The welding manipulator is a welding machine displacement device that accurately sends and maintains the welding head at the position to be welded, or moves the welding head along a set trajectory at a selected welding speed. As a piece of welding auxiliary equipment, welding manipulators are widely used in boilers, pressure vessels, pipelines, metal structure wind tower manufacturing, and other industries. , Pipe prefabrication, wind tower manufacturing, welding of longitudinal seams, and circumferential seams in wind power and other industries.
The structure of the welding manipulator
(1) Platform welding manipulator
The welding machine is placed on the platform and can be moved on the platform. The platform is installed on the vertical frame and can be lifted and lowered along with the vertical frame. The stand is seated on the car and can run along the track. The operating range of the manipulator is large, and it is mainly used in the welding of outer circumferential seams and outer longitudinal seams. The platform type welding manipulator is divided into two types: single-track trolley type and double-track trolley type. The other track of the monorail trolley type is generally set on the workshop column. When the bridge crane moves in the workshop, it often causes the platform to vibrate, thus affecting the normal progress of the welding process. The mobility, scope of use, and application of the platform manipulator are inferior to those of the telescopic arm welding manipulator, and its domestic application has been decreasing year by year.
(2) Telescopic arm welding manipulator.
The welding head or welding trolley is installed at one end of the telescopic arm, and the telescopic arm is installed on the sliding saddle, which can extend in and out along the sliding saddle. The slide is installed on the column and can be lifted up and down along the column. Some columns are directly fixed on the base, and some are installed on the base, but they can be rotated; Rail travel. This manipulator has good maneuverability and a wide operating range. It can be used for welding inner and outer circumferential seams, inner and outer longitudinal seams, spiral welds, and surfacing welding of inner and outer parts of rotary body welding parts in cooperation with various welding parts displacement equipment. , and can also weld horizontal welds, oblique welds, and other spatial linear welds on components. It is the most widely used welding manipulator at home and abroad. In addition to being used for welding, if a corresponding operating head is installed at the front end of the telescopic arm, it can also be used for repairing, cutting, painting, flaw detection, and other operations.
To expand the working space of the welding robot, the welding robot is installed at the front end of the telescopic arm of the heavy-duty manipulator in foreign countries to weld large structures. In addition, the further development of the telescopic arm manipulator has become a Cartesian coordinate industrial robot, and the latter has better performance than the former in terms of motion accuracy and degree of automation.
(3) Portal welding manipulator.
This manipulator has two structures.One is that the welding trolley is seated on a worktable that can be raised and lowered along the gantry, and moves laterally along the track on the platform. , while the sports car travels along the track on the beam. The gantry of these two types of manipulators generally spans the workshop and moves longitudinally along the track. The manipulator has a large working coverage and is mainly used for large-area splicing of plates, large-area metal structures, and welding of outer circumferential seams of cylinders.
To expand the working space of the welding robot, meet the needs of welding large weldments or improve the utilization rate of the equipment, the welding robot can also be inverted on the gantry manipulator. Among them, the robot body can not only move laterally along the gantry but also can lift and move vertically, which further enhances the flexibility, adaptability, and mobility of the robot operation.