CN108637475A

CN108637475A - A kind of hull surface welding robot device

Info

Publication number: CN108637475A
Application number: CN201810280888.7A
Authority: CN
Inventors: 方鲁华
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-04-02
Filing date: 2018-04-02
Publication date: 2018-10-12

Abstract

The invention discloses a kind of hull surface welding robot devices,Including first device main body,It is set to the welder on end face on the downside of the first device main body,The first Acetabula device being set in the first device main body,The mobile device being symmetrical set on the upside of the first device main body and the rotating device being set between the first device main body and the mobile device,The welder includes being set on the downside of the first device main body to move horizontally chamber in end face,Being provided with for being connected in the downside inner wall for moving horizontally chamber moves horizontally open slot,It is fixedly installed in the inner left wall for moving horizontally chamber and moves horizontally motor,The right end be connected by power for moving horizontally motor moves horizontally leading screw,Described move horizontally is provided with the first sealing ring between leading screw and the inner left wall for moving horizontally chamber.

Description

A kind of hull surface welding robot device

Technical field

The present invention relates to Technology of Welding Robot field, specifically a kind of hull surface welding robot device.

Background technology

It is typically all that ship is dragged in dock when hull overhauls, is overhauled again after discharging water, and nowadays with manufacturing technology It continues to develop, the tonnage of hull is also increasing, if therefore being usually required for built in the case where hull surface has damage Son carries out the welding of hull surface by manually climbing up shelf again, not only inconvenient for operation in this way, but also there are certain danger Property, therefore a kind of robot of design can creep automatically in hull and carry out a kind of hull surface welding robot of hull surface welding People's device it is really necessary to.

Invention content

Technical problem to be solved by the invention is to provide a kind of hull surface welding robot devices, can solve State the problems in present technology.

The present invention is achieved through the following technical solutions：A kind of hull surface welding robot device of the present invention, Including first device main body, it is set to the welder on the downside of the first device main body on end face, is set to first dress It sets the first Acetabula device in main body, the mobile device being symmetrical set on the upside of the first device main body and is set to Rotating device between the first device main body and the mobile device, the welder include being set to first dress It sets and moves horizontally chamber in end face on the downside of main body, being provided with for being connected in the downside inner wall for moving horizontally chamber moves horizontally Open slot is fixedly installed in the inner left wall for moving horizontally chamber and moves horizontally motor, the right side for moving horizontally motor End be connected by power moves horizontally leading screw, and described move horizontally is provided between leading screw and the inner left wall for moving horizontally chamber First sealing ring, the right end for moving horizontally leading screw is rotatably assorted by bearing is connected to described move horizontally in the right side of chamber On wall, it is described move horizontally intracavitary and be provided with can horizontally slip and move horizontally the horizontal of threads of lead screw mating connection with described and move Movable slider, it is described move horizontally sliding block lower end and extend through described move horizontally open slot and extend the first device main body Downside end face outside and be fixedly connected with and be welded and fixed block, described be welded and fixed in block is provided with flexible pneumatic cylinder, described flexible It is welded and fixed the telescopic chute for being provided with that Open Side Down in block described on the left of pneumatic cylinder, lower end extension is provided in the telescopic chute Go out outside the telescopic chute lower ending opening and telescopic mast that can slide up and down, the telescopic mast lower end is fixedly connected with plumb joint rotation Switch block is connected with flexible air pressure inner prop between the upper surface of the plumb joint spill spin block and the flexible pneumatic cylinder, described Plumb joint electric rotating machine is fixedly installed in plumb joint spill spin block, the lower end of the plumb joint electric rotating machine is connected by shaft power It is connected to plumb joint rotation fixed block, is provided between the upper surface and the plumb joint spill spin block of the plumb joint rotation fixed block Bullet circle is sealed, the lower face medium position of the plumb joint rotation fixed block, which is fixedly installed, turns to pneumatic cylinder fixed block, described It turns to and is fixedly installed the first steering pneumatic cylinder in cylinder fixed block, the first steering gas is provided in the first steering pneumatic cylinder Inner prop is pressed, the second steering pneumatic cylinder, institute be fixedly connected with by fixed frame in the right end face for turning to pneumatic cylinder fixed block It states and is provided with the second steering air pressure inner prop in the second steering pneumatic cylinder, steering is provided on the downside of the steering pneumatic cylinder fixed block Block, the upper surface of the steering block is rotatably assorted by hinge is connected to the described first lower end for turning to air pressure inner prop, described turn It is fixedly installed steering link block in the right end face of block, the right end for turning to link block is rotatably assorted connection by hinge In the lower end that described second turns to air pressure inner prop, the lifting chamber of opening to the left is provided in the steering block, the lifting chamber It is symmetrically arranged with the reseting groove being connected with the lifting chamber on upper and lower sides inner wall, is connected in the right side inner wall of the reseting groove Be provided with resetting spring chamber, be fixedly installed lifting motor, a left side for the lifting motor in the right side inner wall of the lifting chamber End is connected with the first elevator positioned at the lifting intracavitary, the left end face of first elevator by shaft power It is set as ramp structure, the left side of first elevator and the lifting intracavitary is provided with can horizontally slip second liter Block drops, and the right end face of second elevator is provided with and the matched inclined-plane of the first lifting slider left end face, institute It states and is fixedly installed extension on the side end face up and down of the second lifting slider and is passed through in the reseting cavity and can be in the reseting cavity The resetting block to horizontally slip is fixedly connected with resetting spring, the right end of the resetting spring in the right end face of the resetting block It is fixedly connected on the right side inner wall of the resetting spring chamber, weldering is fixedly installed in the left end face of second lifting slider The left end of connector connecting rod, the plumb joint connecting rod is fixedly connected with connecting plate, the left side close to the connecting plate upper surface It is fixedly installed laser welding head on end face, is located at fixed in the left end face of the connecting plate on the downside of the laser welding head It is provided with cam device, the cam device can observe the welding situation of device in the welding process, described to move horizontally Be respectively equipped in end face at left and right sides of sliding block with the touch sensor for moving horizontally chamber or so inner wall and being oppositely arranged, it is described Touch sensor moves horizontally motor electric connection with described, when the touch sensor and the level of the left and right sides When mobile cavity or so inner wall abuts against, motor is moved horizontally described in touch sensor transmission signal and control at this time and stopped Rotation stop is dynamic, prevents the sliding block that moves horizontally from moving the excess of stroke.

First Acetabula device includes that front and back perforation is set to the first device main body as a preferred technical solution, The adjusting cavity at middle part is fixedly installed the first regulation motor in the right side inner wall of the adjusting cavity, first regulation motor Left side and the first suction cup main body is provided in the adjusting cavity, the right end face of first suction cup main body passes through first and adjusts Shaft power is saved to be connected in the left end of first regulation motor, the right side of the first adjusting shaft and the adjusting cavity It is provided with the 4th sealing ring between inner wall, left end is fixedly installed in the left end face of the first suction cup main body and is matched by bearing rotation It closes second be connected in the adjusting cavity inner left wall and adjusts shaft, the medium position of the first suction cup main body back end surface It is fixedly installed the first sucker fixed block, the rear end of the first sucker fixed block is fixedly connected with the second sucker, and described first The first escape pipe being connected with first sucker, the left end connection setting of first escape pipe are provided in suction cup main body There is the left position escape pipe in first suction cup main body, the first air extractor is provided on the left position escape pipe, it is described The right end of first escape pipe is provided with and communicated with the right position escape pipe in first suction cup main body, on the right position escape pipe It is provided with the second air extractor.

The mobile device includes being symmetrical set on the upside of the first device main body as a preferred technical solution, Second device main body, be provided with connecting rod between the opposing end surface for the second device main body being symmetrical set, it is described The both ends of connecting rod are rotatably assorted by round end hinge respectively is connected to the phase for the second device main body being symmetrical set To on end face, the second device main body is fixedly installed third on the upside end face far from one side end face of the connecting rod Apparatus main body, the 3rd device main body are fixedly installed mobile fixed block, institute on the opposite side end face of upside end face It states and is fixedly installed slide guide bar between the lower face of mobile fixed block and the upside end face of the 3rd device main body, it is symmetrical Mobile cavity is offered on the opposing end surface for the 3rd device main body being arranged respectively, is fixed in the downside inner wall of the mobile cavity It is provided with mobile motor, the upper end be connected by power of the mobile motor has mobile leading screw, the mobile leading screw and the mobile cavity Downside inner wall between be provided with the second sealing ring, the upper end of the mobile lead screw is rotatably assorted by bearing is connected to the shifting In the upper inside walls of dynamic chamber, the mobile cavity is fixedly installed movement and leads a column between the upper and lower sides inner wall far from opening side, Being provided in the mobile cavity can slide up and down and mobile sliding block outside mobile cavity opening is extended in one end, described mobile sliding Block connect with the mobile leading screw screw-thread fit and is slidably connected with the mobile position guiding rod, and the mobile sliding block extends It is fixedly installed the second regulation motor in a side end face outside the mobile cavity opening, second regulation motor is far from the shifting The side of dynamic chamber is provided with the second Acetabula device, and second Acetabula device includes being adjusted in described second by shaft be connected by power Save the second suction cup main body on motor, be connected by power in the shaft and the mobile sliding block in second regulation motor it Between be provided with third sealing ring, the upper end of second suction cup main body be rotatably assorted by hinge be connected with sliding connection in Slide guide sleeve on the slide guide bar is fixedly installed the second sucker fixed block in the back end surface of second suction cup main body, The rear end of the second sucker fixed block is fixedly connected with the second sucker, and the front end of the second sucker fixed block is connected to fixation It is set on the second escape pipe in second suction cup main body, third air extractor is provided on second escape pipe.

As a preferred technical solution, the rotating device include be set to first device main body upper surface with it is described Connects hinge between second device main body is fixedly installed electric rotating in the medium position of first device main body upper surface Machine fixed block, symmetrical in the electric rotating machine fixed block and be fixedly installed electric rotating machine, the electric rotating machine fixed block It is provided with swivelling chute in the first device main body of left and right sides, opening is symmetrically arranged at left and right sides of the first device main body Upwards and the active rotation gear grooved that is connected with the swivelling chute, it is provided with actively half tooth tooth in the active rotation gear grooved It takes turns, active rotation gear shaft is fixedly installed at half gear axle center of the active, the active rotation gear shaft is far from described One end of electric rotating machine fixed block is rotationally connected with by bearing on the side wall of the active rotation gear grooved, the active rotation Gear shaft extends through the swivelling chute close to one end of the electric rotating machine fixed block and be connected by power is in the electric rotating machine On, it is provided with the 5th sealing ring between the active rotation gear shaft and the electric rotating machine fixed block, is located at the active and revolves The driven rotation gear grooved that Open Side Down is provided on the lower face of the second device main body right over rotating disk slot, it is described Driven rotation gear shaft is provided in driven rotation gear grooved to be fixed on the driven rotation gear grooved left and right sides inner wall Driven half gear, mating connection is engaged in the lower end of driven half gear with half gear of the active.

As a preferred technical solution, safety device, the guarantor are provided in the left end face of the first device main body Dangerous device includes the insurance chamber that front and back perforation is set in the first device main body left end face, the upper and lower sides of the insurance chamber Insurance fixed block is fixedly installed on inner wall respectively, line storage wheel is provided between the insurance fixed block of setting symmetrical above and below, It is fixedly installed line storage wheel shaft at the line storage wheel axle center, the upper end of the line storage wheel shaft is rotatably assorted connection by bearing In on the downside end face of the insurance fixed block of upside, the lower end of the line storage wheel shaft is rotatably assorted by bearing to be connected to On the upside end face of the insurance fixed block of downside, safety rope is arranged on the line storage wheel, one end of the safety rope is solid Surely it is connected with insurance fixed ring.

The beneficial effects of the invention are as follows：The configuration of the present invention is simple, it is easy to operate, hull surface is welded by the present apparatus When connecing work, present apparatus fitting is positioned on the outer surface of hull by staff, and insurance fixed ring is fixed on hull Eminence is loosely fallen off with preventing the present apparatus to be attracted during moving ahead, and the first regulation motor rotates at this time, and then is adjusted by first It saves shaft and drives the rotation of the first suction cup main body, and then the first sucker is bonded with hull surface, at this time the first air extractor and second Air extractor starts, and then the air between hull surface and the first sucker is extracted out, and the present apparatus is adsorbed on hull at this time On surface, mobile motor rotates at this time, and then drives mobile sliding block to be moved upward to movement in mobile cavity by mobile leading screw The state that the upper surface of sliding block and the upper inside walls of mobile cavity abut against, electric rotating machine rotates at this time, and then passes through active rotation Gear shaft drives actively half gear rotation, and then is connected by the cooperation of engaging actively between half gear and driven half gear Tape splicing moves driven half gear rotation, and then drives 3rd device body rotation, is rotated in the process by electric rotating machine Different angle drives the second device main body being symmetrical set in first device main body upper surface to turn over different angle in turn, into And drive 3rd device main body the second regulation motor rotates at this time close on the hull surface with different rule cambered surfaces, in turn The rotation of the second Acetabula device is driven by shaft, and then the second sucker is driven to be bonded hull surface, third air extractor opens at this time Dynamic, and then the air between hull surface and the second sucker is extracted out, the first air extractor is to the first sucker and ship surface at this time It is reversely evacuated between face and then disengages the attracting state between the first sucker and metope, mobile motor rotates backward at this time, in turn It drives mobile sliding block to be moved down in mobile cavity by mobile leading screw, and then the second Acetabula device is driven to move down, in turn The present apparatus is driven to advance in hull surface, the present apparatus can be moved to the suitable position of hull surface by repeating above-mentioned action, at this time Motor rotation is moved horizontally, and then drives active rotation gear grooved moving horizontally intracavitary or so shifting by moving horizontally leading screw It is dynamic, and then drive is welded and fixed block and is moved left and right in hull surface, and then the welding job of hull surface transverse direction can be completed, together When, the pneumatic cylinder that stretches starts, and then drives plumb joint spill spin block to move down by flexible air pressure inner prop, and then can complete hull The welding job of surface longitudinal, in the process, the sliding connection between telescopic mast and telescopic chute may make plumb joint to revolve Switch block keeps vertical state when declining, when needing to carry out the welding job of irregular hull surface, plumb joint electric rotating machine It rotates, and then drives plumb joint rotation fixed block rotation, while the first steering pneumatic cylinder and the second steering pneumatic cylinder start, in turn The hinge that air pressure inner prop and the second steering air pressure inner prop drive steering block to turn to air pressure inner prop lower end around first is turned to by first Chain rotates, and then drives plumb joint rotation, the work that can be welded at this time to hull surface or cavity inner wall, when needing to adjust When saving the distance between laser welding head and face of weld, lifting motor starts, and then drives the first lifting slider by shaft Rotation, and then drive resetting block to overcome resetting spring by the mutual squeezing action power of the first lifting slider and the second lifting slider Elastic force so that be moved to the left in reseting cavity, and then the left end opening for driving the second lifting slider to stretch out lifting chamber is outer, in turn Laser welding head is driven to be welded close to face of weld, in the process, staff can be observed by cam device to be swashed The welding situation of the distance between flush weld connector and hull surface and hull surface.

Description of the drawings

The present invention is described in detail by following specific embodiment and attached drawing for ease of explanation,.

Fig. 1 is a kind of internal structure schematic diagram of hull surface welding robot device of the present invention；

Fig. 2 is the enlarged diagram of " A " in Fig. 1；

Fig. 3 is the structural schematic diagram of the welder in the present invention；

Fig. 4 is the enlarged diagram of " C " in Fig. 3；

Fig. 5 is the enlarged diagram of " D " in Fig. 4；

Fig. 6 is the left view of the second Acetabula device in the present invention；

Fig. 7 is the vertical view of the first Acetabula device in the present invention；

Fig. 8 is the enlarged diagram of " B " in Fig. 2.

Specific implementation mode

As Figure 1-Figure 8, a kind of hull surface welding robot device of the invention, including first device main body 11, The welder that is set on 11 downside end face of the first device main body, first be set in the first device main body 11 Acetabula device, be symmetrical set in the upside of the first device main body 11 mobile device and be set to the first device Rotating device between main body 11 and the mobile device, the welder include being set under the first device main body 11 Chamber 22 is moved horizontally in side end face, being provided with for being connected in the downside inner wall for moving horizontally chamber 22 moves horizontally opening Slot 21 is fixedly installed in the inner left wall for moving horizontally chamber 22 and moves horizontally motor 27, described to move horizontally motor 77 Right end be connected by power move horizontally leading screw 23, it is described to move horizontally leading screw 23 and the inner left wall for moving horizontally chamber 22 Between be provided with the first sealing ring 26, the right end for moving horizontally leading screw 23 is rotatably assorted by bearing is connected to the level On the right side inner wall of mobile cavity 22, it is described move horizontally to be provided in chamber 22 can horizontally slip and move horizontally leading screw 23 with described Screw-thread fit connection moves horizontally sliding block 24, it is described move horizontally 24 lower end of sliding block and extend through described move horizontally open slot 21 and extends outside the downside end face of the first device main body 11 and be fixedly connected with and be welded and fixed block 25, it is described to be welded and fixed Be provided with flexible pneumatic cylinder 83 in block 25,83 left side of the flexible pneumatic cylinder it is described be welded and fixed in block 25 be provided with opening to Under telescopic chute 81, be provided with lower end in the telescopic chute 81 and extend outside 81 lower ending opening of the telescopic chute and downslide can be gone up Dynamic telescopic mast 82,82 lower end of the telescopic mast are fixedly connected with plumb joint spill spin block 85, the plumb joint spill spin block 85 it is upper It is connected with flexible air pressure inner prop 84 between end face and the flexible pneumatic cylinder 83, fixes and sets in the plumb joint spill spin block 85 It is equipped with plumb joint electric rotating machine 86, the lower end of the plumb joint electric rotating machine 86 has plumb joint rotation solid by shaft be connected by power Determine block 88, sealing bullet circle is provided between the upper surface and the plumb joint spill spin block 85 of the plumb joint rotation fixed block 88 87, the lower face medium position of the plumb joint rotation fixed block 88, which is fixedly installed, turns to pneumatic cylinder fixed block 89, described turn It is fixedly installed the first steering pneumatic cylinder 91 into cylinder fixed block 89, first turn is provided in the first steering pneumatic cylinder 91 To air pressure inner prop 94, second steering is fixedly connected with by fixed frame 93 in the right end face for turning to pneumatic cylinder fixed block 89 Pneumatic cylinder 92, it is described second steering pneumatic cylinder 92 in be provided with the second steering air pressure inner prop 95, the steering pneumatic cylinder fixed block 89 downside is provided with steering block 98, and the upper surface of the steering block 98 is rotatably assorted by hinge is connected to first steering The lower end of air pressure inner prop 94, is fixedly installed in the right end face of the steering block 98 and turns to link block 97, and steerings connects The right end of block 97 is rotatably assorted by hinge is connected to the described second lower end for turning to air pressure inner prop 95, is set in the steering block 97 It is equipped with the lifting chamber 105 of opening to the left, is symmetrically arranged with and the lifting chamber 105 on the upper and lower sides inner wall of the lifting chamber 105 The reseting groove 111 being connected, what is be connected in the right side inner wall of the reseting groove 111 is provided with resetting spring chamber 114, the liter It drops in the right side inner wall of chamber 105 and is fixedly installed lifting motor 99, the left end of the lifting motor 99 is coordinated by shaft power The first elevator 106 being connected in the lifting chamber 105, the left end face of first elevator 106 are set as oblique Face structure, the left side of first elevator 106 and positioned at it is described lifting chamber 105 in be provided with can horizontally slip second lifting Block 107, the right end face of second elevator 107 are provided with matched with 106 left end face of the first lifting slider Inclined-plane is fixedly installed extension on the side end face up and down of second lifting slider 107 and is passed through in the reseting cavity 111 and can be The resetting block 112 to horizontally slip in the reseting cavity 111 is fixedly connected with reset bullet in the right end face of the resetting block 112 The right end of spring 113, the resetting spring 113 is fixedly connected on the right side inner wall of the resetting spring chamber 114, described second liter It drops and is fixedly installed plumb joint connecting rod 101 in the left end face of sliding block 107, the left end of the plumb joint connecting rod 102 is fixed It is connected with connecting plate 102, laser welding head 104, position are fixedly installed in the left end face of 102 upper surface of the connecting plate It is fixedly installed cam device 103, institute in the left end face of the connecting plate 102 on the downside of the laser welding head 104 The welding situation of device can be observed in the welding process by stating cam device 103, described to move horizontally 24 left and right sides end of sliding block It is respectively equipped in face and is passed with the touch sensor 241 for moving horizontally 22 or so inner wall of chamber and being oppositely arranged, the contact Sensor 241 moves horizontally the electric connection of motor 27 with described, when the touch sensor 241 and the level of the left and right sides When 22 or so inner wall of mobile cavity abuts against, is sent by the touch sensor 241 moved horizontally described in signal and control at this time Motor 27 stops operating, and prevents the sliding block 24 that moves horizontally from moving the excess of stroke.

Valuably, first Acetabula device includes the adjusting that front and back perforation is set to 11 middle part of the first device main body Chamber 28 is fixedly installed the first regulation motor 31, a left side for first regulation motor 31 in the right side inner wall of the adjusting cavity 28 Side and the first suction cup main body 33 is provided in the adjusting cavity 28, the right end face of first suction cup main body 33 passes through the One, which adjusts 32 power of shaft, is connected in the left end of first regulation motor 31, the first adjusting shaft 32 and the tune It is provided with the 4th sealing ring 29 between the right side inner wall of section chamber 28, a left side is fixedly installed in the left end face of the first suction cup main body 33 Be rotatably assorted and be connected in 28 inner left wall of the adjusting cavity by bearing second is held to adjust shaft 30, the first sucker master The medium position of 33 back end surface of body is fixedly installed the first sucker fixed block 132, the rear end of the first sucker fixed block 132 It is fixedly connected with the second sucker 131, first to be connected with first sucker 131 is provided in first suction cup main body 33 Escape pipe 134, the left end of first escape pipe 134 are provided with and communicated with the left position outlet in first suction cup main body 33 Pipe 135, the first air extractor 136 is provided on the left position escape pipe 135, and the right end connection of first escape pipe 134 is set It is equipped with the right position escape pipe 137 being located in first suction cup main body 33, the second pumping is provided on the right position escape pipe 137 Device 138.

Valuably, the mobile device includes being symmetrical set in the second device of 11 upside of the first device main body Main body 12 is provided with connecting rod 141, the connection between the opposing end surface for the second device main body 12 being symmetrical set The both ends of bar 141 are rotatably assorted by round end hinge respectively is connected to the phase for the second device main body 12 being symmetrical set To on end face, the second device main body 12 is fixedly installed on the upside end face far from 141 1 side end face of the connecting rod There are 3rd device main body 13, the 3rd device main body 13 to be fixedly installed movement on the opposite side end face of upside end face Fixed block 67 is fixedly installed between the lower face of the mobile fixed block 67 and the upside end face of the 3rd device main body 13 Slide guide bar 68 offers mobile cavity 64 on the opposing end surface for the 3rd device main body 13 being symmetrical set respectively, described Mobile motor 61 is fixedly installed in the downside inner wall of mobile cavity 64, the upper end be connected by power of the mobile motor 61 has movable wire Thick stick 66 is provided with the second sealing ring 62, the movable wire between the mobile leading screw 66 and the downside inner wall of the mobile cavity 64 The upper end of bar 66 is rotatably assorted by bearing in the upper inside walls for being connected to the mobile cavity 64, and the mobile cavity 64 is far from opening It is fixedly installed movement between the upper and lower sides inner wall of side and leads a column 65, being provided in the mobile cavity 64 can slide up and down and one Extend the mobile sliding block 63 outside the opening of the mobile cavity 64, the mobile sliding block 63 and 66 screw-thread fit of mobile leading screw in end It connects and is slidably connected with the mobile position guiding rod 65, the mobile sliding block 63 extends outside the opening of the mobile cavity 64 The second regulation motor 72 is fixedly installed in one side end face, second regulation motor, 72 side far from the mobile cavity 65 is set It is equipped with the second Acetabula device 71, second Acetabula device 71 includes by shaft be connected by power in second regulation motor 72 On the second suction cup main body 121, be connected by power is in the shaft and the mobile sliding block 63 in second regulation motor 72 Between be provided with third sealing ring 69, the upper end of second suction cup main body 121 is rotatably assorted by hinge to be connected with sliding and matches The slide guide sleeve 122 being connected on the slide guide bar 68 is closed, is fixedly installed in the back end surface of second suction cup main body 121 The rear end of second sucker fixed block 124, the second sucker fixed block 124 is fixedly connected with the second sucker 123, and described second inhales The front end of disk fixed block 124 is connected on the second escape pipe 127 being fixedly installed in second suction cup main body 121, described It is provided with third air extractor 126 on second escape pipe 127.

Valuably, the rotating device includes being set to 11 upper surface of first device main body and the second device master It is solid to be fixedly installed electric rotating machine in the medium position of 11 upper surface of first device main body for connects hinge 52 between body 12 Determine block 51, symmetrical in the electric rotating machine fixed block 51 and be fixedly installed electric rotating machine 39, the electric rotating machine is fixed Swivelling chute 37 is provided in the first device main body 11 of 51 left and right sides of block, 11 left and right sides of the first device main body is symmetrical The active rotation gear grooved 34 for being provided with opening upwards and being connected with the swivelling chute 37, in the active rotation gear grooved 34 It is provided with actively half gear 35, half gear of the active is fixedly installed active rotation gear shaft 36 at 35 axle center, described The one end of active rotation gear shaft 36 far from the electric rotating machine fixed block 51 is rotationally connected with the active rotation by bearing On the side wall of gear grooved 34, the active rotation gear shaft 36 extends through institute close to one end of the electric rotating machine fixed block 51 It states swivelling chute 37 and be connected by power is on the electric rotating machine 39, the active rotation gear shaft 36 is fixed with the electric rotating machine The 5th sealing ring 38 is provided between block 51, the second device main body 12 being located at right over the active rotation gear grooved 34 Lower face on be provided with the driven rotation gear grooved 55 that Open Side Down, be provided in the driven rotation gear grooved 55 from Dynamic rotation gear shaft 53 is fixed on driven half gear 54 on the driven rotation 55 left and right sides inner wall of gear grooved, described driven Mating connection is engaged with half gear 35 of the active in the lower end of half gear 54.

Valuably, it is provided with safety device in the left end face of the first device main body 11, the safety device includes Front and back perforation is set to the insurance chamber 44 in 11 left end face of first device main body, the upper and lower sides inner wall of the insurance chamber 44 It is upper to be fixedly installed insurance fixed block 41 respectively, it is provided with line storage wheel between the insurance fixed block 41 of setting symmetrical above and below 43, line storage wheel shaft 42 is fixedly installed at 43 axle center of the line storage wheel, the upper end of the line storage wheel shaft 42 passes through bearing and turns Dynamic to be connected on the downside end face of the insurance fixed block 41 of upside, the lower end of the line storage wheel shaft 43 passes through bearing It is rotatably assorted on the upside end face for the insurance fixed block 41 for being connected to downside, safety rope is arranged on the line storage wheel 43 45, one end of the safety rope 45 is fixedly connected with insurance fixed ring 46.

When original state, second device main body 12 and the upper surface of first device main body 11 are in the same plane, simultaneously The left end face of active rotation gear grooved 24 is abutted against with the inner left wall for moving horizontally chamber 22, stretches air pressure inner prop 84 at this time most Limits, which are retracted, stretches in pneumatic cylinder 83 and then drives plumb joint spill spin block 85 is maximum to rise, at this time the upper surface of telescopic mast 82 with The upper inside walls of telescopic chute 81 abut against, while first turns to the first steering of the retraction pneumatic cylinder 91 to greatest extent of air pressure inner prop 94 Interior, second turns to air pressure inner prop 95 stretches out second and turns to outside pneumatic cylinder 92 to greatest extent, and laser welding head 104 is oriented at this time It is parallel to the left, while the right end face of the left end face of the first lifting slider 106 and the second lifting slider 107 is in and to abut against State, while the upper surface of the first suction cup main body 33 and the upper end surface of first device main body 11 are in parastate, it is mobile simultaneously The lower face of sliding block 63 and the downside inner wall of mobile cavity 64 are in and abut against state, at this time the upper surface of the second Acetabula device 71 with The upper end surface of 3rd device main body 13 is in parastate.

When carrying out welding job to hull surface by the present apparatus, present apparatus fitting is positioned over the outer of hull by staff On surface, and insurance fixed ring 46 is fixed on the eminence of hull and is loosely fallen off with preventing the present apparatus to be attracted during moving ahead, The first regulation motor 31 rotates at this time, and then adjusts shaft 32 by first and drive the rotation of the first suction cup main body 33, and then first Sucker 131 is bonded with hull surface, and the first air extractor 136 and the second air extractor 137 start at this time, and then by hull surface Air extraction between the first sucker 131, the present apparatus is adsorbed on the surface of hull at this time, at this time 61 turns of mobile motor It is dynamic, so by mobile leading screw 66 drive mobile sliding block 63 be moved upward in mobile cavity 64 upper surface of mobile sliding block 63 with The state that the upper inside walls of mobile cavity 64 abut against, electric rotating machine 39 rotates at this time, and then passes through 36 band of active rotation gear shaft Dynamic actively half gear 35 rotation, and then by actively engaging mating connection between half gear 35 and driven half gear 54 It drives driven half gear 54 to rotate, and then 3rd device main body 13 is driven to rotate, revolved in the process by electric rotating machine 39 The different angle turned drives the second device main body 12 being symmetrical set in 11 upper surface of first device main body to turn over not in turn Same angle, and then drive 3rd device main body 13 close on the hull surface with different rule cambered surfaces, second adjust electricity at this time Machine 72 rotates, and then drives the rotation of the second Acetabula device 71 by shaft, and then the second sucker 123 is driven to be bonded hull surface, Third air extractor 126 starts at this time, and then the air between hull surface and the second sucker 123 is extracted out, first takes out at this time Device of air 136 is to reversely pumping disengages the suction between the first sucker 131 and metope in turn between the first sucker 131 and hull surface Conjunction state, at this time mobile motor 61 rotate backward, and then by mobile leading screw 66 drive mobile sliding block 63 in mobile cavity 64 to Lower movement, and then the second Acetabula device 71 is driven to move down, and then the present apparatus is driven to advance in hull surface, it repeats above-mentioned dynamic Make the suitable position that the present apparatus can be moved to hull surface, moves horizontally the rotation of motor 27 at this time, and then by moving horizontally Leading screw 23 drives active rotation gear grooved 24 to move left and right moving horizontally in chamber 22, and then drives and be welded and fixed block 25 in hull Surface moves left and right, and then can complete the welding job of hull surface transverse direction, meanwhile, the pneumatic cylinder 83 that stretches starts, and then passes through Flexible air pressure inner prop 84 drives plumb joint spill spin block 85 to move down, and then can complete the welding job of hull surface longitudinal direction, During this, the sliding connection between telescopic mast 82 and telescopic chute 81 may make plumb joint spill spin block 85 to be kept when declining Vertical state, when needing to carry out the welding job of irregular hull surface, plumb joint electric rotating machine 86 rotates, and then drives weldering Connector rotates fixed block 88 and rotates, while first turns to the steering startup of pneumatic cylinder 92 of pneumatic cylinder 91 and second, and then passes through first It turns to air pressure inner prop 94 and second and turns to the hinge that air pressure inner prop 95 drives steering block 98 to turn to 94 lower end of air pressure inner prop around first Chain rotates, and then drives plumb joint rotation, the work that can be welded at this time to hull surface or cavity inner wall, when needing to adjust When saving the distance between laser welding head 104 and face of weld, lifting motor 99 starts, and then drives the first lifting by shaft Sliding block 106 rotates, and then is driven and resetted by the mutual squeezing action power of the first lifting slider 106 and the second lifting slider 107 Block 112 overcomes the elastic force of resetting spring 113 and then is moved to the left in reseting cavity 111, and then the second lifting slider 107 is driven to stretch The left end opening for going out to lift chamber 105 is outer, and then laser welding head 104 is driven to be welded close to face of weld, in the process, Staff can observe the distance between laser welding head 104 and hull surface and hull surface by cam device 103 Welding situation.

The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any The change or replacement expected without creative work, should be covered by the protection scope of the present invention.Therefore, of the invention Protection domain should be determined by the scope of protection defined in the claims.

Claims

1. a kind of hull surface welding robot device, including first device main body are set on the downside of the first device main body Welder on end face, is symmetrical set in described the first Acetabula device being set in the first device main body Mobile device on the upside of one apparatus main body and the rotating dress being set between the first device main body and the mobile device It sets, the welder includes the chamber that moves horizontally being set on the downside of the first device main body in end face, described to move horizontally Being provided with for being connected in the downside inner wall of chamber moves horizontally open slot, fixed setting in the inner left wall for moving horizontally chamber Motor is moved horizontally, the right end be connected by power for moving horizontally motor moves horizontally leading screw, described to move horizontally leading screw The first sealing ring is provided between the inner left wall for moving horizontally chamber, the right end for moving horizontally leading screw passes through bearing Be rotatably assorted be connected to it is described move horizontally on the right side inner wall of chamber, it is described move horizontally intracavitary be provided with can horizontally slip and with It is described move horizontally threads of lead screw mating connection move horizontally sliding block, the sliding block lower end that moves horizontally extends through the water Translation, which moves open slot and extends outside the downside end face of the first device main body and be fixedly connected with, is welded and fixed block, the weldering It connects and is provided with flexible pneumatic cylinder in fixed block, described on the left of the flexible pneumatic cylinder, which is welded and fixed in block, is provided with that Open Side Down Telescopic chute, be provided with lower end in the telescopic chute and extend outside the telescopic chute lower ending opening and can slide up and down flexible Column, the telescopic mast lower end are fixedly connected with plumb joint spill spin block, the upper surface of the plumb joint spill spin block and the flexible gas It is connected with flexible air pressure inner prop between cylinder pressure, plumb joint electric rotating machine, institute are fixedly installed in the plumb joint spill spin block The lower end for stating plumb joint electric rotating machine has plumb joint to rotate fixed block by shaft be connected by power, and the plumb joint rotates fixed block Upper surface and the plumb joint spill spin block between be provided with sealing bullet circle, in the middle part of the lower face of plumb joint rotation fixed block Position, which is fixedly installed, turns to pneumatic cylinder fixed block, and the first steering pneumatic cylinder is fixedly installed in the steering cylinder fixed block, It is provided with the first steering air pressure inner prop in the first steering pneumatic cylinder, leads in the right end face for turning to pneumatic cylinder fixed block It crosses fixed frame and is fixedly connected with the second steering pneumatic cylinder, the second steering air pressure inner prop is provided in the second steering pneumatic cylinder, It is provided with steering block on the downside of the steering pneumatic cylinder fixed block, the upper surface of the steering block is rotatably assorted connection by hinge In the lower end that described first turns to air pressure inner prop, it is fixedly installed steering link block in the right end face of the steering block, it is described The right end of steering link block is rotatably assorted by hinge is connected to the described second lower end for turning to air pressure inner prop, in the steering block It is provided with the lifting chamber of opening to the left, is symmetrically arranged on the upper and lower sides inner wall of the lifting chamber and lifts what chamber was connected with described Reseting groove, what is be connected in the right side inner wall of the reseting groove is provided with resetting spring chamber, in the right side inner wall of the lifting chamber It is fixedly installed lifting motor, the left end of the lifting motor is connected with by shaft power positioned at the lifting intracavitary First elevator, the left end face of first elevator are set as ramp structure, the left side of first elevator and are located at The lifting intracavitary is provided with the second elevator that can be horizontally slipped, the right end face of second elevator be provided with it is described The first matched inclined-plane of lifting slider left end face is fixedly installed extension on the side end face up and down of second lifting slider It is passed through the resetting block that can be horizontally slipped in the reseting cavity and in the reseting cavity, is fixed in the right end face of the resetting block It is connected with resetting spring, the right end of the resetting spring is fixedly connected on the right side inner wall of the resetting spring chamber, and described Plumb joint connecting rod is fixedly installed in the left end face of two lifting sliders, the left end of the plumb joint connecting rod is fixedly connected with Connecting plate is fixedly installed laser welding head in the left end face of the connecting plate upper surface, is located at the laser welding It is fixedly installed cam device in the left end face of the connecting plate of head downside, the cam device can be in welding process The welding situation of middle observation device, it is described move horizontally to be respectively equipped in end face at left and right sides of sliding block move horizontally a chamber left side with described The touch sensor that right inner wall is oppositely arranged, the touch sensor move horizontally motor electric connection with described, work as a left side The touch sensor of right both sides with it is described move horizontally chamber or so inner wall and abut against when, at this time by the contact-sensing Device sends and moves horizontally motor stalls described in signal and control, prevents the sliding block that moves horizontally from moving the excess of stroke.

2. a kind of hull surface welding robot device according to claim 1, it is characterised in that：The first sucker dress It sets and penetrates through the adjusting cavity being set in the middle part of the first device main body including front and back, fix and set in the right side inner wall of the adjusting cavity It is equipped with the first regulation motor, the left side of first regulation motor and is provided with the first suction cup main body in the adjusting cavity, The right end face of first suction cup main body adjusts shaft power by first and is connected in a left side for first regulation motor End is provided with the 4th sealing ring between the first adjusting shaft and the right side inner wall of the adjusting cavity, the first suction cup main body Be fixedly installed in left end face left end be rotatably assorted by bearing be connected in the adjusting cavity inner left wall second adjust The medium position of shaft, the first suction cup main body back end surface is fixedly installed the first sucker fixed block, first sucker The rear end of fixed block is fixedly connected with the second sucker, is provided in first suction cup main body and is connected with first sucker First escape pipe, the left end of first escape pipe are provided with and communicated with the left position escape pipe in first suction cup main body, The first air extractor is provided on the left position escape pipe, the right end of first escape pipe is provided with and communicated with positioned at described first Right position escape pipe in suction cup main body is provided with the second air extractor on the right position escape pipe.

3. a kind of hull surface welding robot device according to claim 1, it is characterised in that：The mobile device packet The second device main body being symmetrical set on the upside of the first device main body is included, the second device being symmetrical set Connecting rod is provided between the opposing end surface of main body, the both ends of the connecting rod are rotatably assorted by round end hinge respectively to be connected to On the opposing end surface for the second device main body being symmetrical set, the second device main body is close to far from the connecting rod 3rd device main body is fixedly installed on the upside end face of one side end face, the 3rd device main body is close to the opposite of upside end face Mobile fixed block, the upside of the lower face of the mobile fixed block and the 3rd device main body are fixedly installed on one side end face It is fixedly installed slide guide bar between end face, is offered respectively on the opposing end surface for the 3rd device main body being symmetrical set Mobile cavity is fixedly installed mobile motor in the downside inner wall of the mobile cavity, and the upper end be connected by power of the mobile motor has Mobile leading screw, is provided with the second sealing ring, the mobile lead screw between the mobile leading screw and the downside inner wall of the mobile cavity Upper end be rotatably assorted by bearing in the upper inside walls for being connected to the mobile cavity, the mobile cavity far from opening side it is upper Be fixedly installed movement between the inner wall of downside and lead a column, be provided in the mobile cavity can slide up and down and one end extend it is described Mobile sliding block outside mobile cavity opening, the mobile sliding block connect with the mobile leading screw screw-thread fit and lead position with the movement Bar is slidably connected, and the mobile sliding block, which extends in the side end face outside the mobile cavity opening, is fixedly installed the second tune Motor is saved, the side of second regulation motor far from the mobile cavity is provided with the second Acetabula device, the second sucker dress It sets including by shaft be connected by power, in the second suction cup main body in second regulation motor, be connected by power is adjusted in described second Third sealing ring is provided between the shaft and the mobile sliding block on section motor, the upper end of second suction cup main body is logical Cross hinge be rotatably assorted be connected with sliding connection after the slide guide sleeve on the slide guide bar, second suction cup main body The second sucker fixed block is fixedly installed on side end face, the rear end of the second sucker fixed block is fixedly connected with the second sucker, The front end of the second sucker fixed block is connected on the second escape pipe being fixedly installed in second suction cup main body, described Third air extractor is provided on second escape pipe.

4. a kind of hull surface welding robot device according to claim 1, it is characterised in that：The rotating device packet Include the connects hinge being set between first device main body upper surface and the second device main body, the first device master It is fixedly installed electric rotating machine fixed block in the medium position of body upper surface, it is symmetrical in the electric rotating machine fixed block and solid Surely it is provided with electric rotating machine, is provided with swivelling chute in the first device main body of the electric rotating machine fixed block left and right sides, institute The active rotation gear grooved for being symmetrically arranged with opening upwards at left and right sides of first device main body and being connected with the swivelling chute is stated, It is provided with actively half gear in the active rotation gear grooved, is fixedly installed at half gear axle center of the active and actively revolves Rotating disk axis, the one end of the active rotation gear shaft far from the electric rotating machine fixed block are rotationally connected with described by bearing On the side wall of active rotation gear grooved, the active rotation gear shaft is extended through close to one end of the electric rotating machine fixed block The swivelling chute and be connected by power on the electric rotating machine, the active rotation gear shaft and the electric rotating machine fixed block it Between be provided with the 5th sealing ring, set on the lower face of the second device main body right over the active rotation gear grooved It is equipped with the driven rotation gear grooved that Open Side Down, being provided with driven rotation gear shaft in the driven rotation gear grooved fixes Driven half gear on the driven rotation gear grooved left and right sides inner wall, lower end and the master of driven half gear Dynamic half gear engagement is connected.

5. a kind of hull surface welding robot device according to claim 1, it is characterised in that：The first device master Safety device is provided in the left end face of body, the safety device includes that front and back perforation is set to the first device main body left side Insurance chamber on side end face, it is described insurance chamber upper and lower sides inner wall on be fixedly installed insurance fixed block respectively, it is symmetrical above and below to set It is provided with line storage wheel between the insurance fixed block set, line storage wheel shaft is fixedly installed at the line storage wheel axle center, it is described The upper end of line storage wheel shaft is rotatably assorted by bearing on the downside end face for the insurance fixed block for being connected to upside, the storage The lower end of line wheel shaft is rotatably assorted by bearing on the upside end face for the insurance fixed block for being connected to downside, the storage line Safety rope is arranged on wheel, one end of the safety rope is fixedly connected with insurance fixed ring.