Ship sub-assembly automatic assembling device based on binocular vision and implementation method thereof

Abstract

The invention discloses a ship sub-assembly automatic assembling device based on binocular vision. The device comprises a conveying platform, a robot assembly door frame, a binocular vision device, arobot grabbing device and a control system, wherein the conveying platform is horizontally arranged; the robot assembly door frame comprises a two-degree-of-freedom movable portal frame and a spot welding robot; the binocular vision device comprises a binocular vision camera and a controller; and the robot grabbing device comprises a grabbing robot and an electromagnetic adsorption disc. The invention further provides an implementation method based on the device. The device can effectively complete the automatic spot welding assembly operation of a bottom plate and a rib plate of a ship sub-assembly structural part; the binocular vision device can quickly acquire the coordinate information of the bottom plate and the rib plate, and the production efficiency is improved; and the robot assembly door frame and the robot grabbing device only need to update the operation template program according to the installation coordinate information of the rib plate, so that automatic assembly and grabbing installation operations are carried out, which is more convenient, quick and efficient.

Description

Technical field [0001] The invention belongs to the technical field of ship construction equipment, in particular to an automatic assembly device for ship group erection based on binocular vision and an implementation method, and particularly relates to a device for automatic assembly of ship group erection. Background technique [0002] The shipbuilding industry is a labor-intensive industry. In response to the difficult recruitment and shortage of labor, the shipyard has continuously promoted intelligent manufacturing, and realized the robot intelligent welding operation in the ship group construction stage, which not only ensures the construction quality, but also improves the construction efficiency. [0003] At present, the vertical assembly of the ship team still relies on manual operations. The workers use the markings on the vertical bottom of the ship team as marks. After manually moving the ribs in place, the verticality is ensured by a square, and manual welding is used f...

AI Technical Summary

Problems solved by technology

[0003] At present, the vertical assembly of the ship group still relies on manual operations. The workers manually move the ribs in place according to the line on the vertical bottom plate of the ship group, and then use a square to ensure verticality. Manual welding is used for assembly operations. Repeated work is often time-consuming and labor-intensive. In addition, the smoke and arc light generated by welding affect the health of workers. In order to ensure the rhythm of robot welding, several assembly workers need to be invested, which increases labor costs.

Images