Mobile robot trolley for welding liquefied gas carrier saddle

Abstract

The utility model provides a mobile robot trolley for welding a liquefied gas carrier saddle, which comprises a crawler trolley, a movable robot, a movable robot and a welding robot, the welding robots are installed on the equipment platform in a sliding mode, and the welding robots are arranged on the two sides of the equipment platform; the sliding direction of the welding robot is orthogonal to the advancing direction of the crawler trolley; the welding gun is movably installed on an installation shaft of the welding robot, and the welding gun can do pitching motion around the installation shaft. The welding robots can be carried to a welding area through the crawler trolley, the welding robots can conduct welding automatically, the welding quality is relatively good, and the welding robots on the head portion and the tail portion of the crawler trolley can conduct welding on the two sides of a welding part at the same time so that the purpose of reducing welding deformation can be achieved.

Description

Technical Field

[0001] This utility model relates to the field of liquefied gas ship saddle welding technology, specifically to a mobile robot trolley for welding liquefied gas ship saddles. Background Technology

[0002] The saddle mounts of liquefied gas carriers are crucial structures connecting the liquefied gas tank to the main hull and also serve as the tank's supporting structure. Dozens of saddle mounts typically need to be welded to the bottom of the liquefied gas tank, resulting in a large workload. Currently, the welding method for these saddle mounts in China is mainly manual. Because the saddle mounts are welded to the bottom of the tank, which is about two meters above the ground, workers must weld them overhead, making it difficult to guarantee welding quality and resulting in significant welding deformation. Utility Model Content

[0003] The purpose of this invention is to provide a mobile robot trolley for welding saddles of liquefied gas carriers. The tracked trolley can transport the welding robot to the welding area, where it can automatically perform welding with relatively good quality. Furthermore, the welding robots at the head and tail of the tracked trolley can simultaneously weld both sides of the component to reduce welding deformation.

[0004] To achieve the above objectives, this utility model provides the following technical solution.

[0005] This utility model provides a mobile robot trolley for welding saddles of liquefied gas carriers, comprising:

[0006] A tracked trolley, on which an equipment platform is provided;

[0007] A welding robot is slidably mounted on the equipment platform, with welding robots provided on both sides of the equipment platform;

[0008] The welding torch is movably mounted on the mounting axis of the welding robot, and the welding torch is capable of pitching around the mounting axis.

[0009] Optionally, the equipment platform is provided with a linear module, and the welding robot is mounted on the mover of the linear module.

[0010] Optionally, the linear module includes a lead screw module, the mover of the lead screw module includes a slide table, and the welding robot is mounted on the slide table.

[0011] Optionally, the lead screw module includes:

[0012] The mounting base is located on the device platform.

[0013] The ball screw is mounted in the mounting base via a screw support unit.

[0014] The output end of the servo motor is connected to the ball screw drive via a coupling.

[0015] A guide rail is arranged along the extension direction of the ball screw, and the slide is mounted on the ball screw and the guide rail.

[0016] Optionally, the welding robot is a six-axis robot, and the welding torch is mounted on the sixth axis of the welding robot.

[0017] Optionally, the first axis of the welding robot is provided with a wire spool holder for placing the spooled welding wire, and the third axis of the welding robot is provided with a wire feeding device for conveying the welding wire.

[0018] Optionally, it also includes:

[0019] A protective canopy is installed between the welding robots on both sides of the equipment platform;

[0020] The laser positioning mechanism is located at the corner of the top surface of the protective canopy.

[0021] Optionally, it also includes:

[0022] The control cabinet is located inside the protective shed and is communicatively connected to the servo motor.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. This utility model uses a tracked trolley to transport the welding robot to the vicinity of the welding position. During the movement of the tracked trolley, the welding torch is kept in a downward position to avoid motion interference. Then the welding torch is raised, and the welding robot can automatically find the welding position and perform welding operations. The welding quality is relatively stable and can meet the welding quality requirements of liquefied gas ship saddles.

[0025] 2. This utility model enables simultaneous welding of both sides of a component by the collaborative operation of two welding robots, thereby reducing welding deformation.

[0026] 3. This utility model, through its sliding welding robot, enables welding while moving, effectively improving the robot's coverage area and making it suitable for welding saddles of liquefied gas carriers of various sizes.

[0027] 4. The welding robot in this utility model is located on both sides of the equipment platform and will not occupy the position of the tracked trolley in the width direction, which improves the passability of the trolley in narrow areas. At the same time, the front and rear of the tracked trolley can be switched with each other, which can conveniently and quickly adjust the tracked trolley to the corresponding position required for welding. Attached Figure Description

[0028] Figure 1This is a schematic diagram of the structure of the mobile robot of this utility model;

[0029] Figure 2 yes Figure 1 Schematic diagram of the lead screw module;

[0030] Figure 3 yes Figure 1 A schematic diagram of the structure of a welding robot.

[0031] The attached diagram lists the components represented by each number as follows:

[0032] 100. Tracked trolley; 200. Equipment platform; 300. Welding robot; 400. Lead screw module; 500. Protective canopy; 600. Laser positioning mechanism; 700. Welding power supply; 800. Control cabinet; 101. Welding robot body; 102. Welding torch; 103. Wire feeding device; 104. Welding wire spool holder; 105. Mounting base; 106. Lead screw support unit; 107. Guide rail; 108. Ball screw; 109. Servo motor; 110. Coupling; 111. Slide table; 112. Cable drag chain. Detailed Implementation

[0033] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0034] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention. Example 1

[0035] Combination Figure 1 This embodiment provides a mobile robot trolley for welding saddles of liquefied gas carriers. The working environment of liquefied gas carriers can be harsh, and the welding quality requirements for saddles are high. The mobile robot in this embodiment can better meet the welding quality requirements. The mobile robot includes: a tracked trolley 100, on which an equipment platform 200 is mounted; a welding robot 300 is slidably mounted on the equipment platform 200, with welding robots 300 on both sides of the equipment platform 200; the sliding direction of the welding robot 300 is orthogonal to the traveling direction of the tracked trolley 100; a welding torch 102 is movably mounted on the mounting axis of the welding robot 300, and the welding torch 102 can perform pitching motion around the mounting axis.

[0036] Specifically, in this embodiment, a tracked vehicle 100 is used as a carrier. The tracked vehicle 100 can maintain a straight line travel better. The movement of the tracked vehicle 100, combined with the sliding of the sliding robot, gives the welding torch 102 a degree of freedom in two directions, and the reachable range of the welding torch 102 can cover a large area.

[0037] In actual operation, the welding robot 300 works as follows: the tracked trolley 100 moves to the vicinity of the welding area to be welded, and then the welding robot 300 continues to slide and adjust its position so that the welding position is within the reach of the welding torch 102. During the movement of both the tracked trolley 100 and the welding robot 300, the welding torch 102 remains in a downward orientation to avoid interference. When the welding position is within the reach of the welding torch 102, the welding torch 102 of the welding robot 300 is controlled to rotate upward and seek position through the welding wire contact. After determining the welding position, the welding operation is performed. During the welding operation, the welding torches 102 on both sides of the welding robot 300 can work simultaneously on both sides of the welding component (e.g., a steel plate) to reduce the amount of welding deformation.

[0038] Furthermore, in this embodiment, welding robots 300 are provided on both sides of the equipment platform 200, with the welding robots 300 on both sides located at the front and rear of the tracked vehicle 100, respectively. During the forward and backward movement of the tracked vehicle 100, the welding robots 300 do not occupy space in the width direction of the tracked vehicle 100, improving the tracked vehicle 100's passability in narrow areas. Simultaneously, the front and rear of the tracked vehicle 100 can be switched, with the front being the rear and the rear being the front, allowing for convenient and rapid adjustment of the vehicle to the required welding position.

[0039] In this embodiment, a protective canopy 500 is also provided at the position between the welding robots 300 on both sides of the equipment platform 200; a laser positioning mechanism 600 is provided at the corner of the top surface of the protective canopy 500. During the movement of the tracked vehicle 100, the operator can obtain the real-time position of the tracked vehicle 100 through the laser positioning mechanism 600 and remotely control it through the controller wirelessly connected to the tracked vehicle 100, so as to ensure that the tracked vehicle 100 can accurately move to the vicinity of the welding area to be welded.

[0040] Combination Figure 2 In one specific embodiment, the welding robot 300 is mounted on the equipment platform 200 via a linear module, and the welding robot 300 is mounted on the mover of the linear module. In this embodiment, the linear module can be a lead screw module 400, a linear motor module, a belt-driven linear module, a cylinder module, or an electric cylinder module, or other structures in the prior art capable of achieving this function.

[0041] In this embodiment, the linear module is preferably a lead screw module 400; the mover of the lead screw module 400 includes a slide table 111, and the welding robot 300 is mounted on the slide table 111. The lead screw module 400 operates stably and has good positioning performance. It can ensure the stability of the position of the welding robot 300 when the welding torch 102 performs welding operations.

[0042] Specifically, the lead screw module 400 includes a mounting base 105 disposed on the equipment platform 200. A ball screw 108 is mounted in the mounting base 105 via a lead screw support unit 106. The output end of the servo motor 109, which serves as the drive source for the lead screw module 400, is connected to the ball screw 108 via a coupling 110. The mounting base 105 also includes a guide rail 107 aligned with the extension direction of the ball screw. The slide table 111 is mounted on the ball screw 108 and the guide rail 107. The lead screw module 400 also includes a cable chain 112. The two ends of the cable chain 112 are respectively connected to the equipment platform 200 of the tracked trolley 100 and the slide table 111. The cable chain 112 is used to flexibly transport the power cable of the welding robot 300.

[0043] The protective shed 500 also houses a control cabinet 800 and a welding power supply 700 that provides power to the welding robot 300 and the linear module. The control cabinet 800 is communicatively connected to the servo motor 109. The control cabinet 800 can control the robot's movement via the servo motor 109, enabling the robot to weld while moving, effectively increasing the robot's coverage area and allowing it to adapt to welding saddles of liquefied gas carriers of various sizes. Example 2

[0044] Similar to Example 1, the difference between this example and Example 1 lies in the following: [Combination] Figure 3 To ensure the flexibility of welding operations, the welding robot 300 includes a welding robot body 101, which is a six-axis robot. The six-axis robot is the same as the existing form in the prior art, and will not be described in detail here.

[0045] The welding torch 102 is mounted on the sixth axis of the welding robot 300. In addition to pitching, the welding torch 102 can also achieve more flexible posture adjustment through the coordinated adjustment of multiple axes of the six-axis robot, thereby improving the welding operation accuracy. The first axis of the welding robot 300 is provided with a wire spool holder 104 for placing spooled welding wire, and the third axis of the welding robot 300 is provided with a wire feeding device 103 for conveying welding wire.

[0046] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A mobile robot trolley for welding saddles of liquefied gas carriers, characterized in that... ,include: Tracked trolley (100), on which an equipment platform (200) is provided; A welding robot (300) is slidably mounted on the equipment platform (200), and welding robots (300) are provided on both sides of the equipment platform (200); the welding robots (300) on both sides are located at the front and rear of the tracked vehicle (100) respectively; the sliding direction of the welding robot (300) is orthogonal to the traveling direction of the tracked vehicle (100); The welding torch (102) is movably mounted on the mounting axis of the welding robot (300), and the welding torch (102) is capable of pitching around the mounting axis.

2. The mobile robot trolley for welding liquefied gas ship saddles according to claim 1, characterized in that... The equipment platform (200) is equipped with a linear module, and the welding robot (300) is mounted on the mover of the linear module.

3. The mobile robot trolley for welding liquefied gas ship saddles according to claim 2, characterized in that... The linear module includes a lead screw module (400), the mover of the lead screw module (400) includes a slide (111), and the welding robot (300) is mounted on the slide (111).

4. The mobile robot trolley for welding liquefied gas ship saddles according to claim 3, characterized in that... The lead screw module (400) includes: The mounting base (105) is disposed on the equipment platform (200). The ball screw (108) is mounted in the mounting base (105) via the screw support unit (106); The output end of the servo motor (109) is connected to the ball screw (108) via a coupling (110); The guide rail (107) is arranged along the extension direction of the ball screw (108), and the slide (111) is mounted on the ball screw (108) and the guide rail (107).

5. The mobile robot trolley for welding liquefied gas ship saddles according to claim 1, characterized in that... The welding robot (300) is a six-axis robot, and the welding torch (102) is mounted on the sixth axis of the welding robot (300).

6. The mobile robot trolley for welding liquefied gas ship saddles according to claim 5, characterized in that... The welding robot (300) has a wire spool holder (104) on its first axis for placing the spooled welding wire, and a wire feeding device (103) on its third axis for conveying the welding wire.

7. The mobile robot trolley for welding liquefied gas ship saddles according to claim 4, characterized in that... It also includes: A protective canopy (500) is located on the equipment platform (200) between the welding robots (300) on both sides; A laser positioning mechanism (600) is located at the corner of the top surface of the protective shed (500).

8. The mobile robot trolley for welding liquefied gas ship saddles according to claim 7, characterized in that... It also includes: The control cabinet (800) is located inside the protective shed (500) and is communicatively connected to the servo motor (109).

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