Automatic welding equipment for ship deck components

Abstract

The present invention discloses an automated assembly and welding device for ship deck components, which relates to the technical field of shipbuilding. The device comprises an equipment support warehouse, wherein the interior of the equipment support warehouse is slidably connected to an installation slide, a top surface of the installation slide is provided with a welding robot, the interior of the equipment support warehouse is rotatably connected to a second ball screw, the second ball screw is threadedly connected to the installation slide, and one side of the device support warehouse is provided with a driving motor 1 for driving the second ball screw to rotate. By cooperating with a laser scanner, a second electric push rod, a movable clamp, a welding robot, a sliding bracket, a fourth driving motor, a fourth ball screw, a sliding base, a first fixed base, a micro motor, a first ball screw, a sliding table, a positioning rod, a first transmission rod, a second transmission rod and a third transmission rod, the beam can be straightened, and continuous correction of the T-beam and the beam during the deck welding process can be achieved, thereby improving the overall welding quality and achieving a welding auxiliary effect for the welding robot.

Description

Technical Field

[0001] The present invention relates to the technical field of shipbuilding, and in particular to automated assembly and welding equipment for ship deck components. Background Art

[0002] A ship is a structure that has the ability to navigate on water, is designed for movement, and has an independent buoyancy carrier. It is mainly used to transport personnel, cargo, or perform operational tasks. It has a closed hull, a propulsion system (such as propellers and sails), and control equipment (rudder, navigation system). The deck is a continuous horizontal plate frame structure that is laterally separated inside or outside the ship. It constitutes a key part of the longitudinal and transverse strength of the hull, and directly bears loads, equipment, and personnel activities. It participates in the overall longitudinal bending resistance of the hull, and can also divide cabins and bear the weight of cargo, equipment, vehicles, and people. In general, the deck is the horizontal "floor" skeleton of the ship. It is both the strength backbone of the hull and the load-bearing platform for all activities. There are also reinforcing structures such as T-beams and crossbeams under the deck. The T-beams and crossbeams need to be welded to the deck to further enhance the strength of the deck.

[0003] After extensive research, it was discovered that there were problems with deck welding in the existing technology. Since workers would weld T-beams and crossbeams to the bottom surface of the deck, the temperature of the weld area on the T-beams and crossbeams during welding could reach thousands of degrees Celsius, much higher than the surrounding metal. This caused the weld area to expand greatly, while the surrounding cold metal limited its expansion. When cooling, the weld contracted, but was constrained by the surrounding metal, generating residual stress and plastic deformation, causing the T-beams and crossbeams to deform. On the other hand, the cross-sections of the T-beams and crossbeams were asymmetrical, and the welds were concentrated on one side, resulting in bending deformation or angular deformation, which further exacerbated the deformation of the T-beams and crossbeams. After welding, the T-beams and crossbeams were bent, the welding quality was reduced, and the subsequent use of the deck was affected. Therefore, based on the above search and combined with the existing technology, an automated assembly and welding equipment for ship deck components was proposed to solve the above problems. Summary of the Invention

[0004] The object of the present invention is to provide an automated assembly and welding device for ship deck components to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] An automated welding device for ship deck components, comprising: an equipment support compartment, a mounting slide being slidably connected to the interior of the equipment support compartment, a welding robot being mounted on the top surface of the mounting slide, a second ball screw being rotatably connected to the interior of the equipment support compartment, the second ball screw being threadedly connected to the mounting slide, and a first drive motor being mounted on one side of the equipment support compartment for driving the second ball screw to rotate;

[0007] A welding auxiliary mechanism, which is provided on one side of the equipment support bin and is used to assist the welding robot in welding the deck;

[0008] The welding auxiliary mechanism includes a fixed mounting frame, the internal rotatable connection of the fixed mounting frame, an electric push rod 1 is installed on the internal side of the fixed frame, the telescopic shaft of the electric push rod 1 passes through the fixed frame and a support plate is fixedly installed on one end of the fixed frame, two positioning connecting blocks are fixedly installed on one side of the fixed frame, two connecting seats are provided on one side of the fixed frame, a straightening push plate is fixedly installed on one side of the connecting seat, both sides of the support plate are rotatably connected to a movable rod 1, the corner of the movable rod 1 is rotatably connected to the positioning connecting block, one end of the movable rod 1 is rotatably connected to the connecting seat, the top and bottom surfaces of the positioning connecting block are rotatably connected to movable rod 2, and one end of the movable rod 2 is rotatably connected to the connecting seat, a mounting bracket is installed on one side of the welding robot, and a high-resolution camera for monitoring the T-beam is fixedly installed on the bottom surface of the mounting bracket.

[0009] The cam is connected to the support frame of the equipment supporting bin, and the cam is connected to the support frame by a screw thread on the outer wall of the cam, and the cam is connected to the support frame by a screw thread on the outer wall of the cam. It is connected to a ball screw 1, and a micro motor for driving the ball screw 1 to rotate is installed on the bottom surface of the fixed base 1. A movable mounting frame is provided on both sides of the fixed base 2, and two mounting blocks are fixedly installed on both sides of the fixed base 2. A transmission rod 3 is rotatably connected between the two mounting blocks, and one end of the transmission rod 3 is rotatably connected to the movable mounting frame. A transmission rod 2 is rotatably connected between the two mounting blocks, and one end of the transmission rod 2 is rotatably connected to the movable mounting frame. Both sides of the sliding table are rotatably connected with a transmission rod 1, and the upper end of the transmission rod 1 is coaxially connected to the transmission rod 2. A movable clamp is fixedly installed on the top surface of the movable mounting frame, and a swingable laser scanner is provided on one side of the welding robot.

[0010] Furthermore, the interior of the fixed mounting frame is rotatably connected to a mounting base, one side of the fixed frame is fixedly connected to one side of the mounting base, and one side of the fixed mounting frame is equipped with a second driving motor for driving the mounting base to rotate.

[0011] Furthermore, a positioning limiting hole is opened on one side of the equipment support bin, a limiting block 1 is fixedly installed on one side of the mounting slide, the limiting block 1 is slidingly connected to the positioning limiting hole, and one side of the fixed mounting frame is fixedly connected to one side of the limiting block 1.

[0012] Furthermore, two limit frames are fixedly installed on one side of the sliding base, a sliding support rod is fixedly installed inside the limit frame, and connecting sliders are fixedly installed on both sides of the interior of the sliding bracket, and the connecting sliders are slidably connected to the sliding support rods.

[0013] Furthermore, a component rack is fixedly installed on one side of the welding robot, and a support base is fixedly installed on the top and bottom surfaces of the component rack. A movable block is rotatably connected to one side of the support base, a connecting rod three is fixedly installed between two of the movable blocks, and a swing rack is fixedly installed between the two movable blocks. One side of the swing rack is fixedly connected to one side of the laser scanner, and one side of the component rack is rotatably connected to a connecting rod one. A driving motor three for driving the connecting rod one to rotate is installed inside the component rack, and one side of the connecting rod one is slidably connected to a movable rod three. A sliding sleeve is fixedly installed on one side of the movable rod three, and the sliding sleeve is slidably connected to the connecting rod three.

[0014] Furthermore, the bottom surface of the equipment support bin is slidably connected to several support positioning frames, the interior of the support positioning frame is rotatably connected to a ball screw three, the outer circular wall surface of the ball screw three is threadedly connected to a positioning connecting frame, both ends of the positioning connecting frame pass through the support positioning frame and are fixedly installed with electromagnetic suction cups, the outer circular wall surface of the ball screw three is fixedly sleeved with a bevel gear two, one side of the support positioning frame is fixedly installed with a side frame, the inner side of the side frame is rotatably connected to a support roller, one end of the support roller passes through the support positioning frame and is fixedly installed with a bevel gear one, and the bevel gear one is meshed with the bevel gear two.

[0015] Furthermore, an adjustment slot is provided on one side of the equipment support bin, and a sliding block is fixedly installed on one side of the adjustment bracket. The sliding block is an iron structure, and the sliding block is slidably connected to the adjustment slot. An electromagnet is fixedly installed on one side of the sliding block and the inner side of the adjustment slot.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] Through the equipment support warehouse, the staff will place the equipment support warehouse on the top surface of multiple T-beams on the deck. The welding robot can weld the T-beams, beams and decks. The welding robot, mounting bracket, high-resolution camera, fixed mounting frame, fixed frame, straightening push plate, electric push rod 1, support plate, movable rod 1, connecting seat and movable rod 2 cooperate with each other to achieve the correction of T-beams.

[0018] By cooperating with each other, the laser scanner, the second electric push rod, the movable clamp, the welding robot, the sliding bracket, the fourth drive motor, the fourth ball screw, the sliding base, the first fixed base, the micro motor, the first ball screw, the sliding table, the positioning rod, the first transmission rod, the second transmission rod and the third transmission rod can straighten the beam, realize continuous correction of the T-beam and the beam during the deck welding process, improve the overall welding quality, achieve the welding auxiliary effect of the welding robot, and help to process the ship deck. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the connection structure between the mounting slide and the ball screw rod 2 of the present invention;

[0021] Figure 3 for Figure 2 A is an enlarged schematic diagram of the local structure of the middle part;

[0022] Figure 4 This is a schematic diagram of the connection structure between the mounting bracket and the high-resolution camera of the present invention;

[0023] Figure 5 for Figure 4 A magnified schematic diagram of the local structure of B in the middle;

[0024] Figure 6 This is a bottom view schematic diagram of the equipment support bin structure of the present invention;

[0025] Figure 7 for Figure 6 A magnified schematic diagram of the local structure of C in the middle;

[0026] Figure 8 Schematic diagram of the connection structure between the sliding block and the adjusting chute of the present invention;

[0027] Figure 9 This is a schematic diagram of the connection structure between the sliding base and the electric push rod 2 of the present invention;

[0028] Figure 10 It is a schematic diagram of the connection structure of the movable mounting frame and the transmission rod three of the present invention.

[0029] In the figure: 1. Equipment support warehouse; 2. Mounting slide; 3. Welding robot; 4. Transmission rod 1; 5. Ball screw 1; 6. Movable mounting frame; 7. Welding auxiliary mechanism; 8. Positioning limit hole; 9. Limit block 1; 10. Fixed mounting frame; 11. Ball screw 2; 12. Drive motor 1; 13. Mounting base; 14. Drive motor 2; 15. Electric push rod 1; 16. Support plate; 17. Fixed frame; 18. Positioning connecting block; 19. Movable rod 1; 20. Movable rod 2; 21. Connecting seat; 22. Straightening push plate; 23. Mounting bracket; 24. High-resolution camera; 25. Component rack; 26. Drive motor 3; 27. Connecting rod 1; 28. Support base; 29. ​​Movable block; 30. Swing frame; 31. Laser scanner; 32. Connecting rod 3; 33. Movable rod 3; 34. 3. Sliding sleeve; 35. Limiting groove; 36. Limiting block 2; 37. Limiting rod; 38. Support positioning frame; 39. Ball screw 3; 40. Side frame; 41. Support roller; 42. Bevel gear 1; 43. Positioning block; 44. Positioning connecting frame; 45. Bevel gear 2; 46. Electromagnetic suction cup; 47. Sliding block; 48. Adjusting slide; 49. Electromagnet; 50. Adjusting bracket; 51. Ball screw 4; 52. Sliding base; 53. Support rod; 54. Drive motor 4; 55. Electric push rod 2; 56. Limiting frame; 57. Sliding support rod; 58. Connecting slider; 59. Sliding bracket; 60. Fixed base 1; 61. Fixed base 2; 62. Positioning rod; 63. Sliding table; 64. Micro motor; 65. Mounting block; 66. Transmission rod 2; 67. Transmission rod 3; 68. Movable clamp. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] In a typical implementation of this application, please refer to Figures 1 to 10 An automated assembly and welding device for ship deck components includes an equipment support chamber 1, an installation slide 2 being slidably connected to the interior of the equipment support chamber 1, a welding robot 3 being bolted to the top surface of the installation slide 2, and the welding robot 3 automatically scanning welds and performing welding. A deck is provided on the bottom surface of the equipment support chamber 1, and a plurality of T-beams are temporarily fixed to the top surface of the deck by spot welding, with a plurality of beam rib holes reserved on the T-beams.

[0032] The interior of the equipment support warehouse 1 is rotatably connected to a ball screw 2 11 through a bearing, and the ball screw 2 11 is threadedly connected to the mounting slide 2. A drive motor 12 for driving the ball screw 2 11 to rotate is installed on one side of the equipment support warehouse 1. One end of the drive shaft of the drive motor 12 passes through the equipment support warehouse 1 and is fixedly connected to one side of the ball screw 2 11. When the drive motor 12 is started, the drive shaft of the drive motor 12 rotates to drive the ball screw 2 11 to rotate. The rotation of the ball screw 2 11 causes the mounting slide 2 to drive the welding robot 3 to move inside the equipment support warehouse 1 to adjust the position of the welding robot 3. The welding auxiliary mechanism 7 is provided on one side of the equipment support warehouse 1 to assist the welding robot 3 in welding the deck;

[0033] The welding auxiliary mechanism 7 includes a fixed mounting frame 10, which is arranged on one side of the equipment support warehouse 1. The internal rotation of the fixed mounting frame 10 is connected to the fixed frame 17. An electric push rod 15 is installed on one side of the internal part of the fixed frame 17. The telescopic shaft of the electric push rod 15 passes through the fixed frame 17 and a support plate 16 is fixedly installed on one end. Two positioning connecting blocks 18 are fixedly installed on one side of the fixed frame 17. Two connecting seats 21 are provided on one side of the fixed frame 17. A straightening push plate 22 is fixedly installed on one side of the connecting seat 21. The straightening push plate 22 is used to squeeze two adjacent T-beam, both sides of the support plate 16 are rotatably connected to a movable rod 19 through a rotating shaft, the corner of the movable rod 19 is rotatably connected to the positioning connection block 18 through a rotating shaft, one end of the movable rod 19 is rotatably connected to the connecting seat 21 through a rotating shaft, the top and bottom surfaces of the positioning connection block 18 are rotatably connected to a movable rod 20 through a rotating shaft, one end of the movable rod 20 is rotatably connected to the connecting seat 21 through a rotating shaft, one side of the welding robot 3 is installed with a mounting bracket 23 by bolts, and the bottom surface of the mounting bracket 23 is fixedly installed with a high-resolution camera 24 for monitoring the T-beam;

[0034] During the process of welding the T-beam and the deck by the welding robot 3, the T-beam may be deformed. After the high-resolution camera 24 detects the deformation, the fixing frame 17 rotates downward by ninety degrees, and the electric push rod 15 drives the support plate 16 to move outward, which causes the two straightening push plates 22 to move outward to support the two adjacent T-beams, so that the T-beam remains horizontal.

[0035] The welding auxiliary mechanism 7 also includes a plurality of adjustment brackets 50, and the plurality of adjustment brackets 50 are all slidably connected to one side of the equipment support bin 1. The inner bottom surface of the adjustment bracket 50 is rotatably connected to a ball screw 4 51 through a bearing. The outer wall surface of the ball screw 4 51 is threadedly connected to a sliding base 52. An electric push rod 2 55 is fixedly installed on one side of the sliding base 52. One end of the telescopic shaft of the electric push rod 2 55 is fixedly installed with a sliding bracket 59. A fixed base 1 60 is fixedly installed on one side of the sliding bracket 59. The top surface of the fixed base 1 60 is fixedly installed with a plurality of A positioning rod 62 is fixedly installed on the top surface of several positioning rods 62 with a fixed base 2 61. A sliding platform 63 is provided between the fixed base 2 61 and the positioning rod 62. The sliding platform 63 is slidably connected to the positioning rod 62. The positioning rod 62 limits the movement of the sliding platform 63. The bottom surface of the fixed base 2 61 is rotatably connected to the ball screw 1 5 through the bearing. The bottom surface of the fixed base 1 60 is installed with a micro motor 64 for driving the ball screw 1 5 to rotate. The driving shaft of the micro motor 64 passes through the fixed base 1 60 and is fixedly connected to the bottom surface of the ball screw 1 5. The micro motor 64 can drive the ball screw 1 5 to rotate. A movable mounting frame 6 is provided on both sides of the fixed base 2 61. Two mounting blocks 65 are fixedly installed on both sides of the fixed base 2 61. A transmission rod 3 67 is rotatably connected between the two mounting blocks 65 through a rotating shaft. One end of the transmission rod 3 67 is rotatably connected to the movable mounting frame 6 through a rotating shaft. A transmission rod 2 66 is rotatably connected between the two mounting blocks 65 through a rotating shaft. One end of the transmission rod 2 66 is rotatably connected to the movable mounting frame 6 through a rotating shaft. Both sides of the sliding platform 63 are rotatably connected through the rotating shaft. It is connected to a transmission rod 4, the upper end of which is coaxially connected to a transmission rod 2 66. A movable clamping block 68 is fixedly installed on the top surface of the movable mounting frame 6. Every two movable clamping blocks 68 form a group, and every two movable clamping blocks 68 correspond to the T-beam. A swingable laser scanner 31 is provided on one side of the welding robot 3. The laser scanner 31 can scan the beam. A PLC controller is fixedly installed on one side of the equipment support warehouse 1. The welding robot 3, the drive motor 12, the laser scanner 31 and the micro motor 64 are all electrically connected to the PLC controller.

[0036] During the welding process of the T-beam, the electric push rod 2 55 drives the fixed base 1 60 to move outward to move the two movable clamps 68 into the beam rib holes on the beam, and the driving motor 4 54 and the ball screw 4 51 cooperate to move the two movable clamps 68 upward until the two movable clamps 68 are respectively on both sides of the beam. At this time, the micro motor 64 drives the ball screw 1 5 to rotate, and the rotation of the ball screw 1 5 allows the movable clamps 68 to clamp the beam through the cooperation of the sliding table 63, the transmission rod 1 4, the transmission rod 2 66 and the transmission rod 3 67. If the beam is found to be bent, multiple groups of movable clamps 68 drive different positions on the beam to move outward or inward under the action of the electric push rod 2 55 to straighten the bent part and assist in welding.

[0037] An adjustment slot 48 is provided on one side of the equipment support bin 1, and a sliding block 47 is fixedly installed on one side of the adjustment bracket 50. The sliding block 47 is made of iron and is slidably connected to the adjustment slot 48. The cross-sections of the sliding block 47 and the adjustment slot 48 are both T-shaped, which provides strong stability. An electromagnet 49 is fixedly installed on one side of the adjustment slot 48. The electromagnet 49 is magnetically connected to the sliding block 47, and the electromagnet 49 is electrically connected to the PLC controller.

[0038] The staff adjusts the position of the adjustment bracket 50 and the movable clamp 68 according to the position of the T-beam. After moving them to the appropriate position, the electromagnet 49 adsorbs the sliding block 47 to lock the position of the adjustment bracket 50, which is highly flexible.

[0039] In the above technical features, through the equipment support warehouse 1 set up, the staff places the equipment support warehouse 1 on the top surface of multiple T-beams on the deck, and the welding robot 3 installed on the slide 2 can weld the T-beams, cross beams and decks. During the automatic welding process of the welding robot 3, the high-resolution camera 24 on the bottom of the mounting bracket 23 can monitor the two T-beams on both sides of the welding robot 3. If the high-resolution camera 24 finds that the T-beam is deformed, the fixed frame 17 inside the fixed mounting frame 10 rotates downward to drive the two straightening push plates 22 to rotate downward to between the two T-beams, and the PLC controller starts the electric push rod 15. The telescopic shaft of the electric push rod 15 moves outward to drive the support plate 16 to move outward. The outward movement of the support plate 16 drives the movable rod 19 to rotate outward. The outward rotation of the movable rod 19 drives the connecting seat 21 and the straightening push plate 22 to move outward, and at the same time causes the movable rod 20 to rotate outward. The outward movement of the two straightening push plates 22 squeezes the two T-beams to achieve correction of the T-beams.

[0040] At the same time, during the welding process, the laser scanner 31 can scan the beam. Taking this solution as an example, the multiple T-beams on the splint are named the first T-beam, the second T-beam, the third T-beam and the fourth T-beam from left to right. Each T-beam has a corresponding electric push rod 2 55 and two movable clamps 68. If the welding robot 3 detects the deformation of the beam when welding the first T-beam, the laser scanner 31 will start the electric push rod 2 55 corresponding to the second T-beam, the third T-beam and the fourth T-beam. The telescopic shaft moves outward, driving the sliding bracket 59 to move outward until the two movable clamping blocks 68 are moved into the beam rib holes. At this time, the two movable clamping blocks 68 are respectively on both sides of the beam. The PLC controller starts the drive motor 4 54. The drive shaft of the drive motor 4 54 rotates, driving the ball screw 4 51 to rotate. The rotation of the ball screw 4 51 causes the sliding base 52 to move upward along the ball screw 4 51. The upward movement of the sliding base 52 drives the fixed base 1 60 and the two movable clamping blocks 68 to move upward to a position above the beam rib holes, facilitating subsequent clamping.

[0041] The PLC controller starts the micro motor 64. The drive shaft of the micro motor 64 rotates to drive the ball screw 1-5. The rotation of the ball screw 1-5 causes the sliding table 63 to move upward along the ball screw 1-5. The upward movement of the sliding table 63 also moves along the multiple positioning rods 62. The positioning rods 62 can limit the movement of the sliding table 63. The outward movement of the sliding table 63 also causes the transmission rod 1-4 to rotate upward. The upward rotation of the transmission rod 1-4 causes the transmission rod 2 66 to rotate upward. The upward rotation of the transmission rod 2 66 drives the movable mounting frame 6 and the movable clamping block 6 8 rotates inwards and simultaneously causes the transmission rod 3 67 to rotate upwards, and the two movable clamps 68 rotate inwards until they clamp the beam. At this time, according to the deformation of the beam scanned by the laser scanner 31, the two movable clamps 68 are driven inwards or outwards by the electric push rod 2 55 to adjust the beam to straighten the deformed position on the beam. In the subsequent welding process of the second T-beam, the electric push rod 2 55 and the movable clamps 68 corresponding to the third T-beam and the fourth T-beam will continue to straighten the beam, and so on until the deck welding is completed;

[0042] During this process, the high temperature during welding may cause the T-beam and the crossbeam to deform. The deformation of the T-beam and the crossbeam is monitored respectively by the high-resolution camera 24 and the laser scanner 31. If the T-beam is deformed, the two straightening push plates 22 support the T-beam to correct the T-beam. If the crossbeam is deformed, the two movable clamps 68 can clamp the crossbeam and then straighten the crossbeam by moving the movable clamps 68, so as to realize continuous correction of the T-beam and the crossbeam during the deck welding process, improve the overall welding quality, achieve the welding auxiliary effect of the welding robot 3, and help to process the ship deck.

[0043] The internal rotation of the fixed mounting frame 10 is connected to the mounting base 13, one side of the fixed frame 17 is fixedly connected to one side of the mounting base 13, and one side of the fixed mounting frame 10 is installed with a driving motor 2 14 for driving the mounting base 13 to rotate. The driving motor 2 14 is electrically connected to the PLC controller, and one end of the driving shaft of the driving motor 2 14 passes through the fixed mounting frame 10 and is fixedly connected to one side of the mounting base 13.

[0044] Specifically, by setting up the drive motor 2 14, the drive shaft of the drive motor 2 14 rotates to drive the mounting base 13 to rotate downward, and the downward rotation of the mounting base 13 drives the two straightening push plates 22 to rotate downward, making it convenient to rotate the two straightening push plates 22 between the two T-beams and to adjust the angles of the two straightening push plates 22.

[0045] As a preferred implementation in this embodiment, please refer to Figures 1 to 8 A positioning limiting hole 8 is opened on one side of the equipment support warehouse 1, and a limiting block 9 is fixedly installed on one side of the installation slide 2. The limiting block 9 is slidably connected to the positioning limiting hole 8. One side of the fixed installation frame 10 is fixedly connected to one side of the limiting block 9. The movement of the installation slide 2 can be limited by the cooperation of the positioning limiting hole 8 and the limiting block 9. A support rod 53 is fixedly installed inside the adjustment bracket 50, and the sliding base 52 is slidably connected to the support rod 53. The support rod 53 can limit the movement of the sliding base 52.

[0046] Specifically, by setting up the installation slide 2, the movement of the installation slide 2 inside the equipment support warehouse 1 will drive the limiting block 9 to move inside the positioning limiting hole 8 on the side of the equipment support warehouse 1. The positioning limiting hole 8 and the limiting block 9 can cooperate to limit the movement of the installation slide 2, thereby achieving the limiting effect on the installation slide 2.

[0047] Two limit frames 56 are fixedly installed on one side of the sliding base 52, and a sliding support rod 57 is fixedly installed inside the limit frame 56. Connecting sliders 58 are fixedly installed on both sides of the interior of the sliding bracket 59. The connecting sliders 58 are slidably connected to the sliding support rod 57. The limit frame 56, the sliding support rod 57 and the sliding bracket 59 cooperate to support the sliding of the sliding bracket 59.

[0048] Specifically, through the provision of the electric push rod 2 55, the telescopic shaft of the electric push rod 2 55 moves outward to drive the sliding bracket 59 to move outward, and the outward movement of the sliding bracket 59 drives the connecting slider 58 to move outward along the sliding support rod 57 inside the limit frame 56. The limit frame 56, the sliding support rod 57 and the sliding bracket 59 cooperate to support the movement of the sliding bracket 59, thereby improving the stability of the movement of the sliding bracket 59.

[0049] A component rack 25 is fixedly installed on one side of the welding robot 3, and a support base 28 is fixedly installed on the top and bottom surfaces of the component rack 25. A movable block 29 is rotatably connected to one side of the support base 28 through a rotating shaft. A connecting rod 3 32 is fixedly installed between the two movable blocks 29, and a swing rack 30 is fixedly installed between the two movable blocks 29. One side of the swing rack 30 is fixedly connected to one side of the laser scanner 31. A connecting rod 1 27 is rotatably connected to one side of the component rack 25. A driving motor 3 26 for driving the connecting rod 1 27 to rotate is installed inside the component rack 25. The driving motor 3 26 is electrically connected to the PLC controller. One end of the driving shaft of the driving motor 3 26 passes through one side of the component rack 25 and is fixedly connected to one side of the connecting rod 1 27. A movable rod 3 33 is slidably connected to one side of the connecting rod 1 27. A sliding sleeve 34 is fixedly installed on one side of the movable rod 33. The sliding sleeve 34 is slidably connected to the connecting rod 3 32.

[0050] Among them, the driving motor three 26 drives the connecting rod one 27 to rotate. The rotation of the connecting rod one 27 causes the sliding sleeve 34 to slide on the connecting rod three 32 and the movable rod three 33 to slide on the connecting rod one 27, which causes the swing frame 30 to drive the laser scanner 31 to swing left and right, making it convenient for the laser scanner 31 to scan the beam.

[0051] Specifically, through the setting of drive motor three 26, the drive shaft of drive motor three 26 rotates to drive connecting rod one 27 to rotate, the rotation of connecting rod one 27 drives movable rod three 33 to rotate, the rotation of movable rod three 33 drives the sliding sleeve 34 to slide along connecting rod three 32 and at the same time makes movable rod three 33 slide on connecting rod one 27, the sliding sleeve 34 slides along connecting rod three 32 to drive the movable block 29 to swing left and right between the two support bases 28, the movable block 29 drives the two support bases 28 to swing left and right, drives the swing frame 30 to swing left and right, the swing frame 30 swings left and right to drive the laser scanner 31 to swing left and right, the laser scanner 31 swings left and right to scan various places on the beam, which is convenient for the laser scanner 31 to monitor the deformation of the beam.

[0052] The bottom surface of the equipment support bin 1 is slidably connected to a number of support positioning frames 38, the interior of the support positioning frame 38 is rotatably connected to a ball screw 39 through a bearing, the outer wall of the ball screw 39 is threadedly connected to a positioning connecting frame 44, both ends of the positioning connecting frame 44 pass through the support positioning frame 38 and are fixedly installed with electromagnetic suction cups 46, which can adsorb the deck, and the outer wall of the ball screw 39 is fixedly sleeved with a bevel gear 2 45, and one side of the support positioning frame 38 is fixedly installed with a side frame 40, and the inner side of the side frame 40 is rotatably connected to a support roller 41 through a bearing, one end of the support roller 41 passes through the support positioning frame 38 and is fixedly installed with a bevel gear 1 42, which meshes with the bevel gear 2 45, and the other end of the support roller 41 is fixedly installed with a knob;

[0053] The support roller 41 is rotated by turning the knob, and the rotation of the support roller 41 drives the ball screw 3 39 to rotate through the cooperation of the bevel gear 1 42 and the bevel gear 2 45. The rotation of the ball screw 39 causes the positioning connecting frame 44 to drive the two electromagnetic suction cups 46 to move until they contact the deck, thereby fixing the position of the equipment support compartment 1;

[0054] A limiting groove 35 is provided on the bottom surface of the equipment support bin 1, and a limiting block 36 is fixedly installed on the top surface of the support positioning frame 38. A limiting rod 37 is fixedly installed inside the limiting groove 35. The limiting block 36 is slidably connected to the limiting rod 37. A positioning block 43 is fixedly installed on one side of the support positioning frame 38. A plurality of threaded grooves are provided on the bottom surface of the equipment support bin 1. Screws are connected through the positioning block 43, and the upper ends of the screws are threadedly connected to the inner circular wall surface of the threaded groove;

[0055] The staff moves the position of the support positioning frame 38 according to different T-beam gaps. The movement of the support positioning frame 38 will drive the limiting block 2 36 to move along the limiting rod 37 inside the limiting groove 35 on the equipment support bin 1. The limiting groove 35, limiting block 2 36 and limiting rod 37 cooperate to support the movement of the support positioning frame 38. Then the staff places the screw on the positioning block 43 and turns the screw, which allows the screw to enter the inside of the threaded groove, thereby fixing the position of the support positioning frame 38 and the electromagnetic suction cup 46.

[0056] Specifically, through the set knob, the staff turns the knob to drive the support roller 41 to rotate, the rotation of the support roller 41 drives the bevel gear 1 42 to rotate, the rotation of the bevel gear 1 42 drives the bevel gear 2 45 to rotate, the rotation of the bevel gear 2 45 drives the ball screw 3 39 to rotate, the rotation of the ball screw 3 39 drives the positioning connecting frame 44 to move downward along the ball screw 3 39, the downward movement of the positioning connecting frame 44 drives the electromagnetic suction cup 46 to move downward until the electromagnetic suction cup 46 contacts the deck, and the electromagnetic suction cup 46 can adsorb the deck, thereby fixing the equipment support warehouse 1 on multiple T-beams, thereby improving the stability of the equipment support warehouse 1.

[0057] Working principle: When in use, the staff will place the equipment support bin 1 across the top of several T-beams that have been temporarily fixed by spot welding, and according to the spacing between the T-beams, slide the support positioning frame 38 along the limiting groove 35, and then rotate the knob, which will drive the bevel gear 1 42 to rotate. The bevel gear 1 42 will then drive the bevel gear 2 45 that is meshed with it to rotate, and the bevel gear 2 45 will drive the ball screw 3 39 to rotate. The rotation of the ball screw 3 39 will cause the positioning connecting frame 44 to descend until the electromagnetic suction cup 46 absorbs the deck and locks it. The staff will move the adjustment bracket 50 to align it with the beam rib hole on the T-beam, and then energize the electromagnet 49, which will attract the iron sliding block 47 and lock the position of the adjustment bracket 50.

[0058] Next, the PLC activates drive motor 3 26 , which drives connecting rod 1 27 to rotate. Connecting rod 1 27 drives movable rod 3 33 to swing. Movable rod 3 33 causes sliding sleeve 34 to slide on connecting rod 3 32 . Sliding sleeve 34 drives swing frame 30 to swing left and right. Swing frame 30 then drives laser scanner 31 to swing left and right, performing a laser scan of the entire length of the beam. Welding robot 3 performs fillet welds on the web of the T-beam and the deck. High-resolution camera 24 monitors the verticality of the T-beam in real time, and laser scanner 31 monitors the straightness of the beam in real time.

[0059] At the same time, the PLC controls the start of the second drive motor 14, which drives the mounting base 13 to rotate downward 90 degrees. The electric push rod 15 is pushed out, driving the support plate 16 to move outward. The support plate 16 drives the movable rod 19 and the movable rod 20 to open synchronously, so that the two straightening push plates 22 are respectively pressed against the adjacent T-beam flanges to achieve correction. After the correction is in place, the electric push rod 15 retracts and the drive motor 2 14 rotates in the opposite direction to reset.

[0060] In addition, the PLC starts the electric push rod 2 55 at the corresponding position, and the electric push rod 2 55 pushes the sliding bracket 59 forward, so that the movable clamping block 68 enters the beam rib hole, and the drive motor 4 54 is started, and the sliding base 52 is driven to rise through the ball screw 4 51, so that the movable clamping block 68 is higher than the beam rib hole, and the micro motor 64 is started, and the sliding table 63 is driven to rise through the ball screw 1 5, and the sliding table 63 drives the transmission rod 1 4, the transmission rod 2 66, and the transmission rod 3 67 to work together to clamp the movable clamping blocks 68 on both sides of the beam. According to the scan data, the PLC instructs the electric push rod 2 55 to advance or retreat slightly, and multiple groups of movable clamping blocks 68 work together to straighten the beam. After the straightening is completed, the micro motor 64 is reversed, the movable clamping block 68 is released, the electric push rod 2 55 retracts, the drive motor 4 54 is reversed, the sliding base 52 descends and resets, and the movable clamping block 68 exits the beam rib hole;

[0061] After completing the welding and correction of the current T-beam, the drive motor 12 is started, driving the ball screw 11 to rotate, and the ball screw 11 pushes the installation slide 2 together with the welding robot 3 to move longitudinally along the equipment support warehouse 1 to the next T-beam.

[0062] The above are only preferred specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with this technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solutions and inventive concepts of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. An automated welding equipment for ship deck components, characterized in that: include: An equipment support warehouse, wherein the interior of the equipment support warehouse is slidably connected to a mounting slide, a welding robot is installed on the top surface of the mounting slide, a second ball screw is rotatably connected to the interior of the equipment support warehouse, the second ball screw is threadedly connected to the mounting slide, and a drive motor 1 for driving the second ball screw to rotate is installed on one side of the equipment support warehouse; A welding auxiliary mechanism, which is provided on one side of the equipment support bin and is used to assist the welding robot in welding the deck; Material toggling mechanism, its both sides respectively have a cylinder pressure, and the cylinder pressure bar connects swing arm, and the swing arm end face has hook portion, and a bar passes position between the end of two swing arms and the hook portion. The welding auxiliary mechanism also includes a plurality of adjusting brackets, a plurality of said adjusting brackets are slidably connected to one side of the equipment support bin, the inner bottom surface of the adjusting bracket is rotatably connected to a ball screw four, the outer circular wall surface of the ball screw four is threadedly connected to a sliding base, one side of the sliding base is fixedly installed with an electric push rod two, one end of the telescopic shaft of the electric push rod two is fixedly installed with a sliding bracket, one side of the sliding bracket is fixedly installed with a fixed base one, a plurality of positioning rods are fixedly installed on the top surface of the fixed base one, a plurality of fixed base two are fixedly installed on the top surface of the positioning rods, a sliding platform is provided between the fixed base two and the positioning rod, the sliding platform is slidably connected to the positioning rod, and the bottom surface of the fixed base two is connected Ball screw 1, a micro motor for driving the ball screw 1 to rotate is installed on the bottom surface of the fixed base 1, a movable mounting frame is provided on both sides of the fixed base 2, two mounting blocks are fixedly installed on both sides of the fixed base 2, a transmission rod 3 is rotatably connected between the two mounting blocks, one end of the transmission rod 3 is rotatably connected to the movable mounting frame, a transmission rod 2 is rotatably connected between the two mounting blocks, one end of the transmission rod 2 is rotatably connected to the movable mounting frame, both sides of the sliding table are rotatably connected with the transmission rod 1, the upper end of the transmission rod 1 is coaxially connected to the transmission rod 2, a movable clamp is fixedly installed on the top surface of the movable mounting frame, and a swingable laser scanner is provided on one side of the welding robot.

2. The automated assembly and welding equipment for ship deck components according to claim 1, characterized in that: The interior of the fixed mounting frame is rotatably connected to the mounting base, one side of the fixed frame is fixedly connected to one side of the mounting base, and one side of the fixed mounting frame is equipped with a second driving motor for driving the mounting base to rotate.

3. The automated assembly and welding equipment for ship deck components according to claim 2, characterized in that: A positioning limiting hole is opened on one side of the equipment support bin, a limiting block 1 is fixedly installed on one side of the mounting slide, the limiting block 1 is slidably connected to the positioning limiting hole, and one side of the fixed mounting frame is fixedly connected to one side of the limiting block 1.

4. The automated assembly and welding equipment for ship deck components according to claim 1, characterized in that: Two limit frames are fixedly installed on one side of the sliding base, a sliding support rod is fixedly installed inside the limit frame, and connecting sliders are fixedly installed on both sides of the interior of the sliding bracket, and the connecting sliders are slidably connected to the sliding support rods.

5. The automated assembly and welding equipment for ship deck components according to claim 1, characterized in that: A component rack is fixedly installed on one side of the welding robot, and a support base is fixedly installed on the top and bottom surfaces of the component rack. A movable block is rotatably connected to one side of the support base, a connecting rod three is fixedly installed between two of the movable blocks, and a swing rack is fixedly installed between the two movable blocks. One side of the swing rack is fixedly connected to one side of the laser scanner, and a connecting rod one is rotatably connected to one side of the component rack. A driving motor three for driving the connecting rod one to rotate is installed inside the component rack, and a movable rod three is slidably connected to one side of the connecting rod one. A sliding sleeve is fixedly installed on one side of the movable rod three, and the sliding sleeve is slidably connected to the connecting rod three.

6. The automated assembly and welding equipment for ship deck components according to claim 1, characterized in that: The bottom surface of the equipment support bin is slidably connected to several support positioning frames, the interior of the support positioning frame is rotatably connected to a ball screw three, the outer circular wall surface of the ball screw three is threadedly connected to a positioning connecting frame, both ends of the positioning connecting frame pass through the support positioning frame and are fixedly installed with electromagnetic suction cups, the outer circular wall surface of the ball screw three is fixedly sleeved with a bevel gear two, one side of the support positioning frame is fixedly installed with a side frame, the inner side of the side frame is rotatably connected to a support roller, one end of the support roller passes through the support positioning frame and is fixedly installed with a bevel gear one, and the bevel gear one is meshed with the bevel gear two.

7. The automated assembly and welding equipment for ship deck components according to claim 2, characterized in that: An adjustment slot is provided on one side of the equipment support bin, and a sliding block is fixedly installed on one side of the adjustment bracket. The sliding block is an iron structure, and the sliding block is slidably connected to the adjustment slot. An electromagnet is fixedly installed on one side of the sliding block and the inner side of the adjustment slot.

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