Plate-loading robot used for installing insulation panels in cargo tanks of large LNG carriers

Abstract

This application provides a panel loading robot for installing insulation panels in the cargo tanks of large LNG carriers, comprising: a robotic arm body assembly for performing the gripping and installation operations of the insulation panels; a robotic arm moving base assembly for providing a moving and supporting platform for the robotic arm body assembly; and an insulation panel tooling assembly installed at one end of the robotic arm body assembly for loading and fixing the insulation panels. This application enables the robotic arm body assembly robot to quickly and accurately perform the gripping and installation operations of the insulation panels, improving installation efficiency. Simultaneously, the robotic arm moving base assembly provides flexible movement and stable support for the robotic arm body assembly, improving safety. Finally, the insulation panel tooling assembly ensures the effective loading and secure fixing of the insulation panels, improving the efficiency and safety of insulation panel installation in the cargo tanks of large LNG carriers, achieving automated operation, reducing manpower requirements, and improving installation accuracy and quality.

Description

Technical Field

[0001] This application relates to the field of palletizing robot technology, and more specifically, to a palletizing machine used for installing insulating panels in the cargo tanks of large LNG carriers. Background Technology

[0002] Large LNG carriers are large vessels primarily used for transporting liquefied natural gas. The construction of the containment system is a core technology for this type of vessel, directly impacting its performance. In the manufacture of the Mark III containment system, the installation of insulating panels is fundamental, involving numerous panels, significant weight, and high precision requirements. The cargo tank is a large polyhedron, divided into a top surface, upper slope, sides, lower slope, and bottom. The installation of insulating panels on the top and upper slope surfaces utilizes simple lifting equipment, operated collaboratively by multiple operators. The panels are positioned visually within the reference lines drawn in the previous process, and the fixing nuts are tightened. For the sides, lower slope, and bottom, insulating panels are lifted using electric hoists, then manually positioned within the reference lines drawn in the previous process, and the fixing nuts are tightened. This method suffers from low efficiency, poor precision, and safety concerns. Therefore, developing a digital panel-installing robot has become an urgent task, providing crucial technical support for the automated installation of insulating panels in the containment system. Summary of the Invention

[0003] To address the shortcomings of existing technologies, the purpose of this application is to provide a loading robot for installing insulation panels in the cargo tanks of large LNG carriers. This robot boasts a high degree of intelligence and precision, significantly improving operational efficiency. It provides a reliable intelligent equipment for automated operations on large LNG carriers and offers a solution for realizing intelligent ship manufacturing.

[0004] One aspect of this application provides a loading robot for installing insulation panels in the cargo tanks of large LNG carriers, comprising:

[0005] The robotic arm body assembly is used to perform the gripping and installation operations of the insulating board;

[0006] The robotic arm mobile base assembly provides a mobile and support platform for the robotic arm body assembly;

[0007] An insulating board tooling assembly is installed at one end of the robotic arm body assembly for loading and fixing the insulating board;

[0008] The robotic arm body assembly includes: a base X-moving sub-assembly, which is connected to the robotic arm moving base assembly and is used to control the movement of the robotic arm body assembly in the X-axis direction of the robotic arm moving base assembly;

[0009] A Y-axis movable sub-assembly of the base is mounted on the X-axis movable sub-assembly of the base and is used to control the movement of the robotic arm body assembly in the Y-axis direction of the robotic arm movable base assembly;

[0010] A base rotary joint assembly is mounted on the base Y-moving joint assembly and is used to control the rotational movement of the robotic arm body assembly in the Z-axis direction of the robotic arm moving base assembly.

[0011] The first pitch rotary joint assembly is mounted on the base rotary joint assembly and is used for pitch movement;

[0012] The first pitch-rotation joint assembly includes an electric actuator assembly for providing power to the base X sliding joint assembly and the base Y sliding joint assembly.

[0013] Optionally, the base X moving pair assembly and the base Y moving pair assembly adopt a slide rail slider mechanism.

[0014] Optionally, the robotic arm body assembly further includes:

[0015] A roll rotation subassembly is mounted on the first pitch rotation subassembly and is used to perform roll motion;

[0016] The second pitch rotation sub-assembly is installed at one end of the roll rotation sub-assembly and connected to the insulating plate tooling assembly, and is used to adjust the angle of the insulating plate tooling assembly.

[0017] Optionally, the first pitch rotation subassembly further includes a pitch rotation subassembly;

[0018] The pitch rotation joint assembly is mounted on the base rotation joint assembly;

[0019] One end of the electric actuator assembly is fixed to the movable plate of the base rotary joint assembly, and the other end is retractably connected to one end of the roll rotary joint assembly, for providing power to the pitch rotary joint assembly, the base X moving joint assembly, and the base Y moving joint assembly.

[0020] Optionally, the electric actuator assembly includes an electric drive device and a telescopic rod;

[0021] The electric drive device is electrically connected to the telescopic rod and is used to drive the telescopic rod to extend and retract.

[0022] 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 joint assembly, which is used to control the pitch movement of the roll-rotation joint assembly under the drive of the electric drive device.

[0023] Optionally, the first pitch-rotation subassembly further includes a movable arm;

[0024] The roll-rotation sub-assembly is a long-arm structure, installed on the movable arm, and the roll-rotation sub-assembly performs pitching motion with the extension and retraction of the telescopic rod;

[0025] One end of the roll-rotation sub-assembly is equipped with a servo motor, which is used to provide the torque required for the roll-rotation sub-assembly to rotate.

[0026] Optionally, the robotic arm moving base assembly includes: a vehicle frame assembly, a drive wheel assembly, and a caster wheel assembly;

[0027] The drive wheel assembly has multiple components, which are spaced apart at the middle position of the vehicle body frame assembly and located on both sides of the vehicle body frame assembly, for supporting and rotating the vehicle body frame assembly;

[0028] The omnidirectional wheel assembly has multiple components, which are spaced apart on the edge of the vehicle frame assembly, support the vehicle frame assembly together with the drive wheel assembly, and turn and move with the drive wheel assembly.

[0029] Optionally, the robotic arm moving base assembly further includes a swing support leg assembly and a chassis assembly;

[0030] The swing support leg assembly has multiple components, 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.

[0031] The chassis assembly is mounted on the vehicle frame assembly, located in the middle, and connected to the robotic arm body assembly for fixing the robotic arm body assembly.

[0032] Optionally, the insulating board tooling assembly includes a tooling frame base, a positioning pin assembly, and an insulating board protective layer assembly;

[0033] The tooling frame base is used to support the insulating board;

[0034] The positioning pin assembly is disposed on the tooling frame base and is used to position the insulating plate.

[0035] The insulating plate protective layer assembly is disposed on the tooling frame base to prevent the insulating plate from contacting the tooling frame base.

[0036] Optionally, the insulating plate protective layer assembly is a nylon material structure and is in contact with the insulating plate;

[0037] The positioning pin assembly has multiple pins, which are symmetrically spaced at both ends of the tooling frame base near the middle position, and located on both sides of the insulating plate protective layer assembly.

[0038] Compared with the prior art, this application has at least one of the following beneficial effects:

[0039] 1. This application utilizes a robotic arm body component to quickly and accurately perform the gripping and installation of insulation plates, improving installation efficiency. Simultaneously, the robotic arm's movable base component enables flexible movement and stable support of the robotic arm body component, enhancing safety. Furthermore, the insulation plate tooling component ensures effective loading and secure fixing of the insulation plate, improving the efficiency and safety of insulation plate installation in large LNG carrier cargo tanks. This achieves automated operation, reduces manpower requirements, and improves installation accuracy and quality. The robotic arm body is made of lightweight aluminum alloy and welded, resulting in a lightweight robot that meets the load-bearing requirements of scaffolding in the working conditions.

[0040] 2. The drive wheel assembly of the robotic arm mobile base in this application adopts the form of a steering wheel, which makes the turning movement of the mobile base more flexible and convenient, and can turn and move in narrow spaces.

[0041] 3. The insulating board tooling assembly of this application is made of aluminum alloy and is welded, which makes it lightweight and reduces the load requirements of the robotic arm.

[0042] 4. This application adopts a hollow positioning pin structure, which not only serves as a positioning insulating plate but also reduces the overall weight of the tooling. At the same time, nylon material is used to protect the insulating plate from scratches. This 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 ship manufacturing. Attached Figure Description

[0043] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0044] Figure 1 This is an overall diagram of a loading robot used for installing insulation panels in the cargo tanks of large LNG ships, according to one embodiment of this application.

[0045] Figure 2 This is a structural diagram of the robotic arm body in one embodiment of this application.

[0046] Figure 3 This is a structural diagram of the robotic arm moving base assembly in one embodiment of this application.

[0047] Figure 4 This is a structural diagram of an insulating board tooling assembly in one embodiment of this application.

[0048] In the diagram: 100, robotic arm body assembly; 200, robotic arm moving base assembly; 300, insulating board tooling assembly.

[0049] 1001, Base X moving joint assembly; 1002, Base Y moving joint assembly; 1003, Base rotary joint assembly; 1004, First pitch rotary joint assembly; 10041, Electric actuator assembly; 10042, Movable arm; 1005, Roll rotary joint assembly; 10051, Servo motor; 1006, Second pitch rotary joint assembly; 10061, Connecting plate.

[0050] 2001, Body frame assembly; 2002, Drive wheel assembly; 20021, Steering wheel assembly; 20022, Flexible mounting mechanism; 2003, Caster wheel assembly; 2004, Swing support leg assembly; 2005, Overall chassis assembly.

[0051] 3001, Tooling frame base; 3002, Locating pin assembly; 3003, Insulation board protective layer assembly. Detailed Implementation

[0052] The present application 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 application, but do not limit the present application in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application. These all fall within the protection scope of the present application.

[0053] Reference Figure 1 As shown in the figure, an embodiment of this application describes a loading robot for installing insulation panels in the cargo tanks of large LNG ships. The robot includes: a robotic arm body assembly 100 for performing gripping and installation operations of the insulation panels; a robotic arm moving base assembly 200 for providing a moving and supporting platform for the robotic arm body assembly 100; and an insulation panel tooling assembly 300, installed at one end of the robotic arm body assembly 100 for loading and fixing the insulation panels.

[0054] This application utilizes a robotic arm body assembly 100 to quickly and accurately perform the gripping and installation of insulation plates, improving installation efficiency. Simultaneously, the robotic arm moving base assembly 200 enables flexible movement and stable support of the robotic arm body assembly 100, enhancing safety. Subsequently, the insulation plate tooling assembly 300 ensures the effective loading and secure fixing of the insulation plates, improving the efficiency and safety of insulation plate installation in large LNG ship cargo tanks. This achieves automated operation, reduces manpower requirements, and enhances installation accuracy and quality.

[0055] In some possible embodiments, the robotic arm body assembly 100 includes: a base X-axis sliding sub-assembly 1001, connected to the robotic arm moving base assembly 200, for controlling the movement of the robotic arm body assembly 100 in the X-axis direction of the robotic arm moving base assembly 200; and a base Y-axis sliding sub-assembly 1002, mounted on the base X-axis sliding sub-assembly 1001, for controlling the movement of the robotic arm body assembly 100 in the Y-axis direction of the robotic arm moving base assembly 200; the base X-axis sliding sub-assembly 1001 and the base Y-axis sliding sub-assembly 1002 employ a slide rail slider mechanism.

[0056] During installation, the base X-moving sub-assembly 1001 of the robotic arm body assembly 100 is first installed and connected to the robotic arm moving base assembly 200, so that the robotic arm body assembly 100 is fixed on the robotic arm moving base assembly 200, and the base X-moving sub-assembly 1001 is movable relative to the robotic arm moving base assembly 200 on the X-axis. Then, the base Y-moving sub-assembly 1002 is installed on the base X-moving sub-assembly 1001, so as to realize the Y-circumferential movement relative to the robotic arm moving base assembly 200. The base X-moving sub-assembly 1001 and the base Y-moving sub-assembly 1002 are moved on the X-axis and Y-axis by setting a slide rail slider mechanism, which increases the range of motion of the robotic arm body assembly 100 in the X-axis and Y-axis directions.

[0057] The power for the X-moving sub-assembly 1001 and the Y-moving sub-assembly 1002 of the base is provided by the X-moving electric actuator assembly and the Y-moving electric actuator assembly, which are mounted on the corresponding bases, i.e., on the X-moving sub-assembly 1001 of the base.

[0058] The robotic arm body component 100 is made of lightweight aluminum alloy and is welded, making the overall robot lightweight and meeting the load-bearing requirements of scaffolding in working conditions.

[0059] Reference Figure 2 As shown, in some possible embodiments, the robotic arm body assembly 100 further includes a base rotary joint assembly 1003, mounted on the base Y-moving joint assembly 1002, for controlling the robotic arm body assembly 100 to rotate in the Z-axis direction of the robotic arm moving base assembly 200; a first pitch rotary joint assembly 1004, mounted on the base rotary joint assembly 1003, for performing pitch motion; a roll rotary joint assembly 1005, mounted on the first pitch rotary joint assembly 1004, for performing roll motion; and a second pitch rotary joint assembly 1006, mounted at one end of the roll rotary joint assembly 1005 and connected to the insulating plate tooling assembly 300, for adjusting the angle of the insulating plate tooling assembly 300.

[0060] Next, the base rotary joint assembly 1003 is installed on the base Y movable joint assembly 1002, which can rotate around the Z-axis relative to the robotic arm moving base assembly 200. Together with the base X movable joint assembly 1001 and the base Y movable joint assembly 1002, the position of the robotic arm body assembly 100 can be changed in multiple directions. Then, the first pitch rotary joint assembly 1004 is installed on the base rotary joint assembly 1003, which can perform pitch movement. The roll rotary joint assembly 1005 can perform pitch movement with the first pitch rotary joint assembly 1004, and can also perform rotational movement. Subsequently, the second pitch rotary joint assembly 1006 is installed on one end of the roll rotary joint assembly 1005, and is connected to the insulation plate tooling assembly 300 through the connecting plate 10061. This allows the position and angle of the insulation plate tooling assembly 300 to be adjusted through the robotic arm body assembly 100, thereby improving the operation accuracy.

[0061] The lateral rotation sub-assembly 1005 is powered by a servo motor 10051 to rotate the robotic arm body assembly 100 in the Z-axis direction of the base.

[0062] In the above embodiment, the first pitch rotary joint assembly 1004 includes a pitch rotary joint assembly and an electric actuator assembly 10041; the pitch rotary joint assembly is mounted on the base rotary joint assembly 1003; one end of the electric actuator assembly 10041 is fixed to the movable plate 10031 of the base rotary joint assembly 1003, and the other end is retractably connected to one end of the roll rotary joint assembly 1005 to provide power to the pitch rotary joint assembly.

[0063] By mounting the pitch rotary joint assembly on the base rotary joint assembly 1003, one end of the electric actuator assembly 10041 is fixedly mounted on the movable plate of the base rotary joint assembly 1003, and the other end is connected to one end of the roll rotary joint assembly 1005. When the electric actuator assembly 10041 extends, it drives one end of the roll rotary joint assembly 1005 to move upward and the other end of the pitch rotary joint assembly to move downward. When the electric actuator assembly 10041 retracts, the opposite occurs, driving one end of the roll rotary joint assembly 1005 to move downward and the other end of the pitch rotary joint assembly to move upward. This enables the roll rotary joint assembly 1005 to perform pitch motion under the drive of the electric actuator assembly 10041.

[0064] The other end of the roll rotation sub-assembly 1005 is connected to the insulation board tooling assembly 300 through the second pitch rotation sub-assembly 1006, which drives the insulation board tooling assembly 300 to perform pitch movement, thereby adjusting the height and angle of the insulation board.

[0065] In the above embodiments, some possible implementations are as follows: the electric actuator 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 or 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 1005 and is used to control the pitch movement of the roll-rotation subassembly 1005 under the drive of the electric drive device.

[0066] Specifically, the electric drive device receives external or internal control signals. When the height of the insulating plate needs to be adjusted, the electric drive device will provide power to the base X moving sub-assembly 1001, the base Y moving sub-assembly 1002 and the pitch rotation sub-assembly respectively according to the control signals.

[0067] The electric drive device is a servo drive motor.

[0068] In some possible embodiments, the first pitch rotation subassembly 1004 further includes a movable arm 10042; the roll rotation subassembly 1005 is a long arm structure, mounted on the movable arm 10042, and the roll rotation subassembly 1005 performs pitch motion with the extension and retraction of the telescopic rod; one end of the roll rotation subassembly 1005 is provided with a servo motor 10051, which is used to provide the torque required for the rotation of the roll rotation subassembly 1005.

[0069] Specifically, the electric actuator assembly 10041 is fixed to the movable plate of the base rotary joint assembly 1003, and the telescopic rod is fixed to the tail end of the long arm. The telescopic movement of the electric actuator assembly 10041 realizes the rotational movement of the first pitch rotary joint assembly 1004. The roll rotary joint assembly 1005 forms a long arm structure, which is installed on the movable arm 10042 of the first pitch rotary joint assembly 1004 and performs pitch movement. The power required for the movement of the roll rotary joint assembly 1005 is provided by a servo motor 10051 installed on one side. The servo motor 10051 is installed on the fixing part of the roll rotary joint assembly 1005 and is connected to the rotating movable part through splines to provide the torque required for rotation.

[0070] The second pitch swivel joint 1006 is mounted on the front end of the long arm of the roll swivel joint 1005, and the power required for its rotation is provided by a servo motor 10051 mounted on a fixed component.

[0071] Reference Figure 3As shown, in some possible implementations, the robotic arm moving base assembly 200 includes: a vehicle frame assembly 2001, a drive wheel assembly 2002, and a caster wheel assembly 2003; the drive wheel assemblies 2002 are multiple and spaced apart in the middle of the vehicle frame assembly 2001, located on both sides of the vehicle frame assembly 2001, for supporting and rotating the vehicle frame assembly 2001; the caster wheel assemblies 2003 are multiple and spaced apart at the edges of the vehicle frame assembly 2001, supporting the vehicle frame assembly 2001 together with the drive wheel assemblies 2002, and turning and moving with the drive wheel assemblies 2002.

[0072] Specifically, the drive wheel assembly 2002 is installed in the middle of the vehicle frame assembly 2001, and there are two sets, distributed on both sides of the vehicle frame assembly 2001. One set of drive 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 make the traveling wheels rotate in a direction perpendicular to the traveling plane. Through a computer program, the two drive wheel assemblies 2002 can rotate at any angle in the direction perpendicular to the traveling plane, so that the whole vehicle body can turn and move flexibly in narrow spaces. The elastic mechanism is fixed on the vehicle frame and the steering wheel assembly 20021 is installed on the moving part. The wheel surface of the steering wheel assembly 20021 is higher than that of the universal wheel. After the spring is compressed, it can simultaneously contact the ground. The spring force provides the positive pressure of the drive wheel. When walking, it generates friction with the ground, providing the driving force for walking forward, which can adapt to the working environment of uneven ground.

[0073] The omnidirectional wheel assembly 2003 is installed around the vehicle frame assembly 2001. There are four sets, specifically arranged at the four corners of the vehicle frame assembly 2001. It serves to support the vehicle frame assembly 2001 and follows the steering and walking movements of the drive wheel assembly 2002.

[0074] In some possible embodiments, the robotic arm moving base assembly 200 further includes a swing support leg assembly 2004 and a chassis assembly 2005; the swing support leg assembly 2004 has multiple components, is rotatably disposed around the periphery of the vehicle frame assembly 2001, and is hinged to the vehicle frame assembly 2001 to stabilize the vehicle frame assembly 2001; the chassis assembly 2005 is disposed on the vehicle frame assembly 2001, located in the middle position, and is connected to the robotic arm body assembly 100 to fix the robotic arm body assembly 100.

[0075] The overall chassis assembly 2005 is mounted on the vehicle frame assembly 2001 and connected to the base X moving sub-assembly 1001 of the robotic arm body assembly 100, thereby fixing the robot body onto the vehicle frame.

[0076] The swing support leg assembly 2004 is installed around the perimeter of the vehicle frame assembly 2001, with four sets in total. Specifically, they are arranged at the four corners of the vehicle frame assembly 2001, hinged by pins, allowing for manual swinging. When the swing support leg assembly 2004 is rotated 90° to be perpendicular to the square steel of the vehicle frame assembly 2001, it stabilizes the overall chassis of the vehicle frame assembly 2001, preventing the robotic arm body assembly 100 from tipping over. The chassis assembly 2005 is installed on the vehicle frame assembly 2001, specifically positioned in the middle of the vehicle frame assembly 2001.

[0077] The robotic arm mobile base assembly 200 adopts a steering wheel design, which makes the robotic arm mobile base assembly 200 more flexible and convenient in turning, and can turn and move in narrow spaces.

[0078] 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 disposed on the tooling frame base 3001 and is used to position the insulating board; the insulating board protective layer assembly 3003 is disposed on the tooling frame base 3001 and is used to prevent the insulating board from contacting the tooling frame base 3001.

[0079] The tooling frame base 3001 is made of aluminum profiles and is lightweight. It is installed at the end and is used to support the insulation board. The insulation board tooling assembly 300 is made of aluminum alloy and is welded. It is lightweight and reduces the load requirements of the robotic arm body assembly 100.

[0080] 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 robotic arm body assembly 100.

[0081] In the above embodiments, the insulating plate protective layer assembly 3003 is a nylon material structure and is in contact with the insulating plate; the positioning pin assembly 3002 has multiple units, 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.

[0082] Specifically, the insulating plate tooling assembly 300 is installed on the second pitch-rotation sub-assembly 1006 of the robotic arm body assembly 100. It consists 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 sets of them. They are specifically arranged in the middle position of the tooling frame base 3001, pass through the positioning hole of the insulating plate, and are used to position the insulating plate. The insulating plate protective layer assembly 3003 is installed on the tooling frame base 3001, is made of nylon material, and is in direct contact with the insulating plate to prevent the insulating plate from being scratched by contact with the tooling frame base 3001.

[0083] The hollow positioning pin structure serves both to position the insulating plate and to reduce the overall weight of the tooling. At the same time, nylon material is used to protect the insulating plate from scratches.

[0084] This application features a simple principle, reliable structure, high degree of intelligent operation, and high operational precision, providing a reliable intelligent equipment for the automated operation of large LNG ships and a solution for realizing intelligent ship manufacturing.

[0085] The specific embodiments of this application have been described above. It should be understood that this application 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 substantive content of this application. The above-described preferred features can be used in any combination without conflict.

Claims

1. A loading robot for installing insulating panels in the cargo tanks of large LNG carriers, characterized in that, include: The robotic arm body assembly is used to perform the gripping and installation operations of the insulating board; The robotic arm mobile base assembly provides a mobile and support platform for the robotic arm body assembly; An insulating board tooling assembly is installed at one end of the robotic arm body assembly for loading and fixing the insulating board; The robotic arm body assembly includes: a base X-moving sub-assembly, which is connected to the robotic arm moving base assembly and is used to control the movement of the robotic arm body assembly in the X-axis direction of the robotic arm moving base assembly; A Y-axis movable sub-assembly of the base is mounted on the X-axis movable sub-assembly of the base and is used to control the movement of the robotic arm body assembly in the Y-axis direction of the robotic arm movable base assembly; A base rotary joint assembly is mounted on the base Y-moving joint assembly and is used to control the rotational movement of the robotic arm body assembly in the Z-axis direction of the robotic arm moving base assembly. The first pitch rotary joint assembly is mounted on the base rotary joint assembly and is used for pitch movement; The power for the X-axis moving sub-assembly and the Y-axis moving sub-assembly is provided by the X-axis moving electric actuator assembly and the Y-axis moving electric actuator assembly. The robotic arm body assembly also includes: A roll rotation subassembly is mounted on the first pitch rotation subassembly and is used to perform roll motion; The second pitch rotation sub-assembly is installed at one end of the roll rotation sub-assembly and connected to the insulating plate tooling assembly, and is used to adjust the angle of the insulating plate tooling assembly. The first pitch-rotor assembly includes a pitch-rotor assembly and a pitch actuator assembly; The pitch rotation joint assembly is mounted on the base rotation joint assembly; One end of the pitch electric actuator assembly is fixed to the movable plate of the base rotary joint assembly, and the other end is retractably connected to one end of the roll rotary joint assembly to provide power to the pitch rotary joint assembly. The first pitch-rotation subassembly also includes a movable arm; The roll-rotation sub-assembly is a long-arm structure, installed on the movable arm, and the roll-rotation sub-assembly performs pitching motion with the extension and retraction of the telescopic rod in the pitch electric actuator assembly. One end of the roll-rotation sub-assembly is equipped with a servo motor, which is used to provide the torque required for the roll-rotation sub-assembly to rotate; The insulating board tooling assembly includes a tooling frame base, a positioning pin assembly, and an insulating board protective layer assembly. The tooling frame base is used to support the insulating board; The positioning pin assembly is disposed on the tooling frame base and is used to position the insulating plate. The insulating plate protective layer assembly is disposed on the tooling frame base to prevent the insulating plate from contacting the tooling frame base.

2. The loading robot for installing insulating panels in the cargo tanks of large LNG ships according to claim 1, characterized in that, The base X moving sub-assembly and the base Y moving sub-assembly adopt a slide rail slider mechanism.

3. The loading robot for installing insulating panels in the cargo tanks of large LNG ships according to claim 1, characterized in that, The pitch actuator assembly includes an electric drive unit 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 joint assembly, which is used to control the pitch movement of the roll-rotation joint assembly under the drive of the electric drive device.

4. The loading robot for installing insulating panels in the cargo tanks of large LNG ships according to claim 1, characterized in that, The robotic arm mobile base assembly includes: a vehicle frame assembly, a drive wheel assembly, and a caster wheel assembly; The drive wheel assembly has multiple components, which are spaced apart at the middle position of the vehicle body frame assembly and located on both sides of the vehicle body frame assembly, for supporting and rotating the vehicle body frame assembly; The omnidirectional wheel assembly has multiple components, which are spaced apart on the edge of the vehicle frame assembly, support the vehicle frame assembly together with the drive wheel assembly, and turn and move with the drive wheel assembly.

5. A loading robot for installing insulating panels in the cargo tanks of large LNG carriers, as described in claim 4, is characterized in that... The robotic arm mobile base assembly also includes a swing support leg assembly and a chassis assembly; The swing support leg assembly has multiple components, 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 mounted on the vehicle frame assembly, located in the middle, and connected to the robotic arm body assembly for fixing the robotic arm body assembly.

6. The loading robot for installing insulating panels in the cargo tanks of large LNG ships according to claim 1, characterized in that, The insulating plate protective layer assembly is made of nylon material and is in contact with the insulating plate. The positioning pin assembly has multiple pins, which are symmetrically spaced at both ends of the tooling frame base near the middle position, and located on both sides of the insulating plate protective layer assembly.

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