A clamping mechanism for a ship grid welding robot

Abstract

This invention discloses a clamping mechanism for a shipboard inter-grid welding robot. Belonging to the field of mechanical clamping technology, it includes a clamping device, welding torch, robotic arm, rotating device, grid plate, and moving device. The robot body, composed of a robotic arm and welding torch, is the main component for completing the welding work. The clamping device consists of four clamping arms and a drive mechanism. The rotating device is connected to the four clamping arms and includes a rotating platform and a drive mechanism. In this invention, during robot movement, lateral movement is achieved through the cooperation of two pairs of clamping arms. This invention is applicable to welding work in complex shipboard compartments, especially inter-grid compartments with grid structures, improving the environmental adaptability and functionality of the wall-climbing welding robot.

Description

Technical Field

[0001] This invention belongs to the field of mechanical clamping technology and relates to a clamping mechanism for a grid welding robot; specifically, it relates to a clamping mechanism for a ship grid welding robot. Background Technology

[0002] Current cabin operation robots mostly employ wall-climbing robots or gantry cranes. Both methods have certain drawbacks. Wall-climbing robots, due to the heavy load they must carry, may suffer from weak adhesion, often relying on magnetic adsorption, which is only suitable for magnetic materials and has poor environmental adaptability. Gantry cranes, due to their large structure, lack of flexibility, and inconvenient operation, are prone to safety hazards. Solving both of these problems simultaneously requires a clamping mechanism for welding robots that, while achieving the necessary functions, significantly reduces labor and machinery costs. Summary of the Invention

[0003] Purpose of the invention: The purpose of this invention is to provide a clamping mechanism for a welding robot in a ship compartment, thereby solving the problems of adaptability and obstacle crossing between the welding robot and the environment.

[0004] Technical solution: The clamping mechanism of a ship grid welding robot according to the present invention includes a clamping device, a welding torch, a robotic arm, a rotating device, a grid plate and a moving device that are connected to each other.

[0005] The welding torch is connected to the end of the six-axis robotic arm via a flange. The six-axis robotic arm connects its base to the clamping device via bolts. The clamping device fixes the workpiece to the workpiece and achieves lateral movement through the staggered movement of two pairs of clamping arms.

[0006] The rotating device can drive the robot to rotate, increasing the working space of the robotic arm and enabling rapid turning, thereby realizing the translation of the welding robot and improving work efficiency.

[0007] Furthermore, the clamping device includes left and right clamping arms (clamping arm frame), transmission shaft, large gear one, rack one, rack two, telescopic rod, fixed guide rail (guide rail base, guide rail), slide rail frame, suction cup, suction cup bracket, motor one, and bolts and locking nuts.

[0008] The left and right clamping arms are fixed to the slide rail frame with bolts. A telescopic rod support frame is provided on the clamping arms for connecting with the telescopic rod. The base of the guide rail is fixed to the clamping arms with bolts and connected to the slide rail frame through the guide rail. The rack is fixed to the rack support frame. The racks on both sides mesh with the large gear in the middle at the same time. At the same time, the large gear meshes with the small gear. Driven by the motor, the gear and rack are transmitted, which drives the clamping arms to perform the clamping function.

[0009] Furthermore, a suction cup device is installed at the end of the clamping device, the suction cup device including a suction cup and a suction cup bracket; the suction cup is fixed to the end of the left and right clamping arms by the suction cup bracket, which increases the stability of the clamping device and reduces damage to the workpiece.

[0010] Furthermore, the rotating device includes a second motor, a rotary table, a second large gear, a worm gear, a connecting shaft, a baffle, a turbine, a worm gear bearing, and a worm gear support, etc.

[0011] The second motor is fixed on the motor support on the base plate and connected to the worm gear through the output shaft. The worm gear is fixed to the worm gear support through the worm gear bearing. The connecting shaft connects the upper and lower base plates of the worm gear support and is connected to the worm wheel through the set screw. The worm gear drives the large gear two on the rotary table to realize the rotation of the rotary table. The bottom of the rotary table is connected to the clamping device through the fixed shaft to realize the rotation of the clamping device.

[0012] Furthermore, the moving device includes a cylinder support, a connecting rod, a slider, a slide rail, and a cylinder, etc.

[0013] The cylinder is fixed on the cylinder support, which is connected to the slider. The two ends of the connecting rod are connected to the slider and the clamping arm frame, respectively. The extension and retraction of the cylinder drives the clamping mechanism to move laterally, thereby enabling the welding robot arm to move left and right on the grid plate.

[0014] Beneficial Effects: Compared with the prior art, the present invention is characterized by its clamping mechanism for a grid-type welding robot. This mechanism, through a combination of a clamping device and a rotating device, enables the welding robot to move between different positions during operation. Specifically, the invention uses a large gear to drive a rack connected to the left and right clamping arms via rack and pinion transmission, achieving the clamping function of the clamping device. Furthermore, a cylinder between the two pairs of clamping arms facilitates the coordinated movement between them, thereby achieving the lateral movement of the welding robot. This invention allows the welding robot to work flexibly in its environment, improves operational efficiency, and is highly practical. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0016] Figure 2 This is a schematic diagram of the clamping device in this invention;

[0017] Figure 3 This is a schematic diagram of the rotating device in this invention;

[0018] Figure 4 This is a schematic diagram of the structure of the mobile device in this invention;

[0019] In the diagram, 1 is the clamping device, 101 is rack one, 102 is the slide rail frame, 103 is the large gear one, 104 is rack two, 105 is the clamping arm frame, 106 is the suction cup, 107 is the suction cup bracket, 108 is the telescopic rod, 109 is the guide rail base, 110 is the guide rail, and 111 is the motor one.

[0020] 2 is the welding torch, and 3 is the robotic arm;

[0021] 4 is the rotating device, 401 is the worm, 402 is the connecting shaft, 403 is the second large gear, 404 is the baffle, 405 is the rotary table, 406 is the turbine, 407 is the worm bearing, 408 is the worm support, and 409 is the second motor.

[0022] 5 is a grid board.

[0023] 6 is the moving device, 601 is the cylinder support, 602 is the connecting rod, 604 is the slider, 605 is the slide rail, and 606 is the cylinder. Detailed Implementation

[0024] To more clearly illustrate the technical solution of the present invention, the technical solution of the present invention will be further described in detail below with reference to the accompanying drawings:

[0025] like Figure 1 As shown, the present invention provides a clamping mechanism for a shipboard inter-grid welding robot, comprising a clamping device 1, a welding torch 2, a robotic arm 3, a rotating device 4, a grid plate 5, and a moving device 6.

[0026] The robot body includes a welding torch 2 and a welding robotic arm 3. The welding torch 2 is connected to the end of the robotic arm 3 via a flange. The robotic arm 3 is connected to its base to a clamping device 1 via bolts. The robotic arm 3 is fixed to the grid plate 5 by the clamping device 1. The robot moves laterally by the staggered movement of the clamping arm frame 105, thereby enabling the welding robot to move on the grid plate.

[0027] Furthermore, the clamping device 1 includes a rack 101, a slide rail frame 102, a large gear 103, a rack 2 104, a clamping arm frame 105, a suction cup 106, a suction cup bracket 107, a telescopic rod 108, a guide rail base 109, a guide rail 110, and a motor 111.

[0028] The motor 111 is mounted on the slide rail frame 102 and drives the large gear 103 to rotate through the output shaft. The large gear 103 meshes with the rack 101 and the rack 104 respectively. The rack 101 and the rack 104 are fixed on the clamping arm frame 105. The opening and closing of the clamping mechanism is realized through the transmission of the rack and pinion.

[0029] At the same time, the telescopic rod 108 extends and retracts with the opening and closing of the clamping arm frame 105, thereby realizing the clamping function of the clamping device 1.

[0030] Furthermore, the clamping arm frame 105 includes a clamping arm, a suction cup bracket 107, and a suction cup 106;

[0031] The suction cup bracket 107 is fixed on the clamping arm so that it moves with the opening and closing of the clamping arm frame 105, and the suction cup 106 is fixed on the suction cup bracket 107.

[0032] The suction cup 106 is made of rubber, which enables the clamping function of the clamping device 1 while protecting the workpiece.

[0033] Next to the clamping arm frame 105 is the guide rail base 109, which is fixed to the clamping arm frame 105 and engages with the guide rail 110 fixed to the frame 102.

[0034] Furthermore, the rotating platform 4 includes a worm gear 401, a connecting shaft 402, a large gear 403, a baffle 404, a rotating table 405, a turbine 406, a worm gear bearing 407, a worm gear support 408, and a second motor 409.

[0035] The second motor 409 is connected to the worm gear 401 via an output shaft. The worm gear 401 is fixed to the worm support 408 via a worm bearing 407. The connecting shaft 402 connects the upper and lower base plates of the worm support 408 and is connected to the worm wheel 406 via a set screw. The worm gear 401 drives the second large gear fixed on the rotary table 405, thereby realizing the rotation of the rotating device 4. The bottom of the rotary table 405 is connected to the clamping device 1.

[0036] Furthermore, the moving device 6 includes a cylinder support 601, a connecting rod 602, a slider 604, a slide rail 605, and a cylinder 606;

[0037] The cylinder 606 is fixed on the cylinder support 601, the cylinder support 601 is connected to the slider 604, and the two ends of the connecting rod 602 are respectively connected to the slider 604 and the clamping arm frame 105. The extension and retraction of the cylinder 606 drives the clamping device 1 to move laterally, thereby realizing the left and right movement on the grid plate.

[0038] As attached Figure 2As shown, the present invention realizes the position transfer of the welding robot during operation by combining the clamping device 1 and the rotating device 4;

[0039] Specifically, the lateral movement of the robotic arm 3 is achieved by the coordinated movement of the two pairs of clamping arm frames 105 and the extension and retraction of the cylinder 606. When it moves to the corner, the auxiliary clamping assembly connected to the fixed base fixes the mechanism on the clamping plane. At the same time, the drive motor 111 of the clamping device 1 starts, causing the clamping arms 105 to open. Then, the rotary motor starts to rotate the clamping arms to a certain angle in the angle direction. Finally, the clamping arm frames 105 are tightened, realizing the crossing of the mechanism at the angle plane.

[0040] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should be considered within the scope of protection of the present invention.

Claims

1. A clamping mechanism for a shipboard inter-grid welding robot, characterized in that, Includes a cross-shaped grid plate (5), a clamping device (1) is installed on one side plate of the grid plate (5), a moving device (6) is connected to the clamping device (1); a rotating device (4) is installed on the upper side of the moving device (6). The clamping device (1) of the inter-grid welding robot includes rack one (101), slide rail frame (102), large gear one (103), rack two (104), clamping arm frame (105), telescopic rod (108), guide rail base (109), guide rail (110) and motor one (111). The motor (111) is mounted on the slide rail frame (102), and drives the large gear (103) to rotate through the output shaft. The large gear (103) meshes with the rack (101) and the rack (104) respectively. Both rack one (101) and rack two (104) are fixedly mounted on the clamping arm frame (105); The telescopic rod (108) is movably positioned between the two sides of the clamping arm frame (105) and extends and retracts as the clamping arm frame (105) opens and closes. The clamping arm frame (105) includes clamping arms on both sides, several suction cups (106) and at least four suction cup supports (107). At least two of the suction cup brackets (107) are placed on one side of the clamping arm of the clamping arm frame (105), and the other two suction cup brackets (107) are placed on the other side of the clamping arm frame (105), and move with the opening and closing of the clamping arm frame (105). At least two suction cups (106) are mounted on the upper end of the suction cup bracket (107) on the upper side. At least two suction cups (106) are installed at the lower end of the suction cup bracket (107) on the lower side. The suction cups (106) are all fixedly mounted on the suction cup brackets (107); A guide rail base (109) is also mounted on the clamping arm frame (105). The guide rail base (109) is fixedly mounted on the clamping arm frame (105) and meshes with the guide rail (110) fixedly mounted on the slide rail frame (102). The rotating device (4) includes a worm (401), a connecting shaft (402), a second large gear (403), a baffle (404), a rotating table (405), a worm wheel (406), a worm bearing (407), a worm support (408), and a second motor (409). The second motor (409) is connected to the worm gear (401) via an installed output shaft. The worm (401) is fixedly mounted on the worm support (408) by means of a worm bearing (407); The connecting shaft (402) is connected to the upper and lower base plates of the worm support (408), and is connected to the installed worm wheel (406) through a set screw, and drives the large gear two (403) fixed on the rotary table (405) to rotate through the worm (401); The baffle (404) is installed around the periphery of the above-mentioned equipment; The worm (401), connecting shaft (402), large gear II (403), baffle (404), worm wheel (406), worm bearing (407), worm support (408) and motor II (409) are all mounted on the rotating platform (405) at the bottom; The bottom of the rotary table (405) is connected to the clamping device (1); A robotic arm (3) is also connected to the upper side of the rotating device (4), and a welding torch (2) is also connected to the other end of the robotic arm (3). The welding torch (2) is connected to the end of the robotic arm (3) by a flange, and the robotic arm (3) is connected to the clamping device (1) by bolts, and the clamping device (1) fixes it to the grid plate (5). The moving device (6) includes a cylinder support (601), a connecting rod (602), a slider (604), a slide rail (605), and a cylinder (606). The cylinder (606) is fixedly connected to the cylinder support (601). The cylinder support (601) is connected to the slider (604). The two ends of the connecting rod (602) are connected to the slider (604) and the clamping arm frame (105) respectively, and the clamping mechanism moves laterally through the extension and retraction of the cylinder (606).

2. The clamping mechanism of a shipboard inter-grid welding robot according to claim 1, characterized in that: The suction cup (106) is made of rubber.

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