Multi-machine cooperative intelligent movable welding robot for ship manufacturing based on flexible manufacturing

Abstract

The invention belongs to the technical field of welding robots, and discloses a flexible-manufacturing-based multi-machine cooperative intelligent movable ship manufacturing welding robot which comprises a movable base, a height adjusting part, a flexible-manufacturing-based multi-machine cooperative intelligent movable ship manufacturing robot body, a flexible-manufacturing-based multi-machine cooperative intelligent movable ship manufacturing robot body and a flexible-manufacturing-based multi-machine cooperative intelligent movable ship manufacturing robot body, and further comprises a flexible-manufacturing-based multi-machine cooperative intelligent movable ship manufacturing robot body, the height of the welding mechanical arm is adjusted; and the height adjusting part comprises a fixed box, and the fixed box is fixedly connected to the interior of the movable base. Through the three-layer nested structure of the fixed box, the middle box and the jacking box and the transmission design of the gear motor, the screw rod and the screw barrel, accurate height adjustment of the welding mechanical arm can be achieved, the welding requirements of different height positions in ship manufacturing can be met, assistance of a complex scaffold or a lifting platform is not needed, the welding efficiency is improved, and the welding cost is reduced. And a welding gun can be aligned with a welding seam at a proper angle, welding arc stability is ensured, welding seam forming is good, and welding defects are reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of welding robots, and in particular is a multi-machine collaborative intelligent mobile welding robot for shipbuilding based on flexible manufacturing. Background Art

[0002] In the rapid development of the shipbuilding industry, efficient and precise welding technology is a key factor in ensuring the quality and efficiency of shipbuilding. Self-propelled welding robots are widely used in ship welding operations due to their high degree of automation and stable welding quality. They can effectively reduce the errors and labor intensity of manual operations and significantly improve the efficiency and consistency of welding operations.

[0003] During the manufacturing process of some ships, self-propelled welding robots are required to weld the sides and bottoms of the ships outdoors. Since the welding points on the sides of some ships are located at a high position, the robotic arms of self-propelled welding robots are usually fixed on the top of the base and cannot be adjusted in height. Although the robotic arms have a certain reach, when the welding position is high, it cannot be ensured that the robotic arms can weld the ships at the appropriate angle and posture. This makes the robots have obvious limitations when facing high-altitude welding tasks. It may be necessary to build scaffolding or use a lifting platform for assistance, which increases construction costs and time costs. Summary of the Invention

[0004] To solve the problems raised in the above background technology, the present invention provides a multi-machine collaborative intelligent mobile shipbuilding welding robot based on flexible manufacturing, comprising a mobile base, a welding robot arm is provided on the top of the mobile base, and further comprising: A height adjustment member is provided at the bottom of the welding robot arm and is used to adjust the height of the welding robot arm; The height adjustment member includes a fixed box, the fixed box is fixedly connected to the inside of the mobile base, an intermediate box is provided inside the fixed box, a lifting box is provided inside the intermediate box, and the top of the lifting box is fixedly connected to the bottom of the welding robot arm; The bottom of the inner wall of the fixed box is fixedly connected to a reduction motor, the output end of the reduction motor is fixedly connected to a screw, the surface of the screw is threadedly connected to the inner wall of the intermediate box, the bottom of the inner wall of the intermediate box is fixedly connected to a screw barrel through a bearing seat, and the surface of the screw barrel is threadedly connected to the inner wall of the jacking box; Auxiliary support members are provided on the front and back of the jacking box to improve the stability of the jacking box and the welding robot arm; A protective shell is provided on the outside of the welding robot arm to prevent the airflow from affecting the welding robot arm; The protective shell includes a protective plate, which is fixedly connected to the top of the left side of the jacking box. The surface of the welding robot arm is provided with a protective cover. The left side of the inner cavity of the protective cover is fixedly connected to a rotating rod. The front and back sides of the jacking box are fixedly connected to the surface of the rotating rod through a bearing seat. The front and rear sides of the left side of the protective cover and the front and rear sides of the top of the mobile base are hinged with connecting plates through shafts. The inner sides of the two groups of connecting plates are vertically fixedly connected with tension springs. The square plate is set on the top of the screw and is used to drive the screw barrel.

[0005] In the above technical solution, preferably, the auxiliary support member includes a support plate, the support plate is fixedly connected to the top of the front and back of the intermediate box, the bottom of the support plate is fixedly connected to a lifting rod, the surface of the lifting rod is sleeved with an inner cylinder, the surface of the inner cylinder is provided with an inclined groove, the bottom of the left side of the lifting rod is fixedly connected to a sliding rod, and the sliding rod is slidably connected to the inside of the inclined groove; The front and back sides of the movable base are fixedly connected with screw sleeves, the internal threads of the screw sleeves are connected with a threaded barrel, sliding grooves are opened on both sides of the inner wall of the threaded barrel, and sliders located inside the sliding grooves are fixedly connected on both sides of the inner barrel, and a diagonal support plate is fixedly connected to the right side of the threaded barrel.

[0006] In the above technical solution, preferably, the top of the threaded barrel surface is fixedly connected to a support ring, the bottom of the support ring is fixedly connected to a bellows 1, and the bottom of the bellows 1 is in contact with the top of the screw sleeve.

[0007] In the above technical solution, preferably, the adaptive anti-shake mechanism includes a rotating sleeve, which is slidably sleeved on the surface of the rotating rod, and the inner wall of the rotating sleeve is in contact with the surface of the protective cover. The front and back of the protective cover are fixedly connected with a blocking sleeve, and the blocking sleeve is arranged on the surface of the rotating sleeve. The bottom of the inner wall of the blocking sleeve is fixedly connected with a spring piece, and the top of the spring piece is fixedly connected to the bottom of the rotating sleeve. The top of the rotating sleeve is fixedly inlaid with a magnet piece.

[0008] In the above technical solution, preferably, the inner sides of the two groups of connecting plates are vertically fixedly connected with a second bellows, and the second bellows is located on the outer side of the tension spring.

[0009] In the above technical solution, preferably, an arc-shaped plate is fixedly connected to the center of the top of the rotating rod, and the bottom of the arc-shaped plate is in contact with the top of the protective plate.

[0010] In the above technical solution, preferably, a warning component is provided on the right side of the middle box, and the warning component includes a T-shaped plate, which is fixedly connected to the top of the right side of the middle box, and the front and rear sides of the bottom of the T-shaped plate are fixedly connected to a connecting rod through a bearing, and the bottom of the connecting rod is fixedly connected to an infrared sensor, and the front and rear sides of the top of the T-shaped plate are fixedly connected to an audible and visual alarm.

[0011] In the above technical solution, preferably, the front and rear sides of the left side of the movable base are fixedly connected to a storage box, the storage box is mounted on the surface of the infrared sensor, and the interior of the storage box is fixedly connected to a limit switch, and the top of the limit switch is in contact with the bottom of the T-shaped plate.

[0012] In the above technical solution, preferably, the top of the fixed box is fixedly connected with a sealing ring 1, the inner wall of the sealing ring 1 contacts the surface of the middle box, and the top of the middle box is fixedly connected with a sealing ring 2, the inner wall of the sealing ring 2 contacts the surface of the lifting box.

[0013] In the above technical solution, preferably, a lifting assembly is provided on the left side of the protective plate, and the lifting assembly includes a concave plate, the interior of the concave plate is hinged with a lifting plate through an axis rod, and the top of the left side of the protective plate is fixedly connected with a pull rod.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention adopts a three-layer nested structure of a fixed box, an intermediate box and a lifting box, and cooperates with the transmission design of a reduction motor, a screw and a barrel to achieve precise height adjustment of the welding robot arm, which can adapt to the welding requirements of different height positions in shipbuilding. It does not require the assistance of complex scaffolding or lifting platforms, improves welding efficiency, and allows the welding gun to be aligned with the weld at a suitable angle, ensuring a stable welding arc, good weld formation, and reducing welding defects.

[0015] 2. The present invention uses the support plate, lifting rod, inner tube and inclined groove structures in the auxiliary support parts to improve the supporting stability of the jacking box and the welding robot arm after the jacking box is raised. The whole can be folded when not in use, which reduces the occupied space and facilitates movement, thereby ensuring the accuracy and quality of welding operations when welding at higher places.

[0016] 3. The present invention can effectively block high-altitude airflow and reduce the interference of ambient wind on the welding arc through the protective plate, protective cover, rotating rod and connecting plate in the protective shell, ensuring that good welding effects can be maintained even during welding operations at high altitudes on ships, improving welding quality and efficiency, and preventing the problem of deviation of the welding head's walking trajectory caused by ambient wind, resulting in deviation of the welding position. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1It is a schematic diagram of the structure of the present invention; Figure 2 It is a cross-sectional schematic diagram of the fixing box of the present invention; Figure 3 It is a structural schematic diagram of the threaded barrel of the present invention; Figure 4 It is a cross-sectional schematic diagram of the screw sleeve of the present invention; Figure 5 is a schematic cross-sectional view of a storage box of the present invention; Figure 6 It is a structural schematic diagram of the connecting plate of the present invention; Figure 7 is a schematic cross-sectional view of a protective plate of the present invention; Figure 8 This is a schematic structural diagram of the inner cylinder of the present invention; Figure 9 This is a schematic diagram of the protective cover after rotation of the present invention.

[0018] In the figure: 1. Mobile base; 2. Welding robot arm; 3. Height adjustment member; 31. Fixed box; 32. Intermediate box; 33. Lifting box; 34. Reducer motor; 35. Screw; 36. Screw barrel; 37. Auxiliary support member; 371. Support plate; 372. Lifting rod; 373. Inner barrel; 374. Inclined groove; 375. Slide rod; 376. Screw sleeve; 377. Threaded barrel; 378. Slide groove; 379. Slider; 3710. Diagonal support plate; 38. Protective shell; 381. Protective plate; 382. Protective cover; 38 3. Rotating rod; 384. Connecting plate; 385. Tension spring; 386. Adaptive anti-shake mechanism; 3861. Rotating sleeve; 3862. Stop sleeve; 3863. Shrapnel; 3864. Magnet; 39. Square plate; 4. Support ring; 5. Bellows 1; 6. Bellows 2; 7. Arc plate; 8. T-shaped plate; 9. Connecting rod; 10. Infrared sensor; 11. Sound and light alarm; 12. Storage box; 13. Travel switch; 14. Sealing ring 1; 15. Sealing ring 2; 16. Concave plate; 17. Lifting plate; 18. Pull rod. DETAILED DESCRIPTION

[0019] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0020] like Figures 1 to 3 As shown, the present invention provides a multi-machine collaborative intelligent mobile shipbuilding welding robot based on flexible manufacturing, comprising a mobile base 1, a welding robot arm 2 is provided on the top of the mobile base 1, and further comprising: A height adjustment member 3 is provided at the bottom of the welding robot arm 2 and is used to adjust the height of the welding robot arm 2; The height adjustment member 3 includes a fixed box 31, which is fixedly connected to the inside of the mobile base 1. An intermediate box 32 is provided inside the fixed box 31, and a lifting box 33 is provided inside the intermediate box 32. The top of the lifting box 33 is fixedly connected to the bottom of the welding robot arm 2. A reduction motor 34 is fixedly connected to the bottom of the inner wall of the fixed box 31. The reduction motor 34 consists of a motor and a worm gear reducer. A screw 35 is fixedly connected to the output end of the reduction motor 34. The surface of the screw 35 is threadedly connected to the inner wall of the intermediate box 32. The bottom of the inner wall of the intermediate box 32 is fixedly connected to a screw barrel 36 through a bearing seat. The surface of the screw barrel 36 is threadedly connected to the inner wall of the jacking box 33. Auxiliary support members 37 are provided on the front and back of the lifting box 33 to improve the stability of the lifting box 33 and the welding robot arm 2; A protective shell 38 is provided on the outside of the welding robot arm 2 to prevent the airflow from affecting the welding robot arm 2; The protective shell 38 includes a protective plate 381, which is fixedly connected to the top of the left side of the jacking box 33. A protective cover 382 is provided on the surface of the welding robot arm 2. A rotating rod 383 is fixedly connected to the left side of the inner cavity of the protective cover 382. The front and back sides of the jacking box 33 are fixedly connected to the surface of the rotating rod 383 through bearing seats. The front and rear sides of the left side of the protective cover 382 and the front and rear sides of the top of the mobile base 1 are hingedly connected to connecting plates 384 through shafts. The inner sides of the two sets of connecting plates 384 are vertically fixedly connected to tension springs 385. Specifically, the tension spring 385 is a stainless steel tension spring 385. As the height of the welding robot arm 2 increases, the welding part is farther away from the ground and is more susceptible to the influence of airflow at high altitudes. The airflow may disrupt the welding arc. By setting up a protective shell 38, the airflow can be effectively prevented from interfering with the welding area, solving the problem that the airflow may make the welding arc unstable. When the lifting box 33 rises, the lifting box 33 will drive the rotating rod 383 to move upward through the bearing seat, and the rotating rod 383 drives the top connecting plate 384 to move upward. The connecting plate 384 stretches the tension spring 385. At the same time, the protective cover 382 will rotate around the center of the rotating rod 383. When the tension spring 385 is in a vertical state, the protective cover 382 will also be in a vertical state and protect the welding robot arm 2 from windbreaks, ensuring that a good welding effect can be maintained during welding operations at high altitudes on the ship, improving welding quality and efficiency, and preventing the environmental wind from causing the welding head to deviate from the walking trajectory and causing the welding position to deviate.

[0021] A square plate 39 is provided on the top of the screw 35 and is used to drive the barrel 36. The inner wall of the barrel 36 is square, and the surface of the square plate 39 contacts the inner wall of the barrel 36. Specifically, the mobile base 1 moves on a crawler-type walking mechanism. The crawler is composed of components such as a driving wheel, a guide wheel, a supporting sprocket and a crawler chain. The driving wheel is driven to rotate by a motor, driving the crawler chain to move, so that the robot can walk on the ground. This crawler-type structure can provide greater traction and stability, and can adapt to different terrains and surface conditions. The welding robot arm 2 is equipped with a welding system, including a welding power supply, a wire feeding mechanism, a welding gun and other components. The welding power supply provides the electrical energy required for welding, and the wire feeding mechanism delivers the welding wire to the welding gun at a set speed. At the front end of the welding gun, the welding wire melts under the action of the current and arc, and fuses with the base material of the weld to form a weld. At the same time, the robot accurately controls the movement trajectory and welding speed of the welding gun through the control system. The mobile base 1 and the welding robot arm 2 are both existing mature technology applications. like Figures 3 and 4 As shown, the auxiliary support member 37 includes a support plate 371, which is fixedly connected to the top of the front and back sides of the middle box 32. The bottom of the support plate 371 is fixedly connected to a lifting rod 372. The surface of the lifting rod 372 is covered with an inner cylinder 373. The surface of the inner cylinder 373 is provided with an inclined groove 374. The bottom of the left side of the lifting rod 372 is fixedly connected to a sliding rod 375. The sliding rod 375 is slidably connected to the inside of the inclined groove 374. The front and back of the mobile base 1 are fixedly connected with a screw sleeve 376, the internal thread of the screw sleeve 376 is connected with a threaded barrel 377, and both sides of the inner wall of the threaded barrel 377 are provided with a slide groove 378. Both sides of the inner barrel 373 are fixedly connected with a slider 379 located inside the slide groove 378, and the right side of the threaded barrel 377 is fixedly connected with a diagonal support plate 3710.

[0022] Specifically, the slide bar 375 is made of wear-resistant steel, and the shape of the inclined groove 374 is L-shaped; due to the change in the height of the welding robot arm 2, its center of gravity position will also change. The higher position will increase the center of gravity of the overall structure, which is prone to shaking or tipping when disturbed by external forces. The auxiliary support member 37 can provide additional support for the lifting box 33 and the welding robot arm 2, reducing the risk of shaking and tipping, ensuring the smooth progress of the welding process, and improving the welding accuracy; when the intermediate box 32 moves upward, it will drive the lifting rod 372 and the slide bar 375 to move upward through the support plate 371, and the slide bar 375 will move upward in the inclined groove 3 When sliding inside 74, the inner cylinder 373 will be driven to rotate, and the inner cylinder 373 will drive the threaded cylinder 377 to rotate through the slider 379 and the slide groove 378. Since the threaded cylinder 377 and the screw sleeve 376 are threadedly matched, the threaded cylinder 377 will rotate and move downward, so that the threaded cylinder 377 and the diagonal support plate 3710 are in contact with the ground to support and limit the lifting box 33, thereby improving its stability. When the slide rod 375 rises a certain distance inside the inclined groove 374, it will enter the square cavity of the inclined groove 374. At this time, the inner cylinder 373 will not rotate, and the slide rod 375 and the lifting box 33 can continue to rise.

[0023] like Figures 1 to 9 As shown, the top of the surface of the threaded cylinder 377 is fixedly connected to a support ring 4, the bottom of the support ring 4 is fixedly connected to a bellows 5, and the bottom of the bellows 5 is in contact with the top of the screw sleeve 376.

[0024] Specifically, the support ring 4 and the bellows 5 can effectively prevent dust, debris and other impurities from entering the connection between the screw sleeve 376 and the threaded barrel 377, avoiding wear, corrosion and jamming caused by the accumulation of impurities, extending the service life of the screw sleeve 376 and the threaded barrel 377, and ensuring the stability of the rotation of the threaded barrel 377.

[0025] like Figure 1 and Figure 9 As shown, the adaptive anti-shake mechanism 386 includes a rotating sleeve 3861, which is slidably sleeved on the surface of the rotating rod 383, and the inner wall of the rotating sleeve 3861 contacts the surface of the protective cover 382. The front and back sides of the protective cover 382 are fixedly connected with the blocking sleeve 3862, and the blocking sleeve 3862 is sleeved on the surface of the rotating sleeve 3861. The bottom of the inner wall of the blocking sleeve 3862 is fixedly connected with a spring piece 3863, and the top of the spring piece 3863 is fixedly connected to the bottom of the rotating sleeve 3861. The top of the rotating sleeve 3861 is fixedly inlaid with a magnet piece 3864.

[0026] Specifically, when welding operations are performed at a higher position on the side of the ship, although the protective cover 382 can resist airflow interference, the protective cover 382 is easily driven by the lifting box 33 to drive the welding robot arm 2 to shake and vibrate under the influence of wind, causing the welding trajectory to shift and the welding quality to decline. By setting an adaptive anti-shake mechanism 386, the reverse force generated by the elastic deformation of the spring piece 3863 is used to press the rotating sleeve 3861 against the surface of the hull to limit the left and right positions of the protective cover 382; the magnet piece 3864 and the hull are adsorbed to limit the front and rear positions of the protective cover 382, forming a double stable design, which can effectively prevent the protective cover 382 from shaking, improve the protection effect, and at the same time improve the stability of the entire device.

[0027] like Figure 1 and Figure 6 As shown, the inner sides of the two sets of connecting plates 384 are vertically fixedly connected with the second bellows 6, and the second bellows 6 is located on the outer side of the tension spring 385; The center of the top of the rotating rod 383 is fixedly connected with an arc-shaped plate 7, and the bottom of the arc-shaped plate 7 contacts the top of the protective plate 381.

[0028] Specifically, the bellows 2 6 can protect the tension spring 385, prevent foreign objects from causing collision and wear on the tension spring 385, and improve the service life of the tension spring 385; the arc plate 7 can limit the rotation angle of the rotating rod 383, and prevent the rotating rod 383 and the protective cover 382 from rotating at too large an angle, resulting in the protective cover 382 being unable to effectively rotate and reset, thereby improving the stability of the protective cover 382.

[0029] like Figures 5 to 9 As shown, a warning component is provided on the right side of the middle box 32, and the warning component includes a T-shaped plate 8, which is fixedly connected to the top of the right side of the middle box 32, and the front and rear sides of the bottom of the T-shaped plate 8 are fixedly connected to the connecting rod 9 through bearings, and the bottom of the connecting rod 9 is fixedly connected to the infrared sensor 10, and the front and rear sides of the top of the T-shaped plate 8 are fixedly connected to the sound and light alarm 11.

[0030] Specifically, the welding robot arm 2 may generate strong light and flying sparks when working, which may cause harm to nearby personnel and equipment. At the same time, people and vehicles may easily accidentally collide with the mobile base 1. By adding an infrared sensor 10 with an adjustable angle, the surrounding environment can be monitored in real time. When an object enters the sensing range, an alarm can be issued in time through the sound and light alarm 11 to remind the operator and surrounding personnel to pay attention to safety. like Figures 5 to 9 As shown, the front and rear sides of the left side of the mobile base 1 are fixedly connected to a storage box 12, the storage box 12 is mounted on the surface of the infrared sensor 10, and the interior of the storage box 12 is fixedly connected to a limit switch 13, and the top of the limit switch 13 is in contact with the bottom of the T-shaped plate 8.

[0031] Specifically, the infrared sensor 10 has an internal emitting element that emits infrared rays. When an object enters the sensing area, the surface of the object will reflect some infrared rays, which are then captured by the sensor's receiving element. The travel switch 13 includes a spring, a lever, and other structures. When in contact, it pushes the contacts to close or open, thereby controlling the on / off of the circuit. The sound and light alarm 11 includes a buzzer and a light-emitting diode. When the infrared sensor 10 detects an abnormality, it sends an electrical signal to the sound and light alarm 11. After receiving the signal, the control circuit processes and amplifies it to drive subsequent sound and light emitting elements. The device 10, the sound and light alarm 11 and the limit switch 13 all belong to existing mature technical applications; when the middle box 32 rises, the T-shaped plate 8 will move upward and disengage from the pressure on the limit switch 13, the limit switch 13 starts the infrared sensor 10, and the infrared sensor 10 detects surrounding objects. When the lifting box 33 descends, the T-shaped plate 8 will drive the infrared sensor 10 to move downward to the inside of the storage box 12, and the T-shaped plate 8 will squeeze the top of the limit switch 13, so that the limit switch 13 turns off the infrared sensor 10, which can achieve the effect of automatic switching.

[0032] like Figure 2 As shown, the top of the fixed box 31 is fixedly connected to a sealing ring 14, the inner wall of which contacts the surface of the middle box 32, and the top of the middle box 32 is fixedly connected to a sealing ring 15, the inner wall of which contacts the surface of the lifting box 33.

[0033] Specifically, the sealing ring 14 can seal the gap between the fixed box 31 and the intermediate box 32, and the sealing ring 2 15 can seal the gap between the intermediate box 32 and the lifting box 33, preventing dust from entering the interior of the intermediate box 32 and the fixed box 31, thereby affecting the smoothness of movement.

[0034] like Figure 7 As shown, a lifting assembly is provided on the left side of the protective plate 381, and the lifting assembly includes a concave plate 16, and a lifting plate 17 is hinged inside the concave plate 16 through an axis rod. An elliptical anti-slip groove is provided on the top of the lifting plate 17, and a pull rod 18 is fixedly connected to the top of the left side of the protective plate 381.

[0035] Specifically, in ship welding operations, the weld may be located at a higher place, and it is difficult for operators on the ground to see the specific conditions of the weld. By lifting the personnel to a specified height through the lifting plate 17, the operator can observe the weld closely and promptly discover problems such as uneven welds and air holes. When in use, the staff can rotate the lifting plate 17 to make the lifting plate 17 horizontal, and then stand on the top of the lifting plate 17, holding the pull rod 18 in hand, and then start the reduction motor 34 to lift the staff, making it convenient for the staff to observe the welding situation.

[0036] The working principle and use process of the present invention: When welding is required at a higher position on the surface of the ship, the reduction motor 34 is started, and the reduction motor 34 drives the screw 35 to rotate. The screw 35 drives the intermediate box 32 to move upward through the thread, and the intermediate box 32 drives the screw barrel 36 to move upward. When the screw 35 rotates, it drives the screw barrel 36 to rotate through the square plate. The screw barrel 36 drives the lifting box 33 and the welding robot arm 2 to move upward through the thread; When the middle box 32 moves upward, it drives the lifting rod 372 and the sliding rod 375 to move upward through the support plate 371. The sliding rod 375 slides inside the inclined groove 374 and drives the inner cylinder 373 to rotate. The inner cylinder 373 drives the threaded cylinder 377 to rotate through the slider 379 and the slide groove 378. Due to the threaded fit between the threaded cylinder 377 and the screw sleeve 376, the threaded cylinder 377 rotates and moves downward, so that the threaded cylinder 377 and the diagonal support plate 3710 contact the ground to support and limit the lifting box 33. At the same time, when the lifting box 33 rises, the lifting box 33 will drive the rotating rod 383 to move upward through the bearing seat, and the rotating rod 383 will drive the top connecting plate 384 to move upward. The connecting plate 384 stretches the tension spring 385. At the same time, the protective cover 382 will rotate with the center of the rotating rod 383. When the tension spring 385 is in a vertical state, the protective cover 382 will also be in a vertical state and provide windproof treatment for the welding robot arm 2, making it convenient for the welding robot arm 2 to perform stable welding on the ship at a higher place, thereby achieving the advantage of facilitating the robot arm to raise and weld.

[0037] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0038] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A multi-machine collaborative intelligent mobile welding robot for shipbuilding based on flexible manufacturing, comprising a mobile base (1), a welding robot arm (2) being provided on the top of the mobile base (1), characterized in that: Also includes: A height adjustment member (3) is provided at the bottom of the welding robot arm (2) and is used to adjust the height of the welding robot arm (2); The height adjustment member (3) comprises a fixed box (31), the fixed box (31) is fixedly connected to the inside of the mobile base (1), an intermediate box (32) is provided inside the fixed box (31), a lifting box (33) is provided inside the intermediate box (32), and the top of the lifting box (33) is fixedly connected to the bottom of the welding robot arm (2); The bottom of the inner wall of the fixed box (31) is fixedly connected to a reduction motor (34), the output end of the reduction motor (34) is fixedly connected to a screw (35), the surface of the screw (35) is threadedly connected to the inner wall of the intermediate box (32), the bottom of the inner wall of the intermediate box (32) is fixedly connected to a screw barrel (36) via a bearing seat, and the surface of the screw barrel (36) is threadedly connected to the inner wall of the jacking box (33); Auxiliary support members (37) are provided on the front and back sides of the jacking box (33) and are used to improve the stability of the jacking box (33) and the welding robot arm (2); A protective shell (38) is provided on the outside of the welding robot arm (2) and is used to prevent the airflow from affecting the welding robot arm (2); The protective shell (38) includes a protective plate (381), which is fixedly connected to the top of the left side of the lifting box (33). The surface of the welding robot arm (2) is provided with a protective cover (382), and the left side of the inner cavity of the protective cover (382) is fixedly connected to the surface of the rotating rod (383). The front and back sides of the lifting box (33) are fixedly connected to the surface of the rotating rod (383) through a bearing seat. The front and rear sides of the left side of the protective cover (382) and the front and rear sides of the top of the movable base (1) are hinged with connecting plates (384) through shafts. The inner sides of the two groups of connecting plates (384) are vertically fixedly connected with tension springs (385). The surface of the protective cover is provided with an adaptive anti-shake mechanism (386); The square plate (39) is arranged on the top of the screw (35) and is used to transmit the screw barrel (36).

2. The multi-machine collaborative intelligent mobile welding robot for shipbuilding based on flexible manufacturing according to claim 1 is characterized by: The auxiliary support member (37) includes a support plate (371), the support plate (371) is fixedly connected to the top of the front and back sides of the intermediate box (32), the bottom of the support plate (371) is fixedly connected to a lifting rod (372), the surface of the lifting rod (372) is provided with an inner cylinder (373), the surface of the inner cylinder (373) is provided with an inclined groove (374), the bottom of the left side of the lifting rod (372) is fixedly connected to a sliding rod (375), and the sliding rod (375) is slidably connected to the inside of the inclined groove (374); The front and back sides of the movable base (1) are fixedly connected to screw sleeves (376), the internal threads of the screw sleeve (376) are connected to a threaded barrel (377), both sides of the inner wall of the threaded barrel (377) are provided with sliding grooves (378), both sides of the inner barrel (373) are fixedly connected to sliders (379) located inside the sliding grooves (378), and the right side of the threaded barrel (377) is fixedly connected to a diagonal support plate (3710).

3. The multi-machine collaborative intelligent mobile welding robot for shipbuilding based on flexible manufacturing according to claim 2 is characterized by: The top of the surface of the threaded barrel (377) is fixedly connected to a support ring (4), the bottom of the support ring (4) is fixedly connected to a bellows 1 (5), and the bottom of the bellows 1 (5) contacts the top of the threaded sleeve (376).

4. The multi-machine collaborative intelligent mobile welding robot for shipbuilding based on flexible manufacturing according to claim 1 is characterized by: The adaptive anti-shake mechanism (386) includes a rotating sleeve (3861), the rotating sleeve (3861) is slidably sleeved on the surface of the rotating rod (383), the inner wall of the rotating sleeve (3861) contacts the surface of the protective cover (382), the front and back sides of the protective cover (382) are fixedly connected with the retaining sleeve (3862), the retaining sleeve (3862) is sleeved on the surface of the rotating sleeve (3861), the bottom of the inner wall of the retaining sleeve (3862) is fixedly connected with a spring (3863), the top of the spring (3863) is fixedly connected to the bottom of the rotating sleeve (3861), and the top of the rotating sleeve (3861) is fixedly inlaid with a magnet sheet (3864).

5. The multi-machine collaborative intelligent mobile welding robot for shipbuilding based on flexible manufacturing according to claim 4 is characterized by: The inner sides of the two groups of connecting plates (384) are both vertically fixedly connected with a second bellows (6), and the second bellows (6) is located on the outer side of the tension spring (385).

6. The multi-machine collaborative intelligent mobile welding robot for shipbuilding based on flexible manufacturing according to claim 4 is characterized by: An arc-shaped plate (7) is fixedly connected to the center of the top of the rotating rod (383), and the bottom of the arc-shaped plate (7) contacts the top of the protective plate (381).

7. The multi-machine collaborative intelligent mobile welding robot for shipbuilding based on flexible manufacturing according to claim 1 is characterized by: A warning assembly is provided on the right side of the intermediate box (32), and the warning assembly includes a T-shaped plate (8), the T-shaped plate (8) is fixedly connected to the top of the right side of the intermediate box (32), the front side and the rear side of the bottom of the T-shaped plate (8) are fixedly connected to a connecting rod (9) through a bearing, the bottom of the connecting rod (9) is fixedly connected to an infrared sensor (10), and the front side and the rear side of the top of the T-shaped plate (8) are fixedly connected to an audible and visual alarm (11).

8. The multi-machine collaborative intelligent mobile welding robot for shipbuilding based on flexible manufacturing according to claim 7 is characterized by: The front side and the rear side of the left side of the mobile base (1) are both fixedly connected to a storage box (12), the storage box (12) is sleeved on the surface of the infrared sensor (10), and the interior of the storage box (12) is fixedly connected to a travel switch (13), and the top of the travel switch (13) is in contact with the bottom of the T-shaped plate (8).

9. The multi-machine collaborative intelligent mobile welding robot for shipbuilding based on flexible manufacturing according to claim 1, characterized in that: The top of the fixed box (31) is fixedly connected to a sealing ring 1 (14), and the inner wall of the sealing ring 1 (14) contacts the surface of the middle box (32). The top of the middle box (32) is fixedly connected to a sealing ring 2 (15), and the inner wall of the sealing ring 2 (15) contacts the surface of the lifting box (33).

10. The multi-machine collaborative intelligent mobile welding robot for shipbuilding based on flexible manufacturing according to claim 4, characterized in that: A lifting assembly is provided on the left side of the protective plate (381), the lifting assembly comprising a concave plate (16), a lifting plate (17) being hingedly connected to the interior of the concave plate (16) via a shaft, and a pull rod (18) being fixedly connected to the top of the left side of the protective plate (381).

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