CN205764381U - A kind of welding robot manufactured for boat segmental - Google Patents
A kind of welding robot manufactured for boat segmental Download PDFInfo
- Publication number
- CN205764381U CN205764381U CN201520901621.7U CN201520901621U CN205764381U CN 205764381 U CN205764381 U CN 205764381U CN 201520901621 U CN201520901621 U CN 201520901621U CN 205764381 U CN205764381 U CN 205764381U
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- track
- welding
- guide rail
- horizontal shore
- base
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Abstract
The purpose of this utility model is to provide a kind of welding robot manufactured for boat segmental, and including track, base, connector, and the standard mechanical hands for welding, the clear rifle that are arranged on base cut silk device, welding wire feeder, wire tray erecting device.Described track is across on the shelves lattice of cabin, described base and track mobile link, and described connector connects described track and shelves lattice.This utility model is rational in infrastructure, easy to use, and cost is controlled, and can be accurately positioned welding robot position in cabin, and it is capable of accurate welding, it is ensured that and welding quality, eliminate the mode of human weld, improve work efficiency, improve production efficiency, meet the demand produced.
Description
Technical field
This utility model relates to a kind of shipbuilding technology, a kind of welding robot manufactured for boat segmental.
Background technology
Welding is the important step during boat segmental manufactures, and is also the key factor determining hull mass.According to related data, in segmentation manufactures, welding job amount occupies 30% to the 40% of ship sectional construction whole project, and welding cost occupies 30% to the 50% of hull construction totle drilling cost.At present, welding substantially or the manual welding manner based on workman in the boat segmental cabin manufacture of China, also it is not carried out automatization or robot welding work.
And in some industrially developed country, such as Japan and Korea S., Europe, the United States, boat segmental welding robot has been obtained for a certain degree of application.From eighties of last century eighties, Japan is just researched and developed for shipboard automation solder technology, and automatization's average level that its boat segmental welds has reached 70%～80%.At present, for boat segmental Welding Problems, Japan is a large amount of uses planer-type robot and hand-held semi-automatic dolly to carry out welding job.The many countries in Europe employ robot welding system in boat segmental is built the most to some extent.Relatively more representative such as company of IGM robot of Austria.IGM robot welding system has more application in boat segmental manufacture, time most, can be operated by 10 robot composition arrays in a system.In addition the state such as Britain, Norway, Denmark, France, Holland, Russia have employed automated arm and robot in shipbuilding the most to some extent.
Work compared to the robot welding of other field, it is big that boat segmental welding is mainly characterized by hull size, target workpiece size length and the width of boat segmental welding typically have 3m × 2m, the plurality of specifications such as 10m × 5m, maximum workpiece size is likely to be breached 20m × 20m, the radius of action of general industrial robot only has 1.5m, and this results in boat segmental welding cannot use thinking target " welded after first clamping " in other robot welding work.And widely used planer-type welding robot thinking the most European, Japanese overcomes the interference that robot is moved by cabin interior gear lattice, owing to its cost is high, weight is big, install complexity, it is difficult at present use in shipyard large-scale promotion.At present, in boat segmental manufacture, especially in the welding of cabin, still fully rely on and be accomplished manually relevant work.Due to the unstability of human weld, solder skip and the situation of weldering by mistake easily occur, easily causes welding error, it is impossible to reach the standard of accurate welding, and manual type welding job efficiency is extremely inefficient, it is impossible to realizing batch and welding continuously, production efficiency is low.
Summary of the invention
The purpose of this utility model is to provide a kind of welding robot manufactured for boat segmental, and including track, base, connector, and the standard mechanical hands for welding, the clear rifle that are arranged on base cut silk device, welding wire feeder, wire tray erecting device.Described track is across on the gear lattice of cabin, described base and track mobile link, and described connector connects described track and gear lattice.
Using above-mentioned welding robot, described track is made up of the splicing of multiple single-unit track bracing frames, and described each single-unit track bracing frame includes horizontal shore in horizontal shore, lower horizontal shore and vertical support frame；Arrange single along band tooth V guide rail on described upper horizontal shore；Arrange single along without tooth V guide rail on described middle horizontal shore；Described lower horizontal shore is arranged on gear lattice；Described three horizontal shores are fixed on vertical support frame.
Above-mentioned welding robot, described connector is used to include adjustable bottom feet, switching regulator magnetic adsorption device, U-shaped stationary fixture；Described U-shaped stationary fixture includes two jig arm and connects the connecting portion of jig arm, and described lower clip arm upper bottom surface presses on gear lattice wall, and described upper clip arm is provided with threaded footing through hole；Described switching regulator magnetic adsorption device is arranged on gear lattice, and between two jig arm of U-shaped stationary fixture；Described adjustable bottom feet is connected with footing through hole whorl, and an adjustable bottom feet wherein working position is to press on switching regulator magnetic adsorption device；Described track is arranged on switching regulator magnetic adsorption device.
Using above-mentioned welding robot, described base is slided in orbit by an actuating device, and described actuating device includes driving motor, travelling gear, upper eccentric roller, lower eccentric roller.Travelling gear is connected with the rotating shaft driving motor, and upper eccentric roller is connected with base rotation, and lower eccentric roller one is connected with base rotation；Described travelling gear engages with single tooth along band tooth V guide rail；The circumferentially arranged circle of described upper eccentric roller with single along band tooth V guide rail along the groove mated, described list is along the edge of band tooth V guide rail and this engagement；The circumferentially arranged circle of described lower eccentric roller with single along without tooth V guide rail along groove mate, described single edge is without the edge of tooth V guide rail and this engagement.
This utility model is compared with prior art, have the advantage that welding robot of the present utility model, rational in infrastructure, easy to use, can quickly be assembled by five parts, simultaneously by the form of track bracing frame, expand the working range of robot, owing to track bracing frame can infinitely splice, robot of the present utility model is adapted to the multiple ship type segmentation that varies in size；This utility model is in conjunction with the mechanical hand on track bracing frame and gas shield welding welding gun, complete automatic welding function, thus robot can reach each position in ship's space, realize the accurate welding of cabin small space, eliminate the mode of human weld, it is to avoid welding quality error, improve work efficiency, improve production efficiency, using effect is good, is beneficial to promote.
Below in conjunction with Figure of description, this utility model is described further.
Accompanying drawing explanation
Fig. 1 is robot system composition diagram.
Fig. 2 is single-unit track bracing frame splicing regulation partial elevational enlarged drawing.
Fig. 3 is single-unit track bracing frame splicing regulation partial rear enlarged drawing.
Fig. 4 is mechanical hand mounting seat and track bracing frame contact side view.
Fig. 5 is connecting-piece structure schematic diagram.
Detailed description of the invention
The boat segmental welding robot that this utility model relates to, robot is specifically made up of six parts: an end equipment has the mechanical hand of welding gun, for the splice track set up at ship's space, for carrying welding procedure equipment (device cut by wire reel, wire-feed motor, clear rifle) and the base of mechanical hand, the electrical control cabinet controlled for system and electric welding machine, for connecting track and the connector of cabin gear lattice, for the actuating device driving base to move in orbit.In use, mechanical hand, technological equipment are arranged on base, base is assemblied on track bracing frame, and track is fixed on the gear lattice in boat segmental cabin by connector as the base of this utility model robot, and UNICOM's electric-control system completes the segmentation welding job of robot.
Track of the present utility model is spliced by multiple single-unit track bracing frames.Splice track is configured to a working face by section bar horizontal shore and section bar vertical support, two V guide rails are fixed in working face, article two, V guide rail parallel is in section bar horizontal shore, guarantee that this working face can be perpendicular to install bottom surface by tiltedly founding bracing frame at working face side installation section bar, by connector, whole track bracing frame is fixed on the gear lattice in cabin.By using support splicing body, positioning board, tooth bar clamp system multiple short track bracing frames can be connected into a long splice track bracing frame, to expand the working range of robot.
Mechanical hand mounting seat of the present utility model can be with the panel of installation manipulator by one, and travel driving motor and eccentric roller are constituted.Mechanical hand mounting seat drives the gear at base another side, gear to be engaged along band tooth V guide rail with the single of splice track bracing frame, control mechanical hand movement position on splice track bracing frame by this gear by travel driving motor；Mechanical hand mounting seat eccentric roller (with motor-driven gear coplanar) embed splice track bracing frame without tooth V guide rail inside; by this roller guarantee mechanical hand mounting seat can on splice track bracing frame easy motion, mounted mechanical hand mounting seat is parallel to splice track bracing frame working face.
For the ease of welding, wire reel, wire-feed motor, clear rifle are cut a device and are screwed on carrying welding procedure equipment base.Carrying welding procedure of the present utility model equipment base is arranged on the upper end of mechanical hand mounting seat by screw, is perpendicular to track bracing frame working face.
When boat segmental carries out welding job, one section of splice track bracing frame is fixed on the crossbeam of boat segmental by connector；Repeatedly multistage track bracing frame can be fixed on the gear lattice of boat segmental；Multistage track bracing frame can be linked together by installing tooth bar clamp system and positioning board, and guarantee that the guide rail that track bracing frame connects is in linear state；Then mechanical hand base and technological equipment bearing base being arranged on track bracing frame, and guarantee that the motor that drives of mechanical hand base engages with the band tooth V guide rail on track bracing frame, mechanical hand base eccentric roller embeds inside without tooth V guide rail.Mechanical hand is fixed on base respective regions by tightening up a screw, and arm end is mounted with welding gun.Mounting process equipment bearing base on the upside of mechanical hand mounting seat, is screwed wire reel in respective anchor site, silk device cut by wire-feed motor, clear rifle.Completing some of the above row installation process, solve power source, robot can start working.During work, mechanical hand bearing base drives mechanical hand thereon and technological equipment bearing base to move along track bracing frame, to cross over cabin gear lattice obstacle, reaches in boat segmental cabin each position and starts arm welding job.
Below in conjunction with Fig. 1 to Fig. 5, this utility model is specifically described.
Described base includes a mechanical hand mounting seat 2 and a technological equipment bearing base 7.The standard mechanical hands 1 for welding it is fixed with in mechanical hand mounting seat 2, the welding gun 3 for gas shield welding it is mounted with on the end of mechanical hand 1, the opposite side of mechanical hand mounting seat 2 secures technological equipment bearing base 7, technological equipment bearing base 7 being mounted with, silk device 4 cut by clear rifle, welding wire feeder 5, wire tray erecting device 6.
Described guide rail is spliced by multiple single-unit track bracing frames 9, each single-unit track bracing frame is by horizontal shore 10 on section bar, section bar tiltedly founds bracing frame 12, L-shaped horizontal shore 13, section bar vertical support frame 14, in section bar, under horizontal shore 15 and section bar, horizontal shore 17 forms a firm work surface, is provided with single along band tooth V guide rail 11 on section bar on horizontal shore 10, and in section bar, horizontal shore 11 is provided with single along without tooth V guide rail 16.Single along band tooth V guide rail 11 and single along being common motion guide rail mechanism without tooth V guide rail 16, it is matured product on market at present.
In order to realize the splicing of multiple single-unit track bracing frame 9, described connector includes adjustable bottom feet 19, switching regulator magnetic adsorption device 20, U-shaped stationary fixture 21, support splicing body 24.Wherein adjustable bottom feet 19 is connected with U-shaped stationary fixture 21 by screw thread, and by rotating, adjustable bottom feet 19 can be Telescopic Fixed in any scope of U-shaped stationary fixture 21；Switching regulator magnetic adsorption device 20 is a kind of device that can be carried out magnetic suck by switch, opens switch, and switching regulator magnetic adsorption device 20 has magnetic, it is possible to absorption now cannot be moved on ferrum, shuts switch, and magnetic disappears, and can arbitrarily move；Support splicing body 24 is that splicing positions and design organization for convenience, uses installation screw and nut mechanism on limited screw socket to be fixed.When two single-unit track bracing frames 9 splice, the switching regulator magnetic adsorption device 20 that adjustable bottom feet 19 is connected is adjusted by the screw thread of regulation adjustable bottom feet 19, guarantee that switching regulator magnetic adsorption device 20 can have suitable contact surface with gear lattice in cabin, make U-shaped stationary fixture 21 cope with the height of two single-unit track bracing frame 9 junction points, thus in adapting to different boat segmental, keep off the difference in height situation of lattice；Open the magnetic switch of magnetic adsorption device 20, it is ensured that switching regulator magnetic adsorption device 20 adsorbs on boat segmental gear lattice, is then fixed by support splicing body 24 by screw and nut, thus completes fixing two single-unit track bracing frames 9.
Described actuating device includes driving motor 8, travelling gear 25, upper eccentric roller 221, lower eccentric roller 222.Travelling gear 25 is connected with the rotating shaft driving motor 8, and upper eccentric roller 221 is rotationally connected with mechanical hand mounting seat 2, and lower eccentric roller 222 1 is rotationally connected with mechanical hand mounting seat 2；Described travelling gear 25 engages with single tooth along band tooth V guide rail 11；The circumferentially arranged circle of described upper eccentric roller 221 with single along band tooth V guide rail 11 along the groove mated, described list is along the edge of band tooth V guide rail 11 and this engagement；The circumferentially arranged circle of described lower eccentric roller 222 with single along without tooth V guide rail 16 along groove mate, described single edge is without the edge of tooth V guide rail 16 and this engagement.The travelling gear 25 driven by robotically-driven motor 8 and single engaging along band tooth V guide rail 11, the movement of mechanical hand mounting seat 2 can be positioned by system.And eccentric roller 22 and single edge engaging without tooth V guide rail 16, ensure that mechanical hand mounting seat 2 can be smoothly by horizontal shore 10 on section bar, section bar tiltedly founds bracing frame 12, L-shaped horizontal shore 13, section bar vertical support frame 14, in section bar, under horizontal shore 15 and section bar, horizontal shore 17 forms the stable motion on work surface.
Described track is by the most vertical bracing frame 12, L-shaped horizontal shore 13；Described L-shaped horizontal shore 13 first right-angle side is fixing with track to be connected, and the second right-angle side is by connector fixed gear lattice 26；Two right-angle sides of L-shaped horizontal shore 13 are fixed at the two ends of the most vertical described bracing frame 12.Second right-angle side connector of described L-shaped horizontal shore 13 is arranged on the switching regulator magnetic adsorption device 20 of connector.The single along without the splicing between tooth V guide rail 16 of two single-unit track bracing frame 9 junctions is completed by positioning board 18; the single rack splicing along band tooth V guide rail 11 to two single-unit track bracing frame 9 junctions is completed, it is ensured that robot will not produce significant shock and kinematic error when moving continuously on guide rail because of Bonding Problem by tooth bar clamp system 23.
Claims (6)
1. the welding robot manufactured for boat segmental, it is characterised in that include track, base, connector；
Described track is across on cabin gear lattice (26),
Described base and track mobile link,
Described connector connects described track and gear lattice (26)；
This welding robot also includes that the standard mechanical hands (1) for welding being arranged on base, clear rifle cut silk device (4), welding wire feeder (5), wire tray erecting device (6).
Welding robot the most according to claim 1, it is characterized in that, described track is made up of the splicing of multiple single-units track bracing frame (9), and described each single-unit track bracing frame (9) includes horizontal shore (10), middle horizontal shore (15), lower horizontal shore (17) and vertical support frame (14)；
Arrange single along band tooth V guide rail (11) on described upper horizontal shore (10)；
Arrange single along without tooth V guide rail (16) on described middle horizontal shore (15)；
Described lower horizontal shore (17) is arranged on gear lattice (26)；
Described three horizontal shores are fixed on vertical support frame (14).
Welding robot the most according to claim 1 and 2, it is characterised in that described connector includes adjustable bottom feet (19), switching regulator magnetic adsorption device (20), U-shaped stationary fixture (21)；
The described U-shaped stationary fixture (21) two jig arm (211) including upper clip arm and lower clip arm and connect the connecting portion (212) of jig arm (211), described lower clip arm upper bottom surface presses on gear lattice (26) wall, and described upper clip arm is provided with threaded footing through hole (213)；
Described switching regulator magnetic adsorption device (20) is arranged on gear lattice (26), and is positioned between two jig arm (211) of U-shaped stationary fixture (21)；
Described adjustable bottom feet (19) is threadeded with footing through hole (213), and adjustable bottom feet (19) wherein working position is to press on switching regulator magnetic adsorption device (20)；
Described track is arranged on switching regulator magnetic adsorption device (20).
Welding robot the most according to claim 2, it is characterised in that described base is slided in orbit by an actuating device, and described actuating device includes:
One drives motor (8),
The travelling gear (25) being connected with the rotating shaft driving motor (8),
The upper eccentric roller (221) that one is connected with base rotation,
The lower eccentric roller (222) that one is connected with base rotation；
Described travelling gear (25) engages with single tooth along band tooth V guide rail (11)；
The circumferentially arranged circle of described upper eccentric roller (221) with single along band tooth V guide rail (11) along the groove mated, described list is along the edge of band tooth V guide rail (11) and this engagement；
The circumferentially arranged circle of described lower eccentric roller (222) with single along without tooth V guide rail (16) along groove mate, described single edge is without the edge of tooth V guide rail (16) and this engagement.
Welding robot the most according to claim 3, it is characterised in that described track is by the most vertical bracing frame (12), L-shaped horizontal shore (13)；
Described L-shaped horizontal shore (13) first right-angle side is fixing with track to be connected, and the second right-angle side is by connector fixing gear lattice (26)；
Two right-angle sides of L-shaped horizontal shore (13) are fixed at the two ends of the most vertical described bracing frame (12).
Welding robot the most according to claim 5, it is characterised in that the second right-angle side connector of described L-shaped horizontal shore (13) is arranged on the switching regulator magnetic adsorption device (20) of connector.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520901621.7U CN205764381U (en) | 2015-11-12 | 2015-11-12 | A kind of welding robot manufactured for boat segmental |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520901621.7U CN205764381U (en) | 2015-11-12 | 2015-11-12 | A kind of welding robot manufactured for boat segmental |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205764381U true CN205764381U (en) | 2016-12-07 |
Family
ID=57414109
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520901621.7U Withdrawn - After Issue CN205764381U (en) | 2015-11-12 | 2015-11-12 | A kind of welding robot manufactured for boat segmental |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205764381U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105234534A (en) * | 2015-11-12 | 2016-01-13 | 中国船舶重工集团公司第七一六研究所 | Welding robot for hull block manufacturing |
| CN108188548A (en) * | 2017-12-28 | 2018-06-22 | 江苏杰瑞科技集团有限责任公司 | A kind of robot multi-layer multi-pass welding method |
-
2015
- 2015-11-12 CN CN201520901621.7U patent/CN205764381U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105234534A (en) * | 2015-11-12 | 2016-01-13 | 中国船舶重工集团公司第七一六研究所 | Welding robot for hull block manufacturing |
| CN108188548A (en) * | 2017-12-28 | 2018-06-22 | 江苏杰瑞科技集团有限责任公司 | A kind of robot multi-layer multi-pass welding method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161207 Effective date of abandoning: 20171212 |