A hull vertical seam welding robot intelligent climbing device

Abstract

This invention discloses an intelligent crawling device for a ship hull vertical seam welding robot, relating to the field of ship hull production technology. It includes a crawling device, a mounting box, a turntable, a welding robot, an emergency stop mechanism, an arc detection mechanism, and an angle detection mechanism. The mounting box is fixedly connected to the top of the crawling device, and a turntable is rotatably connected to the top of the mounting box. The welding robot is fixedly connected to the top of the turntable. Emergency stop mechanisms are fixedly connected to the right sides of both the front and rear ends of the mounting box. An arc detection mechanism is fixedly connected to the right end of the mounting box, and an angle detection mechanism is fixedly connected to the front left side of the top of the mounting box. The emergency stop mechanism, through a fixed block, drives a friction plate downwards, causing the friction plate to squeeze the tracks on the crawling device, increasing the friction of the tracks, thereby rapidly decelerating and eventually stopping the device, preventing unstable track movement that could affect its normal operation.

Description

Technical Field

[0001] This invention relates to the field of shipbuilding technology, specifically to an intelligent crawling device for a ship hull vertical seam welding robot. Background Technology

[0002] The intelligent crawling device for vertical seam welding of ship hulls is a device used to improve the quality of welds in the shipbuilding process. In shipbuilding, the hull is usually composed of multiple large plates, which need to be connected by welding. For this purpose, an intelligent crawling device for vertical seam welding of ship hulls is set up.

[0003] Existing technologies for using intelligent crawling devices on welding robots may encounter issues such as track breakage and sudden large craters. If the track cannot stop in time, it may be damaged. Furthermore, for tracks used for a long time, wear and aging will occur during use. If emergency stopping is not performed in time, the track movement may become unstable, affecting its normal operation. In addition, when some equipment performs an emergency stop on the track, it is difficult to adjust the angle of the atomizing nozzle and use the atomizing nozzle at the same time. This may result in slow heat dissipation in the welding area, leading to overheating. Moreover, the surface of the welding area often contains dirt, grease, and other substances, making it difficult to ensure the cleanliness and quality of the weld. At the same time, it is difficult to reduce energy loss during the welding process, resulting in low energy utilization.

[0004] Existing technologies make it difficult to detect the curvature of the hull when using intelligent crawling devices for welding robots. During the manufacturing process, the hull may be affected by various factors, such as vibration and changes in stress distribution, causing changes in the hull's curvature. If the hull curvature is not detected in time, the intelligent crawling device for welding robots may have difficulty completing welding work with high quality. Furthermore, some equipment makes it difficult to detect the rotation angle when adjusting the welding angle of the intelligent crawling device for welding robots. This may lead to a deviation between the adjustment angle of the atomizing nozzle and the adjustment angle of the intelligent crawling device for welding robots, affecting the use of the atomizing nozzle. Summary of the Invention

[0005] Therefore, in order to overcome the above-mentioned shortcomings, the present invention provides an intelligent crawling device for a ship hull vertical seam welding robot.

[0006] The present invention is implemented as follows: an intelligent crawling device for a ship hull vertical seam welding robot is constructed. The device includes a crawling device, a mounting box is fixedly connected to the top of the crawling device, a turntable is rotatably connected to the top of the mounting box, a welding robot is fixedly connected to the top of the turntable, an emergency stop mechanism is fixedly connected to the right side of both the front and rear ends of the mounting box, an arc detection mechanism is fixedly connected to the right end of the mounting box, and an angle detection mechanism is fixedly connected to the front left side of the top of the mounting box.

[0007] The emergency stop mechanism includes a first fixed plate, which is fixedly connected to the lower right side of both the front and rear ends of the mounting box; a dual-axis motor, which is fixedly connected to the top and rear end of the first fixed plate; a spray mechanism, which is fixedly connected to the upper right side of both the front and rear ends of the mounting box; a mounting plate, which is fixedly connected to the left end of the first fixed plate; a first connecting rod, which is fixedly connected to the top and bottom output shafts of the dual-axis motor, and the first connecting rod is segmented, specifically composed of two sets of rods that are sleeved together; an electromagnetic clutch, in which the upper and lower rods of the first connecting rod are respectively inserted and fixed to the upper and lower slots of the electromagnetic clutch; and a second gear tooth plate, which is located at the bottom of the dual-axis motor. A second gear toothed plate is fixedly connected to the bottom of the first connecting rod; an L-shaped rod is fixedly connected to the left end of the second gear toothed plate; a sliding plate is fixedly connected to the left end of the L-shaped rod; a limiting block is connected to the sliding plate through the limiting block and slidably connected to its interior; a moving plate is fixedly connected to the left end of the sliding plate; a connecting seat is fixedly connected to the lower left end of the moving plate; a third rotating rod is rotatably connected to the back of the connecting seat; a fixing block is rotatably connected to the upper front end of the third rotating rod and the back of the fixing block; a second connecting rod is fixedly connected to the front end of the fixing block; and a friction plate is fixedly connected to the bottom of the second connecting rod.

[0008] Preferably, the spraying mechanism includes a second fixed plate, which is fixedly connected to the upper right side of both ends of the mounting box; an atomizing nozzle, which is rotatably connected to the upper right front end of the second fixed plate; a first gear toothed plate, which is fixedly connected to the top of the first connecting rod at the top of the dual-axis motor; a connecting block, which is fixedly connected to the front end of the first gear toothed plate; a sliding block, which is fixedly connected to the front end of the connecting block; a limiting plate, which is slidably connected to the inner wall of the limiting plate; a first rotating rod, which is rotatably connected to the bottom of the sliding block; a second rotating rod, which is rotatably connected to the top of the first rotating rod; a grooved wheel, which is rotatably connected to the top of the second rotating rod; a fixed rod, which is fixedly connected to the top of the grooved wheel; and a contact rod, which is fixedly connected to the upper right end of the first rotating rod.

[0009] Preferably, the arc detection mechanism includes a third fixed plate, which is fixedly connected to the right end of the mounting box; a current output device, which is fixedly connected to the top of the third fixed plate; a first industrial camera, which is fixedly connected to the bottom right end of the third fixed plate; a mounting rod, which is fixedly connected to the center of the bottom of the third fixed plate; an electromagnetic rod, which is fixedly connected to the top of the mounting rod; a rotating roller, which is magnetically attracted to the outer wall of the electromagnetic rod; an annular protrusion, which is fixedly connected to the outer wall of the rotating roller; a sliding roller, which is slidably connected to the outer wall of the annular protrusion and the inner groove of the sliding roller; a moving block, which is fixedly connected to the right end of the sliding roller; a moving rod, which is fixedly connected to the bottom of the sliding roller; and a first ball, which is rotatably connected to the bottom of the moving rod.

[0010] Preferably, the angle detection mechanism includes a mounting frame, which is fixedly connected to the top left front end of the mounting box; a display screen, which is fixedly connected to the top of the top horizontal plate of the mounting frame; a second industrial camera, which is fixedly connected to the right end of the top horizontal plate of the mounting frame and electrically connected to the display screen; a damping rod, which is fixedly connected to the bottom of the top horizontal plate of the mounting frame; a second ball bearing, which is rotatably connected to the bottom of the damping rod; and empty slots, with eight sets of empty slots equidistantly arranged on the top of the turntable.

[0011] Preferably, the movable block passes through the right end of the mounting rod and is slidably connected to its interior; the outer wall of the mounting rod is coated with scale lines; and the first industrial camera is electrically connected to an external display screen.

[0012] Preferably, the electromagnetic rod is electrically connected to the current output device, and the top of the rotating roller is slidably connected to the top of the mounting rod.

[0013] Preferably, an atomizing nozzle is fixedly connected to the top of the fixing rod, and the contact rod is intermittently engaged with the inner groove of the grooved wheel.

[0014] Preferably, the top of the limiting plate is fixedly connected to the bottom of the second fixing plate, and the connecting block passes through the back of the limiting plate and is slidably connected to its interior.

[0015] Preferably, the back of the movable plate is slidably connected to the front end of the mounting plate, and the movable plate, the connecting seat and the third rotating rod are each provided in two sets, and each set is symmetrically arranged.

[0016] Preferably, the back of the limiting block is fixedly connected to the right side of the front end of the mounting plate, and a plug rod is fixedly connected to the back of the fixing block, and the plug rod is slidably connected to the front end of the mounting plate.

[0017] The present invention has the following advantages: The present invention provides an intelligent crawling device for a ship hull vertical seam welding robot, which, compared with similar equipment, has the following improvements:

[0018] The present invention discloses an intelligent crawling device for a ship hull vertical seam welding robot. It includes an emergency stop mechanism that uses a fixed block to move a friction plate downwards, causing the friction plate to press against the tracks of the crawling device, increasing the track's friction and thus rapidly decelerating and eventually stopping the device, preventing track instability and ensuring normal operation. A spraying mechanism is also included, where a contact rod and a grooved wheel intermittently rotate an atomizing nozzle, which atomizes and sprays liquid, rapidly dissipating heat from the welding area to prevent overheating. This also removes dirt, grease, and other substances from the welding surface, ensuring the cleanliness and quality of the weld. Simultaneously, the atomizing nozzle can reduce... Energy loss during welding is reduced, improving energy utilization. An arc detection mechanism is installed, where a moving rod drives a moving block upwards. A first industrial camera captures the distance the block moves and transmits the electrical signal to an external display screen. This allows operators to indirectly determine the hull's arc based on the data displayed, preventing welding robots from struggling to complete high-quality welding. An angle detection mechanism is also installed, using a second industrial camera to capture the number of contacts between the empty groove and the second ball bearing, indirectly determining the turntable's rotation angle. This prevents discrepancies between the atomizing nozzle's adjustment angle and the welding robot's adjustment angle, which could affect the nozzle's performance. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of the welding robot and crawling device of the present invention;

[0020] Figure 2 This is a three-dimensional exploded view of the emergency stop mechanism and spray mechanism of the present invention;

[0021] Figure 3 This is a three-dimensional exploded view of the emergency stop mechanism of the present invention;

[0022] Figure 4 This is the present invention. Figure 3 Enlarged structural diagram at point A;

[0023] Figure 5 This is a three-dimensional structural diagram of the bottom of the spray mechanism of the present invention;

[0024] Figure 6 This is a three-dimensional exploded view of the arc detection mechanism of the present invention;

[0025] Figure 7 This is a three-dimensional structural diagram of the angle detection mechanism of the present invention.

[0026] The components include: crawling device-1, mounting box-2, turntable-3, welding robot-4, emergency stop mechanism-5, first fixed plate-51, dual-axis motor-52, spraying mechanism-53, second fixed plate-531, atomizing nozzle-532, first gear tooth plate-533, connecting block-534, sliding block-535, limiting plate-536, first rotating rod-537, second rotating rod-538, grooved wheel-539, fixed rod-5310, contact rod-5311, mounting plate-54, first connecting rod-55, electromagnetic clutch-56, second gear tooth plate-57, L-shaped rod-58, and sliding plate-59. Limiting block-510, moving plate-511, connecting seat-512, third rotating rod-513, fixing block-514, second connecting rod-515, friction plate-516, arc detection mechanism-6, third fixing plate-61, current output device-62, first industrial camera-63, mounting rod-64, electromagnetic rod-65, rotating roller-66, annular protrusion-67, sliding roller-68, moving block-69, moving rod-610, first ball bearing-611, angle detection mechanism-7, mounting bracket-71, display screen-72, second industrial camera-73, damping rod-74, second ball bearing-75, empty groove-76. Detailed Implementation

[0027] The following is in conjunction with the appendix Figures 1 to 7 The principles and features of the present invention are described below. The examples given are for illustrative purposes only and are not intended to limit the scope of the invention. The invention is described more specifically in the following paragraphs by way of example with reference to the accompanying drawings. It should be noted that the drawings are in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the invention.

[0028] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0029] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. The embodiments of this invention will now be described according to its overall structure.

[0030] Example 1:

[0031] Please see Figures 1-4 The present invention provides an intelligent crawling device for a ship hull vertical seam welding robot, comprising a crawling device 1, a mounting box 2 fixedly connected to the top of the crawling device 1, a turntable 3 rotatably connected to the top of the mounting box 2, a track on the crawling device 1, and a special adsorption mechanism inside the crawling device 1.

[0032] A welding robot 4 is fixedly connected to the top of the turntable 3. Emergency stop mechanisms 5 are fixedly connected to the right sides of both the front and rear ends of the mounting box 2. An arc detection mechanism 6 is fixedly connected to the right end of the mounting box 2. An angle detection mechanism 7 is fixedly connected to the front left side of the top of the mounting box 2.

[0033] The emergency stop mechanism 5 includes a first fixing plate 51. The first fixing plate 51 is fixedly connected to the lower right side of both ends of the mounting box 2. The dual-axis motor 52 is fixedly connected to the top and rear end of the first fixing plate 51. The first fixing plate 51 facilitates the fixed installation of the dual-axis motor 52.

[0034] Spraying mechanisms 53 are fixedly connected to the upper right sides of both ends of the mounting box 2. Mounting plate 54 is fixedly connected to the left end of the first fixing plate 51. The top and bottom output shafts of the dual-axis motor 52 are fixedly connected to the first connecting rod 55. The first connecting rod 55 is segmented and consists of two sets of rods that are sleeved together. The dual-axis motor 52 can easily drive the first connecting rod 55 to rotate.

[0035] The upper and lower parts of the first connecting rod 55 are respectively inserted and fixed to the upper and lower slots of the electromagnetic clutch 56. The bottom of the first connecting rod 55 at the bottom of the dual-shaft motor 52 is fixedly connected to the bottom of the second gear tooth plate 57. The left end of the second gear tooth plate 57 is fixedly connected to the L-shaped rod 58, which facilitates the movement of the L-shaped rod 58.

[0036] A sliding plate 59 is fixedly connected to the left end of the L-shaped rod 58. The sliding plate 59 passes through the limiting block 510 and is slidably connected to its interior. A movable plate 511 is fixedly connected to the left end of the sliding plate 59. The movable plate 511 facilitates the movement of the connecting seat 512.

[0037] A connecting seat 512 is fixedly connected to the lower left end of the movable plate 511. A third rotating rod 513 is rotatably connected to the back of the connecting seat 512. The upper front end of the third rotating rod 513 is rotatably connected to the back of the fixed block 514. A second connecting rod 515 is fixedly connected to the front end of the fixed block 514. The fixed block 514 facilitates the movement of the second connecting rod 515.

[0038] The bottom of the second connecting rod 515 is fixedly connected to a friction plate 516. The back of the moving plate 511 is slidably connected to the front end of the mounting plate 54. The friction plate 516 facilitates the increase of the friction of the track, so that it can decelerate quickly and eventually stop.

[0039] The movable plate 511, the connecting seat 512 and the third rotating rod 513 are each provided in two sets, and each set is symmetrically arranged. The back of the limiting block 510 is fixedly connected to the right side of the front end of the mounting plate 54. The back of the fixing block 514 is fixedly connected to the insert rod, and the insert rod is slidably connected to the front end of the mounting plate 54.

[0040] The working principle of the intelligent crawling device for a ship hull vertical seam welding robot based on Embodiment 1 is as follows:

[0041] First, when using this device, place it in the work area, and then connect it to an external power source to provide the power required for its operation.

[0042] Second, when using this device, the welding robot 4 is adsorbed onto the surface of the ship hull by the special adsorption mechanism inside the crawling device 1. Then, the welding robot 4 continuously adjusts the angle through the turntable 3. After the adjustment is completed, the welding robot 4 begins to perform the welding operation and performs the welding task on the vertical seam of the ship hull.

[0043] Third, when an emergency stop is required on the track of the crawler device 1, the dual-axis motor 52 and the electromagnetic clutch 56 at the bottom of the dual-axis motor 52 are activated. The dual-axis motor 52 drives the first connecting rod 55 at the bottom to rotate. The first connecting rod 55 drives the gear inside the second gear tooth plate 57 to rotate. The gear drives the tooth plate to move to the right. The tooth plate drives the L-shaped rod 58 to move to the right. The L-shaped rod 58 drives the sliding plate 59 to move to the right within the limit block 510. The sliding plate 59 drives the moving plate 511 to move to the right. The moving plate 511 drives the connecting seat 512 to move to the right. During the movement, the connecting seat 512 drives the third rotating rod 513 to rotate. During the rotation, the third rotating rod 513 drives the fixed block 514 to move downward. The fixed block 514 drives the second connecting rod 515 to move downward. The second connecting rod 515 drives the friction plate 516 to move downward. When the friction plate 516 squeezes the track on the crawler device 1, it increases the friction of the track, causing it to decelerate rapidly and eventually stop, preventing the track from moving unstablely and affecting its normal operation.

[0044] Example 2:

[0045] Please see Figure 5 The present invention provides an intelligent crawling device for a ship hull vertical seam welding robot. Compared with Embodiment 1, this embodiment further includes a spraying mechanism 53. The spraying mechanism 53 includes a second fixing plate 531. The upper right side of both ends of the mounting box 2 is fixedly connected to the second fixing plate 531. The upper right front end of the top of the second fixing plate 531 is rotatably connected to an atomizing nozzle 532. The atomizing nozzle 532 facilitates the atomization and spraying of liquid, and the atomizing nozzle 532 is connected to an external water tank.

[0046] A first gear tooth plate 533 is fixedly connected to the top of the first connecting rod 55 at the top of the dual-axis motor 52. A connecting block 534 is fixedly connected to the front end of the first gear tooth plate 533. The first gear tooth plate 533 facilitates the movement of the connecting block 534.

[0047] A sliding block 535 is fixedly connected to the front end of the connecting block 534. The outer wall of the sliding block 535 is slidably connected to the inner wall of the limiting plate 536. A first rotating rod 537 is rotatably connected to the bottom of the sliding block 535. The sliding block 535 facilitates the movement of the first rotating rod 537 to the right.

[0048] The top of the first rotating rod 537 is rotatably connected to the second rotating rod 538, the top of the second rotating rod 538 is rotatably connected to the grooved wheel 539, and the top of the grooved wheel 539 is fixedly connected to the fixed rod 5310. The grooved wheel 539 facilitates the rotation of the fixed rod 5310.

[0049] A contact rod 5311 is fixedly connected to the top right end of the first rotating rod 537, and an atomizing nozzle 532 is fixedly connected to the top of the fixed rod 5310. The contact rod 5311 facilitates the rotation of the grooved wheel 539.

[0050] The contact rod 5311 is intermittently engaged with the inner groove of the grooved wheel 539, the top of the limiting plate 536 is fixedly connected to the bottom of the second fixing plate 531, and the connecting block 534 passes through the back of the limiting plate 536 and is slidably connected to its interior.

[0051] In this embodiment:

[0052] When spraying is required on the welding area, the dual-axis motor 52 and the electromagnetic clutch 56 on top of the dual-axis motor 52 are activated. The dual-axis motor 52 drives the top first connecting rod 55 to rotate. The first connecting rod 55 drives the gear inside the first gear plate 533 to rotate. The gear drives the gear plate to move to the right. The gear plate drives the connecting block 534 to move to the right. The connecting block 534 drives the sliding block 535 to move to the right within the limiting plate 536. The sliding block 535 drives the first rotating rod 537 to move to the right. During the movement to the right, the first rotating rod 537 is affected by the rotation of the second rotating rod 538, which drives the contact rod 5311 to move to the right and cause a slight oscillation. Then, the contact rod 5311 drives the groove in the groove wheel 539 through intermittent engagement with the groove. The wheel 539 rotates, which in turn drives the fixed rod 5310 to rotate. The fixed rod 5310 then drives the atomizing nozzle 532 to rotate. The rotation angle of the welding robot 4 is then detected by the angle detection mechanism 7. When the rotation angle of the atomizing nozzle 532 is the same as that of the welding robot 4, the dual-axis motor 52 stops working. Liquid is then transported to the atomizing nozzle 532 through an external water tank and sprayed out through the atomizing nozzle 532. This allows the atomizing nozzle 532 to quickly dissipate the heat from the welding area, preventing overheating. It also removes dirt, grease, and other substances from the surface of the welding area, ensuring the cleanliness and quality of the welding. At the same time, the atomizing nozzle 532 can also reduce energy loss during the welding process and improve energy utilization.

[0053] Example 3:

[0054] Please see Figure 6 The present invention provides an intelligent crawling device for a ship hull vertical seam welding robot. Compared with Embodiment 1, this embodiment further includes: an arc detection mechanism 6. The arc detection mechanism 6 includes a third fixing plate 61. The right end of the mounting box 2 is fixedly connected to the third fixing plate 61. The top of the third fixing plate 61 is fixedly connected to a current output device 62. The third fixing plate 61 facilitates the fixed installation of the current output device 62.

[0055] The first industrial camera 63 is fixedly connected to the bottom right end of the third fixing plate 61, and the mounting rod 64 is fixedly connected to the bottom center of the third fixing plate 61. The mounting rod 64 facilitates the fixed installation of the electromagnetic rod 65.

[0056] An electromagnetic rod 65 is fixedly connected to the top of the mounting rod 64. A rotating roller 66 is magnetically attracted to the outer wall of the electromagnetic rod 65. An annular protrusion 67 is fixedly connected to the outer wall of the rotating roller 66. The outer wall of the annular protrusion 67 is slidably connected to the inner groove of the sliding roller 68. A moving block 69 is fixedly connected to the right end of the sliding roller 68. The annular protrusion 67 facilitates the rotation of the rotating roller 66.

[0057] A movable rod 610 is fixedly connected to the bottom of the sliding roller 68. A first ball bearing 611 is rolled inside the bottom of the movable rod 610. A movable block 69 passes through the right end of the mounting rod 64 and is slidably connected to its interior. The movable rod 610 facilitates the movement of the sliding roller 68.

[0058] The outer wall of the mounting rod 64 is coated with scale lines. The first industrial camera 63 is electrically connected to the external display screen. The electromagnetic rod 65 is electrically connected to the current output device 62. The top of the rotating roller 66 is slidably connected to the top of the inner wall of the mounting rod 64.

[0059] In this embodiment:

[0060] When the curvature of the hull needs to be detected, the current output device 62 stops the operation of the electromagnetic rod 65. Then, the first ball bearing 611 rolls and moves upward due to the curvature of the hull. The first ball bearing 611 drives the moving rod 610 to move upward, the moving rod 610 drives the sliding roller 68 to move upward, and the sliding roller 68 drives the moving block 69 to move upward. Then, the first industrial camera 63 takes pictures of the moving distance of the moving block 69 through the scale lines on the mounting rod 64 and transmits the electrical signal to an external display screen, allowing the operator to indirectly judge the data information on the display screen. The curvature of the hull is cut off to prevent the welding robot 4 from having difficulty completing the welding work with high quality. During the upward movement of the sliding roller 68, the inner groove of the sliding roller 68 drives the rotating roller 66 to rotate on the outer wall of the electromagnetic rod 65 through the annular protrusion 67. When it is not necessary to detect the curvature of the hull, the current output device 62 drives the electromagnetic rod 65 to work. The electromagnetic rod 65 magnetically attracts the rotating roller 66, so that the rotation angle of the rotating roller 66 is fixed. Through the cooperation between the annular protrusion 67 on the outer wall of the rotating roller 66 and the inner groove of the sliding roller 68, the moving distance of the sliding roller 68 is fixed.

[0061] Example 4:

[0062] Please see Figure 7 The present invention provides an intelligent crawling device for a ship hull vertical seam welding robot. Compared with the first embodiment, this embodiment further includes an angle detection mechanism 7. The angle detection mechanism 7 includes a mounting frame 71. The mounting frame 71 is fixedly connected to the top left front end of the mounting box 2. The mounting frame 71 facilitates the fixed installation of the display screen 72.

[0063] A display screen 72 is fixedly connected to the top of the top horizontal plate of the mounting bracket 71. A second industrial camera 73 is fixedly connected to the right end of the top horizontal plate of the mounting bracket 71, and the second industrial camera 73 is electrically connected to the display screen 72. The second industrial camera 73 is convenient for taking pictures of the number of contactes between the empty groove 76 and the second ball 75.

[0064] A damping rod 74 is fixedly connected to the bottom of the top horizontal plate of the mounting bracket 71. A second ball bearing 75 is rolled inside the bottom of the damping rod 74. Eight sets of empty slots 76 are equidistantly arranged on the top of the turntable 3.

[0065] In this embodiment:

[0066] When the rotation angle of turntable 3 needs to be detected, turntable 3 drives the empty groove 76 to rotate during rotation, so that the empty groove 76 contacts the second ball 75 at the bottom of the damping rod 74. Then, the operator starts the second industrial camera 73, which takes pictures of the number of contacts between the empty groove 76 and the second ball 75 and transmits the picture information to the display screen 72. Then, the operator observes the number of contacts between the empty groove 76 and the second ball 75 through the display screen 72 to indirectly determine the rotation angle of turntable 3, so as to prevent the adjustment angle of the atomizing nozzle 532 from deviating from the adjustment angle of the welding robot 4, which would affect the use of the atomizing nozzle 532.

[0067] This invention provides an improved intelligent crawling device for a ship hull vertical seam welding robot. It includes an emergency stop mechanism 5, which, via a fixed block 514, moves a friction plate 516 downwards, causing the friction plate 516 to press against the tracks of the crawling device 1, increasing the track's friction and thus rapidly decelerating and eventually stopping the device, preventing track instability and ensuring normal operation. A spraying mechanism 53 is also included, which, through the intermittent engagement of a contact rod 5311 and a grooved wheel 539, drives an atomizing nozzle 532 to rotate, spraying liquid atomized from the nozzle. This rapidly dissipates heat from the welding area, preventing overheating, and removes dirt, grease, and other substances from the welding surface, ensuring the cleanliness and quality of the weld. Simultaneously, the atomizing nozzle 532 also... This can reduce energy loss during the welding process and improve energy efficiency. An arc detection mechanism 6 is set up, which moves the moving block 69 upward via a moving rod 610. Then, a first industrial camera 63 captures the moving distance of the moving block 69 and transmits the electrical signal to an external display screen. This allows workers to indirectly judge the arc of the hull through the data on the display screen, preventing the welding robot 4 from having difficulty completing the welding work with high quality. An angle detection mechanism 7 is set up, which captures the number of contacts between the empty groove 76 and the second ball 75 via a second industrial camera 73, indirectly judging the rotation angle of the turntable 3. This prevents deviations between the adjustment angle of the atomizing nozzle 532 and the adjustment angle of the welding robot 4, which would affect the use of the atomizing nozzle 532.

[0068] The above description shows and illustrates the basic principles, main features, and advantages of the present invention. Standard parts used in the present invention can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts, and equipment adopt conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here.

[0069] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A smart crawling device for a ship hull vertical seam welding robot, comprising a crawling device (1), a mounting box (2) fixedly connected to the top of the crawling device (1), a turntable (3) rotatably connected to the top of the mounting box (2), a welding robot (4) fixedly connected to the top of the turntable (3), an emergency stop mechanism (5) fixedly connected to the right side of both the front and rear ends of the mounting box (2), an arc detection mechanism (6) fixedly connected to the right end of the mounting box (2), and an angle detection mechanism (7) fixedly connected to the front left end of the top of the mounting box (2); Its features are: The emergency stop mechanism (5) includes: a first fixed plate (51), which is fixedly connected to the lower right side of both ends of the mounting box (2); a dual-axis motor (52), which is fixedly connected to the top and rear end of the first fixed plate (51); a spray mechanism (53), which is fixedly connected to the upper right side of both ends of the mounting box (2); a mounting plate (54), which is fixedly connected to the left end of the first fixed plate (51); a first connecting rod (55), which is fixedly connected to the top and bottom output shafts of the dual-axis motor (52), and the first connecting rod (55) is segmented, specifically composed of two sets of rods that are sleeved together; an electromagnetic clutch (56), which is fixedly connected to the upper and lower slots of the electromagnetic clutch (56) respectively; and a second gear plate (57), which is fixedly connected to the bottom of the first connecting rod (55) at the bottom of the dual-axis motor (52). (57); L-shaped rod (58), the left end of the second gear tooth plate (57) is fixedly connected to the L-shaped rod (58); sliding plate (59), the left end of the L-shaped rod (58) is fixedly connected to the sliding plate (59); limiting block (510), the sliding plate (59) passes through the limiting block (510) and is slidably connected to its interior; moving plate (511), the left end of the sliding plate (59) is fixedly connected to the moving plate (511); connecting seat (512), the lower left end of the moving plate (511) is fixedly connected to the moving plate (511). A connecting seat (512) is fixedly connected to the third rotating rod (513), which is rotatably connected to the back of the connecting seat (512); a fixing block (514), which is rotatably connected to the front end of the third rotating rod (513) and the back of the fixing block (514); a second connecting rod (515), which is fixedly connected to the front end of the fixing block (514); and a friction plate (516), which is fixedly connected to the bottom of the second connecting rod (515). The spraying mechanism (53) includes: a second fixing plate (531), which is fixedly connected to the upper right side of both ends of the mounting box (2); an atomizing nozzle (532), which is rotatably connected to the upper right front end of the top of the second fixing plate (531); a first gear tooth plate (533), which is fixedly connected to the top of the first connecting rod (55) at the top of the dual-axis motor (52); a connecting block (534), which is fixedly connected to the front end of the first gear tooth plate (533); and a sliding block (535), which is fixedly connected to the front end of the connecting block (534). A limiting plate (536) is provided, with the outer wall of the sliding block (535) slidably connected to the inner wall of the limiting plate (536); a first rotating rod (537) is rotatably connected to the bottom of the sliding block (535); a second rotating rod (538) is rotatably connected to the top of the first rotating rod (537); a grooved wheel (539) is rotatably connected to the top of the second rotating rod (538); a fixing rod (5310) is fixedly connected to the top of the grooved wheel (539); and a contact rod (5311) is fixedly connected to the right end of the top of the first rotating rod (537). The arc detection mechanism (6) includes: a third fixed plate (61), which is fixedly connected to the right end of the mounting box (2); a current output device (62), which is fixedly connected to the top of the third fixed plate (61); a first industrial camera (63), which is fixedly connected to the bottom right end of the third fixed plate (61); a mounting rod (64), which is fixedly connected to the center of the bottom of the third fixed plate (61); an electromagnetic rod (65), which is fixedly connected to the top of the mounting rod (64); and a rotating roller. (66) The outer wall of the electromagnetic rod (65) is magnetically adsorbed with a rotating roller (66); an annular protrusion (67) is fixedly connected to the outer wall of the rotating roller (66); a sliding roller (68) is slidably connected to the outer wall of the annular protrusion (67) and the inner groove of the sliding roller (68); a moving block (69) is fixedly connected to the right end of the sliding roller (68); a moving rod (610) is fixedly connected to the bottom of the sliding roller (68); and a first ball (611) is slidably connected to the bottom of the moving rod (610). The angle detection mechanism (7) includes: a mounting frame (71), which is fixedly connected to the top left front end of the mounting box (2); a display screen (72), which is fixedly connected to the top of the top horizontal plate of the mounting frame (71); a second industrial camera (73), which is fixedly connected to the right end of the top horizontal plate of the mounting frame (71), and the second industrial camera (73) is electrically connected to the display screen (72); a damping rod (74), which is fixedly connected to the bottom of the top horizontal plate of the mounting frame (71); a second ball (75), which is rolled inside the bottom of the damping rod (74); and empty slots (76), which are equidistantly arranged at the top of the turntable (3).

2. The intelligent crawling device for a ship hull vertical seam welding robot according to claim 1, characterized in that: The movable block (69) passes through the right end of the mounting rod (64) and is slidably connected to its interior. The outer wall of the mounting rod (64) is coated with scale lines. The first industrial camera (63) is electrically connected to an external display screen.

3. The intelligent crawling device for a ship hull vertical seam welding robot according to claim 2, characterized in that: The electromagnetic rod (65) is electrically connected to the current output device (62), and the top of the rotating roller (66) is slidably connected to the top of the inner part of the mounting rod (64).

4. The intelligent crawling device for a ship hull vertical seam welding robot according to claim 3, characterized in that: The top of the fixed rod (5310) is fixedly connected to an atomizing nozzle (532), and the contact rod (5311) is intermittently engaged with the inner groove of the groove wheel (539).

5. The intelligent crawling device for a ship hull vertical seam welding robot according to claim 4, characterized in that: The top of the limiting plate (536) is fixedly connected to the bottom of the second fixing plate (531), and the connecting block (534) passes through the back of the limiting plate (536) and is slidably connected to its interior.

6. The intelligent crawling device for a ship hull vertical seam welding robot according to claim 5, characterized in that: The back of the movable plate (511) is slidably connected to the front end of the mounting plate (54). The movable plate (511), the connecting seat (512) and the third rotating rod (513) are each provided in two sets, and each set is symmetrically arranged.

7. The intelligent crawling device for a ship hull vertical seam welding robot according to claim 6, characterized in that: The back of the limiting block (510) is fixedly connected to the right front end of the mounting plate (54), and the back of the fixing block (514) is fixedly connected to a plug rod, which is slidably connected to the front end of the mounting plate (54).

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