Electric arc welding robot for ship

Abstract

The invention relates to the technical field of ship manufacturing and maintenance, and discloses a ship electric arc welding robot which comprises a protective shell, a partition plate is installed in the position, close to a wire feeding pipe, of the protective shell, and the interior of the protective shell is divided into a detection cabin and a cleaning cabin which are isolated from each other through the partition plate; a full-automatic detection assembly is arranged on the inner side face of the detection cabin, and a full-automatic grinding mechanism is arranged on the inner side face of the cleaning cabin. By arranging the full-automatic detection assembly and the full-automatic grinding mechanism, welding wires can pass through the full-automatic detection assembly and the full-automatic grinding mechanism in the conveying process; under the action of the full-automatic detection assembly, the surface of the welding wire is detected and used for judging whether an oxidation layer or salient point phenomenon exists on the surface of the welding wire or not, and if the full-automatic detection assembly detects the oxidation layer on the surface of the welding wire and judges an oxidation layer area of the welding wire, the welding wire is detected; and the full-automatic polishing mechanism inputs stable working current to remove the oxidation layer area of the welding wire.

Description

Technical Field

[0001] This invention relates to the field of shipbuilding and repair technology, and more specifically to an arc welding robot for ships; particularly to automated welding equipment under International Patent Classification B23K9 (arc welding or arc cutting); this invention is particularly aimed at online monitoring and processing technology for welding wire quality, and aims to solve welding quality problems caused by oxide layers or bumps on the surface of welding wire. Background Technology

[0002] In the shipbuilding and repair industry, arc welding is a crucial process for joining large metal structural components (such as hull plates, decks, and bulkheads). Welding quality directly affects the structural strength, watertightness, and operational safety of a ship. With the development of automation technology, welding robots have been widely used in shipbuilding welding due to their high efficiency, high stability, and programmability.

[0003] However, under the actual working conditions of shipbuilding (such as open-air operations, high humidity environments, and fluctuating welding wire storage conditions), an oxide layer or localized bumps easily form on the surface of the welding wire. These defects can seriously interfere with the stability of the welding process, specifically manifested in the following ways: 1. Difficulty in arc ignition and unstable arc: The oxide layer on the surface of the welding wire increases the difficulty of arc ignition and leads to increased arc fluctuation, arc breakage or spatter during welding. 2. Poor weld formation: The oxide layer can hinder the smooth transfer of molten droplets, resulting in a rough weld surface, undercut, weld beads, or irregular formation. Currently, solving the problem of oxide layer on the surface of welding wire mainly relies on manual inspection, which leads to a certain loss of manpower. Therefore, there is an urgent need for a marine arc welding robot to solve the aforementioned technical problems. Summary of the Invention

[0004] In order to overcome the above-mentioned defects of the prior art, the present invention provides a marine arc welding robot to solve the problems existing in the background art.

[0005] The present invention provides the following technical solution: a welding robot for ship electric arc welding, including a welding robot, wherein a wire feeding device is provided on the side of the bottom of the welding robot for feeding welding wire, and further comprising: a protective shell movably installed at the welding wire output end of the wire feeding device, and a wire feeding tube movably installed at the end of the protective shell away from the wire feeding device for transmitting welding wire to the welding end of the welding robot; The protective housing has a partition installed inside near the wire feeding tube. The interior of the protective housing is divided into a detection chamber and a cleaning chamber that are isolated from each other by the partition. The inner side of the detection chamber is equipped with a fully automatic detection component, and the inner side of the cleaning chamber is equipped with a fully automatic grinding mechanism. The welding wire enters the inspection chamber and is inspected by the fully automatic inspection component to determine whether there is an oxide layer or bumps on its surface. If the fully automatic inspection component detects an oxide layer on the surface of the welding wire and identifies the oxide layer area, the fully automatic grinding mechanism inputs a stable working current to remove the oxide layer area of ​​the welding wire.

[0006] Furthermore, the protective shell has an electrically controlled adsorption device installed on its bottom surface near the cleaning chamber. The electrically controlled adsorption device includes an outlet end with an adsorption tube installed thereon. The end of the adsorption tube, located away from the electrically controlled adsorption device, extends into the interior of the cleaning chamber. The protective shell has a filter screen installed on its top surface near the cleaning chamber to filter the gas input into the cleaning chamber.

[0007] Furthermore, the fully automatic detection component includes multiple sets of hollow plates, which are sequentially arranged on the inner side of the detection chamber. The multiple sets of hollow plates are arranged radially around the center point of the detection chamber, and adjacent frames are spaced apart from each other.

[0008] Furthermore, each set of hollow plates has a sensor plate movably sleeved on its inner wall. The sensor plate has springs vertically installed on both sides of its surface near the corresponding hollow plate. The end of the spring away from the sensor plate is vertically installed on the inner side of the hollow plate. The hollow plate has a sensor switch installed on its inner side near the spring.

[0009] Furthermore, a frame is installed on the side of the sensing plate away from the corresponding hollow plate. A gear set is movably sleeved on the inner side of the frame. A transmission rod is installed on the inner wall of the middle area of ​​the gear set, and a rotary encoder is installed at one end of the transmission rod.

[0010] Furthermore, the area on the surface of the welding wire with an oxide layer generates additional friction with the gear set as it passes over the outer surface of the gear set. This increased friction constitutes the tangential force that drives the gear set to rotate. The rotary encoder records the number of rotations of the gear set and transmits it to the control system set inside the welding robot.

[0011] Furthermore, the fully automatic polishing mechanism includes multiple sets of electrically controlled displacement components, which are sequentially arranged on the inner side of the cleaning chamber. The multiple sets of electrically controlled displacement components are arranged radially around the center point of the cleaning chamber, and adjacent electrically controlled displacement components are spaced apart from each other.

[0012] Furthermore, each of the multiple sets of electrically controlled displacement components includes a moving end, and each moving end of the multiple sets of electrically controlled displacement components is equipped with an electrically controlled lifting column. At the end of the electrically controlled lifting column away from the corresponding electrically controlled displacement component, a frosted U-shaped plate is installed. The electrically controlled lifting column is input with a stable working current to drive the frosted U-shaped plate to contact the outer surface of the welding wire. The frosted U-shaped plate has a frosted layer on its outer side near the welding wire for grinding and removing the oxide layer area on the surface of the welding wire.

[0013] The technical effects and advantages of this invention are as follows: 1. This invention, by incorporating a fully automatic detection component and a fully automatic grinding mechanism, facilitates the passage of welding wire through these components during its transport. The fully automatic detection component detects the surface of the welding wire to determine whether an oxide layer or bumps are present. If the fully automatic detection component detects an oxide layer on the surface of the welding wire and identifies the oxide layer area, the fully automatic grinding mechanism inputs a stable operating current to remove the oxide layer from that area.

[0014] 2. This invention, by incorporating a fully automatic detection component, facilitates the generation of additional friction between the oxide layer on the surface of the welding wire and the gear set as the wire passes over the outer surface of the gear set. This increased friction constitutes the tangential force driving the gear set to rotate. A rotary encoder records the number of rotations of the gear set and transmits this data to the control system inside the welding robot. The control system uses the number of rotations and the installation position of the gear set to determine the location and length of the oxide layer on the surface of the welding wire, thus achieving the effect of automatic detection of the oxide layer on the surface of the welding wire. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0016] Figure 2 for Figure 1 The diagram shows a side sectional view of the protective casing.

[0017] Figure 3 for Figure 2 The diagram shows an enlarged view of the structure at point A.

[0018] Figure 4 for Figure 2 The diagram shows a partial structural schematic of the fully automated detection component.

[0019] Figure 5 for Figure 4 The diagram shows a side sectional view of the hollow slab.

[0020] Figure 6 for Figure 3 The diagram shows a partial schematic of the fully automatic polishing mechanism.

[0021] The attached figures are labeled as follows: 1. Welding robot; 101. Wire feeding device; 102. Wire feeding tube; 2. Protective shell; 201. Partition; 202. Inspection chamber; 203. Cleaning chamber; 204. Electro-controlled adsorption device; 205. Adsorption tube; 206. Filter screen; 3. Fully automatic inspection assembly; 301. Frame; 302. Induction plate; 303. Hollow plate; 304. Rotary encoder; 305. Gear set; 306. Spring; 307. Induction switch; 4. Fully automatic grinding mechanism; 401. Electro-controlled displacement assembly; 402. Electro-controlled lifting column; 403. Frosted U-shaped plate. Detailed Implementation

[0022] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. In addition, the forms of the various structures described in the following embodiments are merely illustrative. The arc welding robot for ships involved in the present invention is not limited to the structures described in the following embodiments. All other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Reference Figures 1 to 2 As shown, the present invention provides a welding robot for ship arc welding, including a welding robot 1. A wire feeding device 101 is provided on the side of the bottom of the welding robot 1 for feeding welding wire. A protective shell 2 is movably installed at the welding wire output end of the wire feeding device 101. A wire feeding tube 102 is movably installed at one end of the protective shell 2 away from the wire feeding device 101 for transmitting welding wire to the welding end of the welding robot 1. The protective housing 2 has a partition 201 installed inside near the wire feeding tube 102. The interior of the protective housing 2 is divided by the partition 201 to form a detection chamber 202 and a cleaning chamber 203 that are isolated from each other. The inner side of the detection chamber 202 is provided with a fully automatic detection component 3, and the inner side of the cleaning chamber 203 is provided with a fully automatic polishing mechanism 4. The welding wire enters the inspection chamber 202 and is inspected by the fully automatic inspection component 3 to determine whether there is an oxide layer or bumps on its surface. If the fully automatic inspection component 3 detects an oxide layer on the surface of the welding wire and determines the oxide layer area, the fully automatic grinding mechanism 4 inputs a stable working current to remove the oxide layer area of ​​the welding wire.

[0024] In this embodiment, the protective shell 2 may have a hollow column on its side near the wire feeding tube 102. The hollow column is equipped with a secondary detection component. The secondary detection component has the same internal technical features as the fully automatic detection component 3, and both can detect the oxide layer on the surface of the welding wire. By setting the hollow column and the secondary detection component, it is convenient to perform secondary detection on the polished welding wire to determine whether the oxide layer on the surface of the welding wire has been completely removed. If the oxide layer on the surface of the welding wire has not been completely removed, a warning message can be remotely sent through the communication module set inside the welding robot 1 to remind the staff to come to the site for inspection. When the fully automatic detection component 3 detects bumps or knots on the surface of the welding wire, the communication module inside the welding robot 1 will remotely send an early warning message to remind the staff to come to the site for inspection.

[0025] The specific workflow of this application embodiment is as follows: The wire feeding device 101 inputs a stable working current to drive the welding wire inside it through the protective shell 2 and the wire feeding tube 102 to the welding end of the welding robot 1 to perform welding operations on the corresponding position of the ship. During the transmission of the welding wire, it passes through the fully automatic detection component 3 and the fully automatic grinding mechanism 4. Under the action of the fully automatic detection component 3, the surface of the welding wire is detected to determine whether there is an oxide layer or bumps on its surface. If the fully automatic detection component 3 detects an oxide layer on the surface of the welding wire and determines its oxide layer area, the fully automatic grinding mechanism 4 inputs a stable working current to remove the oxide layer area of ​​the welding wire.

[0026] Reference Figures 1 to 3 As shown, the present invention provides a marine arc welding robot. The protective shell 2 has an electrically controlled adsorption device 204 installed on its bottom surface near the cleaning chamber 203. The electrically controlled adsorption device 204 includes an air outlet end, on which an adsorption tube 205 is installed. The adsorption tube 205 extends into the interior of the cleaning chamber 203 at one end away from the electrically controlled adsorption device 204. The protective shell 2 has a filter screen 206 installed on its top near the cleaning chamber 203 for filtering the gas input into the cleaning chamber 203.

[0027] In this embodiment of the application, the specific workflow of this part of the application embodiment is as follows: when the fully automatic grinding mechanism 4 removes the oxide layer on the surface of the welding wire, the electronically controlled adsorption device 204 inputs a stable working current, generates adsorption air and transmits it to the interior of the cleaning chamber 203 through the adsorption tube 205 to recycle the debris generated during the grinding process of the welding wire.

[0028] Reference Figure 2 as well as Figures 4 to 5As shown, the present invention provides a marine arc welding robot. The fully automatic inspection component 3 includes multiple sets of hollow plates 303. The multiple sets of hollow plates 303 are arranged sequentially on the inner side of the inspection chamber 202. The multiple sets of hollow plates 303 are arranged radially around the center point of the inspection chamber 202, and adjacent frames 301 are spaced apart from each other. Each hollow plate 303 has a sensor plate 302 movably sleeved on its inner wall. The sensor plate 302 has a spring 306 vertically mounted on both sides of its surface near the corresponding hollow plate 303. The end of the spring 306 away from the sensor plate 302 is vertically mounted on the inner side of the hollow plate 303. The hollow plate 303 has a sensor switch 307 mounted on its inner side near the spring 306. The sensing plate 302 has a frame 301 installed on the side away from the corresponding hollow plate 303. The inner side of the frame 301 is movably sleeved with a gear set 305. A transmission rod is installed on the inner wall of the middle area of ​​the gear set 305. A rotary encoder 304 is installed at one end of the transmission rod. When the area on the surface of the welding wire with an oxide layer passes through the outer surface of the gear set 305, an additional increased frictional force is generated between it and the gear set 305. This increased frictional force constitutes the tangential force that drives the gear set 305 to rotate. The rotary encoder 304 records the number of rotations of the gear set 305 and transmits it to the control system set inside the welding robot 1.

[0029] In this embodiment of the application, each set of gears 305 is located in a different area on the outer surface of the welding wire, and the gears 305 do not contact each other, so as to facilitate the detection of each area on the outer surface of the welding wire; When the oxide layer area on the surface of the welding wire drives a certain gear set 305 to rotate a certain number of revolutions (n), the control system receives the installation position of the gear set 305, thereby determining the coverage area of ​​the oxide layer on the welding wire. Simultaneously, the control system calculates the coverage length L of the oxide layer on the surface of the welding wire using the number of revolutions (n), where the calculation formula is: Where C is the effective circumference of gear set 305.

[0030] The specific workflow of this embodiment is as follows: the welding wire flows through the outer surface of each gear set 305. If an oxide layer appears in a certain area of ​​the welding wire, the area of ​​the oxide layer on the surface of the welding wire will generate increased friction with the gear set 305 during the process of passing through the outer surface of the gear set 305. This increased friction constitutes the tangential force that drives the gear set 305 to rotate. The rotary encoder 304 records the number of rotations of the gear set 305 and transmits it to the control system set inside the welding robot 1. The control system determines the position and length of the oxide layer on the surface of the welding wire by using the number of rotations and the installation position of the gear set 305, thereby achieving the effect of automatic detection of the oxide layer on the surface of the welding wire. When bumps or nodules appear on the surface of the welding wire, they are squeezed against the gear set 305, which drives the gear set 305, frame 301 and induction plate 302 to move towards the induction switch 307 until the induction plate 302 contacts the induction switch 307. The induction switch 307 generates a corresponding warning message, and the communication module inside the welding robot 1 transmits the warning message to the staff, remotely reminding the staff to come to the site for inspection.

[0031] Reference Figure 1 , Figure 3 as well as Figure 6 As shown, the present invention provides a marine arc welding robot. The fully automatic grinding mechanism 4 includes multiple sets of electrically controlled displacement components 401. The multiple sets of electrically controlled displacement components 401 are sequentially arranged on the inner side of the cleaning chamber 203. The multiple sets of electrically controlled displacement components 401 are arranged radially around the center point of the cleaning chamber 203, and adjacent electrically controlled displacement components 401 are spaced apart from each other. Each of the multiple sets of electrically controlled displacement components 401 includes a moving end, and each moving end of the multiple sets of electrically controlled displacement components 401 is equipped with an electrically controlled lifting column 402. At the end of the electrically controlled lifting column 402 away from the corresponding electrically controlled displacement component 401, a frosted U-shaped plate 403 is installed. The electrically controlled lifting column 402 is input with a stable working current to drive the frosted U-shaped plate 403 to contact the outer surface of the welding wire. The frosted U-shaped plate 403 has a frosted layer on its outer side near the welding wire for grinding and removing the oxide layer area on the surface of the welding wire.

[0032] In this embodiment of the application, the specific workflow of this part of the application embodiment is as follows: when the control system determines that an oxide layer appears in a certain area on the surface of the welding wire, a stable working current is input to the corresponding electrically controlled lifting column 402 and electrically controlled displacement component 401, driving the corresponding position of the frosted U-shaped plate 403 to contact the oxide layer area on the surface of the welding wire. The electrically controlled displacement component 401 drives the frosted U-shaped plate 403 to move left and right in this area, thereby performing a grinding and removal operation on the oxide layer.

[0033] The specific workflow for this application is as follows: Welding wire feeding process: The wire feeding device 101 inputs a stable working current to drive the welding wire inside it through the protective shell 2 and the wire feeding tube 102 to the welding end of the welding robot 1 to perform welding operations on the corresponding position of the ship. Welding wire surface inspection process: The welding wire flows through the outer surface of each gear set 305. If an oxide layer appears in a certain area of ​​the welding wire, the area with the oxide layer on the surface of the welding wire will generate increased friction with the gear set 305 as it passes through the outer surface of the gear set 305. This increased friction constitutes the tangential force that drives the gear set 305 to rotate. The rotary encoder 304 records the number of rotations of the gear set 305 and transmits it to the control system set inside the welding robot 1. The control system determines the location and length of the oxide layer on the surface of the welding wire by using the number of rotations and the installation position of the gear set 305, thus achieving the effect of automatic detection of the oxide layer on the surface of the welding wire. When bumps or nodules appear on the surface of the welding wire, they are squeezed into the gear set 305, which drives the gear set 305, frame 301 and induction plate 302 to move towards the induction switch 307 until the induction plate 302 contacts the induction switch 307. The induction switch 307 generates a corresponding warning message, and the communication module inside the welding robot 1 transmits the warning message to the staff, remotely reminding the staff to come to the site for inspection. The process for removing oxide layer on the surface of welding wire: When the control system determines that an oxide layer appears in a certain area on the surface of the welding wire, a stable working current is input to the corresponding electrically controlled lifting column 402 and electrically controlled displacement component 401, driving the corresponding position of the frosted U-shaped plate 403 to contact the oxide layer area on the surface of the welding wire. The electrically controlled displacement component 401 drives the frosted U-shaped plate 403 to move left and right in this area, thereby performing a grinding and removal operation on the oxide layer. When the fully automatic grinding mechanism 4 removes the oxide layer on the surface of the welding wire, the electronically controlled adsorption device 204 inputs a stable working current to generate adsorption air, which is then transmitted to the interior of the cleaning chamber 203 through the adsorption pipe 205 to recycle the debris generated during the grinding process of the welding wire.

[0034] Finally, the following points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection", and "linkage" should be interpreted broadly, and can be mechanical or electrical connections, or internal connections between two components, or direct connections. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may change. Secondly: The accompanying drawings of the embodiments disclosed in this invention only involve the structures involved in the embodiments disclosed in this invention. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this invention can be combined with each other. In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A welding robot for marine arc welding, comprising a welding robot (1), wherein a wire feeding device (101) is provided on the side of the bottom of the welding robot (1) for feeding welding wire, characterized in that, Also includes: The wire feeding device (101) has a protective shell (2) movably installed at the wire output end. The protective shell (2) has a wire feeding tube (102) movably installed at one end away from the wire feeding device (101) for transmitting the welding wire to the welding end of the welding robot (1). The protective shell (2) has a partition (201) installed inside near the wire feeding tube (102). The protective shell (2) is divided into a detection chamber (202) and a cleaning chamber (203) that are isolated from each other by the partition (201). The inner side of the detection chamber (202) is provided with a fully automatic detection component (3), and the inner side of the cleaning chamber (203) is provided with a fully automatic polishing mechanism (4). The welding wire enters the testing chamber (202) and is tested by the fully automatic testing component (3) to determine whether there is an oxide layer or bumps on its surface. If the fully automatic testing component (3) detects an oxide layer on the surface of the welding wire and determines the oxide layer area, the fully automatic grinding mechanism (4) inputs a stable working current to clean the oxide layer area of ​​the welding wire.

2. The arc welding robot for ships according to claim 1, characterized in that: The protective shell (2) has an electrically controlled adsorption device (204) installed on its bottom surface near the cleaning chamber (203). The electrically controlled adsorption device (204) includes an outlet end, on which an adsorption tube (205) is installed. One end of the adsorption tube (205) extends into the interior of the cleaning chamber (203) away from the electrically controlled adsorption device (204). The protective shell (2) has a filter screen (206) installed on its top surface near the cleaning chamber (203) for filtering the gas input into the cleaning chamber (203).

3. The arc welding robot for ships according to claim 1, characterized in that: The fully automatic detection component (3) includes multiple sets of hollow plates (303), which are arranged sequentially on the inner side of the detection chamber (202). The multiple sets of hollow plates (303) are arranged radially around the center point of the detection chamber (202), and adjacent frames (301) are spaced apart from each other.

4. The arc welding robot for ships according to claim 3, characterized in that: Each hollow plate (303) has a sensor plate (302) movably sleeved on its inner wall. The sensor plate (302) has a spring (306) vertically mounted on both sides of its surface near the corresponding hollow plate (303). The spring (306) is vertically mounted on the inner side of the hollow plate (303) at one end away from the sensor plate (302). The hollow plate (303) has a sensor switch (307) mounted on its inner side near the spring (306).

5. The arc welding robot for ships according to claim 4, characterized in that: The sensing plate (302) has a frame (301) mounted on its side away from the corresponding hollow plate (303). A gear set (305) is movably sleeved on the inner side of the frame (301). A transmission rod is mounted on the inner wall of the middle area of ​​the gear set (305), and a rotary encoder (304) is mounted on one end of the transmission rod.

6. The arc welding robot for ships according to claim 5, characterized in that: When the area on the surface of the welding wire with an oxide layer passes through the outer surface of the gear set (305), an additional increased frictional force is generated between it and the gear set (305). This increased frictional force constitutes the tangential force that drives the gear set (305) to rotate. The rotary encoder (304) records the number of rotations of the gear set (305) and transmits it to the control system set inside the welding robot (1).

7. The arc welding robot for ships according to claim 1, characterized in that: The fully automatic polishing mechanism (4) includes multiple sets of electrically controlled displacement components (401). The multiple sets of electrically controlled displacement components (401) are sequentially arranged on the inner side of the cleaning chamber (203). The multiple sets of electrically controlled displacement components (401) are arranged radially around the center point of the cleaning chamber (203), and adjacent electrically controlled displacement components (401) are spaced apart from each other.

8. The arc welding robot for ships according to claim 7, characterized in that: Each of the multiple sets of electrically controlled displacement components (401) includes a moving end, and each of the multiple sets of electrically controlled displacement components (401) is equipped with an electrically controlled lifting column (402). The electrically controlled lifting column (402) has a frosted U-shaped plate (403) installed at one end away from the corresponding electrically controlled displacement component (401). The electrically controlled lifting column (402) inputs a stable working current to drive the frosted U-shaped plate (403) to contact the outer surface of the welding wire. The frosted U-shaped plate (403) has a frosted layer on its outer side near the welding wire for grinding and removing the oxide layer area on the surface of the welding wire.

Images