Gantry type welding manipulator

Abstract

The gantry type welding manipulator comprises a liftable portal frame, a telescopic arm is arranged on a cross beam of the portal frame, a welding gun head is fixed to one end of the telescopic arm, a motor box and a transmission box are fixed to one side of the welding gun head, a supporting assembly is fixed between the transmission box and the welding gun head, and a sliding rail is arranged on one side of the portal frame; a sliding rail is arranged on the base, a scooter is arranged on the sliding rail, a rotating assembly is arranged in the middle of the scooter, a rectangular supporting plate is arranged on the rotating assembly, four rows of supporting rollers are arranged on the supporting plate, and a welding workpiece is placed on the supporting rollers. The telescopic arm can rotate by 180 degrees, welding can be conducted inwards from the two ends of a workpiece, the defect that the length of the telescopic arm is limited is overcome, the idler wheels on the supporting disc move along with a welding gun during welding, the effect of supporting a welding gun head and the telescopic arm is achieved, aging and loosening of equipment parts caused by center-of-gravity shift during long-time use are avoided, and the service life of equipment is prolonged.

Description

Technical Field

[0001] The invention relates to the field of automatic welding equipment, in particular to a gantry type welding manipulator. Background Art

[0002] Compared with manual welding, automated welding technology significantly increases welding speed and quality, and significantly improves welding accuracy and stability. It is increasingly favored by welding workers and is gradually being widely used.

[0003] Our company found the following problems in the actual workpiece welding process:

[0004] 1. For straight seams and circumferential seams of pressure vessels, pipelines, steel plates, etc., special welding machines or special fixtures are generally required for welding. For small and medium-sized enterprises, it is relatively costly to equip them with a variety of automated welding equipment or fixtures;

[0005] 2. The welds of tubular workpieces are divided into inner seams and outer seams. When welding the inner seams of larger tubular workpieces, the welding gun often cannot weld to the end due to the limited length of the telescopic arm of the welding manipulator, and manual repair welding or other measures are required to complete the processing;

[0006] 3. Welding equipment is generally composed of columns, crossbeam telescopic arms, power mechanisms, welding guns and other components. High-precision welding equipment also has a laser weld tracking system to prevent welding deviation. However, no matter what kind of welding equipment, the welding gun is driven by the telescopic arm to move for welding. When the welding gun head and telescopic arm are in use, their center of gravity is located on one side of the equipment. Due to their heavy weight, the telescopic arm, welding gun and other components will inevitably become loose after long-term use. The welding deviation caused by the looseness cannot be adjusted by the equipment's own system. Summary of the invention

[0007] In order to make up for the shortcomings of the prior art, the present invention provides a gantry welding manipulator that can weld tubular workpieces and thicker plate workpieces, and can weld the inner and outer seams and circumferential seams of tubular workpieces. The welding gun head is provided with a support assembly to prevent the center of gravity from shifting, so as to improve the above-mentioned problems.

[0008] The present invention is achieved through the following technical solutions:

[0009] A gantry welding manipulator comprises a liftable gantry, characterized in that: a telescopic arm is provided on the crossbeam of the gantry, a welding gun head is fixed at one end of the telescopic arm, a motor box and a transmission box are fixed on one side of the welding gun head, a supporting assembly is fixed between the transmission box and the welding gun head, a slide rail is provided on one side of the gantry, a scooter is provided on the slide rail, a rotating assembly is provided in the middle position of the scooter, a rectangular supporting plate is provided on the rotating assembly, 4 rows of supporting rollers are provided on the supporting plate, 2 rows of supporting rollers in the middle are symmetrical to each other, the supporting rollers are fixed to the supporting plate through supporting columns, 2 rows of supporting rollers on both sides are symmetrical to each other, 2 rows of supporting rollers on both sides are fixed to the cross plate, the cross plate is fixed to the supporting plate through a supporting cylinder, the 4 rows of supporting rollers are distributed in an arc shape when the supporting cylinder is in an extended state, the 4 rows of supporting rollers are of the same height when the supporting cylinder is in a contracted state, and tightening assemblies are provided on the front and rear sides of the 4 rows of supporting rollers.

[0010] Further optimized, the support assembly includes a special-shaped support plate and a cross-shaped rotating shaft, the support plate has four sides, namely an inner straight seam welding side, an outer straight seam welding side, an inner circular seam welding side and a flat edge welding side, each side is provided with a group of rollers, a cross hole is opened at the center position of the support plate, the support plate is fixed on the cross-shaped rotating shaft, the cross-shaped rotating shaft is rotatably connected between the transmission box and the welding gun head, and one end of the cross-shaped rotating shaft is connected to the output end of the transmission box.

[0011] For further optimization, a telescopic positioning column is fixed on the side wall of the welding gun head close to the support plate, and four positioning holes matching the positioning column are opened on the support plate.

[0012] Further optimized, the rotating assembly includes a motor and a bearing ring, a groove is opened in the middle position of the scooter, the rotating assembly is fixed in the groove, the inner ring of the bearing ring is slightly higher than the upper plate surface of the scooter, the output end of the motor is fixedly connected to the inner ring of the bearing ring, the support plate is fixed on the inner ring of the bearing ring, and the motor output drives the support plate to rotate 90 degrees or 180 degrees through the bearing ring.

[0013] For further optimization, the scooter is provided with retractable limit columns on both sides of the support plate, with 4 limit columns on each side, and the distance between the two middle limit columns is equal to the width of the support plate.

[0014] Further optimized, the upper end of the limiting column is in a frustum shape.

[0015] Further optimized, the tightening assembly includes two fixed columns, two movable columns and a tightening cylinder, the fixed column is fixed at one end of the support plate, the other end of the support plate is provided with two slide grooves, the bottom of the movable column is arranged in the slide groove, a connecting plate is fixed between the two movable columns, the tightening cylinder is fixed on the support plate between the two slide grooves, the output end of the tightening cylinder is fixed to the connecting plate, and the output of the tightening cylinder pushes the two movable columns to move toward the fixed column to tighten the workpiece on the support roller.

[0016] For further optimization, the upper ends of the fixed column and the movable column are rotatably connected with auxiliary wheels, and the auxiliary wheels are slightly higher than the two rows of supporting rollers in the middle.

[0017] For further optimization, a drive frame is fixed between the two middle rows of support rollers, a drive shaft is rotatably connected to the drive frame, two drive wheels are fixed on the drive shaft, a second motor is fixed on the support plate, the second motor drives the drive shaft to rotate through a synchronous belt, and the drive wheel is slightly lower than the two middle rows of support rollers.

[0018] In a further optimized manner, the support roller, the driving wheel and the auxiliary wheel are all provided with a rubber layer.

[0019] The beneficial effects of the present invention are:

[0020] The invention can weld straight seams and circumferential seams, and is provided with 4 rows of supporting rollers, the two outer rows of rollers can be raised and lowered, and the 4 rows of supporting rollers are distributed in an arc shape when the supporting cylinder is in an extended state, and the 4 rows of supporting rollers are at the same height when the supporting cylinder is in a contracted state, and are respectively used for supporting and welding tubular workpieces or thicker plate-shaped workpieces;

[0021] A rotating assembly is provided at the bottom of the support plate of the workpiece of the present invention, which can automatically rotate the workpiece 90 degrees or 180 degrees. Rotating 90 degrees facilitates the circumferential seam welding of the workpiece; when welding the inner seam of a longer tubular workpiece, the workpiece can be rotated 180 degrees and welding can be performed inward from both ends of the workpiece, thereby reducing the disadvantage of the limited length of the telescopic arm.

[0022] In the present invention, a supporting assembly is provided at the welding gun head. During welding, the roller on the supporting plate moves with the welding gun to support the welding gun head and the telescopic arm, thereby avoiding aging and loosening of equipment parts due to center of gravity shift during long-term use, preventing welding shift, and extending the service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention.

[0024] Figure 2 for Figure 1 A magnified schematic diagram of center A.

[0025] Figure 3 It is a three-dimensional schematic diagram of the support plate and the workpiece support structure in the present invention.

[0026] Figure 4 for Figure 3 Side view of.

[0027] Figure 5 It is a three-dimensional schematic diagram of the scooter in the present invention.

[0028] Figure 6 for Figure 5 Side view of.

[0029] Figure 7 It is a schematic diagram of the three-dimensional structure when the support plate is not installed in the present invention.

[0030] Figure 8 for Figure 7 A magnified schematic diagram of point B in the middle.

[0031] Fig. 9 It is a schematic diagram of the three-dimensional structure of the support plate in the present invention.

[0032] Fig.10 It is a structural illustration of the support plate in the present invention.

[0033] Fig.11 It is a schematic diagram of the three-dimensional structure of the rotating assembly of the present invention rotated 90 degrees.

[0034] In the figure: 1, gantry; 2, telescopic arm; 4, welding gun head; 41, positioning column; 6, slide rail; 9, workpiece;

[0035] 3. Clamping assembly; 31. Fixed column; 32. Moving column; 33. Connecting plate; 34. Clamping cylinder; 35. Slide; 36. Auxiliary wheel;

[0036] 5. Support assembly; 51. Support plate; 52. Roller; 53. Limit hole; 54. Cross hole; 55. Cross-shaped shaft; 56. Motor box; 57. Transmission box;

[0037] 7. Scooter; 71. Bearing ring; 72. Motor 1; 73. Limiting column;

[0038] 8. Support plate; 81. Support roller; 82. Support column; 83. Cross plate; 84. Support cylinder; 85. Motor 2; 86. Drive shaft. DETAILED DESCRIPTION

[0039] In order to clearly illustrate the technical features of the present solution, the present invention is described in detail below through specific implementation methods and in conjunction with the accompanying drawings. In the description of the present invention, it should be noted that the terms "left", "right", "front", "back", "inside", "outside" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, which 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 direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0040] like Figure 1-Figure 11 As shown, the present invention provides a gantry type welding manipulator, including a liftable gantry 1, a telescopic arm 2 is provided on the crossbeam of the gantry, a welding gun head 4 is fixed to one end of the telescopic arm, and the gantry and the telescopic arm cooperate to drive the welding gun head 4 to move forward and backward, left and right, and up and down to adjust the position or perform welding.

[0041] A motor box 56 and a transmission box 57 are fixed to one side of the welding gun head. A stepper motor is provided in the motor box. A support assembly 5 is fixed between the transmission box 57 and the welding gun head 4. When the telescopic arm controls the welding gun head 4 to move for welding, the support assembly is supported on the workpiece to prevent the loosening and aging of the connecting parts caused by the continuous movement of the center of gravity of the telescopic arm and the welding gun head.

[0042] A slide rail 6 is provided on one side of the gantry 1, a scooter 7 is provided on the slide rail, a rotating assembly is provided in the middle of the scooter, a rectangular support plate 8 is provided on the rotating assembly, and four rows of support rollers 81 are provided on the support plate, the two rows of support rollers 81 in the middle are symmetrical to each other, and the support rollers 81 are fixed to the support plate 8 through support columns 82. The two rows of support rollers 81 on both sides are symmetrical to each other, and the two rows of support rollers on both sides are fixed to the cross plate 83, and the cross plate is fixed to the support plate 8 through support cylinders 84. Figure 4 As shown, when the support cylinder 84 is in the extended state, the four rows of support rollers 81 are distributed in an arc shape, and when the support cylinder is in the contracted state, the four rows of support rollers 81 have the same height. The front and rear sides of the four rows of support rollers 81 are provided with a clamping assembly for clamping the workpiece. This equipment is mainly used for welding tubular workpieces, and thicker plate workpieces can also be placed on its support rollers for welding, which is flexible to use.

[0043] As a preferred embodiment, Figure 8 , 9As shown in Figure 10, the support assembly includes a special-shaped support plate 51 and a cross-shaped rotating shaft 55. The support plate has four sides, namely an inner straight seam welding side 513, an outer straight seam welding side 514, an inner annular seam welding side 511 and a flat edge welding side 512. Each side is provided with a group of rollers 52. A cross hole 54 is opened at the center of the support plate 51. The support plate 51 is fixed on the cross-shaped rotating shaft 55. The cross-shaped rotating shaft 55 is rotatably connected between the transmission box 57 and the welding gun head 4. One end of the cross-shaped rotating shaft 55 is connected to the output end of the transmission box 56. The stepper motor in the motor box drives the cross-shaped rotating shaft to rotate 90 degrees through the transmission box, so that any side can be facing downward to provide support when welding different welds.

[0044] It should be noted that the inner straight seam welding side 513 corresponds to the inner straight seam welding of the tubular workpiece, the outer straight seam welding side 514 corresponds to the outer straight seam welding of the tubular workpiece, the inner annular seam welding side 511 corresponds to the inner annular seam welding of the tubular workpiece, and the flat edge welding side 512 corresponds to the outer annular seam welding of the tubular workpiece or the straight seam welding of the plate. During welding, the rollers on the support plate move with the welding gun to support the welding gun head and the telescopic arm, avoiding the aging and loosening of equipment parts caused by the center of gravity shift during long-term use, preventing welding shift, and extending the service life of the equipment.

[0045] As a preferred embodiment, Figure 8 , 9 As shown, a retractable positioning column 41 is fixed on the side wall of the welding gun head 4 close to the support plate, and four positioning holes 53 matching the positioning columns are opened on the support plate 51. The four positioning holes are evenly distributed in the circumference of a circle with the cross hole as the center. After the support plate is adjusted to the downward side, the positioning column 41 is inserted into the positioning hole 53 for positioning.

[0046] As a preferred embodiment, Figure 5 , 6 As shown, the rotating assembly includes a motor 72 and a bearing ring 71. A groove is provided in the middle of the scooter 7. The motor 72 and the bearing ring 71 are fixed in the groove. The inner ring of the bearing ring 71 is slightly higher than the upper plate surface of the scooter 8. The output end of the motor 72 is fixedly connected to the inner ring of the bearing ring 71. The support plate 8 is fixed on the inner ring of the bearing ring 71. The output of the motor 72 drives the support plate 8 to rotate 90 degrees or 180 degrees through the bearing ring 71. Rotating 90 degrees facilitates the welding of the outer annular seam of the tubular workpiece, rotating 180 degrees facilitates the welding of the inner straight seam and the outer straight seam. Rotating 180 degrees can be welded from both ends of the workpiece to the inside, reducing the disadvantage of the limited length of the telescopic arm.

[0047] As a preferred embodiment, retractable limiting columns 73 are provided on the scooter 7 on both sides of the support plate 8, with four columns on each side, and the distance between the two middle limiting columns 73 is equal to the width of the support plate 8. In the normal state or when rotated 180 degrees, the four limiting columns at both ends are raised to fix the support plate, and when rotated 90 degrees, the four middle limiting columns are raised to fix the support plate. The design is ingenious and easy to use.

[0048] As a preferred implementation, the upper end of the limiting column 73 is in a frustum shape. The frustum-shaped limiting column can better play a limiting and fixing role, and also has a certain supporting role.

[0049] As a preferred embodiment, Figure 3 As shown, the tightening assembly includes two fixed columns 31, two movable columns 32 and a tightening cylinder 34. The fixed column 31 is fixed at one end of the support plate 8, and the other end of the support plate 8 is provided with two slide grooves 35. The bottom of the movable column 32 is arranged in the slide groove, and a connecting plate 33 is fixed between the two movable columns 32. The tightening cylinder 34 is fixed on the support plate 8 between the two slide grooves 35. The output end of the tightening cylinder 34 is fixed to the connecting plate 33. The output of the tightening cylinder pushes the two movable columns to move toward the fixed column, and tightens the workpiece on the support roller to prevent the workpiece from shaking and deviating. It should be noted that a pressure sensor should also be provided at the tightening cylinder, and the tightening can be done to a certain pressure to avoid damaging the workpiece or making it unable to rotate.

[0050] As a preferred embodiment, the upper ends of the fixed column 31 and the movable column 32 are rotatably connected with auxiliary wheels 36, and the auxiliary wheels are provided so that the tubular workpiece can rotate while being pressed against the tubular workpiece. The auxiliary wheels 36 are slightly higher than the two rows of supporting rollers 81 in the middle. When the two rows of supporting rollers 81 on the outside are lowered and the supporting rollers support the plate-like workpiece, the slightly higher auxiliary wheels 36 play a role in pressing and fixing.

[0051] As a preferred embodiment, a driving frame is fixed between the two middle rows of support rollers 81, and a driving shaft 86 is rotatably connected to the driving frame. Two driving wheels are fixed on the driving shaft 86, and a motor 2 85 is fixed on the support plate 8. The motor 2 drives the driving shaft 86 to rotate through a synchronous belt. The driving wheel is slightly lower than the two middle rows of support rollers 81. The output of motor 2 drives the tubular workpiece to rotate.

[0052] As a preferred implementation, the supporting roller, driving wheel and auxiliary wheel are all provided with a rubber layer to protect the workpiece and increase the friction force.

[0053] Embodiment 2:

[0054] The support assembly in the present invention can also adopt a detachable structure, and the support plate and roller can be customized according to the workpieces commonly welded. A quick-release structure that is easy to disassemble and replace is fixed on the inside of the welding gun head. It can be replaced before each welding batch to obtain a better support effect.

[0055] This embodiment should be considered as the same concept as the present invention and is included in the scope of the claims of the present invention.

[0056] The parts not described in detail in the present invention are all known technologies to those skilled in the art. Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention is described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A gantry type welding manipulator, comprising a gantry that can be raised and lowered, characterized in that: A telescopic arm is provided on the crossbeam of the gantry, a welding gun head is fixed at one end of the telescopic arm, a motor box and a transmission box are fixed at one side of the welding gun head, and a support assembly is fixed between the transmission box and the welding gun head. A slide rail is provided on one side of the gantry, a scooter is provided on the slide rail, a rotating assembly is provided in the middle of the scooter, a rectangular supporting plate is provided on the rotating assembly, 4 rows of supporting rollers are provided on the supporting plate, 2 rows of supporting rollers in the middle are symmetrical to each other, the supporting rollers are fixed to the supporting plate through supporting columns, 2 rows of supporting rollers on both sides are symmetrical to each other, 2 rows of supporting rollers on both sides are fixed to the cross plate, the cross plate is fixed to the supporting plate through supporting cylinders, the 4 rows of supporting rollers are distributed in an arc shape when the supporting cylinder is in an extended state, and the 4 rows of supporting rollers are of the same height when the supporting cylinder is in a contracted state. The front and rear sides of the four rows of supporting rollers are provided with tightening components.

2. The gantry type welding manipulator according to claim 1, characterized in that: The support assembly includes a special-shaped support plate and a cross-shaped rotating shaft. The support plate has four sides, namely an inner straight seam welding side, an outer straight seam welding side, an inner circular seam welding side and a flat edge welding side. Each side is provided with a group of rollers. A cross hole is opened at the center of the support plate. The support plate is fixed on the cross-shaped rotating shaft. The cross-shaped rotating shaft is rotatably connected between the transmission box and the welding gun head, and one end of the cross-shaped rotating shaft is connected to the output end of the transmission box.

3. The gantry type welding manipulator according to claim 2, characterized in that: A telescopic positioning column is fixed on the side wall of the welding gun head close to the supporting plate, and four positioning holes matching the positioning column are opened on the supporting plate.

4. The gantry type welding manipulator according to claim 1, characterized in that: The rotating assembly includes a motor and a bearing ring. A groove is provided in the middle of the scooter. The rotating assembly is fixed in the groove. The inner ring of the bearing ring is slightly higher than the upper plate surface of the scooter. The output end of the motor is fixedly connected to the inner ring of the bearing ring. The support plate is fixed on the inner ring of the bearing ring. The motor output drives the support plate to rotate 90 degrees or 180 degrees through the bearing ring.

5. The gantry type welding manipulator according to claim 1, characterized in that: The scooter is provided with retractable limiting columns on both sides of the support plate, with 4 columns on each side, and the distance between the two middle limiting columns is equal to the width of the support plate.

6. The gantry type welding manipulator according to claim 5, characterized in that: The upper end of the limiting column is in a frustum shape.

7. The gantry type welding manipulator according to claim 1, characterized in that: The tightening assembly includes two fixed columns, two movable columns and a tightening cylinder. The fixed column is fixed at one end of a support plate. Two slide grooves are provided at the other end of the support plate. The bottom of the movable column is arranged in the slide groove. A connecting plate is fixed between the two movable columns. The tightening cylinder is fixed on the support plate between the two slide grooves. The output end of the tightening cylinder is fixed to the connecting plate. The output of the tightening cylinder pushes the two movable columns to move toward the fixed column to tighten the workpiece on the support roller.

8. The gantry type welding manipulator according to claim 7, characterized in that: The upper ends of the fixed column and the movable column are both rotatably connected with auxiliary wheels, and the auxiliary wheels are slightly higher than the two rows of supporting rollers in the middle.

9. The gantry type welding manipulator according to claim 1, characterized in that: A driving frame is fixed between the two middle rows of supporting rollers, and a driving shaft is rotatably connected to the driving frame. Two driving wheels are fixed on the driving shaft. Motor 2 is fixed on the support plate. Motor 2 drives the driving shaft to rotate through a synchronous belt, and the driving wheel is slightly lower than the two middle rows of supporting rollers.

10. The gantry type welding manipulator according to any one of claims 1 to 9, characterized in that: The supporting roller, the driving wheel and the auxiliary wheel are all provided with a rubber layer.

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