An automatic welding station for large closure of aluminum alloy hull

Abstract

This utility model relates to the field of shipbuilding technology and discloses an automatic welding workstation for the large-scale assembly of aluminum alloy hulls. It includes a gantry frame, a trolley worktable, a welding robot, a grinding robot, an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, a Z-axis rotating mechanism, and a control platform. The bottom of the gantry frame is connected to the ground via the X-axis moving mechanism; the trolley worktable is connected to the top of the gantry frame via the Y-axis moving mechanism; the welding robot and the grinding robot are connected to the trolley worktable via the Z-axis rotating mechanism and the Z-axis moving mechanism. Using this utility model, automated welding of horizontal and vertical welds in the large-scale assembly of aluminum alloy hull plates can be achieved, reducing reliance on manual labor and labor costs, and realizing high-efficiency welding.

Description

Technical Field

[0001] This utility model relates to the field of shipbuilding technology, and in particular to an automatic welding workstation for the large assembly of aluminum alloy ship hulls. Background Technology

[0002] Currently, aluminum alloy ships have butt welds in both horizontal and vertical positions on the outer plating during the section assembly phase. Large assembly welds are generally done manually. The construction steps are as follows: first, the assemblies are installed; before welding, welders use wire wheels to grind away the oxide layer on the weld surface, then wipe away dust with a cotton cloth dampened with acetone cleaner, and finally, manual welding is performed. Because the assembly welds are long, multiple welders are typically required for manual welding. A large assembly weld usually requires 4-6 welders and takes 2-3 days to complete. Since manual welding is greatly affected by human skill, surface defects may occur, necessitating further repairs. Completing large assembly welds consumes significant manpower and resources and takes a considerable amount of time. Utility Model Content

[0003] The purpose of this utility model is to provide an automatic welding workstation for the large assembly of aluminum alloy ship hulls, which can be adapted to the automated welding of horizontal and vertical welds in the large assembly of aluminum alloy ship hull plates, reducing the dependence on manual labor and labor costs, and achieving high-efficiency welding.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0005] An automated welding workstation for assembling aluminum alloy ship hulls includes a gantry, a trolley worktable, a welding robot, a grinding robot, an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, a Z-axis rotating mechanism, and a control platform.

[0006] The bottom of the gantry frame is connected to the ground via an X-axis moving mechanism, and the gantry frame can be driven by the X-axis moving mechanism to move back and forth along the X-axis direction.

[0007] The trolley workbench is connected to the top of the gantry frame via the Y-axis moving mechanism, and the trolley workbench can be driven by the Y-axis moving mechanism to move back and forth along the Y-axis direction;

[0008] The welding robot and the grinding robot are connected to the trolley worktable through the Z-axis rotation mechanism and the Z-axis movement mechanism, and the welding robot and the grinding robot can be driven by the Z-axis rotation mechanism to rotate around the Z-axis and driven by the Z-axis movement mechanism to move up and down along the Z-axis.

[0009] The X-axis moving mechanism, the Y-axis moving mechanism, the Z-axis moving mechanism, the Z-axis rotating mechanism, the grinding robot, and the welding robot are all electrically connected to the control platform.

[0010] As a preferred embodiment of the present invention, the gantry frame includes a crossbeam extending along the Y-axis and two columns extending along the Z-axis, with the two columns respectively connected to both ends of the crossbeam.

[0011] As a preferred embodiment of this utility model, the X-axis moving mechanism includes a first servo motor, a transmission assembly, two X-axis slide rails, and two X-axis slide blocks. The two X-axis slide rails are arranged at intervals, forming a placement area between them for the aluminum alloy hull sections to be placed. The two X-axis slide blocks are respectively fixedly connected to the bottom of the two columns. Rollers are rotatably connected inside each X-axis slide block, and the rollers roll in cooperation with the X-axis slide rails. The first servo motor is mounted on one side of the X-axis slide block, and the power output end of the first servo motor is connected to the roller on one side through the transmission assembly. The first servo motor is electrically connected to the control platform.

[0012] As a preferred embodiment of the present invention, the crossbeam includes a first beam and a second beam, both of which extend along the Y-axis direction, and the first beam and the second beam are arranged at intervals.

[0013] As a preferred embodiment of this utility model, the Y-axis moving mechanism includes a second servo motor, two Y-axis slide rails, two Y-axis slide blocks, a first rack, and a first gear; the two Y-axis slide rails are respectively fixedly connected to the top of the first beam and the top of the second beam, the two Y-axis slide blocks are respectively fixedly connected to the bottom sides of the trolley worktable, and the two Y-axis slide blocks are slidably connected to the Y-axis slide rails on both sides; the first rack extends along the Y-axis direction and is fixedly connected to the top of the first beam or the top of the second beam, the first gear is disposed at the bottom of the trolley worktable, the second servo motor is mounted on the trolley worktable, the power output end of the second servo motor is fixedly connected to the first gear, and the first gear meshes with the first rack; the second servo motor is electrically connected to the control platform.

[0014] As a preferred embodiment of this utility model, the Z-axis moving mechanism includes a third servo motor, a lifting column, a second rack, a second gear, and a guide block; the lifting column extends along the Z-axis direction, and a gap is formed between the first beam and the second beam to allow the lifting column to move up and down, and a channel communicating with the gap is provided on the trolley workbench; the guide block is connected to the inner wall of the channel, and a slide rail that cooperates with the guide block is provided on the outer side of the lifting column; the third servo motor is mounted on the trolley workbench, the second rack is disposed on the outer side of the lifting column, the power output end of the third servo motor is fixedly connected to the second gear, and the second rack meshes with the second gear; the third servo motor is electrically connected to the control platform.

[0015] As a preferred embodiment of this utility model, the lifting column has a cuboid structure, and two of each of the third servo motor, the second rack, the second gear, the guide block, and the slide are provided. The two guide blocks are symmetrically arranged on both sides of the inner wall of the channel, the two slides are symmetrically arranged on two of the outer surfaces of the lifting column, and the two second racks are symmetrically arranged on the other two outer surfaces of the lifting column.

[0016] As a preferred embodiment of this utility model, the Z-axis rotation mechanism is rotatably connected to the bottom of the lifting column, and the welding robot and the grinding robot are symmetrically installed on both sides of the Z-axis rotation mechanism.

[0017] As a preferred embodiment of this utility model, the front end of the welding robot is provided with a laser tracking device for tracking the position of the weld, and the rear end of the welding robot is provided with a cleaning device for cleaning the weld. Both the laser tracking device and the cleaning device are electrically connected to the control platform.

[0018] As a preferred embodiment of this utility model, the front end of the grinding robot is provided with a grinding and polishing wheel, and the rear end of the grinding robot is provided with a dust suction device for absorbing the dust generated during the grinding process and an air blowing device for blowing off the dust attached to the weld surface. Both the dust suction device and the air blowing device are electrically connected to the control platform.

[0019] The automatic welding workstation for the large-scale assembly of aluminum alloy ship hulls provided by this utility model has the following advantages compared with the prior art:

[0020] This utility model, through the organic combination of an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, a Z-axis rotating mechanism, a grinding robot, and a welding robot, can adapt to the automated welding of horizontal and vertical weld seams in the large-scale assembly of aluminum alloy ship hull plates, thereby reducing the dependence on manual labor and labor costs, and achieving high-efficiency welding. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings of the embodiments will be briefly described below.

[0022] Figure 1 This is a schematic diagram of an automatic welding workstation for the large assembly of an aluminum alloy ship hull, provided in an embodiment of this utility model, from a downward view.

[0023] Figure 2 It is at Figure 1 A magnified view of region A in the structure shown;

[0024] Figure 3 This is a structural schematic diagram of an automatic welding workstation for assembling an aluminum alloy ship hull, provided in an embodiment of this utility model, from another downward view.

[0025] Marked in the image:

[0026] Gantry 100; Crossbeam 110; First beam 111; Second beam 112; Column 120; Trolley workbench 200; Channel 210; Welding robot 300; Grinding robot 400; X-axis moving mechanism 510; X-axis slide rail 511; X-axis slide block 512; Roller 513; Y-axis moving mechanism 520; Second servo motor 521; Y-axis slide rail 522; First rack 523; First gear 524; Z-axis moving mechanism 530; Third servo motor 531; Lifting column 532; Second rack 533; Second gear 534; Guide block 535; Slide rail 536; Z-axis rotating mechanism 540; Control platform 600; Aluminum alloy hull section 700. Detailed Implementation

[0027] The specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit its scope.

[0028] In the description of this utility model, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," "top," and "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this utility model and for 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. Therefore, they should not be construed as limitations on this utility model. It should also be understood that the terms "first," "second," etc., are used in this utility model to describe various information, but this information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this utility model, "first" information can also be referred to as "second" information, and similarly, "second" information can also be referred to as "first" information.

[0029] Please see Figures 1 to 3 A preferred embodiment of this utility model provides an automatic welding workstation for the large assembly of aluminum alloy ship hulls, comprising a gantry 100, a trolley worktable 200, a welding robot 300, a grinding robot 400, an X-axis moving mechanism 510, a Y-axis moving mechanism 520, a Z-axis moving mechanism 530, a Z-axis rotating mechanism 540, and a control platform 600. The bottom of the gantry 100 is connected to the ground via the X-axis moving mechanism 510, and the gantry 100 can be driven by the X-axis moving mechanism 510 to move back and forth along the X-axis direction. The trolley worktable 200 is connected to the top of the gantry 100 via the Y-axis moving mechanism 520, and the trolley worktable 200 can be driven by the X-axis moving mechanism 520 to move back and forth along the X-axis direction. The Y-axis moving mechanism 520 drives the robot to move back and forth along the Y-axis direction; the welding robot 300 and the grinding robot 400 are connected to the trolley worktable 200 through the Z-axis rotating mechanism 540 and the Z-axis moving mechanism 530, and the welding robot 300 and the grinding robot 400 can be driven by the Z-axis rotating mechanism to rotate around the Z-axis direction and driven by the Z-axis moving mechanism 530 to move up and down along the Z-axis direction; the X-axis moving mechanism 510, the Y-axis moving mechanism 520, the Z-axis moving mechanism 530, the Z-axis rotating mechanism 540, the grinding robot 400 and the welding robot 300 are all electrically connected to the control platform 600.

[0030] According to the automatic welding workstation for large-scale assembly of aluminum alloy ship hulls of this utility model, during the welding process, the gantry 100 can move back and forth along the X-axis direction via the X-axis moving mechanism 510, stopping at the assembly position of the hull section to be welded; under the action of the Y-axis moving mechanism 520, the welding robot 300 and the grinding robot 400 can move back and forth along the Y-axis direction to complete the welding and grinding work of the horizontal weld seam at the deck surface position; under the action of the Y-axis moving mechanism 520, the welding robot 300 and the grinding robot 400 can move to the side position, and under the action of the Z-axis moving mechanism 530, the welding robot 300 and the grinding robot 400 can move up and down along the Z-axis direction to complete the welding and grinding work of the vertical assembly weld seam at the side position; under the action of the Z-axis rotation mechanism, the welding robot 300 and the grinding robot 400 can switch to the corresponding welding and grinding angles.

[0031] As can be seen, the organic combination of the X-axis moving mechanism 510, Y-axis moving mechanism 520, Z-axis moving mechanism 530, Z-axis rotating mechanism 540, grinding robot 400 and welding robot 300 of this utility model can adapt to the automated welding of horizontal and vertical welds in the large-scale assembly of aluminum alloy ship hull plates, thereby reducing the dependence on manual labor and labor costs, and achieving high-efficiency welding.

[0032] In this embodiment, the gantry frame 100 includes a crossbeam 110 extending along the Y-axis and two columns 120 extending along the Z-axis, with the two columns 120 respectively connected to both ends of the crossbeam 110.

[0033] In this embodiment, the X-axis moving mechanism 510 includes a first servo motor (not shown in the figures), a transmission assembly (not shown in the figures), two X-axis slide rails 511, and two X-axis slide blocks 512. The two X-axis slide rails 511 are arranged at intervals, forming a placement area between them for placing the aluminum alloy hull section 700. The two X-axis slide blocks 512 are respectively fixedly connected to the bottom of the two columns 120. Rollers 513 are rotatably connected inside each X-axis slide block 512, and the rollers 513 roll in cooperation with the X-axis slide rails 511. The first servo motor is mounted on one side of the X-axis slide block 512, and the power output end of the first servo motor is connected to the roller 513 on one side through the transmission assembly. The first servo motor is electrically connected to the control platform 600. It should be noted that the transmission assembly in this embodiment is preferably a gear transmission assembly.

[0034] In this embodiment, the crossbeam 110 includes a first beam 111 and a second beam 112. Both the first beam 111 and the second beam 112 extend along the Y-axis direction, and the first beam 111 and the second beam 112 are arranged at intervals.

[0035] In this embodiment, the Y-axis moving mechanism 520 includes a second servo motor 521, two Y-axis slide rails 522, two Y-axis slide blocks 512, a first rack 523, and a first gear 524. The two Y-axis slide rails 522 are respectively fixedly connected to the top of the first beam 111 and the top of the second beam 112. The two Y-axis slide blocks 512 are respectively fixedly connected to the bottom sides of the trolley worktable 200. The two Y-axis slide blocks 512 are slidably connected to the Y-axis slide rails 522 on both sides. The first rack 523 extends along the Y-axis and is fixedly connected to the top of the first beam 111 or the top of the second beam 112. The first gear 524 is disposed at the bottom of the trolley worktable 200. The second servo motor 521 is mounted on the trolley worktable 200. The power output end of the second servo motor 521 is fixedly connected to the first gear 524. The first gear 524 meshes with the first rack 523. The second servo motor 521 is electrically connected to the control platform 600.

[0036] In this embodiment, the Z-axis moving mechanism 530 includes a third servo motor 531, a lifting column 532, a second rack 533, a second gear 534, and a guide block 535. The lifting column 532 extends along the Z-axis direction, and a gap is formed between the first beam 111 and the second beam 112, allowing the lifting column 532 to move up and down. A channel 210 communicating with the gap is provided on the trolley worktable 200. The guide block 535 is connected to the inner wall of the channel 210, and a slide rail 536 that cooperates with the guide block 535 is provided on the outer side of the lifting column 532. The third servo motor 531 is mounted on the trolley worktable 200, and the second rack 533 is disposed on the outer side of the lifting column 532. The power output end of the third servo motor 531 is fixedly connected to the second gear 534, and the second rack 533 meshes with the second gear 534. The third servo motor 531 is electrically connected to the control platform 600.

[0037] Furthermore, to improve the stability of the lifting column 532 during its up-and-down movement, in this embodiment, the lifting column 532 is a cuboid structure. Two of each of the third servo motor 531, the second rack 533, the second gear 534, the guide block 535, and the slide rail 536 are provided. The two guide blocks 535 are symmetrically arranged on both sides of the inner wall of the channel 210. The two slide rails 536 are symmetrically arranged on two of the outer surfaces of the lifting column 532, and the two second racks 533 are symmetrically arranged on the other two outer surfaces of the lifting column 532.

[0038] In this embodiment, the Z-axis rotation mechanism 540 is rotatably connected to the bottom of the lifting column 532, and the welding robot 300 and the grinding robot 400 are symmetrically installed on both sides of the Z-axis rotation mechanism 540.

[0039] For example, the welding robot 300 has a laser tracking device at its front end for tracking the weld position, and a cleaning device at its rear end for cleaning the weld. Both the laser tracking device and the cleaning device are electrically connected to the control platform 600. It should be noted that the laser tracking device can track the weld bevel position and guide the welding process in real time; the cleaning device can use a clean white cloth dampened with cleaning agent to wipe and clean the weld.

[0040] For example, the front end of the grinding robot 400 is provided with a grinding and polishing wheel, and the rear end of the grinding robot 400 is provided with a dust suction device for absorbing the dust generated during the grinding process and an air blowing device for blowing off the dust attached to the weld surface. Both the dust suction device and the air blowing device are electrically connected to the control platform 600.

[0041] It should be noted that the control platform 600 stores a variety of welding process modes, which can be selected at will according to the on-site construction conditions for welding aluminum alloy welds of various plate thicknesses.

[0042] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" 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 can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0043] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present utility model, and these improvements and substitutions should also be considered within the protection scope of the present utility model.

Claims

1. An automatic welding workstation for the large-scale assembly of aluminum alloy ship hulls, characterized in that, It includes a gantry crane, a trolley worktable, a welding robot, a grinding robot, an X-axis moving mechanism, a Y-axis moving mechanism, a Z-axis moving mechanism, a Z-axis rotating mechanism, and a control platform; The bottom of the gantry frame is connected to the ground via an X-axis moving mechanism, and the gantry frame can be driven by the X-axis moving mechanism to move back and forth along the X-axis direction. The trolley workbench is connected to the top of the gantry frame via the Y-axis moving mechanism, and the trolley workbench can be driven by the Y-axis moving mechanism to move back and forth along the Y-axis direction; The welding robot and the grinding robot are connected to the trolley worktable through the Z-axis rotation mechanism and the Z-axis movement mechanism, and the welding robot and the grinding robot can be driven by the Z-axis rotation mechanism to rotate around the Z-axis and driven by the Z-axis movement mechanism to move up and down along the Z-axis. The X-axis moving mechanism, the Y-axis moving mechanism, the Z-axis moving mechanism, the Z-axis rotating mechanism, the grinding robot, and the welding robot are all electrically connected to the control platform.

2. The automatic welding workstation for the large assembly of aluminum alloy ship hulls according to claim 1, characterized in that, The gantry includes a crossbeam extending along the Y-axis and two columns extending along the Z-axis, with the two columns respectively connected to both ends of the crossbeam.

3. The automatic welding workstation for the large assembly of aluminum alloy ship hulls according to claim 2, characterized in that, The X-axis moving mechanism includes a first servo motor, a transmission assembly, two X-axis slide rails, and two X-axis slide blocks. The two X-axis slide rails are arranged at intervals, forming a placement area between them for the aluminum alloy hull sections. The two X-axis slide blocks are respectively fixedly connected to the bottom of the two columns. Rollers are rotatably connected inside each X-axis slide block, and the rollers roll in cooperation with the X-axis slide rails. The first servo motor is mounted on one of the X-axis slide blocks, and the power output end of the first servo motor is connected to the roller on one side through the transmission assembly. The first servo motor is electrically connected to the control platform.

4. The automatic welding workstation for the large assembly of aluminum alloy ship hulls according to claim 2, characterized in that, The crossbeam includes a first beam and a second beam, both of which extend along the Y-axis and are arranged at intervals.

5. The automatic welding workstation for the large assembly of aluminum alloy ship hulls according to claim 4, characterized in that, The Y-axis moving mechanism includes a second servo motor, two Y-axis slide rails, two Y-axis slide blocks, a first rack, and a first gear. The two Y-axis slide rails are respectively fixedly connected to the top of the first beam and the top of the second beam. The two Y-axis slide blocks are respectively fixedly connected to the bottom sides of the trolley worktable and are slidably connected to the Y-axis slide rails on both sides. The first rack extends along the Y-axis direction and is fixedly connected to the top of the first beam or the top of the second beam. The first gear is located at the bottom of the trolley worktable. The second servo motor is mounted on the trolley worktable, and the power output end of the second servo motor is fixedly connected to the first gear. The first gear meshes with the first rack. The second servo motor is electrically connected to the control platform.

6. The automatic welding workstation for the large assembly of aluminum alloy ship hulls according to claim 5, characterized in that, The Z-axis moving mechanism includes a third servo motor, a lifting column, a second rack, a second gear, and a guide block. The lifting column extends along the Z-axis direction, and a gap is formed between the first beam and the second beam to allow the lifting column to move up and down. A channel communicating with the gap is provided on the trolley worktable. The guide block is connected to the inner wall of the channel, and a slide rail that cooperates with the guide block is provided on the outer side of the lifting column. The third servo motor is mounted on the trolley worktable, and the second rack is disposed on the outer side of the lifting column. The power output end of the third servo motor is fixedly connected to the second gear, and the second rack meshes with the second gear. The third servo motor is electrically connected to the control platform.

7. The automatic welding workstation for the large assembly of aluminum alloy ship hulls according to claim 6, characterized in that, The lifting column has a cuboid structure. There are two of each of the third servo motor, the second rack, the second gear, the guide block, and the slide rail. The two guide blocks are symmetrically arranged on both sides of the inner wall of the channel. The two slide rails are symmetrically arranged on two of the outer surfaces of the lifting column. The two second racks are symmetrically arranged on the other two outer surfaces of the lifting column.

8. The automatic welding workstation for the large-scale assembly of aluminum alloy ship hulls according to claim 6, characterized in that, The Z-axis rotating mechanism is rotatably connected to the bottom of the lifting column, and the welding robot and the grinding robot are symmetrically installed on both sides of the Z-axis rotating mechanism.

9. The automatic welding workstation for the large assembly of aluminum alloy ship hulls according to claim 1, characterized in that, The welding robot has a laser tracking device at its front end for tracking the weld position and a cleaning device at its rear end for cleaning the weld. Both the laser tracking device and the cleaning device are electrically connected to the control platform.

10. The automatic welding workstation for the large assembly of aluminum alloy ship hulls according to claim 1, characterized in that, The front end of the grinding robot is equipped with a grinding and polishing wheel, and the rear end of the grinding robot is equipped with a dust suction device for absorbing the dust generated during the grinding process and an air blowing device for blowing off the dust attached to the weld surface. Both the dust suction device and the air blowing device are electrically connected to the control platform.

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