WELDING WORKSTATION AND WELDING PROCEDURE SUITABLE FOR SHIP SIDE CABIN STRUCTURES
Patent Information
- Application Number
- NL2041148
- Authority / Receiving Office
- NL · NL
- Patent Type
- Applications
- Current Assignee / Owner
- Priority Date
- 2025-08-27
- Filing Date
- 2025-09-09
- Publication Date
- 2026-05-07
- Estimated Expiration
- 2045-09-08
AI Technical Summary
Existing shipbuilding welding methods, particularly for ship side segments, face challenges due to harsh working environments, labor intensity, safety risks, inconsistent quality, and limitations of conventional welding robots in navigating complex ship structures, lacking specialized path planning and real-time quality monitoring.
A welding workstation with spliced straight rails, rotating lifting rails, and telescopic rails, equipped with a collaborative robotic arm and monitoring components, enables automated and intelligent welding across multiple zones within ship side cabins, using laser tracking and real-time quality monitoring to ensure precision and consistency.
The system enhances welding efficiency, reduces defects, ensures safety, and adapts to complex ship structures by automating the process, providing precise positioning and real-time quality control.
Smart Images
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Abstract
Description
TECHNICAL FIELD The invention relates to the technical field of shipbuilding, particularly to a . BACKGROUND In the shipbuilding industry, welding is a critical process that ensures the structural integrity and safety of the hull. The quality and efficiency of welding operations for ship side segments directly impact the construction cycle and quality of the entire vessel. Domestic welding of ship side segments mostly relies on manual or semi-automatic methods, which have many drawbacks. On one hand, the semi-enclosed, narrow space and complex internal layout of transverse and longitudinal components create a harsh working environment, resulting in high labour intensity and safety risks for workers. On the other hand, the quality of manual welding is significantly influenced by the skill level and condition of workers, making it difficult to ensure stability and consistency in welding quality. For example, fillet welds connecting the side plates to internal components often suffer from poor weld formation and cracking, posing serious threats to the safe operation of the vessel. Existing welding robots are limited by their large size and insufficient obstacle-crossing ability, making them unsuitable for the complex structure of ship side cabins, which feature "semi- enclosed spaces + dense transverse and longitudinal components." Additionally, there is a lack of specialized path planning and real-time quality monitoring methods tailored to ship welding procedure. Therefore, there is an urgent need for a to address the aforementioned issues. SUMMARY The objective of the present invention is to provide a , aiming to resolve the problems existing in the prior art. To achieve this objective, the present invention provides the following solutions: the present invention provides a welding workstation suitable for ship side cabin structures, including: at least two sets of spliced straight rails, where the ship side cabin is divided into several welding zones by an inner side longitudinal girder and several side rib frames. The two sets of spliced straight rails are located in two adjacent welding zones, respectively, and are slidably connected to a welding device for welding structures within the welding zones. The welding device is equipped with monitoring components; a transfer assembly, including a telescopic rail and two rotating lifting rails, with the two rotating lifting rails located in two adjacent welding zones. The spliced straight rails and the telescopic rail are adapted to the rotating lifting rails. When the two sets of spliced straight rails are located in two welding zones on either side of the inner side longitudinal girder, the welding device transfers between the two welding zones via the rotating lifting rails. When the two sets of spliced straight rails are located in two welding zones on either side of the side rib frame, the welding device transfers between the two welding zones via the rotating lifting rails and the telescopic rail. According to the welding workstation provided by the present invention, the spliced straight rails include several first rail bodies spliced into an integrated structure. The bottom of the first rail body is equipped with several magnetic seats, which are limit-connected to the first rail body via a magnetic controller. According to the welding workstation provided by the present invention, the rotating lifting rail includes a scissor-type lifting platform, with a turntable rotatably connected to its top. A second rail body is fixedly connected to the turntable and is adapted to the first rail body. According to the welding workstation provided by the present invention, the telescopic rail includes a support frame, with its bottom limit-connected to the inner side plate of the ship side cabin via a magnetic controller. The top of the support frame is fixedly connected to a slider, which is slidably connected to a third rail body. The second rail body is adapted to the third rail body. According to the welding workstation provided by the present invention, the scissor-type lifting platform includes a lifting base plate, with a lifting top plate installed on its top via scissor arms. The turntable is rotatably connected to the top of the lifting top plate. The scissor arms are controlled by a screw rod for lifting, with one end of the screw rod fixedly connected to a handwheel. According to the welding workstation provided by the present invention, the welding device includes a sliding plate, which is slidably connected to the first rail body, the second rail body, and the third rail body. A collaborative robotic arm is fixedly connected to the sliding plate, and a welding head is fixedly connected to the collaborative robotic arm. According to the welding workstation provided by the present invention, the monitoring components include a field monitoring camera, a laser tracker, and a molten pool monitoring camera fixedly connected to the collaborative robotic arm. According to the welding workstation provided by the present invention, the side rib frame is provided with holes, and the telescopic rail spans the holes. According to the welding workstation provided by the present invention, the magnetic seats and the bottom of the lifting base plate are both equipped with lifting casters. A welding procedure suitable for ship side cabin structures, including the following steps: installing spliced straight rails in the welding zones and mounting the welding device on the spliced straight rails to perform welding operations on the structures within the welding zones; during welding operations, installing another spliced straight rail in an adjacent lateral welding zone. After completing the front-end welding, transferring the welding device from the current welding zone to the adjacent welding zone via the two rotating lifting rails to continue welding; during welding operations, installing another spliced straight rail in an adjacent longitudinal welding zone. After completing the front-end welding, transferring the welding device from the current welding zone to the adjacent welding zone via the two rotating lifting rails and the telescopic rail to continue welding; repeating the above steps to complete the welding operations for the entire ship side cabin. Compared with the prior art, the present invention has the following advantages and technical effects: the invention provides a welding workstation and a welding procedure suitable for ship side cabin structures. When in use, spliced straight rails are used to be installed in a welding zone, a welding device moves on the spliced straight rails to weld the internal structure of the welding zone, and after welding is completed, the welding device is transferred to an adjacent welding zone through a telescopic rail and two rotary lifting rails, so that the welding operation of the whole ship's side cabin structure is realized. The invention realizes the automation and intelligence of ship's side cabin welding, greatly improves the welding efficiency, reduces weld defects, ensures the safety performance of the ship, breaks through the limitation of the existing robot working in the narrow and semi-closed cabin on the ship's side, and adapts to various complicated side cabin structures. BRIEF DESCRIPTION OF THE FIGURES To describe the technical solutions in the embodiments of the present invention or the prior art more clearly, the following briefly introduces the accompanying drawings required for describing the embodiments. The drawings in the following description show only some embodiments of the present invention, and other drawings may be derived by those of ordinary skill in the art without creative effort. Fig. 1 is a schematic diagram of the overall structure of the present invention; Fig. 2 is a partial enlarged view of part A in Fig. 1 of the present invention; Fig. 3 is a partial enlarged view of part B in Fig. 1 of the present invention; Fig. 4 is a schematic diagram of the welding device of the present invention; Fig. 5 is a schematic diagram of the rotating lifting rail of the present invention; Fig. 6 is a schematic diagram of the telescopic rail of the present invention; Fig. 7 is a schematic diagram of the welding device crossing the inner side longitudinal girder; Fig. 8 is a partial enlarged view of part C in Fig. 7; Fig. 9 is a schematic diagram of the welding device crossing the holes; Fig. 10 is a flowchart of the welding system; wherein 1: spliced straight rails; 11: first rail body; 12: magnetic seat; 2: inner side longitudinal girder; 3: side rib frame; 4: welding device; 41: sliding plate; 42: collaborative robotic arm; 43: field monitoring camera; 44: laser tracker; 45: molten pool monitoring camera; 5: rotating lifting rail; 51: scissor-type lifting platform; 511: lifting base plate; 512: scissor arms; 513: lifting top plate; 514: screw rod; 515: handwheel; 52: turntable; 53: second rail body; 6: telescopic rail; 61: support frame; 62: slider; 63: third rail body; 7: holes; 8: lifting casters. DESCRIPTION OF THE INVENTION The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings. The described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments derived by those of ordinary skill in the art without creative effort shall fall within the protection scope of the present invention. To make the above objectives, features, and advantages of the present invention more comprehensible, the following provides a detailed description of the present invention with reference to the accompanying drawings and specific embodiments. Referring to figures 1 - 10, the present invention provides a welding workstation suitable for ship side cabin structures, including: at least two sets of spliced straight rails 1, where the ship side cabin is divided into several welding zones by an inner side longitudinal girder 2 and several side rib frames 3. The two sets of spliced straight rails 1 are located in two adjacent welding zones, respectively, and are slidably connected to a welding device 4 for welding structures within the welding zones. The welding device 4 is equipped with monitoring components; a transfer assembly, including a telescopic rail 6 and two rotating lifting rails 5, with the two rotating lifting rails 5 located in two adjacent welding zones. The spliced straight rails 1 and the telescopic rail 6 are adapted to the rotating lifting rails 5. When the two sets of spliced straight rails 1 are located in two welding zones on either side of the inner side longitudinal girder 2, the welding device 4 transfers between the two welding zones via the rotating lifting rails 5. When the two sets of spliced straight rails 1 are located in two welding zones on either side of the side rib frame 3, the welding device 4 transfers between the two welding zones via the rotating lifting rails 5 and the telescopic rail 6. In one embodiment of the present invention, the spliced straight rails 1 are installed in the welding zones, and the welding device 4 moves along the spliced straight rails 1 to perform welding operations. After welding, the welding device 4 is transferred to adjacent welding zones via the telescopic rail 6 and the rotating lifting rails 5, thereby completing welding operations for the entire ship side cabin. As an optional implementation, the spliced straight rails 1 include several first rail bodies 11 spliced into an integrated structure. The bottom of the first rail body 11 is equipped with several magnetic seats 12, which are limit-connected to the first rail body 11 via a magnetic controller. In one embodiment ofthe present invention, the magnetic seats 12 facilitate the quick splicing and stable connection of the first rail bodies 11. The first rail bodies 11 enable the movement of the welding device 4, while the magnetic seats 12 allow for the mobility of the first rail bodies 11. As an optional implementation, the rotating lifting rail 5 includes a scissor-type lifting platform 51, with a turntable 52 rotatably connected to its top. A second rail body 53 is fixedly connected to the turntable 52 and is adapted to the first rail body 11. In one embodiment of the present invention, the second rail body 53 is aligned with the first rail body 11 to facilitate the transfer of the welding device 4. As an optional implementation, the telescopic rail 6 includes a support frame 61, with its bottom limit-connected to the inner side plate of the ship side cabin via a magnetic controller. The top of the support frame 61 is fixedly connected to a slider 62, which is slidably connected to a third rail body 63. The second rail body 53 is adapted to the third rail body 63. In one embodiment of the present invention, the third rail body 63 is aligned with the second rail body 53 to facilitate the transfer of the welding device 4. As an optional implementation, the scissor-type lifting platform 51 includes a lifting base plate 511, with a lifting top plate 513 installed on its top via scissor arms 512. The turntable 52 is rotatably connected to the top of the lifting top plate 513. The scissor arms 512 are controlled by a screw rod 514 for lifting, with one end of the screw rod 514 fixedly connected to a handwheel 515. In one embodiment of the present invention, the handwheel 515 is rotated to control the lifting of the scissor arms 512. As an optional implementation, the welding device 4 includes a sliding plate 41, which is slidably connected to the first rail body 11, the second rail body 53, and the third rail body 63. A collaborative robotic arm 42 is fixedly connected to the sliding plate 41, and a welding head is fixedly connected to the collaborative robotic arm 42. In one embodiment of the present invention, the collaborative robotic arm 42 is preferably a six-axis collaborative robotic arm, driven by servo motors with reducers and gear racks. It moves autonomously along the rails, treating the rails as a seventh axis. This enables a welding mode where the workpiece remains stationary while the robot moves, ensuring precise positioning of the welding torch. As an optional implementation, the monitoring components include a field monitoring camera 43, a laser tracker 44, and a molten pool monitoring camera 45 fixedly connected to the collaborative robotic arm 42. In one embodiment of the present invention, the laser tracker 44 uses laser vision technology with a three- or four-point positioning method to guide initial welding positions and correct weld deviations. A laser displacement sensor detects the rail positions with high precision before welding, enabling rail position correction. Welding quality monitoring is based on visual and arc sensing technologies, using a variable-precision rough neural network algorithm to establish an intelligent prediction model for multi-information fusion. Real-time data such as molten pool images, current, and vibration signals are collected and analysed to identify and evaluate typical weld defects, such as misalignment, underfill, lack of penetration, and porosity) online, providing timely warnings for quality issues. Offline programming technology without teaching is adopted. The workstation model is imported into the offline programming system, and four workstations are set up in each welding zone based on weld positions and process requirements. The welding robot's actions positioning, advancing, welding, and retreatingare planned to complete all welds in the cabin. The generated path program code is imported into the robot's motion control system. Combined with an improved Rapidly-exploring Random Tree (RRT) algorithm, intelligent obstacle avoidance path planning and precise trajectory tracking control are achieved for typical scenarios such as moving, positioning, welding, and returning. As an optional implementation, the side rib frame 3 is provided with holes 7, and the telescopic rail 6 spans the holes 7. In one embodiment of the present invention, the telescopic rail 6 spans the holes 7, allowing the collaborative robotic arm 42 to move to another welding zone through the holes. As an optional implementation, the magnetic seats 12 and the bottom of the lifting base plate 511 are both equipped with lifting casters 8. In one embodiment of the present invention, the lifting casters 8 enable the mobility and height adjustment of the magnetic seats 12 and the lifting base plate 511. A welding procedure suitable for ship side cabin structures, including the following steps: installing spliced straight rails 1 in the welding zones and mounting the welding device 4 on the spliced straight rails 1 to perform welding operations on the structures within the welding zones; during welding operations, installing another spliced straight rail 1 in an adjacent lateral welding zone. After completing the front-end welding, transferring the welding device 4 from the current welding zone to the adjacent welding zone via the two rotating lifting rails 5 to continue welding. during welding operations, installing another spliced straight rail 1 in an adjacent longitudinal welding zone. After completing the front-end welding, transferring the welding device 4 from the current welding zone to the adjacent welding zone via the two rotating lifting rails 5 and the telescopic rail 6 to continue welding; repeating the above steps to complete the welding operations for the entire ship side cabin. In one embodiment of the present invention, the workflow is as follows: installing the rails: Workers manually place the spliced straight rails 1 in the middle of the cabin and position the transfer assembly. The welding device 4 is fixed to the transfer assembly, and cables and welding wires are connected to the drag chain system to prevent tangling during movement. After powering on, the system initializes and uses the laser displacement sensor to correct rail positions. Referring to figures 1,7 and 9, welding begins in the left half of the first grid cell using a distributed workstation approach. Based on pre-set weld information in the offline programming system, the collaborative robotic arm 42 moves to the home position of the first workstation. The laser tracker 44 uses a three- or four-point positioning method to identify the initial weld position. After identification, welding begins. Upon completion, the arm returns to the home position and proceeds to the next weld. This process repeats until all welds assigned to the first workstation are completed, followed by moving to the next workstation to complete all welds in the left half of the grid cell. The welding angles and weld types are pre-set in the offline programming system. Crossing the inner side longitudinal girder 2: The collaborative robotic arm 42 is manually moved to one side, and part of the spliced straight rails 1 is disassembled. The rotating lifting rail 5 is adjusted to the same height as the spliced straight rails 1 using the handwheel 515 and aligned to form a straight rail. The welding device 4 is moved onto the rotating lifting rail 5, which is then lifted above the height of the longitudinal girder. Simultaneously, the rotating lifting rail 5 in the right half of the grid cell is adjusted to the same height. The welding device 4 is transferred to the rotating lifting rail 5 in the right half, which is then lowered to the same height as the spliced straight rails 1. The welding device 4 is moved onto the spliced straight rails 1, and the disassembled parts are reinstalled. This completes the transfer of the welding device 4 across the inner side longitudinal girder 2 for welding in the right half of the grid cell. Crossing the side rib frame: the spliced straight rails 1 and rotating lifting rail 5 are installed in the next grid cell according to position requirements. Part of the spliced straight rails 1 is disassembled to form a straight rail with the rotating lifting rail 5. The telescopic rail spans the holes 7. The welding device 4 is manually moved to one side, and part of the spliced straight rails 1 is disassembled. The rotating lifting rail 5 is adjusted to the same height as the spliced straight rails 1 using the handwheel 515 and aligned to form a straight rail. The welding device 4 is moved onto the rotating lifting rail 5, which is then lifted to the same height as the telescopic rail. The turntable 52 of the rotating lifting rail 5 is rotated 90° to align with the telescopic rail. The welding device 4 is transferred to the telescopic rail, while the rotating lifting rail 5 on the other side is adjusted to align with the telescopic rail. The welding device 4 is moved onto the rotating lifting rail 5, which is then lowered to the same height as the spliced straight rails 1. The welding device 4 is moved onto the spliced straight rails 1, and the disassembled parts are reinstalled for welding. This process repeats to complete welding for the entire cabin. In the description of the present invention, terms such as "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" indicate orientations or positional relationships based on the accompanying drawings. These terms are used for ease of description and do not imply that the described device or component have a specific orientation or be constructed and operated in a specific orientation. Therefore, these terms should not be construed as limiting the present invention. The above-described embodiments are merely illustrative of the preferred implementations the present invention and do not limit the scope of the invention. Without departing from the design spirit of the present invention, any modifications or improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope defined by the claims of the present invention.
Claims
1. A welding workstation for ship side cabin structures, which has at least two sets of spliced includes straight rails (1 ), a welding machine (4) and a transmission structure, which The ship's side cabin is divided into a number of welding zones by an internal longitudinal beam. (2) and a number of side rib frames (3); two sets of split straight rails (1) in two adjacent welding zones respectively are located; the split straight rails (1) are slidable and connected with a hot welding machine (4), the welding machine (4) is used to weld structures within the welding zones; the welding machine (4) is equipped with monitoring components; the transmission structure a telescopic rail (6) and two rotating lifting rails (5) includes, where the two rotating lifting rails (5) are in two adjacent welding zones are located; the split straight rails (1) and the telescopic rail (6) are adapted to the rotating lifting rails (5); when the two sets of split straight rails (1) are in two welding zones on either side the welding machine (4) is located on the internal longitudinal beam (2) via the rotating lifting rails (5) is transferred between the two welding zones; when the two sets of split straight rails (1) are in two axis zones on either side the side rib frame (3) is located, the welding machine (4) is placed between the two welding zones moved via the rotating lifting rails (5) and the telescopic rail (6).
2. The welding workstation for ship side cabin structures within the meaning of claim 1, where the split straight rails (1) comprise a number of first rail bodies (11), where the number of first rail bodies (11) is split into an integrated structure; the underside of the first rail body (11) is equipped with various magnetic sessions (12), and the multiple magnetic seats (12) are limited by a magnetic regulator connected to the first rail body (11).
3. The welding workstation for ship side cabin structures in accordance with claim 2, where the rotating lifting rail (5) includes a scissor-shaped lifting platform (51), where a turntable (52) rotatable is connected to the top of the scissor-shaped lifting platform (51 ), a second rail body (53) is fixedly connected to the turntable (52), and The second rail body (53) is adapted to the first rail body (11).
4. The IAS workstation for ship side cabin structures under claim 3, where the telescopic rail (6) includes a support frame (61), where the bottom of the support frame (61) is limited by a magnetic regulator connected to the inner side plate of the ship's side cabin, the top of the support frame (61) is fixedly connected to a slide (62), the slide (62) is connected to a third rail element (63); and the second rail element (53) is compatible with the third rail element (63).
5. The welding workstation for ship side cabin structures in accordance with claim 3, whereby the scissor-shaped lifting platform (51) includes a lifting base plate (511), where a lifting platform (513) via scissor arms (512) on the top of the lifting base plate (511) is installed; the turntable (52) is rotatable and connected to the top of the lifting platform (513); the scissor arms (512) are operated by a screw rod (514) for lifting, where one end of the screw rod (514) is fixed to a handwheel (515).
6. The welding workstation for ship side cabin structures pursuant to claim 4, whereby the welding device (4) includes a sliding plate (41), where the sliding plate (41) can be moved with the first rail body (11), the second rail body (53) and the third rail body (63) is connected; a cooperating robot arm (42) is fixed to the sliding plate (41), and a welding head is attached to the cooperating robot arm (42).
7. The welding workstation for ship side cabin structures pursuant to claim 6, where the surveillance components a field surveillance camera (43), a laser tracker (44) and a include melt pool monitoring cameras (45) attached to the collaborative robot arm (42) connected.
8. The welding workstation for ship side cabin structures within the meaning of claim 1, whereby the side rib frame (3) is provided with holes (7) and the telescopic rail (6) spans the holes (7).
9. The welding workstation for ship side cabin structures pursuant to claim 5, whereby the magnetic seats (12) and the underside of the lifting base plate (511) both with lifting wheels (8) are equipped.
10. A method for welding ship side cabin structures, using the welding workstation according to any of the preceding conclusions, which method the the following steps include: installing split straight rails (1) in the welding zones and mounting the welding machine (4) on the split straight rails (1) to carry out welding work on the structures within the welding zones; during welding work, installing another split straight rail (1) in a adjacent lateral welding zone, after completion of the front welding, moving the welding machine (4) from the current welding zone to the adjacent welding zone via the two rotating lifting rails (5) to through to deal with welding; installing during welding operations in an adjacent longitudinal welding zone of another split straight rail (1), after finishing the welding at the front, move the welding machine (4) via the two rotating lifting rails (5) and the telescopic rail (6) from the current welding zone to the adjacent welding zone to continue welding; repeating the above steps to complete the welding work for the entire to complete ship's side cabin. Fig. 1 Fig. 2