CN109719453A - Robot automatic welding weldering displacement tool and welding method - Google Patents
Robot automatic welding weldering displacement tool and welding method Download PDFInfo
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- CN109719453A CN109719453A CN201910192191.9A CN201910192191A CN109719453A CN 109719453 A CN109719453 A CN 109719453A CN 201910192191 A CN201910192191 A CN 201910192191A CN 109719453 A CN109719453 A CN 109719453A
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Abstract
The present invention provides a kind of robot automatic welding weldering displacement tool and welding method, solve the problems, such as that elongated class workpiece freely can be turned round and be overturn under positioner drive, to ensure that workpiece reaches angle needed for ship type is welded.A kind of robot automatic welding weldering displacement tool, comprising: positioner, the rotary disk including bracket, being rotatably located on bracket and the positioner revolving support that bracket two sides are set；Welding robot is set on the base, and is located at positioner side；Workpiece clamping mechanism, including support frame, walking terminal pad, clamping device, workpiece revolving support and vertical travelling mechanism, installation walking terminal pad on support frame, workpiece revolving support is connected in terminal pad of walking, walking terminal pad can be moved up and down by vertical travelling mechanism drive along support frame, and clamping device is rotatably provided on workpiece revolving support；Workpiece, one end are arranged on rotary disk, and the other end is connected by clamping device.
Description
Technical field
The present invention relates to robotic welding technology fields, and in particular to a kind of robot automatic welding weldering displacement tool and
Welding method.
Background technique
For robot automatic welding, most workpiece require to conjugate；But it is larger for some sizes, and there is special appearance
For the workpiece of state welding, displacement implements more difficult sometimes.For example the elongated class H profile steel davit of pedestal is had, because of length
Degree range is longer (7-11 meters of length range), and robot automation's deflection welding is more difficult.
Summary of the invention
To overcome the above deficiencies, the invention provides a kind of robot automatic welding weldering displacement tools and weldering
Method is connect, solves the problems, such as that elongated class workpiece freely can be turned round and be overturn under positioner drive, to ensure that workpiece reaches ship type
Angle needed for welding.
The present invention overcomes the technical solution used by its technical problem to be:
A kind of robot automatic welding weldering displacement tool, comprising:
Positioner, the rotary disk including bracket, being rotatably located on bracket and the positioner revolving support that bracket two sides are set；
Welding robot is set on the base, and is located at positioner side；
Workpiece clamping mechanism, including support frame, walking terminal pad, clamping device, workpiece revolving support and vertical travelling mechanism, branch
Walking terminal pad is installed on support, workpiece revolving support is connected in terminal pad of walking, walking terminal pad passes through vertical travelling mechanism
Drive can be moved up and down along support frame, and clamping device is rotatably provided on workpiece revolving support；
Workpiece, one end are arranged on rotary disk, and the other end is connected by clamping device.
On the basis of above-mentioned robot automatic welding weldering displacement tool, vertical travelling mechanism is what rack and pinion assembly was constituted
The pneumatic actuator of machine driving, the hydraulic drive of hydraulic motor control or motor control.
On the basis of above-mentioned robot automatic welding weldering displacement tool, clamping device includes H-shaped bracket and is located at H-shaped bracket
The pinch roll of two sides.
A method of workpiece is welded with displacement tool using the robot automatic welding, including following step
It is rapid:
(1) workpiece head is mounted in walking terminal pad, and workpiece end is mounted on clamping device and loads onto；
(2) so that vertical walking mechanism is walked upwards, walking terminal pad is driven to walk upwards, the positioner of H-type positioner two sides returns
Turning support can act therewith, and workpiece run-off the straight rotates 30 or 45 degree；
(3) while workpiece run-off the straight, under the action of workpiece revolving support, run-off the straight rotates clamping device therewith,
Clamping device is turned round with walking terminal pad, the displacement of Lai Shixian workpiece；
(4) while workpiece run-off the straight, clamping device is elongated at a distance from rotary disk, at this time workpiece and rotatable folder
Tight device can be parallel to the moving of axis of workpiece, and the clamping branch roller being mounted on clamping device at this time provides clamping force for workpiece
And guiding role；
(5) welding robot starts to weld workpiece.
The beneficial effects of the present invention are:
Workpiece one end is arranged on rotary disk, and the other end is connected by clamping device, is cooperated by vertical travelling mechanism and positioner,
One-piece machine member welds required angle, such as 30 degree or 45 degree according to starting to rotate clockwise, until rotating to ship type.By arranging above
It applies, the present invention is suitable for for 7 ~ 11 meters of elongated class steel pipes or H profile steel davit robot Full-automatic welding, and can meet ship type
The welding process requirement of weldering.
Detailed description of the invention
Fig. 1 is welding structure schematic diagram of the invention；
Fig. 2 is front view schematic diagram of the invention；
Fig. 3 is top view illustration of the invention；
Fig. 4 is left view schematic diagram of the invention.
Specific embodiment
For a better understanding of the skilled in the art, being done in the following with reference to the drawings and specific embodiments to the present invention
It is further described, it is following to be merely exemplary that the scope of protection of the present invention is not limited.
A kind of robot automatic welding weldering displacement tool, including positioner 3, welding robot 6, workpiece clamping mechanism and
Vertical travelling mechanism 7.
Positioner 3 includes bracket 301, the rotary disk 4 being rotatably located on bracket 301 and 301 two sides of bracket is arranged in
Positioner revolving support 11.
Welding robot 6 is arranged on pedestal 601, and is located at 3 side of positioner.
Workpiece clamping mechanism includes support frame 701, walking terminal pad 10, clamping device 9, workpiece revolving support 8 and vertical
Walking mechanism 7, installation walking terminal pad 10 on support frame 701 connect workpiece revolving support 8 in terminal pad 10 of walking, and walking connects
Connecing disk 10 can be moved up and down by the drive of vertical travelling mechanism 7 along support frame 701, and clamping device 9 is rotatably provided in workpiece
On revolving support 8；Vertical travelling mechanism 7 is the hydraulic drive of the machine driving of rack and pinion assembly composition, hydraulic motor control
Or the pneumatic actuator of motor control.
Workpiece one end is arranged on rotary disk 4, and the other end is connected by clamping device 9.
Clamping device includes H-shaped bracket 13 and the pinch roll 12 positioned at 13 two sides of H-shaped bracket.
Positioner 3 and support frame 701 cooperate using the above structure, are able to drive the revolution of workpiece 5 and overturning.
A method of workpiece is welded with displacement tool using robot automatic welding, comprising the following steps:
(1) 5 head of workpiece is mounted in terminal pad 10, and 5 end of workpiece is mounted on clamping device 9 and loads onto；
(2) make the vertical walking upwards of walking mechanism 7, drive walking terminal pad 10 to walk upwards, the displacement of 3 two sides of H-type positioner
Machine revolving support 11 can act therewith, 5 run-off the straight of workpiece, rotate 30 or 45 degree；
(3) while 5 run-off the straight of workpiece, clamping device 9 under the action of workpiece revolving support 8, revolve therewith by run-off the straight
Turn, clamping device 9 is turned round with terminal pad 10, the displacement of Lai Shixian workpiece 5；
(4) while 5 run-off the straight of workpiece, clamping device 9 is elongated at a distance from rotary disk 4, at this time workpiece 5 with it is rotatable
Clamping device 9 can be parallel to the moving of 5 axis of workpiece, the clamping branch roller 12 being mounted on clamping device 9 at this time is workpiece 5
Clamping force and guiding role are provided；
(5) welding robot 6 starts to weld workpiece 5, and the defect of downhand welding or fillet welding can only be carried out by compensating for current automatic welding.
Above only describes basic principle of the invention and preferred embodiment, those skilled in the art can be according to foregoing description
Many changes and improvements are made, these changes and improvements should be within the scope of protection of the invention.
Claims (4)
1. a kind of robot automatic welding weldering displacement tool, it is characterised in that: including
Positioner (3), the rotary disk including bracket, being rotatably located on bracket (4) and the positioner that bracket two sides are arranged in return
Turn support (11)；
Welding robot (6) is arranged on pedestal (11), and is located at positioner (3) side；
Workpiece clamping mechanism, including support frame, walking terminal pad (10), clamping device (9), workpiece revolving support (8) and vertically
Walking mechanism (7), installation walking terminal pad (10) on support frame connect workpiece revolving support (8) in walking terminal pad (10),
Walking terminal pad (10) is driven by vertical travelling mechanism (7) and can be moved up and down along support frame, and clamping device (9) is rotatably set
It sets on workpiece revolving support (8)；
Workpiece, one end are arranged on rotary disk (4), and the other end is connected by clamping device (9).
2. robot automatic welding weldering displacement tool according to claim 1, it is characterised in that: vertical travelling mechanism (7)
Machine driving, the hydraulic drive of hydraulic motor control or the pneumatic gearing machine of motor control constituted for rack and pinion assembly
Structure.
3. robot automatic welding weldering displacement tool according to claim 1, it is characterised in that: clamping device includes H-shaped
Bracket and pinch roll (12) positioned at H-shaped bracket two sides.
Using any one of claims 1 to 33 robot automatic welding workpiece is welded with displacement tool 4. a kind of
Method, comprising the following steps:
Workpiece (5) head is mounted in walking terminal pad (10), and workpiece (5) end is mounted on clamping device (9) and loads onto；
So that vertical walking mechanism (7) is walked upwards, drives walking terminal pad (10) to walk upwards, the change of H-type positioner (3) two sides
Position machine revolving support (11) can act therewith, workpiece (5) run-off the straight, rotate 30 or 45 degree；
While workpiece (5) run-off the straight, clamping device (9) is under the action of workpiece revolving support (8), run-off the straight therewith
Rotation, clamping device (9) are turned round with walking terminal pad (10), the displacement of Lai Shixian workpiece (5)；
While workpiece (5) run-off the straight, clamping device (9) is elongated at a distance from rotary disk (4), at this time workpiece (5) with
Rotatable clamping device (9) can be parallel to the moving of workpiece (5) axis, the clamping being mounted on clamping device (9) at this time
Branch roller (12) is that workpiece (5) provide clamping force and guiding role；
Welding robot (6) starts to weld workpiece (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910192191.9A CN109719453A (en) | 2019-03-14 | 2019-03-14 | Robot automatic welding weldering displacement tool and welding method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910192191.9A CN109719453A (en) | 2019-03-14 | 2019-03-14 | Robot automatic welding weldering displacement tool and welding method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110303266A (en) * | 2019-07-29 | 2019-10-08 | 永嘉县嘉和教育科技有限公司 | A kind of tripod welder and its welding method |
| CN111185707A (en) * | 2020-03-16 | 2020-05-22 | 南通慧宁机电科技有限公司 | Novel welding clamp for standard knot of building machine |
| CN112059521A (en) * | 2020-09-01 | 2020-12-11 | 成都华远焊割设备有限公司 | Displacement system for automatic welding production line of light steel structure |
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| FR2591516A1 (en) * | 1985-12-13 | 1987-06-19 | Havre Chantiers | Machines for automatically cutting the intersection of one tube with one or more tubes and/or in one or more planes |
| JP2000343280A (en) * | 1999-06-07 | 2000-12-12 | Komatsu Ltd | Method and device for controlling welding positioner |
| KR100919641B1 (en) * | 2008-11-07 | 2009-09-30 | 에스피하이테크 주식회사 | Automatic overlay welding apparatus of elbow pipe |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110303266A (en) * | 2019-07-29 | 2019-10-08 | 永嘉县嘉和教育科技有限公司 | A kind of tripod welder and its welding method |
| CN110303266B (en) * | 2019-07-29 | 2022-01-21 | 盐城市荣创自动化设备有限公司 | Tripod welding device and welding method thereof |
| CN111185707A (en) * | 2020-03-16 | 2020-05-22 | 南通慧宁机电科技有限公司 | Novel welding clamp for standard knot of building machine |
| CN112059521A (en) * | 2020-09-01 | 2020-12-11 | 成都华远焊割设备有限公司 | Displacement system for automatic welding production line of light steel structure |
| CN112059521B (en) * | 2020-09-01 | 2022-05-27 | 成都华远焊接设备股份有限公司 | Displacement system for automatic welding production line of light steel structure |
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