Clamping device for insulated tank grabbing for LNG carriers

Abstract

The utility model discloses a kind of clamping devices for LNG ship insulation box grabbing, including support, the support includes two edge poles, the edge pole one end fixedly connected with the positioning module is arranged, the other end is provided with movable clamping module, movable clamping module is provided with slider, the linear guide rail matched with slider is provided on the edge pole, the slider is matched on linear guide rail, for realizing the linear sliding of movable clamping module, force sensor is provided on movable clamping module, clamping cylinder is provided on the edge pole, the telescopic rod of clamping cylinder is connected with force sensor, the force sensor is used to inductively obtain the clamping force of movable clamping module to workpiece.The utility model uses non-contact type clamping determination mode to replace existing contact type clamping determination mode, prevent the damage to insulation box in the process of grabbing, ensure the installation effect of insulation box in storage bin, the performance of storage bin has been guaranteed.

Description

Technical Field

[0001] This utility model belongs to the field of liquefied natural gas and relates to the improvement of gripping LNG ship insulation boxes, specifically a clamping device for gripping LNG ship insulation boxes. Background Technology

[0002] LNG (liquefied natural gas) carriers are specialized vessels for storing and transporting liquefied natural gas. LNG carrier insulation boxes are part of the storage compartments on LNG carriers used to store liquefied natural gas. Due to the special properties of liquefied natural gas, the storage compartments need to have extremely high sealing and insulation properties. During the construction of the storage compartments, insulation boxes need to be installed inside. Current methods use a robotic gripper to grasp the insulation box and move it. This involves a mechanical switch contacting the insulation box and sending an electrical signal to the system for detection, thus determining whether the gripper has clamped the workpiece properly. This clamping method has some problems, as follows: 1. Mechanical switches must come into contact with the insulation box. Sometimes, mechanical jamming can damage the insulation box, which will affect the installation of the insulation box and the performance of the storage compartment after installation.

[0003] 2. The long-term contact between the mechanical switch and the insulation box results in a shorter lifespan for the mechanical switch.

[0004] 3. The structure of the gripper is difficult to fit snugly against the insulation box, which can easily damage the insulation box during the gripping process. Summary of the Invention

[0005] Purpose of the invention: In order to overcome the shortcomings of the existing technology, a clamping device for gripping LNG ship insulation boxes is provided. The device adopts a non-contact clamping judgment method instead of the existing contact clamping judgment method, which prevents damage to the insulation box during the gripping process, ensures the installation effect of the insulation box in the storage compartment, and guarantees the performance of the storage compartment.

[0006] Technical Solution: To achieve the above objectives, this utility model provides a clamping device for gripping LNG ship insulation boxes, including a bracket. The bracket includes two side rods. A positioning module is fixedly connected to one end of each side rod, and a movable clamping module is provided at the other end. A slider is provided on the movable clamping module, and a linear guide rail matching the slider is provided on the side rod. The slider engages with the linear guide rail to achieve linear sliding of the movable clamping module. A force sensor is provided on the movable clamping module, and a clamping cylinder is provided on the side rod. The telescopic rod of the clamping cylinder is connected to the force sensor, which is used to sense and obtain the clamping force of the movable clamping module on the workpiece.

[0007] Furthermore, the positioning module includes a positioning frame and a positioning plate, the positioning frame being fixedly connected to the side rod, and the positioning plate being disposed on the positioning frame.

[0008] Furthermore, the movable clamping module includes a clamping frame and a clamping plate, the slider is disposed on the top of the clamping frame, and the clamping plate is disposed on the clamping frame.

[0009] Furthermore, the clamping cylinder is fixed to the outer side of the side rod.

[0010] Furthermore, a connector is provided on the top of the clamping frame, and the force sensor is disposed on the connector.

[0011] Furthermore, the connector includes a base plate and a vertical plate, the base plate is fixedly connected to the top of the clamping frame, the vertical plate is located on the base plate, and the force sensor is disposed on the vertical plate.

[0012] Furthermore, the linear guide rail is located at the bottom of the side rod.

[0013] Beneficial effects: Compared with the prior art, this utility model uses a clamping cylinder to clamp the insulation box and a force sensor to determine whether the clamping is in place, achieving non-contact clamping judgment, and has the following advantages: 1. This prevents damage to the insulation box during the grasping process, ensuring the installation effect of the insulation box in the storage compartment and guaranteeing the performance of the storage compartment.

[0014] 2. The force sensor and clamping cylinder do not come into contact with the insulation box, ensuring long-term stable working performance.

[0015] 3. Both the positioning module and the movable clamping module can fit snugly against the insulation box, preventing damage to the insulation box during the gripping process. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a schematic diagram of the structure of the present invention when it is in working condition. Detailed Implementation

[0017] The present invention will be further illustrated below with reference to the accompanying drawings and specific embodiments. It should be understood that these embodiments are only for illustrating the present invention and are not intended to limit the scope of the present invention. After reading the present invention, any modifications of the present invention in various equivalent forms by those skilled in the art will fall within the scope defined by the appended claims.

[0018] like Figure 1As shown, this utility model provides a clamping device for gripping LNG ship insulation boxes, including a bracket. The bracket includes two side rods 1. A positioning module is fixedly connected to one end of each side rod 1, and a movable clamping module is provided at the other end. The positioning module includes a positioning frame 2 and a positioning plate 3. The positioning frame 2 is fixedly connected to the lower side end of one side rod 1, and the positioning plate 3 is provided on the side of the positioning frame 2. The movable clamping module includes a clamping frame 8 and a clamping plate 7. A slider 9 and a connector are provided on the top of the clamping frame 8. The connector includes a bottom... The base plate 11 is fixedly connected to the top of the clamping frame 8, and the vertical plate 12 is located on the base plate 11. A force sensor 6 is installed on the vertical plate 12. A linear guide rail 5 matching the slider 9 is installed at the bottom of the side rod 1. The slider 9 is fitted on the linear guide rail 5 to realize the linear sliding of the movable clamping module. A clamping cylinder 4 is fixedly installed on the outer side of the side rod 1. The telescopic rod 13 of the clamping cylinder 4 is connected to the force sensor 6. The force sensor 6 is used to sense and obtain the clamping force of the movable clamping module on the insulation box 10.

[0019] In this embodiment, the above-mentioned clamping device is applied to the clamping and gripping transportation of the insulation box 10, referring to... Figure 1 and Figure 2 The specific process is as follows: First, the robot-controlled bracket attaches the two positioning plates 3 to one side of the insulation box 10 to achieve initial positioning; Then, the two clamping cylinders 4 are controlled to synchronously retract the telescopic rod 13. Under the combined action of the slider 9 and the linear guide rail 5, the retraction of the telescopic rod 13 drives the movable clamping module to move linearly toward the insulation box 10 until the two clamping plates 7 are in contact with the insulation box 10, achieving the desired effect. Figure 2 As shown in the figure, the force sensor 6 senses the clamping force of the clamping plate 7 on the insulation box 10. When the clamping force reaches the specified range (in this embodiment, when the air pressure is 0.5MPa, the 80-diameter cylinder can generate a force of 256kgf. Considering the air pressure fluctuation, the value range is set to 220-280kgf), the system determines that the clamping position has been reached. Finally, the robot is controlled to use a clamping device to grab and move the insulation box 10 to the designated installation position.

Claims

1. A clamping device for gripping LNG ship insulation boxes, characterized in that, The device includes a support frame with two side rods. A positioning module is fixedly connected to one end of each side rod, and a movable clamping module is provided at the other end. A slider is provided on the movable clamping module, and a linear guide rail matching the slider is provided on the side rod. The slider engages with the linear guide rail to achieve linear sliding of the movable clamping module. A force sensor is provided on the movable clamping module, and a clamping cylinder is provided on the side rod. The extension rod of the clamping cylinder is connected to the force sensor, which is used to sense and obtain the clamping force of the movable clamping module on the workpiece.

2. The clamping device for gripping LNG ship insulation boxes according to claim 1, characterized in that, The positioning module includes a positioning frame and a positioning plate. The positioning frame is fixedly connected to the side rod, and the positioning plate is disposed on the positioning frame.

3. A clamping device for gripping LNG ship insulation boxes according to claim 1, characterized in that, The movable clamping module includes a clamping frame and a clamping plate. The slider is disposed on the top of the clamping frame, and the clamping plate is disposed on the clamping frame.

4. A clamping device for gripping LNG ship insulation boxes according to claim 1, characterized in that, The clamping cylinder is fixed to the outer side of the side rod.

5. A clamping device for gripping LNG ship insulation boxes according to claim 3, characterized in that, The clamping frame is provided with a connector at the top, and the force sensor is disposed on the connector.

6. A clamping device for gripping LNG ship insulation boxes according to claim 5, characterized in that, The connector includes a base plate and a vertical plate. The base plate is fixedly connected to the top of the clamping frame, the vertical plate is located on the base plate, and the force sensor is disposed on the vertical plate.

7. A clamping device for gripping LNG ship insulation boxes according to claim 1, characterized in that, The linear guide rail is located at the bottom of the side rod.

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