A robot for shipbuilding segmental welding

Abstract

The application relates to the field of ship welding technology, in particular to a robot for ship sectional type construction welding, which comprises a welding robot, a welding gun, a speed sensor, a wire feeding device, a tensioning assembly and a fixing assembly; the welding gun is installed on the welding robot; the speed sensor is installed on the welding gun; a wire channel is arranged in the welding gun; a working cavity in communication with the wire channel is arranged on the welding gun; a conducting nozzle is installed in the welding gun; the wire feeding device is arranged above the conducting nozzle; the wire feeding speed is adjusted according to the welding speed; the tensioning assembly is installed on the wire feeding device; when the wire feeding speed of the wire feeding device increases, the wire feeding device adjusts the 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 increases, the tensioning assembly drives the fixing assembly to limit the shaking of the tail end of the welding wire; the application realizes the unity of the wire feeding speed and the tensioning force through centrifugal motion, thereby realizing the stable conveying of the welding wire and avoiding the shaking of the tail end of the welding wire.

Description

TECHNICAL FIELD

[0001] The present application relates to the ship welding technical field, specifically a kind of robot for ship sectional construction welding. BACKGROUND

[0002] Modern shipbuilding often adopts sectional construction method, by the whole ship body is divided into many independent modules for construction, then the module of each module is spliced to constitute the completed ship body, to complete the construction of ship, welding robot is generally used in ship sectional construction to carry out the welding construction of each module, to improve construction efficiency.

[0003] When welding between ship lattices, welding robot is mainly composed of mechanical arm and welding gun, welding robot realizes multi-axis rotation through its mechanical arm, and then realizes multi-angle welding, mechanical arm drives fixedly connected welding gun to rotate synchronously when rotating, welding gun transports welding wire through the wire feeding device arranged in it, welding wire is applied with current through conducting nozzle, and then contacts with workpiece, short circuit phenomenon is formed between welding wire and workpiece, welding wire melts and workpiece completes welding.

[0004] But in the welding process, the problem of too large welding speed appears, at this time, the phenomenon that wire feeding speed and welding speed are not uniform appears, so that wire feeding speed is lower than welding speed, and then the phenomenon of unstable wire feeding appears, so that welding wire tail end shakes, and then welding quality is reduced.

[0005] In view of this, we propose a kind of robot for ship sectional construction welding. SUMMARY

[0006] The present application aims to provide a kind of robot for ship sectional construction welding, to solve the problem of the above background that wire feeding speed and welding speed are not uniform.

[0007] To achieve the above object, the present application provides the following technical scheme:

[0008] A kind of robot for ship sectional construction welding, including welding robot, welding torch, speed sensor, wire feeder, tensioning component and fixed component;The welding torch is installed on the welding robot, and the welding torch is moved synchronously by welding robot, to realize sectional welding to ship, welding robot can realize multi-angle rotation, in turn can adapt to welding of different angles, improve the applicability of welding;Speed sensor is installed on the welding torch, and speed sensor is used to monitor the moving speed of welding torch, to drive welding speed, welding torch is provided with welding wire channel, welding torch is provided with working cavity communicated with welding wire channel, welding torch is provided with electrically conductive nozzle, wire feeder is arranged above electrically conductive nozzle, welding wire channel is used for the entry of welding wire, and the entering welding wire moves downward under the action of wire feeder, in turn, electrically conductive nozzle is powered on, then under the action of welding robot, welding wire is contacted with workpiece, current loop is formed to cause short circuit phenomenon, so that welding wire melts and welds workpiece;

[0009] The wire feeder adjusts the wire feeding speed according to the welding speed, and the speed sensor monitors the welding speed of the welding torch in real time, when the welding speed increases, the speed sensor sends an electrical signal to the control console, the control console controls the wire feeding speed of the wire feeder to increase, so that the wire feeding speed and the welding speed are kept uniform, to avoid the wire feeding speed being lower than the welding speed, which causes the weld to be not penetrated or the spatter to increase, affecting the welding quality, when the wire feeder is provided with a tensioning component, when the wire feeding speed of the wire feeder increases, the wire feeding speed of the wire feeder is adjusted by the tensioning component, when the wire feeding speed increases, the tensioning force of the welding wire is increased synchronously by the tensioning component, to increase the tensioning force of the welding wire, which helps to fix the welding wire, to avoid the phenomenon of slipping or unstable wire feeding, which causes the welding wire to shake and affects the welding quality, the fixed component is arranged below the tensioning component, when the moving speed of the welding torch increases, the tensioning component drives the fixed component to limit the shaking of the tail end of the welding wire, when the welding speed increases, the tail end of the welding wire will slip, in turn, the welding will occur convex phenomenon, which will reduce the welding quality, therefore, the tail end of the welding wire is fixed by the fixed component, to avoid the shaking of the tail end of the welding wire, and improve the welding quality.

[0010] Preferably, the wire feeding device comprises a motor, a rotating shaft, a wire feeding wheel, a tension wheel, a supporting shaft and a knob; the motor is fixedly installed in the working cavity, and the motor is fixedly connected with the rotating shaft; the rotating shaft is provided with an installation hole in an annular array, and the wire feeding wheel is installed on the rotating shaft; a speed sensor monitors the welding speed, and sends the welding speed to a control console; the control console sends a signal to the motor to control the rotating speed of the motor to match the welding speed; the motor rotates to drive the wire feeding wheel to rotate through the rotating shaft; the wire feeding wheel fixes the welding wire through the groove thereon, and drives the welding wire to slide vertically downward to complete wire feeding; one side of the wire feeding wheel is provided with the tension wheel, which adjusts the force between the wire feeding wheel and the welding wire during wire feeding to avoid surface scratches of the welding wire caused by a large force between the wire feeding wheel and the welding wire or a sliding phenomenon caused by a small force between the wire feeding wheel and the welding wire; the tension wheel is rotatably installed on the inner wall of the working cavity through the supporting shaft; the supporting shaft is provided with a screw groove, and the knob is rotatably installed on the supporting shaft; the knob is rotatably installed on the working cavity, one end of the knob penetrates through the working cavity and is located outside the welding gun, and the other end of the knob is provided with a screw thread matched with the screw groove; the knob is rotated to drive the screw groove on the supporting shaft through the screw thread, and then drive the supporting shaft to slide horizontally, and then drive the tension wheel to slide synchronously through the supporting shaft, change the distance between the tension wheel and the wire feeding wheel, and then change the tension force.

[0011] Preferably, when the diameter of the welding wire changes, the worker can drive the supporting shaft to slide by rotating the knob, and then drive the tension wheel to slide to change the tension force, so as to realize the use of welding wires with different diameters.

[0012] Preferably, the knob is provided with a limiting lug, and the working cavity is provided with a limiting groove; the working cavity limits the freedom of the limiting lug through the limiting groove to limit the horizontal sliding of the knob, so that the knob can only rotate, thereby ensuring the stability of the rotation of the knob and the stability of the movement of the tension wheel.

[0013] Preferably, the tensioning assembly comprises a centrifugal spring, a centrifugal plate, a baffle, a push rod, a driving 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 driving speed of the motor increases, and then the rotating speed of the rotating shaft increases, 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; the centrifugal plate is provided with a baffle on one side, and the centrifugal plate expands along the circumference under the action of the centrifugal force and contacts the baffle, and then pushes the baffle to slide horizontally; the baffle is slidably installed with the inner wall of the working cavity, and the lower end of the baffle is fixedly installed with the push rod; the push rod is provided with an inclined groove, and the side of the push rod provided with the inclined groove is provided with the driving rack; the driving rack is arranged perpendicularly to the push rod, and the driving rack is provided with an inclined groove matched with the push rod; the driving rack and the push rod are arranged perpendicularly to each other, and then the movement direction is changed through mutual extrusion of the inclined grooves, so that the horizontal sliding of the push rod is changed into the vertical sliding of the driving rack; the driving rack is slidably connected with the working cavity through the return spring, and the driving rack is provided with the rotating wheel above; the rotating wheel is fixedly connected with the knob, and the driving rack vertically slides upwards and meshes with the rotating wheel, so that the rotating wheel is driven to rotate, and the rotating wheel drives the knob fixedly connected therewith to rotate synchronously when the rotating wheel rotates, the knob drives the tensioning wheel to slide horizontally, the distance between the tensioning wheel and the wire feeding wheel is changed, and then the tensioning force is changed, so that the phenomenon of wire slipping caused by the increase of the wire feeding speed is avoided, and the fixing effect of the wire is enhanced, and the phenomenon of wire shaking caused by the large wire speed is reduced.

[0014] Preferably, the driving rack is in a disengaged state with the rotating wheel in an initial state, and the driving rack meshes with the rotating wheel only when the driving rack vertically slides upwards, so that the rotating wheel is driven to rotate, and therefore, when the tensioning force is adjusted due to the change of the wire diameter, the rotating wheel will not drive the driving wheel to rotate when the rotating wheel rotates with the knob.

[0015] Preferably, the baffle is provided with a force storage groove, and the force storage groove is located on one side of the centrifugal plate; the force storage groove is in a circular arc structure and is attached to the surface of the centrifugal plate; the force storage groove increases the contact area and contact time of the baffle and the centrifugal plate, and then enhances the pushing force of the centrifugal plate on the baffle, so as to ensure the sliding distance and stability of the baffle.

[0016] Preferably, the baffle is provided with a support plate, and the support plate is slidably installed with the support shaft; the support plate supports the support shaft, so as to avoid the shaking of the support shaft during the sliding process, and then ensure the stability of the sliding of the support shaft, so as to ensure the stability of the movement of the tensioning wheel and the stability of the tensioning force.

[0017] Preferably, the support plate is provided with a sliding rail, the support shaft is provided with a sliding groove matched with the support plate, and the sliding groove is provided with an extrusion protrusion. The sliding rail guides the sliding of the support shaft, thereby ensuring the stability of the movement of the support shaft. The extrusion protrusion is used to enhance the friction between the support shaft and the sliding rail. During the rotation of the centrifugal plate, the gap between the centrifugal plates gradually increases with the increase of the centrifugal force, thereby causing the sliding of the baffle to shake slightly, thereby affecting the sliding of the tensioning wheel. When the baffle is in the gap that is 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 sliding rail, thereby offsetting the resetting tendency of the baffle and ensuring the stability of the baffle.

[0018] Preferably, the fixing assembly comprises a driven rack, a compression spring, a rotating disc, a sliding rod, and a fixing rod. The driven rack is oppositely installed with the driving rack and is engaged with the rotating wheel. The driven rack is slidably connected with the working cavity through the compression spring. The driven rack is provided with a driving block. The rotating disc is provided below the driven rack. The rotating disc is provided with a driving groove on the circumferential outer side. The rotating disc is provided with an arc-shaped groove. The sliding rod is slidably installed in the arc-shaped groove. The fixing rod is installed on the sliding rod. The fixing rod is provided with an arc surface matched with the welding wire. When the driving rack drives the rotating wheel to rotate and thereby changes the tensioning force, the rotating wheel drives the driven rack on the opposite side of the driving rack to slide. The driven rack and the driving rack are reversely displaced. The driven rack vertically slides downward. When the driven rack vertically slides downward, the driving block thereon extrudes the driving groove on the rotating disc, thereby driving the rotating disc to rotate. The rotating disc rotates to push the fixing plate to slide through the arc-shaped groove thereon. The fixing plate horizontally slides and extends under the action of the inner wall of the working cavity, thereby fixing the welding wire. The arc surface at the front end of the fixing plate enhances the acting force between the fixing plate and the welding wire, thereby ensuring the fixing effect of the welding wire. At the same time, the arc surface enables the fixing plate to fix the welding wire with different diameters, thereby ensuring the stability of the fixing.

[0019] Preferably, when the diameter of the welding wire changes, the worker drives the tensioning wheel to slide to change the tensioning force through the knob. The driving rack is not rotated at the engagement with the rotating wheel. The driven rack is engaged with the rotating wheel and vertically slides downward, thereby driving the fixing plate to extend to fix the welding wire. The diameter of the arc circle surrounded by the fixing plate matches the welding wire, thereby ensuring the fixing effect of the fixing plate.

[0020] Preferably, the fixing rod has fixing protrusions on both sides and fixing grooves on both sides of the working cavity. As the welding speed increases, the amplitude of the swaying of the welding wire tail 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 cavity increases, and the sliding of the fixing plate becomes more stable, ensuring the fixing effect of the fixing plate on the welding wire. This makes the fixing effect increase synchronously with the swaying amplitude of the welding wire, ensuring the stability of the fixing. At the same time, it avoids damage to the surface of the welding wire due to excessive fixing.

[0021] Preferably, the arc surface is provided with a hemispherical top block, which is made of rubber. The hemispherical top block makes point contact with the welding wire, thereby reducing the contact area and enhancing the force on the welding wire, thus improving the fixing effect of the welding wire. At the same time, the hemispherical structure avoids scratching the surface of the welding wire, which would affect the quality of the welding wire. The rubber material of the hemispherical top block can absorb the vibration of the welding wire. In addition, the rubber material has insulating properties, which prevents the occurrence of electrical conductivity.

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

[0023] A robot for welding in the segmented construction of ships. This invention ensures the stability of the welding wire through tensioning and fixing components, avoids the phenomenon of welding wire shaking caused by high welding speed, and improves welding quality.

[0024] A robot for welding in the segmented construction of ships. This invention achieves the unification of wire feeding speed and tension force through a tensioning component, avoiding the problems of slippage caused by insufficient tensioning wheel or damage to welding wire caused by excessive tension force.

[0025] A robot for welding in the segmented construction of ships. This invention uses a fixing component to fix welding wires of different diameters, ensuring that the welding wires of different diameters are subjected to uniform force and avoiding the phenomenon of damage to the welding wires due to excessive fixing force. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the welding robot of the present invention;

[0027] Figure 2 This is a half-sectional view of the welding torch of the present invention;

[0028] Figure 3 For the present invention Figure 2 A magnified view of point A;

[0029] Figure 4 For the present invention Figure 2 A magnified view of point B;

[0030] Figure 5 This is a schematic diagram of the overall tensioning and fixing components of the present invention;

[0031] Figure 6 This is a half-sectional view of the knob of the present invention;

[0032] Figure 7 For the present invention Figure 6 A magnified view of point C;

[0033] Figure 8 This is an isometric view of the tensioning assembly of the present invention;

[0034] Figure 9 This is a rear view of the tensioning assembly of the present invention;

[0035] Figure 10 This is a schematic diagram of the support shaft of the present invention;

[0036] Figure 11 This is a schematic diagram of the overall fixing component of the present invention;

[0037] Figure 12 For the present invention Figure 11 A magnified view of point D;

[0038] Figure 13 This is a horizontal sectional view of the welding torch of the present invention;

[0039] Figure 14 For the present invention Figure 13 A magnified view of point E.

[0040] In the picture:

[0041] 1. Welding robot;

[0042] 2. Welding torch; 21. Welding wire channel; 22. Working chamber; 221. Limiting groove; 222. Fixing groove; 23. Contact tip;

[0043] 3. Speed ​​sensor;

[0044] 4. Wire feeding device; 41. Motor; 42. Rotary shaft; 421. Mounting hole; 43. Wire feeding wheel; 44. Tensioning wheel; 45. Support shaft; 451. Slide groove; 4511. Extrusion protrusion; 46. Knob; 461. Limiting protrusion;

[0045] 5. Tensioning assembly; 51. Centrifugal spring; 52. Centrifugal plate; 53. Baffle; 531. Energy storage groove; 532. Support plate; 5321. Slide rail; 54. Push rod; 541. Inclined groove; 55. Drive rack; 56. Return spring; 57. Rotary wheel;

[0046] 6. Fixed component; 61. Driven rack; 611. Drive block; 62. Compression spring; 63. Turntable; 631. Drive groove; 632. Arc groove; 64. Slide rod; 65. Fixed rod; 651. Arc surface; 652. Hemispherical top block; 653. Fixed protrusion. Detailed Implementation

[0047] 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.

[0048] When welding between ship compartments, the welding robot mainly consists of a robotic arm and a welding torch. The welding robot achieves multi-axis rotation through its robotic arm, thereby realizing multi-angle welding. When the robotic arm rotates, it drives the fixedly connected welding torch to rotate synchronously. The welding torch feeds the welding wire through a wire feeding device inside. The welding wire is energized through a conductive tip and then comes into contact with the workpiece. A short circuit is formed between the welding wire and the workpiece, and the welding wire and the workpiece melt to complete the welding.

[0049] However, during the welding process, the welding speed varies in different areas. When the welding area changes, the welding speed may become too high. This can lead to a mismatch between the wire feeding speed and the welding speed, causing the wire feeding speed to be lower than the welding wire speed. This results in unstable wire feeding, which in turn causes the welding wire tail to wobble, ultimately reducing the welding quality.

[0050] The present invention provides a technical solution:

[0051] like Figures 1 to 14 As shown, a robot for welding in the segmented construction of ships includes a welding robot 1, a welding torch 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 torch 2. The welding torch 2 is equipped with a speed sensor 3. A wire channel 21 is formed inside the welding torch 2, and a working chamber 22 communicating with the wire channel 21 is formed on the welding torch 2. A conductive nozzle 23 is installed inside the welding torch 2, and a wire feeding device 4 is positioned above the conductive nozzle 23. The wire feeding device 4 adjusts its wire feeding speed according to the welding speed. The 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 wire tension through the tensioning assembly 5. The fixing assembly 6 is positioned 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 restrict the swaying of the wire tail end.

[0052] Specifically, the welding robot 1 is detachably mounted with the welding gun 2, the welding gun 2 and the welding robot 1 can be fixedly connected through threads, so that the welding robot 1 drives the welding gun 2 to move synchronously, and then the segmented welding of the ship is realized. The welding robot 1 can rotate at multiple angles, so that it can adapt to welding at different angles and improve the applicability of welding. The speed sensor 3 is fixedly installed on the surface of the welding gun 2, so that the moving speed of the welding gun 2 can be monitored in real time, and then the welding speed can be determined. The welding gun 2 is provided with a welding wire channel 21, which is located on the central axis of the welding gun 2 and penetrates the welding gun 2. The welding gun 2 is provided with a working cavity 22 which communicates with the welding wire channel 21. The welding gun 2 is provided with an electrically conductive nozzle 23. The electrically conductive nozzle 23 applies current to the welding wire, so that the welding wire and the workpiece can form a complete closed loop when they are in contact. The welding gun 2 is provided with a wire feeding device 4 above the electrically conductive nozzle 23. The welding wire channel 21 is used for the welding wire to enter. The entering welding wire moves downward under the action of the wire feeding device 4, and then the electrically conductive nozzle 23 is electrified. Then, under the action of the welding robot 1, the welding wire contacts the workpiece, the current forms a loop and short-circuits, and the welding wire melts to weld the workpiece.

[0053] 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 control console, the control 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 uniform, avoiding the problem that the wire feeding speed is lower than the welding speed, resulting in incomplete penetration of the weld or increased spatter, affecting the welding quality. The wire feeding device 4 is provided with a tensioning assembly 5. When the wire feeding speed increases, the tensioning assembly 5 synchronously increases the tensioning force of the welding wire, which helps to fix the welding wire and avoid the phenomenon of slipping or unstable wire feeding, which causes the welding wire to shake and affects the welding quality. The tensioning assembly 5 is provided with a fixing assembly 6 below. When the welding speed increases, the tail end of the welding wire will slide, which will cause the welding to be convex, resulting in a decrease in welding quality. Therefore, the tail end of the welding wire is fixed by the fixing assembly 6 to avoid the shaking of the tail end of the welding wire and improve the welding quality.

[0054] In the embodiment, 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 cavity 22, and the motor 41 is fixedly connected with the rotating shaft 42; the rotating shaft 42 is provided with annularly arranged installation holes 421, the wire feeding wheel 43 is installed on the rotating shaft 42, and the tensioning wheel 44 is arranged on one side of the wire feeding wheel 43; the tensioning wheel 44 is rotatably installed on the inner wall of the working cavity 22 through the supporting shaft 45; the supporting shaft 45 is provided with a screw groove, and the knob 46 is rotatably installed on the supporting shaft 45; the knob 46 is rotatably installed on the working cavity 22, one end of the knob 46 penetrates through the working cavity 22 and is located outside the welding torch 2, and the other end of the knob 46 is provided with a screw thread matched with the screw groove;

[0055] Specifically, the motor 41 is fixedly installed in the working cavity 22 and can be connected through a screw, the rotating shaft 42 is fixedly installed on the motor 41, the rotating shaft 42 is provided with annularly arranged installation holes 421, the installation holes 421 are used for the installation of the tensioning assembly 5, the wire feeding wheel 43 is installed on the rotating shaft 42, the speed sensor 3 monitors the welding speed, sends the welding speed to the control console, the control console sends a signal to the motor 41, controls the rotating speed of the motor 41 to match the welding speed, the motor 41 rotates to drive the wire feeding wheel 43 to rotate through the rotating shaft 42, the wire feeding wheel 43 fixes the welding wire through the thread thereon and drives the welding wire to slide vertically downward to complete wire feeding, the tensioning wheel 44 is arranged on one side of the wire feeding wheel 43, the tensioning wheel 44 adjusts the force between the wire feeding wheel 43 and the welding wire during wire feeding, so as to avoid that the surface of the welding wire is scratched due to a large force between the wire feeding wheel 43 and the welding wire or the wire sliding phenomenon occurs due to a small force between the wire feeding wheel 43 and the welding wire; the tensioning wheel 44 is rotatably installed on the inner wall of the working cavity 22 through the supporting shaft 45; the supporting shaft 45 is provided with a screw groove, and the knob 46 is rotatably installed on the supporting shaft 45; the knob 46 is rotatably installed on the working cavity 22, one end of the knob 46 penetrates through the working cavity 22 and is located outside the welding torch 2, and the other end of the knob 46 is provided with a screw thread matched with the screw groove, the knob 46 rotates to drive the screw groove on the supporting shaft 45 through the screw thread, so as to drive the supporting shaft 45 to slide horizontally, and then drive the tensioning wheel 44 to slide synchronously through the supporting shaft 45, change the distance between the tensioning wheel 44 and the wire feeding wheel 43, and then change the tensioning force;

[0056] Preferably, when the diameter of the welding wire changes, the staff can drive the supporting shaft 45 to slide by rotating the knob 46, and then drive the tensioning wheel 44 to slide to change the tensioning force, so as to realize the use of welding wires with different diameters.

[0057] In the embodiment, the knob 46 is provided with a limiting protrusion 461, and the working cavity 22 is provided with a limiting groove 221;

[0058] Specifically, the working cavity 22 limits the freedom of the limiting limiting block 461 through the limiting groove 221, and then limits the horizontal sliding of the knob 46, so that the knob 46 can only rotate, and then ensures the stability of the rotation of the knob 46, thereby ensuring the stability of the movement of the tensioning wheel 44.

[0059] In the embodiment, the tensioning assembly 5 comprises a centrifugal spring 51, a centrifugal plate 52, a baffle 53, a push rod 54, a driving rack 55, a return spring 56 and a rotating wheel 57; one end of the centrifugal spring 51 is fixedly installed in the mounting hole 421, and the other end of the centrifugal spring 51 is fixedly installed with the centrifugal plate 52; one side of the centrifugal plate 52 is provided with the baffle 53; the baffle 53 is slidably installed with the inner wall of the working cavity 22, and the lower end of the baffle 53 is fixedly installed with the push rod 54; the push rod 54 is provided with an inclined groove 541, and one side of the push rod 54 provided with the inclined groove 541 is provided with the driving rack 55; the driving rack 55 is vertically arranged with the push rod 54, and the driving rack 55 is provided with the inclined groove 541 matched with the push rod 54; the driving rack 55 is slidably connected with the working cavity 22 through the return spring 56, and the upper side of the driving rack 55 is provided with the rotating wheel 57; the rotating wheel 57 is fixedly connected with the knob 46;

[0060] Specifically, one end of the centrifugal spring 51 is fixedly installed in the mounting hole 421, and the other end of the centrifugal spring 51 is fixedly installed with the centrifugal plate 52. The centrifugal spring 51 can be fixedly connected with the centrifugal plate 52 and the rotating shaft 42 through welding or gluing. When the wire feeding speed increases synchronously with the welding machine speed, the driving speed of the motor 41 increases, and then the rotating speed of the rotating shaft 42 increases. The centrifugal force generated when the rotating shaft 42 rotates increases, and the moving distance of the centrifugal plate 52 driven by the centrifugal spring 51 increases when the rotating shaft 42 rotates. One side of the centrifugal plate 52 is provided with a baffle 53, and the side of the baffle 53 in contact with the working cavity 22 is provided with a sliding block for ensuring the sliding connection of the baffle 53 and the working cavity 22. The centrifugal plate 52 expands along the circumference under the action of the centrifugal force and contacts the baffle 53, and then pushes the baffle 53 to slide horizontally. The lower end of the baffle 53 is fixedly installed with a push rod 54. The push rod 54 is provided with an inclined groove 541. One side of the push rod 54 provided with the inclined groove 541 is provided with a driving rack 55. The driving rack 55 is arranged vertically with the push rod 54. The driving rack 55 is provided with an inclined groove 541 matched with the push rod 54. The driving rack 55 and the push rod 54 are arranged vertically, and then the moving direction is changed through mutual extrusion of the inclined grooves 541, so that the horizontal sliding of the push rod 54 is changed into the vertical sliding of the driving rack 55. The driving rack 55 is slidably connected with the working cavity 22 through a return spring 56. The driving rack 55 is provided above with a rotating wheel 57. The rotating wheel 57 is fixedly connected with the knob 46. The driving rack 55 vertically slides upward and engages with the rotating wheel 57, and then drives the rotating wheel 57 to rotate. The rotating wheel 57 drives the knob 46 fixedly connected therewith to rotate synchronously when the rotating wheel 57 rotates. The knob 46 drives the tensioning wheel 44 to slide horizontally, changes the distance between the tensioning wheel 44 and the wire feeding wheel 43, and then changes the tensioning force, so as to avoid the occurrence of the phenomenon that the wire slips due to the increase of the wire feeding speed, enhances the fixing effect of the wire, and reduces the phenomenon that the wire shakes due to the large wire speed.

[0061] Preferably, the driving rack 55 is in a disengaged state with the rotating wheel 57 in an initial state. The driving rack 55 engages with the rotating wheel 57 only when the driving rack 55 vertically slides upward, and then drives the rotating wheel 57 to rotate. Therefore, when the tensioning force is adjusted due to the change of the wire diameter, the rotating wheel 57 does not drive the driving wheel to rotate when the rotating wheel 57 rotates with the knob 46.

[0062] In the embodiment, the baffle 53 is provided with a force storage groove 531, and the force storage groove 531 is located at one side of the centrifugal plate 52.

[0063] Specifically, the force storage groove 531 is in a circular arc structure and is attached to the surface of the centrifugal plate 52. The force storage groove 531 increases the contact area and contact time of the baffle 53 and the centrifugal plate 52, and then enhances the pushing force of the centrifugal plate 52 on the baffle 53, so as to ensure the sliding distance and stability of the baffle 53.

[0064] In the embodiment, the baffle 53 is provided with a supporting plate 532, and the supporting plate 532 is slidably connected with the supporting shaft 45;

[0065] Specifically, the supporting plate 532 supports the supporting shaft 45, avoids the supporting shaft 45 from shaking during the sliding process, and guarantees the stability of the sliding of the supporting shaft 45, so as to guarantee the stability of the movement of the tensioning wheel 44 and the stability of the tensioning force.

[0066] In the embodiment, the supporting plate 532 is provided with a sliding rail 5321, the supporting shaft 45 is provided with a sliding groove 451 matched with the supporting plate 532, and the sliding groove 451 is provided with an extrusion protrusion 4511;

[0067] Specifically, the sliding rail 5321 guides the sliding of the supporting shaft 45, so as to guarantee the stability of the movement of the supporting shaft 45. The extrusion protrusion 4511 is used for enhancing the friction between the supporting shaft 45 and the sliding rail 5321. During the rotation of the centrifugal plate 52, the gap between the centrifugal plates 52 gradually increases with the increase of the centrifugal force, so as to cause the slight shaking of the sliding of the baffle 53, and thus affect the sliding of the tensioning wheel 44. When the baffle 53 is in the gap and tends to reset, the extrusion protrusion 4511 on the supporting shaft 45 enhances the friction between the supporting shaft 45 and the sliding rail 5321, so as to offset the reset tendency of the baffle 53 and guarantee the stability of the baffle 53.

[0068] In the embodiment, the fixing assembly 6 comprises a driven rack 61, a compression spring 62, a rotating disc 63, a sliding rod 64, and a fixing rod 65. The driven rack 61 is oppositely arranged with the driving rack 55 and is engaged with the rotating wheel 57. The driven rack 61 is slidably connected with the working cavity 22 through the compression spring 62. The driven rack 61 is provided with a driving block 611, and the lower portion of the driven rack 61 is provided with the rotating disc 63. The rotating disc 63 is provided with a driving groove 631 on the outer side of the circumference. The rotating disc 63 is provided with an arc-shaped groove 632. The sliding rod 64 is slidably arranged in the arc-shaped groove 632. The fixing rod 65 is arranged on the sliding rod 64. The fixing rod 65 is provided with an arc surface 651 matched with the welding wire.

[0069] Specifically, the driven rack 61 is oppositely arranged with the driving rack 55 and is engaged with the rotating wheel 57. The driven rack 61 is slidably connected with the working cavity 22 through the compression spring 62. The driven rack 61 is provided with a driving block 611, and the lower portion of the driven rack 61 is provided with the rotating disc 63. The rotating disc 63 is provided with a driving groove 631 on the outer side of the circumference. The rotating disc 63 is provided with an arc-shaped groove 632. The sliding rod 64 is slidably arranged in the arc-shaped groove 632. The fixing rod 65 is arranged on the sliding rod 64. The fixing rod 65 is provided with an arc surface 651 matched with the welding wire.

[0070] When the driving rack 55 drives the rotating wheel 57 to rotate and change the tension, the rotating wheel 57 drives the driven rack 61 on the opposite side of the driving rack 55 to slide, the driven rack 61 and the driving rack 55 are reversely displaced, the driven rack 61 slides vertically downward, and the driving block 611 on the driven rack 611 extrudes the driving groove 631 on the rotating disc 63 when the driven rack 611 slides vertically downward, thereby driving the rotating disc 63 to rotate, the rotating disc 63 drives the fixed plate to slide through the arc-shaped groove 632 thereon, the fixed plate slides horizontally and extends out under the action of the inner wall of the working cavity 22, the welding wire is fixed, 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, and meanwhile, the arc surface 651 enables the fixed plate to fix the welding wire of different diameters, thereby ensuring the stability of the fixing.

[0071] Preferably, when the diameter of the welding wire changes, the staff drives the tensioning wheel 44 to slide and change the tension through the knob 46, the driving rack 55 does not rotate at the meshing position of the rotating wheel 57, the driven rack 61 meshes with the rotating wheel 57 and slides vertically downward, thereby driving the fixed plate to extend out and fix the welding wire, the arc circle diameter surrounded by the fixed plate matches the welding wire, thereby ensuring that the welding wire of different diameters receives consistent force and avoiding the problem that the fixed force is too large to damage the welding wire.

[0072] In the embodiment, the fixed rods 65 are provided with fixed protrusions 653 on both sides, and the working cavity 22 is provided with fixed grooves 222 on both sides.

[0073] 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, the fixed protrusions 653 on the fixed plate enter the fixed grooves 222 one by one in the sliding process of the fixed plate, as the sliding distance of the fixed plate increases, the number of the fixed protrusions 653 entering the fixed grooves 222 increases, the friction between the fixed plate and the working cavity 22 increases, the sliding of the fixed plate is more stable, the fixing effect of the fixed plate on the welding wire is ensured, the fixing effect increases synchronously with the amplitude of the shaking of the welding wire, the stability of the fixing is ensured, and meanwhile, the problem that the fixed force is too large to damage the surface of the welding wire is avoided.

[0074] In the embodiment, the arc surface 651 is provided with a hemispherical top block 652, the hemispherical top block 652 is made of rubber material, the hemispherical top block 652 realizes point contact with the welding wire, the contact area is reduced, thereby enhancing the force on the welding wire, thereby enhancing the fixing effect of the welding wire, meanwhile, the hemispherical structure avoids scratching the surface of the welding wire and affecting the quality of the welding wire, the hemispherical top block 652 is made of rubber material and can absorb the vibration of the welding wire, and meanwhile, the rubber material has the property of insulation, thereby avoiding the phenomenon of conduction.

[0075] The robot for ship sectional construction welding of the application adjusts the tension according to the wire diameter by rotating the knob 46, and preliminarily fixes the wire by extending the fixed plate, starts the welding robot 1, and synchronously moves the welding gun 2 driven by the welding robot 1; when the speed sensor 3 on the welding gun 2 monitors the increase of the welding speed, the speed sensor 3 sends a signal to the control console, the control console sends a signal to the motor 41, controls the motor 41 to increase the rotating speed, the motor 41 drives the rotating shaft 42 to increase the centrifugal force, 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, pushes the baffle 53 to slide horizontally, the baffle 53 synchronously moves the push rod 54, the push rod 54 extrudes the driving rack 55 through the inclined groove 541, the driving rack 55 vertically slides and engages with the rotating wheel 57, drives the rotating wheel 57 to rotate, the rotating wheel 57 synchronously rotates the knob 46, the knob 46 drives the supporting shaft 45 to slide horizontally, the supporting shaft 45 drives the tensioning wheel 44 to move close to the wire feeder wheel 43, at the same time, the rotating wheel 57 drives the driven rack 61 to vertically slide downwards, the driving block 611 on the driven rack 61 extrudes the driving groove 631 on the rotating disc 63, and the rotating disc 63 is driven to rotate, the rotating disc 63 pushes the fixed plate to slide through the arc-shaped groove 632, and the fixed plate keeps horizontal sliding and extending under the action of the inner wall of the working cavity 22.

[0076] When the 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 reduced, the baffle 53 no longer extrudes the driving rack 55 through the push rod 54, the driving rack 55 reversely slides and resets under the action of the reset spring 56, and the rotating wheel 57 is reversely rotated, the rotating wheel 57 reversely rotates the knob 46, the knob 46 drives the tensioning wheel 44 to reset through the supporting shaft 45, at the same time, the rotating wheel 57 reversely drives the driven rack 61 to vertically slide upwards, the driven rack 61 reversely drives the rotating disc 63, and the rotating disc 63 pulls the fixed plate to reset.

[0077] The above shows and describes the basic principles, main features and advantages of the application. It should be understood by those skilled in the art that the application is not limited by the above examples, the above examples and descriptions in the specification are only preferred examples of the application, and are not intended to limit the application, various changes and improvements can be made to the application without departing from the spirit and scope of the application, and these changes and improvements all fall within the scope of the claimed application. The scope of protection of the application is defined by the appended claims and their equivalents.

Claims

1. A robot for shipbuilding section-wise welding, characterized in that: The welding robot (1) is provided with a welding torch (2), a speed sensor (3), a wire feeding device (4), a tensioning assembly (5) and a fixing assembly (6); The welding robot (1) is provided with a welding torch (2); The welding torch (2) is provided with a speed sensor (3), a wire channel (21) is formed in the welding torch (2), a working cavity (22) is formed in the welding torch (2) and communicates with the wire channel (21), a conducting nozzle (23) is arranged in the welding torch (2), and a wire feeding device (4) is arranged above the conducting nozzle (23); 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 arranged in the working cavity (22), and the motor (41) is fixedly connected with the rotating shaft (42); A plurality of installation holes (421) are arranged in an annular array on the rotating shaft (42), the wire feeding wheel (43) is arranged on the rotating shaft (42), and the wire feeding wheel (43) is provided with the tensioning wheel (44) on one side; The tensioning wheel (44) is rotatably arranged on the inner wall of the working cavity (22) through the supporting shaft (45); A screw groove is formed in the supporting shaft (45), and the knob (46) is rotatably arranged on the supporting shaft (45); The knob (46) is rotatably arranged on the working cavity (22), one end of the knob (46) penetrates through the working cavity (22) and is located outside the welding torch (2), and the other end of the knob (46) is provided with a screw thread matched with the screw groove; The wire feeding device (4) adjusts the wire feeding speed according to the welding speed, the wire feeding device (4) is provided with the tensioning assembly (5), and the wire feeding device (4) adjusts the wire tensioning force through the tensioning assembly (5) when the wire feeding speed of the wire feeding device (4) increases; The tensioning assembly (5) comprises a centrifugal spring (51), a centrifugal plate (52), a baffle (53), a push rod (54), a driving rack (55), a return spring (56) and a rotating wheel (57); One end of the centrifugal spring (51) is fixedly arranged in the installation hole (421), and the other end of the centrifugal spring (51) is fixedly arranged with the centrifugal plate (52); The centrifugal plate (52) is provided with the baffle (53) on one side; The baffle (53) is slidably arranged on the inner wall of the working cavity (22), and the push rod (54) is fixedly arranged at the lower end of the baffle (53); An inclined groove (541) is formed in the push rod (54), and the driving rack (55) is arranged on one side of the push rod (54) provided with the inclined groove (541); The driving rack (55) is arranged perpendicularly to the push rod (54), the driving rack (55) is provided with the inclined groove (541) matched with the push rod (54), the driving rack (55) is slidably connected with the working cavity (22) through the return spring (56), and the rotating wheel (57) is arranged above the driving rack (55); The rotating wheel (57) is fixedly connected with the knob (46). The rotating wheel (57) drives the rotary knob (46) fixedly connected therewith to rotate synchronously, the rotary knob (46) drives the tensioning wheel (44) to slide horizontally, the distance between the tensioning wheel (44) and the wire feeding wheel (43) is changed, and then the tensioning force is changed; The fixed assembly (6) is arranged below the tensioning assembly (5), and the tensioning assembly (5) drives the fixed assembly (6) to limit the swing of the tail end of the welding wire when the wire feeding speed of the wire feeding device (4) is increased; The fixed assembly (6) comprises a driven rack (61), a compression spring (62), a rotating disc (63), a sliding rod (64) and a fixed rod (65). The driven rack (61) is arranged opposite to the driving rack (55), and the driven rack (61) is engaged with the rotating wheel (57); the driven rack (61) is slidably connected with the working cavity (22) through the compression spring (62); the driven rack (61) is provided with a driving block (611); and the driven rack (61) is provided below the rotating disc (63). The rotating disc (63) is provided with a driving groove (631) on the circumferential outer side; the rotating disc (63) is provided with an arc-shaped groove (632); and the sliding rod (64) is slidably arranged in the arc-shaped groove (632). The fixed rod (65) is arranged on the sliding rod (64). The fixed rod (65) is provided with an arc surface (651) matched with the welding wire. The fixed rod (65) is provided with fixed protrusions (653) on both sides; and the working cavity (22) is provided with fixed grooves (222) on both sides. With the increase of the welding speed, the swing range of the tail end of the welding wire is increased synchronously, and the sliding distance of the fixed rod (65) is gradually increased.

2. The robot of claim 1, wherein: The rotary knob (46) is provided with a limiting protrusion (461); and the working cavity (22) is provided with a limiting groove (221).

3. The robot of claim 1, wherein: The baffle (53) is provided with a force storage groove (531) on one side of the centrifugal plate (52).

4. The robot of claim 3, wherein: The baffle (53) is provided with a supporting plate (532) slidably arranged on the supporting shaft (45).

5. The robot of claim 4, wherein: The supporting plate (532) is provided with a sliding rail (5321); the supporting shaft (45) is provided with a sliding groove (451) matched with the supporting plate (532); and the sliding groove (451) is provided with an extrusion protrusion (4511).

6. The robot of claim 1, wherein: The arc surface (651) is provided with a hemispherical top block (652) made of rubber.

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