Automatic welding auxiliary mechanical arm for prestressed pipe pile splicing

Abstract

The utility model relates to an automatic welding auxiliary mechanical arm for prestressed pipe pile splicing. The automatic welding auxiliary mechanical arm comprises a rack, a rotary telescopic arm, a driving mechanism, a pile alignment positioning mechanism, a lifting mechanism and a welding trolley hoop track. The rotary telescopic arm is rotationally connected with the rack; the driving mechanism is used for driving the rotary telescopic arm to move the front end in the horizontal plane; a pile alignment positioning mechanism is arranged at the front end of the rotary telescopic arm, the pile alignment positioning mechanism is of a two-piece structure which is oppositely arranged and can be opened and closed, and the pile alignment positioning mechanism is used for carrying out pile embracing on an upper pile body; the pile alignment positioning mechanism is connected with the welding trolley hoop track through a lifting mechanism; the welding tractor hoop track is of two semicircular structures which are oppositely arranged and can be opened and closed. By arranging the rotary telescopic arm, the driving mechanism and the pile alignment positioning mechanism, pile alignment is controlled through a mechanical structure, the workload of manual operation is relieved, and safety accidents are avoided; and by arranging the lifting mechanism, the pile welding requirements of prestressed pipe piles with different top elevations can be met.

Description

Technical Field

[0001] This utility model relates to the field of pipe pile welding equipment technology, and in particular to an automatic welding auxiliary robotic arm for prestressed pipe pile splicing. Background Technology

[0002] Traditional prestressed concrete pipe pile splicing welding mainly employs manual gas shielded welding. However, this method is susceptible to environmental factors and welder skill levels, leading to fatigue and errors. Furthermore, the varying skill levels of welders make it difficult to guarantee weld quality. Additionally, factors such as welder certification requirements, an aging workforce, increasing labor shortages, and rising labor costs have pushed the efficiency and quality of pipe pile splicing welding to a bottleneck. Moreover, manual splicing welding heavily relies on individual experience, making it difficult to control weld quality and achieve standardized operations. Therefore, there is an urgent need for a highly efficient and automated welding method for prestressed concrete pipe pile splicing.

[0003] Traditional prestressed concrete pipe pile alignment involves first using a pile driver to lift the pile, then manually attaching a steel wire rope to the upper pile, manually activating an adjuster, and visually aligning the upper and lower piles based on the worker's experience. Finally, the steel wire rope is released to complete the alignment. In practice, this method presents safety risks for personnel, makes it difficult to guarantee project quality, and results in low construction efficiency. Utility Model Content

[0004] This utility model provides an automatic welding auxiliary robotic arm for prestressed pipe pile splicing, which solves the technical problems of inefficiency and safety hazards of manual operation in the splicing process of prestressed pipe piles, realizes automatic welding, and improves construction efficiency and construction quality.

[0005] To solve the above-mentioned technical problems, the technical solution proposed by this utility model is as follows:

[0006] An automatic welding auxiliary robotic arm for splicing prestressed pipe piles includes: a frame, a rotary telescopic arm, a drive mechanism, a pile positioning mechanism, a lifting mechanism, and a welding trolley clamp track;

[0007] The slewing telescopic arm is rotatably connected to the frame;

[0008] The drive mechanism is used to drive the rotary telescopic arm to move its front end in the horizontal plane;

[0009] The front end of the slewing telescopic arm is provided with the pile positioning mechanism, which is used to position the upper pile body.

[0010] The pile positioning mechanism is connected to the welding trolley clamp track via the lifting mechanism;

[0011] The welding trolley clamp track is used to form a circular track for the welding trolley to travel on.

[0012] In one embodiment, the slewing telescopic boom includes a first slewing joint and a second slewing joint, the first slewing joint being rotatably connected to a mounting base on the frame, and the second slewing joint being rotatably connected to the first slewing joint.

[0013] In one embodiment, the drive mechanism includes a first hydraulic rod and a second hydraulic rod; the first hydraulic rod connects the frame and a first rotating joint, and the second hydraulic rod connects the frame and the second rotating joint or connects the first rotating joint and the second rotating joint.

[0014] In one embodiment, the slewing telescopic boom includes a slewing shaft section and a telescopic shaft section, the slewing shaft section being connected to a mounting base on the frame, and the telescopic shaft section being slidably connected to the slewing shaft section.

[0015] In one embodiment, the drive mechanism includes a rotary motor and a telescopic hydraulic rod. The rotary motor is used to drive the rotary shaft to rotate horizontally, and the telescopic hydraulic rod is used to drive a relative sliding displacement between the telescopic shaft and the rotary shaft.

[0016] In one embodiment, the pile positioning mechanism is a flange gripper, located at the front end of the rotary telescopic arm, and is equipped with an opening and closing drive mechanism for driving its opening and closing.

[0017] In one embodiment, the opening and closing drive mechanism includes a third hydraulic rod, a connecting rod assembly, and a flange connecting rod. The third hydraulic rod connects the rotary telescopic arm and the connecting rod assembly. The connecting rod assembly is rotatably connected to the flange connecting rod, and the flange connecting rod is connected to the flange gripper.

[0018] In one embodiment, the flange gripper has radially adjustable balls on its inner circumferential surface.

[0019] In one embodiment, the lifting mechanism is a lifting hydraulic rod evenly distributed around the circumference of the pile positioning mechanism, and the lifting hydraulic rod is connected to the welding trolley clamp track through a connector.

[0020] In one embodiment, the lifting hydraulic rod includes a fourth hydraulic rod, a fifth hydraulic rod, and a sixth hydraulic rod. The sixth hydraulic rod is located at the middle of the rear end of the pile positioning mechanism, and the fourth and fifth hydraulic rods are respectively located at the front ends of the left and right structures of the pile positioning mechanism.

[0021] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0022] This invention achieves mechanically assisted pile alignment by setting up a rotary telescopic arm, a drive mechanism, and a pile positioning mechanism. The pile positioning mechanism holds the upper pile, and then the drive mechanism drives the rotary telescopic arm to move horizontally, moving the pile positioning mechanism and the upper pile as a whole. This precisely positions the lower end of the upper pile with the upper end of the prestressed concrete pipe pile, aligning the upper and lower piles and completing the pile alignment operation. This mechanical structure controls the pile alignment, reducing the burden of manual labor, improving pile alignment efficiency and accuracy, and preventing safety accidents. The installation of the pile positioning mechanism, lifting mechanism, and welding trolley clamp track, combined with an automatic welding trolley, enables automatic pile welding. The lifting mechanism can meet the pile welding requirements of prestressed concrete pipe piles at different elevations, and the radially adjustable ball bearings are suitable for welding piles of different diameters, improving construction efficiency and quality. Attached Figure Description

[0023] The present invention will be described in more detail below based on embodiments and with reference to the accompanying drawings.

[0024] Figure 1 This is a schematic diagram of the automatic welding auxiliary robotic arm for prestressed pipe pile splicing provided in Embodiment 1;

[0025] Figure 2 This is a structural schematic diagram from another perspective of the automatic welding auxiliary robotic arm for prestressed pipe pile splicing provided in Embodiment 1;

[0026] Figure 3 This is a top view of the installation structure of the ball bearings of the flange gripper of the automatic welding auxiliary robot arm for prestressed pipe pile splicing provided in Embodiment 1.

[0027] Figure 4 This is a top view of the rotary shaft and telescopic shaft of the automatic welding auxiliary robot arm for prestressed pipe pile splicing provided in Embodiment 2.

[0028] Figure label:

[0029] 1. Frame; 2. Mounting base; 3. First rotating shaft joint; 4. Third hydraulic rod; 5. Connecting rod assembly; 6. Flange connecting rod; 7. Fourth hydraulic rod; 8. First hydraulic rod; 9. Second rotating shaft joint; 10. Welding trolley clamp track; 11. Second hydraulic rod; 12. Fifth hydraulic rod; 13. Sixth hydraulic rod; 14. Connector; 15. Flange gripper; 16. Ball bearing; 17. Rotary shaft joint; 18. Telescopic shaft joint; 19. Upper pile body. Detailed Implementation

[0030] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0031] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0032] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can also refer to the internal connection of two components; and they can refer to a wireless connection or a wired connection. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0033] Furthermore, the technical features involved in the different embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0034] Example 1

[0035] In view of the problems existing in the background technology, such as Figure 1 and Figure 2 As shown, this utility model provides an automatic welding auxiliary robotic arm for prestressed pipe pile splicing, including: a frame 1, a rotary telescopic arm, a drive mechanism, a pile positioning mechanism, a lifting mechanism, and a welding trolley clamp track 10;

[0036] The rotary telescopic arm is rotatably connected to the frame 1;

[0037] The drive mechanism is used to drive the rotary telescopic arm to move its front end in the horizontal plane;

[0038] The front end of the slewing telescopic arm is equipped with the pile positioning mechanism, which consists of two openable and closable structures arranged opposite each other. The pile positioning mechanism is used to position the upper pile body 19 for pile positioning. During the pile welding operation, pile positioning is performed first. The pile driver hoists the upper pile body 19 to a position near the top of the prestressed pipe pile. Then, the pile positioning mechanism is used to hold the upper pile body 19 in place. Then, the drive mechanism drives the slewing telescopic arm to move in the horizontal plane and moves the pile positioning mechanism and the upper pile body 19 as a whole, so that the lower end of the upper pile body 19 is accurately positioned with the upper end of the prestressed pipe pile, aligning the upper and lower piles and completing the pile positioning operation.

[0039] By using the pile positioning mechanism to hold the upper pile body 19, the welding operation position of the welding trolley clamp track 10 can be accurately positioned in the horizontal direction.

[0040] The pile positioning mechanism is connected to the welding trolley clamp track 10 via the lifting mechanism; the lifting mechanism can accurately position the welding operation position of the welding trolley clamp track 10 in the vertical direction.

[0041] The welding trolley clamp track 10 consists of two openable semi-circular structures arranged opposite each other. When closed, it forms a circular track for the welding trolley to travel on.

[0042] In this embodiment, the frame 1 can be set up separately or the existing frame structure of the pile driver can be utilized.

[0043] Specifically, such as Figure 1 and Figure 2 As shown, the rotary telescopic boom includes a first rotating joint 3 and a second rotating joint 9. The first rotating joint 3 is rotatably connected to the mounting base 2 on the frame 1, and the second rotating joint 9 is rotatably connected to the first rotating joint 3. The drive mechanism includes a first hydraulic rod 8 and a second hydraulic rod 11. The first hydraulic rod 8 connects the frame 1 and the first rotating joint 3, and can drive the first rotating joint 3 to rotate in a horizontal plane with the connection point between the first rotating joint 3 and the frame 1 as the center. The second hydraulic rod 11 connects the frame 1 and the second rotating joint 9, or connects the first rotating joint 3 and the second rotating joint 9, and can drive the second rotating joint 9 to rotate in a horizontal plane with the connection point between the first rotating joint 3 and the second rotating joint 9 as the center. The angle between the first hydraulic rod 8 and the frame 1 can be specifically set as needed, for example, set to a 45-degree angle.

[0044] By setting the slewing telescopic arm and the drive mechanism, the front end of the slewing telescopic arm can move within a horizontal fan-shaped annulus and be positioned at a fixed point within the fan-shaped annulus. This allows the pile positioning mechanism, the lifting mechanism, and the welding trolley clamp track 10 to be precisely positioned as needed, facilitating precise adaptation of the welding position during on-site construction.

[0045] In other embodiments, the drive mechanism may also be a structure in which a motor and a gear set work together.

[0046] In this embodiment, as Figure 1 and Figure 2 As shown, the pile positioning mechanism is a flange gripper 15, located at the front end of the rotary telescopic arm, and equipped with an opening and closing drive mechanism. The opening and closing drive mechanism includes a third hydraulic rod 4, a connecting rod assembly 5, and a flange connecting rod 6. The third hydraulic rod 4 connects the rotary telescopic arm and the connecting rod assembly 5. The connecting rod assembly 5 is rotatably connected to the flange connecting rod 6, which in turn connects to the flange gripper 15. When the third hydraulic rod 4 extends, it pushes the connecting rod assembly 5 forward, causing the two parts of the flange gripper 15 to rotate relative to each other around their respective axes via the flange connecting rod 6, thus closing the flange gripper 15. Similarly, when the third hydraulic rod 4 retracts, it pulls the connecting rod assembly 5 backward, causing the two parts of the flange gripper 15 to rotate in opposite directions around their respective axes via the flange connecting rod 6, thus opening the flange gripper 15.

[0047] In this embodiment, as Figure 3 As shown, the flange gripper 15 has radially adjustable ball bearings 16 on its inner circumferential surface.

[0048] Specifically, such as Figure 3 As shown, six balls 16 are evenly distributed around the inner circumference of the flange gripper 15. The six balls 16 are connected to the upper pile body 19 via a threaded connection between the mounting base of the balls 16 and the inner circumference. By rotating the mounting base, the mating length of the threaded connection can be adjusted, changing the distance between the balls 16 and the center of the flange gripper 15. This allows the device to adapt to the welding requirements of upper pile bodies 19 with different diameters. By providing radially adjustable balls 16, this device can be applied to welding operations of pile bodies with different diameters, enhancing its applicability.

[0049] In other embodiments, the radial adjustment function of the ball bearing 16 can also be achieved by using a hydraulic rod or an electro-hydraulic actuator, which makes size adjustment more convenient.

[0050] In this embodiment, as Figure 1 and Figure 2As shown, the lifting mechanism is a lifting hydraulic rod that is evenly distributed around the circumference of the pile positioning mechanism, and the lifting hydraulic rod is connected to the welding trolley clamp track 10 through connector 14.

[0051] Specifically, the lifting hydraulic rods include a fourth hydraulic rod 7, a fifth hydraulic rod 12, and a sixth hydraulic rod 13. The sixth hydraulic rod 13 is located at the middle of the rear end of the pile positioning mechanism, while the fourth hydraulic rod 7 and the fifth hydraulic rod 12 are respectively located at the front ends of the left and right structures of the pile positioning mechanism. In this embodiment, the fourth hydraulic rod 7, the fifth hydraulic rod 12, and the sixth hydraulic rod 13 are evenly distributed around the flange gripper 15.

[0052] In other embodiments, the lifting mechanism may also be a gear and rack structure driven by a motor.

[0053] In this embodiment, the welding trolley clamp track 10 consists of two semi-circular structures that are hinged to each other and arranged opposite each other. The upper and lower edges of the structure are provided with protrusions, and the two protrusions form the track of the welding trolley. When the welding trolley clamp track 10 is closed, a circular track is formed.

[0054] When the third hydraulic rod 4 extends or retracts, it drives the two structures of the flange gripper 15 to close or open. At the same time, the fourth hydraulic rod 7, the fifth hydraulic rod 12 and the connector 14 drive the two semi-circular structures of the welding trolley clamp track 10 below to close or open.

[0055] How to use this utility model device:

[0056] This device can be fixed to a piling machine or used as a standalone unit.

[0057] During the pile splicing and welding operation, the pile alignment is performed first. The pile driver hoists the upper pile body 19 to a position near the top of the prestressed pipe pile. Then, the drive mechanism drives the rotary telescopic arm to move horizontally, moving the pile alignment positioning mechanism to the vicinity of the lower end of the upper pile body 19. The flange gripper 15 and the welding trolley clamp track 10 are opened to clamp the upper pile body 19. Finally, the flange gripper 15 and the welding trolley clamp track 10 are closed. Finally, the drive mechanism drives the rotary telescopic arm to move horizontally, moving the pile alignment positioning mechanism and the upper pile body 19 as a whole, precisely positioning the lower end of the upper pile body 19 with the upper end of the prestressed pipe pile, aligning the upper and lower piles, and completing the pile alignment operation.

[0058] A welding trolley is installed on the welding trolley clamp track 10. The stroke of the hydraulic rods of the lifting mechanism is adjusted according to the height difference between the welding torch head and the docking interface. In this embodiment, the four hydraulic rods 7, 12, and 13 rise and fall synchronously, so that the final position of the welding torch head is positioned at the height of the docking interface for welding. The welding trolley rotates around the welding trolley clamp track 10 for one revolution to complete the welding.

[0059] After welding is completed, there is no need to disassemble the welding trolley. Open the flange gripper 15 and the welding trolley clamp track 10, and simultaneously retract the first hydraulic rod 8, the second hydraulic rod 11 and the third hydraulic rod 4 to the bottom. The rotating telescopic arm will drive the flange gripper 15 and the welding trolley clamp track 10 away from the welding station and close to the pile driver to carry out the next operation.

[0060] Example 2

[0061] The difference between this embodiment and Embodiment 1 lies in the structure of the rotating telescopic arm, such as... Figure 4 As shown, the rotary telescopic boom includes a rotary shaft section 17 and a telescopic shaft section 18. The rotary shaft section 17 is connected to the mounting base 2 on the frame 1, and the telescopic shaft section 18 is slidably connected to the rotary shaft section 17.

[0062] In this embodiment, the driving mechanism includes a rotary motor and a telescopic hydraulic rod. The rotary motor is used to drive the rotary shaft 17 to rotate horizontally, and the telescopic hydraulic rod is used to drive the telescopic shaft 18 to generate a relative sliding displacement between the rotary shaft 17 and the telescopic shaft 18.

[0063] By setting the rotary shaft joint 17, telescopic shaft joint 18, rotary motor, and telescopic hydraulic rod, the front end of the telescopic shaft joint 18 can move within a horizontal fan-shaped annular surface and be positioned at a fixed point within the fan-shaped annular surface. This allows the pile positioning mechanism, lifting mechanism, and welding trolley clamp track 10 to be precisely positioned as needed, facilitating the precise docking of the upper pile body 19 with the prestressed pipe pile during on-site construction. It also enables precise adaptation of the welding position, ensuring that the position of the welding trolley clamp track 10 meets the welding operation requirements.

[0064] In summary, this utility model, by setting up a rotary telescopic arm, a drive mechanism, and a pile positioning mechanism, achieves pile positioning through mechanical structure control, reducing the burden of manual labor and avoiding safety accidents; by setting up a pile positioning mechanism, a lifting mechanism, and a welding trolley clamp track 10, in conjunction with an automatic welding trolley, it achieves automatic pile welding; by setting up a lifting mechanism, it can meet the pile welding requirements of prestressed pipe piles at different top elevations; by setting up radially adjustable ball bearings 16, it is suitable for welding piles of different diameters, improving construction efficiency and construction quality.

[0065] Although the present invention has been described with reference to preferred embodiments, various modifications can be made thereto and components can be replaced with equivalents without departing from the scope of the invention. In particular, the technical features mentioned in the various embodiments can be combined in any manner, provided there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. An automatic welding auxiliary robotic arm for splicing prestressed pipe piles, characterized in that, include: The frame, slewing telescopic boom, drive mechanism, pile positioning mechanism, lifting mechanism, and welding trolley clamp track; The slewing telescopic arm is rotatably connected to the frame; The drive mechanism is used to drive the rotary telescopic arm to move its front end in the horizontal plane; The front end of the slewing telescopic arm is provided with the pile positioning mechanism, which is used to position the upper pile body. The pile positioning mechanism is connected to the welding trolley clamp track via the lifting mechanism; The welding trolley clamp track is used to form a circular track for the welding trolley to travel on.

2. The automatic welding auxiliary robotic arm for prestressed pipe pile splicing according to claim 1, characterized in that, The slewing telescopic boom includes a first slewing joint and a second slewing joint. The first slewing joint is rotatably connected to the mounting base on the frame, and the second slewing joint is rotatably connected to the first slewing joint.

3. The automatic welding auxiliary robotic arm for prestressed pipe pile splicing according to claim 2, characterized in that, The drive mechanism includes a first hydraulic rod and a second hydraulic rod; the first hydraulic rod connects the frame and the first rotating shaft joint, and the second hydraulic rod connects the frame and the second rotating shaft joint or connects the first rotating shaft joint and the second rotating shaft joint.

4. The automatic welding auxiliary robotic arm for prestressed pipe pile splicing according to claim 1, characterized in that, The slewing telescopic boom includes a slewing shaft section and a telescopic shaft section. The slewing shaft section is connected to the mounting base on the frame, and the telescopic shaft section is slidably connected to the slewing shaft section.

5. The automatic welding auxiliary robotic arm for prestressed pipe pile splicing according to claim 4, characterized in that, The drive mechanism includes a rotary motor and a telescopic hydraulic rod. The rotary motor is used to drive the rotary shaft to rotate horizontally, and the telescopic hydraulic rod is used to drive the telescopic shaft to generate a relative sliding displacement between the rotary shaft and the telescopic shaft.

6. The automatic welding auxiliary robotic arm for prestressed pipe pile splicing according to claim 1, characterized in that, The pile positioning mechanism is a flange gripper, located at the front end of the rotary telescopic arm, and is equipped with an opening and closing drive mechanism to drive its opening and closing.

7. The automatic welding auxiliary robotic arm for prestressed pipe pile splicing according to claim 6, characterized in that, The opening and closing drive mechanism includes a third hydraulic rod, a connecting rod assembly, and a flange connecting rod. The third hydraulic rod connects the rotary telescopic arm and the connecting rod assembly. The connecting rod assembly is rotatably connected to the flange connecting rod, and the flange connecting rod is connected to the flange gripper.

8. The automatic welding auxiliary robotic arm for prestressed pipe pile splicing according to claim 7, characterized in that, The flange gripper has radially adjustable ball bearings on its inner circumference.

9. The automatic welding auxiliary robotic arm for prestressed pipe pile splicing according to claim 1, characterized in that, The lifting mechanism consists of lifting hydraulic rods evenly distributed around the circumference of the pile positioning mechanism, and the lifting hydraulic rods are connected to the welding trolley clamp track via connectors.

10. The automatic welding auxiliary robotic arm for prestressed pipe pile splicing according to claim 9, characterized in that, The lifting hydraulic rod includes a fourth hydraulic rod, a fifth hydraulic rod, and a sixth hydraulic rod. The sixth hydraulic rod is located in the middle of the rear end of the pile positioning mechanism, and the fourth and fifth hydraulic rods are respectively located at the front ends of the left and right structures of the pile positioning mechanism.

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