Large-assembly gantry type welding robot equipment for ship

Abstract

The utility model discloses large-assembly gantry type welding robot equipment for a ship. The large-assembly gantry type welding robot equipment comprises a gantry moving mechanism, a plurality of sliding hoisting mechanisms and a plurality of welding mechanisms, the gantry moving mechanism comprises a first gantry support, a second gantry support and a cross beam, the first gantry support and the second gantry support are connected through the cross beam, the first gantry support and the second gantry support are connected with the ground in a sliding mode, and the sliding hoisting mechanisms are connected with the cross beam in a sliding mode. Each sliding hoisting mechanism is connected with one welding mechanism and drives the welding mechanism to move in the direction parallel to the moving direction of the gantry moving mechanism. The sliding hoisting mechanism can further drive the welding mechanism to ascend and descend in the direction perpendicular to the ground. The welding mechanism comprises a welding assembly, a positioning assembly used for positioning the working position and a fixing assembly used for guaranteeing the stability of the machining process. One end of the welding assembly is connected with the sliding hoisting mechanism, and the other end is provided with a positioning assembly and a fixing assembly. The automatic welding device is simple and convenient to operate, high in working speed and high in automation degree, can meet the welding requirements of the assembly workpieces, and does not need manual carrying equipment, thereby liberating labor force and realizing intelligent and automatic production and processing management.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic welding equipment, in particular to a large-scale ship assembly gantry welding robot equipment. Background Art

[0002] During the ship segment assembly welding and segment docking stages, the welding of ship assembly workpieces has a small operating space and many welding route types. The current method is manual welding. The existing manual welding is inconvenient to carry and cannot be operated in a small space. In addition, the existing manual welding has low work efficiency, dangerous and difficult operations, and a low level of intelligence, and cannot realize intelligent and automated production and processing management. Utility Model Content

[0003] The utility model provides a large-scale ship assembly gantry welding robot equipment, which can overcome the technical problems of low efficiency, dangerous operation, great difficulty and the like caused by manual welding.

[0004] In order to achieve the above purpose, the technical solution of the utility model is:

[0005] A large-scale ship assembly gantry welding robot equipment comprises a gantry moving mechanism, several sliding hoisting mechanisms and several welding mechanisms; the gantry moving mechanism comprises a first gantry bracket, a second gantry bracket and a crossbeam, the first gantry bracket and the second gantry bracket are connected by the crossbeam, and the first gantry bracket and the second gantry bracket are respectively slidably connected to the ground, several of the sliding hoisting mechanisms are respectively slidably connected to the crossbeam, and each sliding hoisting mechanism is connected to one welding mechanism, and can drive the welding mechanism to move in a direction parallel to the moving direction of the gantry moving mechanism; the sliding hoisting mechanism can also drive the welding mechanism to rise and fall in a direction perpendicular to the ground, so that the welding mechanism is away from or close to the working area; the welding mechanism comprises a welding assembly, a positioning assembly for positioning the working position and a fixing assembly for ensuring the stability of the processing process; one end of the welding assembly is connected to the sliding hoisting mechanism, and the other end is equipped with the positioning assembly and the fixing assembly.

[0006] Furthermore, each of the welding assemblies includes several pulleys, a wire feeder, a welding robot arm assembly and a mounting bracket; one end of the mounting bracket is connected to the sliding lifting mechanism, and the other end is equipped with several pulleys, the wire feeder is installed at one end of the mounting bracket close to the sliding lifting mechanism, and the welding robot arm assembly is installed at one end of the mounting bracket close to the pulley.

[0007] Furthermore, the mounting bracket includes a turntable frame, a wire feeder mounting frame and a welding robot arm assembly mounting frame; one end of the wire feeder mounting frame is rotatably connected to the turntable frame, and the other end is fixedly connected to the welding robot arm assembly mounting frame; the wire feeder is arranged on the wire feeder mounting frame, and the welding robot arm assembly is arranged on the welding robot arm assembly mounting frame.

[0008] Furthermore, the welding robot arm assembly mounting frame includes a first support plate, a second support plate and a mounting seat; the first mounting plate and the second mounting plate are respectively arranged on both sides of the mounting seat, and the welding robot arm assembly is provided on the mounting seat; the fixing assembly includes at least one group of leg assemblies, and the mounting seat is provided with a receiving cavity for installing the leg assembly, and the leg assembly is provided in the receiving cavity; each of the leg assemblies includes two synchronously retractable legs, and through holes for retracting the legs are respectively provided on the two opposite side walls of the mounting seat. When the position of the welding mechanism needs to be fixed by the fixing assembly, the legs extend from the through holes for retracting the legs and abut against the vertical plate provided in the ship assembly workpiece.

[0009] Furthermore, the sliding hoisting mechanism includes a moving frame and a hoisting component, the moving frame is slidably connected to the beam, the hoisting component is arranged on the moving frame and slidably connected to the moving frame, and one end of the hoisting component is connected to the turntable frame.

[0010] Furthermore, the hoisting components include a double-drum synchronous winch and a base plate;

[0011] The double-drum synchronous winch is installed on the base plate, and a first slider is provided on one end surface of the base plate, and a first slide rail matching the first slider is provided on the end surface of the movable frame close to the base plate, and the double-drum synchronous winch is slidably connected to the movable frame through the first slider and the first slide rail; at the same time, the double-drum synchronous winch is connected to the turntable frame through double steel ropes; a second slide rail is provided on the end surface of the crossbeam close to the movable frame, and a second slider matching the second slide rail is provided on the end surface of the movable frame close to the crossbeam, and the crossbeam and the movable frame are slidably connected through the second slider and the second slide rail.

[0012] Furthermore, the welding robot arm assembly includes a welding robot arm, a welding gun and a laser sensor; one end of the welding robot arm is arranged on the mounting seat, and the welding gun and the laser sensor are installed on the other end.

[0013] Furthermore, the welding robot arm is a six-axis robot arm.

[0014] Furthermore, the positioning component includes a distance measuring sensor.

[0015] Furthermore, the outer walls of the double steel rope are respectively sleeved with a first telescopic tube and a second telescopic tube, one end of the first telescopic tube and the second telescopic tube are both connected to the double-drum synchronous winch, and the other end of the first telescopic tube is connected to the other end of the second telescopic tube through a connecting block.

[0016] Beneficial effects: The utility model arranges several sliding hoisting mechanisms on the gantry moving mechanism, and the sliding hoisting mechanism is connected to the welding mechanism. The position of the welding mechanism can be adjusted by the movement of the gantry moving mechanism and the sliding hoisting mechanism. At the same time, the welding structure can be driven to rise and fall and translate through the sliding hoisting mechanism. The welding mechanism includes a welding assembly, a positioning assembly for positioning the working position, and a fixing assembly for ensuring the stability of the processing process, thereby ensuring the realization of intelligent welding of ship segment assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0018] Figure 1 This is a structural diagram of the gantry-type welding robot equipment for large-scale ship assembly in the present utility model;

[0019] Figure 2 Schematic diagram of the structure of the welding mechanism in the embodiment of the present utility model;

[0020] Figure 3 This is a structural diagram of the sliding hoisting mechanism in an embodiment of the present utility model;

[0021] Figure 4 for Figure 3 A partial enlarged view of point A in the middle;

[0022] Figure 5 Schematic diagram of the structure of the leg assembly in the embodiment of the present utility model;

[0023] Figure 6 This is a schematic structural diagram of a leg assembly without a mounting shell in an embodiment of the present invention.

[0024] Figure: 1. Gantry moving mechanism; 11. First gantry bracket; 12. Second gantry bracket; 13. Crossbeam; 2. Sliding hoisting mechanism; 21. Moving frame; 211. Support plate; 212. Crossbeam mounting plate; 22. Hoisting components; 221. Double-drum synchronous winch; 222. Bottom plate; 223. First telescopic tube; 224. Connecting block; 225. Protrusion; 3. Welding mechanism; 31. Welding assembly; 311. Pulley ; 312, wire feeder; 313, welding robot arm assembly; 313A, welding robot arm; 313B, welding gun; 313C, laser sensor; 314, mounting bracket; 315, turntable frame; 316, wire feeder mounting frame; 316A, third mounting plate; 317, welding robot arm assembly mounting frame; 318, mounting seat; 32, positioning assembly; 33, fixing assembly; 331, support leg assembly; 331A, support leg. DETAILED DESCRIPTION

[0025] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0026] This embodiment provides a large-scale ship assembly gantry welding robot equipment, such as Figure 1 As shown, it includes a gantry moving mechanism 1, several sliding hoisting mechanisms 2 and several welding mechanisms 3; the gantry moving mechanism 1 includes a first gantry bracket 11, a second gantry bracket 12 and a crossbeam 13, the first gantry bracket 11 and the second gantry bracket 12 are connected by the crossbeam 13, and the first gantry bracket and the second gantry bracket are respectively slidably connected to the ground, and several sliding hoisting mechanisms 2 are respectively slidably connected to the crossbeam 13, and each sliding hoisting mechanism 2 is connected to one welding mechanism 3 and can drive the welding mechanism 3 to move in a direction parallel to the moving direction of the gantry moving mechanism 1;

[0027] The sliding hoisting mechanism 2 can also drive the welding mechanism 3 to move up and down in a direction perpendicular to the ground, so that the welding mechanism 3 moves away from or close to the working area;

[0028] Specifically, if Figure 2 As shown, the welding mechanism 3 includes a welding component 31, a positioning component 32 for positioning the working position, and a fixing component 33 for ensuring the stability of the processing process; one end of the welding component 31 is connected to the sliding lifting mechanism 2, and the other end is installed with the positioning component 32 and the fixing component 33.

[0029] Specifically, in this embodiment, a plurality of sliding hoisting mechanisms 2 and a plurality of welding mechanisms 3 are set based on the gantry moving mechanism 1. When processing the ship assembly workpiece, the gantry moving mechanism 1 and the sliding hoisting mechanism 2 can drive the welding mechanism 3 to move, and then the sliding hoisting mechanism 2 drives the welding mechanism 3 to rise and fall in the direction perpendicular to the ground, so that the welding mechanism 3 is away from or close to the working area. The welding mechanism 3 determines the working position and moves through the positioning component 32 for positioning the working position. After moving to the working position, it abuts against the ship assembly workpiece through the fixing component 33 for ensuring the stability of the processing process, and then starts to weld the ship section assembly. This structure is easy to operate, has a fast working speed, and a high degree of automation. It can meet the needs of welding assembly workpieces without the need for manual handling of equipment, thereby liberating labor and realizing intelligent and automated production and processing management.

[0030] In a specific embodiment, Figure 2 As shown, each welding assembly 31 includes several pulleys 311, a wire feeder 312, a welding robot assembly 313, and a mounting bracket 314. One end of the mounting bracket 314 is connected to the sliding hoisting mechanism 2, and the other end is mounted with several pulleys 311. The wire feeder 312 is mounted on the end of the mounting bracket 314 near the sliding hoisting mechanism 2, and the welding robot assembly 313 is mounted on the end of the mounting bracket 314 near the pulley 311. Specifically, in this embodiment, preferably, four pulleys are provided.

[0031] In a specific embodiment, Figure 2 As shown, the mounting bracket 314 includes a turntable frame 315, a wire feeder mounting frame 316 and a welding robot arm assembly mounting frame 317; one end of the wire feeder 312 mounting frame is rotatably connected to the turntable frame 315, and the other end is fixedly connected to the welding robot arm assembly 313 mounting frame; the wire feeder 312 is arranged on the wire feeder mounting frame 316, and the welding robot arm assembly 313 is arranged on the welding robot arm assembly mounting frame 317.

[0032] Specifically, in this embodiment, the welding mechanism 3 has a compact layout and can be hoisted into a narrow assembly workpiece compartment through the sliding hoisting mechanism 2, moved to a suitable position inside the working condition through the pulley 311, and fixedly installed at the working position through the fixing component 33. The installation and transfer are relatively simple and suitable for narrow space working environments.

[0033] Specifically, in this embodiment, the wire feeder mounting frame 316 includes a third mounting plate 316A and a fourth mounting plate, and the third mounting plate and the fourth mounting plate are connected by two side plates to form a space for placing the wire feeder 312, and the wire feeder is arranged on the fourth mounting plate for feeding wire during welding; the turntable frame 315 includes a turntable plate and a drive motor, and the drive motor is arranged on one side of the drive plate. The turntable plate and the third mounting plate 316A are connected by a bearing, wherein the turntable plate is provided with a stator, and the third mounting plate is provided with a rotor, and a gear ring is installed on the rotor, and a motor drive gear is installed on the stator. This structure ensures that after the processing in the current direction is completed, the welding mechanism can be hoisted, and the rotation direction of the wire feeder mounting frame 316 is controlled by the turntable frame, and then the welding mechanism is hoisted down to enter the workpiece to process other directions of the workpiece; specifically, the turntable frame can control the wire feeder mounting frame 316 to achieve a 180° rotation, thereby meeting the needs of ship segment assembly welding.

[0034] In a specific embodiment, the welding robot arm assembly mounting frame 317 includes a first support plate, a second support plate and a mounting seat 318; the first mounting plate and the second mounting plate are respectively arranged on both sides of the mounting seat 318, and the welding robot arm assembly 313 is arranged on the mounting seat 318;

[0035] The fixing assembly 33 includes at least one group of leg assemblies 331, and the mounting seat 318 is provided with a receiving cavity for installing the leg assembly 331, and the leg assembly 331 is arranged in the receiving cavity; each of the leg assemblies 331 includes two synchronously retractable legs 331A, and through holes for retracting the legs are respectively opened on the two opposite side walls of the mounting seat. When the position of the welding mechanism 3 needs to be fixed by the fixing assembly 33, the leg 331A extends from the through hole for retracting the legs and abuts against the vertical plate set in the ship assembly workpiece.

[0036] Specifically, in this embodiment, preferably, two groups of leg assemblies 331 are provided, such as Figure 5 and Figure 6As shown, each of the leg assemblies 331 includes a mounting shell, two synchronously retractable legs 331A and a gear. The two synchronously retractable legs 331A are arranged in the mounting shell, and the mounting shell is fixedly connected to the mounting seat by screws. A rack is installed on each leg, and the two legs move synchronously through the rack and the gear, and the two groups of leg assemblies are connected by a synchronous belt to ensure that the four legs move synchronously; in practice, if the processing conditions limit the width of the mounting seat 318, resulting in limited space for the accommodating cavity for the legs, and at the same time it is necessary to ensure that the length of the legs is sufficient to abut against the vertical plate in the ship assembly workpiece, then a separate gear can be set for each leg to increase the stroke of the leg, thereby ensuring that the leg can abut against the vertical plate in the ship assembly workpiece, and at the same time a synchronous belt is added between the two gears of each leg assembly to ensure that the four legs move synchronously. In this embodiment, the setting of the support leg assembly can ensure that after the welding mechanism determines the processing position, the four support legs extending from the mounting seat can abut against the vertical plates in the ship assembly workpiece located on both sides of the welding mechanism, and the four support legs are synchronously extended and retracted, so the supporting and clamping action can simultaneously move the welding mechanism to the middle position, complete the centering and fixing action, ensure the stability of the welding mechanism, and thus perform welding work. Specifically, the vertical plate in the ship assembly workpiece is an inherent structure of the workpiece to be processed itself. This embodiment utilizes the inherent structure of the workpiece to be processed to design a corresponding fixing structure.

[0037] In a specific embodiment, Figure 3 As shown, the sliding lifting mechanism 2 includes a moving frame 21 and a lifting component 22. The moving frame 21 is slidably connected to the beam. The lifting component 22 is arranged on the moving frame 21 and is slidably connected to the moving frame 21. At the same time, one end of the lifting component 22 is connected to the turntable frame 315.

[0038] In a specific embodiment, the hoisting component 22 includes a double-drum synchronous winch 221 and a bottom plate 222;

[0039] The double-drum synchronous hoist 221 is installed on the bottom plate 222. A first slider is provided on one end face of the bottom plate. A first slide rail matching the first slider is provided on the end face of the mobile frame 21 close to the bottom plate. The double-drum synchronous hoist 221 is slidably connected to the mobile frame 21 through the first slider and the first slide rail. At the same time, the double-drum synchronous hoist is connected to the turntable frame 315 through a double steel wire rope. A second slide rail is provided on the end face of the crossbeam 13 close to the mobile frame. A second slider matching the second slide rail is provided on the end face of the mobile frame 21 close to the crossbeam. The crossbeam 13 is slidably connected to the mobile frame 21 through the second slider and the second slide rail. In a specific embodiment, as Figure 3 and Figure 4As shown, the outer walls of the double steel wire rope are respectively provided with a first telescopic tube 223 and a second telescopic tube, one end of each of the first telescopic tube 223 and the second telescopic tube is connected to the double-drum synchronous winch 221, and the other end of the first telescopic tube 223 is connected to the other end of the second telescopic tube through a connecting block 224.

[0040] Specifically, a double-drum synchronous winch is used in this embodiment to make the double steel ropes rise and fall synchronously, avoiding the welding mechanism from rotating randomly during the lifting process, thereby ensuring the smooth progress of the subsequent processing process, and a first telescopic tube 223 and a second telescopic tube are respectively sleeved on the outside of the double steel ropes, and one end of the first telescopic tube 223 and the second telescopic tube are respectively fixedly connected to the bottom of the double-drum synchronous winch 221, and openings are left for the double steel ropes to pass through, ensuring that the double steel ropes can be fixed while smoothly entering the interior of the telescopic tube. The two telescopic tubes can be shortened or extended synchronously with the retraction and extension of the double steel ropes, thereby playing a guiding role, ensuring the stability of the double steel ropes during the lifting and translation process, and then ensuring that the welding mechanism 3 can be driven to rise and fall and translate smoothly. The other end of the first telescopic tube 223 is connected to the other end of the second telescopic tube through a connecting block 224. The connecting block 224 includes a square block and two semi-annular structures respectively arranged at both ends of the square block. The two semi-annular structures are fixedly sleeved on the other ends of the two telescopic tubes, thereby connecting the two telescopic tubes to improve stability. When the welding mechanism descends, since the stroke of the telescopic tube is less than the stroke of the wire rope, the telescopic tube stops after extending to the limit length, and the wire rope continues to be lowered, thereby ensuring that the welding mechanism can smoothly enter the working condition and move to work.

[0041] Specifically, if Figure 4 As shown, the double steel wire ropes are fixedly connected to the turntable frame 315 through the protrusion 225, and the end of the connecting block 224 close to the protrusion 225 is a concave structure that can match the protrusion 225. When the welding mechanism is lifted, as the steel wire rope contracts, the protrusion abuts against the concave structure of the connecting block 224 to play a positioning role. This structure can ensure that the welding mechanism moves stably along the telescopic direction of the telescopic tube during the lifting and lowering process, and at the same time prevent the welding mechanism from shaking during translation, thereby improving the stability of the welding mechanism.

[0042] Specifically, if Figure 3As shown, the movable frame 21 includes a support plate 211, two baffles and a beam mounting plate 212, and the two baffles are relatively installed at both ends of the support plate 211, and the beam mounting plate 212 is provided with a second slider on one end face close to the beam 13, so as to be slidably connected to the beam, and the other end face is connected to the support plate and the two baffles, and the support plate is provided with the first slide rail, and the double-drum synchronous winch 221 can slide along the support plate through the first slider set on the bottom plate, so as to ensure that when the workpiece is placed in an incorrect position, it can be adjusted by moving the position of each sliding lifting structure separately, avoiding the adjustment of the entire gantry moving mechanism, thereby improving the processing efficiency. This embodiment enables the entire sliding lifting mechanism 2 to slide along the beam to control the welding mechanism to move along the beam direction, and at the same time, it can also realize the movement of the welding mechanism in a direction perpendicular to the beam direction, thereby more flexibly adjusting the position of the welding mechanism to ensure the smooth progress of the processing process.

[0043] In a specific embodiment, the welding robot assembly 313 includes a welding robot 313A, a welding gun 313B, and a laser sensor 313C. One end of the welding robot 313A is mounted on the mounting base 318, and the welding gun 313B and laser sensor 313C are mounted on the other end. Specifically, the welding robot 313A is a six-axis robot arm that uses the six-axis robot arm and the laser sensor to determine the area to be processed. The welding gun is mounted on one end of the robot arm, and welding is performed using the welding gun.

[0044] In a specific embodiment, the positioning component 32 includes a distance measuring sensor. Specifically, the distance measuring sensor can measure the moving position of the welding mechanism, thereby performing positioning to ensure accurate welding position.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A large-scale ship assembly gantry welding robot equipment, characterized in that: The invention comprises a gantry moving mechanism (1), a plurality of sliding hoisting mechanisms (2) and a plurality of welding mechanisms (3); the gantry moving mechanism (1) comprises a first gantry support (11), a second gantry support (12) and a crossbeam (13); the first gantry support (11) and the second gantry support (12) are connected via the crossbeam (13), and the first gantry support and the second gantry support are respectively slidably connected to the ground; the plurality of sliding hoisting mechanisms (2) are respectively slidably connected to the crossbeam (13), and each sliding hoisting mechanism (2) is connected to one welding mechanism (3) and can drive the welding mechanism (3) to move in a direction parallel to the moving direction of the gantry moving mechanism (1); The sliding hoisting mechanism (2) can also drive the welding mechanism (3) to move up and down in a direction perpendicular to the ground, so that the welding mechanism (3) moves away from or close to the working area; The welding mechanism (3) comprises a welding assembly (31), a positioning assembly (32) for positioning a working position, and a fixing assembly (33) for ensuring stability during the processing; one end of the welding assembly (31) is connected to the sliding hoisting mechanism (2), and the other end is equipped with the positioning assembly (32) and the fixing assembly (33).

2. The large-scale ship assembly gantry welding robot equipment according to claim 1, characterized in that: Each of the welding assemblies (31) includes a plurality of pulleys (311), a wire feeder (312), a welding robot arm assembly (313) and a mounting bracket (314); One end of the mounting bracket (314) is connected to the sliding hoisting mechanism (2), and the other end is equipped with a plurality of pulleys (311). The wire feeder (312) is mounted on one end of the mounting bracket (314) close to the sliding hoisting mechanism (2), and the welding robot arm assembly (313) is mounted on one end of the mounting bracket (314) close to the pulley (311).

3. The large-scale ship assembly gantry welding robot equipment according to claim 2, characterized in that: The mounting bracket (314) includes a turntable frame (315), a wire feeder mounting frame (316), and a welding robot arm assembly mounting frame (317); one end of the wire feeder (312) mounting frame is rotatably connected to the turntable frame (315), and the other end is fixedly connected to the welding robot arm assembly (313) mounting frame; The wire feeder (312) is arranged on the wire feeder mounting frame (316), and the welding robot arm assembly (313) is arranged on the welding robot arm assembly mounting frame (317).

4. The large-scale ship assembly gantry welding robot equipment according to claim 3, characterized in that: The welding robot arm assembly mounting frame (317) comprises a first support plate, a second support plate and a mounting seat (318); the first mounting plate and the second mounting plate are respectively arranged on both sides of the mounting seat (318), and the welding robot arm assembly (313) is arranged on the mounting seat (318); The fixing assembly (33) includes at least one set of leg assemblies (331); the mounting seat (318) is provided with an accommodating cavity for installing the leg assemblies (331); and the leg assemblies (331) are arranged in the accommodating cavity; Each of the leg assemblies (331) includes two synchronously retractable legs (331A), and through holes for retracting the legs are respectively provided on two opposite side walls of the mounting seat. When the position of the welding mechanism (3) needs to be fixed by the fixing assembly (33), the legs (331A) extend from the through holes for retracting the legs and abut against a vertical plate provided in the ship assembly workpiece.

5. The large-scale ship assembly gantry welding robot equipment according to claim 4, characterized in that: The sliding hoisting mechanism (2) comprises a moving frame (21) and a hoisting component (22), wherein the moving frame (21) is slidably connected to the crossbeam, and the hoisting component (22) is arranged on the moving frame (21) and slidably connected to the moving frame (21), and one end of the hoisting component (22) is connected to the turntable frame (315).

6. The large-scale ship assembly gantry welding robot equipment according to claim 5, characterized in that: The hoisting component (22) includes a double-drum synchronous winch (221) and a bottom plate (222); The double-drum synchronous hoist (221) is installed on the bottom plate (222), one end surface of the bottom plate is provided with a first slider, the end surface of the mobile frame (21) close to the bottom plate is provided with a first slide rail matching the first slider, the double-drum synchronous hoist (221) and the mobile frame (21) are slidably connected via the first slider and the first slide rail; at the same time, the double-drum synchronous hoist is connected to the turntable frame (315) via a double steel wire rope; The crossbeam (13) is provided with a second slide rail at an end surface close to the movable frame, and the movable frame (21) is provided with a second slider matching the second slide rail at an end surface close to the crossbeam, and the crossbeam (13) and the movable frame (21) are slidably connected via the second slider and the second slide rail.

7. The large-scale ship assembly gantry welding robot equipment according to claim 6, characterized in that: The welding robot arm assembly (313) includes a welding robot arm (313A), a welding gun (313B) and a laser sensor (313C); One end of the welding robot arm (313A) is arranged on the mounting seat (318), and the other end is mounted with the welding gun (313B) and the laser sensor (313C).

8. The large-scale ship assembly gantry welding robot equipment according to claim 7, characterized in that: The welding robot arm (313A) is a six-axis robot arm.

9. The large-scale ship assembly gantry welding robot equipment according to claim 1, characterized in that: The positioning component (32) includes a distance measuring sensor.

10. The large-scale ship assembly gantry welding robot equipment according to claim 7, characterized in that: The outer walls of the double steel wire ropes are respectively sleeved with a first telescopic tube (223) and a second telescopic tube, one end of each of the first telescopic tube (223) and the second telescopic tube is connected to the double-drum synchronous hoist (221), and the other end of the first telescopic tube (223) is connected to the other end of the second telescopic tube via a connecting block (224).

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