CN206780417U - Rotary hull inner chamber welding robot - Google Patents

Abstract

The utility model discloses a rotary ship inner cavity welding robot, which comprises a vehicle frame, a walking mechanism, a rotating mechanism and a welding executive mechanism arranged on the vehicle frame. The vehicle frame includes a lower vehicle frame and an upper vehicle frame. The mechanism includes two driving motors, two driving wheels, two crawlers, and two driven wheels; the rotating mechanism includes a rotating motor and a flange; the welding actuator includes two fixed brackets, a hydraulic telescopic frame, a welding motor, movable parts, Welding torch, fixed connecting rod, fixed support, ultrasonic detector; described ultrasonic detector, travel drive motor, rotating motor, welding motor, welding torch are all connected with the intelligent control system that is arranged on the frame. This maintenance robot can quickly and automatically detect and repair the welds at any position in the inner cavity of the ship, change the defects of the existing manual detection, effectively reduce the production process and reduce production costs, and the detection is accurate and the repair quality is high. It is suitable for the shipbuilding industry.

Description

Rotary Hull Internal Cavity Welding Robot

technical field

The utility model relates to a welding device, in particular to a rotary hull inner cavity welding robot.

Background technique

Welding is an important link in the sub-manufacturing of ships, and it is also a key factor in determining the quality of the hull. According to relevant data, in the subsection manufacturing, the welding workload accounts for 30% to 40% of the total engineering volume of ship subsection construction, and the welding cost accounts for 30% to 50% of the total hull construction cost. If there is a flaw in the welding, it may cause the structure to tear, leak, and even cause the ship to sink. According to the survey of ship brittle fracture accidents by relevant personnel, 40% of brittle fracture accidents start from weld defects. In international ships and military ships, the welding quality of the ship is particularly important. In the process of inspecting the ship, the inspection of the weld is particularly important. Therefore, defects should be found early, the welding defects should be eliminated, and the weld problems should be solved. Ensure navigation safety and improve ship quality.

In large-scale production, there are usually some tiny welds left after welding, such as air holes, slag inclusions, welding cracks, incomplete penetration, arc craters, etc., although it can be detected through the later inspection process However, it is still necessary to repair the seams, and the welds in the inner cavity of the hull are many and complicated, which not only increases the production process and production cost, but also the welds are small and difficult to observe, thus giving many shipbuilding factories caused a lot of trouble.

Utility model content

Aiming at the deficiencies of the existing technology, the utility model provides a rotary ship inner cavity welding robot. The device adopts a mecanum wheel and an ultrasonic detector, which can quickly and automatically perform automatic maintenance on any position of the ship inner cavity, effectively It reduces the production process, reduces the production cost, and has strong adsorption force, which is suitable for the shipbuilding industry.

In order to achieve the above object, the technical scheme that the utility model takes:

The rotary hull cavity welding robot includes a vehicle frame, a traveling mechanism, a rotating mechanism and a welding actuator arranged on the vehicle frame. The vehicle frame includes a cylindrical lower frame and a rotatable sleeve on the lower frame. The upper frame of the upper frame, the running mechanism includes two driving motors symmetrically arranged under the inner bottom of the lower frame, the two driving motors are connected to a driving wheel through a coupling, and the two driving wheels are connected to a magnetic material. The crawlers are meshed, and the ends of the two crawlers are meshed with a driven wheel; the rotating mechanism includes a rotating motor arranged between the two walking drive motors, and the rotating motor is connected to the bottom of the upper frame through a flange; the welding The actuator includes two fixed brackets arranged on the upper frame, and a rectangular hydraulic telescopic frame is arranged between the two fixed brackets. The hydraulic telescopic frame is controlled by a welding motor mounted on the fixed bracket. The hydraulic telescopic frame The end of the movable part is hinged on a cylindrical movable part. A welding torch is connected to the end of the movable part, and sliding grooves are opened on both sides. The sliding groove is provided with a fixed connecting rod, and the fixed connecting rod passes through the fixed support Fixed on the lower frame, the welding actuator also includes an ultrasonic detector located at the oblique lower side of the upper frame; Intelligent control system connection.

As an optimal technical solution, in order to enable the ultrasonic detector to accurately detect all the gaps in the inner cavity of the hull, thereby improving the welding quality of the hull and improving safety performance, the ultrasonic detector is installed at an angle of 60° to the horizontal plane.

As an optimal technical solution, in order to reduce the pressure of the upper frame on the rotating motor, thereby prolonging the service life of the rotating motor and reducing the cost of maintenance robots, a circular rotating ring is arranged around the rotating motor, and the circular rotating ring is connected with the The bottom of the upper frame and the upper part of the lower frame are rigidly connected.

Compared with the prior art, the utility model has the beneficial effects:

1. Set two driving wheels to drive two driven wheels, combined with the rotating mechanism and the welding torch actuator, it can quickly and automatically detect and repair the weld at any position in the inner cavity of the hull, change the defects of the existing manual inspection, and effectively reduce the production process and production. The cost is low, and the detection is accurate and the repair quality is high, which is suitable for the shipbuilding industry.

2. The ultrasonic detector is installed at an angle of 60° with the horizontal plane. The ultrasonic detector can accurately detect all the gaps in the inner cavity of the hull, thereby improving the welding quality of the hull and helping to improve safety performance.

3. There is a circular rotating ring around the rotating motor, which can effectively reduce the pressure of the upper frame on the rotating motor, thereby prolonging the service life of the rotating motor and reducing the cost of maintenance of the robot.

Description of drawings

Below in conjunction with accompanying drawing and specific embodiment the utility model is described in further detail.

Fig. 1 is the structural representation of the utility model;

Fig. 2 is the schematic diagram of the working state of the utility model;

Fig. 3 is the front view of the utility model;

Fig. 4 is the structural representation of flange;

Reference numerals: 1, lower frame, 2, upper frame, 3, travel drive motor, 4, driving wheel, 5, crawler belt, 6, driven wheel, 7, rotating motor, 8, flange plate, 9, fixed Bracket, 10. Hydraulic telescopic frame, 11. Welding motor, 12. Movable parts, 13. Welding torch, 14. Sliding groove, 15. Fixed connecting rod, 16. Fixed support, 17. Ultrasonic detector, 18. Circular rotation ring.

detailed description

As shown in Figure 1, a specific embodiment of the utility model is proposed. The rotary hull cavity welding robot includes a vehicle frame, a walking mechanism, a rotating mechanism and a welding actuator arranged on the vehicle frame. Shaped lower frame 1 and upper frame 2 rotatably sleeved on the lower frame 1. In this embodiment, the diameter of the upper frame 2 is set to be smaller than the diameter of the lower frame 1. The two driving motors 3 on the inner bottom of the frame 1 are connected to a driving wheel 4 through a coupling. In this embodiment, both driving motors are servo motors, which can accurately control the speed of the driving wheels 4. , position steering, two driving wheels 4 are all meshed with a crawler belt 5 made of magnetic material, and the ends of the two crawler belts 5 are all meshed with a driven wheel 6, as shown in Figure 3, then the two driving wheels 4 drive the two driven wheels 6 Walking makes the whole robot balanced and stable; the rotating mechanism includes a rotating motor 7 arranged between two walking drive motors 3, the rotating motor 7 is connected with the bottom of the upper frame 2 through a flange 8, and the rotating The motor 7 mainly provides a rotational degree of freedom for the upper frame 2, as shown in Figure 2, the flange 8 includes a cylindrical connecting rod and a flange arranged on the connecting rod, as shown in Figure 4; The welding actuator includes two fixed brackets 9 arranged on the upper frame 2, a rectangular hydraulic telescopic frame 10 is arranged between the two fixed brackets 9, and a hydraulic telescopic frame 10 is provided on the hydraulic telescopic frame 10 to control its elongation or A shortened hydraulic cylinder, the hydraulic cylinder is controlled by a welding motor 11 located on the fixed support 9, and the welding motor 11 is set as a PLC program motor in this embodiment, which can control the extension or shortening of the hydraulic telescopic frame 10, the described The end of the hydraulic telescopic frame 10 is hinged on a cylindrical movable part 12, a welding torch 13 is connected to the end of the movable part 12, and sliding grooves 14 are opened on both sides, and a fixed connecting rod is provided in the sliding groove 14 15, the fixed connecting rod 15 is fixed on the lower frame 1 through the fixed support 16, and the welding actuator also includes an ultrasonic detector 17 arranged obliquely below the upper frame 2; the ultrasonic detector 17, the travel drive motor 3. The rotating motor 7, the welding motor 11, and the welding torch 13 are all connected to the intelligent control system arranged on the frame. The intelligent control system mainly uses PLC to receive signals and start corresponding parts to perform actions, which is an existing mature technology .

The ultrasonic detector 17 is installed at an included angle of 60° with the horizontal plane, and is installed at an included angle of 60° to detect the welds between the steel plates of the hull with a better viewing angle, so that the ultrasonic detector can accurately detect all the gaps in the inner cavity of the hull, Thereby improving the welding quality of the hull is conducive to improving the safety performance of the hull.

The outer circumference of the rotating motor 7 is provided with a circular rotating ring 18, which is rigidly connected with the bottom of the upper frame 2 and the upper part of the lower frame 1, and the circular rotating ring 18 can effectively reduce the upper The pressure of the vehicle frame 2 on the rotating motor 7 prolongs the service life of the rotating motor 7 and reduces the cost of overhauling the robot.

When the utility model is in use: after connecting all devices to the power supply and starting, the two driving motors 3 drive the two driving wheels 4 to rotate, and the crawler belts 5 drive the two driven wheels 6 to rotate, so that the maintenance robot can move forward smoothly. If the ultrasonic detector 17 detects When a defective weld seam is reached, the orientation information of the weld seam is transmitted to the intelligent control system. After the intelligent control system analyzes it, the two driving motors 3 are driven to work, so that the two driving wheels 4 roll toward the defective weld seam. After arriving, According to the direction of the welding seam and the welding torch 13, the intelligent control system starts whether the rotating motor 7 turns, so that the welding torch 13 is located on the same straight line as the welding seam. The intelligent control system controls the welding motor 11 according to the horizontal distance between the welding torch 13 and the welding seam to make the hydraulic pressure The telescopic frame is elongated or shortened, so that the welding torch 13 moves back and forth to the welding seam in the sliding groove 14, and then performs accurate repair welding.

Of course, the above is only a detailed description of the preferred embodiment of the utility model in conjunction with the accompanying drawings, and is not intended to limit the scope of implementation of the utility model. All equivalent changes made according to the principle, structure and structure of the utility model shall be Covered within the protection scope of the present utility model.

Claims (3)

1. rotary hull inner chamber welding robot, it is characterised in that：Including vehicle frame, walking mechanism, rotation on vehicle frame Mechanism and welding executing agency, the vehicle frame include cylindrical lower vehicle frame (1) and rotatable are sheathed on lower vehicle frame (1) Upper frame (2), the walking mechanism include being symmetrically set in two travel driving motors (3) under in lower vehicle frame (1), and two walkings are driven Dynamic motor (3) is connected with a driving wheel (4) by shaft coupling, two driving wheels (4) with one made of magnetic material crawler belt (5) engage, the end of two crawler belts (5) is engaged with a driven pulley (6)；The rotating mechanism includes being located at two travel driving motors (3) electric rotating machine (7) between, the electric rotating machine (7) are connected by ring flange (8) with the bottom of upper frame (2)；The weldering Meeting executing agency includes two fixed supports (9) in upper frame (1), and two fixed supports are rectangle between (9) provided with one The hydraulically extensible frame (10) of shape, the hydraulically extensible frame (10) are controlled by the welding motor (11) on fixed support (9), institute The end for stating hydraulically extensible frame (10) is articulated with cylindrical movable part (12), and the end of the movable part (12) is connected with One welding gun (13), both sides offer sliding groove (14), and the sliding groove (14) is provided with one and fixes connecting rod (15), the fixation connecting rod (15) it is fixed on by hold-down support (16) on lower vehicle frame (1), the welding executing agency also includes under upper frame (2) is oblique The ultrasonic wave detector (17) of side；The ultrasonic wave detector (17), travel driving motor (3), electric rotating machine (7), welding electricity Machine (11), welding gun (13) are connected with the intelligence control system in frame.

2. rotary hull inner chamber welding robot according to claim 1, it is characterised in that：The ultrasonic wave detector (17) installed horizontal by 60 ° of angles.

3. rotary hull inner chamber welding robot according to claim 1 or 2, it is characterised in that：The electric rotating machine (7) outside is provided with a circular rotating ring (18), the bottom of the circular rotating ring (18) and upper frame (2), lower vehicle frame (1) Top is rigidly connected.