A compensation connection device for a boiler drum welding robot

Abstract

The present invention relates to the technical field of machines for drum welding, and particularly relates to a compensation connection device for a drum welding robot, which comprises a compliant mechanism and a cylinder; the compliant mechanism includes a mounting plate, a wire feeding assembly, a limiting sleeve and a flexible connecting piece; the mounting plate is respectively provided with a wire feeding assembly and a limiting sleeve on both sides in the thickness direction; the wire feeding assembly has a pulling rope extending to the side of the mounting plate where the limiting sleeve is arranged; one end of the flexible connecting piece is respectively connected with the pulling rope and the positioning shaft of the drum welding robot, and the other end of the flexible connecting piece is a movable end, and the movable end can extend into the limiting sleeve; when the movable end extends into the limiting sleeve, the flexible connecting piece cannot swing; when the movable end extends out of the limiting sleeve, the flexible connecting piece can swing; the movable end of the cylinder is connected with the mounting plate. The present invention can make the axis of the positioning shaft of the robot coincide with the axis of the heat exchange tube to be welded, and ensure the quality of circumferential seam welding.

Description

Technical Field

[0001] The present invention relates to the technical field of machines for drum welding, and particularly to a compensation connection device for a drum welding robot. Background Art

[0002] A drum is a cylindrical pressure vessel used in a water tube boiler for steam-water separation and steam purification, forming a water circulation loop and storing boiler water. The drum is mainly composed of two rigid cylinders with a radius of 0.5 m to 1.2 m and thousands of heat exchange tubes with a radius of 44 mm to 55 mm. Since the connection between the drum and the heat exchange tubes must be completely sealed, circumferential welding needs to be carried out along the outer wall of the heat exchange tubes inside the drum. Traditional manual welding requires multiple welders to take turns to weld one by one inside the rigid cylinder. This method not only consumes a lot of manpower and has low efficiency, but also has many restrictive conditions. In order to improve the welding efficiency, robot welding is therefore adopted.

[0003] When using a robot for welding inside the drum, the difficulty lies in accurately positioning the tube holes at different positions. During the welding process, the robot needs to first move the positioning shaft and then insert the positioning shaft into the heat exchange tube to be welded, and perform circumferential welding with the axis of the positioning shaft as the center of the circumferential seam of the welding torch. However, in the curved surface space inside the drum, it is impossible to ensure that each heat exchange tube is perpendicular to the inner wall of the curved surface, and there is a certain deviation. As a result, after multiple positionings, due to the accumulation of errors, the axis of the positioning shaft of the robot cannot coincide with the axis of the heat exchange tube, causing the positioning shaft to become stuck or the center of the circumferential seam of the welding torch to shift, resulting in situations such as incomplete fusion or missed welding in robot welding. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a compensation connection device for a drum welding robot, which can make the axis of the positioning shaft of the robot coincide with the axis of the heat exchange tube to be welded and ensure the quality of circumferential welding.

[0005] To solve the above technical problem, the technical solution adopted by the present invention is: a compensation connection device for a drum welding robot, including a compliant mechanism and a cylinder; the compliant mechanism includes a mounting plate, a wire feeding assembly, a limit sleeve and a flexible connecting piece;

[0006] The wire feeding assembly and the limit sleeve are respectively arranged on both sides of the mounting plate along the thickness direction; the wire feeding assembly has a pulling rope extending to the side of the mounting plate where the limit sleeve is arranged;

[0007] One end of the flexible connecting piece is respectively connected to the pulling rope and the positioning shaft of the drum welding robot, and the other end of the flexible connecting piece is a movable end, and the movable end can extend into the limit sleeve;

[0008] When the movable end extends into the limit sleeve, the flexible connecting piece cannot swing; when the movable end extends out of the limit sleeve, the flexible connecting piece can swing;

[0009] The movable end of the cylinder is connected to the mounting plate.

[0010] The beneficial effects of the present invention are as follows: The compliant mechanism is connected to the positioning shaft of the drum welding robot. During the positioning process, the movable end is driven by the cylinder to make the compliant mechanism and the positioning shaft approach the heat exchange tube to be welded. Then, the wire feeding assembly releases the pulling rope, so that the flexible connecting piece and the positioning shaft continue to move towards the heat exchange tube to be welded under the action of gravity. After the movable end of the flexible connecting piece extends out of the limit sleeve, the positioning shaft uses the swing of the flexible connecting piece to perform deviation correction compensation, so that the axis of the positioning shaft coincides with the axis of the heat exchange tube to be welded, so as to ensure the circumferential seam welding quality of the heat exchange tube by the drum welding robot. Description of the Drawings

[0011] Figure 1 It is a structural schematic diagram of the application scenario of a compensation connection device of a drum welding robot in a specific embodiment of the present invention;

[0012] Figure 2 is Figure 1 An enlarged view of part A of a compensation connection device of a drum welding robot;

[0013] Label Description:

[0014] 1. Compliant mechanism; 11. Mounting plate; 111. Through hole; 112. Traction wheel;

[0015] 12. Wire feeding assembly; 121. Pulling rope; 122. Motor; 123. Wire winding shaft;

[0016] 13. Limit sleeve;

[0017] 14. Flexible connecting piece; 141. End cover; 142. Tensile spring; 143. Connecting rod;

[0018] 2. Cylinder; 3. Threading ring; 4. First helical gear; 5. Second helical gear; 6. Positioning shaft. Specific Embodiments

[0019] To describe the technical content, achieved objectives and effects of the present invention in detail, the following is described in conjunction with the embodiments and with reference to the drawings.

[0020] Please refer to Figure 1 and Figure 2 As shown, a compensation connection device of a drum welding robot of the present invention includes a compliant mechanism 1 and a cylinder 2; the compliant mechanism 1 includes a mounting plate 11, a wire feeding assembly 12, a limit sleeve 13 and a flexible connecting piece 14;

[0021] On both sides of the mounting plate 11 in the thickness direction, a wire feeding assembly 12 and a limiting sleeve 13 are respectively arranged; the wire feeding assembly 12 has a pulling rope 121 extending to the side of the mounting plate 11 where the limiting sleeve 13 is arranged;

[0022] One end of the flexible connecting piece 14 is respectively connected to the pulling rope 121 and the positioning shaft 6 of the drum welding robot, and the other end of the flexible connecting piece 14 is a movable end, and the movable end can extend into the limiting sleeve 13;

[0023] When the movable end extends into the limiting sleeve 13, the flexible connecting piece 14 cannot swing; when the movable end extends out of the limiting sleeve 13, the flexible connecting piece 14 can swing;

[0024] The movable end of the cylinder 2 is connected to the mounting plate 11.

[0025] From the above description, it can be seen that the beneficial effect of the present invention is that the compliant mechanism 1 is connected to the positioning shaft 6 of the drum welding robot. During the positioning process, the movable end is driven by the cylinder 2 to move, so that the compliant mechanism 1 and the positioning shaft 6 approach the heat exchange tube to be welded. Then, the wire feeding assembly 12 releases the pulling rope 121, so that the flexible connecting piece 14 and the positioning shaft 6 continue to move towards the heat exchange tube to be welded under the action of gravity. After the movable end of the flexible connecting piece 14 extends out of the limiting sleeve 13, the positioning shaft 6 can perform deviation correction compensation by using the swing of the flexible connecting piece 14, so that the axis of the positioning shaft 6 coincides with the axis of the heat exchange tube to be welded, so as to ensure the circumferential seam welding quality of the heat exchange tube by the drum welding robot.

[0026] Please refer to Figure 1 and Figure 2 As shown, further, the wire feeding assembly 12 further includes a motor 122 and a wire winding shaft 123; the wire winding shaft 123 is in transmission connection with the output end of the motor 122, and the pulling rope 121 is wound around the wire winding shaft 123.

[0027] From the above description, it can be seen that driving the wire winding shaft 123 to rotate by the motor 122 can quickly retract and release the pulling rope 121, so as to effectively control the movable end of the flexible connecting piece 14 to enter and exit the limiting sleeve.

[0028] Please refer to Figure 2 As shown, further, the mounting plate 11 is provided with a through hole 111 for the pulling rope 121 to pass through.

[0029] From the above description, it can be seen that the mounting plate 11 is provided with the through hole 111 for the pulling rope 121 to pass through, which can reduce the usage amount of the pulling rope 121.

[0030] Please refer to Figure 2As shown, further, a traction wheel 112 is provided on one side of the mounting plate 11 where the wire feeding assembly 12 is arranged. The traction wheel 112 is close to the through hole 111, and the pulling rope 121 contacts the wheel surface of the traction wheel 112.

[0031] As can be seen from the above description, the traction wheel 112 supports the pulling rope 121, so that the pulling rope 121 does not contact the mounting plate 11, avoiding friction between the pulling rope 121 and the mounting plate 11 during the process of winding and unwinding the wire by the wire feeding assembly 12.

[0032] Please refer to Figure 2 As shown, further, the flexible connecting member 14 includes an end cap 141, a tension spring 142 and a connecting rod 143; the end cap 141 is connected to one end of the tension spring 142, the other end of the tension spring 142 is connected to the connecting rod 143, the tension spring 142 can extend into the limit sleeve 13, the rod body of the connecting rod 143 is connected to the pulling rope 121, and the end of the connecting rod 143 away from the tension spring 142 is welded to the positioning shaft 6 of the drum welding robot.

[0033] As can be seen from the above description, since the tension spring 142 will bend when subjected to a radial force, when the positioning shaft 6 connected by the connecting rod 143 extends into the heat exchange tube to be welded, the positioning shaft 6 can perform self-aligning compensation through the bending of the tension spring 142, and then make the axis of the positioning shaft 6 coincide with the axis of the heat exchange tube to be welded.

[0034] Further, the end cap 141 is slidably connected to the limit sleeve 13 relatively.

[0035] As can be seen from the above description, the relative sliding connection between the end cap 141 and the limit sleeve 13 can facilitate the tension spring 142 to smoothly enter the limit sleeve 13 when the wire feeding assembly 12 retracts the pulling rope 121.

[0036] Further, a chamfer is provided at one end of the positioning shaft 6 away from the flexible connecting member 14.

[0037] As can be seen from the above description, providing a chamfer on the positioning shaft 6 can facilitate the positioning shaft 6 to extend into the heat exchange tube to be welded for positioning.

[0038] An application scenario of a compensating connection device of a boiler drum welding robot of the present invention: when it is necessary to accurately extend the positioning shaft 6 into the heat exchange tube to be welded, the flexible mechanism 1 is connected to the positioning shaft 6 of the boiler drum welding robot. During the positioning process, the cylinder 2 drives the movable end to move the flexible mechanism 1 and the positioning shaft 6 close to the heat exchange tube to be welded, and then the wire feeding assembly 12 is used to release the pull rope 121, so that the flexible connector 14 and the positioning shaft 6 continue to move toward the heat exchange tube to be welded under the action of gravity. After the movable end of the flexible connector 14 extends out of the limit sleeve 13, the positioning shaft 6 utilizes the swing of the flexible connector 14, and the positioning shaft 6 can perform deviation correction compensation, so that the axis of the positioning shaft 6 coincides with the axis of the heat exchange tube to be welded, so as to ensure the circumferential seam welding quality of the heat exchange tube by the boiler drum welding robot.

[0039] Embodiment 1

[0040] A compensation connection device for a drum welding robot, please refer to Figure 1 and Figure 2 As shown, it includes a compliant mechanism 1 and a cylinder 2; the compliant mechanism 1 includes a mounting plate 11, a wire feeding assembly 12, a limiting sleeve 13 and a flexible connector 14; the mounting plate 11 is provided with a wire feeding assembly 12 and a limiting sleeve 13 on both sides along the thickness direction; the wire feeding assembly 12 has a pull rope 121 extending to the side of the mounting plate 11 where the limiting sleeve 13 is provided; one end of the flexible connector 14 is respectively connected with the pull rope 121 and the positioning shaft 6 of the drum welding robot, and the other end of the flexible connector 14 is a movable end, which can be extended into the limiting sleeve 13; when the movable end is extended into the limiting sleeve 13, the flexible connector 14 cannot swing; when the movable end extends out of the limiting sleeve 13, the flexible connector 14 can swing; the movable end of the cylinder 2 is connected to the mounting plate 11. The wire feeding assembly 12 further includes a motor 122 and a winding shaft 123 ; the winding shaft 123 is drivingly connected to the output end of the motor 122 , and the pull rope 121 is wound on the winding shaft 123 .

[0041] Please refer to Figure 2 As shown, the mounting plate 11 is provided with a through hole 111 for the pull rope 121 to pass through. A traction wheel 112 is provided on one side of the mounting plate 11 where the wire feeding assembly 12 is provided, and the traction wheel 112 is close to the through hole 111, and the pull rope 121 contacts the wheel surface of the traction wheel 112.

[0042] Please refer to Figure 2As shown, the flexible connecting member 14 includes an end cap 141, a tension spring 142, and a connecting rod 143; the end cap 141 is connected to one end of the tension spring 142, the other end of the tension spring 142 is connected to the connecting rod 143, the tension spring 142 can extend into the limit sleeve 13, the rod body of the connecting rod 143 is connected to the pull rope 121, and the end of the connecting rod 143 away from the tension spring 142 is welded to the positioning shaft 6 of the drum welding robot. The end cap 141 is slidably connected to the limit sleeve 13 relatively.

[0043] A chamfer is provided at one end of the positioning shaft 6 away from the flexible connecting member 14.

[0044] Working principle: When the positioning shaft 6 needs to be inserted into the heat exchange tube to be welded, the cylinder 2 is used to drive the moving end to act, so that the compliant mechanism 1 and the positioning shaft 6 approach the heat exchange tube to be welded. Then, the motor 122 of the wire feeding assembly 12 drives the wire winding shaft 123 to rotate and release the pull rope 121, so that the flexible connecting member 14 and the positioning shaft 6 continue to move towards the heat exchange tube to be welded under the action of gravity. When the tension spring 142 withdraws from the limit sleeve 13, since the tension spring 142 will bend when subjected to a radial force, when the positioning shaft 6 connected to the connecting rod 143 is inserted into the heat exchange tube to be welded, the positioning shaft 6 can perform self-aligning compensation through the bending of the tension spring 142, so that the axis of the positioning shaft 6 coincides with the axis of the heat exchange tube to be welded.

[0045] After the welding is completed, the motor 122 drives the wire winding shaft 123 to reverse, retracts the pull rope 121, so that the positioning shaft 6 withdraws from the heat exchange tube, and at the same time, the tension spring 142 enters the limit sleeve 13 under the guidance of the end cap 141, so that the tension spring 142 cannot bend. Therefore, after the drum welding robot swings the positioning shaft 6 by a certain angle and makes the positioning shaft 6 face the nozzle of another heat exchange tube to be welded, the positioning shaft 6 will not move under the influence of gravity.

[0046] Embodiment 2

[0047] In this embodiment, on the basis of Embodiment 1, the connection mechanism of the wire feeding assembly 12 to the flexible connecting member 14 is further defined:

[0048] Please refer to Figure 2 As shown, four wire threading rings 3 are evenly distributed along the circumferential direction on the rod body of the connecting rod 143; the motor 122 is a double-shaft motor, and first bevel gears 4 are respectively arranged on the two output shafts of the double-shaft motor; the number of wire winding shafts 123 is two, and a second bevel gear 5 meshing with the first bevel gear 4 is arranged at one end of the wire winding shaft 123; the number of pull ropes 121 is two, one pull rope 121 passes through two adjacent wire threading rings 3, and the other pull rope 121 passes through the other two wire threading rings 3, and both ends of the pull rope 121 are wound on the wire winding shaft 123.

[0049] The above are only embodiments of the present invention, and do not thereby limit the patent scope of the present invention. Any equivalent transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in the relevant technical fields, shall equally be included within the patent protection scope of the present invention.

Claims

1. A compensation connection device for a drum welding robot, characterized in that: It includes a compliant mechanism and a cylinder; the compliant mechanism includes a mounting plate, a wire feeding assembly, a limiting sleeve and a flexible connecting piece; The mounting plate is respectively provided with a wire feeding assembly and a limiting sleeve on both sides in the thickness direction; the wire feeding assembly has a pulling rope extending to the side of the mounting plate where the limiting sleeve is arranged; The wire feeding assembly further includes a motor and a wire winding shaft; the wire winding shaft is in transmission connection with the output end of the motor, and the pulling rope is wound around the wire winding shaft; One end of the flexible connecting piece is respectively connected to the pulling rope and the positioning shaft of the drum welding robot, and the other end of the flexible connecting piece is a movable end, and the movable end can extend into the limiting sleeve; The flexible connecting piece includes an end cover, a tension spring and a connecting rod; the end cover is connected to one end of the tension spring, the other end of the tension spring is connected to the connecting rod, the tension spring can extend into the limiting sleeve, the rod body of the connecting rod is connected to the pulling rope, and the end of the connecting rod away from the tension spring is connected to the positioning shaft of the drum welding robot; When the movable end extends into the limiting sleeve, the flexible connecting piece cannot swing; when the movable end extends out of the limiting sleeve, the flexible connecting piece can swing; The movable end of the cylinder is connected to the mounting plate.

2. The compensation connection device for a drum welding robot according to claim 1, characterized in that: A through hole for the pulling rope to pass through is provided on the mounting plate.

3. The compensation connection device for a drum welding robot according to claim 2, characterized in that: A traction wheel is arranged on the side of the mounting plate where the wire feeding assembly is arranged. The traction wheel is close to the through hole, and the pulling rope contacts the wheel surface of the traction wheel.

4. The compensation connection device for a drum welding robot according to claim 1, characterized in that: The end cover is in relative sliding connection with the limiting sleeve.

5. The compensation connection device for a drum welding robot according to claim 1, characterized in that: A chamfer is provided at the end of the positioning shaft away from the flexible connecting piece.

Images