting sleeve 3. The limiting sleeve 3 is set on the outside of the movable rod 14, and there is a gap between the inner wall of the limiting sleeve 3 and the movable rod 14. activity gap.

It can be seen from the above description that the movable range of the movable rod 14 can be controlled by using the limiting sleeve 3 .

Furthermore, one end of the positioning shaft 4 away from the movable rod 14 is provided with a chamfer.

5 It can be seen from the above description that providing a chamfer on the positioning shaft 4 can facilitate the positioning of the positioning shaft 4 into the heat exchange tube to be welded for positioning.

The application scenario of this utility model's offset compensation connection mechanism for drum welding: when it is necessary to accurately extend the positioning shaft 4 into the heat exchange tube to be welded, connect the positioning shaft 4 of the drum welding robot with the compensation assembly 1 connection, use the cylinder 12 to extend the movable end to move the fixed rod 13, the movable rod 14 and the positioning shaft 4 toward the direction of the heat exchange tube to be welded, and when the positioning shaft 4 extends into the heat exchange tube to be welded, due to the movable rod There is a ball hinge between 14 and the fixed rod 13. Therefore, the positioning shaft 4 uses the swing of the movable rod 14 to compensate for the offset between the positioning shaft 4 and the heat exchange tube to be welded, thereby allowing the positioning shaft 4 to be connected to the heat exchange tube to be welded. Welded heat exchange tubes coaxially.

Embodiment 1

An offset compensation connection mechanism for drum welding, please refer to Figures 1 to 3, including a compensation component 1 and a clamp 2; the compensation component 1 includes a mounting frame 11, a cylinder 12, a fixed rod 13 and a movable Rod 14; the cylinder 12 is arranged on the mounting bracket 11, one end of the fixed rod 13 is connected to the movable end of the cylinder 12, and the end of the fixed rod 13 away from the cylinder 12 is ball-jointed with one end of the movable rod 14, One end of the movable rod 14 away from the fixed rod 13 is connected to the positioning shaft 4 of the drum welding robot; the clamp 2 is provided on the mounting frame 11, and the clamp 2 is used to clamp the shaft of the movable rod 14, When the movable rod 14 is clamped by the clamp 2, the movable rod 14 is coaxial with the fixed rod 13.

The clamp 2 includes a thin air claw 21 and a clip; the thin air claw 21 is arranged on the mounting frame 11, and the clamp has a working end and an operating end, and the operating end is used to control the working end to clamp the The operating end of the movable rod 14 is hinged with the movable end of the thin air claw 21 . The clip includes two clips 22. The middle portions of the two clips 22 are hinged to each other. One end of the clips 22 is provided with a chuck 221 that abuts the shaft of the movable rod 14. The other end is hinged with the movable end of the thin air claw 21.

The above-mentioned offset compensation connection mechanism for drum welding also includes a limit sleeve 3. The limit sleeve 3 is set on the outside of the movable rod 14, and between the inner wall of the limit sleeve 3 and the movable rod 14 Has clearance for movement. One end of the positioning shaft 4 away from the movable rod 14 is provided with a chamfer.

Working principle: When it is necessary to extend the positioning shaft 4 into the heat exchange tube to be welded, use the cylinder 12 to extend the movable end to move the fixed rod 13, the movable rod 14 and the positioning shaft 4 towards the direction of the heat exchange tube to be welded, and the positioning axis 4. During the process of extending into the heat exchange tube to be welded, since the movable rod 14 and the fixed rod 13 are ball-jointed, the positioning axis 4 uses the swing of the movable rod 14 to enable the positioning axis 4 to compensate for the heat exchange tube to be welded on its own. The offset between the heat pipes makes the positioning axis 4 coaxial with the heat exchange pipe to be welded.

After the welding is completed, the cylinder 12 retracts the movable end to make the positioning shaft 4 exit the heat exchange tube, and then the thin air claw 21 of the clamp 2 drives the movable end to move, so that the chucks 221 on the two clamping pieces 22 pass through the limit sleeve 3 and Move toward the direction of the movable lever 14 to clamp the movable lever 14 so that the movable lever 14 cannot move. And when the two chucks 221 are closing, they will push the movable rod 14 so that the movable rod 14 and the fixed rod 13 are coaxial, thereby ensuring that the drum welding robot positions the axis when replacing another heat exchange tube to be welded. 4 is in the initial state to facilitate the next insertion of the heat exchange tube to be welded.

Embodiment 2

An offset compensation connection mechanism for drum welding, please refer to Figures 4 to 6, including a compensation component 1 and a clamp 2; the compensation component 1 includes a mounting frame 11, a cylinder 12, a fixed rod 13 and a movable Rod 14; the cylinder 12 is arranged on the mounting bracket 11, one end of the fixed rod 13 is connected to the movable end of the cylinder 12, and the end of the fixed rod 13 away from the cylinder 12 is ball-jointed with one end of the movable rod 14, One end of the movable rod 14 away from the fixed rod 13 is connected to the positioning shaft 4 of the drum welding robot; the clamp 2 is provided on the mounting frame 11, and the clamp 2 is used to clamp the shaft of the movable rod 14, When the movable rod 14 is clamped by the clamp 2, the movable rod 14 is coaxial with the fixed rod 13.

The clamp 2 includes a motor 23, a gear assembly 24 and a clamp; the motor 23 is arranged on the mounting frame 11, the gear assembly 24 has an input end and an output end, and the input end is connected to the output shaft of the motor 23, so The clip has a working end and an operating end. The operating end is used to control the working end to clamp the movable rod 14 . The operating end is hingedly connected to the output end of the gear assembly 24 . The gear assembly 24 includes a driving gear 241, a first rack 242 and a second rack 243; the driving gear 241 is connected to the output shaft of the motor 23, and the first rack 242 and the second rack 243 are slidably arranged. On the mounting bracket 11, the first rack 242 and the second rack 243 are arranged opposite each other and mesh with the driving gear 241; the clip includes two clips 22, and the middle portions of the two clips 22 are hinged to each other. , one end of the clip 22 is provided with a clip 221 that abuts the shaft of the movable rod 14, and the other ends of the two clips 22 are hinged with the first rack 242 and the second rack 243 respectively.

The above-mentioned offset compensation connection mechanism for drum welding also includes a limit sleeve 3. The limit sleeve 3 is set on the outside of the movable rod 14, and between the inner wall of the limit sleeve 3 and the movable rod 14 Has clearance for movement. One end of the positioning shaft 4 away from the movable rod 14 is provided with a chamfer.

Working principle: When it is necessary to extend the positioning shaft 4 into the heat exchange tube to be welded, use the cylinder 12 to extend the movable end to move the fixed rod 13, the movable rod 14 and the positioning shaft 4 towards the direction of the heat exchange tube to be welded, and the positioning axis 4. During the process of extending into the heat exchange tube to be welded, since the movable rod 14 and the fixed rod 13 are ball-jointed, the positioning axis 4 uses the swing of the movable rod 14 to enable the positioning axis 4 to compensate for the heat exchange tube to be welded on its own. The offset between the heat pipes makes the positioning axis 4 coaxial with the heat exchange pipe to be welded.

After the welding is completed, the cylinder 12 retracts the movable end to make the positioning shaft 4 exit the heat exchange tube, and then the motor 23 of the fixture 2 rotates the driving gear 241, thereby allowing the first rack 242 and the second rack 243 to move on the mounting bracket 11 , the clamp heads 221 on the two clamping pieces 22 pass through the limiting sleeve 3 and move toward the direction of the movable rod 14, thereby clamping the movable rod 14 and making the movable rod 14 unable to move. And when the two chucks 221 are closing, they will push the movable rod 14 so that the movable rod 14 and the fixed rod 13 are coaxial, thereby ensuring that the drum welding robot positions the axis when replacing another heat exchange tube to be welded. 4 is in the initial state to facilitate the next insertion of the heat exchange tube to be welded.

The above descriptions are only examples of the present utility model, and do not limit the patent scope of the present utility model. Any equivalent transformations made using the contents of the description and drawings of the present utility model, or applied directly or indirectly in the relevant technical fields, are equally applicable. The rationale is included in the patent protection scope of this utility model.

Claims (7)

1. An offset compensation joint mechanism for boiler barrel welding, which is characterized in that: comprises a compensation component and a clamp; the compensation component comprises a mounting frame, an air cylinder, a fixed rod and a movable rod;

the cylinder is arranged on the mounting frame, one end of the fixed rod is connected with the movable end of the cylinder, one end of the fixed rod, which is far away from the cylinder, is in ball hinge joint with one end of the movable rod, and one end of the movable rod, which is far away from the fixed rod, is connected with the positioning shaft of the barrel welding robot;

the fixture is arranged on the mounting frame and is used for clamping the rod body of the movable rod, and when the movable rod is clamped by the fixture, the movable rod is coaxial with the fixed rod.

2. The offset compensation joint mechanism for drum welding according to claim 1, wherein: the clamp comprises a thin air jaw and a clamp; the thin type air claw is arranged on the mounting frame, the clamp is provided with a working end and an operating end, the operating end is used for controlling the working end to clamp the movable rod, and the operating end is hinged with the movable end of the thin type air claw.

3. Offset compensation joint mechanism for drum welding according to claim 2, characterized in that: the clamp comprises two clamping pieces, the middle parts of the two clamping pieces are hinged with each other, one end of each clamping piece is provided with a clamping head which is abutted against the rod body of the movable rod, and the other end of each clamping piece is hinged with the movable end of the thin gas claw.

4. The offset compensation joint mechanism for drum welding according to claim 1, wherein: the clamp comprises a motor, a gear assembly and a clamp; the motor is arranged on the mounting frame, the gear assembly is provided with an input end and an output end, the input end is connected with an output shaft of the motor, the clamp is provided with a working end and an operating end, the operating end is used for controlling the working end to clamp the movable rod, and the operating end is hinged with the output end of the gear assembly.

5. The offset compensation interface mechanism for drum welding of claim 4, wherein: the gear assembly comprises a driving gear, a first rack and a second rack; the driving gear is connected with an output shaft of the motor, the first rack and the second rack are arranged on the mounting frame in a sliding mode, and the first rack and the second rack are arranged oppositely and meshed with the driving gear;

the clamp comprises two clamping pieces, the middle parts of the two clamping pieces are hinged with each other, one end of each clamping piece is provided with a clamping head which is abutted against a rod body of the movable rod, and the other ends of the two clamping pieces are respectively hinged with a first rack and a second rack.

6. The offset compensation joint mechanism for drum welding according to claim 1, wherein: still include the stop collar, the stop collar cover is established in the movable rod outside, just have the clearance of activity between the inner wall of stop collar and the movable rod.

7. The offset compensation joint mechanism for drum welding according to claim 1, wherein: one end of the positioning shaft, which is far away from the movable rod, is provided with a chamfer angle.