Steel structure welding device and method for hull structure construction

Abstract

The invention discloses a steel structure welding device and method for hull structure construction, and particularly relates to the technical field of welding, the steel structure welding device for hull structure construction comprises a walking unit and an annular outer gear ring, the annular outer gear ring is concentrically arranged outside the walking unit in a sleeving mode to complete welding guiding, and a welding arm is movably arranged on the annular outer gear ring. Following switching of the welding unit and the processing unit is completed through dynamic sensing of the sensing mechanism, so that the welding unit and the processing unit can rapidly move to the preset position of a machining area, repeated debugging is avoided, meanwhile, the purification mechanism can complete active limitation at the limiting position in the switching process of the welding unit and the processing unit, and the welding efficiency is improved. And by means of the design of the control piece, follow-up opening and closing can be completed with the welding unit and the processing unit, the purification precision is guaranteed, meanwhile, the processing unit in the running state can complete the active cleaning action of the processing unit, and the good cleaning state is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of welding, and in particular to a steel structure welding device and method for building a hull structure. Background Art

[0002] Ship hull steel structure refers to the steel used to manufacture and form the ship hull structure to ensure that the hull has sufficient strength, rigidity, stability and reliability. The hull steel structure is the basic component of the ship. It constitutes the skeleton and shell of the hull, including the bottom, side, deck, bulkhead, bow and stern structure and superstructure; There are many kinds of hull steel structures, including steel pipes, which are also an indispensable part of the hull steel structure. Specifically, steel pipes are mainly used for fluid pipelines and pressure pipelines in the hull structure. These pipelines play a vital role in the normal operation of the ship. However, in the process of hull welding, the corresponding steel pipes also need to be welded. In order to improve the sealing of the steel pipes, internal welding operations need to be completed on the steel pipe joints, which increases the difficulty of welding.

[0003] A steel structure welding device for hull structure construction disclosed in the patent with reference publication number CN115430985B uses a blower to blow hot air to the bottom of the longitudinal steel plate to dry moisture and blow away dust, thereby avoiding the problem of subsequent welding quality degradation. The positioning block is also fixed on the transverse steel plate by an electromagnet to avoid the problem of offset and misalignment between the transverse steel plate and the longitudinal steel plate.

[0004] At present, the adaptability of welding devices is not ideal and cannot meet the welding processing of steel pipe splicing in the hull steel structure. For example, the above-mentioned welding device can complete the welding processing of transverse steel plates and longitudinal steel plates, but cannot complete stable welding processing in a narrow space. At the same time, since the state of the splicing in the steel pipe is uncontrollable, burrs and impurities are prone to exist at the splicing between steel pipes. Therefore, in direct welding, the burrs and impurities are easily affected, which can easily lead to the deterioration of weld quality and the generation of cracks, reducing the strength of welding, increasing the difficulty and workload of subsequent maintenance, and shortening the service life of the hull. Summary of the invention

[0005] The object of the present invention is to provide a steel structure welding device and method for ship hull structure construction to solve the above technical problems.

[0006] To solve the above technical problems, the present invention is implemented through the following technical solutions.

[0007] The present invention is a steel structure welding device for ship hull structure construction, comprising a traveling unit and further comprising: The annular outer gear ring is concentrically sleeved on the outside of the traveling unit to complete the welding guide, and a welding arm is movably arranged on the annular outer gear ring; An assembly seat is arranged on the welding arm, a switching frame is rotatably arranged in the assembly seat, a welding unit for welding is arranged at one end of the switching frame, and a processing unit for pre-processing the weld is arranged at the other end of the switching frame; The sensing mechanism is arranged on one side of the assembly seat for dynamic adjustment of the switching frame. The sensing mechanism dynamically switches the welding unit and the processing unit to complete the active switching of the working state. The sensing mechanism is divided into a sensing end and an action end. The control of the switching frame is completed by operating the action end through the sensing end. The purification mechanism is arranged on the assembly seat to complete the purification work of the welding unit and the processing unit. The purification mechanism can complete the limiting of the welding unit and the processing unit. The purification mechanism can complete the follow-up cooperation with the sensing mechanism, and synchronously control the purification mechanism to complete the synchronous switching control when the welding unit and the processing unit are switched.

[0008] Furthermore, the switching frame includes: A rotating table is rotatably arranged in the assembly seat, and a central axis is fixedly installed at the center of the rotating table, and the central axis is correspondingly rotatably arranged through the assembly seat; A No. 1 mounting arm is arranged on one side of the rotating table, and a No. 2 mounting arm is symmetrically arranged on the other side of the rotating table. The No. 1 mounting arm is connected to the processing unit, and the No. 2 mounting arm is connected to the welding unit; The camera is arranged on the assembly seat through a bracket.

[0009] Furthermore, the sensing end includes: The sensing arm is arranged on one side of the top of the assembly seat, a driving wheel is rotatably installed on the top of the sensing arm, and a ring-shaped electromagnet is hidden on the driving wheel; A first bevel gear is fixedly arranged on one side of the driving wheel, and a second bevel gear meshing with the first bevel gear is rotatably installed on one side of the sensing arm; The annular permanent magnet is rotatably sleeved outside the driving wheel.

[0010] Furthermore, the action end includes: The action gear is fixedly mounted on one end of the central shaft; The guide rail is arranged on one side of the assembly seat, and a driving rack engaged with the action gear is slidably engaged on the guide rail, and active control of the switching rack is completed through the driving rack and the action gear; A control screw is fixedly arranged at the tail of the driving rack; The threaded sleeve is rotatably arranged on one side of the sensing arm through a bracket, the control screw is arranged in the threaded sleeve through threaded engagement, and the top of the threaded sleeve is fixedly connected to the No. 2 bevel gear.

[0011] Furthermore, the purification mechanism comprises: A No. 1 blocking member is arranged on one side of the central axis corresponding to the No. 1 mounting arm, and a No. 1 blocking column matched with the No. 1 blocking member is arranged on one side of the assembly seat, and the No. 1 blocking column is used to complete the active restriction of the No. 1 blocking member; A No. 2 blocking member is arranged on the other side of the central axis corresponding to the No. 2 mounting arm, and a No. 2 blocking column cooperating with the No. 2 blocking member is arranged on one side of the assembly seat, and the active restriction of the No. 2 blocking member is completed through the No. 2 blocking column; The purification fan is arranged on one side of the assembly seat to absorb smoke and dust; Two control parts are arranged on the first blocking part and the second blocking part to realize the dynamic opening and closing operation of the air duct; The annular suction nozzle is set on the welding unit to actively absorb welding smoke; Two strip suction nozzles are symmetrically arranged on the processing unit to complete active adsorption.

[0012] Furthermore, each control element comprises: The circulation area is opened in the No. 1 blocking piece and the No. 2 blocking piece; Pipe No. 1 is connected and arranged at one side of the bottom of the circulation area and is connected to the purification fan through a pipeline; No. 2 pipe, connected and arranged at the front end of the circulation area; The blocking half is set on the top side of the circulation area; The movable blocking plate is slidably arranged on the flow area of ​​the No. 1 blocking piece and the No. 2 blocking piece. The No. 1 plate and the No. 2 plate are respectively arranged at the head and tail of the movable blocking plate. A return spring is arranged between the No. 2 plate and the No. 1 blocking piece and the No. 2 blocking piece. The open area is opened on the movable blocking board. Under normal circumstances, half of the block is blocked to complete the closure of the open area.

[0013] Furthermore, the processing unit includes: The moving area is arranged at the front end of the No. 1 mounting arm, a fine-tuning rod is slidably mounted in the moving area, and an electric push rod is mounted between the fine-tuning rod and the moving area; The grinding seat is arranged at the front end of the fine-tuning rod, a grinding wheel is rotatably installed in the grinding seat, and a grinding motor connected with the grinding wheel is installed on one side of the grinding seat.

[0014] Furthermore, the processing unit also includes: Gear No. 3, fixed sleeve is set at one end of the grinding wheel; A cleaning shaft is rotatably arranged at the top of the grinding seat, a No. 4 gear is fixedly sleeved at one end of the cleaning shaft, and a No. 5 gear meshing with the No. 3 gear and the No. 4 gear is rotatably arranged in the grinding seat; A plurality of No. 1 cleaning strips are arranged in a circular array on the outer surface of the cleaning shaft; A plurality of reserved grooves are arranged in a circular array on the outer surface of the cleaning shaft, a counterweight bar is slidably installed in each reserved groove, a No. 2 cleaning bar is installed on each counterweight bar, and a tension spring is arranged between the counterweight bar and the reserved groove.

[0015] Further, the welding arm comprises: A sliding seat is slidably engaged with the annular outer gear ring, and a travel gear meshing with the annular outer gear ring is rotatably installed in the sliding seat; The telescopic sleeve is arranged on the sliding seat, a telescopic arm is slidably installed in the telescopic sleeve, and a telescopic electric push rod which is transmission-connected with the telescopic arm is installed on the telescopic sleeve.

[0016] The present invention also provides a steel structure welding method for ship hull structure construction, the welding method specifically comprising the following steps: Step 1: First, push the walking unit into the steel pipe waiting for welding, and control the walking unit to expand and adapt to the size of the steel pipe; Step 2: The walking unit carries the welding unit and the processing unit to the waiting welding area; Step 3: The follow-up switching of the welding unit and the processing unit is completed through the dynamic perception of the sensing mechanism, so that the welding unit and the processing unit can be quickly moved to the predetermined position of the processing area; Step 4: The purification mechanism can complete active limitation at the extreme position during the switching of the welding unit and the processing unit, and complete targeted adsorption purification of the welding unit and the processing unit.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention completes the follow-up switching of the welding unit and the processing unit through the dynamic perception of the sensing mechanism, and transmits power to the switching frame through the cooperation of the action end and the sensing end, so that the switching frame rotates toward one side in the assembly seat, forcing the processing unit to follow and move to the processing area to complete the pre-processing. Conversely, the subsequent control welding arm moves in the steel pipe in another direction, forcing the welding unit to follow and move to the processing area to complete the welding process, so that the welding unit and the processing unit can quickly move to the predetermined position of the processing area, avoiding repeated debugging, and improving the processing efficiency; 2. The present invention is provided with a purification mechanism, which can complete active restriction at the extreme position in the switching of the welding unit and the processing unit, and can complete follow-up with the welding unit and the processing unit through the design of the control part. When the welding unit is working, the purification mechanism completes the active opening of the welding unit air duct, which ensures the accuracy of purification, reduces the waste of resources, and greatly reduces the control workload, and can perform targeted adsorption purification on the pollution source; 3. The present invention is provided with a processing unit. The processing unit in the running state can complete its own active cleaning action to ensure a good cleaning state. At the same time, the processing unit has a self-cleaning state with different cleaning precisions, and controls the state of the No. 1 cleaning bar and the No. 2 cleaning bar to contact with the grinding wheel, so as to obtain different cleaning effects, ensure the good working state of the grinding wheel, avoid affecting the processing precision of the processing unit, and provide assistance for subsequent welding processing.

[0018] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is the overall front view of the present invention; Figure 2 It is a schematic diagram of the walking unit of the present invention; Figure 3 It is a schematic diagram of installing the welding arm of the present invention on the annular outer gear ring; Figure 4 It is a schematic diagram of the distribution of the welding arm and the sensing mechanism of the present invention; Figure 5 It is a schematic diagram of the welding arm of the present invention; Figure 6 A schematic diagram of a switching frame of the present invention; Figure 7 It is a schematic diagram of installing the sensing mechanism of the present invention on the assembly seat; Figure 8 It is a schematic diagram of the sensing mechanism of the present invention; Fig. 9 It is a schematic diagram of the meshing of the action gear and the driving rack of the present invention; Fig.10 It is a schematic diagram of the connection between the processing unit of the present invention and the first mounting arm; Fig.11 is a schematic diagram of a processing unit of the present invention; Fig.12 It is a schematic diagram of the purification mechanism of the present invention; Fig.13 It is a schematic diagram of the distribution of the first blocking member and the second blocking member of the present invention; Fig.14 It is a schematic diagram of a control component of the present invention.

[0020] In the figure: 1. fixed seat; 2. fixed plate; 3. adjusting screw; 4. screw nut; 5. gear No. 1; 6. gear No. 2; 7. walking leg; 8. walking wheel; 9. adjusting arm; 10. annular outer gear ring; 11. assembly seat; 12. welding unit; 13. rotating table; 14. central axis; 15. mounting arm No. 1; 16. mounting arm No. 2; 17. camera; 18. sensing arm; 19. driving wheel; 20. annular electromagnet; 21. bevel gear No. 1; 22. bevel gear No. 2; 23. annular permanent magnet; 24. action gear; 25. guide rail; 26. driving rack; 27. control screw; 28. threaded sleeve; 29. Blocking piece; 30, blocking column No. 1; 31, blocking piece No. 2; 32, blocking column No. 2; 33, purification fan; 34, annular suction nozzle; 35, strip suction nozzle; 36, circulation area; 37, pipe No. 1; 38, pipe No. 2; 39, blocking half piece; 40, movable blocking plate; 41, plate No. 1; 42, plate No. 2; 43, open area; 44, fine-tuning rod; 45, grinding wheel; 46, gear No. 3; 47, cleaning shaft; 48, gear No. 4; 49, gear No. 5; 50, cleaning strip No. 1; 51, counterweight strip; 52, cleaning strip No. 2; 53, sliding seat; 54, walking gear; 55, telescopic sleeve; 56, telescopic arm; 57, telescopic electric push rod. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0022] In the description of the present invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inside", "all around" and the like indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0023] Embodiment 1: The present invention provides a technical solution: Figure 1 , Figure 2 and Figure 3As shown, a steel structure welding device for ship hull structure construction includes a traveling unit, the traveling unit includes a fixed seat 1, a driving motor, the driving motor is arranged on the fixed seat 1, a fixing plate 2 is extended through a bracket on both sides of the fixed seat 1, a plurality of guide rods are arranged between the fixing plate 2 and the fixed seat 1, an adjusting screw 3 is rotatably arranged between the two fixing plates 2 and the two fixing seats 1, a screw nut 4 is slidably installed on the plurality of guide rods, each screw nut 4 is correspondingly sleeved on the adjusting screw 3, a No. 1 gear 5 is rotatably installed on both sides of the fixed seat 1, the No. 1 gear 5 is transmission-connected to the adjusting screw 3, and the driving motor is connected thereto. A No. 1 gear 5 is connected for transmission, a transmission shaft is passed through the fixed seat 1, and a No. 2 gear 6 meshing with the No. 1 gear 5 is arranged at both ends of the transmission shaft. The spiral direction of the adjusting screw 3 on both sides of the fixed seat 1 is set according to the transmission requirements. Three walking legs 7 are arranged in a circular array on both sides of the fixed seat 1, and a walking wheel 8 is rotatably installed on each walking leg 7. Adjustment arms 9 are hinged between the three walking legs 7 and the corresponding screw nuts 4. The three walking legs 7 on both sides of the fixed seat 1 are driven by a driving motor to complete synchronous adjustment. A walking motor connected to the walking wheel 8 is installed on one of the walking legs 7 on both sides of the fixed seat 1. It also includes: The annular outer gear ring 10 is concentrically sleeved outside the traveling unit to complete the welding guide, and a welding arm is movably arranged on the annular outer gear ring 10; An assembly seat 11 is arranged on the welding arm, a switching frame is rotatably arranged in the assembly seat 11, a welding unit 12 for welding is arranged at one end of the switching frame, and the welding unit 12 is specifically a welding robot. The welding work is completed by the welding robot. At the same time, the welding robot can fine-tune the welding position to ensure the welding accuracy. At the same time, the welding unit 12 can be replaced by other welding equipment that can complete the welding work. A processing unit for pre-processing the weld is arranged at the other end of the switching frame; It should be noted that: when performing welding processing: by providing a welding unit 12, when the welding unit 12 moves to a predetermined position, the welding unit 12 can be started to perform welding processing, and at the same time, with the cooperation of the welding arm and the annular outer gear ring 10, the annular welding processing at the joint of the steel pipe can be completed, avoiding the problem of welding dead angles, and at the same time, it can be quickly adjusted to different positions to complete the repair welding operation, thereby improving the welding quality; like Figure 7 As shown, the sensing mechanism is arranged on one side of the assembly seat 11 for dynamic adjustment of the switching frame. The sensing mechanism dynamically switches the welding unit 12 and the processing unit to complete the active switching of the working state. The sensing mechanism is divided into a sensing end and an action end. The control of the switching frame is completed by operating the action end through the sensing end. The purification mechanism is arranged on the assembly seat 11 to complete the purification work of the welding unit 12 and the processing unit. The purification mechanism can complete the position limiting of the welding unit 12 and the processing unit. The purification mechanism can complete the follow-up cooperation with the sensing mechanism, and synchronously control the purification mechanism to complete the synchronous switching control when the welding unit 12 and the processing unit are switched; like Figure 6 As shown, the switching frame includes: A rotating table 13 is rotatably disposed in the assembly seat 11, and a central shaft 14 is fixedly installed at the center of the rotating table 13, and the central shaft 14 is correspondingly rotatably disposed through the assembly seat 11; A No. 1 mounting arm 15 is disposed on one side of the rotating table 13, and a No. 2 mounting arm 16 is symmetrically disposed on the other side of the rotating table 13. The No. 1 mounting arm 15 is connected to the processing unit, and the No. 2 mounting arm 16 is connected to the welding unit 12; The camera 17 is arranged on the assembly seat 11 through a bracket, and the camera 17 completes the collection of the working status of the welding unit 12 and the processing unit; In the embodiment of the present invention, Fig.10 and Fig.11 As shown, the processing unit includes: The moving area is arranged at the front end of the first mounting arm 15, a fine-tuning rod 44 is slidably installed in the moving area, and an electric push rod is installed between the fine-tuning rod 44 and the moving area; A grinding seat is arranged at the front end of the fine-tuning rod 44, and a strip suction nozzle 35 is connected to the grinding seat. A grinding wheel 45 is rotatably installed in the grinding seat, and a grinding motor connected to the grinding wheel 45 is installed on one side of the grinding seat. A detachable grinding consumable is arranged on the grinding wheel 45; It is worth noting that: during the pre-treatment process: a processing unit is provided, and when the processing unit moves to a predetermined position, the grinding motor is started to drive the grinding wheel 45 to rotate to process the weld area of ​​the steel pipe, so that the weld area remains clean, which is beneficial to the subsequent welding process. At the same time, the position of the grinding wheel 45 can be fine-tuned by the electric push rod, and the cleaning accuracy can be flexibly controlled. During the rotation and cleaning of the grinding wheel 45, the power of the third gear 46 is transmitted to the fourth gear 48 via the fifth gear 49, so that the cleaning shaft 47 rotates, forcing the first cleaning strip 50 on the cleaning shaft 47 to clean the grinding wheel 45 in a rotating manner, thereby ensuring the cleanliness of the grinding wheel 45. At the same time, when it is necessary to control the cleaning accuracy, it is only necessary to control the speed of the grinding motor to increase the speed of the cleaning shaft 47. At this time, the counterweight strip 51 is subjected to the centrifugal force to overcome the tension spring and move in the reserved groove, driving the second cleaning strip 52 to follow and move out to contact with the grinding wheel 45, thereby obtaining different cleaning effects and ensuring the good working condition of the grinding wheel 45. The processing unit also includes: The third gear 46 is fixedly mounted on one end of the grinding wheel 45; A cleaning shaft 47 is rotatably disposed at the top of the grinding seat, a fourth gear 48 is fixedly sleeved on one end of the cleaning shaft 47, and a fifth gear 49 meshing with the third gear 46 and the fourth gear 48 is rotatably disposed in the grinding seat; A plurality of No. 1 cleaning strips 50 are arranged in a circular array on the outer surface of the cleaning shaft 47; A plurality of reserved grooves are provided in a circular array on the outer surface of the cleaning shaft 47. A counterweight bar 51 is slidably installed in each reserved groove. A second cleaning bar 52 is installed on each counterweight bar 51. A tension spring is provided between the counterweight bar 51 and the reserved groove. Under normal conditions, the centrifugal distance of the second cleaning bar 52 is smaller than the centrifugal distance of the first cleaning bar 50. The first cleaning bar 50 and the second cleaning bar 52 can be set to consumables with different cleaning precisions according to requirements. In the embodiment of the present invention, Figure 4 and Figure 5 As shown, the welding arm comprises: The sliding seat 53 is slidably engaged with the annular outer gear ring 10. An annular track cooperating with the sliding seat 53 is provided on both side walls of the annular outer gear ring 10. A traveling gear 54 meshing with the annular outer gear ring 10 is rotatably installed in the sliding seat 53, and a control motor drivingly connected with the traveling gear 54 is installed on one side of the sliding seat 53; The telescopic sleeve 55 is arranged on the sliding seat 53 , and a telescopic arm 56 is slidably installed in the telescopic sleeve 55 , and the telescopic arm 56 is detachably fixedly connected to the assembly seat 11 , and a telescopic electric push rod 57 drivingly connected to the telescopic arm 56 is installed on the telescopic sleeve 55 .

[0024] Among them, each electrical element on the walking unit, the processing unit, the welding unit 12 and the purification mechanism is connected to a switch through a wire, and the switch is electrically connected to a controller, and the specific structure of the controller is not limited.

[0025] Embodiment 2: Based on the sensing mechanism provided in Embodiment 1, this embodiment provides a further technical solution of the sensing mechanism.

[0026] like Figure 8 As shown, the sensing end includes: The sensing arm 18 is arranged on one side of the top of the assembly seat 11. A driving wheel 19 is rotatably installed on the top of the sensing arm 18. A ring-shaped electromagnet 20 is hidden on the driving wheel 19. The ring-shaped electromagnet 20 is powered by a conductive slip ring or other structure. A first bevel gear 21 is fixedly arranged on one side of the driving wheel 19, and a second bevel gear 22 meshing with the first bevel gear 21 is rotatably installed on one side of the sensing arm 18; The annular permanent magnet 23 is rotatably sleeved on the outside of the driving wheel 19. A friction layer is sleeved on the outer surface of the annular permanent magnet 23. After power is supplied, the annular electromagnet 20 completes the adsorption and fixation of the annular permanent magnet 23. At the same time, a magnetic ring is sleeved on the outside of the annular permanent magnet 23 to complete magnetic adsorption with the inner wall of the steel pipe. In the embodiment of the present invention, Fig. 9 As shown, the action end includes: The action gear 24 is fixedly sleeved on one end of the central shaft 14; The guide rail 25 is arranged on one side of the assembly seat 11, and a driving rack 26 engaged with the action gear 24 is slidably engaged on the guide rail 25, and the active control of the switching frame is completed through the driving rack 26 and the action gear 24; The control screw 27 is fixedly arranged at the tail of the driving rack 26; The threaded sleeve 28 is rotatably arranged on one side of the sensing arm 18 through the bracket, and the control screw 27 is arranged in the threaded sleeve 28 through threaded engagement. The thread directions of the threaded sleeve 28 and the control screw 27 are set according to the transmission requirements, and the top of the threaded sleeve 28 is fixedly connected to the second bevel gear 22; It is worth noting that: when the status of the welding unit 12 and the processing unit is switched: a sensing mechanism is provided to start the telescopic electric push rod 57, and the telescopic arm 56 is controlled to extend in the telescopic sleeve 55 until the annular permanent magnet 23 on the sensing mechanism contacts the inner wall of the steel pipe, and then the annular electromagnet 20 is started to adsorb and fix the annular permanent magnet 23 to form an integrated structure, and then the motor is controlled to control the travel gear 54. Since the travel gear 54 is engaged with the annular outer gear ring 10, the sliding seat 53 can be controlled to rotate in the required direction. When the welding arm moves, the annular permanent magnet 23 contacts the inner wall of the steel pipe to complete the travel. When the annular permanent magnet 23 and the driving wheel 19 rotate, the power is transmitted to the threaded sleeve 28 through the first bevel gear 21 and the second bevel gear 22. The threaded sleeve 28 rotates to extend the control screw 27, pushing the drive rack 26 to move the action gear 2 4 is driven, so that the central axis 14 and the rotating table 13 rotate accordingly, and the No. 1 mounting arm 15 and the No. 2 mounting arm 16 rotate accordingly, so that the processing unit on the No. 2 mounting arm 16 is transferred to the predetermined processing station, and then the annular electromagnet 20 is turned off, so that the annular permanent magnet 23 rotates freely to avoid affecting the positions of the processing unit and the welding unit 12. When adjustment is required later, the annular electromagnet 20 is started again, and then the welding arm is controlled to move in the opposite direction, and the power is transmitted to the threaded sleeve 28 again through the driving wheel 19, so that the control screw 27 shrinks and moves in the threaded sleeve 28, so that the welding unit 12 on the No. 1 mounting arm 15 is transferred to the predetermined welding station, thereby completing the station conversion between the welding unit 12 and the processing unit, and reducing the difficulty of debugging, and being able to accurately set the welding unit 12 and the processing unit to the predetermined positions.

[0027] Embodiment 3: Based on the purification mechanism provided in Embodiment 1, this embodiment provides a further technical solution of the purification mechanism.

[0028] like Fig.12 and Fig.13 As shown, the purification mechanism includes: The first blocking member 29 is arranged on one side of the central axis 14 and corresponds to the first mounting arm 15. A first blocking column 30 cooperating with the first blocking member 29 is arranged on one side of the assembly seat 11, and the active restriction of the first blocking member 29 is completed by the first blocking column 30; The second blocking member 31 is arranged on the other side of the central axis 14 and corresponds to the second mounting arm 16. A second blocking column 32 cooperating with the second blocking member 31 is arranged on one side of the assembly seat 11. The active restriction of the second blocking member 31 is completed by the second blocking column 32. The positions of the first blocking column 30 and the second blocking column 32 can be freely adjusted according to the swing amount requirement. Pressure sensors can be installed on the first blocking column 30 and the second blocking column 32, and the movement status of the welding unit 12 and the processing unit can be known through the pressure sensors. A purification fan 33 is arranged on one side of the assembly seat 11 to complete smoke and dust adsorption; Two control members are arranged on the first blocking member 29 and the second blocking member 31 to complete the dynamic opening and closing operation of the air duct; The annular suction nozzle 34 is arranged on the welding unit 12 to complete the active absorption of welding smoke, and the annular suction nozzle 34 is connected to the second pipe 38 of the corresponding control part of the welding unit 12 through a flexible pipe; Two strip suction nozzles 35 are symmetrically arranged on the processing unit to complete active adsorption, and the two strip suction nozzles 35 are connected to the second pipe 38 of the corresponding control part of the processing unit through a flexible pipeline; It is worth mentioning that when the processing environment is purified: by providing a purification mechanism, when the welding unit 12 and the processing unit are switched, the No. 1 mounting arm 15 on the processing unit rotates synchronously with the central axis 14, and then the No. 1 blocking member 29 is driven to rotate through the central axis 14, and after moving to a predetermined position, it contacts with the No. 1 blocking column 30 to complete the restriction, thereby ensuring the accuracy of the conversion between the welding unit 12 and the processing unit. At the same time, when the No. 1 blocking member 29 approaches the No. 1 blocking column 30, the No. 1 blocking column 30 squeezes the No. 1 plate 41, so that the movable blocking plate 40 moves, and the open area 43 on the movable blocking plate 40 is separated from the blocking half block 39, so that the flow area 36 can be completed. The gas circulates, and then the purification fan 33 provides suction force. The two strip suction nozzles 35 can adsorb the smoke generated during the operation of the processing unit, ensuring the cleanliness of the working area. In this state, the control component corresponding to the welding unit 12 is in a closed state. On the contrary, when the welding unit 12 is converted to a predetermined position, the control component corresponding to the welding unit 12 is also opened. The welding smoke generated during the operation of the welding unit 12 is adsorbed and purified through the annular suction nozzle 34, ensuring the purification effect. The purification can be switched freely according to the working state of the processing unit and the welding unit 12, which improves the purification accuracy, reduces the control difficulty, and can perform targeted adsorption and purification on the pollution source; In the embodiment of the present invention, Fig.14 As shown, each control element includes: The flow area 36 is provided in the first blocking member 29 and the second blocking member 31; The first pipe 37 is connected to the bottom side of the circulation area 36 and is connected to the purification fan 33 through a pipeline; The second pipe 38 is connected to the front end of the circulation area 36. A purifier is installed on the second pipe 38 of each control element to purify the smoke; The blocking half block 39 is arranged on one side of the top of the circulation area 36 and is used for partially blocking the circulation area 36; The movable blocking plate 40 is slidably arranged on the flow area 36 of the No. 1 blocking member 29 and the No. 2 blocking member 31. The No. 1 plate 41 and the No. 2 plate 42 are respectively arranged at the head and tail of the movable blocking plate 40. The No. 1 plate 41 and the No. 2 plate 42 are arranged at intervals from the No. 1 blocking member 29 and the No. 2 blocking member 31. A return spring is arranged between the No. 2 plate 42 and the No. 1 blocking member 29 and the No. 2 blocking member 31. A limit block is arranged at the bottom of the No. 2 plate 42, and the position of the movable blocking plate 40 is limited by the limit block. The open area 43 is formed through the movable blocking plate 40. Under normal conditions, the blocking half block 39 blocks and closes the open area 43.

[0029] Embodiment 4: A steel structure welding method for ship hull structure construction, the welding method specifically comprises the following steps: Step 1: First, push the walking unit into the steel pipe waiting for welding, and control the walking unit to expand and adapt to the size of the steel pipe; Step 2: The walking unit carries the welding unit 12 and the processing unit to the waiting welding area; Step 3: The follow-up switching of the welding unit 12 and the processing unit is completed through the dynamic perception of the sensing mechanism, so that the welding unit 12 and the processing unit can be quickly moved to the predetermined position of the processing area; Step 4: The purification mechanism can complete active limitation at the extreme position during the switching of the welding unit 12 and the processing unit, and complete targeted adsorption purification of the welding unit 12 and the processing unit.

[0030] The present invention provides a steel structure welding device and method for ship hull structure construction, and the specific working principle is as follows: first, a walking unit is pushed into a steel pipe waiting for welding, and the walking unit is controlled to unfold and adapt to the size of the steel pipe. Specifically, the driving motor is started, and the power is transmitted to the two adjusting screws 3 through the second gear 6 and the first gear 5 respectively. The screw nut 4 is controlled to move by the rotation of the two adjusting screws 3, so as to control the corresponding walking wheel 8 to unfold in the steel pipe. The walking motor is subsequently controlled to complete the walking of the walking unit in the steel pipe, and the walking unit carries the welding unit 12 and the processing unit to the waiting welding area, and then the welding arm is controlled to extend and retract until the annular permanent magnet 23 on the sensing mechanism contacts the inner wall of the steel pipe, and the annular electromagnet 20 is started to absorb the driving wheel 19 and the annular permanent magnet 23 as a whole. Subsequently, the welding arm is controlled to move in one direction in the steel pipe, and the power is transmitted to the switching frame through the cooperation of the action end and the sensing end, so that the switching frame rotates toward one side in the assembly seat 11, forcing the processing unit to follow and move to the processing area to complete preprocessing. Processing, on the contrary, the subsequent control welding arm moves in another direction in the steel pipe, forcing the welding unit 12 to follow and move to the processing area to complete the welding process, reducing the control difficulty, and completing the follow-up switching of the welding unit 12 and the processing unit through the dynamic perception of the sensing mechanism, so that the welding unit 12 and the processing unit can be quickly moved to the predetermined position of the processing area, avoiding repeated debugging, reducing the difficulty of debugging, and improving the processing efficiency. At the same time, a purification mechanism is provided, which can complete active limitation at the extreme position in the switching of the welding unit 12 and the processing unit, and through the design of the control part, it can complete the follow-up with the welding unit 12 and the processing unit. When the welding unit 12 is working, the purification mechanism completes the active opening of the air duct of the welding unit 12, ensuring the accuracy of purification, reducing the waste of resources, and greatly reducing the control workload. By providing a processing unit, the processing unit in the running state can complete its own active cleaning action, ensuring a good cleaning state, and at the same time, the processing unit has a self-cleaning state with different cleaning precisions, which further improves the cleaning effect.

[0031] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0032] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A steel structure welding device for shipbuilding, comprising a traveling unit, characterized in that: Also includes: The annular outer gear ring is concentrically sleeved on the outside of the traveling unit to complete the welding guide, and a welding arm is movably arranged on the annular outer gear ring; An assembly seat is arranged on the welding arm, a switching frame is rotatably arranged in the assembly seat, a welding unit for welding is arranged at one end of the switching frame, and a processing unit for pre-processing the weld is arranged at the other end of the switching frame; The sensing mechanism is arranged on one side of the assembly seat for dynamic adjustment of the switching frame. The sensing mechanism dynamically switches the welding unit and the processing unit to complete the active switching of the working state. The sensing mechanism is divided into a sensing end and an action end. The control of the switching frame is completed by operating the action end through the sensing end; The purification mechanism is arranged on the assembly seat to complete the purification work of the welding unit and the processing unit. The purification mechanism can complete the limiting of the welding unit and the processing unit. The purification mechanism can complete the follow-up cooperation with the sensing mechanism, and synchronously control the purification mechanism to complete the synchronous switching control when the welding unit and the processing unit are switched.

2. A steel structure welding device for shipbuilding according to claim 1, characterized in that: The switch rack includes: A rotating table is rotatably arranged in the assembly seat, and a central axis is fixedly installed at the center of the rotating table, and the central axis is correspondingly rotatably arranged through the assembly seat; A No. 1 mounting arm is arranged on one side of the rotating table, and a No. 2 mounting arm is symmetrically arranged on the other side of the rotating table. The No. 1 mounting arm is connected to the processing unit, and the No. 2 mounting arm is connected to the welding unit; The camera is arranged on the assembly seat through a bracket.

3. A steel structure welding device for shipbuilding according to claim 2, characterized in that: The sensing end includes: The sensing arm is arranged on one side of the top of the assembly seat, a driving wheel is rotatably installed on the top of the sensing arm, and a ring-shaped electromagnet is hidden on the driving wheel; A first bevel gear is fixedly arranged on one side of the driving wheel, and a second bevel gear meshing with the first bevel gear is rotatably installed on one side of the sensing arm; The annular permanent magnet is rotatably sleeved outside the driving wheel.

4. A steel structure welding device for shipbuilding according to claim 3, characterized in that: The action end includes: The action gear is fixedly mounted on one end of the central shaft; The guide rail is arranged on one side of the assembly seat, and a driving rack engaged with the action gear is slidably engaged on the guide rail, and active control of the switching rack is completed through the driving rack and the action gear; A control screw is fixedly arranged at the tail of the driving rack; The threaded sleeve is rotatably arranged on one side of the sensing arm through a bracket, the control screw is arranged in the threaded sleeve through threaded engagement, and the top of the threaded sleeve is fixedly connected to the No. 2 bevel gear.

5. A steel structure welding device for shipbuilding according to claim 2, characterized in that: The purification mechanism includes: A No. 1 blocking member is arranged on one side of the central axis corresponding to the No. 1 mounting arm, and a No. 1 blocking column matched with the No. 1 blocking member is arranged on one side of the assembly seat, and the No. 1 blocking column is used to complete the active restriction of the No. 1 blocking member; A No. 2 blocking member is arranged on the other side of the central axis corresponding to the No. 2 mounting arm, and a No. 2 blocking column cooperating with the No. 2 blocking member is arranged on one side of the assembly seat, and the active restriction of the No. 2 blocking member is completed by the No. 2 blocking column; The purification fan is arranged on one side of the assembly seat to absorb smoke and dust; Two control parts are arranged on the first blocking part and the second blocking part to realize the dynamic opening and closing operation of the air duct; The annular suction nozzle is set on the welding unit to actively absorb welding smoke; Two strip suction nozzles are symmetrically arranged on the processing unit to complete active adsorption.

6. A steel structure welding device for shipbuilding according to claim 5, characterized in that: Each control includes: The circulation area is opened in the No. 1 blocking piece and the No. 2 blocking piece; Pipe No. 1 is connected and arranged at one side of the bottom of the circulation area and is connected to the purification fan through a pipeline; No. 2 pipe, connected and arranged at the front end of the circulation area; The blocking half is set on the top side of the circulation area; The movable blocking plate is slidably arranged on the flow area of ​​the No. 1 blocking piece and the No. 2 blocking piece. The No. 1 plate and the No. 2 plate are respectively arranged at the head and tail of the movable blocking plate. A return spring is arranged between the No. 2 plate and the No. 1 blocking piece and the No. 2 blocking piece. The open area is opened on the movable blocking board. Under normal circumstances, half of the block is blocked to complete the closure of the open area.

7. A steel structure welding device for shipbuilding according to claim 2, characterized in that: The processing unit includes: The moving area is arranged at the front end of the No. 1 mounting arm, a fine-tuning rod is slidably mounted in the moving area, and an electric push rod is mounted between the fine-tuning rod and the moving area; The grinding seat is arranged at the front end of the fine-tuning rod, a grinding wheel is rotatably installed in the grinding seat, and a grinding motor connected with the grinding wheel is installed on one side of the grinding seat.

8. A steel structure welding device for shipbuilding according to claim 7, characterized in that: The processing unit also includes: Gear No. 3, fixed sleeve is set at one end of the grinding wheel; A cleaning shaft is rotatably arranged at the top of the grinding seat, a No. 4 gear is fixedly sleeved at one end of the cleaning shaft, and a No. 5 gear meshing with the No. 3 gear and the No. 4 gear is rotatably arranged in the grinding seat; A plurality of No. 1 cleaning strips are arranged in a circular array on the outer surface of the cleaning shaft; A plurality of reserved grooves are arranged in a circular array on the outer surface of the cleaning shaft, a counterweight bar is slidably installed in each reserved groove, a No. 2 cleaning bar is installed on each counterweight bar, and a tension spring is arranged between the counterweight bar and the reserved groove.

9. A steel structure welding device for shipbuilding according to claim 1, characterized in that: The welding arm includes: A sliding seat is slidably engaged with the annular outer gear ring, and a travel gear meshing with the annular outer gear ring is rotatably installed in the sliding seat; The telescopic sleeve is arranged on the sliding seat, a telescopic arm is slidably installed in the telescopic sleeve, and a telescopic electric push rod which is transmission-connected with the telescopic arm is installed on the telescopic sleeve.

10. A steel structure welding method for ship hull structure construction, using a steel structure welding device for ship hull structure construction as claimed in any one of claims 1 to 9, characterized in that: The welding method specifically comprises the following steps: Step 1: First, push the walking unit into the steel pipe waiting for welding, and control the walking unit to expand and adapt to the size of the steel pipe; Step 2: The walking unit carries the welding unit and the processing unit to the waiting welding area; Step 3: The follow-up switching of the welding unit and the processing unit is completed through the dynamic perception of the sensing mechanism, so that the welding unit and the processing unit can be quickly moved to the predetermined position of the processing area; Step 4: The purification mechanism can complete active limitation at the extreme position during the switching of the welding unit and the processing unit, and complete targeted adsorption purification of the welding unit and the processing unit.

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