Multifunctional ship segmented assembly robot

Abstract

The utility model provides a multifunctional ship segmented assembly robot which comprises a universal wheel mechanical arm, an electromagnet mechanical arm, mechanical feet, a control mechanism and a chassis, and an operation mechanical arm is fixed above the chassis. The universal wheel mechanical arm and the electromagnet mechanical arm component are movably connected with the chassis; the mechanical feet are connected with the chassis; the control mechanism is in signal connection with all the mechanical arm components, the chassis and the mechanical feet. According to the utility model, the electromagnet mechanical arm carrying the electromagnet is mounted on the chassis, so that the robot can be electrified to be adsorbed on the surface of a working area, and the four universal wheel mechanical arms carrying the universal wheels are adopted, so that the robot has extremely strong shock resistance and shock absorption capability, and can smoothly operate in an uneven place; and the mechanical feet and the operation mechanical arms are combined, so that the overall working efficiency is improved, partition plates of ship segmented areas are effectively spanned, and efficient operation in multiple environments is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of ship assembly, in particular to a multi-functional ship section assembly robot. Background Art

[0002] When assembling ship sections, rust removal, welding and painting work need to be carried out on the area to be processed. At present, the main working method is manual operation, and the plates that can be processed by machines only account for about 20% of the simplest processing parts; the manual working environment has characteristics such as tricky angles, extremely high temperatures, low oxygen content, and dangerous heights. The existing machine welding technology can process few types of plates, cannot replace manual labor in high-risk environments to reduce the risk of manual operation, and cannot improve the overall work efficiency during the entire ship section assembly process. Content of the Utility Model

[0003] The purpose of the utility model is to provide a device that can achieve efficient ship section assembly work in multiple environments.

[0004] To achieve the above object, the utility model provides a multi-functional ship section assembly robot, which includes a universal wheel manipulator, an electromagnet manipulator, mechanical feet, a control mechanism and a chassis: an operation manipulator is fixedly installed above the chassis; the chassis includes a top plate, a bottom plate, a chassis drive mechanism and a connection end, the top plate is fixed above the bottom plate and is arranged concentrically; the connection end is connected between the top plate and the bottom plate, and is evenly distributed and fixed around the periphery of the top and bottom plates around the central axis; the universal wheel manipulator and the electromagnet manipulator components surround the chassis and are respectively movably connected to the chassis through the connection end; a transmission mechanism is also arranged in the connection end, and the transmission mechanism is in transmission connection with the chassis drive mechanism through a transmission shaft; the mechanical feet are connected to the chassis through the connection end.

[0005] The control mechanism is in signal connection with the universal wheel manipulator, the electromagnet manipulator, the operation manipulator, the chassis and the mechanical feet.

[0006] Further, the universal wheel manipulator includes a first universal arm, a second universal arm and a third universal arm. One end of the third universal arm is connected with a universal wheel through a bearing bracket, and the other end is respectively connected to the first universal arm and the second universal arm through a first fixing bracket and a second fixing bracket. The first universal arm is arranged parallel above the second universal arm.

[0007] The first universal arm is a hydraulic mechanism, including a universal arm hydraulic rod and a universal arm hydraulic cylinder. One end of the universal arm hydraulic rod is connected to the first fixing bracket, and the other end is connected to the connection end through the universal arm hydraulic cylinder.

[0008] The second universal arm is composed of a single-axis hydraulic cylinder, and its length is controlled by a hydraulic mechanism. Its length is controlled by a hydraulic tank composed of components such as an overflow valve of an externally connected hydraulic pump. One end of the second universal arm is connected to the second fixing frame, and the other end is connected to a transmission mechanism, so that the second universal arm is connected to the chassis drive mechanism through the transmission mechanism;

[0009] A thrust ball bearing is provided at the connection between the third universal arm and the bearing frame, and an A servo motor is installed above the thrust ball bearing through a rudder machine frame;

[0010] The first universal arm, the second universal arm, the third universal arm and the connection end form a quadrilateral link structure.

[0011] Furthermore, the electromagnetic manipulator includes a first electromagnetic arm, a second electromagnetic arm and a third electromagnetic arm:

[0012] One end of the third electromagnetic arm is connected to an electromagnet through an electromagnet frame, and the other end is provided with a bent connecting wing. The first electromagnetic arm and the second electromagnetic arm are respectively connected to the bent connecting wing through a first screw rod frame and a second screw rod frame, and the first electromagnetic arm is arranged parallel above the second electromagnetic arm;

[0013] The first electromagnetic arm includes an electromagnetic arm hydraulic rod and an electromagnetic arm hydraulic cylinder. One end of the electromagnetic arm hydraulic rod is connected to the first screw rod frame, and the other end is connected to the connection end through the electromagnetic arm hydraulic cylinder;

[0014] The second electromagnetic arm is composed of a single-axis hydraulic cylinder, and its length is controlled by a hydraulic mechanism. Its length is controlled by a hydraulic tank composed of components such as an overflow valve of an externally connected hydraulic pump. One end of the second electromagnetic arm is connected to the second screw rod frame, and the other end is connected to a transmission mechanism, so that the second electromagnetic arm is connected to the chassis drive mechanism through the transmission mechanism;

[0015] A B servo motor is also installed between the third electromagnetic arm and the electromagnet through a rudder machine frame to control the magnetic attraction direction of the electromagnet;

[0016] The first electromagnetic arm, the second electromagnetic arm, the third electromagnetic arm and the connection end form a quadrilateral link structure.

[0017] Furthermore, the operating manipulator is arranged above the chassis and at the central position on the top plate;

[0018] The operating manipulator includes an operating motor, a rotating body, a first operating rod and a second operating rod: The shaft end of the operating motor is connected to the rotating body through a shaft end sleeve;

[0019] A C servo is fixedly installed above the rotating body, and the C servo is connected to the first operating rod; the first operating rod is movably connected to the second operating rod;

[0020] A transmission gear and a D servo are arranged inside the first operating rod, and the transmission gear is connected to the second operating rod;

[0021] The end of the second operating rod is connected to a member through an E servo, and the member is connected to a multi-functional tool holder through a first-stage F servo and to a camera holder through a second-stage F servo. A camera is installed inside the camera holder, and the camera can upload the images collected in real time to the cloud for processing.

[0022] Furthermore, the upper top plate and the lower top plate form a hexagonal prism with six identical sides; six connection ends are evenly arranged on the chassis, and the six connection ends are respectively installed on the six sides of the hexagonal prism; through the six connection ends, the chassis is installed with four universal wheel robotic arms and two electromagnet robotic arms. The two electromagnet robotic arms are arranged oppositely on the chassis, and the universal wheel robotic arms are respectively installed between the two oppositely arranged electromagnets.

[0023] Furthermore, a tray is installed below the periphery of the bottom plate through a lead screw; a bottom plate electromagnet is installed at the center position below the bottom plate, and four secondary electromagnets are installed at the bottom ends of the bottom plate support feet; the function of the bottom plate electromagnet is: when the ship section assembly robot is in the working state, to enhance the adsorption force on the hull and ensure good working accuracy of the robotic arm; six bull's eye balls are evenly installed at the bottom of the bottom plate of the chassis to protect the bottom plate electromagnet; a chassis control board is also installed between the top plate and the bottom plate.

[0024] When the ship section assembly robot is in the flat ground moving state, the bottom plate electromagnet in the middle of the bottom plate is in the off state; when the ship section assembly robot enters the hanging state, the bottom plate electromagnet in the middle of the chassis will be turned on to cooperate with the electromagnetic arm for hanging movement. At this time, the bull's eye balls in the middle of the chassis play a role in protecting the four secondary electromagnets in the middle of the chassis.

[0025] Furthermore, the operating motor is arranged below the operating motor bracket and is arranged at the center position on the top plate of the chassis through the operating motor bracket; a thrust ball bearing is arranged between the operating motor bracket and the rotating body.

[0026] Furthermore, in the electromagnet robotic arm, the electromagnet is placed inside the electromagnet bracket and fixed through a fastening nut.

[0027] Furthermore, the transmission mechanism is a worm and worm gear structure; the chassis drive mechanism is a chassis motor, and its function is to adjust the position and direction of the ends of the universal wheel robotic arm and the electromagnet robotic arm through the worm and worm gear.

[0028] Further, a turbine shaft is provided in the inner hole of the worm gear, and the mechanical foot is fixed to the turbine shaft by a flat key; a flange is provided at the shaft end of the turbine shaft, and the flange is bolted to the third universal arm or the third electromagnetic arm, so that the flange rotates with the third universal arm or the third electromagnetic arm.

[0029] Further, the surfaces of the universal wheel robotic arm, the electromagnet robotic arm, the mechanical foot, the top plate, the connection end, and the connection end are all coated with a paint protective layer that is resistant to high temperature and arc light.

[0030] Further, in the operating robotic arm, the camera is rotatably mounted in the mounting bracket; a Raspberry Pi control board is also built into the operating robotic arm.

[0031] Further, the camera is a remote camera, and a protective cover is fixedly mounted on its outer surface, and the protective cover is a transparent cover.

[0032] Further, both the operating motor and the chassis motor are stepper motors.

[0033] The control mechanism includes a chassis control board and an operating arm control board. The chassis control board and the operating arm control board are respectively communicatively connected to the host computer. Among them, the host computer is used to analyze the original image collected by the camera, plan the optimal path in real time in Matlab, and mark the area to be welded; the chassis control board is arranged between the top plate and the bottom plate in the chassis connection end, and is used to receive the optimal path information planned by the host computer, and according to the optimal path information, integrally control 7 stepper motors, thereby controlling the movement of the robot; the operating arm control board, that is, the Raspberry Pi control board, is built into the operating robotic arm, and is used to receive the welding area marked by the host computer and drive the servo motor of the operating robotic arm to drive the operating robotic arm to move.

[0034] The system used by the robot includes the following modules:

[0035] Acquisition module: used to acquire the image of the target area and obtain the original data;

[0036] Image recognition module: By introducing the CA attention mechanism into the YOLOv8 model and adopting the Mosaic data augmentation method, target detection is performed to recognize the image;

[0037] Path planning module: Through the A* search algorithm and the optimized DWA fusion algorithm, the path planning for the movement of the robot device is trained;

[0038] Drive module: Through image recognition, drive the robotic arm to work; through path planning, drive the six mechanical feet of the robot to move.

[0039] Furthermore, the specific method of introducing the CA attention mechanism into the YOLOv8 model is as follows: Add the code of the CA module in YOLOv8 and add the code of the CA module in the C3 module, and add these two classes to the parse_model function in yolov8.py, so as to introduce the CA attention mechanism.

[0040] Furthermore, the specific method of using Mosaic data augmentation for object detection to identify images is as follows: 1) Randomly select the coordinates (xc, yc) of the picture stitching reference point in YOLOv8 and randomly select four pictures; 2) Place the four pictures at the upper left, upper right, lower left, and lower right positions after size adjustment and scale scaling according to the reference point; 3) Map the mapping relationship to the picture label according to the size transformation method of each picture; 4) Stitch the large picture according to the specified horizontal and vertical coordinates, and process the detection box coordinates that exceed the boundary.

[0041] Furthermore, the method for training the path planning of the robot's movement by fusing the A* search algorithm and the optimized DWA algorithm is to find the optimal path points on the fine-scale map of the improved A* algorithm and extract them as the local target points of the DWA algorithm. In DWA, it is judged whether there are position obstacles on the global path according to the sensor information. If there are position obstacles, the A* planning is re-performed according to the current information. The specific steps include:

[0042] S1: Obtain the environmental information, obstacle information, and set the path start and end points;

[0043] S2: Establish a multi-scale map according to the existing information, and update the cost function according to the obstacle ratio;

[0044] S3: Perform A* planning in the coarse-scale map and map the optimal path into the fine-scale map;

[0045] S4: Judge whether there are obstacles on this path in the fine-scale map. If not, directly proceed to step S5; if so, perform A* planning again in the fine-scale map, update the optimal path, and then proceed to S5

[0046] S5: Optimize the nodes with the Floyd algorithm, and extract each key node of the global path as the local target point;

[0047] S6: Update the weight coefficient of the evaluation function according to the current position of the robot;

[0048] S7: Call the DWA algorithm with the heading angle adaptive adjustment strategy, continuously update the position information and speed information during the robot's movement, and finally reach the destination for operation.

[0049] The working principle of the present utility model is as follows: Place the robot of the present utility model near the area to be processed in the ship section assembly, and keep a certain distance to avoid affecting the movement of the remote camera. The remote camera is started by connecting it to an external power supply through a wire. After setting the capture program, connect the F second-level servo to the power supply through a wire and start it. The F second-level servo drives the camera frame to move, thereby driving the remote camera to cruise and capture. The captured image information is transmitted to an external data receiving device through a wireless network, and this external data receiving device is the host computer.

[0050] Compared with the prior art, the advantages of the present utility model are as follows:

[0051] 1. By installing four universal wheel robotic arms on the chassis of the present utility model and using four robotic arms to carry the universal wheels, it has extremely strong seismic and shock absorption capabilities, facilitating the smooth operation of the robot device in uneven places, thereby improving the quality of camera image acquisition.

[0052] 2. By installing two electromagnet robotic arms on the chassis of the present utility model and using two robotic arms to carry the electromagnets, the robot device can be electrified and adsorbed on the surface of the working area. Then, in cooperation with the four universal wheel robotic arms and the operating robotic arm, the overall working efficiency is improved, effectively crossing the partition plates in the ship section area, and achieving efficient operation in multiple environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 Schematic diagram of the connection structure between the universal wheel robotic arm and the chassis in the embodiment of the present utility model;

[0054] Figure 2 Schematic diagram of the connection structure between the electromagnet robotic arm and the chassis in the embodiment of the present utility model;

[0055] Figure 3 and Figure 4 Schematic diagram of the structure of the operating robotic arm in the embodiment of the present utility model;

[0056] Figure 5 Schematic diagram of the cross-sectional structure of the chassis in the embodiment of the present utility model;

[0057] Figure 6 Schematic diagram of the bottom view structure of the chassis in the embodiment of the present utility model;

[0058] Figure 7 Schematic diagram of the top view structure of the chassis in the embodiment of the present utility model;

[0059] Figure 8 Schematic diagram of the flat-bottom translation of the robot in the embodiment of the present utility model;

[0060] Figure 9 Schematic diagram of the robot climbing on the wall in the embodiment of the present utility model;

[0061] Figure 10 Schematic diagram of the robot's suspended ceiling movement in the embodiment of the present utility model;

[0062] Figure 11 Schematic diagram of the robot's flat-bottom crossing in the embodiment of the present utility model;

[0063] Among them, 1-1, universal arm hydraulic cylinder, 1-2, first sealing ring, 1-3, universal arm hydraulic rod, 1-4, right I-shaped part fixing frame, 1-5, I-shaped part, 1-6, second I-shaped part fixing frame, 1-7, lead screw frame, 1-8, lead screw, 1-9, steering gear frame, 1-10, A steering gear, 1-11 bearing frame, 1-13, universal wheel, 1-12, thrust ball bearing, 1-14, first I-shaped part fixing frame;

[0064] 2-1, electromagnetic arm hydraulic cylinder, 2-2, second sealing ring, 2-3, electromagnetic arm hydraulic rod, 2-4, right lead screw frame, 2-5, second A lead screw, 2-6, second lead screw frame, 2-7, lead screw frame, 2-8, second B lead screw, 2-9, steering gear frame, 2-10, lead screw fixing frame, 2-11, B steering gear, 2-12, connecting piece, 2-13, electromagnet frame, 2-14, electromagnet, 2-15, fastening nut, 2-16, first lead screw frame;

[0065] 3-1, operating motor, 3-2, operating motor frame, 3-3, shaft end sleeve, 3-4, thrust ball bearing, 3-5, rotating body, 3-6, C steering gear 1, 3-7, first operating rod, 3-8, D steering gear, 3-9 transmission gear, 3-10 second operating rod, 3-11, E steering gear, 3-12, first-level rod, 3-14, F first-level steering gear, 3-15, F second-level steering gear, 3-16, tool holder, 3-17 camera holder, 3-18, camera;

[0066] 4-1, bottom plate, 4-2, bottom plate electromagnet, 4-3, bull's eye ball, 4-4, tray, 4-5, connection end, 4-6, worm, 4-7, turbine, 4-8, top plate, 4-9, chassis control board, 4-10, bottom plate lead screw, 4-11, transmission shaft, 4-12, turbine shaft, 4-13, chassis motor, 5, stm32 raspberry pi control board. Detailed implementation manners

[0067] To make the purpose, technical solutions and advantages of the present utility model clearer, the technical solutions of the present utility model will be further described below.

[0068] This embodiment proposes a multi-functional ship section assembly robot, and this robot is as Figures 1-5As shown, the system comprises four universal wheel manipulators 1, two electromagnet manipulators 2, a chassis 4, and a control mechanism. An operating manipulator 3 is fixedly mounted above the chassis 4. The four universal wheel manipulators 1 and the two electromagnet manipulators 2 surround the chassis 4 and are movably connected to the chassis 4 via the connecting edges 4-5 of the chassis 4. The control mechanism is connected to the universal wheel manipulators 1, the electromagnet manipulators 2, the operating manipulator 3, the chassis 4, and the mechanical foot signals. The two electromagnet manipulators 2 are positioned opposite each other via the chassis 4, with a universal wheel manipulator 1 mounted between the two opposing electromagnet manipulators 2. This divides the four universal wheel manipulators 1 into two equal groups, with the two groups of universal wheel manipulators 1 being symmetrical, with the axis of symmetry between the two opposing electromagnet manipulators 2 serving as the axis of symmetry.

[0069] The chassis 4 includes a top plate 4-8, a bottom plate 4-1 and a connecting end 4-5. Figures 5-7 As shown, the top plate 4-8 and the bottom plate 4-1 form a hexagonal prism with six identical sides. The top plate 4-8 is fixed above the bottom plate 4-1 and arranged coaxially. Six connecting ends 4-5 are connected between the top plate 4-8 and the bottom plate 4-1 via a bottom plate screw 4-10. They are evenly distributed and fixed on the six sides of the hexagonal prism formed by the top and bottom plates around the central axis of the top plate 4-8 and the bottom plate 4-1. A chassis motor 4-13 is located above the connecting ends 4-5, and the output end of the chassis motor 4-13 is connected to the transmission shaft 4-11. A worm 4-6 and a turbine 4-7 connected to the transmission shaft 4-11 are located within the connecting ends 4-5. A turbine shaft 4-12 is located within the turbine 4-7. The turbine 4-7 and the worm 4-6 are connected to the chassis motor 4-13 through the transmission shaft 4-11. At the same time, six bull's eye balls 4-3 are evenly installed on the bottom of the bottom plate 4-1 of the chassis 4; a tray 4-4 is installed on the periphery below the bottom plate 4-1 through the bottom plate screw rod 4-10. Figure 5 As shown, a chassis electromagnet 4-2 is installed at the center below the bottom plate 4-1, and a chassis control board 4-9 is also installed between the top plate 4-8 and the bottom plate 4-1.

[0070] In this embodiment, Figure 1 As shown, the universal wheel robot arm 1 includes a first universal arm, a second universal arm and a third universal arm, wherein, as shown in FIG. Figure 1As shown in the figure, the third universal arm includes a lead screw 1-8 and a lead screw bracket 1-7. One end of the lead screw 1-8 is connected to a universal wheel 1-13 through a bearing bracket 1-11, and the other end is connected to the lead screw bracket 1-7, and is respectively connected to the first universal arm and the second universal arm through a hydraulic rod 1-3 and an I-shaped part fixing bracket 1-6. Among them, the connection ends of the hydraulic rod 1-3 and the I-shaped part fixing bracket 1-6 are 4 cm apart. In addition, a thrust ball bearing 1-12 is provided at the upper end of the bearing bracket 1-11. A steering gear bracket 1-9 is installed above the thrust ball bearing 1-12, and a steering gear 1-10 is provided outside the steering gear bracket 1-9. The shaft end of the steering gear 1-10 is connected to the bearing bracket 1-11.

[0071] The first universal arm includes a universal arm hydraulic rod 1-3 and a universal arm hydraulic cylinder 1-1. One end of the universal arm hydraulic rod 1-3 is connected to the first I-shaped part fixing bracket 1-14, and the other end is connected to the connection end 4-5 through the universal arm hydraulic cylinder 1-1 by bolt hinge; a first sealing ring 1-2 is provided on the hydraulic rod 1-3.

[0072] The second universal arm includes an I-shaped part 1-5 and an I-shaped part fixing bracket 1-4. One end of the I-shaped part 1-5 is connected to the second I-shaped part fixing bracket 1-6, and the other end is connected to a turbine 4-7 in the chassis 4 through a worm gear shaft 4-12 of the turbine 4-7 in the chassis 4. Since the turbine 4-7 and the worm 4-6 are driven and connected to the chassis motor 4-13, the second universal arm is controlled by the chassis motor 4-13;

[0073] As Figure 1 shown, the first universal arm, the second universal arm, the third universal arm and the connection end 4-5 form a quadrilateral link structure.

[0074] In this embodiment, as Figure 2 shown, the electromagnetic robot arm 2 includes a first electromagnetic arm, a second electromagnetic arm and a third electromagnetic arm: Among them, the third electromagnetic arm includes a second B lead screw 2-8 and a lead screw bracket 2-7. The second B lead screw 2-8 is connected and fixed using a lead screw fixing bracket 2-10. One end of the second B lead screw 2-8 is installed with a B steering gear 2-11 through a steering gear bracket 2-9. The B steering gear 2-11 is fixed to a connecting member 2-12 through a shaft connection. An electromagnetic bracket 2-13 is thread-fixed on the connecting member 2-12. An electromagnet 2-14 is placed in the electromagnetic bracket 2-13 and fixed by a fastening nut 2-15; the other end of the lead screw 2-8 is connected to the lead screw bracket 2-7. The lead screw bracket 2-7 is connected with a bent connecting wing. The bent connecting wing is respectively connected to the first electromagnetic arm and the second electromagnetic arm through a first lead screw bracket 2-16 and a second lead screw bracket 2-6, and the first electromagnetic arm is kept parallel above the second electromagnetic arm.

[0075] As Figure 2As shown, the first electromagnetic arm includes an electromagnetic arm hydraulic rod 2-3 and an electromagnetic arm hydraulic cylinder 2-1. A second sealing ring 2-2 is sleeved on the electromagnetic arm hydraulic rod 2-3. One end of the electromagnetic arm hydraulic rod 2-3 is hinged and fixed to the first lead screw bracket 2-16 of the bent connecting wing on the third electromagnetic arm through bolts and bearings, and the other end is connected to the chassis connection end 4-5 through the electromagnetic arm hydraulic cylinder 2-1 by bolted hinge connection;

[0076] On the other hand, the second electromagnetic arm includes a second A lead screw 2-5 and a second A lead screw bracket 2-4. One end of the second A lead screw 2-5 is hinged and fixed to the second lead screw bracket 2-6 of the bent connecting wing on the third electromagnetic arm through bolts and bearings; the other end is provided with a second A lead screw bracket 2-4, and the second A lead screw bracket 2-4 is connected to the turbine 4-7 shaft in the chassis 4 through a shaft 4-12.

[0077] As Figure 2 shown, the first electromagnetic arm, the second electromagnetic arm, the third electromagnetic arm, and the connection end 4-5 form a quadrilateral link structure.

[0078] In this embodiment, as Figure 3 and Figure 4 shown, the operating robotic arm 3 is arranged above the center of the chassis top plate 4-8 through an operating motor bracket 3-2. As Figure 3 and Figure 4 shown, the operating robotic arm 3 includes an operating motor 3-1, a rotating body 3-5, a first operating rod 3-7, and a second operating rod 3-10. The first operating rod 3-7 is movably connected to the second operating rod 3-10. Among them, the operating motor 3-1 is arranged at the lower end of the operating motor bracket 3-2, and the rotating body 3-5 is connected to the shaft end of the operating motor 3-1 through the shaft end sleeve 3-3 of the operating motor 3-1; a thrust ball bearing 3-4 is placed between the rotating body 3-5 and the operating motor bracket 3-2. A C servo 3-6 is fixedly installed above the rotating body 3-5, and the shaft end of the C servo 3-6 is connected to the first operating rod 3-7; as Figure 4 shown, a transmission gear 3-9 and a D servo 3-8 are arranged inside the first operating rod 3-7, and the transmission gear 3-9 is connected to the second operating rod 3-10; an E servo 3-11 is built in the end of the second operating rod 3-10, and the E servo 3-11 is connected to a first-stage rod 3-12. The first-stage rod 3-12 is connected to an F first-stage servo 3-14 and an F second-stage servo 3-15. Among them, the F first-stage servo 3-14 is connected to a tool holder 3-16, and the F second-stage servo 3-15 is connected to a camera holder 3-17. A camera 3-18 is rotatably installed on the camera holder 3-17, and the operating robotic arm 3 is internally provided with an stm32 Raspberry Pi control board.

[0079] In this embodiment, the chassis 4, the electromagnetic arm 2, the omnidirectional wheel arm 1, and the operating arm 3 are connected according to the above structure to form an unmanned platform. The mechanical foot is connected to the connection end of the unmanned platform. The mechanical foot is fixed to the turbine in the connection end through the worm shaft 4-12 and a turbine key, as Figure 6 shown. A flange 4-13 is provided at the end of the worm shaft 4-12. The flange 4-13 is fixed to the third omnidirectional arm or the third electromagnetic arm through bolts, so that the flange 4-13 rotates with the rotation of the third omnidirectional arm or the third electromagnetic arm, as Figures 8-11 shown. Through the movement of the mechanical foot, the robot in this embodiment can perform flat ground movement, wall climbing, suspended ceiling movement, or flat bottom crossing, meeting the requirements of different working conditions.

[0080] The robot system in this embodiment mainly includes the following modules:

[0081] Acquisition module: Through the camera 3-18 on the operating arm 3, the image of the target area is acquired to obtain the original data, and the acquired original data is transmitted to the host computer.

[0082] Image recognition module: After the host computer receives the data in the acquisition module, by introducing the CA attention mechanism into the YOLOv8 model and adopting the Mosa ic data augmentation method, target detection is performed to recognize the image.

[0083] Path planning module: Through the A* search algorithm and the optimized DWA fusion algorithm, the path planning for the robot to move is trained.

[0084] Drive module: Through the signal connection between the host computer and the control mechanism, according to the image recognition result, the corresponding arm is driven to work; according to the path planning result, the six mechanical feet of the robot are driven to move.

[0085] The robot in this embodiment is placed near the area to be processed in the ship section assembly and kept at a certain distance to avoid affecting the movement of the remote camera 3-18. The remote camera 3-18 is started by connecting to an external power supply through a wire. After setting up the capture program, the F second-stage servo 3-15 is connected to the power supply through a wire and started. The F second-stage servo 3-15 drives the camera frame 3-17 to move, thereby driving the remote camera 3-18 to cruise and capture. The captured image information is transmitted to an external data receiving device through a wireless network. This external data receiving device is the host computer. The host computer analyzes the contour around the robot through the remote image information, plans the optimal path in real time in Mat l ab, and transmits the information back to the Raspberry Pi control board 5 and the chassis control board 4-9, thereby driving the motor to control the movement of the robot.

[0086] The robot in this embodiment has extremely strong seismic and shock absorption capabilities, which is beneficial for its efficient operation in the three-dimensional multi-terrain environment during ship section construction.

[0087] The above are only the preferred embodiments of the present utility model and do not impose any restrictive effect on the present utility model. Any person skilled in the relevant art, without departing from the technical solution of the present utility model, making any form of equivalent substitution or modification and other changes to the technical solution and technical content disclosed by the present utility model shall fall within the scope of the technical solution of the present utility model and still be within the protection scope of the present utility model.

Claims

1. A multi-functional ship section assembly robot, characterized in that, It includes a caster manipulator, an electromagnet manipulator, mechanical feet, a control mechanism and a chassis: An operating manipulator is fixedly installed above the chassis; The chassis includes a top plate, a bottom plate, a chassis driving mechanism and a connection end, and the top plate is fixed above the bottom plate and arranged concentrically; The connection end is connected between the top plate and the bottom plate, and is evenly distributed and fixed on the peripheral edges of the top and bottom plates around the central axis; The caster manipulator and the electromagnet manipulator components surround the chassis and are respectively movably connected to the chassis through the connection end; A transmission mechanism is further provided in the connection end, and the transmission mechanism is in transmission connection with the chassis driving mechanism through a transmission shaft; The mechanical feet are connected to the chassis through the connection end; The control mechanism is in signal connection with the caster manipulator, the electromagnet manipulator, the operating manipulator, the chassis and the mechanical feet.

2. The multi-functional ship section assembly robot according to claim 1, characterized in that, The caster manipulator includes a first universal arm, a second universal arm and a third universal arm. One end of the third universal arm is connected with a caster through a bearing bracket, and the other end is respectively connected with the first universal arm and the second universal arm through a first fixing bracket and a second fixing bracket, and the first universal arm is arranged parallel above the second universal arm; The first universal arm includes a universal arm hydraulic rod and a universal arm hydraulic cylinder. One end of the universal arm hydraulic rod is connected with the first fixing bracket, and the other end is connected with the connection end through the universal arm hydraulic cylinder; One end of the second universal arm is connected with the second fixing bracket, and the other end is connected with the transmission mechanism, so that the second universal arm is in transmission connection with the chassis driving mechanism through the transmission mechanism; A thrust ball bearing is arranged at the connection between the third universal arm and the bearing bracket, and an A servo motor is installed above the thrust ball bearing through a servo motor bracket; The first universal arm, the second universal arm, the third universal arm and the connection end form a quadrilateral link structure.

3. The multi-functional ship section assembly robot according to claim 1, wherein The electromagnet manipulator includes a first electromagnetic arm, a second electromagnetic arm and a third electromagnetic arm: One end of the third electromagnetic arm is connected with an electromagnet through an electromagnet bracket, and the other end is provided with a bent connecting wing. The first electromagnetic arm and the second electromagnetic arm are respectively connected to the bent connecting wing through a first lead screw bracket and a second lead screw bracket, and the first electromagnetic arm is arranged parallel above the second electromagnetic arm; The first electromagnetic arm includes an electromagnetic arm hydraulic rod and an electromagnetic arm hydraulic cylinder. One end of the electromagnetic arm hydraulic rod is connected with the first lead screw bracket, and the other end is connected with the connection end through the electromagnetic arm hydraulic cylinder; One end of the second electromagnetic arm is connected with the second lead screw bracket, and the other end is connected with the transmission mechanism, so that the second electromagnetic arm is in transmission connection with the chassis driving mechanism through the transmission mechanism; An additional B servo motor is installed between the third electromagnetic arm and the electromagnet through a servo motor bracket; The first electromagnetic arm, the second electromagnetic arm, the third electromagnetic arm and the connection end form a quadrilateral link structure.

4. The multi-functional ship section assembly robot according to claim 1, wherein, The operating manipulator is arranged above the chassis and at the central position on the top plate; The manipulator arm includes an operating motor, a rotating body, a first operating rod, and a second operating rod: The shaft end of the operating motor is connected to the rotating body through a shaft end sleeve; A C servo is fixedly installed above the rotating body, and the C servo is connected to the first operating rod; The first operating rod is movably connected to the second operating rod; A transmission gear and a D servo are arranged inside the first operating rod, and the transmission gear is connected to the second operating rod; The second operating rod is connected to a tool holder through an E servo connecting rod, and the rod is connected to a camera holder through a first-stage F servo and to a camera holder through a second-stage F servo, and a camera is installed inside the camera holder.

5. The multi-functional ship section assembly robot according to claim 1, characterized in that The upper top plate and the lower top plate form six identical sides to form a hexagonal prism; Six connecting ends are evenly arranged on the chassis, and the six connecting ends are respectively installed on the six sides of the hexagonal prism; The chassis is installed with four universal wheel manipulators and two electromagnet manipulators through the six connecting ends, the two electromagnet manipulators are oppositely arranged on the chassis, and the universal wheel manipulators are respectively installed between the two oppositely arranged electromagnet manipulators.

6. The multi-functional ship section assembly robot according to claim 5, wherein, Six bull's eye ball bearings are evenly installed at the bottom of the bottom plate of the chassis; A tray is installed below the bottom plate through a lead screw; A bottom plate electromagnet is installed at the center below the bottom plate; A chassis control board is also installed between the top plate and the bottom plate.

7. The multi-functional ship section assembly robot according to claim 4, wherein The operating motor is arranged below the operating motor bracket, and a thrust ball bearing is arranged between the operating motor bracket and the rotating body; The camera is a remote camera, and a transparent protective cover is fixedly installed on the outer surface of the remote camera.

8. The multi-functional ship section assembly robot according to claim 1, wherein, The chassis driving mechanism is a chassis motor, and the transmission mechanism is a worm and worm gear structure.

9. The multi-functional ship section assembly robot according to claim 8, wherein, A turbine shaft is arranged in the inner hole of the worm gear, and the mechanical foot is fixed to the turbine shaft through a flat key; A flange is arranged at the shaft end of the turbine shaft, and the flange is bolted to the third universal arm or the third electromagnetic arm, so that the flange rotates with the third universal arm or the third electromagnetic arm.

10. The multi-functional ship section assembly robot according to claim 1, characterized in that, The control mechanism includes a chassis control board and an operating control board, and the chassis control board and the operating arm control board are respectively communicatively connected to the host computer; The chassis control board is arranged inside the chassis; The operating arm control board is built into the manipulator arm.

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