An automatic insulation module installation system

Abstract

This invention discloses an automatic installation system for insulation modules, comprising: an installation moving component; a lifting support transmission component, the lifting support transmission component including a lifting support component and a transmission lifting component, the lifting support component providing support and guidance for the transmission lifting component connected to it on the installation moving component; a rotation adjustment component, the rotation adjustment component including an X-axis rotation adjustment component and a Y-axis rotation adjustment component, the X-axis rotation adjustment component being driven by the transmission lifting component to reciprocate along the Z-axis; and a module gripping installation component, the module gripping installation component including an axial moving component and an automatic gripper for insulation modules, the axial moving component being driven by the Y-axis rotation adjustment component to rotate circumferentially along the Y-axis; and the automatic gripper for insulation modules moving spatially on the axial moving component. This invention has a reasonable structural design, a high degree of automation, low labor intensity, and can significantly improve the installation accuracy and efficiency of insulation modules.

Description

Technical Field

[0001] This invention relates to the field of LNG ship cargo hold containment systems, and more specifically, to an automatic installation system for insulation modules. Background Technology

[0002] LNG carriers are specialized vessels that transport LNG from supply terminals to receiving terminals. The three main characteristics of an LNG carrier are its cargo containment system, cargo barge system, and specialized propulsion system. Among these, the cargo containment system is the most unique area of ​​the entire LNG carrier, as it stores liquefied natural gas and is the most challenging part to design and construct. The LNG membrane tanks within the cargo containment system directly store liquefied natural gas, thus requiring extremely high standards for their sealing, insulation, fire resistance, and thermal insulation. The insulation performance of the LNG membrane tanks is achieved by combining and bonding multiple insulating modules to the hull.

[0003] The insulation modules are numerous, heavy, require high installation precision, and have a long installation cycle. The installation cycle of the insulation modules directly affects the installation cycle of the entire maintenance system. A single insulation module sometimes weighs over 300 kilograms, and the resin at the bottom of the insulation module must not be damaged during installation. The installation precision must reach 1 millimeter, making it very difficult to complete the installation of corner insulation modules by hand.

[0004] In existing technologies, insulation modules are mainly suspended from the ground to scaffolding by cranes, then transported to their positions by multiple construction workers or using rudimentary carts, and finally installed manually. This process is time-consuming and labor-intensive, and the installation quality is inconsistent. Therefore, designing a device capable of automatically installing insulation modules is of great significance. Summary of the Invention

[0005] To overcome the above-mentioned defects, the present invention provides an automatic installation system for insulation modules, specifically adopting the following technical solution:

[0006] An automated installation system for insulation modules includes:

[0007] The installation of the moving parts, which move and stop along the X and Y axes on the bottom surface of the membrane chamber according to a predetermined procedure, provides overall support for the installation of the insulation modules;

[0008] A lifting support transmission component is disposed on the mounting movable component. The lifting support transmission component includes a lifting support component and a transmission lifting component. The lifting support component provides support and guidance for the transmission lifting component connected to it on the mounting movable component.

[0009] A rotation adjustment component is provided on the transmission lifting component. The rotation adjustment component includes an X-axis rotation adjustment component and a Y-axis rotation adjustment component. The X-axis rotation adjustment component is driven by the transmission lifting component to reciprocate along the Z-axis, and the X-axis rotation adjustment component drives the connected Y-axis rotation adjustment component to rotate circumferentially along the X-axis.

[0010] A module gripping and mounting component is disposed on the Y-axis rotation adjustment component. The module gripping and mounting component includes an axial moving component and an automatic gripper for insulating modules. The axial moving component is driven by the Y-axis rotation adjustment component to rotate circumferentially along the Y-axis. The automatic gripper for insulating modules moves spatially on the axial moving component and can automatically grip the insulating module and install the insulating module on the hull at a predetermined position.

[0011] Preferably, the lifting support includes a support plate and a support guide tube. The support plate is fastened to the top surface of the mounting movable component, and the support guide tube is disposed on the support plate. The top surface of the support plate is provided with a Y-direction limiting groove, a first X-direction limiting groove, a second X-direction limiting groove, and a third X-direction limiting groove. The Y-direction limiting groove and the first X-direction limiting groove cooperate to perform planar positioning of the planar insulation module in the insulation module. The Y-direction limiting groove and the second X-direction limiting groove cooperate to perform planar positioning of the 90-degree insulation module in the insulation module. The Y-direction limiting groove and the third X-direction limiting groove cooperate to perform planar positioning of the 135-degree insulation module in the insulation module, so as to facilitate the automatic gripper of the insulation module to automatically grip the insulation module. A plurality of support guide tubes are arranged in a rectangular pattern and vertically fixed on the support plate to provide guidance for the transmission lifting component.

[0012] Preferably, the transmission lifting component includes a lifting transmission component, a lifting power component, and a lifting transmission support component. The lifting transmission component drives along the support guide tube on the support plate. The lifting power component provides power to the connected lifting transmission component on the support plate. The lifting transmission support component is driven by the lifting transmission component to move up and down along the Z-axis.

[0013] Preferably, the X-axis rotation adjustment component includes an X-axis rotation support box and an X-axis rotation power component. The X-axis rotation support box moves along the lifting transmission support component, and the X-axis rotation power component drives the X-axis rotation support box to rotate circumferentially around the X-axis.

[0014] Preferably, the Y-axis rotation adjustment component includes a Y-axis rotation seat and a Y-axis rotation power component. The Y-axis rotation seat is circumferentially fitted into a second rotation through hole on the X-axis rotation support box. The Y-axis rotation power component provides power for the circumferential rotation of the connected Y-axis rotation seat within the X-axis rotation support box.

[0015] Preferably, the axial moving component includes an axial moving transmission component and an axial moving guide component. The axial moving transmission component slides back and forth along its axial direction on the Y-axis rotating seat, and the axial moving guide component moves on the Y-axis rotating seat as the axial moving transmission component moves axially.

[0016] Preferably, the automatic gripper for the insulation module includes a gripping support, an insulation module locking seat, and an automatic nut locking component. The gripping support moves along with the axial movement transmission component and the axial movement guide component. The insulation module locking seat automatically fits onto the bolt of the insulation module on the gripping support, and the automatic nut locking component automatically rotates and locks its internal nut onto the bolt, thereby automatically fastening the insulation module to the insulation module locking seat.

[0017] Preferably, the automatic nut locking mechanism includes a first automatic nut locking mechanism, a second automatic nut locking mechanism, a third automatic nut locking mechanism, and a fourth automatic nut locking mechanism, all of which are disposed on the gripping support base; the first automatic nut locking mechanism and the second automatic nut locking mechanism cooperate to automatically lock the planar insulating module on the insulating module locking base.

[0018] Preferably, the first automatic nut locking component and the third automatic nut locking component cooperate to automatically lock the 90-degree insulation module onto the insulation module locking seat; the second automatic nut locking component and the fourth automatic nut locking component cooperate to automatically lock the 135-degree insulation module onto the insulation module locking seat.

[0019] Preferably, the module gripping mounting component further includes a counterweight, which balances the center of gravity shift caused by the automatic gripper of the insulating module on the Y-axis rotating seat, thereby improving overall stability.

[0020] The present invention has at least the following beneficial effects:

[0021] 1) The automatic installation system for insulation modules of the present invention has a reasonable structural design, a high degree of automation, low labor intensity, and can significantly improve the installation accuracy and efficiency of insulation modules;

[0022] 2) The automatic installation system for insulation modules of the present invention is equipped with an installation moving component, a lifting support transmission component, and a rotation adjustment component. The installation moving component and the lifting support transmission component can drive the insulation module to move along the X-axis, Y-axis, and Z-axis, and through the fine adjustment action of the rotation adjustment component, the insulation module is accurately installed on the hull according to the predetermined coordinates; thus significantly improving the degree of automation and installation accuracy.

[0023] 3) The automatic installation system for insulation modules of the present invention is equipped with a module gripping and mounting component, which can automatically fasten the insulation module to the module gripping and mounting component, and then automatically install it on the hull, which significantly improves the installation accuracy and efficiency of the insulation module.

[0024] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0025] Figure 1 This is a front view of the automatic installation system for insulation modules of the present invention;

[0026] Figure 2 The present invention provides an automatic installation system for insulation modules. Figure 1 A magnified view of part B in the image;

[0027] Figure 3 This is a top view of the automatic installation system for the insulation module of the present invention;

[0028] Figure 4 This is a three-dimensional structural diagram of the automatic installation system for insulation modules of the present invention;

[0029] Figure 5 The present invention provides an automatic installation system for insulation modules. Figure 4 A magnified view of part C;

[0030] Figure 6 This is a left-side perspective view of the automatic installation system for insulation modules of the present invention.

[0031] Figure 7 The present invention provides an automatic installation system for insulation modules. Figure 6 A magnified view of part D;

[0032] Figure 8 This is a three-dimensional structural diagram of the automatic installation system for insulation modules of the present invention, viewed from below on the right.

[0033] Figure 9 The present invention provides an automatic installation system for insulation modules. Figure 8 A magnified view of part E in the image;

[0034] Figure 10This is a top-view three-dimensional structural diagram of the automatic installation system for insulation modules of the present invention;

[0035] Figure 11 The present invention provides an automatic installation system for insulation modules. Figure 10 A magnified view of part of H;

[0036] Figure 12 The present invention provides an automatic installation system for insulation modules. Figure 3 Schematic diagram of the three-dimensional structure on the left side of the cross-section along the AA direction;

[0037] Figure 13 The present invention provides an automatic installation system for insulation modules. Figure 12 A magnified view of part of F;

[0038] Figure 14 The present invention provides an automatic installation system for insulation modules. Figure 3 Schematic diagram of the three-dimensional structure on the right side of the cross-section along the AA direction;

[0039] Figure 15 The present invention provides an automatic installation system for insulation modules. Figure 14 A magnified view of a portion of G.

[0040] The components are: 1-Moving mounting component, 2-Support plate, 3-Support guide tube, 4-Y-direction limiting groove, 5-First X-direction limiting groove, 6-Second X-direction limiting groove, 7-Third X-direction limiting groove, 8-Screw, 9-Lifting transmission block, 10-First motor, 11-Lifting transmission support block, 12-Lifting rotation support shaft, 13-X-axis rotation support box, 14-Third worm gear, 15-Third worm wheel, 16-Y-axis rotation seat, 17-Axial locking circumferential transmission ring, 18-First axial locking pad, 19-Second axial locking pad, 20-Fourth worm gear, 21-Fourth worm wheel, 22-First axial guide tube, 23-Axial movement transmission shaft, 24-Rack, 25-Gear. 26-Second axial guide tube, 27-Axial movement guide shaft, 28-Grabbing support seat, 29-Insulating module locking seat, 30-First locking through hole, 31-Second locking through hole, 32-First long strip locking through hole, 33-Second long strip locking through hole, 34-First automatic nut locking component, 35-Second automatic nut locking component, 36-Third automatic nut locking component, 37-Fourth automatic nut locking component, 38-Fifth motor, 39-First locking transmission tube, 40-First nut, 41-First spring, 42-Bearing ring, 43-Sixth motor, 44-Second locking transmission tube, 46-Second nut, 47-Counterweight support rod, 48-Counterweight block, 49-Rotating positioning seat. Detailed Implementation

[0041] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and by way of embodiments. It should be noted that the description of these embodiments is for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention.

[0042] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, B exists alone, and A and B exist simultaneously. The term " / and" in this article describes another type of relationship between related objects, indicating that two relationships can exist. For example, A / and B can mean: A exists alone, and A and B exist alone. In addition, the character " / " in this article generally indicates that the related objects before and after it are in an "or" relationship.

[0043] according to Figures 1-15 As shown, an automatic installation system for insulating modules includes an installation moving part 1, a lifting support transmission part, a rotation adjustment part, and a module gripping and installing part. The lifting support transmission part is mounted on the installation moving part 1, the rotation adjustment part is mounted on the lifting support transmission part, and the module gripping and installing part is mounted on the rotation adjustment part. The installation moving part 1 provides support for the lifting support transmission part and moves along the X-axis (longitudinal direction of the membrane chamber) and Y-axis (lateral direction of the membrane chamber) on the bottom surface of the membrane chamber according to a predetermined trajectory, stopping at a predetermined position. Further, the installation moving part 1 is a heavy-duty AGV (Automated Guided Vehicle). It should be noted that because the bottom surface and side angle of the membrane chamber are not connected at a right angle, even if the installation moving part 1 moves to its limit along the Y-axis, it cannot right-anglely adhere the insulating module to the side of the membrane chamber. It needs to cooperate with the module gripping and installing part to continue moving the insulating module to the side of the membrane chamber along the Y-axis until the insulating module is adhered to the side of the membrane chamber.

[0044] The lifting support transmission component includes a lifting support component and a transmission lifting component. The lifting support component is mounted on the mounting movable component 1, and the transmission lifting component is mounted on the lifting support component. The lifting support component includes a support plate 2 and a support guide tube 3. The support plate 2 is rectangular and is fastened to the top surface of the mounting movable component 1 by screws. The top surface of the support plate 2 is used to place the insulating module. The top surface of the support plate 2 is provided with a Y-direction limiting groove 4, a first X-direction limiting groove 5, a second X-direction limiting groove 6, and a third X-direction limiting groove 7. The Y-direction limiting groove 4 is rectangular and its longitudinal direction is parallel to the longitudinal direction of the insulating module. A Y-direction limiting plate is embedded in the Y-direction limiting groove 4. The Y-direction limiting plate is used to position the insulating module along its Y-axis, i.e., the side of the planar insulating module abuts against the Y-direction limiting plate. The first X-direction limiting groove 5 is rectangular and its longitudinal direction is parallel to the transverse direction of the insulating module. The first X-axis limiting groove 5 is embedded with a first X-axis limiting plate, which is used to position the planar insulation module along the X-axis. Positioning the planar insulation module by placing its end edge against the first X-axis limiting plate completes the planar positioning. The second X-axis limiting groove 6 is rectangular, and its longitudinal direction is parallel to the transverse direction of the insulation module. The second X-axis limiting groove 6 is embedded with a second X-axis limiting plate, which is used to position the 90-degree insulation module along the X-axis. Positioning the 90-degree insulation module by placing one end edge against the second X-axis limiting plate and then placing its side edge against the Y-axis limiting plate completes the planar positioning. The third X-axis limiting groove 7 is rectangular, and its longitudinal direction is parallel to the transverse direction of the insulation module. The third X-axis limiting groove 7 is embedded with a third X-axis limiting plate, which is used to position the 135-degree insulation module along the X-axis. Specifically, one end of the 135-degree insulation module is placed against the third X-axis limiting plate, and then the side of the 135-degree insulation module is placed against the Y-axis limiting plate, thus completing the planar positioning of the 135-degree insulation module. The support guide tube 3 is C-shaped, with one end vertically fixed at a corner of the top surface of the support plate 2. Four support guide tubes 3 are provided, arranged in a rectangular pattern on the support plate 2. They provide support for the transmission lifting component. The length of the support guide tube 3 is sufficient to transfer the insulation module from the bottom surface of the film chamber to the top surface of the film chamber.

[0045] It should be noted that, due to the internal structure of the membrane chamber, insulation modules are typically categorized into planar insulation modules, 90-degree insulation modules, and 135-degree insulation modules. The installation of planar insulation modules is generally easier than that of 90-degree and 135-degree modules. The 90-degree and 135-degree modules, due to their corner placement and limited operating space, coupled with manual measurement and control methods, make it difficult to guarantee positional accuracy during installation, directly impacting the overall installation quality and progress.

[0046] The transmission and lifting component includes a lifting transmission component, a lifting power component, and a lifting transmission support component. Both the lifting transmission component and the lifting power component are mounted on the support plate 2, and the lifting transmission support component is mounted on the lifting transmission component. The lifting transmission component includes a rotary stabilizing seat, a screw 8, and a lifting transmission block 9. The rotary stabilizing seat is cup-shaped, with its bottom fixedly mounted on the support plate 2, and is fixedly embedded within one end of the support guide tube 3. Furthermore, a thrust ball bearing is provided at the bottom of the rotary stabilizing seat groove to provide support for the screw 8 to rotate within the rotary stabilizing seat. One end of the screw 8 is rotatably embedded within the rotary stabilizing seat, and one end face of the screw 8 is connected to the top surface of the thrust ball bearing. The other end of the screw 8 is rotatably fitted with a rotary positioning seat 49, which is fixedly embedded within the other end of the support guide tube 3, such that the axis of the screw 8 coincides with the axis of the support guide tube 3. The lifting transmission block 9 is rectangular in shape and has a threaded hole. It is slidably fitted into the support guide tube 3, and the threaded hole is fitted onto the screw 8. When the screw 8 rotates, it pushes the lifting transmission block 9 to slide axially up and down within the support guide tube 3, thereby causing the lifting transmission support to slide up and down. Four sets of lifting transmission components are provided, each corresponding to one of the four support guide tubes 3.

[0047] The lifting power component includes a first motor 10, a first worm, a second worm, a first worm wheel, and a second worm wheel. The first motor 10 is a dual-axis motor, fixedly mounted on the support plate 2. One shaft of the first motor 10 horizontally penetrates into one of the support guide tubes 3, and the other shaft horizontally penetrates into another of the support guide tubes 3. The first worm is fixedly mounted on one shaft of the first motor 10. The second worm is mounted on the other shaft of the first motor 10. The first worm wheel is fixedly mounted on one end of a screw 8 and meshes with the first worm. The second worm wheel is fixedly mounted on one end of another screw 8 and meshes with the second worm. When the first motor 10 simultaneously drives the first worm and the second worm to rotate, it will drive the two screws 8 to rotate through the first worm wheel and the second worm wheel, respectively. The two rotating screws 8 simultaneously drive the two cooperating lifting transmission blocks 9 to reciprocate in the same direction within the support guide tubes 3. The lifting power component is provided in two sets. The other set of the lifting power component is connected to the other two screws 8 so that the other two screws 8 can drive the other two lifting transmission blocks 9 to slide back and forth in the same direction at the same time.

[0048] The lifting transmission support includes a lifting transmission support block 11 and a lifting rotation support shaft 12. The lifting transmission support block 11 is rectangular in shape. One end of the lifting transmission support block 11 passes through the opening of the support guide tube 3 and is fixedly connected to the lifting transmission block 9 inside it. The other end of the lifting transmission support block 11 passes horizontally through the opening of another support guide tube 3 and is fixedly connected to the lifting transmission block 9 inside it. One end of the lifting rotation support shaft 12 is horizontally fixed in the middle of the lifting transmission support block 11. Two sets of the lifting transmission support are provided. The other set of the lifting transmission support is correspondingly set on the lifting transmission blocks 9 on the other two screws 8. The two sets of lifting transmission support correspond one-to-one with the two sets of lifting power components.

[0049] The indexing adjustment component includes an X-axis rotation adjustment component and a Y-axis rotation adjustment component. The X-axis rotation adjustment component is mounted on the lifting transmission support component, and the Y-axis rotation adjustment component is mounted on the X-axis rotation adjustment component. The X-axis rotation adjustment component includes an X-axis rotation support box 13 and an X-axis rotation power component. The X-axis rotation support box 13 is mounted on the lifting transmission support component, and the X-axis rotation power component is mounted on the X-axis rotation support box 13. The X-axis rotation support box 13 is rectangular and flat. Each of the two end faces of the X-axis rotation support box 13 has a first rotation through hole. A bearing is embedded in the first rotation through hole. The X-axis rotation support box 13 is fitted onto the other end of the two lifting rotation support shafts 12 one by one through two bearings, so that the X-axis rotation support box 13 can rotate circumferentially on the lifting rotation support shafts 12 to drive the insulating module to rotate around the X-axis and adjust its spatial position. The X-axis rotational power component includes a second motor, a third worm gear 14, and a third worm wheel 15. The second motor is fixedly mounted inside the X-axis rotational support box 13. The third worm gear 14 is mounted on the shaft of the second motor. The third worm wheel 15 is fixedly mounted on the other end of the lifting rotational support shaft 12, and meshes with the third worm gear 14. It should be noted that a gearbox is fitted around the third worm gear 14 and the third worm wheel 15. The outer wall of the gearbox is fixedly connected inside the X-axis rotational support box 13. Besides providing lubrication and support for the third worm gear 14 and the third worm wheel 15, the gearbox also provides support for the rotation of the X-axis rotational support box 13 around the lifting rotational support shaft 12, thereby improving the circumferential rotational load capacity of the X-axis rotational support box 13 during circumferential rotation. Alternatively, two sets of the X-axis rotational power component are provided, with the other set connected to another lifting rotational support shaft 12 to further increase the circumferential rotational torque of the X-axis rotational support box 13.

[0050] The Y-axis rotation adjustment component includes a Y-axis rotation seat 16 and a Y-axis rotation power component. The Y-axis rotation seat 16 is cylindrical and box-shaped. It is fitted into a second rotational through-hole on the X-axis rotation support box 13, allowing the Y-axis rotation seat 16 to rotate circumferentially within the second rotational through-hole. The second rotational through-hole penetrates both the top and bottom surfaces of the X-axis rotation support box 13, and the axis of the second rotational through-hole coincides with the center lines of the top and bottom surfaces of the X-axis rotation support box 13. The Y-axis rotating seat 16 is externally fitted with an axial locking circumferential transmission ring 17, which is an annular plate. The axial locking circumferential transmission ring 17 is slidably clamped by a first axial locking pad 18 on the top surface of the X-axis rotating support box 13 and a second axial locking pad 19 on the bottom surface of the X-axis rotating support box 13. This allows the X-axis rotating support box 13 to axially lock the Y-axis rotating seat 16 within the second rotating through hole via the first axial locking pad 18, the second axial locking pad 19, and the axial locking circumferential transmission ring 17. Furthermore, the first axial locking pad 18 is an annular plate, and its inner circle is not smaller than the diameter of the second rotating through hole. The first axial locking pad 18 is fixedly disposed on the inner side of the top surface of the X-axis rotating support box 13, and its axis coincides with the axis of the second rotating through hole. The second axial locking pad 19 has the same structure as the first axial locking pad 18. The second axial locking pad 19 is fixedly disposed on the inner side of the bottom surface of the X-axis rotation support box 13, and the axis of the second axial locking pad 19 coincides with the axis of the second rotating through hole.

[0051] The Y-axis rotation power component includes a third motor, a fourth worm gear 20, and a fourth worm wheel 21. The third motor is fixedly mounted inside the X-axis rotation support box 13. The fourth worm gear 20 is mounted on the shaft of the third motor. The fourth worm wheel 21 is fixedly fitted onto the outer surface of the axial locking circumferential transmission ring 17, and the fourth worm wheel 21 meshes with the fourth worm gear 20. This drives the Y-axis rotating seat 16 to rotate circumferentially within the second rotating through hole, thereby driving the insulating module to rotate circumferentially along the Y-axis.

[0052] The module gripping and mounting component includes an axial moving component, an automatic gripper for the insulating module, and a counterweight. Both the axial moving component and the counterweight are mounted on the Y-axis rotating seat 16, and the automatic gripper for the insulating module is mounted on the axial moving component. The axial moving component includes an axial moving transmission component and an axial moving guide component, both mounted on the Y-axis rotating seat 16. The axial moving transmission component includes a first axial guide tube 22, an axial moving transmission shaft 23, a rack 24, a fourth motor, and a gear 25. One end of the first axial guide tube 22 is connected to the top surface of the Y-axis rotating seat 16, and the other end is connected to the bottom surface of the Y-axis rotating seat 16. One end of the axial movement transmission shaft 23 is slidably fitted into the first axial guide tube 22. The rack 24 is fixedly mounted on the side wall of the axial movement transmission shaft 23. The fourth motor is fixedly mounted in the Y-axis rotating seat 16. The gear 25 is fixedly mounted on the shaft of the fourth motor, and the teeth of the gear 25 penetrate the first axial guide tube 22 and mesh with the rack 24. When the fourth motor drives the gear 25 to rotate, it will drive the axial movement transmission shaft 23 to reciprocate within the first axial guide tube 22 via the rack 24. Two sets of axial movement transmission components are provided, and the two sets of axial movement transmission components are symmetrically distributed on the Y-axis rotating seat 16. The axial movement guide includes a second axial guide tube 26 and an axial movement guide shaft 27. One end of the second axial guide tube 26 is connected to the top surface of the Y-axis rotating seat 16, and the other end of the second axial guide tube 26 is connected to the bottom surface of the Y-axis rotating seat 16. The axis of the second axial guide tube 26 is parallel to the axis of the first axial guide tube 22. One end of the axial moving guide shaft 27 is slidably fitted into the second axial guide tube 26. Two sets of axial moving guides are provided, and the two sets of axial moving guides are symmetrically distributed on the Y-axis rotating seat 16.

[0053] The automatic gripper for the insulation module includes a gripping support base 28, an insulation module locking base 29, and an automatic nut locking component. The gripping support base 28 is rectangular in shape, and its top surface is horizontally fixed to one end of the axial movement transmission shaft 23 and the axial movement guide shaft 27, allowing it to move axially with the axial movement of the axial movement transmission shaft 23. The insulation module locking base 29 is a rectangular groove, with its bottom surface and side surface forming a 90-degree angle. A transition slope is provided at the connection between the bottom surface and the side surface of the insulation module locking base 29, forming a 135-degree angle with both the bottom and side surfaces. The groove of the insulation module locking base 29 is fixedly mounted on the gripping support base 28. The bottom surface of the insulating module locking seat 29 is provided with a first locking through hole 30 and a second locking through hole 31. The first locking through hole 30 facilitates the passage of a first bolt on the planar insulating module, and the second locking through hole 31 facilitates the passage of a second bolt on the planar insulating module. The side surface and the transition slope of the insulating module locking seat 29 are provided with a first elongated locking through hole 32. One end of the first elongated locking through hole 32 extends to the transition slope, and the other end extends to the side surface of the insulating module locking seat 29. A third bolt on one right-angled surface of the 90-degree insulating module is inserted from one end of the first elongated locking through hole 32 and remains at the other end of the first elongated locking through hole 32 until the automatic nut locking component locks the nut. A fourth bolt on the other right-angled surface of the 90-degree insulating module passes into the first locking through hole 30. Alternatively, multiple fourth bolts can be provided on the other right-angled surface of the 90-degree insulation module. These fourth bolts are inserted one by one into multiple first locking through holes 30, allowing the automatic nut locking mechanism to rotate and lock the nuts sequentially, thereby securing the 90-degree planar insulation module to the insulation module locking seat 29. The bottom surface of the insulation module locking seat 29 and another transition slope surface are provided with second elongated locking through holes 33. One end of the second elongated locking through hole 33 extends to the bottom surface of the insulation module locking seat 29, and the other end extends to the other transition slope surface. The fifth bolt on one end face of the 135-degree insulation module is inserted into one end of the second elongated locking through hole 33 and remains at the other end, awaiting the automatic nut locking mechanism to lock the nut. The sixth bolt on the other end face of the 135-degree insulation module is inserted into the second locking through hole 31, and the automatic nut locking mechanism locks the nut, thereby securing the 135-degree insulation module to the insulation module locking seat 29.Furthermore, a side wing plate (not shown in the figure) is provided on the bottom side of the insulating module locking seat 29. The free end of the side wing plate is fixedly connected to the gripping support seat 28 to increase the load-bearing capacity of the bottom surface of the insulating module locking seat 29 and prevent the bottom surface of the insulating module locking seat 29 from deforming when bearing load.

[0054] The automatic nut locking mechanism includes a first automatic nut locking component 34, a second automatic nut locking component 35, a third automatic nut locking component 36, and a fourth automatic nut locking component 37, all of which are mounted on the gripping support base 28. The first automatic nut locking component 34 includes a fifth motor 38, a first locking transmission tube 39, a first nut 40, a first pressure sensor, and a first spring 41. The fifth motor 38 is fixedly mounted on the gripping support base 28, and the axis of the fifth motor 38's rotating shaft coincides with the axis of the first locking through hole 30. The inner diameter of the first locking transmission tube 39 is larger than the inner diameter of the first nut 40. One end of the first locking transmission tube 39 is slidably fitted onto the free end of the fifth motor 38's rotating shaft, and a first slider on the inner wall of the first locking transmission tube 39 engages with a first groove on the fifth motor 38's rotating shaft. The first locking transmission tube 39 allows the first slider and the first groove to slide axially on the shaft of the fifth motor 38, achieving circumferential locking. One end of the first nut 40 is fixedly mounted on the other end face of the first locking transmission tube 39, and the axis of the first nut 40 coincides with the axis of the first locking transmission tube 39. The first pressure sensor is mounted on the bearing ring 42 fixedly fitted on the shaft of the fifth motor 38. The first spring 41 is sleeved on the shaft of the fifth motor 38, with one end of the first spring 41 connected to one end of the first locking transmission tube 39 and the other end connected to the first pressure sensor. As the automatic gripper of the insulation module descends, when the first bolt is inserted into the first locking through hole 30 and pushes against the free end of the first nut 40, the first nut 40 compresses the first spring 41 through the first locking transmission tube 39. The first spring 41 applies pressure to the first pressure actuator. When the pressure of the first pressure sensor reaches a predetermined value, the fifth motor 38 will be activated to drive the first nut 40 to rotate and fit onto the first bolt, locking it in place, thereby fastening the insulation module to the insulation module locking seat 29. The second automatic nut locking member 35 has the same structure as the first automatic nut locking member 34, and the axis of the first locking transmission tube 39 of the second automatic nut locking member 35 coincides with the axis of the second locking through hole 31. This allows the first nut 40 of the second automatic nut locking member 35 to be rotated and locked onto the second bolt. Ultimately, this achieves the goal of fastening the planar insulating module onto the insulating module locking seat 29.It should be noted that the gripping process of the planar insulation module is as follows: After the planar insulation module is placed on the support plate 2, the planar insulation module is positioned in the Y-axis and X-axis directions respectively by the Y-axis limiting plate and the first X-axis limiting plate, that is, the first bolt and the second bolt are positioned in the Y-axis and X-axis directions respectively; then the automatic gripper of the insulation module is lowered to fit the first locking through hole 30 and the second locking through hole 31 onto the first bolt and the second bolt respectively. During the fitting process, the first bolt and the second bolt will push up the first nut 40 of the first nut 40 and the first nut 40 of the second automatic nut locking member 35. When the first pressure sensor reaches the predetermined pressure, the fifth motor 38 will be activated to rotate and lock the first nut 40 onto the first bolt and the second bolt, thereby fastening the planar insulation module to the insulation module locking seat 29. After the planar insulation module is adhered to the predetermined position on the hull, the fifth motor 38 can be rotated in the opposite direction to separate the insulation module locking seat 29 from the planar insulation module.

[0055] The third automatic nut locking component 36 includes a sixth motor 43, a second locking transmission tube 44, a magnetic coil, and a second nut 45. The sixth motor 43 is horizontally fixed on the mounting plate on the gripping support 28, and the axis of rotation of the sixth motor 43 coincides with the axis of the other end of the first elongated locking through hole 32, that is, the axis of rotation of the sixth motor 43 coincides with the axis of the third bolt fully inserted into the first elongated locking through hole 32. The inner diameter of the second locking transmission tube 44 is larger than the inner diameter of the second nut 45. One end of the second locking transmission tube 44 is slidably fitted on the free end of the shaft of the sixth motor 43, and a second slider on the inner wall of the second locking transmission tube 44 cooperates with a second groove on the shaft of the sixth motor 43. This allows the second locking transmission tube 44 to slide axially and lock circumferentially on the shaft of the sixth motor 43 through the second slider and the second groove. The magnetic coil is fixedly embedded in a spiral groove on the inner wall of the second locking transmission tube 44, and the magnetic coil is sleeved on the outside of the shaft of the sixth motor 43. When the magnetic coil is energized with direct current to generate a magnetic field, it pushes the second locking transmission tube 44 to slide axially back and forth on the shaft of the sixth motor 43, thereby causing the second nut 45 to move toward or away from the third bolt. This, in turn, locks the second nut 45 onto the third bolt. One end of the second nut 45 is fixedly mounted on the other end of the second locking transmission tube 44, allowing it to be rotated and locked onto the third bolt by the second locking transmission tube 44. Ultimately, this secures the 90-degree insulation module to the insulation module locking seat 29.

[0056] It should be noted that the gripping process of the 90-degree insulation module is as follows: after the 90-degree insulation module is placed on the support plate 2, the Y-axis limiting plate and the second X-axis limiting plate respectively perform Y-axis positioning and X-axis positioning of the 90-degree insulation module, that is, complete the Y-axis positioning and X-axis positioning of the third bolt and the fourth bolt; then the automatic gripper of the insulation module is lowered to first fit the first locking through hole 30 onto the fourth bolt, and then fit the first elongated locking through hole 32 onto the fourth bolt; when the first nut 40 is lifted by the fourth bolt so that the first pressure sensor reaches the predetermined pressure, the fifth motor 38 is started to rotate and lock the first nut 40 onto the fourth bolt. After the third bolt is completely fitted into the first elongated locking through hole 32, the fifth motor 38 stops rotating, and then the sixth motor 43 is started to rotate and lock the second nut 45 onto the third bolt. After the 90-degree insulation module is adhered to the predetermined position on the hull, the fifth motor 38 and the sixth motor 43 can be rotated in the opposite direction to separate the 90-degree insulation module from the insulation module locking seat 29.

[0057] The fourth automatic nut locking component 37 has the same structure as the third automatic nut locking component 36. The fourth automatic nut locking component 37 is obliquely mounted on the mounting base on the gripping support 28, and the axis of the sixth motor 43 of the fourth automatic nut locking component 37 coincides with the axis of the other end of the second elongated locking through hole 33. That is, the axis of the sixth motor 43 of the fourth automatic nut locking component 37 coincides with the axis of the fifth bolt fully inserted into the second elongated locking through hole 33. This facilitates the rotational locking of the second nut of the fourth automatic nut locking component 37 onto the fifth bolt. Ultimately, this secures the 135-degree insulation module to the insulation module locking seat 29. The process of installing the 135-degree insulation module onto the insulation module locking seat 29 is similar to that of the 90-degree insulation module.

[0058] The counterweight component includes a counterweight support rod 47 and a counterweight block 48. One end of the counterweight support rod 47 is fixedly mounted on the top surface of the Y-axis rotating seat 16, and the counterweight block 48 is mounted on the other end of the counterweight support rod 47. When the automatic gripper of the insulation module is driven to rotate circumferentially along the X-axis by the X-axis rotation adjustment component, the counterweight component can balance the offset of the center of gravity of the automatic gripper of the insulation module from the lifting support transmission component, preventing the lifting support transmission component from tilting and improving its safety and installation accuracy.

[0059] It should be noted that the sides and top of the membrane chamber are divided into grids by computer to determine the precise coordinates of the predetermined bonding points of each insulating module. Then, the installation moving component 1 is controlled to move according to a predetermined program to determine the X-axis coordinate of the insulating module; the lifting support transmission component drives the insulating module to move along the Z-axis to determine the Z-axis coordinate; the axial moving component drives the insulating module to move along the Y-axis to determine the Y-axis coordinate, thereby moving and bonding the insulating module to the hull at the predetermined coordinate position. This improves the installation accuracy and efficiency of the insulating modules.

[0060] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. An automatic installation system for insulation modules, characterized in that, include: The installation of the moving parts, which move and stop along the X and Y axes on the bottom surface of the membrane chamber according to a predetermined procedure, provides overall support for the installation of the insulation modules; A lifting support transmission component is disposed on the mounting movable component. The lifting support transmission component includes a lifting support component and a transmission lifting component. The lifting support component provides support and guidance for the transmission lifting component connected to it on the mounting movable component. A rotation adjustment component is provided on the transmission lifting component. The rotation adjustment component includes an X-axis rotation adjustment component and a Y-axis rotation adjustment component. The X-axis rotation adjustment component is driven by the transmission lifting component to reciprocate along the Z-axis, and the X-axis rotation adjustment component drives the connected Y-axis rotation adjustment component to rotate circumferentially along the X-axis. A module gripping and mounting component is disposed on the Y-axis rotation adjustment component. The module gripping and mounting component includes an axial moving component and an automatic gripper for insulating modules. The axial moving component is driven by the Y-axis rotation adjustment component to rotate circumferentially along the Y-axis. The automatic gripper for insulating modules moves spatially on the axial moving component and can automatically grip the insulating module and install the insulating module on the hull at a predetermined position. The lifting support includes a support plate and a support guide tube. The support plate is fastened to the top surface of the mounting movable component, and the support guide tube is disposed on the support plate. The top surface of the support plate is provided with a Y-direction limiting groove, a first X-direction limiting groove, a second X-direction limiting groove, and a third X-direction limiting groove. The Y-direction limiting groove and the first X-direction limiting groove cooperate to perform planar positioning of the planar insulation module in the insulation module. The Y-direction limiting groove and the second X-direction limiting groove cooperate to perform planar positioning of the 90-degree insulation module in the insulation module. The Y-direction limiting groove and the third X-direction limiting groove cooperate to perform planar positioning of the 135-degree insulation module in the insulation module, so as to facilitate the automatic gripper of the insulation module to automatically grip the insulation module. Multiple support guide tubes are arranged in a rectangular pattern and vertically fixed on the support plate to provide guidance for the transmission lifting component.

2. The automatic installation system for insulation modules according to claim 1, characterized in that, The transmission lifting component includes a lifting transmission component, a lifting power component, and a lifting transmission support component. The lifting transmission component drives along the support guide tube on the support plate. The lifting power component provides power to the connected lifting transmission component on the support plate. The lifting transmission support component is driven by the lifting transmission component to move up and down along the Z-axis.

3. The automatic installation system for insulation modules according to claim 2, characterized in that, The X-axis rotation adjustment component includes an X-axis rotation support box and an X-axis rotation power component. The X-axis rotation support box moves along the lifting transmission support component, and the X-axis rotation power component drives the X-axis rotation support box to rotate circumferentially around the X-axis.

4. The automatic installation system for insulation modules according to claim 3, characterized in that, The Y-axis rotation adjustment component includes a Y-axis rotation seat and a Y-axis rotation power component. The Y-axis rotation seat is circumferentially fitted into a second rotation through hole on the X-axis rotation support box. The Y-axis rotation power component provides power for the circumferential rotation of the connected Y-axis rotation seat within the X-axis rotation support box.

5. The automatic installation system for insulation modules according to claim 4, characterized in that, The axial moving component includes an axial moving transmission component and an axial moving guide component. The axial moving transmission component slides back and forth along the axial direction on the Y-axis rotating seat, and the axial moving guide component moves on the Y-axis rotating seat as the axial moving transmission component moves axially.

6. The automatic installation system for insulation modules according to claim 5, characterized in that, The automatic gripper for the insulation module includes a gripping support, an insulation module locking seat, and an automatic nut locking component. The gripping support moves along with the axial movement transmission component and the axial movement guide component. The insulation module locking seat automatically fits onto the bolt of the insulation module on the gripping support, and the automatic nut locking component automatically rotates and locks its internal nut onto the bolt, thereby automatically fastening the insulation module to the insulation module locking seat.

7. The automatic installation system for insulation modules according to claim 6, characterized in that, The automatic nut locking mechanism includes a first automatic nut locking mechanism, a second automatic nut locking mechanism, a third automatic nut locking mechanism, and a fourth automatic nut locking mechanism. The first automatic nut locking mechanism, the second automatic nut locking mechanism, the third automatic nut locking mechanism, and the fourth automatic nut locking mechanism are all disposed on the gripping support base. The first automatic nut locking mechanism and the second automatic nut locking mechanism cooperate to automatically lock the planar insulating module on the insulating module locking base.

8. The automatic installation system for insulation modules according to claim 7, characterized in that, The first and third automatic nut locking components cooperate to automatically lock the 90-degree insulation module onto the insulation module locking seat; the second and fourth automatic nut locking components cooperate to automatically lock the 135-degree insulation module onto the insulation module locking seat.

9. The automatic installation system for insulation modules according to claim 8, characterized in that, The module gripping mounting component also includes a counterweight component, which balances the center of gravity shift caused by the automatic gripper of the insulating module on the Y-axis rotating seat, thereby improving overall stability.

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