Linear displacement welding device

Abstract

A linear displacement type welding device, comprising: a plurality of rotary drive mechanisms, a synchronous lifter, a welding disc, a plurality of horizontal displacement mechanisms, the synchronous lifter is arranged relative to the outside of the section steel, the plurality of rotary drive mechanisms are respectively movably connected to the synchronous lifter through the horizontal displacement mechanisms, the welding disc is installed on the synchronous lifter, the output end of the rotary drive mechanism is connected with a mechanical arm, the output end of the mechanical arm is connected with a mechanical hand, and the mechanical hand clamps a welding gun. The synchronous lifter can realize the synchronous lifting of the plurality of welding guns, the horizontal displacement mechanism can realize the free movement of the welding gun in the predetermined area, the angle and position of the welding gun are controlled through the mechanical arm, so that the horizontal, vertical and inclined welds of the section steel are continuously welded, and the relative distance between the welding gun and the welding surface of the section steel is kept unchanged through the joint work of the mechanisms during the welding process. Therefore, the welding material can uniformly fill the entire weld, and the welding quality is stable.

Description

Technical Field

[0001] This utility model relates to the field of welding equipment technology, and in particular to a linear displacement welding device. Background Technology

[0002] Modern engineering construction requires the extensive use of lightweight, high-strength steel profiles. Large building structures often require the combination of various types of steel to form a whole, and these different types of steel need to be connected by welding.

[0003] Traditional welding methods mainly rely on manual operation, that is, welding parts by hand with a welding gun. Because the steel is tall, welders often have to work at heights, which does not guarantee the safety of personnel. In addition, because the steel has a relatively complex cross-sectional shape, the personnel need to move around constantly, resulting in more joints. This can easily lead to a reduction in the structural load-bearing capacity due to substandard welding quality. At the same time, the arc light and fumes generated during the welding process can also cause occupational injuries to personnel. Summary of the Invention

[0004] The purpose of this invention is to overcome the defects and problems of poor welding quality and poor safety in the existing technology, and to provide a linear displacement welding device with better welding quality and higher safety.

[0005] To achieve the above objectives, the technical solution of this utility model is: a linear displacement welding device, comprising: multiple rotary drive mechanisms, a synchronous lifter, a welding disc, and multiple horizontal displacement mechanisms. The synchronous lifter is arranged relative to the outer side of the steel section. The multiple rotary drive mechanisms are movably connected to the synchronous lifter through the horizontal displacement mechanisms. The welding disc is mounted on the synchronous lifter. The output end of the rotary drive mechanism is connected to a robotic arm, and the output end of the robotic arm is connected to a robotic hand, which holds the welding torch.

[0006] The rotary drive mechanism includes a rotary motor, a vertical gear, and a gear disk. The rotary motor is mounted on the horizontal displacement mechanism, the vertical gear is mounted on the output end of the rotary motor, the gear disk is rotatably connected to the horizontal displacement mechanism and meshes with the vertical gear, and the bottom of the robotic arm is connected to the gear disk.

[0007] The synchronous lifter includes four bases and a servo motor. The four bases are arranged in an array and distributed on the outside of the steel profile. A column is vertically connected to the upper side of each base. A double-sided rack is connected to the adjacent two sides of each column. A displacement seat is fitted on the outer circumference of each column. A cavity is opened in the displacement seat. A gear shaft is rotatably connected between two adjacent displacement seats. The two ends of the gear shaft pass through the two adjacent displacement seats and are located in the two cavities. A spur gear and a bevel gear are connected to both ends of the gear shaft. The two spur gears are respectively meshed with one side of the two adjacent double-sided racks. The bevel gears on the two adjacent gear shafts are meshed with each other. The servo motor is mounted on one of the displacement seats and its output shaft passes through the displacement seat and is coaxially connected to the end of one of the gear shafts.

[0008] The horizontal displacement mechanism includes a guide rail, a linear reciprocating motor, a sliding plate, and a slide rail. The guide rail and slide rail are both connected between two displacement seats along the long side. The linear reciprocating motor is slidably connected to the outer periphery of the guide rail. One side of the sliding plate is connected to the linear reciprocating motor, and the other side of the sliding plate is slidably connected to the outer side of the slide rail.

[0009] The robotic arm includes a first link, a second link, a first connecting plate, a second connecting plate, a first electric push rod, a third link, a fourth link, a third connecting plate, a second electric push rod, and a connecting spring. The first connecting plate is connected to one end face of the gear plate. One end of the first link and the second link are respectively hinged to the first connecting plate, and the other end of the first link and the second link are respectively hinged to the second connecting plate. The movable end of the first electric push rod is hinged to the second link, and the fixed end of the first electric push rod is hinged to the first link. One end of the third link and the fourth link are respectively hinged to the second connecting plate, and the other end of the third link and the fourth link are respectively hinged to the third connecting plate. One end of the connecting spring is connected to the third link, and the other end of the connecting spring is connected to the fourth link. The fixed end of the second electric push rod is hinged to the first link, and the movable end of the second electric push rod is hinged to the fourth link. The robotic arm is mounted on the third connecting plate.

[0010] The second connecting plate includes two pentagonal plates, two second rotating shafts, and two connecting shafts. The two pentagonal plates are arranged symmetrically. The two second rotating shafts and the two second connecting shafts are respectively connected between the two pentagonal plates. The two second rotating shafts are located at two vertices of one long side of the pentagonal plate, and the two connecting shafts are located at two vertices of the other long side of the pentagonal plate. The other ends of the first connecting rod and the second connecting rod are rotatably connected to the two second rotating shafts, and one end of the third connecting rod and the fourth connecting rod are rotatably connected to the two connecting shafts.

[0011] The robotic arm includes a mounting base, a servo cylinder, a mounting frame, multiple support rods, and multiple connecting rods. One side of the mounting base is connected to the end of the robotic arm. The servo cylinder is mounted on the other side of the mounting base. The piston rod of the servo cylinder passes through the mounting frame and is rotatably connected to a mounting block. A stop block is mounted on the outer circumferential surface of the piston rod of the servo cylinder. The mounting frame is located outside the piston rod. The inner side of the mounting frame has a spiral groove matching the stop block along the axial direction of the piston rod. The stop block is slidably connected to the spiral groove. Multiple support rods are evenly arranged circumferentially on the mounting frame. One end of each support rod is hinged to the mounting frame, and the other end of each support rod is connected to a replaceable gripper. Multiple replaceable grippers abut against the outside of the welding torch. Multiple connecting rods correspond one-to-one with multiple support rods. One end of each connecting rod is circumferentially hinged to the mounting block, and the other end of each connecting rod is hinged to the support rod.

[0012] The mounting bracket includes a sleeve and multiple mounting plates. The sleeve is coaxially disposed on the outer side of the piston rod. The multiple mounting plates are connected to the outer circumferential surface of the sleeve along the circumferential direction. One end of each support rod is rotatably connected between two adjacent mounting plates. The spiral groove is located on the inner sidewall of the sleeve. The mounting block includes a connecting block and multiple connecting plates. The connecting block is cylindrical and rotatably connected to one end of the piston rod. The multiple connecting plates are connected to one end of the connecting block along the circumferential direction. One end of each connecting rod is rotatably connected between two adjacent connecting plates.

[0013] Multiple connecting plates are arranged in a one-to-one correspondence with multiple mounting plates. The mounting plate has an inclined surface on its lower side near the connecting plate. The connecting plate is in the shape of a right-angled triangle. The right-angled side of the connecting plate is slidably connected to the connecting block in the radial direction. The inclined side of the connecting plate abuts against the inclined surface.

[0014] The connecting rod includes two symmetrically arranged connecting rods. One end of the two connecting rods is rotatably connected to the left and right sides of the connecting plate, and the other end of the two connecting rods is rotatably connected to the left and right sides of the support rod. One end face of the connecting block is radially provided with multiple trapezoidal grooves. Elastic elements are installed in the trapezoidal grooves. The shapes of the multiple connecting plates and the multiple trapezoidal grooves are one-to-one corresponding and slidably connected to the multiple trapezoidal grooves respectively. One side of the elastic element is connected to the connecting plate.

[0015] The welding torch includes a torch body, two clamping blocks, and a conductive nozzle. A gas and wire feeding channel penetrating the outer shell is formed along the length of the torch body. The conductive nozzle is located at the front of the torch body. The two clamping blocks are symmetrically arranged at the rear of the torch body. One clamping block is connected to the inner wall of the torch body via a spring. Each clamping block has three rollers rotatably connected to it. Rollers are connected to the outer circumference of each roller, and a gap is provided between adjacent rollers for the welding wire to pass through. The three rollers on the other clamping block pass through the torch body and are sequentially fitted with a driving gear, an idler gear, and a driven gear. The driving gear and driven gear rotate synchronously with the rollers. The idler gear meshes with the driving gear, and the driven gear rotates synchronously with the driving gear via the idler gear.

[0016] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0017] 1. In this utility model, a linear displacement welding device enables the synchronous lifting of multiple welding torches via a synchronous lifter. Combined with a horizontal displacement mechanism, the welding torches can move freely within a predetermined area. A robotic arm controls the angle and position of the welding torches, thereby achieving continuous welding of horizontal, vertical, and oblique welds on structural steel. It possesses superior mobility. During the welding process, the coordinated operation of various mechanisms maintains a constant relative distance between the welding torch and the welding surface of the structural steel, ensuring that the welding material evenly fills the entire weld seam, guaranteeing weld fullness, strength, sealing, and aesthetic appearance. The mechanized structure replaces traditional manual operation, eliminating the need for workers to operate at heights, thus enhancing safety. Therefore, this utility model offers high safety and stable welding quality.

[0018] 2. In this linear displacement welding device, the overall lifting height is ensured by controlling the rotation angle of the servo motor. The synchronous lifter is formed by the meshing of spur gears and double-sided racks on each gear shaft. Simultaneously, bevel gears at the ends of adjacent gear shafts mesh to transmit torque. Under the output torque of the servo motor, the spur gears and bevel gears achieve double meshing linkage and rotate in the same direction, causing the four displacement seats to rise and fall synchronously along the double-sided rack. This drives the horizontal displacement mechanism on the displacement seats to follow the overall lifting and falling on the stable displacement seats. This double meshing and co-directional rotation effectively prevents asynchronous lifting and falling due to mechanical failure of the synchronous lifter. By adding a slide rail below the linear reciprocating motor, combined with a sliding plate, the horizontal sliding of the robotic arm can be achieved, effectively bearing the weight of the robotic arm and preventing deformation of the linear reciprocating motor guide rail. Therefore, this invention has a stable working process and high reliability.

[0019] 3. In this linear displacement welding device, a rotating motor drives a gear to rotate, which in turn drives a gear plate and a robotic arm to rotate, enabling the robotic arm to rotate 360 ​​degrees vertically. The robotic arm uses a spatial parallel four-bar linkage, allowing for easy free deformation. Utilizing the instability of a parallelogram and the stability of a triangle, an electric push rod and diagonal brace form the hypotenuse, dividing the parallelogram into two variable trapezoids with significantly different upper and lower base lengths. The entire trapezoid gradually approaches a triangle, thus achieving stability. This allows the robotic arm to work at any position within a 360-degree space with the maximum extension length of the robotic arm as its radius. Therefore, this invention features a lightweight structure, good flexibility, and good stability.

[0020] 4. In this linear displacement welding device, the robotic arm employs multiple replaceable grippers. Besides holding the welding torch, it can also hold a rust removal device to remove rust from the welding surface before welding. The robotic arm is driven by a servo cylinder, which moves the connecting rod. Because the connecting rod is hinged to the support rod, it causes the support rod to rotate on the mounting frame, thus allowing the grippers to hold or release the welding torch. During the movement of the servo cylinder, a stop block moves within a spiral groove, causing the mounting frame to rotate circumferentially. This facilitates adjustment of the gripper's position and angle. Combined with the gripper's own clamping force, it achieves adaptive fitting to the welding torch size and efficient gripping of the torch. Therefore, this invention offers a stable clamping process and a wide range of applications.

[0021] 5. In this linear displacement welding device, the clamping block is connected to the torch body by a spring. Friction braking not only clamps the welding wire but also automatically adapts to the diameter of the welding material for continuous feeding. The rollers use gear transmission for easy control of the feeding speed. Three pairs of rollers, while feeding, can straighten the welding material, ensuring the electrode head is stably centered in the weld. The rollers are driven by a drive gear and a driven gear, ensuring synchronous feeding of the welding wire within the torch. Therefore, this invention has wide applicability and a stable welding process. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of this utility model.

[0023] Figure 2 This is a structural schematic diagram of the synchronous lifter, robotic arm, robotic hand, welding torch, and horizontal displacement mechanism in this utility model.

[0024] Figure 3 This is a partial structural schematic diagram of the synchronous lifting device in this utility model.

[0025] Figure 4This is a partial sectional view of the column, displacement seat, gear shaft, gear, and double-sided rack in this utility model.

[0026] Figure 5 This is a structural schematic diagram of the rotary drive mechanism and the horizontal displacement mechanism in this utility model.

[0027] Figure 6 This is a schematic diagram of the structure of the robotic arm and robotic hand in this utility model.

[0028] Figure 7 This is a schematic diagram of the structure of the first connecting plate in this utility model.

[0029] Figure 8 This is a schematic diagram of the structure of the second connecting plate in this utility model.

[0030] Figure 9 This is a schematic diagram of the structure of the third connecting plate in this utility model.

[0031] Figure 10 This is a schematic diagram of the robotic arm in this utility model.

[0032] Figure 11 This is a schematic diagram of the mounting block and servo electric cylinder in this utility model.

[0033] Figure 12 This is a structural schematic diagram of the mounting bracket and support rod in this utility model.

[0034] Figure 13 This is a schematic diagram of the welding torch in this utility model.

[0035] Figure 14 This is a cross-sectional schematic diagram of the welding torch in this utility model.

[0036] In the diagram: 1. Steel section; 2. Climbing robot; 3. Rotary drive mechanism; 31. Rotary motor; 32. Vertical gear; 33. Gear plate; 4. Synchronous lifter; 41. Base; 42. Column; 43. Double-sided rack; 44. Displacement seat; 45. Cavity; 46. Gear shaft; 47. Spur gear; 48. Servo motor; 49. Bevel gear; 410. Anti-arc plate; 51. Horizontal displacement mechanism; 52. Linear reciprocating motor; 52. Guide rail; 53. Slide plate; 54. Welding disc; 6. Welding torch; 71. Torch body; 72. Clamping block; 73. Spring; 74. Air and wire feeding channel; 75. Conductive nozzle; 76. Roller; 77. Drive gear; 78. Idler gear; 79. Driven gear; 710. Robotic arm; 81. First link; 82. Second link; 83. First connecting plate; 83. Base plate; 831. Trapezoidal plate; 832. First rotary... Shaft 833, connecting column 834, second connecting plate 84, pentagonal plate 841, second rotating shaft 842, connecting shaft 843, second connecting plate 84, first electric push rod 85, third connecting rod 86, fourth connecting rod 87, third connecting plate 88, triangular plate 881, third rotating shaft 882, second electric push rod 89, connecting tension spring 810, third electric push rod 811, robot arm 9, mounting base 91, servo electric cylinder 92, piston rod 921, support rod 93, mounting block 94, connecting block 941, connecting plate 942, trapezoidal slide 943, elastic element 944, mounting bracket 95, spiral groove 951, sleeve 952, mounting plate 953, inclined surface 954, connecting rod 96, connecting rod 961, replaceable gripper 97, mounting hole 971, stop block 98. Detailed Implementation

[0037] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0038] Example 1:

[0039] See Figure 1 and Figure 2 A linear displacement welding device includes: multiple rotary drive mechanisms 3, a synchronous lifter 4, a welding disc 6, and multiple horizontal displacement mechanisms 5. The synchronous lifter 4 is arranged relative to the outer side of the steel section 1. The multiple rotary drive mechanisms 3 are movably connected to the synchronous lifter 4 through the horizontal displacement mechanisms 5. The welding disc 6 is installed on the synchronous lifter 4. The output end of the rotary drive mechanism 3 is connected to a robotic arm 8, and the output end of the robotic arm 8 is connected to a robotic hand 9. The robotic hand 9 holds a welding torch 7.

[0040] In this embodiment, a climbing robot 2 can be installed below the linear displacement welding device. The climbing robot 2 drives the linear displacement welding device to move upward along the steel section 1. During welding, the synchronous lifting device 4 can realize the synchronous lifting and lowering of multiple welding torches 7. The horizontal moving mechanism 5 can drive the robotic arm 8 to move horizontally on the synchronous lifting device 4. The rotary drive mechanism 3 drives the robotic arm 8 to perform a 360-degree vertical circular motion. The robotic arm 9 can clamp and change the tilt angle of the welding torches 7. The angle and position of the welding torches 7 are controlled by the combination of the synchronous lifting device 4, the horizontal moving mechanism 5, the robotic arm 8, and the robotic arm 9, thereby realizing continuous welding of the horizontal, vertical, and oblique welds of the steel section 1. During the movement, the joint work of each mechanism makes the welding material delivered by the welding torches 7 evenly fill the entire weld seam to complete the welding.

[0041] Example 2:

[0042] The basic content is the same as in Example 1, except that:

[0043] See Figure 3 and Figure 4 The synchronous lifting device 4 includes four bases 41 and a servo motor 48. The four bases 41 are arranged in an array and distributed on the outside of the steel profile 1. A column 42 is vertically connected to the upper side of each base 41. A double-sided rack 43 is connected to the adjacent two sides of the column 42. A displacement seat 44 is fitted on the outer circumference of the column 42. A cavity 45 is opened in the displacement seat 44. A gear shaft 46 is rotatably connected between two adjacent displacement seats 44. The two ends of the gear shaft 46 pass through two adjacent displacement seats 44 and are located in two cavities 45. A spur gear 47 and a bevel gear 49 are connected to both ends of the gear shaft 46. The two spur gears 47 are respectively meshed with one side of the two adjacent double-sided racks 43. The bevel gears 49 on the two adjacent gear shafts 46 are meshed with each other. The servo motor 48 is mounted on one of the displacement seats 44 and its output shaft passes through the displacement seat 44 and is coaxially connected to the end of one of the gear shafts 46.

[0044] In this embodiment, there are four bases 41. The four columns 42 are distributed parallel to each other outside the four apex corners of the steel section 1. Anti-arc light plates 410 can be connected to the outside of the displacement seat 44. The height of the anti-arc light plates 410 is greater than the height of the columns 42. The four anti-arc light plates 410 can construct a temporarily sealed space to prevent wind and arc light leakage. The cross-section of the columns 42 is square. Double-sided racks 43 are obtained by machining racks on the adjacent two sides of the columns 42. The double-sided racks 43 have a rectangular cross-section. The servo motor 48 is controlled to work. The overall lifting height is guaranteed by changing the rotation angle of the servo motor 48. The spur gear 47 and the double-sided rack 43 are meshed and installed in the displacement seat 44. At the same time, the surface of the double-sided rack 43 is treated with titanium nitride coating to reduce the gear transmission resistance during linkage lifting.

[0045] Example 3:

[0046] The basic content is the same as in Example 1, except that:

[0047] See Figure 5 The rotary drive mechanism 3 includes a rotary motor 31, a vertical gear 32, and a gear disk 33. The rotary motor 31 is mounted on the horizontal displacement mechanism 5. The vertical gear 32 is mounted on the output end of the rotary motor 31. The gear disk 33 is rotatably connected to the horizontal displacement mechanism 5 and meshes with the vertical gear 32. The bottom of the robotic arm 8 is connected to the gear disk 33. The horizontal displacement mechanism 5 includes a guide rail 52, a linear reciprocating motor 51, a slide plate 53, and a slide rail 54. The guide rail 52 and the slide rail 54 are both connected between two displacement seats 44 along the long side. The linear reciprocating motor 51 is slidably connected to the outer periphery of the guide rail 52. One side of the slide plate 53 is connected to the linear reciprocating motor 51, and the other side of the slide plate 53 is slidably connected to the outer side of the slide rail 54.

[0048] In this embodiment, the synchronous lifter 4 is connected as one unit by the guide rail 52 and the linear reciprocating motor 51. The vertical gear 92 is driven to rotate by the rotating motor 31, thereby driving the gear plate 33 to rotate synchronously. Since the robotic arm 8 is connected to the gear plate 33, it will drive the robotic arm 8 to rotate 360 ​​degrees vertically. The linear reciprocating motor 51 can move back and forth between the two displacement seats 44, thereby driving the robotic arm 8 to move horizontally. The back of the slide plate 53 is hook-shaped and is locked on the slide rail 54. When the linear reciprocating motor 51 moves, it will synchronously drive the slide plate 53 to move on the slide rail 54.

[0049] Example 4:

[0050] The basic content is the same as in Example 1, except that:

[0051] See Figure 6The robotic arm 8 includes a first link 81, a second link 82, a first connecting plate 83, a second connecting plate 84, a first electric push rod 85, a third link 86, a fourth link 87, a third connecting plate 88, a second electric push rod 89, and a connecting spring 810. The first connecting plate 83 is connected to one end face of the gear disk 33. One end of the first link 81 and the second link 82 are respectively hinged to the first connecting plate 83, and the other end of the first link 81 and the second link 82 are respectively hinged to the second connecting plate 84. The movable end of the first electric push rod 85 is hinged to the second link 82. The fixed end of the movable push rod 85 is hinged to the first connecting rod 81. One end of the third connecting rod 86 and the fourth connecting rod 87 are respectively hinged to the second connecting plate 84, and the other end of the third connecting rod 86 and the fourth connecting rod 87 are respectively hinged to the third connecting plate 88. One end of the connecting tension spring 810 is connected to the third connecting rod 86, and the other end of the connecting tension spring 810 is connected to the fourth connecting rod 87. The fixed end of the second electric push rod 89 is hinged to the first connecting rod 81, and the movable end of the second electric push rod 89 is hinged to the fourth connecting rod 87. The robotic arm 9 is mounted on the third connecting plate 88.

[0052] In this embodiment, the first link 81 and the second link 82 are of equal length and parallel to each other, and the third link 86 and the fourth link 87 are of equal length and parallel to each other. During operation, the first electric push rod 85 drives the first link 81 and the second link 82 to rotate on the first connecting plate 83. At the same time, the second electric push rod 89 drives the fourth link 87 to rotate on the second connecting plate 84. Since a connecting tension spring 810 is provided, it can be positioned dynamically. In this way, the first electric push rod 85 and the second electric push rod 89 can make the robotic arm 8 freely deform, thereby enabling the robotic hand 9 to work at any position within a 360-degree space with the maximum extension length of the robotic arm 8 as the radius.

[0053] Example 5:

[0054] The basic content is the same as in Example 1, except that:

[0055] See Figures 7 to 9The second connecting plate 84 includes two pentagonal plates 841, two second rotating shafts 842, and two connecting shafts 843. The two pentagonal plates 841 are symmetrically arranged. The two second rotating shafts 842 and the two second connecting shafts 843 are respectively connected between the two pentagonal plates 841. The two second rotating shafts 842 are respectively located at two vertices of one long side of the pentagonal plate 841, and the two connecting shafts 843 are located at two vertices of the other long side of the pentagonal plate 841. The other ends of the first connecting rod 81 and the second connecting rod 82 are respectively rotatably connected to the two second rotating shafts 842. One end of the third connecting rod 86 and the fourth connecting rod 87 are respectively rotatably connected to the two connecting shafts 843.

[0056] In this embodiment, the first connecting plate 83 includes a base plate 831, two trapezoidal plates 832, two first rotating shafts 833, and a connecting column 834. The base plate 831 is connected to one end face of the gear disk 33. The two trapezoidal plates 832 are symmetrically arranged and vertically connected to the base plate 831. The connecting column 834 is connected between the two trapezoidal plates 832. The two first rotating shafts 833 are respectively connected between the two trapezoidal plates 832. The two first rotating shafts 833 are located at the apex of the hypotenuse of the trapezoidal plates 832. One end of the first connecting rod 81 and the second connecting rod 82 are respectively rotatably connected to the two first rotating shafts 833.

[0057] The third connecting plate 88 includes two triangular plates 881 and three third rotating shafts 882. The two triangular plates 881 are arranged symmetrically, and the three third rotating shafts 882 are respectively connected between the two triangular plates 881. The three third rotating shafts 882 are respectively located at the three vertices of the triangular plates 881. The other ends of the third connecting rod 86 and the fourth connecting rod 87 are respectively rotatably connected to the two third rotating shafts 882. The bottom end of the mounting base 91 of the robot arm 9 is hinged to the third rotating shaft 882, and the top end of the mounting base 91 is hinged to the upper part of the third connecting rod 86 through the third electric push rod 811.

[0058] Example 6:

[0059] The basic content is the same as in Example 1, except that:

[0060] See Figure 10The robotic arm 9 includes a mounting base 91, a servo cylinder 92, a mounting frame 95, multiple support rods 93, and multiple connecting rods 96. One side of the mounting base 91 is connected to the end of the robotic arm 8. The servo cylinder 92 is mounted on the other side of the mounting base 91. The piston rod 921 of the servo cylinder 92 passes through the mounting frame 95 and is rotatably connected to a mounting block 94. A stop block 98 is mounted on the outer circumferential surface of the piston rod 921 of the servo cylinder 92. The mounting frame 95 is located outside the piston rod 921, and the inner side of the mounting frame 95 is provided with a section along the axial direction of the piston rod 921. A spiral groove 951 is matched with the stop block 98, and the stop block 98 is slidably connected to the spiral groove 951. A plurality of support rods 93 are evenly arranged on the mounting frame 95 in the circumferential direction. One end of the support rod 93 is hinged to the mounting frame 95, and the other end of the support rod 93 is connected to a replaceable claw 97. A plurality of replaceable claws 97 abut against the outside of the welding torch 7. A plurality of connecting rods 96 correspond one-to-one with a plurality of support rods 93. One end of a plurality of connecting rods 96 is respectively hinged to the mounting block 94 in the circumferential direction, and the other end of a plurality of connecting rods 96 is hinged to the support rod 93.

[0061] In this embodiment, there are three replaceable grippers 97. The inner sidewalls of the replaceable grippers 97 are provided with anti-slip textures. The three replaceable grippers 97 are distributed in a circle around the axis of the piston rod 921. The angle between each replaceable gripper 97 is 120 degrees, so it can reliably clamp various types of welding guns 7 or rust removal devices for operation. When clamping, the piston rod 921 of the servo cylinder 92 retracts, driving the mounting block 94 to move, which in turn causes the connecting rod 96 to rotate, driving the support rod 93 to move inward, so that the three replaceable grippers 97 clamp the welding gun 7. If the piston rod 921 continues to retract while clamping the welding gun 7, the stop block 98 will move into the spiral groove 951, driving the mounting frame 95 to rotate, so that the three replaceable grippers 97 drive the workpiece to rotate synchronously. If the stroke of the servo cylinder 921 is short, a connecting rod can be connected to the end of the piston rod 921. At the same time, a bearing can be installed between the mounting frame 95 and the mounting base 91 to make the rotation process of the mounting frame 95 stable.

[0062] Example 7:

[0063] The basic content is the same as Example 6, except that:

[0064] See Figure 11 and Figure 12The mounting bracket 95 includes a sleeve 952 and a plurality of mounting plates 953. The sleeve 952 is coaxially disposed on the outside of the piston rod 921. The plurality of mounting plates 953 are connected to the outer circumferential surface of the sleeve 952 along the circumferential direction. One end of each support rod 93 is rotatably connected between two adjacent mounting plates 952. The spiral groove 951 is located on the inner sidewall of the sleeve 952. The mounting block 94 includes a connecting block 941 and a plurality of connecting plates 942. The connecting block 941 is cylindrical and rotatably connected to one end of the piston rod 921. The plurality of connecting plates 942 are connected to one end of the connecting block 941 along the circumferential direction. One end of each connecting rod 96 is rotatably connected between two adjacent connecting plates 942.

[0065] Multiple connecting plates 942 are arranged in a one-to-one correspondence with multiple mounting plates 953. The mounting plate 953 has an inclined surface 954 on its lower side near the connecting plate 942. The connecting plate 942 is a right-angled triangle. The right-angled side of the connecting plate 942 is slidably connected to the connecting block 941 in the radial direction. The inclined side of the connecting plate 943 abuts against the inclined surface 954.

[0066] The connecting rod 96 includes two symmetrically arranged connecting rods 961. One end of each connecting rod 961 is rotatably connected to the left and right sides of the connecting plate 942, and the other end of each connecting rod 961 is rotatably connected to the left and right sides of the support rod 93. One end face of the connecting block 941 is radially provided with multiple trapezoidal grooves 943. An elastic element 944 is installed in the trapezoidal groove 943. The shapes of the multiple connecting plates 942 and the multiple trapezoidal grooves 943 are one-to-one corresponding and are slidably connected to the multiple trapezoidal grooves 943 respectively. One side of the elastic element 944 is connected to the connecting plate 942.

[0067] In this embodiment, multiple trapezoidal grooves 943 are welded to the outer circumference to prevent the connecting plate 942 from being pushed out. A bearing can be installed between the connecting block 941 and the piston rod 921. The elastic element 944 can be a spring. One end of the spring is connected to the inner wall of the trapezoidal groove 943, and the other end is connected to the other right-angle side of the connecting plate 942. During the clamping process, the piston rod 921 retracts the servo electric cylinder 92. At this time, the connecting plate 941 slides along the inclined surface 954 of the mounting plate 953, and the connecting block 942 slides in the trapezoidal groove 943 of the connecting plate 941, causing one end of the connecting rod 96 to move.

[0068] Example 8:

[0069] The basic content is the same as in Example 1, except that:

[0070] See Figure 13 and Figure 14The welding torch 7 includes a torch body 71, two clamping blocks 72, and a conductive nozzle 75. The torch body 71 has a gas and wire feeding channel 74 extending through the outer shell along its length. The conductive nozzle 75 is located at the front of the torch body 71. The two clamping blocks 72 are symmetrically arranged at the rear of the torch body 71. One of the clamping blocks 72 is connected to the inner wall of the torch body 71 via a spring 73. Each clamping block 72 is rotatably connected to three rollers 76. The outer periphery of each roller 76... The surface is connected to rollers 77, and a gap is provided between two adjacent rollers 77 for the welding wire to pass through. Three rollers 76 on another clamping block 72 pass through the gun body 71 and are sequentially fitted with a drive gear 78, an idler gear 79, and a driven gear 710. The drive gear 78 and the driven gear 710 rotate synchronously with the rollers 77. The idler gear 79 is meshed with the drive gear 78, and the driven gear 710 rotates synchronously with the drive gear 78 through the idler gear 79.

[0071] In this embodiment, the conductive nozzle 75 can be a conductive nozzle known in the art. The welding wire is wound on the welding disc 11, and one end extends out and is connected to the gas and wire feeding channel 74 of the gun body 71. The gas and wire feeding channel 74 is connected to a gas supply device, which is used to supply protective gas. Then, the drive motor 711 works, driving the drive gear 78, idler gear 79, and driven gear 710 to rotate. Since the idler gear 79 is sleeved on the rotating shaft 76, it will not drive the roller 77 to rotate. The drive gear 78 and driven gear 710 rotate to drive the roller 77 to rotate synchronously for wire feeding. The current guided by the conductive nozzle 75 causes the welding wire to contact the steel pipe column 1 to melt the arc and form molten droplets to fill the weld.

[0072] Although embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A linear displacement welding device, characterized in that, include: The assembly includes multiple rotary drive mechanisms (3), a synchronous lifter (4), a welding disc (6), and multiple horizontal displacement mechanisms (5). The synchronous lifter (4) is arranged on the outside of the profile (1). The multiple rotary drive mechanisms (3) are movably connected to the synchronous lifter (4) through the horizontal displacement mechanisms (5). The welding disc (6) is installed on the synchronous lifter (4). The output end of the rotary drive mechanism (3) is connected to a robotic arm (8). The output end of the robotic arm (8) is connected to a robotic hand (9). The robotic hand (9) holds a welding torch (7).

2. The linear displacement welding device according to claim 1, characterized in that: The rotary drive mechanism (3) includes a rotary motor (31), a vertical gear (32), and a gear disk (33). The rotary motor (31) is mounted on the horizontal displacement mechanism (5). The vertical gear (32) is mounted on the output end of the rotary motor (31). The gear disk (33) is rotatably connected to the horizontal displacement mechanism (5) and meshed with the vertical gear (32). The bottom of the robotic arm (8) is connected to the gear disk (33).

3. The linear displacement welding device according to claim 1, characterized in that: The synchronous lifting device (4) includes four bases (41) and a servo motor (48). The four bases (41) are arranged in an array and distributed on the outside of the steel section (1). A column (42) is vertically connected to the upper side of each base (41). A double-sided rack (43) is connected to the adjacent two sides of the column (42). A displacement seat (44) is fitted on the outer circumference of the column (42). A cavity (45) is opened in the displacement seat (44). A gear shaft (46) is rotatably connected between two adjacent displacement seats (44). The two ends of the gear shaft (46) are... After passing through two adjacent displacement seats (44), the gear shaft (46) is located in two cavities (45). Both ends of the gear shaft (46) are connected to spur gears (47) and bevel gears (49). The two spur gears (47) are respectively meshed with one side of the two adjacent double-sided racks (43). The bevel gears (49) on the two adjacent gear shafts (46) are meshed with each other. The servo motor (48) is mounted on one of the displacement seats (44) and its output shaft passes through the displacement seat (44) and is coaxially connected to the end of one of the gear shafts (46).

4. The linear displacement welding device according to claim 3, characterized in that: The horizontal displacement mechanism (5) includes a guide rail (52), a linear reciprocating motor (51), a slide plate (53), and a slide rail (54). The guide rail (52) and the slide rail (54) are both connected between two displacement seats (44) along the long side. The linear reciprocating motor (51) is slidably connected to the outer periphery of the guide rail (52). One side of the slide plate (53) is connected to the linear reciprocating motor (51), and the other side of the slide plate (53) is slidably connected to the outer side of the slide rail (54).

5. A linear displacement welding device according to claim 2, characterized in that: The robotic arm (8) includes a first link (81), a second link (82), a first connecting plate (83), a second connecting plate (84), a first electric push rod (85), a third link (86), a fourth link (87), a third connecting plate (88), a second electric push rod (89), and a connecting spring (810). The first connecting plate (83) is connected to one end face of the gear plate (33). One end of the first link (81) and the second link (82) are respectively hinged to the first connecting plate (83), and the other end of the first link (81) and the second link (82) are respectively hinged to the second connecting plate (84). The movable end of the first electric push rod (85) is hinged to the second link (82). The fixed end of the first electric push rod (85) is hinged to the first connecting rod (81). One end of the third connecting rod (86) and the fourth connecting rod (87) are respectively hinged to the second connecting plate (84), and the other end of the third connecting rod (86) and the fourth connecting rod (87) are respectively hinged to the third connecting plate (88). One end of the connecting spring (810) is connected to the third connecting rod (86), and the other end of the connecting spring (810) is connected to the fourth connecting rod (87). The fixed end of the second electric push rod (89) is hinged to the first connecting rod (81), and the movable end of the second electric push rod (89) is hinged to the fourth connecting rod (87). The robot (9) is mounted on the third connecting plate (88).

6. The linear displacement welding device according to claim 5, characterized in that: The second connecting plate (84) includes two pentagonal plates (841), two second rotating shafts (842), and two connecting shafts (843). The two pentagonal plates (841) are arranged symmetrically. The two second rotating shafts (842) and the two connecting shafts (843) are respectively connected between the two pentagonal plates (841). The two second rotating shafts (842) are respectively located at the two vertices of one long side of the pentagonal plate (841), and the two connecting shafts (843) are located at the two vertices of the other long side of the pentagonal plate (841). The other ends of the first connecting rod (81) and the second connecting rod (82) are respectively rotatably connected to the two second rotating shafts (842). One end of the third connecting rod (86) and the fourth connecting rod (87) are respectively rotatably connected to the two connecting shafts (843).

7. The linear displacement welding device according to claim 1, characterized in that: The robotic arm (9) includes a mounting base (91), a servo cylinder (92), a mounting frame (95), multiple support rods (93), and multiple connecting rods (96). One side of the mounting base (91) is connected to the end of the robotic arm (8). The servo cylinder (92) is mounted on the other side of the mounting base (91). The piston rod (921) of the servo cylinder (92) passes through the mounting frame (95) and is rotatably connected to a mounting block (94). A stop block (98) is mounted on the outer circumferential surface of the piston rod (921) of the servo cylinder (92). The mounting frame (95) is located outside the piston rod (921), and the inner side of the mounting frame (95) is open along the axial direction of the piston rod (921). A spiral groove (951) matching the stop (98) is provided, the stop (98) is slidably connected to the spiral groove (951), a plurality of support rods (93) are evenly arranged on the mounting frame (95) in the circumferential direction, one end of the support rod (93) is hinged to the mounting frame (95), and the other end of the support rod (93) is connected to a replaceable claw (97), the plurality of replaceable claws (97) abut against the outside of the welding torch (7), a plurality of connecting rods (96) correspond one-to-one with the plurality of support rods (93), one end of the plurality of connecting rods (96) is respectively hinged to the mounting block (94) in the circumferential direction, and the other end of the plurality of connecting rods (96) is hinged to the support rod (93).

8. A linear displacement welding device according to claim 7, characterized in that: The mounting bracket (95) includes a sleeve (952) and a plurality of mounting plates (953). The sleeve (952) is coaxially disposed on the outside of the piston rod (921). The plurality of mounting plates (953) are connected to the outer circumferential surface of the sleeve (952) along the circumferential direction. One end of each support rod (93) is rotatably connected between two adjacent mounting plates (953). The spiral groove (951) is located on the inner sidewall of the sleeve (952). The mounting block (94) includes a connecting block (941) and a plurality of connecting plates (942). The connecting block (941) is cylindrical and rotatably connected to one end of the piston rod (921). The plurality of connecting plates (942) are connected to one end of the connecting block (941) along the circumferential direction. One end of each connecting rod (96) is rotatably connected between two adjacent connecting plates (942).

9. A linear displacement welding device according to claim 8, characterized in that: Multiple connecting plates (942) are arranged in a one-to-one correspondence with multiple mounting plates (953). The mounting plate (953) has a sloping surface (954) on its lower side near the connecting plate (942). The connecting plate (942) is a right-angled triangle. The right-angled side of the connecting plate (942) is radially slidably connected to the connecting block (941). The sloping side of the connecting plate (942) abuts against the sloping surface (954). The connecting rod (96) includes two symmetrically arranged connecting rods (961). One end of the two connecting rods (961) is rotatably connected to the left and right sides of the connecting plate (942), and the other end of the two connecting rods (961) is rotatably connected to the left and right sides of the support rod (93). One end face of the connecting block (941) is provided with a plurality of trapezoidal grooves (943) along the radial direction. An elastic element (944) is installed in the trapezoidal groove (943). The shapes of the multiple connecting plates (942) and the multiple trapezoidal grooves (943) are one-to-one corresponding and are slidably connected to the multiple trapezoidal grooves (943). One side of the elastic element (944) is connected to the connecting plate (942).

10. A linear displacement welding device according to claim 1, characterized in that: The welding torch (7) includes a torch body (71), two clamping blocks (72), and a conductive nozzle (75). The torch body (71) has a gas and wire feeding channel (74) extending through the outer shell along its length. The conductive nozzle (75) is located at the front of the torch body (71). The two clamping blocks (72) are symmetrically arranged at the rear of the torch body (71). One of the clamping blocks (72) is connected to the inner wall of the torch body (71) via a spring (73). Each clamping block (72) has three rollers (76) rotatably connected to it. The outer circumferential surface of each roller (76)... A roller (77) is connected, and a gap is provided between two adjacent rollers (77) for the welding wire to pass through. Three rollers (76) on another clamping block (72) pass through the gun body (71) and are sequentially fitted with a drive gear (78), an idler gear (79), and a driven gear (710). The drive gear (78) and the driven gear (710) rotate synchronously with the rollers (77). The idler gear (79) is meshed with the drive gear (78). The driven gear (710) rotates synchronously with the drive gear (78) through the idler gear (79).

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