Intelligent welding mechanical device for ship

Abstract

The intelligent ship welding mechanical device comprises a barge bottom section, the barge bottom section is of a double-layer structure, a plurality of partition plates are arranged in the barge bottom section, the partition plates and transverse rib plates are mutually inserted to form a three-dimensional space, and lightweight through holes are formed in the middles of the partition plates; the system is characterized by comprising a track supporting column, a precision track, a welding robot, a panoramic camera monitoring module and a welding energy consumption module; a robot is adopted to enter a small lattice bin in the extending direction of a precise guide rail, a panoramic camera monitoring module is adopted to monitor the welded lattice bin, the welding state of welding on welding seams around the small lattice bin is mastered, the instant welding seam shape and position are calculated, and the welding seams are tracked; an operator observes the welding state and the welding result at the position of the display screen, the welding robot capable of being adjusted in a universal mode cannot collide due to the fact that an extending arm is too long, and meanwhile starting and returning of a welding gun head are guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of welding devices, and in particular to an intelligent welding mechanical device for ships. Background Art

[0002] The height of the double bottom space of the barge is about 600mm, and there are multiple longitudinal bones (longitudinal walls) arranged in the direction of the width of 8500mm; they are interlaced with the transverse ribs to form a tiny cubic space - a small cell. People can enter and exit through the circular or elliptical manhole in the middle of the rib. The space size of a single cell is generally 800*(750~850)*600 (length*width*height). Vertical fillet welds and flat fillet welds (upward fillet welds) are arranged in the three-dimensional space. The operating space is narrow, and a guardian needs to be sent to participate in the entire welding process. The efficiency of manual welding is extremely low. Semi-automatic welding machines are also not suitable for this space.

[0003] Therefore, a mini version of the visual robot is needed, which can not only automatically identify the weld position, but also enter a tiny space, thus reducing the trouble of welders entering and exiting the space, and reducing the harm of carbon dioxide welding waste gas and dust to personnel. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an intelligent ship welding mechanical device, which can solve the problem that welding in small compartments of general special steel structures is inconvenient and exhaust gas and dust are harmful to welders when welding in the compartments.

[0005] In order to solve the above technical problems, the technical solution of the present invention is: a ship intelligent welding mechanical device, including a barge bottom segment, and the barge bottom segment is a double-layer structure, a plurality of partitions are arranged in the barge bottom segment, and interspersed with the transverse ribs to form a three-dimensional space, and a lightweight through hole is opened in the middle of the partition; its innovation lies in: including a track support column, a precision track, a welding robot, a panoramic camera monitoring module and a welding energy consumption module;

[0006] The track support column is arranged at one end of the barge bottom section, and the top end of the track support column is arranged at the same height as the lightweight through hole of the partition in the barge bottom section;

[0007] The precision track is arranged horizontally, and one end of the precision track is placed on the top of the track support column and fixed, and the other end of the precision track extends from one end of the barge bottom segment through the lightweight through hole on the partition in sequence to the other end of the barge bottom segment; the precision track is installed on the top edge of the lightweight through hole through the track clamp to maintain a horizontal state;

[0008] A traction trolley is provided at the end of the welding robot, the traction trolley cooperates with the precision track, and the welding robot is hung upside down on the traction trolley; the traction trolley drives the welding robot to reciprocate in the bottom section of the barge along the extension direction of the precision track;

[0009] The panoramic video monitoring module includes a camera, a welding remote control monitoring screen and a transmission cable; the camera is installed on the welding robot, and the welding remote control monitoring screen is set on one side of the track support column; the transmission cable connects the camera and the welding remote control monitoring screen.

[0010] Furthermore, a track clamp for clamping the cable is also provided on the precision track. The track clamp can move along the extension direction of the precision track, and the cable is fixed by the track clamp.

[0011] Furthermore, the traction trolley includes a traction frame, a traction motor, a guide support roller and a limit roller; the traction frame is in a U-shaped structure and is suspended on a precision track, a side surface of the traction frame is provided with a support plate for installing the traction motor, and a connecting hole for accommodating the output end of the traction motor is opened on the side of the traction frame; the traction motor is installed on the support plate; the guide support roller has a pair and is respectively arranged on the inner walls on both sides of the traction frame, and one of the guide support rollers is connected to the output end of the traction motor, and the guide support roller is arranged on the upper surface of the lower flange of the precision track.

[0012] Furthermore, the welding robot is a universally adjustable welding robot arm.

[0013] Furthermore, the limiting roller includes a longitudinal limiting roller and a lateral limiting roller; the longitudinal limiting roller is installed on the inner side walls on both sides of the traction frame, and the longitudinal limiting roller is located on the lower surface of the lower flange of the precision rail; the lateral limiting roller is installed on the inner side walls on both sides of the traction frame, and the outer contour of the lateral limiting roller is located on both sides of the middle plate of the precision guide rail and is tightly attached to the middle plate.

[0014] The advantages of the present invention are:

[0015] 1) In the present invention, a robot is used to enter the small cell along the extension direction of the precision guide rail, and a panoramic camera monitoring module is used to monitor the welding cell, so as to control the welding status of the welds around the small cell, calculate the real-time weld shape and position, and track the welds; the operator observes the welding status and welding results on the display screen, and the universally adjustable welding robot will not bump into anything due to the excessively long arm, while ensuring the starting and returning of the welding gun head. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0017] Figure 1 The figure is a schematic diagram of the welding state of a ship intelligent welding mechanical device of the present invention.

[0018] Figure 2 The present invention is a schematic diagram of the assembly of a traction trolley of a ship intelligent welding mechanical device. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] like Figure 1 Figure 2 A ship intelligent welding mechanical device shown includes a barge bottom segment, and the barge bottom segment is a double-layer structure. A plurality of partitions are arranged in the barge bottom segment, and are interlaced with the transverse ribs to form a three-dimensional space. A lightweight through hole is opened in the middle of the partition; it includes a track support column 1, a precision track 2, a welding robot 3, a panoramic camera monitoring module 4 and a welding energy consumption module 5.

[0022] The track support column 1 is arranged at one end of the bottom section of the barge, and the top end of the track support column 1 is arranged at the same height as the lightweight through hole of the partition in the bottom section of the barge.

[0023] The precision track 2 is arranged horizontally, and one end of the precision track 2 is placed on the top of the track support column 1 and fixed, and the other end of the precision track 2 extends from one end of the barge bottom segment through the lightweight through hole on the partition in sequence to the other end of the barge bottom segment; the precision track 2 is installed on the top edge of the lightweight through hole through the track clamp 21 to maintain a horizontal state.

[0024] A traction trolley 6 is provided at the end of the welding robot 3, and the traction trolley 6 cooperates with the precision track. The welding robot 3 is upside down on the traction trolley 6; the traction trolley 6 drives the welding robot to reciprocate in the bottom section of the barge along the extension direction of the precision track 2.

[0025] The panoramic video monitoring module 4 includes a camera, a welding remote control monitoring screen 41 and a transmission cable 42; the camera is installed on the welding robot 3, and the welding remote control monitoring screen 41 is set on one side of the track support column 1; the transmission cable 42 connects the camera and the welding remote control monitoring screen 41.

[0026] A track clamp 22 for clamping a cable is also provided on the precision track 2 . The track clamp 22 can move along the extension direction of the precision track, and the cable is fixed by the track clamp 22 .

[0027] The traction trolley 6 includes a traction frame 61, a traction motor 62, a guide support roller 63 and a limit roller 64; the traction frame 61 is in a U-shaped structure and is suspended on the precision track 2, a side of the traction frame 61 is provided with a support plate for installing the traction motor 62, and a connecting hole for accommodating the output end of the traction motor 62 is opened on the side of the traction frame 61; the traction motor 62 is installed on the support plate; the guide support roller 63 has a pair and is respectively arranged on the inner walls on both sides of the traction frame 61, and one of the guide support rollers 62 is connected to the output end of the traction motor, and the guide support roller 63 is arranged on the upper surface of the lower flange of the precision track 2.

[0028] The welding robot 3 is a universally adjustable welding robot arm.

[0029] The limiting roller 64 includes a longitudinal limiting roller 641 and a lateral limiting roller 642; the longitudinal limiting roller 641 is installed on the inner side walls on both sides of the traction frame 61, and the longitudinal limiting roller 641 is located on the lower surface of the lower flange of the precision rail 2; the lateral limiting roller 642 is installed on the inner side walls on both sides of the traction frame 61, and the outer contour of the lateral limiting roller 642 is located on both sides of the middle plate of the precision guide rail 2 and is close to the middle plate.

[0030] The working principle of the present invention is: by using a robot to enter the small grid bin along the extension direction of the precision guide rail, a panoramic camera monitoring module is used to monitor the welding grid bin, the welding status of the welds around the small grid bin is controlled, the real-time weld shape and position are calculated, and the weld is tracked; the operator observes the welding status and welding results on the display screen, and the universally adjustable welding robot will not bump into anything due to the excessively long arm, while ensuring the starting and returning of the welding gun head.

[0031] Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A ship intelligent welding mechanical device, comprising a barge bottom segment, wherein the barge bottom segment is a double-layer structure, a plurality of partitions are arranged in the barge bottom segment, and are interlaced with the transverse ribs to form a three-dimensional space, and a lightweight through hole is opened in the middle of the partition; the characteristics are: It includes track support column, precision track, welding robot, panoramic camera monitoring module and welding energy consumption module; The track support column is arranged at one end of the barge bottom section, and the top end of the track support column is arranged at the same height as the lightweight through hole of the partition in the barge bottom section; The precision track is arranged horizontally, and one end of the precision track is placed on the top of the track support column and fixed, and the other end of the precision track extends from one end of the barge bottom segment through the lightweight through hole on the partition in sequence to the other end of the barge bottom segment; the precision track is installed on the top edge of the lightweight through hole through the track clamp to maintain a horizontal state; A traction trolley is provided at the end of the welding robot, the traction trolley cooperates with the precision track, and the welding robot is hung upside down on the traction trolley; the traction trolley drives the welding robot to reciprocate in the bottom section of the barge along the extension direction of the precision track; The panoramic camera monitoring module includes a camera, a welding remote control monitoring screen and a transmission cable; the camera is installed on the welding robot, and the welding remote control monitoring screen is set on one side of the track support column; the transmission cable connects the camera and the welding remote control monitoring screen; The precision rail is also provided with a rail clamp for clamping the cable, the rail clamp can move along the extension direction of the precision rail, and the cable is fixed by the rail clamp; The traction trolley includes a traction frame, a traction motor, a guide support roller and a limit roller; the traction frame is in a U-shaped structure and is suspended on a precision track, a side of the traction frame is provided with a support plate for installing the traction motor, and the side of the traction frame is provided with a connecting hole for accommodating the output end of the traction motor; the traction motor is installed on the support plate; the guide support roller has a pair and is respectively arranged on the inner walls on both sides of the traction frame, and one of the guide support rollers is connected to the output end of the traction motor, and the guide support roller is arranged on the upper surface of the lower flange of the precision track.

2. A ship intelligent welding mechanical device according to claim 1, characterized in that: The welding robot is a welding mechanical arm that can be universally adjusted.

3. The ship intelligent welding mechanical device according to claim 1, characterized in that: The limiting rollers include longitudinal limiting rollers and lateral limiting rollers; the longitudinal limiting rollers are installed on the inner side walls on both sides of the traction frame, and the longitudinal limiting rollers are located on the lower surface of the lower flange of the precision rail; the lateral limiting rollers are installed on the inner side walls on both sides of the traction frame, and the outer contours of the lateral limiting rollers are located on both sides of the middle plate of the precision guide rail and are tightly attached to the middle plate.

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