Modular chemical tanker cargo tank section duplex stainless steel welding device and welding process thereof

Abstract

The application discloses a kind of modular chemical ship cabin section duplex stainless steel welding device and welding process thereof, it is related to ship cabin welding field, including rotating seat, mechanical arm is installed on the rotating seat, first motor is installed on the mechanical arm, the output of the first motor is fixed with mounting plate, the lower end surface of the mounting plate is fixed with mounting seat, the lower end surface of the mounting seat is fixed with welding head, the side of the mounting seat is fixed with camera for visual positioning.The modular chemical ship cabin section duplex stainless steel welding device and welding process thereof, adopt positioning adjusting mechanism, both can realize the distance control between welding head and weld, guarantee welding effect, can also realize the position control of welding wire body, guarantee welding wire body and welding head normal cooperation to realize welding effect when welding, and can also guarantee welding wire body and welding head automatic separation after welding is completed, to avoid welding wire body end and welding head produce adhesion, so that subsequent welding is normally carried out.

Description

Technical Field

[0001] This invention relates to the field of ship compartment welding technology, specifically to a modular chemical tanker compartment duplex stainless steel welding device and its welding process. Background Technology

[0002] Ships are a general term for all kinds of vessels. Ships are means of transportation that can navigate or anchor in waterways for transportation or operations. The hull is mainly composed of various ship compartments welded together. At present, ship compartment welding mainly relies on robotic arms to replace manual welding, which has the advantages of high efficiency and welding precision.

[0003] For example, a welding equipment for manufacturing and processing ship cabin doors, disclosed in CN118438107B, includes a support frame and a robotic arm. The support frame has a conveyor roller, and the end of the conveyor roller has a rotating shaft connected to the support frame. Support legs are fixedly installed on the support frame, and a cleaning structure is installed on the support legs. The cleaning structure, using a lead screw, scraper, etc., can clean the surface of the conveyor roller, preventing welding slag from adhering to the surface. The scraper is detachable and can be quickly removed and replaced. The cleaning frame cleans the scraper, preventing the removed welding slag from adhering to it. The cleaning frame adopts a modular structure, allowing for quick disassembly and replacement. The robotic arm can be adjusted in position via an adjustment structure, improving its flexibility. A limit frame is included in the adjustment structure to effectively fix the sliding plate, ensuring the stability of the robotic arm during use.

[0004] In actual welding processes, existing robotic welding devices mainly rely on wire feeding mechanisms to transport welding wire. These mechanisms use wire feeding wheels to generate tension on the welding wire, which in turn helps to transport it. However, during actual use, when the welding wire coil gets stuck, slippage can easily occur between the wire feeding wheel and the welding wire. This not only affects the normal output of the welding wire but also accelerates the wear of the anti-slip teeth on the surface of the wire feeding wheel due to slippage, thus affecting the service life of the wire feeding wheel. Summary of the Invention

[0005] The purpose of this invention is to provide a modular chemical tanker compartment duplex stainless steel welding device and welding process thereof to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a modular chemical tanker compartment duplex stainless steel welding device, comprising a rotating base, a robotic arm mounted on the rotating base, a first motor mounted on the robotic arm, an output end of the first motor fixed to a mounting plate, a mounting seat fixed to the lower end face of the mounting plate, a welding head fixed to the lower end face of the mounting seat, and a camera for visual positioning fixed to the side of the mounting seat;

[0007] The positioning and adjustment mechanism is used to limit the distance between the welding head and the workpiece, and can also simultaneously adjust the position of the movable plate. The positioning and adjustment mechanism is mounted on the mounting base and is connected to the movable plate.

[0008] The wire feeding mechanism pre-tensions the welding wire body to ensure stable output of the welding wire body, and the wire feeding mechanism is connected to the fixing plate.

[0009] Preferably, the positioning adjustment mechanism includes a vertical rod that is slidably connected to the mounting base, and a rolling ball is installed on the lower end face of the vertical rod. A spring is fixed between the vertical rod and the mounting base, and a sensor fixed on the mounting base is provided above the vertical rod. The distance between the sensor and the upper end face of the vertical rod is 1mm-3mm larger than the distance between the lower end face of the ball and the welding head. With the above structure, the distance between the welding head and the weld seam of the ship compartment can be controlled, thereby ensuring the welding effect. With the rolling action of the ball, the vertical rod moves synchronously with the welding head, ensuring the normal progress of welding.

[0010] Preferably, a connecting frame is also fixed on the vertical rod, and the connecting frame is rotatably connected to one end of the connecting rod, and the other end of the connecting rod is rotatably connected to the movable plate. When the vertical rod moves, the connecting rod can provide a basic force for adjusting the position of the movable plate through its transmission action, thereby ensuring the normal operation of the device.

[0011] Preferably, the movable plate is symmetrically fixed with crossbars at the front and back, and the crossbars are slidably connected to the mounting base. When the movable plate moves under force, the sliding guide effect between the crossbars and the mounting base can ensure the stability of the movable plate's movement.

[0012] Preferably, the movable plate is connected to a rotating shaft via a bearing, and a welding wire coil is detachably mounted on the rotating shaft. The welding wire coil is wound with a welding wire body, and the welding wire body is slidably connected to the guide tube. The guide tube is fixed to a fixed plate, and the fixed plate is fixed to a crossbar. Through the above structure, the welding wire coil can be easily disassembled and assembled, and the welding wire body can be guided to ensure that the welding wire body and the welding head cooperate to achieve normal welding.

[0013] Preferably, the wire feeding mechanism includes a fixed frame fixed on a fixed plate, and a second motor is fixed on the fixed frame. The output end of the second motor is connected to a wire feeding wheel that is connected to the fixed frame by a bearing. The surface of the wire feeding wheel is provided with anti-slip teeth. The wire feeding wheel contacts the welding wire body. Through the action of the wire feeding wheel, a basic force can be provided for the conveying of the welding wire body, ensuring the normal output of the welding wire body.

[0014] Preferably, the wire feeding wheel is also fixed with a gear, and the two gears are meshed together. A convex shaft is fixed on the gear, and the convex shaft is slidably connected to the sliding rod. A sliding rod is fixed on the sliding rod, and the sliding rod is slidably connected to the fixed rod fixed on the movable plate. Through the sliding action between the convex shaft and the sliding rod, the sliding rod can move up and down in an orderly manner, thereby providing a basic guarantee for the pre-tensioning of the welding wire body and effectively reducing the impact of welding wire roll jamming on the wire feeding wheel.

[0015] Preferably, a bracket is fixed on the fixed rod, and a limiting plate with a rough surface is rotatably connected to the bracket. A torsion spring is also connected between the limiting plate and the bracket. At the same time, the limiting plate is in contact with the welding wire body. Through the action of the limiting plate, the pre-stretched welding wire body can be limited to prevent the welding wire body from moving upward, thereby ensuring the normal operation of the device.

[0016] Preferably, a movable frame is fixed to the upper end of the slide rod, and a wire drawing wheel is connected to the movable frame by a bearing. The surface of the wire drawing wheel is provided with anti-slip teeth. At the same time, the wire drawing wheel contacts the welding wire body. A ratchet is also fixed on the wire drawing wheel, and the ratchet cooperates with a pawl. The pawl is rotatably connected to the movable frame. A torsion spring is also connected between the pawl and the movable frame. Through the action of the ratchet and the pawl, the wire drawing wheel can be controlled to achieve unidirectional rotation control, thereby providing a basic guarantee for the pre-tensioning of the welding wire body.

[0017] A modular chemical tanker compartment duplex stainless steel welding process, comprising the following steps:

[0018] Step 1: By using the rotating seat, robotic arm, and first motor, the position of the welding head can be adjusted to ensure that the welding head matches the welding position of the ship's cabin, thus ensuring the normal progress of subsequent welding.

[0019] Step Two: By using the positioning and adjustment mechanism, the distance between the welding head and the weld seam is controlled to ensure that the distance remains constant, thereby effectively guaranteeing the welding effect. Furthermore, the positioning and adjustment mechanism allows the welding wire body and the welding head to work together normally during welding, and automatically separates the welding wire body and the welding head after welding, preventing the end of the welding wire body from sticking to the welding head.

[0020] Step 3: The wire feeding mechanism can pre-tension the welding wire body, thus ensuring that the wire feeding wheel can stably output the welding wire body during the welding process.

[0021] Compared with the prior art, the beneficial effects of the present invention are:

[0022] 1. The modular chemical tanker compartment duplex stainless steel welding device and its welding process adopt a positioning adjustment mechanism, which can not only control the distance between the welding head and the weld to ensure the welding effect, but also control the position of the welding wire body to ensure that the welding wire body and the welding head cooperate normally during welding to achieve the welding effect. Furthermore, it can also ensure that the welding wire body and the welding head automatically separate after welding to avoid the welding wire body end from the welding head sticking to the welding head, so as to facilitate the normal progress of subsequent welding.

[0023] 2. The modular chemical tanker compartment duplex stainless steel welding device and its welding process adopt a wire feeding mechanism with pre-tensioning effect, which can ensure that the output of the welding wire body from the wire feeding wheel is in a relaxed state during the feeding process of the welding wire body, thereby effectively ensuring the stable output of the welding wire body and effectively avoiding the phenomenon of slippage between the wire feeding wheel and the welding wire body caused by the welding wire coil jamming. Attached Figure Description

[0024] Figure 1 This is a frontal three-dimensional structural diagram of the device of the present invention;

[0025] Figure 2 This is a frontal perspective three-dimensional structural diagram of the mounting base of the present invention;

[0026] Figure 3 This is a three-dimensional structural diagram of the mounting base and positioning adjustment mechanism of the present invention;

[0027] Figure 4 This is a schematic diagram of the three-dimensional structure of the movable plate and the wire feeding mechanism of the present invention;

[0028] Figure 5 This is a frontal perspective three-dimensional structural diagram of the wire feeding wheel of the present invention;

[0029] Figure 6 This is a side view of the three-dimensional structure of the fixing rod of the present invention;

[0030] Figure 7 This is a frontal three-dimensional structural diagram of the wire drawing wheel of the present invention.

[0031] In the diagram: 1. Rotary seat; 2. Robotic arm; 3. First motor; 4. Mounting plate; 5. Mounting base; 6. Welding head; 7. Camera; 8. Positioning adjustment mechanism; 801. Vertical rod; 802. Ball bearing; 803. Spring; 804. Sensor; 805. Connecting frame; 806. Connecting rod; 9. Movable plate; 901. Horizontal bar; 902. Rotating shaft; 903. Welding wire coil; 904. Welding wire body; 905. 10. Guide tube; 10. Fixing plate; 10. Wire feeding mechanism; 1001. Fixing frame; 1002. Second motor; 1003. Wire feeding wheel; 1004. Gear; 1005. Cam shaft; 1006. Sliding rod; 1007. Sliding rod; 1008. Fixing rod; 1009. Bracket; 1010. Limiting plate; 1011. Movable frame; 1012. Wire drawing wheel; 1013. Ratchet; 1014. Pawl. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] Please see Figures 1-7 The present invention provides a technical solution: a modular chemical tanker compartment duplex stainless steel welding device, including a rotating base 1, a robotic arm 2 mounted on the rotating base 1, a first motor 3 mounted on the robotic arm 2, a mounting plate 4 fixed to the output end of the first motor 3, a mounting seat 5 fixed to the lower end face of the mounting plate 4, a welding head 6 fixed to the lower end face of the mounting seat 5, and a camera 7 for visual positioning fixed to the side of the mounting seat 5.

[0034] The positioning adjustment mechanism 8 is used to limit the distance between the welding head 6 and the workpiece, and can also simultaneously adjust the position of the movable plate 9. The positioning adjustment mechanism 8 is installed on the mounting base 5 and is connected to the movable plate 9.

[0035] The wire feeding mechanism 10 is connected to the fixing plate 906 to ensure the stable output of the welding wire body 904 by pre-stretching the welding wire body 904.

[0036] The positioning adjustment mechanism 8 includes a vertical rod 801 that is slidably connected to the mounting base 5. A rolling ball 802 is mounted on the lower end face of the vertical rod 801, and a spring 803 is fixed between the vertical rod 801 and the mounting base 5. A sensor 804 is fixed on the mounting base 5 above the vertical rod 801. The distance between the sensor 804 and the upper end face of the vertical rod 801 is 1mm-3mm larger than the distance between the lower end face of the ball 802 and the welding head 6. A connecting bracket 805 is also fixed on the vertical rod 801, and one end of the connecting bracket 805 is connected to the connecting rod 806. The connection is rotatable, and the other end of the connecting rod 806 is rotatably connected to the movable plate 9; the movable plate 9 is symmetrically fixed with crossbars 901, and the crossbars 901 are slidably connected to the mounting base 5; the movable plate 9 is connected to a rotating shaft 902 by a bearing, and a welding wire coil 903 is detachably installed on the rotating shaft 902, and a welding wire body 904 is wound on the welding wire coil 903. At the same time, the welding wire body 904 is slidably connected to the guide tube 905, the guide tube 905 is fixed on the fixed plate 906, and the fixed plate 906 is fixed on the crossbar 901;

[0037] When using this modular chemical tanker compartment duplex stainless steel welding unit, such as Figures 1-7 As shown, the position of the welding head 6 can be adjusted by the action of the rotating seat 1, the robotic arm 2, and the first motor 3, in conjunction with the visual detection and positioning of the camera 7. During the adjustment of the position of the welding head 6, when the ball bearing 802 contacts the cabin, the position of the welding head 6 can be further adjusted by the robotic arm 2, so that the vertical rod 801 slides relative to the mounting seat 5 under force. At this time, the spring 803 is compressed under force until the vertical rod 801 contacts the sensor 804. The sensor 804 outputs a signal to the controller, completing the adjustment of the position of the welding head 6 and the weld seam of the workpiece. At this time, the distance between the welding head 6 and the weld seam of the workpiece is 2mm, which can effectively ensure the welding effect of the subsequent workpiece. When the vertical rod 801 slides relative to the mounting seat 5, it synchronously drives the connecting frame 805 to move, in conjunction with the connecting rod 8 The transmission action of 06 allows the movable plate 9 to move under force, synchronously driving the welding wire coil 903, welding wire body 904, and guide tube 905 to move. Combined with the sliding guide action between the crossbar 901 and the mounting base 5, the stability of the movement of the movable plate 9 can be ensured. When the vertical rod 801 contacts the sensor 804, the distance between the end of the welding wire body 904 and the welding head 6 is 3mm, thus ensuring the normal progress of subsequent welding. After the welding is completed, when the ball 802 separates from the cabin, the elastic action of the spring 803 can reset the vertical rod 801, the movable plate 9, and the welding wire body 904, thereby increasing the distance between the end of the welding wire body 904 and the welding head 6, preventing adhesion between the end of the welding wire body 904 and the welding head 6, so as to facilitate subsequent welding.

[0038] The wire feeding mechanism 10 includes a fixed frame 1001 fixed on a fixed plate 906, and a second motor 1002 fixed on the fixed frame 1001. The output end of the second motor 1002 is connected to a wire feeding wheel 1003, which is connected to the fixed frame 1001 by a bearing. The surface of the wire feeding wheel 1003 is provided with anti-slip teeth, and the wire feeding wheel 1003 contacts the welding wire body 904. A gear 1004 is also fixed on the wire feeding wheel 1003, and the two gears 1004 are meshed. A cam shaft 1005 is fixed on the gear 1004, and the cam shaft 1005 is slidably connected to the sliding rod 1006. A sliding rod 1007 is fixed on the sliding rod 1006, and the sliding rod 1007 is slidably connected to the fixed rod 1008 fixed on the movable plate 9. A bracket 1009 is fixed on the fixed rod 1008, and a limiting plate 1010 with a rough surface is rotatably connected to the bracket 1009. A torsion spring is also connected between the limiting plate 1010 and the bracket 1009, and the limiting plate 1010 is in contact with the welding wire body 904. A movable frame 1011 is fixed at the upper end of the slide rod 1007, and a wire drawing wheel 1012 is connected to the movable frame 1011 by a bearing. The surface of the wire drawing wheel 1012 is provided with anti-slip teeth, and the wire drawing wheel 1012 is in contact with the welding wire body 904. A ratchet 1013 is also fixed on the wire drawing wheel 1012, and the ratchet 1013 cooperates with the pawl 1014. The pawl 1014 is rotatably connected to the movable frame 1011, and a torsion spring is also connected between the pawl 1014 and the movable frame 1011.

[0039] During the welding process, such as Figures 1-7As shown, starting the second motor 1002 drives the wire feeding wheel 1003 to rotate. Combined with the meshing transmission between the two gears 1004, the two wire feeding wheels 1003 can rotate synchronously in opposite directions. The rotation of the wire feeding wheels 1003 drives the welding wire body 904 to move, thus achieving automatic feeding of the welding wire body 904. During the rotation of the gears 1004, the cam shaft 1005 rotates synchronously. Combined with the sliding action between the cam shaft 1005 and the sliding rod 1006, the sliding rod 1007 and the movable frame 1011 move up and down in an orderly manner. When the movable frame 1011 moves upward, it synchronously drives the wire drawing wheel 1012 to move. At this time, the ratchet 1013 and the pawl 1014 are in sliding contact, meaning the wire drawing wheel 1012 rolls upward along the welding wire body 904. Furthermore, due to the clamping and limiting effect of the limiting plate 1010 on the welding wire body 904 below the movable frame 1011, it can prevent... The welding wire body 904 below the movable frame 1011 moves upward with the wire drawing wheel 1012. When the movable frame 1011 moves downward, the ratchet 1013 and pawl 1014 are engaged, preventing the wire drawing wheel 1012 from rolling relative to the welding wire body 904. When the movable frame 1011 drives the wire drawing wheel 1012 downward, the anti-slip teeth on the surface of the wire drawing wheel 1012 can pull the welding wire body 904 downward, thus solidifying the welding wire coil 903. The release function of the welding wire body 904 is realized, thereby achieving the pre-tensioning function of the welding wire body 904. The welding wire body 904 is pre-tensioned by the wire drawing wheel 1012, which can reduce the impact on the wire feeding wheel 1003 when the welding wire coil 903 is stuck, and also ensure that the welding wire body 904 between the limit plate 1010 and the wire feeding wheel 1003 is always in a relaxed state, thereby effectively ensuring the stable output of the welding wire body 904 by the wire feeding wheel 1003, and thus effectively ensuring the welding effect.

[0040] It should be noted that, in this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0041] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only for the purpose of helping to understand the method and core ideas of the present invention. The above descriptions are only preferred embodiments of the present invention. It should be noted that due to the limitations of textual expression, while there are objectively infinite specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of the present invention, and can also combine the above technical features in an appropriate manner. These improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of the present invention.

Claims

1. A modular chemical tanker compartment duplex stainless steel welding device, comprising a rotating base (1) on which a robotic arm (2) is mounted, characterized in that: The robotic arm (2) is equipped with a first motor (3), and the output end of the first motor (3) is fixed with a mounting plate (4). The lower end face of the mounting plate (4) is fixed with a mounting base (5), and the lower end face of the mounting base (5) is fixed with a welding head (6). The side of the mounting base (5) is fixed with a camera (7) for visual positioning. The positioning adjustment mechanism (8) is used to limit the distance between the welding head (6) and the workpiece, and can also simultaneously adjust the position of the movable plate (9). The positioning adjustment mechanism (8) is installed on the mounting base (5), and the positioning adjustment mechanism (8) and the movable plate (9) are connected to each other. The wire feeding mechanism (10) pre-tensions the welding wire body (904) to ensure the stable output of the welding wire body (904). The wire feeding mechanism (10) is connected to the fixing plate (906). The positioning adjustment mechanism (8) includes a vertical rod (801) that is slidably connected to the mounting base (5), and a rolling ball (802) is mounted on the lower end face of the vertical rod (801). A spring (803) is fixed between the vertical rod (801) and the mounting base (5). A sensor (804) is fixed on the mounting base (5) above the vertical rod (801). The distance between the sensor (804) and the upper end face of the vertical rod (801) is 1mm-3mm larger than the distance between the lower end face of the ball (802) and the welding head (6). A connecting frame (805) is also fixed on the vertical rod (801), and the connecting frame (805) is connected to the connecting... One end of the rod (806) is rotatably connected, and the other end of the connecting rod (806) is rotatably connected to the movable plate (9). The wire feeding mechanism (10) includes a fixed frame (1001) fixed on the fixed plate (906), and a second motor (1002) is fixed on the fixed frame (1001). The output end of the second motor (1002) is connected to the wire feeding wheel (1003) with a bearing connected to the fixed frame (1001). At the same time, the surface of the wire feeding wheel (1003) is provided with anti-slip teeth. The wire feeding wheel (1003) is in contact with the welding wire body (904). A gear (1004) is also fixed on the wire feeding wheel (1003). The two gears (1004) are meshed together, and a cam shaft (1005) is fixed on the gear (1004). The cam shaft (1005) is slidably connected to the slide bar (1006). A slide rod (1007) is fixed on the slide bar (1006), and the slide rod (1007) is slidably connected to the fixed rod (1008) fixed on the movable plate (9). A bracket (1009) is fixed on the fixed rod (1008), and a limiting plate (1010) with a rough surface is rotatably connected to the bracket (1009). A torsion spring is also connected between the limiting plate (1010) and the bracket (1009). At the same time, the limiting plate (1010) contacts the welding wire body (904), the upper end of the slide rod (1007) is fixed with a movable frame (1011), and the movable frame (1011) is connected to a wire drawing wheel (1012) by a bearing. The surface of the wire drawing wheel (1012) is provided with anti-slip teeth. At the same time, the wire drawing wheel (1012) contacts the welding wire body (904). The wire drawing wheel (1012) is also fixed with a ratchet (1013), and the ratchet (1013) cooperates with the pawl (1014). The pawl (1014) is rotatably connected to the movable frame (1011). At the same time, a torsion spring is connected between the pawl (1014) and the movable frame (1011).

2. The modular chemical tanker compartment duplex stainless steel welding device according to claim 1, characterized in that: The movable plate (9) is symmetrically fixed with crossbars (901) at the front and back, and the crossbars (901) and the mounting base (5) are slidably connected.

3. The modular chemical tanker compartment duplex stainless steel welding device according to claim 2, characterized in that: The movable plate (9) is connected to a rotating shaft (902) by a bearing, and a welding wire roll (903) is detachably installed on the rotating shaft (902). The welding wire roll (903) is wound with a welding wire body (904). At the same time, the welding wire body (904) and the guide tube (905) are slidably connected. The guide tube (905) is fixed on a fixed plate (906), and the fixed plate (906) is fixed on a crossbar (901).

4. A modular chemical tanker compartment duplex stainless steel welding process, applied to the modular chemical tanker compartment duplex stainless steel welding apparatus of claim 3, characterized in that: The steps are as follows: Step 1: Through the action of the rotating seat (1), the robotic arm (2) and the first motor (3), the position of the welding head (6) can be adjusted to ensure that the welding head (6) matches the welding position of the ship cabin and ensures the normal progress of subsequent welding. Step 2: By using the positioning adjustment mechanism (8), the distance between the welding head (6) and the weld is controlled to ensure that the distance between the welding head (6) and the weld remains constant, thereby effectively ensuring the welding effect. Furthermore, by using the positioning adjustment mechanism (8), the welding wire body (904) and the welding head (6) can cooperate to perform normal welding during welding, and the welding wire body (904) and the welding head (6) can automatically separate after welding, thus avoiding adhesion between the end of the welding wire body (904) and the welding head (6). Step 3: Through the action of the wire feeding mechanism (10), the pre-tension of the welding wire body (904) can be achieved, thereby ensuring that the wire feeding wheel (1003) can achieve stable output of the welding wire body (904) during the welding process.

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