Ship Double-Bottom Grid Structure Intelligent Welding Workstation

Abstract

The invention belongs to the technical field of ship intelligent manufacturing, and particularly relates to an intelligent welding workstation for ship double-bottom grid structures, which includes several guide rails fixed in a cabin according to a set welding trajectory; a mechanical arm moving frame slidably arranged on the guide rails, where the mechanical arm moving frame is provided with a mechanical arm carrying a welding torch, and the mechanical arm moving frame carries the mechanical arm to move on a moving track composed of several guide rails; the guide rails are provided with rotatably arranged rack guide rails, and the rack guide rails are used for the movement of the mechanical arm moving frame. In use, the mechanical arm moving frame is made to move on the moving track composed of several guide rails, and then the mechanical arm moving frame carries the mechanical arm equipped with the welding torch to move along the required welding path to realize automatic welding. The moving direction of the mechanical arm moving frame may be adjusted by adjusting the orientation of the rack guide rails, so as to realize the connection with guide rails in other orientations, facilitate the movement of the mechanical arm, and the mechanical arm may cross obstacles conveniently by lifting the guide rails.

Description

TECHNICAL FIELD The invention belongs to the technical field of ship intelligent manufacturing, and particularly relates to an intelligent welding workstation for ship double-bottom grid structures. BACKGROUND In the field of ship manufacturing, the welding of the internal structure of the ship double- bottom grid compartment is a key and highly challenging work station. The compartment has a narrow and semi-enclosed space with numerous internal longitudinal and transverse components, forming welds in various positions and postures. Currently, the welding of such compartment structures at home and abroad mainly relies on manual or semi-automatic welding methods, which have many problems. Traditional welding operations are not only time-consuming, labour-intensive and costly, but also the welding quality is difficult to guarantee. However, existing mobile welding robots such as wheeled, wheel-tracked, gantry telescopic arm type and crawling type generally have problems such as inability to cross structural obstacles and manholes, inflexible adjustment of welding torch posture, and difficulty in adapting to welding of welds in multiple positions. The key defects of the existing technology are: first, the robot mechanism design cannot meet the requirements of rapid deployment and flexible obstacle crossing in narrow spaces. Second, there is a lack of autonomous navigation and path planning capabilities suitable for complex welding environments. Third, the welding environment recognition and weld tracking control technology are insufficient, making it difficult to meet the welding needs of non-standard structural parts. Therefore, an intelligent welding workstation for ship double-bottom grid structures is urgently needed to solve the above problems. SUMMARY The purpose of the invention is to provide an intelligent welding workstation for ship double-bottom grid structures to solve the above problems. To achieve the above purpose, the invention provides the following scheme: an intelligent welding workstation for ship double-bottom grid structures, including: several guide rails, detachably arranged in the compartment according to a set welding trajectory; a mechanical arm moving frame, slidably arranged on the guide rails, where the mechanical arm moving frame is provided with a mechanical arm carrying a welding torch, and the mechanical arm moving frame carries the mechanical arm to move on a moving track composed of several guide rails; the guide rail is provided with a rack guide rail, and the rack guide rail is used for the movement of the mechanical arm moving frame. Optionally, the guide rail includes: a supporting base plate; a fixing part, arranged on the supporting base plate, and the fixing part is used for fixing the supporting base plate with the compartment; a moving part, arranged on the supporting base plate, and the moving part is used for moving the supporting base plate in the compartment; the rack guide rail is in sliding fit with the mechanical arm moving frame; the rack guide rail is rotatably arranged on the supporting base plate. Optionally, the fixing part includes several magnetic suction bases, and several magnetic suction bases are symmetrically fixed at the bottom of the supporting base plate; the moving part includes several groups of universal wheels, the number of groups of the universal wheels matches the number of the magnetic suction bases, each group of the universal wheels is provided with four universal wheels, symmetrically arranged on both sides of the corresponding magnetic suction base in pairs, and the magnetic suction base is rotatably connected with the universal wheels; the magnetic suction base is magnetically fixed with the compartment, and when the magnetic suction base is released from the magnetic fixation with the compartment, the supporting base plate moves in the compartment through the universal wheels. Optionally, the centre of the top of the supporting base plate is fixed with the bottom end of a rotating shaft, and the top end of the rotating shaft is rotatably connected with the centre of the bottom of the rack guide rail. Optionally, the mechanical arm moving frame includes: an L-shaped seat plate, one end of the L-shaped seat plate is used for being fixedly connected with the fixed end of the mechanical arm, and the other end of the L-shaped seat plate is slidably arranged on the rack guide; the L-shaped seat plate is in limit fit with the rack guide rail through a limit part; a driving part, the fixed end of which is arranged on the L-shaped seat plate, and the movable end of the driving part is connected with the rack guide rail. Optionally, the driving part includes: a gear, meshed with one side of the rack guide rail; a driving motor, the output shaft of which is axially connected with the gear, and the fixed end of the driving motor is fixedly connected with the L-shaped seat plate. Optionally, a connecting rib plate with a right triangle structure is fixed between the vertical section of the L-shaped seat plate and the horizontal section of the L-shaped seat plate, and the fixed end of the driving motor is fixedly connected to any one of the connecting rib plates. Optionally, the horizontal section of the L-shaped seat plate is fixedly connected with a side-mounted bracket, the side-mounted bracket is fixedly connected with the side wall of the fixed end of the mechanical arm, and the side-mounted bracket is used for supporting the fixed end of the mechanical arm. Optionally, the limiting part includes four guide wheel sets, the guide wheel sets are fixedly connected to the bottom of the horizontal section of the L-shaped seat, the four guide wheel sets are symmetrically arranged on both sides of the top of the rack guide rail in pairs, the guide wheel sets are in vertical limit fit with the top of the rack guide rail, and the guide wheel sets are in horizontal sliding connection with the top of the rack guide rail. Optionally, when the rack guide rail is arranged on the supporting base plate in a lifting manner, the middle part of the supporting base plate is fixedly connected with a lower tray, the middle part of the lower tray is vertically slid with a sliding rod, the top of the sliding rod is fixedly connected with an upper tray, and the upper tray is fixed with the rack guide rail; the lower tray is fixedly connected with the fixed end of a telescopic rod, and the movable end of the telescopic rod is fixedly connected with the upper tray; when the rack guide rail is fixedly arranged on the supporting base plate, the height of the supporting base plate is higher than the height of the bottom of the manhole. Compared with the prior art, the invention has the following advantages and technical effects: in use, by installing several guide rails in the compartment, and the several guide rails are arranged according to the set welding trajectory, the mechanical arm moving frame is made to move on the moving track composed of several guide rails, and then the mechanical arm moving frame carries the mechanical arm equipped with the welding torch to move along the required welding path to realize automatic welding. By adjusting the orientation of the rack guide rail, the moving direction of the mechanical arm moving frame may be adjusted, so as to realize the connection with guide rails in other orientations, facilitate the movement of the mechanical arm, and the mechanical arm may cross obstacles by lifting the guide rails. BRIEF DESCRIPTION OF THE FIGURES To more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description are only some embodiments of the invention. For those of ordinary skill in the art, other drawings may be obtained according to these drawings without creative labour. Fig. 1 is a schematic diagram of the structure of the invention. Fig. 2 is a schematic diagram of the structure of the mechanical arm moving frame and the guide rail of the invention. Fig. 3 is a schematic diagram of the structure of the mechanical arm moving frame from another angle of the invention. Fig. 4 is a schematic diagram of the structure of the invention during operation. Figs. 5 and 6 are plane layout diagrams of the track during operation of the invention. Fig. 7 is a schematic diagram of the structure of the liftable guide rail and the fixed guide rail of the invention. Where, 1. Welding torch; 2. Mechanical arm; 3. Mechanical arm moving frame; 5. Guide rail; 301. L-shaped seat plate; 302. Connecting rib plate; 303. Driving motor; 304. Side-mounted bracket; 305. Gear; 306. Guide wheel set; 501. Rotating shaft; 502. Rack guide rail; 503. Universal wheel; 504. Magnetic suction base. DESCRIPTION OF THE INVENTION The technical solutions in the embodiments of the invention will be clearly and completely described below with reference to the drawings in the embodiments of the invention. Obviously, the described embodiments are only a part of the embodiments of the invention, not all of them. Based on the embodiments of the invention, all other embodiments obtained by those of ordinary skill in the art without creative labour shall fall within the protection scope of the invention. To make the above objectives, features and advantages of the invention more obvious and understandable, the invention will be further described in detail below with reference to the drawings and specific implementations. Referring to figures 1 to 7, the invention discloses an intelligent welding workstation for ship double-bottom grid structures, including: several guide rails 5, detachably arranged in the compartment according to a set welding trajectory; a mechanical arm moving frame 3, slidably arranged on the guide rails 5, where the mechanical arm moving frame 3 is provided with a mechanical arm 2 carrying a welding torch 1, and the mechanical arm moving frame 3 carries the mechanical arm 2 to move on a moving track composed of several guide rails 5; the guide rail 5 is provided with a rack guide rail 502, and the rack guide rail 502 is used for the movement of the mechanical arm moving frame 3. In use, by installing several guide rails 5 in the compartment, and the several guide rails 5 are arranged according to the set welding trajectory, the mechanical arm moving frame 3 is made to move on the moving track composed of several guide rails 5, and then the mechanical arm moving frame 3 carries the mechanical arm 2 equipped with the welding torch 1 to move along the required welding path to realize automatic welding. By setting the orientation of the rack guide rail 502, the moving direction of the mechanical arm moving frame 3 may be adjusted, so as to realize the connection with guide rails 5 in other orientations, facilitate the movement of the mechanical arm 2, and the mechanical arm 2 may cross obstacles by lifting the guide rails 5. As an optional implementation mode, the guide rail 5 includes: a supporting base plate; a fixing part, arranged on the supporting base plate, and the fixing part is used for fixing the supporting base plate with the compartment; a moving part, arranged on the supporting base plate, and the moving part is used for moving the supporting base plate in the compartment; the rack guide rail 502 is in sliding fit with the mechanical arm moving frame 3; the rack guide rail 502 is rotatably arranged on the supporting base plate. As an optional implementation mode, the fixing part includes several magnetic suction bases 504, and several magnetic suction bases 504 are symmetrically fixed at the bottom of the supporting base plate; the moving part includes several groups of universal wheels 503, the number of groups of the universal wheels 503 matches the number of the magnetic suction bases 504, each group of the universal wheels 503 is provided with four universal wheels 503, symmetrically arranged on both sides of the corresponding magnetic suction base 504 in pairs, and the magnetic suction base 504 is rotatably connected with the universal wheels 503; the magnetic suction base 504 is magnetically fixed with the compartment, and when the magnetic suction base 504 is released from the magnetic fixation with the compartment, the supporting base plate moves in the compartment through the universal wheels 503. The supporting base plate is fixed with the compartment through the magnetic attraction between the magnetic suction base 504 and the compartment. When the guide rail 5 needs to be moved, it is only necessary to release the magnetic attraction between the magnetic suction base 504 and the compartment, and move the guide rail 5 through the universal wheels 503. As an optional implementation mode, the centre of the top of the supporting base plate is fixed with the bottom end of a rotating shaft 501, and the top end of the rotating shaft 501 is rotatably connected with the centre of the bottom of the rack guide rail 502. Specifically, the bottom of the rack guide rail 502 is fixedly connected with a guide rail seat plate, and the guide rail seat plate is rotatably arranged at the top end of the rotating shaft 501. Specifically, the magnetic suction base 504 is fixed with the supporting base plate through guide rail legs. When the rotating shaft 501 is only used for rotation, it may be selected as a servo motor, the output shaft of the servo motor is fixed with the centre of the guide rail seat plate, and the fixed end of the servo motor is fixed with the supporting base plate. As an optional implementation mode, the mechanical arm moving frame 3 includes: an L-shaped seat plate 301, one end of the L-shaped seat plate 301 is used for being fixedly connected with the fixed end of the mechanical arm 2, and the other end of the L-shaped seat plate 301 is slidably arranged on the rack guide rail 502; the L-shaped seat plate 301 is in limit fit with the rack guide rail 502 through a limit part; a driving part, the fixed end of which is arranged on the L-shaped seat plate 301, and the movable end of the driving part is connected with the rack guide rail 502. As an optional implementation mode, the driving part includes: a gear 305, meshed with one side of the rack guide rail 502; a driving motor 303, the output shaft of which is axially connected with the gear 305, and the fixed end of the driving motor 303 is fixedly connected with the L-shaped seat plate 301. Through the meshing of the gear 305 with one side of the rack guide rail 502, when the driving motor 303 drives the gear 305 to rotate, the L-shaped seat plate 301 is driven to move along the rack guide rail 502. As an optional implementation mode, a connecting rib plate 302 with a right triangle structure is fixed between the vertical section of the L-shaped seat plate 301 and the horizontal section of the L-shaped seat plate 301, and the fixed end of the driving motor 303 is fixedly connected to any one of the connecting rib plates 302. The arrangement of the connecting rib plate 302 may make the structure of the L-shaped seat plate 301 stable. As an optional implementation mode, the horizontal section of the L-shaped seat plate 301 is fixedly connected with a side-mounted bracket 304, the side-mounted bracket 304 is fixedly connected with the side wall of the fixed end of the mechanical arm 2, and the side-mounted bracket 304 is used for supporting the fixed end of the mechanical arm 2. As an optional implementation mode, the limiting part includes four guide wheel sets 306, the guide wheel sets 306 are fixedly connected to the bottom of the horizontal section of the L- shaped seat plate 301, the four guide wheel sets 306 are symmetrically arranged on both sides of the top of the rack guide rail 502 in pairs, the guide wheel sets 306 are in vertical limit fit with the top of the rack guide rail 502, and the guide wheel sets 306 are in horizontal sliding connection with the top of the rack guide rail 502. Two guide wheel sets 306 are respectively arranged on both sides of the bottom of the horizontal section of the L-shaped seat plate 301, the four guide wheel sets 306 clamp the rack guide rail 502 in the middle, grooves matched with the guide wheel sets 306 in a limiting manner are formed on both sides of the top of the rack guide rail 502, the guide wheel sets 306 are in vertical limit fit with the top of the rack guide rail 502, and the guide wheel sets 306 are in horizontal sliding connection with the top of the rack guide rail 502, so that the L-shaped seat plate 301 is prevented from slipping off from the rack guide rail 502 without affecting the sliding of the L-shaped seat plate 301. Specifically, the bottom of the L-shaped seat plate 301 is fixedly connected with a frame bottom plate, one end of the frame bottom plate extends out of the vertical section of the L- shaped seat plate 301 and is fixed with the side-mounted bracket 304, the bottom of the frame bottom plate is fixedly connected with a guide wheel seat plate, and the four guide wheel sets 306 are rotatably arranged on the guide wheel seat plate. As an optional implementation mode, when the rack guide rail 502 is arranged on the supporting base plate in a lifting manner, the middle part of the supporting base plate is fixedly connected with a lower tray, the middle part of the lower tray is vertically slid with a sliding rod, the top of the sliding rod is fixedly connected with an upper tray, and the upper tray is fixed with the rack guide rail 502; the lower tray is fixedly connected with the fixed end of a telescopic rod, and the movable end of the telescopic rod is fixedly connected with the upper tray; when the rack guide rail 502 is fixedly arranged on the supporting base plate, the height of the supporting base plate is higher than the height of the bottom of the manhole. When the rack guide rail 502 is arranged on the supporting base plate in a lifting manner, through the cooperation of the lower tray, the sliding rod, the upper tray and the telescopic rod, after the mechanical arm 2 moves onto the rack guide rail 502, the mechanical arm 2 may be carried to rise through the lifting of the telescopic rod, and then the mechanical arm moving frame 3 may be used to move it to realize operations such as obstacle crossing. When crossing the manhole, a guide rail 5 with the rack guide rail 502 fixed with the supporting base plate is arranged on one side of the manhole, and through cooperation with the guide rail 5 with the rack guide rail 502 arranged in a lifting manner, the rack guide rail 502 is connected with the fixedly arranged rack guide rail 502 after being lifted, so as to facilitate the transfer of the mechanical arm 2. Further, the top end of the rotating shaft 501 is connected with the rack guide rail 502 through a servo motor. The fixed end of the servo motor is fixed with the top end of the rotating shaft 501, and the movable end of the servo motor is fixedly connected with the centre of the bottom of the rack guide rail 502. Specifically, the system includes an industrial mechanical arm 2 with six degrees of freedom, a rotatable segmented guide rail 5 and a welding control system, the guide rail 5 is detachably arranged on the ship bottom plate, and the guide rail 5 may pass through the operation hole 4, the mechanical arm 2 is provided with a welding torch 1 and a tracking sensor, and the mechanical arm 2 is movably arranged on several guide rails 5 through a mechanical arm moving frame 3. The main body of the mechanical arm 2 is side-mounted on the mechanical arm moving frame 3, the welding torch 1 is mounted at the end of the sixth axis of the mechanical arm 2, and the tracking sensor is fixed on the small arm of the mechanical arm 2. The welding control system is used for controlling the movement of the mechanical arm 2, the welding torch 1 and the movement of the mechanical arm moving frame 3 on the guide rail 5 and other operations. The mechanical arm moving frame 3 includes an L-shaped seat plate 301, a connecting rib plate 302, a driving motor 303, a side-mounted bracket 304, a gear 305, a guide wheel set 306 and two laser positioners. The L-shaped seat plate 301 serves as the main body of the mechanical arm moving frame 3 to meet the installation of various devices. Four guide wheel sets 306 arranged at the bottom of the mechanical arm moving frame 3 are matched with the rack guide rail 502 to ensure that the mechanical arm moving frame 3 may move along the track. The driving device adopts the driving motor 303 to drive the gear 305, and the movement of the mechanical arm moving frame 3 is controlled through the meshing of the gear 305 and the rack guide rail 502. The side-mounted bracket 304 ensures the stability of the mechanical arm 2 when side-mounted. The laser positioner is used for automatically calibrating the deviation during installation. The guide rail 5 adopts a modular design and a quick plug-in and pull-out connection mode, which facilitates the quick adjustment of the track length during the welding process to meet the needs of welding or obstacle avoidance. The guide rail 5 includes several magnetic suction bases 504, preferably four magnetic suction bases 504, eight universal wheels 503 and a rack guide rail 502 rotatable around the track centre in the invention. The magnetic suction base 504 may fix the whole structure on the outer bottom plate of the compartment to meet the stability during welding. The universal wheels 503 may enable the mechanism to move quickly with the help of manpower when it needs to move after completing the welding work, so as to complete subsequent processes such as hole crossing. The rotatable track may enable the robot to move between two tracks with the help of an auxiliary track. Teaching-free offline programming is adopted during welding, several stations are set and mechanical zeros are set, the robot starts from the mechanical zero, and after completing a weld, the robot automatically returns to the mechanical zero, and the welding sequence may be freely selected. On the basis of the discrete collision detection algorithm and the bounding box algorithm, a collision detection algorithm based on model simplification is proposed. Aiming at the defects of the traditional RRT random tree algorithm, an improved RRT path planning algorithm is proposed by combining bidirectional expansion, progressive optimization strategy and gravitational field to improve the real-time performance of the algorithm and reduce the randomness of path generation. On this basis, an obstacle avoidance path planning method for mobile welding robots based on the improved RRT is proposed, and on this basis, obstacle avoidance and path planning of the robot in moving, positioning, welding and other working conditions are completed. The weld is scanned by the tracking sensor at the end of the robot, the specific position of the weld is determined and corrected by the four-point positioning method, and the start and end points of the weld are determined to realize initial welding position guidance and weld tracking and deviation correction control. Specifically, the use of the invention refers to the following steps: 1. Track installation: splice 4 guide rails 5 into two linear guide rails #1 and #2, and symmetrically arrange them on both sides of the centre line of the double-bottom grid. Install the mechanical arm moving frame 3 on the #1 guide rail, and install the base of the mechanical arm 2 on the mechanical arm moving frame 3. Start the driving motor to drive the mechanical arm moving frame 3 to move along the guide rail 5, and fix the magnetic suction base after positioning and calibrating the guide rail 5 through 2 laser displacement sensors installed on the bottom plate of the guide rail 5. 2. Installation of the welding robot body and its components: install the mechanical arm moving frame 3 and the mechanical arm 2, and install the welding torch 1 and the laser seam finder component at the end of the mechanical arm 2 at the same time. 3. Welding work of the compartment: (1) the welding torch 1 starts from the #1 station and performs welding operations of positioning-approaching (feeding)-welding-retreating (retracting)homing (returning) to the origin on the weld. Among them: the laser positioner uses the "four-point positioning method" to locate the start and end points of the weld, with a viewing distance of 240-360 mm. For each weld, the welding torch 1 shall return to the #1 station after completing the welding. (2) Drive the mechanical arm 2 to reach the #2 station, so that the centre of the mechanical arm moving frame 3 coincides with the position of the #2 station, remove the #1 track module, keep only the #2 track module, and the mechanical arm 2 starts from the #2 station to perform welding operations of positioning-approaching (feeding)welding- retreating (retracting)homing (returning) to the origin on the weld. Among them: the laser positioner uses the "four-point positioning method" to locate the start and end points of the weld, with a viewing distance of 240-360 mm. For each weld, the mechanical arm 2 shall return to the #2 station after completing the welding. (3) Rotate the #2 track module by 180° to turn the mechanical arm 2 around, with its axis 1 pointing to plane 2, and then connect the #1 track with the #2 track module. The mechanical arm 2 starts from the #2 station to perform welding operations of positioning-approaching (feeding)welding-retreating (retracting)homing (returning) to the origin on the weld. Among them: the laser positioner uses the "four-point positioning method" to locate the start and end points of the weld, with a viewing distance of 240-360 mm. For each weld, the mechanical arm 2 shall return to the #2 station after completing the welding. (4) Drive the mechanical arm 2 to reach the #1 station, so that the centre of the track trolley coincides with the position of the #1 station. Remove the #2 track module, keep only the #1 track module, and the mechanical arm 2 starts from the #1 station to perform welding operations of positioning-approaching (feeding)welding-retreating (retracting)homing (returning) to the origin on the weld. Among them: the laser positioner uses the "four-point positioning method" to locate the start and end points of the weld, with a viewing distance of 240-360mm. For each weld, the mechanical arm 2 shall return to the #1 station after completing the welding. (5) At this time, rotate track 1 and install an auxiliary track to move the mechanical arm 2 from track #1 to track #2, and complete the welding of the remaining part according to the above process. 4. Crossing the manhole: after the mechanical arm 2 completes all welding operations in one compartment, it needs to enter the next compartment through manhole #1 or manhole #2 to continue the welding operations. (1) Crossing manhole #1: first loosen the magnetic suction base 504, move through the universal wheels 503 under the track to make the axis of the guide rail roughly parallel to the centre line of manhole #1, and install the rotating lifting track and the butt joint track. Adjust the height of the lifting track to be consistent with that of the rack track, move the mechanical arm 2 to the lifting track, then raise the lifting track to be consistent with the butt joint track, move the mechanical arm 2 to the lifting track on the other side, then lower it to be consistent with the rack track on the other side, and translate the mechanical arm 2. (2) Crossing manhole #2: rotate the track by 90° to make the axis of the guide rail roughly parallel to the centre line of manhole #2, and install the rotating lifting track and the butt joint track. Adjust the height of the lifting track to be consistent with that of the rack track, move the mechanical arm 2 to the lifting track, then raise the lifting track to be consistent with the buttjoint track, move the mechanical arm 2 to the lifting track on the other side, then lower it to be consistent with the rack track on the other side, translate the mechanical arm 2, and then rotate the track by 90°. In the description of the invention, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, which are only for the convenience of describing the invention, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, so they cannot be understood as limitations to the invention. The above-described embodiments are only for describing the preferred modes of the invention, and are not intended to limit the scope of the invention. Without departing from the design spirit of the invention, various modifications and improvements made by those of ordinary skill in the art to the technical solutions of the invention shall fall within the protection scope defined by the claims of the invention.

Claims

1. An intelligent welding workstation for double ship bottom grid structures, that multiple guide rails (5) and a moving mechanical arm frame (3), where the guide rails (5) applied in a booth according to a defined welding trajectory, are equipped with a rack and pinion guide rail (502), which is used for movement of the moving mechanical arm frame (3); the moving mechanical arm frame (3) is mounted on the guide rails (5), is equipped with a mechanical arm (2) that carries a welding torch (1), and the mechanical arm (2) carries to move over a moving track that is made up of multiple guide rails (5).

2. The intelligent welding workstation for double ship bottom grid structures according to conclusion 1, which includes the guardrail (5): a supporting base plate; a fastening part, mounted on the supporting base plate, that is used for attaching the supporting base plate to the cabin; a moving part, mounted on the supporting base plate, that becomes used for moving the supporting base plate in the cabin; the rack and pinion guide rail (502) is sliding in alignment with the moving mechanical arm frame (3); and the rack guide rail (502) is rotatably mounted on the support plate.

3. The intelligent welding workstation for double ship bottom grid structures according to conclusion 2, whereby the fastening part multiple symmetrically on the underside of the support plate includes attached magnetic suction cup feet (504), the moving part includes several groups of universal wheels (503), the number of groups of universal wheels (503) corresponds to the number of magnetic suction cup feet (504), each group of universal wheels (503) is equipped with four universal wheels (503), on both sides of the corresponding magnetic suction cup foot (504) symmetrically in pairs ranked, the magnetic suction cup base (504) is rotatable and connected to the universal wheels (503); and the magnetic suction cup foot (504) is magnetically attached to the cabin, and when the magnetic suction cup foot (504) of the magnetic attachment to the cabin is When the support base plate is in place, the universal wheels (503) move into the The cabin moves.

4. The intelligent welding workstation for double ship bottom grid structures according to conclusion 2, whereby the center of the top side of the supporting base plate is attached to the lower end of a rotating shaft (501 ), and the upper end of the rotating shaft (501) is rotatably connected to the center of the underside of the rack guide rail (502).

5. The intelligent welding workstation for double ship bottom grid structures according to conclusion 2, which includes the moving mechanical arm frame (3): an L-shaped plate seat (301), where one end of the L-shaped seat plate (301) is used to be fastened connected to the fixed end of the mechanical arm (2), and the other end of the L-shaped plate seat (301) can be slid onto the rack and pinion guide rail (502) has been installed; the L-shaped plate seat (301) fits exactly into the rack rail (502) via an end piece; and a drive part, the fixed end of which is on the L-shaped plate seat (301) fitted and the movable end is connected to the rack guide rail (502).

6. The intelligent Ias workstation for double ship bottom grid structures according to conclusion 5, where the drive part comprises: a gear (305), which engages with one side of the rack guide rail (502); and a drive motor (303), where the output shaft of the drive motor (303) is axially connected to the gear (305), and the fixed end of the drive motor (303) is firmly connected to the L-shaped plate seat (301 ).

7. The intelligent welding workstation for double ship bottom grid structures according to conclusion 6, whereby a connecting ribbed plate (302) with a rectangular triangular structure between the vertical part of the L-shaped seat plate (301) and the horizontal part of the L-shaped seat plate (301) is attached, and secure the fixed end of the drive motor (303) with one of the connecting ribs (302) is connected.

8. The intelligent Ias workstation for double ship bottom grating structures according to conclusion 5, whereby the horizontal part of the L-shaped seat plate (301) is fixedly connected to a laterally mounted bracket (304), the laterally mounted bracket (304) is firmly connected to the side wall of the fixed end of the mechanical arm (2), and the laterally mounted bracket (304) is used to support the fixed end of the mechanical arm (2).

9. The intelligent welding workstation for double ship bottom grid structures according to conclusion 5, where the limiting part comprises four sets of guide wheels (306), where the guide wheel sets (306) are attached to the bottom of the horizontal part of the L- shaped seat plate (301) are connected, the four guide wheel sets (306) symmetrically arranged in pairs on both sides of the are fitted to the top of the rack guide rail (502), the guide wheel sets (306) are vertically limited with the top of the rack and pinion guide rail (502) and the guide wheel sets (306) are horizontally adjustable with the top of the rack guide rail (502).

10. The intelligent welding workstation for double ship bottom grid structures according to conclusion 2, whereby when the rack rail (502) is mounted on the supporting base plate on a way that it can be lifted, the middle part of the supporting base plate is fixed with a bottom tray connected, the middle section of the bottom bin can slide vertically with a sliding rod, the top of the sliding rod is firmly connected to an upper tray, the top tray is attached to the rack guide rail (502); the bottom tray is firmly connected to the fixed end of a telescopic rod, and the movable end of the telescopic rod is fixed to the top tray connected; and when the rack guide rail (502) is firmly attached to the supporting base plate, the height of the supporting base plate is higher than the height of the bottom of a manhole. Fig. 1 Fig. 2

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