Collaborative robot welding system suitable for mobile operation in narrow cabin of ship

Abstract

The invention relates to the technical field of collaborative robot welding, in particular to a collaborative robot welding system suitable for ship narrow cabin moving operation, which comprises a ship bottom plate, the ship bottom plate comprises an outer bottom plate, an inner bottom plate, a rib plate and a girder, the outer bottom plate, the inner bottom plate, the rib plate and the girder form a cabin, and a plurality of pipelines are arranged at the top of the cabin. A movable U-shaped magnetic attraction rail is arranged at the center of the top of the ship bottom plate, a six-degree-of-freedom small collaborative robot is arranged at the top of the movable U-shaped magnetic attraction rail, and an auxiliary rail is arranged between every two adjacent cabins. The robot system is compact in structure, the technical problems that an existing welding robot system is inconvenient to move, poor in obstacle avoidance capacity, insufficient in welding accessibility, low in path planning efficiency and the like in narrow cabin environments such as ship cubicles are solved, welding blind areas are effectively reduced, efficient and stable movement and welding in the dense obstacle environment are achieved, and the welding efficiency is improved. And the working efficiency and the quality consistency are obviously improved.

Description

Technical Field

[0001] This invention relates to the field of collaborative robot welding technology, specifically a collaborative robot welding system suitable for mobile operations in confined space on ships. Background Technology

[0002] In shipbuilding, especially for inland waterway vessels using a monolithic construction method, welding the internal structure of the narrow compartments within the double-bottom structure is a critical step in the manufacturing process. These compartments are semi-enclosed and confined, with densely packed longitudinal and transverse components and piping. The weld types are diverse, including flat, vertical, and overhead welds, with the overhead angle weld connecting the inner bottom plate to the components being the most challenging. Currently, welding operations in this environment rely entirely on manual or semi-automatic welding, resulting in low efficiency, high labor intensity, harsh working conditions, difficulty in guaranteeing weld quality, and high labor costs. Furthermore, welds are prone to cracking or detachment during ship operation, severely impacting the structural safety and service life of the vessel.

[0003] To improve welding efficiency and quality, various mobile welding robots have been developed both domestically and internationally. For example, Pukyong National University in South Korea has developed a four-wheeled mobile welding robot capable of welding in confined spaces, equipped with a cross-slider manipulator and an arc sensor for weld seam tracking. Keio University in Japan has developed a thin-plate welding robot system based on three-wheeled differential steering, equipped with a CCD vision sensor for weld seam positioning and tracking. Hyundai Heavy Industries in South Korea has developed a miniature welding robot with a compact structure and a magnetic base, allowing it to work on side walls and tops. Domestically, Shanghai Jiao Tong University has developed a self-tracking deck welding robot, South China University of Technology has developed a crawling welding robot, Tsinghua University has developed a trackless wheel-tracked composite crawling welding robot, Nanchang University has developed a mobile welding robot based on a rotating arc sensor, the 716 Research Institute of China Shipbuilding Industry Corporation has developed a rail-guided cabin robot welding system, and Siasun Robot & Automation Co., Ltd. of the Chinese Academy of Sciences, in cooperation with Guangzhou Shipyard International, has developed a gantry telescopic arm robot welding workstation.

[0004] While the aforementioned welding robots have expanded the application scope of automated welding to some extent, they are all ill-suited to the welding requirements of the narrow, semi-enclosed or fully enclosed interior structures of ship double-bottom compartments. Specific problems include: First, insufficient mobility and obstacle-crossing capabilities: wheeled and tracked robots, although capable of moving on planar or curved surfaces, cannot directly cross obstacles formed by longitudinal and transverse components or pass through manholes / relief openings; second, limited adjustment of welding torch posture: most robots use a cross-slider mechanism to hold the welding torch, making it difficult to flexibly adjust the torch posture to adapt to multi-position, multi-angle welds, especially overhead welds; third, poor structural size and adaptability: while gantry-type and rail-mounted cabin welding robots are suitable for open, large cabins, their bulky structure and high cost prevent deployment and operation in confined spaces; fourth, limited intelligence: existing systems still have shortcomings in areas such as localized autonomous welding, multi-sensor fusion, real-time weld tracking, and adaptive control, making it difficult to achieve stable, high-quality welding in complex structural environments.

[0005] Therefore, existing welding robot technology and equipment cannot meet the engineering requirements for efficient, high-quality, automated welding of the confined internal structures of ship compartments. There is an urgent need to develop new welding robot systems with capabilities for moving in confined spaces, overcoming obstacles and holes, welding in multiple postures, and performing localized autonomous operations. No solutions have yet been proposed to address these technical issues. Summary of the Invention

[0006] To address the problems in related technologies, this invention proposes a collaborative robot welding system suitable for mobile operations in confined space on ships, in order to overcome the aforementioned technical problems existing in the prior art. The purpose of this invention is to solve the technical problems of existing welding robot systems in confined space environments such as ship compartments, including inconvenient movement, poor obstacle avoidance, insufficient welding accessibility, and low path planning efficiency.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a collaborative robot welding system suitable for mobile operations in confined space of a ship, wherein the ship bottom plate includes an outer bottom plate, an inner bottom plate, ribs, and girder, wherein two ribs and two girder are provided and symmetrically distributed, wherein the ribs and two girder are provided on the top of the outer bottom plate, wherein the top of the ribs and two girder are fixedly connected to the bottom of the inner bottom plate, wherein the outer bottom plate, the inner bottom plate, the ribs, and the girder form a compartment, wherein a plurality of pipes are provided on the top of the compartment, wherein a movable U-shaped magnetic track is provided at the center of the top of the ship bottom plate, wherein a six-degree-of-freedom small collaborative robot is provided on the top of the movable U-shaped magnetic track, and an auxiliary track is provided between two adjacent compartments;

[0008] The movable U-shaped magnetic track includes a track, a pad, a magnetic base, and casters. The track is mounted on the pad, and several magnetic bases are provided, all located at the bottom of the pad. Several casters are provided on each magnetic base.

[0009] The six-degree-of-freedom small collaborative robot includes a robot mobile frame, a robot body, a welding torch, and a laser vision seeker. The robot mobile frame is mounted on a movable U-shaped magnetic track and is movably connected to the movable U-shaped magnetic track. The robot body is mounted on the robot mobile frame. The welding torch is located at the end of the sixth axis of the robot body. The laser vision seeker is located on one side of the welding torch and is connected to the robot body.

[0010] Preferably, the robot mobile frame includes a base plate, guide wheels, a servo drive motor, a reducer, and displacement sensors. The bottom of the base plate is provided with two guide wheels, which cooperate with a movable U-shaped magnetic track. The servo drive motor is fixedly mounted on the base plate and is connected to a gear through the reducer. A rack is installed on the movable U-shaped magnetic track, and the gear and rack mesh. Two displacement sensors are provided, both of which are mounted on the base plate.

[0011] Preferably, the track includes a long straight rail, an arc-shaped rail, and a short straight rail. There are two arc-shaped rails, which are located at both ends of the short straight rail and connected to it. The end of the arc-shaped rail away from the short straight rail is connected to the long straight rail.

[0012] Preferably, the auxiliary track includes a rotating lifting track and a connecting track, both of which are mounted on a movable U-shaped magnetic track.

[0013] Preferably, the robot body is a small collaborative robotic arm with 4-6 coaxial axes.

[0014] Preferably, the top of the bottom plate is also provided with several longitudinal ribs.

[0015] Preferably, the longitudinal rib plate is provided with reinforcing ribs.

[0016] Preferably, the system also includes a cable dragging system, which comprises a cable bundle, a cable chain, a cable chain groove, cable guides, and a cable pulling device. The cable chain groove is fixed to one side of a pad by bolts. The cable chain is disposed inside the cable chain groove. Several cable guides are provided and are respectively installed on curved rails and short straight rails.

[0017] Preferably, it also includes a wire feeding mechanism, which consists of a wire feeder and several pulleys.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] (1) This invention is a collaborative robot welding system suitable for mobile operations in narrow cabins of ships. It has a compact structure, flexible movement, and strong adaptability. By adopting a combination design of a movable U-shaped magnetic track and a slider trolley, combined with universal wheels to assist movement, the system can be flexibly deployed and positioned in narrow cabins, effectively crossing obstacles of longitudinal and transverse components and manholes, solving the problems of poor obstacle crossing ability of traditional wheeled and tracked robots and the large structure of guide rail systems.

[0020] (2) This invention is a collaborative robot welding system suitable for mobile operations in narrow cabins of ships. It adopts a small collaborative robotic arm with 4-6 coaxial axes, which has a wide range of motion. Combined with a U-shaped guide rail as an external axis for linkage control, it significantly improves the coverage of weld seams in multiple positions such as flat, vertical, and overhead positions of the welding torch, overcomes the defect of limited posture adjustment of traditional cross slider mechanism, and effectively reduces welding blind spots.

[0021] (3) This invention is a collaborative robot welding system suitable for mobile operations in narrow cabins of ships. It has a high level of intelligent path planning and motion control. It establishes a kinematic model based on the polar coordinate system and combines the improved RRT* algorithm and forward greedy strategy to plan obstacle avoidance path, realizing efficient and stable motion and welding in an environment full of obstacles. It solves the problems of slow convergence and poor planning effect of traditional methods in narrow spaces.

[0022] (4) This invention is a collaborative robot welding system suitable for mobile operations in small cabins of ships. It standardizes processes and improves operational efficiency. The welding process is planned based on ship type, scenario, task, station, and operation. It supports offline programming without teaching and automatic welding at multiple stations, which improves the repeatability and organization of the welding process and significantly improves operational efficiency and quality consistency. At the same time, the system has high integration and is safe and convenient to operate. Through the modular cable towing system and external control design, the equipment layout and cable management are optimized, reducing the risk of manual intervention and improving the operational safety and maintenance convenience in harsh environments. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 This is a side view of the structure of the present invention;

[0025] Figure 3 This is a front view structural schematic diagram of the movable U-shaped magnetic track and the six-degree-of-freedom small collaborative robot of the present invention;

[0026] Figure 4 This is a schematic diagram of the movable U-shaped magnetic track and the six-degree-of-freedom small collaborative robot of the present invention, viewed from below.

[0027] Figure 5 This is a rear-view structural diagram of the movable U-shaped magnetic track and the six-degree-of-freedom small collaborative robot of the present invention;

[0028] Figure 6 This is a schematic diagram of the auxiliary track structure of the present invention;

[0029] Figure 7 This is a technical roadmap of the obstacle avoidance algorithm of this invention.

[0030] Explanation of reference numerals in the attached figures:

[0031] 1. Bottom plate; 2. Cabin; 3. Movable U-shaped magnetic track; 301. Track; 3011. Long straight track; 3012. Curved track; 3013. Short straight track; 302. Pad; 303. Magnetic base; 304. Casters; 4. Six-degree-of-freedom small collaborative robot; 401. Robot mobile frame; 4011. Seat plate; 4012. Guide wheel; 4013. Servo drive motor; 4014. Reducer; 4015. Displacement sensor; 4016. Gear; 4017. Rack; 402. Robot body; 403. Welding torch; 404. Laser vision positioner; 5. Auxiliary track; 501. Rotary lifting track; 502. Connecting track; 6. Longitudinal frame plate; 7. Reinforcing rib; 8. Cable dragging system; 801. Cable bundle; 802. Cable drag chain; 803. Cable drag chain groove. Detailed Implementation

[0032] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0033] Example

[0034] Please see Figure 1-7 This invention proposes a technical solution for a collaborative robot welding system suitable for mobile operations in confined ship compartments: A collaborative robot welding system suitable for mobile operations in confined ship compartments, comprising a ship bottom plate 1 including an outer bottom plate, an inner bottom plate, ribs, and girder, with two ribs and two girder, symmetrically distributed, located on the top of the outer bottom plate, and the top of the ribs and girder fixedly connected to the bottom of the inner bottom plate, the outer bottom plate, inner bottom plate, ribs, and girder forming a compartment 2, the top of the compartment 2 having several pipes, a movable U-shaped magnetic track 3 located at the center of the top of the ship bottom plate 1, specifically, the movable U-shaped magnetic track 3 and the ship bottom plate 1 being detachably connected; a six-degree-of-freedom small collaborative robot 4 is located on the top of the movable U-shaped magnetic track 3, and an auxiliary track 5 is located between two adjacent compartments 2; specifically, the auxiliary track 5 is used to assist the robot body 402 in passing through the working hole;

[0035] The movable U-shaped magnetic track 3 includes a track 301, a pad 302, a magnetic base 303, and casters 304. The track 301 is mounted on the pad 302. Several magnetic bases 303 are provided, all located at the bottom of the pad 302. Several casters 304 are provided on the magnetic bases 303. Specifically, the magnetic bases 303 can fix the entire structure to the bottom plate 1 to ensure stability during welding. The casters 304 allow the mechanism to be moved quickly by manpower after welding to complete subsequent processes such as drilling.

[0036] The six-degree-of-freedom small collaborative robot 4 includes a robot mobile frame 401, a robot body 402, a welding torch 403, and a laser vision seeker 404. The robot mobile frame 401 is mounted on a movable U-shaped magnetic track 3 and is movably connected to the movable U-shaped magnetic track 3. The robot body 402 is mounted on the robot mobile frame 401. The welding torch 403 is located at the end of the sixth axis of the robot body 402. The laser vision seeker 404 is located on one side of the welding torch 403 and is connected to the robot body 402. Specifically, the robot mobile frame 401 moves in conjunction with the six-degree-of-freedom small collaborative robot 4, thereby effectively improving the accessibility of welding various structural components inside the confined compartment.

[0037] Please see Figure 1-5 As shown, the robot mobile frame 401 further includes a base plate 4011, guide wheels 4012, a servo drive motor 4013, a reducer 4014, and displacement sensors 4015. Two guide wheels 4012 are provided at the bottom of the base plate 4011. The guide wheels 4012 cooperate with the movable U-shaped magnetic track 3. The servo drive motor 4013 is fixedly installed on the base plate 4011. The servo drive motor 4013 is connected to a gear 4016 through the reducer 4014. A rack 4017 is installed on the movable U-shaped magnetic track 3. The gear 4016 and the rack 4017 mesh. Two displacement sensors 4015 are provided, and both are installed on the base plate 4011.

[0038] In this embodiment, the base plate 4011 is the main body of the robot mobile frame 401, which meets the installation requirements of various devices. The guide wheel 4012 and the track 301 slide together to ensure that the robot mobile frame 401 can move along the track 301. The rotation speed of the gear 4016 is controlled by the servo drive motor 4013 and the reducer 4014, thereby controlling the movement speed of the robot mobile frame 401. The movement of the robot mobile frame 401 is controlled by the meshing of the gear 4016 with the rack 4017 on the track 301. The displacement sensor 4015 is used to automatically calibrate the deviation during installation and measure the distance of the robot mobile frame 401 during movement.

[0039] Please see Figure 3As shown, the track 301 further includes a long straight track 3011, an arc track 3012 and a short straight track 3013. There are two arc tracks 3012, which are located at both ends of the short straight track 3013 and connected to the short straight track 3013. The end of the arc track 3012 away from the short straight track 3013 is connected to the long straight track 3011.

[0040] In this embodiment, the track 301 adopts a quick-connect and quick-release connection method. The long straight track 3011 can be freely spliced ​​to change its length according to different ship types to adapt to different cabin environments and meet welding or obstacle avoidance requirements. The long straight track 3011, the arc track 3012, and the short straight track 3013 are arranged in a U-shaped structure. The robot mobile frame 401 is installed on the long straight track 3011, and the servo drive motor 4013 is started to drive the robot mobile frame 401 to move along the track 301. After the track 301 is positioned and calibrated by two displacement sensors 4015 installed on the trolley seat plate 4011, the magnetic base 303 is fixed.

[0041] Please see Figure 6 As shown, the auxiliary track 5 further includes a rotating lifting track 501 and a connecting track 502, both of which are mounted on the movable U-shaped magnetic track 3.

[0042] In this embodiment, the auxiliary track 5 is used to assist the robot in exiting the cabin when completing the welding operation, the connecting track 502 is used to cross the manhole, and the rotating lifting track 501 is used to compensate for the angle difference and height difference between the movable U-shaped magnetic track 3 and the connecting track 502.

[0043] Please see Figure 3-4 As shown, the robot body 402 is further a small collaborative robotic arm with 4-6 coaxial axes.

[0044] This embodiment combines the safety, flexibility, and ease of use of collaborative robots, while its 4-6 axis coaxial design distinguishes it from traditional collaborative robot structures, making its posture more compact and flexible, and enabling it to better adapt to operations in the confined spaces of ships.

[0045] Please see Figure 1-2 As shown, furthermore, several longitudinal ribs 6 are provided on the top of the bottom plate 1.

[0046] In this embodiment, the longitudinal rib plate 6 can improve the overall stability.

[0047] Please see Figure 1 As shown, furthermore, the longitudinal rib plate 6 is provided with reinforcing ribs 7.

[0048] In this embodiment, the reinforcing rib 7 can improve the overall stability.

[0049] It also includes a cable dragging system 8, which comprises a cable bundle 801, a cable chain 802, a cable chain groove 803, cable guides, and a cable traction device. The cable chain groove 803 is fixed to one side of the pad 302 by bolts. The cable chain 802 is disposed inside the cable chain groove 803. Several cable guides are provided and are respectively installed on the arc-shaped rail 3012 and the short straight rail 3013. The cable guides limit the swing amplitude of the cable and prevent tangling. Automated winding and unwinding are achieved through a dedicated cable traction device, which can adjust the cable length in real time according to the equipment's operating stroke to ensure the continuous and stable transmission of signals and power to each component. The cable bundle 801 consists of six cables. The functional cable consists of two sets of displacement sensor signal lines, one robot body aerial connector cable, a dedicated communication cable for the laser positioner, a matching power cable, and a servo motor drive cable. The two sets of displacement sensor signal lines, one robot body aerial connector cable, the dedicated communication cable for the laser positioner, the matching power cable, and the servo motor drive cable are first bundled together according to their functions using insulating cable ties, and then embedded into the interior of the high-flexibility engineering cable chain to form a neat cable bundle. The cable chain groove 803 is made of galvanized iron plate and is also properly bundled onto the pad 302 using insulating cable ties. The cable dragging system 8 is used to optimize the dragging of cables during the welding and movement of the robot body 402.

[0050] It also includes a wire feeding mechanism, which consists of a wire feeder and several pulleys. The pulleys are magnetically attached to the bottom plate 1 of the ship. The wire, air wire and wire feeder control wire are fixed together with cable ties and connected to the wire feeder through the pulley. After being concentrated by the wire feeder, they form a wire feeding tube for output. The wire feeding tube is connected to the robot through another pulley, thereby achieving the function of gathering and reducing the impact during movement and welding.

[0051] It also includes a welding control system, which is used to control the operation of the six-degree-of-freedom small collaborative robot 4 and the movable U-shaped magnetic track 3.

[0052] To achieve standardized and efficient planning of welding operations, robotic welding operations are planned using "ship type-scenario-task-station-operation" as the main process line, thereby improving the organization and repeatability of the welding process. Ship type refers to different ship types; scenario refers to the work environment, such as different cabin types; task refers to the work assignment, categorized as flat welding, vertical welding, overhead welding, and exiting the cabin; station refers to the work station, indicating the robot's position on the track during the welding process; operation refers to the actions performed by the robot, such as welding, translation, and rotation.

[0053] A precise kinematic model is established for robot motion control. A kinematic model of a slider car sliding on an arc-shaped guide rail is established based on the polar coordinate system. By solving the motion trajectory, the design of the car body frame and the layout of the mounted equipment (robot, displacement sensor 4015, servo drive motor 4013, reducer 4014, welding torch 403, laser vision positioner 404) are completed, solving the problems of equipment integration and insufficient motion accuracy in a confined space.

[0054] To achieve collaborative planning of robot body 402 movement and obstacle avoidance, a kinematic model of the collaborative robot sliding on track 301 with a slider trolley is established based on the polar coordinate method. By solving the one-axis deflection angle of robot body 402 and the translation of slider trolley, the joint planning of obstacle avoidance motion of trolley-robot is completed, thereby improving obstacle avoidance efficiency in environments with dense obstacles.

[0055] During welding, offline programming without teaching is used. Several stations are set and mechanical zero points are set. The robot body 402 starts from the mechanical zero point and automatically returns to the mechanical zero point after completing a certain weld. The welding sequence can be freely selected.

[0056] An optimized obstacle avoidance path planning algorithm was developed. An inverse kinematics model was established using the movement variables of the six-DOF collaborative robot 4 on the additional external axis (guide rail) as redundant degrees of freedom. An improved fast random tree algorithm (RRT*) combined with a forward greedy algorithm was used to plan the obstacle avoidance path for the welding robot, which solved the problem of slow convergence and poor performance of traditional path planning in confined spaces. Based on this, obstacle avoidance and path planning of the robot body 402 in the working conditions of movement, positioning, and welding were completed.

[0057] The laser vision seeker 404 at the end of the robot body 402 scans the weld seam, determines the specific position of the weld seam and corrects it through the four-point positioning method, and determines the start and end points of the weld seam, thereby realizing initial weld position guidance and weld seam tracking and correction control.

[0058] Welding work in the compartments:

[0059] (1) Drive the robot body 402 to station #1. The robot body 402 starts from station 1 and performs a welding operation of finding position, approaching (advancing tool), welding, retracting (retracting tool), and returning to position (returning to origin). Among them, the laser positioner 404 uses the "four-point positioning method" to locate the start and end points of the weld, with a line of sight of 240-360mm; for each weld, the robot body 402 should return to station 1 after completing the welding.

[0060] (2) Drive the robot body 402 to station #2. The robot body 402 starts from station 2 and performs a welding operation of finding position, approaching (advancing tool), welding, retracting (retracting tool), and returning to position (returning to origin). Among them, the laser positioner 404 uses the "four-point positioning method" to locate the start and end points of the weld, with a line of sight of 240-360mm; for each weld, the robot body 402 should return to station 2 after completing the welding.

[0061] (3) Rotate the robot body 402 180° on axis 1 to turn the robot body 402 around and drive the robot body 402 to station #3. The robot body 402 starts from station 3 and performs the welding operation of finding position - approaching (tool advance) - welding - retracting (tool retraction) - returning to position (return to origin). Among them: the laser positioner 404 uses the "four-point position finding method" to locate the start and end points of the weld, with a line of sight of 240~360mm; for each weld, the robot should return to station 3 after completing the welding.

[0062] (4) Drive the robot body 402 to station #4. Starting from station 4, the robot body 402 performs a welding operation of locating, approaching (advancing), welding, retracting (retracting), and returning to the original position. Among them, the laser locator 404 uses the "four-point locating method" to locate the start and end points of the weld, with a line of sight of 240-360mm; for each weld, the robot body 402 should return to station 4 after completing the welding.

[0063] (5) The robot body 402 is controlled to travel through two curved rails 3012 and a short straight rail 3013 to the long straight rail 3011 on the other side, driving the robot body 402 to station #5. The robot body 402 starts from station 5 and performs a welding operation of finding position, approaching (advancing tool), welding, retracting (retracting tool), and returning to position (returning to origin). Among them, the laser positioner 404 uses the "four-point positioning method" to locate the start and end points of the weld, with a line of sight of 240-360mm; for each weld, the robot body 402 should return to station 5 after completing the welding.

[0064] (6) Drive the robot body 402 to station #6. Starting from station 6, the robot body 402 performs a welding operation of locating, approaching (advancing), welding, retracting (retracting), and returning to the original position. Among them, the laser locator 404 uses the "four-point locating method" to locate the start and end points of the weld, with a line of sight of 240-360mm; for each weld, the robot body 402 should return to station 6 after completing the welding.

[0065] (7) Rotate the robot body 402 180° on axis 1 to turn it around and drive it to station #7. From station 7, the robot body 402 performs a welding operation of finding the weld seam, approaching (advancing), welding, retracting (retracting), and returning to the starting point. Among them, the laser positioner 404 uses the "four-point positioning method" to locate the start and end points of the weld seam, with a line of sight of 240-360mm; for each weld seam, the robot body 402 should return to station 7 after completing the welding.

[0066] (8) Drive the robot body 402 to station #8. The robot body 402 starts from station 8 and performs a welding operation of finding position, approaching (advancing tool), welding, retracting (retracting tool), and returning to position (returning to origin). Among them, the laser positioner 404 uses the "four-point positioning method" to locate the start and end points of the weld, with a line of sight of 240-360mm; for each weld, the robot body 402 should return to station 8 after completing the welding.

[0067] 4. Crossing Manholes: After completing all welding operations in one compartment, the robot body 402 needs to enter the next compartment through manhole 1 or manhole 2 to continue the welding operations.

[0068] (1) Crossing Manhole 1: Remove the two sections of curved rail 3012, one short straight rail 3013, and the other long straight rail 3011. Loosen the magnetic base 303 of rail 301 and move it using the casters 304 under rail 301 so that the axis of 301 is roughly parallel to the center line of manhole 1. Install the rotating lifting rail 501 and the connecting rail 502. Adjust the height of the rotating lifting rail 501 to match the rack 4017. Move the robot body 402 to the rotating lifting rail 501, then raise the rotating lifting rail 501 to match the connecting rail 502. Move the robot body 402 to the rotating lifting rail 501 on the other side, lower it to match the rack 4017 on the other side, and then translate the robot body 402.

[0069] (2) Crossing Manhole 2: Move the robot body 402 to the other side of the long straight rail 3011 via two curved rails 3012 and a short straight rail 3013. Remove the right long straight rail 3011, install the rotating lifting rail 501 and the connecting rail 502, adjust the height of the rotating lifting rail 501 to be consistent with the rack 4017, move the robot body 402 to the rotating lifting rail 501, rotate the rotating lifting rail 501 90°, raise the rotating lifting rail 501 to be consistent with the connecting rail 502, move the robot body 402 to the other side of the rotating lifting rail 501, rotate the rotating lifting rail 501 90°, lower the rotating lifting rail 501 to be consistent with the rack 4017 on the other side, and translate the robot body 402.

[0070] In the description of this invention, it should be understood that the terms "coaxial," "bottom," "one end," "top," "middle," "other end," "upper," "side," "top," "inner," "front," "center," "both ends," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and 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 limiting this invention.

[0071] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "setting," "connection," "fixing," "screw connection," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0072] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A collaborative robotic welding system suitable for mobile operations in confined space on ships, characterized in that, The ship includes a bottom plate (1), which includes an outer bottom plate, an inner bottom plate, ribs and trusses. Two ribs and trusses are provided and symmetrically distributed. The ribs and trusses are located on the top of the outer bottom plate. The top of the ribs and trusses are fixedly connected to the bottom of the inner bottom plate. The outer bottom plate, inner bottom plate, ribs and trusses form a compartment (2). Several pipes are provided on the top of the compartment (2). A movable U-shaped magnetic track (3) is provided at the center of the top of the bottom plate (1). A six-degree-of-freedom small collaborative robot (4) is provided on the top of the movable U-shaped magnetic track (3). An auxiliary track (5) is provided between two adjacent compartments (2). The movable U-shaped magnetic track (3) includes a track (301), a pad (302), a magnetic base (303), and casters (304). The track (301) is installed on the pad (302). Several magnetic bases (303) are provided, all of which are located at the bottom of the pad (302). Several casters (304) are provided on the magnetic bases (303). The six-degree-of-freedom small collaborative robot (4) includes a robot mobile frame (401), a robot body (402), a welding torch (403), and a laser vision seeker (404). The robot mobile frame (401) is mounted on a movable U-shaped magnetic track (3) and is movably connected to the movable U-shaped magnetic track (3). The robot body (402) is mounted on the robot mobile frame (401). The welding torch (403) is located at the end of the sixth axis of the robot body (402). The laser vision seeker (404) is located on one side of the welding torch (403) and is connected to the robot body (402).

2. The collaborative robot welding system for mobile operations in confined space of a ship, as described in claim 1, is characterized in that... The robot mobile frame (401) includes a base plate (4011), guide wheels (4012), a servo drive motor (4013), a reducer (4014), and displacement sensors (4015). The bottom of the base plate (4011) is provided with two guide wheels (4012), which cooperate with a movable U-shaped magnetic track (3). The servo drive motor (4013) is fixedly installed on the base plate (4011). The servo drive motor (4013) is connected to a gear (4016) through the reducer (4014). A rack (4017) is installed on the movable U-shaped magnetic track (3), and the gear (4016) and rack (4017) mesh. There are two displacement sensors (4015), both of which are installed on the base plate (4011).

3. The collaborative robot welding system for mobile operations in confined space of a ship, as described in claim 1, is characterized in that... The track (301) includes a long straight track (3011), an arc track (3012), and a short straight track (3013). There are two arc tracks (3012), which are located at both ends of the short straight track (3013) and connected to the short straight track (3013). The end of the arc track (3012) away from the short straight track (3013) is connected to the long straight track (3011).

4. A collaborative robot welding system suitable for mobile operations in confined ship compartments according to claim 1, characterized in that, The auxiliary track (5) includes a rotating lifting track (501) and a connecting track (502), both of which are mounted on a movable U-shaped magnetic track (3).

5. A collaborative robot welding system suitable for mobile operations in confined space of a ship, as described in claim 1, is characterized in that... The robot body (402) is a small collaborative robotic arm with 4-6 coaxial axes.

6. A collaborative robot welding system suitable for mobile operations in confined ship compartments according to claim 1, characterized in that, The top of the bottom plate (1) is also provided with several longitudinal ribs (6).

7. A collaborative robot welding system for mobile operations in confined space on a ship, as described in claim 6, is characterized in that... The longitudinal rib plate (6) is provided with reinforcing ribs (7).

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