CN-116140887-B - Clamping mechanism of welding robot between ship lattices

Abstract

The invention discloses a clamping mechanism of a welding robot between ship lattices. The robot comprises a robot body, a welding gun, a rotating device, a grid plate, a moving device and the like, wherein the robot body consists of the robot arm and the welding gun and is a main body for finishing welding work, the clamping device consists of four clamping arms and a driving mechanism, the rotating device is connected with the four clamping arms, and the structure of the rotating device comprises a rotating platform and the driving device. The invention is suitable for welding the complex cabin of the ship, in particular to the inter-grid cabin with a grid structure, and improves the adaptability and the functionality of the wall-climbing welding robot to the environment.

Inventors

• HU QIUSHI
• LI HENG
• LI LEI
• ZHANG SHUNYU
• GUO CHENXIAO
• KANG QINGYI
• Zhen Jiaze

Assignees

• 江苏科技大学

Dates

Publication Date

20260505

Application Date

20230330

Claims (2)

1. 1. The clamping mechanism of the welding robot between the ship grids is characterized by comprising a cross-shaped grid plate (5), wherein a clamping device (1) is arranged on one side plate of the grid plate (5), a moving device (6) is connected to the clamping device (1), and a rotating device (4) is arranged on the upper side position of the moving device (6); The clamping device (1) of the inter-grid welding robot comprises a first rack (101), a sliding rail frame (102), a first large gear (103), a second rack (104), a clamping arm frame (105), a telescopic rod (108), a guide rail base (109), a guide rail (110) and a first motor (111); The first motor (111) is arranged on the sliding rail frame (102) and drives the first large gear (103) to rotate through an output shaft, and the first large gear (103) is meshed with the first rack (101) and the second rack (104) respectively; The first rack (101) and the second rack (104) are fixedly arranged on the clamping arm frame (105); The telescopic rod (108) is movably arranged between two sides of the clamping arm frame (105) and stretches and contracts along with the opening and closing of the clamping arm frame (105); the clamping arm frame (105) comprises clamping arms on two sides, a plurality of suckers (106) and at least four sucker brackets (107); At least two sucker supports (107) are arranged on the clamping arm at one side of the clamping arm frame (105), and the other two sucker supports (107) are arranged on the clamping arm at the other side of the clamping arm frame (105) and move along with the opening and closing of the clamping arm frame (105); At least two suckers (106) are arranged at the upper end of the sucker bracket (107) at the upper side, At least two suckers (106) are arranged at the lower end of the sucker support (107) at the lower side, The sucking discs (106) are fixedly arranged on the sucking disc bracket (107); A guide rail base (109) is also arranged on the clamping arm frame (105), and the guide rail base (109) is fixedly arranged on the clamping arm frame (105) and meshed with a guide rail (110) fixedly arranged on the sliding rail frame (102); The rotating device (4) comprises a worm (401), a connecting shaft (402), a second large gear (403), a baffle (404), a rotating table (405), a worm wheel (406), a worm bearing (407), a worm support (408) and a second motor (409); The second motor (409) is connected with the worm (401) through an arranged output shaft, The worm (401) is fixedly arranged on the worm support (408) through a worm bearing (407); The connecting shaft (402) is connected to the upper bottom plate and the lower bottom plate of the worm support (408), is connected with the installed worm wheel (406) through jackscrews, and drives the second large gear (403) fixed on the rotary table (405) to rotate through the worm (401); the baffle (404) is arranged at the periphery of each device; The worm (401), the connecting shaft (402), the second large gear (403), the baffle (404), the worm wheel (406), the worm bearing (407), the worm support (408) and the second motor (409) are all arranged on the rotary table (405) at the bottom; The lower part of the rotary table (405) is connected with the clamping device (1); A mechanical arm (3) is further connected to the upper side of the rotating device (4), and a welding gun (2) is further connected to the other end of the mechanical arm (3); the welding gun (2) is connected to the tail end of the mechanical arm (3) through an installed flange, the mechanical arm (3) is connected to the clamping device (1) through an installed bolt, and the mechanical arm is fixed to the grid plate (5) through the clamping device (1); the moving device (6) comprises an air cylinder support (601), a connecting rod (602), a sliding block (604), a sliding rail (605) and an air cylinder (606); the air cylinder (606) is fixedly connected to the air cylinder support (601), The cylinder support (601) is connected with a sliding block (604), Two ends of the connecting rod (602) are respectively connected with the sliding block (604) and the clamping arm frame (105), and the clamping mechanism is driven to transversely move by the expansion and contraction of the air cylinder (606).
2. 2. The clamping mechanism of the welding robot between ship lattices according to claim 1, wherein the sucker (106) is made of rubber.

Description

Clamping mechanism of welding robot between ship lattices Technical Field The invention belongs to the technical field of mechanical clamping, relates to a clamping mechanism of a welding robot between grids, and particularly relates to a clamping mechanism of a welding robot between ship grids. Background The existing cabin operation robots mostly adopt wall climbing robots or gantry cranes, which have certain defects, and the wall climbing robots possibly have the defect of weak adsorption force due to heavy load, wherein the existing cabin operation robots adopt a magnetic adsorption mode and are only suitable for magnetically permeable materials, so that the environment adaptability is poor. The mode of the gantry crane is poor in flexibility due to larger structure, inconvenient to operate and easy to cause potential safety hazards. To solve both problems, a clamping mechanism of a welding robot is needed, which saves a lot of labor and mechanical costs on the basis of realizing the functions. Disclosure of Invention The invention aims to provide a clamping mechanism of a welding robot between ship lattices, so that the problem of adaptability between the welding robot and the environment and the problem of obstacle surmounting are solved. The clamping mechanism of the welding robot between the ship lattices structurally comprises a clamping device, a welding gun, a mechanical arm, a rotating device, a lattice plate and a moving device which are connected with each other; The welding gun is connected to the tail end of a six-axis mechanical arm through a flange, the base of the six-axis mechanical arm is connected to the clamping device through a bolt, the six-axis mechanical arm is fixed on a workpiece through the clamping device, and transverse movement is realized under the staggered movement of the two pairs of clamping arms; Can drive the robot rotation through rotary device, make the working space increase of arm to can realize quick turning to, thereby realize welding robot's translation and improve work efficiency. Further, the clamping device comprises a left clamping arm and a right clamping arm (clamping arm frame), a transmission shaft, a first large gear, a first rack, a second rack, a telescopic rod, a fixed guide rail (a guide rail base and a guide rail), a sliding rail frame, a sucker support, a first motor, a bolt and a locking nut; the left clamping arm and the right clamping arm are fixed on a sliding rail frame through bolts, a telescopic rod supporting frame is arranged on the clamping arm and used for being connected with a telescopic rod, a base of a guide rail is fixed on the clamping arm through bolts and connected with the sliding rail frame through the guide rail, racks are fixed on the rack supporting frame, racks on two sides are meshed with a large gear in the middle at the same time, the large gear is meshed with a small gear at the same time, transmission of a gear and a rack is realized through driving of a motor, and the clamping arm is driven to perform a clamping function. Further, the tail end of the clamping device is provided with a sucker device, the sucker device comprises a sucker and a sucker support, the sucker is fixed at the tail ends of the left clamping arm and the right clamping arm through the sucker support, the stability of the clamping device is improved, and meanwhile damage to a workpiece is reduced. Further, the rotating device comprises a motor II, a rotating table, a large gear II, a worm, a connecting shaft, a baffle, a turbine, a worm bearing, a worm support and the like, The second motor is fixed on a motor support on the bottom plate and is connected with a worm through an output shaft, the worm is fixed on the worm support through a worm bearing, a connecting shaft is connected with an upper bottom plate and a lower bottom plate of the worm support and is connected with a worm wheel through jackscrews, a second large gear on the rotary table is driven by the worm, rotation of the rotary table is achieved, and the lower side of the rotary table is connected with a clamping device through a fixing shaft, so that rotation of the clamping device is achieved. Further, the moving device comprises an air cylinder support, a connecting rod, a sliding block, a sliding rail, an air cylinder and the like; the cylinder is fixed on the cylinder support, the cylinder support is connected with the sliding block, two ends of the connecting rod are respectively connected with the sliding block and the clamping arm frame, and the clamping mechanism is driven to transversely move through the expansion and contraction of the cylinder, so that the welding mechanical arm can move left and right on the grid plate. Compared with the prior art, the clamping mechanism of the welding robot between grids has the advantages that the clamping mechanism is combined with the rotating device, so that the position transfer of the welding robot during working is realized. Sp