An intelligent welding robot for shipbuilding
By using a quadcopter drone payload platform and a multi-axis welding robotic arm system, combined with intelligent control and multimodal perception, the adaptability problem of traditional welding equipment in the complex environment of ships has been solved, achieving efficient and stable welding results.
Patent Information
- Application Number
- CN202511058357.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-30
- Publication Date
- 2026-06-23
AI Technical Summary
Traditional welding equipment cannot adapt to the narrow space and complex curved structure of ships, lacks maneuverability and dynamic compensation capabilities, resulting in unstable welding quality and difficulty in covering complex weld seam areas of the hull.
It adopts a quadcopter drone payload platform equipped with shock absorption devices and a multi-axis welding robotic arm system, combined with a three-axis active gimbal and a multi-modal sensing unit to achieve intelligent control and dynamic compensation. It is equipped with an AI intelligent module and a human-machine collaboration module to support remote intervention.
It enables all-around welding of the hull, improves welding quality and efficiency, reduces rework rate and construction costs, and ensures the safety of autonomous operation in complex environments.
Smart Images
Figure CN122252875A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of welding robot technology, specifically to an intelligent marine welding robot. Background Technology
[0002] A welding robot is an automated device specifically designed to perform welding processes. Using robotic arms or other actuators, it automatically completes welding tasks according to a pre-set program or by adjusting in real time through sensors and a control system. Welding robots typically feature high precision, good repeatability, and high efficiency, making them suitable for various complex welding tasks. They are particularly effective in large-scale production, significantly improving both production efficiency and welding quality.
[0003] However, traditional welding equipment is bulky and heavy, making it unsuitable for operations in the narrow spaces of ships. Fixed welding systems lack mobility and cannot cover the complex curved surfaces of the hull. The accessibility of high-altitude work surfaces is poor, resulting in a large number of welding blind spots. Furthermore, existing equipment lacks dynamic compensation capabilities and cannot adapt to assembly errors. Vibration interference during the welding process leads to unstable weld quality. At the same time, ship structures have a large number of complex welds with curved surfaces, sharp corners, T-joints, etc., which traditional robotic arms lack the degree of freedom to adapt flexibly. Summary of the Invention
[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.
[0005] To achieve the above objectives, the present invention provides the following technical solution:
[0006] A marine intelligent welding robot includes: The quadcopter drone payload platform includes a fuselage, a force / torque sensor installed inside the fuselage, an AI intelligent module, an autonomous operation module, a human-machine collaboration module, and a multimodal perception unit. A shock-absorbing device fixedly connected to the bottom of the quadcopter drone payload platform, and a welding robotic arm system connected to the quadcopter drone payload platform through the shock-absorbing device, the welding robotic arm system including a base rotation unit, a Y-axis servo motor, a first rotating arm, a Z-axis servo motor and a second rotating arm; A three-axis active gimbal device is fixedly installed at the end of the welding robotic arm system, and a welding actuator is connected to the welding robotic arm system through the three-axis active gimbal device; The surface of the welding actuator is equipped with a gyroscope and accelerometer real-time detection module.
[0007] As a further embodiment of the present invention: the shock absorption device further includes an air spring and a silicone shock absorption pad, the air spring is arranged in a ring array between the quadcopter UAV payload platform and the welding robotic arm system, and the silicone shock absorption pad is disposed on the contact surface between the air spring and the welding robotic arm system.
[0008] As a further embodiment of the present invention: the base rotation unit is driven by a direct drive motor to achieve 360° rotation in the horizontal plane, the Y-axis servo motor is used to drive the first rotating arm to move up and down in the vertical direction, and the Z-axis servo motor is used to drive the second rotating arm to achieve axial extension and retraction.
[0009] As a further embodiment of the present invention: the three-axis active gimbal device further includes a yaw axis motor, a yaw axis bracket, a roll axis motor, a roll axis bracket and a pitch axis motor. The yaw axis motor is used to drive the yaw axis bracket to achieve azimuth adjustment, the roll axis motor is used to drive the roll axis bracket to achieve roll adjustment, and the pitch axis motor is used to drive the welding actuator to achieve pitch adjustment.
[0010] As a further aspect of the present invention: the real-time detection module for the gyroscope and accelerometer also includes a three-axis MEMS gyroscope and a three-axis accelerometer, used to monitor the attitude angle and vibration data of the welding actuator in real time.
[0011] As a further aspect of the present invention, the multimodal perception unit also includes a lidar and a vision sensor for constructing a three-dimensional environment map and detecting dynamic obstacles.
[0012] As a further aspect of the present invention: the AI intelligent module integrates a multimodal Transformer architecture model for fault prediction, real-time decision optimization, and multimodal anomaly detection.
[0013] As a further aspect of the present invention: the autonomous operation module incorporates a laser SLAM algorithm and a welding path planner for automatic weld seam recognition and collision-free trajectory generation.
[0014] As a further aspect of the present invention: the human-machine collaboration module is equipped with a G communication unit and an AR visualization interface, which supports remote marking of welding paths or emergency intervention.
[0015] As a further aspect of the present invention: the yaw axis motor, roll axis motor and pitch axis motor all integrate high-precision photoelectric encoders, and are combined with Kalman filtering algorithm to eliminate mechanical backlash.
[0016] Compared with the prior art, the beneficial effects of the present invention are: This invention overcomes spatial limitations by using a quadcopter drone as a payload platform to cover the entire welding area of the ship's hull. The shock absorption device and the three-axis active gimbal work together to suppress multi-source vibrations and improve welding quality. The multi-axis linkage design of the welding robotic arm system covers complex welds on the curved surfaces, edges, and narrow areas inside the hull. The gyroscope and accelerometer real-time detection module achieves millisecond-level dynamic compensation to ensure welding accuracy. The AI intelligent module and the multimodal perception unit construct an intelligent closed-loop control to achieve autonomous operation in complex environments. The human-machine collaboration module supports remote intervention, improves operational safety, significantly improves welding efficiency, and reduces rework rates and construction costs. Attached Figure Description
[0017] Figure 1 A schematic diagram of the structure of a marine intelligent welding robot; Figure 2 A schematic diagram of a shock absorption device in a marine intelligent welding robot; Figure 3 A top view of a shock absorption device structure in a marine intelligent welding robot; Figure 4 This is a schematic diagram of the welding robotic arm system in a marine intelligent welding robot. Figure 5 This is a schematic diagram of the three-axis active gimbal device in a marine intelligent welding robot.
[0018] In the diagram: 1. Quadcopter UAV payload platform; 2. Force / torque sensor; 3. AI intelligent module; 4. Autonomous operation module; 5. Human-machine collaboration module; 6. Multimodal perception unit; 7. Vibration damping device; 8. Welding robotic arm system; 9. Base rotation unit; 10. Y-axis servo motor; 11. First rotating arm; 12. Z-axis servo motor; 13. Second rotating arm; 14. Three-axis active gimbal device; 15. Welding actuator; 16. Gyroscope and accelerometer real-time detection module; 17. Air spring; 18. Silicone shock-absorbing pad; 19. Yaw axis motor; 20. Yaw axis bracket; 21. Roll axis motor; 22. Roll axis bracket; 23. Pitch axis motor. Detailed Implementation
[0019] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
[0020] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.
[0021] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.
[0022] Example 1 Please see Figure 1-5 This is the first embodiment of the present invention, which provides a marine intelligent welding robot, comprising: The quadcopter drone payload platform 1 includes a main body, a force / torque sensor 6 installed inside the main body, an AI intelligent module 7, an autonomous operation module 8, a human-machine collaboration module 9, and a multimodal perception unit 10. The shock absorption device 11 is fixedly connected to the bottom of the quadcopter drone payload platform 1, and the welding robotic arm system 2 is connected to the quadcopter drone payload platform 1 through the shock absorption device 11. The welding robotic arm system 2 includes a base rotation unit 14, a Y-axis servo motor 15, a first rotating arm 16, a Z-axis servo motor 17, and a second rotating arm 18. A three-axis active gimbal device 4 is fixedly installed at the end of the welding robotic arm system 2, and a welding actuator 3 is connected to the welding robotic arm system 2 through the three-axis active gimbal device 4; The surface of the welding actuator 3 is equipped with a gyroscope and accelerometer real-time detection module 5.
[0023] Specifically, the shock absorption device 11 also includes an air spring 12 and a silicone shock absorber 13. The air spring 12 is arranged in a ring array between the quadcopter UAV payload platform 1 and the welding robotic arm system 2, and the silicone shock absorber 13 is disposed on the contact surface between the air spring 12 and the welding robotic arm system 2.
[0024] Furthermore, the air spring 12 effectively buffers the low-frequency vibrations generated during the flight of the quadcopter drone payload platform 1 through air pressure regulation, while the silicone shock-absorbing pad 13 absorbs the high-frequency mechanical vibrations during the operation of the welding robotic arm system 2. The synergistic effect of the two significantly improves the working stability of the welding actuator 3.
[0025] Specifically, the base rotation unit 14 is driven by a direct drive motor to achieve 360° rotation in the horizontal plane, the Y-axis servo motor 15 is used to drive the first rotating arm 16 to move up and down in the vertical direction, and the Z-axis servo motor 17 is used to drive the second rotating arm 18 to achieve axial extension and retraction.
[0026] Furthermore, the base rotation unit 14 provides omnidirectional motion capability in the horizontal plane, and the Y-axis servo motor 15 and Z-axis servo motor 17 control the spatial position of the first rotating arm 16 and the second rotating arm 18 respectively, so that the welding robotic arm system 2 can flexibly reach the welding points at various positions on the hull.
[0027] Specifically, the three-axis active gimbal device 4 also includes a yaw axis motor 19, a yaw axis bracket 20, a roll axis motor 21, a roll axis bracket 22, and a pitch axis motor 23. The yaw axis motor 19 is used to drive the yaw axis bracket 20 to achieve azimuth adjustment, the roll axis motor 21 is used to drive the roll axis bracket 22 to achieve roll adjustment, and the pitch axis motor 23 is used to drive the welding actuator 3 to achieve pitch adjustment.
[0028] Furthermore, the yaw axis motor 19, roll axis motor 21 and pitch axis motor 23 achieve three-axis linkage through the yaw axis bracket 20 and roll axis bracket 22 respectively, ensuring that the welding actuator 3 can maintain the best welding posture under various working conditions.
[0029] Specifically, the real-time detection module 5 for gyroscopes and accelerometers also includes a three-axis MEMS gyroscope and a three-axis accelerometer, which are used to monitor the attitude angle and vibration data of the welding actuator 3 in real time.
[0030] Furthermore, the gyroscope and accelerometer real-time detection module 5 detects changes in angular velocity through a three-axis MEMS gyroscope and measures linear vibration through a three-axis accelerometer, providing accurate compensation data for the three-axis active gimbal device 4.
[0031] Specifically, the multimodal perception unit 10 also includes a lidar and a vision sensor for constructing a three-dimensional environment map and detecting dynamic obstacles.
[0032] Furthermore, the lidar in the multimodal perception unit 10 provides accurate distance measurement, and the visual sensor acquires environmental image information. The data fusion of the two provides accurate environmental perception for the autonomous operation module 8.
[0033] Specifically, the AI intelligent module 7 integrates a multimodal Transformer architecture model for fault prediction, real-time decision optimization, and multimodal anomaly detection.
[0034] Furthermore, the AI intelligent module 7 analyzes multi-source data, including force / torque sensor 6, gyroscope, and accelerometer real-time detection module 5, to achieve intelligent monitoring and optimization of the welding process.
[0035] Specifically, the autonomous operation module 8 has a built-in laser SLAM algorithm and welding path planner for automatic weld seam recognition and collision-free trajectory generation.
[0036] Furthermore, the autonomous operation module 8 utilizes the environmental data collected by the multimodal sensing unit 10 to construct a three-dimensional map using the laser SLAM algorithm and plan the optimal welding path.
[0037] Specifically, the human-machine collaboration module 9 is equipped with a 5G communication unit and an AR visualization interface, which supports remote marking of welding paths or emergency intervention.
[0038] Furthermore, the human-machine collaboration module 9 enables remote monitoring through 5G communication, and the AR visualization interface intuitively displays welding parameters and operation status, facilitating manual intervention.
[0039] Specifically, the yaw axis motor 19, roll axis motor 21 and pitch axis motor 23 all integrate high-precision photoelectric encoders, and are combined with Kalman filtering algorithm to eliminate mechanical backlash.
[0040] Furthermore, the yaw axis motor 19, roll axis motor 21, and pitch axis motor 23 achieve precise position feedback through photoelectric encoders, and the motion control accuracy of the three-axis active gimbal device 4 is improved by combining the Kalman filter algorithm.
[0041] In use, the operator first sets the welding task parameters through the AR visualization interface of the human-machine collaboration module 9. The autonomous operation module 8 automatically plans the optimal welding path based on the environmental data collected by the multimodal perception unit 10. The quadcopter drone carrying platform 1, equipped with the welding robotic arm system 2, flies to the work area, and the shock absorption device 11 effectively suppresses flight vibration. During the welding process, the three-axis active gimbal device 4 dynamically adjusts the attitude of the welding actuator 3 based on the feedback data from the gyroscope and accelerometer real-time detection module 5. The AI intelligent module 7 monitors the welding quality in real time and optimizes the process parameters. When encountering complex welds or emergencies, the operator can remotely intervene through the human-machine collaboration module 9 to ensure the safe and efficient completion of the welding operation. The entire system achieves fully autonomous and precise welding in complex spaces such as high altitudes and narrow spaces in shipbuilding through the collaborative work of each module.
[0042] In summary, the quadcopter drone payload platform 1 overcomes spatial limitations, covering the entire welding area of the hull. The vibration damping device 11 and the three-axis active gimbal device 4 work together to suppress multi-source vibrations and improve welding quality. The multi-axis linkage design of the welding robotic arm system 2 covers complex welds on the curved surfaces, edges, and narrow areas inside the hull. The gyroscope and accelerometer real-time detection module 5 achieves millisecond-level dynamic compensation to ensure welding accuracy. The AI intelligent module 7 and the multimodal perception unit 10 construct an intelligent closed-loop control to achieve autonomous operation in complex environments. The human-machine collaboration module 9 supports remote intervention, improves operational safety, significantly improves welding efficiency, and reduces rework rate and construction costs.
[0043] Example 2 Please see Figure 1-5This is the second embodiment of the present invention, which provides a marine intelligent welding robot system based on multimodal perception, comprising: The quadcopter drone payload platform 1, welding robotic arm system 2, and three-axis active gimbal device 4 are equipped with force / torque sensor 6, AI intelligent module 7, autonomous operation module 8, human-machine collaboration module 9, and multimodal perception unit 10. The quadcopter drone payload platform 1 is connected to welding robotic arm system 2 through shock absorption device 11. Welding robotic arm system 2 is connected to welding actuator 3 through three-axis active gimbal device 4.
[0044] Force / Torque Sensor 6: Installed at the center of gravity of the UAV fuselage, with a range of ±200N / ±10Nm, used for real-time monitoring of flight load changes and external disturbances; AI Intelligent Module 7: Integrates a pre-trained multimodal Transformer architecture model, which achieves full life-cycle health management by fusing force sensor data, motor current timing signals, LiDAR point clouds, and infrared thermal imaging data, including functions such as fault prediction, real-time decision optimization, and multimodal anomaly detection; Autonomous Operation Module 8: Built-in laser SLAM algorithm and welding path planner, supporting automatic weld seam recognition and collision-free trajectory generation based on the hull 3D point cloud model; Human-Machine Collaboration Module 9: Equipped with a 5G communication unit and AR visualization interface, supporting operators to remotely annotate welding paths or intervene in emergencies; Multimodal Perception Unit 10: Composed of a 16-line LiDAR scanning frequency of 10Hz, ranging accuracy (±2cm), and a global shutter binocular camera resolution (1280×1024, frame rate 30fps), realizing centimeter-level mapping of the dock environment and dynamic obstacle detection.
[0045] The shock absorption device 11 consists of an air spring 12 and a silicone shock absorber 13. The air spring 12 is a set of four airbag-type air springs arranged in a ring array. Each set has a load capacity of 3kN and the air pressure is adjusted by a PID controller (0.2-0.8MPa) to suppress low-frequency vibrations with a frequency of ≤20Hz. The silicone shock absorber 13 is set between the air spring 12 and the robotic arm base. It is made of oil-resistant fluorosilicone rubber with a Shore hardness of (60±5) and is used to attenuate high-frequency vibrations (≥200Hz) with an amplitude attenuation rate of ≥90%.
[0046] The welding robotic arm system 2 consists of a base rotation unit 14, a Y-axis servo motor 15, a first rotating arm 16, a Z-axis servo motor 17, and a second rotating arm 18. The base rotation unit 14 uses a DD direct drive motor (torque (120Nm)) to achieve ±180° continuous rotation with a repeatability of ±0.01°. The Y-axis servo motor 15 drives the first rotating arm 16 to move in the vertical plane with a stroke of 1.2m and a maximum speed of 2m / s. The Z-axis servo motor 17 drives the second rotating arm 18 through a harmonic reducer (reduction ratio 1:100), outputting a torque of 45Nm and an end-effector repeatability of ±0.05mm. The force-controlled joint module has a built-in strain gauge torque sensor in each joint (range (±50Nm)) to achieve adaptive contact force adjustment (50~200N±5N) under impedance control.
[0047] The three-axis active gimbal device 4 consists of a yaw axis motor 19, a yaw axis bracket 20, a roll axis motor 21, a roll axis bracket 22, and a pitch axis motor 23. The yaw axis motor 19 uses a coreless motor (rated speed 5000 rpm) and a harmonic reducer (reduction ratio 1:50) to drive the yaw axis bracket 20 to achieve ±180° azimuth adjustment with an angular resolution of 0.001°. The roll axis motor 21 is integrated inside the yaw axis bracket 20 and supports the roll axis bracket 22 through cross roller bearings, with an adjustment range of ±45° and a dynamic response bandwidth ≥100Hz. The pitch axis motor 23 is equipped with a high-precision photoelectric encoder (17-bit resolution) to drive the welding torch pitch angle (-90°~+90°) and uses a Kalman filter algorithm to eliminate mechanical backlash.
[0048] The actuator 3 has a gyroscope and accelerometer real-time detection module 5. The three-axis MEMS gyroscope has a range of ±2000° / s and a noise density of 0.005, which is used to detect the yaw, roll, and pitch angular velocities of the welding torch. The three-axis accelerometer has a range of ±16g and a resolution of 0.5mg, which monitors the impact and vibration acceleration during the welding process in real time. The data fusion unit fuses the gyroscope and accelerometer data based on the extended Kalman filter (EKF), outputs the welding torch end attitude angle (accuracy ±0.1°) and linear vibration amplitude (accuracy ±0.01mm), and feeds it back to the gimbal control unit through the RS422 interface.
[0049] It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible (e.g., changes in the size, dimensions, structure, shape, and proportions of various elements, as well as parameter values (e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in this application). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of elements may be inverted or otherwise altered, and the nature or number or position of discrete elements may be changed or altered. Therefore, all such modifications are intended to be included within the scope of the invention. The order or sequence of any process or method steps may be changed or rearranged according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and not only structurally equivalent but also equivalent in structure. Other substitutions, modifications, alterations, and omissions may be made in the design, operation, and arrangement of the exemplary embodiments without departing from the scope of the invention. Therefore, the present invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.
[0050] Furthermore, in order to provide a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features that are not relevant to the best mode of carrying out the invention as currently considered, or those features that are not relevant to implementing the invention) may be omitted.
[0051] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.
[0052] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.
Claims
1. A marine intelligent welding robot, characterized in that: include: The quadcopter drone payload platform (1) includes a fuselage body, a force / torque sensor (6) installed inside the fuselage body, an AI intelligent module (7), an autonomous operation module (8), a human-machine collaboration module (9), and a multimodal perception unit (10). A shock-absorbing device (11) is fixedly connected to the bottom of the quadcopter drone payload platform (1), and a welding robotic arm system (2) is connected to the quadcopter drone payload platform (1) through the shock-absorbing device (11). The welding robotic arm system (2) includes a base rotation unit (14), a Y-axis servo motor (15), a first rotating arm (16), a Z-axis servo motor (17), and a second rotating arm (18). A three-axis active gimbal device (4) is fixedly installed at the end of the welding robotic arm system (2), and a welding actuator (3) is connected to the welding robotic arm system (2) through the three-axis active gimbal device (4). The surface of the welding actuator (3) is provided with a gyroscope and accelerometer real-time detection module (5).
2. The marine intelligent welding robot according to claim 1, characterized in that: The shock absorption device (11) also includes an air spring (12) and a silicone shock absorber (13). The air spring (12) is arranged in a ring array between the quadcopter UAV payload platform (1) and the welding robotic arm system (2). The silicone shock absorber (13) is disposed on the contact surface between the air spring (12) and the welding robotic arm system (2).
3. The marine intelligent welding robot according to claim 1, characterized in that: The base rotation unit (14) is driven by a direct drive motor to achieve 360° rotation in the horizontal plane. The Y-axis servo motor (15) is used to drive the first rotating arm (16) to rise and fall in the vertical direction. The Z-axis servo motor (17) is used to drive the second rotating arm (18) to achieve axial extension and retraction.
4. The marine intelligent welding robot according to claim 1, characterized in that: The three-axis active gimbal device (4) also includes a yaw axis motor (19), a yaw axis bracket (20), a roll axis motor (21), a roll axis bracket (22), and a pitch axis motor (23). The yaw axis motor (19) is used to drive the yaw axis bracket (20) to achieve azimuth adjustment, the roll axis motor (21) is used to drive the roll axis bracket (22) to achieve roll adjustment, and the pitch axis motor (23) is used to drive the welding actuator (3) to achieve pitch adjustment.
5. The marine intelligent welding robot according to claim 1, characterized in that: The real-time detection module (5) for gyroscope and accelerometer also includes a three-axis MEMS gyroscope and a three-axis accelerometer, which are used to monitor the attitude angle and vibration data of the welding actuator (3) in real time.
6. The marine intelligent welding robot according to claim 1, characterized in that: The multimodal perception unit (10) also includes a lidar and a vision sensor for constructing a three-dimensional environment map and detecting dynamic obstacles.
7. The marine intelligent welding robot according to claim 1, characterized in that: The AI intelligent module (7) integrates a multimodal Transformer architecture model for fault prediction, real-time decision optimization, and multimodal anomaly detection.
8. The marine intelligent welding robot according to claim 1, characterized in that: The autonomous operation module (8) has a built-in laser SLAM algorithm and welding path planner for automatic weld seam recognition and collision-free trajectory generation.
9. The marine intelligent welding robot according to claim 1, characterized in that: The human-machine collaboration module (9) is equipped with a 5G communication unit and an AR visualization interface, which supports remote marking of welding paths or emergency intervention.
10. A marine intelligent welding robot according to claim 1, characterized in that: The yaw axis motor (19), roll axis motor (21) and pitch axis motor (23) all integrate high-precision photoelectric encoders and are combined with Kalman filtering algorithm to eliminate mechanical backlash.