CN206780417U - Rotary hull inner chamber welding robot - Google Patents
Rotary hull inner chamber welding robot Download PDFInfo
- Publication number
- CN206780417U CN206780417U CN201720587759.3U CN201720587759U CN206780417U CN 206780417 U CN206780417 U CN 206780417U CN 201720587759 U CN201720587759 U CN 201720587759U CN 206780417 U CN206780417 U CN 206780417U
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- China
- Prior art keywords
- welding
- frame
- vehicle frame
- inner chamber
- electric rotating
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- Expired - Fee Related
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- Butt Welding And Welding Of Specific Article (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The utility model discloses a kind of rotary hull inner chamber welding robot, including vehicle frame, walking mechanism, rotating mechanism and welding executing agency on vehicle frame, the vehicle frame includes lower vehicle frame and upper frame, and the walking mechanism includes two travel driving motors, two driving wheels, two crawler belts, two driven pulleys；The rotating mechanism includes electric rotating machine, ring flange；The welding executing agency includes two fixed supports, hydraulically extensible frame, welding motor, movable part, welding gun, fixed connecting rod, hold-down support, ultrasonic wave detector；The ultrasonic wave detector, travel driving motor, electric rotating machine, welding motor, welding gun are connected with the intelligence control system in frame.This robot for overhauling can fast automatic weld seam detection and reparation to any position in hull inner chamber, the defects of changing existing artificial detection, effectively reduce production process, reduce production cost, and detect precisely, repairing quality it is high, suitable for shipping industry.
Description
Technical field
It the utility model is related to a kind of welder, and in particular to a kind of rotary hull inner chamber welding robot.
Background technology
Welding is the important step in boat segmental manufacture, and determines the key factor of hull mass.Provided according to correlation
Material, 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.If there is defect for welding, it is possible to cause structure to tear, seepage, even
Cause Ship's Sinking.40% Fragile Split, which is since at weld defect, to be shown to the investigation of ship Fragile Split according to the relevant personnel
's.In international steamer and ships used for military purposes, the welding quality of ship is particularly important, right during being tested to ship
The inspection of weld seam is particularly important, therefore, should find defect early, weld defect is eliminated, weld seam Resolving probiems, to ensure to navigate by water
Safety, improve ship quality.
And in large-scale production, it will usually there is some the small weld seams left later in welding, such as：Gas
Hole, slag inclusion, weld crack, lack of penetration, arc crater etc., although can be detected by the detection process in later stage, still need to pair
It is sewed up, and the position while welding of hull inner chamber is more and complicated, not only increases the process and production cost of production,
And weld seam is tiny and is difficult to observe, so as to cause many troubles to many shipbuilding factories.
Utility model content
In view of the deficienciess of the prior art, the utility model provides a kind of rotary hull inner chamber welding robot, this
Device uses Mecanum wheel and ultrasonic wave detector, fast automatic any position weld seam in hull inner chamber can be examined automatically
Repair, effectively reduce production process, reduce production cost, and strong adsorption force, suitable for shipping industry.
In order to achieve the above object, the technical scheme that the utility model is taken：
Rotary hull inner chamber welding robot, including vehicle frame, walking mechanism, rotating mechanism and welding on vehicle frame
Executing agency, the vehicle frame include cylindrical lower vehicle frame and the rotatable upper frame being sheathed on lower vehicle frame, the walking
Mechanism includes being symmetrically set in two travel driving motors under in lower vehicle frame, and two travel driving motors are connected with by shaft coupling
One driving wheel, two driving wheels with one made of magnetic material crawler belt engage, the end of two crawler belts is engaged with a driven pulley；
The rotating mechanism includes the electric rotating machine being located between two travel driving motors, and the electric rotating machine is by ring flange with getting on the bus
The bottom connection of frame；The welding executing agency includes two fixed supports in upper frame, is provided between two fixed supports
One is rectangle the hydraulically extensible frame of shape, and the hydraulically extensible frame is by the welding motor control on fixed support, the liquid
The end of pressure telescopic frame is articulated with cylindrical movable part, and the end of the movable part is connected with a welding gun, both sides are opened
Provided with sliding groove, the sliding groove is provided with one and fixes connecting rod, and the fixation connecting rod is fixed on lower vehicle frame by hold-down support, described
Weld the ultrasonic wave detector that executing agency also includes being located at upper frame obliquely downward；The ultrasonic wave detector, hoofing part electricity
Machine, electric rotating machine, welding motor, welding gun are connected with the intelligence control system in frame.
As optimal technical scheme, in order that ultrasonic wave detector can be realized carries out essence to all gaps of hull inner chamber
Quasi- detection, so as to improve Hull Welding quality, be advantageous to improve security performance, the ultrasonic wave detector is horizontal by 60 °
Angle is installed.
As optimal technical scheme, in order to reduce pressure of the upper frame to electric rotating machine, so as to extend making for electric rotating machine
With the life-span, the cost of robot for overhauling is reduced, the electric rotating machine outside is provided with a circular rotating ring, the circular rotating ring
Bottom, the top of lower vehicle frame with upper frame are rigidly connected.
Compared with prior art, the utility model has the advantage that：
1st, two driving wheels are set to drive two driven pulleys, can be fast automatic to ship with reference to rotating mechanism and welding gun executing agency
The weld seam detection of any position of intracoelomic cavity and reparation, the defects of changing existing artificial detection, effectively reduce production process, reduce life
Cost is produced, and detects accurate, repairing quality height, suitable for shipping industry.
2nd, ultrasonic wave detector is installed horizontal by 60 ° of angles, and ultrasonic wave detector can be realized to hull inner chamber
All gaps are precisely detected, and so as to improve Hull Welding quality, are advantageous to improve security performance.
3rd, electric rotating machine outside is provided with a circular rotating ring, effectively reduces pressure of the upper frame to electric rotating machine, so as to
Extend the service life of electric rotating machine, reduce the cost of robot for overhauling.
Brief description of the drawings
The utility model is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the schematic diagram of utility model works state；
Fig. 3 is front view of the present utility model；
Fig. 4 is the structural representation of ring flange；
Drawing reference numeral：1st, lower vehicle frame, 2, upper frame, 3, travel driving motor, 4, driving wheel, 5, crawler belt, 6, driven pulley,
7th, electric rotating machine, 8, ring flange, 9, fixed support, 10, hydraulically extensible frame, 11, welding motor, 12, movable part, 13, welding gun,
14th, sliding groove, 15, fixed connecting rod, 16, hold-down support, 17, ultrasonic wave detector, 18, circular rotating ring.
Embodiment
A kind of specific embodiment of the utility model, rotary hull inner chamber welding robot, including car are proposed as shown in Figure 1
Frame, walking mechanism, rotating mechanism and welding executing agency, the vehicle frame on vehicle frame include cylindrical lower vehicle frame 1
With the rotatable upper frame 2 being sheathed on lower vehicle frame 1, the present embodiment sets the diameter of upper frame 2 to be less than the diameter of lower vehicle frame 1,
The walking mechanism includes being symmetrically set in two travel driving motors 3 under in lower vehicle frame 1, and two travel driving motors 3 pass through
Shaft coupling is connected with a driving wheel 4, and it is servomotor that the present embodiment, which sets two travel driving motors, can be precisely controlled two actively
Wheel 4 speed, position turn to, two driving wheels 4 with one made of magnetic material crawler belt 5 engage, the end of two crawler belts 5 is nibbled
Conjunction has a driven pulley 6, as shown in figure 3, then two driving wheels 4 drive two driven pulleys 6 to walk, whole robot is balanced and is stablized；
The rotating mechanism include be located at two travel driving motors 3 between electric rotating machine 7, the electric rotating machine 7 by ring flange 8 with
The bottom connection of upper frame 2, the electric rotating machine 7 mainly provides a rotary freedom to upper frame 2, as shown in Fig. 2 described
Ring flange 8 includes cylindrical connecting rod and the flange in connecting rod, as shown in Figure 4；The welding executing agency
A hydraulically extensible frame 10 for being rectangle shape is provided with including two fixed supports 9 in upper frame 2, between two fixed supports 9,
The hydraulically extensible frame 10 is provided with a hydraulic cylinder for controlling it to elongate or shorten, and the hydraulic cylinder is by fixed support 9
Welding motor 11 control, the present embodiment set it is described welding motor 11 be PLC program motors, hydraulically extensible frame can be controlled
10 are elongated or shortened, and the end of the hydraulically extensible frame 10 is articulated with cylindrical movable part 12, the movable part 12
End be connected with a welding gun 13, both sides offer sliding groove 14, the sliding groove 14 is provided with one and fixes connecting rod 15, and this is solid
Determine connecting rod 15 to be fixed on lower vehicle frame 1 by hold-down support 16, the welding executing agency also includes being located at the obliquely downward of upper frame 2
Ultrasonic wave detector 17；The ultrasonic wave detector 17, travel driving motor 3, electric rotating machine 7, welding motor 11, welding gun 13
It is connected with the intelligence control system in frame, the intelligence control system mainly uses PLC, reception signal, starts
Corresponding part performs action, is existing mature technology.
The ultrasonic wave detector 17 is installed horizontal by 60 ° of angles, and 60 ° of angle installations, more preferable visual angle detects hull
Weld seam between steel plate, ultrasonic wave detector is realized and all gaps of hull inner chamber are precisely detected, so as to carry
High Hull Welding quality, be advantageous to improve the security performance of hull.
The outside of electric rotating machine 7 is provided with a circular rotating ring 18, the circular rotating ring 18 and the bottom of upper frame 2
Portion, the top of lower vehicle frame 1 are rigidly connected, and the circular rotating ring 18 can effectively reduce pressure of the upper frame 2 to electric rotating machine 7
Power, so as to extend the service life of electric rotating machine 7, reduce the cost of robot for overhauling.
When the utility model uses：By all devices connect power supply after and start, two travel driving motors 3 driving two master
Driving wheel 4 rotates, and drives two driven pulleys 6 to rotate by crawler belt 5, so that robot for overhauling steadily advances, if ultrasonic wave detector
17 when detecting poor weld, the azimuth information of weld seam is passed into intelligence control system, after intelligence control system analysis
Drive two travel driving motors 3 to work, make two driving wheels 4 toward rolling at poor weld, after arrival, intelligence control system
According to weld seam and the direction of welding gun 13, start whether electric rotating machine 7 turns to, so that welding gun 13 is located on the same straight line of weld seam, intelligence
Energy control system makes hydraulically extensible frame extend or contract according to the horizontal range between welding gun 13 and weld seam, control welding motor 11
It is short, welding gun 13 is moved forward and backward in sliding groove 14 to weld seam, and then carry out accurate repair welding.
Certainly, simply the utility model preferred embodiment is described in detail with reference to accompanying drawing above, not
Practical range of the present utility model is limited with this, all equivalence changes made according to principle of the present utility model, construction and structure,
It all should be covered by the scope of protection of the utility model.
Claims (3)
1. rotary hull inner chamber welding robot, it is characterised in that：Including vehicle frame, walking mechanism, rotation on vehicle frame
Mechanism and welding executing agency, the vehicle frame include cylindrical lower vehicle frame (1) and rotatable are sheathed on lower vehicle frame (1)
Upper frame (2), the walking mechanism include being symmetrically set in two travel driving motors (3) under in lower vehicle frame (1), and two walkings are driven
Dynamic motor (3) is connected with a driving wheel (4) by shaft coupling, two driving wheels (4) with one made of magnetic material crawler belt
(5) engage, the end of two crawler belts (5) is engaged with a driven pulley (6)；The rotating mechanism includes being located at two travel driving motors
(3) electric rotating machine (7) between, the electric rotating machine (7) are connected by ring flange (8) with the bottom of upper frame (2)；The weldering
Meeting executing agency includes two fixed supports (9) in upper frame (1), and two fixed supports are rectangle between (9) provided with one
The hydraulically extensible frame (10) of shape, the hydraulically extensible frame (10) are controlled by the welding motor (11) on fixed support (9), institute
The end for stating hydraulically extensible frame (10) is articulated with cylindrical movable part (12), and the end of the movable part (12) is connected with
One welding gun (13), both sides offer sliding groove (14), and the sliding groove (14) is provided with one and fixes connecting rod (15), the fixation connecting rod
(15) it is fixed on by hold-down support (16) on lower vehicle frame (1), the welding executing agency also includes under upper frame (2) is oblique
The ultrasonic wave detector (17) of side；The ultrasonic wave detector (17), travel driving motor (3), electric rotating machine (7), welding electricity
Machine (11), welding gun (13) are connected with the intelligence control system in frame.
2. rotary hull inner chamber welding robot according to claim 1, it is characterised in that：The ultrasonic wave detector
(17) installed horizontal by 60 ° of angles.
3. rotary hull inner chamber welding robot according to claim 1 or 2, it is characterised in that：The electric rotating machine
(7) outside is provided with a circular rotating ring (18), the bottom of the circular rotating ring (18) and upper frame (2), lower vehicle frame (1)
Top is rigidly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720587759.3U CN206780417U (en) | 2017-05-24 | 2017-05-24 | Rotary hull inner chamber welding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720587759.3U CN206780417U (en) | 2017-05-24 | 2017-05-24 | Rotary hull inner chamber welding robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206780417U true CN206780417U (en) | 2017-12-22 |
Family
ID=60711756
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720587759.3U Expired - Fee Related CN206780417U (en) | 2017-05-24 | 2017-05-24 | Rotary hull inner chamber welding robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206780417U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107030713A (en) * | 2017-05-24 | 2017-08-11 | 钦州学院 | Rotary hull inner chamber welding robot |
| CN109530854A (en) * | 2018-11-21 | 2019-03-29 | 南通理工学院 | Semi-closed space auxiliary flaw detection, carbon planing and welding robot |
-
2017
- 2017-05-24 CN CN201720587759.3U patent/CN206780417U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107030713A (en) * | 2017-05-24 | 2017-08-11 | 钦州学院 | Rotary hull inner chamber welding robot |
| CN109530854A (en) * | 2018-11-21 | 2019-03-29 | 南通理工学院 | Semi-closed space auxiliary flaw detection, carbon planing and welding robot |
| CN109530854B (en) * | 2018-11-21 | 2020-12-18 | 南通理工学院 | Semi-closed space auxiliary flaw detection, carbon planing and welding robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171222 Termination date: 20180524 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |