Bent cap steel bar welding robot

Abstract

The utility model provides a bent cap steel bar welding robot, which belongs to the technical field of framework welding and comprises a sliding rail, a movable base is slidably connected in the sliding rail, a second gear is fixedly connected to the upper surface of the movable base, a supporting column is fixedly connected to the upper surface of the second gear, and a chassis is rotatably connected to the upper surface of the supporting column. Two first fixing frames and a first motor are fixedly connected to the upper surface of the base plate, the two first fixing frames are symmetrical about the central axis of the base plate, and the output end of the first motor penetrates through the upper surface of the base plate and is fixedly connected with a first gear. According to the utility model, a sliding rail moving mode is adopted, and an original cross beam is replaced by a mechanical arm type control moving mode, so that the rotating angle of the device and the welding coverage range can be greatly increased during welding operation.

Description

Technical Field

[0001] The utility model belongs to the technical field of skeleton welding, and in particular relates to a cap beam reinforcement welding robot. Background Art

[0002] The cap beam refers to the structure that supports, distributes and transfers the load of the superstructure. The main function of the cap beam is to support the bridge and transfer the pressure and load on the upper part of the bridge to the lower part.

[0003] The existing publication number CN218193447U discloses a cap beam skeleton welding robot, which includes a base, two parallel first slide rails are fixedly installed on the top of the base, and rail trolleys are slidably installed on the two first slide rails. A support column is fixedly connected to the top of the rail trolley, a crossbeam is fixedly connected between the two support columns, a position adjustment mechanism is installed at the bottom of the crossbeam, and a welding device is installed on the position adjustment mechanism; a plurality of second slide rails are arranged between the two first slide rails, the second slide rails are arranged perpendicular to the first slide rails, and the second slide rails are fixedly installed on the base; a plurality of welding operating tables are limitedly slidably installed on any second slide rail, and the number of welding operating tables is not less than two, and a steel bar fixing mechanism is installed on the top of the welding operating table, and the steel bar fixing mechanism is used to fix the cap beam skeleton steel bars to be welded.

[0004] The existing cap beam reinforcement welding robot still has the following shortcomings:

[0005] 1. The existing device designs the movement mode of the welding robot as a beam-type movement. The beam-type design will limit the movement or offset angle of the welding needle, thereby increasing the welding dead angle of the welding robot and affecting the welding quality of the cap beam reinforcement.

[0006] 2. When welding the cap beam reinforcement bars with the existing device, the vertical welding head can only weld the upper part of the reinforcement contact part. Welding the two sides and the lower end of the reinforcement contact part is prone to cause insufficient welding, which will affect the structural load of the cap beam. Utility Model Content

[0007] The utility model aims to solve the problem that the beam-type moving mode in the prior art limits the moving angle of the welding needle and fails to solve the problem of insufficient welding on both sides and below the contact end of the steel bar, and proposes a cap beam steel bar welding robot.

[0008] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0009] A cap beam reinforcement welding robot comprises: a slide rail, a mobile base is slidably connected in the slide rail, a No. 2 gear is fixedly connected to the upper surface of the mobile base, a pillar is fixedly connected to the upper surface of the No. 2 gear, a chassis is rotatably connected to the upper surface of the pillar, two No. 1 fixing frames and a No. 1 motor are fixedly connected to the upper surface of the chassis, the two No. 1 fixing frames are symmetrical with respect to the central axis of the chassis, the output end of the No. 1 motor passes through the upper surface of the chassis and is fixedly connected to the No. 1 gear, the No. 1 gear and the No. 2 gear are meshed with each other, a mechanical arm assembly is connected to the upper surface of the chassis, and a welding assembly is connected to the end of the mechanical arm assembly;

[0010] Preferably, the robotic arm assembly comprises a first-order robotic arm, a third motor, a second-order robotic arm, a second fixing frame, a third-order robotic arm, a fourth motor and a second motor, the first-order robotic arm is rotatably connected between two first-order fixing frames, the second motor is fixedly connected to the outer side surface of the first fixing frame, the output end of the second motor passes through the outer side surface of the first fixing frame and is fixedly connected in the first-order robotic arm, the second-order robotic arm is rotatably connected to the upper side surface of the first-order robotic arm, the third motor is fixedly connected to the upper side surface of the first-order robotic arm, the output end of the third motor passes through the side surface of the first-order robotic arm and is fixedly connected in the second-order robotic arm, the second fixing frame is fixedly connected to the end of the second-order robotic arm away from the first-order robotic arm, the fourth motor is fixedly connected to the side surface of the second fixing frame, the third-order robotic arm is rotatably connected to the side surface of the second fixing frame, the output end of the fourth motor passes through the side surface of the second fixing frame and is fixedly connected in the third-order robotic arm;

[0011] Preferably, the welding assembly comprises a rotating shaft, a welding rod rotating disk, a fixing part, a No. 1 welding rod, a No. 2 welding rod and a No. 3 welding rod, the rotating shaft is rotatably connected to the lower surface of the three-stage robot arm, the three fixing parts are fixedly connected to the lower surface of the welding rod rotating disk in a circular array, and the No. 1 welding rod, the No. 2 welding rod and the No. 3 welding rod are respectively threadedly connected to the three fixing parts;

[0012] Preferably, the lower end of the three-stage mechanical arm is arranged in a tangent shape with an inclination angle of 45° to the horizontal direction;

[0013] Preferably, an arc-shaped groove is provided on the side of the end of the first-order mechanical arm close to the second-order mechanical arm, and an arc-shaped groove is provided on the side of the end of the second-order mechanical arm close to the third-order mechanical arm;

[0014] Preferably, the welding rod turntable is arranged parallel to the lower end section of the three-stage robot arm, and the angle between the fixing member and the welding rod turntable is set to be 45°;

[0015] Preferably, the No. 1 welding rod is configured to be in an "I" shape, the No. 2 welding rod is configured to be in a "J" shape, and the No. 3 welding rod is configured to be in an "L" shape.

[0016] Compared with the prior art, the utility model has the following advantages:

[0017] 1. The utility model sets a slide rail movement mode and replaces the original crossbeam with a mechanical arm type control movement, so that when performing welding operations, the rotation angle of the device and the coverage range of welding will be greatly increased.

[0018] 2. The utility model sets an inclined welding rod turntable, and three different welding heads are fixedly connected to the lower surface of the welding rod turntable through fixing parts, so that the contact end of the steel bar can be fully welded all around without replacing the welding head or turning over the cap beam steel bar, thereby improving the welding quality of the welding robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a structural schematic diagram of the front side of a cap beam reinforcement welding robot proposed by the utility model;

[0020] Figure 2 This is a structural schematic diagram of the rear side of a cap beam reinforcement welding robot proposed by the utility model;

[0021] Figure 3 This is a front structural schematic diagram of a cap beam reinforcement welding robot proposed by the utility model;

[0022] Figure 4 This is a schematic diagram of the chassis rotation structure of a cap beam reinforcement welding robot proposed in the utility model.

[0023] In the figure: 1 slide rail, 2 mobile base, 3 chassis, 4 motor No. 1, 5 gear No. 1, 6 gear No. 2, 7 pillar, 8 fixed frame No. 1, 9 first-order robot arm, 10 third-order motor, 11 second-order robot arm, 12 second fixed frame, 13 third-order robot arm, 14 fourth motor, 15 rotating shaft, 16 welding rod turntable, 17 fixing part, 18 welding rod No. 1, 19 welding rod No. 2, 20 welding rod No. 3, 21 motor No. 2. DETAILED DESCRIPTION

[0024] The technical solution of the present utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0025] Reference Figure 1-Figure 4A cap beam reinforcement welding robot comprises: a slide rail 1, a mobile base 2 is slidably connected in the slide rail 1, a No. 2 gear 6 is fixedly connected to the upper surface of the mobile base 2, a support 7 is fixedly connected to the upper surface of the No. 2 gear 6, a chassis 3 is rotatably connected to the upper surface of the support 7, two No. 1 fixing frames 8 and a No. 1 motor 4 are fixedly connected to the upper surface of the chassis 3, the two No. 1 fixing frames 8 are symmetrical with respect to the central axis of the chassis 3, and the output end of the No. 1 motor 4 passes through the upper surface of the chassis 3 and is fixedly connected to the No. 1 gear 5. The first gear 5 and the second gear 6 are meshed with each other. The robot arm assembly includes a first-order robot arm 9, a third motor 10, a second-order robot arm 11, a second fixed frame 12, a third-order robot arm 13, a fourth motor 14 and a second motor 21. The first-order robot arm 9 is rotatably connected between the two first fixed frames 8, the second motor 21 is fixedly connected to the outer side of the first fixed frame 8, and the output end of the second motor 21 passes through the outer side of the first fixed frame 8 and is fixedly connected to the first-order robot arm 9. The second-order robot arm 11 is rotatably connected to the first fixed frame 8. The third-order robot arm 9 is fixedly connected to the upper side of the first-order robot arm 9, the output end of the third motor 10 passes through the side of the first-order robot arm 9 and is fixedly connected to the second-order robot arm 11, the second fixing frame 12 is fixedly connected to the end of the second-order robot arm 11 away from the first-order robot arm 9, the fourth motor 14 is fixedly connected to the side of the second fixing frame 12, the third-order robot arm 13 is rotatably connected to the side of the second fixing frame 12, and the output end of the fourth motor 14 passes through the side of the second fixing frame 12 The first-stage robot 9 is fixedly connected to the third-stage robot 13. The lower end of the third-stage robot 13 is set to a cross-section with an angle of 45° to the horizontal direction. The end of the first-stage robot 9 is provided with an arc groove near the side of the second-stage robot 11. The end of the second-stage robot 11 is provided with an arc groove near the side of the third-stage robot 13. By setting a slide rail movement mode and replacing the original crossbeam with a robot-type control movement, the rotation angle of the device and the coverage of welding will be greatly increased during welding operations.

[0026] The welding assembly includes a rotating shaft 15, a welding rod rotating disk 16, a fixing member 17, a No. 1 welding rod 18, a No. 2 welding rod 19 and a No. 3 welding rod 20. The rotating shaft 15 is rotatably connected to the lower surface of the three-stage robot arm 13. Three fixing members 17 are fixedly connected to the lower surface of the welding rod rotating disk 16 in a circular array. The welding rod rotating disk 16 is arranged parallel to the lower end section of the three-stage robot arm 13. The fixing member 17 and the welding rod rotating disk 16 are arranged at an angle of 45°. The No. 1 welding rod 18, the No. 2 welding rod 19 and the No. 3 welding rod 20 are connected to the lower surface of the three-stage robot arm 13. The welding rods 20 are respectively threadedly connected to the three fixing parts 17, the No. 1 welding rod 18 is set to an "I" shape, the No. 2 welding rod 19 is set to a "J" shape, and the No. 3 welding rod 20 is set to an "L" shape. By setting an inclined welding rod turntable 16, and three different welding heads are fixedly connected to the lower surface of the welding rod turntable 16 through the fixing parts 17, the contact ends of the steel bars can be fully welded around without replacing the welding heads or flipping the cap beam steel bars, thereby improving the welding quality of the welding robot.

[0027] In May 2022, the foundation and pedestal of the cap beam welding robot were constructed. On May 7, the cap beam welding robot was installed and the robot was initially debugged. On May 10, the cap beam frame welding operation platform was constructed;

[0028] On May 15, 2022, the cap beam frame welding jig was made according to the size of the cap beam frame in the drawing, and the jig position was positioned. On May 17, 2022, the manufacturer was invited to explain and teach the use of the welding robot;

[0029] On May 22, 2022, because the rotation radius of the robot welding arm has strict requirements on the distance from the jig to the robot, the cap beam frame welding jig was readjusted to make the cap beam frame welding jig within the operable range;

[0030] On June 2, 2022, the cap beam skeleton reinforcement welding experiment was officially carried out. During the welding process, the cap beam skeleton reinforcement did not fit well and there were defects in the welding quality. To improve the construction method, manual spot welding of the skeleton reinforcement was first arranged, and then the welding robot was programmed. The welding programming of the welding robot is complex and has high cultural requirements for new industrial workers. Special personnel are required on site to guide, which makes the construction more difficult. The cap beam welding robot cannot store the welding program. Different forms of cap beam skeleton reinforcement welding need to be reprogrammed, which complicates the construction;

[0031] On June 11, 2022, the technical briefing was completed and the implementation phase began. At the beginning of construction, the workers were unfamiliar with the use of new equipment and could not guarantee the quality of the products produced. On July 12, 2022, after a month of running-in, the product quality has been steadily improved, and the welding quality is excellent;

[0032] As of the end of October 2022, the cap beam welding robot equipment has been in good use, with good welding quality, greatly improved work efficiency, and reduced the labor intensity of workers.

[0033] The functional principle of the utility model can be explained through the following operation modes:

[0034] The rotation of the No. 1 gear 1 is controlled by the No. 1 motor 4, and then the rotation of the chassis 3 is realized to achieve the purpose of steering the device. The sliding of the mobile base 2 inside the slide rail 1 allows the device to move in the direction of the slide rail. The No. 2 motor 21, the No. 3 motor 10 and the No. 4 motor 14 respectively control the rotation of the first-order robot arm 9, the second-order robot arm 11 and the third-order robot arm 13, and the original crossbeam is replaced by a robot-type controlled movement, so that when welding operations are performed, the rotation angle of the device and the coverage of the welding will be greatly increased. A welding rod turntable 16 is fixed under the third-order robot arm 13, and three different welding heads are fixedly connected to the lower surface of the welding rod turntable 16 through a fixing part 17, so that without replacing the welding head or flipping the cap beam steel bar, the contact end of the steel bar can be fully welded all around, thereby improving the welding quality of the welding robot.

[0035] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the utility model, which should be included in the scope of the claims of the utility model.

Claims

1. A cap beam reinforcement welding robot, characterized in that: The invention comprises a slide rail (1), wherein a movable base (2) is slidably connected inside the slide rail (1), a No. 2 gear (6) is fixedly connected to the upper surface of the movable base (2), a No. 2 gear (6) is fixedly connected to the upper surface of the No. 2 gear (6), a pillar (7) is fixedly connected to the upper surface of the pillar (7), a chassis (3) is rotatably connected to the upper surface of the pillar (7), two No. 1 fixed frames (8) and a No. 1 motor (4) are fixedly connected to the upper surface of the chassis (3), the two No. 1 fixed frames (8) are symmetrical with respect to the central axis of the chassis (3), an output end of the No. 1 motor (4) passes through the upper surface of the chassis (3) and is fixedly connected to the No. 1 gear (5), the No. 1 gear (5) and the No. 2 gear (6) are meshed with each other, a mechanical arm assembly is connected to the upper surface of the chassis (3), and a welding assembly is connected to the end of the mechanical arm assembly.

2. A cap beam reinforcement welding robot according to claim 1, characterized in that: in: The robot arm assembly comprises a first-order robot arm (9), a third motor (10), a second-order robot arm (11), a second fixing frame (12), a third-order robot arm (13), a fourth motor (14) and a second motor (21); the first-order robot arm (9) is rotatably connected between two first fixing frames (8); the second motor (21) is fixedly connected to the outer side surface of the first fixing frame (8); the output end of the second motor (21) passes through the outer side surface of the first fixing frame (8) and is fixedly connected to the first-order robot arm (9); the second-order robot arm (11) is rotatably connected to the upper side surface of the first-order robot arm (9); the third motor (21) is fixedly connected to the outer side surface of the first fixing frame (8); the output end of the second motor (21) passes through the outer side surface of the first fixing frame (8) and is fixedly connected to the first-order robot arm (9); the second-order robot arm (11) is rotatably connected to the upper side surface of the first-order robot arm (9); The motor (10) is fixedly connected to the upper side of the first-order robot arm (9), the output end of the third motor (10) passes through the side of the first-order robot arm (9) and is fixedly connected to the second-order robot arm (11), the second fixing frame (12) is fixedly connected to the end of the second-order robot arm (11) away from the first-order robot arm (9), the fourth motor (14) is fixedly connected to the side of the second fixing frame (12), the third-order robot arm (13) is rotatably connected to the side of the second fixing frame (12), the output end of the fourth motor (14) passes through the side of the second fixing frame (12) and is fixedly connected to the third-order robot arm (13).

3. A cap beam reinforcement welding robot according to claim 2, characterized in that: in: The welding assembly comprises a rotating shaft (15), a welding rod rotating disk (16), a fixing member (17), a first welding rod (18), a second welding rod (19) and a third welding rod (20); the rotating shaft (15) is rotatably connected to the lower surface of the three-stage robot arm (13); the three fixing members (17) are fixedly connected to the lower surface of the welding rod rotating disk (16) in a circular array; the first welding rod (18), the second welding rod (19) and the third welding rod (20) are respectively threadedly connected to the three fixing members (17).

4. A cap beam reinforcement welding robot according to claim 2, characterized in that: in: The lower end of the three-stage mechanical arm (13) is arranged in a section shape with an inclination angle of 45° with the horizontal direction.

5. The cap beam reinforcement welding robot according to claim 2, characterized in that: in: An arc groove is provided at the end of the first-order robot arm (9) near the side of the second-order robot arm (11), and an arc groove is provided at the end of the second-order robot arm (11) near the side of the third-order robot arm (13).

6. The cap beam reinforcement welding robot according to claim 3, characterized in that: in: The welding rod rotating disk (16) is arranged parallel to the lower end section of the three-stage mechanical arm (13), and the angle between the fixing member (17) and the welding rod rotating disk (16) is 45 degrees.

7. The cap beam reinforcement welding robot according to claim 3, characterized in that: in: The first welding rod (18) is configured to be in an "I" shape, the second welding rod (19) is configured to be in a "J" shape, and the third welding rod (20) is configured to be in an "L" shape.

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