A gantry-type welding manipulator

Abstract

The present invention discloses a gantry - type welding manipulator, which comprises a liftable gantry. A telescopic arm is provided on the cross - beam of the gantry. A welding torch 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 torch head. A support assembly is fixed between the transmission box and the welding torch 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 at the middle position of the scooter. A rectangular support plate is provided on the rotating assembly. Four columns of support rollers are provided on the support plate. The welding workpiece is placed on the support rollers. The present invention can weld the outer circumferential seam, inner circumferential seam, inner straight seam and outer straight seam of the workpiece. It can rotate 180 degrees and can weld from both ends of the workpiece inward respectively, reducing the disadvantage of the limited length of the telescopic arm. When welding, the rollers on the support plate move with the welding torch, playing the role of supporting the welding torch head and the telescopic arm, avoiding the aging and loosening of equipment parts caused by the center - of - gravity deviation during long - term use, and extending the service life of the equipment.

Description

Technical Field

[0001] The present invention relates to the field of automatic welding equipment, and particularly to a gantry-type welding manipulator. Background Art

[0002] Compared with manual welding, the automated welding technology has significantly increased welding speed and quality, and significantly improved welding precision and stability. It has been increasingly favored by welding workers and is gradually widely applied.

[0003] Our company found the following problems during the actual welding process of workpieces:

[0004] 1. For the straight seams and circumferential seams of pressure vessels, pipes, steel plates, etc., special welding machines or special fixtures are generally required for welding. For small and medium-sized enterprises, the cost of equipping multiple automated welding devices or fixtures is relatively high;

[0005] 2. There are also inner seams and outer seams in the welds of tubular workpieces. When welding the inner seam of a large tubular workpiece, due to the limited length of the telescopic arm of the welding manipulator, the welding torch often cannot reach the end, and manual repair welding or other measures are required to complete the processing;

[0006] 3. Welding equipment generally consists of components such as columns, crossbeam telescopic arms, power mechanisms, welding torches, etc. High-precision welding equipment also comes with a laser weld tracking system to prevent welding deviation. However, no matter which type of welding equipment, the welding torch is moved by the telescopic arm for welding. When the welding torch head and the telescopic arm are in use, their center of gravity is located on one side of the equipment. Due to the large weight, problems such as loosening of components such as the telescopic arm and the welding torch will inevitably occur after long-term use. The welding deviation caused by loosening cannot be adjusted by the equipment's own system. Summary of the Invention

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

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

[0009] A gantry - type welding manipulator, including a liftable gantry. It is characterized in that: a telescopic arm is provided on the cross - beam 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 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 at the middle position of the scooter, a rectangular support plate is provided on the rotating assembly, 4 columns of support rollers are provided on the support plate, the 2 middle columns of support rollers are symmetric with each other, the support rollers are fixed on the support plate through support columns, the 2 columns of support rollers on both sides are symmetric with each other, the 2 columns of support rollers on both sides are fixed on a cross - plate, and the cross - plate is fixed on the support plate through a support cylinder. When the support cylinder is in the extended state, the 4 columns of support rollers are distributed in an arc shape, and when the support cylinder is in the contracted state, the heights of the 4 columns of support rollers are the same. Tightening assemblies are provided on the front and rear sides of the 4 columns of support rollers.

[0010] Further optimized, the support assembly includes a special - shaped support disc and a cross - shaped rotating shaft. The support disc has 4 sides, namely the inner straight - seam welding side, the outer straight - seam welding side, the inner circular - seam welding side, and the flat - edge welding side. A set of rollers is provided on each side. A cross - shaped hole is opened at the center position of the support disc. The support disc is fixed on the cross - shaped rotating shaft, and the cross - shaped rotating shaft is rotatably connected between the transmission box and the welding gun head. One end of the cross - shaped rotating shaft is connected to the output end of the transmission box.

[0011] Further optimized, a telescopic positioning column is fixed on the side wall of the welding gun head close to the support disc, and 4 positioning holes matching the positioning column are opened on the support disc.

[0012] Further optimized, the rotating assembly includes a motor 1 and a bearing ring. A groove is opened at the middle position of the scooter, the rotating assembly is fixed in the groove, the inner ring of the bearing ring is 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] Further optimized, telescopic limit columns are provided on the scooters on both sides of the support plate, 4 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 limit column is in a frustum shape.

[0015] Further optimized, the pressing assembly includes two fixed columns, two moving columns and a pressing cylinder. The fixed columns are fixed at one end of the support plate. Two chutes are provided at the other end of the support plate. The bottom of the moving columns is arranged in the chutes. A connecting plate is fixed between the two moving columns. The pressing cylinder is fixed on the support plate between the two chutes. The output end of the pressing cylinder is fixed to the connecting plate. The pressing cylinder outputs to push the two moving columns to move towards the fixed columns to press the workpiece on the supporting rollers.

[0016] Further optimized, auxiliary wheels are rotatably connected to the upper ends of the fixed columns and the moving columns, and the auxiliary wheels are higher than the two middle columns of supporting rollers.

[0017] Further optimized, a driving frame is fixed between the two middle columns of supporting rollers. A driving shaft is rotatably connected to the driving frame. Two driving wheels are fixed on the driving shaft. A second motor is fixed on the support plate. The second motor drives the driving shaft to rotate through a synchronous belt. The driving wheels are lower than the two middle columns of supporting rollers.

[0018] Further optimized, rubber layers are provided on the supporting rollers, the driving wheels and the auxiliary wheels.

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

[0020] The present invention can weld straight seams and circumferential seams. It is provided with 4 columns of supporting rollers. The two outer columns of rollers can be lifted. When the supporting cylinder is in the extended state, the 4 columns of supporting rollers are distributed in an arc shape. When the supporting cylinder is in the contracted state, the 4 columns of supporting rollers have the same height and are respectively used to support and weld tubular workpieces or relatively thick plate 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 by 90 degrees or 180 degrees. Rotating by 90 degrees is convenient for welding the circumferential seam of the workpiece. When welding the inner seam of a relatively long tubular workpiece, the workpiece can be rotated by 180 degrees, and welding is carried out inwardly from both ends of the workpiece respectively, reducing the drawback of the limited length of the telescopic arm.

[0022] In the present invention, a supporting assembly is provided at the head of the welding torch. The rollers on the supporting disc move along with the welding torch during welding, playing the role of supporting the welding torch head and the telescopic arm, avoiding the aging and loosening of equipment parts caused by the center of gravity deviation during long-term use, preventing welding deviation, and at the same time prolonging the service life of the equipment. Description of the Drawings

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

[0024] Figure 2 is Figure 1 an enlarged schematic view of part A in

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

[0026] Figure 4 It is Figure 3 a side view of.

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

[0028] Figure 6 It is Figure 5 a side view of.

[0029] Figure 7 This is a three-dimensional structural schematic diagram of the present invention without the support disc installed.

[0030] Figure 8 It is Figure 7 an enlarged schematic diagram at position B in.

[0031] Figure 9 This is a three-dimensional structural schematic diagram of the support disc in the present invention.

[0032] Figure 10 This is a structural explanatory diagram of the support disc in the present invention.

[0033] Figure 11 This is a three-dimensional structural schematic diagram of the rotation assembly in the present invention rotated 90 degrees.

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

[0035] workpiece;

[0036] 31, fixed column; 32, moving column; 33, connecting plate; 34, jacking cylinder; 35, chute; 36, auxiliary wheel;

[0037] 5, support assembly; 51, support disc; 52, roller; 53, positioning hole; 54, cross hole; 55, cross-shaped rotating shaft; 56, motor box; 57, transmission box;

[0038] 7, scooter; 71, bearing ring; 72, motor one; 73, limit post;

[0039] 8, support plate; 81, support roller; 82, support column; 83, cross plate; 84, support cylinder; 85, motor two; 86, drive shaft. Detailed implementation manners

[0040] To clearly illustrate the technical features of this solution, the present invention will be described in detail below through specific embodiments and in conjunction with its accompanying drawings. In the description of the present invention, it should be noted that the orientation or positional relationship indicated by terms such as "left", "right", "front", "rear", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. This is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0041] As Figures 1 - 11 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 torch head 4 is fixed at one end of the telescopic arm. The gantry and the telescopic arm cooperate to drive the welding torch head 4 to move back and forth, left and right, and up and down to adjust the position or perform welding.

[0042] A motor box 56 and a transmission box 57 are fixed on one side of the welding torch head. A stepping motor is provided in the motor box. A support assembly 5 is fixed between the transmission box 57 and the welding torch head 4. When the telescopic arm controls the displacement welding of the welding torch head 4, the support assembly supports on the workpiece 9 to avoid loosening and aging of the connecting parts caused by the continuous movement of the center of gravity of the telescopic arm and the welding torch head.

[0043] 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 at the middle position of the scooter. A rectangular support plate 8 is provided on the rotating assembly. 4 columns of support rollers 81 are provided on the support plate. The 2 middle columns of support rollers 81 are symmetric with each other. The support rollers 81 are fixed on the support plate 8 through support columns 82. The 2 columns of support rollers 81 on both sides are symmetric with each other. The 2 columns of support rollers on both sides are fixed on a cross plate 83. The cross plate is fixed on the support plate 8 through a support cylinder 84. As Figure 4 shown, when the support cylinder 84 is in the extended state, the 4 columns of support rollers 81 are distributed in an arc shape. When the support cylinder is in the contracted state, the heights of the 4 columns of support rollers 81 are the same. Tightening assemblies are provided on the front and rear sides of the 4 columns of support rollers 81 for clamping the workpiece. This device is mainly used for welding tubular workpieces, and relatively thick plate workpieces can also be placed on its support rollers, with flexible use.

[0044] As a preferred embodiment, as Figure 8 、 9As shown in Figures 9 and 10, the support assembly includes a special-shaped support disk 51 and a cross-shaped rotating shaft 55. The support disk has 4 sides, namely the inner straight-seam welding side 513, the outer straight-seam welding side 514, the inner circular-seam welding side 511, and the flat-edge welding side 512. A set of rollers 52 is provided on each side. A cross-hole 54 is opened at the center position of the support disk 51. The support disk 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 torch head 4. One end of the cross-shaped rotating shaft 55 is connected to the output end of the transmission box 57. The stepping motor in the motor box drives the cross-shaped rotating shaft to rotate 90 degrees through the transmission box, and any side can be turned downward to support during the welding of different welds.

[0045] 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 circular-seam welding side 511 corresponds to the inner circular-seam welding of the tubular workpiece, and the flat-edge welding side 512 corresponds to the outer circular-seam or straight-seam welding of the tubular workpiece. During welding, the rollers on the support disk move with the welding torch, playing the role of supporting the welding torch 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 deviation, and at the same time extending the service life of the equipment.

[0046] As a preferred embodiment, as Figure 8 、 9 shown, a retractable positioning post 41 is fixed on the side wall of the welding torch head 4 close to the support disk. 4 positioning holes 53 matching the positioning posts are opened on the support disk 51. The 4 positioning holes are evenly distributed circumferentially with the cross-hole as the center. After the support disk adjusts the downward side, the positioning post 41 is inserted into the positioning hole 53 for positioning.

[0047] As a preferred embodiment, as Figure 5 、 6 shown, the rotating assembly includes a motor 72 and a bearing ring 71. A groove is opened at the middle position 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 higher than the upper plate surface of the scooter 7. 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 is convenient for welding the outer circular-seam of the tubular workpiece, and rotating 180 degrees is convenient for welding the inner straight-seam and outer straight-seam. Rotating 180 degrees can weld from both ends of the workpiece inward respectively, reducing the disadvantage of the limited length of the telescopic arm.

[0048] As a preferred embodiment, telescopic limit posts 73 are provided on the scooter 7 on both sides of the support plate 8, with 4 posts on each side. The distance between the two middle limit posts 73 is equal to the width of the support plate 8. In the normal state or when rotated 180 degrees, the 4 limit posts at both ends rise to fix the support plate. When rotated 90 degrees, the 4 middle limit posts rise to fix the support plate. The design is ingenious and easy to use.

[0049] As a preferred embodiment, the upper end of the limit post 73 is in the shape of a frustum of a cone. The frustum-shaped limit post plays a better role in limiting and fixing, and also has a certain supporting effect.

[0050] As a preferred embodiment, as Figure 3 shown, the tightening assembly includes two fixed posts 31, two moving posts 32 and a tightening cylinder 34. The fixed posts 31 are fixed at one end of the support plate 8. Two chutes 35 are opened at the other end of the support plate 8. The bottom of the moving posts 32 is arranged in the chutes. A connecting plate 33 is fixed between the two moving posts 32. The tightening cylinder 34 is fixed on the support plate 8 between the two chutes 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 moving posts towards the fixed posts to prevent the workpiece on the support roller from shaking and shifting. It should be noted that a pressure sensor should also be provided at the tightening cylinder, and it can be tightened to a certain pressure to avoid damaging the workpiece or making the workpiece unable to rotate.

[0051] As a preferred embodiment, auxiliary wheels 36 are rotatably connected to the upper ends of the fixed posts 31 and the moving posts 32. The setting of the auxiliary wheels is to enable the tubular workpiece to rotate while being tightened. The auxiliary wheels 36 are higher than the two middle rows of support rollers 81. When the two outer rows of support rollers 81 descend to support the plate-shaped workpiece, the slightly higher auxiliary wheels 36 play a role in pressing and fixing.

[0052] As a preferred embodiment, a driving frame is fixed between the two middle rows of support rollers 81. A driving shaft 86 is rotatably connected to the driving frame. Two driving wheels are fixed on the driving shaft 86. A second motor 85 is fixed on the support plate 8. The second motor drives the driving shaft 86 to rotate through a synchronous belt. The driving wheels are lower than the two middle rows of support rollers 81. The second motor outputs, and the driving wheels drive the tubular workpiece to rotate.

[0053] As a preferred embodiment, rubber layers are provided on the support rollers, driving wheels and auxiliary wheels to protect the workpiece and increase the friction force at the same time. Embodiment 2

[0054] The support component in the present invention can also adopt a detachable structure. The support disk and rollers are customized according to the workpieces to be welded frequently, and a quick-installation structure that is convenient for disassembly and replacement is fixed inside the welding torch 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 covered by the scope of the claims of the present invention.

[0056] Those not elaborated in the present invention are all well-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 not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the purpose and scope of the technical solutions of the present invention, and they should all be covered by the scope of the claims of the present invention.

Claims

1. A gantry-type welding manipulator, comprising a liftable gantry, characterized in that: A telescopic arm is provided on the crossbeam of the gantry. A welding torch 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 torch head. A support assembly is fixed between the transmission box and the welding torch 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 at the middle position of the scooter. A rectangular support plate is provided on the rotating assembly. There are 4 columns of support rollers on the support plate. The 2 middle columns of support rollers are symmetrical to each other. The support rollers are fixed on the support plate through support columns. The 2 columns of support rollers on both sides are symmetrical to each other. The 2 columns of support rollers on both sides are fixed on a cross plate. The cross plate is fixed on the support plate through a support cylinder. When the support cylinder is in the extended state, the 4 columns of support rollers are distributed in an arc shape. When the support cylinder is in the contracted state, the heights of the 4 columns of support rollers are the same. Tightening assemblies are provided on the front and rear sides of the 4 columns of support rollers. The support assembly includes a special-shaped support disc and a cross-shaped rotating shaft. The support disc has 4 sides, namely the inner straight-seam welding side, the outer straight-seam welding side, the inner circular-seam welding side, and the flat-edge welding side. A set of rollers is provided on each side. A cross hole is opened at the center position of the support disc. The support disc is fixed on the cross-shaped rotating shaft. The cross-shaped rotating shaft is rotatably connected between the transmission box and the welding torch head. One end of the cross-shaped rotating shaft is connected to the output end of the transmission box. A telescopic positioning column is fixed on the side wall of the welding torch head close to the support disc. 4 positioning holes matching the positioning column are opened on the support disc.

2. The gantry-type welding manipulator according to claim 1, characterized in that: The rotating assembly includes a motor 1 and a bearing ring. A groove is opened at the middle position of the scooter. The rotating assembly is fixed in the groove. The inner ring of the bearing ring is higher than the upper plate surface of the scooter. The output end of the motor is fixed 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.

3. The gantry-type welding manipulator according to claim 1, characterized in that: Retractable limit columns are provided on the scooter on both sides of the support plate. There are 4 on each side. The distance between the two middle limit columns is equal to the width of the support plate.

4. The gantry-type welding manipulator according to claim 3, wherein: The upper end of the limit column is in a frustum shape.

5. The gantry-type welding manipulator according to claim 1, characterized in that: The tightening assembly includes two fixed columns, two moving columns, and a tightening cylinder. The fixed columns are fixed at one end of the support plate. Two chutes are opened at the other end of the support plate. The bottom of the moving column is arranged in the chute. A connecting plate is fixed between the two moving columns. The tightening cylinder is fixed on the support plate between the two chutes. The output end of the tightening cylinder is fixed to the connecting plate. The output of the tightening cylinder pushes the two moving columns to move towards the fixed columns to tighten the workpiece on the support rollers.

6. The gantry-type welding manipulator according to claim 5, characterized in that: Auxiliary wheels are rotatably connected to the upper ends of the fixed column and the moving column. The auxiliary wheels are higher than the two middle columns of support rollers.

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

8. The gantry type welding manipulator according to any one of claims 1-7, characterized in that: Rubber layers are provided on the support rollers, driving wheels, and auxiliary wheels.

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