CN113333926A - A intelligent welding machine for LNG boats and ships bunker inner wall - Google Patents
A intelligent welding machine for LNG boats and ships bunker inner wall Download PDFInfo
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- CN113333926A CN113333926A CN202110778378.4A CN202110778378A CN113333926A CN 113333926 A CN113333926 A CN 113333926A CN 202110778378 A CN202110778378 A CN 202110778378A CN 113333926 A CN113333926 A CN 113333926A
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- 238000003466 welding Methods 0.000 title claims abstract description 116
- 238000001816 cooling Methods 0.000 claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims description 14
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- 230000007704 transition Effects 0.000 claims description 9
- 230000000007 visual effect Effects 0.000 claims description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 7
- 229910000838 Al alloy Inorganic materials 0.000 claims description 6
- 238000010791 quenching Methods 0.000 claims description 4
- 230000000171 quenching effect Effects 0.000 claims description 4
- 238000005496 tempering Methods 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 239000002828 fuel tank Substances 0.000 abstract description 4
- 229910052751 metal Inorganic materials 0.000 abstract description 2
- 239000002184 metal Substances 0.000 abstract description 2
- 239000010935 stainless steel Substances 0.000 abstract description 2
- 229910001220 stainless steel Inorganic materials 0.000 abstract description 2
- 210000000078 claw Anatomy 0.000 abstract 2
- 229910052782 aluminium Inorganic materials 0.000 description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 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
- B23K10/00—Welding or cutting by means of a plasma
- B23K10/02—Plasma welding
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- Mechanical Engineering (AREA)
- Butt Welding And Welding Of Specific Article (AREA)
Abstract
The invention discloses an intelligent welding machine for the inner wall of an LNG ship fuel tank, which relates to the technical field of plasma intelligent welding machines and comprises a linear track, a connecting clamp between the track and a welding parent metal, an intelligent welding machine, a 3D vision tracker and the like, wherein the automatic welding machine is provided with a five-axis servo reducing motor linkage and a corresponding moving track part (using a ball screw as transmission), and a laser sensor is used for measuring the height distance between the end surface of a welding gun and a welding seam in real time; the connecting clamp is provided with a positioning claw, a movable claw, a push-pull type quick clamp and a track connecting block; the 3D vision tracking system is provided with a function of acquiring the three-dimensional outline size of a welding seam, analyzing the optimal walking route during welding, and correcting the welding position and angle deviation during welding; the remote controller is provided with manual alignment and adjustment functions and remote operation; the plasma water-cooling welding application is mainly quoted for meeting the welding of thin stainless steel plates (the welding performance is stable and the deformation is small).
Description
Technical Field
The invention relates to the technical field of intelligent plasma welding machines, in particular to an intelligent welding machine for an inner wall of a fuel tank of an LNG ship.
Background
The stainless steel plate (304L) with the thickness of 1.2mm and the criss-cross corrugated type on the inner wall of the Mark III film type LNG cabin needs to be lapped and spliced, the welding is complex, the workload is huge, if a manual welding method is adopted, the welding production efficiency is low, and the welding quality is difficult to control. If a korean automatic welding machine for welding the plate is used, the cost is too expensive. Therefore, a domestic artificial intelligent automatic welding machine is needed to solve the existing dilemma.
Disclosure of Invention
The invention mainly aims to provide an intelligent welding machine for welding the inner wall of a film-type fuel tank of an LNG ship, which can effectively solve the dilemma in the technical background.
In order to achieve the purpose, the invention provides the following technical scheme: an intelligent welding machine for the inner wall of a fuel tank of an LNG ship comprises a linear track, a connecting clamp mechanism, an intelligent welding machine, a D vision tracker, a remote controller, a plasma welding power supply, a water cooling system, a plasma water cooling welding gun, a shaft linkage servo control system and a control display panel, wherein a plurality of groups of connecting clamp mechanisms are arranged between the linear track and a welding female groove, guide wheels are arranged on the outer side of the linear track, guide wheel shafts penetrate through the guide wheels, eight groups of guide wheel shafts are arranged, four groups of guide wheel shafts are arranged at the bottom of a movable guide support, four groups of guide wheel shafts on the other side are fixed at the bottom of a fixed guide wheel assembly, the movable guide support and the fixed guide wheel assembly are fixed at the bottom of the intelligent welding machine, and a Y-direction servo motor, an R-direction servo motor, a shaft linkage servo control system and a control display panel are respectively arranged in the intelligent welding machine, The device comprises a Z-direction servo motor, an X-direction servo motor, a Z-direction motor approaching limit switch, an R-direction motor approaching limit switch and an H-direction servo motor, wherein the R-direction motor approaching limit switch is arranged at the lower end of the R-direction servo motor, the Z-direction motor approaching limit switch is arranged at the upper end of the Z-direction servo motor, an R-direction motor transition mounting plate is arranged at one end of the R-direction servo motor, a harmonic reducer is arranged at one end of the R-direction motor transition mounting plate away from the motor, a swing arm is connected with one end of the harmonic reducer, a swing arm switching shaft sleeve is arranged at one side of the swing arm, a vertical support is connected with one end of the swing arm switching shaft sleeve away from the swing arm, a driving rotating shaft seat assembly is connected with one end of the vertical support away from the swing arm switching shaft sleeve, a connecting rod is connected with one side of the driving rotating shaft seat assembly, and a vertical support straight line is connected with the lower end of the connecting rod located at the vertical support, the utility model discloses a welding gun, including drive pivot seat subassembly, crossbeam, drive pivot seat subassembly, vertical support straight line is kept away from the one end of drive pivot seat subassembly is connected with the slider keysets, the slider keysets is kept away from the straight linear one end of vertical support is connected with the slider connecting plate, the one end of slider connecting plate is provided with the slider, the slider runs through in the inside spout of crossbeam straight line, both ends one side of crossbeam straight line is connected with the crossbeam, one side of crossbeam is provided with the slider, the slider runs through in two sets of Z to the orbital inside of straight line, the bottom ground survey of drive pivot seat subassembly is connected with driven pivot seat subassembly, the top of driven pivot seat subassembly is connected with H to servo motor, H is provided with Y to servo motor's one side, Y is connected with the welder chuck to servo motor's bottom, the inside of welder chuck is run through there is welder.
Preferably, the straight line track includes sharp rack, aluminium alloy track, track connection piece and anticollision piece, sharp rack sets up the orbital inboard of aluminium alloy, anticollision piece sets up one side of track connection piece, the track connection piece sets up the orbital both ends of aluminium alloy.
Preferably, a guide adjusting rod is arranged on one side of the bottom of the intelligent welding machine, one end of the guide adjusting rod is connected with a fine adjustment mounting seat, an adjusting handle is arranged on one side of the fine adjustment mounting seat, and a clutch handle is arranged on one side of the X-direction servo motor inside the intelligent welding machine.
Preferably, the guide wheel is a needle bearing, and the guide wheel shaft is subjected to quenching and tempering and quenching treatment.
Preferably, the coupling jig mechanism includes plug-type rapid jig, rapid jig mount pad, adjusting screw, direction slider, track connecting block, holder, fixed jack catch, activity jack catch and thin nut, plug-type rapid jig runs through the rapid jig mount pad, adjusting screw runs through the inside of plug-type rapid jig, adjusting screw keeps away from the one end of plug-type rapid jig is connected with fixed jack catch, the direction slider passes through track connecting block is connected with movable jack catch, fixed jack catch sets up the top of direction slider, the setting of activity jack catch is in the top of holder, thin nut sets up one side of rapid jig mount pad.
Preferably, the 3D visual tracker is arranged at the front end of the intelligent welding machine.
Compared with the prior art, the invention has the beneficial effects that:
1. the servo control system and the servo speed reducing motor realize 5-axis linkage control, can draw a linear three-dimensional curved surface, and then realize intelligent line walking analysis by the 3D visual tracking system to obtain an optimal walking line for welding and automatic adjustment of welding parameters; the R-direction rotating motor is decelerated by using a harmonic reducer, so that the output torque of the motor is increased; the R-direction rotating motor accurately and automatically aligns the initial rotating angle by utilizing the proximity switches on the two sides; the Z direction, the Y direction and the H direction are accurately and automatically aligned to an initial position by utilizing proximity switches at two ends; the laser displacement sensor can detect the distance from the end face of the welding gun to a welding seam in real time, and correspondingly compensates the welding seam by using the H-direction motor through the control system; the corner of the rotating motor is converted into the welding angle of the welding gun through the parallel isometric double-connecting-rod mechanism.
Drawings
FIG. 1 is a schematic view of the overall structure of a welder;
FIGS. 1-1, 1-2, 1-3, and 1-4 are schematic views of the internal transmission structure of the intelligent welding machine;
FIG. 2 is a schematic view of a linear track;
FIG. 3 is a schematic view of a connection jig mechanism between a rail and a welding base material.
In the figure: 1, a linear track, 2, a connecting clamp mechanism, 3, an intelligent welding machine, 4, 3D visual tracker, 301, a Y-direction servo motor, 302, a harmonic reducer, 303, an R-direction servo motor, 304, a Z-direction servo motor, 305, an X-direction servo motor, 306, a Z-direction motor approaching limit switch, 307, an R-direction motor approaching limit switch, 308, an H-direction servo motor, 309, an adjusting handle, 310, a guide adjusting rod, 311, a fine adjustment mounting seat, 312, a movable guide bracket, 313, a guide wheel, 314, a guide wheel shaft, 315, a fixed guide wheel assembly, 316, a clutch handle, 317, a Z-direction linear track, 318, a beam linear track, 319, a beam, 320, an R-motor transition mounting plate, 321, a Z-direction nut bushing, 322, a swing arm, 323, a swing arm switching shaft sleeve, 324, a vertical support, 325, a driving rotating shaft seat assembly, 326, a connecting rod, 327, a welding gun chuck, a welding gun, a welding machine, a welding gun, a welding machine, a welding gun, a welding machine, a welding gun, a welding machine, a welding, 328, a driven rotating shaft seat assembly, 329, a vertical support linear track, 330, a slide block adapter plate, 331, a slide block connecting plate, 101, a linear rack, 102, an aluminum profile track, 103, a track transition connecting block, 104, an anti-collision block, 201, a push-pull type quick clamp, 202, a quick clamp mounting seat, 203, an adjusting screw rod, 204, a guide slide block, 205, a track connecting block, 206, a clamping seat, 207, a fixed clamping jaw, 208, a movable clamping jaw, 209 and a thin nut.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, an embodiment of the present invention is shown: an intelligent welding machine for the inner wall of a fuel cabin of an LNG ship comprises a linear track 1, a connecting clamp mechanism 2, an intelligent welding machine 3, a 3D visual tracker 4, a remote controller, a plasma welding power supply, a water cooling system, a plasma water cooling welding gun, a 5-axis linkage servo control system and a control display panel, wherein a plurality of groups of connecting clamp mechanisms 2 are arranged between the linear track 1 and a welding female slot, a guide wheel 313 is arranged on the outer side of the linear track 1, guide wheel shafts 314 penetrate through the guide wheel 313, eight groups of guide wheel shafts 314 are arranged, the four groups of guide wheel shafts 314 are arranged at the bottom of a movable guide bracket 312, the four groups of guide wheel shafts 314 on the other side of the linear track 1 are fixed at the bottom of a fixed guide wheel assembly 315, the movable guide bracket 312 and the fixed guide wheel assembly 315 are fixed at the bottom of the intelligent welding machine 3, and a Y-direction servo motor 301 and an R-direction servo motor 303 are respectively arranged in the intelligent welding machine 3, A Z-direction servo motor 304, an X-direction servo motor 305, a Z-direction motor approach limit switch 306, an R-direction motor approach limit switch 307 and an H-direction servo motor 308, wherein the lower end of the R-direction servo motor 303 is provided with the R-direction motor approach limit switch 307, the upper end of the Z-direction servo motor 304 is provided with the Z-direction motor approach limit switch 306, one end of the R-direction servo motor 303 is provided with an R-direction motor transition mounting plate 320, one end of the R-direction motor transition mounting plate 320, which is far away from the motor 303, is provided with a harmonic reducer 302, one end of the harmonic reducer 302 is connected with a swing arm 322, one side of the swing arm 322 is provided with a swing arm adapter shaft sleeve 323, one end of the swing arm adapter shaft sleeve 323, which is far away from the swing arm 322, is connected with a vertical support 324, one end of the vertical support 324, which is far away from the swing arm adapter shaft sleeve 323, is connected with a driving shaft base assembly 325, one side of the driving shaft base assembly 325 is connected with a connecting rod 329, the lower end of the vertical support 324 is connected with a vertical support line 329, the one end that drive pivot seat subassembly 325 was kept away from to vertical support straight line 329 is connected with slider adapter plate 330, the one end that vertical support straight line 329 was kept away from to slider adapter plate 330 is connected with slider connecting plate 331, the one end of slider connecting plate 331 is provided with the slider, the slider runs through in the inside spout of crossbeam straight line track 318, both ends one side of crossbeam straight line track 318 is connected with crossbeam 319, one side of crossbeam 319 is provided with the slider, the slider runs through in the inside of two sets of Z to straight line track 317, the bottom ground survey of drive pivot seat subassembly 325 is connected with driven pivot seat subassembly 328, the top of driven pivot seat subassembly 328 is connected with H to servo motor 308, H is provided with Y to servo motor 301 to one side of servo motor 308, Y is connected with welder chuck 327 to servo motor 301's bottom, the inside of welder chuck 327 has run through there is welder.
The R-direction servo motor 303 increases the rotating torque of the motor through a harmonic reducer 302, and meanwhile, the initial rotating angle is aligned through a left proximity switch and a right proximity switch, and the X-direction walking is provided with an anti-collision block; the Z direction, the R direction, the Y direction and the H direction are all provided with proximity switches for alignment of an initial working position of a welding machine, and are also provided with mechanical limit protection switches for mechanical safety protection under special conditions, and are also provided with a fault warning wind sounding system, a remote controller can remotely control the intelligent welding machine 3, the intelligent welding machine 3 is provided with a laser displacement sensor for measuring the vertical distance between a welding gun and a welding seam at any time and feeding back the vertical distance to the control system in time, if deviation needs to be adjusted, the system can enable the H direction to compensate the servo motor 308 and adjust to the optimal welding height, manual operation and rough adjustment for alignment of the welding seam are realized, compensation values of relevant variable parameters and the like are input, an ion welding power supply, a water cooling system and a plasma water cooling welding gun are directly applied to the existing products with mature and high-quality brands, and a leading curved surface walking route can be realized by arranging a 5-axis linkage control system, and a control panel is arranged, so that the input and the output of instruction data are facilitated.
In this embodiment, the linear rail 1 includes a linear rack 101, an aluminum profile rail 102, a rail connection block 103, and an anti-collision block 104, the linear rack 101 is disposed at an inner side of the aluminum profile rail 102, the anti-collision block 104 is disposed at one side of the rail connection block 103, and the rail connection blocks 103 are disposed at both ends of the aluminum profile rail 102.
In consideration of a wide range of work, the linear rail is set to have a length of 3 meters, and the transmission in the rail direction is a transmission between a precision spur gear and a spur rack.
In this embodiment, a guide adjusting rod 310 is disposed on one side of the bottom of the intelligent welding machine 3, one end of the guide adjusting rod 310 is connected to a fine adjustment mounting seat 311, an adjusting handle 309 is disposed on one side of the fine adjustment mounting seat 311, and a clutch handle 316 is disposed on one side of an X-direction servo motor 305 inside the intelligent welding machine 3.
By arranging the clutch handle 316, the initial position can be conveniently aligned and adjusted during welding.
In this embodiment, the guide pulley guide 313 is a needle bearing, and the guide pulley shaft 314 is subjected to hardening and tempering.
By providing the stator 313 as a needle bearing, the friction force of the stator 313 is made smaller.
In this implementation, the connection fixture mechanism 2 includes plug-type quick anchor clamps 201, quick anchor clamps mount 202, adjusting screw 203, direction slider 204, the track connecting block 205, the mount 206, fixed jaw 207, movable jaw 208 and thin nut 209, plug-type quick anchor clamps 201 runs through quick anchor clamps mount 202, adjusting screw 203 runs through the inside at plug-type quick anchor clamps 201, the one end that plug-type quick anchor clamps 201 were kept away from to adjusting screw 203 is connected with fixed jaw 207, direction slider 204 is connected with movable jaw 208 through track connecting block 205, fixed jaw 207 sets up the top at direction slider 204, movable jaw 208 sets up the top at mount 206, thin nut 209 sets up the one side at quick anchor clamps mount 202.
Considering the reliability of the connecting clamp of the track and the welding parent metal, the Korean prototype is used as reference, the connecting clamp is composed of a fixed clamping jaw 207, a movable clamping jaw 208, a push-pull type rapid clamp 201 and two guide sliding blocks 204, the fixed clamping jaw 207 and the movable clamping jaw 208 are clamped on a cross node of a corrugated plate during assembly, 3 connecting clamps are uniformly distributed on one track, and two guide sliding block grooves are designed to be right-angled trapezoidal grooves.
In this implementation, the front end of the intelligent welding machine 3 is provided with a 3D visual tracker 4.
By arranging the 3D visual tracker 4, the welding process is monitored by real-time observation.
The working principle is as follows:
step 1: firstly, in the using process, a linear track 1 is erected on a cross node of a base material along the length direction of a welding seam, the track is firmly fixed on the base material by using a connecting clamp 2 between the track and the welding base material, then an intelligent welding machine 3 is assembled on the linear track, a guide adjusting rod 310 and a movable guide bracket 312 are indirectly driven to do linear motion through the threaded connection of an adjusting handle 309 and a fine adjustment mounting seat 311, finally a guide wheel 313 is contacted with or separated from a track surface, a guide wheel shaft 314 is assembled on the movable guide bracket 312, the guide wheel 313 is assembled on the guide wheel shaft 314, the other side of the track is clamped on the track surface by two fixed guide wheel assemblies 315, the fixed guide wheel assemblies 315 are fixed on a vehicle body, an X-direction servo motor inside the intelligent welding machine 3 is provided with a manual clutch function by walking, the initial position alignment and adjustment during welding are convenient, the clutch handle 316 is pulled, the gear of the X-direction motor can be, because the structure needs the R-direction servo reducing motor which can not directly control the welding angle of the welding gun, the conversion is carried out through the parallel four-bar mechanism, the welding gun (i.e., the welding angle of welding gun collet 327; the two ends are respectively connected by a driving rotating shaft seat component 325 and a driven rotating shaft seat component 328 (the distance between the central holes of the connecting rods at the two ends is equal); the double-link mechanism support is composed of a vertical support 324, a vertical support linear track 329, a slide block adapter plate 330, a slide block connecting plate 331, a beam linear track 318 and a beam 319; because the swing arm 322 is too long, the harmonic reducer 302 is selected to reduce the speed and increase the output torque, and the swing arm is connected to the driving rotating shaft seat assembly 325 through the swing arm adapter sleeve 323; the R-direction servo motor 303 is connected to the Z-direction nut bushing 321 through an R-direction motor transition mounting plate 320, and mechanical linkage of the R-direction servo motor 303 and the Z-direction servo deceleration motor 304 is achieved.
Step 2: the Z-direction servo speed reducing motor 304 drives a ball screw to rotate through a synchronous belt and a synchronous belt wheel, so that the Z-direction nut bushing 321 and the R-direction servo motor 303 can move up and down, the intelligent welding machine 3 is provided with a front-mounted 3D vision tracker 4 which scans the actual appearance size of a welding seam in advance, analyzes the optimal walking route during welding, corrects and compensates data in a walking control system, the width direction of the welding seam is controlled by a motor in a Y-direction servo motor mounting seat 301 to move, and corrects the data transmitted according to a 3D vision system in time, the driving direction of the 3D vision tracker is front-mounted, collects three-dimensional size data of the welding seam, and analyzes the optimal driving route and welding speed during welding.
And step 3: the intelligent welding machine 3 is provided with a laser displacement sensor for measuring the vertical distance between the welding gun and the welding line at any time and feeding back to the control system in time, if deviation needs to be adjusted, the system enables the H to compensate the motor and adjust to the optimal welding height,
it will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (6)
1. The utility model provides an intelligent welding machine for LNG boats and ships bunker inner wall, includes sharp track (1), coupling fixture mechanism (2), intelligent welding machine (3), 3D vision tracker (4), remote controller, plasma welding power, water cooling system and plasma water-cooling welding rifle, 5 axle linkage servo control system and control display panel, its characterized in that: the welding jig is characterized in that a plurality of groups of connecting clamp mechanisms (2) are arranged between the linear track (1) and the welding female groove, guide wheels (313) are arranged on the outer side of the linear track (1), guide wheel shafts (314) penetrate through the guide wheels (313), eight groups of guide wheel shafts (314) are arranged, four groups of guide wheel shafts (314) are arranged at the bottom of a movable guide support (312), four groups (314) on the other side of the linear track (1) are fixed at the bottom of a fixed guide wheel assembly (315), the movable guide support (312) and the fixed guide wheel assembly (315) are fixed at the bottom of the intelligent welding machine (3), a Y-direction servo motor (301), an R-direction servo motor (303), a Z-direction servo motor (304), an X-direction servo motor (305) and a Z-direction motor approach limit switch (306) are respectively arranged in the intelligent welding machine (3), An R-direction motor approach limit switch (307) and an H-direction servo motor (308), wherein the R-direction motor approach limit switch (307) is arranged at the lower end of the R-direction servo motor (303), a Z-direction motor approach limit switch (306) is arranged at the upper end of the Z-direction servo motor (304), an R-direction motor transition mounting plate (320) is arranged at one end of the R-direction servo motor (303), a harmonic reducer (302) is arranged at one end, far away from the servo motor (303), of the R-direction motor transition mounting plate (320), a swing arm (322) is connected at one end of the harmonic reducer (302), a swing arm switching shaft sleeve (323) is arranged at one side of the swing arm (322), a vertical support (324) is connected at one end, far away from the swing arm (322), of the swing arm switching shaft sleeve (323), a driving rotating shaft base assembly (325) is connected at one end, far away from the swing arm switching shaft sleeve (323), of the vertical support (324), one side of the driving rotating shaft seat assembly (325) is connected with a connecting rod (326), one side of the connecting rod (326) is positioned at the lower end of the vertical support (324) and is connected with a vertical support straight line (329), one end, far away from the driving rotating shaft seat assembly (325), of the vertical support straight line (329) is connected with a slider adapter plate (330), one end, far away from the vertical support straight line (329), of the slider adapter plate (330) is connected with a slider connecting plate (331), one end of the slider connecting plate (331) is provided with a slider, the slider penetrates through a sliding chute in the cross beam straight line track (318), one side of two ends of the cross beam straight line track (318) is connected with a cross beam (319), one side of the cross beam (319) is provided with a slider, the slider penetrates through the insides of the two groups of Z-direction straight line tracks (317), and the bottom of the driving rotating shaft seat assembly (325) is connected with a driven rotating shaft seat assembly (328) in a ground-measuring way, the top of the driven rotating shaft seat assembly (328) is connected with an H-direction servo motor (308), one side of the H-direction servo motor (308) is provided with a Y-direction servo motor (301), the bottom of the Y-direction servo motor (301) is connected with a welding gun chuck (327), and a welding gun penetrates through the inside of the welding gun chuck (327).
2. An intelligent welder for LNG ship bunker inner walls, as claimed in claim 1, characterized in that: linear track (1) includes sharp rack (101), aluminium alloy track (102), track connection piece (103) and anticollision piece (104), sharp rack (101) set up the inboard of aluminium alloy track (102), anticollision piece (104) set up one side of track connection piece (103), track connection piece (103) set up the both ends of aluminium alloy track (102).
3. An intelligent welder for LNG ship bunker internal walls, according to claim 2, characterized in that: the intelligent welding machine is characterized in that a guide adjusting rod (310) is arranged on one side of the bottom of the intelligent welding machine (3), one end of the guide adjusting rod (310) is connected with a fine adjustment mounting seat (311), an adjusting handle (309) is arranged on one side of the fine adjustment mounting seat (311), and a clutch handle (316) is arranged on one side of the X-direction servo motor (305) inside the intelligent welding machine (3).
4. An intelligent welder for LNG ship bunker inner walls, as claimed in claim 1, characterized in that: the guide wheel (313) is a needle bearing, and the guide wheel shaft (314) is subjected to quenching and tempering and quenching treatment.
5. An intelligent welder for LNG ship bunker inner walls, as claimed in claim 1, characterized in that: the connecting clamp mechanism (2) comprises a push-pull type quick clamp (201), a quick clamp mounting seat (202), an adjusting screw rod (203), a guide sliding block (204), a track connecting block (205), a clamping seat (206), a fixed clamping jaw (207), a movable clamping jaw (208) and a thin nut (209), wherein the push-pull type quick clamp (201) penetrates through the quick clamp mounting seat (202), the adjusting screw rod (203) penetrates through the push-pull type quick clamp (201), one end, far away from the push-pull type quick clamp (201), of the adjusting screw rod (203) is connected with the fixed clamping jaw (207), the guide sliding block (204) is connected with the movable clamping jaw (208) through the track connecting block (205), the fixed clamping jaw (207) is arranged at the top of the guide sliding block (204), and the movable clamping jaw (208) is arranged at the top of the clamping seat (206), the thin nut (209) is disposed on one side of the quick clamp mount (202).
6. An intelligent welder for LNG ship bunker inner walls, as claimed in claim 1, characterized in that: the front end of the intelligent welding machine (3) is provided with the 3D visual tracker (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110778378.4A CN113333926B (en) | 2021-07-09 | 2021-07-09 | Intelligent welding machine for inner wall of LNG ship fuel tank |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110778378.4A CN113333926B (en) | 2021-07-09 | 2021-07-09 | Intelligent welding machine for inner wall of LNG ship fuel tank |
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| CN113333926A true CN113333926A (en) | 2021-09-03 |
| CN113333926B CN113333926B (en) | 2024-07-12 |
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| CN202110778378.4A Active CN113333926B (en) | 2021-07-09 | 2021-07-09 | Intelligent welding machine for inner wall of LNG ship fuel tank |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114055042A (en) * | 2021-12-21 | 2022-02-18 | 宁波凯荣新能源有限公司 | Special automatic welding device for wave-shaped plate of thin film type liquid cargo containment system |
| CN114178762A (en) * | 2021-12-24 | 2022-03-15 | 宁波凯荣新能源有限公司 | Wave-shaped plate holder of automatic welding device for wave-shaped plate of film type liquid cargo containment system |
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| CN114178762A (en) * | 2021-12-24 | 2022-03-15 | 宁波凯荣新能源有限公司 | Wave-shaped plate holder of automatic welding device for wave-shaped plate of film type liquid cargo containment system |
| CN114619367A (en) * | 2022-05-12 | 2022-06-14 | 海尼肯智能技术成都有限公司 | A axle mechanism that is used for combined material blade dead pixel staggered floor equipment of polishing |
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| CN113333926B (en) | 2024-07-12 |
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