Mobile laser cladding and precision machining integrated robot for ships and warships

Abstract

The utility model relates to the technical field of welding robots, and discloses a movable laser cladding and precision machining integrated robot for ships, which comprises a base, and the top of the base is fixedly connected with a fixed disc. According to the movable laser cladding and precision machining integrated robot for the ship, when an adjusting disc rotates, a kidney-shaped groove can be driven to move, a cam moves in the kidney-shaped groove, then a sliding block is driven to move in a square groove, when the sliding block moves, a linkage rod can be driven to rotate with an extension block as a fulcrum, and when the sliding block moves outwards, the linkage rod is driven to move in the square groove; the rolling wheel at one end of the linkage rod can abut against the ship plate, after the base is lifted to be away from the ship plate and reaches a designated point position, the sliding block is controlled to move inwards, the linkage rod is made to rotate upwards, finally, the base is attached to the ship plate, through the arrangement of the structure, it can be guaranteed that the bottom of the whole base makes contact with the ship plate during fixing, and therefore stability is improved; and during moving, the base can be lifted away from the ship plate, so that the whole device is easier to move.

Description

Technical Field

[0001] The utility model relates to the technical field of welding robots, in particular to a mobile laser cladding and precision machining integrated robot for ships. Background Art

[0002] The mobile integrated laser cladding and precision machining robot for ships is a robot system specially designed for ship maintenance, cladding and precision machining. It combines laser cladding technology and precision machining technology to make repair and machining on the ship surface more efficient and precise. It usually consists of a mobile chassis and laser cladding and machining equipment mounted on it.

[0003] However, the following problems still exist in actual use:

[0004] 1) In order to move quickly on the ship, existing ship robots usually have rollers installed under the chassis. However, when the hull in the area needs to be processed, the chassis needs to be fixed. Usually, fixed rollers are used to limit movement or auxiliary rods are installed to abut against the ship board. However, both methods have the problem of insufficient stability.

[0005] 2) Existing ship robots have a small working range. When processing the hull, the entire device needs to be moved frequently to expand the working range. However, frequent movement of the entire device will lead to a waste of time. Each movement requires a certain amount of time to adjust and reposition the robot system, which will increase the execution time of the entire task.

[0006] For this purpose, the utility model introduces a mobile laser cladding and precision machining integrated robot for ships. Summary of the invention

[0007] In view of the shortcomings of the prior art, the utility model provides a mobile laser cladding and precision machining integrated robot for ships, which has the advantages of being able to easily move the entire device on the hull, having a stable chassis during installation and expanding the working range of the robot, thereby solving the problems raised in the background technology.

[0008] The utility model provides the following technical solutions: a mobile laser cladding and precision machining integrated robot for ships, comprising a base, a fixed disk fixedly connected to the top of the base, four groups of extension blocks fixedly connected to the surface of the base, a retraction mechanism is arranged inside the fixed disk, the retraction mechanism comprises a sliding block, a square groove, a linkage rod and a roller, the square groove is opened inside the fixed disk and the base, the surface of the sliding block is slidably connected to the inside of the square groove, one end of the linkage rod is rotatably connected to the inside of the sliding block, the middle part of the linkage rod is rotatably connected to the surface of the extension block, and the two ends of the roller are rotatably connected to one end of the linkage rod away from the sliding block.

[0009] Preferably, the top of the fixed plate is fixedly connected to a base, the top of the base is slidably connected to a mounting seat, a mechanical arm is provided on the top of the mounting seat, and a distance adjustment mechanism is provided on the surface of the base, the distance adjustment mechanism includes a slide groove, a threaded rod, a guide groove and a guide block, the slide groove and the guide groove are opened on the surface of the base, the two ends of the threaded rod are rotatably connected to the inside of the slide groove, the surface of the threaded rod is threadedly connected to the bottom of the mounting seat, one side surface of the guide block is fixedly connected to the bottom of the mounting seat, and the surface of the guide block is slidably connected to the inside of the guide groove.

[0010] Preferably, an adjusting disk is rotatably connected inside the fixed disk, and a waist-shaped groove is provided on the surface of the adjusting disk, and the waist-shaped groove is communicated with the square groove.

[0011] Preferably, a cam is slidably connected inside the waist-shaped groove, and the bottom end of the cam is fixedly connected to the top end of the sliding block.

[0012] Preferably, a second driving motor is fixedly connected inside the base and the fixed disk, and an output shaft of the second driving motor is fixedly connected to one end of the adjusting disk.

[0013] Preferably, one end of the base is fixedly connected to a driving motor 1, and an output shaft of the driving motor 1 is fixedly connected to one end of the threaded rod.

[0014] Compared with the prior art, the utility model has the following beneficial effects:

[0015] 1. This kind of mobile laser cladding and precision machining integrated robot for ships is provided with a retracting mechanism. The driving motor 2 is started to drive the adjusting disk to rotate. When the adjusting disk rotates, it will drive the waist groove to move, so that the cam moves inside the waist groove, and then drives the sliding block to move inside the square groove. When the sliding block moves, it will drive the linkage rod to rotate with the extension block as the fulcrum. When the sliding block moves outward, the roller on one end of the linkage rod will abut against the ship board, and then lift the base away from the ship board, so as to facilitate the movement of the entire device. When reaching the specified point, the sliding block is controlled to move inward, so that the linkage rods at the four corners rotate upward, and finally the bottom of the base is attached to the ship board, and the roller is away from the ship board. The setting of this structure can control the position of the roller through the movement of the sliding block, and can ensure that the bottom of the entire base is in contact with the ship board when fixed, thereby improving stability, and can lift the base away from the ship board when moving, so that the whole device is easier to move.

[0016] 2. This kind of mobile integrated laser cladding and precision machining robot for ships is equipped with a distance adjustment mechanism to fix the mechanical arm on the top of the mounting seat, and then the extension and retraction of the mechanical arm can be controlled to perform laser cladding and welding on the hull, and starting the drive motor can drive the threaded rod to rotate, thereby driving the mounting seat to move horizontally on the surface of the base. During the movement, the guide block at the bottom of the mounting seat will also slide inside the guide groove to play a stabilizing and guiding role. The setting of this structure expands the working range of the robot and can cover a wider hull surface without moving the entire device, which can save time and improve the continuity and efficiency of the processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the main structure of the utility model;

[0018] Figure 2 Practical Figure 1 Side view of the structure;

[0019] Figure 3 This is a schematic diagram of the structure of the adjustment disk of the utility model;

[0020] Figure 4 It is a schematic diagram of the disassembly structure of the fixed disk of the utility model.

[0021] In the figure: 1. base; 2. roller; 3. linkage rod; 4. extension block; 5. fixed plate; 6. pedestal; 7. guide groove; 8. slide groove; 9. threaded rod; 10. mounting seat; 11. mechanical arm; 12. guide block; 13. driving motor 1; 14. adjusting plate; 15. waist-shaped groove; 16. cam; 17. driving motor 2; 18. square groove; 19. sliding block; 20. retraction mechanism; 21. distance adjustment mechanism. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] See also Figure 1-4A mobile integrated laser cladding and precision machining robot for ships comprises a base 1, a fixed plate 5 is fixedly connected to the top of the base 1, four groups of extension blocks 4 are fixedly connected to the surface of the base 1, a retracting mechanism 20 is arranged inside the fixed plate 5, and the retracting mechanism 20 comprises a sliding block 19, a square groove 18, a linkage rod 3 and a roller 2, the square groove 18 is arranged inside the fixed plate 5 and the base 1, the surface of the sliding block 19 is slidably connected to the inside of the square groove 18, one end of the linkage rod 3 is rotatably connected to the inside of the sliding block 19, the middle part of the linkage rod 3 is rotatably connected to the surface of the extension block 4, the two ends of the roller 2 are rotatably connected to the end of the linkage rod 3 away from the sliding block 19, the inside of the fixed plate 5 is rotatably connected to an adjusting plate 14, the surface of the adjusting plate 14 is provided with a waist-shaped groove 15, the waist-shaped groove 15 is communicated with the square groove 18, the waist-shaped groove 15 is slidably connected to the inside of the waist-shaped groove 15, and the bottom end of the cam 16 is connected to the sliding block 1 9 is fixedly connected, and when the adjusting disk 14 rotates, it will drive the waist groove 15 to move, so that the cam 16 moves inside the waist groove 15, and then drive the sliding block 19 to move inside the square groove 18, and when the sliding block 19 moves, it will drive the linkage rod 3 to rotate with the extension block 4 as the fulcrum. When the sliding block 19 moves outward, the roller 2 on one end of the linkage rod 3 will abut against the ship board, and then lift the base 1 away from the ship board, so as to facilitate the movement of the entire device. When reaching the specified point, the sliding block 19 is controlled to move inward, so that the linkage rod 3 at the four corners rotates upward, and finally the bottom of the base 1 is attached to the ship board, and the roller 2 is away from the ship board. The setting of this structure can control the position of the roller 2 through the movement of the sliding block 19, and can ensure that the bottom of the entire base 1 is in contact with the ship board when fixed, thereby improving stability, and can lift the base 1 away from the ship board when moving, making the entire device easier to move.

[0024] See also Figure 1-2The top of the fixed plate 5 is fixedly connected with a base 6, the top of the base 6 is slidably connected with a mounting seat 10, the top of the mounting seat 10 is provided with a mechanical arm 11, and the surface of the base 6 is provided with a distance adjustment mechanism 21, the distance adjustment mechanism 21 includes a slide 8, a threaded rod 9, a guide groove 7 and a guide block 12, the slide 8 and the guide groove 7 are opened on the surface of the base 6, the two ends of the threaded rod 9 are rotatably connected with the inside of the slide 8, the surface of the threaded rod 9 is connected with the bottom of the mounting seat 10, one side surface of the guide block 12 is fixedly connected with the bottom of the mounting seat 10, the surface of the guide block 12 is connected with the inner surface of the guide groove 7 The robot arm 11 is fixedly mounted on the top of the mounting seat 10 through a sliding connection. The extension and retraction of the robot arm 11 can be controlled to perform laser cladding and welding on the hull. Starting the drive motor 13 can drive the threaded rod 9 to rotate, thereby driving the mounting seat 10 to move horizontally on the surface of the base 6. During the movement, the guide block 12 at the bottom of the mounting seat 10 will also slide inside the guide groove 7 to play a stabilizing and guiding role. The setting of this structure expands the working range of the robot and can cover a wider hull surface without moving the entire device, which can save time and improve the continuity and efficiency of the processing.

[0025] See also Figure 2 , 4 A drive motor 2 17 is fixedly connected inside the base 1 and the fixed disk 5, and the output shaft of the drive motor 2 17 is fixedly connected to one end of the adjusting disk 14. A drive motor 13 is fixedly connected to one end of the base 6, and the output shaft of the drive motor 13 is fixedly connected to one end of the threaded rod 9.

[0026] Working principle: when in use, start the driving motor 2 17 to drive the adjusting disk 14 to rotate, and when the adjusting disk 14 rotates, it will drive the waist groove 15 to move, so that the cam 16 moves inside the waist groove 15, and then drive the sliding block 19 to move inside the square groove 18, and when the sliding block 19 moves, it will drive the linkage rod 3 to rotate with the extension block 4 as the fulcrum. When the sliding block 19 moves outward, the roller 2 on one end of the linkage rod 3 will abut against the ship board, and then lift the base 1 away from the ship board, so as to facilitate the movement of the entire device. When it reaches the specified point, control the sliding block 19 to move inward, so that the linkage rod 3 at the four corners rotates upward, and finally the bottom of the base 1 is attached to the ship board, and the roller 2 is away from the ship board, and the mechanical arm 11 is fixedly installed on the top of the mounting seat 10, and then the extension and retraction of the mechanical arm 11 can be controlled to perform laser cladding and welding on the hull, and starting the driving motor 1 13 can drive the threaded rod 9 to rotate, thereby driving the mounting seat 10 to move horizontally on the surface of the base 6.

[0027] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0028] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A mobile laser cladding and precision machining integrated robot for ships, characterized in that: The invention comprises a base (1), a fixed plate (5) is fixedly connected to the top of the base (1), four groups of extension blocks (4) are fixedly connected to the surface of the base (1), a retracting mechanism (20) is arranged inside the fixed plate (5), the retracting mechanism (20) comprises a sliding block (19), a square groove (18), a linkage rod (3) and a roller (2), the square groove (18) is arranged inside the fixed plate (5) and the base (1), the surface of the sliding block (19) is slidably connected to the inside of the square groove (18), one end of the linkage rod (3) is rotatably connected to the inside of the sliding block (19), the middle part of the linkage rod (3) is rotatably connected to the surface of the extension block (4), and the two ends of the roller (2) are rotatably connected to one end of the linkage rod (3) away from the sliding block (19).

2. The mobile laser cladding and precision machining integrated robot for ships according to claim 1, characterized in that: The top of the fixed plate (5) is fixedly connected to a base (6), the top of the base (6) is slidably connected to a mounting seat (10), the top of the mounting seat (10) is provided with a mechanical arm (11), the surface of the base (6) is provided with a distance adjustment mechanism (21), the distance adjustment mechanism (21) comprises a slide groove (8), a threaded rod (9), a guide groove (7) and a guide block (12), the slide groove (8) and the guide groove (7) are provided on the surface of the base (6), the two ends of the threaded rod (9) are rotatably connected to the inside of the slide groove (8), the surface of the threaded rod (9) is threadedly connected to the inside of the bottom end of the mounting seat (10), one side surface of the guide block (12) is fixedly connected to the bottom of the mounting seat (10), and the surface of the guide block (12) is slidably connected to the inside of the guide groove (7).

3. The mobile laser cladding and precision machining integrated robot for ships according to claim 1, characterized in that: An adjusting disk (14) is rotatably connected inside the fixed disk (5), and a waist-shaped groove (15) is provided on the surface of the adjusting disk (14), wherein the waist-shaped groove (15) is communicated with the square groove (18).

4. The mobile laser cladding and precision machining integrated robot for ships according to claim 3 is characterized in that: A cam (16) is slidably connected inside the waist-shaped groove (15), and the bottom end of the cam (16) is fixedly connected to the top end of the sliding block (19).

5. The mobile laser cladding and precision machining integrated robot for ships according to claim 1, characterized in that: A second drive motor (17) is fixedly connected inside the base (1) and the fixed disk (5), and an output shaft of the second drive motor (17) is fixedly connected to one end of the adjustment disk (14).

6. The mobile laser cladding and precision machining integrated robot for ships according to claim 2, characterized in that: One end of the base (6) is fixedly connected to a drive motor 1 (13), and an output shaft of the drive motor 1 (13) is fixedly connected to one end of the threaded rod (9).

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