Auxiliary device for ship manufacturing

Abstract

The invention belongs to the technical field of shipbuilding, and discloses an auxiliary device for shipbuilding. The auxiliary device for shipbuilding comprises a base, a first arm section, a second arm section, a third arm section, a quick mounting head and a dust sensor, the base comprises a fixed table, and the fixed table is provided with a bottom axis; the first arm section is rotatably connected to the fixed table around the bottom axis, and the first arm section is provided with a first axis; the second arm section is rotatably connected to the first arm section around the first axis, the second arm section is provided with a second axis, the third arm section is rotatably connected to the second arm section around the second axis, and the third arm section is provided with a third axis; the quick-assembly head comprises a male disc and a female disc, the male disc is rotatably connected to the third arm section around a third axis, and the female disc is used for being fixedly connected with a tail end operating mechanism and can be detachably connected to the male disc; the dust sensor is arranged on the male disc or the tail end operation mechanism. The auxiliary device for shipbuilding is simple in structure, flexible in movement and high in environmental adaptability.

Description

Technical Field

[0001] This invention relates to the field of shipbuilding technology, and in particular to an auxiliary device for shipbuilding. Background Technology

[0002] In the shipbuilding process, the positioning, clamping and assembly accuracy of each structural component has a significant impact on the subsequent welding and assembly quality. The shipbuilding scenario has significant special characteristics: the hull components are mostly large and irregularly shaped structures, and the working environment has complex factors such as welding vibration and temperature and humidity fluctuations.

[0003] Currently used clamping equipment in shipbuilding can only be used for small and medium-sized parts with regular shapes. It cannot reliably clamp irregularly shaped parts on curved surfaces or weld edges of the hull. Furthermore, existing clamping equipment has poor environmental adaptability, does not take into account factors such as temperature and humidity changes and dust concentration in the manufacturing workshop, and the robotic arm is easily affected by the environment during operation and may malfunction.

[0004] Therefore, there is an urgent need to design an auxiliary device for shipbuilding to solve the above-mentioned problems in the existing technology. Summary of the Invention

[0005] The purpose of this invention is to provide an auxiliary device for shipbuilding that is simple in structure, flexible in movement, and highly practical.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] Auxiliary equipment for shipbuilding, characterized in that it includes:

[0008] The base has a bottom axis;

[0009] A first arm segment is rotatably connected to the base about the bottom axis, and the first arm segment has a first axis perpendicular to the bottom axis.

[0010] The second arm segment is rotatably connected to the first arm segment about the first axis, and the second arm segment has a second axis parallel to the first axis.

[0011] A third arm segment, rotatably connected to the second arm segment about the second axis, the third arm segment having a third axis parallel to the first axis;

[0012] The quick-connect head includes a male disc and a female disc. The male disc is rotatably connected to the third arm segment about the third axis. The female disc is used to be fixedly connected to the end-operating mechanism. The female disc can be detachably connected to the male disc.

[0013] A dust sensor is disposed on the public disk or the end-operated mechanism, and the dust sensor is used to detect the dust concentration and emit an electrical signal.

[0014] Preferably, the third arm segment includes a joint mechanism and an arm segment body. The arm segment body is rotatably connected to the second arm segment through the joint mechanism, and the arm segment body is rotatably disposed on the joint mechanism about its own axis.

[0015] Preferably, the mother disc is rotatably connected to the male disc about its own axis.

[0016] Preferably, the auxiliary device for shipbuilding further includes a temperature and humidity sensor, which is disposed on the public disk or the end operating mechanism, and is used to detect the temperature and humidity of the air and emit an electrical signal.

[0017] Preferably, the auxiliary device for shipbuilding also includes a camera, which is disposed on the public disk.

[0018] Preferably, the base includes a fixed platform and a rotating platform, the rotating platform being rotatably mounted on the fixed platform, and an electromagnetic chuck being provided on the end face of the fixed platform facing away from the rotating platform.

[0019] Preferably, the end effector includes a clamping device and a welding device.

[0020] Preferably, the clamping device includes a mounting plate and clamps respectively disposed on both sides of the mounting plate, wherein the two clamps are close to each other to clamp an object.

[0021] Preferably, the gripper is provided with a flexible pad.

[0022] Preferably, the first arm segment, the second arm segment, and the third arm segment are all made of aluminum alloy.

[0023] The beneficial effects of this invention are as follows:

[0024] The auxiliary device for shipbuilding provided by this invention includes a base, a first arm section, a second arm section, a third arm section, a quick-assembly head, an end effector mechanism, and a dust sensor. Since the first arm section is rotatably connected to a fixed platform of the base around a first axis, the second arm section is rotatably connected to the first arm section around the first axis, the third arm section is rotatably connected to the second arm section around a second axis, and the male disk of the quick-assembly head is rotatably connected to the third arm section around the third axis, the quick-assembly head can move flexibly with multiple degrees of freedom relative to the fixed platform. This allows it to move the end effector mechanism on top of it according to the on-site processing conditions, thereby satisfying… It is suitable for complex and ever-changing shipbuilding scenarios. Since the female disc of the quick-assembly head is detachably connected to the male disc, and the female disc is used to fix the end-operation mechanism, the staff can select different types of end-operation mechanisms according to the on-site processing conditions and quickly disassemble and assemble them to meet the clamping or welding requirements of ship components. Since the end-operation mechanism is equipped with a dust sensor, when the dust concentration in the surrounding environment is too high, the dust sensor will send a signal to the outside world to remind the staff, so that the staff can shut down the auxiliary device in time to prevent the various components of the auxiliary device from being damaged by excessive dust concentration in the environment. Attached Figure Description

[0025] Figure 1 This is a first-view structural schematic diagram of the auxiliary device for shipbuilding provided in a specific embodiment of the present invention;

[0026] Figure 2 This is a second-view structural schematic diagram of the auxiliary device for shipbuilding provided in a specific embodiment of the present invention.

[0027] In the picture:

[0028] 1-Base; 11-Fixed platform; 12-Rotating platform;

[0029] 2-First arm segment;

[0030] 3-Second arm segment;

[0031] 4-Third arm segment; 41-Joint mechanism; 42-Arm segment main body;

[0032] 5 - Quick-release head; 51 - Male disc; 52 - Female disc;

[0033] 6-Clamping device. Detailed Implementation

[0034] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0035] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" 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 communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0036] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0037] In the description of this embodiment, the terms "upper," "lower," "right," and "left," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0038] like Figure 1 and Figure 2 As shown, the present invention provides an auxiliary device for shipbuilding, which includes a base 1, a first arm segment 2, a second arm segment 3, a third arm segment 4, a quick-connect head 5, and a dust sensor. The base 1 includes a fixed platform 11 with a bottom axis. The first arm segment 2 is rotatably connected to the fixed platform 11 around the bottom axis and has a first axis perpendicular to the bottom axis. The second arm segment 3 is rotatably connected to the first arm segment 2 around the first axis and has a second axis parallel to the first axis. The third arm segment 4 is rotatably connected to the second arm segment 3 around the second axis and has a third axis parallel to the first axis. The quick-connect head 5 includes a male disk 51 and a female disk 52. The male disk 51 is rotatably connected to the third arm segment 4 around the third axis, and the female disk 52 is used for fixed connection with an end-operating mechanism and can be detachably connected to the male disk 51. The dust sensor is disposed on the male disk 51 or the end-operating mechanism and is used to detect dust concentration and emit an electrical signal.

[0039] Specifically, since the first arm segment 2 is rotatably connected to the fixed platform 11 of the base 1 around the first axis, the second arm segment 3 is rotatably connected to the first arm segment 2 around the first axis, the third arm segment 4 is rotatably connected to the second arm segment 3 around the second axis, and the male disc 51 of the quick-assembly head 5 is rotatably connected to the third arm segment 4 around the third axis, the quick-assembly head 5 can move flexibly with multiple degrees of freedom relative to the fixed platform 11, thereby driving the end-operating mechanism on it to move according to the on-site processing conditions to meet the complex and ever-changing shipbuilding scenarios; since the female disc 52 of the quick-assembly head 5 is detachably connected to the male disc 51, and the female disc 52 is used for fixed connection with the end-operating mechanism, the staff can select different types of end-operating mechanisms according to the on-site processing conditions and quickly disassemble and assemble them to meet the clamping or welding requirements of ship components; since the end-operating mechanism is equipped with a dust sensor, when the dust concentration in the surrounding environment is too high, the dust sensor will send a signal to the outside to remind the staff, so that the staff can shut down the auxiliary device in time to prevent the various components of the auxiliary device from being damaged by the high dust concentration in the environment.

[0040] In this embodiment, the first arm segment 2, the second arm segment 3, and the third arm segment 4 constitute a robotic arm commonly used in the art. Adjacent arm segments are hinged together and driven to move by a joint actuator. The joint actuator is a common device in the art, and its core components include a motor, a reducer, and sensors. The specific structure and working principle of the joint actuator will not be described in detail here. The dust sensor is a commonly used sensor in the art for detecting the concentration of suspended dust particles in the air. The dust sensor is installed on the public disk 51. When the dust concentration in the working environment exceeds a set value, the dust sensor sends a signal to the control center to alert the staff. The quick-connect head 5 is a common connection structure on robotic arms. It is usually used in conjunction with the robotic arm. The female disk 52 of the quick-connect head 5 is pre-installed on the end effector mechanism, and the male disk 51 is fixedly installed at the end of the third arm segment 4. The male disk 51 drives the internal steel ball to move through the built-in piston to engage with the female disk 52, thereby realizing the quick connection between the male disk 51 and the female disk 52. Both the male disk 51 and the female disk 52 are relatively common devices in this field. The specific internal structure and connection method of the male disk 51 and the female disk 52 will not be described in detail here.

[0041] To further enhance the flexibility of the use of this shipbuilding auxiliary equipment, such as Figure 1As shown, the third arm segment 4 includes a joint mechanism 41 and an arm segment body 42. The arm segment body 42 is rotatably connected to the second arm segment 3 through the joint mechanism 41, and the arm segment body 42 is rotatably disposed on the joint mechanism 41 around its own axis. The female disk 52 is rotatably connected to the male disk 51 around its own axis. In this embodiment, the joint mechanism 41 is a joint actuator commonly used in the art, and the arm segment body 42 is a rod-shaped structure. One end of the arm segment body 42 is rotatably engaged with the joint mechanism 41 through a bearing. The arm segment body 42 can rotate around its own axis through the motor built into the joint mechanism 41. It can be understood that in this embodiment, the first arm segment 2 can rotate around the bottom axis of the fixed platform 11, the second arm segment 3 can rotate relative to the first arm segment 2, the third arm segment 4 can rotate relative to the second arm segment 3, the arm segment body 42 of the third arm segment 4 can rotate around its own axis, the quick-release head 5 can rotate relative to the third arm segment 4, and the female disk 52 can rotate relative to the male disk 51. Therefore, this auxiliary device for shipbuilding is a six-axis robotic arm commonly used in the art, which can realize precise and complex movements and operations.

[0042] The auxiliary device for shipbuilding also includes a temperature and humidity sensor, which is installed on the public disk 51 or the end-operation mechanism. The temperature and humidity sensor is used to detect the temperature and humidity of the air and send an electrical signal. The temperature and humidity sensor is a commonly used sensor in the art for detecting the ambient temperature and humidity. The temperature and humidity sensor is installed on the public disk 51. When the temperature and humidity of the working environment are detected to exceed the set value (e.g., the temperature is too high or too low), the temperature and humidity sensor will send a signal to the external control center to remind the staff so that the staff can shut down the auxiliary device for shipbuilding in time to prevent damage to the auxiliary device for shipbuilding from operating in extreme temperature and humidity environments.

[0043] The shipbuilding auxiliary device also includes a camera, which is installed on disk 51. The camera allows workers to remotely control the shipbuilding auxiliary device. In this embodiment, the shipbuilding auxiliary device is installed in the shipbuilding workshop and is used to clamp and move ship components or to perform welding operations at hull joints. Workers can observe the environment around the end-operation mechanism through the camera to respond to emergencies in a timely manner. In addition, when the shipbuilding auxiliary device is in manual operation mode, workers can also remotely control the shipbuilding auxiliary device through the camera.

[0044] like Figure 1 and Figure 2As shown, the base 1 includes a fixed platform 11 and a rotating platform 12. The rotating platform 12 is rotatably mounted on the fixed platform 11. An electromagnetic chuck is provided on the end face of the fixed platform 11 opposite to the rotating platform 12. In this embodiment, the electromagnetic chuck is a commonly used fixing device in the art. Its built-in electromagnetic coil can generate magnetic force after being energized, thereby fixing it on the magnetic work position in the shipbuilding workshop. The fixed platform 11 is rotatably mounted on the fixed platform 11 through a bearing. A drive motor is provided inside the fixed platform 11, which can drive the rotating platform 12 to rotate relative to the fixed platform 11.

[0045] The end-operation mechanism includes a clamping device 6 and a welding device. Workers can install the clamping device 6 or the welding device on the public plate 51 according to the actual working conditions. The clamping device 6 is used to clamp the ship's components, and the welding device is used to weld the hull seams.

[0046] The clamping device 6 includes a mounting plate and grippers respectively disposed on both sides of the mounting plate. The two grippers can clamp objects by approaching each other. The drive motor built into the clamping device 6 can control the grippers to approach each other to clamp objects according to instructions. The welding device is a laser welding device commonly used in welding robots in this field. Its specific structure and working principle will not be described in detail here.

[0047] To protect the ship components, the grippers are equipped with flexible pads to protect the components and prevent damage when gripping them; in this embodiment, the flexible pads are silicone pads.

[0048] The first arm segment 2, the second arm segment 3, and the third arm segment 4 are all made of aluminum alloy. In this embodiment, the first arm segment 2, the second arm segment 3, and the third arm segment 4 are made of 6061-T6 aluminum alloy, which has high strength, high hardness, and good corrosion resistance. The tensile strength of the first arm segment 2, the second arm segment 3, and the third arm segment 4 is greater than or equal to 310 MPa.

[0049] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art will be able to make various obvious changes, readjustments, and substitutions without departing from the scope of protection of the present invention. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An auxiliary device for shipbuilding, characterized in that, include: The base (1) includes a fixed platform (11) having a bottom axis; First arm segment (2), the first arm segment (2) is rotatably connected to the fixed platform (11) about the bottom axis, the first arm segment (2) has a first axis, the first axis is perpendicular to the bottom axis; The second arm segment (3) is rotatably connected to the first arm segment (2) about the first axis, and the second arm segment (3) has a second axis parallel to the first axis; The third arm segment (4) is rotatably connected to the second arm segment (3) about the second axis, and the third arm segment (4) has a third axis parallel to the first axis; The quick-release head (5) includes a male disc (51) and a female disc (52). The male disc (51) is rotatably connected to the third arm segment (4) about the third axis. The female disc (52) is used to be fixedly connected to the end operating mechanism. The female disc (52) can be detachably connected to the male disc (51). A dust sensor is disposed on the public disk (51) or the end operating mechanism, and the dust sensor is used to detect dust concentration and emit an electrical signal.

2. The auxiliary device for shipbuilding according to claim 1, characterized in that... The third arm segment (4) includes a joint mechanism (41) and an arm segment body (42). The arm segment body (42) is rotatably connected to the second arm segment (3) through the joint mechanism (41), and the arm segment body (42) is rotatably disposed on the joint mechanism (41) around its own axis.

3. The auxiliary device for shipbuilding according to claim 2, characterized in that, The mother disk (52) is rotatably connected to the male disk (51) about its own axis.

4. The auxiliary device for shipbuilding according to claim 1, characterized in that, The auxiliary device for shipbuilding also includes a temperature and humidity sensor, which is installed on the public disk (51) or the end operation mechanism. The temperature and humidity sensor is used to detect the temperature and humidity of the air and send an electrical signal.

5. The auxiliary device for shipbuilding according to claim 1, characterized in that, The auxiliary device for shipbuilding also includes a camera, which is located on the public disk (51).

6. The auxiliary device for shipbuilding according to claim 1, characterized in that, The base (1) also includes a rotating platform (12), which is rotatably mounted on the fixed platform (11). An electromagnetic chuck is provided on the end face of the fixed platform (11) facing away from the rotating platform (12).

7. The auxiliary device for shipbuilding according to claim 1, characterized in that, The end-operation mechanism includes a clamping device (6) and a welding device.

8. The auxiliary device for shipbuilding according to claim 7, characterized in that, The clamping device (6) includes a mounting plate and jaws respectively disposed on both sides of the mounting plate. The two jaws are close to each other and can clamp objects.

9. The auxiliary device for shipbuilding according to claim 8, characterized in that, The grippers are provided with flexible pads.

10. The auxiliary device for shipbuilding according to any one of claims 1-9, characterized in that, The first arm segment (2), the second arm segment (3) and the third arm segment (4) are all made of aluminum alloy.

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