Welding equipment

Abstract

The utility model relates to welding equipment, and relates to the field of mechanical arms. The utility model provides welding equipment which comprises an operation platform, a base and a mechanical arm. A mounting position and a welding position are arranged on the operating platform, and the welding position is used for arranging a steel reinforcement framework; one end of the base is provided with a first connecting end, and the other end is connected with the mounting position; one end of the mechanical arm is provided with a second connecting end, and the other end is an execution end; the second connecting end is movably connected with the first connecting end, and the executing end is used for installing welding equipment. According to the welding equipment, the operation platform, the base and the mechanical arm are arranged, so that the mechanical arm and the welding equipment can complete the welding action on the welding position, the welding accuracy and consistency on the welding position are guaranteed, the welding precision and quality are improved, and the manual labor intensity can be greatly reduced through mechanical construction; and by arranging the base and the mechanical arm which are movably connected, the operable space of welding is increased in the limited environment position.

Description

Technical Field

[0001] The utility model relates to the field of mechanical arms, in particular to a welding device. Background Art

[0002] A robotic arm is a multi-purpose, reprogrammable, automatically controlled manipulator with three or more programmable axes, widely used in the field of industrial automatic production. To adapt to different uses, the mechanical interface connected to the wrist of the robotic arm is usually a connecting flange, which can be installed with different tools or end effectors, so that it has the functions of welding, cutting or thermal spraying.

[0003] The inventors have found that, at present, manual welding is mostly used in the welding process of box culvert steel frame, and manual welding has great requirements on environmental limitations; at the same time, the welding quality of manual welding is unstable and the labor cost is high. Utility Model Content

[0004] The utility model aims to provide a welding device, which can improve welding accuracy and quality, reduce manual labor intensity, and has a large operating space.

[0005] The embodiment of the utility model is achieved as follows:

[0006] The utility model proposes a welding device, comprising an operating platform, a base and a mechanical arm; the operating platform is provided with a mounting position and a welding position, the welding position is used to set a steel bar skeleton; one end of the base is provided with a first connecting end, and the other end is connected to the mounting position; one end of the mechanical arm is provided with a second connecting end, and the other end is an execution end; the second connecting end is movably connected to the first connecting end, and the execution end is used to install welding equipment.

[0007] Optionally, the robotic arm comprises a waist, an arm and a wrist;

[0008] One end of the waist is the second connection end, and the other end is rotatably connected to one end of the arm;

[0009] The other end of the arm is rotatably connected to one end of the wrist;

[0010] The other end of the wrist is the execution end.

[0011] Optionally, the welding equipment further includes a power supply device and a control system, the power supply device is used to supply power to the robotic arm, and the control system is used to control the robotic arm and the welding equipment.

[0012] Optionally, the power supply device and the control system are arranged on the base.

[0013] Optionally, the control system controls the robot arm to weld along the starting point of the welding position and controls the robot arm to weld in a preset direction and speed.

[0014] Optionally, the welding equipment includes a welding gun, which is arranged at the execution end and is used for welding the steel bar skeleton.

[0015] Optionally, the execution end is provided with a sensor, which is communicatively connected with the control system and is used to detect the welding quality of the steel bar skeleton.

[0016] Optionally, the welding position is arranged on the outer ring of the mounting position;

[0017] The welding position includes a plurality of welding brackets arranged at intervals, and the plurality of welding brackets are used to support the steel bar skeleton.

[0018] Optionally, the operating platform includes a table top and a plurality of legs;

[0019] The table top is formed by connecting a plurality of steel plates, and the table top is fixed to the plurality of legs.

[0020] Optionally, the plurality of legs are fixed to the installation ground by bolts.

[0021] The beneficial effects of the embodiments of the utility model are:

[0022] This welding equipment is provided with an operating platform, a base and a mechanical arm, so that the mechanical arm can complete the welding action with the welding equipment at the welding position, thereby ensuring the accuracy and consistency of welding at the welding position, improving the welding precision and quality, and mechanized construction can greatly reduce the intensity of manual labor, reduce the occurrence of occupational diseases, and ensure the safety of personnel during the welding process; and by providing a movably connected base and a mechanical arm, the operable space for welding is increased in a limited environmental location. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 This is a schematic diagram of the structure of the welding equipment according to the embodiment of the utility model;

[0025] Figure 2 This is a schematic diagram of the structure of the mechanical arm and the base of the embodiment of the utility model;

[0026] Figure 3It is a schematic structural diagram of a steel bar skeleton according to an embodiment of the utility model.

[0027] Icons: 100- welding equipment; 110- welding equipment; 111- welding gun; 120- mechanical arm; 121- waist; 122- arm; 123- wrist; 130- base; 140- operating platform; 141- installation position; 142- welding position; 143- table; 144- support leg; 145- welding bracket; 146- bolt; 150- power supply device; 160- control system; 170- steel frame. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0031] In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the utility model product is usually placed when in use, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0032] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0033] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] Please refer to Figure 1 The present embodiment provides a welding device 100, including an operating platform 140, a base 130 and a robotic arm 120; the operating platform 140 is provided with an installation position 141 and a welding position 142, and the welding position 142 is used to set a steel skeleton 170; one end of the base 130 is provided with a first connecting end, and the other end is connected to the installation position 141; one end of the robotic arm 120 is provided with a second connecting end, and the other end is an execution end; the second connecting end is movably connected to the first connecting end, and the execution end is used to install the welding equipment 110.

[0035] It can be understood that by setting up the operating platform 140, the base 130 and the robotic arm 120, the robotic arm 120 can complete the welding action with the welding equipment 110 at the welding position 142, thereby ensuring the accuracy and consistency of welding at the welding position 142, improving the welding precision and quality, and mechanized construction can greatly reduce the intensity of manual labor, reduce the occurrence of occupational diseases, and ensure the safety of personnel during the welding process; by setting up a movably connected base 130 and a robotic arm 120, the operable space for welding is increased in a limited environmental location.

[0036] Please refer to Figure 1-Figure 2 In this embodiment, the welding device 100 includes welding equipment 110 .

[0037] Optionally, the welding equipment 110 includes a welding gun 111, a welding power source and a wire feeder. The welding gun 111 is arranged at the execution end and is used to weld the steel skeleton 170. The welding power source can be arranged in the power supply device 150, and the wire feeder is used to feed the welding wire.

[0038] In this embodiment, the welding gun 111 adopts double-protection welding.

[0039] Optionally, a sensor is provided at the execution end of the welding gun 111, and the sensor is connected to the control system 160 for communication and is used to detect the welding quality of the steel skeleton 170. The sensor can detect parameters such as the weld length and width of the welded steel skeleton 170, and send the detected quality parameter information to the control system 160, so that the control system 160 can adjust the next welding action according to the feedback information, thereby ensuring the quality of welding.

[0040] Please refer to Figure 1-Figure 2 In this embodiment, the welding device 100 includes a robot arm 120 .

[0041] Optionally, the robotic arm 120 includes a waist 121, an arm 122 and a wrist 123; one end of the waist 121 is a second connection end, and the other end is rotatably connected to one end of the arm 122; the other end of the arm 122 is rotatably connected to one end of the wrist 123; the other end of the wrist 123 is an execution end.

[0042] The waist 121 is the supporting part of the robot arm 122. According to different coordinate systems of the operating system, the waist 121 can rotate on the base 130. Of course, in other embodiments, the first connecting end of the waist 121 can also be made into one piece with the second connecting end of the base 130.

[0043] Among them, the arm 122 is the part connecting the body and the wrist 123, which is composed of the power welding and connecting rods of the manipulator. It is the main moving part in the execution structure, mainly used to change the spatial position of the wrist 123 and the end effector, meet the working space of the robot, and transfer various loads to the base 130.

[0044] The wrist 123 is the part connecting the welding gun 111 and the arm 122 , and its function is to transfer the working load to the arm 122 to change the spatial posture of the welding gun 111 .

[0045] Please refer to Figure 2 In this embodiment, the welding device 100 includes a base 130. A first connection end is provided at one end of the base 130, and the other end is connected to the mounting position 141 of the operating platform 140. The base 130 serves as the base part of the robot arm 120 and plays a supporting role.

[0046] In this embodiment, the first connection end is a guide groove, and the second connection end is a guide rod. Of course, in other embodiments, the first connection end is a guide rod, and the second connection end can also be a guide groove; the waist 121 can move on the first connection end of the base 130 through the guide rod or the guide groove, thereby increasing the operating space.

[0047] In this embodiment, the welding device 100 includes a power supply device 150 and a control system 160 . The power supply device is used to supply power to the robot arm 120 , and the control system 160 is used to control the robot arm 120 and the welding device 100 .

[0048] Among them, the control system 160 controls the robot arm 120 to weld along the starting point of the welding position 142 and controls the robot arm 120 to weld in a preset direction and speed. It can be understood that the pre-written program is imported into the control system 160, and then the controller of the control system 160 sends instructions to the robot arm 120, so that the robot arm 120 moves to the preset starting point; the welding gun 111 connected to the wrist 123 performs welding, melts the surface of the steel bar, and ensures the welding quality through CO2 gas. The welding gun 111 stays for a period of time to ensure that the welded steel bar solidifies and forms a weld. Then, the arm 122 and the welding gun 111 move in the direction and speed required by the program setting to complete the entire welding process. Finally, the sensor set at the welding gun 111 detects the quality of the weld and sends feedback information, and the controller adjusts the next welding action according to its feedback information.

[0049] Of course, the power supply device provides power to the robot arm 120 and the welding equipment 110 .

[0050] Optionally, see Figure 2 The power supply device 150 and the control system 160 are arranged on the base 130 .

[0051] In this embodiment, the welding device 100 includes an operating platform 140. The operating platform 140 is provided with an installation position 141 and a welding position 142. The welding position 142 is used to set the steel bar skeleton 170, and the installation position 141 is used to place the base 130.

[0052] In this embodiment, please refer to Figure 1 The operating platform 140 includes a fixed table 143 and a plurality of legs 144. The table 143 is constructed by welding three 2.35m*3m*15mm thick steel plates; one of the steel plates is used as a reference, and the other two steel plates are welded to one side of the steel plate at intervals. After welding, the operating platform 140 presents a C-shaped structure. Among them, the welding position 142 is set on the outer ring of the mounting position 141; the welding position 142 is set on the platform after the three steel plates are welded; the hollow position left is the mounting position 141, which is used to accommodate the base 130 and the robot arm 120.

[0053] At the same time, six 6cm*6cm*1.2m angle steels are selected as legs 144 supporting the table 143; multiple legs 144 are fixed to the installation ground by bolts 146; the legs 144 are anchored to the ground by bolts 146, which can ensure that the robot arm 120 can work smoothly and stably.

[0054] Optionally, the welding position 142 includes a plurality of welding brackets 145 arranged at intervals, and the plurality of welding brackets 145 are used to support the steel skeleton 170; at least two welding brackets 145 arranged at intervals are arranged on a steel plate to support the steel skeleton 170 bent in a ring shape. The distance between the welding bracket 145 and the table 143 is 15 cm; the 15 cm gap can ensure that the robot arm 120 has enough operating space for welding.

[0055] It is worth mentioning that the steel frame 170 required to be welded in this embodiment is as follows: Figure 3 shown.

[0056] The working principle of the welding device 100 provided in this embodiment is:

[0057] (1) According to the length (4.7 m) and width (1.72 m) of the box culvert steel bar skeleton 170, on-site construction personnel need to specifically adjust the movement and position of the robot arm 120 and plan the working path of the robot arm 120 for welding steel bars to ensure that the robot arm 120 meets the construction requirements.

[0058] (2) With manual assistance, the steel bar (φ25) to be welded is supported by the welding bracket 145 on the table 143. The steel bar is fixed to the welding bracket 145 of the operation panel by a clamp. The clamp is used in conjunction with the support leg 144 to ensure the accuracy of its position and angle.

[0059] (3) The height of the robot arm 120 and the wrist 123 is controlled at 10-50 cm, which is convenient for accurately controlling the length, width and thickness of the weld during welding to ensure the welding quality.

[0060] (4) According to the debugging parameters and welding quality debugged by the control system 160 of the robot arm 120, ER50-6 welding wire is used and installed on the lifting device of the welding gun 111 of the robot arm 120, and the welding current is set to 110A.

[0061] (5) The robot arm 120 automatically welds the welding rod to the steel frame 170 through the motion control of the control system 160, and welds from the left front to the right front of the steel frame 170. The end of the welding rod touches the welding surface lightly. After the arc is generated, the welding gun 111 equipped with a sensor controls the welding rod to move slowly to ensure that the weld surface meets the requirements after the welding is completed. Then, the welding of the next point begins. Because the steel bars are densely spaced, single-sided welding is used to weld steel bars with a diameter of φ25, and the weld length is ≥10d (25cm).

[0062] (6) According to the performance of the robot arm 120, when the welding time reaches 36 hours, check the status of the welding gun 111 and perform maintenance to ensure that the appearance quality of the welded parts and the test inspection data meet the requirements.

[0063] (7) After welding is completed, the project quality inspection personnel will check the quality of the welded parts to ensure that the welding quality meets the design specifications and inspection and evaluation standards.

[0064] In summary, by setting up the operating platform 140, the base 130 and the robotic arm 120, the robotic arm 120 can complete the welding action with the welding equipment 110 at the welding position 142, thereby ensuring the accuracy and consistency of welding at the welding position 142, improving the welding precision and quality, and mechanized construction can greatly reduce the intensity of manual labor, reduce the occurrence of occupational diseases, and ensure the safety of personnel during the welding process; by setting up the movably connected base 130 and the robotic arm 120, the operable space for welding is increased in a limited environmental location.

[0065] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may be subject to various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A welding device, characterized in that: include: An operating platform, wherein a mounting position and a welding position are provided on the operating platform, and the welding position is used to set a steel bar skeleton; A base, one end of which is provided with a first connecting end, and the other end of which is connected to the mounting position; A robotic arm, wherein one end of the robotic arm is provided with a second connecting end, and the other end is an execution end; the second connecting end is movably connected to the first connecting end, and the execution end is used to install welding equipment.

2. The welding device according to claim 1, characterized in that The robotic arm comprises a waist, an arm and a wrist; One end of the waist is the second connection end, and the other end is rotatably connected to one end of the arm; The other end of the arm is rotatably connected to one end of the wrist; The other end of the wrist is the execution end.

3. The welding device according to claim 1, characterized in that The welding equipment further comprises a power supply device and a control system, wherein the power supply device is used to supply power to the robot arm, and the control system is used to control the robot arm and the welding equipment.

4. The welding device according to claim 3, characterized in that: The power supply device and the control system are arranged on the base.

5. The welding device according to claim 3, characterized in that: The control system controls the robot arm to weld along the starting point of the welding position and controls the robot arm to weld in a preset direction and speed.

6. The welding device according to claim 1, characterized in that The welding equipment comprises a welding gun, which is arranged at the execution end and is used for welding the steel bar skeleton.

7. The welding device according to claim 6, characterized in that The execution end is provided with a sensor, which is communicatively connected with the control system and is used to detect the welding quality of the steel bar skeleton.

8. The welding device according to claim 1, characterized in that The welding position is arranged on the outer ring of the mounting position; The welding position includes a plurality of welding brackets arranged at intervals, and the plurality of welding brackets are used to support the steel bar skeleton.

9. The welding device according to claim 8, characterized in that The operating platform includes a table top and a plurality of legs, wherein the table top is formed by connecting a plurality of steel plates, and the table top is fixed to the plurality of legs; The distance between the welding bracket and the table top is 15 cm.

10. The welding device according to claim 9, characterized in that The plurality of legs are fixed to the installation ground by bolts.

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