Multi-arm linkage welding device

Abstract

The utility model discloses a multi-arm linkage welding device. Comprising a supporting structure, a connecting platform fixedly installed on the supporting structure, a plurality of welding arms installed on the two sides of the connecting platform, a driving mechanism, a welding tool clamping device and a welding tool installed on the welding tool clamping device, wherein the driving mechanism and the welding tool clamping device are installed on the welding arms correspondingly. The supply pipeline is connected with the driving mechanism and the welding tool, the control system is used for coordinating and controlling the welding tool to work, and the mounting heights of at least two welding tool clamping devices are different. According to the multi-arm linkage welding device, multi-point simultaneous welding is achieved through multi-arm linkage design and height differentiation arrangement, and meanwhile flexible position and angle adjusting capacity is provided through a multi-axis adjusting structure of the welding tool clamping device. The problems that multi-point simultaneous welding of complex workpieces is difficult, the welding efficiency is low, and the position and angle of a welding tool are difficult to accurately control are effectively solved.

Description

Technical Field

[0001] The utility model relates to the field of welding equipment, and particularly to a multi-arm linkage welding equipment. Background Technique

[0002] With the development of industrial automation, welding equipment plays an increasingly important role in the manufacturing industry. Especially in the welding of large structural parts such as crane booms, the performance and efficiency of welding equipment directly affect the product quality and production efficiency. At present, most of the welding equipment on the market is single-arm or double-arm welding. Although these equipment perform well in some applications, there are still some deficiencies when welding complex structural parts.

[0003] Traditional welding equipment mainly includes two categories: manual welding and automatic welding. Although manual welding has strong flexibility, its welding quality is unstable, labor intensity is high, and efficiency is low. The development of automatic welding equipment has greatly improved the welding efficiency and quality, making it widely used in many fields. For example, single-arm welding robots have been applied in industries such as automobile manufacturing, shipbuilding, and steel structure construction. These equipment achieve automatic welding operations through programming, improving welding precision and production efficiency.

[0004] In recent years, multi-arm welding equipment has gradually attracted attention. Multi-arm welding equipment has multiple welding arms and can perform multiple welding operations simultaneously, greatly improving the welding efficiency. However, there are still some technical bottlenecks in the actual application of current multi-arm welding equipment. For example, when welding large structural parts, due to the fixed angles and positions of the welding arms, it is impossible to flexibly adjust the welding angle, resulting in welding dead angles and uneven welding quality. At the same time, there are certain limitations in the coordinated linkage between the welding arms of existing multi-arm welding equipment, and it is impossible to flexibly adjust the angles and positions of the welding arms according to welding requirements.

[0005] The technical problems existing in the prior art are as follows: 1. The welding arms of existing multi-arm welding equipment are usually fixed at specific angles and are difficult to flexibly adjust according to actual welding requirements, resulting in uneven welding quality and difficult handling of welding dead angles.

[0006] 2. The linkage coordination between multiple arms of existing multi-arm welding equipment is poor, and it is impossible to synchronously adjust the positions and angles of each welding arm according to the requirements of different welding positions, affecting welding efficiency and quality.

[0007] 3. Although automatic welding equipment has improved the welding efficiency to a certain extent, when welding complex structural parts, a large amount of manual intervention is still required, the degree of automation is not high, and it affects production efficiency.

[0008] 4. Existing welding equipment has poor adaptability to different types and sizes of welding tasks and cannot meet diverse welding requirements.

[0009] In view of the above technical problems, it is particularly important to provide a multi-arm linkage welding device that can flexibly adjust the angles and positions of the welding arms, achieve efficient and uniform welding operations, and meet the requirements of different welding tasks. Summary of the Invention

[0010] The technical problem to be solved by the present utility model is: to solve the above-mentioned existing technical problems, a multi-arm linkage welding device that can achieve multi-point simultaneous welding, flexibly adjust the welding position and angle, and adapt to the efficient and precise welding of workpieces with different shapes and sizes.

[0011] The technical solution adopted by the present utility model to solve its technical problems is:

[0012] A multi-arm linkage welding device, comprising:

[0013] A support structure;

[0014] A connection platform, installed on the support structure;

[0015] Multiple welding arms, installed on both sides of the connection platform;

[0016] Multiple driving mechanisms, respectively installed on the multiple welding arms;

[0017] Multiple welding tool clamping devices, respectively installed on the multiple welding arms, and at least two of the welding tool clamping devices have different installation heights;

[0018] Multiple welding tools, respectively installed on the multiple welding tool clamping devices;

[0019] Multiple supply pipes, respectively connecting the multiple driving mechanisms with the corresponding welding tools; and

[0020] A control system, electrically connected to the multiple driving mechanisms, for coordinately controlling the operation of the multiple welding tools.

[0021] Furthermore, the multiple welding tool clamping devices all include a multi-axis adjustment structure for adjusting the position and angle of the corresponding welding tool.

[0022] Furthermore, the multi-axis adjustment structure includes three mutually perpendicular slide rails and corresponding adjustment mechanisms for adjusting the horizontal position and vertical height of the welding tool.

[0023] Furthermore, the three mutually perpendicular slide rails include an X-axis and a Y-axis slide rail in the horizontal direction and a Z-axis slide rail in the vertical direction, wherein the moving ranges of the X-axis and the Y-axis slide rails are both 0 - 300 mm, and the adjustment range of the Z-axis slide rail is 0 - 200 mm.

[0024] Furthermore, rotatable clamping heads are provided at the ends of multiple welding tool clamping devices for adjusting the rotation angle of the welding tools.

[0025] Furthermore, the rotatable clamping head can rotate at an angle of more than 180 degrees.

[0026] Furthermore, the number of multiple welding arms is four. Two of the welding arms are installed on one side of the connection platform, and the other two welding arms are installed on the other side of the connection platform. The installation height of the welding tool clamping devices on the second welding arm and the fourth welding arm is higher than that of the welding tool clamping devices on the first welding arm and the third welding arm.

[0027] The beneficial effects that the present utility model can achieve are as follows:

[0028] 1. By installing multiple welding arms on both sides of the connection platform, setting welding tool clamping devices with different heights on the welding arms, and combining multiple driving mechanisms and supply pipelines, the collaborative work and flexible adjustment of multiple welding tools are realized. Compared with the traditional single-arm welding device, the present invention effectively solves the problems of difficult multi-point simultaneous welding of complex workpieces and low welding efficiency, and significantly improves the synchronism, accuracy and production efficiency of welding.

[0029] 2. By setting a multi-axis adjustment structure on the welding tool clamping device, including three mutually perpendicular slide rails and corresponding adjustment mechanisms, an all-round adjustable welding system is formed, realizing the precise positioning and angle adjustment of the welding tool in three-dimensional space, effectively solving the problem that the position and angle of the welding tool are difficult to accurately control, greatly improving the flexibility and adaptability of the device, and ensuring high-quality welding of different types of workpieces. Description of the Drawings

[0030] Figure 1 It is a schematic structural diagram of a multi-arm linkage welding device in Embodiment 1;

[0031] Figure 2 It is a schematic structural diagram of the welding gun clamping device in Embodiment 1.

[0032] The above-mentioned reference numerals: 1, frame; 2, connection platform; 3, welding gun control motor; 4, welding gun clamping device; 5, welding gun; 6, welding gun fuel pipe; 7, PLC control box; 8, first welding gun arm; 9, second welding gun arm; 10, third welding gun arm; 11, fourth welding gun arm; 12, X-axis adjustment structure; 13, Y-axis adjustment structure; 14, Z-axis adjustment structure; 15, clamping head. Specific Embodiments

[0033] The following further illustrates the present utility model in conjunction with the drawings and embodiments, but these specific implementation schemes do not limit the protection scope of the present utility model in any way.

[0034] Example 1

[0035] See the appendix Figure 1-2 , a multi-arm linkage welding device, mainly used for welding the boom of a crane. This device can flexibly adjust the angle and position of the welding arm to achieve efficient and uniform welding operations. The welding device includes a frame 1, a connection platform 2, a welding gun arm, a welding gun control motor 3, a welding gun clamping device 4, a welding gun 5, a welding gun fuel pipe 6, a PLC control box 7, and an XYZ three-axis adjustment structure.

[0036] The frame 1, as the basic support structure of the entire device, is made of high-strength steel and is divided into left and right sides. Anti-vibration pads are provided at the bottom of the frame 1 to improve the stability of the device. The surface of the frame 1 is treated with rust prevention to extend its service life.

[0037] The connection platform 2 is fixedly installed in the middle of the frame 1, connecting the left and right sides of the frame 1. The connection platform 2 is made of anti-slip metal plates, and the surface is covered with anti-slip textures, providing a safe standing and operating space for the operator. Safety guards are provided at the edge of the platform to further ensure the safety of the operator.

[0038] There are four welding gun arms in total, namely the first welding gun arm 8, the second welding gun arm 9, the third welding gun arm 10, and the fourth welding gun arm 11. These welding gun arms are made of high-strength aluminum alloy materials, having good strength and relatively light weight. The first welding gun arm 8 and the third welding gun arm 10 are installed side by side on one side of the connection platform 2, and the second welding gun arm 9 and the fourth welding gun arm 11 are installed side by side on the other side of the connection platform 2. The welding gun arms are fixedly connected to the frame 1 and the connection platform 2 through high-strength bolts to ensure the stability of the overall structure.

[0039] A welding gun control motor 3 is installed on the top of each welding gun arm. Specifically, the first welding gun control motor 3 is installed on the top of the first welding gun arm 8, the second welding gun control motor 3 is installed on the top of the second welding gun arm 9, the third welding gun control motor 3 is installed on the top of the third welding gun arm 10, and the fourth welding gun control motor 3 is installed on the top of the fourth welding gun arm 11. These welding gun control motors 3 are high-precision stepping motors, which can accurately control the movement and positioning of the welding gun 5. A protective cover is provided outside the motor to prevent welding spatter from affecting the performance of the motor.

[0040] The welding gun clamping device 4 is installed at the bottom of each welding gun arm. The installation heights of the second welding gun clamping device 4 and the fourth welding gun clamping device 4 are higher than those of the first welding gun clamping device 4 and the third welding gun clamping device 4. This design allows the welding gun 5 to perform welding at different heights, increasing the adaptability of the device. The height difference can be achieved by adjusting the length of the welding gun arm, and the adjustment range is 0 - 500 mm.

[0041] Each welding torch clamping device 4 is equipped with an X-axis adjustment structure 12, a Y-axis adjustment structure 13 and a Z-axis adjustment structure 14, which are used to adjust the horizontal position, vertical height and tilt angle of the welding torch 5. The XYZ three-axis adjustment structure includes three mutually perpendicular precision slide rails and sliding components connecting the slide rails. The horizontally parallel X-axis adjustment structure 12 and the Y-axis adjustment structure 13 provided on the X-axis adjustment structure 12 drive the welding torch 5 to move in the horizontally parallel direction and the horizontal vertical direction, and the movement range is 0-300mm; the Z-axis adjustment structure 14 vertically provided on the Y-axis adjustment structure 13 controls the forward and backward extension length of the welding torch 5, and the adjustment range is 0-200mm. Digital scales are provided on each axis, and the minimum scale is 0.1mm, which is convenient for precise adjustment. The above X-axis adjustment structure 12, Y-axis adjustment structure 13 and Z-axis adjustment structure 14 are driven by a common drive system, that is, including a servo motor, a gear reducer and a lead screw drive system. This drive system is an existing technology, and each drive system is connected to the PLC control box 7, so no drawings are described.

[0042] The welding torches 5 are respectively clamped in the corresponding welding torch clamping devices 4. A clamping head 15 that can rotate 360 degrees is provided at the end of the welding torch clamping device 4. The rotation angle of the welding torch 5 can be fixed by a quick locking bolt (not shown in the figure). The inside of the clamping head 15 is lined with wear-resistant rubber, which can adapt to different welding torches 5 with diameters in the range of 15-30mm.

[0043] The welding torch fuel pipe 6 connects the welding torch control motor 3 and the welding torch 5, and provides the necessary fuel for the welding process. The fuel pipe 6 is made of special materials with high temperature resistance and wear resistance, and has good flexibility. The connection between the fuel pipe 6 and the welding torch control motor 3 and the welding torch 5 uses quick connectors, which are convenient for installation and disassembly. The outside of the fuel pipe 6 is sleeved with a heat insulation sheath to prevent being affected by high temperature during the welding process.

[0044] The PLC control box 7 is the control center of the whole system and is connected to each welding torch control motor 3 through cables. The PLC control box 7 uses an industrial-grade controller, which has high reliability and stability. A human-machine interface is provided outside the control box 7, which is convenient for operators to set parameters and monitor in real time.

[0045] The working principle and method of the above multi-arm linkage welding equipment are as follows:

[0046] In the first step, the operator inputs the size and shape parameters of the crane boom to be welded through the human-machine interface of the PLC control box 7. According to the input parameters, the PLC control system automatically calculates the optimal welding path and the working position of each welding torch 5. The operator can fine-tune the automatically generated parameters as needed.

[0047] Second step: According to the instructions of the PLC control system, the four welding torch control motors 3 drive the corresponding welding torch arms to move to the predetermined positions respectively. The operator uses the XYZ three-axis adjustment structure on each welding torch clamping device 4 to precisely adjust the horizontal position, vertical height, and forward inclination distance of the welding torch 5. Then, by adjusting the rotation angle of the clamping head 15, each welding torch 5 is in the best welding posture. Finally, all adjustment devices are locked to ensure the stable position of the welding torch 5.

[0048] Third step: The operator starts the welding program. The PLC control system simultaneously controls the four welding torch control motors 3 to drive the welding torches 5 to weld according to the preset path. During the welding process, each welding torch 5 obtains continuous fuel supply through its respective fuel pipe 6. The PLC control system monitors the welding process in real time and adjusts the moving speed and welding parameters of the welding torch 5 as needed.

[0049] Since the installation heights of the second welding torch clamping device 4 and the fourth welding torch clamping device 4 are higher than those of the first welding torch clamping device 4 and the third welding torch clamping device 4, the welding equipment can perform welding at different heights simultaneously. The PLC control system coordinates the work of the four welding torches 5 so that they can weld different parts of the crane boom simultaneously, greatly improving the welding efficiency.

[0050] During the entire welding process, the operator can monitor the welding progress and various parameters in real time through the human-machine interface of the PLC control box 7. If any abnormal situation is found, manual intervention can be carried out immediately to pause the welding process or adjust the welding parameters.

[0051] Finally, after the welding is completed, the PLC control system will automatically stop the work of the welding torch 5. First, the operator checks the welding quality to ensure that all welds meet the requirements; second, the welding torch 5 is moved back to the safe position; then, the fuel supply is closed; finally, the equipment is cleaned and maintained to prepare for the next welding.

[0052] The above is only the preferred embodiment of the present invention, and it does not limit the protection scope of the present invention. Any innovative improvement or replacement based on the present invention should fall within the scope of the claims of the present invention. At the same time, the various parameters, materials, and processes mentioned in the above embodiments are not unique. Without departing from the technical essence of the present invention, those of ordinary skill in the art can make various alternative selections, and these alternative solutions should also be regarded as falling within the protection scope of the present invention.

Claims

1. A multi-arm linkage welding device, characterized in that, Comprising: A support structure; A connection platform, mounted on the support structure; A plurality of welding arms, mounted on both sides of the connection platform; A plurality of driving mechanisms, respectively mounted on the plurality of welding arms; A plurality of welding tool clamping devices, respectively mounted on the plurality of welding arms, wherein the mounting heights of at least two welding tool clamping devices are different; A plurality of welding tools, respectively mounted on the plurality of welding tool clamping devices; A plurality of supply pipes, respectively connecting the plurality of driving mechanisms and the corresponding welding tools; And A control system, electrically connected to the plurality of driving mechanisms, for coordinately controlling the operation of the plurality of welding tools.

2. The multi-arm linkage welding device according to claim 1, characterized in that The plurality of welding tool clamping devices each include a multi-axis adjustment structure for adjusting the position and angle of the corresponding welding tool.

3. The multi-arm linkage welding device according to claim 2, wherein The multi-axis adjustment structure includes three mutually perpendicular slide rails and corresponding adjustment mechanisms for adjusting the horizontal position and vertical height of the welding tool.

4. The multi-arm linkage welding device according to claim 3, characterized in that, The three mutually perpendicular slide rails include an X-axis and a Y-axis slide rail in the horizontal direction and a Z-axis slide rail in the vertical direction, wherein the movement ranges of the X-axis and the Y-axis slide rails are both 0 - 300 mm, and the adjustment range of the Z-axis slide rail is 0 - 200 mm.

5. The multi-arm linkage welding device according to claim 1, wherein, The ends of the plurality of welding tool clamping devices are each provided with a rotatable clamping head for adjusting the rotation angle of the welding tool.

6. The multi-arm linkage welding device according to claim 5, wherein, The rotatable clamping head can rotate at an angle of more than 180 degrees.

7. The multi-arm linkage welding device according to claim 1, wherein, The number of the plurality of welding arms is four, wherein two welding arms are mounted on one side of the connection platform, and the other two welding arms are mounted on the other side of the connection platform. The mounting heights of the welding tool clamping devices on the second welding arm and the fourth welding arm are higher than those of the welding tool clamping devices on the first welding arm and the third welding arm.

Images