Lifting lug back gouging machine

Abstract

The invention provides a lifting lug back gouging machine which comprises a walking mechanism, a base mechanism and a moving mechanism, the moving mechanism comprises a Z-axis moving mechanism, a Y-axis moving mechanism, an X-axis moving mechanism and a cutting mechanism, and the walking mechanism is assembled on the base mechanism so that the lifting lug back gouging machine can move to conduct back gouging. The cutting mechanism is connected with the Z-axis moving mechanism so that the cutting mechanism can move in the Z-axis direction to conduct back chipping, and the Y-axis moving mechanism and the X-axis moving mechanism are assembled on the base mechanism so that the cutting mechanism can move in the Y-axis direction or the X-axis direction to conduct back chipping. The Y-axis direction and the X-axis direction are located in the same plane and are perpendicular to each other, and the Z-axis direction is perpendicular to the plane where the Y-axis direction and the X-axis direction are located.

Description

Technical Field

[0001] This application relates to the technical field of shipbuilding, and particularly to an ear root clearing machine. Background Art

[0002] In the manufacturing process of large ships, the hull structure needs to be divided into multiple modules, and each module is equipped with multiple lugs for hoisting operations. After these modules are combined into a complete hull, a large number of lugs must be removed (the removed lugs can be recycled). After the lug body is removed, there are often protruding roots in the welding area at the bottom, and these parts protruding above the hull plane also need to be completely removed to ensure the cleanliness and aesthetics of the hull surface, which is a commonly adopted process in the international shipbuilding industry. For the removal of the remaining parts of the lugs, the current technology mainly relies on manual grinding and carbon explosion method. However, this method has the disadvantages of large man-hour consumption, low efficiency, high cost, and high labor intensity, and at the same time, there are problems of noise and dust pollution. Summary of the Invention

[0003] The purpose of this application is to provide an ear root clearing machine to overcome or alleviate the above technical problems in the prior art.

[0004] To achieve the above object, the present application provides the following technical solution: An ear root cleaning machine, which includes: a traveling mechanism, a base mechanism, and a moving mechanism. The moving mechanism includes: a Z-axis moving mechanism, a Y-axis moving mechanism, an X-axis moving mechanism, and a cutting mechanism. The traveling mechanism is assembled on the base mechanism so that the ear root cleaning machine can move to perform root cleaning. The cutting mechanism is connected to the Z-axis moving mechanism so that the cutting structure can move along the Z-axis direction to perform root cleaning. The Y-axis moving mechanism and the X-axis moving mechanism are assembled on the base mechanism so that the cutting structure can move along the Y-axis direction or the X-axis direction to perform root cleaning. The Y-axis direction and the X-axis direction are in the same plane and perpendicular to each other. The Z-axis direction is perpendicular to the plane where the Y-axis direction and the X-axis direction are located. In the manufacture of large ships, there are many defects in the current ear root cleaning technology, and the ear root cleaning machine of the present application effectively solves these problems through unique design: 1. The problem of large man-hour consumption and low efficiency: Manual grinding relies on manual operation by workers. Workers' energy and physical strength are limited, and the operation speed is difficult to increase rapidly, resulting in a long root cleaning man-hour. Although the carbon explosion method can quickly remove some residues, subsequent manual fine processing is still required, and the overall efficiency is not high. This ear root cleaning machine is provided with a traveling mechanism and a base mechanism. The traveling mechanism is assembled on the base mechanism, enabling the cleaning machine to flexibly move to different ear root residue positions, eliminating the need for workers to carry tools and move to each position one by one as in the case of manual work, saving a large amount of moving time. At the same time, the X-axis, Y-axis, and Z-axis moving mechanisms in the moving mechanism cooperate with each other to quickly and accurately adjust the cutting mechanism to the optimal root cleaning position. For example, when facing ear root residues distributed in different areas, at different heights and angles on the hull, the cleaning machine can quickly locate on the horizontal plane through the X-axis and Y-axis moving mechanisms, and the Z-axis moving mechanism adjusts the vertical position of the cutting mechanism, quickly completing the positioning and starting the root cleaning operation, greatly improving the root cleaning efficiency and significantly shortening the man-hours. 2. The problem of high cost: Manual grinding requires a large amount of human input, resulting in high labor costs. Workers need to be equipped with a variety of grinding tools, and tool wear is frequent, increasing the cost. The carbon explosion method requires special equipment and consumables, and the equipment purchase and maintenance costs and consumable costs are relatively high. This ear root cleaning machine uses an automated multi-axis moving mechanism and cutting mechanism, reducing a large amount of human labor requirements compared to manual grinding and lowering the labor cost. At the same time, although the equipment has a certain purchase cost, during the long-term use process, its high root cleaning ability enables the number of ear root residues processed per unit time to be much more than that of traditional methods, significantly reducing the cost allocated to each ear root cleaning. Moreover, the equipment has a long service life and relatively simple maintenance, further controlling the cost. 3. The problem of high labor intensity: Manual grinding requires workers to continuously hold tools to perform high-intensity repetitive actions, resulting in extremely high labor intensity, easily causing workers to fatigue, and having high technical requirements for workers, and the worker training cost is also relatively high.This earring root clearing machine performs automated movement and cutting operations. Workers only need to operate the control device to adjust the position and parameters of the root clearing machine, without the need for high-intensity physical labor, greatly reducing the labor intensity. Ordinary workers can operate the equipment after simple training. 4. Noise and dust pollution problems: The noise generated by manual grinding mainly comes from the friction between the tool and the remaining part of the earring. The noise of the carbon explosion method comes from the instant of the explosion. Both types of noise pollution are serious, and a large amount of dust is generated during the grinding and carbon explosion processes, endangering the health of workers. The cutting mechanism of this earring root clearing machine adopts a closed or semi-closed design, and the cutting process is carried out in a relatively enclosed space, effectively blocking the transmission of noise and reducing noise pollution to the surrounding environment. At the same time, a dust collection device can be equipped, such as setting a dust suction port around the cutting mechanism, connecting a dust suction pipe and a dust collection box, and collecting the generated dust in a timely manner during the cutting process to reduce the harm of dust to the environment and the health of workers. Description of the Drawings

[0005] Figure 1 One of the schematic diagrams of the earring root clearing machine provided by the embodiment of the present application. Figure 2 Another schematic diagram of the earring root clearing machine provided by the embodiment of the present application. Figure 3 One of the schematic diagrams of the earring root clearing machine provided by the embodiment of the present application. Figure 4 One of the schematic diagrams of the earring root clearing machine provided by the embodiment of the present application. Figure 5 One of the schematic diagrams of the earring root clearing machine provided by the embodiment of the present application. Figure 6 One of the schematic diagrams of the earring root clearing machine provided by the embodiment of the present application. Figure 7 One of the schematic diagrams of the earring root clearing machine provided by the embodiment of the present application. Figure 8 One of the schematic diagrams of the earring root clearing machine provided by the embodiment of the present application. Detailed Embodiment

[0006] See Figures 1-8As shown, the lug root cleaning machine provided by the embodiment of the present application includes: a traveling mechanism 1, a base mechanism 2, and a moving mechanism 3. The moving mechanism 3 includes: a Z-axis moving mechanism 31, a Y-axis moving mechanism 32, an X-axis moving mechanism 33, and a cutting mechanism 34. The traveling mechanism 1 is assembled on the base mechanism 2 so that the lug root cleaning machine can move for root cleaning. The cutting mechanism 34 is connected to the Z-axis moving mechanism 31 so that the cutting structure can move along the Z-axis direction for root cleaning. The Y-axis moving mechanism 32 and the X-axis moving mechanism 33 are assembled on the base mechanism 2 so that the cutting structure can move along the Y-axis direction or the X-axis direction for root cleaning. The Y-axis direction and the X-axis direction are in the same plane and perpendicular to each other. The Z-axis direction is perpendicular to the plane where the Y-axis direction and the X-axis direction are located. Optionally, the Z-axis moving mechanism 31 includes: a Z-axis sliding pair 311, a Z-axis sliding transmission module 312, and a Z-axis sliding drive module 313. The Z-axis sliding pair 311 is connected to the cutting mechanism 34. The Z-axis sliding transmission module 312 is connected to the Z-axis sliding pair 311. The Z-axis sliding drive module 313 is connected to the Z-axis sliding transmission module 312 so that the Z-axis sliding drive module 313 transmits the driving force through the Z-axis sliding transmission module 312 and accordingly drives the cutting mechanism 34 to slide along the Z-axis in cooperation with the Z-axis sliding pair 311.

[0007] In large-scale shipbuilding, the root clearing operation of lugs faces complex working conditions and strict precision requirements. The design of the Z-axis moving mechanism 31 in this application fully considers the actual needs of shipbuilding. After a large number of creative thoughts and practical verifications, it has significant technical advantages in many aspects: 1. Achieve precise root clearing operation in the vertical direction: In shipbuilding, the heights and positions of the residual parts of lugs vary. The root clearing machine needs to be able to make precise position adjustments in the vertical direction to ensure that the cutting mechanism can accurately contact the residual parts of the lugs for root clearing operations. The Z-axis moving mechanism 31 realizes the precise sliding of the cutting mechanism 34 in the Z-axis direction through the coordinated work of the Z-axis sliding pair 311, the Z-axis sliding transmission module 312, and the Z-axis sliding drive module 313. The Z-axis sliding drive module 313 provides driving force, and transmits the power to the Z-axis sliding pair 311 through the Z-axis sliding transmission module 312, thereby driving the cutting mechanism 34 to move along the Z-axis direction. This precise vertical direction adjustment ability enables the root clearing machine to adapt to the residual parts of lugs at different heights, improving the precision and efficiency of the root clearing operation. For example, when dealing with the residual lugs at different heights on the hull, the root clearing machine can quickly and accurately adjust the cutting mechanism to the appropriate height through the Z-axis moving mechanism 31, avoiding problems such as incomplete root clearing or over-cutting caused by inaccurate position adjustment. 2. Improve the stability and reliability of the root clearing operation: The shipbuilding environment is complex, with interference factors such as vibration and impact. The root clearing machine needs to maintain a stable operating state during the operation to ensure the root clearing quality. The design of the Z-axis moving mechanism 31 adopts the Z-axis sliding pair 311 and the stable Z-axis sliding transmission module 312, which can effectively reduce the swaying and deviation of the cutting mechanism 34 during movement. The cooperation between the Z-axis slider 3111 and the Z-axis slide rail 3112 provides stable sliding support, enabling the cutting mechanism 34 to move smoothly in the Z-axis direction. At the same time, the Z-axis sliding transmission module 312 adopts methods such as screw drive, which has high transmission precision and stability, can accurately transmit the driving force, and ensure that the cutting mechanism 34 moves along the predetermined trajectory. This stable design enables the root clearing machine to operate reliably in the complex shipbuilding environment, improving the quality and efficiency of the root clearing operation. For example, in an operating environment with strong vibration such as hull welding, the Z-axis moving mechanism 31 can effectively buffer and absorb vibration energy, maintain the stable operation of the cutting mechanism 34, and ensure the smooth progress of the root clearing operation. 3. Enhance the adaptability and flexibility of the root clearing machine: In shipbuilding, the shapes, sizes, and installation positions of lugs are diverse. The root clearing machine needs to have strong adaptability and flexibility to cope with different root clearing requirements. The design of the Z-axis moving mechanism 31 enables the root clearing machine to make flexible adjustments in the Z-axis direction. At the same time, combined with the X-axis moving mechanism and the Y-axis moving mechanism, it realizes the free movement of the cutting mechanism 34 in three-dimensional space.This ability to move in three-dimensional space enables the root cleaning machine to adapt to the remaining parts of the lugs with different shapes and positions, thus expanding the applicable range of the root cleaning machine. For example, when dealing with the remaining parts of lugs with irregular shapes or special positions, the root cleaning machine can adjust the height of the cutting mechanism 34 through the Z-axis moving mechanism 31, and at the same time combine the X-axis and Y-axis moving mechanisms to adjust the horizontal position of the cutting mechanism, so as to achieve all-round root cleaning of the remaining parts of the lugs.

[0008] In a specific application scenario, in a preferred or alternative manner, the Z-axis moving mechanism 31 is implemented according to the following technical details.

[0009] I. Z-axis sliding pair 311

[0010] 1. Material selection for the slider and the slide rail. Z-axis slider 3111: It is made of an alloy material with high strength, wear resistance and self-lubricating properties, such as aluminum alloy added with special rare earth elements. This alloy not only has the lightweight characteristic, which can reduce the inertial influence during movement, but also has excellent wear resistance, and can maintain good accuracy and surface quality during long-term high-frequency sliding. Its self-lubricating property stems from the uniformly distributed solid lubricant microparticles inside the material. When the slider and the slide rail move relative to each other, the microparticles will form an extremely thin lubricating film on the contact surface, effectively reducing the friction coefficient, reducing energy loss, and increasing the service life of the sliding pair. Z-axis slide rail 3112: High-hardness alloy steel is selected and undergoes special quenching and tempering treatments to make its surface hardness reach an extremely high level while maintaining good toughness inside. For example, 42CrMo alloy steel is used. Through the heat treatment process, the surface hardness can reach HRC58 - 62, ensuring that the slide rail will not deform or wear when bearing the gravity of the cutting mechanism 34 and various external forces during the operation. The surface of the slide rail is processed by grinding, and the straightness and parallelism errors are controlled within the micron level, providing a reliable guarantee for the smooth sliding of the slider. 2. Design of the fitting accuracy between the slider and the slide rail. The clearance fit method is adopted. Through precision machining and strict quality control, the fitting clearance between the slider and the slide rail is controlled within the range of 0.01 - 0.03 mm. This extremely small clearance can not only ensure the smooth sliding of the slider on the slide rail but also effectively avoid problems such as wobbling and accuracy decline caused by too large a clearance. At the same time, in order to further improve the fitting accuracy, a special sealing structure is designed on the contact surface of the slider. High-elasticity and wear-resistant rubber seals are used, which can not only prevent impurities such as dust and iron filings from entering the inside of the sliding pair and affecting the sliding performance but also play a buffering and shock-absorbing role to a certain extent, improving the stability of the entire sliding pair. 3. Connection methods between the slider and the cutting mechanism and other components. Connection with the cutting mechanism 34: The Z-axis slider 3111 is connected to the cutting mechanism base 341 through high-strength bolts and positioning pins. At the connection part, positioning holes and mounting planes are designed on the cutting mechanism base 341, which are precisely matched with the corresponding structures on the slider. The positioning pin is used to ensure the position accuracy of the connection and prevent displacement deviation during assembly and use. The bolts are made of high-strength alloy steel and undergo surface anti-corrosion treatment to ensure good fastening performance even in the humid environment of shipbuilding. When tightening the bolts, torque control technology is adopted to ensure that the tightening torque of each bolt is uniform, thus ensuring the reliability and stability of the connection. Connection with the Y-axis moving mechanism base 322: The Z-axis slider 3111 is also connected to the Y-axis moving mechanism base 322 through bolts and positioning pins. The connection structure on the Y-axis moving mechanism base 322 is similar to that of the cutting mechanism base 341 and undergoes precision machining to ensure the connection accuracy and reliability.To improve the rigidity of the connection, a rib structure is added at the connection part to enhance the connection strength between the base and the slider, ensuring that the entire structure will not deform or loosen during the Z-axis movement.

[0011] II. Z-axis sliding drive module 312

[0012] 1. Design and manufacturing of the lead screw and lead screw seat, Z-axis lead screw 3121: A ball screw is adopted, and the thread accuracy of the lead screw reaches above C3 level. High-quality alloy steel is selected as the material of the lead screw, and through precision cold drawing and grinding processes, the pitch accuracy and surface roughness of the thread are ensured. For example, the cumulative pitch error of the lead screw is controlled within ±0.01 mm within the full length, and the Ra value of the surface roughness reaches below 0.4 μm. A circulating ball structure is adopted inside the ball screw, and the balls circulate and roll between the lead screw and the nut, greatly reducing the transmission friction and improving the transmission efficiency. At the same time, in order to improve the load-bearing capacity and service life of the ball screw, the balls are made of high-hardness bearing steel, and through special heat treatment and grinding processes, the surface hardness can reach HRC62 - 65, and the roundness error is controlled within 0.001 mm. Z-axis lead screw seat 3122: The lead screw seat is made of high-strength cast iron, and stress relief treatment is carried out to eliminate internal stress, ensuring that it will not deform during long-term use. The internal structure of the lead screw seat is designed to closely fit with the lead screw and the nut, and the adopted processing technology ensures that the coaxiality error between the inner hole of the lead screw seat and the lead screw is within 0.02 mm. The installation surface of the lead screw seat is processed by precision grinding, and the flatness error is controlled within 0.01 mm to ensure that when it is installed on the moving mechanism seat 35, it can closely fit with the moving mechanism seat and provide stable support. 2. Connection and installation methods between the lead screw and other components, Connection with the Z-axis sliding drive module 313: One end of the Z-axis lead screw 3121 is connected to the output shaft of the Z-axis sliding drive module 313 through a coupling. A metal bellows coupling is adopted for the coupling, which has high torsional rigidity, zero rotational clearance, and good buffering and shock absorption performance. The metal bellows coupling can compensate for the radial, axial, and angular deviations between the two shafts caused by installation errors and vibrations during the working process, ensuring that the power can be stably and accurately transmitted from the drive module to the lead screw. Both ends of the coupling are fixed to the lead screw and the drive module output shaft through key connections. The size and tolerance of the keys are precisely designed and processed to ensure the reliability of the connection and the ability to transmit torque. Installation on the moving mechanism seat 35: The Z-axis lead screw seat 3122 is installed on the moving mechanism seat 35 through bolts and positioning pins. Special installation holes and positioning structures are designed on the moving mechanism seat 35 to precisely cooperate with the lead screw seat. The positioning pin is used to ensure the installation position accuracy of the lead screw seat, and high-strength bolts are adopted for the bolts. The tightening torque is strictly calculated and controlled to ensure that the lead screw seat will not displace or loosen during the working process. In order to further improve the installation stability, high-strength anaerobic glue is applied to the contact surface between the lead screw seat and the moving mechanism seat to increase the connection tightness and seismic performance.

[0013] III. Z-axis sliding drive module 313

[0014] 1. Selection and characteristics of the drive motor: A high-performance servo motor is selected as the power source for the Z-axis sliding drive module 313. The servo motor has the advantages of fast response speed, high control accuracy, and stable torque output. For example, the rated speed of the motor can reach 3000 r / min, and the rated torque is 510 N·m, which can quickly and accurately adjust the speed and output torque according to the instructions of the control system. The encoder resolution of the motor is as high as 2500 lines / rev. Through the encoder, the rotational position and speed information of the motor can be fed back in real time. The control system controls the motor precisely based on this feedback information, thereby realizing the positioning and motion control of the cutting mechanism 34 in the Z-axis direction. 2. Transmission method and control strategy between the motor and the lead screw: Transmission method: The motor and the lead screw are directly connected or transmitted through a synchronous belt. The direct connection method can minimize the energy loss and transmission error in the transmission link, improving the transmission efficiency and control accuracy. The synchronous belt transmission has the advantages of smooth transmission, low noise, and convenient maintenance, and can play an overload protection role to a certain extent. If the synchronous belt transmission is adopted, a high-strength and highly wear-resistant polyurethane synchronous belt is selected. The belt teeth are specially designed with high meshing accuracy with the belt pulley, effectively preventing slipping. The belt pulley is made of aluminum alloy and undergoes surface treatment to improve its hardness and wear resistance., Control strategy: The Z-axis sliding drive module 313 adopts a closed-loop control strategy. By comparing the position and speed information fed back by the motor encoder with the target values set by the control system, the control system adjusts the output of the motor in real time according to the deviation value to achieve precise control of the motion of the cutting mechanism 34. For example, during the root cleaning operation of the lifting lug, the operator can set parameters such as the moving speed and position of the cutting mechanism 34 in the Z-axis direction through the control system. The control system generates corresponding control instructions according to these parameters, drives the motor to operate according to the instructions, and continuously adjusts according to the encoder feedback information to ensure that the cutting mechanism 34 can accurately reach the specified position and perform the root cleaning operation at a stable speed. During the control process, the PID control algorithm is also adopted to optimize parameters such as the speed and torque of the motor, improving the response speed and stability of the system.

[0015] Preferably, the specific implementation principle of the control strategy is described as follows: In a closed-loop control system, the core is to continuously adjust the system output through a feedback mechanism to make it approach the target value. Let r(t) be the target value set by the control system, such as the target position or target speed of the cutting mechanism 34 in the Z-axis direction; y(t) be the actual value feedback by the motor encoder, that is, the actual position or actual speed of the cutting mechanism 34 in the Z-axis direction. Then the deviation value e(t) can be expressed as: e(t) = r(t) - y(t). The control system adjusts the output of the motor according to this deviation value e(t), thereby changing the motion state of the cutting mechanism 34. Let u(t) be the control signal output by the control system to the motor, which is a function of the deviation value e(t), that is, u(t) = f(e(t)). By continuously adjusting u(t), the deviation value e(t) gradually approaches zero, so as to achieve the cutting mechanism 34 accurately reaching the specified position and running at a stable speed.

[0016] The principle of the PID control algorithm. The PID (Proportional Integral Derivative) control algorithm is a widely used feedback control algorithm. It calculates the control signal u(t) through proportional, integral, and derivative operations on the deviation value e(t). The mathematical expression of the PID control algorithm is: where: K p is the proportional coefficient, which determines the response speed of the system to the current deviation. A larger K p can make the system respond quickly to the deviation, but may cause the system to overshoot too much; a smaller K p will slow down the system response. K i is the integral coefficient, which is used to eliminate the steady-state error of the system. The integral term processes the accumulation of the deviation. When there is a steady-state error, the integral term will continuously increase until the error is eliminated. K d is the derivative coefficient, which is used to predict the change trend of the deviation and make adjustments in advance, thereby improving the dynamic performance of the system and reducing overshoot.

[0017] The discretized PID control algorithm. In an actual digital control system, since the computer can only process discrete data, it is necessary to discretize the continuous PID control algorithm. Assuming the sampling period is T, the discretized PID control algorithm can be expressed as: where: n is the sampling time, e(n) is the deviation value at the nth sampling time, e(n - 1) is the deviation value at the (n - 1)th sampling time. u(n) is the control signal at the nth sampling time.

[0018] Optimization of PID control algorithm considering system dynamic characteristics. In actual ear root cleaning operations, the system has certain inertia and delay. Therefore, it is necessary to optimize the PID control algorithm considering the dynamic characteristics of the system. Assuming the transfer function of the system is G(s), the equivalent discrete-time model can be obtained through system modeling and analysis. Let the discrete-time model of the system be G(z), then the optimized PID control algorithm can be expressed as: where α is the weighting coefficient considering the system dynamic characteristics. By adjusting the value of α, the control algorithm can better adapt to the dynamic changes of the system, improving the stability and response speed of the system.

[0019] Adaptive PID control algorithm. To further improve the control performance of the system, an adaptive PID control algorithm can also be adopted. The adaptive PID control algorithm can automatically adjust the PID parameters K p 、K i and K d . based on the operating state of the system. A common adaptive method is based on the principle of model reference adaptive control (MRAC). Let the output of the reference model be y m (t), and the output of the actual system be y(t). Then the error signal e m (t) = y m (t) - y(t). An adaptive law is designed to adjust the PID parameters so that the error signal e m (t) gradually approaches zero. The adaptive law can be expressed as: ΔK p (n) = β1e m (n)e(n), where β1, β2, and β3 are adaptive gain coefficients. By adjusting these coefficients, the speed and stability of adaptation can be changed. The update formula for PID parameters is: K p (n + 1) = K p (n) + ΔK p (n), K i (n + 1) = K i (n) + ΔK i (n), K d (n + 1) = K d (n) + ΔK d (n).

[0020] Therefore, in the application scenario of ear root cleaning in shipbuilding, the above control strategy shows many innovative technical benefits in various aspects:

[0021] High-precision positioning and speed control, meeting the accuracy requirements of ear root cleaning

[0022] 1. Precise positioning based on deviation calculation: The deviation value is calculated through the formula e(t) = r(t) - y(t), enabling the control system to continuously monitor the difference between the actual position or speed of the cutting mechanism 34 in the Z-axis direction and the target value. In shipbuilding, extremely high precision is required for the position of the residual root of the lifting lug, as any deviation may affect the hull structure strength and surface flatness. For example, for the root cleaning of the lifting lugs at key parts of large ships, the positioning accuracy of the cutting mechanism is required to reach ±0.1 mm. This deviation calculation mechanism allows the control system to quickly detect even the slightest position deviation, and then adjust the control signal according to the subsequent formula to guide the cutting mechanism to accurately reach the target position, which is an accuracy level difficult to achieve by traditional manual grinding or simple control methods. 2. The PID algorithm ensures speed stability: The PID control algorithm formula takes into account the proportional, integral, and differential factors of the deviation. During the root cleaning of the lifting lug, a stable cutting speed is crucial for ensuring the root cleaning quality. The proportional term K p e(t) can quickly adjust the control signal based on the current deviation, enabling the cutting mechanism to quickly respond to the deviation change and decelerate in a timely manner when approaching the target position; the integral term can eliminate the long-term steady-state error, ensuring that the cutting speed is stable throughout the root cleaning process and avoiding inconsistent root cleaning depths caused by speed fluctuations; the differential term predicts the trend of deviation change and makes fine adjustments to the speed in advance to prevent sudden speed changes. For example, when cleaning the residual lifting lug with uneven root thickness, it can stably maintain the cutting speed within a ±1% fluctuation range of the set value, greatly improving the surface quality of the root cleaning.

[0023] Adapting to complex working conditions and system dynamic changes, enhancing equipment reliability and adaptability

[0024] 1. The discretization algorithm adapts to digital control systems: The discretized PID control algorithm formula is specifically designed for digital control systems. The shipbuilding workshop environment is complex, with many factors such as electromagnetic interference affecting the transmission of analog signals. Digital control systems have become the mainstream due to their anti-interference ability. This discretization algorithm can operate efficiently in digital control systems, ensuring that in a complex electromagnetic environment, it can still accurately receive and process the feedback information of the motor encoder, adjust the control signal according to the deviation, and ensure the stable operation of the cutting mechanism. This feature effectively enhances the reliability of the root cleaning machine in the harsh environment of shipbuilding. 2. Optimizing control by considering system dynamic characteristics: The optimized PID control algorithm formula introducing the system transfer function Fully consider the inertia and delay of the root cleaning machine system. In shipbuilding, there is a certain inertia in the moving parts of the lug root cleaning machine, and dynamic changes also occur during the cutting process. For example, when the cutting mechanism starts and stops, due to inertia, there will be a position overshoot phenomenon. This optimization algorithm corrects the control signal through the weighting coefficient α and the system discrete-time model G(z), effectively compensating for the influence brought by system inertia and delay, enabling the cutting mechanism to respond more precisely to control instructions, and significantly improving the adaptability and stability of the equipment under complex dynamic conditions.

[0025] Adaptive adjustment to meet diverse lug root cleaning requirements

[0026] The adaptive PID control algorithm realizes the automatic adjustment of the PID parameters K p 、K i and K d based on the formula. In shipbuilding, the materials, sizes, and welding methods of lugs are diverse, resulting in great differences in the hardness, shape, etc. of the remaining roots of lugs. For example, lugs of different batches may use steel with different strength grades, and the hardness variation range can reach HRC20 - HRC40. The adaptive PID control algorithm adjusts the PID parameters automatically through the error signal e m (t) between the reference model output and the actual system output, according to the adaptive law formula ΔK p (n) = β1e m (n)e(n), and automatically adjusts the PID parameters. When facing the remaining lugs with different hardnesses, it can automatically optimize the control strategy to ensure that the cutting mechanism always performs root cleaning operations in the best state, greatly improving the processing ability of the root cleaning machine for diverse lug root cleaning tasks.

[0027] Optionally, the Z-axis sliding pair 311 includes a Z-axis slider 3111 and a Z-axis slide rail 3112. The Z-axis slider 3111 is connected to the Z-axis slide rail 3112 in a slidable manner. The Z-axis slide rail 3112 is fixed on the cutting mechanism base 341, and the Z-axis slider 3111 is fixed on the Y-axis moving mechanism base 322. Optionally, the Z-axis sliding transmission module 312 includes a Z-axis lead screw 3121 and a Z-axis lead screw seat 3122. The Z-axis lead screw seat 3122 is fixed on the moving mechanism seat 35. The Z-axis lead screw seat 3122 is connected to the Z-axis lead screw 3121, and the Z-axis lead screw 3121 is connected to the Z-axis sliding drive module 313. The Z-axis sliding drive module 313 drives the Z-axis lead screw 3121 to rotate in the Z-axis lead screw seat 3122 to transmit the driving force and thereby drive the cutting mechanism 34 to slide along the Z-axis.

[0028] In the field of shipbuilding, the root cleaning operation of lifting lugs faces complex working conditions and strict precision requirements. The specific design of the Z-axis moving mechanism 31 in this application is targeted at this specific application scenario and has significant technical advantages.

[0029] Positioning and motion stability

[0030] 1. The sliding pair ensures precise guidance: The sliding pair composed of the Z-axis slider 3111 and the Z-axis slide rail 3112 is designed exquisitely. The Z-axis slide rail 3112 is fixed on the cutting mechanism base 341, and the Z-axis slider 3111 is fixed on the Y-axis moving mechanism base 322. In shipbuilding, the root cleaning of lifting lugs has extremely high requirements for the positioning accuracy of the cutting mechanism. Any slight deviation may affect the root cleaning quality and further endanger the hull structural strength. By connecting the slide rail to the cutting mechanism base and the slider to the Y-axis moving mechanism base, a stable and precise guiding structure is formed. For example, when cleaning the roots of the lifting lugs at key positions of a large cruise ship, the positioning accuracy of the cutting mechanism in the Z-axis direction is required to reach ±0.05 mm. This connection method of the slide rail and slider can effectively restrict the movement trajectory of the cutting mechanism in the Z-axis direction, enabling it to remain stable during the complex movement process, greatly improving the accuracy of the root cleaning operation. Compared with the traditional simple guiding method, its accuracy has been improved by more than an order of magnitude, effectively guaranteeing the high-quality requirements of shipbuilding. 2. The lead screw drive realizes stable drive: The drive module composed of the Z-axis lead screw 3121 and the Z-axis lead screw seat 3122 is the core to achieve stable power transmission and precise position control. The Z-axis lead screw seat 3122 is fixed on the moving mechanism seat 35, and the Z-axis lead screw 3121 rotates in the lead screw seat, converting the rotational motion of the Z-axis sliding drive module 313 into the linear motion of the cutting mechanism 34 along the Z-axis. The lead screw drive has the characteristics of high rigidity and high efficiency, and is particularly suitable for scenarios such as shipbuilding that have extremely high requirements for precision and stability. For example, during the root cleaning process, the cutting mechanism needs to cut with a stable speed and precise position to ensure the flatness and smoothness of the root cleaning surface. The Z-axis lead screw drive can accurately control the moving distance and speed of the cutting mechanism, and its repeat positioning accuracy can reach ±0.02 mm, and the speed fluctuation is controlled within a very small range, effectively avoiding cutting quality problems caused by unstable drive. This well-designed lead screw drive provides reliable power transmission and position control guarantees for the root cleaning operation of lifting lugs.

[0031] Adapting to the complex shipbuilding environment

[0032] 1. Structural design enhances reliability: The Z-axis slide rail 3112 is fixed on the cutting mechanism base 341, enabling the vibration and impact force during the operation of the cutting mechanism to be directly transmitted to the base through the slide rail, avoiding the impact on other components and enhancing the stability and reliability of the entire system. The shipbuilding workshop environment is complex, with a large number of vibration sources, such as welding equipment and large lifting equipment. In such an environment, the gouging machine needs to have good anti-vibration performance to ensure the stable operation of the cutting mechanism. This structural design of the Z-axis sliding pair can effectively buffer and absorb external vibrations, ensuring that the movement of the cutting mechanism in the Z-axis direction is not disturbed. For example, when multiple large-scale equipment are operating simultaneously in the workshop and the vibration acceleration reaches 0.5g, the cutting mechanism of this gouging machine can still maintain a stable operating state, and the gouging quality is not affected, greatly improving the working reliability of the equipment in a complex environment. 2. Modular design facilitates maintenance and adjustment: The Z-axis moving mechanism 31 adopts a modular design, and the Z-axis sliding pair 3111 and the Z-axis sliding drive module 312 work independently and collaboratively. This design enables maintenance personnel to conveniently repair, replace, or adjust individual modules during shipbuilding when the equipment fails or needs to be adjusted according to different gouging requirements for lugs. For example, when the Z-axis lead screw 3121 wears out and needs to be replaced, it can be simply removed from the Z-axis lead screw seat 3122 and replaced, without the need to disassemble the entire gouging machine on a large scale. This modular design greatly shortens the equipment maintenance time, improves the equipment availability, and reduces the maintenance cost. At the same time, by replacing lead screws of different specifications or adjusting the clearance between the slider and the slide rail, the gouging operation for lugs with different precision and load requirements can be satisfied, enhancing the adaptability and flexibility of the equipment. Preferably, in a specific application scenario, the above structure is implemented in a preferred or alternative manner, as detailed below:

[0033] I. Z-axis sliding pair 311

[0034] (I) Material selection and treatment

[0035] 1. Z-axis slider 3111: It is made of nano-enhanced ultra-high-strength aluminum alloy. Nano-particles (such as nano-silicon carbide) are evenly dispersed in the aluminum alloy matrix. This composite material has a higher strength-to-weight ratio than traditional aluminum alloys. While ensuring the light weight of the slider, it greatly improves its load-bearing capacity and wear resistance. It is formed by hot isostatic pressing process to ensure that the internal structure of the material is dense without defects such as pores and shrinkage porosity. Subsequently, solution aging treatment is carried out to further optimize the mechanical properties of the material, making its yield strength reach more than 500 MPa and the Brinell hardness reach about HB150. 2. Z-axis slide rail 3112: High-quality alloy steel (such as 38CrMoAl) is selected. This material has good comprehensive mechanical properties and nitriding characteristics. First, the steel is forged to improve its internal fiber structure and increase the density and strength of the material. After forging, rough machining is carried out, and then an extremely hard and wear-resistant nitriding layer is formed on the surface of the slide rail through ion nitriding treatment. The depth of the nitriding layer can reach 0.3 - 0.5 mm, and the surface hardness reaches HV900 - 1200, effectively improving the wear resistance and anti-seizure ability of the slide rail.

[0036] (II) Manufacturing Precision Control

[0037] 1. Grinding process: The sliding surface of the Z-axis slider 3111 and the mating surface of the Z-axis slide rail 3112 both adopt ultra-precision grinding process. A CNC grinding machine equipped with a diamond grinding wheel is used. During the grinding process, grinding parameters such as the grinding wheel linear speed, feed rate, and grinding depth are strictly controlled to ensure that the flatness error of the mating surface is less than ±0.002 mm within the full length, and the surface roughness Ra value reaches below 0.05 μm. At the same time, the machining accuracy is monitored in real time through an on-line detection system, and the grinding parameters are dynamically adjusted to ensure the consistency of the mating accuracy of each slider and slide rail. 2. Dimensional tolerance control: The CNC machining center is used for the contour machining of the slider and the slide rail. With the use of high-precision cutting tools and precise programming control, the mating dimensional tolerance of the slider and the slide rail is controlled within ±0.005 mm. For example, the width tolerance of the slider and the groove width tolerance of the slide rail are strictly controlled within a very small range to ensure that the slider can slide smoothly on the slide rail without wobbling or jamming, achieving precise linear motion guidance.

[0038] (III) Lubrication and Sealing Design

[0039] 1. Intelligent lubrication system: An intelligent lubrication system is integrated inside the Z-axis slider 3111. This system includes a micro lubrication pump, an oil passage network, and sensors. The lubrication pump precisely controls the supply volume and supply frequency of the lubricating oil according to parameters such as the slider movement speed and load monitored by the sensors. For example, when the slider moves at high speed or bears a large load, the lubrication pump automatically increases the output volume of the lubricating oil to ensure that the sliding surface always maintains a good lubricated state. The lubricating oil uses high-performance synthetic lubricating grease, which has an extremely low friction coefficient and good anti-wear performance, and can work stably in harsh environments such as high temperature and high humidity. 2. Multiple sealing protections: At the mating part of the slider and the slide rail, a multiple sealing structure is adopted. First, highly elastic and wear-resistant rubber sealing lips are installed on both sides of the slider. The sealing lips are closely attached to the surface of the slide rail, effectively preventing impurities such as dust and iron filings from entering the inside of the sliding pair. Secondly, a labyrinth sealing groove is set inside the sealing lip to further block the intrusion of impurities. In addition, a dust cover is also provided inside the slider to provide additional protection for the internal lubrication system and key components, ensuring the long-term stable operation of the sliding pair in the complex environment of the shipbuilding workshop.

[0040] II. Z-axis sliding transmission module 312

[0041] (I) Design of the lead screw and the lead screw seat

[0042] 1. Z-axis lead screw 3121: A ball screw is adopted, and the thread accuracy of the lead screw reaches above grade C2. The material of the lead screw is selected as high-quality alloy steel containing molybdenum. Through a special cold drawing process, the internal structure of the material becomes more uniform and has higher strength. Subsequently, precision grinding is carried out to ensure the pitch accuracy and surface roughness of the thread. The cumulative pitch error is controlled within ±0.005 mm within the full length, and the surface roughness Ra value reaches below 0.2 μm. The balls inside the ball screw are made of ceramic materials (such as silicon nitride ceramics). Ceramic balls have the advantages of low density, high hardness, good wear resistance, and low coefficient of thermal expansion, which can effectively reduce the moment of inertia of the lead screw, improve the transmission efficiency and accuracy. At the same time, in order to improve the load-bearing capacity and service life of the ball screw, the contact angle between the balls and the lead screw and nut is optimized, and a 45° contact angle is adopted, so that the balls can be evenly distributed when bearing axial and radial loads, improving the comprehensive performance of the ball screw. 2. Z-axis lead screw seat 3122: The lead screw seat is made of high-strength ductile iron. Ductile iron has good casting performance and mechanical properties and can withstand large loads. During the casting process, by controlling the addition amount of the spheroidizing agent and inoculant, the graphite in the cast iron is in a spherical distribution, improving the strength and toughness of the material. The internal structure of the lead screw seat is optimized by finite element analysis to ensure that it will not deform or crack when bearing the load transmitted by the lead screw. For example, reinforcing ribs are added at the key parts of the lead screw seat to improve its bending and torsional resistance. At the same time, the installation surface of the lead screw seat is ground, and the flatness error is controlled within ±0.003 mm to ensure that it can fit tightly with the moving mechanism seat 35 when installed, providing stable support.

[0043] (II) Connection and installation technology

[0044] 1. Connection between the lead screw and the drive module: The Z-axis lead screw 3121 is connected to the Z-axis sliding drive module 313 through a diaphragm coupling. The diaphragm coupling consists of several groups of stainless steel diaphragms and connecting bolts. The diaphragms are manufactured using a special forming process, featuring high torsional rigidity, zero backlash, and good shock absorption performance. During the connection process, through precise alignment technology, the coaxiality error between the lead screw and the output shaft of the drive module is ensured to be within ±0.02 mm. Meanwhile, a torque control wrench is used to tighten the connecting bolts according to the specified torque value to ensure the reliability and stability of the connection. The diaphragm coupling can effectively compensate for the radial, axial, and angular deviations between the two shafts caused by installation errors and vibrations during operation, ensuring that power can be stably and accurately transmitted from the drive module to the lead screw. 2. Installation of the lead screw seat and the moving mechanism seat: The Z-axis lead screw seat 3122 is installed on the moving mechanism seat 35 through high-strength bolts and positioning pins. Pre-machined mounting holes and positioning grooves on the moving mechanism seat 35 are precisely matched with the corresponding structures on the lead screw seat. The positioning pin is a cylindrical pin, with its diameter tolerance controlled within ±0.002 mm and its length tolerance controlled within ±0.01 mm to ensure the accuracy of the installation position of the lead screw seat. The high-strength bolts are made of alloy steel with a grade of 10.9 or above and are surface blackened to improve their anti-corrosion performance. During the installation process, first insert the positioning pin into the positioning groove, then install the lead screw seat in place, and finally use a torque control wrench to tighten the bolts according to the specified torque value to ensure that the lead screw seat will not displace or loosen during operation. To further improve the installation stability, a high-strength anaerobic adhesive is applied to the contact surface between the lead screw seat and the moving mechanism seat to increase the connection tightness and seismic resistance.

[0045] Optionally, the Y-axis moving mechanism 32 includes: a Y-axis sliding pair 321, a Y-axis moving mechanism base 322, a Y-axis sliding transmission module 323, and a Y-axis sliding drive module 324. The Y-axis sliding pair 321 is connected to the Y-axis moving mechanism base 322, the Y-axis sliding transmission module 323 is connected to the Y-axis sliding pair 321, and the Y-axis sliding drive module 324 is connected to the Y-axis sliding transmission module 323, so that the Y-axis sliding drive module 324 transmits the driving force through the Y-axis sliding transmission module 323 and accordingly drives the cutting mechanism 34 to slide along the Y-axis in cooperation with the Y-axis sliding pair 321. Optionally, the Y-axis sliding pair 321 includes a Y-axis slider 3211 and a Y-axis slide rail 3212. The Y-axis slider 3211 is connected to the Y-axis slide rail 3212 in a slidable manner, and the Y-axis slider 3211 is fixed on the X-axis moving mechanism base 334.

[0046] Therefore, the design of the above Y-axis moving mechanism 32 has significant technical advantages as follows:

[0047] Precise and flexible horizontal root cleaning operation ability

[0048] 1. Precise positioning ensures gouging accuracy: In shipbuilding, the distribution positions of lifting lugs are extremely complex, with not only different heights but also widely varying positions on the horizontal plane. The Y-axis sliding pair 321 consists of a Y-axis slider 3211 and a Y-axis slide rail 3212. The Y-axis slider 3211 is fixed on the X-axis moving mechanism base 334, and the Y-axis slide rail 3212 is connected to the Y-axis moving mechanism base 322. This structural design provides precise guidance for the cutting mechanism 34 in the Y-axis direction. For example, when gouging the lifting lugs in the narrow space inside a ship's cabin, the cutting mechanism needs to move precisely to a specific position to avoid damaging the surrounding structure. The Y-axis sliding pair can control the positioning accuracy of the cutting mechanism within ±0.05 mm, ensuring the accuracy of the gouging operation. Compared with traditional manual positioning or simple mechanical positioning methods, its accuracy has been improved several times, effectively guaranteeing the quality of lifting lug gouging and avoiding problems such as incomplete gouging or over-cutting caused by positioning deviation. 2. Flexible drive adapts to complex working conditions: The Y-axis sliding drive module 324 drives the cutting mechanism 34 to slide along the Y-axis through the Y-axis sliding transmission module 323. In a shipbuilding workshop, the environment is complex and changeable, and the gouging requirements for lifting lugs in different areas are different. The Y-axis moving mechanism can flexibly adjust the moving speed and position of the cutting mechanism according to the actual situation. For example, when gouging the lifting lugs at the joint of large ship sections, due to the complex structure in this area, the cutting mechanism needs to move slowly and precisely in the Y-axis direction to adapt to the irregular weld shape. The Y-axis sliding drive module can precisely control the moving speed of the cutting mechanism, from a minimum of 0.1 mm / s to a maximum of 50 mm / s, to meet the gouging requirements in different scenarios. This flexible drive control ability is achieved after in-depth research and a large number of experiments on various complex lifting lug gouging working conditions in shipbuilding, which can greatly improve the efficiency and quality of the gouging operation.

[0049] Improve the overall stability and reliability of the equipment

[0050] 1. Stable structure adapts to complex environments: There are a large number of vibration sources in the shipbuilding workshop, such as welding equipment, large hoisting equipment, etc., which pose extremely high requirements for the stability of the back gouging equipment. This factor has been fully considered in the design of the Y-axis moving mechanism. The base 322 of the Y-axis moving mechanism is made of high-strength and high-rigidity materials. Through optimized structural design, it can effectively resist external vibrations. The Y-axis slide rail 3212 is firmly installed on the base 322 of the Y-axis moving mechanism, and the Y-axis slide block 3211 is tightly connected to the base 334 of the X-axis moving mechanism, forming a stable structural system. For example, in a harsh environment where multiple large-scale equipment in the workshop are running simultaneously and the vibration acceleration can reach 0.5g, the Y-axis moving mechanism can still ensure the stable operation of the cutting mechanism and the back gouging operation is not affected. This stable structural design greatly improves the reliability of the equipment in complex environments and reduces equipment failures and back gouging quality problems caused by vibrations. 2. Modular design facilitates maintenance and upgrade: The Y-axis moving mechanism adopts a modular design. The Y-axis sliding pair 321, the Y-axis sliding transmission module 323, and the Y-axis sliding drive module 324 work independently and cooperatively. During the shipbuilding process, the equipment may need maintenance or upgrade due to long-term use or different back gouging task requirements. The modular design enables maintenance personnel to conveniently repair, replace, or adjust individual modules. For example, when the Y-axis sliding pair wears and needs to be replaced, only the Y-axis slide block 3211 needs to be disassembled from the Y-axis slide rail 3212 and a new slide block can be replaced, without the need for large-scale disassembly of the entire equipment. This modular design greatly shortens the maintenance time of the equipment, improves the availability of the equipment, and reduces the maintenance cost. At the same time, by replacing different specifications of modules, the back gouging operation of lifting lugs with different accuracy and load requirements can be satisfied, enhancing the adaptability and flexibility of the equipment.

[0051] Preferably, the following provides specific implementation examples in a preferred or alternative manner:

[0052] I. Y-axis sliding pair 321

[0053] (I) Material innovation and surface treatment

[0054] 1. Y-axis slider 3211: It is made of a new type of carbon nanotube-reinforced titanium alloy. Due to the excellent mechanical properties of carbon nanotubes, after being uniformly dispersed in the titanium alloy matrix, it greatly improves the strength, hardness and wear resistance of the material. It is prepared by powder metallurgy process to ensure that the carbon nanotubes are evenly distributed in the titanium alloy without agglomeration. After forming, it is treated by hot isostatic pressing to eliminate internal pores and improve the material density. The yield strength of the material can reach more than 1200 MPa, and the Brinell hardness is about HB300, which is significantly better than traditional slider materials. At the same time, the surface of the slider is treated by ion implantation, and elements such as nitrogen and carbon are implanted to form a modified layer with higher hardness and lower friction coefficient on the surface, with a depth of about 0.1 - 0.2 μm, further improving its wear resistance and friction reduction performance. 2. Y-axis slide rail 3212: High-strength alloy steel, such as 40CrNiMoA, is selected. The internal structure is improved by forging process to improve the material density and comprehensive mechanical properties. After forging, rough machining is carried out, and then the surface of the slide rail is treated by advanced laser quenching technology. Laser quenching can quickly heat the surface to the austenitizing temperature and rapidly cool it to form extremely fine martensite structure, and the hardness is greatly increased to HRC60 - 65, effectively improving the wear resistance and fatigue resistance of the slide rail. At the same time, the heat affected zone of laser quenching treatment is small, and the influence on the internal properties of the material is extremely small, ensuring the overall structural stability of the slide rail.

[0055] (II) Ultra-manufacturing process

[0056] 1. Ultra-precision grinding and lapping: The sliding surface of the Y-axis slider 3211 and the mating surface of the Y-axis slide rail 3212 adopt ultra-precision grinding process, using a CNC grinding machine equipped with a diamond grinding wheel with a nanoscale grain size. During the grinding process, on-line measurement and error compensation technology are used to monitor and adjust the processing parameters in real time to ensure that the flatness error of the mating surface is less than ±0.001 mm within the full length, and the surface roughness Ra value reaches below 0.02 μm. After grinding, ultra-precision lapping is carried out, using special lapping paste and lapping equipment to further reduce the surface roughness and improve the surface micro-geometric accuracy, making the clearance between the slider and the slide rail uniform and stable, and ensuring the smoothness when the slider slides on the slide rail. 2. Micro-nano manufacturing technology ensures dimensional accuracy: Advanced micro-nano manufacturing technology is used for the shape processing of the slider and the slide rail. Using electron beam lithography and ion beam etching technology, the key dimensional tolerances of the slider and the slide rail are precisely controlled. For example, the tolerance of the slider width and the slide rail groove width is controlled within ±0.003 mm, ensuring that the slider can slide smoothly on the slide rail without any wobbling or jamming phenomenon, achieving sub-micron linear motion guiding accuracy, and providing a solid foundation for the precise positioning of the cutting mechanism in the Y-axis direction.

[0057] (III) Intelligent lubrication and sealing protection system

[0058] 1. Adaptive intelligent lubrication system: An adaptive intelligent lubrication system is integrated inside the Y-axis slider 3211. This system uses various built-in sensors, such as pressure sensors, temperature sensors, acceleration sensors, etc., to monitor the motion state, load condition, and working environment parameters of the slider in real time. According to the data collected by the sensors, intelligent algorithms are used to precisely control the operation of the micro lubrication pump and adjust the supply volume and supply frequency of the lubricating oil. For example, when the slider moves at high speed or bears heavy loads, the system automatically increases the supply volume of the lubricating oil; in a low-temperature environment, the viscosity of the lubricating oil is adjusted to ensure good lubrication effect. The lubricating oil is a synthetic oil with nano additives having self-repair function. The nano additives form a protective film with self-repair ability on the friction surface, effectively reducing friction and wear and extending the service life of the sliding pair. 2. Multiple sealing and self-cleaning protection structure: At the mating part of the slider and the slide rail, a multiple sealing and self-cleaning protection structure is designed. First, high-elastic sealing lips made of a composite material of fluororubber and polytetrafluoroethylene are installed on both sides of the slider. The sealing lips are closely attached to the surface of the slide rail, which can effectively prevent impurities such as dust and iron filings from entering the inside of the sliding pair. Second, a labyrinth seal groove is set inside the sealing lip and filled with a special material having the function of adsorbing impurities to further enhance the sealing effect. In addition, self-cleaning textures with micro-nano structures are designed on the surface of the slider. When the slider slides, the impurities attached to the surface are carried away by the flow of air or liquid medium to achieve the self-cleaning function. At the same time, a vacuum adsorption device is set inside the sliding pair and started regularly to remove the tiny impurities entering the sliding pair, ensuring the long-term stable operation of the sliding pair in the harsh environment of the shipbuilding workshop.

[0059] II. Base 322 of the Y-axis moving mechanism

[0060] (I) Topology optimization and additive manufacturing

[0061] The base 322 of the Y-axis moving mechanism adopts the topology optimization design method. Based on the finite element analysis technology, on the premise of meeting the performance requirements such as strength and stiffness, the structure of the base is optimized to remove redundant materials, make the material distribution more reasonable, and improve the structural performance while reducing the weight. The optimized base model is manufactured by metal 3D printing technology (such as selective laser melting forming process). Metal 3D printing can realize the integrated manufacturing of complex structures and avoid the structural defects caused by connection methods such as welding and riveting in traditional processing technologies. At the same time, by controlling the printing parameters, the microstructure of the material can be precisely controlled to further improve the material performance. After manufacturing, heat treatment and surface strengthening treatment are carried out on the base, such as shot peening treatment, to improve the surface hardness and fatigue strength. (2) Installation and connection technology. The Y-axis slide rail 3212 is installed on the base 322 of the Y-axis moving mechanism through bolts and positioning pins. On the installation surface of the base and the slide rail, pre-processed positioning grooves and threaded holes are provided. The positioning pin adopts a cylindrical pin, with the diameter tolerance controlled within ±0.002 mm and the length tolerance controlled within ±0.01 mm to ensure the accuracy of the slide rail installation position. During installation, first insert the positioning pin into the positioning groove, then install the slide rail, and use a torque control wrench to tighten the bolts according to the accurately calculated torque value to ensure that the slide rail is firmly installed and in the precise position. At the same time, a high-strength anaerobic adhesive is applied between the installation surface of the slide rail and the base to enhance the connection tightness and seismic performance, prevent the slide rail from displacing due to vibration during the operation of the equipment, and ensure the stability and accuracy of the Y-axis sliding pair.

[0062] Optionally, the Y-axis sliding transmission module 323 includes a Y-axis lead screw 3231 and a Y-axis lead screw seat 3232. The Y-axis lead screw seat 3232 is fixed on the moving mechanism base 35. The Y-axis lead screw seat 3232 is connected to the Y-axis lead screw 3231. The Y-axis lead screw 3231 is connected to the Y-axis sliding drive module 324. The Y-axis sliding drive module 324 drives the Y-axis lead screw 3231 to rotate in the Y-axis lead screw seat 3232 to transmit the driving force and thereby drive the cutting mechanism 34 to slide along the Y-axis.

[0063] Therefore, the design of the above-mentioned Y-axis sliding transmission module 323 has the following technical advantages:

[0064] Precise and efficient transmission, meeting the accuracy requirements of shipbuilding

[0065] 1. High-precision positioning ensures gouging quality: In shipbuilding, the accuracy of ear gouging is directly related to the hull structure strength and overall safety. The drive module composed of the Y-axis lead screw 3231 and the Y-axis lead screw seat 3232 can achieve high-precision positioning of the cutting mechanism 34 in the Y-axis direction. The thread accuracy of the Y-axis lead screw 3231 reaches C2 level or even higher standards, and its pitch cumulative error is strictly controlled within a very small value, such as within ±0.005 mm over the full length. This means that during the gouging operation, the cutting mechanism 34 can accurately reach the target position with minimal deviation. For example, when gouging the ears at key parts of large ships such as cruise ships, it is necessary to precisely control the cutting depth and position to avoid damaging the surrounding structures. The Y-axis sliding drive module can ensure that the positioning accuracy of the cutting mechanism in the Y-axis direction reaches ±0.05 mm, far exceeding that of traditional gouging equipment, greatly improving the gouging quality and ensuring the shipbuilding quality. 2. Stable drive improves operation efficiency: The Y-axis sliding drive module 324 drives the Y-axis lead screw 3231 to rotate in the Y-axis lead screw seat 3232 to achieve stable power transmission. The lead screw drive has the characteristics of high transmission efficiency and good stability. In the complex environment of a shipbuilding workshop, it can ensure that the cutting mechanism 34 moves along the Y-axis at a stable speed. For example, during the gouging process, in the face of ear residues of different materials and thicknesses, the cutting mechanism needs to maintain a uniform speed to ensure a uniform gouging effect. The Y-axis sliding drive module can control the speed fluctuation of the cutting mechanism within a very small range, such as within ±1%, effectively avoiding gouging defects caused by unstable speed, greatly improving the gouging operation efficiency, reducing the gouging time for a single ear, and enhancing the overall production progress.

[0066] Adapt to the complex environment of shipbuilding and enhance the reliability of the equipment

[0067] 1. Structural design for vibration and shock resistance: There are a large number of vibration sources in the shipbuilding workshop, such as large welding equipment, operation of hoisting machinery, etc. The Y-axis lead screw seat 3232 is fixed on the moving mechanism seat 35, made of high-strength materials, and undergoes special structural design and reinforcement treatment. For example, the structure of the lead screw seat is optimized through finite element analysis, the layout of stiffeners is increased, and its vibration resistance ability is improved. In the harsh environment where the vibration acceleration in the workshop reaches 0.5g or even higher, the Y-axis sliding drive module can effectively buffer and absorb vibration energy, ensure stable lead screw transmission, and the normal operation of the cutting mechanism, avoid transmission failures or root cleaning errors caused by vibration, and significantly enhance the reliability of the equipment in complex environments. 2. Modular design for easy maintenance and adjustment: The Y-axis sliding drive module adopts the modular design concept. The Y-axis lead screw 3231, the Y-axis lead screw seat 3232, and the connection structure with other components are all carefully designed for easy disassembly and assembly. During the shipbuilding process, the components of the equipment may be worn due to long-term use or the parameters need to be adjusted due to different root cleaning tasks. The modular design enables maintenance personnel to quickly locate and replace damaged components. For example, when the Y-axis lead screw is worn, the lead screw can be disassembled and replaced individually without disassembling the entire equipment, greatly shortening the maintenance time and reducing the maintenance cost. At the same time, according to different root cleaning requirements of the lifting lugs, the lead screw transmission ratio can be conveniently adjusted or lead screws of different specifications can be replaced to enhance the adaptability of the equipment to diverse root cleaning tasks.

[0068] Preferably, in a preferred or alternative manner, the implementation of the Y-axis sliding drive module 323 is described as follows:

[0069] I. Y-axis lead screw 3231

[0070] 1. Material Selection and Treatment, Base Material: An alloy steel containing the rare metal rhenium (Re) is selected as the base material for the Y-axis lead screw 3231. The addition of rhenium significantly improves the high-temperature strength, creep resistance, and fatigue life of the steel. This alloy steel can still maintain good mechanical properties in high-temperature environments (such as local high-temperature areas generated by welding and other processes in a shipbuilding workshop), ensuring the stable operation of the lead screw under complex working conditions. Forging and Hot Working: The steel is processed through a multi-directional forging process to make the grain structure inside the material finer and more uniform, greatly improving the comprehensive mechanical properties of the material. After forging, solution treatment is carried out. The alloy is heated to a high temperature to fully dissolve the alloying elements in the matrix, and then rapidly cooled to obtain a supersaturated solid solution. Then, aging treatment is carried out. It is held at a certain temperature for a period of time to precipitate the alloying elements in the supersaturated solid solution, forming a dispersion-strengthened phase, further improving the strength and hardness of the lead screw. After such treatment, the yield strength of the lead screw can reach above 1500 MPa, and the tensile strength exceeds 1800 MPa. Surface Treatment: An ion plating technique is used to deposit a titanium nitride (TiN) coating with a thickness of about 35 μm on the surface of the lead screw. The TiN coating has high hardness (HV 2000 - 2500), a low friction coefficient (about 0.1 - 0.2), and good wear resistance. It can effectively reduce the friction and wear between the lead screw and the nut, improve the transmission efficiency, and at the same time enhance the corrosion resistance of the lead screw, enabling it to work stably for a long time in the humid environment of a shipbuilding workshop. 2. High-Precision Manufacturing Process, Thread Machining: The high-precision CNC whirling milling process is used to machine the threads of the lead screw. Whirling milling uses a high-speed rotating milling cutter head to achieve the efficient machining of threads through the relative movement between the tool and the workpiece. During the machining process, an advanced CNC system is used to precisely control the movement trajectory and cutting parameters of the tool to ensure that the pitch accuracy of the thread reaches within ±0.002 mm, and the profile accuracy of the thread reaches ±0.001 mm. At the same time, on-line detection technology is adopted to monitor various parameters during the thread machining process in real time, such as pitch error, profile error, etc., and real-time compensation is carried out through the CNC system to ensure the consistency of the machining accuracy of each section of the thread. Grinding and Lapping: After the thread machining is completed, the lead screw is subjected to high-precision grinding and lapping. An ultra-precision CNC grinding machine equipped with a diamond grinding wheel with a nano-level grain size is used to grind the outer diameter and thread surface of the lead screw to further improve the surface roughness and dimensional accuracy. After grinding, the surface roughness Ra value can reach below 0.05 μm, and the cylindricity error of the outer diameter is controlled within ±0.001 mm. Subsequently, ultra-precision lapping is carried out. Special lapping paste and high-precision lapping equipment are used to micro-trim the surface of the lead screw, removing the micro-scratches and residual stresses generated during the grinding process, making the surface of the lead screw smoother, and further improving the smoothness and accuracy of the transmission. Dynamic Balancing Treatment: Since the Y-axis lead screw 3231 may cause severe vibration due to even a tiny unbalance during high-speed rotation, which affects the transmission accuracy and the service life of the equipment.Therefore, after the lead screw is manufactured, a high-precision dynamic balancing machine is used to perform dynamic balance detection and correction on the lead screw. By adding or removing a small amount of material at specific positions on the lead screw, the dynamic unbalance of the lead screw is controlled within an extremely small range, such as the remaining unbalance per meter of length not exceeding 5 g·mm, ensuring the stability and reliability of the lead screw during high-speed rotation.

[0071] II. Y-axis lead screw seat 3232

[0072] 1. Material and Structure Design, Material Selection: The Y-axis lead screw seat 3232 is made of high-strength ductile iron. Ductile iron has good casting performance and can be used to manufacture complex structural shapes. At the same time, the graphite inside is spheroidally distributed, making the material have high strength and toughness and be able to withstand large loads. To further improve the material properties, appropriate alloying elements such as copper (Cu), molybdenum (Mo), etc. are added to the ductile iron to enhance the strength and corrosion resistance of the material. After special inoculation treatment and spheroidization treatment, the tensile strength of the ductile iron can reach over 600 MPa, and the elongation rate reaches about 10%. Structure Optimization: The finite element analysis software is used to optimize the structure design of the lead screw seat. On the premise of ensuring that the lead screw seat has sufficient strength and stiffness, the weight of the lead screw seat is reduced by removing redundant materials and optimizing the structural shape. For example, a thin-wall structure is adopted in the non-critical parts of the lead screw seat, and reinforcing ribs are added in the parts that bear large loads. At the same time, the installation holes and mating surfaces of the lead screw seat are optimized to ensure the tight and reliable connection between the lead screw seat and the moving mechanism seat 35, as well as the mating accuracy with the Y-axis lead screw 3231. 2. Manufacturing and Installation Technology, Manufacturing Process: The precision casting process is used to manufacture the blank of the lead screw seat. By controlling parameters such as temperature and pressure during the casting process, the dimensional accuracy and internal quality of the blank are ensured. After casting, machining operations including milling, boring, grinding, etc. are carried out on the lead screw seat. During the machining process, high-precision numerical control equipment and advanced fixtures are used to ensure the dimensional accuracy and geometric tolerances of each part of the lead screw seat. For example, the mating accuracy between the inner hole of the lead screw seat and the Y-axis lead screw 3231 reaches H7 / g6, the cylindricity error of the inner hole is controlled within ±0.002 mm, and the flatness error of the installation surface is controlled within ±0.003 mm. Installation Technology: The Y-axis lead screw seat 3232 is fixed on the moving mechanism seat 35 by high-strength bolts and positioning pins. High-precision installation holes and positioning grooves are pre-machined on the moving mechanism seat 35 to precisely match the corresponding structures on the lead screw seat. The positioning pin is a cylindrical pin, and its diameter tolerance is controlled within ±0.002 mm, and the length tolerance is controlled within ±0.01 mm to ensure the accuracy of the installation position of the lead screw seat. The high-strength bolts are made of alloy steel with a grade of 12.9 or above and are surface blackened to improve their anti-corrosion performance. During the installation process, first insert the positioning pin into the positioning groove, then install the lead screw seat in place, and finally use a torque control wrench to tighten the bolts according to the specified torque value to ensure that the lead screw seat will not displace or loosen during operation. At the same time, a high-strength anaerobic adhesive is applied to the contact surface between the lead screw seat and the moving mechanism seat to increase the tightness and seismic resistance of the connection. III. Connection and Cooperative Work with Other Components

[0073] 1. Connection with the Y-axis sliding drive module 324, coupling design: The Y-axis lead screw 3231 is connected to the Y-axis sliding drive module 324 through a high-precision metal bellows coupling. The metal bellows coupling consists of multiple layers of stainless steel bellows and connecting flanges, and has high torsional rigidity, zero backlash, and good shock absorption performance. During the connection process, through precise alignment technology, ensure that the coaxiality error between the lead screw and the output shaft of the drive module is within ±0.02 mm. At the same time, use a torque control wrench to tighten the connection bolts according to the specified torque value to ensure the reliability and stability of the connection. The metal bellows coupling can effectively compensate for the radial, axial, and angular deviations between the two shafts caused by installation errors and vibrations during the working process, ensuring that power can be stably and accurately transmitted from the drive module to the lead screw. Drive control coordination: The Y-axis sliding drive module 324 uses a high-performance servo motor and an advanced driver. The servo motor has the advantages of fast response speed, high control accuracy, and stable torque output. The driver receives the instructions sent by the control system and precisely controls the rotation speed and direction of the servo motor, thereby controlling the rotation speed and direction of the Y-axis lead screw 3231. At the same time, the driver also has a feedback function, which can real-time monitor the operating state of the servo motor and feedback the information to the control system, so that the control system can adjust according to the actual situation to achieve precise control of the movement of the cutting mechanism 34 in the Y-axis direction. 2. Cooperative work with the cutting mechanism 34, motion transfer and accuracy guarantee: When the Y-axis lead screw 3231 rotates, through the cooperation of the lead screw and the nut, the rotational motion is converted into a linear motion, driving the cutting mechanism 34 to move along the Y-axis direction. In order to ensure the motion accuracy of the cutting mechanism 34, during the design and manufacturing process, strict precision control is carried out on the lead screw, nut, lead screw seat, and the connecting components with the cutting mechanism. At the same time, through the precise control of the Y-axis sliding drive module 324 by the control system, precise adjustment of the motion speed and position of the cutting mechanism 34 is achieved, ensuring that the cutting mechanism can work according to the predetermined trajectory and parameters during the root cleaning operation, and guaranteeing the root cleaning quality. Overload protection and safety mechanism: An overload protection device is set in the Y-axis sliding transmission module 323. When the cutting mechanism 34 encounters excessive resistance during the working process, causing the load on the Y-axis lead screw 3231 to exceed the set value, the overload protection device will be automatically triggered to cut off the power transmission between the drive module and the lead screw, preventing components such as the lead screw and the motor from being damaged due to overload. At the same time, the overload protection device will also send an alarm signal to the control system to remind the operator to handle the fault in time to ensure the safe operation of the equipment.Optionally, the X-axis moving mechanism 33 includes: an X-axis sliding pair 331, an X-axis sliding transmission module 332, and an X-axis sliding driving module 333. The X-axis sliding pair 331 is connected to the base mechanism 2, the X-axis sliding transmission module 332 is connected to the X-axis sliding pair 331, and the X-axis sliding driving module 333 is connected to the X-axis sliding transmission module 332, so that the X-axis sliding driving module 333 transmits the driving force through the X-axis sliding transmission module 332 and accordingly drives the cutting mechanism 34 to slide along the X-axis in cooperation with the X-axis sliding pair 331. Optionally, the X-axis sliding pair 331 includes an X-axis slider 3311 and an X-axis slide rail 3312. The X-axis slider 3311 is connected to the X-axis slide rail 3312 in a slidable manner, and the X-axis slide rail 3312 is fixed to the base mechanism 2. Therefore, in the special and complex application scenario of shipbuilding, the design of the above X-axis moving mechanism 33 has the following technical advantages:.

[0074] Precise positioning and efficient operation to meet the stringent requirements of shipbuilding

[0075] 1. Precise guidance ensures root cleaning accuracy: In shipbuilding, lugs are distributed in various parts of the hull, and extremely high position accuracy is required. The X-axis sliding pair 331 consists of an X-axis slider 3311 and an X-axis slide rail 3312. The X-axis slide rail 3312 is fixed on the base mechanism 2, providing precise guidance for the cutting mechanism 34 in the X-axis direction. During the root cleaning operation of lugs after the assembly of large ship sections, the cutting mechanism needs to be accurately positioned at the root of the lug to avoid damaging the surrounding structure. The X-axis sliding pair can control the positioning accuracy of the cutting mechanism within ±0.05 mm, far exceeding the accuracy of traditional manual root cleaning methods, effectively ensuring the accuracy of the root cleaning operation and ensuring that the hull structural strength is not affected. This high-precision guidance design is obtained through a large number of experiments and optimizations after fully considering the strict requirements of shipbuilding for structural integrity and accuracy, solving the problem of precise positioning that is difficult to achieve with traditional methods. 2. Stable transmission improves operation efficiency: The X-axis sliding drive module 333 drives the cutting mechanism 34 to slide along the X-axis through the X-axis sliding transmission module 332. In the shipbuilding workshop, the root cleaning operation needs to be completed efficiently to ensure the production schedule. The X-axis sliding transmission module adopts a high-precision screw drive, such as a ball screw, which has high transmission efficiency and good stability. During the root cleaning process, the cutting mechanism needs to move at a stable speed to ensure the flatness and smoothness of the root cleaning surface. The X-axis sliding transmission module can control the speed fluctuation of the cutting mechanism within a very small range, such as within ±1%, effectively avoiding root cleaning quality problems caused by unstable speed. This stable transmission design greatly improves the root cleaning operation efficiency, reduces the root cleaning time of a single lug, and thus speeds up the overall shipbuilding progress. This design is determined after comparing and innovatively improving various transmission methods in response to the fast-paced production requirements of the shipbuilding workshop, significantly enhancing the efficiency of the root cleaning operation.

[0076] Adapt to complex environments and enhance equipment reliability and adaptability

[0077] 1. Robust Structure for Harsh Working Conditions: The environment in a shipbuilding workshop is complex, with a lot of adverse factors such as vibration, dust, and humidity. The design of the X-axis moving mechanism fully considers these factors. The connection between the X-axis slide rail 3312 and the base mechanism 2 uses high-strength, corrosion-resistant materials and a stable connection method. For example, high-strength bolts and positioning pins are used for connection, and the diameter tolerance of the positioning pins is controlled within a very small range to ensure the accuracy of the slide rail installation position. At the same time, sealant is applied at the connection to prevent dust and water vapor from invading. In the harsh environment where the vibration acceleration in the workshop can reach 0.5g, the X-axis moving mechanism can still ensure the stable operation of the cutting mechanism, and the root cleaning operation is not affected. This robust and durable structure design greatly improves the reliability of the equipment in a complex environment, reduces equipment failures and root cleaning quality problems caused by environmental factors, and is the result of a large amount of research and innovative design for the harsh working conditions in a shipbuilding workshop. 2. Modular Design for Easy Maintenance and Adjustment: The X-axis moving mechanism adopts the modular design concept. The X-axis sliding pair 331, the X-axis sliding transmission module 332, and the X-axis sliding drive module 333 work independently and collaboratively. During the shipbuilding process, the equipment may need maintenance or adjustment due to long-term use or different root cleaning task requirements. The modular design enables maintenance personnel to conveniently repair, replace, or adjust individual modules. For example, when the X-axis slider 3311 wears out and needs to be replaced, it can be simply removed from the X-axis slide rail 3312 and a new slider can be installed, without the need for large-scale disassembly of the entire equipment. This modular design greatly shortens the equipment maintenance time, improves the equipment availability, and reduces the maintenance cost. At the same time, by replacing different specifications of modules, the root cleaning operation of the lifting lug with different accuracy and load requirements can be satisfied, enhancing the adaptability and flexibility of the equipment. This design is the result of a large amount of innovative thinking after in-depth analysis of the equipment maintenance and task diversity requirements in the shipbuilding process, effectively improving the performance of the equipment.

[0078] Preferably, the following provides the technical details for implementing the X-axis moving mechanism 33 in an alternative or preferred manner:

[0079] I. X-axis sliding pair 331

[0080] (I) Materials and Treatments

[0081] 1. The X-axis slider 3311 is made of carbon nanotube-reinforced magnesium matrix composite. Carbon nanotubes have excellent mechanical properties and can significantly improve the strength, hardness and wear resistance of magnesium-based materials. By powder metallurgy, carbon nanotubes are uniformly dispersed in the magnesium alloy matrix, and then through hot extrusion forming, the grains of the material are refined and the comprehensive properties are improved. The yield strength of the slider can reach over 300 MPa, and the hardness is about 30% higher than that of traditional magnesium alloys. Micro-arc oxidation treatment is carried out on the surface of the slider to form a dense ceramic film. This ceramic film not only has good wear and corrosion resistance, but also can reduce the surface friction coefficient and reduce the wear between the slider and the slide rail. The thickness of the ceramic film is controlled within 10 - 20 μm, and the hardness can reach HV500 - 800. 2. The X-axis slide rail 3312 is made of high-strength alloy steel, such as 42CrMo, and is forged and quenched and tempered to improve the strength and toughness of the material. During the forging process, multi-directional forging technology is adopted to improve the internal organizational structure of the material and make the properties of the material more uniform. After quenching and tempering treatment, the tensile strength of the material reaches over 1000 MPa, and the elongation is greater than 12%. Induction hardening treatment is carried out on the surface of the slide rail to make the surface hardness reach HRC55 - 60, forming a hardened layer with a certain depth to improve the wear resistance and fatigue resistance of the slide rail. The depth of the hardened layer is controlled within 1 - 3 mm.

[0082] (II) Manufacturing Precision

[0083] 1. For the processing of the slide rail, a high-precision CNC grinding machine is used to grind the X-axis slide rail 3312. During the grinding process, an on-line measurement system is used to monitor the dimensional and shape accuracy of the slide rail in real time, and the grinding parameters are adjusted through feedback control to ensure that the straightness error of the slide rail is less than ±0.005 mm within the full length, and the surface roughness Ra value reaches below 0.1 μm. Precision machining is carried out on the mounting surface of the slide rail to ensure that the flatness error of the mounting surface is less than ±0.003 mm, so as to ensure the stability and accuracy of the slide rail when installed on the base mechanism 2. 2. For the manufacturing of the slider, a five-axis linkage machining center is used to precisely machine the X-axis slider 3311 to ensure the mating accuracy between the slider and the slide rail. The key dimensional tolerances of the slider are controlled within ±0.002 mm to ensure that the slider can slide smoothly on the slide rail without clearance. Grinding and polishing treatment are carried out on the sliding surface of the slider to further improve the surface quality, make the contact area between the slider and the slide rail uniform, reduce local stress concentration, and improve the service life of the sliding pair.

[0084] (III) Lubrication and Sealing

[0085] 1. Intelligent lubrication system, an intelligent lubrication system is integrated inside the X-axis slider 3311. This system consists of a micro oil pump, a lubricating oil passage, and a sensor. The sensor monitors in real time parameters such as the motion state, temperature, and load of the slider, and controls the operation of the oil pump through an intelligent algorithm based on these parameters to precisely adjust the supply amount and supply frequency of the lubricating oil. The lubricating oil uses nano-lubricating oil with self-repair function, and the nano-particles in it can form a protective film on the friction surface. When the protective film is worn, the nano-particles will automatically replenish and repair to reduce friction and wear.

[0086] 2. Multiple sealing structure, a multiple sealing structure is set at the mating part of the slider and the slide rail. First, install a rubber sealing lip, which has good elasticity and wear resistance and can effectively prevent dust and impurities from entering the inside of the sliding pair. Secondly, a labyrinth sealing groove is set inside the sealing lip to further enhance the sealing effect. Dust covers are installed at both ends of the slider. The dust covers are made of high-strength plastic or metal materials and can prevent larger particles of dust and iron filings from entering the sliding pair to protect the normal operation of the sliding pair.

[0087] II. X-axis sliding drive module 332

[0088] (1) Selection of transmission mode: The ball screw transmission mode is adopted. The ball screw has the advantages of high transmission efficiency, high precision, good reversibility, etc., and can meet the requirements of the rapid and precise movement of the cutting mechanism 34 in the X-axis direction. (2) Design of ball screw: 1. Material and manufacturing: The ball screw is made of high-quality alloy steel, such as GCr15, and is manufactured through processes such as forging, heat treatment, and precision grinding. The hardness of the material reaches HRC60 - 64, ensuring that the screw has good wear resistance and fatigue resistance. The thread of the screw adopts a processing technology combining whirling and precision grinding to ensure the accuracy and surface quality of the thread. The pitch accuracy reaches above C5 level, and the surface roughness Ra value is less than 0.2μm. 2. Nut design: The nut adopts a split structure, which is convenient for assembly and adjustment. The ball circulation system inside the nut is optimized and designed with a reverse-circulation mode, making the balls move more smoothly during circulation, reducing friction and noise. The pre-tightening force between the nut and the screw is accurately calculated and adjusted to ensure the rigidity and precision of the transmission. The adjustment of the pre-tightening force adopts methods such as gaskets or springs, and can be finely adjusted according to the actual working requirements. (3) Support structure: 1. Bearing selection: High-precision angular contact ball bearings are used as the support bearings for the ball screw. The angular contact ball bearings can bear both radial and axial loads, and have high rotational accuracy and rigidity. The accuracy class of the bearings reaches above P4 level. 2. Bearing housing design: The bearing housing is made of high-strength cast iron, and after precision machining and aging treatment, its dimensional accuracy and stability are ensured. The bearing mounting holes inside the bearing housing are precisely bored and ground to ensure the mounting accuracy of the bearings. A shock-absorbing pad is provided at the connection part between the bearing housing and the base mechanism 2 to reduce the transmission of vibration and noise and improve the stability of the transmission system.

[0089] III. X-axis sliding drive module 333, (I) Selection of drive motor, A high-performance servo motor is selected as the power source of the X-axis sliding drive module 333. The servo motor has the advantages of fast response speed, high control accuracy, wide speed regulation range, etc., and can accurately control the movement speed and position of the cutting mechanism 34 in the X-axis direction. (II) Motor control, 1. Control system, An advanced motion control system is adopted, such as a motion control system based on PLC. This system can receive feedback signals from sensors in real time and accurately control the servo motor according to preset motion parameters. The control system has multiple control modes, such as point-to-point control, continuous path control, etc., and can be selected according to different root cleaning operation requirements. 2. Feedback device, An encoder is installed on the servo motor as the feedback device. The encoder can monitor the rotation speed and position of the motor in real time and feed back the signals to the control system. Through closed-loop control, it is ensured that the actual movement of the motor is consistent with the preset value, improving the control accuracy. The resolution of the encoder reaches more than 20 bits, enabling high-precision position feedback. (III) Coupling design, An elastic coupling is used to connect the servo motor and the ball screw. The elastic coupling has good buffering and shock absorption performance, can compensate for the installation error and angular deviation between the motor shaft and the screw shaft, and ensure the smooth transmission of power. The material of the coupling is selected as high-strength rubber or polyurethane, which has a high elastic modulus and wear resistance.

[0090] Optionally, the X-axis sliding transmission module 332 includes an X-axis screw 3321 and an X-axis screw seat 3322. The X-axis screw seat 3322 is fixed on the moving mechanism seat 35. The X-axis screw seat 3322 is connected to the X-axis screw 3321, and the X-axis screw 3321 is connected to the X-axis sliding drive module 333. The X-axis sliding drive module 333 drives the X-axis screw 3321 to rotate in the X-axis screw seat 3322 to transmit the driving force and thereby drive the cutting mechanism 34 to slide along the X-axis.

[0091] In the specific application scenario of shipbuilding, which is complex and has extremely high requirements for precision, efficiency, and stability, the design of the X-axis sliding transmission module 332 has the following technical advantages:

[0092] Precise positioning and efficient transmission, meeting the precision requirements of shipbuilding

[0093] 1. Excellent positioning accuracy ensures gouging quality: In shipbuilding, the positioning accuracy requirements for the gouging operation of lugs are almost demanding. Any slight deviation may affect the hull structure strength and integrity. The thread accuracy of the X-axis lead screw 3321 can reach grade C2 or even higher standards through special processing techniques. Its pitch cumulative error is strictly controlled within an extremely small value, such as within ±0.005 mm over the entire length. This enables the cutting mechanism 34 to accurately reach the target position in the X-axis direction with minimal deviation. Taking the construction of a large cruise ship as an example, when gouging the lugs at key positions, it is necessary to accurately control the cutting depth and position to avoid damaging the surrounding precision structures. The X-axis sliding drive module can ensure that the positioning accuracy of the cutting mechanism reaches ±0.05 mm, far exceeding the positioning accuracy of traditional gouging equipment, providing a solid guarantee for high-quality lug gouging operations, effectively avoiding problems such as incomplete gouging or over-cutting caused by inaccurate positioning, and greatly improving the quality standards of shipbuilding. This high-precision positioning design is achieved through in-depth research on the technological requirements of shipbuilding and a large number of innovative improvements to the lead screw processing technology, solving the precision bottleneck that is difficult to break through by traditional methods. 2. Efficient and stable transmission improves operation efficiency: The X-axis sliding drive module 333 drives the X-axis lead screw 3321 to rotate in the X-axis lead screw seat 3322, achieving stable and efficient power transmission. The lead screw transmission itself has the characteristics of high transmission efficiency and good smoothness. In the complex and changeable environment of a shipbuilding workshop, it can ensure that the cutting mechanism 34 moves along the X-axis at a stable speed. For example, during the gouging process, in the face of lugs residues of different materials and thicknesses, the cutting mechanism needs to maintain a uniform speed to ensure a uniform gouging effect. The X-axis sliding drive module can control the speed fluctuation of the cutting mechanism within an extremely small range, such as within ±1%, effectively avoiding surface quality defects of gouging caused by unstable speed. This not only improves the gouging efficiency of a single lug, reduces the gouging time, but also speeds up the overall shipbuilding progress, significantly improving the production efficiency. This transmission design is determined through comparative analysis of various transmission methods, a large number of experiments, and innovative optimization in response to the fast-paced and high-precision production requirements of a shipbuilding workshop, making an important contribution to improving shipbuilding efficiency.

[0094] Adapt to complex environments and enhance equipment reliability and adaptability

[0095] 1. Robust and durable structure to cope with harsh working conditions: There are a large number of vibration sources in the shipbuilding workshop, such as vibrations generated by large welding equipment and frequent operations of lifting machinery, as well as harsh environmental factors such as humidity and dust. The X-axis lead screw seat 3322 is fixed on the moving mechanism seat 35, made of high-strength and corrosion-resistant materials, and undergoes special structural design and reinforcement treatment. For example, the structure of the lead screw seat is optimized through finite element analysis, and stiffeners are reasonably arranged to enhance its vibration resistance. In the harsh environment where the vibration acceleration in the workshop reaches 0.5g or even higher, the X-axis sliding drive module can effectively buffer and absorb vibration energy, ensuring stable lead screw transmission and normal operation of the cutting mechanism, and avoiding transmission failures or root cleaning errors caused by vibration. At the same time, the corrosion-resistant characteristics of the material ensure the service life of the equipment in a humid environment and reduce maintenance costs. This structural design for complex environments is achieved after in-depth research on the environmental characteristics of the shipbuilding workshop, as well as multiple experiments and improvements, greatly improving the reliability of the equipment under harsh working conditions and ensuring the smooth progress of the root cleaning operation of the lifting lug. 2. Modular design for easy maintenance and flexible adjustment: The X-axis sliding drive module adopts the modular design concept. The X-axis lead screw 3321, the X-axis lead screw seat 3322, and the connection structure with other components are all carefully designed for easy disassembly and assembly. During the shipbuilding process, the equipment may experience component wear due to long-term use, or parameter adjustment may be required for different root cleaning tasks. The modular design enables maintenance personnel to quickly locate and replace damaged components. For example, when the X-axis lead screw wears out, the lead screw can be disassembled and replaced individually without disassembling the entire equipment, greatly shortening the maintenance time and reducing the maintenance cost. At the same time, according to different root cleaning requirements of the lifting lug, the lead screw transmission ratio can be conveniently adjusted or lead screws of different specifications can be replaced to enhance the adaptability of the equipment to diverse root cleaning tasks. For example, for different thicknesses of the remaining part of the lifting lug, the moving speed and stroke of the cutting mechanism can be adjusted by replacing lead screws with different leads to meet various complex root cleaning operation requirements. This design is obtained after fully considering the convenience of equipment maintenance and the diversity of tasks during the shipbuilding process, through a large amount of innovative thinking and practical verification, effectively improving the performance and flexibility of the equipment.

[0096] Preferably, the following describes the specific implementation technical details of the X-axis sliding drive module 332 from aspects such as material selection, manufacturing process, structural design, lubrication and protection, control and monitoring: Material selection and treatment, X-axis lead screw 3321, basic material: High-performance alloy steel containing niobium (Nb) and vanadium (V) is used. Niobium and vanadium can refine the grain size, improve the strength, toughness and wear resistance of the material. Through special smelting processes, the material composition is ensured to be uniform and the impurity content is extremely low, significantly improving the comprehensive performance of the lead screw. Heat treatment: Through multi-stage heat treatment processes, including quenching, tempering and nitriding. Quenching and tempering can enable the material to obtain good strength and toughness coordination, while nitriding forms a nitrided layer with extremely high hardness, excellent wear resistance and corrosion resistance on the surface of the lead screw, with a depth of about 0.3 - 0.5 mm and a hardness of up to HV900 - 1200. Surface coating: On the basis of the nitrided layer, a diamond-like carbon (DLC) coating with a thickness of about 2 - 3 μm is coated using physical vapor deposition (PVD) technology. The DLC coating has an extremely low friction coefficient (about 0.05 - 0.1) and high hardness (HV2000 - 3000), which can further reduce the friction and wear between the lead screw and the nut, improving the transmission efficiency and service life. X-axis lead screw support 3322, material selection: High-strength and high-damping ductile iron is selected and appropriate alloying elements such as copper (Cu) and molybdenum (Mo) are added to improve the strength, hardness and fatigue resistance of the material. At the same time, the high-damping characteristics of ductile iron can effectively absorb vibration and noise, improving the stability of the transmission system. Casting process: Advanced investment casting technology is used to ensure the dimensional accuracy and surface quality of the lead screw support. After casting, precision machining and aging treatment are carried out to eliminate internal stresses and ensure the stability and reliability of the lead screw support. Manufacturing process, X-axis lead screw 3321, thread machining: The thread is machined using a combination of ultra-precision whirling and grinding processes. Whirling can quickly remove most of the surplus, improving the processing efficiency; while the grinding process can ensure the high precision and surface quality of the thread. During the grinding process, on-line measurement and error compensation technologies are used to monitor and adjust the grinding parameters in real time, ensuring that the pitch accuracy of the thread reaches within ±0.001 mm and the tooth profile accuracy reaches ±0.0005 mm. Dynamic balance treatment: High-precision dynamic balance treatment is carried out on the lead screw. By adding or removing a small amount of material at specific positions at both ends of the lead screw, the unbalance amount of the lead screw is controlled within a very small range, ensuring the stability and reliability of the lead screw during high-speed rotation. X-axis lead screw support 3322, machining accuracy: A five-axis linkage machining center is used to precisely machine the lead screw support to ensure the dimensional accuracy and geometric tolerances of each mounting hole and mating surface. For example, the mating accuracy between the inner hole of the lead screw support and the lead screw reaches H7 / g6, the cylindricity error of the inner hole is controlled within ±0.001 mm, and the flatness error of the mounting surface is controlled within ±0.002 mm. Assembly process: During the assembly process, high-precision positioning and clamping devices are used to ensure the connection accuracy and reliability between the lead screw support and the moving mechanism support 35.Meanwhile, apply high-strength anaerobic glue at the connection parts to increase the connection tightness and seismic performance. Structure design, X-axis lead screw 3321, hollow structure design: In order to reduce the weight of the lead screw and improve its dynamic response performance, a hollow structure design is adopted. By optimizing the diameter and wall thickness of the hollow, on the premise of ensuring the strength and stiffness of the lead screw, the weight of the lead screw is reduced by 20% - 30%. Nut structure optimization: The nut adopts a split structure, which is convenient for assembly and adjustment. The ball circulation system inside the nut is optimized designed, adopting a multi-loop and large lead circulation method, making the balls more smooth during the circulation process, reducing friction and noise. At the same time, the pre-tightening force between the nut and the lead screw can be precisely controlled by adjusting the thickness of the gasket to ensure the rigidity and accuracy of the transmission. X-axis lead screw seat 3322, rib design: Reasonable ribs are set on the outer and inner sides of the lead screw seat to improve the overall stiffness and anti-deformation ability of the lead screw seat. The shape and size of the ribs are optimized through finite element analysis to ensure that the mechanical properties of the lead screw seat are maximally improved without adding too much weight. Sealing structure design: A multiple sealing structure is set at the mating part of the lead screw seat and the lead screw to prevent impurities such as dust, iron filings, and coolant from entering the inside of the lead screw pair, affecting the transmission accuracy and service life. The sealing structure adopts a combination of rubber sealing rings and labyrinth seals to ensure good sealing effect.

[0097] Lubrication and Protection

[0098] Lubrication System, Intelligent Lubrication System: An intelligent lubrication system is used to lubricate the lead screw pair. This system consists of a lubricating oil tank, an oil pump, oil pipes, sensors, a controller, etc. The sensors monitor parameters such as the temperature, rotation speed, and load of the lead screw in real time. The controller automatically adjusts the supply quantity and supply frequency of the lubricating oil according to these parameters to ensure that the lead screw pair can be well lubricated under various working conditions. Lubricating Oil Selection: Synthetic lubricating oil with good anti-wear, anti-oxidation, and anti-corrosion properties is selected, and nano-level additives are added to improve the lubrication performance and anti-wear performance of the lubricating oil. Protective Device, Telescopic Protective Cover: A telescopic protective cover is installed outside the lead screw to prevent impurities such as dust, iron filings, and coolant from entering the inside of the lead screw pair. The protective cover is made of high-strength and wear-resistant materials and has good telescopic performance and sealing performance. Rust Prevention Treatment: The surfaces of the lead screw and the lead screw seat are subjected to rust prevention treatment, such as galvanizing, painting, etc., to improve their corrosion resistance and extend their service life. Control and Monitoring, Drive Control, Servo Drive System: A high-performance servo drive system is used to control the X-axis sliding drive module 333. The servo drive system has the advantages of fast response speed, high control accuracy, wide speed regulation range, etc., and can accurately control the rotation speed and direction of the lead screw, so as to achieve high-precision movement of the cutting mechanism 34 in the X-axis direction. Motion Control Algorithm: A motion control algorithm is used to adjust the output parameters of the servo drive system in real time according to the load change and motion state of the cutting mechanism, so as to improve the dynamic performance and stability of the transmission system., Status Monitoring, Sensor Application: A variety of sensors are installed on the lead screw pair, such as temperature sensors, vibration sensors, displacement sensors, etc., to monitor parameters such as the temperature, vibration, and displacement of the lead screw pair in real time. By analyzing and processing these parameters, abnormal conditions of the lead screw pair, such as wear, looseness, etc., can be detected in time, and corresponding measures can be taken to ensure the safe and reliable operation of the transmission system. Fault Diagnosis System: A fault diagnosis system is established to analyze and process the data collected by the sensors, judge whether there is a fault in the lead screw pair, and give the diagnosis results of the fault type and fault location. The fault diagnosis system can adopt machine learning algorithms, such as neural network algorithms, to improve the accuracy and reliability of fault diagnosis.

[0099] Preferably, for the above control and monitoring, the following preferred implementation solutions are provided:

[0100] Drive Control

[0101] 1. Principle of the Servo Drive System in This Application. The servo drive system precisely controls the movement of the lead screw by controlling the output torque T, rotation speed ω, and rotation angle θ of the motor. The dynamic equation of the motor can be expressed as: where J is the moment of inertia of the motor and transmission components such as the lead screw, B is the damping coefficient, K s is the torsional stiffness, T Lis the load torque. In practical applications, the motor torque T is controlled by adjusting the current I output by the servo driver. The relationship between the motor torque and the current is T = K t I, where K t is the torque constant of the motor. To achieve precise control of the rotation speed and direction of the lead screw, the servo driver adopts pulse width modulation (PWM) technology. The duty cycle D of the PWM signal and the average voltage U avg of the motor have the relationship U avg = D × U dc , where U dc is the DC bus voltage. By changing the duty cycle D, the input voltage of the motor can be adjusted, thereby controlling the rotation speed of the motor. For example, during the root cleaning of the lifting lug, according to the different movement speeds required by the cutting mechanism 34 in the X-axis direction, the servo driver adjusts the duty cycle of the PWM signal in real time to achieve precise control of the lead screw rotation speed.

[0102] 2. The principle of the motion control algorithm of this application is to use an adaptive sliding mode control algorithm to adjust the output parameters of the servo drive system in real time. Define the sliding mode surface function where e is the error between the desired position x d and the actual position x, that is, e = x d - x, and λ is a positive definite constant. The control law u is designed as: u = u eq + u n , where u eq is the equivalent control, which can be obtained by deriving the system dynamics equation and is used to make the system move on the sliding mode surface; u n is the switching control, which is used to ensure that the system can quickly approach the sliding mode surface. The equivalent control u eq satisfies: where M, C, and K are the inertia matrix, damping matrix, and stiffness matrix of the system respectively, is the non-linear friction force and interference force of the system. The switching control u n is: where η is a positive number greater than the upper bound of the system uncertainty. Through this adaptive sliding mode control algorithm, the output of the servo drive system can be adjusted in real time according to the load change and motion state of the cutting mechanism, effectively improving the dynamic performance and stability of the transmission system, and ensuring the high precision of the cutting mechanism moving in the X-axis direction under the complex working conditions of shipbuilding.

[0103] State Monitoring and Fault Diagnosis

[0104] 1. The principle of sensor data acquisition and analysis in this application: The temperature sensor collects the temperature T of the lead screw pair, and its data can be used to judge the working state of the lead screw pair. Assume that the temperature of the lead screw pair during normal operation satisfies the following empirical formula with factors such as load and rotational speed: T = T0 + k1P + k2ω, where T0 is the ambient temperature, P is the power borne by the lead screw pair, and k1, k2 are coefficients related to the material and structure of the lead screw pair. When the actually measured temperature deviates from the calculated value of this formula by a certain range, it may mean that there is an abnormality in the lead screw pair, such as increased frictional heat generation due to poor lubrication. The vibration sensor collects the vibration signal a(t) of the lead screw pair, and converts the time-domain signal into a frequency-domain signal A(f) through fast Fourier transform (FFT): Under normal working conditions, the vibration spectrum of the lead screw pair has specific characteristic frequencies. For example, due to the rotation of the lead screw, peaks will appear at its fundamental frequency and its harmonic frequencies. When faults such as wear and looseness occur, the vibration spectrum will change, such as the appearance of new frequency components or the change in the amplitude of the original frequency peaks. By monitoring these spectrum changes, the abnormal conditions of the lead screw pair can be detected in a timely manner. The displacement sensor collects the displacement x(t) of the lead screw pair, and the velocity can be obtained by differentiating the displacement data and the acceleration Based on these data, the motion state of the lead screw pair can be analyzed, such as whether there are abnormal phenomena such as crawling and jamming.

[0105] 2. The principle of the fault diagnosis system in this application: A fault diagnosis system based on a neural network is adopted. A multi-layer feedforward neural network is constructed. The input layer receives data such as temperature, vibration, and displacement collected by sensors. After non-linear transformation by the hidden layer, the diagnosis results of the fault type and fault location are output at the output layer. Let the input vector of the neural network be X = [x1, x2,..., x n T , the output vector of the hidden layer be H = [h1, h2,..., h m T , and the output vector of the output layer be Y = [y1, y2,..., y k T . The output calculation of the hidden layer neurons is: where w ij is the connection weight from the j-th neuron in the input layer to the i-th neuron in the hidden layer, b i is the bias of the i-th neuron in the hidden layer, and f1 is the activation function of the hidden layer, such as the Sigmoid function The output calculation of the output layer neurons is: where v il is the connection weight from the i-th neuron in the hidden layer to the l-th neuron in the output layer, c l ​​​It is the bias of the l-th neuron in the output layer, and f2 is the activation function of the output layer. For example, the Softmax function is used for multi-classification problems. The neural network is trained with a large number of fault sample data to adjust the connection weights and biases, enabling the neural network to accurately determine whether there is a fault in the lead screw pair based on sensor data and give the diagnostic results of the fault type and fault location, greatly improving the accuracy and reliability of fault diagnosis and ensuring the safe and reliable operation of the transmission system. Optionally, the cutting mechanism 34 includes: a cutting mechanism base 341, a cutting drive mechanism 342, a cutting transmission shaft 343, and a tool module 344. The cutting drive mechanism 342 is assembled on the cutting mechanism base 341, the cutting transmission shaft 343 is connected to the cutting drive mechanism 342, and the tool module 344 is connected to the cutting transmission shaft 343, so that the cutting drive mechanism 342 rotates through the cutting transmission shaft 343 to drive the tool module 344 to perform root cleaning. Preferably, the design of the above cutting mechanism 34 has the following significant technical advantages in many aspects:

[0106] Ensure efficient and precise root cleaning operations

[0107] 1. Stable power transmission and efficient root cleaning: In shipbuilding, the material of the lifting lug is usually high-strength alloy steel, which is hard and has high toughness. Root cleaning operations require strong and stable power support. The cutting drive mechanism 342 is assembled on the cutting mechanism base 341, providing a solid power foundation for the entire cutting process. The cutting drive mechanism 342 can generate stable and strong power, which is accurately transmitted to the tool module 344 through the cutting transmission shaft 343. This direct and efficient power transmission method reduces energy loss and deviation during power transmission. Taking the root cleaning of the lifting lug of a large container ship as an example, when dealing with the root of a weld dozens of millimeters thick, the stable power transmission enables the tool module 344 to continuously maintain high cutting ability, and the cutting depth and width per minute can be accurately controlled, greatly improving the root cleaning efficiency. Compared with traditional root cleaning methods, the efficiency can be increased by more than 30%. 2. Precise control and high-quality root cleaning: The cutting transmission shaft 343, as a key component connecting the cutting drive mechanism 342 and the tool module 344, its design and manufacturing accuracy directly affect the root cleaning quality. In shipbuilding, the dimensional accuracy and surface quality of the lifting lug are crucial for the safety and stability of the hull structure. By precisely designing parameters such as the length, diameter, and transmission ratio of the cutting transmission shaft 343, this cutting mechanism can accurately control the rotation speed and torque of the tool module 344, thereby achieving precise control of the root cleaning depth, width, and surface flatness. For example, when root cleaning the key lifting lugs of high-end ships such as cruise ships, the root cleaning depth error can be controlled within ±0.05 mm, and the surface roughness reaches below Ra0.8 μm, effectively ensuring the root cleaning quality.

[0108] Adapting to Complex Environments and Improving Equipment Reliability

[0109] 1. Stable Base to Cope with Harsh Working Conditions: The environment in a shipbuilding workshop is harsh, with a lot of adverse factors such as vibration, dust, and humidity. The base 341 of the cutting mechanism is made of high-strength and corrosion-resistant materials and has undergone special structural design and reinforcement treatment. For example, finite element analysis software is used to optimize the base structure, and stiffeners are reasonably arranged to improve its vibration resistance and overall rigidity. In the strong vibration environment generated by the frequent startup and operation of large-scale equipment in the workshop, the base 341 of the cutting mechanism can effectively buffer and absorb vibration energy, ensuring the stable operation of the cutting drive mechanism 342 and the tool module 344. At the same time, the surface of the base is treated with a special anti-corrosion coating, which can resist the erosion of moisture and corrosive gases and extend the service life of the equipment. 2. Modular Design for Easy Maintenance and Upgrade: The cutting mechanism 34 adopts the modular design concept, where the base 341 of the cutting mechanism, the cutting drive mechanism 342, the cutting transmission shaft 343, and the tool module 344 are independent and cooperate with each other. During shipbuilding, the equipment may need maintenance or upgrade due to long-term use or different root cleaning task requirements. The modular design allows maintenance personnel to easily repair, replace, or adjust individual modules. For example, when the tool module 344 is worn, it can be simply removed from the cutting transmission shaft 343 and replaced with a new one, without the need for large-scale disassembly of the entire cutting mechanism. This design greatly shortens the equipment maintenance time, reduces the maintenance cost, and also facilitates the upgrade and transformation of the equipment according to different root cleaning task requirements.

[0110] In order to enable the cutting mechanism 34 to demonstrate extremely high technological innovation in the root cleaning operation of shipbuilding lifting lugs, the following details the specific implementation technical details from multiple aspects such as materials, manufacturing, structure, and control.

[0111] Cutting mechanism base 341: Materials and manufacturing, material selection: High-strength and lightweight carbon fiber reinforced composite materials are used. Carbon fiber has the characteristics of high specific strength and high specific modulus, which can reduce the weight while ensuring the strength of the base. At the same time, nano-scale ceramic particles are added for reinforcement to improve the wear resistance and impact resistance of the material. Forming process: The advanced resin transfer molding (RTM) process is used to manufacture the base. This process can precisely control the fiber content and resin distribution of the composite material to ensure the uniform overall performance of the base. During the forming process, three-dimensional braiding technology is used to preform the carbon fiber to enhance the mechanical properties of the material in all directions. Structural design; Topology optimization: The topology optimization algorithm is used to design the structure of the base, removing unnecessary materials, and achieving lightweight under the premise of ensuring structural strength and stiffness. The weight of the optimized base is reduced by 20% - 30%, while the natural frequency is increased and the vibration response is reduced. Integrated design: The base is designed as an integrated structure, reducing connection components and assembly errors, and improving the overall rigidity and stability of the structure. At the same time, reasonable heat dissipation channels are designed inside the base to help reduce the working temperature of the cutting drive mechanism 342. Cutting drive mechanism 342, motor technology, high-performance motor: A permanent magnet synchronous motor is selected as the drive source, which has the advantages of high power density, high efficiency, and wide speed regulation range. The motor adopts advanced winding design and permanent magnet materials, such as neodymium iron boron permanent magnets, to improve the torque density and efficiency of the motor. Intelligent control system: It is equipped with an advanced intelligent control system, using a fuzzy adaptive PID control algorithm, which can adjust the output power and speed of the motor in real time according to the change of cutting load, improving energy utilization efficiency and cutting stability. At the same time, the system has a fault diagnosis and warning function, which can detect and handle abnormal conditions of the motor in time. Heat dissipation and protection, efficient heat dissipation system: Liquid cooling heat dissipation technology is adopted, and coolant channels are designed inside the motor housing. The coolant circulates through the water pump to take away the heat generated by the motor. At the same time, nano heat dissipation materials are added to the coolant to improve the heat dissipation efficiency. Protection structure: The motor adopts a fully enclosed structure, and a nano-coating with waterproof, dustproof, and anti-corrosion functions is coated on the surface of the housing. High-efficiency filtering devices are set at the inlet and outlet of the motor to prevent dust and impurities from entering the motor interior. Cutting transmission shaft 343, materials and processing, special alloy materials: High-strength alloy steel containing trace elements such as niobium and vanadium is selected as the material of the transmission shaft. These trace elements can refine the grains and improve the strength and toughness of the material. Through special smelting and forging processes, the internal structure of the material is made uniform and dense. Precision machining process: The surface of the transmission shaft is processed by ultra-precision grinding and polishing processes, and the surface roughness reaches below Ra0.02μm, improving the transmission accuracy and stability. At the same time, the transmission shaft is dynamically balanced, and the unbalance amount is controlled within a very small range.Connection and transmission; Elastic coupling connection: An elastic coupling is used to connect the cutting drive mechanism 342 and the cutting transmission shaft 343, which can compensate for the installation error and angular deviation between the two shafts, and reduce the transmission of vibration and noise. The elastic element of the coupling is made of a special rubber material, which has good elasticity and wear resistance. High-efficiency transmission method: The ball spline pair is used as the transmission method. The ball spline pair has the advantages of high transmission efficiency, large load-bearing capacity, and high precision. Special coating treatment is applied to the surfaces of the spline shaft and the spline sleeve, reducing the friction coefficient and improving the transmission efficiency. Tool module 344, tool material and coating, high-performance tool materials: The tool is made of superhard materials such as cubic boron nitride (CBN) and polycrystalline diamond (PCD). CBN tools have high hardness, high wear resistance, and good thermal stability, and are suitable for machining high-hardness metal materials; PCD tools have extremely high hardness and sharp cutting edges, and are suitable for machining non-ferrous metals and non-metallic materials. Nano-coating technology: A nano-composite coating, such as TiAlN, CrAlN, etc., is coated on the tool surface. The nano-coating has the advantages of high hardness, good wear resistance, and strong chemical stability, and can effectively improve the service life and cutting performance of the tool. Tool structure and layout; Indexable tool design: The tool module adopts an indexable tool design. When one cutting edge of the tool is worn, it can be replaced by a simple indexing operation to another cutting edge for continued use, improving the utilization rate of the tool. Optimized layout: According to the technological requirements of fillet clearing of the lifting lug, the tools in the tool module are optimized in layout. The combination of multi-edge tools and spiral cutting edges is adopted, increasing the continuity and stability of cutting, and improving the fillet clearing efficiency and quality. Overall coordination and intelligent control, system integration and coordination, integrated design: Each component of the cutting mechanism 34 adopts the concept of integrated design during the design process, fully considering the collaborative work and compatibility between components. By optimizing the structure and layout, the interference and energy loss between components are reduced, and the working efficiency of the entire cutting mechanism is improved. Lubrication and cooling system: An integrated lubrication and cooling system is designed, which can provide lubrication and cooling for the cutting transmission shaft 343 and the tool module 344 at the same time. The system adopts intelligent control and automatically adjusts the lubrication and cooling parameters according to the cutting load and working temperature. Intelligent monitoring and feedback, sensor application: A variety of sensors, such as temperature sensors, vibration sensors, torque sensors, etc., are installed on the cutting mechanism 34 to monitor various parameters during the cutting process in real time. Through data analysis and processing, problems such as tool wear and abnormal cutting force can be detected in time, and early warnings and adjustments can be made. Adaptive control: Based on the data feedback from the sensors, the cutting mechanism 34 adopts adaptive control technology, which can automatically adjust cutting parameters, such as cutting speed, feed rate, etc., according to the changes in cutting conditions, to ensure the stability of fillet clearing quality and efficiency.

[0112] Preferably, the following provides a preferred implementation of the above overall coordination and intelligent control: In the integrated design, interference between components and energy loss are reduced by optimizing the structure and layout. Let the input power of the entire cutting mechanism 34 be P in , and the output effective power be P out . The energy loss mainly comes from the friction loss P friction between components, transmission loss P transmission and other stray losses P stray . Then: P in = P out + P friction + P transmission + P stray . The friction loss P friction between components can be calculated according to tribology principles. For the friction between the cutting transmission shaft 343 and components such as bearings, assuming the friction coefficient is μ and the normal pressure is F N , and the relative movement speed is v, then the friction loss power is: P friction = μF N v. The transmission loss P transmission is related to the transmission efficiency η transmission . If the power input to the transmission component is P input-transmission , then the transmission loss is: P transmission = (1 - η transmission )P input-transmission . By optimizing the structure and layout through integrated design, parameters such as μ, F N are reduced and η transmission is increased, thereby reducing P friction and P transmission , and increasing the ratio of P out to P in , that is, improving the working efficiency of the entire cutting mechanism. The lubrication and cooling system adopts intelligent control and automatically adjusts the lubrication and cooling parameters according to the cutting load and working temperature. Let the flow rate of the lubricant be Q lubrication , and the flow rate of the coolant be Q cooling . They are related to the cutting load F cutting and the working temperature T. A multivariable control model is established. Assuming a linear weighting method is used to determine the flow rate: Q lubrication = k1F cutting + k2T + b1, Q cooling = k3F cutting + k4T + b2, where k1, k2, k3, k4 are proportionality coefficients and b1, b2 are constants. These coefficients and constants can be obtained by fitting a large amount of experimental data. By real-time monitoring of F cutting and T, Q lubrication and Q cooling are adjusted according to the above formula., to ensure that the cutting transmission shaft 343 and the tool module 344 work under appropriate lubrication and cooling conditions. Temperature sensors, vibration sensors, torque sensors, etc. installed on the cutting mechanism 34 monitor various parameters in real time. Let the temperature measured by the temperature sensor be T, the vibration acceleration measured by the vibration sensor be a, and the torque measured by the torque sensor be M. Tool wear can be comprehensively judged through multiple parameters. For example, establish a calculation formula for the tool wear index W: W = c1(T - T0) + c2(a - a0) + c3(M - M0), where T0, a0, and M0 are the temperature, vibration acceleration, and torque reference values under normal working conditions respectively, and c1, c2, and c3 are weight coefficients. When W exceeds a certain threshold W threshold , the system determines that the tool is worn and issues a warning. Abnormal cutting force can also be judged in a similar way. Let the normal cutting force range be [F min , F max . The cutting force can be calculated through the torque M and the cutting radius r When F < F min or F > F max , the system determines that the cutting force is abnormal and makes corresponding adjustments. Based on the data feedback from the sensors, the cutting mechanism 34 uses adaptive control technology to adjust the cutting parameters. Let the cutting speed be v cutting , and the feed rate be f. They are related to parameters such as the cutting load F cutting and the tool wear index W. A fuzzy control algorithm is used to achieve adaptive adjustment. First, the input parameters F cutting and W are fuzzified to obtain the fuzzy variables and Then, reasoning is carried out according to the fuzzy rule base to obtain the fuzzy output variables and Finally, the actual adjustment amounts Δv cutting and Δf are obtained through defuzzification. Taking the cutting speed adjustment as an example, assume the fuzzy rule is: If is "large" and is "large", then is "small". After obtaining through fuzzy reasoning, the centroid method is used for defuzzification: where μ i is the membership function value and v i is the corresponding cutting speed adjustment value. According to Δv cutting , the cutting speed v cutting = v cutting-old + Δv cutting , and similarly adjust the feed rate f to ensure the stability of the root cleaning quality and efficiency.

[0113] Optionally, the traveling mechanism 1 includes a main traveling module 11 and a slave traveling module 12. The main traveling module 11 and the slave traveling module 12 are assembled on the base mechanism 2 and located on both sides of the moving mechanism 3. Optionally, the lug root cleaning machine further includes an electric push rod mechanism 4 for adjusting the pressure exerted on the ground by the actions of the main traveling module 11 and / or the slave traveling module 12, so as to drive the moving mechanism 3 to move in the direction close to the ground or move away from the ground. Optionally, an electric push rod mechanism 4 is respectively configured for the main traveling module 11 and the slave traveling module 12, which includes a push rod mechanism base 41, a push rod driving module 42, and a push rod 43. The push rod mechanism base 41 is fixed on the base 33, the push rod driving module 42 is fixed on the push rod mechanism base 41, the push rod 43 is connected to the power output end of the push rod driving module 42, and the push rod 43 is connected to the main traveling module 11 and the slave traveling module 12, so that the push rod driving module 42 pushes or pulls back the push rod 43 to drive the main traveling module 11 and the slave traveling module 12 to act.

[0114] Preferably, the design of the traveling mechanism and the electric push rod mechanism of the above-mentioned lug root cleaning machine has significant technical advantages.

[0115] Flexible and efficient movement and positioning capabilities

[0116] 1. Adapt to complex shipbuilding sites: The site conditions in a shipbuilding workshop are complex, with platforms of different height differences, uneven ground, and various obstacles. The design of assembling the main traveling module 11 and the slave traveling module 12 on the base mechanism 2 and locating them on both sides of the moving mechanism 3 enables the equipment to better maintain balance and stability during movement. The coordinated work of the master and slave modules, like the four-wheel drive system of a vehicle, can dynamically adjust the traveling speed and direction of each module according to different ground conditions. For example, when crossing a small obstacle, one side of the traveling module can be appropriately lifted, and the other side maintains stable support to ensure the equipment passes smoothly. 2. Precise positioning and operation adjustment: The introduction of the electric push rod mechanism 4 brings extremely high flexibility to the operation of the lug root cleaning machine. In shipbuilding, the positions of lugs may vary due to differences in hull structures and construction processes. By adjusting the pressure exerted on the ground by the actions of the main traveling module 11 and / or the slave traveling module 12 through the electric push rod mechanism 4, the height and angle of the moving mechanism 3 can be precisely controlled. For example, when cleaning the root of a lug located at a high position on the hull, the pressure on the main traveling module can be increased through the electric push rod mechanism to make the moving mechanism 3 move in the direction close to the ground, reducing the center of gravity of the equipment and improving stability; while when operating on a lug close to the ground, the pressure can be reduced to raise the moving mechanism 3 for convenient operation.

[0117] Enhance equipment stability and safety

[0118] 1. Coping with dynamic changes during operations: During the operation of root clearing of the lifting lug, the cutting force will generate a reaction force, which may cause the equipment to shake, affecting the root clearing accuracy and even leading to safety problems. The main walking module 11 and the slave walking module 12 are distributed on both sides of the moving mechanism 3. Combining with the real-time adjustment of pressure by the electric push rod mechanism 4 can effectively resist these dynamic changes. When the cutting force causes the equipment to tilt to one side, the electric push rod mechanism can quickly adjust the pressure of the corresponding walking module, increase the friction force, and keep the equipment stable. For example, during high-power cutting, the instantaneous impact force generated by the cutting force may cause the equipment to shake greatly. However, through the rapid response of the electric push rod mechanism, the pressure of the walking module can be adjusted in time, and the shaking amplitude can be controlled within a very small range to ensure the continuity and accuracy of the root clearing operation. 2. Optimizing the performance of the equipment under different working conditions: There are different working conditions in the shipbuilding workshop, such as different ground materials and bearing capacities when operating in different areas. The electric push rod mechanism 4 can optimize the ground contact pressure of the equipment by adjusting the pressure of the walking module according to these working conditions. On the ground with weak bearing capacity, reduce the pressure of the walking module and increase the ground contact area to prevent the equipment from sinking into the ground; while when fast movement or high-precision operation is required, appropriately increase the pressure to improve the stability and positioning accuracy of the equipment.

[0119] Preferably, the specific implementation technical details of the walking mechanism 1 and the electric push rod mechanism 4 are elaborated in detail from the following aspects: material selection, manufacturing process, structural design, intelligent control, etc.

[0120] Travel mechanism 1: Main travel module 11 and auxiliary travel module 12. Material selection: The travel wheels are made of high-strength and highly wear-resistant polyurethane composite material. This material has good elasticity and wear resistance, can effectively reduce vibrations and noise during travel, and at the same time improve the service life of the travel wheels. A carbon fiber reinforcement layer is embedded inside to further enhance the strength and load-bearing capacity of the wheels. The module frame is made of aluminum alloy material and a small amount of elements such as magnesium and silicon are added to form high-strength aluminum alloy. Through special heat treatment process, the strength and hardness of the material are significantly improved while maintaining a relatively light weight, which is beneficial to improving the overall mobility of the equipment. Manufacturing process: The travel wheels are formed by precision injection molding process to ensure the dimensional accuracy and surface quality of the wheels. During the molding process, internal pressure control technology is adopted to make the material evenly distributed in the mold, avoiding the generation of internal defects. The module frame is processed by a CNC machining center to ensure the dimensional accuracy and assembly accuracy of each component. After processing, an anodizing treatment is carried out to improve the corrosion resistance and aesthetics of the frame. Structural design: The travel wheels adopt a unique hub design with multiple shock-absorbing chambers inside, filled with high-performance shock-absorbing materials. When the travel wheels encounter uneven ground, the shock-absorbing materials can absorb and buffer the vibration energy, effectively reducing the impact of vibrations on the equipment. The module frame adopts a modular design, which is convenient for disassembly and maintenance. Each component is connected by high-strength bolts and positioning pins to ensure the reliability and stability of the connection. At the same time, multiple sensor mounting positions are set on the frame to facilitate subsequent intelligent upgrades.

[0121] Electric push rod mechanism 4: Push rod mechanism base 41, Material and manufacturing: High-strength cast iron material is used and appropriate amounts of alloy elements such as chromium and nickel are added to improve the strength and toughness of the material. Through advanced casting processes, the internal structure of the base is ensured to be uniform without defects such as air holes and sand holes. The base is precision machined, and the surface roughness reaches below Ra0.8μm, ensuring the assembly accuracy with other components. At the same time, the installation surface of the base is nitrided to improve the surface hardness and wear resistance. Structural design; The base adopts a ribbed structure design, which significantly improves the overall rigidity and anti-deformation ability of the base without adding too much weight. The shape and layout of the ribs are optimized through finite element analysis to ensure uniform stress dispersion under load. Push rod drive module 42, Motor technology: A high-performance brushless DC motor is selected as the drive source, which has the advantages of high power density, wide speed regulation range, high efficiency, and long service life. The motor adopts advanced permanent magnet materials and winding designs to improve the torque output ability and response speed of the motor. It is equipped with a high-precision encoder that can real-time feedback the rotational speed and position information of the motor. Through a closed-loop control system, precise control of the push rod movement is achieved, and the control accuracy can reach ±0.1mm. Transmission system: A ball screw pair is used as the transmission component, which has the advantages of high transmission efficiency, high precision, and long service life. The nut of the ball screw pair adopts a special circulation structure design, making the balls move more smoothly during circulation, reducing friction and wear. A speed reducer is set between the motor and the ball screw pair. By optimizing the transmission ratio of the speed reducer, the output torque of the motor is increased, and at the same time, the movement speed of the push rod is reduced to meet the usage requirements under different working conditions. Pushing rod 43, Material and treatment; The pushing rod is made of high-strength alloy steel material and undergoes special heat treatment processes to make the material have good strength and toughness. The surface is hard chromium plated to improve the surface hardness and wear resistance, and at the same time enhance the corrosion resistance. Structural design; The pushing rod adopts a hollow structure design, which reduces its own weight while ensuring strength, which is beneficial to improving the overall performance of the equipment. At the same time, a buffer device is set at the end of the pushing rod. When the push rod moves to the limit position, it can effectively reduce the impact force and protect the safety of the equipment and personnel. Intelligent control and collaborative work, Sensor application: A variety of sensors are installed on the main walking module 11, the slave walking module 12, and the electric push rod mechanism 4, such as pressure sensors, displacement sensors, inclination sensors, etc. The pressure sensor is used to real-time monitor the pressure exerted by the walking module on the ground, the displacement sensor is used to detect the movement position of the push rod, and the inclination sensor is used to monitor the tilt angle of the equipment. Through the data collected by the sensors, the working state and operating environment of the equipment can be real-time understood, providing accurate basis for intelligent control. Intelligent control system: An advanced programmable logic controller (PLC) is used as the control core, combined with the data collected by the sensors, to achieve intelligent control of the walking mechanism 1 and the electric push rod mechanism 4.The intelligent control system has multiple control modes, such as automatic mode, manual mode, and remote control mode. In the automatic mode, the system can automatically adjust the speed and direction of the walking module and the pressure of the electric push rod according to the preset program and the data feedback from the sensors, realizing the autonomous operation of the device. In the manual mode, the operator can manually control the device through the operation panel. In the remote control mode, the operator can remotely monitor and control the device through wireless communication technology. Cooperative working mechanism; The main walking module 11, the slave walking module 12, and the electric push rod mechanism 4 achieve cooperative working through the intelligent control system. When the device needs to move, the electric push rod mechanism 4 adjusts the pressure exerted by the walking module on the ground to keep the device in a stable posture, and then the main walking module 11 and the slave walking module 12 work together to achieve the smooth movement of the device. When the device needs to be height-adjusted, the electric push rod mechanism 4 precisely controls the movement of the push rod 43, drives the walking module to act, and makes the moving mechanism 3 move in the direction close to or away from the ground.

[0122] Preferably, for the intelligent control and cooperative working system of the above-mentioned lug root cleaning machine, the following provides the preferred technical implementation details.

[0123] The principle of sensor data acquisition and analysis in this application: 1. Pressure sensor, the pressure sensor is used to monitor the pressure exerted by the walking module on the ground in real time. Let the pressure of the main walking module 11 on the ground be F1, and the pressure of the slave walking module 12 on the ground be F2. The electrical signals V F1 and V F2 output by the pressure sensor and the pressure satisfy the following linear relationship (based on the piezoelectric effect principle of the pressure sensor): V F1 = k F1 F1 + b F1 , V F2 = k F2 F2 + b F2 , where k F1 , k F2 are the sensitivity coefficients of the pressure sensor, and b F1 , b F2 are the zero bias voltages. By measuring the output electrical signals V F1 and V F2 , and combining the coefficients k F1 , k F2 , b F1 , b F2 obtained through prior calibration, F1 and F2 can be accurately calculated. These pressure data are crucial for judging the stability of the device and adjusting the pressure output of the electric push rod mechanism 4. For example, during the movement of the device, if the difference between F1 and F2 exceeds a certain threshold ΔF thresh, it may mean that the device is tilted or the walking module is malfunctioning, and corresponding adjustments are required. 2. Displacement sensor, which is used to detect the movement position of the push rod. Taking the displacement of the push rod 43 in the electric push rod mechanism 4 as an example, let the actual displacement of the push rod 43 be x, and the relationship between the number of pulses N output by the displacement sensor and the displacement is: where p is the pulse equivalent of the displacement sensor (i.e., the actual displacement corresponding to each output pulse), and n is the subdivision multiple of the displacement sensor (used to improve the measurement accuracy). By counting the number of pulses N output by the displacement sensor in real time, the displacement x of the push rod 43 can be accurately obtained. This data is crucial for accurately controlling the action of the electric push rod mechanism 4 and achieving accurate adjustment of the height of the moving mechanism 3. During the height adjustment process, according to the preset target displacement x target , it is compared with the displacement x measured in real time, and the output of the push rod drive module 42 is adjusted through a closed-loop control algorithm to make the push rod 43 reach the target position. 3. Tilt sensor, which is used to monitor the tilt angle of the device. Let the tilt angle of the device in the x direction be θ x , and the tilt angle in the y direction be θ y , and the electrical signals output by the tilt sensor and The relationship with the tilt angle can be expressed by the trigonometric function and sensor characteristic equation of this application: where are the sensitivity coefficients of the tilt sensor in the x and y directions, is the zero-bias voltage. By measuring the output electrical signals and and through the inverse trigonometric function operation and calibration compensation of this application, the tilt angles θ x and θ y of the device can be obtained. These angle data are very important for the attitude monitoring and adjustment of the device during movement and operation. When the tilt angle of the device exceeds the safety threshold θ thresh , the intelligent control system can adjust the pressure distribution of the electric push rod mechanism 4 to make the device return to a stable attitude.

[0124] Principle of the intelligent control system of this application, 1. Control algorithm, the intelligent control system uses an advanced control algorithm to control the walking mechanism 1 and the electric push rod mechanism 4. Taking the adjustment of the speed and direction of the walking module in the automatic mode as an example, let the target speed of the main walking module 11 be v 1target , and the target speed of the slave walking module 12 be v 2target , the actual speeds are v1 and v2 respectively, and the speed deviation is Δv1 = v 1target - v1, Δv2 = v 2target-v2. The input voltages U1 and U2 of the walking module motor are adjusted using the PID (Proportional-Integral-Derivative) control algorithm, and its control law is as follows: where K p1 , K i1 , K d1 and K p2 , K i2 , K d2 are the PID control parameters of the main walking module 11 and the slave walking module 12 respectively. By adjusting the motor input voltages U1 and U2 in real time, the actual speed of the walking module is made to track the target speed, achieving the smooth movement of the device. In practical applications, these control parameters need to be optimized and adjusted according to the dynamic characteristics of the device and the working environment to obtain the best control effect. 2. Mode switching and communication, the intelligent control system has an automatic mode, a manual mode, and a remote control mode. During the mode switching process, the logical judgment and data interaction of this application are involved. For example, when switching from the manual mode to the automatic mode, the system needs to fuse and calibrate some initial parameters (such as the initial speed, initial position, etc.) set by the operator in the manual mode with the program parameters preset in the automatic mode. Let the initial speed set in the manual mode be v manual , and the initial speed preset in the automatic mode be v auto . The fused initial speed v init can be calculated by the following weighted average method: v init =αv manual +(1-α)v auto , where α is the weight coefficient and is dynamically adjusted according to the actual requirements and the device status. In the remote control mode, data transmission between the operator and the device is achieved through wireless communication technologies (such as Wi-Fi, Bluetooth, or mobile network). Let the data sent be D send , the data received be D recv , and the bit error rate during the data transmission process be P e . Then the accuracy of the received data can be theoretically analyzed through the Shannon formula: where C is the channel capacity (i.e., the maximum data transmission rate), B is the channel bandwidth, S is the signal power, and N is the noise power. By optimizing the communication protocol and hardware devices, the bit error rate P e is reduced, and the accuracy and real-time performance of data transmission are improved to ensure the reliability of remote control.

[0125] Principle of the collaborative working mechanism of this application, 1. Collaboration during movement, when the device needs to move, the collaborative work between the electric push rod mechanism 4 and the walking module involves the mechanical and control principles of this application. Let the mass of the device be m and the acceleration during movement be a. According to Newton's second law F = ma, the driving force F drive required by the device during movement is: Fdrive = m(a + μg), where μ is the friction coefficient between the ground and the walking wheels, and g is the acceleration due to gravity. The electric push rod mechanism 4 changes the friction force by adjusting the pressure exerted on the ground by the walking module, thereby providing a suitable driving force for the movement of the device. Let the pressure change of the main walking module 11 adjusted by the electric push rod mechanism 4 be ΔF1, and the pressure change of the secondary walking module 12 be ΔF2. Then the friction force change Δf1 = μΔF1, and Δf2 = μΔF2. Through the intelligent control system, according to the motion state and target acceleration a of the device target , ΔF1 and ΔF2 are accurately calculated to keep the device in a stable posture and achieve smooth movement. At the same time, the speeds and directions of the main walking module 11 and the secondary walking module 12 need to be coordinated to ensure that the device moves along the predetermined path. Let the steering angle of the device be The relationship between the speed difference Δv = v1 - v2 of the main walking module 11 and the secondary walking module 12 and the steering angle can be represented by the vehicle kinematic model: where L is the wheelbase of the device, is the average speed. By adjusting v1 and v2 in real time through the intelligent control system, precise steering of the device is achieved. 2. Height adjustment coordination: When the device needs to be height-adjusted, the electric push rod mechanism 4 precisely controls the movement of the push rod 43, drives the walking module to act, and makes the moving mechanism 3 move in the direction closer to or farther from the ground. Let the mass of the moving mechanism 3 be m3, and the target displacement for height adjustment be x target , and the force generated by the electric push rod mechanism 4 to push the walking module be F push . According to the law of conservation of energy, the work W = F push x done by the electric push rod mechanism 4 is equal to the change in gravitational potential energy ΔE p = m3gx target (ignoring energy losses such as friction), that is: F push x = m3gx target . Through the intelligent control system, according to the target displacement x target and the structural parameters of the device, the force F that the electric push rod mechanism 4 needs to output is accurately calculated push , and the push rod drive module 42 is controlled to make the push rod 43 move at a suitable speed and acceleration to achieve precise adjustment of the height of the moving mechanism 3. At the same time, during the height adjustment process, the tilt angle of the device needs to be monitored in real time, and the stable posture of the device is maintained by adjusting the pressure distribution of the electric push rod mechanism 4. Let the change in the tilt angle of the device in the x direction during the height adjustment process be Δθ x , and the change in the tilt angle in the y direction be Δθ y . According to the mechanical model and kinematic relationship of the device, the following equation can be established to adjust the pressure of the electric push rod mechanism 4: F 1new ΔF1 + ΔF 1θ, F 2new = F2 + ΔF 2θ , where ΔF 1θ and ΔF 2θ is the pressure adjustment amount calculated according to the change amount of the tilt angle, obtained through the mathematical model and control algorithm of the present application to ensure the stability of the device during the height adjustment process. In addition, a magnet 335 is also fixed below the base 334 of the X-axis moving mechanism for adsorbing on the ship deck to stabilize the root cleaning machine for working. The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A lug root cleaning machine, characterized in that, Including: A traveling mechanism, a base mechanism, and a moving mechanism. The moving mechanism includes a Z-axis moving mechanism, a Y-axis moving mechanism, an X-axis moving mechanism, and a cutting mechanism. The traveling mechanism is assembled on the base mechanism so that the lug root clearing machine can move for root clearing. The cutting mechanism is connected to the Z-axis moving mechanism so that the cutting structure can move along the Z-axis direction for root clearing. The Y-axis moving mechanism and the X-axis moving mechanism are assembled on the base mechanism so that the cutting structure can move along the Y-axis direction or the X-axis direction for root clearing. The Y-axis direction and the X-axis direction are in the same plane and perpendicular to each other, and the Z-axis direction is perpendicular to the plane where the Y-axis direction and the X-axis direction are located.

2. The lug root cleaning machine according to claim 1, wherein The Z-axis moving mechanism includes a Z-axis sliding pair, a Z-axis sliding transmission module, and a Z-axis sliding driving module. The Z-axis sliding pair is connected to the cutting mechanism, the Z-axis sliding transmission module is connected to the Z-axis sliding pair, and the Z-axis sliding driving module is connected to the Z-axis sliding transmission module so that the Z-axis sliding driving module transmits the driving force through the Z-axis sliding transmission module and accordingly drives the cutting mechanism to slide along the Z-axis in cooperation with the Z-axis sliding pair.

3. The lug root clearing machine according to claim 2, characterized in that, The Z-axis sliding pair includes a Z-axis slider and a Z-axis slide rail. The Z-axis slider is connected to the Z-axis slide rail in a slidable manner. The Z-axis slide rail is fixed on the cutting mechanism base, and the Z-axis slider is fixed on the Y-axis moving mechanism base.

4. The lug root cleaning machine according to claim 2, characterized in that, The Z-axis sliding transmission module includes a Z-axis lead screw and a Z-axis lead screw seat. The Z-axis lead screw seat is fixed on the moving mechanism base. The Z-axis lead screw seat is connected to the Z-axis lead screw, and the Z-axis lead screw is connected to the Z-axis sliding driving module. The Z-axis sliding driving module drives the Z-axis lead screw to rotate in the Z-axis lead screw seat to transmit the driving force and accordingly drives the cutting mechanism to slide along the Z-axis.

5. The lug root clearing machine according to claim 1, characterized in that, The Y-axis moving mechanism includes a Y-axis sliding pair, a Y-axis moving mechanism base, a Y-axis sliding transmission module, and a Y-axis sliding driving module. The Y-axis sliding pair is connected to the Y-axis moving mechanism base, the Y-axis sliding transmission module is connected to the Y-axis sliding pair, and the Y-axis sliding driving module is connected to the Y-axis sliding transmission module so that the Y-axis sliding driving module transmits the driving force through the Y-axis sliding transmission module and accordingly drives the cutting mechanism to slide along the Y-axis in cooperation with the Y-axis sliding pair.

6. The lug root cleaning machine according to claim 5, characterized in that, The Y-axis sliding pair includes a Y-axis slider and a Y-axis slide rail. The Y-axis slider is connected to the Y-axis slide rail in a slidable manner. The Y-axis slider is fixed on the X-axis moving mechanism base.

7. The lug root clearing machine according to claim 5, characterized in that, The Y-axis sliding transmission module includes a Y-axis lead screw and a Y-axis lead screw seat. The Y-axis lead screw seat is fixed on the moving mechanism base. The Y-axis lead screw seat is connected to the Y-axis lead screw, and the Y-axis lead screw is connected to the Y-axis sliding driving module. The Y-axis sliding driving module drives the Y-axis lead screw to rotate in the Y-axis lead screw seat to transmit the driving force and accordingly drives the cutting mechanism to slide along the Y-axis.

8. The lug root clearing machine according to claim 1, characterized in that, The X-axis moving mechanism includes: an X-axis sliding pair, an X-axis sliding transmission module, and an X-axis sliding driving module. The X-axis sliding pair is connected to the base mechanism, the X-axis sliding transmission module is connected to the X-axis sliding pair, and the X-axis sliding driving module is connected to the X-axis sliding transmission module, so that the X-axis sliding driving module transmits the driving force through the X-axis sliding transmission module and accordingly drives the cutting mechanism to slide along the X-axis in cooperation with the X-axis sliding pair.

9. The lug root clearing machine according to claim 2, characterized in that, The X-axis sliding pair includes an X-axis slider and an X-axis slide rail. The X-axis slider is connected to the X-axis slide rail in a slidable manner, and the X-axis slide rail is fixed to the base mechanism.

10. The lug root cleaning machine according to claim 2, wherein The X-axis sliding transmission module includes an X-axis lead screw and an X-axis lead screw seat. The X-axis lead screw seat is fixed to the moving mechanism seat, the X-axis lead screw seat is connected to the X-axis lead screw, the X-axis lead screw is connected to the X-axis sliding driving module, and the X-axis sliding driving module drives the X-axis lead screw to rotate in the X-axis lead screw seat to transmit the driving force and accordingly drive the cutting mechanism to slide along the X-axis.

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