Assembly robot welding device and method in ship

Abstract

The invention relates to the technical field of ship welding, and discloses a welding device and method for an assembly robot in a ship. The welding device comprises a welding table used for placing parts to be welded, a moving frame capable of moving front and back is arranged on the welding table, a moving seat capable of moving left and right is arranged on the moving frame, and a sliding seat is fixed to the bottom of the moving seat through a connecting frame; a horizontal polish rod in the moving frame penetrates through the sliding seat; a lifting assembly capable of moving up and down is arranged below the sliding seat, a mechanical arm is fixed to the bottom of the lifting assembly, and a welding gun is arranged at the tail end of the bottom of the mechanical arm. According to the mechanical arm, the design that the rotary motion of the rotary driving ring is converted into the opening and closing motion of the rotary buckle assembly is adopted, an operator only needs to rotate the rotary driving ring, the buckle block can be driven to stretch into or retreat from the annular buckle groove through cooperation of the inclined groove and the sliding rod, locking and unlocking of the mechanical arm are completed, no extra tool is needed, and the mechanical arm is convenient to use. And compared with a bolt fastening mode, the disassembly and assembly time is shortened.

Description

Technical Field

[0001] This invention relates to the field of ship welding technology, specifically to a robotic welding device and method for ship assembly. Background Technology

[0002] Mid-stage assembly is the core intermediate link in the assembly of ship hull sections during shipbuilding. It lies between small-scale assembly and large-scale assembly. Its core is to position, assemble, and weld multiple small-scale assemblies and their supporting parts to form larger assemblies. It is a key process for achieving efficient sectional construction.

[0003] In ship assembly and welding operations, ship components are large and heavy, requiring welding robotic arms with significant load-bearing capacity, which in turn result in relatively large weight and size. Current technologies for ship welding robots primarily use bolt fastening or single-clamp locking structures to connect the robotic arm to the lifting and adjusting mechanism, presenting the following technical challenges: The disassembly and assembly efficiency is low. When using bolts for fastening, operators need to use wrenches and other tools to tighten the bolts one by one. In the complex working environment of assembling on a ship, the space for carrying tools and operating is limited, which makes the replacement and maintenance of the robotic arm time-consuming. When using a single buckle for locking, the locking and unlocking stroke of the buckle is long and lacks a precise guiding structure, making docking difficult.

[0004] The connection stability is poor. The snap-fit ​​structure can only fix the robot arm axially and lacks circumferential limit design. The vibration generated during the welding process can easily cause the robot arm to rotate and deviate, affecting the welding accuracy. The bolt fastening structure is prone to bolt loosening under long-term vibration conditions, which poses a safety hazard.

[0005] In many cases, the power supply interfaces of robotic arms and lifting mechanisms are independently configured, requiring additional plugging and unplugging of conductive connectors after the robotic arm's mechanical connection is completed. This process is cumbersome, and the poor positioning accuracy of the conductive connectors can easily lead to poor contact, affecting the continuity of welding operations. Therefore, we present a welding device and method for assembling robots in ships. Summary of the Invention

[0006] The purpose of this invention is to provide a robotic welding apparatus and method for assembling ships, in order to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: A welding device for assembling robots in a ship includes a welding table for placing parts to be welded, a movable frame that can move back and forth on the welding table, a movable seat that can move left and right on the movable frame, a sliding seat fixed to the bottom of the movable seat by a connecting frame, and a horizontal light rod inside the movable frame passing through the sliding seat. The sliding seat is provided with a lifting component that can move up and down. A robotic arm is fixed to the bottom of the lifting component, and a welding torch is provided at the bottom end of the robotic arm. The lifting assembly includes a lifting seat, a connecting cylinder fixed at the lower center of the lifting seat, a rotary drive ring screwed to the outside of the connecting cylinder, several sets of rotating buckle assemblies rotatably connected to the lower outside of the lifting seat, a plug-in post fixed at the top of the robotic arm, a conductive contact assembly screwed to the center of the top of the plug-in post, and a limiting assembly sleeved on the outer side of the top of the plug-in post. The plug is inserted into the connecting cylinder, and after the rotation drive ring is locked, it drives the rotating buckle assembly to rotate and abut against the limiting assembly, thereby fixing the plug. The conductive contact assembly contacts the conductive post in the connecting cylinder to provide power to the robotic arm.

[0008] Preferably, the upper end of the welding platform is provided with symmetrical sliding grooves on the left and right, the bottom of the movable frame is provided with a base, the lower end of the base is provided with a sliding seat that slides into the sliding groove, and the inner side of the base is provided with a bottom drive wheel that sits on the upper end of the welding platform. The bottom drive wheel is driven by a bottom motor fixed on the outer side of the base.

[0009] Preferably, the upper middle part of the movable frame is provided with a sliding groove, and the lower end of the movable seat is provided with left and right symmetrical sliders, which slide in the sliding groove. The movable seat is equipped with top drive wheels on both the front and rear sides. The top drive wheels are located on the upper part of the movable frame and are driven by a top motor fixed to the side of the movable seat.

[0010] Preferably, the connecting frame includes a connecting plate fixed to the bottom of the two sets of sliders and vertical plates symmetrically arranged on the left and right sides of the lower end of the connecting plate, with the lower end of the vertical plates fixed to the upper end of the sliding seat.

[0011] Preferably, a lifting cylinder is fixed at the middle of the upper end of the movable seat, and the piston rod at the output end of the lifting cylinder passes through the movable seat, the connecting frame and the sliding seat in sequence and is fixed at the middle of the upper end of the lifting seat.

[0012] Preferably, the lifting seat has vertical light rods that penetrate the sliding seat at the four corners of its upper end.

[0013] Preferably, the lower end of the lifting seat is circular and has vertical shafts at equal intervals, and the rotating buckle assembly includes a rotating arm sleeved on the vertical shaft, a buckle block at the bottom of the rotating arm end, and a slide rod at the connection between the rotating arm and the buckle block. The slide bar extends into the corresponding inclined groove on the rotary drive ring; The side wall of the connecting cylinder is provided with a clearance groove for the buckle block to extend into.

[0014] Preferably, the bottom of the insertion post is provided with a limiting plate; The upper middle part of the plug is provided with a limiting post, and four sets of protrusions are distributed in a cross shape on the outer side of the limiting post. The sidewalls of the protrusions are provided with rubber buffer blocks. The limiting assembly includes a limiting ring seat sleeved on the outside of the four sets of protrusions, abutment plates equally spaced on the inner wall of the limiting ring seat, and contact arms equally spaced on the outer wall of the limiting ring seat. The abutment plates extend into the space between adjacent protrusions and are fixed to the rubber buffer block.

[0015] Preferably, the upper outer side of the plug-in post is provided with a downward sloping surface, and a screw hole is provided in the middle between the plug-in post and the limiting post; The conductive contact assembly includes an externally threaded cylinder screwed into a screw hole and a top cover fixed to the upper end of the externally threaded cylinder. The outer diameter of the top cover and the plug-in post is the same as the inner diameter of the connecting cylinder. The lower outer side of the top cover is provided with an upper sloping surface, and an annular snap-fit ​​groove is formed between the top cover and the plug-in post; The top cover is provided with an inner annular conductive sheet and an outer annular conductive sheet, and the bottom of the conductive post is in contact with the upper end of the inner annular conductive sheet and the outer annular conductive sheet, respectively.

[0016] The present invention also provides a welding method for assembling a robotic welding device in a ship, specifically including the following steps: S1. Place the parts to be welded on the welding table and clamp and fix them in place. S2. The moving frame is adjusted forward and backward along the welding table, the moving seat is adjusted left and right along the top of the moving frame, and the lifting component is adjusted up and down. S3. Then the robotic arm moves the welding torch to adjust its position and welds the parts to be welded using the welding torch.

[0017] Compared with the prior art, the beneficial effects of the present invention are: This invention adopts a design that converts the rotational motion of the rotary drive ring into the opening and closing motion of the rotary buckle assembly. The operator only needs to rotate the rotary drive ring, and through the cooperation of the inclined groove and the slide bar, the buckle block can be driven to extend into or exit the annular buckle groove to complete the locking and unlocking of the robotic arm. No additional tools are required, and the disassembly and assembly time is shortened compared to the bolt fastening method.

[0018] The snap-fit ​​block engages with the annular snap-fit ​​groove to fix the robotic arm axially, preventing it from moving up and down during welding. The cross-shaped protrusions on the outer side of the limiting post cooperate with the abutment plate on the inner wall of the limiting ring seat to achieve circumferential limiting of the robotic arm and eliminate the risk of rotational deviation.

[0019] The rubber buffer block is filled between the protrusion and the abutment plate, which can absorb welding vibration and prevent the connection structure from loosening. At the same time, the snap block abuts against the contact arm to form a secondary limit, preventing the snap block from rotating excessively and dislodging from the annular snap groove, further improving the connection reliability and solving the pain points of traditional structures being prone to loosening and displacement due to vibration.

[0020] The system achieves simultaneous mechanical connection and electrical conductivity, simplifying the operation process. The conductive contact component is integrated into the upper end of the plug-in post. When the robotic arm locks the connection in place using the snap-fit ​​structure, the inner and outer conductive posts inside the connecting cylinder make precise contact with the inner and outer annular conductive plates of the top cover, respectively, automatically enabling power supply. During disassembly, the conductive contact disconnects simultaneously as the snap-fit ​​unlocks, eliminating the need for additional operation of the conductive connector. This solves the cumbersome problem of separate mechanical connection and electrical conductivity operations in traditional structures, ensuring the continuity of welding operations. Attached Figure Description

[0021] Figure 1 This is a first three-dimensional structural diagram of the entire invention; Figure 2 This is a three-dimensional structural diagram of the connection between the base and the movable frame of the present invention; Figure 3 This is a three-dimensional structural diagram of the assembly of the movable base, movable frame, sliding base and connecting frame of the present invention; Figure 4 This is a three-dimensional structural diagram of the assembly of the movable base, connecting frame, and sliding base of the present invention; Figure 5 This is an exploded structural diagram of the robotic arm, lifting assembly, and sliding base assembly of the present invention; Figure 6 This is a structural schematic diagram of the connecting cylinder and lifting seat of the present invention; Figure 7 This is a schematic diagram of the structure of the rotary drive ring of the present invention; Figure 8 This is a schematic diagram of the structure of the conductive contact assembly of the present invention; Figure 9 This is a schematic diagram of the rotating buckle assembly of the present invention; Figure 10 This is a schematic diagram of the structure of the limiting component of the present invention; Figure 11 A schematic diagram illustrating the structure of the insertion post and rubber buffer block of the present invention; Figure 12 This is an exploded structural diagram of the assembly of the rotary drive ring, conductive contact component, rotating buckle component, limiting component and plug-in post of the present invention. Figure 13 This is a schematic diagram of the limiting component and the insertion post when the rotating buckle assembly of the present invention achieves buckling; Figure 14This is a schematic diagram of the conductive contact component, limiting component, and insertion post when the rotating buckle assembly of the present invention achieves buckling; Figure 15 This is a schematic diagram of the structure of the rotary drive ring, conductive contact component, limiting component and plug-in post when the rotary buckling assembly of the present invention achieves buckling; Figure 16 This is a three-dimensional structural diagram of the robotic arm of the present invention assembled with a lifting component and a sliding base; Figure 17 This is a second three-dimensional structural diagram of the entire invention.

[0022] In the diagram: 1. Welding table; 2. Slide groove; 3. Base; 4. Bottom motor; 5. Bottom drive wheel; 6. Moving frame; 7. Robotic arm; 8. Welding torch; 10. Lifting assembly; 1001. Vertical guide rod; 1002. Piston rod; 1003. Connecting cylinder; 10031. Inner conductive column; 10032. Outer conductive column; 1004. Vertical shaft; 1005. Clearance slot; 1006. Lifting seat; 1007. Rotary drive ring; 1008. Conductive contact assembly; 10081. Top cover; 10082. Upper slope; 10083. External threaded cylinder; 10084. Outer annular conductive sheet; 10085. Inner annular conductive sheet ; 1009, Rotating arm; 1010, Limiting ring seat; 10101, Contact arm; 10102, Abutting plate; 1011, Insertion post; 1012, Inclined groove; 1013, Slide rod; 1014, Buckle block; 1015, Screw hole; 1016, Limiting plate; 1017, Lower slope surface; 1018, Limiting post; 1019, Protrusion; 1020, Rubber buffer block; 11, Connecting frame; 1101, Connecting plate; 1102, Vertical plate; 12, Lifting cylinder; 13, Top motor; 14, Moving seat; 15, Slide seat; 16, Horizontal smooth rod; 17, Sliding groove; 18, Top drive wheel; 19, Sliding seat; 20, Slider. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] Example: Please see Figures 1-17 The present invention provides a technical solution: A welding device for assembling robots in ships includes a welding table 1 for placing parts to be welded, a movable frame 6 that can move back and forth on the welding table 1, symmetrical sliding grooves 2 on the upper end of the welding table 1, a base 3 at the bottom of the movable frame 6, a slide seat 15 that slides into the sliding groove 2 at the lower middle part of the base 3, and a bottom drive wheel 5 located on the upper end of the welding table 1 on the inner side of the base 3, the bottom drive wheel 5 being driven by a bottom motor 4 fixed on the outer side of the base 3.

[0025] The sliding groove 2 of the welding table 1 and the sliding seat 15 of the base 3 slide together to provide precise guidance for the forward and backward movement of the moving frame 6 and avoid deviation during the movement. At the same time, the bottom drive wheel 5 on the inner side of the base 3 contacts the upper surface of the welding table 1 and is driven by the bottom motor 4, forming a dual structure of "guidance + drive" to ensure that the moving frame 6 moves smoothly and is positioned accurately, and can be adapted to the welding needs of parts of different lengths and specifications.

[0026] The bottom drive wheel 5 sits on the upper end of the welding table 1. Combined with the sliding support of the slide block 15 and the slide groove 2, the weight of the moving frame 6 is evenly distributed on the welding table 1, reducing the stress load on a single support point and preventing the moving frame 6 from deforming when carrying components such as the robotic arm 7 and the welding torch 8, thus ensuring the overall structural stability.

[0027] The movable frame 6 is provided with a movable seat 14 that can move left and right. The upper middle part of the movable frame 6 is provided with a sliding groove 17. The lower end of the movable seat 14 is provided with left and right symmetrical sliders 20. The sliders 20 slide in the sliding groove 17. The front and rear sides of the movable seat 14 are provided with top drive wheels 18. The top drive wheels 18 are located on the upper end of the movable frame 6 and are driven by a top motor 13 fixed on the side of the movable seat 14.

[0028] The sliding groove 17 at the upper end of the movable frame 6 and the slider 20 at the lower end of the movable seat 14 slide together to form a precise guide channel in the left and right directions, which restricts the circumferential rotation of the movable seat 14 and ensures that the movable seat 14 only moves in a straight line along the sliding groove 17, thereby improving the accuracy of the left and right positioning of the welding torch 8.

[0029] The top drive wheels 18 on the front and rear sides of the movable seat 14 are located on the upper end of the movable frame 6 and are driven by the top motor 13. The drive wheels have a large contact area with the upper surface of the movable frame 6, and the friction is stable, which can realize the smooth and fast movement of the movable seat 14. At the same time, the dual drive wheels are symmetrically arranged, so that the movable seat 14 is subjected to balanced force, avoiding jamming or deviation during the movement and improving the adjustment efficiency.

[0030] The bottom of the movable seat 14 is fixed with a sliding seat 19 by a connecting frame 11. The connecting frame 11 includes a connecting plate 1101 fixed to the bottom of the two sets of sliders 20 and vertical plates 1102 symmetrically arranged on the left and right sides of the lower end of the connecting plate 1101. The lower end of the vertical plate 1102 is fixed to the upper end of the sliding seat 19.

[0031] The connecting plate 1101 of the connecting frame 11 is fixed to the bottom of the slider 20, and the vertical plate 1102 is fixed to the upper end of the sliding seat 19, forming a rigid connection structure of "supporting the moving seat 14 above and connecting the sliding seat 19 below". The connection points are evenly distributed, which can effectively transmit the power of the moving seat 14 and drive the sliding seat 19 to move synchronously, avoiding displacement deviation caused by loose connection.

[0032] The horizontal guide rod 16 inside the movable frame 6 passes through the sliding seat 19; it plays an auxiliary guiding role in the horizontal movement of the sliding seat 19, restricts the vertical swaying of the sliding seat 19, and keeps the sliding seat 19 in a horizontal state when it moves with the movable seat 14, providing a stable foundation support for the subsequent vertical adjustment of the lifting assembly 10.

[0033] Below the sliding seat 19 is a lifting assembly 10 that can move up and down. A lifting cylinder 12 is fixed in the middle of the upper end of the moving seat 14. The piston rod 1002 at the output end of the lifting cylinder 12 passes through the moving seat 14, the connecting frame 11 and the sliding seat 19 in sequence and is fixed in the middle of the upper end of the lifting seat 1006.

[0034] The lifting assembly 10 has a robotic arm 7 fixed at its bottom, and a welding torch 8 is provided at the bottom end of the robotic arm 7. The lifting assembly 10 includes a lifting seat 1006, a connecting cylinder 1003 fixed at the middle of the lower end of the lifting seat 1006, a rotating drive ring 1007 screwed to the outside of the connecting cylinder 1003, several sets of rotating buckle assemblies rotatably connected to the outside of the lower end of the lifting seat 1006, a plug-in post 1011 fixed at the top of the robotic arm 7, a conductive contact assembly 1008 screwed to the center of the top of the plug-in post 1011, and a limiting assembly sleeved on the outside of the top of the plug-in post 1011. Vertical light rods 1001 penetrating the sliding seat 19 are provided at the four corners of the upper end of the lifting seat 1006.

[0035] The vertical guide rods 1001 at the four corners of the upper end of the lifting seat 1006 pass through the sliding seat 19, forming a "four-point guide + center drive" structure with the piston rod 1002 of the lifting cylinder 12. This ensures that the up and down movement of the lifting seat 1006 is always in the vertical direction, avoiding tilting or deviation during the lifting process. At the same time, the vertical guide rods 1001 can share the force of the piston rod 1002, reducing the risk of bending deformation of the piston rod 1002 and extending the service life of the lifting cylinder 12.

[0036] The lower end of the lifting seat 1006 is circular and has vertical shafts 1004 at equal intervals. The rotating buckle assembly includes a rotating arm 1009 sleeved on the vertical shaft 1004, a buckle block 1014 at the bottom of the end of the rotating arm 1009, and a slide rod 1013 at the connection between the rotating arm 1009 and the buckle block 1014. The slide rod 1013 extends into the corresponding inclined groove 1012 on the rotating drive ring 1007. The side wall of the connecting cylinder 1003 is provided with an avoidance groove 1005 for the buckle block 1014 to extend into.

[0037] The bottom of the plug-in post 1011 is provided with a limiting plate 1016, and the upper middle part of the plug-in post 1011 is provided with a limiting post 1018. The outer side of the limiting post 1018 is provided with four sets of protrusions 1019 in a cross shape. The side wall of the protrusions 1019 is provided with rubber buffer blocks 1020. The limiting component includes a limiting ring seat 1010 sleeved on the outer side of the four sets of protrusions 1019, an abutment plate 10102 provided at equal intervals on the inner wall of the limiting ring seat 1010, and a contact arm 10101 provided at equal intervals on the outer wall of the limiting ring seat 1010. The abutment plate 10102 extends into the space between adjacent protrusions 1019 and is fixed with the rubber buffer block 1020.

[0038] A rubber buffer block 1020 is provided on the side wall of the protrusion 1019 on the outer side of the limiting post 1018. It fits against the abutment plate 10102 of the limiting component and can play a buffering role during the connection of the robotic arm 7, reducing the impact force during insertion and protecting the connection structure between the insertion post 1011 and the connecting cylinder 1003. At the same time, the cooperation between the protrusion 1019 and the abutment plate 10102 achieves circumferential limiting, preventing the robotic arm 7 from rotating and deviating during operation. The abutment plate 10102 of the limiting ring seat 1010 extends between adjacent protrusions 1019 and is fixed with the rubber buffer block 1020. On the one hand, it can achieve precise circumferential limiting of the insertion post 1011, preventing the robotic arm 7 from rotating due to vibration during welding and ensuring the positioning accuracy of the welding torch 8. On the other hand, the rubber buffer block 1020 can absorb the vibration generated during welding, reduce the impact of vibration on the connection structure, and extend the service life of the components.

[0039] The upper outer side of the plug post 1011 is provided with a lower slope surface 1017. The middle part between the plug post 1011 and the limiting post 1018 is provided with a screw hole 1015. The conductive contact assembly 1008 includes an external threaded cylinder 10083 screwed into the screw hole 1015 and a top cover 10081 fixed at the upper end of the external threaded cylinder 10083. The outer diameter of the top cover 10081 and the plug post 1011 is the same as the inner diameter of the connecting cylinder 1003. The lower outer side of the top cover 10081 is provided with an upper slope surface 10082. An annular snap-fit ​​groove is formed between the top cover 10081 and the plug post 1011.

[0040] The lower slope 1017 of the plug post 1011 and the upper slope 10082 of the top cover 10081 are designed so that the latching block 1014 can smoothly enter the annular latching groove after it rotates.

[0041] The top cover 10081 is provided with an inner annular conductive sheet 10085 and an outer annular conductive sheet 10084, and the bottom of the conductive post is in contact with the upper ends of the inner annular conductive sheet 10085 and the outer annular conductive sheet 10084 respectively.

[0042] The conductive post includes an inner conductive post 10031 and an outer conductive post 10032. The bottom of the outer conductive post 10032 is in contact with the upper end of the outer annular conductive sheet 10084, and the bottom of the inner conductive post 10031 is in contact with the upper end of the inner annular conductive sheet 10085.

[0043] The plug-in post 1011 is inserted into the connecting cylinder 1003, and after the rotation drive ring 1007 is locked, it drives the rotating buckle assembly to rotate and abut against the limiting assembly, thereby achieving the snap-fit ​​and fixation of the plug-in post 1011. The conductive contact assembly 1008 contacts the conductive post in the connecting cylinder 1003 to achieve power supply to the robotic arm 7.

[0044] The lifting assembly 10 adopts a locking method in which the rotating drive ring 1007 drives the rotating buckle assembly. Through the cooperation of the inclined groove 1012 and the slide bar 1013, the rotational motion is converted into the opening and closing motion of the rotating arm 1009, so as to realize the quick connection and disassembly of the robotic arm 7, which facilitates the maintenance, replacement or repair of the robotic arm 7. Meanwhile, the snap-fit ​​block 1014 and the annular snap-fit ​​groove fit together, and combined with the circumferential limiting of the limiting component, so that the connection of the robotic arm 7 has both axial fixation and circumferential positioning, avoiding shaking or rotation during the welding process and ensuring welding accuracy.

[0045] The steps for connecting and disconnecting the robotic arm 7 from the lifting assembly 10 and the sliding base 19 are as follows: (a) Connection steps: Step 1: Preparation.

[0046] Ensure that the lifting assembly 10 is in the initial unlocked state, that is, the rotating drive ring 1007 is not locked, and at this time the buckle block 1014 of the rotating buckle assembly is not inserted into the connecting cylinder 1003 (it is in the initial position outside the clearance slot 1005). Check that the conductive contact assembly 1008 is screwed and fixed in the screw hole 1015 at the upper end of the plug post 1011, and that the limiting assembly is stably sleeved on the protrusion 1019 on the outer side of the top of the plug post 1011.

[0047] Step 2: Initial docking.

[0048] The lifting cylinder 12 drives the lifting seat 1006 to descend, aligning the plug 1011 at the top of the robotic arm 7 with the lower opening of the connecting cylinder 1003 of the lifting assembly 10, and slowly pushes the robotic arm 7 upward, so that the upper end of the plug 1011 and the conductive contact assembly 1008 are gradually inserted into the connecting cylinder 1003. During this process, the lower slope surface 1017 at the upper end of the insertion post 1011 and the lower opening of the connecting cylinder 1003 form a guide, facilitating smooth insertion.

[0049] Step 3: Limiting and adapting.

[0050] When the limiting post 1018 at the top of the plug-in post 1011 extends into the connecting cylinder 1003, the cross-shaped protrusions 1019 on the outer side of the limiting post 1018 precisely match the abutment plate 10102 of the limiting component. The abutment plate 10102 extends between adjacent protrusions 1019 and fits against the rubber buffer block 1020 on the side wall of the protrusion 1019, thereby achieving circumferential limiting of the plug-in post 1011 in the connecting cylinder 1003 and preventing rotational displacement, until the limiting plate 1016 is tightly against the bottom of the connecting cylinder 1003, the height of the annular snap groove is consistent with the height of the clearance through groove 1005, the bottom of the outer conductive post 10032 initially contacts the upper end of the outer annular conductive sheet 10084, and the bottom of the inner conductive post 10031 initially contacts the upper end of the inner annular conductive sheet 10085.

[0051] Step 4: Lock and secure.

[0052] The rotating drive ring 1007 on the outside of the rotating connecting cylinder 1003 rotates because the slide rod 1013 of the rotating buckle assembly extends into the inclined groove 1012 of the rotating drive ring 1007. The rotation of the rotating drive ring 1007 causes the inclined groove 1012 to squeeze the slide rod 1013, causing the rotating arm 1009 to rotate around the vertical axis 1004 toward the center of the connecting cylinder 1003. The latching block 1014 at the end of the rotating arm 1009 passes through the clearance groove 1005 on the side wall of the connecting cylinder 1003 and extends into the annular latching groove formed between the conductive contact assembly 1008 and the plug post 1011, thus completing the axial latching and fixing of the plug post 1011. At this time, the latching block 1014 abuts against the contact arm 10101, causing the limiting ring seat 1010 to rotate outside the limiting post 1018. The abutment plate 10102 squeezes the rubber buffer block 1020 until the rubber buffer block 1020 no longer deforms and the limiting ring seat 1010 no longer rotates. This causes the contact arm 10101 on the limiting ring seat 1010 to limit the latching block 1014. After the latching block 1014 is inserted into the annular latching groove, it no longer rotates, thus preventing the latching block 1014 from rotating excessively and moving out of the annular latching groove. The outer conductive post 10032 and the inner conductive post 10031 on the top cover 10081 are in complete contact with the outer annular conductive sheet 10084 and the inner annular conductive sheet 10085 inside the connecting cylinder 1003, respectively, to achieve power supply.

[0053] Step 5: Check and confirm. Confirm that the rotary drive ring 1007 is fully locked, the latching block 1014 fits tightly with the annular latching groove, the robotic arm 7 does not wobble, the electrical contact is good, and the connection process is complete.

[0054] (II) Disassembly Steps Step 1: Unlocking preparation.

[0055] Power supply to the external conductive post 10032 and the internal conductive post 10031 is stopped, and the robotic arm 7 is in a power-off state. The lifting cylinder 12 drives the lifting seat 1006 to descend slightly, so that the robotic arm 7 is in a stress-free state, which facilitates subsequent disassembly operations.

[0056] Step 2: Loosen the locking mechanism.

[0057] The reverse rotation drive ring 1007 rotates, and the inclined groove 1012 of the rotation drive ring 1007 drives the slide rod 1013 to move outward of the connecting cylinder 1003, thereby driving the rotating arm 1009 to rotate outward around the vertical axis 1004. The latching block 1014 at the end of the rotating arm 1009 gradually exits the annular latching groove, passes through the clearance groove 1005 and returns to the initial position, releasing the axial restriction on the plug-in post 1011.

[0058] Step 3: Separate the docking structure.

[0059] Slowly pull the robotic arm 7 downwards to gradually remove the plug post 1011 and the conductive contact assembly 1008 from the connecting cylinder 1003; during this process, the conductive contact assembly 1008 breaks contact with the conductive post inside the connecting cylinder 1003.

[0060] Step 4: Complete disassembly.

[0061] Once the plug-in post 1011 is completely detached from the connecting cylinder 1003, the disassembly process is complete. Move the robotic arm 7 to the designated storage location and check whether the locking block 1014, the rotary drive ring 1007, and other structures of the lifting assembly 10 are intact, in preparation for the next connection.

[0062] The present invention also provides a welding method for assembling a robotic welding device in a ship, specifically including the following steps: S1. Place the parts to be welded on the welding table 1 and clamp and fix them in place. S2. The moving frame 6 is adjusted back and forth along the welding table 1, the moving seat 14 is adjusted left and right along the top of the moving frame 6, and the lifting assembly 10 is adjusted up and down. S3. Then, the robotic arm 7 moves the welding torch 8 to adjust its position and welds the parts to be welded through the welding torch 8.

[0063] Specifically, when using it: The core working logic of the assembly robot welding device in this vessel is to achieve precise positioning of the welding torch 8 through a multi-dimensional position adjustment mechanism. Combined with a stable robotic arm 7 installation structure and power supply, it completes the automated welding operation of the parts to be welded. The overall workflow can be divided into two main stages: positioning and adjustment, and welding execution. The synergistic effects of each structure are as follows: (I) Initial Positioning and Adjustment Phase: 1. Foundation Fixing: First, place the parts to be welded on welding table 1. Fix the parts using the clamping structure provided with welding table 1 to prevent displacement of the parts during welding and thus avoid welding deviation.

[0064] 2. Front and rear position adjustment: The upper end of the welding table 1 is symmetrically provided with sliding grooves 2, and the lower end of the base 3 of the bottom of the moving frame 6 is provided with a sliding seat 15. The sliding seat 15 slides into the sliding groove 2 to form a guide structure for the front and rear movement of the moving frame 6. At the same time, the inner side of the base 3 is provided with a bottom drive wheel 5 located on the upper end of the welding table 1. The bottom motor 4 (fixed to the outside of the base 3) drives the bottom drive wheel 5 to rotate. With the friction between the bottom drive wheel 5 and the upper surface of the welding table 1, the moving frame 6 moves back and forth along the sliding groove 2 to achieve the initial positioning of the welding torch 8 in the front and rear direction.

[0065] 3. Left and right position adjustment: The upper middle part of the movable frame 6 is provided with a sliding groove 17. The left and right symmetrical sliders 20 at the lower end of the movable seat 14 slide in the sliding groove 17 to provide guidance for the left and right movement of the movable seat 14. The front and rear sides of the movable seat 14 are provided with top drive wheels 18. The top drive wheels 18 are located on the upper end of the movable frame 6. The top motor 13 (fixed to the side of the movable seat 14) drives the top drive wheels 18 to rotate, which drives the movable seat 14 to move left and right along the sliding groove 17, thereby realizing the positioning adjustment of the welding torch 8 in the left and right direction.

[0066] 4. Vertical position adjustment: The bottom of the movable seat 14 is fixed to the sliding seat 19 by the connecting frame 11. The connecting frame 11 consists of a connecting plate 1101 (fixed to the bottom of the two sets of sliders 20) and a vertical plate 1102 (symmetrically arranged at the lower end of the connecting plate 1101 and fixed to the upper end of the sliding seat 19) to achieve a stable connection between the movable seat 14 and the sliding seat 19. The horizontal light rod 16 inside the movable frame 6 passes through the sliding seat 19 to ensure the horizontal stability of the sliding seat 19 when it moves with the movable seat 14.

[0067] The lifting assembly 10 is located below the sliding seat 19. The piston rod 1002 of the lifting cylinder 12, which is fixed at the middle of the upper end of the moving seat 14, passes through the moving seat 14, the connecting frame 11 and the sliding seat 19 in sequence and is then fixed at the middle of the upper end of the lifting seat 1006. The vertical guide rods 1001 at the four corners of the upper end of the lifting seat 1006 pass through the sliding seat 19 to form a lifting guide structure. The extension and retraction of the lifting cylinder 12 drives the piston rod 1002 to move the lifting seat 1006 up and down along the vertical guide rod 1001, thereby driving the robotic arm 7 and the welding torch 8, which are fixed to the bottom of the lifting assembly 10, to complete the up and down position adjustment.

[0068] (II) Welding Execution Stage: After three-dimensional positional adjustments (front-back, left-right, and up-down), the robotic arm 7 moves the welding torch 8 to the welding position according to the preset welding program. During this process, the lifting assembly 10 not only provides fixed support for the robotic arm 7, but its internal conductive contact assembly 1008 also contacts the conductive post inside the connecting cylinder 1003, providing a stable power supply to the robotic arm 7 and the welding torch 8, ensuring the smooth progress of the welding operation. At the same time, the snap-fit ​​fixing structure of the lifting assembly 10 ensures that the robotic arm 7 does not shift during the welding process, guaranteeing welding accuracy. Finally, the welding operation of the part to be welded is completed by the welding torch 8.

[0069] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A shipbuilding robot welding installation comprising a welding table for placing parts to be welded, characterized in that: The welding table is provided with a movable frame movable forward and backward, the movable frame is provided with a movable seat movable left and right, the bottom of the movable seat is fixed with a sliding seat through a connecting frame, and a horizontal light rod in the movable frame penetrates through the sliding seat; A lifting assembly movable upward and downward is arranged below the sliding seat, a mechanical arm is fixed at the bottom of the lifting assembly, and a welding gun is arranged at the bottom end of the mechanical arm; The lifting assembly comprises a lifting seat, a connecting cylinder fixed at the middle of the lower end of the lifting seat, a rotating drive ring screwed on the outer side of the connecting cylinder, a plurality of rotating buckle assemblies rotatably connected to the outer side of the lower end of the lifting seat, an insertion column fixed at the top of the mechanical arm, a conductive contact assembly centrally screwed at the top of the insertion column, and a limiting assembly sleeved on the outer side of the top of the insertion column; The insertion column is inserted into the connecting cylinder, and after the rotating drive ring is locked, the rotating buckle assemblies are driven to rotate and abut against the limiting assembly, the insertion column is clamped and fixed, the conductive contact assembly is in contact with the conductive column in the connecting cylinder, and the mechanical arm is powered.

2. A robot welding apparatus for use in the assembly of a marine vessel according to claim 1, characterised in that: The upper end of the welding table is provided with a chute symmetrically arranged left and right, the bottom of the movable frame is provided with a base, the middle of the lower end of the base is provided with a sliding seat slidably arranged in the chute, and the inner side of the base is provided with a bottom driving wheel arranged on the upper end of the welding table, and the bottom driving wheel is driven by a bottom motor fixed on the outer side of the base.

3. A robot welding apparatus for use in the assembly of a marine vessel according to claim 1, characterised in that: The upper end of the movable frame is provided with a sliding through groove, and the lower end of the movable seat is provided with left and right symmetric sliding blocks slidably arranged in the sliding through groove; The movable seat is provided with top driving wheels symmetrically arranged left and right on the front and rear sides, the top driving wheels are arranged on the upper end of the movable frame, and the top driving wheels are driven by top motors fixed on the side edges of the movable seat.

4. A robot welding apparatus for use in the assembly of a marine vessel according to claim 3, characterised in that: The connecting frame comprises a connecting plate fixed on the bottom of the two groups of sliding blocks and vertical plates symmetrically arranged left and right at the lower end of the connecting plate, and the lower end of the vertical plate is fixed on the upper end of the sliding seat.

5. A robotic welding apparatus for use in the assembly of a marine vessel as claimed in claim 1 wherein: The upper end of the movable seat is fixed with a lifting cylinder, and the piston rod of the output end of the lifting cylinder penetrates through the movable seat, the connecting frame and the sliding seat in sequence and is fixed on the upper end of the lifting seat.

6. A robotic welding apparatus for use in the assembly of a marine vessel as claimed in claim 1 wherein: The upper end of the lifting seat is provided with a vertical light rod penetrating through the sliding seat.

7. A robotic welding apparatus for use in the assembly of a marine vessel as claimed in claim 1 wherein: The lower end of the lifting seat is circular and is provided with vertical shafts at equal intervals, the rotating buckle assembly comprises a rotating arm sleeved on the vertical shaft, a buckle block arranged at the bottom end of the rotating arm, and a sliding rod arranged at the connection between the rotating arm and the buckle block; The sliding rod extends into the corresponding inclined groove on the rotating drive ring; The sidewall of the connecting cylinder is provided with an avoidance through groove for the buckle block to extend into.

8. A robotic welding apparatus for use in the assembly of a marine vessel as claimed in claim 1 wherein: The bottom of the insertion column is provided with a limiting disc; The upper end of the insertion column is provided with a limiting column, four groups of protrusions are distributed in a cross shape on the outer side of the limiting column, and rubber buffer blocks are arranged on the sidewalls of the protrusions; The limiting assembly comprises a limiting ring seat sleeved on the outer side of the four groups of protrusions, abutting plates arranged at equal intervals on the inner wall of the limiting ring seat, and contact arms arranged at equal intervals on the outer wall of the limiting ring seat, the abutting plates extend into the adjacent protrusions and are fixed with the rubber buffer blocks.

9. A robot welding apparatus for use in the assembly of a marine vessel according to claim 8, characterised in that: The upper end of the insertion column is provided with a lower inclined surface, and the middle between the insertion column and the limiting column is provided with a threaded hole; The conductive contact assembly comprises an external thread cylinder screwed in the threaded hole and a top cover fixed on the upper end of the external thread cylinder, the outer diameter of the top cover and the insertion column is consistent with the inner diameter of the connecting cylinder; The lower end of the top cover is provided with an upper inclined surface, and the top cover and the insertion column form an annular buckle groove therebetween. The top of the top cover is provided with an inner annular conductive sheet and an outer annular conductive sheet, and the bottom of the conductive column is in contact with the upper end of the inner annular conductive sheet and the outer annular conductive sheet respectively.

10. A method of welding based on the modular robot welding apparatus of any one of the preceding claims 1-9, characterized by: Specifically comprising the following steps: S1, placing the to-be-welded part on the welding table and clamping and fixing the to-be-welded part; S2, adjusting the position of the moving frame forward and backward along the welding table, adjusting the position of the moving seat left and right along the top of the moving frame, and adjusting the position of the lifting assembly up and down; S3, then adjusting the position of the welding gun by the mechanical arm, and welding the to-be-welded part by the welding gun.

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