Nine-axis gantry type cantilever walking welding robot assembly

Abstract

The utility model relates to a nine-axis gantry type cantilever walking welding robot assembly which comprises a gantry body structure and a robot welding mechanism, and the robot welding mechanism comprises a group of cantilever walking welding robot structures arranged on the upper portion of the robot welding mechanism and robot auxiliary assemblies matched with the cantilever walking welding robot structures. The portal frame body structure comprises a set of movable supporting foot base body structures, a movable main cross beam structure arranged between the two movable supporting foot base body structures and a protection frame body structure arranged between the movable main cross beam structure and the movable supporting foot base body structures. When the gantry type multi-axis welding robot conducts welding, the front welding arm and the rear welding arm conduct multi-face and multi-angle welding operation, and therefore high-efficiency welding of the device is achieved. The workpiece is further driven to turn over and rotate by turning over a cross beam of the positioner and rotating supports on the cross beam, the workpiece is matched with the three-axis portal frame to move, and the whole workpiece begins to rotate according to the welding sequence until the workpiece rotates to the angle needed by a welded piece.

Description

Technical Field

[0001] The utility model relates to the field of cantilever walking welding robots, in particular to a 9-axis gantry type cantilever walking welding robot assembly. Background Art

[0002] A gantry-type multi-axis welding robot is a robotic system used to automate welding tasks, typically for welding large workpieces or structures. Here are some of the features and functions of a gantry-type multi-axis welding robot: Multi-axis degrees of freedom: Gantry-type multi-axis welding robots typically have multiple degrees of freedom, allowing them to move and rotate in three or more directions to achieve a variety of welding positions and angles.

[0003] Online monitoring and quality control: Gantry multi-axis welding robots are usually equipped with online monitoring and quality control systems, which can monitor the parameters and quality of the welding process in real time, detect and correct welding defects in time, and improve welding quality and efficiency.

[0004] Customizability: Gantry multi-axis welding robots usually have a certain degree of customizability and can be customized and modified according to the user's specific needs and application scenarios to meet different welding requirements.

[0005] At present, most workpieces need to be displaced during automatic robot welding. However, for larger box-type workpieces and workpieces that require special welding postures, it is more difficult to achieve displacement welding, and because the workpiece size is too large, the center of rotation is too high.

[0006] Publication number: CN216541640U A welding tool for robot automatic welding, including a three-axis gantry, a welding robot and a positioner, the welding robot is mounted upside down on the three-axis gantry and is located on one side of the positioner, and a workpiece is mounted on the positioner through a workpiece clamping mechanism; the positioner includes fixed brackets at both ends, a crossbeam connected between the two fixed brackets and a slewing support arranged on the crossbeam; the workpiece clamping mechanism includes a tooling plate mounted on the slewing support and a clamping device mounted on the tooling plate, and the workpiece is mounted on the tooling plate and positioned and clamped by the clamping device.

[0007] The existing gantry can drive the heating robot arm and the welding robot arm to move on the guide rail, thereby realizing automatic welding. By setting a control device, it is convenient for the two robot gantries to weld at the same time, improving work efficiency. It can effectively reduce the traditional welding process, which requires manual welding with handheld welding guns and heating equipment, but the manual operation is dangerous, difficult, and has a low level of intelligence. The problem is that it liberates labor and ultimately achieves the purpose of the intelligent welding production line. Utility Model Content

[0008] The purpose of this utility model is to provide a 9-axis gantry cantilever walking welding robot assembly, which solves the problem of movement in two dimensions of X and Y axes, and cooperates with the robot's own multi-dimensional working direction to ensure smooth and accurate movement of the whole machine and ensure precise welding.

[0009] The technical solution adopted by the utility model to solve its technical problems is: a 9-axis gantry cantilever walking welding robot assembly, including a gantry frame structure and a robot welding mechanism arranged on the upper part of the gantry frame structure, characterized in that: the robot welding mechanism includes a group of cantilever walking welding robot structures arranged on the upper part of the robot welding mechanism and a robot auxiliary component adapted to the cantilever walking welding robot structure, the gantry frame structure includes a group of movable support leg seat structures and a movable main beam structure arranged between the two movable support leg seat structures and a guard frame structure arranged between the movable main beam structure and the movable support leg seat structure.

[0010] The movable support base structure includes a trapezoidal movable base, a vertical connecting base arranged on the upper part of the movable base, and a base driving structure arranged in the movable base. The base driving structure includes a movable column gear arranged in the movable base and a group of linear rail driving gears arranged in the movable base.

[0011] The cantilever walking welding robot structure includes an X-direction control seat arranged on the side end of the movable main beam structure, a Y-direction control seat arranged outside the X-direction movable seat, a welding robot control base arranged on the upper part of the Y-direction control base, a welding cantilever structure connected to the welding robot control base, and a welding gun structure arranged at the end of the welding cantilever structure.

[0012] The robot auxiliary assembly includes a robot control cabinet, an electric welder, a signal cabinet and a power cabinet which are arranged on the upper part of the moving main beam structure and adapted to each cantilever walking welding robot structure.

[0013] A diagonal bracing assembly is provided between each vertical connecting seat and the movable main beam structure.

[0014] The guard frame structure includes a top guardrail arranged on the upper part of the mobile main beam structure, a climbing frame arranged between the mobile main beam structure and the mobile support base structure, and a maintenance guard frame arranged on the upper part of the mobile support base structure.

[0015] The beneficial effects of the present invention are as follows: when the gantry-type multi-axis welding robot is welding, the front and rear welding arms are respectively used for multi-faceted and multi-angle welding operations, thereby realizing high-efficiency welding of the device; further, the workpiece is driven to flip and rotate by the crossbeam of the positioner and the rotary support on the crossbeam, and the workpiece is moved in coordination with the three-axis gantry, and the entire workpiece begins to rotate according to the welding sequence until it rotates to the required angle of the weld.

[0016] The present invention will be described in detail below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the utility model.

[0018] Figure 2 for Figure 1 Left view.

[0019] Figure 3 for Figure 1 Right view.

[0020] Figure 4 for Figure 1 Top view.

[0021] Figure 5 for Figure 1 Stereoscopic image.

[0022] In the figure: 1. Moving main beam structure, 2. Moving base, 3. Vertical connecting seat, 4. Moving column gear, 5. Linear rail drive gear, 6. X-axis control seat, 7. Y-axis control seat, 8. Welding robot control base, 9. Welding cantilever structure, 10. Welding gun structure, 11. Robot control cabinet, 12. Electric welding machine, 13. Signal cabinet, 14. Power cabinet, 15. Diagonal brace assembly, 16. Top guardrail, 17. Climbing frame, 18. Maintenance frame. DETAILED DESCRIPTION

[0023] The terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end" used in this application to indicate positions or locations are based on the positions or locations shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed to indicate or imply relative importance.

[0024] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "connected," etc. should be understood in a broad sense. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0025] Example 1, as Figure 1-5As shown, a 9-axis gantry cantilever walking welding robot assembly includes a gantry frame structure and a robot welding mechanism arranged on the upper part of the gantry frame structure, the robot welding mechanism includes a group of cantilever walking welding robot structures arranged on the upper part of the robot welding mechanism and a robot auxiliary component adapted to the cantilever walking welding robot structure, the gantry frame structure includes a group of movable support base structures and a movable main beam structure 1 arranged between the two movable support base structures and a guard frame structure arranged between the movable main beam structure and the movable support base structure.

[0026] The movable support base structure includes a trapezoidal movable base 2, a vertical connecting base 3 arranged on the upper part of the movable base, and a base driving structure arranged in the movable base. The base driving structure includes a movable column gear 4 arranged in the movable base and a group of linear rail driving gears 5 arranged in the movable base.

[0027] The cantilever walking welding robot structure includes an X-direction control seat 6 arranged on the side end of the mobile main beam structure, a Y-direction control seat 7 arranged outside the X-direction moving seat, a welding robot control base 8 arranged on the upper part of the Y-direction control seat, a welding cantilever structure 9 connected to the welding robot control base, and a welding gun structure 10 arranged at the end of the welding cantilever structure.

[0028] The robot auxiliary components include a robot control cabinet 11, a welding machine 12, a signal cabinet 13 and a power cabinet 14, which are arranged on the upper part of the mobile main beam structure 1 and adapted to each cantilever walking welding robot structure.

[0029] A diagonal bracing assembly 15 is provided between each vertical connecting seat and the movable main crossbeam structure.

[0030] The guard frame structure includes a top guardrail 16 arranged on the upper part of the movable main beam structure, a climbing frame 17 arranged between the movable main beam structure and the movable support base structure, and a maintenance guard frame 18 arranged on the upper part of the movable support base structure.

[0031] When the gantry-type multi-axis welding robot is welding, the front and rear welding arms are responsible for multi-faceted and multi-angle welding operations, thereby achieving high-efficiency welding of the device; further, the workpiece is driven to flip and rotate through the crossbeam flipping of the positioner and the rotary support on the crossbeam, and the movement is coordinated with the three-axis gantry. The entire workpiece begins to rotate according to the welding sequence until it rotates to the required angle of the weld.

[0032] The above embodiments are merely descriptions of preferred implementation methods of the present invention and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary engineering technicians in this field should fall within the scope of protection determined by the claims of the present invention.

[0033] The parts not involved in the present invention are the same as the existing technology or can be implemented by using the existing technology.

Claims

1. A 9-axis gantry-type cantilever walking welding robot assembly, comprising a gantry frame structure and a robot welding mechanism disposed on the upper portion of the gantry frame structure, characterized in that: The robotic welding mechanism includes a group of cantilever walking welding robot structures arranged on the upper part of the robotic welding mechanism and a robot auxiliary component adapted to the cantilever walking welding robot structure; the gantry frame structure includes a group of movable support leg seat structures and a movable main beam structure arranged between the two movable support leg seat structures and a guard frame structure arranged between the movable main beam structure and the movable support leg seat structure.

2. The 9-axis gantry-type cantilever walking welding robot assembly according to claim 1, characterized in that: The movable support base structure includes a trapezoidal movable base, a vertical connecting base arranged on the upper part of the movable base, and a base driving structure arranged in the movable base. The base driving structure includes a movable column gear arranged in the movable base and a group of linear rail driving gears arranged in the movable base.

3. The 9-axis gantry-type cantilever walking welding robot assembly according to claim 1, characterized in that: The cantilever walking welding robot structure includes an X-axis control seat arranged on the side end of the movable main beam structure, a Y-axis control seat arranged outside the X-axis movable seat, a welding robot control base arranged on the upper part of the Y-axis control base, a welding cantilever structure connected to the welding robot control base, and a welding gun structure arranged at the end of the welding cantilever structure.

4. The 9-axis gantry-type cantilever walking welding robot assembly according to claim 1, characterized in that: The robot auxiliary assembly includes a robot control cabinet, an electric welder, a signal cabinet and a power cabinet which are arranged on the upper part of the moving main beam structure and adapted to each cantilever walking welding robot structure.

5. The 9-axis gantry-type cantilever walking welding robot assembly according to claim 2, characterized in that: A diagonal bracing assembly is provided between each vertical connecting seat and the movable main beam structure.

6. The 9-axis gantry-type cantilever walking welding robot assembly according to claim 1, characterized in that: The guard frame structure includes a top guardrail arranged on the upper part of the mobile main beam structure, a climbing frame arranged between the mobile main beam structure and the mobile support base structure, and a maintenance guard frame arranged on the upper part of the mobile support base structure.

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