Automatic welding equipment for mining middle trough bent plate assembly

Abstract

The utility model relates to automatic welding equipment for a mining middle trough bent plate assembly. The automatic welding equipment comprises a welding gun, a six-axis mechanical arm, a wire feeder, a welding machine, an electric arc tracking sensor, an automatic position searching sensor, a position changing machine driving motor, a position changing machine base, a workbench, a pressing piece, a position changing machine and a mechanical arm walking module. The lower end of the six-axis mechanical arm is installed on the mechanical arm walking module through a mechanical arm base, and the welding gun is installed at the tail end of the six-axis mechanical arm. The wire feeder and the welding machine are both installed on the mechanical arm walking module, the wire outlet end of the wire feeder is connected with the wire inlet end of the welding gun, and the welding machine is connected with the welding gun. The two position changing machines are installed on the ground through the position changing machine bases respectively, the position changing machine driving motor is installed on one position changing machine base, and the output end of the position changing machine driving motor is connected with the corresponding position changing machine. The two ends of the workbench are connected with the two position changing machines, and pressing pieces are arranged at the two ends of the workbench respectively. The arc tracking sensor is used for detecting welding current in real time, and the automatic locating sensor is used for obtaining welding seam position information in real time. Automatic welding of the middle groove bent plate assembly is achieved, and the problem that time and labor are wasted due to manual overturning and manual welding is effectively solved.

Description

Technical Field

[0001] The utility model belongs to the technical field of welding equipment, in particular to automatic welding equipment for a middle trough bent plate assembly for mining. Background Art

[0002] The bent plate assembly is an important component of the middle trough of the scraper conveyor, and is mainly used to install cable troughs and act as a carrier. Since the middle trough is a batch part in the entire set of scraper conveyor equipment, the number of bent plate assemblies is relatively large. At present, the middle trough bent plate assembly mainly adopts manual welding, and manual flipping is used to achieve the welding of the side reinforcement plate of the bent plate assembly. Not only is the production efficiency low and the labor intensity high, but also it is limited by the welding level of the welder. The welds connecting the bent plate assemblies often have defects such as cover edge biting, excessive excess height, asymmetric corner welds, arc pits and cracks, resulting in poor overall weld forming consistency, which affects the overall quality of the middle trough to a certain extent. In view of the above reasons, the present application proposes an automatic welding equipment for the middle trough bent plate assembly of the mine to improve the welding efficiency and welding quality of the bent plate assembly and further improve the appearance quality of the middle trough. Utility Model Content

[0003] In view of the deficiencies in the prior art, the technical problem to be solved by the present invention is to provide an automatic welding device for a middle trough bent plate assembly for mining.

[0004] The utility model solves the technical problem by adopting the following technical solutions:

[0005] An automatic welding device for a middle groove bent plate assembly for mining, characterized in that the device comprises a welding gun, a six-axis robotic arm, a wire feeder, a welding machine, an arc tracking sensor, an automatic positioning sensor, a positioner drive motor, a positioner base, a workbench, a pressing member, a positioner, and a robotic arm walking module;

[0006] The lower end of the six-axis robot arm is installed on the robot arm walking module through the robot arm base, and the welding gun is installed at the end of the six-axis robot arm; the wire feeder and the welder are both installed on the robot arm walking module, the wire outlet end of the wire feeder is connected to the wire inlet end of the welding gun, and the welder is connected to the welding gun; the two positioners are respectively installed on the ground through the positioner bases, the positioner drive motor is installed on one of the positioner bases and the output end is connected to the corresponding positioner; the two ends of the workbench are connected to the two positioners, and the two ends of the workbench are respectively provided with clamping parts; the arc tracking sensor is used to detect the welding current in real time, and the automatic positioning sensor is used to obtain the weld position information in real time.

[0007] Furthermore, the robotic arm walking module includes a sleeper, a guide rail, a slide and a stepper motor; the sleeper is installed on the ground, two guide rails are symmetrically installed on both sides of the sleeper, both sides of the slide are slidably connected to the two guide rails, and the stepper motor is installed on the slide.

[0008] Furthermore, the equipment also includes a gun cleaner and a water cooler; the gun cleaner is installed at the end of the six-axis robotic arm and is used to clean the welding gun; the water cooler is installed on the slide and is connected to the welding gun.

[0009] Compared with the prior art, the beneficial effects of the present invention are:

[0010] This utility model can realize automatic welding of the middle groove bent plate assembly. By controlling the welding gun's movement according to the welding trajectory generated by the weld position information through a stepper motor and a six-axis robotic arm, it can achieve curved welding of the top reinforcement plate of the middle groove bent plate assembly. The arc tracking sensor and automatic positioning sensor realize automatic deviation correction of the welding gun and obtain the weld position information in real time, thus improving the welding quality. The positioner drives the workbench to rotate, realizing the flipping of the middle groove bent plate assembly, facilitating the welding of the reinforcement plates on the side of the middle groove bent plate assembly, and effectively solving the time-consuming and labor-intensive problems of manual flipping and manual welding. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a structural diagram of the utility model;

[0012] In the figure, 1. bracket; 2. guide rail; 3. welding gun; 4. gun cleaner; 5. six-axis robotic arm; 6. wire feeder; 7. robotic arm base; 8. welding machine; 9. arc tracking sensor; 10. automatic positioning sensor; 11. control cabinet; 12. water cooler; 13. barreled welding wire; 14. slide; 15. hydraulic pump; 16. stepper motor; 17. positioner drive motor; 18. positioner base; 19. sleeper; 20. workbench; 21. middle slot bending plate assembly; 22. hydraulic clamping part; 23. positioner. DETAILED DESCRIPTION

[0013] Specific embodiments are given below in conjunction with the accompanying drawings. The specific embodiments are only used to introduce the technical solutions of the present utility model in detail and are not intended to limit the scope of protection of the present application.

[0014] like Figure 1 As shown, the utility model provides an automatic welding device for a middle groove bending plate assembly for mining, comprising a welding gun 3, a six-axis robotic arm 5, a wire feeder 6, a robotic arm base 7, a welding machine 8, an arc tracking sensor 9, an automatic positioning sensor 10, a positioner drive motor 17, a positioner base 18, a workbench 20, a hydraulic pressing member 22, a positioner 23 and a robotic arm walking module;

[0015] Among them, the robot arm base 7 is connected to the robot arm walking module, the lower end of the six-axis robot arm 5 is fixedly connected to the robot arm base 7, and the welding gun 3 is installed at the end of the six-axis robot arm 5. The six-axis robot arm 5 is driven to move by the robot arm walking module, so that the welding gun 3 moves according to the welding trajectory generated by the weld position information; the wire feeder 6 and the welding machine 8 are both connected to the robot arm walking module, and move with the six-axis robot arm 5. The wire inlet of the wire feeder 6 is connected to the barreled welding wire 13, and the wire outlet is connected to the wire inlet end of the welding gun 3 to transport welding wire to the welding gun 3; the welding machine 8 is connected to the welding gun 3 is connected to provide welding current to the welding gun 3; the arc tracking sensor 9 and the automatic positioning sensor 10 are located on the control cabinet 11. The arc tracking sensor detects the welding current in real time. When the welding current is greater than the set value, it indicates that the welding gun 3 has deviated from the welding trajectory and its movement position needs to be corrected, thereby realizing automatic correction of the welding gun 3; the automatic positioning sensor 10 is used to obtain weld position information in real time. The control system controls the movement of the welding gun 3 based on the weld position information, so that the welding gun 3 moves along the welding trajectory generated by the weld position information, thereby realizing precise welding;

[0016] Two positioner bases 18 are symmetrically installed on the ground, and a positioner 23 is installed on each positioner base 18, and a positioner drive motor 17 is installed on one of the positioner bases 18. The output end of the positioner drive motor 17 is connected to the corresponding positioner 23, and the two ends of the workbench 20 are respectively connected to the two positioners 23 through the bracket 1; two hydraulic clamping parts 22 are installed at both ends of the workbench 20, and the hydraulic clamping parts 22 are also connected to the hydraulic pump 15. The hydraulic clamping parts 22 are used to clamp and fix the middle groove bending plate assembly 21 and the workbench 20, and the hydraulic pump 15 provides power for the hydraulic clamping parts 22; the positioner drive motor 17 drives the positioner 23 connected thereto to rotate, thereby realizing the rotation of the workbench 20, driving the middle groove bending plate assembly 21 to rotate a certain angle, so that the side of the middle groove bending plate assembly 21 faces upward, which is convenient for welding the reinforcement plate on the side of the middle groove bending plate assembly 21.

[0017] The robotic arm travel module includes a sleeper 19, guide rails 2, a slide 14, and a stepper motor 16. The sleeper 19 is mounted on the ground, with two guide rails 2 symmetrically mounted on either side of the sleeper 19. The slide 14 is slidably connected to the two guide rails 2 on both sides. The stepper motor 16 is mounted on the slide 14 to drive the slide 14 to slide back and forth on the guide rails 2. The robotic arm base 7, wire feeder 6, and welder 8 are all mounted on the slide 14 and move synchronously with the slide 14.

[0018] The equipment also includes a gun cleaner 4, a water cooler 12 and a hydraulic pump 15; the gun cleaner 4 is installed at the end of the six-axis robotic arm 5 and is used to clean the welding gun 3; the water cooler 12 is installed on the slide 14, and the water cooler 12 is connected to the welding gun 3 to cool the welding gun 3.

[0019] The working principle and workflow of this utility model are:

[0020] With the workbench 20 in a horizontal position as the initial state, the middle groove bent plate assembly 21 is hoisted and placed on the workbench 20, and the middle groove bent plate assembly 21 is pressed against the workbench 20 by the clamping member 22, thereby fixing the middle groove bent plate assembly 21. The automatic positioning sensor 10 obtains the weld position information in real time, and the control system controls the stepper motor 16 according to the weld position information, driving the slide 14 to slide on the guide rail 2, while controlling the six-axis robot 5 to drive the welding gun 3 to move, so that the welding gun 3 moves according to the welding trajectory generated by the weld position information, and welds the reinforcing plate on the top of the middle groove bent plate assembly 21; during the welding process, the arc tracking sensor 9 detects the welding current in real time. When the welding current is greater than the set value, it indicates that the welding gun 3 deviates from the welding trajectory. The control system controls the stepper motor 16 and the six-axis robot 5 to return the welding gun 3 to the welding trajectory, thereby realizing automatic deviation correction of the welding gun 3.

[0021] After the welding of the reinforcing plate on the top of the middle groove bent plate assembly 21 is completed, the positioner drive motor 17 is started to drive the positioner 23 to rotate the workbench 20 to a certain angle (for example, 45 degrees), so that the side of the middle groove bent plate assembly 21 faces obliquely upward; similarly, the stepper motor 16 drives the slide 14 to slide on the guide rail 2, and the six-axis robot arm 5 drives the welding gun 3 to move, so that the welding gun 3 moves according to the welding trajectory generated by the weld position information to weld the reinforcing plate on the side of the middle groove bent plate assembly 21.

[0022] Any matters not described in this utility model are applicable to the prior art.

Claims

1. An automatic welding equipment for the middle trough bent plate assembly for mining, characterized in that: The equipment includes a welding gun, a six-axis robotic arm, a wire feeder, a welding machine, an arc tracking sensor, an automatic positioning sensor, a positioner drive motor, a positioner base, a workbench, a pressing part, a positioner and a robotic arm travel module; The lower end of the six-axis robot arm is installed on the robot arm walking module through the robot arm base, and the welding gun is installed at the end of the six-axis robot arm; the wire feeder and the welder are both installed on the robot arm walking module, the wire outlet end of the wire feeder is connected to the wire inlet end of the welding gun, and the welder is connected to the welding gun; the two positioners are respectively installed on the ground through the positioner bases, the positioner drive motor is installed on one of the positioner bases and the output end is connected to the corresponding positioner; the two ends of the workbench are connected to the two positioners, and the two ends of the workbench are respectively provided with clamping parts; the arc tracking sensor is used to detect the welding current in real time, and the automatic positioning sensor is used to obtain the weld position information in real time.

2. The automatic welding equipment for the middle trough bent plate assembly for mining according to claim 1 is characterized in that: The robotic arm walking module includes a sleeper, a guide rail, a slide and a stepper motor; the sleeper is installed on the ground, two guide rails are symmetrically installed on both sides of the sleeper, both sides of the slide are slidably connected to the two guide rails, and the stepper motor is installed on the slide.

3. The automatic welding equipment for the middle trough bent plate assembly for mining according to claim 1 or 2, characterized in that: The equipment also includes a gun cleaner and a water cooler; the gun cleaner is installed at the end of the six-axis robotic arm and is used to clean the welding gun; the water cooler is installed on the slide and is connected to the welding gun.

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