A multipurpose jig machine for hull subassembly assembly parts

Abstract

The utility model discloses a hull small group assembly spare multipurpose clamp machine hand relates to the field related to shipbuilding equipment, including adjustable movable portal, adjustable movable portal top cross frame sliding is provided with horizontal transfer car, horizontal transfer car bottom is provided with clamp assembly, sets up first air cylinder, electricity connection disc and electricity connection pin, solves the practical demand of synchronous wiring in the clamping process, reduces the wiring length of a large number of existing equipment required, through setting up rotating jaw and servo motor division quick and high accuracy to the angle adjustment of clamping part, to this quick control clamping spare and the adaptive adjustment between parts, through setting up the reset of first locking piece and second locking piece's small angle rotation, improve the self -adaptation rotation of cast iron plate to different shape steel plate spare, to this improve the clamping and adsorption effect of cast iron plate to spare.

Description

Technical Field

[0001] This invention relates to the field of shipbuilding equipment, specifically a multi-purpose clamping robot for assembling hull assembly parts. Background Technology

[0002] During the shipbuilding process, a large number of plates are used. After these plates are processed, they need to be transported one by one to the construction site by cranes or conveyor belts to facilitate the splicing of the ship by construction workers. Therefore, multi-purpose clamping robots are widely used in this field.

[0003] The current ship assembly relies on manual labor and low automation equipment, which increases labor costs; the existing assembly fixtures are difficult to adapt to the parts being assembled; when different shaped parts need to be clamped, the fixtures need to be replaced; at the same time, the existing fixtures are not efficient in clamping multiple sets of parts, resulting in low assembly efficiency. Summary of the Invention

[0004] Therefore, in order to overcome the above-mentioned shortcomings, the present invention provides a multi-purpose clamping robot for assembling ship hull group parts.

[0005] The present invention is implemented as follows: a multi-purpose clamping robot for assembling ship hull group parts is constructed, the device including an adjustable movable gantry; a transverse carriage is slidably mounted on the top crossbeam of the adjustable movable gantry; and a clamping assembly is mounted on the bottom of the transverse carriage.

[0006] The clamping assembly includes a rotating jaw fixedly mounted to the bottom of the transverse trolley by bolts; the bottom jaw of the rotating jaw is fixedly connected to the top frame of the articulated four-jaw trolley; a cylinder is bolted to the bottom of the articulated four-jaw trolley frame; a hinge frame is bolted to the piston rod at the bottom of the cylinder, and the four sides of the hinge frame are hinged to the main body of the articulated four-jaw trolley by connecting plates; an electrical contact plate is fixedly mounted to the bottom of the articulated four-jaw trolley by a straight rod; an installation plate is clamped and fixed to the bottom of the claw body of the articulated four-jaw trolley; and a lifting assembly is bolted to the bottom of the installation plate.

[0007] Preferably, the top of the mounting plate is provided with a power connection pin, and the power connection pin is in contact with the pin at the bottom of the mounting plate; switch assemblies are respectively provided on the left and right sides of the bottom plate of the mounting plate.

[0008] Preferably, the hoisting assembly includes a hoisting frame that is bolted to the left and right sides of the bottom plate of the mounting tray; a first smoothing frame is slidably arranged on the top slide of the hoisting frame; a servo motor is bolted to the top of the first smoothing frame; a protective shell with protective function is bolted to the bottom of the servo motor drive shaft; and a clamping component is provided inside the protective shell.

[0009] Preferably, the clamping component includes a first electromagnetic slide rail assembly fixedly installed inside the protective housing by bolts; the slider at the front end of the first electromagnetic slide rail assembly is fixedly connected to the rear end of the truss; a limit rail is fixedly installed on the front end connecting plate of the truss by bolts; a second electromagnetic slide rail assembly is fixedly installed at the front end groove of the truss by bolts; a second smoothing frame is slidably arranged on the track of the limit rail; an infrared sensor is fixedly installed at the front end of the second smoothing frame by bolts; a fine adjuster is provided at the bottom of the right side frame of the second smoothing frame; a cast iron plate is fixedly installed at the bottom of the fine adjuster by bolts.

[0010] Preferably, the fine-tuning device includes a limiting post fixedly inserted into the through hole on the right side of the second smoothing frame; the limiting post is fixedly inserted into the inner ring side of the clamping ring; and a first locking element is threadedly connected to the front end of the clamping ring.

[0011] Preferably, a rotating frame is provided on the right side of the first locking member; a second locking member is threadedly connected to the right end of the rotating frame, and the second locking member is threadedly connected to the top side of the mounting frame.

[0012] Preferably, the front wall of the inner wall of the protective shell is provided with a sensor with light detection capability, and the sensor works in conjunction with an infrared sensor for light detection.

[0013] Preferably, the first electromagnetic slide rail assembly and the second electromagnetic slide rail assembly are specifically composed of electromagnetic sliders and guide rails, and four sets of second smooth frames are slidably arranged on the guide rail of the second electromagnetic slide rail assembly.

[0014] Preferably, the surface of the cast iron plate is provided with raised particles that increase friction, and a coil is provided inside the cast iron plate.

[0015] Preferably, both the first locking member and the second locking member are composed of a screw and a torsion spring, and the front end and the right side of the clamping ring are provided with screw holes that cooperate with the screw.

[0016] The present invention has the following advantages: The present invention provides a multi-purpose clamping robot for assembling ship hull assembly parts through improvements, which, compared with similar equipment, have the following improvements:

[0017] This invention discloses a multi-purpose clamping robot for assembling ship hull components. It features a first cylinder, a power connector, and power pins to address the practical need for synchronous wiring during clamping, reducing the extensive wiring time required by existing equipment. By using rotating grippers and servo motors for both rapid and high-precision angle adjustment of the clamping components, it quickly controls the adaptive adjustment between the clamped parts and the components. The small-angle rotation of the first and second locking elements for resetting improves the adaptive rotation of the cast iron plate for steel plate parts of different shapes, thereby enhancing the clamping and adsorption effect of the cast iron plate. Multiple sets of second electromagnetic slide rail assemblies, a second smoothing frame, and a fine-tuner at the front end of the truss enable synchronous clamping of multiple sets of assembly parts, achieving automated assembly and gripping installation operations that are more convenient, faster, and more efficient. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of the present invention;

[0019] Figure 2 This is the invention Figure 1 Enlarged structural diagram at point A;

[0020] Figure 3 This is a schematic diagram of the three-dimensional isometric structure of the clamping assembly of the present invention;

[0021] Figure 4 This is a three-dimensional sectional view of the hoisting assembly of the present invention;

[0022] Figure 5 This is a schematic diagram of the exploded structure of the clamping component on the axial side of the present invention;

[0023] Figure 6 This is the invention Figure 5 A magnified structural diagram at point B in the middle.

[0024] The components include: adjustable movable gantry-1, traverse carriage-2, clamp assembly-3, rotating gripper-31, articulated four-jaw chuck-32, cylinder-33, articulated frame-34, electrical connection panel-35, mounting plate-36, hoisting assembly-37, electrical connection pin-361, switch assembly-362, hoisting frame-371, first smoothing frame-372, servo motor-373, protective shell-374, clamping component-375, and first electromagnetic slide. Rail assembly-3751, Truss-3752, Limit rail-3753, Second electromagnetic slide rail assembly-3754, Second smooth frame-3755, Infrared sensor-3756, Fine adjuster-3757, Cast iron plate-3758, Limit post-37571, Clamping ring-37572, First locking element-37573, Rotating frame-37574, Second locking element-37575, Mounting frame-37576. Detailed Implementation

[0025] The following is in conjunction with the appendix Figures 1-6 The principles and features of the present invention are described below. The examples given are for illustrative purposes only and are not intended to limit the scope of the invention. The invention is described more specifically in the following paragraphs by way of example with reference to the accompanying drawings. It should be noted that the drawings are in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the invention.

[0026] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0027] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. The embodiments of this invention will now be described according to its overall structure.

[0028] Example 1:

[0029] Please see Figures 1-6 The present invention provides a multi-purpose clamping robot for assembling ship hull parts, comprising an adjustable movable gantry 1; a transverse carriage 2 is slidably mounted on the top crossbeam of the adjustable movable gantry 1, an industrial camera with image information acquisition function is mounted at the front end of the transverse carriage 2; and a clamping assembly 3 is mounted at the bottom of the transverse carriage 2.

[0030] The clamping assembly 3 includes a rotating jaw 31 bolted to the bottom of the transverse car 2, which provides rapid angular rotation for the articulated four-jaw 32; the bottom jaw of the rotating jaw 31 is fixedly connected to the top frame of the articulated four-jaw 32; a cylinder 33 is bolted to the bottom of the frame of the articulated four-jaw 32, which pushes the articulated frame 34 to achieve clamping and power supply simultaneously; the piston rod at the bottom of the cylinder 33 is bolted to the articulated frame 34, and the four sides of the articulated frame 34 are hinged to the main body of the articulated four-jaw 32 through connecting plates; a power receiving plate 35 is fixedly installed at the bottom of the articulated frame 34 through a straight rod; an installation plate 36 is clamped and fixed at the bottom of the jaw of the articulated four-jaw 32; and a lifting assembly 37 is bolted to the bottom of the installation plate 36.

[0031] The top of the mounting plate 36 is provided with a power connection pin 361, which is in contact with the pin at the bottom of the power connection plate 35, thus avoiding complicated wiring procedures during assembly; switch assemblies 362 are respectively provided on the left and right sides of the bottom plate of the mounting plate 36.

[0032] The hoisting assembly 37 includes a hoisting frame 371 that is bolted to the left and right sides of the bottom plate of the mounting plate 36; a first smooth frame 372 is slidably mounted on the top of the hoisting frame 371, the first smooth frame 372 provides horizontal position adjustment for the servo motor 373 and the protective shell 374; the servo motor 373 is bolted to the top of the first smooth frame 372; the protective shell 374 with protective function is bolted to the bottom of the drive shaft of the servo motor 373; and a clamping member 375 is provided inside the protective shell 374.

[0033] The clamping component 375 includes a first electromagnetic slide rail assembly 3751 that is fixedly installed inside the protective shell 374 by bolts; the slider at the front end of the first electromagnetic slide rail assembly 3751 is fixedly connected to the rear end of the truss 3752; the front end connecting plate of the truss 3752 is fixedly installed with a limit rail 3753 by bolts; the front end groove of the truss 3752 is fixedly installed with a second electromagnetic slide rail assembly 3754 by bolts; a second smoothing frame 3755 is slidably arranged on the track of the limit rail 3753; an infrared sensor 3756 is fixedly installed at the front end of the second smoothing frame 3755 by bolts; and a cast iron plate 3758 is fixedly installed at the bottom of the fine adjuster 3757 by bolts.

[0034] The protective shell 374 has a light-sensing sensor installed on its inner front wall, which works in conjunction with the infrared sensor 3756 for light detection. The first electromagnetic slide rail assembly 3751 and the second electromagnetic slide rail assembly 3754 are specifically composed of an electromagnetic slider and a guide rail. Four sets of second smooth frames 3755 are slidably installed on the guide rail of the second electromagnetic slide rail assembly 3754. The surface of the cast iron plate 3758 is provided with raised particles that increase friction, and a coil is installed inside the cast iron plate 3758. When the cast iron plate 3758 is energized, it generates magnetism to attract metal parts.

[0035] Example 2:

[0036] Please see Figures 1-6 The present invention provides a multi-purpose clamping robot for assembling ship hull groups. Compared with Embodiment 1, this embodiment further includes: a fine adjuster 3757; the fine adjuster 3757 is provided at the bottom of the right side frame of the second smoothing frame 3755; the fine adjuster 3757 includes a limiting post 37571 fixedly inserted into the through hole of the right side frame of the second smoothing frame 3755; the limiting post 37571 is fixedly inserted into the inner ring side of the clamping ring 37572; the front end of the clamping ring 37572 is threadedly connected to a first locking member. 37573; The first locking member 37573 is screwed and fitted with a rotating frame 37574; The right end of the rotating frame 37574 is threadedly connected to a second locking member 37575, which is threadedly connected to the top side of the mounting frame 37576. The top of the mounting frame 37576 is provided with a mounting hole; Both the first locking member 37573 and the second locking member 37575 are composed of a screw and a torsion spring, and the front end and right side of the clamping ring 37572 are provided with screw holes that cooperate with the screw.

[0037] The working principle of the multi-purpose clamping robot for assembling ship hull parts based on the above is as follows:

[0038] First, when using this device, place it in the work area, and then connect it to an external power source to provide the power required for its operation.

[0039] Second, after inspecting the mounting plate 36 and the hoisting assembly 37, the staff placed them on the group assembly track. Then, the rotating gripper 31 and the articulated four-jaw 32 were assembled on the bottom of the transverse vehicle 2. Then, the adjustable movable gantry 1 and the transverse vehicle 2 were powered by the external control terminal, which moved the articulated four-jaw 32 to above the mounting plate 36 and the hoisting assembly 37. Then, the cylinder 33 was powered by the external air pump, which moved its bottom piston rod downward. The piston rod of the cylinder 33 pushed the articulated frame 34 downward. The connecting plates on the four sides of the articulated frame 34 pulled the gripper of the articulated four-jaw 32 to perform a clamping action, so that the articulated four-jaw 32 clamped the mounting plate 36.

[0040] Third, when the hinge frame 34 moves downward, the contact plate 35 moves downward and comes into contact with the contact pin 361. Here, the external power supply provides power to the switch assembly 362 through the contact plate 35 and the contact pin 361.

[0041] Fourth, when it is necessary to clamp multiple sets of steel plate workpieces used in the group assembly, the industrial camera set at the front end of the transverse carriage 2 detects and identifies the position and shape of the multiple sets of steel plate workpieces on the worktable, and then generates control commands based on the calculation of the control terminal. Here, the adjustable movable gantry 1 and the transverse carriage 2 provide horizontal four-axis displacement adjustment for the clamping assembly 3. At the same time, the adjustable movable gantry 1 can also provide height adjustment for the clamping assembly 3.

[0042] Fifth, when the fixture assembly 3 is moved close to the steel plate workpiece by the transmission displacement, the servo motor 373 drives the protective shell 374 to rotate at a small angle to achieve precise alignment with the steel plate workpiece. The switch assembly 362 supplies power to multiple sets of first electromagnetic slide rail assemblies 3751 and second electromagnetic slide rail assemblies 3754, so that the electromagnetic slider of the first electromagnetic slide rail assembly 3751 drives the truss 3752 to move downwards precisely. At the same time, the second electromagnetic slide rail assembly 3754 can provide horizontal adjustment for a single set of second smooth frame 3755, infrared sensor 3756 and fine adjuster 3757. Under the position sensing action between the infrared sensor 3756 and the light sensor set inside the protective shell 374, multiple sets of second smooth frames 3755 and fine adjuster 3757 sliding on the limit rail 3753 and cast iron plate 3758 are moved to the workpiece position previously captured by the industrial camera.

[0043] Sixth, after the first electromagnetic slide rail assembly 3751 and the second electromagnetic slide rail assembly 3754 have completed their displacement movements, the cast iron plate 3758 comes into contact with the steel plate workpiece to be clamped. At this time, the switch assembly 362 activates the electromagnetic coil inside the cast iron plate 3758, causing the cast iron plate 3758 to magnetically attract the steel plate workpiece to be clamped. The number of cast iron plates 3758 in contact with a single steel plate can be set according to the size of the steel plate workpiece used in the group. This method can quickly clamp and lift flat metal workpieces with good magnetic field performance.

[0044] Seventh, when clamping multi-shaped steel plate workpieces such as angle steel and I-beams, the operator can use the control terminal to move the two adjacent sets of second smooth frames 3755 and cast iron plates 3758 closer together to perform double-sided clamping of the multi-shaped steel plate workpieces. Here, the cast iron plate 3758 comes into contact with the multi-shaped steel plate workpiece, causing the torsion springs in the first locking member 37573 and the second locking member 37575 to be compressed. This causes the mounting frame 37576 and the cast iron plate 3758 to make adaptive angle rotation when they come into contact with the multi-shaped steel plate workpiece, thereby adapting to the double-sided clamping requirements of steel plate workpieces of different shapes.

[0045] This invention provides an improved multi-purpose clamping robot for assembling ship hull assembly parts. It incorporates a first cylinder 33, a power contact plate 35, and power pins 361 to address the practical need for synchronous wiring during clamping, reducing the extensive wiring time required by existing equipment. By using a rotating gripper 31 and a servo motor 373, the angle of the clamping components can be adjusted quickly and with high precision, enabling rapid control of the adaptive adjustment between the clamped parts and the components. The small-angle rotation of the first locking element 37573 and the second locking element 37575 for resetting improves the adaptive rotation of the cast iron plate 3758 for steel plate parts of different shapes, thereby enhancing the clamping and adsorption effect of the cast iron plate 3758. Multiple sets of second electromagnetic slide rail assemblies 3754, a second smoothing frame 3755, and a fine-tuner 3757 at the front end of the truss 3752 enable synchronous clamping of multiple sets of assembly parts, achieving automated assembly and gripping installation operations that are more convenient, faster, and more efficient.

[0046] The above description shows and illustrates the basic principles, main features, and advantages of the present invention. Standard parts used in the present invention can be purchased from the market, and irregular parts can be customized according to the description and drawings. The specific connection methods of each part adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts, and equipment adopt conventional models in the prior art, and the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here.

[0047] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-purpose clamping robot for assembling ship hull assembly parts, comprising an adjustable movable gantry (1); a transverse carriage (2) is slidably mounted on the top crossbeam of the adjustable movable gantry (1); and a clamping assembly (3) is mounted on the bottom of the transverse carriage (2). Its features are: The clamping assembly (3) includes a rotating jaw (31) fixedly mounted on the bottom of the transverse car (2) by bolts; the bottom jaw of the rotating jaw (31) is fixedly connected to the top frame of the hinged four-jaw (32); a cylinder (33) is bolted to the bottom of the frame of the hinged four-jaw (32); a hinged frame (34) is bolted to the piston rod at the bottom of the cylinder (33), and the four sides of the hinged frame (34) are hinged to the main body of the hinged four-jaw (32) by connecting plates; a junction plate (35) is fixedly mounted on the bottom of the hinged frame (34) by a straight rod; an installation plate (36) is clamped and fixed at the bottom of the jaw of the hinged four-jaw (32); a lifting assembly (37) is bolted to the bottom of the installation plate (36). The mounting plate (36) is provided with a power connection pin (361) on the top, and the power connection pin (361) is in contact with the bottom pin of the power connection plate (35); the mounting plate (36) is provided with a switch assembly (362) on the left and right sides of the bottom plate. The hoisting assembly (37) includes a hoisting frame (371) that is fixedly installed on the left and right sides of the bottom plate of the mounting plate (36) by bolts; a first smooth frame (372) is slidably provided on the top of the hoisting frame (371); a servo motor (373) is fixedly installed on the top of the first smooth frame (372) by bolts; a protective shell (374) is fixedly installed on the bottom of the drive shaft of the servo motor (373) by bolts; and a clamping member (375) is provided inside the protective shell (374). The clamping member (375) includes a first electromagnetic slide rail assembly (3751) fixedly installed in the protective shell (374) by bolts; the slider at the front end of the first electromagnetic slide rail assembly (3751) is fixedly connected to the rear end of the truss (3752); the front end connecting plate of the truss (3752) is fixedly installed with a limit rail (3753) by bolts; a second electromagnetic slide rail assembly (3754) is fixedly installed with bolts at the front end groove of the truss (3752); a second smoothing frame (3755) is slidably arranged on the track of the limit rail (3753); an infrared sensor (3756) is fixedly installed with bolts at the front end of the frame of the second smoothing frame (3755); a fine adjuster (3757) is provided at the bottom of the right side frame of the second smoothing frame (3755); a cast iron plate (3758) is fixedly installed with bolts at the bottom of the fine adjuster (3757). The fine-tuner (3757) includes a limiting post (37571) fixedly inserted into the through hole on the right side of the second smooth frame (3755); the limiting post (37571) is fixedly inserted into the inner ring side of the clamping ring (37572); the front end of the clamping ring (37572) is threadedly connected to a first locking member (37573). A rotating frame (37574) is provided on the right side of the first locking member (37573); a second locking member (37575) is threadedly connected to the right end of the rotating frame (37574), and the second locking member (37575) is threadedly connected to the top side of the mounting frame (37576).

2. The multi-purpose clamping robot for assembling ship hull sub-assemblies according to claim 1, characterized in that: The protective shell (374) is provided with a light-sensing sensor on the inner front wall, and the sensor works in conjunction with the light-sensing sensor (3756).

3. The multi-purpose clamping robot for assembling ship hull sub-assemblies according to claim 2, characterized in that: The surface of the cast iron plate (3758) is provided with raised particles that increase friction, and a coil is provided inside the cast iron plate (3758).

4. The multi-purpose clamping robot for assembling ship hull sub-assemblies according to claim 3, characterized in that: The first locking member (37573) and the second locking member (37575) are both composed of a screw and a torsion spring, and the front end and right side of the clamping ring (37572) are provided with screw holes that cooperate with the screw.

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