A stud welding robot for assembling insulation plates in LNG ship containment systems

Abstract

This invention provides a stud welding robot for assembling insulation panels in LNG ship containment systems, comprising: a moving device; an attitude adjustment device, fixedly connected to the bottom of the moving device, having multiple degrees of freedom in multiple directions; and a positioning, grinding, and welding integrated device located at the top of the attitude adjustment device. The robot includes a top frame, a grinding and welding device, a ranging device, an auxiliary positioning device, and an adsorption device. The ranging device is used to obtain the effective working distance from the end of the positioning, grinding, and welding integrated device to the surface to be worked on. The auxiliary positioning device is used to obtain the edge features of the surface to be worked on. The adsorption device adsorbs onto the surface to be worked on during operation. Based on the effective working distance and the edge features of the surface to be worked on, the attitude adjustment device adjusts the grinding and welding device to be perpendicular to the surface to be worked on, and the grinding and welding device performs the operation of grinding before welding. This invention can realize automatic batch grinding and welding of studs on the surface of LNG ship insulation panels, improving work efficiency and safety.

Description

Technical Field

[0001] This invention relates to the field of marine technology, and more specifically, to a stud welding robot for assembling insulation plates in the containment system of LNG carriers. Background Technology

[0002] With the development of the modern maritime industry, various industries have become more dependent on maritime transport, which has accelerated the development of the shipbuilding industry. However, the shipbuilding industry itself belongs to the heavy industry and labor-intensive manufacturing sector. During the entire ship construction process, there are many repetitive mechanical operations that require a large amount of manual labor. 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 humans. Therefore, more and more special high-efficiency tools need to be continuously upgraded with the changing market demands. In particular, various devices designed to improve operational efficiency and reduce human involvement in extreme working environments have emerged.

[0003] The assembly process for the inner surface insulation plates of the LNG (Liquefied Natural Gas) ship containment system requires the inner surface of the ship to be positioned and ground first, and then the mounting studs are pre-welded to lock the insulation plates. The equipment for this kind of complex operation is still lacking, especially the tools for independent operation in the extreme environment inside the ship's hold in the shipbuilding industry, which all have the problems of single function and extremely low efficiency.

[0004] A search revealed a Chinese invention patent with publication number CN113021346A, which discloses a control method, computer storage medium, and terminal for automatic welding and grinding of ship cranes. The method includes: acquiring the contour information of each workpiece; matching the extracted contour information with a pre-stored workpiece model to identify the position information of each workpiece, calculating the center of gravity of each workpiece, and determining the gripping position; controlling the movement of the transport and grinding robot 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 torch; controlling the welding torch to move according to the welding trajectory information to complete the welding task; and after the welding task is completed, controlling the transport and grinding robot to move the grinding tool to remove the welding slag. This prior art uses welding wire to melt and weld two workpieces together, and its working method is only suitable for single, irregularly shaped parts, offering certain advantages. It cannot achieve high-efficiency grinding and welding work for large-scale, repetitive planar tasks. The patent obtains planar information about the workpiece, requiring multiple movements and rotations of the vision device from multiple angles to complete the workpiece information acquisition. In the collective processing of the workpiece information, it relies on current industrial host technology, resulting in low overall computing efficiency. Finding the center of gravity of the workpiece also requires moving and rotating the grinding tool to a position perpendicular to the tangent of the center of gravity surface. The combined time consumption of these three aspects of the overall process leads to a long construction time for a single workpiece and low work efficiency. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the purpose of this invention is to provide a stud welding robot for assembling insulation panels in LNG ship containment systems. This robot enables automated batch grinding and welding of studs on the assembly surface of LNG ship insulation panels, meeting the operational requirements for grinding, welding, and pre-welding a large number of studs inside the ship's cabin.

[0006] The objective of this invention is achieved through the following technical solution:

[0007] This invention provides a stud welding robot for assembling insulation plates in LNG ship containment systems, comprising:

[0008] A mobile device for carrying the robot, the mobile device being able to move freely in a plane;

[0009] An attitude adjustment device, the bottom end of which is fixedly connected to the moving device, the attitude adjustment device having multiple degrees of freedom in multiple directions;

[0010] A positioning, grinding, and welding integrated device is located at the top of the attitude adjustment device. The attitude adjustment device is used to enable the robot to enter the work area and adjust the positioning, grinding, and welding integrated device to be parallel with the work surface. The positioning, grinding, and welding integrated device includes a top frame, a grinding and welding device, a ranging device, an auxiliary positioning device, and an adsorption device, wherein:

[0011] The top frame provides the mounting base for the positioning, grinding, and welding integrated device.

[0012] The grinding and welding devices are symmetrically arranged on both sides of the top frame;

[0013] The ranging device is symmetrically arranged on both sides of the top frame along the length direction. The ranging device is used to obtain the effective working distance from the end of the positioning, grinding and welding integrated device to the surface to be worked.

[0014] 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.

[0015] The adsorption device is located directly above the top frame. During operation, the adsorption device adsorbs onto the surface to be worked, improving the stability and overall strength of the positioning, grinding, and welding integrated device during operation.

[0016] Based on the effective working distance and the edge characteristics of the surface to be worked on, the posture adjustment device adjusts the grinding and welding device to be perpendicular to the surface to be worked on, and the grinding and welding device is used to perform the operation of grinding before welding.

[0017] Optionally, the mobile device includes:

[0018] The bottom frame is equipped with omnidirectional wheels at its four bottom corners;

[0019] A drive wheel assembly, located at the bottom of the bottom frame, provides power for the moving device to move forward and turn;

[0020] A moving mechanism is located above the bottom frame and is connected to the bottom of the attitude adjustment device;

[0021] The supporting side leg mechanism is located on the side of the bottom frame. The supporting side leg mechanism is used to expand the support area of ​​the mobile device and enhance the supporting function of the mobile device.

[0022] Optionally, the attitude adjustment device includes:

[0023] XYZ direction movement adjustment device, wherein the XYZ direction movement adjustment device is capable of moving in the X, Y and Z directions;

[0024] 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;

[0025] A waist rotation adjustment device is located above the bottom rotation adjustment device, and the waist rotation adjustment device rotates around the Y-axis;

[0026] A head rotation adjustment device is located above the waist rotation adjustment device, and the head rotation adjustment device rotates around the X-axis;

[0027] A top lifting adjustment device is located above the head rotation adjustment device, and the top lifting adjustment device moves in the Z direction.

[0028] Optionally, the top lifting adjustment device includes a motor, a ball screw, a moving part, and a vertical shaft. The moving part is connected to the ball screw, and the motor provides the driving force for the rotation of the ball screw, thereby driving the moving part to move vertically along the vertical shaft.

[0029] Optionally, the ranging device includes:

[0030] The mounting frame is fixedly connected at its bottom end to the edge of the top frame;

[0031] A laser rangefinder is fixedly connected to the top of the mounting frame. The laser rangefinder 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.

[0032] Optionally, the auxiliary positioning device includes:

[0033] A positioning and mounting bracket, one end of which is fixedly connected to the edge of the top frame;

[0034] The camera and light source device are located on the upper surface of the other end of the positioning and mounting bracket;

[0035] A reference plate mounting bracket, one end of which is fixed to the upper surface of the positioning mounting bracket;

[0036] An edge reference plate is connected to the other end of the reference plate mounting bracket; the edge of the edge reference plate is located at the detection center of the camera and light source device.

[0037] Adjust the posture adjustment device to make the edge line of the edge reference plate parallel to the main frame line on the surface to be worked, determine the deviation value of the working posture of the positioning, grinding and welding integrated device, and calibrate the deviation value within the allowable accuracy range of the operation by adjusting the posture adjustment device.

[0038] Optionally, the adsorption device includes:

[0039] The mounting base is fixedly connected at its bottom end to the upper surface of the top frame;

[0040] An electric actuator, one end of which is connected to the top of the mounting base;

[0041] An electromagnet is connected to the other end of the electric push rod.

[0042] A micro-motion detection switch is located on the side of the electromagnet. When the end of the micro-motion detection switch contacts the surface to be worked on, the electric push rod stops and the electromagnet is energized.

[0043] Optionally, the adsorption device further includes: an elastic mounting bracket disposed between the electric push rod and the electromagnet.

[0044] Optionally, the grinding and welding apparatus includes:

[0045] The mounting mechanism is connected to the side of the top frame;

[0046] A polishing tool, which is fixed to one end of the mounting mechanism;

[0047] A spot welding tool, which is fixed to the other end of the mounting mechanism;

[0048] 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 a rotating shaft;

[0049] A rotary switching cylinder is fixedly connected to the other end of the rotating shaft, and the rotary switching cylinder provides the driving force for the rotation of the rotating shaft.

[0050] Optionally, the grinding and welding device further includes a rotary positioning device, which is respectively disposed on both sides of the rotating shaft, and is used to clamp and position the rotating shaft.

[0051] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0052] The robot provided by this invention, through the cooperation between its various structures, can perform simultaneous multi-station operations on a single work surface using a single device. This enables automated batch grinding and welding of studs on the assembly surface of insulation plates for LNG ships, improving the overall work efficiency within the work unit and reducing manual labor. Furthermore, this robot can replace manual labor in grinding and welding operations, avoiding the harm to workers caused by chemical dust generated during grinding and toxic gases generated during welding, thus improving the safety of the work process and better meeting the needs of complex operation scenarios in the current shipbuilding industry. Attached Figure Description

[0053] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0054] Figure 1 This is a schematic diagram of the overall structure of the robot in one embodiment of the present invention;

[0055] Figure 2 This is a schematic diagram of the structure of a mobile device according to an embodiment of the present invention;

[0056] Figure 3 This is a schematic diagram of the posture adjustment device in one embodiment of the present invention;

[0057] Figure 4 This is a schematic diagram of the positioning, grinding, and welding integrated device in one embodiment of the present invention;

[0058] Figure 5 This is a schematic diagram of the distance measuring device in one embodiment of the present invention;

[0059] Figure 6 This is a schematic diagram of the auxiliary positioning device in one embodiment of the present invention;

[0060] Figure 7 This is a schematic diagram of the adsorption device in one embodiment of the present invention;

[0061] Figure 8 This is a schematic diagram of the grinding and welding device in one embodiment of the present invention;

[0062] Figure 9 This is a partial structural schematic diagram of the grinding and welding device in one embodiment of the present invention. Figure 8 (Enlarged view corresponding to point A in the middle)

[0063] In the figure, the corresponding reference numerals are:

[0064] 100 - Moving device, 200 - Attitude adjustment device, 300 - Positioning, grinding and welding integrated device;

[0065] 110 - Drive wheel assembly, 120 - Support side leg mechanism, 130 - Moving mechanism;

[0066] 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;

[0067] 310 - Distance measuring device; 320 - Auxiliary positioning device; 330 - Adsorption device; 340 - Grinding and welding device;

[0068] 311 - Mounting rack; 312 - Laser rangefinder sensor;

[0069] 321-Positioning mounting bracket; 322-Camera and light source device; 323-Reference plate mounting bracket; 324-Edge line reference plate;

[0070] 331-Mounting base, 332-Electric push rod, 333-Flexible mounting bracket, 334-Electromagnet, 335-Switch mounting bracket, 336-Micro detection switch;

[0071] 341-Grinding tool, 342-Welding tool, 343-Two-way lifting cylinder, 344-Rotary switching cylinder, 345-Rotary positioning device. Detailed Implementation

[0072] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0073] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this application, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0074] Furthermore, it should be understood that in the description of this application, the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. In this application, terms such as "fixed," "connected," and "linked" should be interpreted broadly, indicating a fixed connection, an integral connection, or a detachable connection; a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can determine the specific meaning of the above terms in this application based on the specific circumstances, and they should not be construed as limitations on this application.

[0075] Reference Figure 1 As shown, an embodiment of the present invention provides a stud welding robot for assembling insulation plates in an LNG ship containment system, comprising a moving device 100, an attitude adjustment device 200, and a positioning, grinding, and welding integrated device 300. The moving device 100 carries the robot and is capable of free movement within a plane. The bottom end of the attitude adjustment device 200 is fixedly connected to the moving device 100, and the attitude adjustment device 200 has multiple degrees of freedom in various directions. The positioning, grinding, and welding integrated device 300 is located at the top of the attitude adjustment device 200, and the attitude adjustment device 200 is used to enable the robot to enter the work area and adjust the positioning, grinding, and welding integrated device 300 to be parallel to the work surface. (Refer to...) Figure 4The positioning, grinding, and welding integrated device 300 includes a top frame, a grinding and welding device 340, a ranging device 310, an auxiliary positioning device 320, and an adsorption device 330. The top frame provides the mounting base for the positioning, grinding, and welding integrated device 300. The grinding and welding devices 340 are symmetrically arranged on both sides of the top frame. The ranging devices 310 are symmetrically arranged on both sides of the top frame, along the length direction, and are used to obtain the effective working distance from the top of the grinding and welding device 340 (i.e., the very top of the grinding and welding device 340) to the surface to be worked. The auxiliary positioning device 320... The 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 on, thereby determining the X and Y direction movement adjustment 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 adsorbs onto the surface to be worked on during operation, 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 on, the posture adjustment device 200 adjusts the grinding and welding device 340 to be perpendicular to the surface to be worked on. The grinding and welding device 340 is a dual-station switching tool device used to perform the operation of grinding before welding.

[0076] In the embodiments described above, through the cooperation between various devices, a single robotic unit can perform simultaneous multi-station operations on a single work surface, enabling automated batch grinding and welding of studs on the assembly surface of LNG ship insulation plates. This improves the overall operational efficiency within the work unit and reduces manual labor input. Furthermore, the robot can replace manual labor in grinding and welding operations, avoiding the harm to workers caused by chemical dust generated during grinding and toxic gases generated during welding, thus improving the safety of the operation and better meeting the needs of complex operational scenarios in the current shipbuilding industry.

[0077] Reference Figure 2 As shown, in some embodiments, the mobile device 100 includes a bottom frame, omnidirectional wheels, an omnidirectional drive wheel set 110, and a mobile mechanism 130. The mobile mechanism 130 is located above the bottom frame and is connected to the bottom of the attitude adjustment device 200. The omnidirectional wheels and the drive wheel set 100 are located below the bottom frame. The various parts of the structure are fixedly connected by the overall bottom frame to form a bottom omnidirectional mobile device.

[0078] Specifically, the bottom of the frame has omnidirectional wheels fixed to the four corners with screws, mainly providing support for vertical loads. Drive wheel sets 110 are symmetrically distributed at the bottom of the moving mechanism 130, on both sides and in the middle. Drive wheel sets 110 provide power traction and steering, serving as the power source for the forward and turning motion of the moving device 100. When the drive wheel sets 110 move forward, backward, or turn, the moving mechanism 130 and the connected overall device move forward, backward, or turn accordingly. With the help of the omnidirectional wheels and the omnidirectional drive wheel sets 110, the moving device 100 can translate and rotate in any direction within a plane, adapting to various ground conditions and greatly improving its flexibility and stability. Driven by the drive wheel sets 110, the moving mechanism 130 can move independently or collaboratively to achieve forward, backward, and turning movements of the entire robot device.

[0079] The working principle of the device in this embodiment of the invention is to divide the multiple work points on the work surface into regular units, such as 10 work points as a work unit. This device can carry out construction work on 10 work points in a single work unit at the same time. The multiple work points that are regularly distributed on the work surface are called work units. When carrying out construction work, the moving device 100 is used to control the robot to move initially into each work unit, and also plays a role in stabilizing and supporting the upper device during operation.

[0080] 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 and extends outwards to the four sides of the bottom frame to provide additional support points, thereby expanding the support area of ​​the mobile device 100 and enhancing the overall load-bearing capacity and support function of the mobile device 100.

[0081] Reference Figure 3As shown, in some embodiments, the multi-degree-of-freedom posture adjustment device 200 in the middle 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 move and adjust in the X, Y, and Z directions, and is a linear mechanism for controlling linear motion in the X, Y, and Z directions. The bottom rotation adjustment device 220, which controls circumferential rotational motion, is located above the XYZ direction movement adjustment device 210. Specifically, the base of the bottom rotation adjustment device 220 serves as a rotating fixed part and is fixedly connected to the upper movable mounting plate of the XYZ direction movement adjustment device 210 by screws. The vertical direction of the moving mechanism 130 includes vertical axes located at the four corners. The fixed plate of the XYZ direction movement adjustment device 210 is provided with linear bearing mounting holes for mounting linear bearings. The XYZ direction movement adjustment device 210 is sleeved on the vertical axis by the linear bearings mounted thereon, thereby moving in the XYZ direction. The lower end of the adjustment device 210 is fixedly mounted on the moving part of the linear mechanism controlling the Z-direction movement, namely the moving mechanism 130. The bottom surface of the mounting plate of the XYZ direction movement adjustment device 210 is connected to the end of the ball screw used to drive the Z-direction linear movement, thereby realizing the linear movement in the Z-axis direction. The bottom rotation adjustment device 220 rotates around the Z-axis, thereby forming four degrees of freedom of attitude adjustment in X, Y, Z and circumference. 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. 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 moves in the Z-direction. This results in the formation of a seven-degree-of-freedom attitude adjustment device in the middle section.

[0082] In some embodiments, the top lifting adjustment device 250 includes a motor, a ball screw, a moving part, and a vertical shaft. The motor provides the driving force for the rotation of the ball screw, the moving part is connected to the ball screw, and the motor controls the ball screw. The moving part is driven to move up and down linearly along the vertical shaft by the ball screw to achieve lifting adjustment.

[0083] In some embodiments, the mounting position on the bottom surface 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 adjustment device 250 are connected and fixed with screws to realize the connection between the positioning grinding and welding integrated device 300 and the attitude adjustment device 200.

[0084] In some embodiments, the grinding and welding device 340 is fixed to both sides of the grinding and welding integrated device 300 by a bottom mounting plate. Five tools are arranged in a group, and the 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 inside the working unit.

[0085] Reference Figure 5 As shown, in some embodiments, the ranging device 310 includes a mounting frame 311 and a laser ranging sensor 312. The bottom end of the mounting frame 311 is fixedly connected to the edge of the top frame; the laser ranging sensor 312 is fixedly connected to the top end of the mounting frame 311. The laser ranging sensor 312 is used to measure the effective working distance from the end of the positioning grinding and welding integrated device 300 (i.e., the topmost part of the grinding and welding device 340) to the surface to be worked. The ranging devices 310 are installed on both sides of the grinding and welding integrated device 300 along its long sides, with four sets symmetrically distributed, such as... Figure 4 As shown, the installation position ensures that the working area of ​​the laser rangefinder 312 is near the line connecting the ends of the long side of the grinding and welding device 340. After the laser rangefinder 312 is fixedly connected to the mounting frame 311, it 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 interval distance in the X, Y, and Z directions between the rangefinder 310 installed on the grinding and welding integrated device 300 and the top of the grinding and welding device 340 within the overall device. Thus, the accurate distance between the rangefinder 310 and the surface to be worked can be detected.

[0086] 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 an edge 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 through the mounting surface of the positioning bracket 321. The installation position ensures that the detection center of the camera and light source device 322 is in the area outside the line connecting the ends of the long side of the grinding and welding device 340, so as to obtain the edge features of the surface to be worked on, thereby positioning the X and Y direction movement adjustment of the work area. It is particularly worth noting that the auxiliary positioning device 320... When used in conjunction with the ranging device 310, the working principle and sequence are as follows: the ranging device 310 first detects that the positioning grinding and welding integrated device 300 has reached the ideal height for positioning detection and adjustment by the auxiliary positioning device 320 in the Z direction, and then activates the detection and positioning of the auxiliary positioning device 320; the camera and light source device 322 is located 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 line 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 on the long side of the positioning grinding and welding integrated device 300. To ensure the camera's center is positioned as close as possible to the end of the main frame line on the work surface (the exact distance is not limited), the same applies to the camera's center along the short side, which is also positioned in the middle of the short side of the main frame line. The main frame line on the work surface is a rectangular frame formed by connecting the 10 work points mentioned above, with added fixed spacing for positioning the insulation board assembly. This process is completed before grinding and welding. Thus, the camera of the auxiliary positioning device 320 can detect the rectangular frame line formed by connecting the 10 points at the top of the 10 grinding and welding tools of the positioning grinding and welding integrated device 300 and the work surface from both long and short side perspectives. The spacing between the long and short sides of the main frame lines on the surface is adjusted; the posture adjustment device 200 is adjusted so that the edge line of the edge reference plate 324 (here the edge line 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 lines on the work surface, and the deviation value of the working posture of the positioning grinding and welding integrated device 300 is determined. This deviation value is the spacing between the long and short sides of the rectangular frame line formed by connecting the top 10 points of the 10 groups of grinding and welding device 340 tools on the positioning grinding and welding integrated device 300 mentioned above and the main frame lines on the work surface. The deviation value is calibrated to within the allowable accuracy range of the operation by the multi-degree-of-freedom posture adjustment device of the posture adjustment device 200.

[0087] After the ranging device 310 completes the detection and positioning, the reference plate mounting bracket 323 sets the edge line of the edge reference plate 324 at the detection center of the camera and light source device 322. Through multi-posture adjustment, the edge line of the edge reference plate 324 is made parallel to the main frame line on the surface to be worked on, thereby assisting in the calculation of the deviation value of the working posture of the positioning, grinding and welding integrated device 300. By calibrating this difference to be within the allowable accuracy range of 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 ground 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.

[0088] 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 end 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, vertically installed, with the top end of the micro-motion detection switch 336 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 surface to be worked, a trigger signal controls the electric push rod 332 to stop, and the electromagnet 334 is energized. To make it easier for the adsorption device 330 to adsorb onto the surface to be worked 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.

[0089] In a further embodiment, the adsorption device 330 also 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 onto the bulkhead, it bears the magnetic attraction force of the bulkhead. The elastic mounting bracket 333 plays a one-way buffering role, that is, it plays a buffering role in the direction of the tension force on the electromagnet 334, and the spring of the elastic mounting bracket 333 buffers in the opposite direction.

[0090] After the distance measuring device 310 and the auxiliary positioning device 320 have completed the linkage adjustment work for the detection and calibration, the electric push rod 332 is pushed out. When the end of the micro-motion 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.

[0091] In the above embodiments of the present invention, when the entire robot device is performing construction work inside the cabin, the multi-degree-of-freedom attitude adjustment device 200 in the middle, on the one hand, through multi-degree-of-freedom coordination, gradually finely adjusts the robot's middle posture to ensure that the positioning, grinding, and welding integrated device 300 at the top always meets the overall horizontal state with the surface to be worked on, thereby ensuring that the end grinding and welding tools are always perpendicular to the surface to be worked on, ensuring the work effect; on the other hand, through multi-degree-of-freedom coordination, it gradually finely adjusts the robot structure other than the bottom moving device 100 to make it accurately enter the work area. First, the ranging device 310 detects the accurate distance between the end tool and the working surface of the cabin wall, and then the auxiliary positioning device 320 accurately grasps the positioning feature reference benchmark and performs another round of repeated positioning feedback adjustment.

[0092] Reference Figure 8 As shown, in some embodiments, the grinding and welding apparatus 340 includes a mounting mechanism, a grinding tool 341, a spot welding tool 342, a bidirectional 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 spot welding tool 342 is fixed to the other end of the mounting mechanism, and exemplarily, the spot welding tool 342 is an electric spot welding tool; the bidirectional lifting cylinder 343 is located on one side of the mounting mechanism; one end of the bidirectional lifting cylinder 343 is fixedly connected to the mounting mechanism, and the other end of the bidirectional lifting cylinder 343 is connected to one end of a 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 the driving force for the rotation of the rotating shaft.

[0093] Reference Figure 9 As shown, in a further embodiment, the grinding and welding device 340 also includes a rotary positioning device 345, which is respectively disposed on both sides of the rotating shaft. The rotary positioning device 345 is used to clamp and position the rotating shaft, which helps to improve the efficiency and stability of switching when the rotary switching cylinder 344 rotates to switch the corresponding working tool.

[0094] For example, the rotary positioning device 345 includes a mounting bracket and a positioning cylinder, etc. The mounting bracket is symmetrically distributed on both sides of the rotating shaft at one end. The rotating shaft has a radially protruding pin, and the mounting bracket has a groove that matches the pin. Specifically, the rotating shaft has a protruding pin structure at the mirror position of the mounting bracket, 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 has 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 of the rotating shaft. When the pin is clamped and locked, the rotating shaft can no longer rotate, thereby realizing the rotary positioning switching of the end-effector.

[0095] After the adsorption device 330 completes the fixed connection with the surface to be worked, the rotary switching cylinder 344 controls the front-end dual-station device to rotate to the grinding tool 341. Then, the bidirectional lifting cylinder 343 lifts the tool, and the rotary positioning device 345 positions and clamps it, completing the grinding work. Then, the rotary positioning device 345 releases the tool, the bidirectional lifting cylinder 343 lifts and lowers the tool, and simultaneously, the rotary switching cylinder 344 switches to the spot welding tool 342. The bidirectional lifting cylinder 343 then lifts the tool, and the rotary positioning device 345 positions and clamps it, completing the spot welding work. In this embodiment of the invention, welding refers to additive welding performed after the inner wall of a ship has been cleaned by grinding, that is... The screws used for subsequent fixing are welded to the bulkhead by arc welding, serving the purpose of installing the insulation plate. Finally, the positioning device 345 is released, and the bidirectional lifting cylinder 343 lifts and lowers. At this time, the auxiliary positioning device 320 detects the welding quality of the completed work area. Specifically, the entire robot device is moved by fixed deviation values ​​in the X and Y directions so that the welded point enters the camera field of view of the auxiliary positioning device 320 for inspection. The system's deep learning detects and compares the brightness of the welding position. If there are no shadows or abnormal light spots at the welding position, the welding quality is qualified. The grinding and welding inspection work is then completed.

[0096] In this embodiment of the invention, the positioning grinding and welding integrated device 300 mainly uses the edge line features on the working surface area grasped by the auxiliary positioning device 320 to calibrate the tool of the positioning grinding and welding integrated device 300 to the accurate working point of the working area. It is equipped with a two-station rotary switching tool structure to perform continuous grinding and welding operations on the same working point, so as to realize the rapid and stable switching of different working tools in spatial position and effectively improve the work efficiency.

[0097] The robot in the above embodiments of the present invention achieves the automatic batch grinding and welding of studs on the assembly surface of LNG ship insulation plates through the collaborative operation of various structures, as follows:

[0098] First, the bottom moving device 100 controls the horizontal movement of the entire device, driving the robot to move into the unit's work area. Then, through the fine adjustment of the middle multi-degree-of-freedom attitude adjustment device 200, the ranging device 310 integrated in the top positioning, grinding, and welding integrated device 300 accurately detects that the distance between the end of the positioning, grinding, and welding integrated device 300 and the wall of the work chamber is within the effective travel range. The auxiliary positioning device 320 grasps the positioning edge reference features of the work unit, thus forming feedback adjustment with the middle multi-degree-of-freedom attitude adjustment device 200, thereby achieving omnidirectional adjustment and positioning of the positioning, grinding, and welding integrated device 300 relative to the work surface. After the auxiliary positioning device 320 and the attitude adjustment device 200 have completed multiple adjustments and positioning, the positioning, grinding, and welding integrated device 300 will receive a signal from the auxiliary positioning device 320 using camera vision. After receiving the positioning signal, the adsorption device 330 is activated, allowing the positioning, grinding, and welding integrated device 300 to be securely connected to the panel of the work area via the adsorption device 330. The two-station rotary switching tool structure switches to the grinding end and aligns with the work point. Then, under the action of the bidirectional lifting cylinder 343, the grinding tool 341 is lifted upwards. After completing the grinding operation, the lifting cylinder is retracted, and then the rotary switching cylinder 344 rotates to switch to the spot welding tool 342 (welding end). Similarly, under the action of the bidirectional lifting cylinder 343, the spot welding tool 342 is lifted to the work surface to complete the welding. The auxiliary positioning device 320 performs a secondary check to ensure that all stations have completed their respective operations. The adsorption device 330 is disengaged, the posture adjustment device 200 lowers the overall height of the robot, and the bottom moving device 100 moves to the next work unit to repeat the operation.

[0099] The existing technology CN113021346A requires matching the workpiece information with a pre-stored workpiece model after obtaining the workpiece information in order to identify and calculate the position information and gripping position. This means that all workpieces require accurate design and loading of their models before construction operations. The reverse design process for some complex workpieces is quite difficult, increasing the overall requirements for on-site workers. In addition, the method of identifying and calculating the center of gravity before grinding in the existing technology CN113021346A places higher demands on the overall attitude adjustment of the device. The final posture of the grinding tool may not be a reasonable force-bearing posture, which places higher demands on the support surface of the device and is not suitable for non-ground operation environments inside the LNG cabin. The above embodiments of this application, through the mutual cooperation between the moving device 100, the attitude adjustment device 200, and the ranging device 310 and auxiliary positioning device 320 in the positioning, grinding and welding integrated device 300, can achieve automatic positioning and high operation efficiency. This enables high-efficiency grinding and welding work with large-scale planar repetition, meeting the operation requirements of grinding, welding and pre-welding a large number of studs inside the LNG cabin.

[0100] The robot in the above embodiments of the present invention is an automatic batch grinding and welding device for the assembly surface of insulating plates for LNG ships. Through the integration of multi-station devices within the unit, one device can perform multi-station operations simultaneously on a single work surface, enabling simultaneous operations within the entire work unit, resulting in higher efficiency, simpler control, and less manual labor input. This solves the problem of insufficient development of automated robot devices to replace manual labor in special operational needs of the shipbuilding industry. In addition, using this robot to replace manual operation of grinding and welding avoids the 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 needs of the current complex operation scenarios in the shipbuilding industry.

[0101] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention. The above preferred features can be used in any combination without conflict.

Claims

1. A stud welding robot for assembling insulation plates in LNG ship containment systems, characterized in that, include: A mobile device for carrying the robot, the mobile device being able to move freely in a plane; An attitude adjustment device, the bottom end of which is fixedly connected to the moving device, the attitude adjustment device having multiple degrees of freedom in multiple directions; A positioning, grinding, and welding integrated device is located at the top of the attitude adjustment device. The attitude adjustment device is used to enable the robot to enter the work area and adjust the positioning, grinding, and welding integrated device to be parallel with the work surface. The positioning, grinding, and welding integrated device includes a top frame, a grinding and welding device, a ranging device, an auxiliary positioning device, and an adsorption device, wherein: The top frame provides the 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 ranging device is symmetrically arranged on both sides of the top frame along the length direction. The ranging device is used to obtain the effective working distance from the end of the positioning, grinding and welding integrated device to the surface to be worked. 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. During operation, the adsorption device adsorbs onto the surface to be worked, improving the stability and overall strength of the positioning, grinding, and welding integrated device during operation. Based on the effective working distance and the edge characteristics of the surface to be worked on, the posture adjustment device adjusts the grinding and welding device to be perpendicular to the surface to be worked on, and the grinding and welding device is used to perform the operation of grinding before welding. The grinding and welding device includes: The mounting mechanism is connected to the side of the top frame; A polishing tool, which is fixed to one end of the mounting mechanism; A spot welding tool is fixed to the other end of the mounting mechanism; the grinding tool and the spot welding tool are always perpendicular to the surface to be worked on. 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 a rotating shaft; A rotary switching cylinder is fixedly connected to the other end of the rotating shaft, and the rotary switching cylinder provides the driving force for the rotation of the rotating shaft.

2. The stud welding robot for assembling insulation plates in LNG ship containment systems according to claim 1, characterized in that, The mobile device includes: The bottom frame is equipped with omnidirectional wheels at its four bottom corners; A drive wheel assembly, located at the bottom of the bottom frame, provides power for the moving device to move forward and turn; A moving mechanism is located above the bottom frame and is connected to the bottom of the attitude adjustment device; The supporting side leg mechanism is located on the side of the bottom frame. The supporting side leg mechanism is used to expand the support area of ​​the mobile device and enhance the supporting function of the mobile device.

3. The stud welding robot for assembling insulation plates in LNG ship containment systems according to claim 1, characterized in that, The attitude adjustment device includes: XYZ direction movement adjustment device, wherein the XYZ direction movement adjustment device is capable of moving in the X, Y and Z directions; 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; A top lifting adjustment device is located above the head rotation adjustment device, and the top lifting adjustment device moves in the Z direction.

4. The stud welding robot for assembling insulation plates in LNG ship containment systems according to claim 3, characterized in that, The top lifting adjustment device includes a motor, a ball screw, a moving part, and a vertical shaft. The moving part is connected to the ball screw, and the motor provides the driving force for the rotation of the ball screw. The moving part is driven to move up and down linearly along the vertical shaft through the ball screw.

5. The stud welding robot for assembling insulation plates in LNG ship containment systems according to claim 1, characterized in that, The ranging device includes: The mounting frame is fixedly connected at its bottom end to the edge of the top frame; A laser rangefinder is fixedly connected to the top of the mounting frame. The laser rangefinder 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 plates in LNG ship containment systems according to claim 1, characterized in that, The auxiliary positioning device includes: A positioning and mounting bracket, one end of which is fixedly connected to the edge of the top frame; The camera and light source device are located 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; An edge reference plate is connected to the other end of the reference plate mounting bracket; the edge of the edge reference plate is located at the detection center of the camera and light source device. Adjust the posture adjustment device to make the edge line of the edge reference plate parallel to the main frame line on the surface to be worked, determine the deviation value of the working posture of the positioning, grinding and welding integrated device, and calibrate the deviation value within the allowable accuracy range of the operation by adjusting the posture adjustment device.

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

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

9. The stud welding robot for assembling insulation plates in LNG ship containment systems according to claim 1, characterized in that, The grinding and welding device further includes a rotary positioning device, which is respectively disposed on both sides of the rotating shaft and is used to clamp and position the rotating shaft.

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