A ship steel structure welding robot

Abstract

This invention provides a welding robot for ship steel structures, belonging to the field of intelligent welding. It includes an intelligent robot for welding ship steel structures. The intelligent robot comprises a mechanical body, with an integrated wire-feeding welding torch connected to the welding output end of the mechanical body. A vision scanning camera is mounted on the outer wall of the mechanical body, located on one side of the integrated wire-feeding welding torch. The vision scanning camera is equipped with a vision lens protection and cleaning device to prevent weld slag from covering the camera lens. A control cabinet is mounted on the mechanical body, and a welding fume treatment device is mounted on the mechanical body, located on one side of the control cabinet, to prevent welding fumes from affecting visual clarity. The design of this application fully considers the complex working conditions of ship steel structure welding, and through multiple protection and treatment measures, effectively addresses problems such as weld slag spatter and fume pollution, reducing the risk of damage to key components of the welding robot and extending the service life of the equipment.

Description

Technical Field

[0001] This invention relates to the field of intelligent welding, and more specifically, to a welding robot for ship steel structures. Background Technology

[0002] Ship steel structure is a hull structure made of steel plates and shaped steel, connected by welding and other processes. It comprises the hull's main components, including the outer shell, deck, bulkheads, and keel. The hull shell is in direct contact with seawater, bearing water pressure and wave impact; the deck serves as the ship's working platform, supporting the weight of cargo, equipment, and personnel; bulkheads separate the ship's compartments, ensuring the ship's watertightness and buoyancy; and the keel is the main longitudinal support structure, ensuring the hull's longitudinal strength and stability.

[0003] As the main load-bearing structure of a ship, the welding quality of its steel structure directly affects the ship's safety, reliability, and service life. Traditional ship steel structure welding mainly relies on manual welding, which has many drawbacks. Firstly, manual welding is inefficient and cannot meet the demands of large-scale, mass production in modern shipbuilding. Secondly, welding quality is greatly affected by human factors such as the welder's skill level and working conditions, easily leading to welding defects such as porosity, slag inclusions, and cracks. Furthermore, during manual welding, welders are exposed to harsh environments such as high temperatures, arc light, and fumes for extended periods, posing a serious threat to their health. The incidence of occupational diseases among welders remains high, and the staff turnover rate is rising year by year, exacerbating the shortage of skilled welding personnel in the shipbuilding industry.

[0004] To address the challenges of manual welding, welding robots are increasingly being applied in the field of shipbuilding steel structure welding. While existing welding robots have improved welding efficiency and quality stability to some extent, they still have shortcomings. Shipbuilding steel structures are characterized by their complex structures and diverse weld seam forms (straight lines, curves, three-dimensional weld seams, etc.). Before welding, welding robots need to visually scan the weld seam to generate motion commands before execution. However, during actual welding, the large amounts of smoke and dust generated during shipbuilding steel structure welding quickly reduce the clarity of the vision system, leading to weld seam recognition errors and subsequently causing problems such as motion path deviation and welding deformation. Furthermore, existing welding robot vision lenses lack effective protective cleaning devices, and weld slag spatter easily adheres to the lens surface, forming obstructions and severely interfering with visual positioning accuracy. This makes it difficult for welding robots to accurately track the weld seam, hindering their application and widespread adoption in shipbuilding steel structure welding. Summary of the Invention

[0005] In existing technologies, the large amounts of smoke and dust generated during the actual welding process of ship steel structures rapidly reduce the clarity of the vision system, leading to weld seam recognition errors and subsequently causing problems such as motion path deviation and welding deformation. Furthermore, existing welding robot vision lenses lack effective protective cleaning devices, allowing weld spatter to easily adhere to the lens surface and obstruct vision, severely interfering with visual positioning accuracy and making it difficult for the welding robot to accurately track the weld seam. The purpose of this invention is to provide a ship steel structure welding robot.

[0006] To solve the above problems, the present invention adopts the following technical solution.

[0007] A ship steel structure welding robot includes an intelligent robot for welding ship steel structures. The intelligent robot includes a mechanical body, an integrated wire feeding welding gun connected to the welding output end of the mechanical body, a vision scanning camera installed on the outer wall of the mechanical body located on one side of the integrated wire feeding welding gun, a vision lens protection and cleaning device installed on the vision scanning camera to prevent welding slag from covering the vision scanning camera lens, a control cabinet installed on the mechanical body, and a welding fume treatment device installed on the mechanical body located on one side of the control cabinet to prevent welding fumes from affecting visual clarity.

[0008] The visual scanning camera includes a scanning camera body. A protective frame is provided outside the lens on the side of the scanning camera body near the welding torch head. An embedded through hole is provided in the middle of the protective frame. The embedded through hole is circular in structure. A protective retaining ring is provided on the protective frame outside the embedded through hole.

[0009] Optionally, the vision lens protection and cleaning device includes a protective cleaning cover and a cleaning drive component. The protective cleaning cover is circular in shape. An annular embedded ring is provided on the side of the protective cleaning cover near the inner wall. Abutting and fastening spring is provided on the outer walls of both sides of the annular embedded ring. A magnetic suction ring is embedded outside the annular embedded ring and inside the protective cleaning cover.

[0010] Optionally, the cleaning drive component is located inside the embedded through hole. The cleaning drive component includes a drive motor, an outer circumferential gear ring, a drive gear, a driven gear, and a first bearing seat. The annular embedded ring is sleeved inside one end of the outer circumferential gear ring. The ends of the two abutting fastening springs abut against the inner circumferential wall of the outer circumferential gear ring. The drive gear is engaged on one side of the outer circumferential gear ring and is fixedly sleeved on the output end of the drive motor. The drive motor is connected to the inner wall of one side of the embedded through hole. The driven gear is engaged on the other side of the outer circumferential gear ring and is connected to the first bearing seat via a shaft. The first bearing seat is connected to the inner wall of the other side of the embedded through hole.

[0011] Optionally, when the outer circumferential gear ring is embedded inside the embedded through hole, the inner wall of the protective cleaning cover near the outer edge is connected to the outer wall of the protective frame.

[0012] Optionally, the drive motor is electrically connected to the control mainboard inside the control cabinet via a wire.

[0013] Optionally, the welding fume treatment device includes an activated carbon mesh, a treatment box, a reverse blowing heating regeneration component, and an activated carbon mesh automatic replacement component. The treatment box is fixedly located on the outer wall of the mechanical body, and a fume treatment hole is provided through the outer wall of the treatment box on the side near the integrated wire feeding welding gun.

[0014] The automatic activated carbon mesh replacement assembly includes a replacement motor, a replacement drive roller, a replacement driven roller, and a second bearing housing. One end of the replacement driven roller is equipped with an anti-loosening and reverse-rotation limiting device. Both ends of the replacement drive roller are connected to the inner wall of the treatment box on one side of the dust treatment hole via the second bearing housing. Both ends of the replacement driven roller are connected to the inner wall of the treatment box on the other side of the dust treatment hole via the second bearing housing. One end of the activated carbon mesh is wound up and connected to the replacement drive roller, and the other end of the activated carbon mesh is wound up and connected to the replacement driven roller. The replacement motor is located on the outer wall of the treatment box. One end of the replacement drive roller passes through the second bearing housing and is connected to the output end of the replacement motor via a coupling.

[0015] Optionally, the anti-loosening and reversing limiting component includes a limiting abutment post, a first spring, and a limiting post. The limiting post is symmetrically fixed on the outer walls of both sides of the limiting abutment post. One end of the limiting abutment post penetrates through the second bearing seat and abuts against the outer wall of the replacement driven roller inside it. One end of the first spring is sleeved on the bottom of the outer circumferential wall of the other end of the limiting abutment post and connected to the limiting post. The other end of the first spring is connected to the second bearing seat.

[0016] Optionally, the reverse jet heating and regeneration assembly includes a circulating fan, a dust collection bag, and a jet pipe. The air inlet of the circulating fan is located at the outlet of the dust treatment hole and connected to the activated carbon mesh. The air outlet of the circulating fan is connected to the air inlet of the jet pipe. The outlet of the jet pipe is located on the side of the activated carbon mesh away from the connecting surface on the side of the replacement drive roller. The dust collection bag is located on the side of the activated carbon mesh away from the jet pipe and extends through the treatment box to its outside.

[0017] Optionally, the replacement motor and circulating fan are electrically connected to the control mainboard inside the control cabinet via wires.

[0018] Optionally, multiple air outlet guide plates are provided at equal intervals along the length of the activated carbon mesh at the outlet of the blowpipe, and the multiple air outlet guide plates face the activated carbon mesh at different angles.

[0019] Compared with the prior art, the technical solution provided by this invention has at least the following beneficial effects:

[0020] 1. The vision lens protection and cleaning device effectively blocks welding slag splashes by utilizing centrifugal force through the rotation of the protective cleaning cover. The design of the magnetic suction ring and the retaining spring ensures that the protective cleaning cover is firmly connected to the outer circumferential gear ring and tightly fitted to the protective frame, allowing for stable rotation and preventing welding slag from adhering to the surface of the vision scanning camera lens. Simultaneously, the gear transmission structure in the cleaning drive component ensures smooth and high-speed rotation of the protective cleaning cover, keeping the lens always clear and effectively avoiding weld seam recognition errors caused by lens obstruction. This reduces welding robot movement path deviation and welding deformation problems, significantly improving welding accuracy and quality.

[0021] 2. In the welding fume treatment device, the activated carbon mesh can efficiently adsorb the fumes and dust generated during welding, purifying the welding environment and preventing fumes and dust from affecting the clarity of the visual system. The automatic activated carbon mesh replacement component can quickly replace the old and new activated carbon meshes when the mesh is saturated, by replacing the active roller and driven roller driven by a replacement motor, ensuring continuous fume treatment. The anti-loosening and reverse-rotation limiting component, through the cooperation of the limiting abutment post and the first spring, prevents the driven roller from accidentally reversing, ensuring tight contact with the fume treatment hole and stable winding of the activated carbon mesh.

[0022] 3. Since high-temperature gases are generated during welding, the reverse-jet heating regeneration component uses a circulating fan to blow filtered high-temperature gas through a jet pipe onto the saturated activated carbon mesh, causing desorption of the adsorbate and regeneration of the activated carbon mesh. The multi-angled air guide plates at the jet pipe outlet ensure even coverage of the activated carbon mesh surface, improving regeneration efficiency. During regeneration, desorbed pollutants are collected by a dust collection bag, preventing secondary pollution. This design not only reduces operating costs but also decreases solid waste generation, meeting environmental protection requirements.

[0023] 4. The design of this application fully considers the complex working conditions of welding ship steel structures. Through various protective and treatment measures, it effectively addresses issues such as weld spatter and fume pollution, reducing the risk of damage to key components of the welding robot and extending the service life of the equipment. Simultaneously, the blowpipe's air outlet guide plate allows it to adapt to different welding processes and environmental requirements, enhancing the equipment's versatility and adaptability. Attached Figure Description

[0024] The accompanying drawings, which are incorporated herein and form part of the specification, illustrate embodiments of the invention and, together with the specification, further serve to explain the principles of the invention and enable those skilled in the art to practice and use the invention.

[0025] Figure 1 This is an overall isometric view of the present invention;

[0026] Figure 2 This is a side view of the intelligent robot of the present invention;

[0027] Figure 3 This is an overall bottom view of the present invention;

[0028] Figure 4 For the present invention Figure 3 Enlarged view of area A in the middle;

[0029] Figure 5 This is a schematic diagram of the structure of the vision lens protection and cleaning device of the present invention;

[0030] Figure 6 This is a schematic diagram of the welding fume treatment device of the present invention;

[0031] Figure 7 For the present invention Figure 6 Enlarged view of area B in the middle;

[0032] Figure 8 This is a top view of the circulating fan of the present invention.

[0033] [Figure Labels]

[0034] 1. Mechanical body; 2. Integrated wire feeding welding gun;

[0035] 3. Visual scanning camera; 31. Scanning camera body; 32. Protective frame; 33. Embedded through hole; 34. Protective retaining ring; 4. Visual lens protective cleaning device; 41. Protective cleaning cover; 42. Annular embedded ring; 43. Abutment fastening spring; 44. Magnetic ring; 45. Drive motor; 46. Outer circumferential gear ring; 47. Driving gear; 48. Driven gear; 49. First bearing seat;

[0036] 5. Control cabinet;

[0037] 6. Welding fume treatment device; 61. Activated carbon mesh for absorption; 62. Treatment box; 63. Fume treatment hole; 64. Replace motor; 65. Replace drive roller; 66. Replace driven roller; 67. Second bearing seat; 68. Anti-loosening and reverse rotation limit component; 681. Limiting abutment post; 682. First spring; 683. Limiting post; 69. Circulating fan; 70. Dust collection bag; 71. Pulse jet pipe.

[0038] As shown in the figure, specific structures and devices are marked in the figure to clearly illustrate the structure of the embodiments of the present invention. However, this is only for illustrative purposes and is not intended to limit the present invention to this specific structure, device and environment. Those skilled in the art can adjust or modify these devices and environments according to specific needs. Detailed Implementation

[0039] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. It should also be noted that, to make the embodiments more comprehensive, the following embodiments are the best and preferred embodiments. For some well-known technologies, those skilled in the art can also use other alternative methods to implement the invention; moreover, the accompanying drawings are only for more specific description of the embodiments and are not intended to specifically limit the present invention.

[0040] All devices in this application adopt conventional models in the prior art, and the control method is through a controller. The control circuit of the controller can be implemented by simple programming by those skilled in the art, which is common knowledge in the field, so this application will not explain it in detail.

[0041] Please see the appendix Figures 1-8As shown, this embodiment of the invention provides a ship steel structure welding robot, including an intelligent robot for welding ship steel structures. The intelligent robot includes a mechanical body 1, with an integrated wire feeding welding gun 2 connected to the welding output end of the mechanical body 1. A vision scanning camera 3 is installed on the outer wall of the mechanical body 1 located on one side of the integrated wire feeding welding gun 2. Through the cooperation of the mechanical body 1, the integrated wire feeding welding gun 2, and the vision scanning camera 3, an organic whole is formed to jointly complete the welding task of the ship steel structure. The mechanical body 1 is the basic support structure of the entire robot, providing an installation platform and motion foundation for other components. It can perform various actions according to a pre-set program, driving the integrated wire feeding welding gun 2 to the designated welding point. The integrated wire-feeding welding torch 2 is connected to the welding output end of the mechanical body 1, responsible for feeding welding wire to the welding area and performing welding operations. It works in conjunction with the mechanical body 1 to ensure the smooth progress of the welding process. The visual scanning camera 3 includes a scanning camera body 31. A protective frame 32 is provided outside the lens of the scanning camera body 31 near the welding torch head. An embedded through hole 33 is provided in the middle of the protective frame 32. The embedded through hole 33 is circular. A protective retaining ring 34 is provided on the protective frame 32 outside the embedded through hole 33. The scanning camera body 31 performs visual scanning of the weld seam of the ship's steel structure through the lens. The protective frame 32 and the protective retaining ring 34 outside the lens provide preliminary protection and reduce the direct splashing of welding slag onto the lens. The weld information obtained from the scan is transmitted to the control cabinet 5 to generate welding motion commands. The visual scanning camera 3 is equipped with a lens protection and cleaning device 4 to prevent weld spatter from covering the camera lens. This device plays a crucial role, continuously protecting and cleaning the lens during the welding process through a specific structure and drive mechanism, ensuring lens clarity. When weld spatter splashes onto the protective device, it can be removed promptly to avoid affecting the normal operation of the lens. Simultaneously, the lens protection and cleaning device 4 works closely with the visual scanning camera 3 without affecting the camera's normal scanning function. The main body 1 is equipped with a control cabinet 5, which is the core of the entire robot's control system. It receives weld seam information transmitted from the visual scanning camera 3, processes and analyzes it using internal algorithms, generates corresponding motion commands, and sends these commands to the main body 1 to control its motion trajectory and welding parameters. Simultaneously, the control cabinet 5 can also control the visual lens protection and cleaning device 4 and the welding fume treatment device 6, ensuring coordinated operation between components. Located on one side of the control cabinet 5, the main body 1 is equipped with a welding fume treatment device 6 to prevent welding fumes from affecting visual clarity. The main function of the welding fume treatment device 6 is to prevent welding fumes from affecting the clarity of the visual scanning camera 3. During the welding process, it collects and treats the generated fumes.The welding fume treatment device 6 removes harmful substances and particulate matter from the fumes, allowing the purified air to be released into the environment. It is interconnected with the visual scanning camera 3, effectively reducing the interference of fumes on the vision system and ensuring that the visual scanning camera 3 can accurately acquire weld information.

[0042] During operation, the mechanical body 1 drives the vision scanning camera 3 to scan the weld seam and generate welding instructions. During the welding execution phase, the mechanical body 1 positions the welding torch according to the instructions and starts welding. At the same time, the vision lens protection and cleaning device 4 prevents welding slag, and the welding fume treatment device 6 purifies the air to ensure clear vision. During real-time monitoring and adjustment, the vision scanning camera 3 feeds back the weld seam image. After comparison and analysis, the control cabinet 5 adjusts the mechanical movement and welding parameters, and optimizes the protection and fume treatment devices. When welding ends, the control cabinet 5 stops welding, the mechanical body 1 resets, the system stores the analysis data, and the operator cleans and maintains the equipment, replaces consumables, and prepares for the next operation.

[0043] The intelligent robot of this application realizes automated welding operations, reduces manual intervention, and increases welding speed. The vision lens protection and cleaning device 4 effectively prevents welding slag from damaging the lens and extends the service life of the vision scanning camera 3. The welding fume treatment device 6 reduces the corrosion of the robot's components by the fume and lowers the equipment failure rate. The coordinated work between the components also improves the stability of the entire robot system and ensures the continuous operation of welding.

[0044] Please see the appendix Figure 2 , Figure 3 and Figure 5As shown, the vision lens protection and cleaning device 4 includes a protective cleaning cover 41 and a cleaning drive component. The vision lens protection and cleaning device 4 prevents welding slag from splashing and covering the lens of the vision scanning camera 3. All components work closely together to ensure the clarity of the camera lens and provide accurate visual information for welding operations. The protective cleaning cover 41 has a circular structure. An annular embedded ring 42 is provided on the side of the protective cleaning cover 41 near the inner wall. A retaining spring 43 is provided on the outer walls of both sides of the annular embedded ring 42. A magnetic ring 44 is embedded inside the protective cleaning cover 41 outside the annular embedded ring 42. The annular embedded ring 42 on the inner wall of the protective cleaning cover 41 is fitted onto one end of the outer circumferential gear ring 46, and the two sides are tightly abutted. The end of the retaining spring 43 abuts against the inner circumferential wall of the outer circumferential gear ring 46, making the protective cleaning cover 41 tightly connected to the outer circumferential gear ring 46. At the same time, the magnetic ring 44 enhances the installation stability of the protective cleaning cover 41. When the outer circumferential gear ring 46 is embedded in the through hole 33, the inner wall of the outer edge of the protective cleaning cover 41 is in contact with the outer wall of the protective frame 32, further ensuring the protective effect. The cleaning drive component is located inside the through hole 33. The cleaning drive component includes a drive motor 45, an outer circumferential gear ring 46, a driving gear 47, a driven gear 48, and a first bearing seat 49. The annular embedded ring 42 is sleeved inside one end of the outer circumferential gear ring 46. The ends of the two retaining springs 43 abut against the outer circumferential gear ring 46. The inner circumferential wall of the gear ring 46 abuts against the outer circumferential gear ring 46. The driving gear 47 meshes with one side of the outer circumferential gear ring 46 and is fixedly sleeved on the output end of the drive motor 45. The drive motor 45 is connected to the inner wall of one side of the through hole 33. The driven gear 48 meshes with the other side of the outer circumferential gear ring 46 and is connected to the first bearing seat 49 via a shaft. The first bearing seat 49 is connected to the inner wall of the other side of the through hole 33. The drive motor 45 is fixed to the inner wall of one side of the through hole 33, and its output end driving gear 47 meshes with one side of the outer circumferential gear ring 46. The driven gear 48 is connected to the first bearing seat 49 via a shaft. The first bearing seat 49 is fixed on the inner wall of the outer circumferential gear ring 46. On the other side of the inner wall of the through hole 33, the driven gear 48 meshes with the other side of the outer circumferential gear ring 46. After the drive motor 45 starts, the driving gear 47 rotates, driving the outer circumferential gear ring 46 to rotate. The driven gear 48 plays an auxiliary transmission and stabilizing role, thereby enabling the protective cleaning cover 41 to rotate at high speed. When the outer circumferential gear ring 46 is embedded in the through hole 33, the inner wall of the protective cleaning cover 41 near the outer edge is connected to the outer wall of the protective frame 32. The drive motor 45 is electrically connected to the control main board inside the control cabinet 5 through wires. The control cabinet 5 can control the start, stop and speed of the drive motor 45 according to the actual situation of the welding operation, so as to realize the intelligent control of the protective cleaning cover 41.

[0045] After the welding robot starts, the control cabinet 5 sends a start signal to the drive motor 45. The drive motor 45 is powered on and starts running. The drive gear 47 at its output end starts to rotate. Through gear meshing, the outer circumferential gear ring 46 rotates accordingly, driving the protective cleaning cover 41 connected to it to rotate at high speed. At this time, the abutment spring 43 and the magnetic ring 44 work together to ensure that the protective cleaning cover 41 is firmly installed on the protective frame 32, forming a protective barrier. During the welding process, welding slag continuously splashes. The protective cleaning cover 41 continues to rotate at high speed, using centrifugal force to throw away the welding slag that falls on it in time. When the splashed welding slag comes into contact with the protective cleaning cover 41, the centrifugal force generated by the rotation... The force cannot adhere to the weld slag, which is quickly thrown away, thus preventing the weld slag from covering the lens of the visual scanning camera 3 and ensuring that the camera can clearly scan the weld. The control cabinet 5 monitors the welding operation status in real time. When the visual scanning camera 3 detects that the welding operation intensity has increased and the weld slag spatter has increased, the control cabinet 5 increases the speed of the drive motor 45, which makes the rotation speed of the protective cleaning cover 41 faster, enhances the centrifugal force, and improves the protective cleaning effect. If the welding operation intensity decreases, the control cabinet 5 reduces the speed of the drive motor 45 to save energy. After the welding is completed, the control cabinet 5 sends a command to stop the drive motor 45 and the protective cleaning cover 41 stops rotating, waiting for the next operation to start.

[0046] It should be noted that in this embodiment, during the high-speed rotation of the protective cleaning cover 41, centrifugal force is used to promptly remove the welding slag that splashes onto it, preventing the welding slag from adhering to the lens, providing reliable protection for the visual scanning camera 3, ensuring that the lens always remains clear, and guaranteeing the accuracy of weld seam identification.

[0047] Furthermore, the design of the retaining spring 43 and the magnetic ring 44 ensures that the protective cleaning cover 41 is firmly installed and is not easy to loosen or fall off during high-speed rotation. At the same time, the transmission structure of the drive gear 47, the outer circumferential gear ring 46 and the driven gear 48 is stable, ensuring the smooth rotation of the protective cleaning cover 41 and improving the reliability and durability of the device.

[0048] Furthermore, through the control cabinet 5, the drive motor 45 can adjust its speed according to actual needs, realizing the intelligent operation of the protective cleaning cover 41. When the welding operation is intense and there is a lot of welding slag spatter, the speed of the protective cleaning cover 41 can be increased to enhance the protection and cleaning effect, thereby improving the automation and efficiency of the welding operation.

[0049] Please see the appendix Figure 1 , Figure 3 , Figure 6 , Figure 7 and Figure 8The welding fume treatment device 6 shown includes an activated carbon mesh 61, a treatment box 62, a reverse-jet heating and regeneration component, and an automatic activated carbon mesh replacement component. The treatment box 62 is fixedly located on the outer wall of the machine body 1. A fume treatment hole 63 is provided through the outer wall of the treatment box 62 on the side near the integrated wire-feeding welding gun 2. The treatment box 62 serves as a carrier, fixed to the outer wall of the machine body 1. The fume treatment hole 63 faces the integrated wire-feeding welding gun 2, providing a channel for the fume to enter. The automatic activated carbon mesh replacement component, the reverse-jet heating and regeneration component, and the activated carbon mesh 61 cooperate with each other and are uniformly controlled by the control cabinet 5. The entire process of dust adsorption, activated carbon mesh replacement and regeneration is completed. The activated carbon mesh 61 has a highly developed pore structure. When the dust generated from the welding of the ship's steel structure enters through the dust treatment hole 63 of the treatment box 62 and comes into contact with the activated carbon mesh 61, the particulate matter and harmful gas molecules in the dust will be adsorbed on the pore surface of the activated carbon mesh due to the van der Waals forces between molecules. This physical adsorption is similar to a magnet attracting iron filings. As long as the dust molecules approach the pores of the activated carbon, they will be captured by the adsorption force, thereby achieving the interception and adsorption of solid particles and some organic pollutants in the dust.The automatic activated carbon mesh replacement assembly includes a replacement motor 64, a replacement drive roller 65, a replacement driven roller 66, and a second bearing seat 67. The two ends of the replacement drive roller 65 are connected to the inner wall of the treatment box 62 on one side of the dust treatment hole 63 via the second bearing seat 67. The two ends of the replacement driven roller 66 are connected to the inner wall of the treatment box 62 on the other side of the dust treatment hole 63 via the second bearing seat 67. One end of the activated carbon mesh 61 is wound up and connected to the replacement drive roller 65, and the other end of the activated carbon mesh 61 is wound up and connected to the replacement driven roller 66. The replacement motor 64 is located on the outer wall of the processing box 62. One end of the replacement drive roller 65 passes through the second bearing seat 67 and is connected to the output end of the replacement motor 64 via a coupling. After the replacement motor 64 is powered on, it drives the replacement drive roller 65 to rotate, which in turn drives the replacement driven roller 66 to rotate synchronously through the activated carbon mesh 61. When the activated carbon mesh 61 is saturated, the control cabinet 5 controls the replacement motor 64 to start, moving the saturated activated carbon mesh from the replacement drive roller 65 to the replacement driven roller 66 side for winding. At the same time, a new activated carbon mesh is rolled onto the replacement drive roller 65. The activated carbon mesh unfolds and replaces automatically, eliminating the need for frequent manual operation. This ensures continuous fume treatment during welding, improves welding efficiency, and prevents fume treatment failure due to untimely replacement of saturated activated carbon mesh. One end of the driven roller 66 is equipped with an anti-loosening and reverse-rotation limiting component 68. This component includes a limiting abutment post 681, a first spring 682, and a limiting post 683. The limiting posts 683 are symmetrically positioned on both sides of the limiting abutment post 681. On the wall, one end of the limiting abutment post 681 passes through the second bearing seat 67 and abuts against the outer wall of the replacement driven roller 66 inside it. One end of the first spring 682 is sleeved on the bottom of the outer circumferential wall of the other end of the limiting abutment post 681 and connected to the limiting post 683. The other end of the first spring 682 is connected to the second bearing seat 67. In the anti-loosening and reverse rotation limiting part 68, the limiting abutment post 681 is tightly pressed against the outer wall of the replacement driven roller 66 under the elastic force of the first spring 682 to prevent it from accidentally reversing and to ensure that the activated carbon net winding process is stable and orderly.

[0050] The reverse-jet heating and regeneration assembly includes a circulating fan 69, a dust collection bag 70, and a jet pipe 71. The air inlet of the circulating fan 69 is located at the outlet of the dust treatment hole 63 and connected to the activated carbon mesh 61. The air outlet of the circulating fan 69 is connected to the air inlet of the jet pipe 71. The outlet of the jet pipe 71 is located on the side of the activated carbon mesh 61 away from the connecting surface on the side of the replacement drive roller 65. The dust collection bag 70 is located on the side of the activated carbon mesh 61 away from the jet pipe 71. The dust collection bag 70 extends through the treatment box 62 to its outside to prevent the internal temperature of the treatment box 62 from becoming too high. The gas passing through the dust collection bag 70 can be connected to external heating equipment for replacement. Motor 64 and circulating fan 69 are electrically connected to the control mainboard inside control cabinet 5 via wires. Circulating fan 69 draws in high-temperature gas filtered through activated carbon mesh 61 and sprays it in reverse through blowpipe 71 to clean the saturated activated carbon mesh. The dust removed by the blowpipe falls into dust collection bag 70. Multiple air outlet guide plates are evenly spaced along the length of activated carbon mesh 61 at the outlet of blowpipe 71, facing the mesh at different angles. This ensures that hot air evenly covers the surface of the activated carbon mesh, promoting the desorption of adsorbed dust and other substances. The desorbed pollutants are blown into dust collection bag 70 by the airflow. The regenerated activated carbon mesh 61 can be reused, meeting environmental protection requirements.

[0051] It should be noted that in this embodiment, the flue gas generated during welding is at a high temperature. Through air, adsorption filtration, and fan transport, it exchanges heat with other equipment and the relatively cooler ambient air, dissipating heat to the external environment via heat conduction and radiation, further reducing the flue gas temperature. Through these natural heat dissipation processes, the temperature of the high-temperature flue gas is lowered, bringing it closer to the 100-200°C temperature range required for activated carbon mesh regeneration. This ensures that the gas temperature sprayed onto the activated carbon mesh is suitable, guaranteeing the efficient execution of the reverse-jet heating regeneration process.

[0052] Welding fumes enter through the fume treatment port 63 of the treatment box 62 and are adsorbed and filtered by the activated carbon mesh 61. When the activated carbon mesh is saturated, the control cabinet 5 controls the replacement motor 64 to start, driving the replacement drive roller 65 and the replacement driven roller 66 to roll up the saturated activated carbon mesh. A new mesh is unfolded to replace it. The circulating fan 69 draws in the filtered high-temperature gas and sprays it in the opposite direction through the blowpipe 71 onto the saturated activated carbon mesh. The air outlet guide plate makes the hot air evenly cover the mesh, promoting the desorption of adsorbents. The pollutants are blown into the dust collection bag 70 for collection, realizing the regeneration of the activated carbon mesh.

[0053] This application automatically adsorbs fumes and dust, maintaining a clean working environment. The activated carbon mesh is automatically replaced, ensuring uninterrupted fume treatment and improving welding efficiency. It utilizes waste heat from the flue gas for regeneration, saving energy and reducing consumption. The anti-loosening and reversing limit component 68 ensures the stability of the activated carbon mesh. The multi-angle air outlet guide plate improves the regeneration effect, extends the service life of the activated carbon mesh, and reduces costs. The system operates automatically, reducing manual intervention.

[0054] This invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of this invention. To provide the public with a thorough understanding of this invention, specific details are described in detail in the following preferred embodiments; however, those skilled in the art will fully understand the invention even without these details. Furthermore, to avoid unnecessary misunderstanding of the essence of this invention, well-known methods, processes, procedures, components, and circuits are not described in detail.

[0055] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A ship steel structure welding robot comprising an intelligent robot for welding a ship steel structure, characterized by, The intelligent robot comprises a mechanical body (1), the mechanical body (1) is connected with an integral wire feeding welding gun (2), a visual scanning camera (3) is arranged on the outer wall of the mechanical body (1) on one side of the integral wire feeding welding gun (2), a visual lens protection and cleaning device (4) is arranged on the visual scanning camera (3) to prevent the lens of the visual scanning camera (3) from being covered by splashed welding slag, a control cabinet (5) is arranged on the mechanical body (1), and a welding fume treatment device (6) is arranged on the mechanical body (1) on one side of the control cabinet (5) to prevent the visual clarity from being affected by welding fume; The visual scanning camera (3) comprises a scanning camera body (31), a protection frame (32) is arranged outside the lens on the side close to the welding gun head, a through embedding hole (33) is formed in the middle of the protection frame (32), the through embedding hole (33) is in a circular structure, and a protection blocking ring (34) is arranged on the protection frame (32) outside the through embedding hole (33); The visual lens protection and cleaning device (4) comprises a protection and cleaning cover (41) and a cleaning driving element, the protection and cleaning cover (41) is in a circular structure, an annular embedding ring (42) is arranged on the side close to the inner wall of the protection and cleaning cover (41), abutting fastening springs (43) are arranged on the outer walls on the two sides of the annular embedding ring (42), and a magnetic attraction ring (44) is embedded in the inner part of the protection and cleaning cover (41) outside the annular embedding ring (42); The cleaning driving element is located in the through embedding hole (33), and the cleaning driving element comprises a driving motor (45), an outer circumferential gear ring (46), a driving gear (47), a driven gear (48) and a first bearing seat (49); the annular embedding ring (42) is sleeved on one end of the outer circumferential gear ring (46) in the inner part, the ends of the two abutting fastening springs (43) abut against the inner circumferential wall of the outer circumferential gear ring (46), the driving gear (47) is meshed on one side of the outer circumferential gear ring (46), the driving gear (47) is fixedly sleeved on the output end of the driving motor (45), the driving motor (45) is connected with the inner wall on one side of the through embedding hole (33), the driven gear (48) is meshed on the other side of the outer circumferential gear ring (46), the driven gear (48) is connected with the first bearing seat (49) through a shaft, and the first bearing seat (49) is connected with the inner wall on the other side of the through embedding hole (33); when the outer circumferential gear ring (46) is embedded in the through embedding hole (33), the inner wall close to the outer edge of the protection and cleaning cover (41) is connected with the outer wall of the protection frame (32); and the driving motor (45) is electrically connected with the control mainboard in the control cabinet (5) through wires.

2. The ship steel structure welding robot according to claim 1, characterized by, The welding fume treatment device (6) comprises an absorption activated carbon screen (61), a treatment box (62), a reverse blowing heating regeneration assembly and an activated carbon screen automatic replacement assembly, the treatment box (62) is fixed on the outer wall of the mechanical body (1), and a fume treatment hole (63) is formed in the outer wall of the treatment box (62) near one side of the integrated wire feeding welding gun (2). The activated carbon screen automatic replacement assembly comprises a replacement motor (64), a replacement driving roller (65), a replacement driven roller (66) and a second bearing seat (67), one end of the replacement driven roller (66) is provided with an anti-loosening reverse limiting piece (68), the two ends of the replacement driving roller (65) are connected with the inner wall of the treatment box (62) on one side of the fume treatment hole (63) through the second bearing seat (67), the two ends of the replacement driven roller (66) are connected with the inner wall of the treatment box (62) on the other side of the fume treatment hole (63) through the second bearing seat (67), one end of the absorption activated carbon screen (61) is wound and connected with the replacement driving roller (65), the other end of the absorption activated carbon screen (61) is wound and connected with the replacement driven roller (66), the replacement motor (64) is located on the outer wall of the treatment box (62), and one end of the replacement driving roller (65) penetrates through the second bearing seat (67) and is connected with the output end of the replacement motor (64) through a shaft coupling.

3. The ship steel structure welding robot according to claim 2, characterized in that, The anti-loosening reverse limiting piece (68) comprises a limiting abutting column (681), a first spring (682) and a limiting column (683), the limiting column (683) is fixed on the outer walls on the two sides of the limiting abutting column (681) in a symmetrical structure, one end of the limiting abutting column (681) penetrates through the second bearing seat (67) and abuts against the outer wall of the replacement driven roller (66) in the second bearing seat (67), one end of the first spring (682) is sleeved on the outer circumferential wall of the other end of the limiting abutting column (681) and connected with the limiting column (683), and the other end of the first spring (682) is connected with the second bearing seat (67).

4. The shipbuilding steel structure welding robot according to claim 3, characterized by, The reverse blowing heating regeneration assembly comprises a circulating fan (69), a dust collection bag (70) and a blowing pipe (71), the air inlet of the circulating fan (69) is located at the outlet of the fume treatment hole (63) and abuts against the absorption activated carbon screen (61), the air outlet of the circulating fan (69) is connected with the air inlet of the blowing pipe (71), the dust collection bag (70) is located on the side, away from the blowing pipe (71), of the absorption activated carbon screen (61), the dust collection bag (70) penetrates through the treatment box (62) and extends to the outside of the treatment box (62), the high-temperature gas filtered through the absorption activated carbon screen (61) is sucked into the circulating fan (69) and is blown back through the blowing pipe (71) to clean the saturated activated carbon screen.

5. The shipbuilding steel structure welding robot according to claim 4, characterized by, The replacement motor (64) and the circulating fan (69) are electrically connected with a control mainboard in the control cabinet (5) through wires.

6. The shipbuilding steel structure welding robot according to claim 4, characterized by, The outlet of the injection pipe (71) is provided with multiple air outlet guide plates along the length direction of the absorption activated carbon net (61) at equal intervals, and the multiple air outlet guide plates are at different angles towards the absorption activated carbon net (61).

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