A line marking robot applied to a ship liquid cargo tank insulation board installation line

Abstract

This application provides a marking robot for installing insulation panels in ship cargo tanks, comprising: a wall-climbing trolley assembly, a robotic arm assembly, and an inkjet printer. One end of the robotic arm assembly is rotatably connected to the top of the wall-climbing trolley assembly, and the other end is connected to the inkjet printer. The wall-climbing trolley assembly includes a frame base and a drive wheel assembly. The drive wheel assembly is mounted on the bottom of the frame base and includes a guide rod mounting plate, a spring, a linear bearing mounting plate, a motor, and a drive wheel. The guide rod mounting plate is connected to the frame base, and the spring is disposed between the guide rod mounting plate and the linear bearing mounting plate. The drive wheel is connected to the output shaft of the motor, and the motor is fixed to the linear bearing mounting plate. This application, through its simple design principle, reliable structure, high wall-climbing adaptability, high degree of operational intelligence, and high operational precision, provides a reliable intelligent equipment for automated operations on large LNG ships and offers a solution for realizing intelligent ship manufacturing.

Description

Technical Field

[0001] This application relates to the field of automatic marking robot technology, specifically to a marking robot used for installing insulation plates in ship liquid cargo tanks. Background Technology

[0002] Large LNG carriers are large vessels primarily used for transporting liquefied natural gas. The construction of the containment system is a core technology for this type of vessel, directly impacting its performance. In the manufacture of Mark III containment systems, the installation of insulation panels is fundamental, involving numerous panels, significant weight, and high precision requirements. The cargo tank is a large, multifaceted structure. Traditional methods for marking the installation positions of insulation panels in containment systems rely on a combination of laser trackers, laser leveling instruments, and manual marking. Due to limitations in the working environment, work plane, and methods, the efficiency, accuracy, and safety of this work urgently need improvement. Therefore, the development of a digital, autonomous marking robot is crucial for providing essential technical support for the installation of insulation panels in containment systems. Summary of the Invention

[0003] To address the shortcomings of existing technologies, the purpose of this application is to provide a marking robot for the installation of insulation panels in ship liquid cargo tanks. This robot has high wall-climbing adaptability, high level of operational intelligence, and high operational precision, providing a reliable intelligent equipment for automated operations on large LNG ships and offering a solution for realizing intelligent ship manufacturing.

[0004] One aspect of this application provides a marking robot for installing insulation panels in ship liquid cargo tanks, comprising: a wall-climbing trolley assembly, a robotic arm assembly, and an inkjet device;

[0005] One end of the robotic arm assembly is rotatably connected to the top of the wall-climbing trolley assembly, and the other end is connected to the inkjet device.

[0006] The wall-climbing vehicle assembly includes a frame base and a drive wheel assembly. The drive wheel assembly is installed at the bottom of the frame base and is used to enable the wall-climbing robot to rotate around a central axis.

[0007] The drive wheel assembly includes a guide rod mounting plate, a spring, a linear bearing mounting plate, a motor, and a drive wheel. The guide rod mounting plate is connected to the vehicle frame base. The spring is disposed between the guide rod mounting plate and the linear bearing mounting plate to transmit the spring pressure to the drive wheel.

[0008] The drive wheel is connected to the output shaft of the motor, which is fixed to the linear bearing mounting plate to provide power to the drive wheel assembly.

[0009] Furthermore, the drive wheel assembly has a left drive wheel assembly and a right drive wheel assembly, which are respectively installed on the left and right sides of the frame base.

[0010] Furthermore, the drive wheel assembly also includes: a guide rod mounting base, a guide rod, and a linear bearing;

[0011] The guide rod mounting base is fixed above the guide rod mounting plate, the guide rod is fixed on the guide rod mounting base, and the spring is mounted on the guide rod, with one end in contact with the guide rod mounting base and the other end in contact with the linear bearing;

[0012] The linear bearing is fixed to the linear bearing mounting base and is used to transmit the pressure of the spring.

[0013] Furthermore, the wall-climbing vehicle also includes: a frame shell, an adsorption magnet assembly, and a caster wheel assembly;

[0014] The outer shell of the frame is installed on the outside of the frame base and is made of ordinary aluminum plate. The frame base is welded from steel sections to form the basic frame of the overall frame including steel crossbeams.

[0015] The magnetic adsorption assembly is installed at the bottom of the steel crossbeam of the frame base. When the climbing trolley approaches the steel plate, the magnet on the magnetic adsorption assembly attracts the steel plate.

[0016] The omnidirectional wheel assembly is mounted on the support leg of the vehicle frame base, and together with the drive wheel assembly, supports the vehicle frame base.

[0017] The robotic arm assembly is connected to the top of the steel crossbeam of the vehicle frame base.

[0018] Furthermore, the adsorption magnet assembly includes: a magnet mounting plate, a screw, a magnetic shielding plate, a magnetic conductive plate, and a permanent magnet;

[0019] The screw is connected to the steel crossbeam of the vehicle frame base;

[0020] The magnetic shielding plate is installed on one side of the magnet mounting plate to weaken the magnetic field strength on one side of the magnet mounting plate.

[0021] The magnetic guide plate and the permanent magnet are fixed to the magnet mounting plate, which is used to converge the magnetic field of the permanent magnet to the position of the magnetic guide plate and strengthen the magnetic attraction.

[0022] Furthermore, the robotic arm assembly includes a robotic arm base and a lifting arm;

[0023] The robotic arm base is mounted on top of the steel crossbeam of the vehicle frame base.

[0024] The inkjet device is mounted on the lifting arm.

[0025] Furthermore, the robotic arm assembly also includes a robotic arm upper arm and a robotic arm lower arm;

[0026] One end of the mechanical wall arm is connected to the mechanical arm base via a first joint module, forming a first joint axis;

[0027] The other end of the upper arm of the robotic arm is connected to one end of the lower arm of the robotic arm via a second joint module, forming a second joint axis;

[0028] The other end of the mechanical wall arm is connected to one end of the lifting arm via a third joint module, forming a third joint axis;

[0029] The first joint axis, the second joint axis, and the third joint axis are used to adjust the position of the inkjet device.

[0030] Furthermore, the inkjet device includes an inkjet head controller and an inkjet head assembly;

[0031] The inkjet head assembly is connected to the lifting arm, and the inkjet head controller is connected to the inkjet head assembly to control the inkjet operation of the inkjet head assembly.

[0032] Furthermore, the inkjet head assembly includes a mounting plate and an inkjet head;

[0033] One end of the fixed plate is connected to the lifting arm, and the other end is connected to the inkjet head;

[0034] The fixing plate is long and narrow with a protrusion in the middle to resist deformation.

[0035] Furthermore, the inkjet head has a matrix of needle-eye nozzles, and the working nozzle position can be selected by the inkjet head controller.

[0036] Compared with the prior art, this application has at least one of the following beneficial effects:

[0037] (1) This application uses permanent magnets to provide attraction force, which has high reliability.

[0038] (2) The permanent magnet of this application uses a magnetic shielding plate and a magnetic conductive plate installed on the magnet mounting plate, which weakens the magnetic field strength on the back of the permanent magnet, protects the electrical components, and enhances the magnetic field strength on the front of the permanent magnet, increasing the magnetic attraction force.

[0039] (3) The left drive wheel assembly and the right drive wheel assembly of this application can achieve the rotation of the wall-climbing robot around its central axis through differential speed, which facilitates the adjustment of posture during forward movement.

[0040] (4) The inkjet device of this application adopts an active adjustment mechanism, which realizes the inkjet head device to move up and down to follow the deformation of the working surface, so that the inkjet head and the working surface are kept within a certain distance. The distance between the inkjet head and the working surface will not fluctuate due to the unevenness of the working surface, which will affect the inkjet effect and accuracy. The principle of this application is simple, the structure is reliable, the wall climbing adaptability is high, the operation is highly intelligent, and the operation accuracy is high. It provides a reliable intelligent equipment for the automatic operation of large LNG ships and provides a solution for realizing intelligent ship manufacturing. Attached Figure Description

[0041] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0042] Figure 1 This is an overall diagram of a marking robot used for installing insulation plates in ship liquid cargo tanks, according to an embodiment of this application.

[0043] Figure 2 This is a diagram of a marking robot component used for installing insulation plates in ship liquid cargo tanks, according to an embodiment of this application.

[0044] Figure 3 This is a structural diagram of the drive wheel assembly in one embodiment of this application.

[0045] Figure 4 This is a structural diagram of the adsorption magnet assembly in one embodiment of this application.

[0046] Figure 5 This is a structural diagram of an inkjet device in one embodiment of this application.

[0047] In the diagram: 100, wall-climbing trolley assembly; 1001, drive wheel assembly; 10011, guide rod mounting plate; 10012, guide rod mounting base; 10013, guide rod; 10014, spring; 10015, linear bearing mounting plate; 10016, linear bearing; 10017, motor; 10018, drive wheel; 1002, swivel wheel assembly; 1003, magnetic adsorption assembly; 10031, magnetic mounting plate; 1 0032, Screw; 10033, Magnetic shielding plate; 10034, Magnetic guide plate; 10035, Permanent magnet; 200, Robotic arm assembly; 2001, Robotic arm upper arm; 2002, Robotic arm lower arm; 2003, Lifting arm; 20011, First joint module; 20012, Second joint module; 20013, Third joint module; 300, Inkjet device; 301, Inkjet head controller; 302, Inkjet head assembly. Detailed Implementation

[0048] The present application will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application. These all fall within the protection scope of the present application.

[0049] Reference Figure 1 As shown, this application illustrates a marking robot for installing insulation panels in ship liquid cargo tanks, comprising a wall-climbing trolley assembly 100, a robotic arm assembly 200, and an inkjet printer 300.

[0050] One end of the robotic arm assembly 200 is rotatably connected to the top of the wall-climbing cart assembly 100, and the other end is connected to the inkjet device 300. The wall-climbing cart assembly 100 includes a frame base (not shown in the figure) and a drive wheel assembly 1001. The drive wheel assembly 1001 is installed at the bottom of the frame base and is used to enable the wall-climbing robot to rotate around its central axis. The drive wheel assembly 1001 includes a guide rod mounting plate 10011, a spring 10014, a linear bearing mounting plate 10015, and a motor. 10017 and drive wheel 10018; guide rod mounting plate 10011 is connected to the frame base, spring 10014 is disposed between guide rod mounting plate 10011 and linear bearing mounting plate 10015, used to transmit the pressure of spring 10014 to drive wheel 10018; drive wheel 10018 is connected to the output shaft of motor 10017, motor 10017 is fixed on linear bearing mounting plate 10015, used to provide power to drive wheel assembly 1001.

[0051] The marking robot of this application is supported and moved by a wall-climbing trolley assembly 100. The drive wheel assembly 1001 is driven by a motor 10017. The elastic pressure of the spring 10014 ensures that the drive wheel 10018 is in close contact with the wall surface, achieving stable wall climbing. One end of the robotic arm assembly 200 is rotatably connected to the top of the wall-climbing trolley assembly 100, and the other end is connected to the inkjet device 300. It can swing flexibly according to a preset trajectory to complete precise marking operations. This realizes automated marking operations on the installation line of the insulation plate of the liquid cargo tank of a ship, improves the marking accuracy and efficiency, and reduces the difficulty and danger of manual operation.

[0052] In some possible embodiments, the drive wheel assembly 1001 has a left drive wheel assembly and a right drive wheel assembly, which are mounted on the left and right sides of the frame base, respectively.

[0053] In this application, there are two sets of drive wheel assemblies 1001, which are respectively arranged on the left and right sides of the frame base, referred to as the left drive wheel assembly and the right drive wheel assembly. They enable the wall-climbing vehicle to rotate around its central axis, which facilitates positional adjustment during forward movement.

[0054] In some possible embodiments, the drive wheel assembly 1001 further includes a guide rod mounting base 10012, a guide rod 10013, and a linear bearing 10016. The guide rod mounting base 10012 is fixed above the guide rod mounting plate 10011, the guide rod 10013 is fixed on the guide rod mounting base 10012, and a spring 10014 is mounted on the guide rod 10013, with one end contacting the guide rod mounting base 10012 and the other end contacting the linear bearing 10016; the linear bearing 10016 is fixed on the linear bearing mounting base 10015 and is used to transmit the pressure of the spring 10014.

[0055] like Figure 3 As shown, specifically, the drive wheel assembly 1001 comprises a guide rod mounting plate 10011, a guide rod mounting seat 10012, a guide rod 10013, a spring 10014, a linear bearing mounting plate 10015, a linear bearing 10016, a motor 10017, and a drive wheel 10018. The guide rod mounting plate 10011 is connected to the vehicle frame base by screws. The guide rod mounting seat 10012 is fixed to the guide rod mounting plate 10011. The guide rod 10013 is fixed to the guide rod mounting seat 10012 by screws. The spring 10014... 0014 is mounted on guide rod 10013, with its upper end in contact with guide rod mounting seat 10012 and its lower end in contact with linear bearing 10016. Linear bearing 10016 is fixed on linear bearing mounting plate 10015 and contacts the lower end of spring 10014, transmitting the pressure of spring 10014 to drive wheel 10018. Drive wheel 10018 is mounted on the output shaft of motor 10017. Motor 10017 is fixed to linear bearing mounting plate 10015 with screws, forming the overall drive wheel assembly 1001.

[0056] like Figure 2 As shown, in some possible embodiments, the wall-climbing vehicle 100 further includes: a frame shell (not shown in the figure), an adsorption magnet assembly 1003, and a caster wheel assembly 1002; the frame shell is installed on the outside of the frame base and is made of ordinary aluminum plate, while the frame base is welded from steel profiles to form the basic frame of the overall frame including steel profile beams.

[0057] The frame base is welded from structural steel, forming the basic framework of the overall frame. The frame shell is made of ordinary aluminum sheet, serving an aesthetic purpose.

[0058] The magnetic adsorption assembly 1003 is installed at the bottom of the steel crossbeam of the frame base. When the climbing trolley approaches the steel plate, the permanent magnet 10035 on the magnetic adsorption assembly 1003 attracts the steel plate.

[0059] When the wall-climbing vehicle approaches the steel plate, the permanent magnet 10035 on the magnetic adsorption component 1003 attracts the steel plate, creating a sufficiently large positive pressure between the overall robot device and the steel plate. This pressure acts on the drive wheel 10018 on the drive wheel assembly 1001, creating a sufficiently large friction between the drive wheel 10018 and the steel plate. This allows the robot to walk stably on the steel plate without slipping.

[0060] The omnidirectional wheel assembly 1002 is mounted on the support leg of the frame base and together with the drive wheel assembly 1001, supports the frame base; the robotic arm assembly 200 is connected to the top of the steel crossbeam of the frame base.

[0061] The swivel wheel assembly 1002 is mounted on the support legs of the vehicle frame base, one on each side, and together with the drive wheel assembly 1001, it acts on the attached steel plate to support the vehicle frame base.

[0062] like Figure 4 As shown, in some possible embodiments, specifically, the magnet adsorption assembly 1003 includes: a magnet mounting plate 10031, a screw 10032, a magnetic shielding plate 10033, a magnetic guiding plate 10034, and a permanent magnet 10035; the screw 10032 is connected to the steel crossbeam of the vehicle frame base; the magnetic shielding plate 10033 is installed on one side of the magnet mounting plate 10031 to weaken the magnetic field strength on one side of the magnet mounting plate 10031 and protect electrical components from magnetic field interference; the magnetic guiding plate 10034 and the permanent magnet 10035 are fixed on the magnet mounting plate 10031 to converge the magnetic field of the permanent magnet 10035 to the position of the magnetic guiding plate 10034, thereby strengthening the magnetic attraction.

[0063] The adsorption magnet assembly 1003 consists of a magnet mounting plate 10031, a screw 10032, a magnetic shielding plate 10033, a magnetic guiding plate 10034, and a permanent magnet 10035. It is mounted on the steel crossbeam of the frame base via the screw 10032. When the wall-climbing trolley approaches the steel plate, the permanent magnet 10035 on the adsorption magnet assembly 1003 attracts the steel plate, so that there is a sufficiently large positive pressure between the overall robot device and the steel plate. This pressure acts on the drive wheel 10018 on the drive wheel assembly 1001, so that there is a sufficiently large friction between the drive wheel 10018 and the steel plate, thereby enabling the robot to walk stably on the steel plate without slipping.

[0064] In some possible embodiments, the robotic arm assembly 200 includes a robotic arm base (not shown) and a lifting arm 2003; the robotic arm base is mounted on top of the steel crossbeam of the vehicle frame base, and the inkjet device 300 is mounted on the lifting arm 2003.

[0065] By mounting the robotic arm base on the crossbeam of the frame base, the robotic arm assembly 200 and the wall-climbing trolley assembly 100 are integrated into a single structure. Then, the inkjet device 300 is mounted on the lifting arm 2003. The inkjet device 300 can be moved to different positions to perform inkjet operations through the wall-climbing trolley assembly 100 and the robotic arm assembly 200.

[0066] like Figure 1 As shown, in some possible embodiments, the robotic arm assembly 200 further includes a robotic arm upper arm 2001 and a robotic arm lower arm 2002; one end of the robotic arm upper arm 2001 is connected to the robotic arm base via a first joint module 20011, forming a first joint axis (not shown in the figure); the other end of the robotic arm upper arm 2001 is connected to one end of the robotic arm lower arm 2002 via a second joint module 20014, forming a second joint axis; the other end of the robotic arm lower arm 2002 is connected to one end of the lifting arm 2003 via a third joint module 20013, forming a third joint axis (not shown in the figure); the first joint axis, the second joint axis, and the third joint axis are used to adjust the position of the inkjet device 300.

[0067] like Figure 2 As shown, specifically, the robotic arm assembly 200 consists of a robotic arm base, a robotic arm upper arm 2001, a robotic arm lower arm 2002, and a lifting arm 2003. The robotic arm base is mounted on the crossbeam of the vehicle frame base with screws. The first joint module 20011 is mounted and fixed on the robotic arm base, connecting to the robotic arm upper arm 2001 to form the first joint axis. The end of the robotic arm upper arm 2001 is mounted and fixed with the second joint module 20012, connecting to the robotic arm lower arm 2002 to form the second joint axis. The end of the robotic arm lower arm 2002 is mounted and fixed with the third joint module 20013 to form the third joint axis. The lifting arm 2003 is mounted and fixed on the third joint module 20013. The inkjet device 300 is mounted on the lifting arm 2003, enabling real-time adjustment of the distance between the inkjet device 300 and the steel plate.

[0068] like Figure 5 As shown, in some possible embodiments, the inkjet device 300 includes an inkjet head controller 301 and an inkjet head assembly 302; the inkjet head assembly is connected to the lifting arm 2003, and the inkjet head controller is connected to the inkjet head assembly to control the inkjet operation of the inkjet head assembly.

[0069] First, the connection between the inkjet head assembly and the lifting arm 2003 can be adjusted up and down according to different marking requirements, improving the flexibility and accuracy of marking. It can adapt to marking operations on insulating boards of different thicknesses or positions. The inkjet head controller 301 receives control signals from external or internal sources and issues corresponding instructions to control the inkjet action of the inkjet head assembly 302 according to the signals, ensuring the consistency and uniformity of marking. It can be adjusted in real time as needed to adapt to different marking requirements, thereby improving the overall quality and efficiency of the operation.

[0070] In the above embodiment, the inkjet head assembly 302 includes a fixing plate (not shown in the figure) and an inkjet head (not shown in the figure); one end of the fixing plate is connected to the lifting arm 2003, and the other end is connected to the inkjet head; the fixing plate is elongated and has a protrusion in the middle to resist deformation.

[0071] The fixing plate is connected to the slider of the lifting arm 2003 through its upper positioning feature. The fixing plate is long and narrow in shape, with a protrusion in the middle to resist deformation, ensuring the positional accuracy of the lower inkjet head.

[0072] In some possible embodiments, the inkjet head has a matrix of needle-eye nozzles, and the position of the working nozzles can be selected by the inkjet head controller.

[0073] Specifically, the inkjet device 300 consists of an inkjet head controller 301 and an inkjet head assembly 302. The inkjet head controller 301 receives signal commands from the main control panel and executes inkjet commands. The inkjet head assembly 302 consists of a fixed plate and an inkjet head. The fixed plate is connected to the slider of the lifting arm 2003 through its upper positioning feature. The fixed plate is elongated in shape and has a protrusion in the middle to resist deformation, ensuring the positional accuracy of the lower inkjet head. The inkjet head assembly has a certain distance limit from the working surface. The distance cannot be too far, otherwise there will be no inkjet marks. The inkjet head has a matrix-type needle nozzle, and the working nozzle position can be selected through the inkjet head controller.

[0074] In this application, the inkjet device 300 adopts an active adjustment mechanism, which enables the inkjet head device 300 to move up and down in accordance with the deformation of the working surface, so that the inkjet head and the working surface are kept within a certain distance. This prevents the distance between the inkjet head and the working surface from fluctuating due to unevenness of the working surface, which would affect the inkjet effect and accuracy. This application has a simple principle, reliable structure, high wall climbing adaptability, high degree of intelligent operation, and high operation accuracy, providing a reliable intelligent equipment for the automatic operation of large LNG ships and a solution for realizing intelligent ship manufacturing.

[0075] The specific embodiments of this application have been described above. It should be understood that this application is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this application. The above-described preferred features can be used in any combination without conflict.

Claims

1. A marking robot for installing insulation panels in ship liquid cargo tanks, characterized in that, include: Wall-climbing cart assembly, robotic arm assembly, and inkjet unit; One end of the robotic arm assembly is rotatably connected to the top of the wall-climbing trolley assembly, and the other end is connected to the inkjet device. The wall-climbing vehicle assembly includes a frame base and a drive wheel assembly. The drive wheel assembly is installed at the bottom of the frame base and is used to enable the wall-climbing robot to rotate around a central axis. The drive wheel assembly includes a guide rod mounting plate, a spring, a linear bearing mounting plate, a motor, and a drive wheel. The guide rod mounting plate is connected to the vehicle frame base. The spring is disposed between the guide rod mounting plate and the linear bearing mounting plate to transmit the spring pressure to the drive wheel. The drive wheel is connected to the output shaft of the motor, which is fixed to the linear bearing mounting plate to provide power to the drive wheel assembly.

2. The marking robot for installing insulation plates in ship liquid cargo tanks according to claim 1, characterized in that, The drive wheel assembly has a left drive wheel assembly and a right drive wheel assembly, which are respectively installed on the left and right sides of the vehicle frame base.

3. The marking robot for installing insulating panels in ship liquid cargo tanks according to claim 1, characterized in that, The drive wheel assembly also includes: a guide rod mounting base, a guide rod, and a linear bearing; The guide rod mounting base is fixed above the guide rod mounting plate, the guide rod is fixed on the guide rod mounting base, and the spring is mounted on the guide rod, with one end in contact with the guide rod mounting base and the other end in contact with the linear bearing; The linear bearing is fixed to the linear bearing mounting base and is used to transmit the pressure of the spring.

4. A marking robot for installing insulating panels in ship liquid cargo tanks according to claim 1, characterized in that, The wall-climbing vehicle also includes: a frame shell, an adsorption magnet assembly, and a caster wheel assembly; The outer shell of the frame is installed on the outside of the frame base and is made of ordinary aluminum plate. The frame base is welded from steel sections to form the basic frame of the overall frame including steel crossbeams. The magnetic adsorption assembly is installed at the bottom of the steel crossbeam of the frame base. When the climbing trolley approaches the steel plate, the magnet on the magnetic adsorption assembly attracts the steel plate. The omnidirectional wheel assembly is mounted on the support leg of the vehicle frame base, and together with the drive wheel assembly, supports the vehicle frame base. The robotic arm assembly is connected to the top of the steel crossbeam of the frame base, and the inkjet device is connected to the wall-climbing trolley through the robotic arm assembly.

5. A marking robot for installing insulating panels in ship liquid cargo tanks according to claim 4, characterized in that, The adsorption magnet assembly includes: a magnet mounting plate, a screw, a magnetic shielding plate, a magnetic conductive plate, and a permanent magnet; The screw is connected to the steel crossbeam of the vehicle frame base; The magnetic shielding plate is installed on one side of the magnet mounting plate to weaken the magnetic field strength on one side of the magnet mounting plate. The magnetic guide plate and the permanent magnet are fixed to the magnet mounting plate, which is used to converge the magnetic field of the permanent magnet to the position of the magnetic guide plate and strengthen the magnetic attraction.

6. A marking robot for installing insulating panels in ship liquid cargo tanks according to claim 4, characterized in that, The robotic arm assembly includes a robotic arm base and a lifting arm; The robotic arm base is mounted on top of the steel crossbeam of the vehicle frame base. The inkjet device is mounted on the lifting arm.

7. A marking robot for installing insulating panels in ship liquid cargo tanks according to claim 6, characterized in that, The robotic arm assembly also includes a robotic arm upper arm and a robotic arm lower arm; One end of the robotic arm's upper arm is connected to the robotic arm base via a first joint module, forming a first joint axis; The other end of the upper arm of the robotic arm is connected to one end of the lower arm of the robotic arm via a second joint module, forming a second joint axis; The other end of the robotic arm forearm is connected to one end of the lifting arm via a third joint module, forming a third joint axis. The first joint axis, the second joint axis, and the third joint axis are used to adjust the position of the inkjet device.

8. A marking robot for installing insulating panels in ship liquid cargo tanks according to claim 6, characterized in that, The inkjet device includes an inkjet head controller and an inkjet head assembly; The inkjet head assembly is connected to the lifting arm, and the inkjet head controller is connected to the inkjet head assembly to control the inkjet operation of the inkjet head assembly.

9. A marking robot for installing insulating panels in ship liquid cargo tanks according to claim 8, characterized in that, The inkjet head assembly includes a mounting plate and an inkjet head; One end of the fixed plate is connected to the lifting arm, and the other end is connected to the inkjet head; The fixing plate is long and narrow with a protrusion in the middle to resist deformation.

10. A marking robot for installing insulating panels in ship liquid cargo tanks according to claim 9, characterized in that, The inkjet head has a matrix of needle-eye nozzles, and the working nozzle position can be selected by the inkjet head controller.

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