WO2021237919A1 - 一种用于装载焊枪的焊接移动小车 - Google Patents

一种用于装载焊枪的焊接移动小车 Download PDF

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Publication number
WO2021237919A1
WO2021237919A1 PCT/CN2020/104615 CN2020104615W WO2021237919A1 WO 2021237919 A1 WO2021237919 A1 WO 2021237919A1 CN 2020104615 W CN2020104615 W CN 2020104615W WO 2021237919 A1 WO2021237919 A1 WO 2021237919A1
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WO
WIPO (PCT)
Prior art keywords
gear
fixed
welding
fixedly connected
fixing seat
Prior art date
Application number
PCT/CN2020/104615
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English (en)
French (fr)
Inventor
程远
袁玉荣
郭振
曾德河
李�浩
Original Assignee
南京英尼格玛工业自动化技术有限公司
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Publication of WO2021237919A1 publication Critical patent/WO2021237919A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/32—Accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/095—Monitoring or automatic control of welding parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K9/00—Arc welding or cutting
    • B23K9/095—Monitoring or automatic control of welding parameters
    • B23K9/0956—Monitoring or automatic control of welding parameters using sensing means, e.g. optical

Definitions

  • the invention relates to a welding mobile trolley for loading welding torches, and belongs to the technical field of welding equipment.
  • the welding work of existing welding objects generally includes manual welding and automatic welding.
  • Manual welding involves the operator holding the welding torch, which is affected by the working environment and difficulty of the work.
  • the quality of manual welding is unstable, the quality of the weld is poor, and it causes harm to the human body. .
  • people have adopted a mechatronics electric welding machine, but since the electric welding machine still needs people to operate at close range, it is still inevitably affected, and the welding efficiency is low.
  • welding natural gas pipelines requires ring diameter welding, which requires the transfer and rotation of the pipeline to be welded, which is not conducive to high-efficiency and high-quality welding requirements.
  • the technical problem to be solved by the present invention is to provide a welding mobile trolley for loading welding torches.
  • the welding mobile trolley can carry the welding torch and walk along the track set on the welding position, thereby realizing the automatic operation without the need to manually hold the welding torch.
  • Welding, and the welding position and the height of the welding gun are adjusted by the displacement adjustment mechanism to realize the arc voltage tracking of the welding.
  • a welding mobile trolley includes a car body, a walking mechanism fixed on the car body for driving the car body to walk along an external track, and a displacement adjustment mechanism fixed on the car body for adjusting the longitudinal and horizontal positions of the welding torch.
  • Displacement adjustment The mechanism includes a longitudinal movement mechanism and a lateral swing mechanism. The end of the lateral swing mechanism is connected with a terminal tool connection module; the welding gun is fixedly connected with the lateral swing mechanism through the terminal tool connection module.
  • the walking mechanism includes a positioning plate arranged on the bottom plate of the welding trolley, a driving mechanism fixed on the positioning plate, and a gear set that is connected to the drive end of the drive mechanism in transmission, and the gear set is connected to the tooth pattern transmission on the external track; It includes a roller mechanism, which includes symmetrically arranged rollers, and the welding trolley runs along the track through the rollers.
  • the gear set includes five gear structures connected in sequence.
  • the first gear structure is fixedly connected with the driving part of the driving mechanism
  • the second gear structure is fixed on the rotating shaft I
  • the rotating shaft I is fixed on the positioning plate through the bearing.
  • the two gear structure includes an external gear and an internal gear coaxially arranged, the external gear of the second gear is in transmission connection with the first gear, the internal gear of the second gear is in transmission connection with the third gear, and the third gear and the fourth gear are symmetrically arranged in On both sides of the positioning plate, the third gear and the fourth gear are fixed on the same rotating shaft II, and the rotating shaft II is also fixed on the positioning plate through bearings;
  • the fifth gear includes a large gear and a small gear that are coaxially arranged, and the fourth gear and the The small gear of the five gears is connected in transmission, and the large gear of the fifth gear is connected in transmission with the tooth pattern on the external track; the fifth gear is fixed on the rotating shaft III, and the bearing of the rotating shaft III is fixed on the positioning plate.
  • the roller mechanism includes four roller assemblies, of which two roller assemblies I include a base I and a mounting base I fixedly connected to the base I, the roller assembly I is fixedly connected to the welding trolley through the mounting base I, and the roller I passes through the shaft I.
  • the roller I Fixed on the base I, the roller I is rotatably connected to the base I; the other two roller assemblies II include a base II with a sliding groove, a mounting seat II fixedly connected to the base II, and a sliding block embedded in the sliding groove, and the sliding blocks are opposite
  • the chute moves back and forth, the roller II is fixed to one end of the slider through the shaft II, the roller II is connected to the slider by rotation, the other end of the slider is fixed with an adapter block, and the adapter block is fixed with a screw with external threads.
  • Connection also includes a handle structure, the handle structure is fixedly connected to the mounting seat II through the bearing structure, the handle structure is provided with a through hole with internal threads; the roller assembly II is fixedly connected to the welding trolley through the mounting seat II, and the handle structure is located on the mounting seat II On the outside, a screw rod with an external thread passes through the through hole on the side wall of the mounting seat II and is fixedly connected with the handle structure through internal and external threads.
  • the displacement adjustment mechanism includes a longitudinal movement mechanism, a lateral swing mechanism, and an adapter plate connecting the longitudinal movement mechanism and the lateral swing mechanism.
  • the longitudinal movement mechanism includes a support plate and a motor fixed on one side of the support plate. The output of the motor is The shaft passes through the support plate and is fixedly connected to the gear on the other side of the support plate.
  • the other side of the support plate is also provided with a guide rail extending in the longitudinal direction; the adapter plate and the support plate are provided with racks that cooperate with the gears on the opposite surface And a sliding block that is mutually matched and connected with the guide rail, the lateral swing mechanism is fixed on the adapter plate, and the lateral swing mechanism is slidably connected to the support plate through the adapter plate; the end of the lateral swing mechanism is connected with a terminal tool connection module; the support plate A limit stop is also provided on the side of the guide rail.
  • the displacement adjustment mechanism further includes two organ dust-proof covers and mounting plates respectively corresponding to the two organ dust-proof covers.
  • One end of the dust cover is fixedly mounted on the mounting plate, and the other end of the organ dust cover is fixedly connected to the end of the adapter plate;
  • the mounting plate is L-shaped, one side of the mounting plate is fixed at the lower end of the support plate, and the other side of the mounting plate is connected to the organ The dust cover is fixedly connected.
  • the lateral swing mechanism includes a housing, a drive motor located in the housing, a fixing seat and a sliding block fixed on the upper bottom plate of the housing, and a rack fixed on the side wall of the housing; the drive end of the drive motor is fixed to the gear The gear is connected with the rack fixed on the side wall of the shell.
  • the fixed base is covered with a sleeve.
  • the fixed end of the drive motor is fixedly connected with the sleeve.
  • the fixed end of the drive motor is horizontally connected to the fixed base through the sleeve.
  • a guide rail that moves horizontally relative to the slider is provided in the slider, and the guide rail is fixedly connected to the fixed end of the drive motor; the guide rail extends out of the shell, and the end of the guide rail out of the shell is the tool end interface; the tool end interface jacket A protective shell is provided; the shell is also provided with a position sensor, and there are two position sensors, one in front and the other in the extension direction of the rack.
  • the terminal tool connection module includes a welding gun connection module and a camera connection module; one side of the welding gun connection module is fixedly connected with the tool end interface of the lateral swing mechanism, and the other side of the welding gun connection module is fixedly connected with the welding gun through the welding gun holder ; One side of the camera connection module is fixedly connected with a protective shell sleeved outside the tool end interface, and the other side of the camera connection module is provided with a camera.
  • the welding torch connection module includes a fixing seat I, a fixing seat II, a fixing seat III, a connecting rod, and a welding gun holder; wherein, the fixing seat I is provided with a first insertion port for inserting a tool end interface and a supply The guide rod embedding port where the guide rod is embedded; the fixed seat II and the fixed seat III are also provided with the guide rod embedding port for the guide rod to be embedded; the fixed seat I, the fixed seat II and the fixed seat III are all equipped with the guide rod embedding port for adjusting the guide rod For handles with inner diameter, guide rods are fixedly connected to the fixing seat II and the fixing seat III.
  • the guide rod of the fixing seat II is horizontally inserted into the guide rod insertion port of the fixing seat I, and the guide rod of the fixing seat III is embedded into the fixing seat II in the longitudinal direction.
  • the guide rod is inserted into the hole, one end of the connecting rod is inserted into the guide rod insertion hole of the fixing seat III, and the other end of the connecting rod is fixedly connected with the welding gun holder.
  • the camera connecting module includes a connecting seat, a first fixing seat with a guide rod, a second fixing seat with a guide rod, a first connecting rod, and a camera mounting seat;
  • the connecting seat is provided with a U-shaped groove,
  • the baffles on both sides of the U-shaped groove are provided with bolt holes, and the protective shell sleeved outside the tool end interface is placed in the U-shaped groove and fixed in the U-shaped groove by bolts;
  • Both one fixing seat and the second fixing seat are provided with embedding openings.
  • the first fixing seat and the second fixing seat are also fixedly connected with a guide rod structure.
  • the first fixing seat and the second fixing seat are also provided for adjusting the embedding
  • a handle structure with an inner diameter of the mouth one end of the first connecting rod is embedded in the insertion opening of the second fixing base, and the other end of the first connecting rod is fixedly connected with the camera mounting base; the camera is installed in the camera mounting base.
  • the welding mobile trolley of the present invention can take the welding torch to walk along the track set at the welding position, thereby realizing automatic welding without manually holding the welding torch, and adjusting the welding position and the height of the welding torch through the displacement adjustment mechanism to realize the arc pressure of welding Tracking, the welding mobile trolley of the present invention has the functions of walking, welding torch lifting and horizontal movement at the same time, which can effectively improve the welding accuracy.
  • FIG. 1 is a schematic diagram I of the structure of the welding mobile trolley placed on the track according to the present invention
  • FIG. 2 is an exploded view of the welding mobile trolley of the present invention
  • Fig. 3 is a schematic diagram II of the structure of the welding mobile trolley placed on the track according to the present invention.
  • FIG. 4 is a partial schematic diagram of the welding mobile trolley placed on the track according to the present invention.
  • Figure 5 is a schematic diagram of the structure of the walking mechanism on the track
  • Figure 6 is a schematic diagram of the structure of one side of the roller assembly of the traveling mechanism
  • Figure 7 is a side view of the gear set of the traveling mechanism
  • Figure 8 is a side view of the walking mechanism on the track
  • Figure 9 is a diagram of the relative position of the roller mechanism and the track
  • Figure 10 is a schematic diagram of the handle structure driving the slider to move back and forth along the chute;
  • Figure 11 is a top view of the roller mechanism when it is walking on the track
  • Figure 12 is a top view of the roller mechanism when it is removed from the track
  • Figure 13 is a schematic diagram of a partial structure of the walking mechanism
  • Figure 14 is an exploded view of the longitudinal movement mechanism and the lateral swing mechanism in the displacement adjustment mechanism installed on the welding trolley;
  • Figure 15 is a structural schematic diagram of the longitudinal movement mechanism and the lateral swing mechanism in the displacement adjustment mechanism installed on the welding trolley;
  • 16 is a partial structural diagram of the longitudinal movement mechanism and the lateral swing mechanism in the displacement adjustment mechanism installed on the welding trolley;
  • Figure 17 is a schematic diagram of the structure of the adapter plate and the organ dust cover installed on the support plate;
  • Figure 18 is a schematic diagram of the connection between the adapter plate and the support plate
  • Figure 19 is a schematic diagram of the connection between the adapter plate and the support plate
  • Figure 20 is a schematic diagram of the structure without the organ dust cover on the support plate
  • Figure 21 is a schematic view of the structure of the organ dust cover installed on the support plate
  • Figure 22 is a top view of the relative position of the motor and the adapter plate
  • Figure 23 is a partial schematic view of the components on the support plate
  • Figure 24 is a schematic diagram of the structure of the lateral swing mechanism
  • Figure 25 is a partial structural diagram of the lateral swing mechanism
  • Figure 26 is a schematic view of the structure of the lateral swing mechanism
  • Figure 27 is a schematic diagram of the connection of the terminal tool connection module with the lateral swing mechanism and the welding gun;
  • Figure 28 is a schematic diagram of the structure of the welding gun connection module in the terminal tool connection module
  • Figure 29 is an exploded view of the welding torch connection module
  • Figure 30 is a schematic diagram of the connection between the welding torch connection module and the tool end interface of the lateral swing mechanism and the welding torch;
  • FIG. 31 is a schematic diagram of the structure of the camera connection module in the terminal tool connection module.
  • the welding mobile trolley of the present invention includes a car body 68, a traveling mechanism fixed on the car body 68 for driving the car body to walk along the external rail 71, and a welding gun fixed on the car body 68 for adjusting the welding gun.
  • the displacement adjustment mechanism includes a longitudinal movement mechanism and a lateral swing mechanism 30. The end of the lateral swing mechanism 30 is connected with a terminal tool connection module 70.
  • the outer rail 71 is provided on the rail fixing device 115.
  • the welded trolley body 68 includes a bottom plate 63, side plates 120 fixed on both sides of the bottom plate 63, an L-shaped sealing plate 113, and a supporting plate 56 fixed on the bottom plate 63.
  • One end of the L-shaped sealing plate 113 is fixedly connected to the top end of the supporting plate 56.
  • the other end of the L-shaped sealing plate 113 is fixed on the bottom plate 63; one side of the L-shaped sealing plate 113 is also provided with a power supply interface 111.
  • the welding trolley body 68 is also provided with a handle 110 for holding.
  • the welding trolley also includes a cable fixing device 112, the cable passing through the cable fixing device 112, one end of the cable is connected to the external welding machine equipment, the other end of the cable is connected to the welding gun 39, the cable fixing device 112 passes through the positioning base 114 Fixed on the L-shaped sealing plate 113, the cable fixing device 112 passes through the positioning hole on the positioning base 114, and then the cable fixing device 112 is fixed in the positioning hole by the rotating handle on the positioning base 114.
  • the walking mechanism includes a positioning plate 84 arranged on the bottom plate 63 of the welding trolley 68, a drive mechanism 73 fixed on the positioning plate 84, and a gear set 74 that is connected to the drive end of the drive mechanism 73.
  • the gear set 74 is connected to the teeth on the outer rail 71.
  • the pattern 82 is connected for transmission; the positioning plate 84 is vertically arranged on the bottom plate 63; the walking mechanism of the welding mobile trolley of the present invention also includes a roller mechanism 72.
  • the roller mechanism 72 includes symmetrically arranged rollers 86.
  • the welding trolley 68 walks along the rail 71 through the rollers 86 . When the welding trolley body 68 is placed on the circular track, the car body 68 drives the welding torch 39 to move along the circular track through the traveling mechanism, thereby realizing the welding of the pipeline.
  • the gear set 74 includes five gear structures connected in sequence, namely a first gear structure 87, a second gear structure 88, a third gear structure 91, a fourth gear knot/92, and a fifth gear structure 93.
  • the gear structure 87 is fixedly connected with the driving part of the driving mechanism 73.
  • the second gear structure 88 is fixed on the rotating shaft I, and the rotating shaft I is fixed on the positioning plate 84 through a bearing.
  • the second gear structure 88 includes an external gear 89 and an inner coaxially arranged gear.
  • the gear 90, the external gear 89 of the second gear 88 are in transmission connection with the first gear 87, the internal gear 90 of the second gear 88 is in transmission connection with the third gear 91, and the third gear 91 and the fourth gear 92 are symmetrically arranged on the positioning plate 84
  • the third gear 91 and the fourth gear 92 are fixed on the same rotating shaft II, and the rotating shaft II is also fixed on the positioning plate 84 through bearings;
  • the fifth gear 93 includes a large gear 95 and a small gear 94 that are coaxially arranged.
  • the fourth gear 92 is in transmission connection with the pinion 94 of the fifth gear 93, and the large gear 95 of the fifth gear 93 is in transmission connection with the tooth pattern 82 on the outer track 71; the fifth gear 93 is fixed on the shaft III96, and the shaft III96 is fixed by bearings On the positioning plate 84.
  • the roller mechanism 72 includes four roller assemblies, of which two roller assemblies I83 (the two roller assemblies I83 are located on the same side of the welding trolley 68) include a base I97 and a mounting seat I98 fixedly connected to the base I97.
  • the roller assembly I83 passes through the mounting seat.
  • I98 is fixedly connected to the welding trolley 68.
  • the roller I99 is fixed on the base I97 through the shaft I100.
  • the shaft I100 When the roller I99 walks along the track 71, the shaft I100 is used as the axis to rotate relative to the base I97 (the shaft I100 is fixed in the base I97, and the roller I99 is set in The shaft I100 is outside and is rotatably connected with the shaft I100, or the shaft I100 and the base I97 are fixedly connected by bearings, and the roller I99 is sleeved outside the shaft I100 and fixedly connected with the shaft I100); the other two roller assemblies II85 (two roller assemblies II85 are located at The welding trolley 68 on the same side) includes a base II75 with a sliding groove 76, a mounting base II77 fixedly connected to the base II75 (the base II75 is fixed inside the mounting base II77), and a slider 102 embedded in the sliding groove 76.
  • the slider 102 is The sliding groove 76 moves back and forth relative to the sliding groove 76.
  • the roller II78 is fixed to one end of the slider 102 through the shaft II81.
  • the roller II78 is rotatably connected to the slider 102.
  • the shaft II81 is used as the axis to slide relatively.
  • the block 102 rotates; the other end of the sliding block 102 is fixed with an adapter block 103, which is fixedly connected to the screw 104 with external threads; the roller assembly II85 also includes a handle structure 79, which is installed with a bearing structure
  • the seat II77 is fixedly connected, the handle structure 79 is provided with a through hole 106 with internal threads; the roller assembly II85 is fixedly connected to the welding trolley 68 through the mounting seat II77, and the handle structure 79 is located on the outside of the mounting seat II77 relative to the welding trolley, with external threads
  • the screw 104 passes through the through hole on the side wall of the mounting seat II77 and is fixedly connected to the handle structure 79 through internal and external threads.
  • the handle structure 79 rotates forwards or reverses in situ, so that the screw 104 connected to it through a threaded fit moves horizontally forward or backward relative to the handle structure 79, thereby driving the slider 102 fixedly connected with the screw 104 through the adapter block 103 Relative to the handle structure 79, move forward or backward in the horizontal direction, the slider 102 moves back and forth along the chute 76 in the space of the mounting seat II77 in the chute 76, and the end of the screw 104 and the adapter block 103 is provided with a limit stop.
  • the part 101 prevents the screw 104 from moving excessively.
  • a cover plate 80 is provided on the top of the mounting seat I98 and the mounting seat II77.
  • the roller I99 is stuck on one side of the rail 71, turn the handle structure 79, drive the roller II78 on the slider 102 to move forward, until the roller II78 is stuck on the other side of the rail 71 ,
  • the drive mechanism 73 is started, the drive mechanism 73 (drive motor 73) rotates, and drives the gear set 74 to rotate.
  • the large gear 95 of the fifth gear 93 is in transmission connection with the tooth pattern 82 on the track 71, so that the welding trolley 68 passes along the roller 86. Walk along the track 71.
  • the driving mechanism 73 is closed, the handle structure 79 is turned in the opposite direction, and the roller II78 on the slider 102 moves backward relative to the rail 71 until the roller II78 leaves the side of the rail 71.
  • the displacement adjustment mechanism includes a longitudinal movement mechanism, a lateral swing mechanism 30, and an adapter plate 59 connecting the longitudinal movement mechanism and the lateral swing mechanism 30.
  • the longitudinal movement mechanism includes a support plate 56 and a motor 57 fixed on one side of the support plate 56.
  • the output shaft passes through the support plate 56 and is fixedly connected to the gear 62 on the other side of the support plate 56.
  • the other side of the support plate 56 is also provided with a guide rail 58 extending in the longitudinal direction.
  • the side of the guide rail 58 is also provided with a U-shaped limit stop.
  • Block 69 the protrusions on both sides of the U-shaped limit stop 69 are used to limit the maximum distance that the slider 60 can move up or down along the guide rail 58;
  • the support plate 56 is fixed on the bottom plate 63 of the welding trolley 68 to support
  • the plate 56 is L-shaped.
  • One side of the supporting plate 56 is bolted to the bottom plate 63 of the welding trolley 68, and the other side of the supporting plate 56 is used to carry other components fixed on it;
  • the adapter plate 59 is opposite to the supporting plate 56
  • There is a rack 61 which is matched with the gear 62 and a sliding block 60 which is matched with the guide rail 58.
  • the lateral swing mechanism is fixed on the adapter plate 59, and the lateral swing mechanism 30 slides with the support plate 56 through the adapter plate 59. Connection, that is, the lateral swing mechanism 30 moves upward or downward relative to the support plate 56 through the adapter plate 59; the end of the lateral swing mechanism 30 is connected with a terminal tool connection module 70.
  • the displacement adjustment mechanism also includes two organ dust-proof covers 64 and mounting plates 65 corresponding to the two organ dust-proof covers 64 respectively.
  • the two organ dust-proof covers 64 are installed on the upper and lower sides of the adapter plate 59 one above the other.
  • One end of the organ dust cover 64 is fixedly mounted on the mounting plate 65 by bolts, and the other end of the organ dust cover 64 is fixedly connected to the upper/lower ends of the adapter plate by bolts;
  • the mounting plate 65 is L-shaped, and one side of the mounting plate 65 It is fixedly installed on the side of the bottom plate 63 of the welding trolley 68 by bolts, and the other side of the mounting plate 65 is fixedly connected with the organ dust-proof cover 64 by bolts.
  • the displacement adjustment mechanism (AVC arc voltage tracking mechanism) also includes a PLC controller, and the motor 57 and the driving motor 11 are respectively connected to the PLC controller through a cable.
  • the displacement adjustment mechanism drives the rotation of the motor 57 and the drive motor 11 through the PLC controller.
  • the lateral swing mechanism 30 includes a housing 13, a drive motor 11 located in the housing 13, a fixing seat 18 and a sliding block 15 fixed on the bottom plate of the housing 13, and a rack 14 fixed on the side wall of the housing 13; the housing;
  • the top of 13 is provided with a through hole 21 for threading (for cables to pass through);
  • the driving end of the driving motor 11 is fixedly connected with the gear 12, and the gear 12 is drivingly connected with the rack 14 fixed on the side wall of the housing 13 and fixed
  • the base 18 is sheathed with a sleeve 19, the fixed end of the drive motor 11 is fixedly connected to the sleeve 19, and the fixed end of the drive motor 11 moves horizontally relative to the fixed base 18 through the sleeve 19, that is, the sleeve 19 is sleeved on the fixed base 18 can move left and right along the fixed seat 18, the fixed end of the drive motor 11 is fixedly connected with the sleeve 19;
  • the slide block 15 is provided with a guide
  • the terminal tool connection module 70 includes a welding gun connection module 116 and a camera connection module 117; one side of the welding gun connection module 116 is fixedly connected to the tool end interface 17 of the lateral swing mechanism 30, and the other side of the welding gun connection module 116 is connected to the welding gun through the welding gun holder 34 39 is fixedly connected; one side of the camera connection module 117 is fixedly connected to the protective shell 20 sleeved outside the tool end interface 17, and the other side of the camera connection module 117 is provided with a camera 54; Set before and after.
  • one side of the welding gun connection module 116 is fixedly connected to the tool end interface 17 of the swing mechanism 30 through the first insertion port 26, the other side of the welding gun connection module 116 is fixedly connected to the welding gun 39 through the welding gun holder 34, and the welding gun holder 34 It is fixedly connected with the welding gun 39 through the adapter plate 28.
  • the welding gun connection module 116 includes a fixing seat I24, a fixing seat II27, a fixing seat III31, a connecting rod 35, and a welding gun holder 34; wherein, the fixing seat I24 is provided with a first insertion port 26 for inserting the tool end interface 17 and a supply guide
  • the guide rod insertion opening 25 into which the rod is embedded; the guide rod insertion openings (37, 38) for the guide rod are also provided on the fixing seat II27 and the fixing seat III31;
  • the fixing seat I24, the fixing seat II27 and the fixing seat III31 are all provided for
  • the handles (36, 29, 32) for adjusting the inner diameter of the guide rod insertion port, the guide rod I40 is fixed on the fixing seat II27, the guide rod II33 is fixed on the fixing seat III31, and the guide rod I40 of the fixing seat II27 is embedded in the horizontal direction
  • the guide rod of the fixing seat I24 is inserted into the opening I25, the guide rod II33 of the fixing seat III31 is longitudinally inserted into the
  • the guide rod I40 of the fixing seat II27 is embedded in the guide rod insertion opening I25, and the guide rod I40 of the fixing seat II27 can move horizontally to the left and right relative to the guide rod insertion opening I25 of the fixing seat I24.
  • the guide rod I40 moves to the required position, it passes Rotate the handle I36 to fix the guide rod I40 in the guide rod insertion opening I25 of the fixing seat I24, and the tool end interface 17 is embedded in the first insertion opening 26 of the fixing seat I24.
  • the tool end interface 17 can be opposite to the first insertion opening of the fixing seat I24. 26 moves horizontally to the left and right.
  • the tool end interface 17 When the tool end interface 17 is moved to the required position in the first insertion opening 26, the tool end interface 17 is fixed in the first insertion opening 26 of the fixing seat I24 by turning the handle I36, that is, turning the handle I36 At the same time, fix the tool end interface 17 in the first insertion opening 26 of the fixing seat I24 and the guide rod I40 in the guide rod insertion opening I25 of the fixing seat I24; the guide rod II33 of the fixing seat III31 is embedded relative to the guide rod of the fixing seat II27
  • the port II37 moves up and down in the longitudinal direction.
  • the guide rod II33 moves to the required position relative to the guide rod insertion port II37, the guide rod II33 is fixed on the fixing seat II27 by turning the handle II29, and the connecting rod 35 is relative to the guide rod insertion opening of the fixing seat III31 III38 moves horizontally forward and backward.
  • the connecting rod 35 moves to a desired position relative to the guide rod insertion port III38, the connecting rod 35 is fixed on the fixing seat III31 by turning the handle III32.
  • the camera connection module 117 includes a connecting seat 41, a first fixing seat 44 with a guide rod, a second fixing seat 48 with a guide rod, a first connecting rod 52, and a camera mounting seat 53; the connecting seat 41 is provided with a U-shaped groove 43. Bolt holes 55 are provided on the baffles on both sides of the U-shaped groove 43.
  • the protective shell 20 sleeved outside the tool end interface 17 is placed in the U-shaped groove 43 and fixed in the U-shaped groove 43 by bolts.
  • the connecting seat 41, the first fixing seat 44 and the second fixing seat 48 are provided with embedding ports (42, 47, 51), the first fixing seat 44 is fixedly connected with a guide rod structure 46, and the second fixing seat 48
  • a guide rod structure 50 is fixedly connected to the upper part, while the first fixing base 44 and the second fixing base 48 are also provided with handle structures (45, 49) for adjusting the inner diameter of the embedding port (47, 51);
  • the first connecting rod 52 One end is embedded in the insertion opening 51 of the second fixing base 48, the other end of the first connecting rod 52 is fixedly connected with the camera mounting base 53 through internal and external threads; the camera 54 is installed in the camera mounting base 53.
  • the guide rod structure I46 passes through the insertion port I42 (through hole structure) on the connecting seat 41.
  • the guide rod structure I46 can move forward and backward relative to the insertion port I42, and is forced by the gravity of the protective shell 20 on the U-shaped groove 43.
  • the guide rod structure I46 is fixed at the corresponding position in the insertion port I42; the guide rod structure II50 passes through the insertion port II47 (through hole structure) on the first fixing seat 44, and the guide rod structure II50 can move horizontally to the left and right relative to the insertion port II47 , And fix the guide rod structure II50 at the corresponding position in the insertion port II47 through the handle structure I45; the first connecting rod 52 passes through the insertion port III51 (through hole structure) on the second fixing seat 48, and the first connecting rod 52 can It moves longitudinally up and down relative to the insertion port III51, and the first connecting rod 52 is fixed at the corresponding position in the insertion port III51 through the handle structure II49.
  • the welding gun connection module 116 in the terminal tool connection module 70 is fixedly connected to the horizontal moving end of the lateral swing mechanism 30, and the camera connection module 117 in the terminal tool connection module 70 is fixedly connected to the protective shell 20 outside the tool end interface 17 of the lateral swing mechanism 30 ,
  • the lateral swing mechanism 30 moves up and down along the support plate 56 through the adapter plate 59, and the welding torch connection module 116 realizes its horizontal movement under the drive of the lateral swing mechanism 30.
  • the welding gun 39 can be three-dimensionally moved by the welding torch connection module 116. Manual adjustment of the position (front, rear, left, right, up, down), and use the camera 54 on the camera connection module 117 to monitor the picture and parameters of the welding process.

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Abstract

一种焊接移动小车，包括车体（68）、固定在车体（68）上用于驱动车体（68）沿着外部轨道（71）行走的行走机构以及固定在车体（68）上用于调整焊枪（39）纵向及水平向位置的位移调整机构，位移调整机构包括纵向移动机构和横向摆动机构（30），横向摆动机构（30）的端部连有终端工具连接模块（70）；焊枪（39）通过终端工具连接模块（70）与横向摆动机构（30）固定连接。

Description

一种用于装载焊枪的焊接移动小车 技术领域
本发明涉及一种用于装载焊枪的焊接移动小车，属于焊接设备技术领域。
背景技术
现有焊接物件的焊接工作一般有人工焊接和自动焊接，人工焊接是由操作人手持焊枪，受到工作环境和工作难度的影响，人工焊接的质量不稳定，焊缝质量差，并且对人体造成伤害。由此人们采用了机电一体化的电焊机，但是由于电焊机仍需要人近距离操作，仍不可避免受到影响，而且焊接效率低。比如焊接天然气管道，需要进行环管径焊接，这就需要对待焊接管道进行搬移转动，不利于高效率高质量的焊接要求。
发明内容
发明目的：本发明所要解决的技术问题是提供一种用于装载焊枪的焊接移动小车，该焊接移动小车能够带着焊枪沿着设置在焊接位置上的轨道行走，从而实现无需人工手持焊枪的自动焊接，并且通过位移调整机构调整焊接位置和焊枪的高度实现焊接的弧压跟踪。
发明内容：为解决上述技术问题，本发明所采用的技术手段为：
一种焊接移动小车，包括车体、固定在车体上用于驱动车体沿着外部轨道行走的行走机构以及固定在车体上用于调整焊枪纵向及水平向位置的位移调整机构，位移调整机构包括纵向移动机构和横向摆动机构，横向摆动机构的端部连有终端工具连接模块；焊枪通过终端工具连接模块与横向摆动机构固定连接。
其中，所述行走机构包括设置在焊接小车底板上的定位板、固定在定位板上的驱动机构以及与驱动机构驱动端传动连接的齿轮组，齿轮组与外部轨道上的齿纹传动连接；还包括滚轮机构，滚轮机构包括对称设置的滚轮，焊接小车通过滚轮沿着轨道行走。
其中，所述齿轮组包括五个依次传动连接的齿轮结构，第一齿轮结构与驱动机构的驱动部固定连接，第二齿轮结构固定在转轴I上，转轴I通过轴承固定在定位板上，第二齿轮结构包括同轴设置的外齿轮和内齿轮，第二齿轮的外齿轮与第一齿轮传动连接，第二齿轮的内齿轮与第三齿轮传动连接，第三齿轮和第四齿轮对称设置在定位板的两侧，第三齿轮和第四齿轮固定在同一转轴II上，转轴II也通过轴承固定在定位板上；第五齿轮包括同轴设置的大齿轮和小齿轮，第四齿轮与第五齿轮的小齿轮传动连接，第五齿轮的大齿轮与外部轨道上的齿纹传动连接；第五齿轮固定在转轴III上，转轴III轴承固定在定位板上。
其中，所述滚轮机构包括四个滚轮组件，其中两个滚轮组件I包括底座I以及与底座I固定连接的安装座I，滚轮组件I通过安装座I与焊接小车固定连接，滚轮I通过转轴I固定在底座I上，滚轮I相对底座I转动连接；另外两个滚轮组件II包括带滑槽的底座II、与底座II固定连接的安装座II以及嵌入在滑槽内的滑块，滑块相对滑槽前后移动，滚轮II通过转轴II固定在滑块的一个端部，滚轮II相对滑块转动连接、滑块的另一个端部固定有转接块，转接块与带外螺纹的螺杆固定连接；还包括把手结构，把手结构通过轴承结构与安装座II固定连接，把手结构内设有带内螺纹的通孔；滚轮组件II通过安装座II与焊接小车固定连接，把手结构位于安装座II外侧，带外螺纹的螺杆穿过安装座II侧壁上的通孔与把手结构通过内外螺纹相互配合固定连接。
其中，所述位移调整机构包括纵向移动机构、横向摆动机构以及连接纵向移动机构和横向摆动机构的转接板，所述纵向移动机构包括支撑板以及固定在支撑板一侧的电机，电机的输出轴穿过支撑板与位于支撑板另一侧的齿轮固定连接，支撑板另一侧还设有沿纵向延伸的导轨；转接板与支撑板相对面上设有与齿轮相互配合连接的齿条以及与导轨相互配合连接的滑块，横向摆动机构固定在转接板上，横向摆动机构通过转接板与支撑板滑动连接；横向摆动机构的端部连有终端工具连接模块；所述支撑板在导轨的侧边还设有限位挡块。
其中，所述位移调整机构还包括两个风琴防尘罩以及分别与两个风琴防尘罩相对应的安装板，两个风琴防尘罩一上一下安装在转接板的上下两侧，风琴防尘罩的一端固定安装在安装板上，风琴防尘罩的另一端与转接板的端部固定连接；安装板呈L型，安装板一边固定在支撑板下端，安装板另一边与风琴防尘罩固定连接。
其中，所述横向摆动机构包括壳体、位于壳体内的驱动电机、固定在壳体上底板的固定座和滑块以及固定在壳体侧壁上的齿条；驱动电机的驱动端与齿轮固定连接，齿轮与固定在壳体侧壁上的齿条传动连接，固定座外套设有套筒，驱动电机的固定端与套筒固定连接，驱动电机的固定端通过套筒相对固定座沿水平向移动；滑块内设有相对滑块水平向移动的导轨，导轨与驱动电机的固定端固定连接；所述导轨伸出壳体外，导轨伸出壳体的一端为工具端接口；工具端接口外套设有保护壳；所述壳体内还设有位置传感器，位置传感器有两个，一前一后沿齿条的延伸方向设置。
其中，所述终端工具连接模块包括焊枪连接模块和相机连接模块；所述焊枪连接模块一侧与横向摆动机构的工具端接口固定连接，焊枪连接模块另一侧通过焊枪夹持器与焊枪固定连接；相机连接模块一侧与套设在工具端接口外的保护壳固定连接，相机连接模块另一侧设有相机。
其中，所述焊枪连接模块包括固定座I、固定座II、固定座III、连接杆以及焊枪夹持器；其中，所述固定座I上设有供工具端接口嵌入的第一嵌入口和供导杆嵌入的导杆嵌入口；固定座II和固定座III上也设有供导杆嵌入的导杆嵌入口；固定座I、固定座II和固定座III均设有用于调节导杆嵌入口内径大小的把手，固定座II和固定座III上固定连有导杆，固定座II的导杆沿水平向嵌入固定座I的导杆嵌入口中，固定座III的导杆沿纵向嵌入固定座II的导杆嵌入口中，连接杆一端嵌入固定座III的导杆嵌入口中，连接杆另一端与焊枪夹持器固定连接。
其中，所述相机连接模块包括连接座、带导杆的第一固定座、带导杆的第二固定座、第一连接杆以及相机安装座；所述连接座上设有U型凹槽，U型凹槽两侧的挡板上设有螺栓孔，套设在工具端接口外的保护壳放置在U型凹槽内，且通过螺栓固定在U型凹槽内；所述连接座、第一固定座和第二固定座上均设有嵌入口，第一固定座和第二固定座上还固定连有导杆结构，同时第一固定座和第二固定座上还设有用于调节嵌入口内径大小的把手结构；第一连接杆一端嵌入第二固定座的嵌入口中，第一连接杆另一端与相机安装座固定连接；相机安装在相机安装座内。
有益效果：本发明焊接移动小车能够带着焊枪沿着设置在焊接位置上的轨道行走，从而实现无需人工手持焊枪的自动焊接，并且通过位移调整机构调整焊接位置和焊枪的高度实现焊接的弧压跟踪，本发明焊接移动小车携带焊枪同时具备行走、焊枪升降以及水平移动的功能，能够有效提高焊接精度。
附图说明
图1为本发明焊接移动小车放置在轨道上的结构示意图I；
图2为本发明焊接移动小车的爆炸图；
图3为本发明焊接移动小车放置在轨道上的结构示意图II；
图4为本发明焊接移动小车放置在轨道上的局部示意图；
图5为行走机构在轨道上的结构示意图；
图6为行走机构其中一侧滚轮组件的结构示意图；
图7为行走机构齿轮组的侧视图；
图8为行走机构在轨道上的侧视图；
图9为滚轮机构与轨道的相对位置图；
图10为把手结构带动滑块沿着滑槽前后移动的原理图；
图11为滚轮机构在轨道上行走时的俯视图；
图12为滚轮机构从轨道上取下时的俯视图；
图13为行走机构的局部结构示意图；
图14为位移调整机构中的纵向移动机构和横向摆动机构安装在焊接小车上的爆炸图；
图15为位移调整机构中的纵向移动机构和横向摆动机构安装在焊接小车上的结构示意图；
图16为位移调整机构中的纵向移动机构和横向摆动机构安装在焊接小车上的局部结构示意图；
图17为转接板和风琴防尘罩安装在支撑板上的结构示意图；
图18为转接板与支撑板的连接原理图；
图19为转接板与支撑板的连接示意图；
图20为支撑板上没装风琴防尘罩的结构示意图；
图21为支撑板上装风琴防尘罩的结构示意图；
图22为电机与转接板的相对位置俯视图；
图23为支撑板上部件的局部示意图；
图24为横向摆动机构的结构原理图；
图25为横向摆动机构的局部结构示意图；
图26为横向摆动机构的结构示意图；
图27为终端工具连接模块与横向摆动机构以及焊枪的连接示意图；
图28为终端工具连接模块中焊枪连接模块的结构示意图；
图29为焊枪连接模块的爆炸图；
图30为焊枪连接模块与横向摆动机构工具端接口以及焊枪的连接示意图；
图31为终端工具连接模块中相机连接模块的结构示意图。
具体实施方式
根据下述实施例，可以更好地理解本发明。然而，本领域的技术人员容易理解，实施例所描述的内容仅用于说明本发明，而不应当也不会限制权利要求书中所详细描述的本发明。
如图1～31所示，本发明焊接移动小车，包括车体68、固定在车体68上用于驱动车体沿着外部轨道71行走的行走机构以及固定在车体68上用于调整焊枪39纵向及水平向位置的位移调整机构，位移调整机构包括纵向移动机构和横向摆动机构30，横向摆动机构30的端部连有终端工具连接模块70。外部轨道71设置在轨道固定装置115上。
焊接小车车体68包括底板63、固定在底板63两侧的侧板120、L型封板113以及固定在底板63上的支撑板56，L型封板113一端与支撑板56顶端固定连接，L型封板113另一端固定在底板63上；L型封板113一侧还设有供电电源接口111。焊接小车车体68上还设有用于拿握的手持部110。焊接小车还包括线缆固定装置112，线缆从线缆固定装置112中穿过，线缆一端与外部焊机设备连接，线缆另一端与焊枪39连接，线缆固定装置112通过定位座114固定在L型封板113上，线缆固定装置112从定位座114上的定位孔中穿过，再通过定位座114上的旋转把手将线缆固定装置112固定在定位孔中。
行走机构包括设置在焊接小车68底板63上的定位板84、固定在定位板84上的驱动机构73以及与驱动机构73驱动端传动连接的齿轮组74，齿轮组74与外部轨道71上的齿纹82传动连接；定位板84垂直设置在底板63上；本发明焊接移动小车的行走机构还包括滚轮机构72，滚轮机构72包括对称设置的滚轮86，焊接小车68通过滚轮86沿着轨道71行走。当把焊接小车车体68放置在环形轨道上，车体68通过行走机构带动焊枪39沿着环形轨道移动，从而实现对管道的焊接。
其中，齿轮组74包括五个依次传动连接的齿轮结构，分别为第一齿轮结构87、第二齿轮结构88、第三齿轮结构91、第四齿轮结/92和第五齿轮结构93，第一齿轮结构87与驱动机构73的驱动部固定连接，第二齿轮结构88固定在转轴I上，转轴I通过轴承固定在定位板84上， 第二齿轮结构88包括同轴设置的外齿轮89和内齿轮90，第二齿轮88的外齿轮89与第一齿轮87传动连接，第二齿轮88的内齿轮90与第三齿轮91传动连接，第三齿轮91和第四齿轮92对称设置在定位板84的两侧，第三齿轮91和第四齿轮92固定在同一转轴II上，转轴II也通过轴承固定在定位板84上；第五齿轮93包括同轴设置的大齿轮95和小齿轮94，第四齿轮92与第五齿轮93的小齿轮94传动连接，第五齿轮93的大齿轮95与外部轨道71上的齿纹82传动连接；第五齿轮93固定在转轴III96上，转轴III96通过轴承固定在定位板84上。
其中，滚轮机构72包括四个滚轮组件，其中两个滚轮组件I83(两个滚轮组件I83位于焊接小车68同一侧)包括底座I97以及与底座I97固定连接的安装座I98，滚轮组件I83通过安装座I98与焊接小车68固定连接，滚轮I99通过转轴I100固定在底座I97上，滚轮I99沿着轨道71行走时以转轴I100为轴相对底座I97转动(转轴I100固定在底座I97内，滚轮I99套设在转轴I100外且与转轴I100转动连接，或者转轴I100与底座I97通过轴承固定连接，滚轮I99套设在转轴I100外且与转轴I100固定连接)；另外两个滚轮组件II85(两个滚轮组件II85位于焊接小车68同一侧)包括带滑槽76的底座II75、与底座II75固定连接的安装座II77(底座II75固定在安装座II77内部)以及嵌入在滑槽76内的滑块102，滑块102在滑槽76中相对滑槽76前后移动，滚轮II78通过转轴II81固定在滑块102的一个端部，滚轮II78相对滑块102转动连接，滚轮II78沿着轨道71行走时以转轴II81为轴相对滑块102转动；滑块102的另一个端部固定有转接块103，转接块103与带外螺纹的螺杆104固定连接；滚轮组件II85还包括把手结构79，把手结构79通过轴承结构与安装座II77固定连接，把手结构79内设有带内螺纹的通孔106；滚轮组件II85通过安装座II77与焊接小车68固定连接，把手结构79位于安装座II77相对于焊接小车的外侧，带外螺纹的螺杆104穿过安装座II77侧壁上的通孔与把手结构79通过内外螺纹相互配合固定连接。把手结构79原地正转或者反转，使与其通过螺纹配合连接的螺杆104相对把手结构79沿水平向向前或向后移动，从而带动与螺杆104通过转接块103固定连接的滑块102相对把手结构79沿水平向向前或向后移动，滑块102在滑槽76内在安装座II77的空间内沿着滑槽76前后移动，螺杆104与转接块103连接的端部设有限位部101，防止螺杆104移动过量。安装座I98和安装座II77的顶部均设置有盖板80。
将焊接小车68放置在轨道71上，滚轮I99卡在轨道71一侧侧边，转动把手结构79，驱动滑块102上的滚轮II78向前移动，直至滚轮II78卡在轨道71另一侧侧边，启动驱动机构73，驱动机构73(驱动电机73)转动，带动齿轮组74转动，第五齿轮93的大齿轮95与轨道71上的齿纹82传动连接，从而使焊接小车68通过滚轮86沿着轨道71行走。当需要把焊接小车68从轨道71上取下时，关闭驱动机构73，反向转动把手结构79，滑块102上的滚轮II78相对轨道71向后移动，直至滚轮II78离开轨道71的侧边。
位移调整机构包括纵向移动机构、横向摆动机构30以及连接纵向移动机构和横向摆动机构30的转接板59，纵向移动机构包括支撑板56以及固定在支撑板56一侧的电机57，电机57的输出轴穿过支撑板56与位于支撑板56另一侧的齿轮62固定连接，支撑板56另一侧还设有沿纵向延伸的导轨58，导轨58的侧边还设有U型限位挡块69，U型限位挡块69两侧的凸起部用于限制滑块60沿着导轨58向上或向下能够移动的最大距离；支撑板56固定在焊接小车68的底板63上，支撑板56呈L型，支撑板56一侧通过螺栓固定在焊接小车68的底板63上，支撑板56另一侧用于承载固定在其上的其他组件；转接板59与支撑板56相对面上设有与齿轮62相互配合连接的齿条61以及与导轨58相互配合连接的滑块60，横向摆动机构固定在转接板59上，横向摆动机构30通过转接板59与支撑板56滑动连接，即横向摆动机构30通过转接板59相对支撑板56进行向上或向下的移动；横向摆动机构30的端部连有终端工具连接模块70。
位移调整机构还包括两个风琴防尘罩64以及分别与两个风琴防尘罩64相对应的安装板65，两个风琴防尘罩64一上一下安装在转接板59的上下两侧，风琴防尘罩64的一端通过螺栓固定安装在安装板65上，风琴防尘罩64的另一端通过螺栓与转接板的上/下端部固定连接；安装板 65呈L型，安装板65一边通过螺栓固定安装在焊接小车68底板63的侧边上，安装板65另一边通过螺栓与风琴防尘罩64固定连接。
位移调整机构(AVC弧压跟踪机构)还包括PLC控制器，电机57和驱动电机11分别通过电缆与PLC控制器连接。位移调整机构通过PLC控制器驱动电机57和驱动电机11的转动。
横向摆动机构30包括壳体13、位于壳体13内的驱动电机11、固定在壳体13上底板的固定座18和滑块15以及固定在壳体13侧壁上的齿条14；壳体13的顶部设有供穿线(供线缆穿过)的通孔21；驱动电机11的驱动端与齿轮12固定连接，齿轮12与固定在壳体13侧壁上的齿条14传动连接，固定座18外套设有套筒19，驱动电机11的固定端与套筒19固定连接，驱动电机11的固定端通过套筒19相对固定座18沿水平向移动，即套筒19套设在固定座18上能够沿着固定座18左右移动，驱动电机11的固定端与套筒19固定连接；滑块15内设有相对滑块15水平向移动的导轨16，导轨16与驱动电机11的固定端固定连接；齿条14一端固定在壳体13的侧壁上，齿条14的另一端设有限位块22；导轨16伸出壳体13外，导轨16伸出壳体13的一端为工具端接口17；工具端接口17外套设有导轨保护壳20，壳体13内还设有位置传感器23，位置传感器23有两个，一前一后沿齿条14的延伸方向设置。传感器23用于检测齿轮12在齿条14上移动的位置，从而得知齿轮12在齿条14上的移动距离。
终端工具连接模块70包括焊枪连接模块116和相机连接模块117；焊枪连接模块116一侧与横向摆动机构30的工具端接口17固定连接，焊枪连接模块116另一侧通过焊枪夹持器34与焊枪39固定连接；相机连接模块117一侧与套设在工具端接口17外的保护壳20固定连接，相机连接模块117另一侧设有相机54；焊枪39和相机54相对横向摆动机构30呈一前一后设置。
其中，焊枪连接模块116一侧通过第一嵌入口26与摆动机构30的工具端接口17固定连接，焊枪连接模块116另一侧通过焊枪夹持器34与焊枪39固定连接，焊枪夹持器34与焊枪39通过转接板28固定连接。
焊枪连接模块116包括固定座I24、固定座II27、固定座III31、连接杆35以及焊枪夹持器34；其中，固定座I24上设有供工具端接口17嵌入的第一嵌入口26和供导杆嵌入的导杆嵌入口25；固定座II27和固定座III31上也设有供导杆嵌入的导杆嵌入口(37,38)；固定座I24、固定座II27和固定座III31均设有用于调节导杆嵌入口内径大小的把手(36,29,32)，固定座II27上固定连有导杆I40，固定座III31上固定连有导杆II33，固定座II27的导杆I40沿水平向嵌入固定座I24的导杆嵌入口I25中，固定座III31的导杆II33沿纵向嵌入固定座II27的导杆嵌入口II37中，连接杆35一端嵌入固定座III31的导杆嵌入口III38中，连接杆35另一端与焊枪夹持器34固定连接。固定座II27的导杆I40嵌入导杆嵌入口I25中，固定座II27的导杆I40能够相对固定座I24的导杆嵌入口I25沿水平向左右移动，当导杆I40移动到需要位置，就通过转动把手I36将导杆I40固定在固定座I24的导杆嵌入口I25中，工具端接口17嵌入固定座I24的第一嵌入口26中，工具端接口17能够相对固定座I24的第一嵌入口26沿水平向左右移动，当工具端接口17在第一嵌入口26中移动到需要位置，就通过转动把手I36将工具端接口17固定在固定座I24的第一嵌入口26中，即转动把手I36同时将工具端接口17固定在固定座I24的第一嵌入口26中以及导杆I40固定在固定座I24的导杆嵌入口I25中；固定座III31的导杆II33相对固定座II27的导杆嵌入口II37沿纵向上下移动，当导杆II33相对导杆嵌入口II37移动到需要位置，就通过转动把手II29将导杆II33固定在固定座II27上，连接杆35相对固定座III31的导杆嵌入口III38沿水平向前后移动，当连接杆35相对导杆嵌入口III38移动到需要位置，就通过转动把手III32将连接杆35固定在固定座III31上。
相机连接模块117包括连接座41、带导杆的第一固定座44、带导杆的第二固定座48、第一连接杆52以及相机安装座53；连接座41上设有U型凹槽43，U型凹槽43两侧的挡板上设有螺栓孔55，套设在工具端接口17外的保护壳20放置在U型凹槽43内，且通过螺栓固定在U型凹槽43内；连接座41、第一固定座44和第二固定座48上均设有嵌入口(42,47,51)，第一固 定座44上固定连有导杆结构46，第二固定座48上固定连有导杆结构50，同时第一固定座44和第二固定座48上还设有用于调节嵌入口(47,51)内径大小的把手结构(45,49)；第一连接杆52一端嵌入第二固定座48的嵌入口51中，第一连接杆52另一端与相机安装座53通过内外螺纹相互配合固定连接；相机54安装在相机安装座53内。导杆结构I46穿过连接座41上的嵌入口I42(通孔结构)，导杆结构I46能够相对嵌入口I42进行前后伸缩移动，并通过保护壳20压在U型凹槽43上的重力将导杆结构I46固定在嵌入口I42内的对应位置；导杆结构II50穿过第一固定座44上的嵌入口II47(通孔结构)，导杆结构II50能够相对嵌入口II47进行水平向左右移动，并通过把手结构I45将导杆结构II50固定在嵌入口II47内的对应位置；第一连接杆52穿过第二固定座48上的嵌入口III51(通孔结构)，第一连接杆52能够相对嵌入口III51进行纵向上下移动，并通过把手结构II49将第一连接杆52固定在嵌入口III51内的对应位置。
终端工具连接模块70中的焊枪连接模块116与横向摆动机构30的水平移动端固定连接，终端工具连接模块70中的相机连接模块117与横向摆动机构30工具端接口17外的保护壳20固定连接，横向摆动机构30通过转接板59沿着支撑板56上下移动，焊枪连接模块116在横向摆动机构30的带动下实现其在水平向的移动，同时通过焊枪连接模块116能够对焊枪39进行三维方向(前后左右上下)上位置的手动调整，并用相机连接模块117上的相机54监视焊接过程的画面和参数。

Claims (10)

  1. 一种焊接移动小车，其特征在于：包括车体、固定在车体上用于驱动车体沿着外部轨道行走的行走机构以及固定在车体上用于调整焊枪纵向及水平向位置的位移调整机构，位移调整机构包括纵向移动机构和横向摆动机构，横向摆动机构的端部连有终端工具连接模块；焊枪通过终端工具连接模块与横向摆动机构固定连接。
  2. 根据权利要求1所述的焊接移动小车，其特征在于：所述行走机构包括设置在焊接小车底板上的定位板、固定在定位板上的驱动机构以及与驱动机构驱动端传动连接的齿轮组，齿轮组与外部轨道上的齿纹传动连接；还包括滚轮机构，滚轮机构包括对称设置的滚轮，焊接小车通过滚轮沿着轨道行走。
  3. 根据权利要求2所述的焊接移动小车，其特征在于：所述齿轮组包括五个依次传动连接的齿轮结构，第一齿轮结构与驱动机构的驱动部固定连接，第二齿轮结构固定在转轴I上，转轴I通过轴承固定在定位板上，第二齿轮结构包括同轴设置的外齿轮和内齿轮，第二齿轮的外齿轮与第一齿轮传动连接，第二齿轮的内齿轮与第三齿轮传动连接，第三齿轮和第四齿轮对称设置在定位板的两侧，第三齿轮和第四齿轮固定在同一转轴II上，转轴II也通过轴承固定在定位板上；第五齿轮包括同轴设置的大齿轮和小齿轮，第四齿轮与第五齿轮的小齿轮传动连接，第五齿轮的大齿轮与外部轨道上的齿纹传动连接；第五齿轮固定在转轴III上，转轴III轴承固定在定位板上。
  4. 根据权利要求2所述的焊接移动小车，其特征在于：所述滚轮机构包括四个滚轮组件，其中两个滚轮组件I包括底座I以及与底座I固定连接的安装座I，滚轮组件I通过安装座I与焊接小车固定连接，滚轮I通过转轴I固定在底座I上，滚轮I相对底座I转动连接；另外两个滚轮组件II包括带滑槽的底座II、与底座II固定连接的安装座II以及嵌入在滑槽内的滑块，滑块相对滑槽前后移动，滚轮II通过转轴II固定在滑块的一个端部，滚轮II相对滑块转动连接、滑块的另一个端部固定有转接块，转接块与带外螺纹的螺杆固定连接；还包括把手结构，把手结构通过轴承结构与安装座II固定连接，把手结构内设有带内螺纹的通孔；滚轮组件II通过安装座II与焊接小车固定连接，把手结构位于安装座II外侧，带外螺纹的螺杆穿过安装座II侧壁上的通孔与把手结构通过内外螺纹相互配合固定连接。
  5. 根据权利要求1所述的焊接移动小车，其特征在于：所述位移调整机构包括纵向移动机构、横向摆动机构以及连接纵向移动机构和横向摆动机构的转接板，所述纵向移动机构包括支撑板以及固定在支撑板一侧的电机，电机的输出轴穿过支撑板与位于支撑板另一侧的齿轮固定连接，支撑板另一侧还设有沿纵向延伸的导轨；转接板与支撑板相对面上设有与齿轮相互配合连接的齿条以及与导轨相互配合连接的滑块，横向摆动机构固定在转接板上，横向摆动机构通过转接板与支撑板滑动连接；横向摆动机构的端部连有终端工具连接模块；所述支撑板在导轨的侧边还设有限位挡块。
  6. 根据权利要求5所述的焊接移动小车，其特征在于：所述位移调整机构还包括两个风琴防尘罩以及分别与两个风琴防尘罩相对应的安装板，两个风琴防尘罩一上一下安装在转接板的上下两侧，风琴防尘罩的一端固定安装在安装板上，风琴防尘罩的另一端与转接板的端部固定连接；安装板呈L型，安装板一边固定在支撑板下端，安装板另一边与风琴防尘罩固定连接。
  7. 根据权利要求5所述的焊接移动小车，其特征在于：所述横向摆动机构包括壳体、位于壳体内的驱动电机、固定在壳体上底板的固定座和滑块以及固定在壳体侧壁上的齿条；驱动电机的驱动端与齿轮固定连接，齿轮与固定在壳体侧壁上的齿条传动连接，固定座外套设有套筒，驱动电机的固定端与套筒固定连接，驱动电机的固定端通过套筒相对固定座沿水平向移动；滑块内设有相对滑块水平向移动的导轨，导轨与驱动电机的固定端固定连接；所述导轨伸出壳体外，导轨伸出壳体的一端为工具端接口；工具端接口外套设有保护壳；所述壳体内还设有位置传感器，位置传感器有两个，一前一后沿齿条的延伸方向设置。
  8. 根据权利要求1所述的焊接移动小车，其特征在于：所述终端工具连接模块包括焊枪连接 模块和相机连接模块；所述焊枪连接模块一侧与横向摆动机构的工具端接口固定连接，焊枪连接模块另一侧通过焊枪夹持器与焊枪固定连接；相机连接模块一侧与套设在工具端接口外的保护壳固定连接，相机连接模块另一侧设有相机。
  9. 根据权利要求8所述的焊接移动小车，其特征在于：所述焊枪连接模块包括固定座I、固定座II、固定座III、连接杆以及焊枪夹持器；其中，所述固定座I上设有供工具端接口嵌入的第一嵌入口和供导杆嵌入的导杆嵌入口；固定座II和固定座III上也设有供导杆嵌入的导杆嵌入口；固定座I、固定座II和固定座III均设有用于调节导杆嵌入口内径大小的把手，固定座II和固定座III上固定连有导杆，固定座II的导杆沿水平向嵌入固定座I的导杆嵌入口中，固定座III的导杆沿纵向嵌入固定座II的导杆嵌入口中，连接杆一端嵌入固定座III的导杆嵌入口中，连接杆另一端与焊枪夹持器固定连接。
  10. 根据权利要求8所述的焊接移动小车，其特征在于：所述相机连接模块包括连接座、带导杆的第一固定座、带导杆的第二固定座、第一连接杆以及相机安装座；所述连接座上设有U型凹槽，U型凹槽两侧的挡板上设有螺栓孔，套设在工具端接口外的保护壳放置在U型凹槽内，且通过螺栓固定在U型凹槽内；所述连接座、第一固定座和第二固定座上均设有嵌入口，第一固定座和第二固定座上还固定连有导杆结构，同时第一固定座和第二固定座上还设有用于调节嵌入口内径大小的把手结构；第一连接杆一端嵌入第二固定座的嵌入口中，第一连接杆另一端与相机安装座固定连接；相机安装在相机安装座内。
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