Automatic welding equipment for ship bottom and welding processing method thereof

Abstract

The present invention relates to the field of automatic welding equipment, and in particular to an automatic welding equipment for the bottom of a sea-going ship and a welding processing method thereof. The automatic welding equipment for the bottom of a sea-going ship comprises a first support plate, a fixed support device is provided on the first support plate, a movable sealing device capable of moving fresh water along the curved surface of the bottom of the ship to clean the position to be welded is provided on four sides of the fixed support device, and an automatic welding device for welding the bottom of the ship in an air cavity is provided in the fixed support device. The present invention has a magnetic roller adsorbed on the bottom of the ship and moves along the curve to the working area, an electric shaft rotates to adjust the direction, and the sixth slider moves up and down to adapt to the change of the curved surface, the third slider is extended to make the first pressure block rotate and fit on the bottom of the ship, and the magnetic block is adsorbed on the bottom of the ship to cooperate with the compression strip and the elastic film to complete the sealing. Opening the twelfth slider allows the gas in the air cavity to float out to form a protective cavity, and seawater enters the air cavity so that the clean water in the fresh water cavity is sprayed to clean the position to be welded.

Description

Technical Field

[0001] The invention relates to the field of automatic welding equipment, in particular to an automatic welding equipment for the bottom of a sea vessel and a welding processing method thereof. Background Art

[0002] With the development of ocean transportation, various ships and related technologies have emerged. In recent years, cargo ship bottom damage accidents are also common. The application of underwater automatic welding technology will greatly liberate underwater workers, avoid welding in dangerous waters, and effectively improve welding efficiency, ensure welding stability and accuracy, and improve operation quality and economic benefits. Existing equipment has the following problems:

[0003] 1. Seawater contains a lot of salt. Welding the bottom of the ship directly in seawater will reduce the strength of the welding.

[0004] 2. There are many curved surfaces on the bottom of the ship, which brings many difficulties to the sealing of equipment.

[0005] 3. The arc in the water environment is affected by water pressure and other factors, making the welding process more complicated and its combustion stability is very poor. Summary of the invention

[0006] The purpose of the present invention is to address the above-mentioned problems existing in the prior art, and propose an automatic welding device for the bottom of a sea vessel and a welding processing method thereof, which has a magnetic roller adsorbed on the bottom of the ship and moves along the curve to the working area, the electric shaft rotates to adjust the direction, the sixth slider moves up and down to adapt to the change of the curved surface, the third slider is extended to make the first pressing block rotate and fit on the bottom of the ship, and the magnetic block is adsorbed on the bottom of the ship to cooperate with the compression strip and the elastic film to complete the sealing. Opening the twelfth slider allows the gas in the air cavity to float out to form a protective cavity, and seawater enters the air cavity so that the clean water in the fresh water cavity is sprayed to clean the position to be welded.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] An automatic welding device for the bottom of a sea-going ship and a welding processing method thereof. The automatic welding device for the bottom of a sea-going ship comprises a first support plate, a fixed support device is arranged on the first support plate, a movable sealing device is arranged on four sides of the fixed support device, and the movable sealing device can be moved along the curved surface of the bottom of the ship to clean the welding position with fresh water, and an automatic welding device for welding the bottom of the ship in a gas protection chamber is arranged inside the fixed support device.

[0009] Preferably, the fixed support device also includes a second support plate fixedly installed on four sides of the upper end of the first support plate, the inner and outer ends of the second support plate are fixedly connected to the CCD camera, the upper end of the CCD camera is fixedly connected to the lighting lamp, a first hydraulic cavity is provided on one side of the first support plate, a first slider is slidably provided in the first hydraulic cavity, a first spring is fixedly connected between the lower end of the first slider and the first hydraulic cavity, an air cavity is provided on the first slider in the first support plate, a second hydraulic cavity is provided on the other side of the first support plate, a second slider is slidably provided in the second hydraulic cavity, a fresh water cavity is provided on the second slider in the first support plate, and a first hydraulic channel is fixedly connected between the first hydraulic cavity and the second hydraulic cavity.

[0010] Preferably, the movable sealing device includes a hydraulic box established in the second supporting plate, a third hydraulic chamber is provided at four corners in the second supporting plate, each of the third hydraulic chambers is fixedly connected to the second hydraulic channel between the hydraulic box, a third slider is provided for sliding in each of the third hydraulic chambers, a first slide groove is provided in each of the third sliders, a fourth slider is provided for sliding in each of the first slide grooves, a second spring is fixedly connected between the upper end of each of the fourth sliders and the first slide groove, a third hydraulic channel is fixedly connected between the lower end of each of the first slide grooves and the third hydraulic chamber, both sides of the upper end of each of the third sliders are fixedly connected to the third supporting plate, each of the third supporting plates is rotatably connected to the first rotating shaft, a torsion spring is provided between each of the first rotating shaft and the third supporting plate, the inner end of the first rotating shaft is fixedly connected to the second rotating shaft, and the upper end of each of the second rotating shafts is fixedly connected to the first pressure block.

[0011] Preferably, a second slide groove is provided next to the first rotating shaft in each of the third support plates, a hydraulic cylinder is fixedly connected on both sides of each of the second slide grooves, a hydraulic rod of each of the hydraulic cylinders is fixedly connected inwardly to a second pressure block, each of the hydraulic cylinders is fixedly connected to a fourth hydraulic channel on a side of the first slide groove, a third slide groove is provided below each of the fourth hydraulic channels, a fifth slider is slidably provided in each of the third slide grooves, a third spring is fixedly connected between the lower end of each of the fifth sliders and the third slide groove, a fifth hydraulic channel is fixedly connected between each of the third slide grooves and the third hydraulic chamber, a sixth hydraulic channel is provided in each of the fifth sliders, a seventh hydraulic channel is fixedly connected between the upper end of each of the third slide grooves and the fourth hydraulic channel, and an eighth hydraulic channel is fixedly connected between the side of each of the third slide grooves and the fourth hydraulic channel.

[0012] Preferably, a pressing strip is fixedly connected between each of the first pressing blocks, a plurality of magnetic blocks are fixedly connected in each pressing strip, an elastic film is fixedly connected between the lower end of each pressing strip and the second support plate, four sides of the inner end of the second support plate are fixedly connected to a fourth support plate, an upper end of each of the fourth support plates is fixedly connected to an electric rotating shaft, each of the electric rotating shaft is provided with a fourth slide groove, a sixth slider is slidably provided in each of the fourth slide grooves, a fourth spring is fixedly connected between the lower end of each sixth slider and the fourth slide groove, both sides of the upper end of each of the sixth sliders are fixedly connected to the fifth support plate, and one end of each of the fifth support plates is rotatably connected to the third rotating shaft, and a magnetic roller is fixedly connected in the third rotating shaft.

[0013] Preferably, the automatic welding device includes a sixth support plate fixedly connected to both sides above the second support plate, a plurality of water spray pipes are fixedly connected to the upper end of each of the sixth support plates, each of the water spray pipes is fixedly connected to a water spray channel with a fresh water chamber, a fifth slide groove is provided at the center of the upper end of the first support plate, a seventh slider is slidably provided in the fifth slide groove, the upper end of the seventh slider is fixedly connected to the seventh support plate, a sixth slide groove is provided on one side of the seventh support plate, an eighth slider is slidably provided in the sixth slide groove, a fifth spring is fixedly connected between the lower end of the eighth slider and the sixth slide groove, and the outer end of the eighth slider is fixedly connected to a floating block.

[0014] Preferably, a fourth hydraulic chamber is provided above the sixth slide groove, a ninth sliding block is slidably provided in the fourth hydraulic chamber, the ninth sliding block is fixedly connected to the eighth sliding block, a fifth hydraulic chamber is provided next to the fourth hydraulic chamber in the seventh support plate, a ninth hydraulic channel is fixedly connected between the fifth hydraulic chamber and the fourth hydraulic chamber, a sealing plate is slidably provided in the fifth hydraulic chamber, a seventh slide groove is provided at the sealing plate in the seventh support plate, a tenth sliding block is slidably provided in the seventh slide groove, both sides of the upper end of the tenth sliding block are fixedly connected to the eighth support plates, a multi-axis welding arm is fixedly connected between the eighth support plates, a sixth hydraulic chamber is provided above the air cavity in the second support plate, a sliding rod is slidably provided in the sixth hydraulic chamber, the sixth hydraulic chamber is connected to the tenth hydraulic channel with the fourth hydraulic channel moved to the bottom, an eighth slide groove is provided next to the sixth hydraulic chamber, an eleventh sliding block is slidably provided in the eighth slide groove, the eleventh sliding block is fixedly connected to the sliding rod, and the lower side of the inner end of the eleventh sliding block is fixedly connected to the twelfth sliding block.

[0015] Preferably, the automatic welding equipment for the bottom of a sea vessel and the welding processing method thereof include the following steps:

[0016] S1: The magnetic roller is adsorbed on the bottom of the boat and moves along the curve to the working area. The electric shaft rotates to adjust the direction and the sixth slider moves up and down to adapt to the changes in the curved surface.

[0017] S2: When the device moves to the working position, the third slider extends to make the first pressing block rotate and fit on the bottom of the ship, and the magnetic block is adsorbed on the pressing strip on the bottom of the ship and cooperates with the elastic film to complete the sealing;

[0018] S3: opening the twelfth slider to allow the gas in the air cavity to float out, and the seawater to enter the air cavity so that the fresh water in the fresh water cavity is sprayed to clean the position to be welded;

[0019] S4: As the water level drops, the float opens the sealing plate and extends the tenth slider to start the multi-axis welding arm welding.

[0020] Beneficial effects:

[0021] 1. The magnetic roller is adsorbed on the bottom of the boat and moves along the curve to the working area. The electric shaft rotates to adjust the direction and the sixth slider moves up and down to adapt to the changes in the curved surface.

[0022] 2. The third slider is extended to make the first pressing block rotate and fit on the bottom of the ship, and the magnetic block is adsorbed on the compression strip and elastic film on the bottom of the ship to complete the sealing.

[0023] 3. Open the twelfth slider to allow the gas in the air cavity to float out to form a protective cavity, and the seawater enters the air cavity so that the clean water in the fresh water cavity is sprayed to clean the position to be welded. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a stereogram of the present invention;

[0025] Figure 2 It is a front cross-sectional view of the present invention;

[0026] Figure 3 for Figure 2 A partial enlarged view of the middle part;

[0027] Figure 4 for Figure 2 A partial enlarged view of point B in the middle;

[0028] Figure 5 for Figure 2 Partial cross-sectional view at point C in the middle;

[0029] Figure 6 A top view of the present invention;

[0030] In the figure: 10, fixed support device; 11, movable sealing device; 12, automatic welding device; 13, first support plate; 14, second support plate; 15, CCD camera; 16, lighting lamp; 17, first hydraulic chamber; 18, first slider; 19, first spring; 20, air chamber; 21, second hydraulic chamber; 22, second slider; 23, first hydraulic channel; 24, fresh water chamber; 25, hydraulic box; 26, third hydraulic chamber; 27, second hydraulic channel; 28, third slider; 29, first slide; 30, fourth slider; 31, second spring; 32, third hydraulic channel; 33, fourth hydraulic channel; 34, third slide; 35, fifth slider; 36, third spring; 37, fifth hydraulic channel; 38, sixth hydraulic channel; 39, seventh hydraulic channel; 40, eighth hydraulic channel; 41, third support plate; 42, second slide; 43, hydraulic cylinder; 44, second pressure block; 45, first rotating shaft; 46, third support plate; 47, second support plate; 48, third support plate; 49, third support plate; 50, third support plate; 51, third support plate; 52, second support plate; 53, third support plate; 54, second support plate; 55, first rotating shaft; 56, third support plate; 57, third support plate; 58, sixth support plate; 59, seventh support plate; 60, eighth support plate; 61, third support plate; 62, second support plate; 63, third support plate; 64, second support plate; 65, first rotating shaft; 66, third support plate; 67, third support plate; 68, third support plate; 69, seventh support plate; 70, first support plate; 71, third support plate; 72, second support plate; 73, third support plate; 74, second support plate; 7 6. second rotating shaft; 47. first pressing block; 48. pressing strip; 49. magnetic block; 50. elastic film; 51. fourth supporting plate; 52. electric rotating shaft; 53. fourth sliding groove; 54. sixth sliding block; 55. fourth spring; 56. fifth supporting plate; 57. third rotating shaft; 58. magnetic roller; 59. sixth supporting plate; 60. water spray pipe; 61. water spray channel; 62. fifth sliding groove; 63. seventh sliding block; 64. seventh supporting plate; 65 , the sixth slide groove; 66, the eighth slider; 67, the fifth spring; 68, the floating block; 69, the fourth hydraulic chamber; 70, the ninth slider; 71, the ninth hydraulic channel; 72, the fifth hydraulic chamber; 73, the sealing plate; 74, the seventh slide groove; 75, the tenth slider; 76, the eighth support plate; 77, the multi-axis welding arm; 78, the sixth hydraulic chamber; 79, the sliding rod; 80, the tenth hydraulic channel; 81, the eighth slide groove; 82, the eleventh slider; 83, the twelfth slider. DETAILED DESCRIPTION

[0031] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0032] In the description of the present invention, it should be noted that the terms "inside", "below", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0033] Combined with Figure 1-6, an automatic welding device for the bottom of a sea vessel and a welding processing method thereof, characterized in that the automatic welding device for the bottom of a sea vessel comprises a first support plate 13, a fixed support device 10 is provided on the first support plate 13, a movable sealing device 11 which can move along the curved surface of the bottom of the ship to clean the welding position with fresh water is provided on four sides of the fixed support device 10, and an automatic welding device 12 for welding the bottom of the ship in a gas protection chamber is provided in the fixed support device 10.

[0034] Furthermore, combined with Figure 1 , 2 and 6, the fixed support device 10 also includes a second support plate 14 fixedly installed on four sides of the upper end of the first support plate 13, the inner and outer ends of the second support plate 14 are fixedly connected to a CCD camera 15, the upper end of the CCD camera 15 is fixedly connected to a lighting lamp 16, a first hydraulic cavity 17 is provided on one side of the first support plate 13, a first slider 18 is slidably provided in the first hydraulic cavity 17, a first spring 19 is fixedly connected between the lower end of the first slider 18 and the first hydraulic cavity 17, an air cavity 20 is provided on the first slider 18 in the first support plate 13, a second hydraulic cavity 21 is provided on the other side of the first support plate 13, a second slider 22 is slidably provided in the second hydraulic cavity 21, a fresh water cavity 24 is provided on the second slider 22 in the first support plate 13, and a first hydraulic channel 23 is fixedly connected between the first hydraulic cavity 17 and the second hydraulic cavity 21.

[0035] Furthermore, combined with Figure 2 , 4 6, the movable sealing device 11 includes a hydraulic box 25 established in the second support plate 14, and a third hydraulic chamber 26 is provided at four corners in the second support plate 14. A second hydraulic channel 27 is fixedly connected between each third hydraulic chamber 26 and the hydraulic box 25, and a third slider 28 is slidably provided in each third hydraulic chamber 26, and a first slide groove 29 is provided in each third slider 28, and a fourth slider 30 is slidably provided in each first slide groove 29, and a second spring 31 is fixedly connected between the upper end of each fourth slider 30 and the first slide groove 29, and a third hydraulic channel 32 is fixedly connected between the lower end of each first slide groove 29 and the third hydraulic chamber 26, and both sides of the upper end of each third slider 28 are fixedly connected to the third support plate 41, and a first rotating shaft 45 is rotatably connected in each third support plate 41, and a torsion spring is provided between each first rotating shaft 45 and the third support plate 41, and the inner end of the first rotating shaft 45 is fixedly connected to the second rotating shaft 46, and the upper end of each second rotating shaft 46 is fixedly connected to the first pressing block 47.

[0036] Furthermore, combined with Figure 2 , 3and 4, a second slide groove 42 is provided beside the first rotating shaft 45 in each third support plate 41, and a hydraulic cylinder 43 is fixedly connected on both sides of each second slide groove 42, and a hydraulic rod of each hydraulic cylinder 43 is fixedly connected inwardly with a second pressing block 44, and each hydraulic cylinder 43 is fixedly connected to a fourth hydraulic channel 33 on the side of the first slide groove 29, and a third slide groove 34 is provided below each fourth hydraulic channel 33, and a fifth slider 35 is slidably provided in each third slide groove 34, and a third spring 36 is fixedly connected between the lower end of each fifth slider 35 and the third slide groove 34, and a fifth hydraulic channel 37 is fixedly connected between each third slide groove 34 and the third hydraulic chamber 26, and a sixth hydraulic channel 38 is provided in each fifth slider 35, and a seventh hydraulic channel 39 is fixedly connected between the upper end of each third slide groove 34 and the fourth hydraulic channel 33, and an eighth hydraulic channel 40 is fixedly connected between the side of each third slide groove 34 and the fourth hydraulic channel 33.

[0037] Furthermore, combined with Figure 2 , 4 and 5, a pressing strip 48 is fixedly connected between each first pressing block 47, a plurality of magnetic blocks 49 are fixedly connected inside each pressing strip 48, an elastic film 50 is fixedly connected between the lower end of each pressing strip 48 and the second support plate 14, four sides of the inner end of the second support plate 14 are fixedly connected to a fourth support plate 51, an upper end of each fourth support plate 51 is fixedly connected to an electric rotating shaft 52, a fourth slide groove 53 is provided inside each electric rotating shaft 52, a sixth slider 54 is slidably provided inside each fourth slide groove 53, a fourth spring 55 is fixedly connected between the lower end of each sixth slider 54 and the fourth slide groove 53, both sides of the upper end of each sixth slider 54 are fixedly connected to a fifth support plate 56, one end of each fifth support plate 56 is rotatably connected to a third rotating shaft 57 toward the inner side, and a magnetic roller 58 is fixedly connected inside the third rotating shaft 57.

[0038] Furthermore, combined with Figure 2 and 6 The automatic welding device 12 includes a sixth support plate 59 fixedly connected to both sides above the second support plate 14, a plurality of water spray pipes 60 are fixedly connected to the upper end of each sixth support plate 59, and a water spray channel 61 is fixedly connected to the fresh water chamber 24 in each water spray pipe 60. A fifth slide groove 62 is provided at the center of the upper end of the first support plate 13, a seventh slider 63 is slidably provided in the fifth slide groove 62, the upper end of the seventh slider 63 is fixedly connected to the seventh support plate 64, a sixth slide groove 65 is provided on one side of the seventh support plate 64, an eighth slider 66 is slidably provided in the sixth slide groove 65, a fifth spring 67 is fixedly connected between the lower end of the eighth slider 66 and the sixth slide groove 65, and a floating block 68 is fixedly connected to the outer end of the eighth slider 66.

[0039] Furthermore, combined with Figure 2 and 6A fourth hydraulic chamber 69 is provided above the sixth slide groove 65, a ninth slider 70 is slidably provided in the fourth hydraulic chamber 69, the ninth slider 70 is fixedly connected to the eighth slider 66, a fifth hydraulic chamber 72 is provided next to the fourth hydraulic chamber 69 in the seventh support plate 64, a ninth hydraulic channel 71 is fixedly connected between the fifth hydraulic chamber 72 and the fourth hydraulic chamber 69, a sealing plate 73 is slidably provided in the fifth hydraulic chamber 72, a seventh slide groove 74 is provided at the sealing plate 73 in the seventh support plate 64, a tenth slider 75 is slidably provided in the seventh slide groove 74, and both sides of the upper end of the tenth slider 75 are fixedly connected. The eighth support plate 76 is fixedly connected, and the multi-axis welding arm 77 is fixedly connected between the eighth support plates 76. A sixth hydraulic chamber 78 is provided above the air chamber 20 in the second support plate 14. A sliding rod 79 is slidably provided in the sixth hydraulic chamber 78. The sixth hydraulic chamber 78 is connected to the fourth hydraulic channel 33 moved to the bottom with a tenth hydraulic channel 80. An eighth sliding groove 81 is provided next to the sixth hydraulic chamber 78. An eleventh sliding block 82 is slidably provided in the eighth sliding groove 81. The eleventh sliding block 82 is fixedly connected to the sliding rod 79, and the twelfth sliding block 83 is fixedly connected to the lower side of the inner end of the eleventh sliding block 82.

[0040] Furthermore, combined with Figure 1-6 The automatic welding equipment for the bottom of a sea vessel and the welding processing method thereof comprise the following steps:

[0041] S1: The magnetic roller 58 is adsorbed on the bottom of the ship and moves along the curve toward the working area, and the electric shaft 52 rotates to adjust the direction and the sixth slider 54 moves up and down to adapt to the change of the curved surface;

[0042] S2: When the device moves to the working position, the third slider 28 extends to make the first pressing block 47 rotate and fit to the bottom of the ship, and the magnetic block 49 is adsorbed on the pressing strip 48 and the elastic film 50 on the bottom of the ship to complete the sealing;

[0043] S3: Open the twelfth slider 83 to make the gas in the air cavity 20 float out, and the seawater enters the air cavity 20 so that the fresh water in the fresh water cavity 24 is sprayed to clean the position to be welded;

[0044] S4: As the water level drops, the float 68 opens the sealing plate 73, extends the tenth slider 75, and starts the multi-axis welding arm 77 to weld.

[0045] Working principle: After the detection equipment is turned on, the lighting 16 and the CCD camera 15 are turned on, the magnetic roller 58 is adsorbed on the bottom of the ship and rolls to drive the equipment forward, the electric shaft 52 rotates to adjust the direction to drive the sixth slider 54 to rotate, the sixth slider 54 drives the fifth support plate 56 to rotate, the fifth support plate 56 drives the third rotating shaft 57 to rotate, the third rotating shaft 57 drives the magnetic roller 58 to rotate, and the sixth slider 54 moves up and down to drive the magnetic roller 58 to move to adapt to the changes in the curved surface.

[0046] When the equipment moves to the working position, the hydraulic oil in the hydraulic box 25 enters the third hydraulic chamber 26 through the second hydraulic channel 27 to push the third slider 28 to move upward, the third slider 28 drives the third support plate 41 to move upward, the third support plate 41 drives the first rotating shaft 45 to move upward, the first rotating shaft 45 drives the second rotating shaft 46 to move upward, the second rotating shaft 46 drives the first pressing block 47 to move upward and fit on the curved surface of the bottom of the ship to drive the second rotating shaft 46 to rotate, the second rotating shaft 46 drives the first rotating shaft 45 to rotate, the hydraulic oil in the third hydraulic chamber 26 enters the first slide groove 29 through the third hydraulic channel 32, and when the pressure increases, the fourth slider 30 is pushed open, so that the hydraulic oil enters the hydraulic cylinder 43 through the fourth hydraulic channel 33, and the hydraulic rod of the hydraulic cylinder 43 extends to drive the second pressing block 44 inward. The first rotating shaft 45 is moved and clamped, and the first pressure block 47 drives the clamping strip 48 to fit on the curved surface of the bottom of the ship. The magnetic block 49 adsorbs the bottom of the ship so that the clamping strip 48 and the elastic film 50 cooperate to complete the sealing. The hydraulic oil in the fourth hydraulic channel 33 enters the sixth hydraulic chamber 78 through the tenth hydraulic channel 80 to push the slide bar 79 to move left, and the slide bar 79 drives the eleventh slider 82 to move left. The eleventh slider 82 drives the twelfth slider 83 to open, so that the gas in the air chamber 20 floats to form a gas protection chamber on the bottom of the ship. Seawater enters the air chamber 20 and drives the first slider 18 to move downward, so that the hydraulic oil in the first hydraulic chamber 17 enters the second hydraulic chamber 21 through the first hydraulic channel 23 and pushes the second slider 22 to move upward, so that the fresh water in the fresh water chamber 24 is sprayed through the water spray channel 61 to clean the position to be welded.

[0047] The float 68 moves downward as the water level drops, and the float 68 drives the eighth slider 66 to move downward, and the eighth slider 66 drives the ninth slider 70 to move downward, so that the hydraulic oil in the fifth hydraulic chamber 72 enters the fourth hydraulic chamber 69 through the ninth hydraulic channel 71, so that the sealing plate 73 opens, and the tenth slider 75 moves upward, driving the eighth support plate 76 to move upward, and the eighth support plate 76 drives the multi-axis welding arm 77 to move upward, thereby starting the multi-axis welding arm 77 to weld. After welding is completed, the hydraulic oil in the third hydraulic chamber 26 returns to the hydraulic box 25 through the second hydraulic channel 27, the fourth slider 30 moves downward under the action of the second spring 31, the hydraulic oil in the fourth hydraulic channel 33 enters the third slide 34 through the seventh hydraulic channel 39, and pushes the fifth slider 35 to move downward, so that the sixth hydraulic channel 38 and the eighth hydraulic channel 40 are connected, and the hydraulic oil in the hydraulic cylinder 43 returns to the hydraulic box 25, so that the hydraulic rod of the hydraulic cylinder 43 retracts and drives the second pressure block 44 to open, and the first rotating shaft 45 returns to its original position under the action of the torsion spring, and the first rotating shaft 45 drives the second rotating shaft 46 to rotate, and the second rotating shaft 46 drives the first pressure block 47 to rotate. The magnetic roller 58 rotates to drive the device to move in the direction of travel.

[0048] The above descriptions are merely embodiments of the present invention, and are not intended to limit the patent protection scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention's specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An automatic welding equipment for the bottom of a seagoing vessel, characterized in that: The automatic welding equipment for the bottom of a sea-going ship comprises a first supporting plate (13), a fixed supporting device (10) is provided on the first supporting plate (13), a movable sealing device (11) is provided on four sides of the fixed supporting device (10) and can be moved along the curved surface of the bottom of the ship to clean the welding position with fresh water, and an automatic welding device (12) for welding the bottom of the ship in a gas protection chamber is provided in the fixed supporting device (10); The fixed support device (10) also includes a second support plate (14) fixedly mounted on four sides of the upper end of the first support plate (13); the inner and outer ends of the second support plate (14) are fixedly connected to a CCD camera (15); the upper end of the CCD camera (15) is fixedly connected to a lighting lamp (16); a first hydraulic cavity (17) is provided on one side of the first support plate (13); a first slider (18) is slidably provided in the first hydraulic cavity (17); a first spring (19) is fixedly connected between the lower end of the first slider (18) and the first hydraulic cavity (17); an air cavity (20) is provided on the first slider (18) in the first support plate (13); a second hydraulic cavity (21) is provided on the other side of the first support plate (13); a second slider (22) is slidably provided in the second hydraulic cavity (21); a fresh water cavity (24) is provided on the second slider (22) in the first support plate (13); and a first hydraulic channel (23) is fixedly connected between the first hydraulic cavity (17) and the second hydraulic cavity (21); The movable sealing device (11) comprises a hydraulic box (25) arranged in a second supporting plate (14), third hydraulic chambers (26) are arranged at four corners in the second supporting plate (14), a second hydraulic channel (27) is fixedly connected between each of the third hydraulic chambers (26) and the hydraulic box (25), a third slider (28) is slidably arranged in each of the third hydraulic chambers (26), a first slide groove (29) is arranged in each of the third sliders (28), a fourth slider (30) is slidably arranged in each of the first slide grooves (29), and an upper end of each of the fourth sliders (30) is connected to the first slide groove (29) ), a third hydraulic channel (32) is fixedly connected between the lower end of each of the first slide grooves (29) and the third hydraulic chamber (26), both sides of the upper end of each of the third slide blocks (28) are fixedly connected to a third support plate (41), each of the third support plates (41) is rotatably connected to a first rotating shaft (45), a torsion spring is provided between each of the first rotating shafts (45) and the third support plate (41), the inner end of the first rotating shaft (45) is fixedly connected to a second rotating shaft (46), and the upper end of each of the second rotating shafts (46) is fixedly connected to a first pressing block (47); A second slide groove (42) is provided beside the first rotating shaft (45) in each of the third support plates (41), a hydraulic cylinder (43) is fixedly connected to both sides of each of the second slide grooves (42), a hydraulic rod of each of the hydraulic cylinders (43) is fixedly connected inwardly to a second pressing block (44), each of the hydraulic cylinders (43) is fixedly connected to a fourth hydraulic channel (33) on the side of the first slide groove (29), a third slide groove (34) is provided below each of the fourth hydraulic channels (33), and a fifth sliding block (35) is slidably provided in each of the third slide grooves (34), A third spring (36) is fixedly connected between the lower end of each fifth slider (35) and the third slide groove (34), a fifth hydraulic channel (37) is fixedly connected between each third slide groove (34) and the third hydraulic chamber (26), a sixth hydraulic channel (38) is provided in each fifth slider (35), a seventh hydraulic channel (39) is fixedly connected between the upper end of each third slide groove (34) and the fourth hydraulic channel (33), and an eighth hydraulic channel (40) is fixedly connected between the side edge of each third slide groove (34) and the fourth hydraulic channel (33); A clamping strip (48) is fixedly connected between each of the first pressure blocks (47), a plurality of magnetic blocks (49) are fixedly connected inside each of the clamping strips (48), an elastic film (50) is fixedly connected between the lower end of each of the clamping strips (48) and the second support plate (14), four sides of the inner end of the second support plate (14) are fixedly connected to a fourth support plate (51), an upper end of each of the fourth support plates (51) is fixedly connected to an electric rotating shaft (52), a fourth slide groove (53) is provided inside each of the electric rotating shafts (52), a sixth sliding block (54) is slidably provided inside each of the fourth slide grooves (53), a fourth spring (55) is fixedly connected between the lower end of each of the sixth sliding blocks (54) and the fourth slide groove (53), both sides of the upper end of each of the sixth sliding blocks (54) are fixedly connected to a fifth support plate (56), one end of each of the fifth support plates (56) is rotatably connected to a third rotating shaft (57) toward the inner end, and a magnetic roller (58) is fixedly connected inside the third rotating shaft (57); The automatic welding device (12) comprises a sixth support plate (59) fixedly connected to both sides above the second support plate (14), a plurality of water spray pipes (60) being fixedly connected to the upper end of each of the sixth support plates (59), a water spray channel (61) being fixedly connected to the fresh water chamber (24) in each of the water spray pipes (60), a fifth slide groove (62) being provided at the center of the upper end of the first support plate (13), a seventh slider (63) being slidably provided in the fifth slide groove (62), an upper end of the seventh slider (63) being fixedly connected to a seventh support plate (64), a sixth slide groove (65) being provided at one side of the seventh support plate (64), an eighth slider (66) being slidably provided in the sixth slide groove (65), a fifth spring (67) being fixedly connected between the lower end of the eighth slider (66) and the sixth slide groove (65), and a floating block (68) being fixedly connected to the outer end of the eighth slider (66); A fourth hydraulic chamber (69) is provided above the sixth slide groove (65), a ninth slider (70) is slidably provided in the fourth hydraulic chamber (69), the ninth slider (70) is fixedly connected to the eighth slider (66), a fifth hydraulic chamber (72) is provided beside the fourth hydraulic chamber (69) in the seventh support plate (64), a ninth hydraulic channel (71) is fixedly connected between the fifth hydraulic chamber (72) and the fourth hydraulic chamber (69), a sealing plate (73) is slidably provided in the fifth hydraulic chamber (72), a seventh slide groove (74) is provided at the sealing plate (73) in the seventh support plate (64), a tenth slider (75) is slidably provided in the seventh slide groove (74), both sides of the upper end of the tenth slider (75) An eighth support plate (76) is fixedly connected, a multi-axis welding arm (77) is fixedly connected between the eighth support plates (76), a sixth hydraulic chamber (78) is provided above the air chamber (20) in the second support plate (14), a sliding rod (79) is slidably provided in the sixth hydraulic chamber (78), the sixth hydraulic chamber (78) is connected to a tenth hydraulic channel (80) with the fourth hydraulic channel (33) moved to the bottom, an eighth sliding groove (81) is provided next to the sixth hydraulic chamber (78), an eleventh sliding block (82) is slidably provided in the eighth sliding groove (81), the eleventh sliding block (82) is fixedly connected to the sliding rod (79), and the lower side of the inner end of the eleventh sliding block (82) is fixedly connected to the twelfth sliding block (83).

2. The method for welding processing by automatic welding equipment for the bottom of a sea vessel according to claim 1, characterized in that: The automatic welding processing method for the bottom of a sea vessel comprises the following steps: S1: The magnetic roller (58) is adsorbed on the bottom of the ship and moves along the curve toward the working area, and the electric shaft (52) rotates to adjust the direction so that the sixth slider (54) moves up and down to adapt to the change of the curved surface; S2: When the device moves to the working position, the third slider (28) is extended so that the first pressing block (47) rotates and fits on the bottom of the ship, and the magnetic block (49) is adsorbed on the pressing strip (48) and the elastic film (50) on the bottom of the ship to cooperate and complete the sealing; S3: opening the twelfth slider (83) so that the gas in the gas cavity (20) floats out, and seawater enters the gas cavity (20) so that the fresh water in the fresh water cavity (24) is sprayed to clean the position to be welded; S4: As the water level drops, the floating block (68) opens the sealing plate (73), extends the tenth slider (75), and starts the multi-axis welding arm (77) for welding.

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