A welding robot for double T beams and its welding process

Abstract

The present invention belongs to the technical field of welding equipment, and in particular to a double T-beam welding robot and a welding process thereof; the present invention comprises: a base, on which a rotating base is connected; a control box, mounted on the rotating base; a fixed arm, fixedly mounted on the rotating base; a first rotating arm, rotatably connected to the fixed arm; a second rotating arm, rotatably connected to the first rotating arm; the second rotating arm is provided with a long groove along its length direction, in which a movable conveying arm mechanism is connected, and the conveying arm mechanism can rotate in any direction; a welding assembly, which is mounted on the conveying arm mechanism, and the conveying arm mechanism drives the welding assembly to move; the present invention solves the problems of low degree of freedom and small range of motion of existing welding robots by providing a long groove on the second rotating arm, in which a conveying arm mechanism is connected, and the conveying arm mechanism can drive the welding assembly to move along its surface, and the conveying arm mechanism can be stored under the long groove.

Description

Technical Field

[0001] The invention relates to the technical field of welding equipment, and in particular to a welding robot for a double T-beam and a welding process thereof. Background Art

[0002] The combination of steel tube concrete column + double T-beam in the water plant gives full play to the respective advantages of steel tube concrete and prestressed concrete. It is a combination form with significant economic benefits and high assembly efficiency. It has many advantages and is a commonly used stable structure in water plants. Among them, in the production and processing of double T-beam welded structure workpieces, large-scale welding equipment is usually manually controlled to weld the workpieces. However, in some specific welding positions of the workpiece, large welding equipment is inconvenient to weld. Therefore, smaller welding robots are often used to weld double T-beams.

[0003] Current micro welding machines use at least three rotating arm structures with three degrees of freedom to meet the basic three-dimensional spatial direction movement. However, the motion range of the welding robot with three rotating arms is relatively small. If the degrees of freedom need to be increased, the number of rotating arms needs to be increased, thereby increasing the volume occupied by the welding robot. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides a double T-beam welding robot and a welding process thereof. By connecting a conveying arm mechanism to the second rotating arm, the welding assembly can move on the conveying arm mechanism, thereby increasing the welding range of the welding robot, aiming to solve the problems in the background technology.

[0005] In order to achieve the above technical objectives, the specific technical scheme of the present invention is as follows: a double T-beam welding robot proposed in the present invention includes: a base, a rotating base is connected to the base; a control box is installed on the rotating base; a fixed arm is fixedly installed on the rotating base; a first rotating arm is rotatably connected to the fixed arm; a second rotating arm is rotatably connected to the first rotating arm; the second rotating arm is provided with a long groove along its length direction, a movable conveying arm mechanism is connected in the long groove, and the conveying arm mechanism can rotate in any direction; a welding assembly is installed on the conveying arm mechanism, and the conveying arm mechanism drives the welding assembly to move.

[0006] As a preferred technical solution of the present invention, the conveying arm mechanism includes: a first slide, which is slidably connected in the long groove; a conveying frame, which is connected to a conveyor belt, and the conveyor belt is fixedly connected to a second slide, and the welding assembly is installed on the second slide.

[0007] As a preferred technical solution of the present invention, a pair of conveying rollers cooperating with the conveyor belt are connected to both ends of the conveying frame, and a second driving motor for driving the conveying rollers to rotate is installed on the conveying frame; and a second slide rail slidably connected to the second slide seat is provided on the surface of the conveying frame.

[0008] As a preferred technical solution of the present invention, a rotating frame is rotatably connected to the first slide, the conveying frame is rotatably connected to the rotating frame, and a first rotating motor is installed on the rotating frame, the first rotating motor is used to drive the conveying frame to rotate in a vertical direction, and the rotating frame is installed with an angle sensor for sensing the angle between the conveying frame and the vertical direction; and a second rotating motor is installed on the first slide, the second rotating motor is used to drive the rotating frame to rotate in a horizontal direction.

[0009] As a preferred technical solution of the present invention, a transmission belt is connected to the long groove, the first slide is fixedly connected to the transmission belt, and the inner wall of the long groove is provided with a first slide rail slidably connected to the first slide; the two ends of the long groove are respectively connected to a transmission roller and a transmission wheel that cooperate with the transmission belt, and the second rotating arm is equipped with a first driving motor for driving the transmission roller to rotate.

[0010] As a preferred technical solution of the present invention, the welding assembly comprises: a rotating frame on which a welding gun is installed; and a micro motor for driving the rotating frame to rotate horizontally is installed on the first slide.

[0011] As a preferred technical solution of the present invention, a pressure sensing component is installed on the rotating frame, and the pressure sensing component includes: a bracket, which is fixedly connected to the rotating frame; a support plate is fixedly connected to the lower end of the bracket, a movable slider is connected to the support plate, a pressure sensor is installed on the slider, and a push rod is connected to the pressure sensor, and a contact block is installed at one end of the push rod for contacting the surface of the double T-beam.

[0012] As a preferred technical solution of the present invention, a stopper is fixedly connected to one end of the support plate, a slide rod slidably connected to the stopper is fixedly connected to the slider, a cylindrical spring is connected to the surface of the slide rod; and a ball bearing is installed on the contact block.

[0013] A double T-beam welding process comprises the following steps:

[0014] Step 1: After the position of the double T-beam is fixed, the welding gun is driven to move to the double T-beam welding position through the cooperation of the first rotating arm, the second rotating arm and the conveying arm mechanism, and the conveying arm mechanism is kept parallel to the double T-beam, and the pressure sensing component is in contact with the surface of the double T-beam;

[0015] Step 2: The conveyor belt drives the welding gun to move linearly along the surface of the double T-beam, and the surface of the double T-beam is welded linearly and continuously, and the pressure sensing component moves on the surface of the double T-beam at the same time;

[0016] Step 3: Through the value change of the pressure sensor on the pressure sensing component, the parallelism between the conveying arm mechanism and the double T-beam can be fine-tuned to ensure that the welding gun maintains contact with the surface of the double T-beam during movement.

[0017] The beneficial effects of the present invention are:

[0018] 1. The present invention provides a long groove on the second rotating arm, a conveying arm mechanism is connected in the long groove, the welding assembly is installed on the conveying arm mechanism, and the conveying arm mechanism can drive the welding assembly to move along its surface, and the conveying arm mechanism can be stored under the long groove, so that the present invention does not affect the occupied space of the welding robot under the condition of adding a conveying arm mechanism. Compared with the existing rotating arm structure, the conveying arm mechanism controls the movement range of the welding assembly to be wider and occupies less space.

[0019] 2. The conveying arm mechanism of the present invention can be adjusted to be parallel to the X-axis, the Y-axis, and the Z-axis respectively, so as to meet the requirements of linear welding of double T-beams in different directions. The conveying arm mechanism is provided with a conveyor belt and a conveyor frame. When the conveyor belt moves, it can drive the linear movement of the welding assembly, and does not require the complicated movement coordination of other rotating arms, thereby ensuring continuous welding of the double T-beams in the linear direction.

[0020] 3. The present invention connects a pressure-sensing component to the welding component. During the welding process, the pressure-sensing component maintains contact with the surface of the double T-beam. During continuous welding of the double T-beam in a straight line direction, the pressure between the pressure-sensing component and the double T-beam can be changed to fine-tune the parallelism between the conveying arm mechanism and the surface of the double T-beam, thereby ensuring the contact degree between the welding gun and the surface of the double T-beam and making the welding of the double T-beam more precise. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is an overall schematic diagram of the conveying arm mechanism of the present invention when it is parallel to the X-axis.

[0022] Figure 2 It is an overall schematic diagram of the conveying arm mechanism of the present invention when it is parallel to the Y axis.

[0023] Figure 3 It is an overall schematic diagram of the conveying arm mechanism of the present invention when it is parallel to the Z axis.

[0024] Figure 4 This is a schematic structural diagram of the second rotating arm and conveying arm mechanism and welding assembly proposed in the present invention.

[0025] Figure 5 It is a structural schematic diagram of the conveying arm mechanism and welding assembly proposed in the present invention.

[0026] Figure 6 for Figure 5 Schematic diagram from another angle.

[0027] Figure 7 This is a schematic structural diagram of the welding assembly proposed in the present invention.

[0028] In the figure: 1, base; 2, rotating seat; 3, fixed arm; 4, first rotating arm; 5, second rotating arm; 501, long slot; 502, transmission roller; 503, first driving motor; 504, transmission wheel; 505, transmission belt; 506, first slide rail; 6, conveying arm mechanism; 601, first slide; 602, rotating frame; 603, conveying frame; 604, conveying belt; 605, second driving motor; 606, first rotating motor; 607, angle sensor; 608, first Two rotating motors; 609, conveying roller; 610, second slide; 611, micro motor; 612, second slide rail; 7, welding assembly; 701, welding gun; 702, rotating frame; 703, pressure sensing assembly; 7030, sliding rod; 7031, bracket; 7032, support plate; 7033, stopper; 7034, slider; 7035, push rod; 7036, pressure sensor; 7037, contact block; 7038, ball; 7039, cylindrical spring; 8, control box. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0030] Embodiment: This embodiment discloses a double T-beam welding robot, such as Figure 1-Figure 7 As shown, it includes: a base 1, a rotating base 2 is connected to the base 1, and the rotating base 2 can rotate automatically; a control box 8 is installed on the rotating base 2, and the control box 8 is used to control the movement of various component structures of the robot; a fixed arm 3 is fixedly installed on the rotating base 2; a first rotating arm 4 is rotatably connected to the fixed arm 3; a second rotating arm 5 is rotatably connected to the first rotating arm 4, wherein the first rotating arm 4 and the second rotating arm 5 can both rotate automatically, which are all prior arts; the second rotating arm 5 is a cylindrical structure, and the second rotating arm 5 is provided with a long groove 501 along its length direction, the long groove 501 is a U-shaped structure, and a movable conveying arm mechanism 6 is connected in the long groove 501; a welding assembly 7 is installed on the conveying arm mechanism 6, and the conveying arm mechanism 6 drives the welding assembly 7 to move; wherein the conveying arm mechanism 6 can rotate in any direction; as shown Figure 1-Figure 3 As shown, it is a schematic diagram of the conveying arm mechanism 6 being parallel to the X-axis, Y-axis, and Z-axis respectively. By connecting the conveying arm mechanism 6 to the second rotating arm 5, a degree of freedom of the welding robot is increased, and the conveying arm mechanism 6 has the following advantages relative to the existing rotating arm: the welding assembly 7 can move on the conveying arm mechanism 6, thereby increasing the welding range of the welding assembly 7 and making it more flexible to use, and the conveying arm mechanism 6 can be stored inside or below the long slot 501, so that the welding robot in this embodiment has an increased degree of freedom without affecting the size of the occupied space.

[0031] Preferably, a transmission belt 505 is connected in the long slot 501, which is used to drive the conveying arm mechanism 6 to move in the long slot 501. Two transmission belts 505 are provided, and transmission rollers 502 and transmission wheels 504 cooperating with the transmission belts 505 are respectively connected at both ends of the long slot 501. One transmission roller 502 corresponds to two transmission wheels 504, and the transmission wheels 504 are arranged at the end of the long slot 501. A first driving motor 503 for driving the transmission roller 502 to rotate is installed on the second rotating arm 5; the transmission belt 505 is driven to move by the first driving motor 503, and the transmission belt 505 drives the conveying arm mechanism 6 to move in the long slot 501, and the overall length of the conveying arm mechanism 6 and the second rotating arm 5 can be adjusted; in specific implementation: when the conveying arm mechanism 6 moves to the end of the long slot 501, the overall length of the conveying arm mechanism 6 and the second rotating arm 5 is the largest; when the conveying arm mechanism 6 moves to the beginning of the long slot 501, the overall length of the conveying arm mechanism 6 and the second rotating arm 5 is the smallest, and at this time the conveying arm mechanism 6 is in a storage state, which does not affect the volume occupied by the robot.

[0032] like Figure 4-Figure 6 As shown, the conveying arm mechanism 6 includes: a first slide 601, the first slide 601 is slidably connected in the long groove 501, and the first slide 601 is fixedly connected to the single-layer transmission belt 505, and the inner wall of the long groove 501 is provided with a first slide rail 506 slidably connected to the first slide 601, so that the first slide 601 slides stably in the long groove 501; a conveying frame 603, the conveying frame 603 is connected to the conveying belt 604, the conveying belt 604 is fixedly connected to the second slide 610, and the welding assembly 7 is installed on the second slide 610, wherein the two ends of the conveying frame 603 are connected to a pair of The conveying roller 609 and the conveying frame 603 are equipped with a second driving motor 605 for driving the conveying roller 609 to rotate; and the surface of the conveying frame 603 is provided with a second slide rail 612 which is slidably connected to the second slide seat 610; the second driving motor 605 drives the conveyor belt 604 to move, drives the second slide seat 610 to slide along the first slide rail 506, and then drives the welding component 7 to move in a straight line, so as to be able to continuously weld the double T-beam in the straight line direction. Compared with the existing welding robot, it does not require the complex movement coordination of other rotating arms to meet the straight line movement of the welding component 7, and the welding process is more convenient and easy to operate.

[0033] Preferably, a rotating frame 602 is rotatably connected to the first slide 601, and one end side of the conveying frame 603 is rotatably connected to the rotating frame 602, and a first rotating motor 606 is installed on the rotating frame 602, and the first rotating motor 606 is used to drive the conveying frame 603 to rotate in the vertical direction, thereby changing the overall vertical angle of the conveying arm mechanism 6, and the rotating frame 602 is installed with an angle sensor 607 for sensing the angle between the conveying frame 603 and the vertical direction, and the angle sensor 607 is electrically connected to the control box 8; and the first slide 601 is installed with The second rotating motor 608 is used to drive the rotating frame 602 to rotate in the horizontal direction, and then drive the conveying frame 603 to rotate horizontally; in this embodiment, the first rotating motor 606 and the second rotating motor 608 respectively drive the conveying frame to rotate in the vertical direction and in the horizontal direction, so as to adjust the conveying arm mechanism 6 in any direction, and then adjust the relative position of the conveying frame 603 and the double T-beam, so that the conveying frame 603 can remain parallel to the double T-beam, so as to facilitate the continuous welding of the double T-beam in the straight line direction by the welding assembly 7.

[0034] like Figure 7 As shown, the welding assembly 7 includes: a rotating frame 702, the rotating frame 702 is a Z-shaped structure, and a welding gun 701 is installed on the rotating frame 702; and a micro motor 611 for driving the rotating frame 702 to rotate horizontally is installed on the first slide 601, and the direction of the welding gun 701 can be changed by the micro motor 611 to cooperate with any movement of the conveying arm mechanism 6; wherein, a pressure sensing assembly 703 is installed on the rotating frame 702, and the pressure sensing assembly 703 includes: a bracket 7031, and the bracket 7031 is fixedly connected to the rotating frame 702; a support plate 7032 is fixedly connected to the lower end of the bracket 7031, and a movable slider 7034 is connected to the support plate 7032, and a pressure sensor 7036 is installed on the slider 7034, and a push rod 7035 is connected to the pressure sensor 7036, and a contact block 7037 is installed at one end of the push rod 7035 for contacting with the double The T-beam surface is in contact, and the pressure sensor 7036 is used to sense the pressure between the contact block 7037 and the surface of the double T-beam. When the welding assembly 7 is welding the double T-beam in a straight line and continuously, the parallelism between the conveying arm mechanism 6 and the double T-beam can be judged by the pressure change of the pressure sensor 7036, so as to timely correct the angle of the conveying arm mechanism 6; a stopper 7033 is fixedly connected to one end of the support plate 7032, and a slide bar 7030 slidably connected to the stopper 7033 is fixedly connected to the slider 7034, and a cylindrical spring 7039 is connected to the surface of the slide bar 7030, and the cylindrical spring 7039 can keep the contact block 7037 and the double T-beam in contact at all times; wherein, a ball 7038 is installed on the contact block 7037, and the ball 7038 can roll in any direction on the surface of the double T-beam to reduce the friction between the contact block 7037 and the double T-beam.

[0035] During specific implementation: when the double T-beam is welded continuously in a straight line, the second rotating arm 5 remains in a horizontal state, the conveying arm mechanism 6 and the double T-beam remain parallel, and the conveyor belt 604 drives the welding assembly 7 to move in a straight line. During the movement, the welding gun 701 continuously welds the surface of the double T-beam, and at the same time, the ball 7038 rolls on the surface of the double T-beam. The parallelism between the conveying arm mechanism 6 and the double T-beam can be determined by the value change of the pressure sensor 7036. If the value change of the pressure sensor 7036 exceeds the preset value, it indicates that the parallelism between the conveying arm mechanism 6 and the double T-beam is poor. The control box 8 controls the second rotating motor 608 to drive the conveying frame 603 to rotate slightly in the horizontal direction, and fine-tune the parallelism between the conveying arm mechanism 6 and the double T-beam to ensure that the contact position of the welding gun 701 with the double T-beam is appropriate during the movement, thereby improving the welding accuracy of the double T-beam.

[0036] A double T-beam welding process, based on the above-mentioned welding robot, comprises the following steps:

[0037] Step 1: After the position of the double T-beam is fixed, the welding gun 701 is driven to move to the double T-beam welding position through the cooperation of the first rotating arm 4, the second rotating arm 5, and the conveying arm mechanism 6, and the conveying arm mechanism 6 is kept parallel to the double T-beam, and the pressure sensing component 703 is in contact with the surface of the double T-beam;

[0038] Step 2: The conveyor belt 604 drives the welding gun 701 to move linearly along the surface of the double T beam, and performs linear continuous welding on the surface of the double T beam, while the pressure sensing component 703 moves on the surface of the double T beam;

[0039] Step 3: Through the value change of the pressure sensor 7036 on the pressure sensing component 703, the parallelism between the conveying arm mechanism 6 and the double T-beam can be fine-tuned to ensure that the welding gun 701 maintains contact with the surface of the double T-beam during the movement.

[0040] Finally, it should be noted that in the description of the present invention, it should be noted that the terms "vertical", "up", "down", "horizontal", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0041] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A double T-beam welding robot, characterized in that: include: A base (1), the base (1) being connected to a rotating base (2); A control box (8) mounted on the rotating seat (2); A fixed arm (3) fixedly mounted on the rotating seat (2); A first rotating arm (4) rotatably connected to the fixed arm (3); A second rotating arm (5) rotatably connected to the first rotating arm (4); The second rotating arm (5) is provided with a long slot (501) along its length direction, a movable conveying arm mechanism (6) is connected in the long slot (501), and the conveying arm mechanism (6) can rotate in any direction; The welding assembly (7) is mounted on the conveying arm mechanism (6), and the conveying arm mechanism (6) drives the welding assembly (7) to move; The conveying arm mechanism (6) comprises: a first slide seat (601), the first slide seat (601) being slidably connected in the long groove (501); A conveying frame (603), the conveying frame (603) is connected to a conveying belt (604), a second slide seat (610) is fixedly connected to the conveying belt (604), and the welding assembly (7) is mounted on the second slide seat (610); A pair of conveying rollers (609) cooperating with the conveying belt (604) are connected to both ends of the conveying frame (603); a second driving motor (605) for driving the conveying rollers (609) to rotate is installed on the conveying frame (603); and a second slide rail (612) slidably connected to the second slide seat (610) is provided on the surface of the conveying frame (603); The first slide (601) is rotatably connected to a rotating frame (602), the conveying frame (603) is rotatably connected to the rotating frame (602), and a first rotating motor (606) is installed on the rotating frame (602), the first rotating motor (606) is used to drive the conveying frame (603) to rotate in a vertical direction, and the rotating frame (602) is installed with an angle sensor (607) for sensing the angle between the conveying frame (603) and the vertical direction; and a second rotating motor (608) is installed on the first slide (601), the second rotating motor (608) is used to drive the rotating frame (602) to rotate in a horizontal direction; A transmission belt (505) is connected inside the long groove (501), the first slide seat (601) is fixedly connected to the transmission belt (505), and the inner wall of the long groove (501) is provided with a first slide rail (506) slidably connected to the first slide seat (601); a transmission roller (502) and a transmission wheel (504) matched with the transmission belt (505) are respectively connected to the two ends of the long groove (501), and a first driving motor (503) for driving the transmission roller (502) to rotate is installed on the second rotating arm (5).

2. A double T-beam welding robot according to claim 1, characterized in that: The welding assembly (7) comprises: a rotating frame (702) on which a welding gun (701) is mounted; and the second sliding seat (610) is mounted with a micro motor (611) for driving the rotating frame (702) to rotate horizontally.

3. A double T-beam welding robot according to claim 2, characterized in that: A pressure sensing component (703) is installed on the rotating frame (702), and the pressure sensing component (703) comprises: a bracket (7031), the bracket (7031) is fixedly connected to the rotating frame (702); a support plate (7032) is fixedly connected to the lower end of the bracket (7031), a movable slider (7034) is connected to the support plate (7032), a pressure sensor (7036) is installed on the slider (7034), a push rod (7035) is connected to the pressure sensor (7036), and a contact block (7037) is installed at one end of the push rod (7035) for contacting the surface of the double T beam.

4. A double T-beam welding robot according to claim 3, characterized in that: A stopper (7033) is fixedly connected to one end of the support plate (7032); a slide bar (7030) slidably connected to the stopper (7033) is fixedly connected to the slider (7034); a cylindrical spring (7039) is connected to the surface of the slide bar (7030); and a ball bearing (7038) is mounted on the contact block (7037).

5. A double T-beam welding process, using a double T-beam welding robot as claimed in claim 4, characterized in that: The following steps are involved: Step 1: After the position of the double T-beam is fixed, the welding gun (701) is driven to move to the double T-beam welding position through the cooperation of the first rotating arm (4), the second rotating arm (5), and the conveying arm mechanism (6), and the conveying arm mechanism (6) is kept parallel to the double T-beam, and the pressure sensing component (703) is in contact with the surface of the double T-beam; Step 2: The conveyor belt (604) drives the welding gun (701) to move linearly along the surface of the double T-beam, and linearly and continuously welds the surface of the double T-beam, while the pressure sensing component (703) moves on the surface of the double T-beam; Step 3: Through the value change of the pressure sensor (7036) on the pressure sensing component (703), the parallelism between the conveying arm mechanism (6) and the double T-beam can be fine-tuned to ensure that the welding gun (701) maintains contact with the surface of the double T-beam during the movement.

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