Robotic welding system and method of use

Abstract

The present application relates to the technical fields of shipbuilding, and especially relates to a robot welding system and a using method, the robot welding system comprises a welding gantry, the welding gantry is arranged along a first direction; an electric hoist, the electric hoist is arranged on the welding gantry, and the electric hoist can move on the welding gantry along the first direction; a hanger, the hanger is connected with the electric hoist through a sling, and the hanger has an accommodating space; a welding device, comprising a welding machine power supply, a robot control cabinet, a welding machine and a mechanical arm; a linear track, the linear track can be assembled and arranged at a welding station, and the linear track can receive the mechanical arm removed from the accommodating space; a driving assembly, the driving assembly is arranged at the lower end of the mechanical arm, and the driving assembly is in transmission connection with the linear track. The present application can adapt to complex construction sites and improve the transfer efficiency of the welding robot.

Description

Technical Field

[0001] This invention relates to the field of shipbuilding technology, and more particularly to a robotic welding system and its method of use. Background Technology

[0002] In the shipbuilding industry, there are a large number of large and super-large component welding operations. These components are large in size, heavy in weight, and the work areas are scattered and isolated. The welds are mostly straight welds and intermittent welds, making it difficult to achieve automated assembly line welding.

[0003] Traditional welding methods primarily rely on manual hand-held welding torches, resulting in high labor intensity, harsh working environments, and inconsistent weld quality. In recent years, welding robots have been increasingly adopted for on-site welding operations due to their flexibility, safety, and ease of use. However, during the operation of welding robots, their limited working radius (typically less than 2 meters) necessitates frequent manual handling when welding long straight welds and intermittent welds, leading to high labor intensity and extremely low positioning efficiency. To avoid manual handling, traditional AGV (Automated Guided Vehicle) systems have been used to carry the robots for movement. However, due to the numerous structural obstacles in shipbuilding, AGVs cannot overcome these obstacles, hindering ground movement and making them unsuitable for complex construction sites. Furthermore, this severely limits the realization of the efficiency advantages of welding robots.

[0004] Therefore, a robotic welding system and its usage method are needed to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a robotic welding system and method of use, which can adapt to complex construction sites and improve the transfer efficiency of welding robots.

[0006] To achieve this objective, the present invention adopts the following technical solution: Robotic welding system, including: A welding gantry, wherein the welding gantry is arranged along a first direction; An electric hoist is mounted on the welded gantry and is capable of moving along the first direction on the welded gantry. A hanging frame, which is connected to the electric hoist via a sling, and the hanging frame has a storage space; The welding device includes a welding power supply, a robot control cabinet, a welding machine, and a robotic arm. The welding power supply and the robot control cabinet are both mounted on the welding gantry. The welding machine is mounted on the hanger. The robotic arm is located in the receiving space of the hanger. The welding torch of the welding machine is mounted on the output end of the robotic arm. The robotic arm is electrically connected to the robot control cabinet via a cable. The welding power supply is electrically connected to the welding machine via a power cord. A linear track, which can be assembled and installed at the welding station, and can support the robotic arm that is moved out of the receiving space; A drive assembly is disposed at the lower end of the robotic arm and is connected to the linear track for transmission. The drive assembly is capable of driving the robotic arm to move along the extension direction of the linear track to perform welding at the welding station.

[0007] In some embodiments, the upper end of the bracket is provided with a support mesh plate, which is used to support the welding machine and the storage bucket, and the storage bucket is used to store the cable.

[0008] In some embodiments, a positioning rod is provided on one side of the bracket, and the positioning rod is rotatable relative to the bracket to be in a positioning position or a storage position.

[0009] In some embodiments, the top of the hanger is provided with a plurality of lifting lugs, the plurality of lifting lugs being spaced apart along the circumference of the hanger, and the slings being connected to the plurality of lifting lugs.

[0010] In some embodiments, the hanger is provided with a binding cable and a traction cable, the binding cable being used to connect to the robotic arm, and the traction cable being used to adjust the posture of the hanger.

[0011] In some embodiments, the lower end of the bracket is provided with a plurality of rollers.

[0012] In some embodiments, the lower end of the bracket has a U-shaped groove, and the drive assembly is located in the U-shaped groove.

[0013] In some embodiments, a magnetic element is provided at the lower end of the linear track, which is used to attract and fix the linear track.

[0014] In some embodiments, the drive assembly includes a mounting plate, a drive motor, and a gear. The linear track is provided with a rack, which is arranged along the extension direction of the linear track. The drive motor and the robotic arm are mounted on the mounting plate, and the gear is located at the output end of the drive motor and meshes with the rack.

[0015] The method of use, which involves performing cross-region welding using the robotic welding system described above, includes the following steps: S1. Place the robotic arm into the receiving space of the hanging frame and connect the robotic arm to the hanging frame. Connect the sling to the electric hoist and the hanging frame. S2. Start the electric hoist to lift the hanging frame until the lower end of the hanging frame exceeds the obstacle; S3. The electric hoist moves on the welding gantry to the welding station; S4. The electric hoist lowers the hanging frame to the set position of the welding station; S5. The robotic arm is removed from the rack, and the electric hoist lifts the rack to a set height; S6. Assemble and fix the linear track at the welding station, and transfer the robotic arm to the linear track. The robotic arm moves along the extension direction of the linear track and performs welding at the welding station.

[0016] The beneficial effects of this invention are: This invention provides a robotic welding system. A welding gantry is positioned along a first direction, and an electric hoist is mounted on the gantry and capable of moving along this direction. A hanger is connected to the electric hoist via a sling. The welding machine power supply and robot control cabinet are both mounted on the welding gantry. The welding machine is mounted on the hanger, and a robotic arm is located within the hanger's accommodating space. The welding torch of the welding machine is located at the output end of the robotic arm, which is electrically connected to the robot control cabinet via a cable. The welding machine power supply is electrically connected to the welding machine via a power cord. A linear track can be assembled and installed at the welding station, and can support the robotic arm as it moves out of the accommodating space. A drive assembly is located at the lower end of the robotic arm and is drively connected to the linear track. During welding, the hanger can be lifted by the electric hoist over obstacles, then moved along the first direction to cross them. Finally, the electric hoist lowers the hanger, thus transferring the welding device. After the transfer is completed, a linear track is assembled at the welding station. The robotic arm is then transferred to the linear track and, driven by the drive assembly, moves along the track to complete the welding. This method can adapt to complex construction sites and improve the transfer efficiency of the welding robot.

[0017] The present invention provides a method for cross-regional welding using the robotic welding system described above, which can adapt to complex construction sites and improve the transfer efficiency of the welding robot. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the content of the embodiments of the present invention and these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of a robotic welding system according to the present invention; Figure 2This is a schematic diagram of a hanger and part of the welding device in a robot welding system of the present invention; Figure 3 This is a schematic diagram of a robotic arm and a linear track in a robotic welding system according to the present invention.

[0020] In the picture: 1. Welding gantry; 2. Electric hoist; 3. Welding device; 31. Welding machine power supply; 32. Robot control cabinet; 321. Cable; 322. Storage bin; 33. Welding machine; 34. Robotic arm; 4. Hanger; 41. Lifting lug; 42. Lifting sling; 43. Support mesh plate; 44. Roller; 45. U-shaped channel; 46. Binding cable; 47. Traction cable; 48. Positioning rod; 5. Linear track; 6. Drive assembly; 61. Mounting plate. Detailed Implementation

[0021] Before explaining any implementation of this application in detail, it should be understood that this application is not limited to its application to the structural details and component arrangements set forth in the following description or shown in the above drawings.

[0022] In this application, the terms "comprising," "including," "having," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0023] In this application, the terms "connection," "combination," "coupling," and "installation" can refer to direct connection, combination, coupling, or installation, or indirect connection, combination, coupling, or installation. For example, a direct connection refers to two parts or components being connected together without the need for an intermediary, while an indirect connection refers to two parts or components each being connected to at least one intermediary, with the connection achieved through the intermediary. Furthermore, "connection" and "coupling" are not limited to physical or mechanical connections or couplings, but can also include electrical connections or couplings.

[0024] In this application, those skilled in the art will understand that the function performed by a component can be performed by one component, multiple components, one part, or multiple parts. Similarly, the function performed by a part can also be performed by one part, one component, or a combination of multiple parts.

[0025] In this application, the directional terms "upper," "lower," "left," "right," "front," and "rear" are used to describe the orientation and positional relationships shown in the accompanying drawings and should not be construed as limiting the embodiments of this application. Furthermore, in the context, it should be understood that when an element is mentioned as being connected "upper" or "lower" to another element, it can be directly connected to the other element "upper" or "lower," or indirectly connected through an intermediate element. It should also be understood that directional terms such as upper side, lower side, left side, right side, front side, and rear side not only represent positive orientation but can also be understood as lateral orientation. For example, "below" can include directly below, lower left, lower right, lower front, and lower rear.

[0026] In shipbuilding, welding is complex due to the numerous longitudinal and transverse structures. To adapt to complex construction sites and improve the transport efficiency of welding robots, such as... Figures 1-3 As shown, this invention provides a robotic welding system. The robotic welding system includes a welding gantry 1, an electric hoist 2, a hanging frame 4, a welding device 3, a linear track 5, and a drive assembly 6. The welding gantry 1 is arranged along a first direction. The electric hoist 2 is mounted on the welding gantry 1 and is capable of moving along the first direction on the welding gantry 1. The hanging frame 4 is connected to the electric hoist 2 via a sling 42 and has a receiving space. The welding device 3 includes a welding power supply 31, a robot control cabinet 32, a welding machine 33, and a robotic arm 34. The welding power supply 31 and the robot control cabinet 32 ​​are both mounted on the welding gantry 1. The welding machine 33 is mounted on the hanging frame 4. The robotic arm 34 is located in the receiving space of the hanging frame 4. The welding torch of the welding machine 33 is located at the output end of the robotic arm 34, and the robotic arm 34 is electrically connected to the robot control cabinet 32 ​​via a cable 321. The welding power supply 31 is electrically connected to the welding machine 33 via a power cord. The linear track 5 can be assembled and installed at the welding station, and the linear track 5 can support the robotic arm 34 that has been moved out of the receiving space. The drive assembly 6 is located at the lower end of the robotic arm 34 and is connected to the linear track 5 for transmission. The drive assembly 6 can drive the robotic arm 34 to move along the extension direction of the linear track 5 to perform welding at the welding station.

[0027] During welding, the hanging frame 4 can be lifted by the electric hoist 2 over obstacles, and then moved along the first direction by the electric hoist 2 to cross the obstacles. The electric hoist 2 then lowers the hanging frame 4, thus transferring the welding device 3. After the transfer, the linear track 5 is assembled at the welding station, and then the robotic arm 34 is transferred to the linear track 5. Driven by the drive component 6, the robotic arm 34 moves along the linear track 5 to complete the welding. This method can adapt to complex construction sites and improve the transfer efficiency of the welding robot.

[0028] In some embodiments, a support mesh plate 43 is provided at the upper end of the hanging frame 4. The support mesh plate 43 is used to support the welding machine 33 and the storage bucket 322, and the storage bucket 322 is used to store the cable 321. By providing the support mesh plate 43, the welding machine 33 and the storage bucket 322 can be supported. Moreover, the support mesh plate 43 is lightweight, which can reduce the weight of the hanging frame 4 and facilitate the electric hoist 2 to lift and move the hanging frame 4. By providing the storage bucket 322, the cable 321 can be stored, avoiding excessive clutter on site and preventing the cable 321 from being easily damaged.

[0029] In some embodiments, a positioning rod 48 is provided on one side of the hanger 4. The positioning rod 48 can rotate relative to the hanger 4 to be in a positioning position or a retracted position. After the hanger 4 moves with the robotic arm 34, the positioning rod 48 is unfolded to the positioning position, thereby completing the positioning of the hanger 4. Subsequently, a linear track 5 can be arranged according to the positioning position, so that after the robotic arm 34 is transferred to the linear track 5, welding work can be performed, improving welding efficiency. When the positioning rod 48 is not needed, it is in the retracted position, thereby reducing the space occupied.

[0030] In some embodiments, a plurality of lifting lugs 41 are fixedly provided at the top of the hanging frame 4. The plurality of lifting lugs 41 are spaced apart along the circumference of the hanging frame 4, and the slings 42 are connected to the plurality of lifting lugs 41. This arrangement facilitates the connection of the electric hoist 2 to the hanging frame 4. In this embodiment, four lifting lugs 41 are provided, and the slings 42 are connected to all four lifting lugs 41. The wire rope of the electric hoist 2 is connected to the slings 42 via hooks. By arranging four lifting lugs 41, the stability of lifting and moving the hanging frame 4 can be ensured.

[0031] In some embodiments, the hanger 4 is equipped with a binding cable 46 and a traction cable 47. The binding cable 46 is used to connect to the robotic arm 34, and the traction cable 47 is used to adjust the attitude of the hanger 4. By providing the binding cable 46, the robotic arm 34 can be connected to the hanger 4, preventing the robotic arm 34 from falling off the hanger 4 during the relocation of the hanger 4 and causing a safety accident. By providing the traction cable 47, the attitude of the hanger 4 can be adjusted during the relocation of the hanger 4.

[0032] In some embodiments, the lower end of the hanger 4 is provided with multiple rollers 44. By providing multiple rollers 44, during the separation process of the robotic arm 34 from the hanger 4, the rollers 44 facilitate the movement of the hanger 4 by construction personnel, thereby improving the efficiency of the separation of the hanger 4 from the robotic arm 34.

[0033] In some embodiments, the lower end of the hanger 4 has a U-shaped groove 45, in which the drive assembly 6 is located. The U-shaped groove 45 facilitates the accommodation of the drive assembly 6 and allows the drive assembly 6 to exit from the opening of the U-shaped groove 45 when the robotic arm 34 is separated from the hanger 4.

[0034] In some embodiments, a magnetic attractor is provided at the lower end of the linear track 5, which is used to attract and fix the linear track 5. Specifically, the magnetic attractor can be an electromagnet. When it is necessary to fix the linear track 5, the electromagnet is energized, so that the linear track 5 is fixed and attracted, preventing the linear track 5 from shifting during the welding operation. When it is necessary to disassemble, the electromagnet is de-energized, and the linear track 5 can be removed.

[0035] In some embodiments, the drive assembly 6 includes a mounting plate 61, a drive motor, and a gear. A rack is provided on the linear track 5, extending along the track's extension direction. The drive motor and robotic arm 34 are mounted on the mounting plate 61, and the gear is located at the output end of the drive motor, meshing with the rack. With this configuration, during welding, the motor starts the drive gear to rotate, meshing with the rack, causing the gear to move relative to the rack. This drives the mounting plate 61, which in turn moves the robotic arm 34, thereby achieving automated welding operations.

[0036] This embodiment also provides a method of using the above-described robotic welding system for cross-regional welding, including the following steps: S1. Place the robotic arm 34 into the receiving space of the hanging frame 4, and connect the robotic arm 34 to the hanging frame 4. Connect the sling 42 to the electric hoist 2 and the hanging frame 4. S2. Start the electric hoist 2 to lift the bracket 4 until the lower end of the bracket 4 exceeds the obstacle; S3. Electric hoist 2 moves on welding gantry 1 to the welding station; S4. The electric hoist 2 lowers the hanging frame 4 to the set position of the welding station; S5. Remove the robotic arm 34 from the hanger 4, and the electric hoist 2 lifts the hanger 4 to the set height. S6. Assemble and fix the linear track 5 at the welding station, and transfer the robotic arm 34 to the linear track 5. The robotic arm 34 moves along the extension direction of the linear track 5 and performs welding at the welding station. During this process, the robotic arm 34 automatically completes the welding operation of the entire weld seam. For multiple discontinuous weld seams, the robot can move along the linear track 5 sequentially to the position of each weld seam for welding.

[0037] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A robotic welding system, characterized in that, include: A welding gantry (1) is provided along a first direction; An electric hoist (2) is mounted on the welded gantry (1) and is capable of moving along the first direction on the welded gantry (1). Hanging frame (4), which is connected to the electric hoist (2) by a sling (42), and the hanging frame (4) has a receiving space; The welding device (3) includes a welding power supply (31), a robot control cabinet (32), a welding machine (33), and a robotic arm (34). The welding power supply (31) and the robot control cabinet (32) are both installed on the welding gantry (1). The welding machine (33) is installed on the hanger (4). The robotic arm (34) is located in the accommodating space of the hanger (4). The welding gun of the welding machine (33) is installed at the output end of the robotic arm (34). The robotic arm (34) is electrically connected to the robot control cabinet (32) via a cable (321). The welding power supply (31) is electrically connected to the welding machine (33) via a power cord. A linear track (5) can be assembled and set at the welding station, and the linear track (5) can support the robotic arm (34) that is moved out of the receiving space; A drive assembly (6) is disposed at the lower end of the robotic arm (34) and is connected to the linear track (5) for transmission. The drive assembly (6) can drive the robotic arm (34) to move along the extension direction of the linear track (5) to perform welding at the welding station.

2. The robotic welding system according to claim 1, characterized in that, The upper end of the bracket (4) is provided with a support mesh plate (43), which is used to support the welding machine (33) and the storage bucket (322), and the storage bucket (322) is used to store the cable (321).

3. The robotic welding system according to claim 1, characterized in that, A positioning rod (48) is provided on one side of the hanging bracket (4). The positioning rod (48) can rotate relative to the hanging bracket (4) to be in a positioning position or a storage position.

4. The robotic welding system according to claim 1, characterized in that, The top of the hanger (4) is provided with a plurality of lifting lugs (41), which are spaced apart along the circumference of the hanger (4), and the sling (42) is connected to the plurality of lifting lugs (41).

5. The robotic welding system according to claim 1, characterized in that, The hanger (4) is provided with a binding cable (46) and a traction cable (47). The binding cable (46) is used to connect with the robotic arm (34), and the traction cable (47) is used to adjust the posture of the hanger (4).

6. The robotic welding system according to claim 1, characterized in that, The lower end of the bracket (4) is provided with multiple rollers (44).

7. The robotic welding system according to claim 1, characterized in that, The lower end of the bracket (4) has a U-shaped groove (45), and the drive assembly (6) is located in the U-shaped groove (45).

8. The robotic welding system according to claim 1, characterized in that, The lower end of the linear track (5) is provided with a magnetic suction element, which is used to attract and fix the linear track (5).

9. The robotic welding system according to claim 1, characterized in that, The drive assembly (6) includes a mounting plate (61), a drive motor and a gear. The linear track (5) is provided with a rack, which is arranged along the extension direction of the linear track (5). The drive motor and the robotic arm (34) are mounted on the mounting plate (61). The gear is located at the output end of the drive motor and meshes with the rack.

10. The method of use, characterized in that, Cross-region welding using the robotic welding system as described in any one of claims 1-9 includes the following steps: S1. Place the robotic arm (34) into the receiving space of the hanging frame (4) and connect the robotic arm (34) to the hanging frame (4). The sling (42) is connected to the electric hoist (2) and the hanging frame (4). S2. Start the electric hoist (2) to lift the hanging frame (4) until the lower end of the hanging frame (4) exceeds the obstacle; S3, the electric hoist (2) moves on the welding gantry (1) to the welding station; S4. The electric hoist (2) lowers the hanging frame (4) to the set position of the welding station; S5. The robotic arm (34) is removed from the hanging frame (4), and the electric hoist (2) lifts the hanging frame (4) to a set height; S6. Assemble and fix the linear track (5) at the welding station, and transfer the robotic arm (34) to the linear track (5). The robotic arm (34) moves along the extension direction of the linear track (5) and performs welding at the welding station.

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