Welding strengthening device based on transverse crack repair of mechanical arm cross beam

Abstract

The invention discloses a welding strengthening device based on transverse crack repair of a mechanical arm cross beam, which comprises a cross beam body arranged on a vertical shaft body, the cross beam body is hinged with a base frame and a swinging clamping plate through a guide rail body, and the outer side of the swinging clamping plate is provided with a welding repair frame for repairing the crack of the cross beam body; on one hand, through the arrangement of the base frame and the swing clamping plate and the fixing effect of the supporting table, the mechanical arm cross beam can be separated from the vertical shaft body to conduct welding strengthening of crack repairing, accurate welding position regulation and control can be conducted through the transverse crack position, and electric arc cutting and electric arc welding are conducted continuously; on the other hand, it is guaranteed that the mechanical arm cross beam is kept stable in the welding repair process through the pre-adjustable structure and the pre-tightening structure together, and smooth welding repair is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of welding repair, and in particular to a welding strengthening device based on repairing transverse cracks of a robot arm crossbeam. Background Art

[0002] The crossbeam of the robot arm adopts a cantilever beam structure, with one end fixed and the other end suspended. During the movement of the robot arm, certain parts (such as the UV connection block) may be subjected to greater stress. This stress concentration can easily lead to cracks. For a two-axis horizontal vertical combination robot arm, the stress distribution of the crossbeam is uneven when subjected to force, which can easily cause cracks near the fixed point. The transverse cracks of the crossbeam of a two-axis horizontal vertical robot arm usually appear at the guide rail installation of the crossbeam (that is, the guide rail body mentioned below), and may penetrate the crossbeam to the side. When there are fewer cross cracks and the cracks are sparsely distributed, crack repair welding reinforcement can be adopted to achieve the repair purpose. However, considering that the crack repair welding requires disassembly, hoisting and transportation, and assembly is required after the repair is completed, which is not conducive to the rapid resumption of production, the existing technology adopts on-site repair operations. Referring to the content disclosed in patent publication number CN116475539A, however, as a beam crack welding repair equipment, it is unable to complete adaptive repair for transverse cracks in different longitudinal positions. The fundamental reason is that it is impossible to accurately control the welding position and ensure the continuous arc cutting and welding. To this end, this application proposes a solution. Summary of the Invention

[0003] The purpose of the present invention is to provide a welding strengthening device based on the repair of transverse cracks in the crossbeam of a robotic arm, which is used to solve the problem that the welding position cannot be accurately controlled and the continuous arc cutting and welding can be ensured.

[0004] The object of the present invention can be achieved by the following technical solution: a welding strengthening device based on repairing transverse cracks of a robot arm crossbeam, comprising a crossbeam body arranged on a vertical axis body, the crossbeam body being slidably connected to the vertical axis body via a guide rail body, and the crossbeam body being hingedly provided with a base frame and a swinging clamping plate via the guide rail body; A welding repair frame for repairing cracks in the crossbeam is provided on the outer side of the swing splint. The welding repair frame includes a base and a welding movable frame. A sliding seat is vertically installed in the longitudinal direction of the base. The welding movable frame is installed on the inner side of the upper end of the sliding seat and is provided with a square through hole for arc cutting and arc welding. An adsorption structure penetrating the welding movable frame is installed on the outer side of the upper end of the sliding seat. The upper end of the base frame is equipped with a locking mechanism facing the swinging splint, and the locking mechanism includes a second cylinder, the output end of which is equipped with an arc-shaped hook, and the upper end of the swinging splint is rotatably equipped with a rotating hanging rod whose outer surface matches the arc-shaped hook.

[0005] It is further configured as follows: the adsorption structure includes a linear rail and an outward expansion plate, the linear rail is arranged on the outside of the upper end of the sliding seat, the outward expansion plate is slidably and rotatably installed on the linear rail and a rotating ball seat is installed in the middle of the inner side, and a vacuum rod facing the crossbeam body is installed in the rotating ball seat through a rotating ball, and the end of the vacuum rod is installed with an adsorption disk that contacts the outer wall of the crossbeam body.

[0006] It is further configured as follows: a cylinder 1 is hingedly connected to the outer side of the sliding seat, a pull rod is rotatably installed on the output end of the cylinder 1, and the pull rod is connected to the outer end of the expansion plate.

[0007] It is further configured as follows: a support platform is installed on one side of the base frame through a connecting plate, the upper surface of the support platform is horizontally aligned with the lower upper surface of the base frame, and clamping plates abutting the outer side of the crossbeam body are installed on both sides of the upper surface of the support platform, and several groups of mounting holes for clamping the clamping plates are opened on the support platform.

[0008] It is further configured as follows: an elastic pad column is symmetrically embedded and installed on the inner upper end of the vertical section of the base frame, a pre-tightening welding rod is installed on the inner side of the swing clamp, the elastic pad column is in contact with the crossbeam body, and the pre-tightening welding rod is in contact with the guide rail body.

[0009] It is further configured as follows: a motor A is installed at the bottom of the base, a driving screw is installed at the output end of the motor A and is threadedly connected to the sliding seat, guide seats are installed at both ends of the sliding seat, and guide rods are also installed on both sides of the base and are slidably connected to the guide seats.

[0010] It is further configured as follows: a motor B is symmetrically installed on the upper end of the swing splint, the output end of the motor B is connected to the rotating hanging rod, and the motor B is used for rotating the rotating hanging rod.

[0011] It is further configured as follows: a movable base frame is installed at the bottom of the support platform and the base frame, and a rotating rod is installed at the bottom of the movable base frame and is in contact with the ground.

[0012] The present invention has the following beneficial effects: 1. The present invention addresses the problem of being unable to precisely control the welding position and ensure continuous arc cutting and welding. The present invention is similar in principle to the prior art welding repair method, differing in that it utilizes a base frame and a swinging clamp, combined with the fixed function of a support platform, to enable the crossbeam of the robotic arm to be separated from the vertical axis for weld reinforcement during crack repair. Furthermore, by precisely controlling the welding position of the transverse crack, arc cutting and arc welding can be performed continuously. 2. During the control of the welding position, the size of the guide rail is adjusted, and the bottom of the base frame supports the crossbeam. The deflection of the swinging splint is combined with the base frame to complete the initial support. Then, cylinder 2 is started to drive the arc-shaped hook to move above the rotating hanging rod, and motor B is started. Motor B starts to drive the rotating hanging rod to rotate, so that the rotating hanging rod is engaged with the arc-shaped hook, thereby driving the base frame and the swinging splint to gradually complete the clamping of the crossbeam. Then, arc cutting and welding are performed according to the corresponding transverse crack position of the welding movable frame, and finally the welding reinforcement repair purpose of the transverse crack of the robot arm beam is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0014] Figure 1 This is a schematic diagram of welding repair according to the present invention; Figure 2 It is a schematic diagram of the installation structure of the present invention; Figure 3 It is a bottom view schematic diagram of the installation structure of the present invention; Figure 4 It is a side view of the installation structure of the present invention; Figure 5 This is a structural diagram of the welding repair frame of the present invention; Figure 6 It is the overall structural diagram of the present invention; Figure 7 This is an installation diagram of the positioning assembly of the present invention; Figure 8 It is a schematic diagram of the expansion of the welding repair frame of the present invention.

[0015] In the figure: 1. Base frame; 2. Support platform; 3. Vertical axis body; 4. Crossbeam body; 5. Guide rail body; 6. Mobile base frame; 7. Connecting plate; 8. Swinging splint; 9. Base; 10. Sliding seat; 11. Welding movable frame; 12. Extension plate; 13. Cylinder 1; 14. Pull rod; 15. Turning ball seat; 16. Turning ball; 17. Vacuum rod; 18. Adsorption disk; 19. Guide seat; 20. Linear rail; 21. Driving screw; 22. Motor A; 23. Guide rod; 24. Pre-tightening welding rod; 25. Vertical plate; 26. Cylinder 2; 27. Rotating hanging rod; 28. Arc-shaped hook; 29. ​​Elastic pad column; 30. Motor B; 31. Clamping plate; 32. Mounting hole. DETAILED DESCRIPTION

[0016] The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0017] Embodiment 1: This embodiment addresses the problem of being unable to accurately control the welding position and ensure the continuous arc cutting and welding, and proposes the following technical solutions: Reference Figure 1 - Figure 8 As shown, the welding strengthening device for repairing transverse cracks in the robot arm crossbeam in this embodiment includes a crossbeam body 4 arranged on a vertical axis body 3. The crossbeam body 4 is slidably connected to the vertical axis body 3 through a guide rail body 5. The crossbeam body 4 is hingedly provided with a base frame 1 and a swing clamping plate 8 through the guide rail body 5. The outer side of the swing clamping plate 8 is provided with a welding repair frame for repairing cracks in the crossbeam body 4; The welding repair frame includes a base 9 and a welding movable frame 11. A sliding base 10 is vertically mounted on the longitudinal direction of the base 9. The welding movable frame 11 is mounted on the inner side of the upper end of the sliding base 10 and is provided with a square through-hole for arc cutting and arc welding. A suction structure that penetrates the welding movable frame 11 is mounted on the outer side of the upper end of the sliding base 10. A locking mechanism facing the swing clamp 8 is mounted on the upper end of the base frame 1. The locking mechanism includes a cylinder 26 provided on a vertical plate 25, wherein the vertical plate is installed between the top ends of the base frame 1, an arc-shaped hook 28 is installed at the output end of the cylinder 26, and a rotating hanging rod 27 whose outer surface matches the arc-shaped hook 28 is rotatably installed on the upper end of the swinging splint 8. A motor B30 is symmetrically installed on the upper end of the swinging splint 8, and the output end of the motor B30 is connected to the rotating hanging rod 27. The motor B30 is used to control the rotation of the rotating hanging rod 27. When the motor B30 is started, the rotating hanging rod 27 is driven to deflect. At this time, the rotating hanging rod 27 will produce a rotary tensioning action with the arc-shaped hook 28 until the base frame 1 and the swinging splint 8 complete the adaptive clamping of the crossbeam 4; Reference Figure 4 and Figure 5 As shown, the adsorption structure includes a linear rail 20 and an expansion plate 12. The linear rail 20 is arranged on the outer side of the upper end of the sliding seat 10. The expansion plate 12 is slidably and rotatably mounted on the linear rail 20 and a rotating ball seat 15 is installed in the middle of the inner side. A suction rod 17 facing the crossbeam 4 is installed in the rotating ball seat 15 through a rotating ball 16. The end of the suction rod 17 is installed with a suction disk 18 in contact with the outer wall of the crossbeam 4. A cylinder 13 is hinged on the outer side of the sliding seat 10, and a pull rod 14 is rotatably installed on the output end of the cylinder 13. The pull rod 14 is connected to the outer end of the expansion plate 12. According to the size of the transverse crack and the size of the transverse crack on the waste plate after arc cutting, the spacing between a pair of cylinders 13 is first determined, and then the adsorption plate 18 is placed on the surface of the waste plate and the air is pumped through the vacuum rod 17 to complete the negative pressure adsorption. The cylinder 13 is started and the expansion plate 12 is deflected outward through the pull rod 14, and the adsorption plate 18 is further driven to move the waste plate outward to complete the waste removal. In this process, continuous operation is achieved by arc cutting and waste removal.

[0018] Structural principle: The base frame 1 and the swinging splint 8 are combined with the fixing function of the support platform 2 to enable the crossbeam of the robot arm to be separated from the vertical axis 3 for welding reinforcement of crack repair. The welding position can be accurately adjusted according to the position of the transverse crack, so that arc cutting and arc welding can be carried out continuously. The details are as follows: First, the base frame 1 and the swinging splint 8 are clamped outside the guide rail body 5 and adjusted according to the size of the guide rail body 5. The cross beam 4 is supported by the bottom of the base frame 1. The deflection of the swinging splint 8 and the base frame 1 complete the initial support. Then, the cylinder 2 26 is started to drive the arc-shaped hook 28 to move above the rotating hanging rod 27. The motor B30 is started. The motor B30 starts to drive the rotating hanging rod 27 to rotate, so that the rotating hanging rod 27 is clamped with the arc-shaped hook 28, thereby driving the base frame 1 and the swinging splint 8 to gradually complete the clamping of the cross beam 4, so as to facilitate the subsequent arc cutting and welding work. Then, a portable handheld arc cutting machine is placed in the welding frame 11. At this time, the adsorption plate 18 is outside the welding frame 11. After the cutting of the corresponding transverse crack is completed, the adsorption plate 18 is driven by the cylinder 13 to enter the welding frame 11 to complete the adsorption and removal of the waste plate. Finally, a repair plate with the same size as the cut through-hole is taken and supported by the adsorption plate 18, and the cylinder 13 is started. The cylinder 13 drives the repair plate to be embedded in the cut through-hole through the adsorption plate 18, and a handheld arc welding machine is placed in the welding frame 11 to complete the repair welding of the repair plate, thereby achieving the welding reinforcement repair of the transverse crack of the robot arm beam.

[0019] Basic principle: This embodiment is basically similar to the welding repair principle in the prior art, with the difference being that the arrangement of the base frame 1 and the swinging splint 8 combined with the fixing function of the support platform 2 enables the crossbeam of the robotic arm to be separated from the vertical axis 3 for welding reinforcement of crack repair, and by precisely controlling the welding position of the transverse crack position, arc cutting and arc welding can be carried out continuously.

[0020] Example 2: Reference Figure 1 、 Figure 2 and Figure 6 As shown, the welding strengthening device for repairing transverse cracks in a robot arm crossbeam proposed in this embodiment includes a support platform 2 mounted on one side of a frame 1 via a connecting plate 7. The upper surface of the support platform 2 is horizontally aligned with the lower upper surface of the base frame 1. Clamping plates 31 are mounted on both sides of the upper surface of the support platform 2 to abut against the outer side of the crossbeam 4. The support platform 2 is provided with a plurality of mounting holes 32 for the clamping of the clamping plates 31. The bottom of the support platform 2 and the base frame 1 are both installed with a movable base frame 6. The bottom of the movable base frame 6 is installed with a rotating rod and is in contact with the ground. The base frame 1 and the support platform 2 are moved under the crossbeam of the robot arm by the movable base frame 6, and the disassembly between the crossbeam of the robot arm and the vertical axis body 3 is then completed and the support is completed simultaneously, so as to facilitate the smooth progress of the subsequent arc cutting and arc welding processes, and provide on-site repair, saving the time of disassembly, hoisting and transportation, and facilitating the rapid assembly after repair to achieve the purpose of production resumption. Reference Figure 6 As shown, an elastic pad column 29 is symmetrically embedded and installed on the inner upper end of the vertical section of the base frame 1, and a pre-tightening welding rod 24 is installed on the inner side of the swing clamping plate 8. The elastic pad column 29 is in contact with the cross beam 4, and the pre-tightening welding rod 24 is in contact with the guide rail body 5. Before welding repair, after the cross beam 4 is clamped by the base frame 1 and the swing clamping plate 8, the pre-tightening welding rod 24 is attached to the outer wall of the cross beam 4 corresponding to the transverse crack, and then the pre-tightening welding rod 24 is used to complete the welding fixation between the cross beam 4 and the swing clamping plate 8, thereby ensuring relative stability during the welding repair process of the crack and avoiding the problem of welding deviation. Reference Figure 6 and Figure 8 As shown, a motor A22 is installed at the bottom of the base 9, and a driving screw 21 threadedly connected to the sliding base 10 is installed at the output end of the motor A22. Guide seats 19 are installed at both ends of the sliding base 10. Guide rods 23 slidably connected to the guide seats 19 are also installed on both sides of the base 9. During the process of adjusting the cutting and welding positions, the driving screw 21 is driven by the motor A22 to rotate, so that the sliding base 10 completes vertical feeding through the guide rods 23 until the welding frame 11 is centered and stops at the transverse crack outside the crossbeam 4; Basic principle: In this embodiment, the movable welding frame 11 is aligned with the position of the transverse crack to ensure accurate alignment during arc cutting and welding. After accurate alignment, the pre-tightened welding rod 24 is used for preliminary tightening to ensure relative stability during the crack welding repair process and avoid welding deviation.

[0021] Embodiment 3: This embodiment combines Embodiment 1 and Embodiment 2 to form a welding strengthening method based on repairing transverse cracks in a robot arm beam, comprising the following steps: Step 1: Move the base frame 1 and the support platform 2 to the bottom of the robot arm beam by moving the chassis 6, and then complete the disassembly between the robot arm beam and the vertical axis 3 and simultaneously complete the support, so as to facilitate the smooth progress of the subsequent arc cutting and arc welding processes, and provide on-site repair, saving disassembly, lifting and transportation time, and facilitating rapid assembly after repair to achieve the purpose of production resumption; Step 2: Clamp the base frame 1 and the swinging splint 8 outside the guide rail body 5 and adjust them according to the size of the guide rail body 5. The cross beam 4 is supported by the bottom of the base frame 1. The deflection of the swinging splint 8 and the base frame 1 complete the initial support. Then, start the cylinder 2 26 to drive the arc-shaped hook 28 to move above the rotating hanging rod 27. Start the motor B30. The motor B30 starts to drive the rotating hanging rod 27 to rotate, so that the rotating hanging rod 27 is engaged with the arc-shaped hook 28, thereby driving the base frame 1 and the swinging splint 8 to gradually complete the clamping of the cross beam 4 for subsequent arc cutting and welding work. Step 3: Use a portable handheld arc cutting machine to place it in the welding frame 11. At this time, the adsorption plate 18 is outside the welding frame 11. After completing the cutting at the corresponding transverse crack, the adsorption plate 18 is driven by the cylinder 13 to enter the welding frame 11 to complete the adsorption and removal of the waste plate. Step 4: Take a repair plate with the same size as the cut through-hole and complete the adsorption support through the adsorption plate 18, start the cylinder 13, and the cylinder 13 drives the repair plate to be embedded in the cut through-hole through the adsorption plate 18. Use a handheld arc welding machine to place it in the welding frame 11 to complete the repair welding of the repair plate, thereby achieving the welding reinforcement repair of the transverse crack of the robot arm beam.

[0022] In summary: on the one hand, by setting the base frame 1 and the swing splint 8 in combination with the fixing effect of the support platform 2, the crossbeam of the robot arm can be separated from the vertical axis body 3 for welding reinforcement of crack repair, and the welding position can be accurately adjusted according to the position of the transverse crack, so that arc cutting and arc welding can be carried out continuously. On the other hand, the pre-adjustable and pre-tightening structure is used to ensure that the crossbeam of the robot arm remains stable during the welding repair process, ensuring the smooth progress of the welding repair.

[0023] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. A welding strengthening device for repairing transverse cracks in a robot arm crossbeam, comprising a crossbeam body (4) arranged on a vertical axis body (3), wherein the crossbeam body (4) is slidably connected to the vertical axis body (3) via a guide rail body (5), and the crossbeam body (4) is hingedly provided with a base frame (1) and a swinging clamping plate (8) via the guide rail body (5), characterized in that: A welding repair frame for repairing cracks in the crossbeam (4) is provided on the outer side of the swinging splint (8), the welding repair frame comprising a base (9) and a welding movable frame (11), a sliding seat (10) being vertically mounted in the longitudinal direction of the base (9), the welding movable frame (11) being mounted on the inner side of the upper end of the sliding seat (10) and having a square through hole for arc cutting and arc welding, and an adsorption structure penetrating the welding movable frame (11) being mounted on the outer side of the upper end of the sliding seat (10); The upper end of the base frame (1) is provided with a locking mechanism facing the swinging clamp (8), and the locking mechanism includes a second cylinder (26), an output end of the second cylinder (26) is provided with an arc-shaped draw hook (28), and the upper end of the swinging clamp (8) is rotatably provided with a rotating hanging rod (27) whose outer surface matches the arc-shaped draw hook (28).

2. The welding strengthening device based on the transverse crack repair of the robot arm beam according to claim 1 is characterized in that: The adsorption structure includes a linear rail (20) and an outward expansion plate (12), wherein the linear rail (20) is arranged on the outer side of the upper end of the sliding seat (10), and the outward expansion plate (12) is slidably and rotatably mounted on the linear rail (20) and a rotating ball seat (15) is mounted on the inner middle part thereof, wherein an air extraction rod (17) facing the crossbeam (4) is mounted in the rotating ball seat (15) via a rotating ball (16), and an adsorption disk (18) in contact with the outer wall of the crossbeam (4) is mounted at the end of the air extraction rod (17).

3. The welding strengthening device based on the transverse crack repair of the robot arm beam according to claim 2 is characterized in that: The outer side of the sliding seat (10) is hinged with a cylinder 1 (13), and the output end of the cylinder 1 (13) is rotatably mounted with a pull rod (14), and the pull rod (14) is connected to the outer end of the expansion plate (12).

4. The welding strengthening device based on the transverse crack repair of the robot arm beam according to claim 1 is characterized in that: A support platform (2) is installed on one side of the base frame (1) through a connecting plate (7), the upper surface of the support platform (2) is horizontally aligned with the lower upper surface of the base frame (1), and clamping plates (31) are installed on both sides of the upper surface of the support platform (2) to abut against the outer side of the crossbeam (4), and a plurality of mounting holes (32) for clamping the clamping plates (31) are opened on the support platform (2).

5. The welding strengthening device based on the transverse crack repair of the robot arm beam according to claim 1 is characterized in that: An elastic pad column (29) is symmetrically embedded and installed at the inner upper end of the vertical section of the base frame (1), and a pre-tightening welding rod (24) is installed on the inner side of the swing clamp (8). The elastic pad column (29) is in contact with the crossbeam body (4), and the pre-tightening welding rod (24) is in contact with the guide rail body (5).

6. The welding strengthening device based on the transverse crack repair of the robot arm beam according to claim 1 is characterized in that: A motor A (22) is installed at the bottom of the base (9), and a driving screw (21) is installed at the output end of the motor A (22) and is threadedly connected to the sliding seat (10). Guide seats (19) are installed at both ends of the sliding seat (10), and guide rods (23) are also installed on both sides of the base (9) and are slidably connected to the guide seats (19).

7. The welding strengthening device based on the transverse crack repair of the robot arm beam according to claim 1 is characterized in that: A motor B (30) is symmetrically mounted on the upper end of the swinging splint (8), and the output end of the motor B (30) is connected to the rotating hanging rod (27). The motor B (30) is used to control the rotation of the rotating hanging rod (27).

8. The welding strengthening device based on the transverse crack repair of the robot arm beam according to claim 4 is characterized in that: A movable base frame (6) is installed at the bottom of each of the support platform (2) and the base frame (1); a rotating rod is installed at the bottom of the movable base frame (6) and is in contact with the ground.

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