阅读说明：本技术 一种用于预制桩钢桩尖的焊接机器人 (Welding robot for precast pile steel pile tip ) 是由 李全民 袁志洲 李建宇 李继徽 叶仲初 向上 巢启闰 王永 于 2020-11-19 设计创作，主要内容包括：一种用于预制桩钢桩尖的焊接机器人,包括：倾斜的托盘,所述倾斜的托盘的外周壁上沿径向开有T型槽,所述T型槽内用于安装钢桩尖的T型连接螺栓,所述T型连接螺栓用于固定设置在所述倾斜的托盘的盘面上的预制桩的钢桩尖,所述设置在所述倾斜的托盘的一个盘面上的预制桩的钢桩尖与所述倾斜的托盘的盘面保持同心；所述倾斜的托盘的该盘面上开有多个同心圆刻线,一个同心圆刻线对应一种规格预制桩的钢桩尖。有效避免了现有技术中针对钢桩尖的直线焊缝或环向焊缝进行人工焊接的劳动强度大、焊接质量不稳定、焊接效率低、有废气排放影响焊工的身体健康、每次焊前还要人工清渣使得偷空减料、投机取巧现象经常发生的缺陷。(A welding robot for precast pile steel pile tips, comprising: the outer circumferential wall of the inclined tray is radially provided with a T-shaped groove, a T-shaped connecting bolt for mounting a steel pile tip is arranged in the T-shaped groove, the T-shaped connecting bolt is used for fixing the steel pile tip of a precast pile arranged on the disc surface of the inclined tray, and the steel pile tip of the precast pile arranged on one disc surface of the inclined tray is concentric with the disc surface of the inclined tray; a plurality of concentric circle scribed lines are arranged on the disc surface of the inclined tray, and one concentric circle scribed line corresponds to the steel pile tip of a precast pile of one specification. The defects that in the prior art, manual welding is carried out on linear welding seams or circumferential welding seams of steel pile tips, the labor intensity is high, the welding quality is unstable, the welding efficiency is low, waste gas emission influences the health of welders, and the phenomena of material stealing, material reduction, opportunity investment and skillful taking are frequently caused by manual slag removal before each welding are effectively overcome.)

1. A welding robot for precast pile steel stake point which characterized in that includes:

the outer circumferential wall of the inclined tray is radially provided with a T-shaped groove, a T-shaped connecting bolt for mounting a steel pile tip is arranged in the T-shaped groove, the T-shaped connecting bolt is used for fixing the steel pile tip of a precast pile arranged on the disc surface of the inclined tray, and the steel pile tip of the precast pile arranged on one disc surface of the inclined tray is concentric with the disc surface of the inclined tray;

a plurality of concentric circle scribed lines are formed on the disc surface of the inclined tray, one concentric circle scribed line corresponds to the steel pile tip of one precast pile, and the diameter of the concentric circle scribed line is consistent with the diameter of the outer edge of the bottom of the steel pile tip of the corresponding precast pile.

2. The welding robot for the precast pile steel pile tip as recited in claim 1, wherein the disc surface of the inclined tray is further subjected to knurling and galling treatment.

3. The welding robot for the precast pile steel pile tip according to claim 1, wherein an upper bearing seat is installed at a middle position below the inclined tray, the upper bearing seat is installed at the top of the inclined vertical shaft in a sleeved mode, a vertical shaft end of the inclined vertical shaft, which protrudes out of the upper bearing seat, is provided with the tray, a lower bearing seat fixedly connected to a base of the frame is arranged at the lower end of the inclined vertical shaft, and the lower bearing seat is installed at the bottom of the inclined vertical shaft in a sleeved mode.

4. The welding robot for the precast pile steel pile tip as recited in claim 1, wherein a large gear is installed in the middle of the inclined vertical shaft in a sleeved manner; the base is also obliquely provided with a cycloidal pin gear speed reducer, an output shaft of the cycloidal pin gear speed reducer is sleeved with a small gear, and the large gear is meshed with the small gear.

5. The welding robot for precast pile steel pile tips as recited in claim 1, wherein the bottom of the welding robot is installed on a concrete foundation of a floor beside the inclined tray or a frame base of a lower bearing housing.

6. The welding robot for precast pile steel pile tips as recited in claim 5, wherein the welding robot is in control connection with a controller, and the cycloidal pin gear reducer is also in control connection with the controller.

Technical Field

The invention relates to the technical field of precast pile steel pile tips and the technical field of welding robots, in particular to a welding robot for precast pile steel pile tips.

Background

At present, the steel pile tip is manufactured by manual electric arc welding or carbon dioxide gas shielded welding, namely, a welder holds an electric arc welding tongs or a carbon dioxide gas shielded welding torch to manually weld a linear welding seam or a circumferential welding seam of the steel pile tip, so that the labor intensity is high, the welding quality is unstable, the welding efficiency is low, and the body health of the welder is influenced by waste gas emission. In order to achieve the welding strength and the height of a welding seam, the welding is required to be carried out for more than 3 times, and manual slag removal is required before each welding, so that the phenomena of material stealing, material reduction, opportunity investment and skillful operation are frequently caused.

Disclosure of Invention

In order to solve the problems, the invention provides a welding robot for a precast pile steel pile tip, which effectively avoids the defects that in the prior art, the labor intensity of welding for manually welding a linear welding seam or a circumferential welding seam of the steel pile tip is high, the welding quality is unstable, the welding efficiency is low, the body health of a welder is influenced by waste gas emission, and the phenomena of material stealing, material reduction and skillful operation are frequently caused by manual slag removal before each welding.

In order to overcome the defects in the prior art, the invention provides a solution for a welding robot for a precast pile steel pile tip, which comprises the following specific steps:

a welding robot for precast pile steel pile tips, comprising:

the prefabricated pile comprises an inclined circular tray 3, wherein T-shaped grooves 1 are formed in the outer peripheral wall of the inclined tray 3 along the radial direction, T-shaped connecting bolts used for installing steel pile tips are arranged in the T-shaped grooves 1, the T-shaped connecting bolts are used for fixing the steel pile tips 2 of the prefabricated piles arranged on the disc surface of the inclined tray 3, and the steel pile tips 2 of the prefabricated piles arranged on one disc surface of the inclined tray 3 are concentric with the disc surface of the inclined tray 3;

the inclined tray 3 is characterized in that a plurality of concentric circle scribed lines 4 are formed in the tray surface, one concentric circle scribed line 4 corresponds to the steel pile tip 2 of one precast pile, the diameter of the concentric circle scribed line 4 is consistent with the diameter of the steel pile tip 2 of the corresponding precast pile, the concentric circle scribed line 4 is used as an accurate scale mark, the steel pile tip 2 of the precast pile is placed on the tray surface of the inclined tray 3, the concentric circle scribed line 4 is formed, the peripheral edge of the steel pile tip 2 of the precast pile can be kept matched with the concentric circle scribed line 4, the concentricity of the inclined tray 3 can be kept with the tray surface, and the concentricity of the steel pile tip 2 of the precast pile can be conveniently measured.

Furthermore, the disc surface of the inclined tray 3 is also subjected to knurling and roughening treatment so as to increase the friction force between the inclined tray and the steel pile tip 2 of the precast pile.

Furthermore, an upper bearing seat 5 is installed in the middle of the other disc surface of the inclined tray 3, the upper bearing seat 5 is installed at the top of the inclined vertical shaft 6 in a sleeved mode, the tray 3 is installed at the vertical shaft end, protruding out of the upper bearing seat 5, of the top of the inclined vertical shaft 6, a lower bearing seat 8 fixedly connected to a base 7 is arranged at the lower end of the inclined vertical shaft 6, and the lower bearing seat 8 is installed at the bottom of the inclined vertical shaft 6 in a sleeved mode. This allows the inclined tray 3 to rotate with the inclined upright shaft 6.

Furthermore, a large gear 9 is sleeved in the middle of the inclined vertical shaft 6; a cycloidal pin gear speed reducer 10 is also obliquely installed on the base 7, a pinion 11 is sleeved on an output shaft of the cycloidal pin gear speed reducer 10, and the bull gear 9 and the pinion 11 are meshed with each other. The aperture of the big gear 9 is larger than that of the small gear 11, so that under the operation of the cycloidal pin gear speed reducer 10, the small gear 11 drives the big gear 9 on the inclined vertical shaft 6 to rotate, and the inclined tray 3 is driven to rotate together.

Further, the bottom of the welding robot 12 is installed on the concrete foundation of the floor beside the inclined tray 3 or on the frame base 7 of the lower bearing seat. The welding robot 12 can then weld the steel pile tip 2 of the pre-cast pile on the inclined pallet 3.

Further, the welding robot 12 is in control connection with a controller, and the cycloidal pin gear reducer 10 is also in control connection with the controller. And the electric telescopic rod of the welding robot hand, the mechanical arm, the motor of the welding robot hand and the electrode holders of the welding robot hand are all electrically connected with the controller.

The invention has the beneficial effects that:

when the welding robot for the steel pile tip of the precast pile needs to perform annular or linear welding on the steel pile tip, firstly, the steel pile tip of the precast pile is placed on the disc surface of the inclined tray provided with a plurality of concentric circle scribed lines, and the steel pile tip of the precast pile and the disc surface of the inclined tray are kept concentric, specifically, the peripheral edge of the steel pile tip of the precast pile is kept coincident with the concentric circle scribed lines, so that the concentricity of the steel pile tip and the disc surface of the inclined tray is kept; then, T-shaped connecting bolts are placed in T-shaped grooves formed in the outer peripheral wall of the inclined tray along the radial direction and used for installing T-shaped connecting bolts, steel pile tips of the precast piles formed through spot welding are connected to the disc surface of the inclined tray through the T-shaped connecting bolts, then the cycloid pin wheel speed reducer is controlled to run under the action of a controller, under the action of the cycloid pin wheel speed reducer, a small gear drives a large gear on an inclined vertical shaft to rotate, so that the inclined tray is driven to rotate together, meanwhile, the controller also controls a welding manipulator to weld the steel pile tips of the precast piles, and therefore welding of the steel pile tips of the precast piles can be completed only by rotating the inclined tray 3 for one circle. The program for controlling the welding robot to weld the steel pile tip of the precast pile and controlling the operation of the cycloidal pin gear speed reducer 10 can be preset. This precast concrete pile steel pile point welding robot can automatic weld, can let the procedure of operation preset on the controller, and its welding speed is fast and even stable, the quality is excellent, can not need the scarfing cinder, and the welding seam requires a welding of making a round trip to reach the welding seam height. The defects that in the prior art, manual welding is carried out on linear welding seams or circumferential welding seams of steel pile tips, the labor intensity is high, the welding quality is unstable, the welding efficiency is low, waste gas emission influences the health of welders, and the phenomena of material stealing, material reduction, opportunity investment and skillful taking are frequently caused by manual slag removal before each welding are effectively overcome.

Drawings

Fig. 1 is a schematic view of the overall structure of the welding robot for the precast pile steel pile tip of the present invention.

Fig. 2 is a structural diagram of one disc surface of the tray of the welding robot for the precast pile steel pile tip of the present invention.

The reference signs are: 1. a T-shaped groove; 2. prefabricating a steel pile tip of the pile; 3. a tilted tray; 4. scribing concentric circles; 5. an upper bearing seat; 6. an inclined vertical shaft; 7. a frame base; 8. a lower bearing seat; 9. a bull gear; 10. a cycloidal-pin gear speed reducer; 11. a pinion gear; 12. and welding the robot hand.

Detailed Description

The invention relates to a robot for welding the steel pile tip of a concrete precast pile, which is automatic welding processing equipment for the steel pile tip at the pile end of the lowest section in pile foundation construction in precast pile industries such as tubular piles, hollow square piles, solid square piles and the like. At present, the steel pile tip is welded manually in an annular or linear mode, welding seams require continuous full welding, labor intensity is high, a working environment is poor, metal smoke dust pollution, toxic gas pollution and arc light radiation exist during welding, a human body is injured, welding quality is not controllable, and welding efficiency is low. The robot for welding the steel pile tip of the concrete precast pile can realize automatic welding of the steel pile tip, so that the aims of rapidness, high efficiency, safety and good welding quality are achieved.

The invention will be further described with reference to the following figures and examples.

As shown in fig. 1-2, the welding robot for the steel pile tip of the precast pile comprises:

the prefabricated pile comprises an inclined circular tray 3, wherein a T-shaped groove 1 is formed in the outer peripheral wall of the inclined tray 3, a T-shaped connecting bolt for installing a steel pile tip is arranged in the T-shaped groove 1, the T-shaped connecting bolt is used for fixing a steel pile tip 2 of a prefabricated pile arranged on the disc surface of the inclined tray 3, and the steel pile tip 2 of the prefabricated pile and the disc surface of the inclined tray 3 are concentric;

the inclined tray 3 is characterized in that a plurality of concentric circle scribed lines 4 are formed in the tray surface, one concentric circle scribed line 4 corresponds to the steel pile tip 2 of one precast pile, the diameter of the concentric circle scribed line 4 is consistent with the diameter of the steel pile tip 2 of the corresponding precast pile, the concentric circle scribed line 4 is used as an accurate scale mark, the steel pile tip 2 of the precast pile is placed on the tray surface of the inclined tray 3, the concentric circle scribed line 4 is formed, the peripheral edge of the steel pile tip 2 of the precast pile can be kept matched with the concentric circle scribed line 4, the concentricity of the inclined tray 3 can be kept with the tray surface, and the concentricity of the steel pile tip 2 of the precast pile can be conveniently measured.

The disc surface of the inclined tray 3 is also subjected to knurling and galling treatment so as to increase the friction force between the inclined tray and the steel pile tip 2 of the precast pile.

An upper bearing seat 5 is installed in the middle position below the inclined tray 3, the upper bearing seat 5 is installed at the top of an inclined vertical shaft 6 in a sleeved mode, the tray 3 is installed at the vertical shaft end, protruding out of the upper bearing seat 5, of the top of the inclined vertical shaft 6, a lower bearing seat 8 fixedly connected to a base 7 is arranged at the lower end of the inclined vertical shaft 6, and the lower bearing seat 8 is installed at the bottom of the inclined vertical shaft 6 in a sleeved mode. This allows the inclined tray 3 to rotate with the inclined upright shaft 6.

A large gear 9 is sleeved in the middle of the inclined vertical shaft 6; a cycloidal pin gear speed reducer 10 is also obliquely installed on the base 7, a pinion 11 is sleeved on an output shaft of the cycloidal pin gear speed reducer 10, and the bull gear 9 and the pinion 11 are meshed with each other. The aperture of the big gear 9 is larger than that of the small gear 11, so that under the operation of the cycloidal pin gear reducer 10, the small gear 11 drives the big gear 9 on the inclined vertical shaft 6 to rotate, and the inclined tray 3 is driven to rotate together.

The bottom of the welding robot 12 is mounted on the concrete foundation of the floor beside the inclined tray 3 or on the frame base 7. The welding robot 12 can thus automatically weld the steel pile tip 2 of the pre-cast pile on the inclined pallet 3.

The welding robot hand 12 is in control connection with a controller, and the cycloidal pin gear speed reducer 10 is also in control connection with the controller. And the electric telescopic rod of the welding robot hand, the mechanical arm, the motor of the welding robot hand and the electrode holders of the welding robot hand are all electrically connected with the controller.

The working principle of the invention is as follows: when the welding robot for the steel pile tips of the precast pile needs to perform annular or linear welding on the steel pile tips, firstly, the steel pile tips 2 of the precast pile are placed on the disc surface of the inclined tray 3 provided with a plurality of concentric circle scribed lines 4, and the steel pile tips 2 of the precast pile are concentric with the disc surface of the inclined tray 3, specifically, the peripheral edge of the steel pile tips 2 of the precast pile is matched with the concentric circle scribed lines 4, so that the aim of keeping concentricity with the disc surface of the inclined tray 3 is fulfilled; then, T-shaped connecting bolts are placed in T-shaped grooves 1 formed in the outer peripheral wall of the inclined tray 3 along the radial direction and used for installing T-shaped connecting bolts, steel pile tips 2 of the precast piles are fixedly connected to the disc surface of the inclined tray 3 through the T-shaped connecting bolts, then the cycloid pin wheel speed reducer 10 is controlled to operate under the action of a controller, under the operation of the cycloid pin wheel speed reducer 10, a small gear 11 drives a large gear 9 on an inclined vertical shaft 6 to rotate, so that the inclined tray 3 is driven to rotate together, meanwhile, the controller also controls a welding robot to weld the steel pile tips 2 of the precast piles, and therefore welding of the steel pile tips of the precast piles can be completed only by rotating the inclined tray 3 for one circle. The program for controlling the welding robot to weld the steel pile tip 2 of the precast pile and controlling the operation of the cycloidal pin gear speed reducer 10 can be preset.

At present, the steel pile tip is manufactured by using an arc welding tongs or carbon dioxide gas shielded welding, namely, a welder holds the arc welding tongs or a carbon dioxide gas shielded welding gun by hand to manually weld a linear welding seam or a circumferential welding seam of the steel pile tip, so that the labor intensity is high, the welding quality is unstable, the welding efficiency is low, and the body health of the welder is influenced by waste gas emission. In order to achieve the welding strength and the height of a welding seam, the welding is required to be carried out for more than 3 times, and manual slag removal is required before each welding, so that the phenomena of material stealing, material reduction, opportunity investment and skillful operation are frequently caused. The automatic welding of the welding robot for the steel pile tip of the concrete precast pile has the advantages of set program, high welding speed, uniformity, stability and excellent quality, does not need slag removal, and can reach the height of a welding seam by welding back and forth. The defects that in the prior art, the labor intensity of manual welding is high, the welding quality is unstable, the welding efficiency is low, the body health of a welder is influenced by waste gas emission, and the phenomena of material stealing and material reduction and skillful operation are frequently caused by manual slag removal before each welding are effectively overcome.

The present invention has been described in an illustrative manner by the embodiments above, and it should be understood by those skilled in the art that the present disclosure is not limited to the embodiments described above, but is capable of various changes, modifications and substitutions without departing from the scope of the present invention.