Angle steel and profile steel structure welding manipulator

Abstract

The utility model relates to a welding manipulator, in particular to an angle steel and profile steel structure welding manipulator which comprises a base. A connecting piece is rotationally mounted on the base; a first rotating joint is rotationally mounted on the connecting piece; a second rotating joint is rotationally mounted on the first rotating joint; a rotating joint is rotationally mounted on the second rotating joint; a mounting plate is fixedly mounted on the rotary joint; driving modules are mounted between the connecting piece and the first rotating joint, between the first rotating joint and the second rotating joint and between the second rotating joint and the rotating joint; a welding gun is rotationally mounted on the mounting plate; a clamping structure is arranged on the mounting plate; the clamping structure comprises an upper clamping plate and a lower clamping plate; the lower clamping plate can get close to or away from the upper clamping plate; a rotating structure is arranged on the mounting plate; the rotating structure can change the included angle between the welding gun and the mounting plate in the process that the lower clamping plate is close to or away from the upper clamping plate, and the welding angle between the welding gun and the welding part can be adjusted in real time according to the actual situation through mutual cooperation of the clamping structure and the rotating structure, so that the welding efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a welding machine hand, concretely is a kind of angle steel section steel structure welding machine hand. BACKGROUND

[0002] Welding manipulator is an intelligent equipment that realizes welding operation through automation technology, combines mechanical arm, welding system, sensor and control system, and can complete complex welding task with high precision and high efficiency.

[0003] Common welding machine hand welding process: according to the welding requirement, the position of each section of welding manipulator is adjusted to make welding system contact with angle iron;Welding system welds angle iron, in this process, sensor real-time sensing position of each section of manipulator and welding system, welding path is planned through control system, to complete welding requirement.

[0004] Since the welding system on common manipulator is fixed (i.e. welding angle is fixed), to ensure that welding system does not occur position deviation due to extrusion force in welding process, to improve welding quality;In actual production, manipulator needs to perform welding task of multiple models of angle iron, and the thickness of multiple models of angle iron is different, so the requirement of welding angle is also different, for thinner angle iron, welding with larger welding angle will appear fusing phenomenon, and for thicker angle iron, welding with smaller welding angle will reduce welding efficiency. INVENTION CONTENTS

[0005] The utility model aims at providing a kind of angle steel section steel structure welding machine hand to solve the problems presented in the above background.

[0006] To achieve the above object, the utility model provides the following technical scheme:

[0007] A kind of angle steel section steel structure welding machine hand, including base;

[0008] The connecting piece is rotatably installed on the base;First rotating section is rotatably installed on the connecting piece;Second rotating section is rotatably installed on the first rotating section;Rotary section is rotatably installed on the second rotating section;Mounting plate is fixedly installed on the rotary section;

[0009] Driving module is fixedly installed between the connecting piece and the first rotating section, the first rotating section and the second rotating section and the second rotating section and the rotary section;

[0010] Welding torch is rotatably installed on the mounting plate;

[0011] The mounting plate is provided with a clamping structure; the clamping structure comprises a plurality of groups of upper clamping plates and lower clamping plates arranged symmetrically; the lower clamping plates can be close to or away from the upper clamping plates;

[0012] The mounting plate is provided with a rotating structure; the rotating structure can drive the welding gun to rotate during the process that the lower clamping plates are close to or away from the upper clamping plates, so as to change the included angle between the welding gun and the mounting plate.

[0013] The angle steel type steel structure welding machine as described above: the clamping structure further comprises a motor fixedly installed on the mounting plate; a lead screw column is fixedly installed on the output end of the motor; a plurality of the lower clamping plates are fixedly connected through a cross bar; and a plurality of the upper clamping plates are fixedly installed on the mounting plate, a threaded sleeve screw-connected with the lead screw column is fixedly installed on the cross bar.

[0014] The angle steel type steel structure welding machine as described above: the rotating structure comprises a gear fixedly installed on the welding gun; a connecting rod is fixedly installed on the cross bar; a gear groove meshing with the gear is formed in the connecting rod.

[0015] The angle steel type steel structure welding machine as described above: the transmission between the gear groove and the gear is relatively small.

[0016] The angle steel type steel structure welding machine as described above: a plurality of rollers are rotatably installed on the upper clamping plates and the lower clamping plates.

[0017] The angle steel type steel structure welding machine as described above: the rollers are made of metal.

[0018] Compared with the prior art, the angle steel type steel structure welding machine has the following beneficial effects: through the cooperation of the clamping structure and the rotating structure, the welding angle of the welding gun and the welding part can be adjusted in real time according to the actual situation, so as to improve the welding efficiency and avoid the large investment of labor cost and time cost; through the clamping action of the upper clamping plates and the lower clamping plates on the angle iron, the angle iron can be further fixed, so as to avoid the bending of the angle iron due to its own elasticity under the action of gravity and reduce the welding quality; and through the further positioning of the clamping structure on the welding gun, the contact between the welding gun and the angle iron can be effectively ensured, so as to avoid the welding being not firm. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is a structural schematic view of the angle steel type steel structure welding machine.

[0020] Figure 2 It is a structural schematic view of the angle steel type steel structure welding machine from another angle.

[0021] Figure 3 It is a structural schematic view of the mounting plate in the angle steel type steel structure welding machine.

[0022] Figure 4 As Figure 3 The structural schematic view of the structure at A in the figure.

[0023] Figure 5 The structural schematic view of the structure of the connecting rod in the angle steel structure welding machine hand.

[0024] Figure 6 As Figure 5 The structural schematic view of the structure at B in the figure.

[0025] In the figure: 1, base;

[0026] 2, connecting piece;

[0027] 3, first rotating joint;

[0028] 4, second rotating joint;

[0029] 5, rotating joint;

[0030] 6, mounting plate;

[0031] 7, welding gun;

[0032] 8, motor;

[0033] 9, upper clamping plate;

[0034] 10, horizontal rod; 1001, lower clamping plate; 1002, threaded sleeve;

[0035] 11, connecting rod; 1101, tooth groove;

[0036] 12, screw rod column;

[0037] 13, gear;

[0038] 14, roller;

[0039] 15, drive module. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments.

[0041] Please refer to Figures 1-6 As an embodiment of the utility model, the angle steel structure welding machine hand comprises a base 1;

[0042] The base 1 is rotatably connected with a connecting piece 2; the connecting piece 2 is rotatably connected with a first rotating joint 3; the first rotating joint 3 is rotatably connected with a second rotating joint 4; the second rotating joint 4 is rotatably connected with a rotating joint 5; the rotating joint 5 is fixedly connected with a mounting plate 6;

[0043] The connecting piece 2, the first rotating joint 3, the second rotating joint 4 and the rotating joint 5 are fixedly connected with a driving module 15;

[0044] The mounting plate 6 is rotatably connected with a welding gun 7;

[0045] The mounting plate 6 is provided with a clamping structure; the clamping structure comprises a plurality of groups of upper clamping plates 9 and lower clamping plates 1001 which are symmetrically arranged; the lower clamping plates 1001 can be close to or away from the upper clamping plates 9;

[0046] The mounting plate 6 is provided with a rotating structure; the rotating structure can drive the welding gun 7 to rotate during the process that the lower clamping plates 1001 are close to or away from the upper clamping plates 9, so as to change the included angle between the welding gun 7 and the mounting plate 6.

[0047] In this embodiment, the connecting piece 2 is driven by the driving module 15 to rotate on the base 1, the first rotating joint 3 is driven by the connecting piece 2 to rotate on the connecting piece 2, the second rotating joint 4 is driven by the first rotating joint 3 to rotate on the first rotating joint 3, and the rotating joint 5 is driven by the second rotating joint 4 to rotate on the second rotating joint 4, so as to adjust the position of the mounting plate 6, so that the mounting plate 6 gradually approaches the welding position, so that the welding gun 7 can be in close contact with the welding position, so as to ensure the smooth welding.

[0048] Then the mounting plate 6 is driven by the driving module 15 to move, so as to drive the welding gun 7 to move along the set welding track, so as to ensure the welding quality.

[0049] When the mounting plate 6 is in contact with the angle iron, the angle iron is between the upper clamping plates 9 and the lower clamping plates 1001, so as to realize the preliminary positioning of the welding gun 7.

[0050] After that, further positioning is carried out through the action of the clamping structure, in the process, the upper clamping plates 9 remain fixed in position, and a plurality of upper clamping plates 9 are located at the same horizontal position; the lower clamping plates 1001 gradually approach the upper clamping plates 9, and in the approaching process, the lower clamping plates 1001 first come into contact with the angle iron, and after the contact, the lower clamping plates 1001 are driven to move through the extrusion force between the angle iron and the lower clamping plates 1001, so as to continue to approach the upper clamping plates 9, and when the angle iron comes into contact with the upper clamping plates 9, the action is stopped; through the clamping action of the upper clamping plates 9 and the lower clamping plates 1001 on the angle iron, the angle iron can be further fixed, so as to avoid the bending of the angle iron due to its elasticity under the action of gravity, thereby reducing the welding quality; and through the further positioning of the welding gun 7 by the clamping structure, the contact between the welding gun 7 and the angle iron can be effectively ensured, thereby avoiding insecure welding.

[0051] In the clamping process, the distance between the upper clamping plates 9 and the lower clamping plates 1001 continuously decreases, and the distance between the upper clamping plates 9 and the lower clamping plates 1001 when the clamping is stopped is related to the thickness of the angle iron; the thicker the angle iron is, the smaller the moving distance of the lower clamping plates 1001 is; the thinner the angle iron is, the greater the moving distance of the lower clamping plates 1001 is; therefore, the actual thickness of the angle iron can be monitored in real time through the clamping structure.

[0052] When the clamping structure acts, the rotating structure is driven to act synchronously, so as to drive the welding gun 7 to rotate on the mounting plate 6, and the rotating angle is related to the moving distance of the lower clamping plates 1001; the greater the moving distance of the lower clamping plates 1001 is, the thinner the angle iron is, and the greater the rotating angle of the welding gun 7 is, thereby avoiding the burning of the thin plate due to excessive heat input, reducing the penetration and accelerating the welding speed; and the smaller the moving distance of the lower clamping plates 1001 is, the thicker the angle iron is, and the smaller the rotating angle of the welding gun 7 is, thereby improving the welding efficiency.

[0053] Through the cooperation of the clamping structure and the rotating structure, the welding angle of the welding gun 7 and the welding position can be adjusted in real time according to the actual situation, so as to improve the welding efficiency and avoid the large investment of labor cost and time cost.

[0054] As a further scheme of the utility model, the clamping structure further comprises a motor 8 fixedly installed on the mounting plate 6; a screw rod column 12 is fixedly installed on the output end of the motor 8; a plurality of lower clamping plates 1001 are fixedly connected through a cross bar 10; and a plurality of upper clamping plates 9 are fixedly installed on the mounting plate 6, and a threaded sleeve 1002 threadedly connected with the screw rod column 12 is fixedly installed on the cross bar 10.

[0055] In this embodiment, the distance between the upper clamping plates 9 and the lower clamping plates 1001 is the largest in the initial position, so as to prevent the position of the angle iron from deviating during the clamping process.

[0056] When the motor 8 is in operation, the screw rod column 12 can be driven to rotate, so that the threaded sleeve 1002 is driven to move along the length direction of the screw rod column 12 to approach the upper clamping plate 9, so that the horizontal rod 10 is synchronously moved, and the two lower clamping plates 1001 are synchronously moved to shorten the distance between the upper clamping plate 9 and the lower clamping plates 1001.

[0057] The lower clamping plate 1001 is in contact with the angle iron during movement, and after the contact, the mounting plate 6 is driven to move by the extrusion force of the angle iron, so that the distance between the upper clamping plate 9 and the lower clamping plate 1001 is continuously shortened to clamp and paste, and during the process, the bending of the angle iron caused by the elasticity of the angle iron can be repaired, so that the welding quality is improved.

[0058] The angle iron is clamped by the clamping structure to fix the angle iron, so that the bending of the angle iron caused by the resistance of the welding gun 7 during welding is avoided, and the welding quality is improved.

[0059] As a further scheme of the utility model, the rotating structure comprises a gear 13 fixedly installed on the welding gun 7; the horizontal rod 10 is fixedly installed with a connecting rod 11; the connecting rod 11 is provided with a gear slot 1101 engaged with the gear 13.

[0060] In the embodiment, the horizontal rod 10 is synchronously moved during movement, so that the gear slot 1101 is synchronously moved, the gear 13 is rotated through the mutual engagement of the gear slot 1101 and the gear 13, and the welding gun 7 is rotated, so that the included angle between the welding gun 7 and the mounting plate 6 is changed.

[0061] The rotating angle of the welding gun 7 is related to the movement distance of the horizontal rod 10, and the movement distance of the horizontal rod 10 is related to the actual thickness of the angle iron; when the thickness of the angle iron is small, the rotating angle of the welding gun 7 is larger, so that the burning of the thin plate caused by the excessive heat input is avoided, the penetration is reduced, and the welding speed is increased; when the thickness of the angle iron is large, the rotating angle of the welding gun 7 is smaller, and the welding efficiency is larger.

[0062] And since the horizontal rod 10 is driven through the threaded cooperation during movement, when the screw rod column 12 stops rotating, the position of the horizontal rod 10 is fixed, so that the included angle of the welding gun 7 is fixed, and the extrusion force caused by the movement of the welding gun 7 is avoided to affect the welding efficiency and quality.

[0063] As a further scheme of the utility model, the transmission ratio between the gear slot 1101 and the gear 13 is relatively small.

[0064] In the embodiment, since the difference between the actual thicknesses of the angle irons is small (generally in millimeters), the difference between the movement distances of the horizontal rod 10 clamping the angle irons with different thicknesses is small; and the difference between the optimal welding angles of the angle irons is also small, so that the welding work of the angle irons with various thicknesses can be effectively controlled through the relatively small transmission ratio.

[0065] Through the cooperation of the clamping structure and the rotating structure, the dynamic change of the welding angle of the welding gun 7 is realized, thereby improving the practicability and applicability of the device, avoiding the trajectory calculation of the welding gun 7 movement for maintaining the welding angle during the welding process, and being able to more easily cope with various welding requirements.

[0066] As a further scheme of the present application, a plurality of rollers 14 are rotatably installed on the upper clamping plate 9 and the lower clamping plate 1001.

[0067] In this embodiment, the contact of the angle iron with the upper clamping plate 9 and the lower clamping plate 1001 is realized by the rollers 14, which can effectively complete the clamping action, and can complete the linear movement of the mounting plate 6 through the rolling cooperation with the angle iron in the subsequent welding process, so that the welding gun 7 completes the welding task at a fixed welding angle.

[0068] As a further scheme of the present application, the rollers 14 are made of metal.

[0069] In this embodiment, the rollers 14 made of metal have a low probability of elastic deformation under the action of extrusion force, which can effectively detect the actual thickness of the angle iron, and the rollers 14 made of metal are not disturbed by the welding temperature, and have a long service life.

[0070] The above embodiments are exemplary and not limiting, so that the technical solutions of the present application can be realized in other specific forms without departing from the spirit or basic characteristics of the present application, which are all included in the present application.

Claims

1. An angle steel structure welding machine hand, comprising a base (1); characterized in that A connecting piece (2) is rotatably installed on the base (1); a first rotating joint (3) is rotatably installed on the connecting piece (2); a second rotating joint (4) is rotatably installed on the first rotating joint (3); a rotating joint (5) is rotatably installed on the second rotating joint (4); and a mounting plate (6) is fixedly installed on the rotating joint (5); A driving module (15) is fixedly installed between the connecting piece (2) and the first rotating joint (3), between the first rotating joint (3) and the second rotating joint (4), and between the second rotating joint (4) and the rotating joint (5); A welding gun (7) is rotatably installed on the mounting plate (6); A clamping structure is arranged on the mounting plate (6); the clamping structure comprises a plurality of groups of upper clamping plates (9) and lower clamping plates (1001) arranged symmetrically; the lower clamping plates (1001) can be close to or away from the upper clamping plates (9); A rotating structure is arranged on the mounting plate (6); the rotating structure can drive the welding gun (7) to rotate to change the included angle between the welding gun (7) and the mounting plate (6) during the process that the lower clamping plates (1001) are close to or away from the upper clamping plates (9).

2. The angle steel structural steel welding robot according to claim 1, characterized in that, The clamping structure further comprises a motor (8) fixedly installed on the mounting plate (6); a screw rod column (12) is fixedly installed on the output end of the motor (8); a plurality of the lower clamping plates (1001) are fixedly connected through a cross rod (10); and a plurality of the upper clamping plates (9) are fixedly installed on the mounting plate (6), and a threaded sleeve (1002) screw-connected with the screw rod column (12) is fixedly installed on the cross rod (10).

3. The machine hand for welding angle steel structures according to claim 2, characterized in that, The rotating structure comprises a gear (13) fixedly installed on the welding gun (7); a connecting rod (11) is fixedly installed on the cross rod (10); and a gear slot (1101) meshing with the gear (13) is formed in the connecting rod (11).

4. The machine hand for welding angle steel structures according to claim 3, characterized in that, The transmission between the gear slot (1101) and the gear (13) is relatively small.

5. The machine hand for welding angle steel structures according to claim 2, characterized in that, A plurality of rollers (14) are rotatably installed on the upper clamping plates (9) and the lower clamping plates (1001).

6. The machine hand for welding angle steel structures according to claim 5, characterized in that, The rollers (14) are made of metal.

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