Super-large-diameter shield robot welding system

Abstract

The utility model discloses a super-large diameter shield robot welding system which comprises a rotary trolley, lower supports, a welding robot, a walking mechanism, a lifting mechanism and track beams, the lower supports are fixed on the ground and arranged in a shield shell A, and the track beams are arranged on the left side and the right side of the central axis respectively and connected with the ends of the lower supports respectively. The track beam is arranged on the rotary trolley, and the rotary trolley drives the track beam to rotate along the inner side of the shield body shell; the welding robot and walking mechanism is composed of a walking trolley and a welding robot, and the welding robot is fixed to the upper portion of the walking trolley. The lifting mechanism is fixed to the top end of the track beam, the bottom of the walking trolley is fixed to the track beam and connected with the lifting mechanism, the walking trolley and the welding robot can move up and down on the track beam, and the rotary trolley rotates along a shield shell. The welding line forming device can ensure uniform welding line forming, reduces defects, can continuously and efficiently work and does not need to have a rest compared with manual work and a robot, and the welding period is remarkably shortened.

Description

Technical Field

[0001] This utility model relates to a robotic welding system for ultra-large diameter shield bodies, and more particularly to a variable robotic system that can be used for welding shield bodies of ultra-large diameter tunnel boring machines. Background Technology

[0002] Currently, large-scale infrastructure construction is underway in China, and tunnel boring machines (TBMs), as the main force in underground infrastructure construction, are widely used in tunnel projects for subways, roads, highways, and railways. In China, the shield welding of TBMs is usually done by robots, but this method has the following problems: limited ability to handle complex and irregular welded workpieces (such as uneven weld surfaces); and stability and lifespan issues for welding robots in high-temperature, humid, or high-radiation environments. Summary of the Invention

[0003] The technical problem to be solved by this utility model is to provide an ultra-large diameter shield robot welding system to address the shortcomings of existing technologies, thereby solving the problem of shield welding robots' ability to handle complex and irregular welding workpieces (such as uneven weld surfaces).

[0004] To solve this technical problem, this utility model provides an ultra-large diameter shield robot welding system, including a rotary trolley, a lower support, a welding robot and a walking mechanism, a lifting mechanism, and a track beam. The lower support is fixed on the ground and placed inside the shield shell A. Two track beams are arranged on the left and right sides along the central axis and are respectively connected to the ends of the lower support. The track beams are mounted on the rotary trolley, which drives the track beams to rotate along the inner side of the shield shell. The welding robot and the walking mechanism consist of a walking trolley and a welding robot, with the welding robot fixed above the walking trolley. The lifting mechanism is fixed to the top of the track beam, and the bottom of the walking trolley is fixed to the track beam and connected to the lifting mechanism. The walking trolley and the welding robot can move up and down on the track beam, the rotary trolley rotates along the shield shell, and the welding robot can weld the shield in the vertical direction and circumferential direction.

[0005] The rotary trolley includes a motor, rollers, and a pair of gears. The motor drives the gears to rotate the rollers, which in turn drives the rotary trolley to rotate in the circumferential direction.

[0006] The lifting mechanism 4 includes a winch.

[0007] The lower support is made of L-shaped angle steel welded together, and the width of the lower support can be adjusted according to the diameter of the shield body.

[0008] The track beam is made of L-shaped angle steel welded together, and the length of the track beam can be adjusted according to the height of the shield.

[0009] The welding robot and walking mechanism are set on the left and right sides of the central axis.

[0010] Beneficial effects: This invention can reduce reliance on professional welders, effectively alleviate the shortage of skilled workers, maintain stable welding parameters, ensure uniform weld formation, reduce defects, and compared with manual labor, robots can work continuously and efficiently without rest, significantly shortening the welding cycle. Attached Figure Description

[0011] Figure 1 This is a schematic front view of the structure of this utility model;

[0012] Figure 2 This is a schematic front view of the rotary trolley of this utility model;

[0013] Figure 3 This is a structural schematic diagram of the welding robot and its walking mechanism of this utility model;

[0014] Figure 4 This is a schematic diagram showing the connection between the rotary trolley and the lower support of this utility model.

[0015] In the diagram: A. Shield shell; 1. Rotating trolley; 2. Lower support; 3. Welding robot and walking mechanism; 4. Lifting mechanism; 5. Track beam; 101. Motor; 102. Gear pair; 103. Roller; 301. Walking trolley; 302. Welding robot. Detailed Implementation

[0016] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0017] like Figures 1-4 As shown, this utility model provides an ultra-large diameter shield robot welding system, including a rotary trolley 1, a lower support 2, a welding robot and walking mechanism 3, a lifting mechanism 4, and a track beam 5. The lower support 2 is fixed on the ground and placed inside the shield shell A. Two track beams 5 are arranged on the left and right sides along the central axis and are respectively connected to the ends of the lower support 2. The track beams 5 are set on the rotary trolley 1, and the rotary trolley 1 drives the track beams 5 to rotate along the inner side of the shield shell, driving the ultra-large diameter shield variable welding robot system to rotate circumferentially. The welding robot and walking mechanism 3 consists of a walking trolley 301 and a welding robot 302, with the welding robot 302 fixed above the walking trolley 301. The lifting mechanism 4 is fixed to the top of the track beam 5, and the bottom of the walking trolley 301 is fixed to the track beam 5 and connected to the lifting mechanism 4. The walking trolley 301 and the welding robot 302 can move up and down on the track beam 5 through the lifting mechanism 4. The rotary trolley 1 rotates along the shield shell, and the welding robot 302 can weld the shield in the vertical direction and circumferential direction.

[0018] The rotary trolley 1 includes a motor 101, a roller 103 and a pair of gears 102. The motor 101 drives the gears 102 to rotate the roller 103 in the circumferential direction, thereby driving the rotary trolley 1 in the circumferential direction.

[0019] The lifting mechanism 4 includes a winch 401, which is fixed to the top of the track beam and connected to the traveling trolley 301, driving the welding robot and the traveling mechanism 3 to move up and down.

[0020] The lower support 2 is made of L-shaped angle steel welded together. The width of the lower support 2 can be adjusted according to the diameter of the shield body, so as to accommodate robots of different diameters.

[0021] The track beam 5 is welded from L-shaped angle steel. The length of the track beam 5 can be adjusted according to the height of the shield body, and can accommodate robots of different diameters.

[0022] The welding robot and walking mechanism 3 are set on the left and right sides of the central axis.

[0023] The lower support of this invention is fixed to the ground and placed inside the shield shell. The drive motor of the rotary trolley drives the rollers to rotate in place along the circumferential direction. The traveling trolley is connected to the winch in the lifting mechanism. The bottom of the traveling trolley is fixed to the track beam, allowing the traveling trolley to move in the vertical direction. A welding robot is fixed above the traveling trolley. The rotary trolley rotates along the shield shell, enabling the welding robot to weld the shield in the vertical and circumferential directions. This invention can realize welding robot welding in any direction inside the shield. Since the track beam and lower support are constructed and welded from L-shaped angle steel, the size of the welding robot system can be adjusted according to the diameter and height of the shield, and it can adapt to robots of different diameters.

[0024] This invention reduces reliance on professional welders, effectively alleviating the shortage of skilled workers. It maintains stable welding parameters, ensuring uniform weld formation and reducing defects. Compared to manual labor, the robot can work continuously and efficiently without rest, significantly shortening the welding cycle.

[0025] The above-described embodiments of this utility model are merely illustrative examples and are not the only ones. All modifications within the scope of this utility model or equivalent to this utility model are encompassed by this utility model.

Claims

1. A robotic welding system for ultra-large diameter shield bodies, characterized in that: The system includes a rotary trolley (1), a lower support (2), a welding robot and walking mechanism (3), a lifting mechanism (4), and track beams (5). The lower support (2) is fixed to the ground and placed inside the shield shell (A). One track beam (5) is set on each side along the central axis and connected to the end of the lower support (2). The track beams (5) are mounted on the rotary trolley (1), and the rotary trolley (1) drives the track beams (5) to rotate along the inner side of the shield shell (A). The welding robot and walking mechanism (3) consists of a walking mechanism and a track beam. The system consists of a vehicle (301) and a welding robot (302), with the welding robot (302) fixed above the traveling vehicle (301). The lifting mechanism (4) is fixed to the top of the track beam (5), and the bottom of the traveling vehicle (301) is fixed on the track beam (5) and connected to the lifting mechanism (4). The traveling vehicle (301) and the welding robot (302) can move up and down on the track beam (5). The rotary vehicle (1) rotates along the outer shell (A) of the shield body, and the welding robot (302) can weld the shield body in the vertical direction and its circumference.

2. The robotic welding system for ultra-large diameter shield bodies according to claim 1, characterized in that: The rotary trolley (1) includes a motor (101), a roller (103) and a pair of gears (102). The motor (101) drives the gears (102) to rotate the roller (103) and thus drive the rotary trolley (1) in the circumferential direction.

3. The robotic welding system for ultra-large diameter shield bodies according to claim 1, characterized in that: The lifting mechanism (4) includes a winch.

4. The robotic welding system for ultra-large diameter shield bodies according to claim 1, characterized in that: The lower support (2) is made of L-shaped angle steel welded together, and the width of the lower support (2) can be adjusted according to the diameter of the shield body.

5. The robotic welding system for ultra-large diameter shield bodies according to claim 1, characterized in that: The track beam (5) is made of L-shaped angle steel welded together, and the length of the track beam (5) can be adjusted according to the height of the shield.

6. The robotic welding system for ultra-large diameter shield bodies according to any one of claims 1-5, characterized in that: The welding robot and walking mechanism (3) are set on the left and right sides of the central axis.

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