Mechanical arm for welding box culvert steel reinforcement framework

Abstract

The utility model discloses a mechanical arm for welding a box culvert steel reinforcement framework, which relates to the building field, and comprises a working table, a mechanical arm body and a laser welding head, the mechanical arm is provided with a driving assembly, a first servo motor operates to drive a first gear to rotate, and a moving box can be driven to move back and forth in a supporting table; by arranging the mechanical arm body, the front-and-back position of the mechanical arm body is adjusted, the operation process is simplified and the welding efficiency is improved when the box culvert steel reinforcement frameworks are welded in batches in the front-and-back direction or the left-and-right direction, and the brake is arranged and can prevent the rotating rod from rotating relative to the moving box, so that the position of the moving box is limited; the positions of the driving assembly and the mechanical arm body are fixed, the limiting assembly is arranged, a rotating rod is rotated to drive clamping plates to move inwards at the same time, and therefore the position of the steel reinforcement framework in the horizontal direction is limited, the fixing effect on the steel reinforcement framework is improved, and displacement of the steel reinforcement framework in the welding process is avoided.

Description

Technical Field

[0001] The utility model relates to the field of construction, in particular to a mechanical arm used for welding a box culvert steel bar skeleton. Background Art

[0002] A box culvert refers to a culvert whose tunnel body is constructed with reinforced concrete box-shaped pipe sections. A box culvert is composed of one or more square or rectangular sections, and is generally made of reinforced concrete or masonry. A robotic arm refers to a complex system with high precision, multi-input and multi-output, high nonlinearity, and strong coupling. The robotic arm can plan the motion trajectory of the joint space according to different tasks, thereby cascading to form the terminal posture. In the process of making the box culvert steel frame, the steel frame is welded by the robotic arm, which can improve the welding accuracy and the degree of automation in the processing and manufacturing of the box culvert.

[0003] For example, a positioning welding device for construction disclosed in the utility model with authorization announcement number CN216177740U controls the first servo motor to drive the vertical block to move inward at the same time, and controls the second servo motor to drive the horizontal block and the positioning block to move downward, so as to fix workpieces of different sizes. The laser welding head is placed in the fixing hole by rotating the baffle, and the torsion spring drives the baffle to rotate above the limit block, which can limit the limit block and realize the installation of the laser welding head.

[0004] This prior art also has the following problems when used:

[0005] The robotic arm of the device is fixedly installed on the top of the supporting block. When the robotic arm performs batch welding on the workpieces along the left-right direction or the front-back direction, the steps required to operate the robotic arm are relatively cumbersome. The vertical block of the device can only limit the left-right direction of the workpiece, but it is difficult to limit the front-back direction of the workpiece. The workpiece is prone to shift along the front-back direction during the welding process, thereby affecting the welding accuracy. Utility Model Content

[0006] In order to overcome the deficiencies of the prior art, the utility model provides a mechanical arm for welding a box culvert steel bar skeleton to solve the technical problems mentioned in the above background.

[0007] In order to solve the above technical problems, the utility model provides the following technical solutions: a mechanical arm for welding a box culvert steel frame, comprising a workbench, a mechanical arm body and a laser welding head, wherein the mechanical arm body is installed on the outside of the workbench, and the free end of the mechanical arm body is installed with a laser welding head;

[0008] A driving assembly is arranged at the bottom of the robot body, and the driving assembly can drive the robot body to move forward and backward;

[0009] A brake, which is arranged inside the driving assembly and can fix the position of the driving assembly and the robot body;

[0010] The limit component is set in the center of the workbench. The limit component can limit the horizontal position of the steel frame.

[0011] As a preferred technical solution of the utility model, the driving assembly includes a support table, a moving box, a limit block, a rotating wheel, a rotating shaft, a slide rail, a block rack, a second gear, a first gear and a first servo motor. The support table is fixedly arranged on the side of the workbench, the slide rail and the block rack are respectively fixedly arranged on the inner bottom surface of the support table, the rotating wheel is connected to the inner bottom surface of the support table by rotation, the rotating shaft is fixedly arranged on the inner side of the rotating wheel, the second gear is connected to the top of the block rack through saw teeth, the first gear is connected to the top of the second gear through saw teeth, the moving box is fixedly arranged on the top surface of the brake, the limit block is fixedly arranged on the left and right sides of the moving box, and the first servo motor is fixedly installed on the inner bottom surface of the moving box.

[0012] As an optimal technical solution of the utility model, the left and right sides of the moving box are connected to the inner wall of the support platform by sliding, the inner wall of the support platform is provided with a limit groove adapted to the limit block, the limit block is slidably connected to the support platform through the limit groove, the rotating shaft passes through the brake, the second gear is connected to the bottom of the moving box by rotation, a fixed shaft is fixedly provided at the bottom of the moving box, the fixed shaft passes through the second gear and is connected to the second gear by rotation, and the output end of the first servo motor is fixedly connected to the first gear.

[0013] As a preferred technical solution of the utility model, the limiting assembly includes a cross-shaped slide groove, a splint, a rotating rod, a lifting block, a first threaded rod, a connecting rod, a first bevel gear and a second bevel gear. The cross-shaped slide groove is arranged through the top surface of the workbench, the splint is arranged on the top surface of the workbench, the rotating rod is arranged through the front surface of the workbench, the second bevel gear is fixedly installed on the back of the rotating rod, the first bevel gear is connected to the bottom surface of the workbench by rotation, the first threaded rod is fixedly arranged on the bottom surface of the first bevel gear, the lifting block is connected to the outside of the first threaded rod by threads, and the connecting rod is connected to the side of the lifting block by a hinge.

[0014] As an optimal technical solution of the utility model, a cross-shaped slider adapted to a cross-shaped slide groove is fixedly installed on the bottom surface of the splint, the cross-shaped slider is slidably connected to the workbench through the cross-shaped slide groove, the bottom surface of the cross-shaped slider is connected to the connecting rod through a hinge, and the first bevel gear and the second bevel gear are connected through serrations.

[0015] As a preferred technical solution of the utility model, a second servo motor is fixedly installed on the top surface of the splint, the output end of the second servo motor passes through the splint and is connected to the splint by rotation, a second threaded rod is fixedly arranged on the bottom surface of the output end of the second servo motor, a pressure plate is threadedly connected to the outer side of the second threaded rod, and the pressure plate is connected to the inner wall of the splint by sliding.

[0016] Compared with the prior art, the utility model can achieve the following beneficial effects:

[0017] The utility model sets a driving component, and the operation of the first servo motor drives the first gear to rotate, which can drive the mobile box to move forward and backward inside the support platform, so as to adjust the front and rear position of the mechanical arm body, which is convenient for simplifying the operation process when batch welding the box culvert steel frame along the front and rear direction or the left and right direction, and improving the welding efficiency. By setting a brake, the brake can prevent the rotating rod from rotating relative to the moving box, so as to limit the position of the moving box and fix the position of the driving component and the mechanical arm body. By setting a limiting component, rotating the rotating rod can drive the clamping plate to move inward at the same time, so as to limit the horizontal position of the steel frame, improve the fixing effect of the steel frame, and avoid the steel frame from shifting during the welding process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the main structure of the utility model;

[0019] Figure 2 This is a schematic diagram of the cross-sectional structure of the main view of the utility model;

[0020] Figure 3 For this utility model Figure 2 A schematic diagram of the partially enlarged structure at center A;

[0021] Figure 4 It is a schematic diagram of the cross-sectional structure of the right side view of the drive assembly of the utility model;

[0022] Figure 5 It is a schematic diagram of the cross-sectional structure of the left side view of the utility model;

[0023] Figure 6 This is a bottom view structural diagram of the utility model;

[0024] Among them: 1. workbench; 2. support table; 3. robot arm body; 4. laser welding head; 5. cross-shaped slide; 6. clamping plate; 7. rotating rod; 8. lifting block; 9. pressing plate; 10. first threaded rod; 11. connecting rod; 12. first bevel gear; 13. moving box; 14. limit block; 15. rotating wheel; 16. brake; 17. rotating shaft; 18. slide rail; 19. block rack; 20. second gear; 21. first gear; 22. first servo motor; 23. second bevel gear. DETAILED DESCRIPTION

[0025] In order to make the technical means, creative features, objectives and effects of the present invention easy to understand, the present invention is further described below in conjunction with specific embodiments, but the following embodiments are only preferred embodiments of the present invention, not all. Based on the embodiments in the implementation mode, other embodiments obtained by those skilled in the art without creative work are all within the protection scope of the present invention.

[0026] Example

[0027] Please refer to Figure 1-Figure 5 As shown, the utility model provides a robotic arm for welding box culvert steel bar skeleton, including a workbench 1, a robotic arm body 3 and a laser welding head 4, support legs are fixedly installed at the four corners of the bottom surface of the workbench 1, the robotic arm body 3 is installed on the outside of the workbench 1, and the laser welding head 4 is installed on the free end of the robotic arm body 3.

[0028] like Figure 1-Figure 4As shown, a driving assembly is arranged at the bottom of the robot body 3, and the driving assembly is composed of a support table 2, a moving box 13, a limit block 14, a rotating wheel 15, a rotating shaft 17, a slide rail 18, a block rack 19, a second gear 20, a first gear 21 and a first servo motor 22. A support table 2 is fixedly arranged on the side of the workbench 1, a plurality of support frames are fixedly installed on the bottom surface of the support table 2, a symmetrical slide rail 18 is fixedly arranged on the bottom surface of the support table 2, a block rack 19 is fixedly arranged in the center of the bottom surface of the support table 2, and the support table 2 is fixedly arranged on the bottom surface of the support table 2. The bottom surface is connected with a symmetrical rotating wheel 15 by rotation, and the rotating wheel 15 is arranged between adjacent slide rails 18. The contact surface between the rotating wheel 15 and the bottom surface of the inner part of the support platform 2 is a rough surface. A rotating shaft 17 is fixedly arranged on the inner side of the rotating wheel 15, and a brake 16 is penetrated on the outer side of the rotating shaft 17. A moving box 13 is fixedly arranged on the top surface of the brake 16. The left and right sides of the moving box 13 are connected to the inner wall of the support platform 2 by sliding. A second gear 20 is connected to the upper side of the block rack 19 by saw teeth. The second gear 20 is connected to the moving box 1 by rotation. 3 bottom, a fixed shaft is fixedly arranged at the bottom of the moving box 13, the fixed shaft passes through the second gear 20 and is connected with the second gear 20 by rotation, the first gear 21 is connected with the second gear 20 by sawtooth, and limit blocks 14 are fixedly arranged on the left and right sides of the moving box 13, and a limit groove adapted to the limit block 14 is arranged on the inner wall of the support platform 2, and the limit block 14 is slidably connected with the support platform 2 through the limit groove, and a first servo motor 22 is fixedly installed on the bottom surface of the inside of the moving box 13, and the output end of the first servo motor 22 is fixedly connected with the first gear 21, and the operation of the first servo motor 22 drives the first gear 21 to rotate, which can drive the moving box 13 to move forward and backward inside the support platform 2, thereby adjusting the front and rear position of the mechanical arm body 3, which is convenient for simplifying the operation process when the box culvert steel frame is batch welded along the front and rear direction or the left and right direction, and improving the welding efficiency, and the brake 16 can prevent the rotating shaft 17 from rotating relative to the moving box 13, thereby limiting the position of the moving box 13, and realizing the fixing of the position of the driving component and the mechanical arm body 3.

[0029] Specifically, when it is necessary to adjust the front and rear position of the robot body 3, the brake 16 is closed and the first servo motor 22 is started. The operation of the first servo motor 22 drives the first gear 21 to rotate. The rotation of the first gear 21 drives the second gear 20 to rotate. The rotation of the second gear 20 drives the second gear 20 to move forward and backward above the block rack 19. The second gear 20 cooperates with the rotating wheel 15 to drive the moving box 13 and the robot body 3 to move forward and backward. After completing the position adjustment of the robot body 3, the first servo motor 22 is closed and the brake 16 is started to fix the position of the drive assembly and the robot body 3.

[0030] like Figure 1-Figure 6As shown, a limit assembly is arranged at the central position of the workbench 1, and the limit assembly consists of a cross-shaped slide 5, a clamping plate 6, a rotating rod 7, a lifting block 8, a first threaded rod 10, a connecting rod 11, a first bevel gear 12 and a second bevel gear 23. The top surface of the workbench 1 is provided with four cross-shaped slides 5 that penetrate to the bottom surface, the top surface of the workbench 1 is provided with a clamping plate 6, and a cross-shaped slider adapted to the cross-shaped slide 5 is fixedly installed on the bottom surface of the clamping plate 6. The cross-shaped slider is slidably connected to the workbench 1 through the cross-shaped slide 5, a rotating rod 7 is penetrated through the front of the workbench 1, and a fixed block is fixedly arranged on the bottom surface of the workbench 1. The rotating rod 7 penetrates the fixed block, and the rotating rod 7 is respectively connected to the workbench 1 and the fixed block through a rotating Dynamic connection, a second bevel gear 23 is fixedly installed on the back of the rotating rod 7, and the bottom surface of the workbench 1 is connected with the first bevel gear 12 by rotation. The first bevel gear 12 and the second bevel gear 23 are connected by serrations. A first threaded rod 10 is fixedly arranged on the bottom surface of the first bevel gear 12, and a lifting block 8 is connected to the outside of the first threaded rod 10 by threads. A connecting rod 11 is hinged to the side of the lifting block 8, and the other end of the connecting rod 11 is hinged to the bottom surface of the cross-shaped slider. Rotating the rotating rod 7 can drive the clamping plate 6 to move inward at the same time, thereby limiting the horizontal position of the steel skeleton, improving the fixing effect of the steel skeleton, and avoiding displacement of the steel skeleton during welding.

[0031] Specifically, rotating the rotating rod 7 drives the second bevel gear 23 to rotate, the rotation of the second bevel gear 23 drives the first bevel gear 12 to rotate, the rotation of the first bevel gear 12 drives the first threaded rod 10 to rotate, the rotation of the first threaded rod 10 drives the lifting block 8 to move upward, the movement of the lifting block 8 drives the connecting rod 11 to rotate outward at the same time, the rotation of the connecting rod 11 drives the cross-shaped slider to move outward at the same time, the movement of the cross-shaped slider drives the splint 6 to move outward at the same time, until the splint 6 moves outward to the maximum distance, the box culvert steel frame is placed in the center of the top surface of the workbench 1, and then the rotating rod 7 is rotated in the opposite direction to drive the splint 6 to move inward at the same time until the inner side of the splint 6 is close to the steel frame, thereby limiting the horizontal position of the steel frame.

[0032] like Figure 1-Figure 5 As shown, a second servo motor is fixedly installed on the top surface of the clamp plate 6, and the output end of the second servo motor passes through the clamp plate 6 and is connected to the clamp plate 6 by rotation. A second threaded rod is fixedly provided on the bottom surface of the output end of the second servo motor, and a pressure plate 9 is threadedly connected to the outer side of the second threaded rod. The pressure plate 9 is connected to the inner wall of the clamp plate 6 by sliding. Running the second servo motor can drive the second threaded rod to rotate, thereby driving the pressure plate 9 to move downward along the second threaded rod to limit the vertical position of the steel skeleton.

[0033] Specific working principle:

[0034] When the device is in use, the second servo motor is operated to drive the second threaded rod to rotate, and the rotation of the second threaded rod drives the pressure plate 9 to move upward along the second threaded rod to the maximum distance, and the rotating rod 7 drives the second bevel gear 23 to rotate, and the rotation of the second bevel gear 23 drives the first bevel gear 12 to rotate, and the rotation of the first bevel gear 12 drives the first threaded rod 10 to rotate, and the rotation of the first threaded rod 10 drives the lifting block 8 to move upward, and the movement of the lifting block 8 drives the connecting rod 11 to rotate outward at the same time, and the rotation of the connecting rod 11 drives the cross-shaped slider to move outward at the same time, and the movement of the cross-shaped slider drives the clamping plate 6 to move outward at the same time until the clamping plate 6 moves outward to the maximum distance. , place the box culvert steel frame in the center of the top surface of the workbench 1, and then rotate the rotating rod 7 in the opposite direction to drive the clamping plate 6 to move inward at the same time, until the inner side of the clamping plate 6 is close to the steel frame, thereby limiting the horizontal position of the steel frame, and running the second servo motor to drive the second threaded rod to rotate. The rotation of the second threaded rod drives the pressing plate 9 to move downward along the second threaded rod until the pressing plate 9 is close to the steel frame, thereby limiting the vertical position of the steel frame, improving the fixing effect of the steel frame, and avoiding the displacement of the steel frame during welding. The control robot arm body 3 cooperates with the laser welding head 4 to perform welding operations on the box culvert steel frame.

[0035] When it is necessary to adjust the front and rear position of the robot body 3, close the brake 16 and start the first servo motor 22. The operation of the first servo motor 22 drives the first gear 21 to rotate. The rotation of the first gear 21 drives the second gear 20 to rotate. The rotation of the second gear 20 drives the second gear 20 to move forward and backward above the block rack 19. The second gear 20 cooperates with the rotating wheel 15 to drive the moving box 13 and the robot body 3 to move forward and backward, which is convenient for simplifying the operation process and improving the welding efficiency when batch welding the box culvert steel frame along the front and rear directions or the left and right directions. After completing the position adjustment of the robot body 3, turn off the first servo motor 22 and start the brake 16. The brake 16 can prevent the rotating shaft 17 from rotating relative to the moving box 13, thereby limiting the position of the moving box 13 and fixing the position of the drive assembly and the robot body 3.

[0036] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the utility model and are not used to limit the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection of the utility model is defined by the attached claims and their equivalents.

Claims

1. A mechanical arm for welding a box culvert steel frame, comprising a workbench (1), a mechanical arm body (3) and a laser welding head (4), wherein the mechanical arm body (3) is installed outside the workbench (1), and the laser welding head (4) is installed at the free end of the mechanical arm body (3), characterized in that: A driving assembly, the driving assembly is arranged at the bottom of the mechanical arm body (3), and the driving assembly can drive the mechanical arm body (3) to move forward and backward; A brake (16), wherein the brake (16) is arranged inside the driving assembly, and the brake (16) can fix the position of the driving assembly and the mechanical arm body (3); A limit component is arranged at the center of the workbench (1), and the limit component can limit the horizontal position of the steel bar skeleton.

2. A mechanical arm for welding box culvert steel frame according to claim 1, characterized in that: The driving assembly comprises a support platform (2), a moving box (13), a limit block (14), a rotating wheel (15), a rotating shaft (17), a slide rail (18), a block rack (19), a second gear (20), a first gear (21) and a first servo motor (22); the support platform (2) is fixedly arranged on the side of the workbench (1); the slide rail (18) and the block rack (19) are respectively fixedly arranged on the inner bottom surface of the support platform (2); the rotating wheel (15) is connected to the support platform (2) by rotation 2) inner bottom surface, the rotating shaft (17) is fixedly arranged on the inner side of the rotating wheel (15), the second gear (20) is connected to the upper part of the block rack (19) through saw teeth, the first gear (21) is connected to the upper part of the second gear (20) through saw teeth, the moving box (13) is fixedly arranged on the top surface of the brake (16), the limit block (14) is fixedly arranged on the left and right sides of the moving box (13), and the first servo motor (22) is fixedly installed on the inner bottom surface of the moving box (13).

3. A mechanical arm for welding box culvert steel frame according to claim 2, characterized in that: The left and right sides of the moving box (13) are connected to the inner wall of the support platform (2) by sliding; the inner wall of the support platform (2) is provided with a limit groove adapted to the limit block (14); the limit block (14) is connected to the support platform (2) by sliding through the limit groove; the rotating shaft (17) passes through the brake (16); the second gear (20) is connected to the bottom of the moving box (13) by rotation; a fixed shaft is fixedly provided at the bottom of the moving box (13); the fixed shaft passes through the second gear (20) and is connected to the second gear (20) by rotation; the output end of the first servo motor (22) is fixedly connected to the first gear (21).

4. The mechanical arm for welding box culvert steel frame according to claim 1, characterized in that: The limiting assembly comprises a cross-shaped slide groove (5), a clamping plate (6), a rotating rod (7), a lifting block (8), a first threaded rod (10), a connecting rod (11), a first bevel gear (12) and a second bevel gear (23), wherein the cross-shaped slide groove (5) is arranged through the top surface of the workbench (1), the clamping plate (6) is arranged on the top surface of the workbench (1), the rotating rod (7) is arranged through the front surface of the workbench (1), the second bevel gear (23) is fixedly installed on the back surface of the rotating rod (7), the first bevel gear (12) is connected to the bottom surface of the workbench (1) by rotation, the first threaded rod (10) is fixedly arranged on the bottom surface of the first bevel gear (12), the lifting block (8) is connected to the outer side of the first threaded rod (10) by threading, and the connecting rod (11) is connected to the side surface of the lifting block (8) by hinge.

5. A mechanical arm for welding a box culvert reinforcement frame according to claim 4, characterized in that: A cross-shaped slider adapted to the cross-shaped slide groove (5) is fixedly mounted on the bottom surface of the clamping plate (6); the cross-shaped slider is slidably connected to the workbench (1) via the cross-shaped slide groove (5); the bottom surface of the cross-shaped slider is connected to the connecting rod (11) via a hinge; and the first bevel gear (12) is connected to the second bevel gear (23) via saw teeth.

6. A mechanical arm for welding box culvert steel frame according to claim 5, characterized in that: A second servo motor is fixedly mounted on the top surface of the clamping plate (6), the output end of the second servo motor passes through the clamping plate (6) and is connected to the clamping plate (6) by rotation, a second threaded rod is fixedly arranged on the bottom surface of the output end of the second servo motor, a pressure plate (9) is threadedly connected to the outer side of the second threaded rod, and the pressure plate (9) is connected to the inner wall of the clamping plate (6) by sliding.

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