Plate loading robot applied to installation of insulating plate of cargo tank of large LNG (Liquefied Natural Gas) ship

Abstract

The invention provides a plate loading robot applied to installation of a cargo tank insulating plate of a large LNG ship, and the plate loading robot comprises a mechanical arm body assembly which is used for executing the grabbing and installation operation of the insulating plate; the mechanical arm moving base assembly provides a moving and supporting platform for the mechanical arm body assembly; the insulating plate tool assembly is installed at one end of the mechanical arm body assembly and used for loading and fixing an insulating plate. Through the mechanical arm body assembly, the robot can quickly and accurately execute grabbing and mounting operation of an insulating plate, the mounting efficiency is improved, meanwhile, flexible moving and stable supporting of the mechanical arm body assembly are achieved through the mechanical arm moving base assembly, the safety is improved, and the working efficiency is improved. And then effective loading and firm fixing of the insulating plate are ensured through the insulating plate tool assembly, the efficiency and safety of mounting of the insulating plate of the cargo tank of the large LNG ship are improved, automatic operation is achieved, the manpower requirement is reduced, and the mounting precision and quality are improved.

Description

Technical Field

[0001] The present application relates to the technical field of panel loading robots, and in particular to a panel loading machine used for installing insulation panels in liquid cargo tanks of large LNG ships. Background Art

[0002] Large LNG carriers are large vessels primarily used to transport liquefied natural gas. The construction of their containment systems is a core technology for this type of vessel, directly impacting its performance. In the manufacture of the Mark III containment system, insulation panel installation is fundamental to the system's installation. These panels are numerous, heavy, and require high precision. The cargo tank is a large, polyhedron-like structure consisting of an upper top surface, an upper slope, side surfaces, a lower slope, and a bottom surface. The insulation panels on the upper top and upper slope surfaces are installed using a simple lifting device, operated collaboratively by multiple operators. They visually position them within the reference lines drawn in the previous process and tighten the retaining nuts. The insulation panels on the side, lower slope, and bottom surfaces are lifted using an electric hoist and manually positioned within the reference lines drawn in the previous process, and the retaining nuts are tightened. This process results in low efficiency, poor precision, and limited safety. Therefore, the development of a digital panel loading robot has become an urgent task, providing important technical support for the automated installation of insulation panels in containment systems. Summary of the Invention

[0003] In response to the defects in the existing technology, the purpose of this application is to provide a panel loading robot used for the installation of insulation panels in liquid cargo tanks of large LNG ships. Its operation is highly intelligent and precise, which greatly improves the operation efficiency. It provides a reliable intelligent equipment for the automatic operation of large LNG ships and provides a solution for realizing intelligent manufacturing of ships.

[0004] In one aspect of the present application, a panel loading robot for installing insulation panels in liquid cargo tanks of large LNG ships is provided, comprising: A robot arm body assembly, used to perform grabbing and installation operations of the insulation board; A robotic arm mobile base assembly provides a mobile and support platform for the robotic arm body assembly; An insulation board tooling assembly is installed at one end of the robot arm body assembly and is used to load and fix the insulation board; The robotic arm body assembly includes: a base X-moving subassembly connected to the robotic arm moving base assembly, used to control the robotic arm body assembly to move in the X-axis direction of the robotic arm moving base assembly; A base Y moving subassembly, mounted on the base X moving subassembly, for controlling the movement of the robotic arm body assembly in the Y-axis direction of the robotic arm moving base assembly; A base rotation subassembly, mounted on the base Y movement subassembly, for controlling the rotational movement of the robotic arm body assembly in the Z-axis direction of the robotic arm movement base assembly; a first pitch rotation subassembly, mounted on the base rotation subassembly, for performing pitch motion; The first pitch rotation subassembly includes an electric push rod assembly for providing power to the base X movement subassembly and the base Y movement subassembly.

[0005] Optionally, the base X moving subassembly and the base Y moving subassembly adopt a slide rail and slider mechanism.

[0006] Optionally, the robotic arm body assembly further includes: a roll rotation subassembly, mounted on the first pitch rotation subassembly, for performing a roll motion; The second pitch rotation sub-assembly is mounted on one end of the roll rotation sub-assembly and is connected to the insulation plate fixture assembly for adjusting the angle of the insulation plate fixture assembly.

[0007] Optionally, the first pitch rotation subassembly further includes a pitch rotation subassembly; The pitch rotation subassembly is mounted on the base rotation subassembly; One end of the electric push rod assembly is fixed to the movable plate of the base rotation subassembly, and the other end is telescopically connected to one end of the roll rotation subassembly to provide power for the pitch rotation subassembly, the base X movement subassembly and the base Y movement subassembly.

[0008] Optionally, the electric push rod assembly includes an electric drive device and a telescopic rod; The electric drive device is electrically connected to the telescopic rod and is used to drive the telescopic rod to extend and retract; One end of the telescopic rod is fixed to the movable plate, and the other end is connected to one end of the roll rotation subassembly, so as to control the pitch motion of the roll rotation subassembly under the drive of the electric drive device.

[0009] Optionally, the first pitch and rotation subassembly further includes a movable arm; The roll rotation subassembly is a long arm structure, mounted on the movable arm, and the roll rotation subassembly performs pitch motion along with the telescopic motion of the telescopic rod; A servo motor is provided at one end of the roll rotation subassembly for providing the roll rotation subassembly with the torque required for rotation.

[0010] Optionally, the robotic arm mobile base assembly includes: a vehicle body frame assembly, a driving wheel assembly and a universal wheel assembly; The driving wheel assembly has multiple parts, which are spaced apart in the middle of the vehicle frame assembly and located on both sides of the vehicle frame assembly, and are used to support and rotate the vehicle frame assembly; The universal wheel assembly has a plurality of components, which are spaced apart and arranged at the edge of the vehicle body frame assembly. The universal wheel assembly supports the vehicle body frame assembly together with the driving wheel assembly and turns and moves along with the driving wheel assembly.

[0011] Optionally, the robotic arm mobile base assembly further comprises a swing leg assembly and a chassis assembly; The swing leg assembly has a plurality of legs, which are rotatably arranged around the periphery of the vehicle body frame assembly and hinged to the vehicle body frame assembly to stabilize the vehicle body frame assembly; The chassis assembly is arranged on the vehicle body frame assembly, is located in the middle position, is connected to the mechanical arm body assembly, and is used to fix the mechanical arm body assembly.

[0012] Optionally, the insulating plate tooling assembly includes a tooling frame base, a positioning pin assembly and an insulating plate protective layer assembly; The tooling frame base is used to support the insulation board; The positioning pin assembly is provided on the tool frame base and is used to locate the position of the insulation board; The insulating plate protective layer assembly is arranged on the tooling frame base to prevent the insulating plate from contacting the tooling frame base.

[0013] Optionally, the insulating plate protective layer assembly is made of nylon material and is in contact with the insulating plate; There are multiple positioning pin assemblies, which are symmetrically spaced and arranged near the middle position at both ends of the tooling frame base and located on both sides of the insulation board protection layer assembly.

[0014] Compared with the prior art, the present invention has at least one of the following beneficial effects: 1. The present application uses a robot with a manipulator body assembly to quickly and accurately perform the grabbing and installation operations of the insulation board, thereby improving the installation efficiency. At the same time, the manipulator body assembly is used to realize flexible movement and stable support of the manipulator body assembly, thereby improving safety. Then, the insulation board tooling assembly is used to ensure the effective loading and firm fixation of the insulation board, thereby improving the efficiency and safety of the installation of the insulation board of the liquid cargo tank of a large LNG ship, realizing automated operation, reducing manpower requirements, and improving the installation accuracy and quality. The manipulator body is made of lightweight aluminum alloy material and welded. The overall robot is light in weight and meets the load-bearing requirements of the working scaffolding.

[0015] 2. The driving wheel assembly of the mobile base of the robotic arm of this application adopts the steering wheel form, which makes the turning movement of the mobile base body more flexible and convenient, and can turn and move in a narrow space.

[0016] 3. The insulation board tooling assembly of this application is made of aluminum alloy material and welded, which is light in weight and reduces the load requirements of the robotic arm.

[0017] 4. This application adopts a hollow positioning pin structure, which not only serves to position the insulating plate but also reduces the overall mass of the tooling. At the same time, nylon material is used to protect the insulating plate from scratches. The invention has a simple principle, reliable structure, high degree of intelligent operation, and high operation precision. It provides a reliable intelligent equipment for the automatic operation of large LNG ships and provides a solution for realizing intelligent manufacturing of ships. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Other features, objects and advantages of the present application will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings: Figure 1 This is an overall diagram of a panel loading robot used for installing insulation panels in liquid cargo tanks of large LNG ships according to one embodiment of the present application.

[0019] Figure 2 This is a structural diagram of the robotic arm body in one embodiment of the present application.

[0020] Figure 3 This is a structural diagram of the mobile base assembly of the robotic arm in one embodiment of the present application.

[0021] Figure 4 This is a structural diagram of the insulation board tooling assembly in one embodiment of the present application.

[0022] In the figure: 100, robot arm body assembly; 200, robot arm moving base assembly; 300, insulation board tooling assembly.

[0023] 1001. Base X-motion subassembly; 1002. Base Y-motion subassembly; 1003. Base rotation subassembly; 1004. First pitch rotation subassembly; 10041. Electric push rod assembly; 10042. Movable arm; 1005. Roll rotation subassembly; 10051. Servo motor; 1006. Second pitch rotation subassembly; 10061. Connecting plate.

[0024] 2001. Vehicle frame assembly; 2002. Driving wheel assembly; 20021. Steering wheel assembly; 20022. Elastic mounting mechanism; 2003. Universal wheel assembly; 2004. Swinging leg assembly; 2005. Overall chassis assembly.

[0025] 3001. Tooling frame base; 3002. Positioning pin assembly; 3003. Insulation board protective layer assembly. DETAILED DESCRIPTION

[0026] The present application is described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present application, but are not intended to limit the present application in any form. It should be noted that those skilled in the art may make several variations and improvements without departing from the scope of the present application. These all fall within the scope of protection of the present application.

[0027] Reference Figure 1 As shown, an embodiment of the present application is a panel loading robot used for installing insulation panels in liquid cargo tanks of large LNG ships, including: a robot body assembly 100, used to perform grasping and installation operations of the insulation panels; a robot moving base assembly 200 that provides a moving and supporting platform for the robot body assembly 100; and an insulation panel tooling assembly 300, installed at one end of the robot body assembly 100, for loading and fixing the insulation panels.

[0028] The present application uses the robot body assembly 100 to quickly and accurately perform the grabbing and installation operations of the insulation board, thereby improving the installation efficiency. At the same time, the robot body assembly 100 is moved flexibly and stably supported by the robot base assembly 200, thereby improving safety. The insulation board tooling assembly 300 is then used to ensure the effective loading and firm fixation of the insulation board, thereby improving the efficiency and safety of the installation of the insulation board of the liquid cargo tank of a large LNG ship, realizing automated operations, reducing manpower requirements, and improving installation accuracy and quality.

[0029] In some possible embodiments, the robot body assembly 100 includes: a base X-movement subassembly 1001 connected to the robot moving base assembly 200, and used to control the movement of the robot body assembly 100 in the X-axis direction of the robot moving base assembly 200; a base Y-movement subassembly 1002, mounted on the base X-movement subassembly 1001, and used to control the movement of the robot body assembly 100 in the Y-axis direction of the robot moving base assembly 200; the base X-movement subassembly 1001 and the base Y-movement subassembly 1002 use a slide rail and slider mechanism.

[0030] During installation, the base X-moving subassembly 1001 of the robot body assembly 100 is first installed and connected to the robot moving base assembly 200, so that the robot body assembly 100 is fixed on the robot moving base assembly 200, and the base X-moving subassembly 1001 is movable in the X-axis relative to the robot moving base assembly 200. Then, the base Y-moving subassembly 1002 is installed on the base X-moving subassembly 1001 to achieve Y-axis movement relative to the robot moving base assembly 200. The base X-moving subassembly 1001 and the base Y-moving subassembly 1002 are moved in the X-axis and Y-axis by providing a slide rail and slider mechanism, thereby increasing the motion range of the robot body assembly 100 in the X-axis direction and the Y-axis direction.

[0031] The power of the base X-moving subassembly 1001 and the base Y-moving subassembly 1002 is provided by the X-moving electric push rod assembly and the Y-moving electric push rod assembly, wherein the X-moving electric push rod assembly and the Y-moving electric push rod assembly are arranged on the corresponding base, that is, on the base X-moving subassembly 1001.

[0032] Among them, the robot arm body component 100 is made of lightweight aluminum alloy material and is welded. The overall robot is light in weight and meets the load-bearing requirements of the working scaffolding.

[0033] Reference Figure 2 As shown, in some possible embodiments, the robot body assembly 100 also includes a base rotation subassembly 1003, which is installed on the base Y movement subassembly 1002 and is used to control the rotational movement of the robot body assembly 100 in the Z-axis direction of the robot movement base assembly 200; a first pitch rotation subassembly 1004, which is installed on the base rotation subassembly 1003 and is used for pitch movement; a roll rotation subassembly 1005, which is installed on the first pitch rotation subassembly 1004 and is used for roll movement; a second pitch rotation subassembly 1006, which is installed at one end of the roll rotation subassembly 1005 and is connected to the insulation plate tooling assembly 300, and is used to adjust the angle of the insulation plate tooling assembly 300.

[0034] Then, the base rotation subassembly 1003 is installed on the base Y movement subassembly 1002, which can rotate around the Z axis relative to the robot arm movement base assembly 200, and together with the base X movement subassembly 1001 and the base Y movement subassembly 1002, the robot arm body assembly 100 can be changed in position in multiple directions. Secondly, the first pitch rotation subassembly 1004 is installed on the base rotation subassembly 1003, which can perform pitch movement, and the roll rotation subassembly 1005 can pitch movement with the first pitch rotation subassembly 1004, and at the same time, can perform rotation movement. Then, the second pitch rotation subassembly 1006 is installed at one end of the roll rotation subassembly 1005, and is connected to the insulation plate tooling assembly 300 through the connecting plate 10061, so that the position and angle of the insulation plate tooling assembly 300 can be adjusted through the robot arm body assembly 100, thereby improving the operation accuracy.

[0035] The roll rotation subassembly 1005 is powered by the servo motor 10051 to achieve rotation of the robot body assembly 100 in the direction of the base Z axis.

[0036] In the above embodiment, the first pitch rotation sub-assembly 1004 includes a pitch rotation sub-assembly and an electric push rod assembly 10041; the pitch rotation sub-assembly is installed on the base rotation sub-assembly 1003; one end of the electric push rod assembly 10041 is fixed on the movable plate 10031 of the base rotation sub-assembly 1003, and the other end is telescopically connected to one end of the roll rotation sub-assembly 1005, for providing power for the pitch rotation sub-assembly.

[0037] By installing the pitch rotation sub-assembly on the base rotation sub-assembly 1003, one end of the electric push rod assembly 10041 is fixedly installed on the movable plate of the base rotation sub-assembly 1003, and the other end is connected to one end of the roll rotation sub-assembly 1005. When the electric push rod assembly 10041 is extended, it drives one end of the roll rotation sub-assembly 1005 to move upward, and the other end to move downward on the pitch rotation sub-assembly. When the electric push rod assembly 10041 is shortened, the opposite is true, driving one end of the roll rotation sub-assembly 1005 to move downward, and the other end to move upward on the pitch rotation sub-assembly, thereby realizing the pitch movement of the roll rotation sub-assembly 1005 driven by the electric push rod assembly 10041.

[0038] The other end of the roll rotation subassembly 1005 is connected to the insulation board fixture assembly 300 via the second pitch rotation subassembly 1006 , driving the insulation board fixture assembly 300 to perform pitch motion, thereby adjusting the height and angle of the insulation board.

[0039] In the above embodiments, some possible implementations are that the electric push rod assembly 10041 includes an electric drive device and a telescopic rod; the electric drive device is electrically connected to the telescopic rod, and is used to drive the telescopic rod to extend and retract; one end of the telescopic rod is fixed on the movable plate, and the other end is connected to one end of the roll rotation sub-assembly 1005, and is used to control the pitch movement of the roll rotation sub-assembly 1005 under the drive of the electric drive device.

[0040] Specifically, the electric drive device receives an external or internal control signal. When the height of the insulating plate needs to be adjusted, the electric drive device provides power to the base X moving subassembly 1001, the base Y moving subassembly 1002 and the pitch rotation subassembly according to the control signal.

[0041] Wherein, the electric drive device is a servo drive motor.

[0042] In some possible embodiments, the first pitch rotation subassembly 1004 also includes a movable arm 10042; the roll rotation subassembly 1005 is a long arm structure, installed on the movable arm 10042, and the roll rotation subassembly 1005 performs pitch movement with the telescopic movement of the telescopic rod; a servo motor 10051 is provided at one end of the roll rotation subassembly 1005, which is used to provide the torque required for rotation of the roll rotation subassembly 1005.

[0043] Specifically, the electric push rod assembly 10041 is fixed on the movable plate of the base rotation subassembly 1003, and the telescopic rod is fixed to the tail end of the long arm. The telescopic movement of the electric push rod assembly 10041 realizes the rotation movement of the first pitch rotation subassembly 1004; the roll rotation subassembly 1005 constitutes a long arm structure, which is installed on the movable arm 10042 of the first pitch rotation subassembly 1004 and performs pitch movement at the same time. The power required for the movement of the roll rotation subassembly 1005 is provided by the servo motor 10051 installed on the side of one end. The servo motor 10051 is installed on the fixed part of the roll rotation subassembly 1005 and is connected to the rotating movable part through spline teeth to provide the torque required for rotation.

[0044] The second pitch rotation subassembly 1006 is installed at the front end of the long arm of the roll rotation subassembly 1005 , and the power required for its rotation is provided by the servo motor 10051 installed on the fixing part.

[0045] Reference Figure 3 As shown, in some possible implementations, the robotic arm mobile base assembly 200 includes: a vehicle frame assembly 2001, a driving wheel assembly 2002 and a universal wheel assembly 2003; the driving wheel assembly 2002 has multiple, spaced apart in the middle position of the vehicle frame assembly 2001, located on both sides of the vehicle frame assembly 2001, and is used to support and rotate the vehicle frame assembly 2001; the universal wheel assembly 2003 has multiple, spaced apart at the edge of the vehicle frame assembly 2001, and supports the vehicle frame assembly 2001 together with the driving wheel assembly 2002, and turns and moves with the driving wheel assembly 2002.

[0046] Specifically, the driving wheel assembly 2002 is installed in the middle position of the vehicle body frame assembly 2001, and there are two groups of them, distributed on both sides of the vehicle body frame assembly 2001. One group of driving wheel assemblies 2002 consists of a steering wheel assembly 20021 and an elastic mounting mechanism 20022. The steering wheel assembly 20021 has two rotating pairs in mutually perpendicular directions, which can enable the running wheels to rotate in a direction perpendicular to the walking plane. Through a computer program, the two driving wheel assemblies 2002 can be rotated at any angle perpendicular to the walking plane, so that the entire vehicle body can flexibly turn and walk in a narrow space; the elastic mechanism fixing part is installed on the vehicle body frame 2001, and the steering wheel assembly 20021 is installed on the movable part. The wheel surface of the steering wheel assembly 20021 is higher than the wheel surface of the universal wheel. After the spring is compressed, they can touch the ground at the same time, and the spring force provides positive pressure to the driving wheel. Friction is generated with the ground during walking, providing driving force for walking forward, and can adapt to uneven ground working environments.

[0047] The universal wheel assembly 2003 is installed around the vehicle body frame assembly 2001. There are four sets of universal wheel assemblies 2003, which are specifically arranged at the four corners of the vehicle body frame assembly 2001. They support the vehicle body frame assembly 2001 and follow the steering and walking movements of the driving wheel assembly 2002.

[0048] In some possible embodiments, the robotic arm mobile base assembly 200 also includes a swing leg assembly 2004 and a chassis assembly 2005; the swing leg assembly 2004 has multiple, rotatable legs arranged around the body frame assembly 2001, and is hinged to the body frame assembly 2001 for stabilizing the body frame assembly 2001; the chassis assembly 2005 is arranged on the body frame assembly 2001, located in the middle position, and is connected to the robotic arm body assembly 100 for fixing the robotic arm body assembly 100.

[0049] The overall chassis assembly 2005 is arranged on the vehicle frame assembly 2001 and connected to the base X moving subassembly 1001 of the robot body assembly 100, thereby fixing the robot body on the vehicle frame.

[0050] Four swing leg assemblies 2004 are mounted around the vehicle frame assembly 2001, specifically arranged at the four corners of the vehicle frame assembly 2001. Pins form a hinged connection, allowing for manual swinging. Rotating the swing leg assemblies 2004 90° to align perpendicularly with the square steel of the vehicle frame assembly 2001 stabilizes the chassis of the vehicle frame assembly 2001, preventing the robot arm assembly 100 from tipping over. The chassis assembly 2005 is mounted on the vehicle frame assembly 2001, specifically located in the center of the assembly.

[0051] Among them, the robot arm moving base assembly 200 adopts the form of a steering wheel, which makes the robot arm moving base assembly 200 turning more flexible and convenient, and can turn and walk in a narrow space.

[0052] Reference Figure 4 As shown, in some possible embodiments, the insulating board tooling assembly 300 includes a tooling frame base 3001, a positioning pin assembly 3002 and an insulating board protective layer assembly 3003; the tooling frame base 3001 is used to support the insulating board; the positioning pin assembly 3002 is arranged on the tooling frame base 3001 to locate the position of the insulating board; the insulating board protective layer assembly 3003 is arranged on the tooling frame base 3001 to prevent the insulating board from contacting the tooling frame base 3001.

[0053] Among them, the tooling frame base 3001 is welded from aluminum profiles, is lightweight, and is installed at the end to support the insulation board; the insulation board tooling assembly 300 is made of aluminum alloy material, welded, and is lightweight, which reduces the load requirements of the robotic arm body assembly 100.

[0054] Among them, the insulating plate tooling assembly 300 has a structure that matches the structure of the connecting plate 10061, which is used to connect the insulating plate tooling assembly 300 with the robot arm body assembly 100.

[0055] In the above embodiment, the insulating plate protective layer assembly 3003 is made of nylon material and is in contact with the insulating plate; there are multiple positioning pin assemblies 3002, which are symmetrically spaced at both ends of the tooling frame base 3001 near the middle position and located on both sides of the insulating plate protective layer assembly 3003.

[0056] Specifically, the insulating plate tooling assembly 300 is installed on the second pitch rotation sub-assembly 1006 of the robot arm body assembly 100, and is composed of a tooling frame base 3001, a positioning pin assembly 3002, and an insulating plate protective layer assembly 3003. The tooling frame base 3001 is welded from aluminum profiles, is lightweight, and is installed at the end to support the insulating plate; the positioning pin assembly 3002 is installed on the tooling frame base 3001, and there are four groups of them, which are specifically arranged in the middle position of the tooling frame base 3001, passing through the insulating plate positioning hole, and are used to position the insulating plate; the insulating plate protective layer assembly 3003 is installed on the tooling frame base 3001, and is made of nylon material, in direct contact with the insulating plate to prevent the insulating plate from being scratched by contact with the tooling frame base 3001.

[0057] The hollow positioning pin structure is used, which not only positions the insulation board but also reduces the overall weight of the tooling. At the same time, nylon material is used to protect the insulation board from scratches.

[0058] This application has a simple principle, reliable structure, high intelligent operation and high operation precision, providing a reliable intelligent equipment for the automatic operation of large LNG ships and a solution for realizing intelligent manufacturing of ships.

[0059] The above describes the specific embodiments of the present application. It should be understood that the present application 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, which do not affect the substantive content of the present application. The above preferred features may be used in any combination as long as they do not conflict with each other.

Claims

1. A panel loading robot used for installing insulation panels in liquid cargo tanks of large LNG ships, characterized in that: include: A robot arm body assembly, used to perform grabbing and installation operations of the insulation board; A robotic arm mobile base assembly provides a mobile and support platform for the robotic arm body assembly; An insulation board tooling assembly is installed at one end of the robot arm body assembly and is used to load and fix the insulation board; The robotic arm body assembly includes: a base X-moving subassembly connected to the robotic arm moving base assembly, used to control the robotic arm body assembly to move in the X-axis direction of the robotic arm moving base assembly; A base Y moving subassembly, mounted on the base X moving subassembly, for controlling the movement of the robotic arm body assembly in the Y-axis direction of the robotic arm moving base assembly; A base rotation subassembly, mounted on the base Y movement subassembly, for controlling the rotational movement of the robotic arm body assembly in the Z-axis direction of the robotic arm movement base assembly; a first pitch rotation subassembly, mounted on the base rotation subassembly, for performing pitch motion; The first pitch rotation subassembly includes an electric push rod assembly for providing power to the base X movement subassembly and the base Y movement subassembly.

2. The panel loading robot used for installing insulation panels in liquid cargo tanks of large LNG ships according to claim 1 is characterized in that: The base X moving subassembly and the base Y moving subassembly adopt a slide rail and slider mechanism.

3. The panel loading robot used for installing insulation panels in liquid cargo tanks of large LNG ships according to claim 1, characterized in that: The robotic arm body assembly further comprises: a roll rotation subassembly, mounted on the first pitch rotation subassembly, for performing a roll motion; The second pitch rotation sub-assembly is mounted on one end of the roll rotation sub-assembly and is connected to the insulation plate fixture assembly for adjusting the angle of the insulation plate fixture assembly.

4. The panel loading robot used for installing insulation panels in liquid cargo tanks of large LNG ships according to claim 3 is characterized in that: The first pitch rotation subassembly further includes a pitch rotation subassembly; The pitch rotation subassembly is mounted on the base rotation subassembly; One end of the electric push rod assembly is fixed to the movable plate of the base rotation subassembly, and the other end is telescopically connected to one end of the roll rotation subassembly to provide power for the pitch rotation subassembly, the base X movement subassembly and the base Y movement subassembly.

5. The panel loading robot used for installing insulation panels in liquid cargo tanks of large LNG ships according to claim 4, characterized in that: The electric push rod assembly includes an electric drive device and a telescopic rod; The electric drive device is electrically connected to the telescopic rod and is used to drive the telescopic rod to extend and retract; One end of the telescopic rod is fixed to the movable plate, and the other end is connected to one end of the roll rotation subassembly, and is used to control the pitch motion of the roll rotation subassembly under the drive of the electric drive device.

6. The panel loading robot used for installing insulation panels in liquid cargo tanks of large LNG ships according to claim 5, characterized in that: The first pitch rotation subassembly further includes a movable arm; The roll rotation subassembly is a long arm structure, mounted on the movable arm, and the roll rotation subassembly performs pitch motion along with the telescopic motion of the telescopic rod; A servo motor is provided at one end of the roll rotation subassembly for providing the roll rotation subassembly with the torque required for rotation.

7. The panel loading robot used for installing insulation panels in liquid cargo tanks of large LNG ships according to claim 1, characterized in that: The robotic arm mobile base assembly includes: a vehicle body frame assembly, a driving wheel assembly and a universal wheel assembly; The driving wheel assembly has multiple parts, which are spaced apart in the middle of the vehicle frame assembly and located on both sides of the vehicle frame assembly, and are used to support and rotate the vehicle frame assembly; The universal wheel assembly has a plurality of components, which are spaced apart and arranged at the edge of the vehicle body frame assembly. The universal wheel assembly supports the vehicle body frame assembly together with the driving wheel assembly and turns and moves along with the driving wheel assembly.

8. The panel loading robot used for installing insulation panels in liquid cargo tanks of large LNG ships according to claim 7, characterized in that: The robotic arm mobile base assembly also includes a swing leg assembly and a chassis assembly; The swing leg assembly has a plurality of legs, which are rotatably arranged around the periphery of the vehicle body frame assembly and hinged to the vehicle body frame assembly to stabilize the vehicle body frame assembly; The chassis assembly is arranged on the vehicle body frame assembly, is located in the middle position, is connected to the mechanical arm body assembly, and is used to fix the mechanical arm body assembly.

9. The panel loading robot used for installing insulation panels in liquid cargo tanks of large LNG ships according to claim 3, characterized in that: The insulating plate tooling assembly comprises a tooling frame base, a positioning pin assembly and an insulating plate protective layer assembly; The tooling frame base is used to support the insulation board; The positioning pin assembly is provided on the tool frame base and is used to locate the position of the insulation board; The insulating plate protective layer assembly is arranged on the tooling frame base to prevent the insulating plate from contacting the tooling frame base.

10. The panel loading robot used for installing insulation panels in liquid cargo tanks of large LNG ships according to claim 9, characterized in that: The insulating plate protective layer assembly is made of nylon material and is in contact with the insulating plate; There are multiple positioning pin assemblies, which are symmetrically spaced and arranged near the middle position at both ends of the tooling frame base and located on both sides of the insulation board protection layer assembly.

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