Robot for ship sectional type building welding

Abstract

The invention relates to the technical field of ship welding, in particular to a robot for ship sectional type building welding, which comprises a welding robot, a welding gun, a speed sensor, a wire feeding device, a tensioning assembly and a fixing assembly, a welding gun is mounted on the welding robot; a speed sensor is installed on the welding gun, a welding wire channel is formed in the welding gun, a working cavity communicated with the welding wire channel is formed in the welding gun, a contact tube is installed in the welding gun, and a wire feeding device is arranged above the contact tube. The wire feeding device adjusts the wire feeding speed according to the welding speed, a tensioning assembly is installed on the wire feeding device, and when the wire feeding speed of the wire feeding device is increased, the wire feeding device adjusts the welding wire tensioning force through the tensioning assembly; the fixing assembly is arranged below the tensioning assembly, when the wire feeding speed of the wire feeding device is increased, the tensioning assembly drives the fixing assembly to limit shaking of the tail end of the welding wire, unification of the wire feeding speed and the tensioning force is achieved through centrifugal movement, then stable conveying of the welding wire is achieved, and the phenomenon that the tail end of the welding wire shakes is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of ship welding, in particular to a robot used for welding of segmented ship construction. Background Art

[0002] Modern ships are often built in sections, which involves dividing the entire hull into many independent modules for construction. The completed modules are then assembled to form the complete hull to complete the ship's construction. When the ship is built in sections, welding robots are usually used to weld the modules together to improve construction efficiency.

[0003] When welding between ship compartments, the welding robot is mainly composed of a robotic arm and a welding gun. The welding robot realizes multi-axis rotation through its own robotic arm, thereby realizing multi-angle welding. When the robotic arm rotates, it drives the fixedly connected welding gun to rotate synchronously. The welding gun conveys the welding wire through the wire feeding device installed inside it. The welding wire is applied with current through the conductive nozzle, and then contacts the workpiece, forming a short circuit between the welding wire and the workpiece, and the welding wire melts to complete the welding with the workpiece.

[0004] However, during the welding process, the problem of excessive welding speed may occur. At this time, the wire feeding speed and the welding speed will be inconsistent, making the wire feeding speed lower than the welding wire speed, and then the wire feeding will be unstable, which will cause the tail end of the welding wire to shake, and then reduce the welding quality.

[0005] In view of this, we propose a robot for welding in section-by-section ship construction. Summary of the Invention

[0006] The object of the present invention is to provide a robot for welding in sectioned ship construction, so as to solve the problem of inconsistency between wire feeding speed and welding speed raised in the above-mentioned background technology.

[0007] To achieve the above object, the present invention provides the following technical solutions: A robot for welding in segmented construction of ships, comprising a welding robot, a welding gun, a speed sensor, a wire feeding device, a tensioning assembly and a fixing assembly; the welding robot is equipped with a welding gun, and the welding robot drives the welding gun to move synchronously, thereby realizing segmented welding of the ship, and the welding robot can realize multi-angle rotation, thereby being able to adapt to welding at different angles, thereby improving the applicability of welding; the welding gun is equipped with a speed sensor, the speed sensor is used to monitor the moving speed of the welding gun, thereby driving the welding speed, a welding wire channel is provided in the welding gun, a working chamber connected to the welding wire channel is provided on the welding gun, a conductive nozzle is installed in the welding gun, a wire feeding device is provided above the conductive nozzle, the welding wire channel is used for the entry of welding wire, the entered welding wire moves downward under the action of the wire feeding device, and then the conductive nozzle is energized, and then under the action of the welding robot, the welding wire is brought into contact with the workpiece, the current forms a loop, a short circuit phenomenon occurs, so that the welding wire melts and welds the workpiece; The wire feeding device adjusts the wire feeding speed according to the welding speed, and the speed sensor monitors the welding speed of the welding gun in real time. When the welding speed increases, the speed sensor sends an electrical signal to the console, and the console controls the wire feeding device to increase the wire feeding speed so that the wire feeding speed and the welding speed are kept consistent, thereby avoiding the situation where the wire feeding speed is lower than the welding speed, resulting in incomplete welding or increased spatter, which affects the welding quality. When a tensioning assembly is installed on the wire feeding device, the wire feeding device adjusts the wire tensioning force through the tensioning assembly when the wire feeding speed of the wire feeding device increases. When the wire feeding speed increases, the tensioning force of the wire is increased synchronously by the tensioning assembly. Increasing the tension on the welding wire helps to fix the welding wire, thereby avoiding slipping of the welding wire or unstable wire feeding, which causes the welding wire to shake and affects the welding quality. A fixing assembly is provided under the tensioning assembly. When the moving speed of the welding gun increases, the tensioning assembly drives the fixing assembly to limit the shaking of the tail end of the welding wire. When the welding speed increases, it causes the tail end of the welding wire to slide, which causes the welding to convex, resulting in reduced welding quality. Therefore, the tail end of the welding wire is fixed by the fixing assembly to avoid shaking of the tail end of the welding wire and improve the welding quality.

[0008] Preferably, the wire feeding device includes a motor, a rotating shaft, a wire feeding wheel, a tensioning wheel, a support shaft and a knob; the motor is fixedly installed in the working chamber, and the motor is fixedly connected to the rotating shaft; there is a mounting hole in an annular array on the rotating shaft, and a wire feeding wheel is installed on the rotating shaft, and a speed sensor monitors the welding speed and sends the welding speed to the console, and the console sends a signal to the motor to control the motor speed to match the welding speed. The rotation of the motor drives the wire feeding wheel to rotate through the rotating shaft, and the wire feeding wheel fixes the welding wire through the grooves on it, and drives the welding wire to slide vertically downward to complete the wire feeding. A tensioning wheel is provided on one side of the wire feeding wheel, and the tensioning wheel adjusts the force between the wire feeding wheel and the welding wire during the wire feeding process. The cam is provided with a screw thread which is adapted to move the wires relative to the welding rod and the welding torch, and the cam is provided with a screw thread which is adapted to move the wires relative to the welding rod and the welding torch, thereby preventing the wires from being scratched due to a large force between the wire feeding wheel and the welding wire or causing wire slippage due to a small force between the two. The tensioning wheel is rotatably mounted on the inner wall of the working chamber through the support shaft. A screw groove is provided on the support shaft, and a knob is rotatably mounted on the support shaft. The knob is rotatably mounted on the working chamber, and one end of the knob passes through the working chamber and is located outside the welding gun, and the other end of the knob is provided with a thread which cooperates with the screw groove. The rotation of the knob drives the screw groove on the support shaft through the thread, thereby driving the support shaft to slide horizontally, and then driving the tensioning wheel to slide synchronously through the support shaft, thereby changing the distance between the tensioning wheel and the wire feeding wheel, thereby achieving a change in the tensioning force. Preferably, when the diameter of the welding wire changes, the staff can rotate the knob to drive the support shaft to slide, and then drive the tensioning wheel to slide, thereby changing the tensioning force to achieve the use of welding wires of different diameters.

[0009] Preferably, a limiting protrusion is provided on the knob, and a limiting groove is opened in the working cavity. The working cavity limits the freedom of the limiting protrusion through the limiting groove and thus limits the horizontal sliding of the knob, so that the knob can only issue rotational movement, thereby ensuring the stability of the knob rotation and thus ensuring the stability of the tensioning wheel movement.

[0010] Preferably, the tensioning assembly includes a centrifugal spring, a centrifugal plate, a baffle, a push rod, an active rack, a return spring and a rotating wheel; one end of the centrifugal spring is fixedly installed in the mounting hole, and the other end of the centrifugal spring is fixedly installed with the centrifugal plate. When the wire feeding speed increases synchronously with the welding machine speed, the active speed of the motor increases, thereby driving the rotation speed of the rotating shaft to increase, the centrifugal force generated when the rotating shaft rotates increases, and the moving distance of the centrifugal plate driven by the centrifugal spring increases when the rotating shaft rotates; a baffle is provided on one side of the centrifugal plate, and the centrifugal plate expands along the circumference under the action of centrifugal force and contacts the baffle, thereby pushing the baffle to slide horizontally; the baffle is slidably installed with the inner wall of the working chamber, and a push rod is fixedly installed at the lower end of the baffle; an inclined groove is provided on the push rod, and an active rack is provided on the side of the push rod with the inclined groove; the active rack and the push rod The rod is arranged vertically, and an oblique groove cooperating with the push rod is provided on the active rack. The active rack and the push rod are arranged vertically and squeeze each other through the oblique groove to realize the change of movement direction, and the horizontal sliding of the push rod is converted into the vertical sliding of the active rack. The active rack is slidably connected to the working chamber by a return spring, and a rotary wheel is provided above the active rack; the rotary wheel is fixedly connected to the knob, and when the active rack slides vertically upward, it meshes with the rotary wheel, thereby driving the rotary wheel to rotate. When the rotary wheel rotates, it drives the knob fixedly connected to it to rotate synchronously, and the knob drives the tensioning wheel to slide horizontally, thereby changing the distance between the tensioning wheel and the wire feeding wheel, thereby realizing the change of the tensioning force, thereby avoiding the occurrence of welding wire slippage caused by the increase of wire feeding speed, and at the same time, enhancing the fixing effect of the welding wire and reducing the phenomenon of welding wire shaking caused by the high welding wire speed; Preferably, the active rack is initially in a disengaged state with the rotating wheel, and only engages with the rotating wheel when the active rack slides vertically upward, thereby driving the rotating wheel to rotate. Therefore, when the welding wire diameter changes to adjust the tension, the rotating wheel will not drive the active wheel to rotate when it follows the knob to rotate.

[0011] Preferably, the baffle is provided with a force storage groove, which is located on one side of the centrifugal plate. The force storage groove is an arc-shaped structure that fits the surface of the centrifugal plate. The force storage groove increases the contact area and contact time between the baffle and the centrifugal plate, thereby enhancing the thrust of the centrifugal plate on the baffle and ensuring the sliding distance and sliding stability of the baffle.

[0012] Preferably, a support plate is provided on the baffle, and the support plate is slidably installed with the support shaft. The support plate supports the support shaft to prevent the support shaft from shaking during the sliding process, thereby ensuring the stability of the support shaft sliding, thereby ensuring the stability of the tensioning wheel movement and the stability of the tensioning force.

[0013] Preferably, the support plate is provided with a slide rail, the support shaft is provided with a slide groove that cooperates with the support plate, and the slide groove is provided with an extrusion protrusion, and the slide rail guides the sliding of the support shaft, thereby ensuring the stability of the support shaft movement. The extrusion protrusion is used to enhance the friction between the support shaft and the slide rail. During the rotation of the centrifugal plate, as the centrifugal force increases, the gap between the centrifugal plates also gradually increases, which causes the sliding of the baffle to cause slight shaking, thereby affecting the sliding of the tensioning wheel. When the baffle is in the gap in contact with the centrifugal plate and tends to reset, the extrusion protrusion on the support shaft enhances the friction between the support shaft and the slide rail, thereby offsetting the resetting tendency of the baffle, thereby ensuring the stability of the baffle.

[0014] Preferably, the fixed assembly includes a driven rack, a compression spring, a rotary table, a sliding rod, and a fixed rod; the driven rack is installed relative to the active rack, and the driven rack is meshed with the rotating wheel; the driven rack is slidably connected to the working chamber by a compression spring, the driven rack is provided with a driving block, and a rotary table is provided under the driven rack; a driving groove is provided on the outer circumference of the rotary table, the rotary table is provided with an arc groove, and a sliding rod is slidably installed in the arc groove; a fixed rod is installed on the sliding rod; an arc surface is provided on the fixed rod to cooperate with the welding wire, and when the active rack drives the rotary wheel to rotate, thereby changing the tension force, the rotary wheel rotates The driven rack on the opposite side of the active rack is driven to slide, and the driven rack and the active rack are displaced in opposite directions, and the driven rack slides vertically downward. When the driven rack slides vertically downward, the driving block on it squeezes the driving groove on the turntable, thereby driving the turntable to rotate. The rotation of the turntable pushes the fixed plate to slide through the arc groove on it. The fixed plate keeps sliding horizontally under the action of the inner wall of the working chamber to fix the welding wire. The arc surface at the front end of the fixed plate enhances the force between the fixed plate and the welding wire, thereby ensuring the fixing effect of the welding wire. At the same time, the arc surface enables the fixed plate to fix welding wires of different diameters, ensuring the stability of the fixation. Preferably, when the diameter of the welding wire changes, the staff drives the tensioning wheel to slide and change the tensioning force through the knob, the active rack is engaged with the rotating wheel and does not rotate, the driven rack engages with the rotating wheel and slides vertically downward, thereby driving the fixed plate to extend and fix the welding wire, so that the diameter of the arc circle surrounded by the fixed plate matches the welding wire, thereby ensuring the fixing effect of the fixed plate.

[0015] Preferably, fixing protrusions are provided on both sides of the fixing rod, and fixing grooves are provided on both sides of the working chamber. As the welding speed increases, the amplitude of the shaking of the tail end of the welding wire increases synchronously. At this time, the sliding distance of the fixing plate gradually increases. During the sliding process of the fixing plate, the fixing protrusions on the fixing plate enter the fixing grooves one by one. As the sliding distance of the fixing plate increases, the number of fixing protrusions entering the fixing grooves increases, the friction between the fixing plate and the working chamber increases, and the sliding of the fixing plate becomes more stable, thereby ensuring the fixing effect of the fixing plate on the welding wire, so that the fixing effect increases synchronously with the shaking amplitude of the welding wire, ensuring the stability of the fixation, and at the same time, avoiding damage to the welding wire surface caused by tight fixation.

[0016] Preferably, a hemispherical top block is provided on the arc surface, and the hemispherical top block is made of rubber material. The hemispherical top block realizes point contact with the welding wire, thereby reducing the contact area and thereby increasing the force acting on the welding wire, thereby enhancing the fixing effect of the welding wire. At the same time, the hemispherical structure avoids scratches on the surface of the welding wire and affecting the quality of the welding wire. The hemispherical top block is made of rubber material and can absorb the vibration of the welding wire. At the same time, the rubber material has insulating properties and avoids the phenomenon of conductivity.

[0017] Compared with the prior art, the present invention has the following beneficial effects: A robot for welding in segmented ship construction ensures the stability of the welding wire through a tensioning component and a fixing component, avoids the phenomenon of welding wire shaking caused by a high welding speed, and improves welding quality.

[0018] A robot for welding in segmented ship construction achieves the unification of wire feeding speed and tensioning force through a tensioning assembly, thereby avoiding the problems of slipping caused by insufficient tensioning wheel or damage to the welding wire caused by excessive tensioning force.

[0019] A robot for welding in segmented ship construction. The invention fixes welding wires of different diameters through a fixing component, ensuring that the welding wires of different diameters are subjected to uniform force and avoiding damage to the welding wires due to a large fixing force. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Schematic diagram of the overall welding robot of the present invention; Figure 2 A half-section view of a welding gun according to the present invention; Figure 3 For the present invention Figure 2 A local enlarged view of point A; Figure 4 For the present invention Figure 2 A local enlarged view of point B; Figure 5 It is an overall schematic diagram of the tensioning assembly and the fixing assembly of the present invention; Figure 6 A half-section view of the knob of the present invention; Figure 7 For the present invention Figure 6 A local enlarged view of point C; Figure 8 is an isometric view of the tensioning assembly of the present invention; Figure 9 A rear side view of the tensioning assembly of the present invention; Figure 10 This is a schematic diagram of the support shaft of the present invention; Figure 11 It is an overall schematic diagram of the fixing assembly of the present invention; Figure 12 For the present invention Figure 11 A local enlarged view of point D; Figure 13 It is a horizontal cross-sectional view of the welding gun of the present invention; Figure 14 For the present invention Figure 13 A local enlarged view of point E.

[0021] In the picture: 1. Welding robot; 2. Welding gun; 21. Wire channel; 22. Working chamber; 221. Limiting groove; 222. Fixing groove; 23. Contact nozzle; 3. Speed ​​sensor; 4. Wire feeding device; 41. Motor; 42. Rotating shaft; 421. Mounting hole; 43. Wire feeding wheel; 44. Tensioning wheel; 45. Support shaft; 451. Sliding groove; 4511. Extrusion bump; 46. Knob; 461. Limiting bump; 5. Tensioning assembly; 51. Centrifugal spring; 52. Centrifugal plate; 53. Baffle; 531. Accumulation groove; 532. Support plate; 5321. Slide rail; 54. Push rod; 541. Inclined groove; 55. Active rack; 56. Return spring; 57. Rotor; 6. Fixed assembly; 61. Driven rack; 611. Drive block; 62. Compression spring; 63. Turntable; 631. Drive slot; 632. Arc slot; 64. Slide rod; 65. Fixed rod; 651. Arc surface; 652. Hemispherical top block; 653. Fixed protrusion. DETAILED DESCRIPTION

[0022] 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.

[0023] When welding between ship compartments, the welding robot is mainly composed of a robotic arm and a welding gun. The welding robot realizes multi-axis rotation through its own robotic arm, thereby realizing multi-angle welding. When the robotic arm rotates, it drives the fixedly connected welding gun to rotate synchronously. The welding gun feeds the welding wire through the wire feeding device installed inside it. The welding wire is applied with current through the conductive nozzle, and then contacts the workpiece, forming a short circuit between the welding wire and the workpiece, and the welding wire and the workpiece melt to complete the welding.

[0024] However, during the welding process, the welding speeds in different areas are different. When the welding area changes, the problem of excessive welding speed will occur. At this time, the wire feeding speed and the welding speed will be inconsistent, making the wire feeding speed lower than the welding wire speed, and then the wire feeding will be unstable, which will cause the tail end of the welding wire to shake, thereby reducing the welding quality.

[0025] The present invention provides a technical solution: like Figures 1 to 14 As shown, a robot for welding in segmented construction of ships comprises a welding robot 1, a welding gun 2, a speed sensor 3, a wire feeding device 4, a tensioning assembly 5 and a fixing assembly 6; the welding robot 1 is equipped with a welding gun 2; the welding gun 2 is equipped with a speed sensor 3, a welding wire channel 21 is provided in the welding gun 2, a working chamber 22 connected to the welding wire channel 21 is provided on the welding gun 2, a conductive nozzle 23 is installed in the welding gun 2, and a wire feeding device 4 is provided above the conductive nozzle 23; the wire feeding device 4 adjusts the wire feeding speed according to the welding speed, and a tensioning assembly 5 is installed on the wire feeding device 4. When the wire feeding speed of the wire feeding device 4 increases, the wire feeding device 4 adjusts the tensioning force of the welding wire through the tensioning assembly 5; a fixing assembly 6 is provided below the tensioning assembly 5. When the wire feeding speed of the wire feeding device 4 increases, the tensioning assembly 5 drives the fixing assembly 6 to limit the shaking of the tail end of the welding wire. Specifically, the welding robot 1 is detachably mounted with a welding gun 2, which can be fixedly connected to the welding robot 1 through a thread, so that the welding robot 1 drives the welding gun 2 to move synchronously, thereby realizing segmented welding of the ship. The welding robot 1 can realize multi-angle rotation, thereby adapting to welding at different angles, thereby improving the applicability of welding; the speed sensor 3 is fixedly mounted on the surface of the welding gun 2, thereby realizing real-time monitoring of the moving speed of the welding gun 2, thereby determining the welding speed, and a welding wire channel 21 is opened in the welding gun 2, and the welding wire channel 21 is located on the central axis of the welding gun 2. A welding gun 2 is provided with a working chamber 22 connected to a welding wire channel 21. A conductive nozzle 23 is installed in the welding gun 2. The conductive nozzle 23 applies current to the welding wire, so that a complete closed circuit can be formed when the welding wire contacts the workpiece. A wire feeding device 4 is provided above the conductive nozzle 23. The welding wire channel 21 is used for the entry of the welding wire. The entered welding wire moves downward under the action of the wire feeding device 4, and then the conductive nozzle 23 is energized. Then, under the action of the welding robot 1, the welding wire contacts the workpiece, and the current forms a loop, resulting in a short circuit, causing the welding wire to melt and weld the workpiece. The speed sensor 3 monitors the welding speed of the welding gun 2 in real time. When the welding speed increases, the speed sensor 3 sends an electrical signal to the console, and the console controls the wire feeding speed of the wire feeding device 4 to increase so that the wire feeding speed and the welding speed are kept consistent, so as to avoid the wire feeding speed being lower than the welding speed, resulting in incomplete welding or increased spatter, which affects the welding quality. When a tensioning assembly 5 is installed on the wire feeding device 4, when the wire feeding speed increases, the tensioning force on the welding wire is synchronously increased by the tensioning assembly 5, thereby increasing the tensioning force on the welding wire, which helps to fix the welding wire, thereby avoiding the phenomenon of slipping of the welding wire or unstable wire feeding, which causes the welding wire to shake and affects the welding quality. A fixing assembly 6 is provided under the tensioning assembly 5. When the welding speed increases, it will cause the tail end of the welding wire to slide, thereby causing the welding to convex, resulting in reduced welding quality. Therefore, the tail end of the welding wire is fixed by the fixing assembly 6 to avoid shaking of the tail end of the welding wire and improve the welding quality.

[0026] In this embodiment, the wire feeding device 4 includes a motor 41, a rotating shaft 42, a wire feeding wheel 43, a tensioning wheel 44, a support shaft 45 and a knob 46; the motor 41 is fixedly installed in the working chamber 22, and the motor 41 is fixedly connected to the rotating shaft 42; a mounting hole 421 is provided in an annular array on the rotating shaft 42, a wire feeding wheel 43 is installed on the rotating shaft 42, and a tensioning wheel 44 is provided on one side of the wire feeding wheel 43; the tensioning wheel 44 is rotatably installed with the inner wall of the working chamber 22 through the support shaft 45; a screw groove is provided on the support shaft 45, and a knob 46 is rotatably installed on the support shaft 45; the knob 46 is rotatably installed with the working chamber 22, one end of the knob 46 passes through the working chamber 22 and is located outside the welding gun 2, and the other end of the knob 46 is provided with a thread that cooperates with the screw groove; Specifically, the motor 41 is fixedly installed in the working chamber 22 and can be connected by screws. A rotating shaft 42 is fixedly installed on the motor 41. There are mounting holes 421 in a ring array on the rotating shaft 42. The mounting holes 421 are used for installing the tensioning assembly 5. A wire feeding wheel 43 is installed on the rotating shaft 42. The speed sensor 3 monitors the welding speed and sends the welding speed to the console. The console sends a signal to the motor 41 to control the speed of the motor 41 to match the welding speed. The rotation of the motor 41 drives the wire feeding wheel 43 to rotate through the rotating shaft 42. The wire feeding wheel 43 fixes the welding wire through the grooves on it and drives the welding wire to slide vertically downward to complete the wire feeding. A tensioning wheel 44 is provided on one side of the wire feeding wheel 43. During the wire feeding process, the tensioning wheel 44 adjusts the force between the wire feeding wheel 43 and the welding wire to avoid wire feeding. The force between the wheel 43 and the welding wire is large, which causes scratches on the surface of the welding wire, or the force between the two is small, which causes wire slippage; the tensioning wheel 44 is rotatably mounted on the inner wall of the working chamber 22 through the support shaft 45; a screw groove is provided on the support shaft 45, and a knob 46 is rotatably mounted on the support shaft 45; the knob 46 is rotatably mounted with the working chamber 22, one end of the knob 46 passes through the working chamber 22 and is located outside the welding gun 2, and the other end of the knob 46 is provided with a thread that matches the screw groove, and the rotation of the knob 46 drives the screw groove on the support shaft 45 through the thread, thereby driving the support shaft 45 to slide horizontally, and then driving the tensioning wheel 44 to slide synchronously through the support shaft 45, thereby changing the distance between the tensioning wheel 44 and the wire feeding wheel 43, thereby achieving a change in the tensioning force; Preferably, when the diameter of the welding wire changes, the staff can rotate the knob 46 to drive the support shaft 45 to slide, thereby driving the tensioning wheel 44 to slide, changing the tensioning force to achieve the use of welding wires of different diameters.

[0027] In this embodiment, a limiting protrusion 461 is provided on the knob 46, and a limiting groove 221 is provided in the working cavity 22; Specifically, the working chamber 22 limits the freedom of the limiting protrusion 461 through the limiting groove 221 and thus limits the horizontal sliding of the knob 46, so that the knob 46 can only issue rotational movement, thereby ensuring the stability of the rotation of the knob 46 and thus ensuring the stability of the movement of the tensioning wheel 44.

[0028] The centrifugal plate 52 is fixedly mounted on the rear end of the vehicle body 51 and the centrifugal plate 52 is fixedly mounted on the rear end of the vehicle body 51. The centrifugal plate 52 is fixedly mounted on the rear end of the vehicle body 51 and the centrifugal plate 52 is fixedly mounted on the rear end of the vehicle body 51. The centrifugal plate 52 is fixedly mounted on the rear end of the vehicle body 51. The centrifugal plate 52 is provided with a baffle 53 on one side. The baffle 53 is slidably mounted on the inner wall of the working chamber 22. The push rod 54 is fixedly mounted on the lower end of the baffle 53. An inclined groove 541 is provided on the push rod 54. An active rack 55 is provided on one side of the inclined groove 541. The active rack 55 is arranged perpendicular to the push rod 54. An inclined groove 541 is provided on the active rack 55 to cooperate with the push rod 54. The active rack 55 is slidably connected to the working chamber 22 by the return spring 56. A rotary wheel 57 is provided above the active rack 55. The rotary wheel 57 is fixedly connected to the knob 46. The centrifugal spring 51 is fixedly mounted in the mounting hole 421 at one end, and the centrifugal spring 51 is fixedly mounted on the centrifugal plate 52 at the other end. The centrifugal spring 51 can be fixedly connected to the centrifugal plate 52 and the rotating shaft 42 by welding or gluing. When the wire feeding speed increases synchronously with the welding machine speed, the active speed of the motor 41 increases, thereby driving the rotation speed of the rotating shaft 42 to increase, and the centrifugal force generated when the rotating shaft 42 rotates increases. When the rotating shaft 42 rotates, the centrifugal spring 51 drives the centrifugal plate 52 to move an increasing distance; a baffle 53 is provided on one side of the centrifugal plate 52, and a slider is provided on the side of the baffle 53 in contact with the working chamber 22 to ensure the sliding connection between the baffle 53 and the working chamber 22. Under the action of centrifugal force, the centrifugal plate 52 expands along the circumference and contacts the baffle 53, thereby pushing the baffle 53 to slide horizontally; a push rod 54 is fixedly mounted on the lower end of the baffle 53; an inclined slot 541 is provided on the push rod 54, and an active rack 55 is provided on the side of the inclined slot 541; The active rack 55 is arranged perpendicular to the push rod 54, and an inclined slot 541 is provided on the active rack 55 to cooperate with the push rod 54. The active rack 55 and the push rod 54 are arranged perpendicularly and squeezed against each other through the inclined slot 541 to achieve a change in the direction of movement, thereby converting the horizontal sliding of the push rod 54 into the vertical sliding of the active rack 55. The active rack 55 is slidably connected to the working chamber 22 by a return spring 56, and a rotating wheel 57 is provided above the active rack 55; the rotating wheel 57 is fixedly connected to the knob 46, and when the active rack 55 slides vertically upward, it meshes with the rotating wheel 57, thereby driving the rotating wheel 57 to rotate. When the rotating wheel 57 rotates, it drives the knob 46 fixedly connected to it to rotate synchronously, and the knob 46 drives the tensioning wheel 44 to slide horizontally, changing the distance between the tensioning wheel 44 and the wire feeding wheel 43, thereby achieving a change in the tensioning force, thereby avoiding the occurrence of the welding wire slipping phenomenon caused by the increase of the wire feeding speed, enhancing the fixing effect of the welding wire, and reducing the phenomenon of welding wire shaking caused by the high welding wire speed; Preferably, the active rack 55 is initially in a disengaged state from the rotating wheel 57, and only when the active rack 55 slides vertically upward does it engage with the rotating wheel 57, thereby driving the rotating wheel 57 to rotate. Therefore, when the diameter of the welding wire changes to adjust the tension, the rotating wheel 57 will not drive the active wheel to rotate when following the rotation of the knob 46.

[0029] In this embodiment, the baffle 53 is provided with a force storage groove 531 , and the force storage groove 531 is located on one side of the centrifugal plate 52 ; Specifically, the force storage groove 531 is an arc-shaped structure that fits the surface of the centrifugal plate 52. The force storage groove 531 increases the contact area and contact time between the baffle 53 and the centrifugal plate 52, thereby enhancing the thrust of the centrifugal plate 52 on the baffle 53 and ensuring the sliding distance and sliding stability of the baffle 53.

[0030] In this embodiment, a support plate 532 is provided on the baffle 53, and the support plate 532 is slidably mounted on the support shaft 45; Specifically, the support plate 532 supports the support shaft 45 to prevent the support shaft 45 from shaking during the sliding process, thereby ensuring the sliding stability of the support shaft 45, thereby ensuring the stability of the movement of the tensioning wheel 44 and the stability of the tensioning force.

[0031] In this embodiment, the support plate 532 is provided with a slide rail 5321 , the support shaft 45 is provided with a slide groove 451 that cooperates with the support plate 532 , and an extrusion protrusion 4511 is provided in the slide groove 451 ; Specifically, the slide rail 5321 guides the sliding of the support shaft 45, thereby ensuring the stability of the movement of the support shaft 45. The extrusion protrusion 4511 is used to enhance the friction between the support shaft 45 and the slide rail 5321. During the rotation of the centrifugal plate 52, as the centrifugal force increases, the gap between the centrifugal plates 52 also gradually increases, which causes the sliding of the baffle 53 to shake slightly, thereby affecting the sliding of the tensioning wheel 44. When the baffle 53 is in the gap in contact with the centrifugal plate 52 and tends to reset, the extrusion protrusion 4511 on the support shaft 45 enhances the friction between the support shaft 45 and the slide rail 5321, thereby offsetting the reset tendency of the baffle 53 and ensuring the stability of the baffle 53.

[0032] In this embodiment, the fixing assembly 6 includes a driven rack 61, a compression spring 62, a rotating disk 63, a sliding rod 64, and a fixed rod 65; the driven rack 61 is mounted opposite to the active rack 55, and the driven rack 61 is meshed with the rotating wheel 57; the driven rack 61 is slidably connected to the working chamber 22 via a compression spring 62, a driving block 611 is provided on the driven rack 61, and a rotating disk 63 is provided below the driven rack 61; a driving groove 631 is provided on the outer circumference of the rotating disk 63, an arc-shaped groove 632 is provided on the rotating disk 63, and a sliding rod 64 is slidably mounted in the arc-shaped groove 632; a fixing rod 65 is mounted on the sliding rod 64; and an arc surface 651 that cooperates with the welding wire is provided on the fixing rod 65; Specifically, the driven rack 61 is mounted opposite to the active rack 55, and the driven rack 61 is meshed with the rotating wheel 57; the driven rack 61 is slidably connected to the working chamber 22 via a compression spring 62, a driving block 611 is provided on the driven rack 61, and a rotating disk 63 is provided below the driven rack 61; a driving groove 631 is provided on the outer circumference of the rotating disk 63, an arc-shaped groove 632 is provided on the rotating disk 63, and a sliding rod 64 is slidably mounted in the arc-shaped groove 632; a fixing rod 65 is installed on the sliding rod 64; and a curved surface 651 is provided on the fixing rod 65 to cooperate with the welding wire; When the active rack 55 drives the rotating wheel 57 to rotate, thereby changing the tensioning force, the rotating wheel 57 rotates to drive the driven rack 61 on the opposite side of the active rack 55 to slide, and the driven rack 61 and the active rack 55 are displaced in opposite directions, and the driven rack 61 slides vertically downward. When the driven rack 61 slides vertically downward, the driving block 611 on it squeezes the driving groove 631 on the turntable 63, thereby driving the turntable 63 to rotate. The turntable 63 rotates and pushes the fixed plate to slide through the arc groove 632 thereon. The fixed plate keeps sliding horizontally under the action of the inner wall of the working chamber 22 to fix the welding wire. The arc surface 651 at the front end of the fixed plate enhances the force between the fixed plate and the welding wire, thereby ensuring the fixing effect of the welding wire. At the same time, the arc surface 651 enables the fixed plate to fix welding wires of different diameters, thereby ensuring the stability of the fixation; Preferably, when the diameter of the welding wire changes, the staff drives the tensioning wheel 44 to slide and change the tensioning force through the knob 46, and the active rack 55 is engaged with the rotating wheel 57 and does not rotate, and the driven rack 61 is engaged with the rotating wheel 57 and slides vertically downward, thereby driving the fixed plate to extend and fix the welding wire, so that the diameter of the arc circle surrounded by the fixed plate matches the welding wire, thereby ensuring that the forces acting on welding wires of different diameters are consistent, avoiding the problem of damage to the welding wire due to large fixing force.

[0033] In this embodiment, fixing protrusions 653 are provided on both sides of the fixing rod 65, and fixing grooves 222 are provided on both sides of the working chamber 22; Specifically, as the welding speed increases, the amplitude of the shaking of the tail end of the welding wire increases synchronously. At this time, the sliding distance of the fixed plate gradually increases. During the sliding process of the fixed plate, the fixed protrusions 653 on the fixed plate enter the fixed groove 222 one by one. As the sliding distance of the fixed plate increases, the number of fixed protrusions 653 entering the fixed groove 222 increases, the friction between the fixed plate and the working chamber 22 increases, and the sliding of the fixed plate becomes more stable, ensuring the fixing effect of the fixed plate on the welding wire, so that the fixing effect increases synchronously with the shaking amplitude of the welding wire, ensuring the stability of the fixation, and at the same time, avoiding damage to the welding wire surface due to tight fixation.

[0034] In this embodiment, a hemispherical top block 652 is provided on the arc surface 651. The hemispherical top block 652 is made of rubber material. The hemispherical top block 652 realizes point contact with the welding wire, thereby reducing the contact area and thereby increasing the force acting on the welding wire, thereby enhancing the fixing effect of the welding wire. At the same time, the hemispherical structure avoids scratches on the surface of the welding wire and affecting the quality of the welding wire. The hemispherical top block 652 is made of rubber material to absorb the vibration of the welding wire. At the same time, the rubber material has insulating properties and avoids the phenomenon of conductivity.

[0035] When the robot for welding in sectioned construction of a ship of the present invention is in use, the worker adjusts the tensioning force by rotating the knob 46 according to the diameter of the welding wire. At the same time, the fixing plate is extended to preliminarily fix the welding wire, and the welding robot 1 is started. The welding robot 1 drives the welding gun 2 to move synchronously. When the speed sensor 3 on the welding gun 2 detects that the welding speed increases, the speed sensor 3 sends a signal to the console, and the console sends a signal to the motor 41 to control the speed of the motor 41 to increase. The motor 41 drives the speed of the rotating shaft 42 to increase, and the centrifugal force generated by the rotating shaft 42 increases, and then the centrifugal plate 52 is driven by the centrifugal spring 51 to expand and slide along the circumference. The centrifugal plate 52 contacts the baffle 53, pushing the baffle 53 to slide horizontally, and the baffle 53 moves horizontally. 3 drives the push rod 54 to move synchronously. The push rod 54 squeezes the active rack 55 through the inclined groove 541. The active rack 55 slides vertically and engages with the rotating wheel 57, driving the rotating wheel 57 to rotate. The rotation of the rotating wheel 57 drives the knob 46 to rotate synchronously. The knob 46 drives the support shaft 45 to slide horizontally. The support shaft 45 drives the tensioning wheel 44 to approach the wire feeding wheel 43. At the same time, the rotating wheel 57 drives the driven rack 61 to slide vertically downward. When the driven rack 61 slides vertically downward, the driving block 611 on it squeezes the driving groove 631 on the turntable 63, thereby driving the turntable 63 to rotate. The rotation of the turntable 63 pushes the fixed plate to slide through the arc groove 632 thereon. The fixed plate keeps sliding horizontally and extending under the action of the inner wall of the working chamber 22. When welding is completed or the welding speed is reduced, the centrifugal force generated by the rotating shaft 42 is reduced, the moving distance of the centrifugal plate 52 is shortened, the baffle 53 no longer squeezes the active rack 55 through the push rod 54, and the active rack 55 slides in the opposite direction and resets under the action of the reset spring 56, thereby driving the rotating wheel 57 to reverse, and the rotating wheel 57 drives the knob 46 to reverse, and the knob 46 drives the tensioning wheel 44 to reset through the support shaft 45. At the same time, the rotating wheel 57 reverses and drives the driven rack 61 to slide vertically upward and reset, and the driven rack 61 drives the turntable 63 to reverse, and the turntable 63 pulls the fixed plate to reset.

[0036] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely preferred examples of the present invention and are not intended to limit the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and improvements fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot for welding in sectioned ship construction, characterized by: It comprises a welding robot (1), a welding gun (2), a speed sensor (3), a wire feeding device (4), a tensioning assembly (5) and a fixing assembly (6); The welding robot (1) is equipped with a welding gun (2); A speed sensor (3) is installed on the welding gun (2), a welding wire channel (21) is provided in the welding gun (2), a working chamber (22) is provided on the welding gun (2) and is communicated with the welding wire channel (21), a conductive nozzle (23) is installed in the welding gun (2), and a wire feeding device (4) is provided above the conductive nozzle (23); The wire feeding device (4) adjusts the wire feeding speed according to the welding speed. A tensioning assembly (5) is installed on the wire feeding device (4). When the wire feeding speed of the wire feeding device (4) increases, the wire feeding device (4) adjusts the tensioning force of the welding wire through the tensioning assembly (5). A fixing assembly (6) is provided below the tensioning assembly (5). When the wire feeding speed of the wire feeding device (4) increases, the tensioning assembly (5) drives the fixing assembly (6) to limit the shaking of the tail end of the welding wire.

2. The robot according to claim 1, wherein: The wire feeding device (4) comprises a motor (41), a rotating shaft (42), a wire feeding wheel (43), a tensioning wheel (44), a supporting shaft (45) and a knob (46); The motor (41) is fixedly installed in the working chamber (22), and the motor (41) is fixedly connected to the rotating shaft (42); The rotating shaft (42) has mounting holes (421) in an annular array, a wire feeding wheel (43) is mounted on the rotating shaft (42), and a tensioning wheel (44) is provided on one side of the wire feeding wheel (43); The tensioning wheel (44) is rotatably mounted on the inner wall of the working chamber (22) via a support shaft (45); The support shaft (45) is provided with a screw groove, and a knob (46) is rotatably mounted on the support shaft (45); The knob (46) is rotatably mounted on the working chamber (22), one end of the knob (46) passes through the working chamber (22) and is located outside the welding gun (2), and the other end of the knob (46) is provided with a thread that matches the screw groove.

3. The robot according to claim 2, characterized in that: A limiting protrusion (461) is provided on the knob (46), and a limiting groove (221) is provided in the working cavity (22).

4. The robot according to claim 3, characterized in that: The tensioning assembly (5) includes a centrifugal spring (51), a centrifugal plate (52), a baffle (53), a push rod (54), an active rack (55), a return spring (56) and a rotating wheel (57); One end of the centrifugal spring (51) is fixedly mounted in the mounting hole (421), and the other end of the centrifugal spring (51) is fixedly mounted on the centrifugal plate (52); A baffle (53) is provided on one side of the centrifugal plate (52); The baffle (53) is slidably mounted on the inner wall of the working chamber (22), and a push rod (54) is fixedly mounted on the lower end of the baffle (53); The push rod (54) is provided with an inclined groove (541), and an active rack (55) is provided on one side of the push rod (54) provided with the inclined groove (541); The active rack (55) is arranged perpendicularly to the push rod (54); an inclined groove (541) is provided on the active rack (55) to cooperate with the push rod (54); the active rack (55) is slidably connected to the working chamber (22) via a return spring (56); a rotating wheel (57) is provided above the active rack (55); The rotating wheel (57) is fixedly connected to the knob (46).

5. The robot according to claim 4, characterized in that: The baffle (53) is provided with a force storage groove (531), and the force storage groove (531) is located on one side of the centrifugal plate (52).

6. The robot according to claim 5, characterized in that: A support plate (532) is provided on the baffle (53), and the support plate (532) is slidably mounted on the support shaft (45).

7. The robot according to claim 6, characterized in that: A slide rail (5321) is provided on the support plate (532), a slide groove (451) cooperating with the support plate (532) is provided on the support shaft (45), and an extrusion protrusion (4511) is provided in the slide groove (451).

8. The robot according to claim 3, characterized in that: The fixing assembly (6) includes a driven rack (61), a compression spring (62), a rotating disk (63), a sliding rod (64), and a fixing rod (65); The driven rack (61) is mounted opposite to the active rack (55), and the driven rack (61) is meshed with the rotating wheel (57); the driven rack (61) is slidably connected to the working chamber (22) via a compression spring (62); a driving block (611) is provided on the driven rack (61), and a rotating disk (63) is provided below the driven rack (61); A driving groove (631) is provided on the outer circumference of the rotating disk (63), an arc-shaped groove (632) is provided on the rotating disk (63), and a sliding rod (64) is slidably installed in the arc-shaped groove (632); A fixing rod (65) is mounted on the sliding rod (64); The fixing rod (65) is provided with an arc surface (651) that cooperates with the welding wire.

9. The robot according to claim 8, characterized in that: Fixing protrusions (653) are provided on both sides of the fixing rod (65), and fixing grooves (222) are provided on both sides of the working cavity (22).

10. The robot according to claim 8, characterized in that: A hemispherical top block (652) is provided on the arc surface (651), and the hemispherical top block (652) is made of rubber.

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