Welding robot of ship assembling plate frame structure

Abstract

The invention belongs to the technical field of welding robots, and discloses a welding robot for a ship assembly plate frame structure, which comprises a first connecting piece and a second connecting piece which are detachably connected, and further comprises a welding piece for welding the ship assembly plate frame structure, and one end of the welding piece is fixedly connected with a second plug; the first connecting piece comprises a shell part and a first motor used for driving the second connecting piece to rotate, the first motor is installed in the shell part, and the second connecting piece comprises a rotating arm and rotating parts rotationally connected to the two ends of the rotating arm. One end, away from the rotating arm, of one rotating part is fixedly connected with a first plug, when a person needs to disassemble the device for overhauling, the person only needs to pull the first inserting part and the second inserting part, when the device is disassembled and overhauled, the device can be disassembled without disassembling more fixing structures, and therefore the device overhauling difficulty is low, and the device overhauling efficiency is improved. The maintenance efficiency is high.

Description

Technical Field

[0001] The invention belongs to the technical field of welding robots, and in particular relates to a welding robot for assembling a plate frame structure of a ship. Background Art

[0002] In traditional shipbuilding, the welding of plate frame structures is highly dependent on manual operation, which is not only labor-intensive and has a harsh working environment, but also easily affected by human factors. There are problems such as uneven welds and high defect rates. With the development of industrial automation technology, although some welding robots have been applied to the fields of automobiles, aerospace, etc., such as the welding of large and complex structural parts such as ships, especially the automated welding of assembled plate frame structures, there are certain defects. For example, in the announcement number "CN 210908647 U" discloses a welding robot for a ship assembly plate frame structure, including a welding arm, a joint arm, and a base. The welding arm is connected to one side of the joint arm by bolts, and the joint arm is connected to the top of the base by bolts. The welding arm includes a welding head, an extension arm, and a power arm. The welding head is connected to one end of the extension arm by bolts, and the extension arm is connected to one end of the power arm by embedding. The extension arm includes an extension device, a driving device, and a connecting transverse axis. The extension device is connected to the top of the driving device by clearance fit, and the connecting transverse axis is connected to one side of the driving device by clearance fit. The driving device includes a limiting spoke, a driven gear, a driving gear, and a motor. The driven gear is connected to one side of the limiting spoke by embedding, and the driving gear is connected to one side of the driven gear by gear meshing. The motor is connected to one side of the driving gear by embedding. Although the device can weld the structure, since the welding robot rotates frequently when working, the device needs to be regularly inspected and maintained. When the device is disassembled and inspected, it is necessary to disassemble more fixed structures before the device can be disassembled. Therefore, the device inspection is difficult and the inspection efficiency is low. Summary of the invention

[0003] The object of the present invention is to provide a welding robot for assembling a plate frame structure of a ship, so as to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above object, the present invention provides the following technical solution: a welding robot for a ship assembly plate frame structure, comprising a detachably connected first connecting member and a second connecting member, and also comprising a welding member for welding the ship assembly plate frame structure, wherein one end of the welding member is fixedly connected to a second plug;

[0005] The first connecting member includes a shell part and a first motor for driving the second connecting member to rotate, the first motor is installed inside the shell part, and the second connecting member includes a rotating arm and a rotating part rotatably connected to both ends of the rotating arm, one end of one of the rotating parts away from the rotating arm is fixedly connected to the first plug, and the other end of the rotating part away from the rotating arm is fixedly connected to the second base, the second base is provided with a second jack matching the second plug, and the second base is also fixedly connected to the inside of the second base, and the free end of the second spring is fixedly connected to the second insertion part which is normally inserted between the second base and the second plug;

[0006] The output end of the first motor is fixedly connected to a first base frame, a first socket matching the first plug is provided on the first base frame, and a first spring is fixedly connected inside the first base frame, and a free end of the first spring is fixedly connected to a first insertion portion which is normally inserted between the first base frame and the first plug.

[0007] Preferably, it also includes a support member, wherein two positioning rods are symmetrically fixedly connected to the top of the support member, and two positioning holes matching the positioning rods are symmetrically opened on the shell part, and a limiting frame is fixedly connected to both sides of the top of the shell part near the positioning holes, and the inner wall of the limiting frame is inclined and concave from bottom to top to form a plurality of limiting grooves, and the outer peripheral surface of the positioning rod is convex to form a limiting protrusion matching the limiting groove.

[0008] Preferably, the welding part comprises an electric push rod, a telescopic end of the electric push rod is fixedly connected to a welding gun, and the second plug is fixedly connected to a side of the electric push rod away from the welding gun.

[0009] Preferably, the shell part includes a protective shell, the first motor is fixedly connected to the outside of the protective shell, and the bottom of the protective shell is fixedly connected to a bottom plate, and the positioning hole is opened on the bottom plate.

[0010] Preferably, the support member comprises a base plate, a detachable fixing screw is screwed on the base plate, and the bottom of the positioning rod is fixedly connected to the top of the base plate.

[0011] Preferably, the first insertion part includes a first connecting frame, which is fixedly connected to the free end of the first spring, and a first insertion rod is fixedly connected to one side of the first connecting frame, the first insertion rod is located on one side of the first spring, and the free end of the first insertion rod is inserted between the first socket and the first base frame.

[0012] Preferably, the second insertion part includes a second connecting frame, the second connecting frame is fixedly connected to one side of the second spring, and a second insertion rod is fixedly connected to one side of the second connecting frame, the second insertion rod is located on one side of the second spring, and the free end of the second insertion rod is inserted between the second socket and the second base frame.

[0013] Preferably, the rotating part comprises a first rotating frame and a second rotating frame, the first rotating frame is rotatably connected to one end of the rotating arm close to the supporting member, and the second rotating frame is rotatably connected to one end of the rotating arm close to the welding member.

[0014] Preferably, a second motor is fixedly connected to both the first rotating frame and the second rotating frame, and an output end of the second motor is connected to the rotating arm.

[0015] Preferably, a handle is fixedly connected to one side of the second connecting frame and the first connecting frame, and a pull hole is provided on the handle.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] (1) When the first plug is inserted into the first socket on the first frame, and the second plug is inserted into the second socket on the second frame, the present invention inserts the first insertion part between the first frame and the first plug, and inserts the second insertion part between the second frame and the second plug. When personnel need to disassemble the device for maintenance, they only need to pull the first insertion part and the second insertion part. When the device is disassembled for maintenance, it is not necessary to disassemble a large number of fixed structures to complete the device disassembly. Therefore, the difficulty of device maintenance is low and the maintenance efficiency is high.

[0018] (2) The present invention sets a positioning rod and a positioning hole. When the bottom plate is placed on the base plate, the positioning rod is inserted into the positioning hole, and the limiting groove on the limiting frame is engaged with the limiting protrusion on the positioning rod, so as to fix the bottom plate. When personnel need to remove the protective shell, they only need to pull the limiting frame to remove the protective shell, thereby further reducing the difficulty of device maintenance and improving the efficiency of device maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 One of the three-dimensional diagrams of the present invention;

[0020] Figure 2 This is the second stereogram of the present invention;

[0021] Figure 3 An exploded view of the present invention;

[0022] Figure 4 is a three-dimensional diagram of the second connecting member of the present invention;

[0023] Figure 5 is a three-dimensional diagram of the first connecting member of the present invention;

[0024] Figure 6 is a three-dimensional diagram of the welded part of the present invention;

[0025] In the figure: 1. support member; 11. base plate; 12. fixing screw; 13. limiting protrusion; 14. positioning rod; 2. first connecting member; 21. first connecting frame; 22. protective shell; 23. positioning hole; 24. limiting frame; 25. limiting groove; 26. first motor; 27. first plug; 28. first plug hole; 29. ​​first spring; 210. first base frame; 211. bottom plate; 3. second connecting member; 31. second spring; 32. first rotating frame; 33. second motor; 34. first plug; 35. second plug; 36. second rotating frame; 37. second base frame; 38. second plug hole; 39. second connecting frame; 310. rotating arm; 4. welding member; 41. second plug; 42. electric push rod; 43. welding gun; 5. handle. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. 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.

[0027] See also Figure 1-Figure 6 As shown, the present invention provides the following technical solutions:

[0028] A welding robot for a ship assembly plate frame structure, comprising a detachably connected first connecting member 2 and a second connecting member 3, and also comprising a welding member 4 for welding the ship assembly plate frame structure, wherein one end of the welding member 4 is fixedly connected to a second plug 41;

[0029] The first connecting member 2 includes a shell part and a first motor 26 for driving the second connecting member 3 to rotate, the first motor 26 is installed inside the shell part, and the second connecting member 3 includes a rotating arm 310 and a rotating part rotatably connected to both ends of the rotating arm 310, wherein one end of one rotating part away from the rotating arm 310 is fixedly connected to a first plug 34, and another end of the rotating part away from the rotating arm 310 is fixedly connected to a second base frame 37, a second jack 38 matching the second plug 41 is provided on the second base frame 37, and a second spring 31 is also fixedly connected inside the second base frame 37, and a free end of the second spring 31 is fixedly connected to a second insertion part which is normally inserted between the second base frame 37 and the second plug 41;

[0030] The output end of the first motor 26 is fixedly connected to the first base frame 210, and the first base frame 210 is provided with a first socket 28 matching the first plug 34. The first base frame 210 is also fixedly connected to the inside of the first spring 29, and the free end of the first spring 29 is fixedly connected to the first insertion part which is normally inserted between the first base frame 210 and the first plug 34.

[0031] Through the above technical solution, when a person uses the device, the shell part is fixed at the position required by the person, the first motor 26 is supported by the shell part, and then the first plug 34 is inserted into the first socket 28 on the first base frame 210, and the first insertion part is driven to move by the first spring 29, so that the first insertion part is inserted between the first base frame 210 and the first plug 34, so that the first base frame 210 and the rotating arm 310 are connected, and then the second plug 41 is inserted into the second socket 38 on the second base frame 37, and the second insertion part is driven to move by the second spring 31, so that the second insertion part is inserted between the second base frame 37 and the second plug 41, so that the welding part 4 and the other end of the rotating arm 310 are connected, and the first motor 26 works, thereby driving the first base frame 210 to rotate, and when the first base frame 210 rotates, it will drive the rotating arm 310 to rotate together, and then drive the welding part 4 to rotate, when the first motor 26 works. , the rotating arm 310 rotates around one of the rotating parts, and the other rotating part rotates around the rotating arm 310, thereby driving the welding part 4 to rotate, so that the position of the welding part 4 is adjusted to the position required by the personnel, and the position of the welding part 4 is adjusted to the position where the ship assembly plate frame structure needs to be welded, and the ship assembly plate frame structure is welded by the welding part 4. When the personnel need to dismantle the device for maintenance, pull the first insertion part to separate the first insertion part from the first base frame 210 and the first plug 34, and then pull the first plug 34 to separate the first plug 34 from the first socket 28, so that the first base frame 210 is separated from one end of the rotating arm 310, pull the second insertion part to separate the second insertion part from the second base frame 37 and the second plug rod 35, and then pull the second plug rod 35 to separate the second plug rod 35 from the second socket 38, so that the second base frame 37 is separated from the other end of the rotating arm 310, so that the personnel can easily dismantle the device for maintenance.

[0032] In addition, in the present invention, if Figure 1-Figure 3 As shown, the device also includes a support member 1, and two positioning rods 14 are symmetrically fixedly connected to the top of the support member 1, and two positioning holes 23 matching the positioning rods 14 are symmetrically opened on the shell part, and both sides of the top of the shell part close to the positioning holes 23 are fixedly connected to the limiting frame 24, and the inner wall of the limiting frame 24 is inclined from bottom to top and concave to form a plurality of limiting grooves 25, and the outer peripheral surface of the positioning rod 14 is convex to form a limiting protrusion 13 matching the limiting groove 25.

[0033] In this embodiment, the support member 1 to be fixed is placed at the position required by the personnel, and the support member 1 is fixed. After the support member 1 is fixed, the positioning rod 14 is supported by the support member 1, and then the shell part is placed above the support member 1, so that the positioning rod 14 on the support member 1 is inserted into the positioning hole 23 on the shell part until the positioning rod 14 is completely inserted into the positioning hole 23. After the positioning rod 14 is inserted into the positioning hole 23, the limiting protrusion 13 on the positioning rod 14 is engaged with the limiting groove 25 on the limiting frame 24, so that the shell part is fixed on the support member 1, and the shell part is supported by the support member 1. When the personnel needs to disassemble the shell part, the limiting frame 24 is pulled to separate the limiting frame 24 from the positioning rod 14, and the shell part can be disassembled.

[0034] Specifically, in one embodiment, regarding the above-mentioned welding member 4, as Figure 1-Figure 3 and Figure 6 As shown, the welding piece 4 includes an electric push rod 42 , a welding gun 43 is fixedly connected to the telescopic end of the electric push rod 42 , and the second plug 41 is fixedly connected to a side of the electric push rod 42 away from the welding gun 43 .

[0035] In this embodiment, the second plug 41 on the electric push rod 42 is inserted into the second socket 38 on the second base frame 37, and the second insertion part is moved by the second spring 31, so that the second insertion part is inserted between the second base frame 37 and the second plug 41, so that the electric push rod 42 and the other end of the rotating arm 310 are connected, and the electric push rod 42 works to drive the welding gun 43 to move, and the ship assembly plate frame structure is welded by the welding gun 43.

[0036] Furthermore, in the present invention, regarding the above-mentioned housing portion, as Figure 1-Figure 3 and Figure 5 As shown, the shell part includes a protective shell 22 , a first motor 26 is fixedly connected to the outside of the protective shell 22 , and a bottom plate 211 is fixedly connected to the bottom of the protective shell 22 , and a positioning hole 23 is opened on the bottom plate 211 .

[0037] In this embodiment, when the housing part needs to be installed, the protective shell 22 is placed at the use position, and the first motor 26 is protected by the protective shell 22, and the first base frame 210 is driven to rotate by the first motor 26.

[0038] Specifically, in one embodiment, regarding the above-mentioned support member 1, as Figure 1-Figure 3 As shown, the support member 1 includes a base plate 11 , on which a detachable fixing screw 12 is screwed and connected, and the bottom of the positioning rod 14 is fixedly connected to the top of the base plate 11 .

[0039] In this embodiment, the substrate 11 to be fixed is placed at the position required by the personnel, and the substrate 11 is fixed by the fixing screw 12. After the substrate 11 is fixed, the positioning rod 14 is supported by the substrate 11, and then the shell part is placed above the substrate 11, so that the positioning rod 14 on the substrate 11 is inserted into the positioning hole 23 on the shell part until the positioning rod 14 is completely inserted into the positioning hole 23. After the positioning rod 14 is inserted into the positioning hole 23, the limiting protrusion 13 on the positioning rod 14 is engaged with the limiting groove 25 on the limiting frame 24, so that the shell part is fixed on the substrate 11.

[0040] In addition, in the present invention, regarding the above-mentioned first insertion portion, as Figure 1-Figure 3 and Figure 5 As shown, the first insertion part includes a first connecting frame 21, which is fixedly connected to the free end of the first spring 29, and a first plug rod 27 is fixedly connected to one side of the first connecting frame 21. The first plug rod 27 is located on one side of the first spring 29, and the free end of the first plug rod 27 is inserted between the first socket 28 and the first base frame 210.

[0041] In this embodiment, the first plug 34 is inserted into the first socket 28 on the first frame 210, and the first connecting frame 21 is driven to move by the first spring 29, so that the first connecting frame 21 drives the first plug 27 to move, and the first plug 27 is inserted between the first frame 210 and the first plug 34, so that the first frame 210 and the rotating arm 310 are connected. When the first frame 210 and the rotating arm 310 need to be disassembled, the first connecting frame 21 is pulled to make the first connecting frame 21 drive the first plug 27 to move, so that the first plug 27 is separated from the first frame 210 and the first plug 34, thereby completing the disassembly of the first frame 210 and the rotating arm 310.

[0042] And, regarding the above-mentioned second insertion part, if Figure 1-Figure 4 As shown, the second insertion part includes a second connecting frame 39, which is fixedly connected to one side of the second spring 31, and a second plug rod 35 is fixedly connected to one side of the second connecting frame 39, the second plug rod 35 is located on one side of the second spring 31, and the free end of the second plug rod 35 is inserted between the second socket 38 and the second base frame 37.

[0043] In this embodiment, the second plug 41 is inserted into the second hole 38 on the second base frame 37, and the second spring 31 drives the second connecting frame 19 to move, so that the second connecting frame 19 drives the second plug rod 35 to move, and the second plug rod 35 is inserted between the second base frame 37 and the second plug 41, so that the second base frame 37 and the second plug 41 are connected. When the second base frame 37 and the second plug 41 need to be disassembled, the second connecting frame 19 is pulled to make the second connecting frame 19 drive the second plug rod 35 to move, so that the second plug rod 35 is separated from the second base frame 37 and the second plug 41, thereby completing the disassembly of the second base frame 37 and the second plug 41.

[0044] In addition, in the present invention, regarding the above-mentioned rotating part, as Figure 1-Figure 4 As shown, the rotating part includes a first rotating frame 32 and a second rotating frame 36. The first rotating frame 32 is rotatably connected to one end of the rotating arm 310 close to the supporting member 1, and the second rotating frame 36 is rotatably connected to one end of the rotating arm 310 close to the welding member 4.

[0045] In this embodiment, when the device is working, the rotating arm 310 rotates around the first rotating frame 32, and the second rotating frame 36 rotates around the rotating arm 310, so as to adjust the welding angle and welding position of the welding gun 43.

[0046] Regarding how the rotating arm 310 rotates around the first rotating frame 32, and regarding how the second rotating frame 36 rotates around the rotating arm 310, as shown in FIG. Figure 1-Figure 4 As shown, the second motor 33 is fixedly connected to the first rotating frame 32 and the second rotating frame 36 , and the output end of the second motor 33 is connected to the rotating arm 310 .

[0047] In this embodiment, when the rotating arm 310 and the welding gun 43 need to be driven to rotate, the second motor 33 is operated to drive the rotating arm 310 and the welding gun 43 to rotate.

[0048] When a person needs to pull the second connecting frame 39 and the first connecting frame 21, in order to facilitate the pulling of the second connecting frame 39 and the first connecting frame 21, Figure 4-Figure 5 As shown, a handle 5 is fixedly connected to one side of the second connecting frame 39 and the first connecting frame 21, and a pull hole is formed on the handle 5.

[0049] In this embodiment, when a person needs to pull the second connecting frame 39 and the first connecting frame 21, the second connecting frame 39 and the first connecting frame 21 can be easily pulled by the cooperation between the handle 5 and the pulling hole.

[0050] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A welding robot for assembling a panel frame structure of a ship, characterized in that: It comprises a first connecting member (2) and a second connecting member (3) which are detachably connected, and also comprises a welding member (4) for welding a ship assembly plate frame structure, wherein one end of the welding member (4) is fixedly connected to a second plug (41); The first connecting member (2) comprises a shell part and a first motor (26) for driving the second connecting member (3) to rotate, the first motor (26) being installed inside the shell part, and the second connecting member (3) comprises a rotating arm (310) and a rotating part rotatably connected to both ends of the rotating arm (310), one end of the rotating part away from the rotating arm (310) is fixedly connected to a first plug (34), and the other end of the rotating part away from the rotating arm (310) is fixedly connected to a second base frame (37), the second base frame (37) is provided with a second plug hole (38) matching with the second plug (41), and the second base frame (37) is also fixedly connected to a second spring (31), and the free end of the second spring (31) is fixedly connected to a second insertion part which is normally inserted between the second base frame (37) and the second plug (41); The output end of the first motor (26) is fixedly connected to a first base frame (210), a first jack (28) matching with a first plug (34) is provided on the first base frame (210), and a first spring (29) is fixedly connected inside the first base frame (210), and a free end of the first spring (29) is fixedly connected to a first insertion portion which is normally inserted between the first base frame (210) and the first plug (34).

2. A welding robot for assembling a panel frame structure of a ship according to claim 1, characterized in that: The invention also comprises a support member (1), wherein two positioning rods (14) are symmetrically fixedly connected to the top of the support member (1), two positioning holes (23) matching the positioning rods (14) are symmetrically provided on the shell part, and both sides of the top of the shell part close to the positioning holes (23) are fixedly connected to a limiting frame (24), the inner wall of the limiting frame (24) is inclined and concave from bottom to top to form a plurality of limiting grooves (25), and the outer peripheral surface of the positioning rod (14) is convex to form a limiting protrusion (13) matching the limiting groove (25).

3. A welding robot for assembling a panel frame structure of a ship according to claim 1 or 2, characterized in that: The welding piece (4) comprises an electric push rod (42), the telescopic end of the electric push rod (42) is fixedly connected to a welding gun (43), and the second plug (41) is fixedly connected to a side of the electric push rod (42) away from the welding gun (43).

4. A welding robot for assembling a panel frame structure of a ship according to claim 2, characterized in that: The shell portion comprises a protective shell (22), the first motor (26) is fixedly connected to the outside of the protective shell (22), and the bottom of the protective shell (22) is fixedly connected to a bottom plate (211), and the positioning hole (23) is opened on the bottom plate (211).

5. A welding robot for assembling a panel frame structure of a ship according to claim 2, characterized in that: The support member (1) comprises a base plate (11), a detachable fixing screw (12) is screwed on the base plate (11), and the bottom of the positioning rod (14) is fixedly connected to the top of the base plate (11).

6. A welding robot for assembling a panel frame structure of a ship according to claim 1 or 2, characterized in that: The first insertion part comprises a first connecting frame (21), the first connecting frame (21) is fixedly connected to the free end of the first spring (29), and a first insertion rod (27) is fixedly connected to one side of the first connecting frame (21), the first insertion rod (27) is located on one side of the first spring (29), and the free end of the first insertion rod (27) is inserted between the first insertion hole (28) and the first base frame (210).

7. A welding robot for assembling a panel frame structure of a ship according to claim 6, characterized in that: The second insertion part comprises a second connecting frame (39), the second connecting frame (39) is fixedly connected to one side of the second spring (31), and a second insertion rod (35) is fixedly connected to one side of the second connecting frame (39), the second insertion rod (35) is located on one side of the second spring (31), and the free end of the second insertion rod (35) is inserted between the second insertion hole (38) and the second base frame (37).

8. A welding robot for assembling a panel frame structure of a ship according to claim 1 or 2, characterized in that: The rotating part comprises a first rotating frame (32) and a second rotating frame (36), wherein the first rotating frame (32) is rotatably connected to one end of the rotating arm (310) close to the supporting member (1), and the second rotating frame (36) is rotatably connected to one end of the rotating arm (310) close to the welding member (4).

9. A welding robot for assembling a panel frame structure of a ship according to claim 8, characterized in that: The first rotating frame (32) and the second rotating frame (36) are both fixedly connected with a second motor (33), and the output end of the second motor (33) is connected to the rotating arm (310).

10. A welding robot for assembling a panel frame structure of a ship according to claim 7, characterized in that: A handle (5) is fixedly connected to one side of each of the second connecting frame (39) and the first connecting frame (21), and a pull hole is provided on the handle (5).

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