Mechanical arm clamping device for a containment system

Abstract

The application provides a mechanical arm clamping device of a containment system, which comprises a first clamp, a second clamp and a third clamp. The first clamp comprises a first threaded joint, a main support rod and a corrugated chuck connected in sequence; the second clamp comprises a second threaded joint and a fixed support; and the third clamp is provided with a first thread at one end and a cavity structure at the center of the other end. By threadedly connecting the first threaded joint, the second threaded joint and the end of the third clamp provided with the first thread through the mechanical arm, the corrugated plate or the heat insulation plate can be moved to a preset installation position under the driving of the mechanical arm when the corrugated chuck clamps the corrugated plate or the fixed support supports and clamps the heat insulation plate, and the scribing tool can be moved to a preset position of the hull plate under the driving of the mechanical arm by clamping the scribing tool with the end of the third clamp provided with the cavity, and the installation reference line of the heat insulation plate can be drawn, so that the installation efficiency and stability of the containment system are greatly improved.

Description

Technical Field

[0001] This application relates to the technical field of shipbuilding, and in particular to a robotic arm gripping device for an enclosure system. Background Technology

[0002] The containment system, as the core of the liquid cargo tank, is characterized by its complex structure, harsh operating environment, and high sealing requirements. The MARK III membrane-type containment system typically includes, externally, a primary shielding layer, a primary insulation layer, a secondary shielding layer, a secondary insulation layer, and the hull plating of the liquid cargo tank. The primary shielding layer is composed of welded stainless steel corrugated plates. The secondary shielding layer is made of composite material bonded to the secondary insulation layer, located between the primary and secondary insulation layers. The primary and secondary insulation layers are constructed by splicing together insulation panels made of plywood and polyurethane foam.

[0003] Currently, the installation of enclosure systems primarily relies on manual labor or limited mechanical devices, leading to low installation efficiency and inconsistent accuracy. To improve construction efficiency and accuracy, CNC robotic arms are needed to complete the installation, particularly the installation of insulation panels, corrugated sheets, and reference line marking. However, the installation materials such as insulation panels and corrugated sheets, as well as the marking tools, are non-standard industrial products, making the matching and fixing of these materials and tools with the robotic arm extremely difficult.

[0004] Therefore, how to provide a robotic arm gripping device for enclosure systems that can improve the installation efficiency and stability of the installation process has become an urgent problem to be solved in this field. Summary of the Invention

[0005] The purpose of this application is to provide a robotic arm gripping device for an enclosure system, which can solve the matching problem between the installation materials and marking tools and the robotic arm, thereby improving the installation efficiency and stability of the enclosure system.

[0006] In a first aspect, embodiments of this application provide an anchor winch base, including a first clamp for holding a corrugated plate, comprising a first threaded joint, a main support rod and a corrugated chuck, one end of the first threaded joint being threaded for threaded connection with a robotic arm, and the other end being connected to the main support rod; the corrugated chuck is fixed to the main support rod for contacting the corrugated plate;

[0007] The first clamp is configured such that, during the installation of the corrugated plate, the corrugated chuck can hold the corrugated protrusions of the corrugated plate, so that the corrugated plate can follow the first clamp and move freely under the drive of the robotic arm, moving the corrugated plate to a preset installation position in the ship's liquid cargo tank.

[0008] In one possible implementation, the corrugated chuck includes a fixed chuck and a movable chuck disposed opposite to each other. The fixed chuck is fixed to the main support rod, and the movable chuck is slidable relative to the support rod and can move in the direction of the fixed chuck in the opposite or opposite direction.

[0009] In one possible implementation, the corrugated chuck further includes a fixed base, the fixed chuck being fixedly connected to the main support rod via a fixed base plate, and the movable chuck being slidably connected to the fixed base plate.

[0010] In one possible implementation, the corrugated chuck is further provided with a connecting screw, which is disposed between the end of the fixed base plate away from the fixed chuck and the movable chuck, and is parallel to the extension direction of the main support rod, and defines the sliding range of the movable chuck on the fixed base.

[0011] In one possible implementation, the first clamp further includes threaded struts disposed at opposite ends of the main support rod and extending toward a side perpendicular to the corrugated plate.

[0012] In one possible implementation, the clamping device further includes a second clamp, which includes a second threaded connector and a fixed bracket. The second threaded connector is used to thread the fixed bracket to the robotic arm, and the fixed bracket is used to support and clamp the insulation plate. The second clamp is used to thread the robotic arm and clamp the insulation plate, thereby allowing it to move freely under the drive of the robotic arm to move the insulation plate to a preset installation position in the ship's liquid cargo tank.

[0013] In one possible implementation, the fixing bracket is a frame structure formed by connecting multiple intersecting plate-like structures, including a first panel and a second panel that are parallel to each other, and a plurality of support plates located between the first panel and the second panel and connecting the two, wherein the threaded joint is connected to one side of the first panel, and the heat insulation plate is connected to one side of the second panel.

[0014] In one possible implementation, the second panel is provided with a plurality of slotted through holes, and the bolt holes on the insulation board are positioned correspondingly when the insulation board contacts the second panel.

[0015] In one possible implementation, the clamping device further includes a third clamp, which includes a first end and a second end opposite to each other. The first end is provided with a first thread for threaded connection with the robotic arm. The center of the second end is set as a cavity structure for clamping a marking tool so that the marking tool can follow the third clamp and move freely under the drive of the robotic arm to draw the installation reference line of the insulation plate at a preset position on the hull plate.

[0016] In one possible implementation, the outer wall of the second end is provided with a second thread on its periphery, and a fastening bolt threaded to the second thread, which can be rotated to fasten the marking tool to the second end.

[0017] Compared with the prior art, the beneficial effects of this application are at least as follows:

[0018] This application provides a robotic arm clamping device for an enclosure system. The clamping device includes a first clamp, a second clamp, and a third clamp. The first clamp includes a first threaded connector, a main support rod, and a corrugated chuck connected in sequence. The second clamp includes a second threaded connector and a fixed bracket. One end of the third clamp is provided with a first thread, and the center of the other end is set as a cavity structure. By using a robotic arm to be threadedly connected to the first threaded connector, the second threaded connector, and the end of the third clamp with the first thread, when the corrugated chuck clamps the corrugated plate or the fixed bracket supports and clamps the insulation plate, the corrugated plate or insulation plate can be moved to a preset installation position under the drive of the robotic arm. Furthermore, the cavity end of the third clamp clamps a marking tool, allowing the marking tool to be moved to a preset position on the hull plate under the drive of the robotic arm, and drawing the installation reference line of the insulation plate. This solves the matching problem between the clamping fixture and the robotic arm, greatly improving the installation efficiency and stability of the enclosure system. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of a first clamp structure according to an embodiment of this application.

[0021] Figure 2 This is a schematic diagram of a first clamp holding a corrugated plate according to an embodiment of this application.

[0022] Figure 3 This is a schematic diagram of a second clamp structure according to an embodiment of this application.

[0023] Figure 4 This is a schematic diagram of a second clamp holding an insulation board according to an embodiment of this application.

[0024] Figure 5 This is a schematic diagram of a third clamp structure according to an embodiment of this application.

[0025] Figure 6 This is a schematic diagram illustrating the structure of a third clamp for holding a marking tool according to an embodiment of this application.

[0026] Illustration:

[0027] 10 Corrugated plate; 100 First clamp; 110 First threaded joint; 120 Corrugated chuck; 121 Fixed chuck; 122 Moving chuck; 123 Fixed base plate; 124 Connecting screw; 130 Main support rod; 140 Threaded strut; 20 Insulation plate; 200 Second clamp; 210 Second threaded joint; 220 Fixed bracket; 221 First panel; 222 Second panel; 223 Support plate; 224 Reinforcing plate; 30 Marking tool; 300 Third clamp; 301 First end; 302 Second end; 310 Fastening bolt; 400 Robotic arm. Detailed Implementation

[0028] The following specific embodiments illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or operated through other different specific embodiments, and various details in this application can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application.

[0029] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the term "connection" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first" and "second," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0030] According to one aspect of this application, a robotic arm gripping device for an enclosure system is provided, see [link]. Figure 1 and Figure 2 Specifically, it includes a robotic arm 400 and a first clamp 100 movably connected to the robotic arm 400. During the installation of the enclosure system, the first clamp 100 is used to hold the corrugated plate 10, and the robotic arm 400 is used to drive the first clamp 100 to move freely and move the corrugated plate 10 to a preset installation position in the ship's liquid cargo tank.

[0031] The first clamp 100 includes a first threaded connector 110, a main support rod 130, and a corrugated chuck 120. One end of the first threaded connector 110 is threaded for threaded connection with the robotic arm 400, thereby connecting the first clamp 100 and the robotic arm 400. The main support rod 130 serves as the supporting body of the first clamp 100, and is used to fix the other end of the first threaded connector 110 and the corrugated chuck 120 thereon. The corrugated chuck 120 contacts the corrugated plate 10 and is used to clamp the corrugated protruding structure of the corrugated plate 10, so that the corrugated plate 10 can move with the first clamp 100.

[0032] In one embodiment, the corrugated chuck 120 includes a fixed chuck 121 and a movable chuck 122 disposed opposite to each other. The fixed chuck 121 is fixed on the main support rod 130, and the movable chuck 122 can move relative to the fixed chuck 121 along the support rod in the direction opposite or away from the fixed chuck 121, thereby realizing the clamping and picking operations of the corrugated plate 10.

[0033] Preferably, the contact surface between the corrugated chuck 120 and the corrugated plate 10 is adapted to the corrugated protruding structure of the corrugated plate 10. Thus, when the corrugated chuck 120 clamps the corrugated plate 10, the fixed chuck 121 and the movable chuck 122, spaced apart from each other, can be located on both sides of the corrugated protruding structure of the corrugated plate 10. When the fixed chuck 121 and the movable chuck 122 move towards each other, they abut against the surface of the corrugated protruding structure of the corrugated plate 10, thereby realizing the clamping process of the corrugated chuck 120 on the corrugated plate 10. Correspondingly, when the movable chuck 122 is controlled to move away from the fixed chuck 121, the mutual abutment relationship between the corrugated protruding structure of the corrugated plate 10 and the fixed chuck 121 and the movable chuck 122 can be released, thereby realizing the placement process of the corrugated chuck 120 on the corrugated plate 10.

[0034] Furthermore, the corrugated chuck 120 also includes a fixed base. The fixed chuck 121 is fixedly connected to the main support rod 130 via a fixed base plate 123, and the movable chuck 122 is slidably connected to the fixed base plate 123. Preferably, a connecting screw 124 is provided between the end of the fixed base plate 123 away from the fixed chuck 121 and the movable chuck 122. The extending direction of the connecting screw 124 is parallel to the extending direction of the main support rod 130, and provides a driving force for the movable chuck 122 to slide on the fixed base plate 123, while also limiting the sliding range of the movable chuck 122 on the fixed base.

[0035] In one embodiment, the first clamp 100 further includes a threaded support rod 140, which is disposed at opposite ends of the main support rod 130 and extends to a side perpendicular to the corrugated plate 10. Thus, when the corrugated chuck 120 clamps the corrugated plate 10, the threaded support rod 140 can abut against the surface of the corrugated plate 10, thereby providing a contact point for the first clamp 100 to clamp the corrugated plate 10 and increasing the stability of the first clamp 100 in the process of moving the corrugated plate 10.

[0036] Preferably, the threaded support rod 140 is movably connected to the main support rod 130 via a fixed base. After the corrugated plate 10 is clamped by the corrugated chuck 120, adjusting the fixed base can adjust the distance between the threaded support rod 140 and the corrugated plate 10, thereby enabling the end of the threaded support rod 140 to abut against the protruding structure of the corrugated plate 10, providing support for the first clamp 100 to clamp the corrugated plate 10.

[0037] Preferably, the threaded strut 140 abuts against the corrugated plate 10 via a support plate 223. One end of the support plate 223 is connected to the end of the threaded strut 140 away from the fixed base, and the other end is an arc-shaped structure that adapts to the protruding structure of the corrugated plate 10, thereby increasing the contact area when abutting against the protruding structure of the corrugated plate 10 and further improving the support stability of the corrugated plate 10.

[0038] In one implementation, see Figure 3 and Figure 4 The clamping device further includes a second clamp 200. During the installation of the enclosure system, the second clamp 200 is used to clamp the insulation panel 20 and can move freely under the drive of the robotic arm 400 to move the insulation panel 20 to a preset installation position in the ship's liquid cargo tank.

[0039] The second clamp 200 includes a second threaded connector 210 and a fixed bracket 220. The second threaded connector 210 is used to thread the fixed bracket 220 to the robotic arm 400. The fixed bracket 220 is used to support and clamp the insulation plate 20, and to increase the contact area with the insulation plate 20, thereby improving the stability of the robotic arm 400 during the movement of the insulation plate 20. The fixed bracket 220 is a frame structure formed by connecting multiple intersecting plate-like structures, including a first panel 221 and a second panel 222 that are parallel to each other, and multiple support plates 223 located between the first panel 221 and the second panel 222 and connecting them. One end of the threaded connector is connected to one side of the first panel 221, and the other end is connected to the robotic arm 400. The insulation plate 20 is connected to one side of the second panel 222, so that the fixed plate can move freely with the robotic arm 400 to provide bottom support.

[0040] Preferably, the second panel 222 is also provided with a plurality of slotted through holes. When the heat insulation board 20 contacts the second panel 222, the bolt holes on the heat insulation board 20 correspond to the through holes on the second panel 222, so that the heat insulation board 20 and the second panel 222 can be fixedly connected by bolts.

[0041] Furthermore, the number of first panels 221 may include multiple panels, and the number of second panels 222 corresponds one-to-one with the number of first panels 221 to adapt to the area size of the insulation board 20. Multiple first panels 221 are fixedly connected by reinforcing plates 224. The second threaded joint 210 can be disposed on the reinforcing plate 224, corresponding to the center of the insulation board 20, to ensure the stability of the second clamp 200 in holding the insulation board 20 during the free movement of the robotic arm 400.

[0042] In yet another implementation, see Figure 5 and Figure 6 The clamping device further includes a third clamp 300. The third clamp 300 is used to clamp the marking tool 30 and is threadedly connected to the robotic arm 400, thereby moving freely under the drive of the robotic arm 400 to draw the installation reference line of the insulation plate 20 at a preset position on the hull plate.

[0043] During installation, the installation positions of the insulation panels 20 need to be pre-positioned. This is achieved by using a marking tool 30 to draw the corresponding installation position for each insulation panel 20 on the hull hull to ensure installation accuracy. The robotic arm 400 drives the third clamp 300 to hold the marking tool 30, which further improves the efficiency and accuracy of reference line drawing, thereby further improving the installation accuracy of the insulation panels 20 and enhancing the thermal insulation effect of the enclosure system.

[0044] The third clamp 300 includes a first end 301 and a second end 302. The first end 301 has a first thread, which is the same as the thread of the first threaded connector 110 and the second threaded connector 210, so that the first end 301 of the third clamp 300 can be threadedly connected to the robotic arm 400. The second end 302 has a second thread and a cavity in the center to accommodate the scribing tool 30. A fastening bolt 310 threadedly connected to the second thread is also fitted around the outer wall of the second end 302. When the scribing tool 30 is located inside the central cavity of the second end 302, rotating the fastening bolt 310 can further tighten the scribing tool 30 to the second end 302, thereby improving the clamping stability of the scribing fixture by the third clamp 300.

[0045] Preferably, the port of the second end 302 is also provided with a plurality of expansion slots. The expansion slots extend from the port of the second end 302 toward the first end 301, dividing the port of the second end 302 into a plurality of discontinuous fan-shaped ring structures. This expands the port diameter of the second end 302 when the second end 302 clamps the scribing tool 30, avoiding the situation where the port of the second end 302 is too small to clamp the scribing tool 30. During the installation of the enclosure system, the second clamp 200 is used to clamp the insulation board 20 and can move freely under the drive of the robotic arm 400. At the same time, it also further improves the clamping stability of the scribing fixture by the third clamp 300.

[0046] Preferably, both the first end 301 and the second end 302 are cylindrical structures, and the port diameter of the first end 301 is larger than the port diameter of the second end 302.

[0047] This application provides a robotic arm gripping device for an enclosure system. The gripping device includes a first clamp 100, a second clamp 200, and a third clamp 300. The first clamp 100 includes a first threaded connector 110, a main support rod 130, and a corrugated chuck 120 connected in sequence. The second clamp 200 includes a second threaded connector 210 and a fixed bracket 220. One end of the third clamp 300 is provided with a first thread, and the center of the other end is configured as a cavity structure. By using a robotic arm 400 to threadedly connect to the first threaded connector 110, the second threaded connector 210, and the threaded end of the third clamp 300 respectively, the corrugated plate 10 or... When the fixed bracket 220 supports and clamps the insulation plate 20, the corrugated plate 10 or the insulation plate 20 can be moved to the preset installation position under the drive of the robotic arm 400. The third clamp 300 with a cavity clamps the marking tool 30, so that the marking tool 30 can be moved to the preset position of the hull plate under the drive of the robotic arm 400, and the installation reference line of the insulation plate 20 is drawn. This solves the matching problem between the fixture and the robotic arm, thereby greatly improving the installation efficiency and installation stability of the enclosure system.

[0048] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of this application, and these improvements and substitutions should also be considered within the scope of protection of this application.

Claims

1. A robotic arm gripping device for an enclosure system, characterized in that, The device includes a first clamp for holding a corrugated plate, comprising a first threaded connector, a main support rod, and a corrugated chuck. One end of the first threaded connector is threaded for threaded connection with a robotic arm, and the other end is connected to the main support rod. The corrugated chuck is fixed to the main support rod for contacting the corrugated plate. The first clamp is configured such that, during the installation of the corrugated plate, the corrugated chuck can hold the corrugated protrusion structure of the corrugated plate, so that the corrugated plate can follow the first clamp and move freely under the drive of the robotic arm, moving the corrugated plate to a preset installation position in the ship's liquid cargo tank. The corrugated chuck includes a fixed chuck and a movable chuck arranged opposite to each other. The fixed chuck is fixed to the main support rod, and the movable chuck can slide relative to the main support rod and move in the direction of the fixed chuck in the opposite or opposite direction. The corrugated chuck also includes a fixed base plate, the fixed chuck is fixedly connected to the main support rod through the fixed base plate, and the movable chuck is slidably connected to the fixed base plate; The corrugated chuck is also provided with a connecting screw, which is located between the fixed base plate at the end away from the fixed chuck and the movable chuck, and is parallel to the extension direction of the main support rod, and defines the sliding range of the movable chuck on the fixed base plate. The first clamp also includes threaded support rods, which are disposed at opposite ends of the main support rod and extend to a side perpendicular to the corrugated plate; It also includes a second clamp, which includes a second threaded connector and a fixed bracket. The second threaded connector is used to thread the fixed bracket to the robotic arm, and the fixed bracket is used to support and clamp the insulation plate. The second clamp is used to thread the robotic arm and clamp the insulation plate, so that it can move freely under the drive of the robotic arm and move the insulation plate to the preset installation position of the ship's liquid cargo tank.

2. The clamping device according to claim 1, characterized in that, The fixed bracket is a frame structure formed by connecting multiple intersecting plate-like structures, including a first panel and a second panel that are parallel to each other, and multiple support plates located between the first panel and the second panel and connecting the two. The second threaded joint is connected to one side of the first panel, and the heat insulation plate is connected to one side of the second panel.

3. The clamping device according to claim 2, characterized in that, The second panel has multiple slotted through holes, which correspond to the positions of bolt holes on the insulation board when the insulation board contacts the second panel.

4. The clamping device according to claim 1, characterized in that, It also includes a third clamp, which has a first end and a second end opposite to each other. The first end is provided with a first thread for threaded connection with the robotic arm. The center of the second end is set as a cavity structure for clamping a marking tool so that the marking tool can follow the third clamp and move freely under the drive of the robotic arm to draw the installation reference line of the heat insulation plate at a preset position on the outer plate of the ship.

5. The clamping device according to claim 4, characterized in that, The outer wall of the second end is provided with a second thread and a fastening bolt that is threadedly connected to the second thread. Rotating the fastening bolt can fasten the scribing tool to the second end.

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