Ship longitudinal structure welding equipment

Abstract

The invention provides ship longitudinal structure welding equipment. The ship longitudinal structure welding equipment comprises a door frame, a grabbing device and a welding mechanism. The portal can move in the length direction of the bottom plate, the grabbing device comprises a clamping moving mechanism and a positioning assembly, the clamping moving mechanism comprises a clamping plate used for clamping a longitudinal plate, the positioning assembly comprises a positioning block, the positioning block comprises a fixing part and a rotating part, the fixing part is fixedly connected with the clamping plate, the rotating part is rotationally connected with the fixing part, and the clamping plate is fixedly connected with the clamping plate. The rotating part can rotate till the bottom face of the rotating part is attached to the top face of the bottom plate, and the rotating part can also rotate till work of the welding gun is not hindered. The rotating angle of the rotating part can be changed through the driving assembly, so that the rotating part rotates until the welding position of the longitudinal plate and the bottom plate is not shielded, and the continuity of welding operation is guaranteed. According to the welding equipment, the welding effect and welding efficiency of the longitudinal plate and the bottom plate can be improved, and the structural strength of the ship longitudinal structure is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of ship welding, and particularly to a welding device for a longitudinal girder structure of a ship. Background Art

[0002] During the construction of modern ships, the hull structure is diverse and complex. Among them, the longitudinal girder structure is one of the most common structures in the hull structure. The longitudinal girder structure is as long as the hull. As a strengthening member, its main function is to ensure the stability of the hull structure and the hull. The longitudinal girder structure occupies a large proportion in the hull section.

[0003] The existing welding method for the longitudinal girder structure mainly uses a gantry welding device. The gantry welding device includes main structures such as a gantry, clamping jaws, and welding torches. The clamping jaws and welding torches are movably arranged on the gantry. After the clamping jaws hold the longitudinal plate, the gantry moves the longitudinal plate from the storage area to the bottom plate of the ship. Although automatic welding is achieved and the labor intensity of workers is reduced, when the clamping jaws release the longitudinal plate, it is impossible to ensure that the longitudinal plate is perpendicular to the bottom plate. If the longitudinal plate is not perpendicular to the bottom plate, the welding effect will be affected, and the structural strength of the longitudinal girder structure of the ship will be affected. Summary of the Invention

[0004] In view of the above-mentioned disadvantages of the prior art, the purpose of the present invention is to provide a welding device for a longitudinal girder structure of a ship, so that the longitudinal plate is perpendicular to the bottom plate, improve the welding effect between the longitudinal plate and the bottom plate, and ensure the structural strength of the longitudinal girder structure of the ship.

[0005] To achieve the above object and other related objects, the present invention provides a welding device for a longitudinal girder structure of a ship, including a gantry. The gantry can move along the length direction of the bottom plate under the drive of a first linear module, and the gantry spans across the bottom plate along the width direction of the bottom plate. The length direction of the bottom plate is set as the first direction, the width direction of the bottom plate is set as the second direction, and the first direction is perpendicular to the second direction.

[0006] A plurality of grasping devices are arranged at intervals along the width direction of the bottom plate on the gantry. The grasping devices are used to clamp the longitudinal plate. The longitudinal plate includes a transverse plate and a vertical plate connected in a T shape. The length direction of the longitudinal plate is arranged along the second direction. The clamping plate includes a vertical section and a horizontal section connected in an L shape. The horizontal section of the clamping plate is located below the transverse plate of the longitudinal plate, and the top surface of the horizontal section of the clamping plate is attached to the bottom surface of the transverse plate of the longitudinal plate.

[0007] The grasping device includes a clamping and moving mechanism and a positioning component. The clamping and moving mechanism is used to clamp and move the vertical plate. The clamping and moving mechanism includes two clamping plates respectively located on both sides of the vertical plate in the thickness direction. The positioning component includes a positioning block connected below the clamping plate. The positioning block includes a fixed part and a rotating part connected in the vertical plane. The fixed part is fixedly connected to the clamping plate, and the rotating part is rotatably connected to the fixed part. The fixed part is attached to the side wall of the vertical plate. The rotating shaft of the rotating part is arranged along the first direction. The rotating part can rotate to make the bottom surface of the rotating part fit with the upper surface of the bottom plate or rotate to avoid the welding joint between the bottom plate and the vertical plate.

[0008] When the clamping plate clamps the vertical plate and places it on the bottom plate, the rotating parts on both sides of the vertical plate are in linear contact with the upper surface of the bottom plate, so as to form a support for the vertical plate on both sides and keep the vertical plate in a vertical state perpendicular to the bottom plate.

[0009] Optionally, the clamping and moving mechanism further includes a first lifting component for driving the two clamping plates to lift synchronously, and a first translation component for driving the two clamping plates to move towards or away from the vertical plate. The two clamping plates are symmetrically arranged and can lift synchronously and clamp the vertical plate. The vertical section of the clamping plate is connected to the first lifting component.

[0010] Optionally, multiple sets of welding mechanisms are arranged on the gantry. Each set of welding mechanisms corresponds to each set of grasping devices. Each set of welding mechanisms includes four welding torches. Every two welding torches are arranged on the same side of the vertical plate in the thickness direction. The adjacent two welding torches located on the same side of the vertical plate in the thickness direction can move towards or away from each other along the second direction.

[0011] Optionally, the welding mechanism includes a welding torch, a second lifting component for driving the welding torch to lift, a second translation component for driving the welding torch to move towards or away from the vertical plate, and a third translation component for driving the welding torch to move along the second direction. The second lifting component is connected below the second translation component and realizes the movement of the second lifting component along the first direction through the second translation component. Along the first direction, two sets of second lifting components are symmetrically arranged outside the grasping device.

[0012] Optionally, the third translation component includes a third translation mounting frame, a third translation motor, a third bidirectional lead screw, and a third translation slider. The third translation mounting frame and the third bidirectional lead screw are arranged along the second direction. The third translation mounting frame is fixedly connected below the second translation component and realizes up and down movement through the second translation component.

[0013] The bottom surface of the third translation mounting frame is inclined and faces the longitudinal plate. The inclination degree of the bottom surface of the third translation mounting frame is adapted to the inclination degree of the welding torch. The third translation motor is fixedly installed on the third translation mounting frame. The output shaft of the third translation motor is coaxially connected to the third bidirectional lead screw through a third synchronous belt. The two ends of the third bidirectional lead screw pass through two third translation sliders in opposite directions and are threadedly connected to the third translation sliders. The third bidirectional lead screw is rotatably connected to the end of the third translation mounting frame. A welding torch is fixed to the side of the third translation slider away from the third translation mounting frame.

[0014] A limiting block is provided on the side of the third translation slider close to the third translation mounting frame, and a limiting groove for the limiting block to slide is provided on the inclined surface of the third translation mounting frame.

[0015] Optionally, the second lifting components of adjacent two groups of welding mechanisms move to different limiting points at the end along the first direction, so that the third translation mounting frames of the two groups of welding mechanisms have a certain overlapping amount along the second direction, enabling the welding torch to move to the overlapping part of the third translation mounting frames of the two groups of welding mechanisms, and avoiding welding gaps at the gaps between adjacent two groups of welding mechanisms.

[0016] Optionally, 1. A driving component for controlling the rotation of the rotating part is provided on the third translation mounting frame. The driving component includes a driving gear, a driving rack, a connecting plate, an auxiliary plate, and a limiting plate.

[0017] The top of the rotating part has a mating block in a protruding state. A mating groove for accommodating and rotating the mating block is provided at the bottom of the fixing part. The rotating shaft penetrates the mating groove and the mating block along the first direction. The rotating shaft is rotatably connected to the fixing part and fixedly connected to the mating block.

[0018] The connecting plate is horizontally arranged along the first direction and perpendicularly intersects the top surface of the third translation mounting frame. The connecting plate and the third translation mounting frame can relatively slide along the first direction. The end of the connecting plate away from the third translation mounting frame is fixedly connected with a longitudinally arranged auxiliary plate. One auxiliary plate corresponds to each of the two connecting plates. The driving rack is vertically fixed to one of the auxiliary plates and can mesh with the driving gear. The driving gear is sleeved on the end of the rotating shaft away from the longitudinal plate and is fixedly connected to the rotating shaft. Thus, during the downward movement of the third translation mounting frame, the driving rack moves downward synchronously and drives the driving gear to rotate, so that the rotating part rotates to a state where it does not block the welding part between the bottom plate and the longitudinal plate.

[0019] Optionally, the limiting plate is fixed to the top surface of the fixing part, and a limiting groove along the vertical direction is provided on the side wall of the limiting plate away from the longitudinal plate. The side wall of the auxiliary plate close to the longitudinal plate has a protruding strip along the vertical direction. The connecting plate can relatively slide along the first direction with respect to the limiting plate, so that the protruding strip can be inserted into the limiting groove or disengaged from the limiting groove.

[0020] Optionally, it further includes a locking component, which includes a locking rod and a locking spring;

[0021] An accommodation groove with an opening facing the driving gear is formed in the groove wall of the mating groove at the bottom of the fixed part, which is far away from the longitudinal plate. The accommodation groove is used to accommodate the locking rod and the locking spring. The locking rod is arranged parallel to the rotating shaft. One end of the locking spring abuts against the inner wall of the accommodation groove, and the other end abuts against the locking rod, so as to provide a force for the locking rod towards the driving gear;

[0022] A locking groove for the locking rod to penetrate is formed in the side wall of the driving gear close to the accommodation groove. When the locking rod penetrates into the locking groove of the driving gear, the driving gear is locked to keep the driving gear stable, so that the rotating part is kept stable, and thus can keep linear contact with the bottom plate.

[0023] Optionally, it further includes an unlocking component, which includes an unlocking block and an unlocking plate. The unlocking block is fixedly connected to the end of the locking rod facing the driving gear. A first wedge surface is arranged on the top surface of the unlocking block. The lowest side of the first wedge surface is close to the driving gear. The unlocking block can be accommodated in a relief groove formed in the locking groove;

[0024] An unlocking plate is arranged on the side wall of the auxiliary plate close to the longitudinal plate. A second wedge surface is arranged on the bottom surface of the unlocking plate. The second wedge surface cooperates with the first wedge surface, so that when the unlocking plate descends along with the auxiliary plate, it can push the locking rod and the unlocking block out of the locking groove, thereby unlocking.

[0025] As described above, the ship longitudinal girder structure welding equipment of the present invention has the following beneficial effects:

[0026] 1. When the clamping plate clamps the longitudinal plate, since the surface of the fixed part close to the longitudinal plate fits with the side wall in the thickness direction of the longitudinal plate, the bottom surface of the rotating part is in linear contact with the top surface of the bottom plate, and the positioning line is perpendicular to the surface of the fixed part close to the longitudinal plate, the positioning blocks on both sides in the thickness direction of the longitudinal plate keep the longitudinal plate perpendicular to the bottom plate;

[0027] 2. When the welding torch descends to the height for welding the longitudinal plate, the driving component drives the rotating part to automatically rotate to a position that does not obstruct the work of the welding torch, so that the position of the longitudinal plate originally blocked by the rotating part can still be welded, ensuring the welding amount of the longitudinal plate, improving the welding effect between the longitudinal plate and the bottom plate, and ensuring the structural strength of the ship longitudinal girder structure;

[0028] 3. Before the welding torch descends to the welding position, the locking rod penetrates into the locking groove of the driving gear to lock the driving gear, so that the driving gear is kept stable, and thus the rotating part can keep linear contact with the bottom plate, improving the stability of positioning. Description of the Drawings

[0029] Figure 1It is a schematic diagram of the overall structure of the longitudinal frame structure welding equipment in the embodiment of the present application.

[0030] Figure 2 It is a schematic diagram of the structure of a corresponding set of grasping devices and welding mechanisms in the embodiment of the present application.

[0031] Figure 3 It is a schematic diagram of the structure of the clamping and moving mechanism in the embodiment of the present application.

[0032] Figure 4 It is a schematic diagram of the structure of the second translation component after hiding the wing plate on one side of the first translation mounting frame in the embodiment of the present application.

[0033] Figure 5 It is a schematic diagram of the structure of the driving component in the embodiment of the present application.

[0034] Figure 6 It is a schematic diagram of the structure of the unlocking component in the embodiment of the present application.

[0035] Figure 7 It is a schematic cross-sectional view of the guide block in the embodiment of the present application.

[0036] Element number description

[0037] 1. Ground; 11. Bottom plate; 12. Vertical plate; 13. Storage area; 2. Gantry; 21. First linear module; 211. Driving motor; 212. Driving lead screw; 213. Driving block; 214. Guide rail; 3. Clamping and moving mechanism; 31. Clamping plate; 32. First lifting assembly; 321. First lifting mounting bracket; 322. First lifting motor; 323. First lifting lead screw; 324. Second limiting rod; 33. First translation assembly; 331. First translation mounting bracket; 3311. Wing plate; 332. First translation motor; 3321. First synchronous belt; 333. First bidirectional lead screw; 334. First translation slider; 335. First limiting rod; 4. Positioning assembly; 41. Positioning block; 411. Fixed part; 4111. Fitting groove; 4112. Rotating shaft; 4113. Accommodating groove; 4114. Guide groove; 4115. Relief groove; 412. Rotating part; 4121. Fitting block; 5. Welding mechanism; 51. Welding torch; 52. Second lifting assembly; 521. Second lifting mounting bracket; 522. Second lifting motor; 523. Second lifting lead screw; 524. Lifting plate; 525. Fourth limiting rod; 53. Second translation assembly; 531. Second translation mounting bracket; 532. Second translation motor; 5321. Second synchronous belt; 533. Second bidirectional lead screw; 534. Second translation slider; 535. Third limiting rod; 54. Third translation assembly; 541. Third translation mounting bracket; 5411. Anti - detachment groove; 542. Third translation motor; 5421. Third synchronous belt; 543. Third bidirectional lead screw; 544. Third translation slider; 6. Driving assembly; 61. Driving gear; 611. Locking groove; 62. Driving rack; 63. Connecting plate; 631. Anti - detachment rod; 632. Anti - detachment plate; 64. Auxiliary plate; 65. Limiting plate; 7. Locking assembly; 71. Locking rod; 711. Guide block; 72. Locking spring; 8. Unlocking assembly; 81. Unlocking block; 82. Unlocking plate. Detailed implementation manners

[0038] The following uses specific specific examples to illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0039] When detailing the embodiments of the present invention, for the convenience of description, the cross - sectional views showing the device structure will be enlarged locally out of the general proportion, and the schematic diagrams are only examples and should not limit the protection scope of the present invention here. In addition, in actual production, three - dimensional spatial dimensions including length, width, and depth should be included.

[0040] For ease of description, spatial relationship terms such as "below", "beneath", "lower than", "under", "above", "on" etc. may be used herein to describe the relationship of one element or feature shown in the drawings with other elements or features. It will be understood that these spatial relationship terms are intended to encompass other orientations of the device in use or operation, in addition to the orientations depicted in the drawings. Further, when a layer is referred to as being "between" two layers, it can be the only layer between the two layers, or there can be one or more intervening layers. As used herein, "between... and..." means including the endpoint values.

[0041] In the context of the present application, the structure in which the first feature is "above" the second feature as described may include embodiments where the first and second features are formed in direct contact, and may also include embodiments where additional features are formed between the first and second features, such that the first and second features may not be in direct contact.

[0042] It should be noted that the diagrams provided in this embodiment only schematically illustrate the basic concept of the present invention. Therefore, only the components related to the present invention are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and proportion of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0043] Embodiment 1

[0044] As Figures 1 to 7 shown, this embodiment provides a welding device for a longitudinal frame structure of a ship, specifically including:

[0045] A gantry 2, which can move along the length direction of the bottom plate 11 under the drive of the first linear module 21, and the gantry 2 spans across the bottom plate along the width direction of the bottom plate 11; the first linear module 21 includes a drive motor 211, a drive lead screw 212, a drive block 213, and a guide rail 214. The drive lead screw 212 and the guide rail 214 are arranged along the length direction of the bottom plate 11. The drive motor 211 is fixed on the ground 1, the output shaft of the drive motor 211 is coaxially connected to the drive lead screw 212, the drive lead screw 212 is rotatably arranged on the ground 1 through a bearing seat, the drive lead screw 212 passes through the drive block 213 and is threadedly connected to the drive block 213, so that the drive block 213 moves along the guide rail 214 under the rotation of the drive lead screw 212. The bottom of the vertical section of the gantry 2 is integrally formed with the drive block 213, and guide grooves for the guide rail 214 to pass through are provided at the bottom.

[0046] The drive motor 211 controls the rotation of the drive lead screw 212. Under the action of the drive lead screw 212 and the guide rail 214, the drive block 213 moves along the length direction of the bottom plate 11, so that the gantry 2 moves along the length direction of the bottom plate 11, and the gantry 2 moves from the storage area 13 of the longitudinal plate 12 to above the bottom plate 11 of the ship.

[0047] Further, a grasping device is provided on the gantry 2. Multiple groups of grasping devices are arranged at intervals along the width direction of the bottom plate 11. The grasping device is used to clamp the longitudinal plate 12. The longitudinal plate 12 includes a transverse plate and a vertical plate connected in a T shape. The longitudinal plate 12 is arranged along the width direction of the bottom plate 11, and the vertical plate is perpendicular to the surface of the bottom plate 11. In this embodiment, three groups of grasping devices are provided. The multiple groups of grasping devices can improve the uniformity of the force on the longitudinal plate 12 and the stability of movement. It is set that the length direction of the bottom plate is the first direction, and the width direction of the bottom plate is the second direction, and the first direction is perpendicular to the second direction.

[0048] The grasping device includes a clamping and moving mechanism 3 and a positioning component 4. The clamping and moving mechanism 3 is used to clamp and move the longitudinal plate 12. The clamping and moving mechanism 3 includes two clamping plates 31 respectively located on both sides of the longitudinal plate 12 in the thickness direction, a first lifting component 32 for driving the two clamping plates 31 to lift synchronously, and a first translation component 33 for driving the two clamping plates 31 to move towards or away from the longitudinal plate 12. The two clamping plates 31 are symmetrically arranged and can lift synchronously and clamp the longitudinal plate 12.

[0049] The longitudinal plate 12 is in a T shape, and the clamping plate 31 is in an L shape. The vertical section of the clamping plate 31 is connected to the first lifting component 32, and the horizontal section of the clamping plate 31 is located below the transverse plate of the longitudinal plate 12. The top surface of the horizontal section of the clamping plate 31 is attached to the bottom surface of the transverse plate of the longitudinal plate 12.

[0050] The positioning component 4 is used to position the longitudinal plate 12 and keep the longitudinal plate 12 perpendicular to the bottom plate 11. The positioning component 4 includes a positioning block 41 connected below the clamping plate. The positioning block 41 includes a fixed part 411 and a rotating part 412 connected in a vertical plane. The fixed part 411 is fixedly connected to the clamping plate 31, and the rotating part 412 is rotatably connected to the fixed part 411. The surface of the fixed part 411 close to the longitudinal plate 12 is attached to the side wall of the longitudinal plate 12 in the thickness direction. The rotating shaft 4112 of the rotating part 412 is perpendicular to the thickness direction of the longitudinal plate 12. The rotating part 412 can rotate to make the bottom surface of the rotating part 412 attached to the upper surface of the bottom plate 11, and the rotating part 412 can also rotate to not hinder the work of the welding torch 51. A locking component 7 is provided on the fixed part 411. The locking component 7 is used to lock the rotating part 412 to the state where the bottom surface of the rotating part 412 is attached to the top surface of the bottom plate 11. The bottom surface of the rotating part 412 is arc-shaped, and the bottom surface of the rotating part 412 and the upper surface of the bottom plate 11 are in linear contact. The line where the rotating part 412 contacts the bottom plate 11 is the positioning line, and the positioning line is perpendicular to the surface of the fixed part 411 close to the longitudinal plate 12, that is, the positioning line is parallel to the first direction.

[0051] When the clamping plate 31 clamps the longitudinal plate 12 and lowers it to the bottom plate 11, the rotating parts 412 on both sides of the longitudinal plate 12 are in linear contact with the upper surface of the bottom plate 11, so as to support and erect the longitudinal plate on both sides, keep the longitudinal plate in a vertical state perpendicular to the bottom plate 11, and avoid deflection. Since the surface of the fixing part 411 close to the longitudinal plate 12 fits with the side wall in the thickness direction of the longitudinal plate 12, the bottom surface of the rotating part 412 is in linear contact with the top surface of the bottom plate 11, and the positioning line is perpendicular to the surface of the fixing part 411 close to the longitudinal plate 12, the positioning blocks 41 on both sides in the thickness direction of the longitudinal plate 12 keep the longitudinal plate 12 perpendicular to the bottom plate 11, improve the welding effect between the longitudinal plate 12 and the bottom plate 11, and ensure the structural strength of the ship longitudinal girder structure.

[0052] Two adjacent clamping plates 31 move towards each other or away from each other through the same set of first translation components 33. The first translation component 33 includes a first translation mounting frame 331, a first translation motor 332, a first bidirectional lead screw 333, a first translation slider 334, and a first limiting rod 335. The first bidirectional lead screw 333 and the first limiting rod 335 are parallel to each other and arranged along the length direction of the bottom plate 11. The first translation mounting frame 331 is fixed to the gantry 2 through wing plates 3311. The lower edges of two vertically arranged and symmetric wing plates 3311 are connected through the first translation mounting frame 331. The first translation motor 332 is located in the middle of the first bidirectional lead screw 333. The first translation motor 332 is fixedly installed on the first translation mounting frame 331. The output shaft of the first translation motor 332 is coaxially connected with the first bidirectional lead screw 333 through a first synchronous belt 3321. The two ends of the first bidirectional lead screw 333 pass through two first translation sliders 334 in opposite directions and are threadedly connected with the first translation sliders 334. The two ends of the first bidirectional lead screw 333 are rotatably connected with the first translation mounting frame 331. The rotation directions of the two sections of the first bidirectional lead screw 333 on both sides of the first synchronous belt 3321 are opposite. The two ends of the first limiting rod 335 are fixedly connected with the first translation mounting frame 331. The two ends of the first limiting rod 335 pass through two said first translation sliders 334 and are slidably connected with the first translation sliders 334. Two clamping plates 31 are respectively connected below two first translation sliders 334.

[0053] The first translation motor 332 drives the first bidirectional lead screw 333 to rotate. Driven by the first bidirectional lead screw 333 and restricted by the first limiting rod 335, two first translation sliders 334 drive the clamping plates 31 to move towards each other or away from each other.

[0054] One clamping plate 31 corresponds to a set of first lifting components 32. The first lifting components 32 include a first lifting mounting frame 321, a first lifting motor 322, a first lifting lead screw 323, and a second limiting rod 324. The first lifting lead screw 323 and the second limiting rod 324 are parallel to each other and arranged in the vertical direction. The top end of the first lifting mounting frame 321 is fixedly connected to the first translation slider 334. The first lifting motor 322 is fixedly installed on the first lifting mounting frame 321. The output shaft of the first lifting motor 322 is coaxially connected to the first lifting lead screw 323. The bottom end of the first lifting lead screw 323 penetrates into the vertical section of the clamping plate 31 and is threadedly connected to the clamping plate 31. The first lifting lead screw 323 is rotatably connected to the first lifting mounting frame 321. The top end of the second limiting rod 324 is fixed to the top wall of the first lifting mounting frame 321. The bottom end of the second limiting rod 324 penetrates into the clamping plate 31 and is slidably connected to the clamping plate 31. The second limiting rod 324 is located on both sides of the first lifting lead screw 323 in the radial direction.

[0055] The first lifting motor 322 drives the first lifting lead screw 323 to rotate. Under the drive of the first lifting lead screw 323 and the restriction of the second limiting rod 324, the clamping plate 31 realizes lifting.

[0056] When the clamping plate 31 grabs the vertical plate 12, the first lifting component 32 controls the clamping plate 31 to descend until the horizontal section of the clamping plate 31 is located below the cross plate of the vertical plate 12. Then, the first translation component 33 controls the two clamping plates 31 to move closer to each other, so that the top surface of the horizontal section of the clamping plate 31 is attached to the bottom surface of the cross plate of the vertical plate 12, and the side wall of the fixing part 411 is attached to the side wall of the vertical plate 12.

[0057] When the clamping plate 31 resets, the first translation component 33 controls the two clamping plates 31 to move away from each other, so that the horizontal section of the clamping plate 31 is separated from below the cross plate of the vertical plate. Then, the first lifting component 32 controls the clamping plate 31 to rise to the original position.

[0058] Furthermore, a welding mechanism 5 is provided on the gantry 2. Multiple sets of welding mechanisms 5 are arranged at intervals along the second direction on the gantry 2. Each set of welding mechanisms 5 corresponds to each set of grasping devices. The multiple sets of welding mechanisms 5 can improve the welding efficiency of the vertical plate 12 and the bottom plate 11 and ensure the welding quality of the vertical plate 12. Each set of welding mechanisms 5 includes four welding torches 51. Every two welding torches 51 are arranged on the same side in the thickness direction of the vertical plate 12. The adjacent two welding torches 51 on the same side in the thickness direction of the vertical plate 12 move closer to or away from each other along the second direction through the third translation component 54.

[0059] The welding mechanism 5 includes a welding torch 51, a second lifting assembly 52 for driving the lifting of the welding torch 51, a second translation assembly 53 for driving the welding torch 51 to move in a direction approaching or away from the longitudinal plate 12, and a third translation assembly 54 for driving the welding torch 51 to move along the length direction of the longitudinal plate 12 (i.e., the second direction). When the welding torch 51 descends to the height for welding the joint between the longitudinal plate 12 and the bottom plate 11, the rotating part 412 automatically rotates to a position that does not obstruct the operation of the welding torch 51. The second translation assembly 53 passes through the cavity formed by the first translation mounting frame 331 of the first translation assembly 33 and the wing plate 3311, and along the length direction of the bottom plate, two sets of second lifting assemblies 52 are symmetrically arranged outside the grasping device (the clamping and moving mechanism 3).

[0060] Each welding torch 51 is inclined, and the material outlet of the welding torch 51 is aligned with the welding position of the longitudinal plate 12 and the bottom plate 11. While avoiding the positioning block 41, the inclined welding torch 51 is more likely to discharge materials.

[0061] Four welding torches 51 in each group move in directions approaching or away from each other through the same set of second translation assembly 53. The second translation assembly 53 includes a second translation mounting frame 531, a second translation motor 532, a second bidirectional lead screw 533, second translation sliders 534, and a third limiting rod 535. The second bidirectional lead screw 533 and the third limiting rod 535 are parallel to each other and arranged along the first direction. The second translation mounting frame 531 is fixed to the gantry 2. The second translation motor 532 is located in the middle of the second bidirectional lead screw 533, and the second translation motor 532 is fixedly installed on the second translation mounting frame 531. The output shaft of the second translation motor 532 is coaxially connected to the second bidirectional lead screw 533 through a second synchronous belt 5321. The two ends of the second bidirectional lead screw 533 pass through the two second translation sliders 534 in opposite directions and are threadedly connected to the second translation sliders 534. The two ends of the second bidirectional lead screw 533 are rotatably connected to the second translation mounting frame 531. The two ends of the third limiting rod 535 are fixedly connected to the second translation mounting frame 531, and the two ends of the third limiting rod 535 pass through the two second translation sliders 534 and are slidably connected to the corresponding second translation sliders 534.

[0062] The second translation motor 532 drives the second bidirectional lead screw 533 to rotate. Under the drive of the second bidirectional lead screw 533 and the restriction of the third limiting rod 535, the two second translation sliders 534 move in directions approaching or away from each other.

[0063] In order to enable the welding torches 51 of adjacent two sets of welding mechanisms 5 to move to positions close to each other and reduce the length of the longitudinal plate 12 that is not welded, the lengths of the second translation mounting brackets 531 of adjacent two sets of welding mechanisms 5 are different, so that the third translation mounting brackets 541 of adjacent two sets of welding mechanisms 5 are arranged in a staggered manner, that is, the limiting points at the ends where the third translation mounting brackets 541 of adjacent two sets of welding mechanisms move along the first direction are different, so that there is a certain overlap amount of the third translation mounting brackets 541 of the two sets of welding mechanisms along the second direction, enabling the welding torches 51 to move to the overlapping part of the third translation mounting brackets 541 of the two sets of welding mechanisms, thereby avoiding welding gaps at the gaps between adjacent two sets of welding mechanisms 5. In the three sets of welding mechanisms 5 provided in this embodiment, the length of the middle second translation mounting bracket 531 is greater than the lengths of the second translation mounting brackets 531 on both sides.

[0064] The second lifting assembly 52 includes a second lifting mounting bracket 521, a second lifting motor 522, a second lifting lead screw 523, a lifting plate 524, and a fourth limiting rod 525. The second lifting lead screw 523 and the fourth limiting rod 525 are parallel to each other and are arranged in the vertical direction. The second lifting mounting bracket 521 is fixedly connected below the second translation slider 534. The second lifting motor 522 is fixedly installed on the second lifting mounting bracket 521. The output shaft of the second lifting motor 522 is coaxially connected to the second lifting lead screw 523. The bottom end of the second lifting lead screw 523 penetrates into the lifting plate 524 and is threadedly connected to the lifting plate 524. The second lifting lead screw 523 is rotatably connected to the second lifting mounting bracket 521. The top end of the fourth limiting rod 525 is fixed to the top wall of the second lifting mounting bracket 521. The bottom end of the fourth limiting rod 525 penetrates into the lifting plate 524 and is slidably connected to the lifting plate 524. The fourth limiting rod 525 is located on both sides of the second lifting lead screw 523 in the radial direction.

[0065] The second lifting motor 522 drives the second lifting lead screw 523 to rotate. Under the limitation of the second lifting lead screw 523 and the fourth limiting rod 525, the lifting plate 524 realizes lifting.

[0066] The third translation component 54 includes a third translation mounting bracket 541, a third translation motor 542, a third bidirectional lead screw 543, and third translation sliders 544. The third translation mounting bracket 541 and the third bidirectional lead screw 543 are arranged along the second direction. The third translation mounting bracket 541 is fixedly connected to the bottom surface of the lifting plate 524. The bottom surface of the third translation mounting bracket 541 is inclined and faces the longitudinal plate 12. The inclination degree of the bottom surface of the third translation mounting bracket 541 is adapted to the inclination degree of the welding torch 51. The third translation motor 542 is fixedly installed on the third translation mounting bracket 541. The output shaft of the third translation motor 542 is coaxially connected to the third bidirectional lead screw 543 through a third synchronous belt 5421. The two ends of the third bidirectional lead screw 543 pass through the two third translation sliders 544 in opposite directions and are threadedly connected to the third translation sliders 544. The third bidirectional lead screw 543 is rotatably connected to the end of the third translation mounting bracket 541. The side of the third translation slider 544 away from the third translation mounting bracket 541 is fixed with a welding torch 51. A limiting block is arranged on the side of the third translation slider 544 close to the third translation mounting bracket 541. A limiting groove for the limiting block to slide is provided on the inclined surface of the third translation mounting bracket 541, preventing the third translation slider 544 from deviating when sliding along the width direction of the bottom plate 11, so as to define the movement track of the welding torch 51 along the second direction and prevent the welding torch 51 from rotating around the third bidirectional lead screw 543.

[0067] The third translation motor 542 drives the third bidirectional lead screw 543 to rotate. Driven by the third bidirectional lead screw 543 and restricted by the limiting block, the two third translation sliders 544 move towards each other or away from each other.

[0068] When driving the welding torch 51 to move to the welding position, the second lifting component 52 controls the third translation mounting bracket 541 to descend to the height of the designated welding longitudinal plate 12. Then, the second translation component 53 controls the second lifting mounting brackets 521 to move closer to each other, so that the welding torch 51 moves to the final designated welding position. Finally, the third translation component 54 controls the two welding torches 51 to move away from the closest position in opposite directions to weld the longitudinal plate 12 along the length direction of the longitudinal plate 12;

[0069] When driving the welding torch 51 to move to the original position, the third translation component 54 controls the welding torches 51 to move closer to each other to reset. Then, the second translation component 53 controls the second lifting mounting brackets 521 to move away from each other, so that the welding torch 51 moves away from the longitudinal plate 12. Finally, the second lifting component 52 controls the third translation mounting bracket 541 to rise to the original position.

[0070] Further, referring to Figures 5 - 7 , a driving component 6 for controlling the rotation of the rotating part 412 is arranged on the third translation mounting bracket 541. The driving component 6 includes a driving gear 61, a driving rack 62, a connecting plate 63, an auxiliary plate 64, and a limiting plate 65.

[0071] The top of the rotating part 412 has a mating block 4121 in a raised state. The bottom of the fixed part 411 is provided with a mating groove 4111 for accommodating and rotating the mating block 4121. The mating groove 4111 is larger than the mating block 4121. The fixed part 411 is provided with a rotating shaft 4112 that penetrates through the mating groove and the mating block 4121 in the first direction. The rotating shaft 4112 is rotatably connected to the fixed part 411 and fixedly connected to the mating block 4121.

[0072] The connecting plate 63 is horizontally arranged in the first direction and perpendicularly intersects the top surface of the third translation mounting frame 541. The connecting plate 63 and the third translation mounting frame 541 can slide relative to each other in the first direction. The end of the connecting plate 63 away from the third translation mounting frame 541 is fixedly connected with a longitudinally arranged auxiliary plate 64. There is one auxiliary plate 64 corresponding to each of the two connecting plates 63. The driving rack 62 is vertically fixed to one of the auxiliary plates 64 and can mesh with the driving gear 61. The driving gear 61 is sleeved on the end of the rotating shaft 4112 away from the longitudinal plate 12 and is fixedly connected with the rotating shaft 4112. Thus, during the downward movement of the third translation mounting frame 541, the driving rack 62 moves downward synchronously and drives the driving gear 61 to rotate, so that the rotating part 412 rotates to a state where it does not block the joint between the longitudinal plate 12 and the bottom plate 11.

[0073] The area where the bottom surface of the connecting plate 63 contacts the top surface of the third translation mounting frame 541 is a friction surface. Without external force, it is not easy for the connecting plate 63 and the third translation mounting frame 541 to slide relative to each other.

[0074] The limiting plate 65 is fixed to the top surface of the fixed part 411, and a limiting groove is provided in the side wall of the limiting plate 65 away from the longitudinal plate 12 in the vertical direction. The side wall of the auxiliary plate 64 close to the longitudinal plate 12 has a raised strip in the vertical direction. The connecting plate 63 can slide relative to the limiting plate 65 in the first direction, so that the raised strip can be inserted into the limiting groove or disengaged from the limiting groove. When the raised strip is inserted into the limiting groove, it can limit the up-and-down movement trajectory of the auxiliary plate 64 and make the driving rack 62 mesh with the driving gear 61. When the raised strip disengages from the limiting groove, the auxiliary plate 64 moves away from the limiting plate 65, the driving rack 62 and the driving gear are disengaged, and the rotating part 412 is not linked with the driving assembly 6.

[0075] When the connecting plate 63 is engaged with the limiting plate 65, while the third translation mounting bracket 541 descends, the driving rack 62 descends. The driving rack 62 meshes with the driving gear 61 and drives the driving gear 61 to rotate. The driving gear 61 drives the rotating shaft 4112 to rotate, and the rotating shaft 4112 drives the rotating part 412 to rotate away from the bottom plate 11 and does not obstruct the normal operation of the welding torch 51, enabling the welding torch 51 to move a longer distance along the length direction of the longitudinal plate 12. When the third translation mounting bracket 541 ascends, the driving rack 62 ascends, and the driving rack 62 drives the driving gear 61 to rotate in the reverse direction to its original position.

[0076] When the welding torch 51 descends to the height for welding the longitudinal plate 12, the rotating part 412 automatically rotates to not obstruct the operation of the welding torch 51, enabling the position of the longitudinal plate 12 originally blocked by the rotating part 412 to still be welded, ensuring the welding amount of the longitudinal plate 12 and the welding effect between the longitudinal plate 12 and the bottom plate 11.

[0077] Refer to Figures 5 - 7 , a anti - detachment rod 631 is fixedly connected to the bottom surface of the connecting plate 63. The longitudinal section of the anti - detachment rod 631 is in an L shape. An anti - detachment groove 5411 for the anti - detachment rod 631 to slide is opened on the top surface of the third translation mounting bracket 541, and the limiting plate 65 is fixedly connected to the fixing part 411. When the third translation mounting bracket 541 moves towards the direction close to the longitudinal plate 12, the connecting plate 63 and the third translation mounting bracket 541 slide relative to each other and gradually approach the limiting plate 65 until the auxiliary plate 64 abuts against the limiting plate 65. Under the action of the friction surface and the limiting plate 65, the driving rack 62 and the driving gear 61 remain meshed. An anti - detachment plate 632 is fixed to one end of the connecting plate 63 away from the auxiliary plate 64. The anti - detachment plate 632 is located on the side of the third translation mounting bracket 541 away from the longitudinal plate, and is used to prevent the connecting plate 63 from detaching from the third translation mounting bracket 541. After welding is completed, the staff manually resets the connecting plate 63.

[0078] Further, refer to Figures 5 - 7 , the locking assembly 7 includes a locking rod 71 and a locking spring 72. A receiving groove 4113 with an opening facing the driving gear 61 is opened on the groove wall of the mating groove 4111 at the bottom of the fixing part 411 away from the longitudinal plate. The receiving groove 4113 is used to accommodate the locking rod 71 and the locking spring 72. The locking rod 71 is arranged parallel to the rotating shaft 4112. One end of the locking spring 72 abuts against the inner wall of the receiving groove 4113, and the other end abuts against the locking rod 71, thereby providing a force to the locking rod 71 towards the driving gear 61.

[0079] A locking groove 611 for the locking rod 71 to penetrate is formed in the side wall of the driving gear 61 close to the accommodating groove 4113. When the locking rod 71 penetrates into the locking groove 611 of the driving gear 61, the driving gear 61 is locked to keep it stable, so that the rotating part 412 is kept stable, that is, it can maintain linear contact with the bottom plate 11, improving the stability of positioning.

[0080] Furthermore, a guiding block 711 is arranged on the outer side wall of the locking rod 71, and a guiding groove 4114 for the guiding block 711 to slide is formed in the inner side wall of the accommodating groove 4113, preventing the locking rod 71 from detaching from the fixing part 411.

[0081] Refer to Figures 5 - 7 , the unlocking assembly 8 includes an unlocking block 81 and an unlocking plate 82. The unlocking block 81 is fixedly connected to the end of the locking rod 71 facing the driving gear 61. A first wedge surface is arranged on the top surface of the unlocking block 81, and the lowest side of the first wedge surface is close to the driving gear 61. The unlocking block 81 can be accommodated in a relief groove 4115 formed in the locking groove 611.

[0082] An unlocking plate is arranged on the side wall of the auxiliary plate 64 close to the longitudinal plate 12. A second wedge surface is arranged on the bottom surface of the unlocking plate 82, and the second wedge surface cooperates with the first wedge surface, so that when the unlocking plate 82 descends along with the auxiliary plate 64, it can push the locking rod 71 and the unlocking block 81 out of the locking groove 611, thus unlocking.

[0083] The bottom end of the unlocking plate 82 is lower than the bottom end of the driving rack 62. When the unlocking plate 82 descends, it pushes the unlocking block 81 in a direction away from the driving gear 61 until the locking rod 71 detaches from the locking groove 611, and then the driving rack 62 contacts and meshes with the driving gear 61.

[0084] When the third translation mounting bracket 541 descends, the unlocking plate 82 descends. When the unlocking plate 82 descends, under the cooperation of the first wedge surface and the second wedge surface, the unlocking plate 82 overcomes the elastic force of the unlocking spring and pushes the unlocking block 81 in a direction away from the driving gear 61 until the locking rod 71 detaches from the locking groove 611, and then the driving rack 62 contacts and meshes with the driving gear 61; when the third translation mounting bracket 541 ascends, the unlocking plate 82 ascends, the unlocking plate 82 disengages from the unlocking block 81, and under the action of the locking spring 72, the locking rod 71 automatically penetrates into the locking groove 611.

[0085] The implementation process of the above ship longitudinal girder structure welding equipment is as follows:

[0086] First, when the gantry 2 is in the storage area, the first lifting component 32 controls the clamping plate 31 to descend until the horizontal section of the clamping plate 31 is located below the cross plate of the vertical plate 12. Then, the first translation component 33 controls the two clamping plates 31 to move closer to each other, so that the top surface of the horizontal section of the clamping plate 31 can be attached to the bottom surface of the cross plate of the vertical plate 12, and the side wall of the fixing part 411 is attached to the side wall of the vertical plate 12 of the vertical plate 12. Then, the first lifting component 32 controls the clamping plate 31 to rise to the original height. Then, the gantry 2 moves to the position corresponding to the bottom plate 11 where the vertical plate 12 needs to be welded under the control of the first linear module 21. Then, the first lifting component 32 controls the clamping plate 31 to descend until the vertical plate 12 abuts against the bottom plate 11, and at this time, the bottom of the rotating part 412 is in linear contact with the top surface of the bottom plate 11. Then, the staff performs tack welding between the bottom of the two ends of the vertical plate in the length direction and the bottom plate.

[0087] Then, the welding torch 51 is driven to move to the welding position, and the second lifting component 52 controls the third translation mounting frame 541 to descend to the specified height for welding the vertical plate 12. When the third translation mounting frame 541 descends, the driving rack 62 descends. The driving rack 62 meshes with the driving gear 61 and drives the driving gear 61 to rotate. The driving gear 61 drives the rotating shaft 4112 to rotate, and the rotating shaft 4112 drives the rotating part 412 to rotate away from the bottom plate 11 and does not hinder the normal operation of the welding torch 51. Then, the second translation component 53 controls the second lifting mounting frames 521 to move closer to each other, so that the welding torch 51 moves to the final specified welding position. At this time, the connecting plate 63 slides relative to the third translation mounting frame 541. Finally, the third translation component 54 controls the welding torch 51 to move in the direction away from each other from the closest position, so as to weld the vertical plate 12 along the length direction of the vertical plate 12.

[0088] After welding is completed, the third translation component 54 controls the welding torch 51 to move closer to each other and reset. Then, the second translation component 53 controls the second lifting mounting frames 521 to move away from each other, so that the welding torch 51 moves away from the vertical plate 12. Finally, the second lifting component 52 controls the third translation mounting frame 541 to rise to the original position. When the third translation mounting frame 541 rises, the driving rack 62 rises, and the driving rack 62 drives the driving gear 61 to rotate in the reverse direction to the original position.

[0089] Then, the clamping plate 31 is driven back to the original position. The first translation component 33 controls the two clamping plates 31 to move away from each other, so that the horizontal section of the clamping plate 31 is separated from the cross plate of the vertical plate 12. Then, the first lifting component 32 controls the clamping plate 31 to rise to the original position.

[0090] In summary, the present invention provides a welding device for a ship longitudinal girder structure. The welding device includes a gantry, a grasping device, and a welding mechanism. The gantry can move along the length direction of the bottom plate. The grasping device includes a clamping and moving mechanism and a positioning component. The clamping and moving mechanism includes a clamping plate for clamping the longitudinal plate. The positioning component includes a positioning block. The positioning block includes a fixed part and a rotating part. The fixed part is fixedly connected to the clamping plate, and the rotating part is rotatably connected to the fixed part. The rotating part can rotate to make the bottom surface of the rotating part fit with the top surface of the bottom plate, and the rotating part can also rotate to not obstruct the operation of the welding torch. The welding mechanism includes a welding torch, a second lifting component for driving the welding torch to lift, a second translation component for driving the welding torch to move in a direction approaching or away from the longitudinal plate, and a third translation component for driving the welding torch to move along the length direction of the longitudinal plate. In addition, through the driving component, the rotation angle of the rotating part can be changed, so that the rotating part rotates to not block the welding joint between the longitudinal plate and the bottom plate, ensuring the continuity of the welding operation. The welding device of the present application can improve the welding effect and welding efficiency of the longitudinal plate and the bottom plate, and ensure the structural strength of the ship longitudinal girder structure.

[0091] The above embodiments are only illustrative of the principles and effects of the present invention, and are not used to limit the present invention. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A ship longitudinal structure welding equipment, characterized in that: The invention comprises a gantry, wherein the gantry can move along the length direction of the bottom plate under the drive of the first linear module, and the gantry spans the bottom plate along the width direction of the bottom plate; the length direction of the bottom plate is set as the first direction, the width direction of the bottom plate is set as the second direction, and the first direction is perpendicular to the second direction; The door frame is provided with multiple groups of grabbing devices at intervals along the width direction of the bottom plate, and the grabbing devices are used to clamp the longitudinal plate, the longitudinal plate includes a transverse plate and a vertical plate connected in a T-shape, the length direction of the longitudinal plate is arranged along the second direction, the clamping plate includes a vertical section and a horizontal section connected in an L-shape, the horizontal section of the clamping plate is located below the transverse plate of the longitudinal plate, and the top surface of the horizontal section of the clamping plate is in contact with the bottom surface of the transverse plate of the longitudinal plate; The gripping device includes a clamping and moving mechanism and a positioning assembly, the clamping and moving mechanism is used to clamp and move the longitudinal plate, the clamping and moving mechanism includes two clamping plates respectively located on both sides of the longitudinal plate in the thickness direction, the positioning assembly includes a positioning block connected to the lower side of the clamping plate, the positioning block includes a fixed portion and a rotating portion connected in a vertical plane, the fixed portion is fixedly connected to the clamping plate, the rotating portion is rotatably connected to the fixed portion, the fixed portion is in contact with the side wall of the longitudinal plate, the rotating shaft of the rotating portion is arranged along a first direction, and the rotating portion can be rotated until the bottom surface of the rotating portion is in contact with the upper surface of the bottom plate or rotated to avoid the welding position between the bottom plate and the longitudinal plate; When the clamping plate clamps the longitudinal plate and lowers it to the bottom plate, the rotating parts on both sides of the longitudinal plate are in linear contact with the upper surface of the bottom plate, thereby supporting the longitudinal plate on both sides to keep the longitudinal plate in an upright state perpendicular to the bottom plate.

2. The ship longitudinal structure welding equipment according to claim 1 is characterized in that: The clamping and moving mechanism also includes a first lifting component that drives the two clamping plates to rise and fall synchronously, and a first translation component that drives the two clamping plates to move toward or away from the longitudinal plate. The two clamping plates are symmetrically arranged and can rise and fall synchronously and clamp the longitudinal plate. The vertical section of the clamping plate is connected to the first lifting component.

3. The ship longitudinal structure welding equipment according to claim 1, characterized in that: Multiple groups of welding mechanisms are arranged on the gantry, each group of welding mechanisms corresponds to each set of grabbing devices one by one, each group of welding mechanisms includes four welding guns, every two welding guns are arranged on the same side of the thickness direction of the longitudinal plate, and the two adjacent welding guns located on the same side of the thickness direction of the longitudinal plate can move in the direction of approaching or moving away along the second direction.

4. The ship longitudinal structure welding equipment according to claim 3 is characterized in that: The welding mechanism includes a welding gun, a second lifting assembly for driving the welding gun to rise and fall, a second translation assembly for driving the welding gun to move toward or away from the longitudinal plate, and a third translation assembly for driving the welding gun to move along the second direction; the second lifting assembly is connected to the bottom of the second translation assembly, and the second lifting assembly is moved along the first direction through the second translation assembly; along the first direction, two sets of second lifting assemblies are symmetrically arranged on the outside of the grasping device.

5. The ship longitudinal structure welding equipment according to claim 4 is characterized in that: The third translation assembly includes a third translation mounting frame, a third translation motor, a third bidirectional lead screw, and a third translation slider. The third translation mounting frame and the third bidirectional lead screw are arranged along the second direction. The third translation mounting frame is fixedly connected to the bottom of the second translation assembly and moves up and down through the second translation assembly. The bottom surface of the third translation mounting frame is inclined and faces the longitudinal plate. The inclination degree of the bottom surface of the third translation mounting frame is adapted to the inclination degree of the welding gun. The third translation motor is fixedly mounted on the third translation mounting frame. The output shaft of the third translation motor is coaxially connected with the third bidirectional lead screw through a third synchronous belt. The two ends of the third bidirectional lead screw pass through two third translation sliders in opposite directions and are threadedly connected with the third translation slider. The third bidirectional lead screw is rotationally connected with the end of the third translation mounting frame. A welding gun is fixed on a side of the third translation slider away from the third translation mounting frame. A limiting block is arranged on one side of the third translation sliding block close to the third translation mounting frame, and a limiting groove for sliding of the limiting block is arranged on the inclined surface of the third translation mounting frame.

6. The ship longitudinal structure welding equipment according to claim 5, characterized in that: The limit points at which the second lifting assemblies of two adjacent welding mechanisms move to the ends along the first direction are different, so that the third translation mounting frames of the two welding mechanisms have a certain overlap along the second direction, so that the welding gun can move to the overlapping part of the third translation mounting frames of the two welding mechanisms, avoiding welding gaps in the gap between the two adjacent welding mechanisms.

7. The ship longitudinal structure welding equipment according to claim 5, characterized in that: The third translation mounting frame is provided with a driving assembly for controlling the rotation of the rotating part, and the driving assembly includes a driving gear, a driving rack, a connecting plate, an auxiliary plate, and a limiting plate; The top of the rotating part has a mating block in a convex state, the bottom of the fixed part is provided with a mating groove for the mating block to accommodate and rotate, the rotating shaft passes through the mating groove and the mating block along the first direction, the rotating shaft is rotatably connected to the fixed part and fixedly connected to the mating block; The connecting plate is horizontally arranged along the first direction and intersects perpendicularly with the top surface of the third translation mounting frame. The connecting plate and the third translation mounting frame can slide relative to each other along the first direction. The end of the connecting plate away from the third translation mounting frame is fixedly connected with a longitudinally arranged auxiliary plate. The two connecting plates each correspond to an auxiliary plate. The driving rack is vertically fixed to one of the auxiliary plates and can mesh with the driving gear. The driving gear is sleeved on the end of the rotating shaft away from the longitudinal plate and fixedly connected to the rotating shaft; thereby, during the downward movement of the third translation mounting frame, the driving rack moves downward synchronously and drives the driving gear to rotate, so that the rotating part rotates to a state where it does not block the welding point between the bottom plate and the longitudinal plate.

8. The ship longitudinal structure welding equipment according to claim 7, characterized in that: The limiting plate is fixed to the top surface of the fixing part, and a limiting groove along the vertical direction is opened on the side wall of the limiting plate away from the longitudinal plate, and a raised strip along the vertical direction is provided on the side wall of the auxiliary plate close to the longitudinal plate, and the connecting plate can slide along the first direction relative to the limiting plate, so that the raised strip can be inserted into the limiting groove or disengaged from the limiting groove; when the raised strip is inserted into the limiting groove, the driving rack is meshed with the driving gear, and when the raised strip is disengaged from the limiting groove, the driving rack is disengaged from the driving gear, and the rotating part is not linked with the driving assembly.

9. The ship longitudinal structure welding equipment according to claim 8, characterized in that: Also included is a locking assembly, the locking assembly including a locking rod and a locking spring; The groove wall of the matching groove at the bottom of the fixing portion, which is away from the longitudinal plate, is provided with a receiving groove with an opening toward the driving gear, the receiving groove is used to accommodate a locking rod and a locking spring, the locking rod is arranged parallel to the rotating shaft, one end of the locking spring abuts against the inner wall of the receiving groove, and the other end abuts against the locking rod, thereby providing a force for the locking rod to act toward the driving gear; The side wall of the driving gear close to the accommodating groove is provided with a locking groove for the locking rod to penetrate. When the locking rod penetrates the locking groove of the driving gear, the driving gear is locked to keep the driving gear stable, thereby keeping the rotating part stable and enabling it to maintain linear contact with the base plate.

10. The ship longitudinal structure welding equipment according to claim 9, characterized in that: The unlocking assembly also includes an unlocking block and an unlocking plate. The unlocking block is fixedly connected to the end of the locking rod facing the driving gear. The top surface of the unlocking block is provided with a first wedge surface. The lowest side of the first wedge surface is close to the driving gear. The unlocking block can be accommodated in the yielding groove provided in the locking groove. An unlocking plate is provided on the side wall of the auxiliary plate close to the longitudinal plate, and a second wedge surface is provided on the bottom surface of the unlocking plate. The second wedge surface cooperates with the first wedge surface so that when the unlocking plate descends with the auxiliary plate, it can push the locking rod and the unlocking block to slide out of the locking groove, thereby releasing the lock.

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