Full-automatic tube plate welding robot

Abstract

The utility model relates to the technical field of welding robots, in particular to a full-automatic tube plate welding robot, which is convenient for quickly fixing and welding tube plates with different diameters and improves the practicability. Comprising a welding mechanism; the welding device further comprises a rotating mechanism, a driving mechanism, a first fixing mechanism, a second fixing mechanism and an adjusting mechanism, the driving mechanism is installed at the bottom end of the rotating mechanism, the first fixing mechanism is installed on the rotating mechanism, the second fixing mechanism is installed on the rotating mechanism, the adjusting mechanism is installed on the second fixing mechanism, and the welding mechanism is installed on the rotating mechanism. The rotating mechanism drives the driving mechanism to rotate, the first fixing mechanism fixes the circular plates with different diameters, the adjusting mechanism drives the second fixing mechanism to fix the pipes with different diameters, and the welding mechanism automatically welds the pipe plates.

Description

Technical Field

[0001] The utility model relates to the technical field of welding robots, in particular to a full-automatic tube plate welding robot. Background Art

[0002] The most critical process in the manufacturing process of pressure vessels such as boilers and heat exchangers is welding the tubes to the tube holes on the tube sheets. The quality of the welding between the tubes and the tube holes plays a vital role in the operation of these pressure vessels.

[0003] Existing welding robots, such as the prior art with application number CN202320292679.0, include a body, a corner fixing seat, an intermediate fixing seat, a lifting lug, a fork groove, a reinforcing rib and an operating end, etc. The screw is threadedly connected to the wheel seat, and the wheel is connected to the lower end of the screw 140. By rotating the screw, the wheel can be driven to rise and fall.

[0004] However, when welding the tube sheet, it is necessary to automatically center the tube sheet and the tube to improve the quality of welding. The existing technology is not convenient for centering and welding the tube sheet, which reduces the practicality. Utility Model Content

[0005] In order to solve the above technical problems, the utility model provides a fully automatic tube sheet welding robot which is convenient for fast fixing and welding of tube sheets with different diameters and improves practicality.

[0006] The utility model discloses a full-automatic tube-sheet welding robot, comprising a welding mechanism; a rotating mechanism, a driving mechanism, a first fixing mechanism, a second fixing mechanism and an adjusting mechanism, wherein the driving mechanism is mounted at the bottom end of the rotating mechanism, the first fixing mechanism is mounted on the rotating mechanism, the second fixing mechanism is mounted on the rotating mechanism, the adjusting mechanism is mounted on the second fixing mechanism, and the welding mechanism is mounted on the rotating mechanism; the driving mechanism is driven to rotate by the rotating mechanism, the first fixing mechanism fixes circular plates of different diameters, the adjusting mechanism drives the second fixing mechanism to fix pipes of different diameters, and the welding mechanism automatically welds the tube sheet; the driving mechanism is driven to rotate by the rotating mechanism, so that the welding mechanism is convenient for welding different positions of the tube sheet, the first fixing mechanism fixes circular plates of different diameters, the adjusting mechanism drives the second fixing mechanism to fix pipes of different diameters, and the welding mechanism automatically welds the tube sheet.

[0007] Preferably, the rotating mechanism includes a base plate, a turntable and a driving shaft, and the turntable is rotatably mounted on the base plate by the driving shaft; by turning on the driving mechanism, the driving shaft is driven to rotate, and then the turntable is driven to rotate, thereby driving the tube sheet to rotate, so that the welding mechanism can automatically weld different positions of the tube sheet.

[0008] Preferably, the driving mechanism includes a first driving box, a first turbine, a first vortex rod and a first motor, the first driving box is installed at the bottom end of the base plate, the first turbine is installed on the driving shaft, the first vortex rod is rotatably installed on the first driving box, the first turbine is meshed with the first vortex rod, the first motor is installed on the outer wall of the first driving box, and the output end of the first motor is connected to the first vortex rod; the first vortex rod is driven to rotate by turning on the first motor, and then the driving shaft is driven to rotate through the meshing relationship, and then the turntable is driven to rotate, thereby driving the tube sheet to rotate, so that the welding mechanism can automatically weld different positions of the tube sheet.

[0009] Preferably, the first fixing mechanism includes a fixed disk, a threaded disk, a fixed slider, a first bevel gear ring and a first bevel gear, the fixed disk is installed on the top of the rotating disk, the threaded disk is rotatably installed in the fixed disk, a slide groove is provided on the top of the fixed disk, the fixed slider is slidably installed in the slide groove on the top surface of the fixed disk, the fixed slider is threadably matched with the threaded disk, the first bevel gear ring is installed on the bottom surface of the threaded disk, the first bevel gear is rotatably installed on the side wall of the fixed disk through a rotating shaft, and the first bevel gear is meshed with the first bevel gear ring; firstly, the circular plate is placed on the top of the fixed disk, the rotating shaft of the first bevel gear is rotated to drive the first bevel gear to rotate, and then the threaded disk is driven to rotate through the meshing relationship, thereby driving the fixed slider to slide in the slide groove of the fixed disk through the threaded relationship, and then fixing the circular plate through the fixed slider.

[0010] Preferably, the second fixing mechanism includes a mounting frame, a plurality of mounting plates, two fixing rings, two threaded rings and four sliding fixing strips, the mounting frame is mounted on the top surface of the turntable, the two fixing rings are mounted on the mounting frame via the mounting plates, the two threaded rings are rotatably mounted in the two fixing rings, a slideway is provided on the top surface of the fixing ring, a plurality of sliding fixing strips are slidably mounted in the slideway of the fixing ring, and the sliding fixing strips are threadedly combined with the threaded rings; first, the pipe is added to the two fixing rings, the threaded ring is driven to rotate by a driving adjustment mechanism, and then the sliding fixing strip is driven to slide in the slideway of the fixing ring through the threaded relationship, and then the pipe is fixed by the sliding fixing strip, and then the pipe is fixed on the circular plate, so as to facilitate the welding mechanism to weld the tube plate.

[0011] Preferably, the adjusting mechanism includes two second bevel gear rings, two second bevel gears, two third bevel gears, a driving shaft, two fourth bevel gears, a second driving box, a second turbine, a second worm and an adjusting motor, a chamber is provided in the mounting plate, the two second bevel gear rings are mounted on the bottom ends of the two threaded rings, two rotating shafts are provided on the inner wall of the mounting plate, the second bevel gear and the third bevel gear are mounted on both ends of the rotating shaft, the driving shaft is rotatably mounted on the side walls of the two mounting plates, the two fourth bevel gears are mounted on both ends of the driving shaft, the second bevel gear is meshed with the second bevel gear ring, the third bevel gear is meshed with the fourth bevel gear, and the second driving box is mounted on the top of a mounting plate On the surface, the second turbine is installed on the driving shaft, the second vortex rod is rotatably installed on the inner wall of the second driving box, the second vortex rod is meshed with the second turbine, the adjusting motor is installed on the outer wall of the second driving box, and the output end of the adjusting motor is connected to the second vortex rod; first, the pipe is added to the two fixed rings, and the second vortex rod is driven to rotate by turning on the adjusting motor, and then the driving shaft is driven to rotate through the meshing relationship, and then the threaded ring is driven to rotate through the meshing relationship, and then the sliding fixing strip is driven to slide in the slideway of the fixing ring through the threaded relationship, and then the pipe is fixed by the sliding fixing strip, and then the pipe is fixed on the circular plate, which is convenient for the welding mechanism to weld the tube plate.

[0012] Preferably, the welding mechanism comprises a mounting plate frame and a welding robot arm, the mounting plate frame is mounted on the side wall of the base plate, and the welding robot arm is mounted on the mounting plate frame; the tube sheet is welded by opening the welding robot arm.

[0013] Compared with the prior art, the utility model has the following beneficial effects: the driving mechanism is driven to rotate by the rotating mechanism, thereby facilitating the welding mechanism to weld different positions of the tube sheet, the first fixing mechanism fixes circular plates of different diameters, the adjusting mechanism drives the second fixing mechanism to fix tubes of different diameters, and the welding mechanism automatically welds the tube sheet. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a first axonometric structural schematic diagram of the utility model;

[0015] Figure 2 It is a second axonometric structural schematic diagram of the utility model;

[0016] Figure 3 It is a third axonometric structural schematic diagram of the utility model;

[0017] Figure 4 It is a fourth axonometric structural schematic diagram of the utility model;

[0018] Figure 5 It is a front cross-sectional structural schematic diagram of the utility model;

[0019] Figure 6It is a schematic diagram of the cross-sectional structure of the utility model when viewed from above;

[0020] Figure 7 It is a first top view cross-sectional structural schematic diagram of the utility model;

[0021] Figure 8 It is a second top view cross-sectional structural schematic diagram of the utility model;

[0022] Markings in the accompanying drawings: 01, rotating mechanism; 11, base plate; 12, turntable; 13, driving shaft; 02, driving mechanism; 21, first driving box; 22, first turbine; 23, first vortex rod; 24, first motor; 03, first fixing mechanism; 31, fixing disk; 32, threaded disk; 33, fixing slider; 34, first bevel gear ring; 35, first bevel gear; 04, second fixing mechanism; 41, mounting frame; 42, mounting plate; 43, fixing ring; 44, threaded ring; 45, sliding fixing strip; 05, adjusting mechanism; 51, second bevel gear ring; 52, second bevel gear; 53, third bevel gear; 54, driving shaft; 55, fourth bevel gear; 56, second driving box; 57, second turbine; 58, second vortex rod; 59, adjusting motor; 06, welding mechanism; 61, mounting plate frame; 62, welding robot arm. DETAILED DESCRIPTION

[0023] In order to facilitate the understanding of the utility model, the utility model will be described more comprehensively below with reference to the relevant drawings. The utility model can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the utility model more thorough and comprehensive.

[0024] Example 1

[0025] like Figure 2 , Figure 3 , Figure 6 and Figure 7 As shown, a fully automatic tube-to-sheet welding robot includes a welding mechanism 06, a rotating mechanism 01, a driving mechanism 02, a first fixing mechanism 03, a second fixing mechanism 04 and an adjusting mechanism 05, wherein the driving mechanism 02 is mounted on the bottom end of the rotating mechanism 01, the first fixing mechanism 03 is mounted on the rotating mechanism 01, the second fixing mechanism 04 is mounted on the rotating mechanism 01, the adjusting mechanism 05 is mounted on the second fixing mechanism 04, and the welding mechanism 06 is mounted on the rotating mechanism 01;

[0026] The rotating mechanism 01 drives the driving mechanism 02 to rotate, the first fixing mechanism 03 fixes the circular plates of different diameters, the adjusting mechanism 05 drives the second fixing mechanism 04 to fix the tubes of different diameters, and the welding mechanism 06 automatically welds the tube sheet;

[0027] The rotating mechanism 01 comprises a base plate 11, a rotating disc 12 and a driving shaft 13. The rotating disc 12 is rotatably mounted on the base plate 11 via the driving shaft 13.

[0028] The driving mechanism 02 includes a first driving box 21, a first turbine 22, a first worm 23 and a first motor 24. The first driving box 21 is mounted on the bottom end of the bottom plate 11, the first turbine 22 is mounted on the driving shaft 13, the first worm 23 is rotatably mounted on the first driving box 21, the first turbine 22 is meshed with the first worm 23, the first motor 24 is mounted on the outer wall of the first driving box 21, and the output end of the first motor 24 is connected to the first worm 23;

[0029] The first fixing mechanism 03 includes a fixed disk 31, a threaded disk 32, a fixed slider 33, a first bevel gear ring 34 and a first bevel gear 35. The fixed disk 31 is installed on the top of the rotating disk 12, and the threaded disk 32 is rotatably installed in the fixed disk 31. A slide groove is provided on the top of the fixed disk 31. The fixed slider 33 is slidably installed in the slide groove on the top surface of the fixed disk 31. The fixed slider 33 is threadably matched with the threaded disk 32. The first bevel gear ring 34 is installed on the bottom surface of the threaded disk 32. The first bevel gear 35 is rotatably installed on the side wall of the fixed disk 31 through a rotating shaft, and the first bevel gear 35 is meshed with the first bevel gear ring 34.

[0030] By turning on the first motor 24, the first worm 23 is driven to rotate, and then the driving shaft 13 is driven to rotate through the meshing relationship, and then the turntable 12 is driven to rotate, thereby driving the tube sheet to rotate, so that the welding mechanism 06 can automatically weld different positions of the tube sheet. First, the circular plate is placed on the top of the fixed plate 31, and the rotating shaft of the first bevel gear 35 is rotated to drive the first bevel gear 35 to rotate, and then the threaded plate 32 is driven to rotate through the meshing relationship, thereby driving the fixed slider 33 to slide in the slide groove of the fixed plate 31 through the threaded relationship, and then the circular plate is fixed by the fixed slider 33, the adjusting mechanism 05 drives the second fixing mechanism 04 to fix the tubes of different diameters, and the welding mechanism 06 automatically welds the tube sheet.

[0031] Example 2

[0032] like Figure 2 , Figure 4 , Figure 5 and Figure 8 As shown, a fully automatic tube-to-sheet welding robot includes a welding mechanism 06, a rotating mechanism 01, a driving mechanism 02, a first fixing mechanism 03, a second fixing mechanism 04 and an adjusting mechanism 05, wherein the driving mechanism 02 is mounted on the bottom end of the rotating mechanism 01, the first fixing mechanism 03 is mounted on the rotating mechanism 01, the second fixing mechanism 04 is mounted on the rotating mechanism 01, the adjusting mechanism 05 is mounted on the second fixing mechanism 04, and the welding mechanism 06 is mounted on the rotating mechanism 01;

[0033] The rotating mechanism 01 drives the driving mechanism 02 to rotate, the first fixing mechanism 03 fixes the circular plates of different diameters, the adjusting mechanism 05 drives the second fixing mechanism 04 to fix the tubes of different diameters, and the welding mechanism 06 automatically welds the tube sheet;

[0034] The second fixing mechanism 04 includes a mounting frame 41, a plurality of mounting plates 42, two fixing rings 43, two threaded rings 44 and four sliding fixing strips 45. The mounting frame 41 is mounted on the top surface of the turntable 12. The two fixing rings 43 are mounted on the mounting frame 41 through the mounting plates 42. The two threaded rings 44 are rotatably mounted in the two fixing rings 43. A slideway is provided on the top surface of the fixing ring 43. The plurality of sliding fixing strips 45 are slidably mounted in the slideway of the fixing ring 43. The sliding fixing strips 45 are threadedly combined with the threaded ring 44.

[0035] The adjusting mechanism 05 includes two second bevel gear rings 51, two second bevel gears 52, two third bevel gears 53, a driving shaft 54, two fourth bevel gears 55, a second driving box 56, a second turbine 57, a second worm 58 and an adjusting motor 59. A chamber is provided in the mounting plate 42. The two second bevel gear rings 51 are mounted at the bottom ends of the two threaded rings 44. Two rotating shafts are provided on the inner wall of the mounting plate 42. The second bevel gears 52 and the third bevel gears 53 are mounted at both ends of the rotating shaft. The driving shaft 54 ​​is rotatably mounted on the two mounting plates 42. On the side wall, two fourth bevel gears 55 are installed at both ends of the driving shaft 54, the second bevel gear 52 is meshed with the second bevel gear ring 51, the third bevel gear 53 is meshed with the fourth bevel gear 55, the second driving box 56 is installed on the top surface of a mounting plate 42, the second turbine 57 is installed on the driving shaft 54, the second worm 58 is rotatably installed on the inner wall of the second driving box 56, the second worm 58 is meshed with the second turbine 57, the regulating motor 59 is installed on the outer wall of the second driving box 56, and the output end of the regulating motor 59 is connected to the second worm 58;

[0036] The welding mechanism 06 includes a mounting plate frame 61 and a welding robot arm 62. The mounting plate frame 61 is mounted on the side wall of the bottom plate 11, and the welding robot arm 62 is mounted on the mounting plate frame 61.

[0037] The driving mechanism 02 is driven to rotate by the rotating mechanism 01, so that it is convenient for the welding mechanism 06 to weld different positions of the tube sheet. The first fixing mechanism 03 fixes circular plates of different diameters. First, the tube is added to the two fixing rings 43, and the second worm 58 is driven to rotate by turning on the adjusting motor 59, and then the driving shaft 54 ​​is driven to rotate through the meshing relationship, and then the threaded ring 44 is driven to rotate through the meshing relationship, and then the sliding fixing bar 45 is driven to slide in the slideway of the fixing ring 43 through the threaded relationship, and then the tube is fixed by the sliding fixing bar 45, and then the tube is fixed on the circular plate, which is convenient for the welding mechanism 06 to weld the tube sheet, and the tube sheet is welded by opening the welding robot arm 62.

[0038] like Figures 1 to 8 As shown, the utility model is a fully automatic tube sheet welding robot. When working, the first motor 24 is turned on to drive the first worm 23 to rotate, and then the driving shaft 13 is driven to rotate through the meshing relationship, and then the turntable 12 is driven to rotate, thereby driving the tube sheet to rotate, so that the welding mechanism 06 can automatically weld different positions of the tube sheet. First, the circular plate is placed on the top of the fixed plate 31, and the rotating shaft of the first bevel gear 35 is rotated to drive the first bevel gear 35 to rotate, and then the threaded plate 32 is driven to rotate through the meshing relationship, thereby driving the fixed slider 33 on the fixed plate 31 through the threaded relationship. Slide in the slide groove, and then fix the circular plate through the fixed slider 33. First, add the pipe into the two fixed rings 43, and drive the second vortex rod 58 to rotate by turning on the adjusting motor 59, and then drive the drive shaft 54 ​​to rotate through the meshing relationship, and then drive the threaded ring 44 to rotate through the meshing relationship, and then drive the sliding fixing strip 45 to slide in the slideway of the fixed ring 43 through the threaded relationship, and then fix the pipe through the sliding fixing strip 45, and then fix the pipe on the circular plate, which is convenient for the welding mechanism 06 to weld the tube sheet, and the tube sheet is welded by opening the welding robot arm 62.

[0039] The first motor 24, the regulating motor 59 and the welding robot arm 62 of the utility model are purchased on the market, and technicians in the industry only need to install and operate them according to the accompanying instruction manuals, without the need for creative work by technicians in this field.

[0040] The main function achieved by the utility model is that during the working process of the welding robot, it is convenient to quickly fix and weld tube plates with different diameters, thereby improving practicality.

[0041] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principle of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A fully automatic tube-to-sheet welding robot, comprising a welding mechanism (06); characterized in that: It also includes a rotating mechanism (01), a driving mechanism (02), a first fixing mechanism (03), a second fixing mechanism (04) and an adjusting mechanism (05), wherein the driving mechanism (02) is mounted at the bottom end of the rotating mechanism (01), the first fixing mechanism (03) is mounted on the rotating mechanism (01), the second fixing mechanism (04) is mounted on the rotating mechanism (01), the adjusting mechanism (05) is mounted on the second fixing mechanism (04), and the welding mechanism (06) is mounted on the rotating mechanism (01); The rotating mechanism (01) drives the driving mechanism (02) to rotate, the first fixing mechanism (03) fixes circular plates of different diameters, the adjusting mechanism (05) drives the second fixing mechanism (04) to fix tubes of different diameters, and the welding mechanism (06) automatically welds the tube plate.

2. A fully automatic tube-to-sheet welding robot as claimed in claim 1, characterized in that: The rotating mechanism (01) comprises a base plate (11), a rotating disc (12) and a driving rotating shaft (13); the rotating disc (12) is rotatably mounted on the base plate (11) via the driving rotating shaft (13).

3. A fully automatic tube-to-sheet welding robot as claimed in claim 2, characterized in that: The driving mechanism (02) comprises a first driving box (21), a first turbine (22), a first worm (23) and a first motor (24); the first driving box (21) is mounted at the bottom end of the base plate (11); the first turbine (22) is mounted on the driving shaft (13); the first worm (23) is rotatably mounted on the first driving box (21); the first turbine (22) is meshed with the first worm (23); the first motor (24) is mounted on the outer wall of the first driving box (21); and the output end of the first motor (24) is connected to the first worm (23).

4. A fully automatic tube-to-sheet welding robot as claimed in claim 2, characterized in that: The first fixing mechanism (03) comprises a fixed disk (31), a threaded disk (32), a fixed slider (33), a first bevel gear ring (34) and a first bevel gear (35). The fixed disk (31) is mounted on the top of the rotating disk (12). The threaded disk (32) is rotatably mounted in the fixed disk (31). A slide groove is provided at the top of the fixed disk (31). The fixed slider (33) is slidably mounted in the slide groove on the top surface of the fixed disk (31). The fixed slider (33) is threadably matched with the threaded disk (32). The first bevel gear ring (34) is mounted on the bottom surface of the threaded disk (32). The first bevel gear (35) is rotatably mounted on the side wall of the fixed disk (31) through a rotating shaft. The first bevel gear (35) is meshed with the first bevel gear ring (34).

5. A fully automatic tube-to-sheet welding robot as claimed in claim 2, characterized in that: The second fixing mechanism (04) comprises a mounting frame (41), a plurality of mounting plates (42), two fixing rings (43), two threaded rings (44) and four sliding fixing strips (45); the mounting frame (41) is mounted on the top surface of the turntable (12); the two fixing rings (43) are mounted on the mounting frame (41) through the mounting plates (42); the two threaded rings (44) are rotatably mounted in the two fixing rings (43); a slideway is arranged on the top surface of the fixing ring (43); the plurality of sliding fixing strips (45) are slidably mounted in the slideway of the fixing ring (43); and the sliding fixing strips (45) are threadedly coupled with the threaded ring (44).

6. A fully automatic tube-to-sheet welding robot as claimed in claim 5, characterized in that: The adjusting mechanism (05) comprises two second bevel gear rings (51), two second bevel gears (52), two third bevel gears (53), a driving shaft (54), two fourth bevel gears (55), a second driving box (56), a second turbine (57), a second worm rod (58) and an adjusting motor (59). A chamber is arranged in the mounting plate (42). The two second bevel gear rings (51) are mounted at the bottom ends of the two threaded rings (44). Two rotating shafts are arranged on the inner wall of the mounting plate (42). The second bevel gears (52) and the third bevel gears (53) are mounted at both ends of the rotating shaft. The driving shaft (54) is rotatably mounted on the two mounting plates (42). On the side wall, two fourth bevel gears (55) are installed at both ends of the driving shaft (54), the second bevel gear (52) is meshed with the second bevel gear ring (51), the third bevel gear (53) is meshed with the fourth bevel gear (55), the second driving box (56) is installed on the top surface of a mounting plate (42), the second turbine (57) is installed on the driving shaft (54), the second worm rod (58) is rotatably installed on the inner wall of the second driving box (56), the second worm rod (58) is meshed with the second turbine (57), the regulating motor (59) is installed on the outer wall of the second driving box (56), and the output end of the regulating motor (59) is connected to the second worm rod (58).

7. A fully automatic tube-to-sheet welding robot as claimed in claim 2, characterized in that: The welding mechanism (06) comprises a mounting plate frame (61) and a welding mechanical arm (62); the mounting plate frame (61) is mounted on the side wall of the base plate (11), and the welding mechanical arm (62) is mounted on the mounting plate frame (61).

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