Stud welding robot for assembling insulating plate of LNG ship containment system

Abstract

The invention provides a stud welding robot for assembling an insulating plate of an LNG (Liquefied Natural Gas) ship containment system. The bottom end of the posture adjusting device is fixedly connected to the moving device, and the posture adjusting device has freedom degrees in multiple directions; the positioning, polishing and welding integrated device is arranged at the top end of the posture adjusting device; the device comprises a top rack, a grinding and welding device, a distance measuring device, an auxiliary positioning device and an adsorption device, wherein the distance measuring device is used for acquiring an effective operation distance from the tail end of the positioning grinding and welding integrated device to a to-be-operated surface; the auxiliary positioning device is used for acquiring sideline characteristics of a to-be-worked surface; the adsorption device is adsorbed on a to-be-operated surface during operation; and according to the effective operation distance and the sideline characteristics of the to-be-operated face, the posture adjusting device adjusts the polishing and welding device to be perpendicular to the to-be-operated face, and the polishing and welding device is used for executing the operation of polishing and then welding. According to the device, the studs can be automatically ground and welded on the assembly surface of the insulating plate of the LNG ship in batches, and the operation efficiency and the operation safety are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of ships, and in particular to a stud welding robot used for assembling insulation panels of a containment system of an LNG ship. Background Art

[0002] With the development of the shipping industry in modern society, various industries have become more dependent on shipping, which has accelerated the development of the shipbuilding industry. However, the shipbuilding industry itself belongs to the field of heavy industry and labor-intensive manufacturing. During the entire construction process of the hull, there are many mechanical operations that require a lot of manual repetition. Due to the extremely low efficiency of manual operations and the harsh working environment, the production efficiency is extremely low. This industry background has promoted the change of machines replacing people. Therefore, more and more special and high-efficiency tools need to be continuously upgraded as market demand changes. In particular, various devices aimed at improving work efficiency and reducing manual participation in extreme environment work have emerged.

[0003] The assembly process for the inner surface insulation panels of the LNG (Liquefied Natural Gas) ship containment system requires positioning and grinding the inner surface of the hull, followed by pre-welding of mounting studs to lock the insulation panels. However, there is a lack of equipment for this complex operation, especially for the shipbuilding industry, where tools designed for independent operation in the extreme environment of cabins often suffer from single functions and extremely low efficiency.

[0004] A search revealed a Chinese invention patent application with publication number CN113021346A, which discloses a control method, computer storage medium, and terminal for automatic welding and grinding of ship hoists. The method includes: obtaining the contour information of each workpiece; matching the extracted workpiece contour information with a pre-stored workpiece model to identify the position information of each workpiece to calculate the center of gravity of each workpiece and determine the grasping position; controlling the movement of the handling and grinding robot body to place the workpiece on the positioning surface; activating a laser vision tracking device to scan the workpiece to obtain the welding trajectory information of the welding gun; controlling the movement of the welding gun according to the welding trajectory information to complete the welding task; and after the welding task is completed, controlling the handling and grinding robot body to drive the grinding tool to move to grind the welding slag. This existing technology uses welding wire to connect and fix two workpieces by melting and welding. This working method is relatively advantageous only for single and special-shaped parts, and cannot achieve high-efficiency grinding and welding work for large-scale flat repeatability. The workpiece information obtained by this patent is planar information, which requires multiple multi-angle movements and rotations of the visual device to complete the workpiece information acquisition task; in the process of obtaining the collective processing of workpiece information, it relies on the current industrial host technology, and the overall computing efficiency is low; after the center of gravity of the workpiece is found, the grinding tool needs to be moved and rotated to the direction perpendicular to the tangent of the center of gravity surface. The three aspects of the overall process are time-consuming and superimposed, resulting in a long construction time for a single workpiece and low operation efficiency. Summary of the Invention

[0005] In response to the defects in the existing technology, the purpose of the present invention is to provide a stud welding robot for the assembly of insulation panels of the containment system of LNG ships, which can realize the automatic batch grinding and welding of studs on the assembly surface of the insulation panels of LNG ships, and meet the operational requirements of grinding, welding and pre-welding a large number of studs inside the cabin.

[0006] The purpose of the present invention is achieved through the following technical solutions: The present invention provides a stud welding robot for assembling insulation panels of an LNG ship containment system, comprising: A moving device, used to carry the robot, wherein the moving device can move freely in a plane; A posture adjustment device, the bottom end of which is fixedly connected to the moving device, and the posture adjustment device has multiple degrees of freedom in multiple directions; The positioning grinding and welding integrated device is provided at the top of the posture adjustment device. The posture adjustment device is used to enable the robot to enter the working area and adjust the positioning grinding and welding integrated device to be parallel to the working surface. The positioning grinding and welding integrated device includes a top frame, a grinding and welding device, a distance measuring device, an auxiliary positioning device and an adsorption device, wherein: The top frame provides a mounting base for the positioning, grinding and welding integrated device; The grinding and welding devices are symmetrically arranged on both sides of the top frame; The distance measuring device is symmetrically arranged on both sides of the top frame along the length direction, and the distance measuring device is used to obtain the effective working distance from the end of the positioning, grinding and welding integrated device to the working surface; The auxiliary positioning device is located on the side of the top frame and is used to obtain the edge features of the surface to be worked on; The adsorption device is located directly above the top frame. The adsorption device is adsorbed on the working surface during operation, thereby improving the stability and overall strength of the positioning, grinding and welding integrated device during operation. According to the effective working distance and the edge features of the surface to be worked, the posture adjustment device adjusts the grinding and welding device to be perpendicular to the surface to be worked, and the grinding and welding device is used to perform the operation of grinding first and then welding.

[0007] Optionally, the mobile device includes: A bottom frame, wherein omnidirectional wheels are provided at the four bottom corners of the bottom frame; A driving wheel set is located at the bottom of the bottom frame, and the driving wheel set provides power for the mobile device to move forward and turn; A moving mechanism is located above the bottom frame and is connected to the bottom of the posture adjustment device; The supporting side leg mechanism is located on the side of the bottom frame, and the supporting side leg mechanism is used to expand the supporting area of ​​the mobile device and enhance the supporting effect of the mobile device.

[0008] Optionally, the posture adjustment device includes: An XYZ direction movement adjustment device, wherein the XYZ direction movement adjustment device can move in the X direction, the Y direction and the Z direction; A bottom rotation adjustment device is located above the XYZ direction movement adjustment device, and the bottom rotation adjustment device rotates around the Z axis; A waist rotation adjustment device is located above the bottom rotation adjustment device, and the waist rotation adjustment device rotates around the Y axis; A head rotation adjustment device is located above the waist rotation adjustment device, and the head rotation adjustment device rotates around the X axis; The top lifting and adjusting device is located above the head rotation adjusting device, and the top lifting and adjusting device moves in the Z direction.

[0009] Optionally, the top lifting and adjusting device includes a motor, a ball screw, a moving part and a vertical shaft. The moving part is connected to the ball screw. The motor provides driving force for the rotation of the ball screw, and the ball screw drives the moving part to move up and down linearly along the vertical shaft.

[0010] Optionally, the distance measuring device includes: An installation rack, the bottom end of which is fixedly connected to the edge of the top rack; A laser distance measuring sensor is fixedly connected to the top of the mounting frame, and the laser distance measuring sensor is used to measure the effective working distance from the end of the positioning, grinding and welding integrated device to the surface to be worked.

[0011] Optionally, the auxiliary positioning device includes: a positioning mounting bracket, one end of which is fixedly connected to the edge of the top frame; A camera and light source device is provided on the upper surface of the other end of the positioning and mounting bracket; a reference plate mounting bracket, one end of which is fixed to the upper surface of the positioning mounting bracket; A border reference plate is connected to the other end of the reference plate mounting bracket; the border of the border reference plate is located at the detection center of the camera and light source device; Adjust the posture adjustment device so that the edge of the edge reference plate is parallel to the main frame line on the working surface, determine the deviation value of the working posture of the positioning, grinding and welding integrated device, and calibrate the deviation value through the posture adjustment device to be within the accuracy range allowed by the operation.

[0012] Optionally, the adsorption device comprises: A mounting base, the bottom end of which is fixedly connected to the upper surface of the top frame; an electric push rod, one end of which is connected to the top of the mounting base; an electromagnet connected to the other end of the electric push rod, A micro detection switch is located on the side of the electromagnet. When the end of the micro detection switch contacts the surface to be worked, the electric push rod stops and the electromagnet is powered on to work.

[0013] Optionally, the adsorption device further includes: an elastic mounting bracket, wherein the elastic mounting bracket is arranged between the electric push rod and the electromagnet.

[0014] Optionally, the grinding and welding device includes: a mounting mechanism connected to a side of the top frame; a grinding tool fixed to one end of the mounting mechanism; a butt welding tool, which is fixed to the other end of the mounting mechanism; A bidirectional lifting cylinder is located on one side of the mounting mechanism; one end of the bidirectional lifting cylinder is fixedly connected to the mounting mechanism, and the other end of the bidirectional lifting cylinder is connected to one end of the rotating shaft; A rotation switching cylinder is fixedly connected to the other end of the rotating shaft, and the rotation switching cylinder provides a driving force for the rotating shaft to rotate.

[0015] Optionally, the grinding and welding device further includes: a rotation positioning device, which is respectively provided on both sides of the rotating shaft, and is used to clamp and position the rotating shaft.

[0016] Compared with the prior art, the present invention has at least one of the following beneficial effects: The robot provided by the present invention, through the mutual cooperation between various structures, can perform multiple simultaneous operations on a work surface using a set of devices, thereby realizing automatic batch grinding and welding studs on the assembly surface of LNG ship insulation panels, improving the internal operation efficiency of the entire operation unit, and reducing labor input; in addition, the robot can replace manual labor to perform grinding and welding operations, avoiding damage to the operator's body caused by chemical dust generated during the grinding process and toxic gases generated during the welding process, improving the safety of the operation process, and better meeting the current complex operation scenario requirements of the shipbuilding industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings: Figure 1 This is a schematic diagram of the overall structure of a robot in one embodiment of the present invention; Figure 2 A schematic structural diagram of a mobile device according to an embodiment of the present invention; Figure 3 This is a schematic structural diagram of a posture adjustment device according to an embodiment of the present invention; Figure 4 This is a schematic structural diagram of a positioning, grinding, and welding integrated device according to an embodiment of the present invention; Figure 5 Schematic diagram of the structure of a distance measuring device in one embodiment of the present invention; Figure 6 A schematic structural diagram of an auxiliary positioning device in one embodiment of the present invention; Figure 7 This is a schematic structural diagram of an adsorption device in one embodiment of the present invention; Figure 8 A schematic structural diagram of a grinding and welding device according to an embodiment of the present invention; Figure 9 Schematic diagram of a portion of the structure of a grinding and welding device according to one embodiment of the present invention ( Figure 8 (The enlarged image corresponding to point A in the middle); In the figures, the reference numerals correspond to: 100-moving device, 200-posture adjustment device, 300-positioning grinding and welding integrated device; 110-driving wheel set, 120-supporting side leg mechanism, 130-moving mechanism; 210-XYZ direction movement adjustment device, 220-bottom rotation adjustment device, 230-waist rotation adjustment device, 240-head rotation adjustment device, 250-top lifting adjustment device; 310- distance measuring device, 320- auxiliary positioning device, 330- adsorption device, 340- grinding and welding device; 311-mounting frame, 312-laser ranging sensor; 321-positioning mounting bracket, 322-camera and light source device, 323-reference plate mounting bracket, 324-edge reference plate; 331-mounting base, 332-electric push rod, 333-elastic mounting bracket, 334-electromagnet, 335-switch mounting bracket, 336-micro detection switch; 341- grinding tool, 342- welding tool, 343- bidirectional lifting cylinder, 344- rotary switching cylinder, 345- rotary positioning device. DETAILED DESCRIPTION

[0018] The present invention will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several variations and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0019] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this application, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0020] In addition, in the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In the present application, terms such as "fixedly connected", "connected", "connected" and the like should be understood in a broad sense, indicating that it can be a fixed connection, an integral connection or a detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. For relevant technical personnel in this field, the specific meaning of the above terms in the present application can be determined according to the specific circumstances, and it cannot be understood as a limitation on the present application.

[0021] Reference Figure 1 As shown, a stud welding robot for assembling insulating panels of a containment system of an LNG ship provided by one embodiment of the present invention comprises a moving device 100, a posture adjustment device 200 and a positioning grinding welding integrated device 300, wherein the moving device 100 is used to carry the robot, and the moving device 100 can move freely in a plane; the bottom end of the posture adjustment device 200 is fixedly connected to the moving device 100, and the posture adjustment device 200 has multiple degrees of freedom in multiple directions; the positioning grinding welding integrated device 300 is provided at the top end of the posture adjustment device 200, and the posture adjustment device 200 is used to enable the robot to enter the working area and adjust the positioning grinding welding integrated device 300 to be parallel to the working surface; refer to Figure 4The positioning grinding and welding integrated device 300 includes a top frame, a grinding and welding device 340, a distance measuring device 310, an auxiliary positioning device 320 and an adsorption device 330, wherein: the top frame provides an installation base for the positioning grinding and welding integrated device 300, and the grinding and welding device 340 is symmetrically arranged on both sides of the top frame of the positioning grinding and welding integrated device 300; the distance measuring device 310 is symmetrically arranged on both sides of the top frame of the positioning grinding and welding integrated device 300, and is arranged along the length direction. The distance measuring device 310 is used to obtain the effective working distance from the end of the positioning grinding and welding integrated device 300, that is, the top of the grinding and welding device 340 to the working surface; the auxiliary positioning device 3 20 is located on the side of the top frame of the positioning grinding and welding integrated device 300, and is used to obtain the edge features of the surface to be worked, so as to locate the movement adjustment amount in the X and Y directions of the working area; the adsorption device 330 is located directly above the top frame of the grinding and welding integrated device 300. The adsorption device 330 is adsorbed on the surface to be worked during operation, thereby improving the stability and overall strength of the positioning grinding and welding integrated device 300 during operation; according to the effective working distance and the edge features of the surface to be worked, the posture adjustment device 200 adjusts the grinding and welding device 340 to be perpendicular to the surface to be worked. The grinding and welding device 340 is a double-station switching tool device, which is used to perform operations of grinding first and then welding.

[0022] In the above-mentioned embodiments of the present application, through the mutual cooperation between the various devices, a set of robotic devices can be used to perform simultaneous operations at multiple workstations on one work surface, thereby realizing automatic batch grinding and welding studs on the assembly surface of the insulation panels of LNG ships, improving the internal operation efficiency of the entire operation unit, and reducing labor input; in addition, the robot can replace manual labor to perform grinding and welding operations, avoiding damage to the operator's body caused by chemical dust generated during the grinding process and toxic gases generated during the welding process, improving the safety of the operation process, and more in line with the current complex operation scenario requirements of the shipbuilding industry.

[0023] Reference Figure 2 As shown, in some embodiments, the mobile device 100 includes a bottom frame, omnidirectional wheels, an omnidirectional driving wheel group 110 and a mobile mechanism 130. The mobile mechanism 130 is located above the bottom frame and is connected to the bottom of the posture adjustment device 200. The omnidirectional wheels and the driving wheel group 100 are located below the bottom frame. The overall bottom frame fixes the various structures together to form a bottom omnidirectional mobile device.

[0024] Specifically, omnidirectional wheels are provided at the four corners of the bottom frame, fixed with screws, and primarily provide support for vertical loads. Drive wheel assemblies 110 are symmetrically located in the middle of the bottom of the mobile mechanism 130. Drive wheel assemblies 110 provide both traction and steering drive. Drive wheel assemblies 110 serve as the power source for the forward and steering motion of the mobile device 100. When the drive wheel assemblies 110 advance, retreat, or turn, the mobile mechanism 130 and the entire device connected thereto perform forward, backward, and steering motions. With the aid of omnidirectional wheels and the omnidirectional drive wheel assemblies 110, the mobile device 100 can translate and rotate in any direction within a plane, adapting to a variety of ground conditions and significantly improving its flexibility and stability. Driven by the drive wheel assemblies 110, the mobile mechanism 130 itself can move, allowing it to work independently or collaboratively to achieve forward, backward, and steering motions of the entire robot.

[0025] The operating principle of the device in the embodiment of the present invention is to regularly divide multiple work points on the work surface into units, such as 10 work points as one work unit. This device can simultaneously perform construction work on the 10 work points in a single work unit. The multiple work points regularly distributed on the work surface are called work units. When performing construction work, the mobile device 100 is used to control the robot as a whole to initially move into each work unit, and also plays a role in stabilizing the upper device during operation.

[0026] In a further embodiment, the mobile device 100 also includes a supporting side leg mechanism 120, which is located on the side of the bottom frame. The supporting side leg mechanism 120 extends to the four sides of the bottom frame to provide additional support points for expanding the support area of ​​the mobile device 100 and enhancing the overall load-bearing capacity and supporting function of the mobile device 100.

[0027] Reference Figure 3As shown, in some embodiments, the middle multi-degree-of-freedom posture adjustment device 200 includes an XYZ direction movement adjustment device 210, a bottom rotation adjustment device 220, a waist rotation adjustment device 230, a head rotation adjustment device 240 and a top lifting adjustment device 250. The XYZ direction movement adjustment device 210 can be moved and adjusted in the X direction, Y direction and Z direction, and is a linear mechanism for controlling linear motion in the X, Y and Z directions; the bottom rotation adjustment device 220 for controlling circumferential rotational motion is located above the XYZ direction movement adjustment device 210, specifically, the chassis of the bottom rotation adjustment device 220 serves as a rotation fixing part, which is fixedly connected to the upper end movement mounting plate part of the XYZ direction movement adjustment device 210 by screws, the vertical direction of the moving mechanism 130 includes vertical direction axes provided at four corners, and linear bearing mounting holes for installing linear bearings are provided on the fixing plate of the XYZ direction movement adjustment device 210. The XYZ direction movement adjustment device 210 is sleeved on the vertical direction axis through the linear bearing installed thereon, thereby moving the XYZ direction. The lower end of the adjustment device 210 is fixedly mounted on the moving part of the linear mechanism that controls the Z-direction movement, namely the moving mechanism 130, and the bottom surface of the bottom mounting plate of the XYZ-direction movement adjustment device 210 is connected to the end of the ball screw for driving the linear motion in the Z-direction, thereby realizing the linear motion in the Z-axis direction; the bottom rotation adjustment device 220 rotates around the Z-axis; thereby forming the X, Y, Z and four-degree-of-freedom posture adjustment; the waist rotation adjustment device 230 is located above the bottom rotation adjustment device 220 and is installed and connected to the rotating part of the bottom rotation adjustment device 220. The waist rotation adjustment device 230 rotates around the Y-axis to realize the adjustment of the waist degree of freedom; the head rotation adjustment device 240 is located above the waist rotation adjustment device 230. The connection method is that the fixed part of the head rotation adjustment device 240 is connected to the rotating part of the waist rotation adjustment device 230, and the head rotation adjustment device 240 rotates around the X-axis to realize the head adjustment; the top lifting adjustment device 250 is located above the head rotation adjustment device 240, and the top lifting adjustment device 250 moves in the Z direction. Thus, a central seven-degree-of-freedom posture adjustment device is formed.

[0028] In some embodiments, the top lifting and adjustment device 250 includes a motor, a ball screw, a moving part and a vertical axis. The motor provides driving force for the rotation of the ball screw. The moving part is connected to the ball screw. The ball screw is controlled by the motor, and the ball screw drives the moving part to move up and down linearly along the vertical axis to achieve lifting and adjustment.

[0029] In some embodiments, the bottom mounting position of the top frame of the positioning, grinding and welding integrated device 300 and the connecting flange at the top of the ball screw of the top lifting and adjusting device 250 are fixed with screws to achieve the connection between the positioning, grinding and welding integrated device 300 and the posture adjustment device 200.

[0030] In some embodiments, the grinding and welding device 340 is fixed to both sides of the grinding and welding integrated device 300 through a bottom mounting plate, with five tools forming a group, and two groups are symmetrically distributed on both sides of the grinding and welding integrated device 300. The spacing here corresponds to the two-dimensional spacing between each working point within the working unit.

[0031] Reference Figure 5 As shown, in some embodiments, the distance measuring device 310 includes a mounting frame 311 and a laser distance measuring sensor 312. The bottom end of the mounting frame 311 is fixedly connected to the edge of the top frame; the laser distance measuring sensor 312 is fixedly connected to the top end of the mounting frame 311. The laser distance measuring sensor 312 is used to measure the effective working distance from the end of the grinding and welding integrated device 300 (i.e., the top end of the grinding and welding device 340) to the working surface. The distance measuring devices 310 are installed on both sides of the grinding and welding integrated device 300 along the long side, with four groups distributed in symmetrical positions, as shown in FIG. Figure 4 As shown, the installation position ensures that the working area of ​​the laser distance measuring sensor 312 is near the area connecting the long-side ends of the grinding and welding device 340. After being fixedly connected to the mounting frame 311, the laser distance measuring sensor 312 is then installed on the top frame of the positioning grinding and welding integrated device 300, forming an internal fixed position. This internal fixed position refers to the fixed distance in the X, Y, and Z directions between the distance measuring device 310 installed on the grinding and welding integrated device 300 and the top of the grinding and welding device 340 within the entire device. This allows the accurate distance between the distance measuring device 310 and the work surface to be detected.

[0032] Reference Figure 6As shown, in some embodiments, the auxiliary positioning device 320 includes a positioning mounting bracket 321, a camera and light source device 322, a reference plate mounting bracket 323 and a side reference plate 324. One end of the positioning mounting bracket 321 is fixedly connected to the edge of the top frame. The auxiliary positioning device 320 is fixed to the side of the top frame of the positioning grinding and welding integrated device 300 by installing the mounting surface of the positioning bracket 321. The mounting position ensures that the detection center of the camera and light source device 322 is in the outer area of ​​the line connecting the ends of the long side direction of the grinding and welding device 340, which is used to obtain the side features of the surface to be worked, thereby locating the movement adjustment amount in the X and Y directions of the working area. It is particularly noted that the auxiliary positioning device 3 20 is used in combination with the distance measuring device 310. The working principle and sequence are as follows: the distance measuring device 310 first detects that the positioning grinding and welding integrated device 300 has reached the ideal height for positioning detection and adjustment of the auxiliary positioning device 320 in the Z direction, and then turns on the detection and positioning of the auxiliary positioning device 320; the camera and light source device 322 are arranged on the upper surface of the other end of the positioning mounting bracket 321; one end of the reference plate mounting bracket 323 is fixed to the upper surface of the positioning mounting bracket 321; the edge reference plate 324 is connected to the other end of the reference plate mounting bracket 323; the edge of the edge reference plate 324 is located at the detection center of the camera and light source device 322; the installation position here is the long side of the positioning grinding and welding integrated device 300 To ensure that the center of the camera is as close to the end of the long side of the main frame line on the surface to be worked as possible, there is no limit on the specific approach distance. Similarly, the center of the camera in the short side direction is also installed in the middle of the short side of the main frame line on the surface to be worked; the main frame line on the surface to be worked is a rectangular frame line formed by connecting the 10 points to be worked mentioned above, with a fixed spacing added, which is used for assembly and positioning of insulating and heat-preserving panels. The process has been perfected before grinding and welding; in this way, the camera of the auxiliary positioning device 320 can detect the rectangular frame line formed by connecting the 10 points on the top of the 10 component grinding and welding devices 340 tools on the positioning grinding and welding integrated device 300 and the surface to be worked. The corresponding spacing between the long and short sides of the main frame lines on the surface; adjust the posture adjustment device 200 so that the edge of the edge reference plate 324 (here the edge is the structural edge line of the edge reference plate 324 structure parallel to the long side of the grinding and welding integrated device 300) is parallel to the main frame line on the working surface, and determine the deviation value of the working posture of the positioning grinding and welding integrated device 300. The deviation value here is the corresponding spacing between the long and short sides between the rectangular frame line formed by connecting the 10 points on the top of the tool of the 10 components of the grinding and welding device 340 on the positioning grinding and welding integrated device 300 mentioned above and the main frame line on the working surface. The deviation value is calibrated to within the accuracy range allowed by the operation through the multi-degree-of-freedom posture adjustment device of the posture adjustment device 200.

[0033] After the distance measuring device 310 completes the detection and positioning, the reference plate mounting bracket 323 sets the edge of the edge reference plate 324 at the detection center of the camera and light source device 322. Through multi-posture adjustment, the edge of the edge reference plate 324 is parallel to the main frame line on the surface to be worked on, thereby assisting in calculating the deviation value of the working posture of the positioning grinding and welding integrated device 300. By calibrating this difference to be within the accuracy range allowed by the operation, the detection and calibration work is completed. Through the camera visual positioning of the auxiliary positioning device 320, the position coordinate information of the working surface to be polished can be easily and quickly obtained and fed back to the overall robot posture adjustment device. Through a simple one-time positioning, batch synchronous operation of a single working unit can be achieved.

[0034] Reference Figure 7 As shown, in some embodiments, the adsorption device 330 includes a mounting base 331, an electric push rod 332, an electromagnet 334, and a micro-motion detection switch 336. The bottom end of the mounting base 331 is fixedly connected to the upper surface of the top frame; one end of the electric push rod 332 is connected to the top of the mounting base 331; the electromagnet 334 is connected to the other end of the electric push rod 332. The micro-motion detection switch 336 is located on the side of the electromagnet 334 and is vertically mounted. The top of the micro-motion detection switch 336 is slightly higher than the upper surface of the electromagnet 334 and is fixedly connected to the electromagnet 334 via a switch mounting bracket 335. When the end of the micro-motion detection switch 336 contacts the work surface, a trigger signal controls the electric push rod 332 to stop and the electromagnet 334 to energize. To facilitate the adsorption device 330 to adhere to the work surface during operation, the adsorption device 330 is located near the four corners of the rectangle formed by the long and short sides of the top frame.

[0035] In a further embodiment, the adsorption device 330 further includes an elastic mounting bracket 333, which is disposed between the electric push rod 332 and the electromagnet 334. When the electromagnet 334 is adsorbed on the bulkhead, it withstands the magnetic attraction force of the bulkhead, and the elastic mounting bracket 333 acts as a one-way buffer, that is, it acts as a buffer in the direction of the tension on the electromagnet 334, while the spring of the elastic mounting bracket 333 acts as a buffer in the opposite direction.

[0036] When the distance measuring device 310 and the auxiliary positioning device 320 have completed the detection and calibration work and the linked adjustment work, the electric push rod 332 is pushed out. When the end of the micro-detection switch 336 contacts the surface to be worked, the electric push rod 332 stops immediately and the electromagnet 334 is powered on. At this time, the entire device is fixedly connected to the surface to be worked by the adsorption device 330.

[0037] In the above embodiment of the present invention, when the entire robot device is performing construction operations inside the cabin, the middle multi-degree-of-freedom posture adjustment device 200, on the one hand, fine-adjusts the middle posture of the robot step by step through multi-degree-of-freedom coordination to ensure that the top positioning, grinding and welding integrated device 300 always meets the overall horizontal state with the working surface, thereby ensuring that the end grinding and welding tools are always perpendicular to the working surface, ensuring the working effect; on the other hand, through multi-degree-of-freedom coordination, the robot structure other than the moving device 100 at the bottom is fine-adjusted step by step to enable it to accurately enter the working area. First, the ranging device 310 detects the exact distance between the end tool and the bulkhead working surface, and then the auxiliary positioning device 320 accurately captures the positioning feature reference benchmark to perform another repeated positioning feedback adjustment.

[0038] Reference Figure 8 As shown, in some embodiments, the grinding and welding device 340 includes a mounting mechanism, a grinding tool 341, a butt welding tool 342, a two-way lifting cylinder 343 and a rotary switching cylinder 344, etc. The mounting mechanism is connected to the side of the top frame; the grinding tool 341 is fixed to one end of the mounting mechanism, and exemplarily, the grinding tool 341 is an electric grinding tool; the butt welding tool 342 is fixed to the other end of the mounting mechanism, and exemplarily, the butt welding tool 342 is an electric butt welding tool; the two-way lifting cylinder 343 is located on one side of the mounting mechanism; one end of the two-way lifting cylinder 343 is fixedly connected to the mounting mechanism, and the other end of the two-way lifting cylinder 343 is connected to one end of the rotating shaft; the rotary switching cylinder 344 is fixedly connected to the other end of the rotating shaft, and the rotary switching cylinder 344 provides driving force for the rotation of the rotating shaft.

[0039] Reference Figure 9 As shown, in a further embodiment, the grinding and welding device 340 also includes a rotation positioning device 345, which is respectively arranged on both sides of the rotating shaft. The rotation positioning device 345 is used to clamp and position the rotating shaft, which is beneficial to improve the efficiency and stability of the switching when the rotary switching cylinder 344 rotates to switch the corresponding working tool.

[0040] Exemplarily, the rotational positioning device 345 includes a mounting bracket and a positioning cylinder. One end of the mounting bracket is symmetrically arranged on both sides of the rotating shaft. The rotating shaft is provided with a radially protruding pin, and the mounting bracket is provided with a groove that matches the pin. Specifically, the rotating shaft is provided with a protruding pin structure at a mirror image of the mounting bracket's installation position, and the pin can rotate with the rotation of the rotating shaft. The positioning cylinder is connected to the other end of the mounting bracket, and the end of the positioning cylinder is provided with a blocking member. When the radially protruding pin on the rotating shaft rotates to the groove of the mounting bracket, the positioning cylinder pushes out the blocking member to form a clamping structure with the groove, thereby clamping and positioning the radially protruding pin on the rotating shaft. When the pin is clamped and stuck, the rotating shaft and the like can no longer rotate, thereby achieving the rotational positioning switching of the end working tool.

[0041] After the adsorption device 330 completes the fixed connection with the working surface, the rotary switching cylinder 344 controls the front double-station device to rotate to the grinding tool 341, and then the two-way lifting cylinder 343 is lifted, and the rotary positioning device 345 is positioned and clamped to complete the grinding work; then the rotary positioning device 345 is positioned and released, and the two-way lifting cylinder 343 is lifted and lowered, and at the same time, the rotary switching cylinder 344 is switched to the butt welding tool 342, and then the two-way lifting cylinder 343 is lifted, and the rotary positioning device 345 is positioned and clamped to complete the butt welding work. The welding in the embodiment of the present invention refers to the grinding clean surface of the bulkhead inside the ship for additive welding, that is, The screws used for subsequent fixing are fixed to the cabin wall by arc welding to serve the purpose of installing the insulation board; finally, the rotary positioning device 345 is positioned and loosened, and the two-way lifting cylinder 343 is lifted and lowered. At this time, the auxiliary positioning device 320 detects the quality of the welding in the completed operation area. Specifically, the entire robot device is moved by fixed deviation values ​​in the X and Y directions so that the welded points enter the camera field of view of the auxiliary positioning device 320, and photos are taken for detection. The brightness of the welding position is compared by the deep learning detection of the system. If there is no black shadow or abnormal light spot at the welding position, the welding quality is qualified, and the grinding welding detection work is completed.

[0042] In an embodiment of the present invention, the positioning, grinding and welding integrated device 300 mainly captures the edge features on the working surface area based on the auxiliary positioning device 320 to calibrate the tools of the positioning, grinding and welding integrated device 300 to the accurate working points of the working area, and sets a two-station rotary switching tool structure to perform continuous grinding and then welding operations on the same working point, thereby realizing fast and stable switching of different working tools in spatial positions, effectively improving working efficiency.

[0043] The robot in the above embodiment of the present invention realizes the specific process of automatically grinding weld studs in batches on the assembly surface of insulation panels on LNG ships through the collaborative operation of various structures as follows: First, the horizontal movement of the entire device is controlled by the moving device 100 at the bottom, driving the entire robot to move into the unit working area, and then the distance measuring device 310 integrated in the top positioning, grinding and welding integrated device 300 is accurately detected by the fine adjustment of the middle multi-degree-of-freedom posture adjustment device 200, and the auxiliary positioning device 320 captures the positioning edge reference feature of the working unit, thereby forming a feedback adjustment with the middle multi-degree-of-freedom posture adjustment device 200, and then realizing the omnidirectional adjustment positioning of the positioning, grinding and welding integrated device 300 relative to the working surface. After the auxiliary positioning device 320 and the posture adjustment device 200 have completed multiple adjustment positioning, the positioning, grinding and welding integrated device 300 will receive the auxiliary positioning device 320 using the camera vision After the positioning signal is given, the adsorption device 330 is turned on, so that the positioning, grinding and welding integrated device 300 is fastened to the panel of the working area under the connection of the adsorption device 330, and the two-station rotary switching tool structure is switched to the grinding end to align with the working point, and then the grinding tool 341 is lifted upward under the action of the two-way lifting cylinder 343. After the grinding operation is completed, the lifting cylinder is controlled to retract, and then the rotary switching cylinder 344 is rotated and switched to the butt welding tool 342 (welding end). Similarly, under the action of the two-way lifting cylinder 343, the butt welding tool 342 is lifted to the working surface to complete the welding; the auxiliary positioning device 320 performs a secondary inspection to check that multiple stations have completed the corresponding operations, the adsorption device 330 is disengaged, the posture adjustment device 200 lowers the overall height of the robot, and the moving device 100 at the bottom moves to the next working unit to repeat the operation.

[0044] After obtaining workpiece information, the prior art CN113021346A needs to match it with a pre-stored workpiece model to identify and calculate the position information and grasping position. This results in all workpieces requiring accurate design and loading of their models before construction. The reverse design process for some complex workpieces is more difficult, increasing the overall requirements for on-site workers. In addition, the prior art CN113021346A method of identifying and calculating the center of gravity before grinding the workpiece places higher demands on the overall posture adjustment of the device. The final posture of the grinding tool is not necessarily a reasonable force-bearing posture, which places higher demands on the support surface of the device and is not suitable for non-ground working environments inside the cabin. The above-mentioned embodiment of the present application can achieve automatic positioning through the interaction between the mobile device 100, the posture adjustment device 200, and the distance measuring device 310 and auxiliary positioning device 320 in the positioning grinding and welding integrated device 300, thereby achieving high operating efficiency, thereby realizing high-efficiency grinding and welding work with high repeatability in large quantities of planes, meeting the operational requirements of grinding and welding and pre-welding a large number of studs inside LNG tanks.

[0045] The robot in the above embodiment of the present invention is a device for automatically batch grinding and welding studs on the assembly surface of LNG ship insulation panels. Through the integration of multi-station devices inside the unit, a set of devices can be used to perform simultaneous operations at multiple stations on one work surface, so that the entire work unit can be operated simultaneously, which is more efficient, simple to control, and requires less manpower. It solves the problem of insufficient development of robot automation devices to replace manual labor in areas with special operational requirements in the shipbuilding industry. In addition, the use of the robot to replace manual operation of grinding and welding avoids damage to the operator's body caused by chemical dust generated during the grinding process and toxic gases generated during the welding process, improves the safety of the operation process, and is more in line with the current complex operation scenario requirements of the shipbuilding industry.

[0046] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various modifications or variations within the scope of the claims without affecting the essence of the present invention. The above preferred features may be used in any combination as long as they do not conflict with each other.

Claims

1. A stud welding robot for assembling insulation panels of LNG ship containment systems, characterized in that: include: A moving device, used to carry the robot, wherein the moving device can move freely in a plane; A posture adjustment device, the bottom end of which is fixedly connected to the moving device, and the posture adjustment device has multiple degrees of freedom in multiple directions; The positioning grinding and welding integrated device is provided at the top of the posture adjustment device. The posture adjustment device is used to enable the robot to enter the working area and adjust the positioning grinding and welding integrated device to be parallel to the working surface. The positioning grinding and welding integrated device includes a top frame, a grinding and welding device, a distance measuring device, an auxiliary positioning device and an adsorption device, wherein: The top frame provides a mounting base for the positioning, grinding and welding integrated device; The grinding and welding devices are symmetrically arranged on both sides of the top frame; The distance measuring device is symmetrically arranged on both sides of the top frame along the length direction, and the distance measuring device is used to obtain the effective working distance from the end of the positioning, grinding and welding integrated device to the working surface; The auxiliary positioning device is located on the side of the top frame and is used to obtain the edge features of the surface to be worked on; The adsorption device is located directly above the top frame. The adsorption device is adsorbed on the working surface during operation, thereby improving the stability and overall strength of the positioning, grinding and welding integrated device during operation. According to the effective working distance and the edge features of the surface to be worked, the posture adjustment device adjusts the grinding and welding device to be perpendicular to the surface to be worked, and the grinding and welding device is used to perform the operation of grinding first and then welding.

2. The stud welding robot for assembling insulation panels of LNG ship containment systems according to claim 1, characterized in that: The mobile device comprises: A bottom frame, wherein omnidirectional wheels are provided at the four bottom corners of the bottom frame; A driving wheel set is located at the bottom of the bottom frame, and the driving wheel set provides power for the mobile device to move forward and turn; A moving mechanism is located above the bottom frame and is connected to the bottom of the posture adjustment device; The supporting side leg mechanism is located on the side of the bottom frame, and the supporting side leg mechanism is used to expand the supporting area of ​​the mobile device and enhance the supporting effect of the mobile device.

3. The stud welding robot for assembling insulation panels of LNG ship containment systems according to claim 1, characterized in that: The posture adjustment device comprises: An XYZ direction movement adjustment device, wherein the XYZ direction movement adjustment device can move in the X direction, the Y direction and the Z direction; A bottom rotation adjustment device is located above the XYZ direction movement adjustment device, and the bottom rotation adjustment device rotates around the Z axis; A waist rotation adjustment device is located above the bottom rotation adjustment device, and the waist rotation adjustment device rotates around the Y axis; A head rotation adjustment device is located above the waist rotation adjustment device, and the head rotation adjustment device rotates around the X axis; The top lifting and adjusting device is located above the head rotation adjusting device, and the top lifting and adjusting device moves in the Z direction.

4. The stud welding robot for assembling insulation panels of LNG ship containment systems according to claim 3, characterized in that: The top lifting and adjusting device includes a motor, a ball screw, a moving part and a vertical shaft. The moving part is connected to the ball screw. The motor provides driving force for the rotation of the ball screw, and the ball screw drives the moving part to perform up and down linear motion along the vertical shaft.

5. The stud welding robot for assembling insulation panels of LNG ship containment systems according to claim 1, characterized in that: The distance measuring device comprises: An installation rack, the bottom end of which is fixedly connected to the edge of the top rack; A laser distance measuring sensor is fixedly connected to the top of the mounting frame, and the laser distance measuring sensor is used to measure the effective working distance from the end of the positioning, grinding and welding integrated device to the surface to be worked.

6. The stud welding robot for assembling insulation panels of LNG ship containment systems according to claim 1, characterized in that: The auxiliary positioning device comprises: a positioning mounting bracket, one end of which is fixedly connected to the edge of the top frame; A camera and light source device is provided on the upper surface of the other end of the positioning and mounting bracket; a reference plate mounting bracket, one end of which is fixed to the upper surface of the positioning mounting bracket; A border reference plate is connected to the other end of the reference plate mounting bracket; the border of the border reference plate is located at the detection center of the camera and light source device; Adjust the posture adjustment device so that the edge of the edge reference plate is parallel to the main frame line on the working surface, determine the deviation value of the working posture of the positioning, grinding and welding integrated device, and calibrate the deviation value through the posture adjustment device to be within the accuracy range allowed by the operation.

7. The stud welding robot for assembling insulation panels of LNG ship containment systems according to claim 1, characterized in that: The adsorption device comprises: A mounting base, the bottom end of which is fixedly connected to the upper surface of the top frame; an electric push rod, one end of which is connected to the top of the mounting base; an electromagnet connected to the other end of the electric push rod, A micro detection switch is located on the side of the electromagnet. When the end of the micro detection switch contacts the surface to be worked, the electric push rod stops and the electromagnet is powered on to work.

8. The stud welding robot for assembling insulation panels of LNG ship containment systems according to claim 7, characterized in that: The adsorption device further includes an elastic mounting bracket, which is arranged between the electric push rod and the electromagnet.

9. The stud welding robot for assembling insulation panels of LNG ship containment systems according to claim 1, characterized in that: The grinding and welding device comprises: a mounting mechanism connected to a side of the top frame; a grinding tool fixed to one end of the mounting mechanism; a butt welding tool, which is fixed to the other end of the mounting mechanism; A bidirectional lifting cylinder is located on one side of the mounting mechanism; one end of the bidirectional lifting cylinder is fixedly connected to the mounting mechanism, and the other end of the bidirectional lifting cylinder is connected to one end of the rotating shaft; A rotation switching cylinder is fixedly connected to the other end of the rotating shaft, and the rotation switching cylinder provides a driving force for the rotating shaft to rotate.

10. The stud welding robot for assembling insulation panels of LNG ship containment systems according to claim 9, characterized in that: The grinding and welding device further includes: a rotation positioning device, which is respectively arranged on both sides of the rotating shaft and is used to clamp and position the rotating shaft.

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