A multi-machine cooperative intelligent mobile shipbuilding welding robot based on flexible manufacturing

Abstract

The application belongs to the technical field of welding robots, and discloses a multi-machine cooperative intelligent mobile welding robot for ship manufacturing based on flexible manufacturing, which comprises a mobile base, the top of the mobile base is provided with a welding mechanical arm, and further comprises a height adjusting part arranged at the bottom of the welding mechanical arm and used for adjusting the height of the welding mechanical arm; the height adjusting part comprises a fixing box which is fixedly connected to the inside of the mobile base. Through the three-layer nested structure of the fixing box, the intermediate box and the jacking box, and the transmission design of the speed reducer, the screw rod and the screw cylinder, the welding mechanical arm can be precisely adjusted in height, the welding demand of different height positions in ship manufacturing can be met, the welding efficiency is improved, the welding gun can be aligned with the weld at a suitable angle, the welding arc is stable, the weld is well formed, and welding defects are reduced.

Description

A multi-machine collaborative intelligent mobile welding robot for shipbuilding based on flexible manufacturing Technical Field

[0001] This invention belongs to the field of welding robot technology, specifically a multi-machine collaborative intelligent mobile welding robot for shipbuilding based on flexible manufacturing. Background Technology

[0002] In the rapid development of the shipbuilding industry, efficient and precise welding processes are key factors in ensuring the quality and efficiency of shipbuilding. Self-propelled welding robots, with their advantages of high automation and stable welding quality, are widely used in ship welding operations. They can effectively reduce errors and labor intensity caused by manual operation and significantly improve the efficiency and consistency of welding operations.

[0003] During the manufacturing process of some ships, self-propelled welding robots are required to weld the sides and bottom of the ship outdoors. Since the welding positions on the sides of some ships are relatively high, and the robotic arms of self-propelled welding robots are usually fixed to the top of the base and cannot be adjusted in height, although the robotic arms have a certain extension distance, it is impossible to ensure that the robotic arms can weld the ship at the appropriate angle and posture when the welding position is high. This makes the robot have obvious limitations when facing welding tasks at heights, and scaffolding or lifting platforms may need to be erected, which increases construction costs and time costs. Summary of the Invention

[0004] To address the problems mentioned in the background section, this invention provides a multi-machine collaborative intelligent mobile welding robot for shipbuilding based on flexible manufacturing, comprising a mobile base, a welding robotic arm mounted on the top of the mobile base, and further comprising:

[0005] A height adjustment component, located at the bottom of the welding robotic arm, is used to adjust the height of the welding robotic arm.

[0006] The height adjustment component includes a fixed box, which is fixedly connected to the inside of the movable base. The fixed box contains an intermediate box, and the intermediate box contains a lifting box. The top of the lifting box is fixedly connected to the bottom of the welding robot arm.

[0007] A geared motor is fixedly connected to the bottom of the inner wall of the fixed box, and a screw is fixedly connected to the output end of the geared motor. The surface of the screw is threadedly connected to the inner wall of the intermediate box. A screw cylinder is fixedly connected to the bottom of the inner wall of the intermediate box through a bearing seat, and the surface of the screw cylinder is threadedly connected to the inner wall of the lifting box.

[0008] Auxiliary support components are installed on the front and back of the lifting box to improve the stability of the lifting box and the welding robot arm;

[0009] A protective shell, installed on the outside of the welding robot arm, is used to prevent airflow from affecting the welding robot arm;

[0010] The protective shell includes a protective plate, which is fixedly connected to the top of the left side of the lifting box. A protective cover is fitted on the surface of the welding robotic arm. A rotating rod is fixedly connected to the left side of the inner cavity of the protective cover. The front and back of the lifting box are fixedly connected to the surface of the rotating rod through bearing seats. The front and rear sides of the left side of the protective cover are hinged to the front and rear sides of the top of the movable base through shafts. Tension springs are vertically fixedly connected to the inner sides of the two sets of connecting plates.

[0011] A square plate, located at the top of the screw, is used to drive the screw barrel.

[0012] In the above technical solution, preferably, the auxiliary support includes a support plate, which is fixedly connected to the top of the front and back of the intermediate box. A lifting rod is fixedly connected to the bottom of the support plate. An inner cylinder is sleeved on the surface of the lifting rod. An inclined groove is opened on the surface of the inner cylinder. A sliding rod is fixedly connected to the bottom of the left side of the lifting rod. The sliding rod is slidably connected inside the inclined groove.

[0013] The front and back of the movable base are fixedly connected with screw sleeves. The screw sleeves are internally threaded with threaded cylinders. The inner walls of the threaded cylinders are provided with sliding grooves on both sides. The inner cylinders are fixedly connected with sliders located inside the sliding grooves on both sides. The right side of the threaded cylinders is fixedly connected with a diagonal brace plate.

[0014] In the above technical solution, preferably, a support ring is fixedly connected to the top of the threaded cylinder surface, and a bellows is fixedly connected to the bottom of the support ring, with the bottom of the bellows contacting the top of the threaded sleeve.

[0015] In the above technical solution, preferably, the adaptive anti-shake mechanism includes a rotating sleeve, which is slidably fitted onto the surface of the rotating rod. The inner wall of the rotating sleeve is in contact with the surface of the protective cover. A retaining sleeve is fixedly connected to both the front and back of the protective cover. The retaining sleeve is fitted onto the surface of the rotating sleeve. A spring piece is fixedly connected to the bottom of the inner wall of the retaining sleeve. The top of the spring piece is fixedly connected to the bottom of the rotating sleeve. A magnet piece is fixedly embedded in the top of the rotating sleeve.

[0016] In the above technical solution, preferably, a second corrugated pipe is vertically fixedly connected to the inner side of both sets of connecting plates, and the second corrugated pipe is located outside the tension spring.

[0017] In the above technical solution, preferably, an arc-shaped plate is fixedly connected to the center of the top of the rotating rod, and the bottom of the arc-shaped plate is in contact with the top of the protective plate.

[0018] In the above technical solution, preferably, a warning component is provided on the right side of the intermediate box. The warning component includes a T-shaped plate, which is fixedly connected to the top of the right side of the intermediate box. The front and rear sides of the bottom of the T-shaped plate are fixedly connected to connecting rods via bearings. An infrared sensor is fixedly connected to the bottom of the connecting rods. An audible and visual alarm is fixedly connected to the front and rear sides of the top of the T-shaped plate.

[0019] In the above technical solution, preferably, a storage box is fixedly connected to both the front and rear sides of the left side of the mobile base. The storage box is fitted onto the surface of the infrared sensor. A limit switch is fixedly connected inside the storage box, and the top of the limit switch contacts the bottom of the T-shaped plate.

[0020] In the above technical solution, preferably, a sealing ring one is fixedly connected to the top of the fixed box, the inner wall of the sealing ring one is in contact with the surface of the intermediate box, and a sealing ring two is fixedly connected to the top of the intermediate box, the inner wall of the sealing ring two is in contact with the surface of the lifting box.

[0021] In the above technical solution, preferably, a lifting component is provided on the left side of the protective plate, the lifting component includes a concave plate, a lifting plate is hinged inside the concave plate through a shaft, and a pull rod is fixedly connected to the top of the left side of the protective plate.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0023] 1. This invention, through a three-layer nested structure of a fixed box, an intermediate box, and a lifting box, combined with a transmission design of a geared motor, screw, and screw barrel, enables precise height adjustment of the welding robotic arm. It can adapt to the welding needs at different height positions in shipbuilding, without the need for complex scaffolding or lifting platforms, thus improving welding efficiency. It also allows the welding gun to be aligned with the weld at a suitable angle, ensuring a stable welding arc, good weld formation, and reducing welding defects.

[0024] 2. The present invention, through the support plate, lifting rod, inner cylinder and inclined groove in the auxiliary support component, can improve the support stability of the lifting box and welding robot arm after the lifting box is raised. Moreover, the whole can be folded when not in use, reducing the space occupied, facilitating movement, and ensuring the accuracy and quality of welding operations when welding at high positions.

[0025] 3. The present invention, through the protective plate, protective cover, rotating rod and connecting plate in the protective shell, can effectively block the airflow at high altitudes, reduce the interference of ambient wind on the welding arc, ensure good welding effect when welding at high altitudes on ships, improve welding quality and efficiency, and prevent the welding head from deviating from its trajectory due to ambient wind, thus preventing the welding position from being deviated. Attached Figure Description

[0026] Figure 1 is a schematic diagram of the structure of the present invention;

[0027] Figure 2 is a cross-sectional schematic diagram of the fixing box of the present invention;

[0028] Figure 3 is a schematic diagram of the threaded cylinder of the present invention;

[0029] Figure 4 is a cross-sectional schematic diagram of the threaded sleeve of the present invention;

[0030] Figure 5 is a cross-sectional schematic diagram of the storage box of the present invention;

[0031] Figure 6 is a schematic diagram of the connecting plate of the present invention;

[0032] Figure 7 is a cross-sectional schematic diagram of the protective plate of the present invention;

[0033] Figure 8 is a schematic diagram of the inner cylinder of the present invention;

[0034] Figure 9 is a schematic diagram of the protective cover of the present invention after rotation.

[0035] In the diagram: 1. Movable base; 2. Welding robotic arm; 3. Height adjustment component; 31. Fixed box; 32. Intermediate box; 33. Lifting box; 34. Gear motor; 35. Screw; 36. Screw barrel; 37. Auxiliary support component; 371. Support plate; 372. Lifting rod; 373. Inner cylinder; 374. Inclined groove; 375. Sliding rod; 376. Screw sleeve; 377. Threaded cylinder; 378. Slide groove; 379. Sliding block; 3710. Diagonal brace plate; 38. Protective shell; 381. Protective plate; 382. Protective cover; 383. 384. Rotating rod; 385. Connecting plate; 386. Tension spring; 387. Adaptive anti-shake mechanism; 3888. Rotating sleeve; 3888. Stop sleeve; 3888. Spring piece; 3888. Magnetic piece; 39. Square plate; 4. Support ring; 5. Bellows I; 6. Bellows II; 7. Arc plate; 8. T-shaped plate; 9. Connecting rod; 10. Infrared sensor; 11. Audible and visual alarm; 12. Storage box; 13. Limit switch; 14. Sealing ring I; 15. Sealing ring II; 16. Concave plate; 17. Lifting plate; 18. Pull rod. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] As shown in Figures 1 to 3, this invention provides a multi-machine collaborative intelligent mobile welding robot for shipbuilding based on flexible manufacturing, including a mobile base 1, a welding robotic arm 2 mounted on the top of the mobile base 1, and further comprising:

[0038] The height adjustment component 3 is located at the bottom of the welding robotic arm 2 and is used to adjust the height of the welding robotic arm 2.

[0039] The height adjustment component 3 includes a fixed box 31, which is fixedly connected to the inside of the movable base 1. An intermediate box 32 is provided inside the fixed box 31, and a lifting box 33 is provided inside the intermediate box 32. The top of the lifting box 33 is fixedly connected to the bottom of the welding robotic arm 2.

[0040] A geared motor 34 is fixedly connected to the bottom of the inner wall of the fixed box 31. The geared motor 34 consists of a motor and a worm gear reducer. A screw 35 is fixedly connected to the output end of the geared motor 34. The surface of the screw 35 is threadedly connected to the inner wall of the intermediate box 32. A screw cylinder 36 is fixedly connected to the bottom of the inner wall of the intermediate box 32 through a bearing seat. The surface of the screw cylinder 36 is threadedly connected to the inner wall of the lifting box 33.

[0041] Auxiliary support components 37 are provided on the front and back of the lifting box 33 to improve the stability of the lifting box 33 and the welding robotic arm 2.

[0042] The protective shell 38 is located on the outside of the welding robotic arm 2 to prevent the airflow from affecting the welding robotic arm 2.

[0043] The protective shell 38 includes a protective plate 381, which is fixedly connected to the top of the left side of the lifting box 33. A protective cover 382 is fitted on the surface of the welding robotic arm 2. A rotating rod 383 is fixedly connected to the left side of the inner cavity of the protective cover 382. The front and back of the lifting box 33 are fixedly connected to the surface of the rotating rod 383 through bearing seats. The front and rear sides of the left side of the protective cover 382 are hinged to the front and rear sides of the top of the movable base 1 through shafts. A tension spring 385 is vertically fixedly connected to the inner side of the two sets of connecting plates 384.

[0044] Specifically, the tension spring 385 is a stainless steel tension spring. As the height of the welding robotic arm 2 increases, the welding area is farther from the ground and more susceptible to the influence of airflow from above. Airflow may disrupt the welding arc. By setting up the protective shell 38, the interference of airflow on the welding area can be effectively prevented, solving the problem that airflow may cause instability in the welding arc. When the lifting box 33 rises, the lifting box 33 will drive the rotating rod 383 to move upward through the bearing seat. The rotating rod 383 will drive the top connecting plate 384 to move upward. The connecting plate 384 stretches the tension spring 385. At the same time, the protective cover 382 will rotate around the rotating rod 383. When the tension spring 385 is in a vertical state, the protective cover 382 will also be in a vertical state and provide wind protection for the welding robotic arm 2. This ensures that good welding results can be maintained when welding at high altitudes on the ship, improving welding quality and efficiency, and preventing the welding head from deviating from its trajectory due to ambient wind, which could cause deviations in the welding position.

[0045] A square plate 39 is disposed on the top of the screw 35 and is used to drive the screw barrel 36. The inner wall of the screw barrel 36 is square, and the surface of the square plate 39 is in contact with the inner wall of the screw barrel 36.

[0046] Specifically, the mobile base 1 moves using a tracked walking mechanism. The track consists of drive wheels, guide wheels, carrier wheels, and a track chain. The drive wheels are driven by a motor to rotate, which in turn moves the track chain, allowing the robot to walk on the ground. This tracked structure provides significant traction and stability, adapting to different terrains and surface conditions. The welding robotic arm 2 is equipped with a welding system, including a welding power source, wire feeding mechanism, and welding torch. The welding power source provides the electrical energy required for welding, and the wire feeding mechanism delivers the welding wire to the welding torch at a set speed. At the tip of the welding torch, the welding wire melts under the influence of current and an electric arc, fusing with the base material to form a weld. Simultaneously, the robot precisely controls the movement trajectory and welding speed of the welding torch through a control system. Both the mobile base 1 and the welding robotic arm 2 utilize existing, mature technologies.

[0047] As shown in Figures 3 and 4, the auxiliary support 37 includes a support plate 371, which is fixedly connected to the top of the front and back of the intermediate box 32. A lifting rod 372 is fixedly connected to the bottom of the support plate 371. An inner cylinder 373 is sleeved on the surface of the lifting rod 372. An inclined groove 374 is opened on the surface of the inner cylinder 373. A sliding rod 375 is fixedly connected to the bottom of the left side of the lifting rod 372. The sliding rod 375 is slidably connected inside the inclined groove 374.

[0048] The front and back of the movable base 1 are fixedly connected with screw sleeves 376. The screw sleeves 376 are internally threaded with threaded cylinders 377. The inner walls of the threaded cylinders 377 are provided with sliding grooves 378 on both sides. The inner cylinders 373 are fixedly connected with sliders 379 located inside the sliding grooves 378 on both sides. The right side of the threaded cylinders 377 is fixedly connected with a diagonal brace plate 3710.

[0049] Specifically, the slide bar 375 is made of wear-resistant steel, and the inclined groove 374 is L-shaped. Due to the change in height of the welding robotic arm 2, its center of gravity also changes. A higher position will raise the center of gravity of the overall structure, making it prone to swaying or tipping when subjected to external forces. The auxiliary support 37 can provide additional support for the lifting box 33 and the welding robotic arm 2, reducing the risk of swaying and tipping, ensuring the smooth progress of the welding process, and improving welding accuracy. When the intermediate box 32 moves upward, it will drive the lifting rod 372 and the slide bar 375 to move upward through the support plate 371. The slide bar 375 is in the inclined groove 374. While sliding inside 74, the inner cylinder 373 will rotate. The inner cylinder 373 drives the threaded cylinder 377 to rotate through the slider 379 and the groove 378. Since the threaded cylinder 377 and the threaded sleeve 376 are threadedly engaged, the threaded cylinder 377 will rotate and move downward, so that the threaded cylinder 377 and the inclined support plate 3710 contact the ground to support and limit the lifting box 33, thereby improving its stability. When the sliding rod 375 rises a certain distance inside the inclined groove 374, it will enter the square cavity of the inclined groove 374. At this time, the inner cylinder 373 will not rotate, and the sliding rod 375 and the lifting box 33 can continue to rise.

[0050] As shown in Figures 1 to 9, a support ring 4 is fixedly connected to the top of the surface of the threaded sleeve 377, and a bellows 5 is fixedly connected to the bottom of the support ring 4. The bottom of the bellows 5 contacts the top of the threaded sleeve 376.

[0051] Specifically, the support ring 4 and the bellows 5 can effectively prevent dust, debris and other impurities from entering the connection between the threaded sleeve 376 and the threaded cylinder 377, avoid wear, corrosion and jamming caused by the accumulation of impurities, extend the service life of the threaded sleeve 376 and the threaded cylinder 377, and ensure the stability of the rotation of the threaded cylinder 377.

[0052] As shown in Figures 1 and 9, the adaptive image stabilization mechanism 386 includes a rotating sleeve 3861, which is slidably sleeved on the surface of the rotating rod 383. The inner wall of the rotating sleeve 3861 is in contact with the surface of the protective cover 382. The front and back of the protective cover 382 are fixedly connected with retaining sleeves 3862, which are sleeved on the surface of the rotating sleeve 3861. The bottom of the inner wall of the retaining sleeve 3862 is fixedly connected with a spring piece 3863, and the top of the spring piece 3863 is fixedly connected to the bottom of the rotating sleeve 3861. A magnet piece 3864 is fixedly embedded in the top of the rotating sleeve 3861.

[0053] Specifically, when welding at a higher position on the side of the ship, although the protective cover 382 can resist airflow interference, it is prone to swaying and shaking under the influence of wind, which is caused by the lifting box 33 driving the welding robot arm 2. This results in deviation of the welding trajectory and a decrease in welding quality. However, by setting up an adaptive anti-shaking mechanism 386, the reverse force generated by the elastic deformation of the spring piece 3863 is used to press the rotating sleeve 3861 against the surface of the hull, thus limiting the left and right movement of the protective cover 382. The magnetic piece 3864 is attracted to the hull to limit the front and rear movement of the protective cover 382, ​​forming a double stabilizing design. This effectively prevents the protective cover 382 from swaying, improves the protective effect, and enhances the stability of the entire device.

[0054] As shown in Figures 1 and 6, bellows tube 2 6 is vertically fixedly connected to the inner side of both sets of connecting plates 384, and bellows tube 2 6 is located on the outer side of tension spring 385.

[0055] An arc-shaped plate 7 is fixedly connected to the center of the top of the rotating rod 383, and the bottom of the arc-shaped plate 7 contacts the top of the protective plate 381.

[0056] Specifically, the bellows 6 can protect the tension spring 385 from collisions and wear caused by foreign objects, thus improving the service life of the tension spring 385; the arc plate 7 can limit the rotation angle of the rotating rod 383, preventing the rotating rod 383 and the protective cover 382 from rotating too much, which would cause the protective cover 382 to fail to rotate and reset effectively, thus improving the stability of the protective cover 382.

[0057] As shown in Figures 5 to 9, a warning assembly is provided on the right side of the intermediate box 32. The warning assembly includes a T-shaped plate 8, which is fixedly connected to the top of the right side of the intermediate box 32. The front and rear sides of the bottom of the T-shaped plate 8 are fixedly connected to a connecting rod 9 by bearings. An infrared sensor 10 is fixedly connected to the bottom of the connecting rod 9. An audible and visual alarm 11 is fixedly connected to the front and rear sides of the top of the T-shaped plate 8.

[0058] Specifically, the welding robotic arm 2 may generate strong light and flying sparks when working, which may cause injury to people and equipment that are close by. At the same time, people and vehicles may also accidentally bump into the mobile base 1. By adding an adjustable infrared sensor 10, the surrounding environment can be monitored in real time. When an object enters the sensing range, an alarm can be issued in time through the sound and light alarm 11 to remind the operator and people around to pay attention to safety.

[0059] As shown in Figures 5 to 9, storage boxes 12 are fixedly connected to the front and rear sides of the left side of the movable base 1. The storage boxes 12 are fitted onto the surface of the infrared sensor 10. A limit switch 13 is fixedly connected inside the storage boxes 12. The top of the limit switch 13 contacts the bottom of the T-shaped plate 8.

[0060] Specifically, the infrared sensor 10 contains an emitting element that emits infrared rays. When an object enters the sensing area, the object's surface reflects some infrared rays, which are captured by the sensor's receiving element. The limit switch 13 includes structures such as springs and levers, which, upon contact, push the contacts to close or open, thus controlling the circuit's on / off state. The audible and visual alarm 11 includes structures such as a buzzer and a light-emitting diode. When the infrared sensor 10 detects an abnormality, it sends an electrical signal to the audible and visual alarm 11. The control circuit receives the signal, processes and amplifies it to drive the subsequent sound and light-emitting elements. Device 10, audible and visual alarm 11, and limit switch 13 are all existing mature technologies. When the intermediate box 32 rises, the T-shaped plate 8 moves upward and releases the pressure on the limit switch 13. The limit switch 13 activates the infrared sensor 10, which detects surrounding objects. When the lifting box 33 descends, the T-shaped plate 8 moves the infrared sensor 10 downward into the storage box 12. The T-shaped plate 8 presses the top of the limit switch 13, causing the limit switch 13 to turn off the infrared sensor 10, thus achieving an automatic switching effect.

[0061] As shown in Figure 2, a sealing ring 14 is fixedly connected to the top of the fixed box 31. The inner wall of the sealing ring 14 is in contact with the surface of the intermediate box 32. A sealing ring 25 is fixedly connected to the top of the intermediate box 32. The inner wall of the sealing ring 25 is in contact with the surface of the lifting box 33.

[0062] Specifically, sealing ring 14 can seal the gap between the fixed box 31 and the intermediate box 32, and sealing ring 15 can seal the gap between the intermediate box 32 and the lifting box 33, preventing dust from entering the interior of the intermediate box 32 and the fixed box 31, thereby affecting the smoothness of movement.

[0063] As shown in Figure 7, a lifting assembly is provided on the left side of the protective plate 381. The lifting assembly includes a concave plate 16. A lifting plate 17 is hinged inside the concave plate 16 via a shaft. An elliptical anti-slip groove is provided on the top of the lifting plate 17. A pull rod 18 is fixedly connected to the top of the left side of the protective plate 381.

[0064] Specifically, in ship welding operations, the weld seam may be located at a high position, making it difficult for operators on the ground to see the specific condition of the weld seam. By using the lifting plate 17 to raise the personnel to a designated height, the operators can observe the weld seam up close and promptly detect problems such as uneven weld seam and porosity. When in use, the operator can rotate the lifting plate 17 to make it horizontal, then stand on the top of the lifting plate 17, hold the pull rod 18, and start the reduction motor 34 to raise the operator, making it convenient for the operator to observe the welding situation.

[0065] Working principle and usage process of this invention:

[0066] When welding is required at a higher position on the surface of the ship, the geared motor 34 is started. The geared motor 34 drives the screw 35 to rotate. The screw 35 drives the intermediate box 32 to move upward through the thread. The intermediate box 32 drives the screw barrel 36 to move upward. When the screw 35 rotates, it drives the screw barrel 36 to rotate through the square plate. The screw barrel 36 drives the lifting box 33 and the welding robot arm 2 to move upward through the thread.

[0067] When the intermediate box 32 moves upward, it will drive the lifting rod 372 and the sliding rod 375 to move upward through the support plate 371. While the sliding rod 375 slides inside the inclined groove 374, it will drive the inner cylinder 373 to rotate. The inner cylinder 373 drives the threaded cylinder 377 to rotate through the slider 379 and the sliding groove 378. Since the threaded cylinder 377 and the threaded sleeve 376 are threadedly engaged, the threaded cylinder 377 will rotate and move downward, so that the threaded cylinder 377 and the inclined support plate 3710 contact the ground to support and limit the lifting box 33.

[0068] Simultaneously, when the lifting box 33 rises, the lifting box 33 will drive the rotating rod 383 to move upward through the bearing seat. The rotating rod 383 will drive the top connecting plate 384 to move upward. The connecting plate 384 will stretch the tension spring 385. At the same time, the protective cover 382 will rotate around the rotating rod 383 as the center. When the tension spring 385 is in a vertical state, the protective cover 382 will also be in a vertical state and will provide wind protection for the welding robotic arm 2, so that the welding robotic arm 2 can perform stable welding on the ship at a higher position, thereby achieving the advantage of conveniently raising the robotic arm for welding.

[0069] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0070] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-machine collaborative intelligent mobile welding robot for shipbuilding based on flexible manufacturing, comprising a mobile base (1), wherein a welding robotic arm (2) is disposed on the top of the mobile base (1), characterized in that, Also includes: A height adjustment component (3) is provided at the bottom of the welding robotic arm (2) for adjusting the height of the welding robotic arm (2); the height adjustment component (3) includes a fixed box (31), which is fixedly connected to the inside of the movable base (1), and an intermediate box (32) is provided inside the fixed box (31). A lifting box (33) is provided inside the intermediate box (32), and the top of the lifting box (33) is fixedly connected to the bottom of the welding robotic arm (2); a reduction motor (34) is fixedly connected to the bottom of the inner wall of the fixed box (31), and a screw (35) is fixedly connected to the output end of the reduction motor (34). The inner wall of the intermediate box (32) is threadedly connected to the surface of the intermediate box (32). The bottom of the inner wall of the intermediate box (32) is fixedly connected to the screw cylinder (36) through the bearing seat. The surface of the screw cylinder (36) is threadedly connected to the inner wall of the lifting box (33). The auxiliary support (37) is set on the front and back of the lifting box (33) to improve the stability of the lifting box (33) and the welding robot arm (2). The protective shell (38) is set on the outside of the welding robot arm (2) to prevent the airflow from affecting the welding robot arm (2). The protective shell (38) includes a protective plate (381). The protective plate (381) is fixedly connected to the top of the left side of the lifting box (33). The welding robot arm ( 2) The surface is fitted with a protective cover (382). A rotating rod (383) is fixedly connected to the left side of the inner cavity of the protective cover (382). The front and back of the lifting box (33) are fixedly connected to the surface of the rotating rod (383) through bearing seats. The front and rear sides of the left side of the protective cover (382) are hinged to the front and rear sides of the top of the movable base (1) through shafts. Tension springs (385) are fixedly connected vertically to the inner sides of the two sets of connecting plates (384). An adaptive anti-shake mechanism (386) is provided on the surface of the protective cover. The adaptive anti-shake mechanism (386) includes a rotating sleeve (3861). The rotating sleeve (3861) is slidably sleeved on the surface of the rotating rod (383). The inner wall of the rotating sleeve (3861) is in contact with the surface of the protective cover (382). The front and back of the protective cover (382) are fixedly connected with a retainer (3862). The retainer (3862) is sleeved on the surface of the rotating sleeve (3861). The bottom of the inner wall of the retainer (3862) is fixedly connected with a spring piece (3863). The top of the spring piece (3863) is fixedly connected to the bottom of the rotating sleeve (3861). The top of the rotating sleeve (3861) is fixedly embedded with a magnet piece (3864). A square plate (39) is set on the top of the screw (35) for driving the screw barrel (36).

2. The welding robot for shipbuilding based on flexible manufacturing and multi-machine collaborative intelligent mobile welding robot according to claim 1, characterized in that: The auxiliary support component (37) includes a support plate (371), which is fixedly connected to the top of the front and back of the intermediate box (32). A lifting rod (372) is fixedly connected to the bottom of the support plate (371). An inner cylinder (373) is fitted onto the surface of the lifting rod (372). An inclined groove (374) is formed on the surface of the inner cylinder (373). A sliding rod (375) is fixedly connected to the bottom of the left side of the lifting rod (372). The sliding connection is inside the inclined groove (374); the front and back of the movable base (1) are fixedly connected with screw sleeves (376), the screw sleeves (376) are threadedly connected to the inside of the screw sleeves (376), the inner walls of the threaded cylinder (377) are provided with sliding grooves (378) on both sides, the inner cylinder (373) is fixedly connected to sliders (379) located inside the sliding grooves (378) on both sides, and the right side of the threaded cylinder (377) is fixedly connected to a diagonal brace (3710).

3. The welding robot for shipbuilding based on flexible manufacturing and multi-machine collaborative intelligent mobile design, as described in claim 2, is characterized in that: A support ring (4) is fixedly connected to the top of the surface of the threaded cylinder (377), and a bellows (5) is fixedly connected to the bottom of the support ring (4). The bottom of the bellows (5) contacts the top of the threaded sleeve (376).

4. The welding robot for shipbuilding based on flexible manufacturing and multi-machine collaborative intelligent mobile design, as described in claim 1, is characterized in that: Both sets of connecting plates (384) are vertically fixed to the inner side of a second bellows (6), which is located outside the tension spring (385).

5. The welding robot for shipbuilding based on flexible manufacturing and multi-machine collaborative intelligent mobile welding robot according to claim 1, characterized in that: An arc-shaped plate (7) is fixedly connected to the center of the top of the rotating rod (383), and the bottom of the arc-shaped plate (7) is in contact with the top of the protective plate (381).

6. The welding robot for shipbuilding based on flexible manufacturing and multi-machine collaborative intelligent mobile welding robot according to claim 1, characterized in that: A warning assembly is provided on the right side of the intermediate box (32). The warning assembly includes a T-shaped plate (8). The T-shaped plate (8) is fixedly connected to the top of the right side of the intermediate box (32). The front and rear sides of the bottom of the T-shaped plate (8) are fixedly connected to a connecting rod (9) through bearings. An infrared sensor (10) is fixedly connected to the bottom of the connecting rod (9). An audible and visual alarm (11) is fixedly connected to the front and rear sides of the top of the T-shaped plate (8).

7. The welding robot for shipbuilding based on flexible manufacturing and multi-machine collaborative intelligent mobile design as described in claim 6, characterized in that: Storage boxes (12) are fixedly connected to the front and rear sides of the left side of the mobile base (1). The storage boxes (12) are fitted on the surface of the infrared sensor (10). A limit switch (13) is fixedly connected inside the storage box (12). The top of the limit switch (13) is in contact with the bottom of the T-shaped plate (8).

8. The welding robot for shipbuilding based on flexible manufacturing and multi-machine collaborative intelligent mobile design, as described in claim 1, is characterized in that: The top of the fixed box (31) is fixedly connected with a sealing ring one (14), the inner wall of the sealing ring one (14) is in contact with the surface of the intermediate box (32), and the top of the intermediate box (32) is fixedly connected with a sealing ring two (15), the inner wall of the sealing ring two (15) is in contact with the surface of the lifting box (33).

9. A multi-machine collaborative intelligent mobile welding robot for shipbuilding based on flexible manufacturing, as described in claim 1, characterized in that: A lifting assembly is provided on the left side of the protective plate (381). The lifting assembly includes a concave plate (16). A lifting plate (17) is hinged inside the concave plate (16) via a shaft. A pull rod (18) is fixedly connected to the top of the left side of the protective plate (381).

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