CN206824862U - Welding robot for boat segmental manufacture - Google Patents
Welding robot for boat segmental manufacture Download PDFInfo
- Publication number
- CN206824862U CN206824862U CN201720587760.6U CN201720587760U CN206824862U CN 206824862 U CN206824862 U CN 206824862U CN 201720587760 U CN201720587760 U CN 201720587760U CN 206824862 U CN206824862 U CN 206824862U
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- China
- Prior art keywords
- servomotor
- welding
- chassis
- mechanical arm
- wire
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Abstract
The utility model discloses a kind of welding robot for boat segmental manufacture, including chassis, walking mechanism and manipulator mechanism on chassis, the walking mechanism include ring electromagnet, Mecanum wheel, ultrasonic wave detector；The manipulator mechanism includes rotating disk, first mechanical arm, the first servomotor, connects second mechanical arm, the second servomotor, three-mechanical arm, the 3rd servomotor, 3rd servomotor is provided with welding gun, the welding gun is connected with welding wire, and the welding wire end is connected with the wire feeder being fixed on chassis.Welding robot, which sets to be powered, changes the electromagnet of magnetic force size, strong adsorption force, with reference to Mecanum wheel, ultrasonic wave detector and manipulator mechanism, can the fast automatic weld to any position of shipbuilding steel plate weld, the defects of changing human weld, operating efficiency are high, can registration welding and welding quality it is good, strong adsorption force, 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 welding robot for boat segmental manufacture.
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 ship
Body builds 30% to the 50% of totle drilling cost.If there is defect for welding, it is possible to cause structure to tear, seepage, or even draw
Play Ship's Sinking.40% Fragile Split is since at weld defect to be shown to the investigation of ship Fragile Split according to the relevant personnel.
In international steamer and ships used for military purposes, the welding quality of ship is particularly important, during being tested to ship, to weld seam
Inspection it is particularly important, therefore, defect should be found early, weld defect is eliminated, weld seam Resolving probiems, with ensure navigation peace
Entirely, ship quality is improved.
At present, manufactured in boat segmental, especially in the welding of cabin, still fully rely on and be accomplished manually relevant work.By
In the unstability of human weld, easily there is solder skip and the by mistake situation of weldering, easily cause welding error, be unable to reach accurate welding
Standard, and manual type welding job efficiency is extremely inefficient, can not realize batch and continuous welding, low production efficiency.
Utility model content
In view of the deficienciess of the prior art, the utility model provides a kind of welding robot for boat segmental manufacture
People, the present apparatus use Mecanum wheel and ultrasonic wave detector, fast automatic each position in hull inner chamber can be welded, changed
The defects of becoming human weld, operating efficiency is high, can be accurately positioned welding and welding quality is good, suitable for shipping industry.
In order to achieve the above object, the technical scheme that the utility model is taken：
For the welding robot of boat segmental manufacture, including cylindrical chassis, the walking mechanism on chassis
And manipulator mechanism, the walking mechanism include the ring electromagnet located at tray bottom circumference, below the surrounding of chassis
Mecanum wheel, the ultrasonic wave detector below chassis, the electromagnet are connected with power supply and by changing the big of electric current
I changes its magnetic force, and the Mecanum wheel is connected to the walking servomotor of independent control by shaft coupling, and four
Individual walking servomotor is installed on chassis, and the ultrasonic wave detector is the sensor of integrated distance and bearing, main use
In detection weld seam；The manipulator mechanism includes the rotating disk above chassis, and first mechanical arm is provided with above the rotating disk, should
The top of first mechanical arm is hinged with the first servomotor, first servomotor by exporting axis connection second mechanical arm,
The top of the second mechanical arm is hinged with the second servomotor, and described second watches motor by exporting the machinery of axis connection the 3rd
Arm, the top of the three-mechanical arm and the output axis connection of the 3rd servomotor, the 3rd servomotor are provided with welding gun,
The welding gun is connected with welding wire, and the welding wire end is connected with the wire feeder being fixed on chassis；The ultrasonic wave detector,
Walking servomotor, the first servomotor, second watch motor, the 3rd servomotor, welding gun, wire feeder with intelligent control system
System connection.
As optimal technical scheme, in order to prevent welding wire to be broken during welding, ensure smoothly entering for welding job
OK, after the welding wire is sheathed in flexible wire-feeding pipe, it is connected again with welding gun and wire feeder.
As optimal technical scheme, in order that filtering walking servomotor when welder is advanced, the first servomotor, the
Two watch the vibration of motor, the 3rd servomotor, ensure that chassis is stabilized on shipbuilding steel plate, and the chassis is drawn provided with a vibration damping
Module.
Compared with prior art, the utility model has the advantage that：
1st, welding robot, which sets to be powered, changes the electromagnet of magnetic force size, strong adsorption force, with reference to Mecanum wheel, surpasses
Sonic detector and manipulator mechanism, can the fast automatic weld to any position of shipbuilding steel plate weld, change artificial
The defects of welding, operating efficiency are high, can registration welding and welding quality it is good, suitable for shipping industry.
2nd, welding wire is sheathed in flexible wire-feeding pipe and is connected again with welding gun, wire feeder, prevents welding wire during welding
Fracture, ensures being smoothed out for welding job.
3rd, chassis is provided with a vibration damping traction module, welder is filtered walking servomotor, the first servo when advancing
The vibration that motor, second watch motor, the 3rd servomotor, ensures that chassis is stabilized on shipbuilding steel plate.
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 top view of the present utility model；
Drawing reference numeral：1st, chassis, 2, ring electromagnet, 3, Mecanum wheel, 4, supersonic sounding instrument, 5, walking servo electricity
Machine, 6, rotating disk, 7, first mechanical arm, the 8, first servomotor, 9, second mechanical arm, the 10, second servomotor, the 11, the 3rd machine
Tool arm, the 12, the 3rd servomotor, 13, welding gun, 14, welding wire, 15, wire feeder.
Embodiment
A kind of specific embodiment of the utility model is proposed as depicted in figs. 1 and 2, the welding robot for boat segmental manufacture
People, including cylindrical chassis 1, located at the One On The Chassis walking mechanism and manipulator mechanism, the walking mechanism includes being located at
The ring electromagnet 2 of the lower circumference of chassis 1, the Mecanum wheel 3 below the surrounding of chassis 1, located at the lower section rear end of chassis 1
Ultrasonic wave detector 4, the electromagnet 2 are connected with power supply and change its magnetic force, the Mike by changing the big I of electric current
Na Mu wheels 3 are connected to the walking servomotor 5 of independent control by shaft coupling, and four walking servomotors 5 are respectively mounted
On chassis 1, the ultrasonic wave detector 4 is the sensor of integrated distance and bearing, is mainly used in detecting weld seam；The machinery
Mobile phone structure includes being provided with vertically arranged first mechanical arm located at the cylindrical rotating disk 6 in the top of chassis 1, the top of rotating disk 6
7, the top vertical articulation of the first mechanical arm 7 has the first servomotor 8, and first servomotor 8 is by exporting axis connection
Second mechanical arm 9, the top of the second mechanical arm 9 are hinged with the second servomotor 10, and described second watches motor 10 by defeated
Go out axis connection three-mechanical arm 11, the top of the three-mechanical arm 11 and the output axis connection of the 3rd servomotor 12, it is described
3rd servomotor 12 is provided with welding gun 13, then second mechanical arm 9, three-mechanical arm 11 can rotate relative to first mechanical arm 7, make
Welding gun 13 turns to the position of positioning, and the welding gun 13 is connected with welding wire 14, and the end of the welding wire 14 is with being fixed on chassis 1
Wire feeder 15 connect；The ultrasonic wave detector 4, walking servomotor 5, the first servomotor 8, second watch motor 10,
3rd servomotor 12, welding gun 13, wire feeder 15 are connected with intelligence control system, and the intelligence control system is mainly transported
With PLC, reception signal, start corresponding part and perform action, be existing mature technology.
The welding wire 14 be sheathed in flexible wire-feeding pipe after, be connected again with welding gun 13 and wire feeder 15, welding wire 14
When welding job is carried out, easily pull exceptionally straight, be highly prone to external force and be broken, be sheathed in flexible wire-feeding pipe, effectively prevent
Welding wire 14 is broken during welding, ensures being smoothed out for welding job.
The chassis 1 is provided with a vibration damping traction module, welding robot man-hour, and four are walked servomotor 5, first watched
Take motor 8, second watch motor 10, the 3rd servomotor 12 can vibrate, easily cause chassis 1 to be dropped from shipbuilding steel plate,
The effectively filtering four of vibration damping traction module walks servomotor 5, the first servomotor 8, second watches motor 10, the 3rd servomotor 12
Vibration, ensure chassis 1 be stabilized on shipbuilding steel plate, it is ensured that be smoothed out to welding job.
When the utility model uses：Electromagnet 2, which is powered, produces magnetic force, makes welding robot absorption on shipbuilding steel plate, if
When the area of shipbuilding steel plate is larger, larger electric current is passed through to electromagnet 2, vice versa, and four are walked servomotor 5, first watched
Take motor 8, second watch motor 10, the 3rd servomotor 12 connection power supply after, start intelligence control system, ultrasonic wave detector 4
After detecting the weld seam between two steel plates, the azimuth information of weld seam is passed into intelligence control system, intelligence control system starts
Corresponding travel driving motor 5, so as to drive Mecanum wheel 3 to turn to the commissure run between two steel plates, intelligent control
The first servomotor 8 of system startup, second watch motor 10, the steering movement of the 3rd servomotor 12, welding gun 13 is moved to weld seam
Place, intelligence control system start wire feeder 15 and are delivered to welding wire 14 on welding gun 13 by flexible wire-feeding pipe, accurate so as to carry out
Positioningly weld.
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. the welding robot for boat segmental manufacture, it is characterised in that：Including cylindrical chassis (1), located at chassis
(1) walking mechanism and manipulator mechanism on, the walking mechanism include the ring electromagnet located at chassis (1) lower circumference
(2), the Mecanum wheel (3) below chassis (1) surrounding, the ultrasonic wave detector (4) located at rear end below chassis (1),
The electromagnet (2) is connected with power supply and changes its magnetic force by changing the big I of electric current, and the Mecanum wheel (3) is equal
The walking servomotor (5) of independent control is connected to by shaft coupling, four walking servomotors (5) are installed in chassis
(1) on, the ultrasonic wave detector (4) is the sensor of integrated distance and bearing, is mainly used in detecting weld seam；The manipulator
Mechanism includes the rotating disk (6) above chassis (1), and first mechanical arm (7) is provided with above the rotating disk (6), first machinery
The top of arm (7) is hinged with the first servomotor (8), and first servomotor (8) is by exporting axis connection second mechanical arm
(9), the top of the second mechanical arm (9) is hinged with the second servomotor (10), and described second, which watches motor (10), passes through output
Axis connection three-mechanical arm (11), the top of the three-mechanical arm (11) and the output axis connection of the 3rd servomotor (12),
3rd servomotor (12) is provided with welding gun (13), and the welding gun (13) is connected with welding wire (14), the welding wire (14)
End is connected with the wire feeder (15) being fixed on chassis (1)；The ultrasonic wave detector (4), walking servomotor (5),
First servomotor (8), second watch motor (10), the 3rd servomotor (12), welding gun (13), wire feeder (15) with intelligence
Control system connects.
2. the welding robot according to claim 1 for boat segmental manufacture, it is characterised in that：The welding wire (14)
After being sheathed in flexible wire-feeding pipe, it is connected again with welding gun (13) and wire feeder (15).
3. the welding robot according to claim 1 or 2 for boat segmental manufacture, it is characterised in that：The chassis
(1) it is provided with a vibration damping traction module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720587760.6U CN206824862U (en) | 2017-05-24 | 2017-05-24 | Welding robot for boat segmental manufacture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720587760.6U CN206824862U (en) | 2017-05-24 | 2017-05-24 | Welding robot for boat segmental manufacture |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206824862U true CN206824862U (en) | 2018-01-02 |
Family
ID=60772685
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720587760.6U Expired - Fee Related CN206824862U (en) | 2017-05-24 | 2017-05-24 | Welding robot for boat segmental manufacture |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206824862U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106984921A (en) * | 2017-05-24 | 2017-07-28 | 钦州学院 | The welding robot manufactured for boat segmental |
| CN108453445A (en) * | 2018-04-11 | 2018-08-28 | 马鞍山工蜂智能科技有限公司 | A kind of portable miniaturized welding robot |
| CN108544086A (en) * | 2018-04-02 | 2018-09-18 | 方鲁华 | A kind of hull surface welding robot |
| CN109366033A (en) * | 2018-12-29 | 2019-02-22 | 唐山开元特种焊接设备有限公司 | Portable internal partition bonding machine and its application method |
-
2017
- 2017-05-24 CN CN201720587760.6U patent/CN206824862U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106984921A (en) * | 2017-05-24 | 2017-07-28 | 钦州学院 | The welding robot manufactured for boat segmental |
| CN108544086A (en) * | 2018-04-02 | 2018-09-18 | 方鲁华 | A kind of hull surface welding robot |
| CN108453445A (en) * | 2018-04-11 | 2018-08-28 | 马鞍山工蜂智能科技有限公司 | A kind of portable miniaturized welding robot |
| CN109366033A (en) * | 2018-12-29 | 2019-02-22 | 唐山开元特种焊接设备有限公司 | Portable internal partition bonding machine and its application method |
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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: 20180102 Termination date: 20180524 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |