Cutter head driving structure of back gouging robot and back gouging robot

Abstract

The utility model relates to the technical field of welding seam back gouging, in particular to a back gouging robot cutterhead driving structure and a back gouging robot. The output end of the driving motor is in transmission connection with the input end of the speed reducer; the output end of the speed reducer is in transmission connection with the input end of the gear transmission box; the main shaft system comprises a main shaft and a main shaft bearing arranged on the main shaft; the back gouging cutter head, the main shaft bearing and the gear transmission box are sequentially arranged on the main shaft, and the back gouging cutter head and a final-stage gear of the gear transmission box are located on the two sides of the main shaft bearing respectively. The stress condition of the cutter main shaft can be improved, the speed reducer is prevented from directly bearing the cutting force of the cutter, the abrasion and fault probability of the speed reducer is reduced, and the service life of the speed reducer is prolonged.

Description

Technical Field

[0001] The utility model relates to the technical field of weld root cleaning, and particularly to a cutter head driving structure of a root cleaning robot and a root cleaning robot. Background Technique

[0002] In modern welding processes, root cleaning, as one of the key steps to ensure high-quality full penetration welds, is crucial for enhancing the strength and reliability of structures. Root cleaning processes are mainly divided into two categories: carbon arc gouging root cleaning and mechanical root cleaning. Mechanical root cleaning, as an efficient method among them, cuts and processes the root of the weld using a root cleaning cutter head, effectively removing potential defects such as pores and incomplete penetration to meet high-quality welding standards. The root cleaning cutter head drive assembly usually consists of a drive motor, a speed reducer, and a root cleaning cutter head. During operation, the root cleaning equipment drives the rotating root cleaning cutter head to cut and process the weld, completing the mechanical root cleaning process.

[0003] However, in the design of existing root cleaning cutter head drive assemblies, the speed reducer and the root cleaning cutter head are usually directly connected. In this way, during the root cleaning process, the cutting force generated by the root cleaning cutter head is directly transmitted to the speed reducer, resulting in problems such as premature wear, reduced efficiency, and even failures of the speed reducer when it bears a large dynamic load over a long period of operation. This not only shortens the service life of the speed reducer but also increases the maintenance cost and reduces the economy and stability of the overall process. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a cutter head driving structure of a root cleaning robot, which can improve the force-bearing condition of the cutter head spindle, avoid the speed reducer directly bearing the cutting force of the cutter head, reduce the wear and the probability of failure of the speed reducer, and increase the service life of the speed reducer.

[0005] Another purpose of the utility model is to provide a root cleaning robot, which can improve the force-bearing condition of the cutter head spindle, avoid the speed reducer directly bearing the cutting force of the cutter head, reduce the wear and the probability of failure of the speed reducer, and increase the service life of the speed reducer.

[0006] The technical solution of the utility model is realized as follows:

[0007] A cutter head driving structure of a root cleaning robot includes:

[0008] A drive motor for providing power;

[0009] A speed reducer, the output end of the drive motor is connected and transmitted to the input end of the speed reducer;

[0010] A gear transmission box, the output end of the speed reducer is connected and transmitted to the input end of the gear transmission box;

[0011] The main shaft system includes a main shaft and main shaft bearings arranged on the main shaft;

[0012] A root cleaning cutter head, the root cleaning cutter head, the main shaft bearings, and the gear transmission box are arranged in sequence on the main shaft, and the root cleaning cutter head and the final-stage gear of the gear transmission box are respectively located on both sides of the main shaft bearings.

[0013] Furthermore, the main shaft bearings adopt a combination of angular contact ball bearings and cylindrical roller bearings.

[0014] Furthermore, the main shaft bearings include double-row angular contact ball bearings and double-row cylindrical roller bearings for bearing the cutting force of the root cleaning cutter head.

[0015] Furthermore, the reducer adopts a spiral bevel gear reducer with a 90-degree turn.

[0016] Furthermore, the reducer is located directly below the motor, and the root cleaning cutter head is arranged directly below the reducer.

[0017] Furthermore, the gear transmission box adopts a two-stage gear transmission box, and the output torque of the reducer is transmitted to the main shaft and the root cleaning cutter head through the two-stage gear transmission box.

[0018] Furthermore, the overall height of the root cleaning robot cutter head drive structure does not exceed 700 mm, the width does not exceed 350 mm, and the thickness does not exceed 300 mm.

[0019] Furthermore, the diameter range of the root cleaning cutter head is 200 - 220 mm.

[0020] Furthermore, the diameter of the root cleaning cutter head is 210 mm.

[0021] A root cleaning robot includes the root cleaning robot cutter head drive structure described above.

[0022] Compared with the prior art, the beneficial effects of the present utility model are:

[0023] This application provides a root cleaning robot cutter head drive structure, which sets a transmission gear box between the reducer and the root cleaning cutter head. The root cleaning cutter head, the main shaft bearings, and the gear transmission box are arranged in sequence on the main shaft. The root cleaning cutter head and the final-stage gear of the gear transmission box are respectively located on both sides of the main shaft bearings, reducing the cantilever length of the root cleaning cutter head, improving the stress condition of the main shaft system, avoiding the reducer directly bearing the cutting force of the root cleaning cutter head, reducing the wear and the probability of failure of the reducer, increasing the service life of the reducer, and further being able to reduce the maintenance cost and improve the economy and stability of the overall process. Description of the Drawings

[0024] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other relevant drawings can be obtained based on these drawings.

[0025] Figure 1 It is the front view of the cutter head drive structure of the present invention;

[0026] Figure 2 It is the left view of the cutter head drive structure of the present invention;

[0027] Figure 3 It is the right view of the cutter head drive structure of the present invention.

[0028] In the figure:

[0029] 1 - driving motor; 2 - reducer; 3 - secondary gear transmission box;

[0030] 4 - root cleaning cutter head; 5 - main shaft. Specific embodiments

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the present invention to be protected, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0033] It should be noted that similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0034] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present utility model is habitually placed during use. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation to the present utility model. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be construed as indicating or implying relative importance.

[0035] In addition, terms such as "horizontal", "vertical", "overhanging", etc. do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0036] In the description of the present utility model, it should also be noted that unless otherwise clearly specified and defined, the terms "set", "installed", "connected", "connected" 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 directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0037] The following will describe in detail some embodiments of the present utility model with reference to the drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0038] Embodiment 1

[0039] When welding two pieces of metal together, sometimes it is necessary to clean the reverse side of the weld first to ensure the welding quality. This process is called "root cleaning". Usually, there are two methods to achieve this: one is to scrape off the unnecessary part with an electric carbon pen (carbon arc air gouging root cleaning), and the other is to cut with a machine (mechanical root cleaning).

[0040] Mechanical root cleaning uses a rotating cutter head, which will shave off the excess metal like sharpening a pencil. This cutter head is driven by a motor and the speed is reduced and the force is increased through a reducer. However, in the existing design, the reducer is directly connected to the cutter head, so the force generated when the cutter head works will cause the reducer to break down quickly.

[0041] In view of this, this embodiment provides a root cleaning robot cutter head drive structure to improve the working conditions of the main shaft 5 supporting the cutter head and make it more stable.

[0042] Referring to Figure 1 and Figure 3 , a root cleaning robot cutter head drive structure includes:

[0043] A driving motor 1 for providing power;

[0044] A speed reducer 2, the output end of the driving motor 1 is connected and transmitted with the input end of the speed reducer 2;

[0045] A gear transmission box, the output end of the speed reducer 2 is connected and transmitted with the input end of the gear transmission box;

[0046] A main shaft 5 system includes a main shaft 5 and main shaft 5 bearings arranged on the main shaft 5, and the main shaft 5 bearings adopt a combination of angular contact ball bearings and cylindrical roller bearings to bear the cutting force of the cutter head.

[0047] A root cleaning cutter head 4, the root cleaning cutter head 4, the main shaft 5 bearings, and the gear transmission box are arranged on the main shaft 5 in sequence, and the root cleaning cutter head 4 and the final gear of the gear transmission box are respectively located on both sides of the main shaft 5 bearings. Such a structural design reduces the cantilever length of the root cleaning cutter head 4 and improves the stress condition of the main shaft 5 bearings.

[0048] In this embodiment, the main shaft 5 bearings include double-row angular contact ball bearings and double-row cylindrical roller bearings. The main shaft 5 bearings adopt this combined design of double-row angular contact ball bearings and double-row cylindrical roller bearings to form the main shaft 5 system of the root cleaning cutter head 4, which improves the bearing capacity and rigidity of the root cleaning cutter head 4; and uses a separate main shaft 5 system to bear the cutting force of the cutter head, avoiding the speed reducer 2 directly bearing the cutting force of the root cleaning cutter head 4. The speed reducer 2 only transmits torque, which not only improves the cutter head stability but also can increase the service life of the speed reducer 2.

[0049] In this embodiment, to minimize the axial dimension of the cutter head drive structure, a spiral bevel gear speed reducer 2 with a 90-degree turn is selected, and the installation position of the driving motor 1 is turned by 90 degrees, so that the dimension of the entire cutter head drive structure extends along the radial direction of the welded part; as Figure 1 shown, the speed reducer 2 is located directly below the driving motor 1, and the root cleaning cutter head 4 is placed directly below the speed reducer 2 (on the left side of the output shaft). Compared with the prior art where the root cleaning cutter head 4 is placed on the right side of the output shaft of the speed reducer 2, the overall axial dimension of the cutter head drive structure is smaller.

[0050] In this embodiment, the root cleaning cutter head 4 and the final gear of the gear transmission box are respectively located on both sides of the main shaft 5 bearings. The final gear of the gear transmission box acts as a flywheel, improving the stress condition of the entire main shaft 5 and the root cleaning cutter head 4.

[0051] In this embodiment, the gear transmission box adopts a two-stage gear transmission box 3. The output torque of the reducer 2 is transmitted to the main shaft 5 through two-stage gear transmission. The actual axial dimension of the cutter head drive structure then becomes the axial dimension of the main shaft 5. The axial dimension of the cutter head main shaft 5 is smaller than that of the reducer 2, which is beneficial to reducing the axial dimension of the overall cutter head drive assembly. The overall structure has a smaller axial dimension and can meet the narrow-weld root cleaning scenario.

[0052] In this embodiment, the drive motor 1 adopts a servo motor.

[0053] In this embodiment, the overall height of the root cleaning robot cutter head drive structure does not exceed 700 mm, the width does not exceed 350 mm, and the thickness (axial dimension) does not exceed 300 mm. The diameter range of the root cleaning cutter head 4 is 200 - 220 mm.

[0054] Preferably, as Figure 1 and Figure 2 shown, this embodiment provides partial dimension data (dimension unit: mm) of the root cleaning robot cutter head drive structure; among them, the overall height of the cutter head drive structure is 692 mm, the width is 335 mm, the thickness (axial dimension) is 249 mm, and the diameter of the root cleaning cutter head 4 is 210 mm.

[0055] Embodiment 2

[0056] A root cleaning robot includes the root cleaning robot cutter head drive structure described above and has all the advantages of the cutter head drive structure.

[0057] The method for the root cleaning robot cutter head drive structure to perform root cleaning operations includes, but is not limited to, the following steps:

[0058] Install the root cleaning robot cutter head drive structure onto the root cleaning robot;

[0059] Adjust the drive parameters according to the specific requirements of the welded part;

[0060] Start the root cleaning robot to start performing root cleaning operations, and use the cutter head to perform efficient and precise cutting and cleaning until the root cleaning task is completed;

[0061] After the operation is completed, perform necessary cleaning and maintenance.

[0062] The beneficial effects of the technical solution of the present utility model are:

[0063] 1. To minimize the axial dimension of the cutter head drive structure, a spiral bevel gear reducer 2 with a 90-degree turn is selected. The installation position of the drive motor 1 is turned by 90 degrees, causing the dimension of the entire cutter head drive assembly to extend radially along the welded part. The root clearing cutter head 4 is placed directly below the housing of the reducer 2 (on the left side of the output shaft). Compared with placing the root clearing cutter head 4 on the right side of the output shaft of the reducer 2, the axial dimension of the overall cutter head drive assembly is smaller.

[0064] 2. A spindle 5 system for the root clearing cutter head 4 is composed of double-row angular contact ball bearings and double-row cylindrical roller bearings, which improves the bearing capacity and rigidity of the root clearing cutter head 4. A separate spindle 5 system is used to bear the cutting force of the cutter head, avoiding the reducer 2 directly bearing the cutting force of the cutter head. The reducer 2 only transmits torque, which improves the service life of the reducer 2.

[0065] 3. The root clearing cutter head 4, the spindle 5 bearings, and the gear transmission box are arranged in sequence on the spindle 5. The root clearing cutter head 4 and the final-stage gear of the gear transmission box are located on both sides of the spindle 5 bearings respectively, reducing the cantilever length of the root clearing cutter head 4 and improving the force-bearing condition of the spindle 5 bearings.

[0066] 4. The root clearing cutter head 4 and the final-stage gear of the gear transmission box are located on both sides of the spindle 5 bearings respectively. The final-stage gear acts as a flywheel, improving the force-bearing condition of the entire spindle 5 and the root clearing cutter head 4.

[0067] 5. The output torque of the reducer 2 is transmitted to the cutter head spindle 5 through two-stage gear transmission. The actual axial dimension of the cutter head drive assembly becomes the axial dimension of the cutter head spindle 5. The axial dimension of the cutter head spindle 5 is smaller than that of the reducer 2, which is beneficial to reducing the axial dimension of the overall cutter head drive assembly.

[0068] In summary, the technical solution of this application can not only improve the force-bearing condition of the cutter head spindle 5, avoid the reducer 2 directly bearing the cutting force of the cutter head, reduce the wear and the probability of failure of the reducer 2, and improve the service life of the reducer 2, but also has a small axial dimension of the overall structure, can meet the root clearing scenario of narrow welds, has stronger adaptability or adaptation range, and has high popularization significance.

[0069] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

[0070] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. For those skilled in the art, the present utility model may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A root cleaning robot cutter head drive structure, characterized in that, Comprising: A driving motor (1) for providing power; A speed reducer (2), the output end of the driving motor (1) being connected and transmitted to the input end of the speed reducer (2); A gear transmission box, the output end of the speed reducer (2) being connected and transmitted to the input end of the gear transmission box; A main shaft (5) system, including a main shaft (5) and main shaft (5) bearings provided on the main shaft (5); A root cleaning cutter head (4), the root cleaning cutter head (4), the main shaft (5) bearings, and the gear transmission box being arranged in sequence on the main shaft (5), and the root cleaning cutter head (4) and the final stage gear of the gear transmission box being located on both sides of the main shaft (5) bearings respectively.

2. The root cleaning robot cutter head drive structure according to claim 1, characterized in that, The main shaft (5) bearings adopt a combination of angular contact ball bearings and cylindrical roller bearings.

3. The cutter head drive structure of the gouging robot according to claim 2, characterized in that The main shaft (5) bearings include double row angular contact ball bearings and double row cylindrical roller bearings for bearing the cutting force of the root cleaning cutter head (4).

4. The root clearing robot cutter head drive structure according to claim 1, characterized in that, The speed reducer (2) adopts a spiral bevel gear speed reducer (2) with a 90-degree turn.

5. The root cleaning robot cutter head drive structure according to claim 1, characterized in that, The speed reducer (2) is located directly below the motor, and the root cleaning cutter head (4) is arranged directly below the speed reducer (2).

6. The root cleaning robot cutter head drive structure according to claim 1, characterized in that The gear transmission box adopts a two-stage gear transmission box (3), and the output torque of the speed reducer (2) is transmitted to the main shaft (5) and the root cleaning cutter head (4) through the two-stage gear transmission box (3).

7. The undercutting robot cutter head drive structure according to claim 1, characterized in that, The overall height of the root cleaning robot cutter head driving structure does not exceed 700 mm, the width does not exceed 350 mm, and the thickness does not exceed 300 mm.

8. The root clearing robot cutter head drive structure according to claim 1, characterized in that, The diameter range of the root cleaning cutter head (4) is 200 - 220 mm.

9. The root cleaning robot cutter head drive structure according to claim 8, characterized in that The diameter of the root cleaning cutter head (4) is 210 mm.

10. A gouging robot, characterized in that, Including the root cleaning robot cutter head driving structure according to any one of claims 1 - 9.

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