CN210756005U - Automatic welding equipment with multiple external shafts and double robots assembled in ship block - Google Patents
Automatic welding equipment with multiple external shafts and double robots assembled in ship block Download PDFInfo
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- CN210756005U CN210756005U CN201921286817.4U CN201921286817U CN210756005U CN 210756005 U CN210756005 U CN 210756005U CN 201921286817 U CN201921286817 U CN 201921286817U CN 210756005 U CN210756005 U CN 210756005U
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Abstract
The utility model discloses a two robot automatic weld equipment of many outside axles of assemblage in boats and ships block, it includes: the portal frame is of a double-beam structure; the plurality of transverse trolleys are slidably positioned between the two cross beams of the portal frame; a plurality of elevating system, an elevating system is set up to sideslip dolly correspondence, and the lower extreme can stretch out and draw back and set firmly welding robot in vertical direction. The utility model discloses a great expansion of multiaxis longmen system welding robot's reachable scope has increased the flexibility ratio to make the production of assemblage can realize welding robot automatic weld in the block, improve the operational environment who makes quality, improve the worker.
Description
Technical Field
The utility model relates to a shipbuilding technical field. More specifically, the utility model relates to a many external shafts of assemblage duplex robot automatic weld equipment in boats and ships block.
Background
In ship construction, the automatic welding is difficult due to the multiple reasons of diversified structure, complex welding seam path, standard and various welding seams, large welding amount and the like. Simultaneously, the structure of assemblage is great usually in the block, has been divided into a plurality of compartments simultaneously again, and automatic welding equipment flexibility ratio is not enough, and traditional welding robot's welding reachability is not enough. In conclusion, the manual welding mode is adopted in all large shipyards for production. The manual welding faces the practical problems of low efficiency, difficult quality guarantee, poor working environment, difficult personnel management and the like.
SUMMERY OF THE UTILITY MODEL
It is an object of the present invention to solve at least the above problems and to provide at least the advantages which will be described later.
The utility model discloses it is still another purpose to provide a two robot automatic weld equipment of many outside axles of assemblage in boats and ships block, and it adopts many outside axles robot welding system to realize the flexibility welding.
In order to achieve these objects and other advantages in accordance with the present invention, there is provided an automatic welding apparatus for multiple external shafts assembled in a ship block, comprising:
the portal frame is of a double-beam structure; the portal frame can horizontally move along the direction vertical to the beam of the portal frame;
the plurality of traverse trolleys are all positioned between the two cross beams of the portal frame, and two ends of any traverse trolley are respectively connected with the two cross beams of the portal frame in a sliding manner;
the device comprises a plurality of lifting mechanisms, a transverse moving trolley and a plurality of welding robots, wherein one lifting mechanism is correspondingly arranged on one transverse moving trolley, the upper end of any lifting mechanism is connected with the side surface of the transverse moving trolley corresponding to the lifting mechanism in a sliding mode, the lower end of the lifting mechanism can stretch in the vertical direction, the lifting mechanism can horizontally move along the direction vertical to a cross beam of a portal frame relative to the transverse moving trolley, and the bottom of the lifting mechanism is fixedly provided with the welding robots;
the sliding of any transverse moving trolley is driven by a first external shaft motor of the welding robot; the horizontal movement of any lifting mechanism is driven by a second external shaft motor of the welding robot, and the expansion and contraction in the vertical direction are driven by a third external shaft motor of the welding robot.
Preferably, the automatic welding equipment with the multiple external shafts and the double robots is assembled in the ship block, bottoms of support columns on two sides of the portal frame are respectively connected with a guide rail which is horizontally arranged in a sliding mode and horizontally move along the length direction of the guide rail, and the length direction of any guide rail is perpendicular to a cross beam of the portal frame.
Preferably, the automatic welding equipment with the multiple external shafts and the double robots is assembled in the ship block, a beam of the portal frame is parallel to the width direction of the ship block to be welded, and the length of the beam of the portal frame is greater than the width of the ship block to be welded.
Preferably, the ship block is assembled with a multi-external-shaft double-robot automatic welding device, and the distance between two beams of the portal frame is greater than the width of a compartment unit of the ship block to be welded.
Preferably, the automatic welding equipment with the multiple external shafts and the double robots assembled in the ship block is characterized in that first slide rails are arranged on two oppositely-arranged side faces of two cross beams of the portal frame, any first slide rail extends along the length direction of the cross beam, first slide blocks are fixedly arranged at two ends of any transverse trolley respectively, one first slide block is slidably clamped on one first slide rail, and the sliding of one first slide block is connected with an output shaft of a first external shaft motor of the welding robot.
Preferably, a plurality of external shaft double-robot automatic welding equipment is assembled in the ship block, and a second sliding block is fixedly arranged on one side surface of any lifting mechanism; a second slide rail is arranged on one side surface of the traversing trolley and extends along the direction vertical to the beam of the portal frame, and a second slide block is clamped on the corresponding second slide rail in a sliding manner; the sliding of the second slider is connected with an output shaft of a second external shaft motor of the welding robot.
Preferably, the automatic welding equipment with the multiple external shafts and the double robots is assembled in the ship block, and the number of the transverse trolleys is two.
The utility model discloses at least, include following beneficial effect:
the utility model discloses set up a plurality of welding robot, and welding robot installs and spanes on the portal frame of work piece top, can follow the free adjustment of XYZ three direction, solve through welding robot's high flexibility and high stability that the route is complicated, the structure is various, welding seam specification a great variety of difficult problems such as numerous, ensure high welding quality simultaneously. And the multiaxial gantry system greatly expands the reach range of the welding robot and increases the flexibility, thereby realizing the automatic welding of the welding robot in the production of the blocks, improving the manufacturing quality and improving the working environment of workers.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
Fig. 1 is a schematic perspective view of the present invention;
fig. 2 is a front view of the present invention;
fig. 3 is a top view of the present invention.
Detailed Description
The present invention is further described in detail below with reference to the drawings and examples so that those skilled in the art can implement the invention with reference to the description.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
It is to be noted that the experimental methods described in the following embodiments are all conventional methods unless otherwise specified, and the reagents and materials are commercially available unless otherwise specified.
In the description of the present invention, the terms "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
As shown in fig. 1-3, the utility model provides a many outside axles of assemblage automatic weld equipment of two robots in boats and ships block, it includes:
the portal frame is of a double-beam structure; the portal frame can horizontally move along the direction vertical to the beam 11 of the portal frame; the portal frame comprises two beams 11 which are parallel to each other and are horizontally arranged at intervals, connecting rods for connecting two ends of the two beams and two pairs of supporting columns 12 which are fixedly arranged at the bottoms of two sides of the two beams 11 respectively; two beams 11 of the portal frame are welded steel structural members and are formed by finish machining after annealing;
the multiple traverse trolleys 2 are all positioned between the two cross beams 11 of the portal frame, and two ends of any traverse trolley 2 are respectively connected with the two cross beams 11 of the portal frame in a sliding manner;
the device comprises a plurality of lifting mechanisms 3, wherein one transverse trolley 2 is correspondingly provided with one lifting mechanism 3, the upper end of any lifting mechanism 3 is connected with the side surface of the transverse trolley 2 corresponding to the lifting mechanism in a sliding manner, the lower end of the lifting mechanism can stretch in the vertical direction, the lifting mechanism 3 can horizontally move along the direction vertical to a cross beam 11 of a portal frame relative to the transverse trolley 2, and the bottom of the lifting mechanism 3 is fixedly provided with a welding robot 5;
the sliding of any transverse moving trolley is driven by a first external shaft motor of the welding robot; the horizontal movement of any lifting mechanism is driven by a second external shaft motor of the welding robot, and the expansion and contraction in the vertical direction are driven by a third external shaft motor of the welding robot.
In the technical scheme, the utility model discloses set up a plurality of welding robot 5, and welding robot 5 installs and span on the portal frame of work piece top, can follow the free adjustment of XYZ three direction, and by welding robot's external shaft motor drive, solve through welding robot 5's high flexibility and high stability that the route is complicated, the structure is various, welding seam specification is a great variety of difficult problems, ensures high welding quality simultaneously. And the multiaxial gantry system greatly expands the reachable range of the welding robot 5 and increases the flexibility, so that the welding robot 5 can automatically weld in the production assembled in the block 4, the manufacturing quality is improved, and the working environment of workers is improved.
The ship workpieces to be welded are positioned on two pairs of supporting columns 12 of a portal frame, two cross beams 11 of the portal frame extend along the width direction of the workpieces and stretch over the workpieces, the portal frame moves horizontally along the length direction of the workpieces, the position of the welding robot 5 in the longitudinal direction is roughly adjusted, a plurality of welding robots 5 are arranged between the two cross beams 11 in a sliding mode through a plurality of transverse moving trolleys 2, any welding robot 5 moves along the length direction of the cross beam 11 under the driving of the movement of the transverse moving trolleys 2, and the position of the welding robot 5 in the transverse direction can be adjusted; welding robot 5 is connected with sideslip dolly 2 through elevating system 3, elevating system 3 and sideslip dolly 2 are along longitudinal direction sliding connection, can finely tune welding robot 5 in the position of longitudinal direction, elevating system 3's lower extreme can stretch out and draw back in vertical direction, and then drive welding robot 5 and reciprocate in vertical direction, and then adjustable welding robot 5 is in the position of vertical direction, finally realize welding robot 5 at the free adjustment of XYZ three direction of axle.
In another technical scheme, a multi-external-axis double-robot automatic welding device is assembled in the ship block, the bottoms of the support columns 12 on two sides of the portal frame are respectively connected with a guide rail 13 which is horizontally arranged in a sliding mode and horizontally move along the length direction of the guide rail 13, and the length direction of any guide rail 13 is perpendicular to the beam 11 of the portal frame. The portal frame can horizontally slide along the direction vertical to the length direction of the cross beam 11 of the portal frame, and the coarse adjustment of the position of the welding robot 5 in the longitudinal direction can be realized. The supporting column 12 on one side is connected with a traveling mechanism, the moving direction of the traveling mechanism is perpendicular to the length direction of the beam 11 of the portal frame, and the traveling mechanism drives the portal frame to slide on the two guide rails 13.
In another technical scheme, the automatic multi-external-shaft welding equipment with double robots is assembled in the ship block, two beams 11 of the portal frame are parallel to the width direction of the ship block 4 to be welded, and the lengths of the two beams 11 of the portal frame are larger than the width of the ship block 4 to be welded. So that the cross beam 11 can completely span the block 4 work piece in the width direction of the ship block 4.
In another technical scheme, a multi-external-shaft double-robot automatic welding device is assembled in the ship block, and the distance between two beams 11 of the portal frame is greater than the width of a compartment unit of the ship block 4 to be welded. So that the novel gantry frame covers at least one group of bay units in a static state.
In another technical scheme, the automatic welding equipment with the multiple external shafts and the double robots is assembled in the ship block, first sliding rails are arranged on two oppositely-arranged side faces of two cross beams 11 of the portal frame, any first sliding rail extends along the length direction of the cross beam 11, first sliding blocks are fixedly arranged at two ends of any transverse moving trolley 2 respectively, one first sliding block is slidably clamped on one first sliding rail, and the sliding of one first sliding block is connected with an output shaft of a first external shaft motor of the welding robot. The sliding connection between the traversing carriage 2 and the two cross beams 11 is realized.
In another technical scheme, a plurality of external shaft double-robot automatic welding equipment is assembled in the ship block, and a second sliding block is fixedly arranged on one side surface of any lifting mechanism 3; a second slide rail is arranged on one side surface of the traversing trolley 2 and extends along the direction vertical to the beam 11 of the portal frame, and a second slide block is clamped on the corresponding second slide rail in a sliding way; the sliding of the second slider is connected to the output shaft of the second external shaft motor of the welding robot 5. The lifting mechanism 3 and the transverse trolley 2 can be movably connected, and the lifting mechanism can move longitudinally relative to the transverse trolley 2;
elevating system is preferred electric telescopic handle, and the second slider sets firmly in electric telescopic handle's upper end, and electric telescopic handle's free end is down, and the tip of its free end sets firmly welding robot, and electric telescopic handle is by welding robot's third outside axle motor drive, and then drives welding robot along the removal of vertical direction, and then adjusts welding robot in the position of vertical direction.
When the welding robot 5 is lowered to the lowest position along with the downward extension of the lifting mechanism 3, the welding robot 5 can extend to the bottom of the bin wall; when the welding robot 5 is raised to the highest position with the upward contraction of the lifting mechanism 3, the welding robot 5 can move freely avoiding the workpiece. When the welding robot 5 moves to the first limit position or the second limit position longitudinally along with the lifting mechanism 3, the welding robot 5 can extend to the end part of the bin wall along the width direction; when the welding robot 5 moves to the leftmost side or the rightmost side in the transverse direction along with the traverse carriage 2, the welding robot 5 can extend to the leftmost side or the rightmost side of the bin arm.
In another technical scheme, a plurality of external shaft double-robot automatic welding equipment is assembled in the ship block, and the number of the transverse moving trolleys 2 is two. Two sets of welding robot 5 can the collaborative work, can carry out synchronous symmetrical welding to the welding seam of baffle both sides simultaneously, can reduce the deformation that the stress asymmetry caused to obtain good welding quality.
The number of apparatuses and the scale of the process described here are intended to simplify the description of the present invention. Applications, modifications and variations of the present invention will be apparent to those skilled in the art.
While the embodiments of the invention have been described above, it is not intended to be limited to the details shown, or described, but rather to cover all modifications, which would come within the scope of the appended claims, and all changes which come within the meaning and range of equivalency of the art are therefore intended to be embraced therein.
Claims (7)
1. Assemblage many external shafts double robot automatic weld equipment in boats and ships block, its characterized in that, it includes:
the portal frame is of a double-beam structure; the portal frame can horizontally move along the direction vertical to the beam of the portal frame;
the plurality of traverse trolleys are all positioned between the two cross beams of the portal frame, and two ends of any traverse trolley are respectively connected with the two cross beams of the portal frame in a sliding manner;
the device comprises a plurality of lifting mechanisms, a transverse moving trolley and a plurality of welding robots, wherein one lifting mechanism is correspondingly arranged on one transverse moving trolley, the upper end of any lifting mechanism is connected with the side surface of the transverse moving trolley corresponding to the lifting mechanism in a sliding mode, the lower end of the lifting mechanism can stretch in the vertical direction, the lifting mechanism can horizontally move along the direction vertical to a cross beam of a portal frame relative to the transverse moving trolley, and the bottom of the lifting mechanism is fixedly provided with the welding robots;
the sliding of any transverse moving trolley is driven by a first external shaft motor of the welding robot; the horizontal movement of any lifting mechanism is driven by a second external shaft motor of the welding robot, and the expansion and contraction in the vertical direction are driven by a third external shaft motor of the welding robot.
2. The automatic welding equipment of claim 1, wherein the bottoms of the support columns on two sides of the portal frame are respectively connected with a horizontally arranged guide rail in a sliding manner and move horizontally along the length direction of the guide rail, and the length direction of any guide rail is perpendicular to the cross beam of the portal frame.
3. The automatic welding equipment of the assembled multi-external-shaft double-robot in the ship block of claim 2, wherein the beam of the portal frame is parallel to the width direction of the ship block to be welded, and the length of the beam of the portal frame is larger than the width of the ship block to be welded.
4. The automated welding equipment of multi-external-axis twin robots assembled in ship blocks of claim 3, wherein the distance of two beams of the gantry is larger than the width of one bay unit of the ship block to be welded.
5. The automatic welding equipment of claim 4, wherein the two opposing side surfaces of the two beams of the gantry are provided with first sliding rails, any first sliding rail extends along the length direction of the beam, the two ends of any traverse trolley are respectively provided with a first sliding block, one first sliding block is slidably clamped on one first sliding rail, and the sliding of one first sliding block is connected with the output shaft of the first external shaft motor of the welding robot.
6. The automatic welding equipment of the assembled multi-external-shaft double-robot in the ship block body according to claim 5, wherein a second sliding block is fixedly arranged on one side surface of any one of the lifting mechanisms; a second slide rail is arranged on one side surface of the traversing trolley and extends along the direction vertical to the beam of the portal frame, and a second slide block is clamped on the corresponding second slide rail in a sliding manner; the sliding of the second slider is connected with an output shaft of a second external shaft motor of the welding robot.
7. The automated welding apparatus for multiple external shafts assembled in a ship block according to claim 6, wherein the number of the traverse carriages is two.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921286817.4U CN210756005U (en) | 2019-08-09 | 2019-08-09 | Automatic welding equipment with multiple external shafts and double robots assembled in ship block |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921286817.4U CN210756005U (en) | 2019-08-09 | 2019-08-09 | Automatic welding equipment with multiple external shafts and double robots assembled in ship block |
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| CN210756005U true CN210756005U (en) | 2020-06-16 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112643257A (en) * | 2020-12-11 | 2021-04-13 | 济宁凯瑞德机械设备有限公司 | Automatic welding system for steel bars |
| CN113770611A (en) * | 2021-08-30 | 2021-12-10 | 中国船舶重工集团公司第七一六研究所 | Intelligent welding robot for ship cabin |
-
2019
- 2019-08-09 CN CN201921286817.4U patent/CN210756005U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112643257A (en) * | 2020-12-11 | 2021-04-13 | 济宁凯瑞德机械设备有限公司 | Automatic welding system for steel bars |
| CN113770611A (en) * | 2021-08-30 | 2021-12-10 | 中国船舶重工集团公司第七一六研究所 | Intelligent welding robot for ship cabin |
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