A multi-angle welding equipment for ship tooling with welding density monitoring

Abstract

The present invention discloses a multi-angle welding device for ship tooling with welding density monitoring, the welding device comprises a handle, a turntable, an expansion mechanism, a slewing mechanism, a positioning mechanism and a detection mechanism, the expansion mechanism comprises a chassis frame, a top plate and a welding mechanism, the positioning mechanism comprises a laser locator, the handle is fixedly connected to the turntable, the turntable is rotatably connected to the top plate, the slewing mechanism is fixedly connected to the chassis frame, the positioning mechanism and the detection mechanism, and the welding mechanism is connected to the laser locator via electrical signals; the present invention relates to the field of ship welding technology, the present invention can pre-assemble three groups of steel plates into a three-dimensional right-angle space perpendicular to each other, perform precision welding on gaps at different angles and monitor the welding points at the same time, monitor the air tightness of the weld after welding is completed, greatly reduce the difficulty of workers in welding between heavy ship steel plates, and improve welding efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of ship welding, in particular to ship tooling multi-angle welding equipment with welding density monitoring function. Background Art

[0002] As a core technology in modern shipbuilding, ship welding is evolving towards high precision and intelligent manufacturing. With the deep integration of robotics and CNC automation, the shipbuilding industry will continue to gain momentum for upgrading, and advancements in welding technology will further enhance the efficiency and reliability of shipbuilding.

[0003] In the current ship welding process, different working conditions lead to diverse welding requirements. For the welding of large workpieces, it is usually necessary to use gantry cranes, dock equipment and robotic arms for assistance; small workpieces are mostly welded manually. However, the welding position of some workpieces is inside the cabin, and it is impossible to use a gantry crane for lifting operations. When faced with workpieces with relatively large mass, such as large steel plates that need to be welded perpendicular to the cabin floor, multiple people are often required to assist in maintaining the vertical state of the workpiece. However, due to the large mass of the steel plates, there is a risk of rollover during the welding process, which seriously threatens the safety of the operation. In addition, the welding quality of large workpieces using manual assisted clamping is difficult to guarantee stably. In ship welding, the gaps between steel plates need to be sealed and isolated from air, but the current method of separate detection is time-consuming and labor-intensive, which greatly restricts the overall efficiency of ship welding manufacturing. Summary of the Invention

[0004] The object of the present invention is to provide a multi-angle welding device for ship tooling with welding density monitoring function to solve the problems in the prior art.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: A multi-angle welding device for ship tooling with welding density monitoring includes a handle, a turntable, an expansion mechanism, a slewing mechanism, a positioning mechanism and a detection mechanism. The expansion mechanism includes a chassis frame, a top plate and a welding mechanism. The positioning mechanism includes a laser locator. The handle is fixedly connected to the turntable, the turntable is rotatably connected to the top plate, the slewing mechanism is fixedly connected to the chassis frame, the positioning mechanism and the detection mechanism, and the welding mechanism is connected to the laser locator via electrical signals.

[0006] The present invention relates to a welding tool for assembling steel plates on ships. A positioning mechanism is used to absorb and clamp three groups of steel plates, and the three groups of steel plates are pre-assembled into a three-dimensional right-angle space perpendicular to each other. An expansion mechanism drives a welding mechanism to move in a straight line along the gap between the two pre-assembled groups of perpendicular steel plates. A welding gun welds the gap. A laser locator is used to identify the distance between the welding gun and the weld, and an electrical signal is fed back to the welding mechanism to ensure that the spacing between the welding gun and the weld is always equal, thereby ensuring the accuracy of the weld. After completing one weld, the rotating mechanism rotates the welding mechanism to the gap between two adjacent groups of perpendicular steel plates to complete welding between welds of different angles. While welding, a visual inspection probe is used to monitor the density of the weld points in real time to see if it meets the specified standards. After welding is completed, a detection mechanism is used to detect whether there is air leakage between the two groups of perpendicular steel plates to ensure that the welding operation can effectively seal the two groups of steel plates.

[0007] Furthermore, the expansion mechanism also includes a first cylinder, a spring rod, a support leg mechanism and a pulley mechanism. The chassis frame is provided with a first slide groove, and the top plate is provided with a hinge buckle. The first slide groove, hinge buckle, spring rod, support leg mechanism and pulley mechanism are each provided with three groups. The three groups of first slide grooves, hinge buckles, spring rods, support leg mechanisms and pulley mechanisms are evenly distributed along the circumference of the chassis frame. The support leg mechanism includes a support rod, the support rod is hinged to the hinge buckle, the pulley mechanism is slidably connected to the support rod, the welding mechanism is fixedly connected to the pulley mechanism, and the rotating mechanism includes a top platform, which is fixedly connected to the chassis frame.

[0008] The three groups of steel plates are adsorbed and clamped by the positioning mechanism, and the three groups of steel plates are pre-assembled into a three-dimensional right-angled space perpendicular to each other. The three groups of support rods evenly distributed along the circumference of the chassis frame are respectively located above the three groups of pre-assembled gaps perpendicular to each other. In the initial state, the top plate is located away from the chassis frame, the support rod is located in the first slide groove close to the center of the chassis frame, and the support rod is perpendicular to the chassis frame. The three groups of pulley mechanisms contact the two sides of the three groups of welds respectively. The first cylinder pulls the top plate toward the direction of the chassis frame according to the set program output end. The top plate compresses the spring rod, and one end of the support rod rotates around the hinge buckle away from the center of the chassis frame. The three groups of pulley mechanisms move in a straight line away from the center of the chassis frame along the weld, driving the welding mechanism to weld one group of gaps, and the welding of the three groups of gaps is completed in this reciprocating manner.

[0009] Furthermore, the support leg mechanism also includes a slider and a first spring, a second slide groove, a third slide groove and a convex plate are provided on the support rod, a convex column is provided on the slider, the slider is slidably connected to the first slide groove, the first spring is fixedly connected to the slider and the first slide groove, the second slide groove is in contact with the convex column, the third slide groove and the convex plate are provided on the support rod away from the hinge buckle, the pulley mechanism includes an assembly frame and a second spring, the assembly frame is slidably connected to the third slide groove, and the second spring is fixedly connected to the convex plate and the assembly frame.

[0010] The first cylinder pulls the top plate toward the chassis frame at the output end according to the set program, and the top plate compresses the spring rod. One end of the support rod rotates around the hinge buckle away from the center of the chassis frame. When the boss and the second slide groove are in relative sliding, the support rod rotates relative to the boss and deflects, and at the same time pushes the slider to slide along the first slide groove away from the center of the chassis frame. The slider squeezes the first spring. When the support rod rotates away from the center of the chassis frame, the convex plate and the assembly frame compress the second spring.

[0011] Furthermore, the pulley mechanism also includes a camber pulley, which is fixedly connected to the assembly frame. There are two groups of camber pulleys, and the two groups of camber pulleys are arranged on both sides of the assembly frame. The welding mechanism includes a first two-axis platform and a welding gun. The first two-axis platform is fixedly connected to the assembly frame and the welding gun. The first two-axis platform is connected to the laser locator through electrical signals.

[0012] When the support rod rotates away from the center of the chassis frame, the convex plate and the assembly frame compress the second spring, and the three groups of assembly frames move in a straight line along the weld away from the center of the chassis frame. The two groups of camber pulleys respectively contact two groups of steel plates that are perpendicular to each other and move. The distance between the welding gun and the weld is identified by the laser locator, and the electrical signal is fed back to the first two-axis platform. The first two-axis platform drives the welding gun to make x-axis and y-axis displacements in a forty-five-degree plane between the two groups of steel plates that are perpendicular to each other, to ensure that the distance between the welding gun and the weld is always equal, thereby ensuring the accuracy of the weld.

[0013] Furthermore, the rotating mechanism also includes a base, a servo motor and a gear rod, the positioning mechanism includes a ring frame, the detection mechanism includes a second cylinder, the servo motor, the ring frame and the second cylinder are all fixedly connected to the base, the output end of the servo motor is fixedly connected to the gear rod, a side hole is provided on the base, the gear rod is rotatably connected to the side hole, a ring gear pair is provided on the top platform, the gear rod is engaged with the tooth surface of the ring gear pair, and the top platform is rotatably connected to the bottom platform.

[0014] After completing the welding of a group of gaps, the servo motor outputs a fixed-axis torque to the gear rod. The gear rod rotates in the side hole and engages with the tooth surface of the ring gear pair. The gear rod transmits the torque to the top platform. The top platform and the bottom platform are in relative rotation, and the welding mechanism is turned to the gap between two adjacent groups of mutually perpendicular steel plates to complete the welding between welds of different angles.

[0015] Furthermore, the positioning mechanism also includes an inclined rod, an adjustment mechanism and a visual inspection probe. There are three groups of inclined rods and adjustment mechanisms. The three groups of inclined rods and adjustment mechanisms are evenly distributed along the circumference of the ring frame. The inclined rods and support rods are arranged at intervals. The inclined rods, visual inspection probes and laser locators are all fixedly connected to the ring frame. The adjustment mechanism includes an electric turntable, which is fixedly connected to the inclined rods. The visual inspection probes and the adjustment mechanism are connected through electrical signals.

[0016] Three groups of steel plates are respectively adsorbed and clamped by three groups of adjustment mechanisms evenly distributed along the circumference of the ring frame. The angles of the three groups of inclined rods are fixed so that the three groups of steel plates are in planes perpendicular to each other. The visual inspection probe is used to identify and judge whether the edges of the three groups of steel plates are aligned, and the electrical signal is fed back to the adjustment mechanism to continuously fine-tune the clamped steel plates so that the three groups of steel plates are perpendicular to each other and the edges are aligned, pre-assembled into a three-dimensional right-angle space where each pair is perpendicular to each other.

[0017] Furthermore, the adjustment mechanism also includes a second two-axis platform and an electromagnetic suction table. The second two-axis platform is fixedly connected to the electric turntable and the electromagnetic suction table. The second two-axis platform and the electric turntable are connected to the visual inspection probe through electrical signals.

[0018] The electromagnetic suction table clamps the steel plate through electromagnetic adsorption, and the visual inspection probe feeds back electrical signals to the second two-axis platform and the electric turntable. The electric turntable drives the steel plate to rotate and fine-tune so that the edges of two adjacent groups of steel plates are parallel to each other. The second two-axis platform drives the steel plate to move along the x-axis and y-axis in its horizontal plane so that the edges of two adjacent groups of steel plates are parallel and then contact each other, so that the three groups of steel plates are perpendicular to each other and the edges are aligned, and they are pre-assembled into a three-dimensional right-angle space where each pair is perpendicular to each other.

[0019] Furthermore, the detection mechanism also includes a triangular iron frame, an air valve, a pressure gauge and a vacuum membrane. The triangular iron frame is fixedly connected to the output end of the second cylinder, the air valve and the pressure gauge. A hollow hole is provided on the triangular iron frame, and the vacuum membrane is fixedly connected to the hollow hole.

[0020] After welding is completed, the output end of the second cylinder pushes the triangular iron frame away from the chassis frame. The three sides of the triangular iron frame contact the three groups of steel plates respectively, and the external air pump is connected through the air valve to draw a vacuum. When the weld is airtight, the space formed by the triangular iron frame and the three groups of steel plates is evacuated, and the vacuum membrane installed in the hollow hole shrinks as the vacuum is drawn. The airtightness of the weld is tested by observing the pressure gauge reading. Welds of different lengths can be tested by replacing triangular iron frames of different models.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention designs an expansion mechanism, which pulls the top plate through the output end of the first cylinder, compresses the spring rod, and the support rod rotates in the direction away from the center of the chassis frame, and the camber pulley moves in a straight line along the weld. The welding gun welds a group of gaps. After completing welding a weld, the welding gun is turned to the gap between two adjacent groups of mutually perpendicular steel plates to complete welding between welds of different angles. The laser locator identifies the distance between the welding gun and the weld, and feeds back an electrical signal to the first two-axis platform to drive the welding gun, and performs a two-axis displacement in a forty-five-degree plane between the two groups of perpendicular steel plates to ensure that the distance between the welding gun and the weld is always equal, thereby ensuring the accuracy of the weld; the present invention designs a positioning mechanism, the electromagnetic suction table electromagnetically absorbs the steel plate, and the fixed angles of the three groups of oblique rods make the three groups of steel plates in two mutually perpendicular planes. The visual inspection probe feeds back an electrical signal to the second two-axis platform and the electric turntable, and the electric turntable drives the steel plate to rotate for fine adjustment, and the second The two-axis platform drives the steel plate to move along the x-axis and y-axis in its horizontal plane. The edges of two adjacent groups of steel plates are parallel and then contact each other, so that the three groups of steel plates are pre-assembled into a three-dimensional right-angle space that is perpendicular to each other. During welding, the density of the weld points is monitored in real time by the visual inspection probe to see whether it meets the specified standards. The present invention designs a detection mechanism. After welding is completed, the output end of the second cylinder pushes the triangular iron frame to contact the three groups of steel plates. The external air pump is connected to the air valve to vacuum. The space formed by the triangular iron frame and the three groups of steel plates is evacuated, and the air tightness of the weld is detected by observing the pressure gauge reading. Welds of different lengths can be detected by replacing triangular iron frames of different models. The present invention can pre-assemble the three groups of steel plates into a three-dimensional right-angle space that is perpendicular to each other, perform precision welding on gaps of different angles and monitor the weld points at the same time, and monitor the air tightness of the weld after welding is completed, which greatly reduces the difficulty of welding between heavy ship steel plates for workers and improves welding efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 It is a schematic structural diagram of the expansion mechanism of the present invention;

[0024] Figure 3 for Figure 2 A magnified schematic diagram of a local area A;

[0025] Figure 4 Schematic diagram of the pulley mechanism of the present invention;

[0026] Figure 5 It is a schematic structural diagram of the rotary mechanism of the present invention;

[0027] Figure 6 It is a schematic structural diagram of the positioning mechanism of the present invention;

[0028] Figure 7 It is a schematic structural diagram of the adjustment mechanism of the present invention;

[0029] Figure 8 It is a structural schematic diagram of the detection mechanism of the present invention;

[0030] Figure 9 It is a schematic diagram of the working condition of the present invention.

[0031] Figure: 1. Handle; 2. Turntable; 3. Expansion mechanism; 31. Chassis frame; 311. First slide; 32. First cylinder; 33. Spring rod; 34. Top plate; 341. Articulated buckle; 35. Support mechanism; 351. Support rod; 3511. Second slide; 3512. Third slide; 3513. Protruding plate; 352. Slider; 3521. Protruding column; 353. First spring; 36. Pulley mechanism; 361. Assembly frame; 362. Second spring; 363. Camber pulley; 37. Welding mechanism; 371. First two axes Platform; 372, welding gun; 4, rotating mechanism; 41, top platform; 411, ring gear pair; 42, bottom platform; 421, side hole; 43, servo motor; 44, gear rod; 5, positioning mechanism; 51, ring frame; 52, inclined rod; 53, adjustment mechanism; 531, electric turntable; 532, second two-axis platform; 533, electromagnetic suction table; 54, visual inspection probe; 55, laser locator; 6, detection mechanism; 61, second cylinder; 62, triangle frame; 621, hollow hole; 63, air valve; 64, pressure gauge; 65, vacuum membrane. DETAILED DESCRIPTION

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0033] like Figure 1 、 Figure 2 、 Figure 9 As shown, the present invention provides a technical solution of a multi-angle welding equipment for ship tooling with welding density monitoring, including a handle 1, a turntable 2, an expansion mechanism 3, a rotation mechanism 4, a positioning mechanism 5 and a detection mechanism 6. The expansion mechanism 3 includes a chassis frame 31, a top plate 34 and a welding mechanism 37. The positioning mechanism 5 includes a laser locator 55. The handle 1 is fixedly connected to the turntable 2, the turntable 2 is rotatably connected to the top plate 34, the rotation mechanism 4 is fixedly connected to the chassis frame 31, the positioning mechanism 5 and the detection mechanism 6, and the welding mechanism 37 is connected to the laser locator 55 through electrical signals.

[0034] The present invention is a welding tool for assembling steel plates on ships. The positioning mechanism 5 adsorbs and clamps three groups of steel plates, and pre-assembles the three groups of steel plates into a three-dimensional right-angle space perpendicular to each other. The expansion mechanism 3 drives the welding mechanism 37 to move in a straight line along the gap between the two pre-assembled groups of mutually perpendicular steel plates. The welding gun 372 welds the gap. The laser locator 55 identifies the distance between the welding gun 372 and the weld, and feeds back an electrical signal to the welding mechanism 37 to ensure that the distance between the welding gun 372 and the weld is always equal, thereby ensuring the weld accuracy. After completing one weld, the rotating mechanism 4 rotates the welding mechanism 37 to the gap between two adjacent groups of mutually perpendicular steel plates to complete the welding between welds of different angles. While welding, the visual inspection probe 54 is used to monitor the density of the weld points in real time to see if it meets the specified standards. After welding is completed, the detection mechanism 6 is used to detect whether there is any leakage between the two groups of mutually perpendicular steel plates to ensure that the welding operation can effectively seal the two groups of steel plates.

[0035] like Figure 2 As shown, the expansion mechanism 3 also includes a first cylinder 32, a spring rod 33, a support leg mechanism 35 and a pulley mechanism 36. The chassis frame 31 is provided with a first slide groove 311, and the top plate 34 is provided with a hinge buckle 341. The first slide groove 311, the hinge buckle 341, the spring rod 33, the support leg mechanism 35, and the pulley mechanism 36 are each provided with three groups. The three groups of first slide grooves 311, the hinge buckle 341, the spring rod 33, the support leg mechanism 35, and the pulley mechanism 36 are all evenly distributed along the circumference of the chassis frame 31. The support leg mechanism 35 includes a support rod 351, which is hinged to the hinge buckle 341. The pulley mechanism 36 is slidably connected to the support rod 351. The welding mechanism 37 is fixedly connected to the pulley mechanism 36. The rotary mechanism 4 includes a top platform 41, which is fixedly connected to the chassis frame 31.

[0036] The three sets of steel plates are adsorbed and clamped by the positioning mechanism 5, and the three sets of steel plates are pre-assembled into a three-dimensional right-angled space perpendicular to each other. The three sets of support rods 351 evenly distributed along the circumference of the chassis frame 31 are respectively located above the three sets of pre-assembled gaps perpendicular to each other. In the initial state, the top plate 34 is located away from the chassis frame 31, the support rod 351 is located in the first slide groove 311 close to the center of the chassis frame 31, and the support rod 351 is perpendicular to the chassis frame 31, and the three sets of pulley mechanisms 36 contact the two sides of the three sets of welds respectively. The first cylinder 32 pulls the top plate 34 toward the chassis frame 31 according to the set program output end. The top plate 34 compresses the spring rod 33, and one end of the support rod 351 rotates around the hinge buckle 341 away from the center of the chassis frame 31. The three sets of pulley mechanisms 36 move in a straight line along the weld away from the center of the chassis frame 31, driving the welding mechanism 37 to weld one set of gaps, and the welding of the three sets of gaps is completed in this reciprocating manner.

[0037] like Figure 3 、 Figure 4As shown, the support leg mechanism 35 also includes a slider 352 and a first spring 353. The support rod 351 is provided with a second slide groove 3511, a third slide groove 3512 and a convex plate 3513. The slider 352 is provided with a convex column 3521. The slider 352 is slidably connected to the first slide groove 311. The first spring 353 is fixedly connected to the slider 352 and the first slide groove 311. The second slide groove 3511 is in contact with the convex column 3521. The third slide groove 3512 and the convex plate 3513 are provided on the support rod 351 away from the hinge buckle 341. The pulley mechanism 36 includes an assembly frame 361 and a second spring 362. The assembly frame 361 is slidably connected to the third slide groove 3512. The second spring 362 is fixedly connected to the convex plate 3513 and the assembly frame 361.

[0038] The first cylinder 32 pulls the top plate 34 toward the chassis frame 31 according to the set program output end. The top plate 34 compresses the spring rod 33, and one end of the support rod 351 rotates around the hinge buckle 341 away from the center of the chassis frame 31. While the boss 3521 and the second slide groove 3511 are in relative sliding, the support rod 351 rotates relative to the boss 3521 and deflects, and at the same time pushes the slider 352 to slide along the first slide groove 311 away from the center of the chassis frame 31. The slider 352 squeezes the first spring 353. When the support rod 351 rotates away from the center of the chassis frame 31, the convex plate 3513 and the assembly frame 361 compress the second spring 362.

[0039] like Figure 3 、 Figure 4 As shown, the pulley mechanism 36 also includes a camber pulley 363, which is fixedly connected to the assembly frame 361. There are two groups of camber pulleys 363, and the two groups of camber pulleys 363 are arranged on both sides of the assembly frame 361. The welding mechanism 37 includes a first two-axis platform 371 and a welding gun 372. The first two-axis platform 371 is fixedly connected to the assembly frame 361 and the welding gun 372. The first two-axis platform 371 is connected to the laser locator 55 through electrical signals.

[0040] When the support rod 351 rotates away from the center of the chassis frame 31, the protruding plate 3513 and the assembly frame 361 compress the second spring 362, and the three groups of assembly frames 361 move in a straight line away from the center of the chassis frame 31 along the weld. The two groups of camber pulleys 363 respectively contact two groups of steel plates that are perpendicular to each other and move. The distance between the welding gun 372 and the weld is identified by the laser positioner 55, and an electrical signal is fed back to the first two-axis platform 371. The first two-axis platform 371 drives the welding gun 372 to perform two-axis displacement on the x and y axes within a 45-degree plane between the two groups of perpendicular steel plates to ensure that the distance between the welding gun 372 and the weld is always equal, thereby ensuring the accuracy of the weld.

[0041] like Figure 5As shown, the rotary mechanism 4 also includes a base 42, a servo motor 43 and a gear rod 44, the positioning mechanism 5 includes a ring frame 51, and the detection mechanism 6 includes a second cylinder 61. The servo motor 43, the ring frame 51, and the second cylinder 61 are all fixedly connected to the base 42, and the output end of the servo motor 43 is fixedly connected to the gear rod 44. A side hole 421 is provided on the base 42, and the gear rod 44 is rotatably connected to the side hole 421. A ring gear pair 411 is provided on the top platform 41, and the gear rod 44 is engaged with the tooth surface of the ring gear pair 411, and the top platform 41 is rotatably connected to the base 42.

[0042] After completing the welding of a group of gaps, the servo motor 43 outputs a fixed-axis torque to the gear rod 44. The gear rod 44 rotates in the side hole 421. The gear rod 44 engages with the tooth surface of the ring gear pair 411, and the gear rod 44 transmits the torque to the top platform 41. The top platform 41 and the bottom platform 42 are in relative rotation, and the welding mechanism 37 is turned to the gap between two adjacent groups of mutually perpendicular steel plates to complete the welding between welds of different angles.

[0043] like Figure 6 As shown, the positioning mechanism 5 also includes an inclined rod 52, an adjustment mechanism 53 and a visual inspection probe 54. The inclined rod 52 and the adjustment mechanism 53 are each provided with three groups. The three groups of inclined rods 52 and the adjustment mechanism 53 are evenly distributed along the circumference of the ring frame 51. The inclined rod 52 and the support rod 351 are arranged at intervals. The inclined rod 52, the visual inspection probe 54 and the laser locator 55 are all fixedly connected to the ring frame 51. The adjustment mechanism 53 includes an electric turntable 531, which is fixedly connected to the inclined rod 52. The visual inspection probe 54 and the adjustment mechanism 53 are connected through electrical signals.

[0044] Three groups of steel plates are respectively adsorbed and clamped by three groups of adjustment mechanisms 53 evenly distributed along the circumference of the ring frame 51. The fixed angles of the three groups of inclined rods 52 make the three groups of steel plates in planes perpendicular to each other. The visual inspection probe 54 identifies and judges whether the edges of the three groups of steel plates are aligned, and feeds back electrical signals to the adjustment mechanism 53, continuously fine-tuning the clamped steel plates so that the three groups of steel plates are perpendicular to each other and the edges are aligned, and pre-assembled into a three-dimensional right-angle space where the three groups of steel plates are perpendicular to each other.

[0045] like Figure 7 As shown, the adjustment mechanism 53 also includes a second two-axis platform 532 and an electromagnetic suction platform 533. The second two-axis platform 532 is fixedly connected to the electric turntable 531 and the electromagnetic suction platform 533. The second two-axis platform 532 and the electric turntable 531 are both connected to the visual inspection probe 54 through electrical signals.

[0046] The electromagnetic suction table 533 clamps the steel plate through electromagnetic adsorption, and the visual inspection probe 54 feeds back electrical signals to the second two-axis platform 532 and the electric turntable 531. The electric turntable 531 drives the steel plate to rotate and fine-tune so that the edges of two adjacent groups of steel plates are parallel to each other. The second two-axis platform 532 drives the steel plate to move along the x-axis and y-axis in its horizontal plane so that the edges of two adjacent groups of steel plates are parallel and then contact each other, so that the three groups of steel plates are perpendicular to each other and the edges are aligned, and are pre-assembled into a three-dimensional right-angle space where each pair is perpendicular to each other.

[0047] like Figure 8 As shown, the detection mechanism 6 also includes a triangular iron frame 62, an air valve 63, a pressure gauge 64 and a vacuum membrane 65. The triangular iron frame 62 is fixedly connected to the output end of the second cylinder 61, the air valve 63 and the pressure gauge 64. A hollow hole 621 is provided on the triangular iron frame 62, and the vacuum membrane 65 is fixedly connected to the hollow hole 621.

[0048] After welding is completed, the output end of the second cylinder 61 pushes the triangular iron frame 62 away from the chassis frame 31. The three sides of the triangular iron frame 62 contact the three groups of steel plates respectively. The external air pump is connected through the air valve 63 to vacuum. When the weld is airtight, the space formed by the triangular iron frame 62 and the three groups of steel plates is evacuated, and the vacuum membrane 65 assembled in the hollow hole 621 shrinks as the vacuum is drawn. The airtightness of the weld is detected by observing the reading of the pressure gauge 64. By replacing different models of triangular iron frames 62, welds of different lengths can be detected.

[0049] The working principle of the present invention is as follows: the electromagnetic suction table 533 electromagnetically absorbs and clamps the steel plate, the three sets of inclined rods 52 are fixed at an angle so that the three sets of steel plates are in a plane perpendicular to each other, the visual inspection probe 54 identifies and judges whether the edges of the three sets of steel plates are aligned, and feeds back an electrical signal to the second two-axis platform 532 and the electric turntable 531, the electric turntable 531 drives the steel plate to rotate and fine-tune, and the second two-axis platform 532 drives the steel plate to move along the x-axis and y-axis in its horizontal plane, so that the edges of the two adjacent sets of steel plates are parallel and contact each other, and the pre-installed The three groups of support rods 351 correspond to three groups of pre-assembled gaps perpendicular to each other. In the initial state, the support rods 351 are located in the first slide groove 311 near the center of the chassis frame 31 and perpendicular to the chassis frame 31. The camber pulley 363 contacts both sides of the three groups of welds. The output end of the first cylinder 32 pulls the top plate 34 toward the chassis frame 31. The top plate 34 compresses the spring rod 33, and the support rods 351 rotate away from the center of the chassis frame 31. The camber pulley 363 contacts both sides of the three groups of welds. 63 moves in a straight line away from the center of the chassis frame 31 along the weld seam, driving the welding gun 372 to weld a group of gaps. The laser positioner 55 identifies the distance between the welding gun 372 and the weld seam, and feeds back an electrical signal to the first two-axis platform 371. The first two-axis platform 371 drives the welding gun 372 to make an x-axis and y-axis displacement in a 45-degree plane between the two groups of perpendicular steel plates to ensure that the distance between the welding gun 372 and the weld seam is always equal to ensure the weld seam accuracy. After completing a weld seam, the rotating mechanism 4 will turn the welding machine Structure 37 moves to the gap between two adjacent groups of mutually perpendicular steel plates to complete the welding between welds of different angles. While welding, the density of the weld points is monitored in real time through the visual inspection probe 54 to see if it meets the specified standards. After welding is completed, the output end of the second cylinder 61 pushes the triangular iron frame 62. The three sides of the triangular iron frame 62 contact the three groups of steel plates respectively. The external air pump is connected through the air valve 63 to evacuate the space formed by the triangular iron frame 62 and the three groups of steel plates. The air tightness of the weld is detected by observing the reading of the pressure gauge 64.

[0050] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A multi-angle welding equipment for shipbuilding tooling with welding density monitoring, characterized by: The welding device comprises a handle (1), a turntable (2), an expansion mechanism (3), a rotation mechanism (4), a positioning mechanism (5) and a detection mechanism (6); the expansion mechanism (3) comprises a chassis frame (31), a top plate (34) and a welding mechanism (37); the positioning mechanism (5) comprises a laser locator (55); the handle (1) is fixedly connected to the turntable (2); the turntable (2) is rotationally connected to the top plate (34); the rotation mechanism (4) is fixedly connected to the chassis frame (31), the positioning mechanism (5) and the detection mechanism (6); and the welding mechanism (37) is connected to the laser locator (55) via an electrical signal; The expansion mechanism (3) further comprises a first cylinder (32), a spring rod (33), a support leg mechanism (35) and a pulley mechanism (36); a first slide groove (311) is provided on the chassis frame (31); a hinge buckle (341) is provided on the top plate (34); the first slide groove (311), the hinge buckle (341), the spring rod (33), the support leg mechanism (35) and the pulley mechanism (36) are each provided in three groups; the three groups of the first slide groove (311), the hinge buckle (341), the spring rod (33), the support leg mechanism (35) and the pulley mechanism (36) are provided in three groups; The spring rod (33), the support leg mechanism (35), and the pulley mechanism (36) are uniformly distributed along the circumference of the chassis frame (31); the support leg mechanism (35) includes a support rod (351), the support rod (351) is hinged to the hinge buckle (341), the pulley mechanism (36) is slidably connected to the support rod (351), the welding mechanism (37) is fixedly connected to the pulley mechanism (36), and the slewing mechanism (4) includes a top platform (41), and the top platform (41) is fixedly connected to the chassis frame (31); The rotary mechanism (4) further comprises a base (42), a servo motor (43) and a gear rod (44); the positioning mechanism (5) comprises a ring frame (51); the detection mechanism (6) comprises a second cylinder (61); the servo motor (43), the ring frame (51) and the second cylinder (61) are all fixedly connected to the base (42); the output end of the servo motor (43) is fixedly connected to the gear rod (44); a side hole (421) is provided on the base (42); the gear rod (44) is rotatably connected to the side hole (421); a ring gear pair (411) is provided on the top platform (41); the gear rod (44) and the ring gear pair (411) are meshed with each other; and the top platform (41) is rotatably connected to the base (42); The positioning mechanism (5) further comprises an inclined rod (52), an adjustment mechanism (53) and a visual inspection probe (54), wherein the inclined rod (52) and the adjustment mechanism (53) are each provided with three groups, and the three groups of the inclined rods (52) and the adjustment mechanism (53) are uniformly distributed along the circumference of the ring frame (51), the inclined rod (52) and the support rod (351) are arranged at intervals, the inclined rod (52), the visual inspection probe (54) and the laser locator (55) are all fixedly connected to the ring frame (51), the adjustment mechanism (53) comprises an electric turntable (531), the electric turntable (531) is fixedly connected to the inclined rod (52), and the visual inspection probe (54) and the adjustment mechanism (53) are connected via an electrical signal.

2. The multi-angle welding equipment for shipbuilding tooling with welding density monitoring according to claim 1, characterized in that: The support leg mechanism (35) further includes a slider (352) and a first spring (353). The support rod (351) is provided with a second slide groove (3511), a third slide groove (3512) and a convex plate (3513). The slider (352) is provided with a convex column (3521). The slider (352) is slidably connected to the first slide groove (311). The first spring (353) is fixedly connected to the slider (352) and the first slide groove (311). The second chute (3511) contacts the convex column (3521), the third chute (3512) and the convex plate (3513) are arranged on the support rod (351) at one end away from the hinge buckle (341), and the pulley mechanism (36) includes an assembly frame (361) and a second spring (362), the assembly frame (361) is slidably connected to the third chute (3512), and the second spring (362) is fixedly connected to the convex plate (3513) and the assembly frame (361).

3. The multi-angle welding equipment for ship tooling with welding density monitoring according to claim 2, characterized in that: The pulley mechanism (36) further includes an outward-dipping pulley (363), the outward-dipping pulley (363) being fixedly connected to the assembly frame (361), and two groups of the outward-dipping pulleys (363) being provided, and the two groups of the outward-dipping pulleys (363) being arranged on both sides of the assembly frame (361). The welding mechanism (37) includes a first two-axis platform (371) and a welding gun (372), the first two-axis platform (371) being fixedly connected to the assembly frame (361) and the welding gun (372), and the first two-axis platform (371) being connected to the laser locator (55) via an electrical signal.

4. The multi-angle welding equipment for ship tooling with welding density monitoring according to claim 1, characterized in that: The adjustment mechanism (53) further comprises a second two-axis platform (532) and an electromagnetic suction platform (533), wherein the second two-axis platform (532) is fixedly connected to the electric turntable (531) and the electromagnetic suction platform (533), and the second two-axis platform (532) and the electric turntable (531) are connected to the visual inspection probe (54) via electrical signals.

5. The multi-angle welding equipment for ship tooling with welding density monitoring according to claim 1, characterized in that: The detection mechanism (6) further comprises a triangular iron frame (62), an air valve (63), a pressure gauge (64) and a vacuum membrane (65); the triangular iron frame (62) is fixedly connected to the output end of the second cylinder (61), the air valve (63) and the pressure gauge (64); a hollow hole (621) is provided on the triangular iron frame (62); and the vacuum membrane (65) is fixedly connected to the hollow hole (621).

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