Automatic robot for ship welding and using method thereof

Abstract

The invention discloses an automatic robot for ship welding and a using method thereof, and relates to the technical field of welding robots, the automatic robot comprises a moving plate, a vertical plate is installed at the top of the moving plate, a control unit is installed on the front face of the vertical plate, and a lead screw is installed at the output end of a first motor. A plurality of third electric telescopic units are symmetrically installed on the front face of the lifting plate, and right-angle plates are installed at the output ends of the third electric telescopic units. A second hydraulic telescopic unit is installed at the bottom of the right-angle plate, a second plate body is installed at the output end of the second hydraulic telescopic unit, and a distance measuring mechanism is arranged at the output end of the first electric telescopic unit. The distance between the laser ranging unit and the side bulkhead of the ship in the downward moving process is measured through the laser ranging unit, and therefore the control unit controls the third electric telescopic unit to drive the welding nozzle to move front and back according to the change condition of the measured distance, and the distance between the welding nozzle and the side bulkhead of the ship is made to be appropriate.

Description

Technical Field

[0001] The present invention relates to the technical field of welding robots, and specifically to an automated robot for ship welding and its usage method. Background Art

[0002] A ship bulkhead includes a bulkhead that divides the ship space between the ship side bulkhead and the interior of the ship. Some ship side bulkheads have arcs. When welding the ship side bulkhead and the transverse bulkhead inside the ship, personnel need to hold the welding pad and weld along the ship side bulkhead. During this process, it is necessary to adjust the distance between the welding torch and the ship side bulkhead, resulting in high labor intensity.

[0003] The defects of existing welding robots are as follows: 1. The prior art KR1019950010971B1 discloses a ship assembly welding robot. When welding the arc-shaped side wall of a ship, this technology does not have a structure for automatically adjusting the distance between the welding head and the ship side bulkhead. If the position of the welding head is not changed when the distance between the welding head and the ship side bulkhead changes, it is easy to cause a collision between the welding head and the bulkhead, resulting in damage to the welding head. Therefore, an automated robot for ship welding that can automatically adjust the distance between the welding head and the ship side bulkhead is needed to solve this problem.

[0004] 2. The prior art KR1020090073375A discloses a welding robot for constructing a ship hull. This technology does not have a structure for setting a laser rangefinder to measure the distance between the welding head and the welded component. When a laser rangefinder is set to measure the distance, the laser rangefinder is easily covered by dust generated during welding, resulting in poor measurement accuracy of the laser rangefinder. Therefore, an automated robot for ship welding that can measure the distance between the welding head and the welded component and can remove dust from the laser rangefinder is needed to solve this problem.

[0005] 3. The prior art KR1020130026653A discloses a welding robot. This technology does not have a structure for stably fixing the device inside the ship. When the welding robot is collided, it is easy to move, resulting in a collision between the welding head and the ship, causing an incorrect welding position or damage to the welding head. Therefore, an automated robot for ship welding that can fix the welding robot inside the ship and is not easily moved by collision is needed to solve this problem.

[0006] 4. The prior art CN114178758B discloses a ship welding robot, which does not have a structure for scraping the attached impurities on the inner wall of the ship bottom. When there are difficult-to-clean attached impurities on the inner wall of the ship bottom, the attached impurities are likely to cause the suction cup to be unable to effectively adsorb the wet inner wall of the ship bottom, resulting in the welding robot being unable to be stably fixed inside the ship. Therefore, an automated robot for ship welding with a structure for scraping the attached impurities on the inner wall of the ship bottom is needed to solve this problem. Summary of the Invention

[0007] An object of the present application is to provide an automated robot for ship welding and its usage method, which can solve the technical problems raised in the prior art.

[0008] To achieve the above object, the present invention provides the following technical solution: An automated robot for ship welding, including a moving plate, a vertical plate, and a lifting plate. A vertical plate is installed on the top of the moving plate. A control unit is installed on the front of the vertical plate. A motor one is installed on the front of the vertical plate, and the motor one is electrically connected to the control unit. A lead screw is installed at the output end of the motor one, and one end of the lead screw penetrates through the top of the moving plate. A lifting plate is installed on the outer side of the lead screw. A plurality of electric telescopic units three are symmetrically installed on the front of the lifting plate, and the electric telescopic unit three is electrically connected to the control unit. A right-angle plate is installed at the output end of the electric telescopic unit three. A motor two is installed on the top of the right-angle plate, and the motor two is electrically connected to the control unit. A rotating rod one is installed at the output end of the motor two. A rotating plate is installed at one end of the rotating rod one. A welding nozzle is installed on the front of the rotating plate, and the welding nozzle is electrically connected to the control unit; A hydraulic telescopic unit two is installed at the bottom of the right-angle plate, and the hydraulic telescopic unit two is electrically connected to the control unit. A plate body two is installed at the output end of the hydraulic telescopic unit two. An electric telescopic unit one is installed on the top of the plate body two, and the electric telescopic unit one is electrically connected to the control unit. A ranging mechanism is arranged at the output end of the electric telescopic unit one.

[0009] Preferably, rod bodies one are symmetrically installed on the back of the lifting plate, and a plurality of rotating wheels are movably installed through the inside of the rod bodies one.

[0010] Preferably, the ranging mechanism includes a plate body three and a laser ranging unit. The top of the plate body three is connected to the output end of the electric telescopic unit one. A laser ranging unit is installed on the front of the plate body three, and the laser ranging unit is electrically connected to the control unit.

[0011] Preferably, a baffle is installed at the top of the third plate body. A first block is installed at the bottom of the baffle. A movable round rod is movably installed through the front of the first block. A brush is installed at one end of the movable round rod, and the brush is located behind the first block. A first bolt is installed on one side of the movable round rod.

[0012] Preferably, a fourth plate body is installed on one side of the right-angled plate. A third motor is installed at the top of the fourth plate body, and the third motor is electrically connected to the control unit. A second rotating rod is installed at the output end of the third motor. A fifth plate body is installed at one end of the second rotating rod. An electric telescopic unit two is installed on one side of the fifth plate body, and the electric telescopic unit two is electrically connected to the control unit. A frame is installed at the output end of the electric telescopic unit two. A second bolt is installed through the top of the frame. A pressing plate is installed at one end of the second bolt.

[0013] Preferably, two hydraulic telescopic units three are symmetrically installed on the back of the vertical plate, and the hydraulic telescopic units three are electrically connected to the control unit. A second rod body is installed at the output end of the hydraulic telescopic units three.

[0014] Preferably, a threaded rod is installed through the bottom of the second rod body. A support rod is installed at one end of the threaded rod. A plurality of suction cups are installed at the bottom of the support rod.

[0015] Preferably, a second block is installed on one side of the support rod. A movable rectangular rod is movably installed through the top of the second block. A scraping rod is installed at one end of the movable rectangular rod, and the scraping rod is located below the second block. A third bolt is installed through one side of the movable rectangular rod.

[0016] Preferably, the using method of the automatic robot for ship welding is as follows: S1. When welding the curved side bulkhead and transverse bulkhead of the ship, align the welding nozzle with the gap between the side bulkhead and the transverse bulkhead. Then, place the welding electrode inside the frame. At the same time, rotate the second bolt to drive the pressing plate to press the welding electrode, and move the laser ranging unit to the lower rear of the welding nozzle to the left. S2. Then, rotate the support rod backward, and then the hydraulic telescopic unit three drives the support rod to move downward so that the suction cups adsorb the inner wall of the ship bottom. S3. Then, the first motor drives the welding nozzle to move downward. The welding nozzle sprays high-temperature gas to melt the welding electrode, and the melted welding electrode welds the ship side bulkhead and the transverse bulkhead together.

[0017] Preferably, the following steps are further included in S2: S21. When there are adhered impurities on the inner wall of the ship bottom, lower the scraping rod, and then rotate the support rod to drive the scraping rod to scrape the impurities on the inner wall of the ship bottom, so as to facilitate the cleaning of the adhered impurities. The following steps are further included in S3: S31. Measure the distance between itself and the ship's side bulkhead during the downward movement through the laser ranging unit. Then, the control unit controls the electric telescopic unit three to drive the welding nozzle to move back and forth according to the change of the measured distance, so that the distance between the welding nozzle and the ship's side bulkhead is at an appropriate distance. S32. When the third plate moves down close to the inner wall of the ship's bottom, the staff controls the laser ranging unit to move right first and then up through the control unit to prevent the third plate from interfering with the downward movement of the welding nozzle.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention measures the distance between itself and the ship's side bulkhead during the downward movement through the laser ranging unit. Then, the control unit controls the electric telescopic unit three to drive the welding nozzle to move back and forth according to the change of the measured distance, so that the distance between the welding nozzle and the ship's side bulkhead is at an appropriate distance, enabling the automatic robot for ship welding to adjust the distance between the welding nozzle and the ship's side bulkhead and avoiding the distance between the welding nozzle and the ship's side bulkhead being too far or too close.

[0019] When the laser ranging unit of the present invention moves left and right, the brush can swing left and right, thereby wiping the laser emitting end and the receiving end on the front of the laser ranging unit, avoiding dust adhering to the laser ranging unit and causing inaccurate measurement of the distance between the laser ranging unit and the ship's side bulkhead.

[0020] The present invention rotates the support rod backward, and then the hydraulic telescopic unit three drives the support rod to move downwards so that the suction cup adsorbs the wet inner wall of the ship's bottom, thereby avoiding the movement of the device when it is accidentally collided and ensuring the stability when the welding nozzle welds the ship's side bulkhead.

[0021] When there are adhered impurities on the inner wall of the ship's bottom, the present invention moves the scraping rod downward and then rotates the support rod to drive the scraping rod to scrape the impurities on the inner wall of the ship's bottom, thereby facilitating the cleaning of the adhered impurities. Brief Description of the Drawings

[0022] Figure 1 is a perspective view of the present invention; Figure 2 is a schematic structural view of the lifting plate of the present invention; Figure 3 is a schematic structural view of the right-angle plate of the present invention; Figure 4 is a schematic structural view of the third plate of the present invention; Figure 5 is a schematic structural view of the first block of the present invention; Figure 6 is a schematic structural view of the fourth plate of the present invention; Figure 7Schematic diagram of the frame structure of the present invention; Figure 8 Schematic diagram of the second rod structure of the present invention; Figure 9 Flowchart of the usage method of the present invention.

[0023] In the figure: 1, moving plate; 2, vertical plate; 3, control unit; 4, first motor; 5, lead screw; 6, lifting plate; 7, first rod; 8, rotating wheel; 9, third electric telescopic unit; 10, right-angle plate; 11, second motor; 12, first rotating rod; 13, rotating plate; 14, welding nozzle; 15, second hydraulic telescopic unit; 16, second plate; 17, first electric telescopic unit; 18, third plate; 19, laser ranging unit; 20, baffle; 21, first block; 22, movable round rod; 23, brush; 24, first bolt; 25, fourth plate; 26, third motor; 27, second rotating rod; 28, fifth plate; 29, second electric telescopic unit; 30, frame; 31, second bolt; 32, pressing plate; 33, third hydraulic telescopic unit; 34, second rod; 35, threaded rod; 36, support rod; 37, suction cup; 38, second block; 39, movable rectangular rod; 40, scraping rod; 41, third bolt. Specific embodiments

[0024] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0025] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0026] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, terms such as "installation", "equipped with", "connection", etc. should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] Please refer to Figure 1 、 Figure 2 and Figure 3 , an embodiment provided by the present invention: an automated robot for ship welding; It includes a moving plate 1, a vertical plate 2 and a lifting plate 6. A vertical plate 2 is installed on the top of the moving plate 1. A control unit 3 is installed on the front of the vertical plate 2. A first motor 4 is installed on the front of the vertical plate 2, and the first motor 4 is electrically connected to the control unit 3. The output end of the first motor 4 is installed with a lead screw 5, and one end of the lead screw 5 penetrates through the top of the moving plate 1. A lifting plate 6 is installed on the outer side of the lead screw 5. A plurality of third electric telescopic units 9 are symmetrically installed on the front of the lifting plate 6, and the third electric telescopic units 9 are electrically connected to the control unit 3. The output end of the third electric telescopic unit 9 is installed with a right-angle plate 10. A second motor 11 is installed on the top of the right-angle plate 10, and the second motor 11 is electrically connected to the control unit 3. The output end of the second motor 11 is installed with a first rotating rod 12. A rotating plate 13 is installed at one end of the first rotating rod 12. A welding nozzle 14 is installed on the front of the rotating plate 13, and the welding nozzle 14 is electrically connected to the control unit 3. The moving plate 1 can provide an installation position for other components of the device. The universal wheels provided at the bottom of the moving plate 1 facilitate the movement of the moving plate 1. The vertical plate 2 can provide an installation position for the first motor 4 and the third hydraulic telescopic unit 33. The control unit 3 is an industrial computer with a touch screen, which can receive the signal of the laser ranging unit 19 and can control the first motor 4, the third electric telescopic unit 9, the second motor 11, the welding nozzle 14, the second hydraulic telescopic unit 15, the first electric telescopic unit 17, the third motor 26, the second electric telescopic unit 29 and the third hydraulic telescopic unit 33 at the same time. The first motor 4 can convert electrical energy into kinetic energy, thereby driving the lead screw 5 to rotate. The lead screw 5 can drive the lifting plate 6 to move up and down through rotation. The lifting plate 6 can drive the right-angle plate 10, the second motor 11 and the second hydraulic telescopic unit 15 to move up and down through up and down movement. The third electric telescopic unit 9 is an electric telescopic rod, which can convert electrical energy into kinetic energy, thereby driving the right-angle plate 10 to move back and forth. The right-angle plate 10 can drive the second motor 11, the welding nozzle 14, the second hydraulic telescopic unit 15 and the laser ranging unit 19 to move back and forth through back and forth movement. The second motor 11 can convert electrical energy into kinetic energy, thereby driving the first rotating rod 12 to rotate. The first rotating rod 12 can drive the rotating plate 13 to rotate through rotation. The rotating plate 13 can drive the welding nozzle 14 to rotate through rotation. The welding nozzle 14 can spray high-temperature gas, thereby heating and melting the welding rod clamped inside the frame 30, so that the welding rod can weld the ship's side bulkhead and transverse bulkhead.

[0028] Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 , an embodiment provided by the present invention: an automatic robot for ship welding; It includes a second hydraulic telescopic unit 15 and a ranging mechanism. The second hydraulic telescopic unit 15 is installed at the bottom of the right-angle plate 10, and the second hydraulic telescopic unit 15 is electrically connected to the control unit 3. The output end of the second hydraulic telescopic unit 15 is installed with a second plate body 16. The top of the second plate body 16 is installed with a first electric telescopic unit 17, and the first electric telescopic unit 17 is electrically connected to the control unit 3. The output end of the first electric telescopic unit 17 is provided with a ranging mechanism. The ranging mechanism includes a third plate body 18 and a laser ranging unit 19. The top of the third plate body 18 is connected to the output end of the first electric telescopic unit 17. The front of the third plate body 18 is installed with a laser ranging unit 19, and the laser ranging unit 19 is electrically connected to the control unit 3. The second hydraulic telescopic unit 15 is a hydraulic cylinder, which can convert hydraulic energy into kinetic energy, thereby driving the second plate body 16 to move left and right. The second plate body 16 can drive the first electric telescopic unit 17, the third plate body 18 and the laser ranging unit 19 to move left and right through left and right movement. The first electric telescopic unit 17 is an electric telescopic rod, which can convert electrical energy into kinetic energy, thereby driving the third plate body 18 to move up and down. The third plate body 18 can drive the laser ranging unit 19 to move up and down through up and down movement. The laser ranging unit 19 is a laser rangefinder, which can measure the distance between itself and the ship's side bulkhead, so that the control unit 3 can adjust the telescopic distance of the third electric telescopic unit 9 according to the change in the distance between the ship's side bulkhead and the laser ranging unit 19, so that the distance between the welding nozzle 14 and the welded ship bulkhead can always be kept consistent.

[0029] Please refer to Figure 1 and Figure 2 For an embodiment provided by the present invention: an automated robot for ship welding; It includes a first rod body 7. The first rod bodies 7 are symmetrically installed on the back of the lifting plate 6. A plurality of rotating wheels 8 are movably installed through the inside of the first rod body 7. The first rod body 7 can provide an installation position for the rotating wheels 8. The rotating wheels 8 can reduce the friction with the vertical plate 2 through rotation.

[0030] Please refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 For an embodiment provided by the present invention: an automated robot for ship welding; It includes a baffle 20 and a first block 21. The baffle 20 is installed at the top of the third plate body 18, and the first block 21 is installed at the bottom of the baffle 20. An active round rod 22 is movably installed through the front of the first block 21. A brush 23 is installed at one end of the active round rod 22, and the brush 23 is located behind the first block 21. A first bolt 24 is installed on one side of the active round rod 22. The baffle 20 functions to block light and can prevent the light generated by the welding nozzle 14 and the welding rod clamped inside the frame 30 from affecting the laser ranging unit 19. The first block 21 can provide an installation position for the active round rod 22. The active round rod 22 can rotate, so that the brush 23 can swing. The brush 23 can swing during the left and right movement of the third plate body 18, thereby cleaning the dust on the front laser emission end and receiving end of the laser ranging unit 19, and preventing the laser ranging unit 19 from being unable to accurately measure data due to dust coverage. The first bolt 24 functions to limit the position and can prevent the active round rod 22 from falling off the first block 21.

[0031] Please refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 6 and Figure 7 ,An embodiment provided by the present invention: An automated robot for ship welding; It includes a fourth plate body 25 and a fifth plate body 28. The fourth plate body 25 is installed on one side of the right-angle plate 10. A third motor 26 is installed at the top of the fourth plate body 25, and the third motor 26 is electrically connected to the control unit 3. The output end of the third motor 26 is installed with a second rotating rod 27. One end of the second rotating rod 27 is installed with a fifth plate body 28. An electric telescopic unit two 29 is installed on one side of the fifth plate body 28, and the electric telescopic unit two 29 is electrically connected to the control unit 3. The output end of the electric telescopic unit two 29 is installed with a frame 30. A second bolt 31 is installed through the top of the frame 30. One end of the second bolt 31 is installed with a pressing plate 32. The fourth plate body 25 can provide an installation position for the third motor 26. The third motor 26 can convert electrical energy into kinetic energy, thereby driving the second rotating rod 27 to rotate. The second rotating rod 27 can drive the fifth plate body 28 to rotate through rotation. The fifth plate body 28 can drive the electric telescopic unit two 29 and the frame 30 to rotate through rotation, so that the welding rod clamped inside the frame 30 can change its direction. The electric telescopic unit two 29 is an electric telescopic rod and can convert electrical energy into kinetic energy, thereby driving the frame 30 to move back and forth. The frame 30 can drive the welding rod clamped inside the frame 30 to move back and forth through the back-and-forth movement. The second bolt 31 can drive the pressing plate 32 to move up and down through rotation. The pressing plate 32 can press the welding rod placed inside the frame 30 through downward movement.

[0032] Please refer to Figure 1 and Figure 8, an embodiment provided by the present invention: an automated robot for ship welding; It includes a third hydraulic telescopic unit 33 and a support rod 36. The third hydraulic telescopic unit 33 is symmetrically installed on the back of the vertical plate 2, and the third hydraulic telescopic unit 33 is electrically connected to the control unit 3. A rod body 34 is installed at the output end of the third hydraulic telescopic unit 33. A threaded rod 35 is installed through the bottom of the rod body 34. One end of the threaded rod 35 is installed with a support rod 36. A plurality of suction cups 37 are installed at the bottom of the support rod 36. A second block 38 is installed on one side of the support rod 36. A movable rectangular rod 39 is movably installed through the top of the second block 38. One end of the movable rectangular rod 39 is installed with a scraping rod 40, and the scraping rod 40 is located below the second block 38. A third bolt 41 is installed through one side of the movable rectangular rod 39. The third hydraulic telescopic unit 33 is a hydraulic cylinder, which can convert hydraulic energy into kinetic energy, thereby driving the rod body 34 to move up and down. The rod body 34 can drive the threaded rod 35 and the support rod 36 to move up and down through up and down movement. The threaded rod 35 can provide an installation position for the support rod 36. At the same time, the threaded rod 35 can rotate, so that the support rod 36 can rotate. The support rod 36 can provide an installation position for the suction cups 37. The suction cups 37 can adsorb on the inner wall of the ship bottom, thereby preventing the device from moving when being accidentally collided. The second block 38 can provide an installation position for the movable rectangular rod 39. The movable rectangular rod 39 can move up and down, so that the scraping rod 40 can move up and down. The movable rectangular rod 39 contacts the inner wall of the ship bottom through downward movement, and then can scrape the attached impurities on the inner wall of the ship bottom through rotation, avoiding the situation that the attached impurities cause the suction cups 37 to fail to tightly adsorb the inner wall of the ship bottom. The third bolt 41 plays a role in limiting, and can prevent the movable rectangular rod 39 from falling off the second block 38.

[0033] The usage method of the automated robot for ship welding is as follows: S1. When welding the curved side bulkhead and transverse bulkhead of the ship, align the welding nozzle 14 with the gap between the side bulkhead and the transverse bulkhead. Then place the welding electrode in the frame 30, and at the same time rotate the second bolt 31 to drive the pressing plate 32 to press the welding electrode, and move the laser ranging unit 19 to the lower rear of the welding nozzle 14 to the left; S2. Then rotate the support rod 36 backward, and then the third hydraulic telescopic unit 33 drives the support rod 36 to move downward so that the suction cups 37 adsorb on the inner wall of the ship bottom; S3. Then the first motor 4 drives the welding nozzle 14 to move downward. The welding nozzle 14 sprays high-temperature gas to melt the welding electrode, and the melted welding electrode welds the ship side bulkhead and the transverse bulkhead together.

[0034] In S2, the following steps are further included: S21. When there are adhered impurities on the inner wall of the ship bottom, the scraping rod 40 is moved downward, and then the support rod 36 is rotated to drive the scraping rod 40 to scrape the impurities on the inner wall of the ship bottom, thereby facilitating the cleaning of the adhered impurities. The following steps are also included in S3: S31. At the same time, the laser ranging unit 19 measures the distance between itself and the ship side bulkhead during the downward movement, and thus the control unit 3 controls the electric telescopic unit three 9 to drive the welding nozzle 14 to move back and forth according to the change of the measured distance, so that the distance between the welding nozzle 14 and the ship side bulkhead is at an appropriate distance. S32. When the plate three 18 moves downward to be close to the inner wall of the ship bottom, the staff controls the laser ranging unit 19 to move right first and then up through the control unit 3 to prevent the plate three 18 from interfering with the downward movement of the welding nozzle 14.

[0035] Working principle: Before using the automated robot for ship welding, it should be checked first whether there are any problems affecting its use. When welding the curved side bulkhead and transverse bulkhead of the ship, the welding nozzle 14 is aligned with the gap between the side bulkhead and the transverse bulkhead. Then, the welding rod is placed inside the frame 30, and at the same time, the bolt two 31 is rotated to drive the pressing plate 32 to press the welding rod, and the laser ranging unit 19 is moved to the rear lower part of the welding nozzle 14 to the left. The ground behind the moving plate 1 is cleaned of dust and then wetted. Then, the support rod 36 is rotated backward, and subsequently, the hydraulic telescopic unit three 33 drives the support rod 36 to move downward so that the suction cup 37 adsorbs the inner wall of the ship bottom. Then, the motor one 4 drives the welding nozzle 14 to move downward. The welding nozzle 14 sprays high-temperature gas to melt the welding rod, and the melted welding rod welds the ship side bulkhead and the transverse bulkhead together. At the same time, the laser ranging unit 19 measures the distance between itself and the ship side bulkhead during the downward movement, and thus the control unit 3 controls the electric telescopic unit three 9 to drive the welding nozzle 14 to move back and forth according to the change of the measured distance, so that the distance between the welding nozzle 14 and the ship side bulkhead is at an appropriate distance. When the plate three 18 moves downward to be close to the inner wall of the ship bottom, the staff controls the laser ranging unit 19 to move right first and then up through the control unit 3 to prevent the plate three 18 from interfering with the downward movement of the welding nozzle 14. When there are adhered impurities on the inner wall of the ship bottom that are not easily removed, the scraping rod 40 is moved downward, and then the support rod 36 is rotated to drive the scraping rod 40 to scrape the impurities on the inner wall of the ship bottom, thereby facilitating the cleaning of the adhered impurities.

[0036] It is obvious to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, in any respect, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention, and any reference signs in the claims should not be construed as limiting the rights involved.

Claims

1. An automated robot for ship welding, characterized in that: The invention comprises a moving plate (1), a vertical plate (2) and a lifting plate (6), wherein the vertical plate (2) is mounted on the top of the moving plate (1), a control unit (3) is mounted on the front of the vertical plate (2), a motor (4) is mounted on the front of the vertical plate (2), and the motor (4) is connected to the control unit (3) via an electrical signal, a screw rod (5) is mounted on the output end of the motor (4), and one end of the screw rod (5) passes through the top of the moving plate (1), a lifting plate (6) is mounted on the outer side of the screw rod (5), and a plurality of electric telescopic units (9) are symmetrically mounted on the front of the lifting plate (6). , and the electric telescopic unit three (9) is electrically connected to the control unit (3); the output end of the electric telescopic unit three (9) is installed with a right angle plate (10), the top of the right angle plate (10) is installed with a motor two (11), and the motor two (11) is electrically connected to the control unit (3); the output end of the motor two (11) is installed with a rotating rod one (12), one end of the rotating rod one (12) is installed with a rotating plate (13), the front side of the rotating plate (13) is installed with a welding nozzle (14), and the welding nozzle (14) is electrically connected to the control unit (3); A second hydraulic telescopic unit (15) is installed at the bottom of the right-angle plate (10), and the second hydraulic telescopic unit (15) is connected to the control unit (3) by electrical signals; a second plate body (16) is installed at the output end of the second hydraulic telescopic unit (15); an electric telescopic unit (17) is installed at the top of the second plate body (16), and the electric telescopic unit (17) is connected to the control unit (3) by electrical signals; and a distance measuring mechanism is provided at the output end of the electric telescopic unit (17).

2. The automated robot for ship welding according to claim 1, characterized in that: A rod body 1 (7) is symmetrically mounted on the back of the lifting plate (6), and a plurality of rotating wheels (8) are movably mounted through the inner side of the rod body 1 (7).

3. The automated robot for ship welding according to claim 1, characterized in that: The distance measuring mechanism comprises a plate body three (18) and a laser distance measuring unit (19); the top of the plate body three (18) is connected to the output end of the electric telescopic unit one (17); the front of the plate body three (18) is provided with a laser distance measuring unit (19); and the laser distance measuring unit (19) is connected to the control unit (3) via electrical signals.

4. The automated robot for ship welding according to claim 3, characterized in that: A baffle (20) is installed on the top of the plate body three (18), a block body one (21) is installed on the bottom of the baffle (20), a movable round rod (22) is movably installed through the front of the block body one (21), a brush (23) is installed at one end of the movable round rod (22), and the brush (23) is located behind the block body one (21), and a bolt one (24) is installed on one side of the movable round rod (22).

5. The automated robot for ship welding according to claim 1, characterized in that: A plate body 4 (25) is mounted on one side of the right angle plate (10), a motor 3 (26) is mounted on the top of the plate body 4 (25), and the motor 3 (26) is electrically connected to the control unit (3), a rotating rod 2 (27) is mounted on the output end of the motor 3 (26), one end of the rotating rod 2 (27) is mounted on the plate body 5 (28), an electric telescopic unit 2 (29) is mounted on one side of the plate body 5 (28), and the electric telescopic unit 2 (29) is electrically connected to the control unit (3), a frame body (30) is mounted on the output end of the electric telescopic unit 2 (29), a bolt 2 (31) is mounted through the top of the frame body (30), and a pressure plate (32) is mounted on one end of the bolt 2 (31).

6. The automated robot for ship welding according to claim 1, characterized in that: A hydraulic telescopic unit three (33) is symmetrically mounted on the back of the vertical plate (2), and the hydraulic telescopic unit three (33) is electrically signal-connected to the control unit (3), and a rod body two (34) is mounted on the output end of the hydraulic telescopic unit three (33).

7. The automated robot for ship welding according to claim 6, characterized in that: A threaded rod (35) is installed through the bottom of the second rod body (34), a support rod (36) is installed at one end of the threaded rod (35), and a plurality of suction cups (37) are installed at the bottom of the support rod (36).

8. The automated robot for ship welding according to claim 7, characterized in that: A block body 2 (38) is installed on one side of the support rod (36), a movable rectangular rod (39) is movably installed through the top of the block body 2 (38), a scraper rod (40) is installed at one end of the movable rectangular rod (39), and the scraper rod (40) is located below the block body 2 (38), and a bolt 3 (41) is installed through one side of the movable rectangular rod (39).

9. The method for using the automated robot for ship welding according to any one of claims 1 to 8, characterized in that: The method of using the automated robot for ship welding is as follows: S1. When welding a curved side bulkhead and a transverse bulkhead of a ship, align the welding nozzle (14) with the gap between the side bulkhead and the transverse bulkhead, then place a welding rod inside the frame (30), and simultaneously rotate the second bolt (31) to drive the pressing plate (32) to press the welding rod, and move the laser distance measuring unit (19) to the left to the rear and lower side of the welding nozzle (14); S2, the support rod (36) is then rotated backward, and then the hydraulic telescopic unit 3 (33) drives the support rod (36) to move downward so that the suction cup (37) adsorbs the inner wall of the bottom of the ship; S3. Then, the motor 1 (4) drives the welding nozzle (14) to move downward, and the welding nozzle (14) sprays high-temperature gas to melt the welding rod, and the melted welding rod is used to weld the side bulkhead and the transverse bulkhead of the ship.

10. The method for using the automated robot for ship welding according to claim 9, characterized in that: The step S2 also includes the following steps: S21, when there are impurities adhering to the inner wall of the bottom of the ship, the scraping rod (40) is moved downward, and then the support rod (36) is rotated to drive the scraping rod (40) to scrape off the impurities on the inner wall of the bottom of the ship, thereby facilitating the cleaning of the adhering impurities; The S3 also includes the following steps: S31, while measuring the distance between the welding nozzle (14) and the side bulkhead of the ship during the downward movement through the laser distance measuring unit (19), the control unit (3) controls the electric telescopic unit (9) to drive the welding nozzle (14) to move forward and backward according to the change of the measured distance, so that the distance between the welding nozzle (14) and the side bulkhead of the ship is at an appropriate distance; S32. When the plate body 3 (18) moves down close to the inner wall of the bottom of the ship, the staff controls the laser distance measuring unit (19) through the control unit (3) to first move rightward and then move upward to prevent the plate body 3 (18) from obstructing the downward movement of the welding nozzle (14).

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