Welding workstation and welding process suitable for ship broadside cabin structure

Abstract

The invention relates to the technical field of shipbuilding, and discloses a welding workstation and a welding process suitable for a ship broadside cabin structure, the welding workstation comprises at least two groups of splicing straight rails, the interior of a ship broadside cabin is divided into a plurality of welding areas, welding devices are slidably connected to the splicing straight rails, the welding devices conduct welding, and monitoring pieces are arranged on the welding devices; the transferring assembly comprises a telescopic rail and two rotary lifting rails, the two rotary lifting rails are located in the two adjacent welding areas respectively, the splicing straight rails and the telescopic rail are matched with the rotary lifting rails respectively, and when the two splicing straight rails are located in the two welding areas on the two sides of the inner side longitudinal girder, the telescopic rail is located in the telescopic rail. The welding device is transferred in the two welding zones through the rotary lifting track; when the two sets of splicing straight rails are located in the two welding areas on the two sides of the broadside rib frame, the welding device is transferred in the two welding areas through the rotary lifting rail and the telescopic rail. The welding efficiency is improved, weld defects are reduced, and the method is suitable for various complex broadside cabin structures.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of shipbuilding, in particular to a welding workstation and welding process suitable for ship side cabin structure. BACKGROUND

[0002] In the shipbuilding industry, welding work is a key link to ensure the integrity and safety of the ship structure. The quality and efficiency of ship side section welding operation directly affect the construction period and quality of the whole ship. Domestic ship side section welding mostly relies on manual or semi-automatic welding method. This traditional operation mode has many drawbacks. On the one hand, due to the semi-closed narrow space of the ship side and the complex internal longitudinal and transverse member layout, the working environment is extremely poor, the labor intensity of workers is large and they face high safety risks. On the other hand, the welding quality of manual operation is significantly affected by the technical level and working state of workers, and it is difficult to guarantee the stability and consistency of welding quality. For example, the inclined welding of the cabin side plate and the internal member connection often has problems such as poor weld formation and easy cracking, which seriously threatens the safe operation of the ship.

[0003] The existing welding robot is limited by its large size and insufficient obstacle avoidance capability, and it is difficult to adapt to the complex structure of the ship side cabin "semi-closed space + dense longitudinal and transverse members". Moreover, it lacks special path planning and real-time quality monitoring means for ship welding process.

[0004] Therefore, there is an urgent need for a welding workstation and welding process suitable for ship side cabin structure to solve the above problems. SUMMARY

[0005] The purpose of the present application is to provide a welding workstation and welding process suitable for ship side cabin structure to solve the above problems existing in the prior art.

[0006] To achieve the above purpose, the present application provides the following scheme: the present application provides a welding workstation suitable for ship side cabin structure, comprising:

[0007] At least two groups of spliced straight rails, the ship side cabin is divided into several welding zones by internal side longitudinal girders and several side rib frames, two groups of the spliced straight rails are located in adjacent two welding zones respectively, a welding device is slidably connected on the spliced straight rail, the welding device is used for welding the structure in the welding zone, and a monitoring member is arranged on the welding device;

[0008] The transfer assembly comprises a telescopic track and two rotating lifting tracks, and the two rotating lifting tracks are respectively located in two adjacent welding areas, the spliced straight tracks and the telescopic track are respectively matched with the rotating lifting tracks, wherein when two groups of the spliced straight tracks are located in the two welding areas on both sides of the inner wing longitudinal girder, the welding device is transferred in the two welding areas through the rotating lifting tracks; when two groups of the spliced straight tracks are located in the two welding areas on both sides of the side rib frame, the welding device is transferred in the two welding areas through the rotating lifting tracks and the telescopic track.

[0009] The welding workstation suitable for the ship side cabin structure comprises a spliced straight track, a rotating lifting track and a telescopic track.

[0010] The welding workstation suitable for the ship side cabin structure comprises a spliced straight track, a rotating lifting track and a telescopic track.

[0011] The welding workstation suitable for the ship side cabin structure comprises a spliced straight track, a rotating lifting track and a telescopic track.

[0012] The welding workstation suitable for the ship side cabin structure comprises a spliced straight track, a rotating lifting track and a telescopic track.

[0013] The welding workstation suitable for the ship side cabin structure comprises a spliced straight track, a rotating lifting track and a telescopic track.

[0014] The welding workstation suitable for the ship side cabin structure comprises a spliced straight track, a rotating lifting track and a telescopic track.

[0015] According to the welding workstation for the ship side cabin structure provided by the application, the hole is arranged on the side frame, and the telescopic track crosses the hole.

[0016] According to the welding workstation for the ship side cabin structure provided by the application, the hole is arranged on the side frame, and the telescopic track crosses the hole.

[0017] A welding process for a ship side cabin structure comprises the following steps:

[0018] A straight track is arranged in the welding area, and a welding device is arranged on the straight track to weld the structure in the welding area.

[0019] When welding is performed, another straight track is arranged in the adjacent transverse welding area, and after the front end welding is completed, the welding device is transferred from the welding area to the adjacent welding area through the two rotating lifting tracks to perform welding.

[0020] When welding is performed, another straight track is arranged in the adjacent transverse welding area, and after the front end welding is completed, the welding device is transferred from the welding area to the adjacent welding area through the two rotating lifting tracks to perform welding.

[0021] The above steps are repeated to complete the welding in the entire ship side cabin.

[0022] Compared with the prior art, the application has the following advantages and technical effects:

[0023] The welding workstation and welding process for the ship side cabin structure provided by the application are used as follows: the straight track is arranged in the welding area, the welding device is moved on the straight track to perform welding on the structure in the welding area, and after welding is completed, the welding device is transferred to the adjacent welding area through the telescopic track and the two rotating lifting tracks, thereby realizing welding of the entire ship side cabin structure. The application realizes automation and intelligentization of ship side cabin welding, greatly improves welding efficiency, reduces welding defects, guarantees safety performance of the ship, breaks through the limitation of existing robots in narrow and semi-closed cabin operation of the ship side, and is suitable for various complex side cabin structures. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings:

[0025] Figure 1 For the overall structure of the present application schematic diagram;

[0026] Figure 2 For the present application Figure 1 A local enlarged view of the present application;

[0027] Figure 3 For the present application Figure 1 A local enlarged view of the present application;

[0028] Figure 4 For the present application welding device structure schematic diagram;

[0029] Figure 5 For the present application rotating lifting track structure schematic diagram;

[0030] Figure 6 For the present application telescopic track structure schematic diagram;

[0031] Figure 7 For the present application welding device across the inner longitudinal stringer schematic diagram;

[0032] Figure 8 For the present application Figure 7 A local enlarged view of the present application;

[0033] Figure 9 For the present application welding device across the hole schematic diagram;

[0034] Figure 10 For the present application welding system flow chart;

[0035] Wherein, 1, splice straight rail; 11, first track body; 12, magnetic seat; 2, inner longitudinal stringer; 3, side frame; 4, welding device; 41, sliding plate; 42, collaborative robot arm; 43, on-site monitoring camera; 44, laser tracker; 45, molten pool monitoring camera; 5, rotating lifting track; 51, scissor lifting platform; 511, lifting bottom plate; 512, scissor wall; 513, lifting top plate; 514, screw; 515, radial hand wheel; 52, turntable; 53, second track body; 6, telescopic track; 61, support frame; 62, sliding block; 63, third track body; 7, hole; 8, lifting caster. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0037] In order to make the above objectives, characteristics and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0038] With reference to Figures 1-10 The present application provides a welding workstation suitable for ship side cabin structure, comprising:

[0039] At least two groups of spliced straight rails 1 are arranged in the ship side cabin, and the ship side cabin is divided into a plurality of welding areas by inner side longitudinal beams 2 and a plurality of side rib frames 3. The two groups of spliced straight rails 1 are arranged in two adjacent welding areas respectively. A welding device 4 is slidably connected to the spliced straight rail 1, and the welding device 4 is used for welding the structure in the welding area. A monitoring element is arranged on the welding device 4.

[0040] The transfer assembly comprises a telescopic rail 6 and two rotating lifting rails 5. The two rotating lifting rails 5 are arranged in two adjacent welding areas respectively. The spliced straight rail 1 and the telescopic rail 6 are adapted to the rotating lifting rail 5. When the two groups of spliced straight rails 1 are arranged in two welding areas on both sides of the inner side longitudinal beam 2, the welding device 4 is transferred in the two welding areas through the rotating lifting rail 5. When the two groups of spliced straight rails 1 are arranged in two welding areas on both sides of the side rib frame 3, the welding device 4 is transferred in the two welding areas through the rotating lifting rail 5 and the telescopic rail 6.

[0041] In an embodiment of the present application, the spliced straight rail 1 is used to be arranged in the welding area. The welding device 4 moves on the spliced straight rail 1 to perform welding operation on the internal structure of the welding area. After welding is completed, the welding device 4 is transferred to the adjacent welding area through the telescopic rail 6 and the two rotating lifting rails 5, thereby realizing the welding operation on the entire ship side cabin structure.

[0042] As an optional embodiment, the spliced straight rail 1 comprises a plurality of first rail bodies 11. The plurality of first rail bodies 11 are spliced into an integral structure. A plurality of magnetic bases 12 are arranged at the bottom end of the first rail body 11. The magnetic base 12 is limitingly connected to the first rail body 11 through a magnetic force controller.

[0043] In an embodiment of the present application, the magnetic base 12 is arranged to realize convenient splicing and stable connection of the first rail body 11. The first rail body 11 is arranged to realize movement of the welding device 4. The magnetic base 12 is arranged to realize movement of the first rail body 11.

[0044] As an optional embodiment, the rotating lifting rail 5 comprises a scissor lifting table 51. A turntable 52 is rotatably connected to the top end of the scissor lifting table 51. A second rail body 53 is fixedly connected to the turntable 52. The second rail body 53 is adapted to the first rail body 11.

[0045] In one embodiment of the present application, the second track body 53 is connected to the first track body 11 to realize the transfer of the welding device 4.

[0046] As an optional embodiment, the telescopic track 6 comprises a support frame 61, the bottom end of the support frame 61 is connected to the side plate in the cabin of the ship through a magnetic force controller, the top end of the support frame 61 is fixedly connected with a sliding block 62, the sliding block 62 is slidingly connected with a third track body 63, and the second track body 53 is matched with the third track body 63.

[0047] In one embodiment of the present application, the third track body 63 is used to connect the second track body 53 to realize the transfer of the welding device 4.

[0048] As an optional embodiment, the scissor lift 51 comprises a lifting bottom plate 511, the top end of the lifting bottom plate 511 is provided with a lifting top plate 513 through a scissor wall 512, the rotating disc 52 is rotatably connected to the top end of the lifting top plate 513, the scissor wall 512 is controlled to lift through a screw rod 514, and one end of the screw rod 514 is fixedly connected with a radial hand wheel 515.

[0049] In one embodiment of the present application, the radial hand wheel 515 is used to control the lifting of the scissor wall 512.

[0050] As an optional embodiment, the welding device 4 comprises a sliding plate 41, the sliding plate 41 is slidingly connected with the first track body 11, the second track body 53 and the third track body 63, the sliding plate 41 is fixedly connected with a collaborative robot arm 42, and the collaborative robot arm 42 is fixedly connected with a welding head.

[0051] In one embodiment of the present application, the collaborative robot arm 42 is preferably a six-axis collaborative robot arm, which is driven by a servo motor, a reducer and a gear rack to realize the autonomous linear movement of the collaborative robot arm 42 on the track, and the track is used as the seventh axis to cooperate with the six-axis collaborative robot arm to realize the welding mode of the workpiece being stationary and the robot moving, so that the welding gun can accurately reach various welding positions.

[0052] As an optional embodiment, the monitoring member comprises a field monitoring camera 43, a laser tracker 44 and a molten pool monitoring camera 45 which are fixedly connected to the collaborative robot arm 42.

[0053] In one embodiment of the present application, the laser tracker 44 uses a three-point or four-point positioning method to achieve initial welding position guidance and welding seam correction control by using laser vision technology. The laser displacement sensor is used to detect the position of the track in all directions before the formal welding operation, so as to realize track position correction. The welding quality monitoring platform is built based on vision and arc sensing technology, a multi-information fusion intelligent prediction model is established by using a variable precision rough neural network algorithm, and data such as molten pool images, current and vibration signals in the welding process are collected and analyzed in real time, so as to realize online identification and evaluation of typical welding defects such as welding deviation, incomplete welding, incomplete penetration and porosity, and timely discovery and early warning of welding quality problems.

[0054] The off-line programming technology is adopted to import the welding device workstation numerical model into the off-line programming system, four workstation positions are set in one welding area according to the welding seam position and welding process requirements, the welding robot positioning, advancing, welding and retreating actions are planned, the welding task of each welding seam in the cabin is completed, and the welding obstacle avoidance path program code is generated and imported into the robot motion control system, and the improved rapidly-exploring random tree (RRT) algorithm is used to realize intelligent obstacle avoidance path planning and accurate trajectory tracking control of the welding robot under typical working conditions such as walking, positioning, welding and homing.

[0055] As an optional implementation, the hole 7 is formed in the side rib frame 3, and the telescopic rail 6 spans the hole 7.

[0056] In one embodiment of the present application, the telescopic rail 6 spans the hole 7, and the collaborative robot arm 42 moves to another welding area through the hole 7.

[0057] As an optional implementation, the lifting caster 8 is installed at the bottom end of the magnetic base 12 and the lifting bottom plate 511.

[0058] In one embodiment of the present application, the lifting caster 8 is installed at the bottom end of the magnetic base 12 and the lifting bottom plate 511.

[0059] A welding process suitable for a ship side cabin structure comprises the following steps:

[0060] A spliced straight rail 1 is installed in the welding area, and the welding device 4 is installed on the spliced straight rail 1 to weld the structure in the welding area;

[0061] When welding is performed, another spliced straight rail 1 is installed in the adjacent transverse welding area, and after the front end welding operation is completed, the welding device 4 is transferred from the welding operation area to the adjacent welding area through the two rotating lifting rails 5 to perform welding operation;

[0062] When the welding operation is performed, another spliced straight rail 1 is installed in the adjacent longitudinal welding area, and after the front end welding operation is completed, the welding device 4 is transferred from the welding operation area to the adjacent welding area through the two rotating lifting rails 5 and the telescopic rail 6 to perform the welding operation;

[0063] The above steps are repeated to complete the welding operation in the entire ship side cabin.

[0064] In one embodiment of the present application, in use:

[0065] Rail installation: manually lay the spliced straight rail 1 to the middle position of the cabin, push the transfer assembly, fix the welding device 4 on the transfer assembly, connect the cables, welding wires, etc. to the drag chain system to ensure that the cables are not entangled during movement, turn on the power, and after initialization, the system calls the laser displacement sensor to correct the rail position;

[0066] Referring to Figure 1 , Figure 7 and Figure 9 , the first grid interval left side welding work is performed using a sub-station welding method. According to the welding seam information set in advance in the offline programming system, the collaborative robot arm 42 enters the home point state of the first station, uses a three-point or four-point positioning method with the help of the laser tracker 44, performs initial welding position identification, and after identification is completed, welding is started. After welding is completed, it returns to the home point and performs welding on the next welding seam. The above process is repeated until all the welding seams allocated to the first station are welded, and then the next station is entered, and all the welding seams to be welded on the left half of the grid interval are sequentially welded. Among them, the welding angle and the welding seam type are set in advance in the offline programming system;

[0067] Crossing the inner side longitudinal girder 2: manually push the collaborative robot arm 42 to one side, disassemble part of the spliced straight rail 1, rotate the lifting rail 5 through the radial hand wheel 515 to the same horizontal height as the spliced straight rail 1, and connect the spliced straight rail 1 to form a straight rail. Push the trolley onto the rotating lifting rail 5, use the radial hand wheel 515 to raise the rotating lifting rail 5 to a height higher than the large longitudinal beam, and at the same time on the right side of the grid interval, the rotating lifting rail 5 is raised to the same height. Push the collaborative robot arm 42 onto the rotating lifting rail 5, lower the rotating lifting rail 5 to the same horizontal height as the spliced straight rail 1 through the radial hand wheel 515, push the collaborative robot arm 42 onto the spliced straight rail 1, and then reinstall the disassembled part of the spliced straight rail 1. The collaborative robot arm 42 crosses the inner side longitudinal girder 2 to perform welding on the right side of the grid interval;

[0068] Crossing the side rib frame: according to the position requirements, put the spliced straight rail 1 and the rotating lifting rail 5 into the next grid, and remove a part of the spliced straight rail 1, so that the spliced straight rail 1 and the rotating lifting rail 5 form a straight rail, the telescopic rail is horizontally arranged on the hole 7, the collaborative robot arm 42 is manually pushed to one side, the spliced straight rail 1 is disassembled, the rotating lifting rail 5 is shaken to the same height as the spliced straight rail 1 through the radial hand wheel 515, and the rotating lifting rail 5 is connected with the spliced straight rail 1 to form a straight rail, the trolley is pushed to the rotating lifting rail 5, the rotating lifting rail 5 is lifted to the same height as the telescopic rail 6 through the radial hand wheel 515, the rotating disc 52 of the rotating lifting rail 5 is rotated by 90°, and the rotating lifting rail 5 is connected with the telescopic rail 6, the collaborative robot arm 42 is pushed to the telescopic rail 6, and the other rotating lifting rail 5 is adjusted to be connected with the telescopic rail 6, the collaborative robot arm 42 is moved to the rotating lifting rail 5, the rotating lifting rail 5 is lowered to the same height as the spliced straight rail 1 through the radial hand wheel 515, the collaborative robot arm 42 is pushed to the spliced straight rail 1, the removed part of the spliced straight rail 1 is reinstalled, welding is performed, and the above steps are repeated to complete the welding work of the entire cabin.

[0069] In the description of the present application, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0070] The above-described embodiments are only descriptions of the preferred modes of the present application, and do not limit the scope of the present application, and various modifications and improvements to the technical solutions of the present application made by those skilled in the art without departing from the design spirit of the present application shall fall within the protection scope of the present application.

Claims

1. A welding workstation suitable for ship side compartment structures, characterized in that, include: At least two sets of splicing straight rails (1) are provided. The ship's side compartment is divided into several welding zones by the inner longitudinal girder (2) and several side rib frames (3). The two sets of splicing straight rails (1) are located in two adjacent welding zones respectively. Welding devices (4) are slidably connected on the splicing straight rails (1). The welding devices (4) are used to weld the structure in the welding zone. Monitoring components are provided on the welding devices (4). The transfer assembly includes a telescopic rail (6) and two rotating lifting rails (5), the two rotating lifting rails (5) being located in two adjacent welding areas respectively. The splicing straight rail (1) and the telescopic rail (6) are adapted to the rotating lifting rails (5). When the two sets of splicing straight rails (1) are located in the two welding areas on both sides of the inner longitudinal girder (2), the welding device (4) is transferred in the two welding areas via the rotating lifting rails (5). When the two sets of splicing straight rails (1) are located in the two welding areas on both sides of the side rib frame (3), the welding device (4) is transferred in the two welding areas via the rotating lifting rails (5) and the telescopic rails (6).

2. A welding workstation suitable for ship side compartment structures according to claim 1, characterized in that: The splicing straight rail (1) includes several first track bodies (11), which are spliced ​​into an integral structure. Several magnetic seats (12) are provided at the bottom of the first track body (11), and the magnetic seats (12) are connected to the first track body (11) through a magnetic controller.

3. A welding workstation suitable for ship side compartment structures according to claim 2, characterized in that: The rotating lifting track (5) includes a scissor lift platform (51), a turntable (52) is rotatably connected to the top of the scissor lift platform (51), and a second track body (53) is fixedly connected to the turntable (52), the second track body (53) being adapted to the first track body (11).

4. A welding workstation suitable for ship side compartment structures according to claim 3, characterized in that: The telescopic track (6) includes a support frame (61). The bottom end of the support frame (61) is connected to the sideboard of the ship via a magnetic controller. A slider (62) is fixedly connected to the top end of the support frame (61). A third track body (63) is slidably connected to the slider (62). The second track body (53) is adapted to the third track body (63).

5. A welding workstation suitable for ship side compartment structures according to claim 3, characterized in that: The scissor lift platform (51) includes a lifting base plate (511), and a lifting top plate (513) is installed on the top of the lifting base plate (511) through a scissor wall (512). The turntable (52) is rotatably connected to the top of the lifting top plate (513). The scissor wall (512) is controlled to lift by a screw (514), and a spoke handwheel (515) is fixedly connected to one end of the screw (514).

6. A welding workstation suitable for ship side compartment structures according to claim 4, characterized in that: The welding device (4) includes a sliding plate (41), which is slidably connected to the first track body (11), the second track body (53), and the third track body (63). A cooperating robotic arm (42) is fixedly connected to the sliding plate (41), and a welding head is fixedly connected to the cooperating robotic arm (42).

7. A welding workstation suitable for ship side compartment structures according to claim 6, characterized in that: The monitoring components include a field monitoring camera (43), a laser tracker (44), and a molten pool monitoring camera (45) fixedly connected to the collaborative robotic arm (42).

8. A welding workstation suitable for ship side compartment structures according to claim 1, characterized in that: The side rib frame (3) has holes (7) and the telescopic track (6) spans the holes (7).

9. A welding workstation suitable for ship side compartment structures according to claim 5, characterized in that: Both the magnetic base (12) and the lifting base plate (511) are equipped with lifting casters (8).

10. A welding process applicable to ship side compartment structures, applicable to the welding workstation for ship side compartment structures as described in claim 1, characterized in that, Includes the following steps: Install splicing straight rail (1) in the welding area, install welding device (4) on the splicing straight rail (1), and perform welding treatment on the structure in the welding area; During welding operations, another splicing straight rail (1) is installed in the adjacent transverse welding area. After the front welding operation is completed, the welding device (4) is transferred from the welding operation area to the adjacent welding area through the two rotating lifting rails (5) to perform welding operations. During welding operations, another splicing straight rail (1) is installed in the adjacent longitudinal welding area. After the front welding operation is completed, the welding device (4) is transferred from the welding operation area to the adjacent welding area through the two rotating lifting rails (5) and the telescopic rail (6) to perform welding operations. Repeat the above steps to complete the welding work in the entire ship's side compartment.

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