CN106583985A - Robot welding system for boats - Google Patents
Robot welding system for boats Download PDFInfo
- Publication number
- CN106583985A CN106583985A CN201611199998.8A CN201611199998A CN106583985A CN 106583985 A CN106583985 A CN 106583985A CN 201611199998 A CN201611199998 A CN 201611199998A CN 106583985 A CN106583985 A CN 106583985A
- Authority
- CN
- China
- Prior art keywords
- welding
- ships
- robot
- light boats
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0247—Driving means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/02—Carriages for supporting the welding or cutting element
- B23K37/0252—Steering means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
- B23K37/0435—Clamps
- B23K37/0443—Jigs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
Abstract
The invention discloses a robot welding system for boats. The robot welding system comprises a boat fixing table, a weld gun, a mechanical arm, a translation workbench, an overturning position changing machine and a data center, wherein the boat fixing table is used for placing and fixing a to-be-welded boat body; the weld gun is used for welding the boat body; the weld gun is fixed to the front end of the mechanical arm; through motion of the mechanical arm, the weld gun moves to weld the boat body; the translation workbench is used for enabling the mechanical arm to move front and back along the boat body; the mechanical arm is fixed to the translation workbench; the overturning position changing machine is fixed to the boat fixing table; the boat fixing table is overturned by angles through the overturning position changing machine; and the data center is connected with the mechanical arm, the translation workbench and the overturning position changing machine, and is used for sending working instructions to the mechanical arm, the translation workbench and the overturning position changing machine. According to the robot welding system, the welding speed is high, welding points are uniform, the welding process of the entire boat body can be achieved through one-time fixation, and accumulation of welding errors can be effectively reduced.
Description
Technical field
The present invention relates to Ship Welding field, and in particular to a kind of robot welding system for ships and light boats.
Background technology
At present, existing floating drum ship miscellaneous on market, for activities such as people's diving, fishing, home entertainings.It is existing
Floating drum ship be generally made up of fiberglass, make it is elegant in appearance, firmly get liking for consumer.
However, it is big using floating drum ship weight made by fiberglass, it is unfavorable for transporting it.Also, it is floating in fiberglass
During cylinder ship use, hull is easily lost, and structural strength is not high.
Also occur some hand-built aluminum alloy ships on the market now, have a disadvantage that in its making：
First, the aluminum floating drum for adopting in the present invention first needs to be processed as multiple inclined angles, and angle is various during welding, people
Work welding is first consisted in and is difficult to ensure that rectilinear movement welding, and the speed of welding differs, and causes the spot size on the face of weld of welding
Differ.
2nd, secondly, when being welded using mechanical arms such as welding robots, in the different position such as welded armor, aluminum barrel
When putting, because ships and light boats are fixed, the angle movement reason of welding, welding gun inevitably needs to incline, and causes welding fluid along weight
Power flows downward so that solder joint welding fluid is piled up, and causes solder joint uneven.
3rd, when being welded using mechanical arms such as welding robots, it is only capable of welding the one side relative with welding robot
Hull, if processing opposite side needs the position for changing hull or welding robot.
The content of the invention
The invention aims to provide a kind of robot welding system for ships and light boats, speed of welding is fast, solder joint is equal
It is even and can single fix and complete the welding process of whole hull, can effectively reduce welding the accumulation of error.
In order to realize foregoing invention purpose, technical scheme below is present invention employs：A kind of robot for ships and light boats is welded
Welding system, including ships and light boats fixed station, welding gun, welding robot, translational worktable, upset positioner and control centre；
Ships and light boats fixed station, for placing and fixing hull to be welded；
Welding gun, for welding to hull；
Welding robot, is fixedly arranged at the front end with welding gun, welding gun is moved and is welded to hull by welding robot activity
Connect；
Translational worktable, is moved forward and backward for welding robot along hull, and welding robot is fixed on translation work
On platform；
Upset positioner, is connected with ships and light boats fixed station, and by overturning positioner ships and light boats fixed station flip angle is made；
Control centre, is connected with welding robot, translational worktable, upset positioner, for welding robot, flat
Move workbench, upset positioner and send work order.
Compared with prior art, the robot welding system for ships and light boats of above-mentioned technical proposal is employed, with as follows
Beneficial effect：
First, human weld is replaced using welding robot, speed is fast, welding translational speed is uniform, solder joint specification shape system
One.
2nd, increase upset positioner to overturn ships and light boats fixed station, make the welding gun of welding robot can be with welding
The flow direction of welding fluid is controlled, the angle of welding gun and solder side, and angle of inclination of the welding gun in welding is kept, is kept away
Exempting from welding fluid flowing causes the uneven defect of solder joint.
3rd, due to the setting of upset positioner so that ships and light boats can together overturn with fixed station, the weldering of a tubular is formed
Junction, it is that the face for being directed to a tubular is welded in welding to obtain welding robot, is moved without the need for welding robot, just
The opposite face of ships and light boats can be overturn and be processed to welding robot, on the premise of the exhibition of welding robot robot arm is not made and is changed,
The expanded range for making welding robot to weld.
4th, disposable welding fabrication ensures the precision of yacht welding, it is to avoid cumulative error caused by multiple bearing, while carrying
High working (machining) efficiency.
Preferably, the translational worktable includes mobile position-limiting unit and the driver for moving horizontally, the welding robot
People is fixed on mobile position-limiting unit, the moving direction of the mobile position-limiting unit parallel to upset positioner upset rotating shaft,
The translational worktable is arranged at the one or both sides of ships and light boats fixed station, and position-limiting unit is used to limit the mobile side of welding robot
To driver is used for mobile welding robot.
Preferably, the mobile position-limiting unit includes guide rail and slide block, and the slide block is fixed on the bottom of welding robot.
General aluminum alloy ship, its head is V-type, and hull is excellent in order to preferably be easy to the fixation of ships and light boats for square
Choosing, the ships and light boats fixed station includes that base V-type fixed plate corresponding with ships and light boats fore is corresponding with ships and light boats hull square solid
Fixed board and link span, the link span is mutually fixed with V-type fixed plate and square fixed plate, and base one end/two ends are fixed with upset
Positioner；Link span one end/two ends are connected with upset positioner.
Preferably, the control centre is Off-line control center, and control centre also includes being input into journey to Off-line control center
The program input of sequence, described program input is connected with Off-line control center.
Preferably, the characteristics of artificial six axles welding robot of the welding robot, six axle welding robots is that it is flexible
It is good, flexible operation.
Description of the drawings
Fig. 1 is structural representation of the present invention for robot welding system's embodiment of ships and light boats；
Fig. 2 is the connection diagram of each device in the present embodiment；
Fig. 3 is the structural representation of translational worktable in the present embodiment；
Fig. 4 is the partial enlarged drawing in Fig. 3 at A；
Fig. 5 is the structural representation of ships and light boats fixed station in the present embodiment；
Fig. 6 is the structural representation of ships and light boats fixed station in the present embodiment.
Reference：1st, translational worktable；10th, guide rail；11st, slide block；2nd, welding robot；3rd, ships and light boats fixed station；30th, bottom
Seat；31st, V-type fixed plate；32nd, square fixed plate；33rd, link span；4th, ships and light boats to be welded；5th, welding gun；6th, positioner is overturn.
Specific embodiment
The present invention is described further below in conjunction with the accompanying drawings.
A kind of robot welding system for ships and light boats as shown in Figures 1 to 6, including ships and light boats fixed station 3, welding gun 5, welding
Robot 2, translational worktable 1, upset positioner 6 and control centre；
Ships and light boats fixed station 3 is used to placing and fixing hull 4 to be welded；Ships and light boats fixed station 3 includes base 30 and ships and light boats ship
Corresponding V-type fixed plate 31 square fixed plate 32 corresponding with ships and light boats hull and link span 33, link span 33 is fixed with V-type
Plate 31 is mutually fixed with square fixed plate 32, and 30 one end of base/two ends are fixed with upset positioner 6；33 one end of link span/two ends with
Upset positioner 6 is connected.
Wherein, because existing aluminum alloy ship mostly is structure of the V-type fore with square hull, in Fig. 1 or Fig. 5
Ships and light boats appearance, therefore it is equipped with V-type fixed plate 31 corresponding with fore, and square fixed plate 32 corresponding with hull.
And link span 33 is for connecting V-type fixed plate 31 and square fixed plate 32, integrant fixed station, link span
33 individually can be connected one end with flip bit machine 6 is become, it is also possible to which two all arranges upset positioner 6.
Upset positioner 6 is connected with ships and light boats fixed station 3, and by overturning positioner 6 flip angle of ships and light boats fixed station 3 is made；
Welding robot 2 is fixedly arranged at the front end with welding gun 5, and welding gun 5 is used to weld hull；Lived by welding robot 2
Dynamic welding gun 5 is moved and is welded to hull, the welding robot 2 in the present embodiment adopts six axle welding robots, six axles
Mechanical arm is the mechanical hand operated using the rotation and movement of x, y, z axle, and the motility of activity is very high.
Translational worktable 1 is moved forward and backward for welding robot 2 along hull, and welding robot 2 is fixed on translation work
Make on platform 1；Translational worktable 1 includes mobile position-limiting unit and the driver for moving horizontally, and welding robot 2 is fixed on mobile limit
On bit location, parallel to the upset rotating shaft for overturning positioner 6, translational worktable 1 is arranged at the moving direction of mobile position-limiting unit
The both sides of ships and light boats fixed station 3.Mobile position-limiting unit includes guide rail and slide block, and slide block is fixed on the bottom of welding robot 2, passes through
The cooperation of slide block and guide rail is movable on translational worktable 1 for welding robot.
Control centre is all connected with welding gun, welding robot 2, translational worktable 1, upset positioner 6, for bonding machine
Device people 2, translational worktable 1, upset positioner 6 send work order, and control centre is Off-line control center, and control centre also wraps
The program input that program is input into Off-line control center is included, program input is connected with Off-line control center.
The present embodiment uses the mode of off-line programing track teaching, and by the program for programming welding gun 5, welding robot is made
People 2, translational worktable 1 and upset positioner 6 are movable.
The keying and welding action of control centre's control welding gun 5；The driver of control centre's control translational worktable 1 makes weldering
Welding robot 2 is moved forward and backward；Welding gun 5 is moved to control centre's control welding robot 2 locus specified；Control
Center control upset positioner 6 rotates the angle of inclination of control ships and light boats fixed station 3.
Replace human weld using six axle welding robots, speed is fast, welding translational speed is uniform, solder joint specification shape system
One.
When welding gun welds the side wall of ships and light boats, because welding fluid can flow downward with gravity, and pile up so that after welding fluid solidification
Solder joint it is larger thicker, affect weld strength and affect it is attractive in appearance；The present embodiment increases upset positioner 6 and ships and light boats fixed station 3 is entered
Row upset, the welding gun 5 for alloing welding robot 2 is controlled in welding to the flow direction of welding fluid, keeps welding gun 5 and weldering
The angle of junction, and angle of inclination of the welding gun 5 in welding, it is to avoid welding fluid flowing causes the uneven defect of solder joint.
Setting due to overturning positioner so that ships and light boats can together overturn with fixed station, forms the welding of a tubular
Face, it is that the face for being directed to a tubular is welded in welding to obtain welding robot, is moved without the need for welding robot, just may be used
The opposite face of ships and light boats is overturn and is processed to welding robot, on the premise of the exhibition of welding robot robot arm is not made and changed, made
The expanded range that welding robot can be welded；Secondly on ships and light boats always fixed and fixed station, move without position, effectively
Reduce the error accumulation that multiple bearing is produced.
Disposable welding fabrication ensures the precision of yacht welding, it is to avoid cumulative error caused by multiple bearing, while improving
Working (machining) efficiency.
The above makes the preferred embodiment of the present invention, for the person of ordinary skill of the art without departing from this
On the premise of bright principle, some modifications and improvement can also be made, these also should be regarded as protection scope of the present invention.
Claims (6)
1. a kind of robot welding system for ships and light boats, it is characterised in that：Including
- ships and light boats fixed station (3), for placing and fixing hull (4) to be welded；
- welding gun (5), for welding to hull；
- welding robot (2), is fixedly arranged at the front end with welding gun (5), makes welding gun (5) mobile and to ship by welding robot (2) activity
Body is welded；
- translational worktable (1), is moved forward and backward for welding robot (2) along hull, and welding robot (2) is fixed on flat
Move on workbench (1)；
- upset positioner (6), is connected with ships and light boats fixed station (3), and by overturning positioner (6) ships and light boats fixed station (3) is overturn
Angle；
- control centre, is connected, for bonding machine with welding robot (2), translational worktable (1), upset positioner (6)
Device people (2), translational worktable (1), upset positioner (6) send work order.
2. a kind of robot welding system for ships and light boats according to claim 1, it is characterised in that：The translation work
Platform (1) includes the mobile position-limiting unit and driver for moving horizontally, and the welding robot (2) is fixed on mobile position-limiting unit
On, the moving direction of the mobile position-limiting unit is parallel to the upset rotating shaft for overturning positioner (6), the translational worktable (1)
It is arranged at the one or both sides of ships and light boats fixed station (3).
3. a kind of robot welding system for ships and light boats according to claim 2, it is characterised in that：The movement is spacing
Unit includes guide rail and slide block, and the slide block is fixed on the bottom of welding robot (2).
4. a kind of robot welding system for ships and light boats according to claim 1, it is characterised in that：The ships and light boats are fixed
Platform (3) includes base (30) V-type fixed plate (31) corresponding with ships and light boats fore square fixed plate corresponding with ships and light boats hull
(32) and link span (33), the link span (33) is mutually fixed with V-type fixed plate (31) and square fixed plate (32), base (30)
One end/two ends are fixed with upset positioner (6)；Link span (33) one end/two ends are connected with upset positioner (6).
5. a kind of robot welding system for ships and light boats according to claim 1, it is characterised in that：The control centre
For Off-line control center, control centre also includes being input into the program input of program to Off-line control center, described program input
End is connected with Off-line control center.
6. a kind of robot welding system for ships and light boats according to claim 1, it is characterised in that：The welding robot
People (2) is six axle welding robots.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611199998.8A CN106583985A (en) | 2016-12-22 | 2016-12-22 | Robot welding system for boats |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611199998.8A CN106583985A (en) | 2016-12-22 | 2016-12-22 | Robot welding system for boats |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106583985A true CN106583985A (en) | 2017-04-26 |
Family
ID=58600954
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611199998.8A Pending CN106583985A (en) | 2016-12-22 | 2016-12-22 | Robot welding system for boats |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106583985A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106975872A (en) * | 2017-05-19 | 2017-07-25 | 成都福莫斯智能系统集成服务有限公司 | A kind of radiating tube welding system based on robot |
| CN107020460A (en) * | 2017-05-19 | 2017-08-08 | 成都福莫斯智能系统集成服务有限公司 | A kind of Transport Machinery beam robot welding method |
| CN107052513A (en) * | 2017-05-19 | 2017-08-18 | 成都福莫斯智能系统集成服务有限公司 | A kind of Transport Machinery beam robot welding system |
| CN107175416A (en) * | 2017-05-19 | 2017-09-19 | 成都福莫斯智能系统集成服务有限公司 | A kind of robot radiating tube welding method |
| CN108857168A (en) * | 2018-07-20 | 2018-11-23 | 湖南湖大艾盛汽车技术开发有限公司 | A kind of universal matrix form flexibility customizes pre- batch sample car platform and method |
| CN109175686A (en) * | 2018-09-07 | 2019-01-11 | 上海航天精密机械研究所 | A kind of laser-beam welding machine and its welding method |
| PL422871A1 (en) * | 2017-09-15 | 2019-03-25 | Przemysłowy Instytut Automatyki i Pomiarów PIAP | Welding bench for production of large diameter rings |
| CN111250887A (en) * | 2020-03-03 | 2020-06-09 | 开异智能技术(上海)有限公司 | Automatic welding system for flexible escalator truss |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106975872A (en) * | 2017-05-19 | 2017-07-25 | 成都福莫斯智能系统集成服务有限公司 | A kind of radiating tube welding system based on robot |
| CN107020460A (en) * | 2017-05-19 | 2017-08-08 | 成都福莫斯智能系统集成服务有限公司 | A kind of Transport Machinery beam robot welding method |
| CN107052513A (en) * | 2017-05-19 | 2017-08-18 | 成都福莫斯智能系统集成服务有限公司 | A kind of Transport Machinery beam robot welding system |
| CN107175416A (en) * | 2017-05-19 | 2017-09-19 | 成都福莫斯智能系统集成服务有限公司 | A kind of robot radiating tube welding method |
| PL422871A1 (en) * | 2017-09-15 | 2019-03-25 | Przemysłowy Instytut Automatyki i Pomiarów PIAP | Welding bench for production of large diameter rings |
| CN108857168A (en) * | 2018-07-20 | 2018-11-23 | 湖南湖大艾盛汽车技术开发有限公司 | A kind of universal matrix form flexibility customizes pre- batch sample car platform and method |
| CN109175686A (en) * | 2018-09-07 | 2019-01-11 | 上海航天精密机械研究所 | A kind of laser-beam welding machine and its welding method |
| CN111250887A (en) * | 2020-03-03 | 2020-06-09 | 开异智能技术(上海)有限公司 | Automatic welding system for flexible escalator truss |
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Application publication date: 20170426 |
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