Robotic automatic laser welding system for ship pressure water tank

Abstract

This invention relates to the field of marine pressure water tank welding systems, and more particularly to a robotic automatic laser welding system for marine pressure water tanks. The technical solution includes a central control system, an industrial robot, a laser welding head, a weld seam vision tracking module, a pressure water tank positioning fixture, a base, and welding dust removal and protection components. The pressure water tank positioning fixture is used to fix the marine pressure water tank to be welded. The weld seam vision tracking module, laser welding head, and industrial robot are all electrically connected to the central control system. A longitudinal seam welding roller frame and a circumferential seam welding roller frame are installed on the base. This invention, by employing robotic laser welding, achieves high welding speed, low heat input, minimal workpiece deformation, and eliminates the need for straightening; it also eliminates spatter and grinding, resulting in lower material consumption and cost. Combined with the weld seam tracking module, the welding trajectory is precise, the quality is stable, there is minimal dust and no strong arc light, making the operation safer. It is suitable for welding various specifications of marine pressure water tanks.

Description

Technical Field

[0001] This invention relates to the field of welding systems for marine pressure water tanks, and more particularly to a robotic automatic laser welding system for marine pressure water tanks. Background Technology

[0002] Marine pressure tanks are the core pressure-bearing equipment in a ship's freshwater supply and ballast system. The welding quality of key welds such as the circumferential seam of the cylinder and the fillet weld of the flange directly determines the equipment's sealing performance, structural strength, and compliance with classification society certifications. This is a core process in ship equipment manufacturing.

[0003] Currently, the welding production of marine pressure tanks still mainly relies on manual arc welding and semi-automatic gas shielded welding, which are highly dependent on the welder's experience. This results in poor weld uniformity, defects such as porosity, slag inclusions, and incomplete penetration, large fluctuations in pressure-bearing and sealing performance, and a persistently high rework rate. Manual welding operations are inefficient, labor-intensive, and the high-temperature fumes and arc radiation can harm the health of operators, making it difficult to meet the needs of large-scale and standardized production of marine equipment.

[0004] Existing general-purpose automated welding equipment is not specifically optimized for the curved cylindrical bodies and multi-size structures of pressure water tanks. It lacks high-precision weld tracking and adaptive positioning functions, resulting in large welding trajectory deviations. While some laser welding equipment offers high precision, it lacks dedicated positioning fixtures, efficient dust removal, and water-cooling protection systems, leading to insufficient stability during continuous operation and an inability to achieve automatic welding path planning and production data traceability. Therefore, those skilled in the art have proposed a robotic automated laser welding system for marine pressure water tanks to address the problems mentioned in the background section. Summary of the Invention

[0005] The purpose of this invention is to address the problems existing in the background art by proposing an automated laser welding system for marine pressure water tanks.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an automated laser welding system for marine pressure water tanks, comprising a central control system, an industrial robot, a laser welding head, a weld seam vision tracking module, a pressure water tank positioning fixture, a base, and a welding dust removal and protection component; the laser welding head is installed at the end effector of the industrial robot, the pressure water tank positioning fixture is used to fix the marine pressure water tank to be welded, the weld seam vision tracking module, the laser welding head, and the industrial robot are all electrically connected to the central control system, the welding dust removal and protection component is arranged corresponding to the laser welding area, a longitudinal seam welding roller frame and a circumferential seam welding roller frame are provided above the base, and a laser and a chiller are provided at the upper end of the base.

[0007] Preferably, the positioning fixture for the pressure tank includes a slide, a longitudinal electromagnetic rail located at the upper end of the slide, an electromagnetic moving seat slidably installed on the outer wall of the longitudinal electromagnetic rail, and a clamping block located at one end of the electromagnetic moving seat and in contact with the outer wall of the marine pressure tank.

[0008] Preferably, the upper end of the base is provided with symmetrically distributed guide rails, the outer wall of the guide rails is slidably mounted with a slide block, the lower end of the slide block is provided with a slider slidably mounted on the outer wall of the guide rails, one end of the longitudinal electromagnetic track is provided with a lateral clamping cylinder, one end of the lateral clamping cylinder is provided with a hydraulic rod, and the telescopic end of the hydraulic rod is provided with a connecting block.

[0009] Preferably, both the longitudinal seam welding roller frame and the circumferential seam welding roller frame include a support frame and multiple sets of symmetrically distributed support wheels located at the upper end of the support frame, and the connecting block is fixed on the support frame.

[0010] Preferably, the support frame and support wheel of the longitudinal seam welding roller frame are reciprocatingly distributed, and the support frame and support wheel of the circumferential seam welding roller frame are laterally distributed. There are two sets of guide rails, and pressure water tank positioning fixtures are provided on both sides of the guide rails.

[0011] Preferably, each support frame is provided with a slider at its lower end, and the slider is fixed to the outer wall of the guide rail and fixed with hexagonal bolts through preset mounting holes, so that the position of the support frame can be adjusted when needed.

[0012] Preferably, the laser welding head is equipped with a laser with an output power of 1500W-3000W and an adaptively adjustable welding focal length. The welding dust removal and protection component includes a dust suction nozzle, a filter box, and a negative pressure fan. The dust suction nozzle is positioned directly in front of the area where welding fumes are generated, and the negative pressure fan is connected to the filter box to achieve fume purification.

[0013] Preferably, the weld seam visual tracking module is a CCD visual sensor, which collects the weld seam contour in real time and transmits it to the central control system to complete the deviation correction. The central control system has a built-in welding trajectory planning module, which generates the welding path based on the three-dimensional model of the pressure tank.

[0014] Preferably, the upper end of the laser is provided with a spiral buckle arranged in a ring array, the outer wall of the spiral buckle is wound with wiring, the heat dissipation port of the chiller is provided with a protective mesh cover, the front end of the chiller is provided with a filter screen, and the upper end of the base is provided with a cabinet for supporting the central control system.

[0015] Preferably, a support rod is provided on one side of the upper end of the laser, a laser cross positioning light is provided on the upper end of the support rod, and a support column for supporting the industrial robot is provided on the upper end of the base.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention replaces traditional manual and semi-manual welding with robotic laser welding, which is fast and has low heat input, significantly reducing workpiece deformation and eliminating the need for subsequent straightening processes. The welding process is spatter-free and requires no grinding, resulting in less material consumption and effectively reducing production costs. Combined with a CCD vision weld seam tracking and central control system, it can collect weld seam contours in real time and correct trajectory deviations. With the help of a 3D model to plan the welding path, it greatly improves welding accuracy and consistency, effectively avoiding defects such as porosity, slag inclusions, and incomplete penetration, thus meeting the sealing and strength requirements of marine pressure equipment. The system is equipped with a dedicated positioning fixture and a dual-mode roller frame, which can quickly clamp and fix pressure water tanks of various specifications. The positioning is accurate and highly adaptable. It is equipped with a dust removal and protection system and a water cooling system to purify welding fumes in real time, eliminate strong arc light, improve the working environment, ensure operational safety, and at the same time ensure the stable operation of the laser. This reduces labor intensity and rework rate, improves production efficiency and product qualification rate, and fully meets the needs of large-scale manufacturing of ship equipment. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention from a first perspective view; Figure 2 This is a schematic diagram of the three-dimensional structure from the second perspective of the present invention; Figure 3 This is a front-view three-dimensional structural diagram of the longitudinal electromagnetic track of the present invention; Figure 4 This is a front-view three-dimensional structural diagram of the industrial robot of the present invention; Figure 5 This is a partial top view of the three-dimensional structure of the support frame of the present invention; Figure 6 This is a top-view three-dimensional structural diagram of the laser, chiller, and central control system of the present invention. Figure 7 This is a front-view three-dimensional structural diagram of the support rod of the present invention.

[0018] Reference numerals: 1. Laser; 2. Chiller; 3. Central control system; 4. Industrial robot; 5. Laser crosshair positioning light; 6. Laser welding head; 7. Weld seam vision tracking module; 8. Longitudinal seam welding roller frame; 9. Circumferential seam welding roller frame; 10. Pressure water tank positioning fixture; 11. Base; 12. Lateral clamping cylinder; 13. Hydraulic rod; 14. Connecting block; 15. Slider; 16. Guide rail; 17. Slide seat; 18. Support column; 19. Support rod; 20. Wiring; 21. Winding buckle; 22. Protective net cover; 23. Filter screen; 24. Cabinet frame; 25. Support wheel; 26. Support frame; 27. Clamping block; 28. Longitudinal electromagnetic track; 29. ​​Electromagnetic moving seat. Detailed Implementation

[0019] 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.

[0020] Please see Figures 1 to 7 The present invention provides three embodiments: Example 1: The robotic automatic laser welding system for marine pressure water tanks includes a central control system 3, an industrial robot 4, a laser welding head 6, a weld seam vision tracking module 7, a pressure water tank positioning fixture 10, a base 11, and welding dust removal and protection components. The laser welding head 6 is installed at the end of the industrial robot 4. The pressure water tank positioning fixture 10 is used to fix the marine pressure water tank to be welded. The weld seam vision tracking module 7, the laser welding head 6, and the industrial robot 4 are all electrically connected to the central control system 3. The welding dust removal and protection components are arranged corresponding to the laser welding area. A longitudinal seam welding roller frame 8 and a circumferential seam welding roller frame 9 are set above the base 11. A laser 1 and a chiller 2 are set at the upper end of the base 11.

[0021] The pressure tank positioning fixture 10 includes a slide 17, a longitudinal electromagnetic rail 28 located at the upper end of the slide 17, an electromagnetic moving seat 29 slidably installed on the outer wall of the longitudinal electromagnetic rail 28, and a clamping block 27 located at one end of the electromagnetic moving seat 29 and attached to the outer wall of the marine pressure tank.

[0022] The upper end of the base 11 is provided with symmetrically distributed guide rails 16, and a slide block 17 is slidably installed on the outer wall of the guide rail 16. The lower end of the slide block 17 is provided with a slider 15 slidably installed on the outer wall of the guide rail 16. One end of the longitudinal electromagnetic track 28 is provided with a lateral clamping cylinder 12, and one end of the lateral clamping cylinder 12 is provided with a hydraulic rod 13. The telescopic end of the hydraulic rod 13 is provided with a connecting block 14.

[0023] Both the longitudinal seam welding roller frame 8 and the circumferential seam welding roller frame 9 include a support frame 26, multiple sets of symmetrically distributed support wheels 25 located at the upper end of the support frame 26, and a connecting block 14 fixed on the support frame 26.

[0024] The support frame 26 and support wheel 25 of the longitudinal seam welding roller frame 8 are reciprocatingly distributed, while the support frame 26 and support wheel 25 of the circumferential seam welding roller frame 9 are transversely distributed. There are two sets of guide rails 16, and pressure water tank positioning fixtures 10 are provided on both sides of the guide rails 16.

[0025] In this embodiment, during operation, the marine pressure tank is first hoisted to the base 11. Guide rails 16 are symmetrically arranged on the upper end of the base 11. The slide 17 of the pressure tank positioning fixture 10 forms a sliding engagement with the guide rails 16 through the bottom slider 15. The lateral clamping cylinder 12 is fixed to one end of the longitudinal electromagnetic track 28. The connecting block 14 of the extension end of its hydraulic rod 13 is fixed on the support frame 26. The support frame 26 remains fixed. The overall position of the pressure tank positioning fixture 10 is precisely adjusted by the extension and retraction of the hydraulic rod 13, so that the fixture is quickly aligned with the water tank to be welded. Then, the longitudinal electromagnetic track 28 is energized to drive the electromagnetic moving seat 29 to slide, which drives the end clamping block 27 to move closer to the outer wall of the water tank, so as to realize the synchronous clamping and fixing of both ends of the workpiece. According to the welding process requirements, the workpiece is placed on the longitudinal seam welding roller frame 8 or the circumferential seam welding roller frame 9, and the support frame 26 and the symmetrical support wheels 25 complete the stable support. After the positioning and clamping are completed, it enters the robot welding station.

[0026] The connecting block 14 is fixed to the fixed support frame 26. Based on rigid support, the hydraulic rod 13 of the lateral clamping cylinder 12 extends and retracts to realize the stepless position adjustment of the pressure water tank positioning fixture 10, replacing the traditional manual movement and ensuring that the fixture can be quickly matched with water tanks of different specifications. The longitudinal electromagnetic track 28 adopts the electromagnetic transmission principle to drive the electromagnetic moving seat 29 to drive the pressing block 27 to move smoothly, so that the pressing block 27 is flexibly attached to the outer wall of the water tank. The two ends are pressed simultaneously to realize the bidirectional fixation of the workpiece and avoid unilateral force deviation. The longitudinal seam and circumferential seam welding roller frame 9 both use the support frame 26 as a rigid carrier. Multiple sets of symmetrical support wheels 25 form a rolling support structure. The longitudinal seam roller frame is adapted to the straight weld seam support of the cylinder, and the circumferential seam roller frame is adapted to the circumferential weld seam rotation support. The structure eliminates the movement and misalignment of the workpiece during the welding process and ensures that the weld seam position is constant.

[0027] This system effectively solves the problems of low welding positioning accuracy, cumbersome clamping and adjustment, unstable workpiece fixation, and easy deformation of thin-walled structures in traditional marine pressure tanks. The connecting block 14 cooperates with the fixed support frame 26, and the hydraulic rod 13 extends and retracts to adjust the tooling position, solving the problems of difficult tooling relocation and time-consuming alignment in traditional systems, significantly improving clamping efficiency. The clamping blocks 27 at both ends fit tightly, and with the support of the dual-mode roller frame, completely eliminates the risk of workpiece swaying and weld misalignment. The positioning accuracy meets the welding requirements of marine pressure equipment. The combination of electromagnetic flexible clamping and pneumatic precise adjustment avoids scratches on the outer wall of the tank and deformation of the thin-walled cylinder caused by rigid clamping. It is adaptable to clamping marine pressure tanks of various diameters and lengths, significantly improving versatility. Overall, it achieves the technical advantages of precise positioning, efficient clamping, stable fixation, and strong adaptability, providing a stable and reliable workpiece clamping foundation for robotic laser welding, ensuring weld uniformity and equipment pressure-bearing sealing from the source.

[0028] Example 2: The robotic automatic laser welding system for marine pressure water tanks includes a central control system 3, an industrial robot 4, a laser welding head 6, a weld seam vision tracking module 7, a pressure water tank positioning fixture 10, a base 11, and welding dust removal and protection components. The laser welding head 6 is installed at the end of the industrial robot 4. The pressure water tank positioning fixture 10 is used to fix the marine pressure water tank to be welded. The weld seam vision tracking module 7, the laser welding head 6, and the industrial robot 4 are all electrically connected to the central control system 3. The welding dust removal and protection components are arranged corresponding to the laser welding area. A longitudinal seam welding roller frame 8 and a circumferential seam welding roller frame 9 are set above the base 11. A laser 1 and a chiller 2 are set at the upper end of the base 11.

[0029] The pressure tank positioning fixture 10 includes a slide 17, a longitudinal electromagnetic rail 28 located at the upper end of the slide 17, an electromagnetic moving seat 29 slidably installed on the outer wall of the longitudinal electromagnetic rail 28, and a clamping block 27 located at one end of the electromagnetic moving seat 29 and attached to the outer wall of the marine pressure tank.

[0030] The upper end of the base 11 is provided with symmetrically distributed guide rails 16, and a slide block 17 is slidably installed on the outer wall of the guide rail 16. The lower end of the slide block 17 is provided with a slider 15 slidably installed on the outer wall of the guide rail 16. One end of the longitudinal electromagnetic track 28 is provided with a lateral clamping cylinder 12, and one end of the lateral clamping cylinder 12 is provided with a hydraulic rod 13. The telescopic end of the hydraulic rod 13 is provided with a connecting block 14.

[0031] Both the longitudinal seam welding roller frame 8 and the circumferential seam welding roller frame 9 include a support frame 26, multiple sets of symmetrically distributed support wheels 25 located at the upper end of the support frame 26, and a connecting block 14 fixed on the support frame 26.

[0032] The support frame 26 and support wheel 25 of the longitudinal seam welding roller frame 8 are reciprocatingly distributed, while the support frame 26 and support wheel 25 of the circumferential seam welding roller frame 9 are transversely distributed. There are two sets of guide rails 16, and pressure water tank positioning fixtures 10 are provided on both sides of the guide rails 16.

[0033] Each support frame 26 has a slider 15 at its lower end, and the slider 15 is fixed to the outer wall of the guide rail 16 and fixed with hexagonal bolts through preset mounting holes. The position of the support frame 26 can be adjusted when needed.

[0034] The laser welding head 6 is equipped with a laser 1, which has an output power of 1500W-3000W and an adaptively adjustable welding focal length. The welding dust removal and protection components include a dust suction nozzle, a filter box, and a negative pressure fan. The dust suction nozzle is positioned directly in front of the area where welding fumes are generated, and the negative pressure fan is connected to the filter box to achieve fume purification.

[0035] The weld seam visual tracking module 7 is a CCD visual sensor. The CCD visual sensor collects the weld seam outline in real time and transmits it to the central control system 3 to complete the deviation correction. The central control system 3 has a built-in welding trajectory planning module, which generates the welding path based on the three-dimensional model of the pressure water tank.

[0036] In this embodiment, after completing the workpiece positioning and clamping, the welding preparation and welding process are initiated. First, according to the specifications of the marine pressure tank, the positions of the support frames 26 of the longitudinal seam welding roller frame 8 and the circumferential seam welding roller frame 9 are adjusted. The hex bolts between the slider 15 and the guide rail 16 are loosened, and the support frame 26 is slid along the guide rail 16 to the appropriate position and then re-locked to complete the precise positioning of the support position. Subsequently, the central control system 3 is powered on, and the built-in welding trajectory planning module retrieves the three-dimensional model of the pressure tank to generate a welding path matching the longitudinal seam or circumferential seam; the laser 1 is started and... The laser welding head 6 outputs a stable power of 1500W-3000W, adaptively adjusts the welding focal length, and the chiller 2 operates synchronously to ensure constant temperature operation of the laser 1. After welding starts, the negative pressure fan of the welding dust removal and protection component is turned on, and the dust removal nozzle sucks up the welding fumes in real time and transports them to the filter box for purification. The CCD vision sensor collects the weld contour data in real time, and the central control system 3 compares the preset trajectory with the actual weld deviation and sends correction instructions to the industrial robot 4 in real time. The robot drives the laser welding head 6 to complete high-precision welding, and no manual intervention is required throughout the process.

[0037] Relying on mechanical positioning adjustment, laser heat source output, negative pressure dust removal and purification, visual tracking correction, and intelligent trajectory planning, the support frame 26 achieves fixed and precise adjustment of the support position through the sliding pair of the slider 15 and the guide rail 16, combined with the locking of the internal hexagonal bolts, ensuring the concentricity of the support for water tanks of different sizes; the laser 1 adopts the principle of high-energy laser beam output, and the power range of 1500W-3000W can be matched to the welding of cylinders with different wall thicknesses. The adaptive focal length adjustment ensures that the laser focus is always aligned with the weld, and the penetration depth is precisely controlled. The dust removal component is based on the principle of negative pressure adsorption, with the suction nozzle facing the dust-generating area to collect smoke and dust on-site. The filter box completes the dust separation to avoid polluting the working environment. The CCD vision sensor collects the weld contour through optical imaging, converts the analog signal into a digital signal and transmits it to the central control system 3. The trajectory planning module generates the optimal path based on the three-dimensional model algorithm, and the deviation correction algorithm compensates for the workpiece assembly error in real time, realizing closed-loop intelligent control of the welding trajectory.

[0038] This system solves the problems of unstable welding parameters, large trajectory deviations, heavy smoke and dust pollution, low teaching efficiency, and uneven penetration depth in traditional marine pressure tank welding. Adaptive laser power and focal length adjustment replaces traditional manual parameter adjustments, ensuring consistent penetration depth that meets classification society pressure standards. Visual tracking and trajectory planning eliminate the need for manual point-to-point teaching, significantly shortening debugging time and resolving weld misalignment caused by workpiece assembly deviations. A negative pressure dust removal system provides real-time smoke and dust purification, improving the working environment and preventing dust hazards. The 26-position adjustable support frame adapts to welding various tank specifications without requiring tooling changes, enhancing equipment versatility. Overall, it boasts advantages such as precise welding parameters, intelligent trajectory correction, efficient dust removal, convenient debugging, and stable quality. By combining the high precision of laser welding with intelligent control, it comprehensively improves the welding efficiency and finished product qualification rate of marine pressure tanks, while reducing production energy consumption and labor costs.

[0039] Example 3: The robotic automatic laser welding system for marine pressure water tanks includes a central control system 3, an industrial robot 4, a laser welding head 6, a weld seam vision tracking module 7, a pressure water tank positioning fixture 10, a base 11, and welding dust removal and protection components. The laser welding head 6 is installed at the end of the industrial robot 4. The pressure water tank positioning fixture 10 is used to fix the marine pressure water tank to be welded. The weld seam vision tracking module 7, the laser welding head 6, and the industrial robot 4 are all electrically connected to the central control system 3. The welding dust removal and protection components are arranged corresponding to the laser welding area. A longitudinal seam welding roller frame 8 and a circumferential seam welding roller frame 9 are set above the base 11. A laser 1 and a chiller 2 are set at the upper end of the base 11.

[0040] The pressure tank positioning fixture 10 includes a slide 17, a longitudinal electromagnetic rail 28 located at the upper end of the slide 17, an electromagnetic moving seat 29 slidably installed on the outer wall of the longitudinal electromagnetic rail 28, and a clamping block 27 located at one end of the electromagnetic moving seat 29 and attached to the outer wall of the marine pressure tank.

[0041] The upper end of the base 11 is provided with symmetrically distributed guide rails 16, and a slide block 17 is slidably installed on the outer wall of the guide rail 16. The lower end of the slide block 17 is provided with a slider 15 slidably installed on the outer wall of the guide rail 16. One end of the longitudinal electromagnetic track 28 is provided with a lateral clamping cylinder 12, and one end of the lateral clamping cylinder 12 is provided with a hydraulic rod 13. The telescopic end of the hydraulic rod 13 is provided with a connecting block 14.

[0042] Both the longitudinal seam welding roller frame 8 and the circumferential seam welding roller frame 9 include a support frame 26, multiple sets of symmetrically distributed support wheels 25 located at the upper end of the support frame 26, and a connecting block 14 fixed on the support frame 26.

[0043] The support frame 26 and support wheel 25 of the longitudinal seam welding roller frame 8 are reciprocatingly distributed, while the support frame 26 and support wheel 25 of the circumferential seam welding roller frame 9 are transversely distributed. There are two sets of guide rails 16, and pressure water tank positioning fixtures 10 are provided on both sides of the guide rails 16.

[0044] The upper end of the laser 1 is provided with a ring array of winding buckles 21, and the outer wall of the winding buckles 21 is wound with wiring 20. The heat dissipation port of the chiller 2 is provided with a protective mesh cover 22. The front end of the chiller 2 is provided with a filter screen 23. The upper end of the base 11 is provided with a cabinet frame 24 for supporting the central control system 3.

[0045] A support rod 19 is provided on one side of the upper end of the laser 1, and a laser cross positioning light 5 is provided on the upper end of the support rod 19. A support column 18 for supporting the industrial robot 4 is provided on the upper end of the base 11.

[0046] In this embodiment, the industrial robot 4 is first rigidly fixed by the support column 18 at the upper end of the base 11, and the central control system 3 is stably supported on the base 11 by the cabinet frame 24 to ensure the stable operation of the electrical control unit. The power supply and signal wiring 20 of the laser 1 is orderly wound up along the upper ring array of the winding buckle 21 to avoid the wiring from being scattered and dragged. After the chiller 2 is assembled, its heat dissipation port protective mesh cover 22 and front-end filter screen 23 are installed simultaneously to prevent dust and foreign objects from entering. Before welding, the laser cross positioning light 5 on the support rod 19 on one side of the laser 1 is activated to project the cross mark and quickly align it with the weld seam of the marine pressure water tank to complete the pre-positioning of the weld seam. During the welding operation, the chiller 2 continuously dissipates heat, the protective mesh cover 22 and the filter screen 23 ensure that the heat dissipation channel is unobstructed, and the winding buckle 21 keeps the wiring 20 neat. The entire auxiliary system cooperates with the core welding unit to operate stably throughout the process. After the operation is completed, the wiring and heat dissipation components can be quickly checked to complete system maintenance.

[0047] The support column 18 and the cabinet frame 24 adopt the principle of rigid mechanical support to provide a stable base for the industrial robot 4 and the central control system 3, avoiding equipment displacement caused by welding vibration. The laser cross positioning light 5 is based on the principle of laser linear projection and outputs horizontal and vertical cross lines to achieve rapid visual alignment of the weld seam without the need for repeated adjustment of the workpiece angle. The winding buckle 21 adopts the winding principle of ring array arrangement to orderly bind the laser 1 wiring 20 and prevent the wiring from tangling, pulling and breaking. The filter screen 23 of the chiller 2 uses the principle of physical filtration to intercept dust in the air, and the protective mesh cover 22 blocks particulate matter and debris from entering the heat dissipation port, ensuring that the chiller 2 continuously and stably dissipates heat and maintains the laser 1 in a constant temperature working state. The entire auxiliary structure combines passive protection and active positioning to achieve stable system operation.

[0048] This system solves the problems of messy and faulty wiring in the welding system 20, easy blockage and damage to heat dissipation components, low weld alignment efficiency, and unstable support of electrical control equipment. The ring array winding buckle 21 neatly organizes the wiring 20, eliminating the risks of wire tangling, short circuits, and wear, thus reducing equipment failure rate. The chiller 2 filter 23 and protective mesh cover 22 provide double protection, preventing dust from clogging the heat dissipation channels, solving the problem of laser 1 shutting down due to overheating, and extending the service life of core components. The laser crosshair positioning light 5 enables rapid pre-positioning of the weld, significantly shortening alignment time and improving welding preparation efficiency. The rigid support of the support column 18 and cabinet frame 24 offsets robot movement and welding vibrations, ensuring trajectory accuracy and control stability. It possesses the advantages of neat wiring 20, reliable heat dissipation, efficient positioning, stable support, and convenient maintenance. From the auxiliary support level, it improves system safety and durability, providing a guarantee for the long-term stable operation of the entire laser welding system, and improving the continuity of welding of marine pressure tanks and the finished product qualification rate.

[0049] Working Principle: The robotic automatic laser welding system for marine pressure water tanks is used for processing key welds such as longitudinal seams, circumferential seams, and flange fillet welds on marine pressure water tank hulls. The entire system integrates an industrial robot, laser welding, vision tracking, positioning and clamping, dust removal, and heat dissipation, enabling stable high-precision, high-quality welding operations. The system operates on the basic logic of first fixing, then planning, then welding, and providing full-process protection. At the start of the operation, the pressure water tank to be welded is hoisted to the workstation. The positioning fixture and roller frame work together to quickly clamp and accurately position the workpiece, ensuring it does not shake or misalign during welding. Subsequently, the central control system automatically plans the welding path based on the workpiece's 3D model, pre-setting key parameters such as laser power, focal length, and travel speed. After welding starts, the industrial robot 4 carries the laser welding head 6 along the planned trajectory. The CCD vision sensor collects the weld contour in real time and provides feedback on deviations. The control system immediately corrects the movement trajectory, ensuring the laser is always aligned with the weld center. At the same time, the chiller 2 continuously dissipates heat from the laser 1, and the dust removal device simultaneously extracts and purifies the welding fumes, allowing the equipment to complete welding in a stable, safe, and clean state.

[0050] The complete workflow can be clearly divided into nine interconnected steps, each of which provides support for the final welding quality.

[0051] S1: Loading the workpiece, the pressure water tank is placed smoothly onto the roller frame using hoisting equipment, completing the initial positioning.

[0052] S2: Positioning and clamping, the side cylinder pushes the tooling to be aligned, the electromagnetic clamping block 27 clamps the workpiece synchronously from both ends, the roller frame support position is adjusted and locked, so as to achieve stable fixation of the workpiece.

[0053] S3: Path planning and parameter preset. The control system imports the 3D model to automatically generate the welding route and sets the laser output power from 11500W to 3000W and matching process parameters.

[0054] S4: Welding preparation, laser cross positioning light 5 completes weld pre-alignment, laser 1, chiller 2, and dust removal system are started and put into standby in sequence.

[0055] S5: Entering automatic welding, the robot drives the laser head to perform high-energy laser fusion on the weld seam, achieving spatter-free and low-deformation welding.

[0056] S6: Real-time tracking and correction. The vision sensor continuously monitors the weld position, and the control system dynamically adjusts the robot's posture to avoid welding deviation or missed welds.

[0057] S7: Synchronous protection, dust removal device purifies smoke and dust, chiller 2 provides stable heat dissipation, and the neat wiring structure ensures electrical safety.

[0058] S8: Welding complete, the system stops output according to the program, and the robot and tooling reset to standby.

[0059] S9: Unload the workpiece, lift out the finished workpiece, and the equipment enters the next work cycle.

[0060] Each core component of the system performs its specific function, working together to support stable operation. The central control system 3, as the control core, is responsible for signal reception, logical judgment, command issuance, and trajectory calculation, coordinating the actions of all units, including the robot, laser 1, vision module, and tooling cylinders. The industrial robot 4 performs the execution function, achieving flexible and precise movement through multi-axis linkage to ensure stable and uniform operation of the laser welding head 6. The laser 1 and laser welding head 6 constitute the welding heat source, converting electrical energy into a high-density laser beam that instantly melts the metal to form a strong weld. This process results in low heat input, minimal workpiece deformation, and eliminates the need for post-weld straightening and grinding. The weld seam vision tracking module 7 acts as the equipment's vision inspection unit, capturing weld seam position information in real time and enabling closed-loop feedback correction. The pressure water tank positioning fixture 10 and the dual-mode roller frame provide workpiece clamping support, adaptable to different specifications of pressure water tanks, ensuring quick clamping and precise positioning. The chiller 2 and dust removal and protection components respectively handle heat dissipation and fume purification, extending the lifespan of core components, improving the working environment, and ensuring operational safety.

[0061] This technology solves the problems of low efficiency, inconsistent quality, and poor working environment associated with traditional manual welding. Laser welding itself has the advantages of low spatter, low deformation, and uniform penetration. Combined with vision tracking and automatic path planning, it significantly improves the consistency of weld formation, effectively reducing defects such as porosity, slag inclusions, and incomplete penetration, meeting the high strength and high sealing requirements of marine pressure equipment. Adjustable tooling and roller frames enhance the equipment's versatility, enabling the production of pressure tanks of various specifications. The dust removal and water cooling systems ensure more stable continuous operation while reducing the impact of smoke and arc light on operators, improving production efficiency and product qualification rate, reducing overall production costs, and adapting to the large-scale, high-quality manufacturing of marine equipment.

[0062] The above specific embodiments are merely several preferred embodiments of the present invention. Based on the technical solutions of the present invention and the relevant teachings of the above embodiments, those skilled in the art can make various alternative improvements and combinations to the above specific embodiments.

[0063] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A robotic automatic laser welding system for marine pressure water tanks, comprising a central control system (3), an industrial robot (4), a laser welding head (6), a weld seam vision tracking module (7), a pressure water tank positioning fixture (10), a base (11), and welding dust removal and protection components; characterized in that: The laser welding head (6) is installed at the end of the industrial robot (4). The pressure water tank positioning fixture (10) is used to fix the marine pressure water tank to be welded. The weld seam visual tracking module (7), the laser welding head (6), and the industrial robot (4) are all electrically connected to the central control system (3). The welding dust removal and protection components are arranged in the laser welding area. The base (11) is equipped with a longitudinal seam welding roller frame (8) and a circumferential seam welding roller frame (9). The upper end of the base (11) is equipped with a laser (1) and a chiller (2).

2. The robotic automatic laser welding system for marine pressure water tanks according to claim 1, characterized in that: The pressure tank positioning fixture (10) includes a slide (17), a longitudinal electromagnetic rail (28) located at the upper end of the slide (17), an electromagnetic moving seat (29) slidably installed on the outer wall of the longitudinal electromagnetic rail (28), and a clamping block (27) located at one end of the electromagnetic moving seat (29) and attached to the outer wall of the marine pressure tank.

3. The robotic automatic laser welding system for marine pressure water tanks according to claim 2, characterized in that: The base (11) is provided with symmetrically distributed guide rails (16) at its upper end. A slide block (17) is slidably installed on the outer wall of the guide rail (16). A slider (15) is slidably installed on the outer wall of the guide rail (16) at the lower end of the slide block (17). A lateral clamping cylinder (12) is provided at one end of the longitudinal electromagnetic track (28). A hydraulic rod (13) is provided at one end of the lateral clamping cylinder (12). A connecting block (14) is provided at the telescopic end of the hydraulic rod (13).

4. The robotic automatic laser welding system for marine pressure water tanks according to claim 3, characterized in that: Both the longitudinal seam welding roller frame (8) and the circumferential seam welding roller frame (9) include a support frame (26) and multiple sets of symmetrically distributed support wheels (25) located at the upper end of the support frame (26). The connecting block (14) is fixed on the support frame (26).

5. The robotic automatic laser welding system for marine pressure water tanks according to claim 4, characterized in that: The support frame (26) and support wheel (25) of the longitudinal seam welding roller frame (8) are reciprocatingly distributed, and the support frame (26) and support wheel (25) of the circumferential seam welding roller frame (9) are laterally distributed. The guide rail (16) consists of two sets, and pressure water tank positioning fixtures (10) are provided on both sides of the guide rail (16).

6. The robotic automatic laser welding system for marine pressure water tanks according to claim 4, characterized in that: Each of the support frames (26) is provided with a slider (15) at its lower end. The slider (15) is fixed to the outer wall of the guide rail (16) and fixed with the internal hexagon bolt through the preset mounting hole. The position of the support frame (26) can be adjusted when needed.

7. The robotic automatic laser welding system for marine pressure water tanks according to claim 1, characterized in that: The laser welding head (6) is equipped with a laser (1), the output power of which is 1500W-3000W and the welding focal length can be adaptively adjusted. The welding dust removal and protection component includes a dust removal nozzle, a filter box and a negative pressure fan. The dust removal nozzle is directly facing the area where welding fumes are generated, and the negative pressure fan is connected to the filter box to achieve dust purification.

8. The robotic automatic laser welding system for marine pressure water tanks according to claim 1, characterized in that: The weld seam visual tracking module (7) is a CCD visual sensor. The CCD visual sensor collects the weld seam outline in real time and transmits it to the central control system (3) to complete the deviation correction. The central control system (3) has a built-in welding trajectory automatic planning module. The module automatically generates the welding path based on the three-dimensional model of the pressure water tank.

9. The robotic automatic laser welding system for marine pressure water tanks according to claim 1, characterized in that: The upper end of the laser (1) is provided with a spiral buckle (21) arranged in a ring array. The outer wall of the spiral buckle (21) is wound with a wire (20). The heat dissipation port of the chiller (2) is provided with a protective mesh cover (22). The front end of the chiller (2) is provided with a filter screen (23). The upper end of the base (11) is provided with a cabinet (24) for supporting the central control system (3).

10. The robotic automatic laser welding system for marine pressure water tanks according to claim 1, characterized in that: A support rod (19) is provided on one side of the upper end of the laser (1), and a laser cross positioning light (5) is provided on the upper end of the support rod (19). A support column (18) for supporting the industrial robot (4) is provided on the upper end of the base (11).

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