A welding robot for marine port machinery equipment

Abstract

This invention discloses a welding robot for marine port machinery and equipment, comprising: a base frame with a support assembly mounted on its bottom; a mounting frame fixed to the top surface of the base frame; a lifting mechanism with a pipe clamp mounted on it; a rotary drive mechanism mounted on the top surface of the base frame, corresponding to the lifting mechanism, and a flange positioning mechanism mounted on the rotary drive mechanism; and a welding mechanism including a multi-degree-of-freedom robotic arm and a welding torch. The multi-degree-of-freedom robotic arm is mounted on the lifting mechanism, and the welding torch is mounted on the multi-degree-of-freedom robotic arm. The multi-degree-of-freedom robotic arm includes a first adjusting arm, a second adjusting arm, and a third adjusting arm connected sequentially. The first adjusting arm is mounted on the lifting mechanism, and the welding torch is mounted on the third adjusting arm. This invention uses a multi-degree-of-freedom robotic arm in conjunction with a flange positioning mechanism and a lifting mechanism to weld pipes and flanges, reducing the difficulty of welding.

Description

Technical Field

[0001] This invention relates to the field of welding equipment technology, and in particular to a welding robot for marine port machinery and equipment. Background Technology

[0002] Currently, welding of marine port machinery and equipment mainly relies on traditional technologies such as manual arc welding, gas shielded welding, and automatic and semi-automatic welding systems. Manual arc welding, due to its flexibility and adaptability, is still widely used for welding small and complex structures. Gas shielded welding, with its high-quality welds and low hydrogen content, dominates the welding of medium and large structural components. Furthermore, with the development of automation technology, automatic and semi-automatic welding systems are gradually being applied to the manufacturing of marine port machinery and equipment to improve production efficiency and welding quality.

[0003] Among the many categories of mechanical equipment, there is a lack of specific devices for welding between flanges and pipe fittings in the existing technology. The main reason is that the welding position is limited and the positioning of flanges is difficult. Therefore, the present invention provides a welding robot for marine port mechanical equipment for welding between pipe fittings and flanges. Summary of the Invention

[0004] The purpose of this invention is to provide a welding robot for marine port machinery and equipment to solve the problems existing in the prior art.

[0005] To achieve the above objectives, the present invention provides the following solution: The present invention provides a welding robot for marine port machinery and equipment, comprising:

[0006] A base frame, with a support assembly installed at its bottom;

[0007] Mounting bracket, which is fixed to the top surface of the base frame;

[0008] A lifting mechanism is installed in the middle of the mounting frame, and a pipe clamp is installed on the lifting mechanism;

[0009] A rotary drive mechanism is installed on the top surface of the base frame, and the rotary drive mechanism is correspondingly arranged with the lifting mechanism. A flange positioning mechanism is installed on the rotary drive mechanism.

[0010] A welding mechanism, comprising a multi-degree-of-freedom robotic arm and a welding torch, wherein the multi-degree-of-freedom robotic arm is mounted on the lifting mechanism and the welding torch is mounted on the multi-degree-of-freedom robotic arm;

[0011] The multi-degree-of-freedom robotic arm includes a first adjusting arm, a second adjusting arm, and a third adjusting arm connected in sequence. The first adjusting arm is mounted on the lifting mechanism, and the welding torch is mounted on the third adjusting arm.

[0012] According to the welding robot for marine port machinery and equipment provided by the present invention, the lifting mechanism includes a lifting cylinder, the lifting cylinder is vertically fixed to the top of the mounting frame, the mounting frame is symmetrically and vertically slidably connected to the connecting rods, the bottom of the two connecting rods is fixedly connected to the mounting plate, the lifting cylinder is located between the two connecting rods, the bottom end of the lifting cylinder is fixedly connected to the top surface of the mounting plate, the pipe clamp is rotatably connected to the bottom surface of the mounting plate, and the first adjusting arm is mounted on the mounting plate.

[0013] According to the welding robot for marine port machinery provided by the present invention, the flange positioning mechanism includes a pad, a support plate is disposed opposite to the top surface of the pad, the pad and the support plate are fixedly connected by a support rod, a top plate is disposed opposite to the top surface of the support plate, the top plate has a cross-shaped groove, four sets of sliders are slidably connected in the cross-shaped groove, a positioning plate is fixedly connected to the top of the slider, a slide plate is slidably connected to the bottom surface of the top plate, the slider is fixedly connected to the top surface of the slide plate, a slide rail is fixedly connected to the top surface of the support plate, the slide plate is slidably connected to the slide rail, a hydraulic push rod is fixedly connected to the top surface of the pad, a hinge seat is fixedly connected to the top of the hydraulic push rod, four sets of hinge rods are hinged circumferentially at equal intervals on the hinge seat, a clearance groove is disposed on the support plate, the hinge rod passes through the clearance groove and is hinged to the bottom surface of the slide plate; the pad is rotatably connected to the top surface of the base frame.

[0014] According to the welding robot for marine port machinery provided by the present invention, the rotary drive mechanism includes a drive motor and a transmission. Both the drive motor and the transmission are mounted on the base frame. The output shaft of the drive motor is connected to the input shaft of the transmission. A mounting shaft is fixedly connected to the bottom surface of the pad. The mounting seat passes through the base frame and is connected to the output shaft of the transmission via a coupling.

[0015] According to the welding robot for marine port machinery provided by the present invention, the first adjusting arm includes a connecting plate fixedly connected to the bottom surface of the mounting plate, a horizontal plate slidably connected to the connecting plate, a rotating plate rotatably connected to the end of the horizontal plate via a rotating shaft, an arc groove symmetrically formed on the rotating plate, the arc corresponding to the arc groove being coaxial with the rotating shaft, an insertion hole formed on the horizontal plate, a positioning bolt inserted into the insertion hole, the positioning bolt passing through the arc groove and threadedly connected to a positioning nut, and the second adjusting arm being mounted on the rotating plate.

[0016] According to the welding robot for marine port machinery provided by the present invention, the second adjusting arm includes a first mounting frame and a second mounting frame, which are vertically arranged. A connecting block is provided between the first mounting frame and the second mounting frame, and the connecting block is slidably connected to the first mounting frame and the second mounting frame. Adjusting components are respectively installed on the first mounting frame and the second mounting frame. The adjusting components include adjusting screws and adjusting motors. The adjusting motors are respectively fixed to the ends of the first mounting frame and the second mounting frame. The adjusting screws are fixed on the output shaft of the adjusting motors. The two adjusting screws pass through the connecting block and are threadedly connected to the connecting block. An installation rail is fixedly connected to the second mounting frame, and the third adjusting arm is installed on the installation rail.

[0017] According to the welding robot for marine port machinery provided by the present invention, the third adjusting arm includes a mounting base slidably connected to the mounting rail, an adjusting cylinder fixedly connected to the top end of the mounting rail, a fixed connection between the bottom end of the adjusting cylinder and the mounting base, a first arm fixedly connected to the mounting base, a second arm rotatably connected to the bottom end of the first arm, an electrically controlled telescopic rod fixedly connected to the end of the second arm, a mounting sleeve fixedly connected to the output end of the electrically controlled telescopic rod, a welding torch detachably connected to the mounting base, and a locking bolt provided between the first arm and the second arm.

[0018] According to the welding robot for marine port machinery provided by the present invention, four sets of support components are installed at the bottom of the base frame, and the four sets of support components are symmetrically arranged in pairs. Each support component includes a threaded rod, which is vertically threaded to the bottom of the base frame, and a base is fixedly connected to the bottom of the threaded rod.

[0019] The present invention discloses the following technical effects:

[0020] In operation, the pipe fitting is fixed to the lifting mechanism by the pipe fitting clamp, and the flange is positioned and fixed by the flange positioning mechanism. The angles and positions of the first, second, and third adjusting arms are adjusted to ensure that the height and welding angle of the welding gun meet the requirements. The lifting mechanism drives the pipe fitting and the welding mechanism to descend. After the pipe fitting is connected to the flange, the welding gun is used to weld the positioning weld point. Then, the rotation drive mechanism drives the flange and pipe fitting to rotate, and the welding gun performs a complete weld on the weld seam. After the welding is completed, the device is removed.

[0021] This invention uses a multi-degree-of-freedom robotic arm in conjunction with a flange positioning mechanism and a lifting mechanism to weld pipe fittings and flanges, reducing the difficulty of welding. Attached Figure Description

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 This is a schematic diagram of the structure of the welding robot for marine port machinery and equipment of the present invention;

[0024] Figure 2 for Figure 1 Enlarged view of point A in the middle;

[0025] Figure 3 This is a schematic diagram of the flange positioning mechanism of the present invention.

[0026] The components are as follows: 1. Base frame; 2. Mounting frame; 3. Pipe clamp; 4. Welding torch; 5. Lifting cylinder; 6. Connecting rod; 7. Mounting plate; 8. Support plate; 9. Pad plate; 10. Top plate; 11. Cross-shaped slide groove; 12. Slider; 13. Positioning plate; 14. Slide plate; 15. Slide rail; 16. Hydraulic push rod; 17. Drive motor; 18. Gearbox; 19. Connecting plate; 20. Horizontal plate; 21. Arc groove; 22. First mounting frame; 23. Second mounting frame; 24. Connecting block; 25. Adjusting screw; 26. Adjusting motor; 27. Mounting rail; 28. Mounting seat; 29. ​​Adjusting cylinder; 30. First boom; 31. Second boom; 32. Electrically controlled telescopic rod; 33. Threaded rod; 34. Base. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] Reference Figure 1-3 This invention provides a welding robot for marine port machinery and equipment, comprising:

[0030] Base frame 1, with a support assembly installed at the bottom of base frame 1;

[0031] Mounting bracket 2 is fixed to the top surface of the base frame 1;

[0032] The lifting mechanism is installed in the middle of the mounting frame 2, and the pipe clamp 3 is installed on the lifting mechanism;

[0033] A rotary drive mechanism is installed on the top surface of the base frame 1. The rotary drive mechanism is correspondingly arranged with the lifting mechanism. A flange positioning mechanism is installed on the rotary drive mechanism.

[0034] The welding mechanism includes a multi-degree-of-freedom robotic arm and a welding torch 4. The multi-degree-of-freedom robotic arm is mounted on a lifting mechanism, and the welding torch 4 is mounted on the multi-degree-of-freedom robotic arm.

[0035] The multi-degree-of-freedom robotic arm includes a first adjusting arm, a second adjusting arm, and a third adjusting arm connected in sequence. The first adjusting arm is mounted on the lifting mechanism, and the welding torch 4 is mounted on the third adjusting arm.

[0036] When this invention is in operation, the pipe fitting is fixed to the lifting mechanism by the pipe fitting clamp 3, and the flange is positioned and fixed by the flange positioning mechanism. The angles and positions of the first adjusting arm, the second adjusting arm, and the third adjusting arm are adjusted respectively to ensure that the height and welding angle of the welding gun 4 meet the requirements. The lifting mechanism drives the pipe fitting and the welding mechanism to descend. After the pipe fitting is connected to the flange, the welding gun 4 is used to weld the positioning weld point. Then, the rotation drive mechanism drives the flange and the pipe fitting to rotate, and the welding gun 4 performs complete welding on the weld. After the welding is completed, the device is removed.

[0037] This invention uses a multi-degree-of-freedom robotic arm in conjunction with a flange positioning mechanism and a lifting mechanism to weld pipe fittings and flanges, reducing the difficulty of welding.

[0038] Further optimization of the design: The lifting mechanism includes a lifting cylinder 5, which is vertically fixed to the top of the mounting frame 2. Connecting rods 6 are symmetrically and vertically slidably connected to the mounting frame 2. The bottom of the two connecting rods 6 is fixedly connected to a mounting plate 7. The lifting cylinder 5 is located between the two connecting rods 6, and its bottom end is fixedly connected to the top surface of the mounting plate 7. A pipe clamp 3 is rotatably connected to the bottom surface of the mounting plate 7, and a first adjusting arm is mounted on the mounting plate 7. The lifting cylinder 5 controls the overall lifting of the mounting plate 7. The pipe clamp 3 uses existing technology to clamp the pipe, ensuring its stability. The pipe clamp 3 can be connected using a rotating device or directly using bearings. During operation, a welding torch 4 is used to weld a point on one side, connecting the pipe to the flange. Then, the rotating part at the bottom controls the overall rotation of the flange and pipe, eliminating the need for a drive device.

[0039] Further optimization of the scheme: The flange positioning mechanism includes a pad 9, with a support plate 8 positioned directly opposite the top surface of the pad 9. The pad 9 and the support plate 8 are fixedly connected by a support rod. A top plate 10 is positioned directly opposite the top surface of the support plate 8. A cross-shaped groove 11 is provided on the top plate 10. Four sets of sliders 12 are slidably connected in the cross-shaped groove 11. A positioning plate 13 is fixedly connected to the top of the slider 12. A sliding plate 14 is slidably connected to the bottom surface of the top plate 10. The sliders 12 are fixedly connected to the top surface of the sliding plate 14. A slide rail 15 is fixedly connected to the top surface of the support plate 8. The sliding plate 14 is slidably connected to the slide rail 15. A hydraulic push rod 16 is fixedly connected to the top surface of the pad 9. A hinge seat is fixedly connected to the top of the hydraulic push rod 16. Four sets of hinge rods are hinged circumferentially at equal intervals on the hinge seat. A clearance groove is provided on the support plate 8. The hinge rods pass through the clearance groove and are hinged to the bottom surface of the sliding plate 14. The pad 9 is rotatably connected to the top surface of the base frame 1.

[0040] The hydraulic push rod 16 pushes the hinge rod, causing the angle between the hinge rod and the axis of the hydraulic push rod 16 to change. The hydraulic push rod 16 pushes the slider 12 and the positioning plate 13 on the top of the slider 12 to move, thereby enabling the flange center position to be positioned.

[0041] The optimized design includes a rotary drive mechanism comprising a drive motor 17 and a gearbox 18, both mounted on a base frame 1. The output shaft of the drive motor 17 is connected to the input shaft of the gearbox 18. A mounting shaft is fixedly connected to the bottom surface of a pad 9. A mounting base 28 passes through the base frame 1 and is connected to the output shaft of the gearbox 18 via a coupling. Power is output from the drive motor 17, and the gearbox 18 adjusts the rotational speed, driving the top flange positioning mechanism to rotate.

[0042] Further optimizing the design, the first adjusting arm includes a connecting plate 19 fixedly connected to the bottom surface of the mounting plate 7. A horizontal plate 20 is slidably connected to the connecting plate 19. A rotating plate is rotatably connected to the end of the horizontal plate 20 via a rotating shaft. The rotating plate has symmetrically formed arc-shaped grooves 21, which are coaxial with the corresponding arc of the grooves and the rotating shaft. The horizontal plate 20 has insertion holes into which positioning bolts are inserted. The positioning bolts pass through the arc-shaped grooves 21 and are threaded with positioning nuts. The second adjusting arm is mounted on the rotating plate. The arrangement of the horizontal plate 20 and the connecting plate 19 allows for adjustment of both the linear position and angle.

[0043] In a further optimized design, the second adjusting arm includes a first mounting frame 22 and a second mounting frame 23, which are vertically arranged. A connecting block 24 is provided between the first mounting frame 22 and the second mounting frame 23, and the connecting block 24 is slidably connected to the first mounting frame 22 and the second mounting frame 23. Adjusting components are respectively installed on the first mounting frame 22 and the second mounting frame 23. The adjusting components include adjusting screws 25 and adjusting motors 26. The adjusting motors 26 are respectively fixed to the ends of the first mounting frame 22 and the second mounting frame 23. The adjusting screws 25 are fixed to the output shaft of the adjusting motors 26. The two adjusting screws 25 pass through the connecting block 24 and are threadedly connected to the connecting block 24. A mounting rail 27 is fixedly connected to the second mounting frame 23, and the third adjusting arm is installed on the mounting rail 27.

[0044] Two sets of screws rotate on the first mounting frame 22 and the second mounting frame 23 respectively, and are adjusted by two sets of adjusting motors 26 in conjunction with adjusting screws 25. The two adjusting screws 25 are perpendicular to each other, and can adjust the first mounting frame 22 and the second mounting frame 23 at two different angles, thereby improving the flexibility of the device.

[0045] Further optimizing the design, the third adjusting arm includes a mounting base 28 slidably connected to the mounting rail 27. An adjusting cylinder 29 is fixedly connected to the top of the mounting rail 27. The bottom end of the adjusting cylinder 29 is fixedly connected to the mounting base 28. A first arm 30 is fixedly connected to the mounting base 28. A second arm 31 is rotatably connected to the bottom end of the first arm 30. An electrically controlled telescopic rod 32 is fixedly connected to the end of the second arm 31. An installation sleeve is fixedly connected to the output end of the electrically controlled telescopic rod 32. The welding torch 4 is detachably connected to the mounting base 28. A locking bolt is provided between the first arm 30 and the second arm 31.

[0046] The first arm 30 and the second arm 31 are connected by locking bolts to adjust the angle between them. The electric telescopic rod 32 can push the welding torch 4 closer to the welding position.

[0047] Further optimizing the design, four sets of support components are installed at the bottom of the base frame 1. The four sets of support components are arranged symmetrically in pairs. Each support component includes a threaded rod 33, which is vertically threaded to the bottom of the base frame 1. A base 34 is fixedly connected to the bottom of the threaded rod 33. The height of the base 34 can be adjusted by the threaded rod 33, thereby ensuring the stability of the device.

[0048] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0049] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. A welding robot for marine port machinery and equipment, characterized in that, include: The base frame (1) has a support assembly installed at its bottom; Mounting bracket (2), which is fixed to the top surface of the base frame (1); A lifting mechanism is installed in the middle of the mounting frame (2), and a pipe clamp (3) is installed on the lifting mechanism. A rotary drive mechanism is installed on the top surface of the base frame (1), and the rotary drive mechanism is correspondingly arranged with the lifting mechanism. A flange positioning mechanism is installed on the rotary drive mechanism. The welding mechanism includes a multi-degree-of-freedom robotic arm and a welding torch (4). The multi-degree-of-freedom robotic arm is mounted on the lifting mechanism, and the welding torch (4) is mounted on the multi-degree-of-freedom robotic arm. The multi-degree-of-freedom robotic arm includes a first adjusting arm, a second adjusting arm, and a third adjusting arm connected in sequence. The first adjusting arm is mounted on the lifting mechanism, and the welding torch (4) is mounted on the third adjusting arm. The lifting mechanism includes a lifting cylinder (5), which is vertically fixed to the top of the mounting frame (2). The mounting frame (2) is symmetrically and vertically slidably connected with connecting rods (6). The bottom of the two connecting rods (6) is fixedly connected to the mounting plate (7). The lifting cylinder (5) is located between the two connecting rods (6). The bottom end of the lifting cylinder (5) is fixedly connected to the top surface of the mounting plate (7). The pipe clamp (3) is rotatably connected to the bottom surface of the mounting plate (7). The first adjusting arm is installed on the mounting plate (7). The flange positioning mechanism includes a pad (9), with a support plate (8) positioned directly opposite the top surface of the pad (9). The pad (9) and the support plate (8) are fixedly connected by a support rod. A top plate (10) is positioned directly opposite the top surface of the support plate (8). A cross-shaped groove (11) is provided on the top plate (10). Four sets of sliders (12) are slidably connected in the cross-shaped groove (11). A positioning plate (13) is fixedly connected to the top of each slider (12). A sliding plate (14) is slidably connected to the bottom surface of the top plate (10). The top surface of the slide plate (14) is fixedly connected to the top surface of the support plate (8), and the slide plate (14) is slidably connected to the slide rail (15). The top surface of the pad plate (9) is fixedly connected to the hydraulic push rod (16), and the top end of the hydraulic push rod (16) is fixedly connected to the hinge seat. The hinge seat is hinged with four sets of hinge rods at equal intervals around the circumference. The support plate (8) is provided with a clearance groove, and the hinge rod passes through the clearance groove and is hinged to the bottom surface of the slide plate (14). The pad plate (9) is rotatably connected to the top surface of the base frame (1). The rotary drive mechanism includes a drive motor (17) and a transmission (18). Both the drive motor (17) and the transmission (18) are mounted on the base frame (1). The output shaft of the drive motor (17) is connected to the input shaft of the transmission (18). The bottom surface of the pad (9) is fixedly connected to a mounting shaft. The mounting seat (28) passes through the base frame (1) and is connected to the output shaft of the transmission (18) via a coupling. The first adjusting arm includes a connecting plate (19) fixedly connected to the bottom surface of the mounting plate (7). A horizontal plate (20) is horizontally slidably connected to the connecting plate (19). A rotating plate is rotatably connected to the end of the horizontal plate (20) through a rotating shaft. An arc groove (21) is symmetrically opened on the rotating plate. The arc groove (21) is coaxial with the corresponding arc and the rotating shaft. An insertion hole is opened on the horizontal plate (20). A positioning bolt is inserted into the insertion hole. The positioning bolt passes through the arc groove (21) and is threaded with a positioning nut. The second adjusting arm is installed on the rotating plate. The second adjusting arm includes a first mounting frame (22) and a second mounting frame (23). The first mounting frame (22) and the second mounting frame (23) are arranged vertically. A connecting block (24) is provided between the first mounting frame (22) and the second mounting frame (23). The connecting block (24) is slidably connected to the first mounting frame (22) and the second mounting frame (23). Adjusting components are respectively installed on the first mounting frame (22) and the second mounting frame (23). The adjusting components include adjusting screws (25) and adjusting motors (26). The adjusting motors (26) are respectively fixed at the ends of the first mounting frame (22) and the second mounting frame (23). The adjusting screws (25) are fixed on the output shaft of the adjusting motors (26). The two adjusting screws (25) pass through the connecting block (24) and are threadedly connected to the connecting block (24). An installation rail (27) is fixedly connected to the second mounting frame (23). The third adjusting arm is installed on the installation rail (27). The third adjusting arm includes a mounting seat (28) slidably connected to the mounting rail (27). An adjusting cylinder (29) is fixedly connected to the top end of the mounting rail (27). The bottom end of the adjusting cylinder (29) is fixedly connected to the mounting seat (28). A first arm (30) is fixedly connected to the mounting seat (28). A second arm (31) is rotatably connected to the bottom end of the first arm (30). An electrically controlled telescopic rod (32) is fixedly connected to the end of the second arm (31). An installation sleeve is fixedly connected to the output end of the electrically controlled telescopic rod (32). The welding torch (4) is detachably connected to the mounting seat (28). A locking bolt is provided between the first arm (30) and the second arm (31).

2. The welding robot for marine port machinery and equipment according to claim 1, characterized in that: The support components are installed in four sets at the bottom of the base frame (1). The four sets of support components are arranged symmetrically in pairs. The support components include threaded rods (33). The threaded rods (33) are vertically threaded to the bottom of the base frame (1). The bottom of the threaded rods (33) is fixedly connected to a base (34).

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