NL2030837B1 - Multi-freedom-degree machining actuator for a curved surface of a hull - Google Patents

Multi-freedom-degree machining actuator for a curved surface of a hull Download PDF

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Publication number
NL2030837B1
NL2030837B1 NL2030837A NL2030837A NL2030837B1 NL 2030837 B1 NL2030837 B1 NL 2030837B1 NL 2030837 A NL2030837 A NL 2030837A NL 2030837 A NL2030837 A NL 2030837A NL 2030837 B1 NL2030837 B1 NL 2030837B1
Authority
NL
Netherlands
Prior art keywords
rack
linear
motor
platform
sliding block
Prior art date
Application number
NL2030837A
Other languages
Dutch (nl)
Inventor
Zhang Lin
Miao Qiuhua
Guan Zhiguang
Zhou Siqi
Zhang Dong
Original Assignee
Univ Shandong Jiaotong
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Univ Shandong Jiaotong filed Critical Univ Shandong Jiaotong
Priority to NL2030837A priority Critical patent/NL2030837B1/en
Application granted granted Critical
Publication of NL2030837B1 publication Critical patent/NL2030837B1/en

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Classifications

    • 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
    • B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
    • B23K37/02—Carriages for supporting the welding or cutting element
    • B23K37/0211—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track
    • B23K37/0235—Carriages for supporting the welding or cutting element travelling on a guide member, e.g. rail, track the guide member forming part of a portal
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/25—Movable or adjustable work or tool supports
    • B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
    • B23Q1/56—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B23Q1/60—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism
    • B23Q1/62—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides
    • B23Q1/621—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides a single sliding pair followed perpendicularly by a single sliding pair
    • B23Q1/626—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides a single sliding pair followed perpendicularly by a single sliding pair followed perpendicularly by a single sliding pair
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B25J5/04—Manipulators mounted on wheels or on carriages travelling along a guideway wherein the guideway is also moved, e.g. travelling crane bridge type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/01—Frames, beds, pillars or like members; Arrangement of ways
    • B23Q1/012—Portals

Abstract

A multi-freedom-degree machining actuator for a curved surface of a hull uses a guide rail rack that supports a movable platform through sliding blocks, linear polished shafts and a transmission lead screw, the movable platform is connected to a mechanical arm through a transmission rack, and the mechanical arm is fixedly connected to a welding gun. The movable platform includes a first sliding block, a second sliding block, a first linear polished shaft, a second linear polished shaft, the transmission lead screw, etc. The rack transmission device includes a lengthened linear sliding block, a gear, a rack and a second motor. The mechanical arm includes a first rotary arm, a second rotary arm, a third rotary arm, a first swing arm, a second swing arm, a third swing arm, etc. The multi- freedom-degree machining actuator enlarges work space of the mechanical arm, and achieves siX-freedom-degree pose adjustment of the welding gun.

Description

MULTI-FREEDOM-DEGREE MACHINING ACTUATOR FOR A CURVED
SURFACE OF A HULL
TECHNICAL FIELD
[01] The present invention relates to the technical field of shipbuilding, in particular to a multi-freedom-degree machining actuator for a curved surface of a hull.
BACKGROUND ART
[02] A ship welding technology is one of key technologies in a modern shipbuilding mode. The advanced efficient ship welding technology plays an important role in the aspects of improving the ship construction efficiency, reducing the ship construction cost, improving the ship construction quality and the like and is an effective path for improving economic benefits of enterprises. Various domestic shipyards make the advanced welding technology and welding automation technological equipment play a role in production around the general requirement of the modern shipbuilding mode, with promoting shipbuilding final assembly and meticulous management as key points and in combination with product carriers.
[03] Robot welding refers to perfect combination of the computer technology, the automatic control technology and the gas shield welding technology and is suitable for ship component batched and miniaturized welding production and narrow cabin short weld joint all-position welding. A welding robot has advantages of being high in efficiency, stable in quality and the like and belongs to a high-end welding technology for improving welding mechanization and intellectualization. Shipyards in China less apply the high-tech welding technology, particularly a ship welding robot system, and the welding robot has deep significance on ship efficient welding automation. How to design a multi-freedom-degree welding robot for the curved surface of the hull with simple structure becomes an engineering problem urgently to be solved in the industry.
SUMMARY
[04] The present invention aims at providing a multi-freedom-degree machining actuator for a curved surface of a hull. On one hand, a movable platform is used for driving a mechanical arm to move in a large range, and the mechanical arm rapidly moves to the assigned operation position; and on the other hand, through a controlled coupled motion of the mechanical arm, spatial six-freedom-degree pose adjustment of a welding gun is achieved, and accurate welding of the curved surface of the hull is guaranteed.
[05] The present invention achieves the above purpose through the following technical solution:
[06] the multi-freedom-degree machining actuator for a curved surface of a hull uses a guide rail rack, the guide rail rack supports a movable platform through sliding blocks, linear polished shafts and a transmission lead screw, the movable platform is connected to a mechanical arm through a transmission rack, and a tail end of the mechanical arm is fixedly connected to the welding gun.
[07] The movable platform includes a first sliding block, a second sliding block, a first linear polished shaft, a second linear polished shaft, the transmission lead screw, a first motor, a platform and a rack transmission device. The first sliding block is connected to the guide rail rack through a first movable pair, the first sliding block is fixedly connected to one end of the first linear polished shaft and one end of the second linear polished shaft, the other end of the first linear polished shaft and the other end of the second linear polished shaft are fixedly connected to the second sliding block, and the second sliding block is connected to the guide rail rack through a second movable pair; the first sliding block is connected to one end of the transmission lead screw through a first revolving pair, the other end of the transmission lead screw is rotationally connected to one side of the second sliding block through a second revolving pair, the other side of the second sliding block is fixedly connected to the first motor through a fixing bolt, and an output shaft of the first motor is fixedly connected to the transmission lead screw through a second revolving pair; and the platform is provided with a threaded through hole and two smooth through holes, the platform is connected to the transmission lead screw through the threaded through hole, and the platform is connected to the first linear polished shaft and the second linear polished shaft through the two smooth through holes. The rack transmission device includes a lengthened linear sliding block, a gear, a rack and a second motor. The lengthened linear sliding block is connected to the platform through a third movable pair and a fourth movable pair; the lengthened linear sliding block is fixedly connected to the rack, the rack is connected to the gear through a gear pair, the gear is fixedly connected to an output shaft of the second motor, and the second motor is fixedly connected to the platform through fixing bolts.
[08] The mechanical arm includes a first rotary arm, a second rotary arm, a third rotary arm, a first swing arm, a second swing arm, a third swing arm, a third motor, a fourth motor, a fifth motor, a first rotary device, a second rotary device, a third rotary device and the welding gun. The first rotary arm is connected to a tail end of the lengthened linear sliding block through the first rotary device, the other end of the first rotary arm is connected to one end of the first swing arm through a third revolving pair, thefirst swing arm is fixedly connected to the third motor, the other end of the first swing arm is connected to the second swing arm through a fourth revolving pair, the second swing arm is fixedly connected to the fourth motor, the other end of the second swing arm is connected to the second rotary arm through the second rotary device, the second rotary arm is fixedly connected to the fifth motor, the other end of the second rotary arm is connected to one end of the third swing arm through a fifth revolving pair, the other end of the third swing arm is connected to one end of the third rotary arm through the third rotary device, and the other end of the third rotary arm is fixedly connected to the welding gun. The third motor drives the first swing arm to rotate relative to the first rotary arm, the fourth motor drives the second swing arm to rotate relative to the first swing arm, and the fifth motor drives the third rotary arm to rotate relative to the third swing arm.
[09] Compared with the prior art, the present invention has prominent advantages:
[10] (1) the present invention achieves large-range movement of the mechanical arm through the movable platform, then, the reachable work space of the mechanical arm is guaranteed, the work space of the multi-freedom-degree machining actuator for a curved surface of a hull is greatly enlarged, and different hull machining requirements are met; and
[11] (2) the six-axis mechanical arm is used, six-freedom-degree pose adjustment of the welding gun is achieved, and the requirement for automatic welding flexibility of the curved surface of the hull is met.
BRIEF DESCRIPTION OF THE DRAWINGS
[12] FIG. 1 is a first structural schematic diagram of a multi-freedom-degree machining actuator for a curved surface of a hull of the present invention.
[13] FIG. 2 is a second structural schematic diagram of a multi-freedom-degree machining actuator for a curved surface of a hull of the present invention.
[14] FIG. 3 is a first structure local schematic diagram of a multi-freedom-degree machining actuator for a curved surface of a hull of the present invention.
DETAILED DESCRIPTION OF THE EMBODIMENTS
[15] The multi-freedom-degree machining actuator for a curved surface of a hull uses a guide rail rack, the guide rail rack supports a movable platform through sliding blocks, linear polished shafts and a transmission lead screw, the movable platform is connected to a mechanical arm through a transmission rack, and a tail end of the mechanical arm is fixedly connected to the welding gun.
[16] As shown in FIG. 1, FIG. 2 and FIG. 3, the movable platform comprises a first sliding block 6, a second sliding block 7, a first linear polished shaft 2, a second linear polished shaft 3, a transmission lead screw 4, a first motor 8, a platform 5 and a rack transmission device. The first sliding block 6 is connected to the guide rail rack 1 through a first movable pair 23, the first sliding block 6 is fixedly connected to one end of the first linear polished shaft 2 and one end of the second linear polished shaft 3, the other end of the first linear polished shaft 2 and the other end of the second linear polished shaft 3 are fixedly connected to the second sliding block 7, and the second sliding block
7 is connected to the guide rail rack 1 through a second movable pair 24; the first sliding block 6 is connected to one end of the transmission lead screw 4 through a first revolving pair 31, the other end of the transmission lead screw 4 is rotationally connected to one side of the second sliding block 7 through a second revolving pair 32, the other side of the second sliding block 7 is fixedly connected to the first motor 8 through a fixing bolt, and an output shaft of the first motor 8 is fixedly connected to the transmission lead screw 4 through a second revolving pair 32; and the platform 5 is provided with a threaded through hole and two smooth through holes, the platform is connected to the transmission lead screw 4 through the threaded through hole, and the platform 5 is connected to the first linear polished shaft 2 and the second linear polished shaft 3 through the two smooth through holes. The rack transmission device includes a lengthened linear sliding block 9, a gear 11, a rack 12 and a second motor 10. The lengthened linear sliding block 9 is connected to the platform 5 through a third movable pair 33 and a fourth movable pair 34; the lengthened linear sliding block 9 is fixedly connected to the rack 12, the rack 12 is connected to the gear 11, the gear 11 is fixedly connected to an output shaft of the second motor 10, and the second motor 10 is fixedly connected to the platform 5 through fixing bolts. The first movable pair 23 and the second movable pair 24 are main movable pairs. The movable platform longitudinally and transversely moves relative to the guide rail rack 1 under the controlled coupled motion; and the lengthened linear sliding block 9 can be driven by the second motor 10 to do the lifting motion relative to the platform 5, and the mechanical arm rapidly reaches the work position under the joint action of the movable platform and the lengthened linear sliding block 9.
[17] As shown in FIG. 1, FIG. 2 and FIG. 3, the mechanical arm includes a first rotary arm 13, a second rotary arm 16, a third rotary arm 18, a first swing arm 14, a second swing arm 15, a third swing arm 17, a third motor 20, a fourth motor 21, a fifth motor 22, a first rotary device 28, a second rotary device 29, a third rotary device 30 and the welding gun 19. The first rotary arm 13 is connected to a tail end of the lengthened linear sliding block 9 through the first rotary device 28, the other end of the first rotary arm 13 is connected to one end of the first swing arm 14 through a third revolving pair 25, the first swing arm 14 is fixedly connected to the third motor 20, the other end of the first swing arm 14 is connected to the second swing arm 15 through a fourth revolving pair 26, the second swing arm 15 is fixedly connected to the fourth motor 21, the other end of the second swing arm 15 is connected to the second rotary arm 16 through the second rotary device 29, the second rotary arm 16 is fixedly connected to the fifth motor 22, the other end of the second rotary arm 16 is connected to one end of the third swing arm 17 through a fifth revolving pair 27, the other end of the third swing arm 17 is connected to one end of the third rotary arm 18 through the third rotary device 30, and the other end of the third rotary arm 18 is fixedly connected to the welding gun 19. The third motor 20 drives the first swing arm 14 to rotate relative to the first rotary arm 13, the fourth motor 21 drives the second swing arm 15 to rotate relative to the first swing arm 13, and the fifth motor 22 drives the third rotary arm 18 to rotate relative to the third swing arm 17. The first rotary device 28, the second rotary device 29 and the third rotary device 30 are main revolving pairs. The welding gun 19 achieves spatial six-freedom- degree pose adjustment under the controlled coupling action of the mechanical arm, and welding operation of the curved surface of the hull is facilitated.
[18] In the operation process of the multi-freedom-degree machining actuator for a curved surface of a hull, the specific operation working conditions are as follows:
[19] in the actual operation process, firstly, the movable platform is controlled to drive the mechanical arm to move to the assigned position; and then the mechanical arm is jointly driven by the third motor 20, the fourth motor 21, the fifth motor 22, a first rotation driving device 28, a second rotation driving device 29 and a third rotation driving device 30 to do the controlled coupled motion, six-freedom-degree pose adjustment of the welding gun is achieved, and welding operation of the curved surface of the hull is finished.
[20] Technologies except technical features mentioned in the Description all are known technologies of professional skill.

Claims (2)

Conclusies L Bewerkingsactuator met meerdere vrijheidsgraden voor een gekromd oppervlak van een romp met behulp van een geleidingsrailheugel, waarbij de geleidingsrailheugel een beweegbaar platform ondersteunt door schuifblokken, lineair gepolijste assen en een transmissiespilschroef, waarbij het beweegbare platform verbonden is met een mechanische arm door een transmissieheugel en een staarteind van de mechanische arm vast verbonden is met een laspistool; waarbij het beweegbare platform een eerste schuifblok, een tweede schuifblok, een eerste lineair gepolijste as, een tweede lineair gepolijste as, de transmisstespilschroef, een eerste motor, een platform en een heugeltransmissie-inrichting omvat; waarbij het eerste schuifblok verbonden is met de geleidingsrailheugel door een eerste beweegbaar paar, waarbij het eerste schuifblok vast verbonden is met één eind van de eerste lineair gepolijste as en één eind van de tweede lineair gepolijste as, waarbij het andere eind van de eerste lineair gepolijste as en het andere eind van de tweede lineair gepolijste as vast verbonden zijn met het tweede schuifblok en waarbij het tweede schuifblok verbonden is met de geleidingsrailheugel door een tweede beweegbaar paar; waarbij het eerste schuifblok verbonden is met één eind van de transmissiespilschroef door een eerste draaiend paar, waarbij het andere eind van de transmissiespilschroef roterend verbonden 1s met één zijde van het tweede schuifblok door een tweede draaiend paar, waarbij de andere zijde van het tweede schuifblok vast verbonden is met de eerste motor door een bevestigingsbout en waarbij een uitvoeras van de eerste motor vast verbonden is met de transmissiespilschroef door een tweede draaiend paar; en waarbij het platform voorzien is van een van draad voorzien doorgaand gat en twee gladde doorgaande gaten, waarbij het platform verbonden is met de transmissiespilschroef door het van draad voorziene doorgaande gat en waarbij het platform verbonden is met de eerste lineair gepolijste as en de tweede lineair gepolijste as door de twee gladde doorgaande gaten.Claims L Multiple degrees of freedom machining actuator for a curved surface of a fuselage using a guide rail rack, the guide rail rack supporting a movable platform by slide blocks, linear polished shafts and a transmission spindle screw, the movable platform being connected to a mechanical arm by a transmission rack and a tail end of the mechanical arm is fixedly connected to a welding gun; the movable platform comprising a first slide block, a second slide block, a first linear polished shaft, a second linear polished shaft, the transmission spindle screw, a first motor, a platform and a rack transmission device; wherein the first slide block is connected to the guide rail rack by a first movable pair, the first slide block being fixedly connected to one end of the first linear polished shaft and one end of the second linear polished shaft, the other end of the first linear polished shaft and the other end of the second linear polished shaft are fixedly connected to the second slide block and the second slide block is connected to the guide rail rack by a second movable pair; the first sliding block being connected to one end of the transmission pivot screw by a first rotating pair, the other end of the transmission pivot screw being rotationally connected to one side of the second sliding block by a second rotating pair, the other side of the second sliding block being fixed is connected to the first motor by a fixing bolt and an output shaft of the first motor is fixedly connected to the transmission pivot screw by a second rotating pair; and wherein the platform is provided with a threaded through hole and two smooth through holes, the platform is connected to the transmission spindle screw through the threaded through hole, and the platform is connected to the first linear polished shaft and the second linear polished shaft through the two smooth through holes. 2. Bewerkingsactuator met meerdere vrijheidsgraden voor een gekromd oppervlak van een romp volgens conclusie 1, waarbij de heugeltransmissie-inrichting een verlengd, lineair schuifblok, een tandwiel, een heugel en een tweede motor omvat, waarbij het verlengde, lineaire schuifblok verbonden is met het platform door een derde beweegbaar paar en een vierde beweegbaar paar; en waarbij het verlengde, lineaire schuifblok vast verbonden is met de heugel, waarbij de heugel verbonden is met het tandwiel door een tandwielpaar, waarbij het tandwiel vast verbonden is met een uitvoeras van de tweede motor en waarbij de tweede motor vast verbonden is met het platform door bevestigingsbouten.The multi-degree-of-freedom machining actuator for a curved surface of a fuselage according to claim 1, wherein the rack transmission device comprises an elongated linear sliding block, a gear, a rack and a second motor, the elongated linear sliding block being connected to the platform by a third movable pair and a fourth movable pair; and wherein the extended linear slide block is rigidly connected to the rack, the rack is rigidly connected to the gear by a pair of gears, the gear is rigidly connected to an output shaft of the second motor, and the second motor is rigidly connected to the platform by mounting bolts.
NL2030837A 2022-02-07 2022-02-07 Multi-freedom-degree machining actuator for a curved surface of a hull NL2030837B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
NL2030837A NL2030837B1 (en) 2022-02-07 2022-02-07 Multi-freedom-degree machining actuator for a curved surface of a hull

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
NL2030837A NL2030837B1 (en) 2022-02-07 2022-02-07 Multi-freedom-degree machining actuator for a curved surface of a hull

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NL2030837B1 true NL2030837B1 (en) 2023-08-14

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2120202A (en) * 1982-05-03 1983-11-30 Nova Robotics Inc Industrial robot
JPS591108A (en) * 1982-06-23 1984-01-06 Mitsutoyo Mfg Co Ltd Drilling machine
WO2011133050A1 (en) * 2010-04-20 2011-10-27 Promotech Sp. Z.O.O. Method and device for cutting openings in flat, concave or convex surfaces
CN205466163U (en) * 2016-01-19 2016-08-17 付艺晗 Three -dimensional handling robot of 6 -degree of freedom
CN112809129A (en) * 2020-12-17 2021-05-18 上海船舶工艺研究所(中国船舶工业集团公司第十一研究所) Curved surface jointed board welding device and method based on line laser welding seam detection and tracking
CN214163074U (en) * 2020-12-31 2021-09-10 焦作大学 Sliding base for robot
CN214867913U (en) * 2020-12-17 2021-11-26 上海船舶工艺研究所(中国船舶工业集团公司第十一研究所) Curved surface jointed board welding device based on line laser welding seam detection and tracking

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2120202A (en) * 1982-05-03 1983-11-30 Nova Robotics Inc Industrial robot
JPS591108A (en) * 1982-06-23 1984-01-06 Mitsutoyo Mfg Co Ltd Drilling machine
WO2011133050A1 (en) * 2010-04-20 2011-10-27 Promotech Sp. Z.O.O. Method and device for cutting openings in flat, concave or convex surfaces
CN205466163U (en) * 2016-01-19 2016-08-17 付艺晗 Three -dimensional handling robot of 6 -degree of freedom
CN112809129A (en) * 2020-12-17 2021-05-18 上海船舶工艺研究所(中国船舶工业集团公司第十一研究所) Curved surface jointed board welding device and method based on line laser welding seam detection and tracking
CN214867913U (en) * 2020-12-17 2021-11-26 上海船舶工艺研究所(中国船舶工业集团公司第十一研究所) Curved surface jointed board welding device based on line laser welding seam detection and tracking
CN214163074U (en) * 2020-12-31 2021-09-10 焦作大学 Sliding base for robot

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