CN115502948A - Hull processing robot and operation method thereof - Google Patents

Abstract

The invention relates to the technical field of ship construction, in particular to a ship body processing robot and an operation method thereof. The ship body machining robot comprises a movable base, a magnetic attraction module, a fixing module and an operation module, wherein the magnetic attraction module is arranged at the bottom of the movable base and is used for attracting the movable base to a ship body; the fixed module is arranged on the movable base and used for fixing the part to be processed; the operation module includes that arm and the operation of a plurality of differences connect, and the arm is installed on removing the base, and a plurality of operations connect the alternative detachably to be installed on the arm, and the operation connects and is used for processing the position of treating processing, and fixed module cooperation operation module realizes treating the processing at processing position, need not to build the scaffold frame, reduces manual work risk, shortens shipbuilding cycle. The operation method of the hull machining robot can machine the hull without building a scaffold, reduces the risk of manual operation and shortens the ship construction period.

Description

Hull processing robot and operation method thereof

Technical Field

The invention relates to the technical field of ship construction, in particular to a ship body processing robot and an operation method thereof.

Background

In the ship building process, the outer plate structure and the tooling part need to be cut, welded or polished. The cutting, welding or grinding operations present the following drawbacks at the dock wharf stage: 1) The scaffold needs to be built, so that time and labor are wasted, and the cost is high; 2) For the planking operation of a large ship, the height of the scaffold is high, and potential safety hazards exist in the high-altitude operation; 3) The time for building the scaffold is long, and the ship building period is influenced.

Therefore, there is a high necessity for a hull processing robot to solve the above problems.

Disclosure of Invention

An object of the present invention is to provide a hull processing robot which can process a hull without constructing a scaffold, reduce the risk of manual work, and shorten the ship construction period.

Another object of the present invention is to provide a method for operating a hull processing robot, which can process a hull without building a scaffold, reduce the risk of manual work, and shorten the ship construction period.

In order to realize the purpose, the following technical scheme is provided:

in a first aspect, there is provided a hull processing robot comprising:

moving the base;

the magnetic suction module is arranged at the bottom of the movable base and used for adsorbing the movable base on the ship body;

the fixed module is arranged on the movable base and used for fixing a part to be processed;

the operation module comprises a mechanical arm and a plurality of different operation joints, the mechanical arm is installed on the movable base, the operation joints are detachably installed on the mechanical arm, and the operation joints are used for processing the part to be processed.

As the alternative of hull processing machine people, the bottom of moving the base is equipped with the holding tank, the module is located to magnetism, just the absorption face protrusion of the module is inhaled to magnetism the bottom surface of moving the base.

As the alternative scheme of hull processing machine people, the quantity of module is inhaled to magnetism is a plurality ofly, and is a plurality of the module is inhaled to magnetism and install in remove the bottom of base.

As an alternative to the hull working robot, the plurality of work joints includes one or more of a welding gun, a plasma cutting gun and a grinding wheel.

As an alternative of the hull processing robot, the hull processing robot further includes a safety rope, one end of the safety rope is fixed on the mobile base, and the other end of the safety rope is used for being fixed on a deck of the hull.

As an alternative scheme of the ship body machining robot, the ship body machining robot further comprises a camera module, and the camera module is arranged on the movable base.

As an alternative of the ship body machining robot, the movable base comprises a machine body and two traveling mechanisms, the two traveling mechanisms are symmetrically arranged on two sides of the machine body, and the traveling mechanisms are used for driving the machine body to move relative to the ship body.

As an alternative to the hull processing robot, the traveling mechanism includes a gear set rotatably provided on the body and a crawler belt wound on the gear set.

In a second aspect, there is provided a method of operating a hull processing robot, based on the hull processing robot, the method including the steps of:

starting an adsorption mode of the magnetic adsorption module to adsorb the movable base on the ship body;

starting a walking mode of the mobile base, enabling the mobile base to move relative to the ship body, and enabling the mobile base to move to a designated operation place;

starting a fixing mode of the magnetic suction module, and increasing the adsorption force of the magnetic suction module to fix the movable base on the ship body;

starting a fixing module to fix a part to be processed;

and starting the operation module to process the part to be processed.

As an alternative of the operation method of the hull processing robot, before the suction mode of the magnetic suction module is started, one end of the safety rope on the movable base is fixed on the deck of the hull.

Compared with the prior art, the invention has the beneficial effects that:

the invention provides a ship body processing robot which comprises a movable base, a magnetic suction module, a fixed module and an operation module, wherein the processing operation is carried out through manual operation, and the movable base can be adsorbed on a ship body through the magnetic suction module; the movable base can move relative to the ship body while keeping being adsorbed on the ship body; the fixed module is matched with the operation module to realize processing of the part to be processed, a scaffold does not need to be built, the risk of manual operation is reduced, and the ship building period is shortened.

The operation method of the hull machining robot provided by the invention is based on the hull machining robot, can machine the hull, does not need to build a scaffold, reduces the manual operation risk and shortens the ship construction period.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a hull processing robot according to an embodiment of the present invention;

fig. 2 is an exploded schematic view of a hull processing robot according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a ship hull provided by an embodiment of the invention;

fig. 4 is a schematic diagram of a single-point operation range of the hull processing robot according to the embodiment of the present invention.

Reference numerals:

100. a hull; 101. single point operation range;

1. moving the base; 11. a body; 111. accommodating grooves; 12. a gear set; 13. a crawler belt;

2. a magnetic attraction module;

3. fixing the module;

4. an operation module; 41. a mechanical arm; 42. and (4) operating the joint.

Detailed Description

In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present invention clearer, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation that the first and second features are not in direct contact, but are in contact via another feature between them. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present invention, the terms "upper", "lower", "left", "right", and the like are used in the orientations and positional relationships shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to be limiting.

As shown in fig. 1-3, the present embodiment provides a hull processing robot, including a mobile base 1, a magnetic attraction module 2, a fixed module 3, and an operation module 4, where the mobile base 1 serves as an installation base of the entire hull processing robot and is used to install the magnetic attraction module 2, the fixed module 3, and the operation module 4, the magnetic attraction module 2 is installed at the bottom of the mobile base 1, and the magnetic attraction module 2 is used to attract the mobile base 1 to a hull 100; the fixed module 3 is arranged on the movable base 1, and the fixed module 3 is used for fixing a part to be processed; the operation module 4 comprises a mechanical arm 41 and a plurality of different operation joints 42, the mechanical arm 41 is arranged on the movable base 1, the plurality of operation joints 42 are alternatively and detachably arranged on the mechanical arm 41, and the operation joints 42 are used for processing the part to be processed.

The hull processing robot carries out processing operation through manual operation and control, and the movable base 1 can be adsorbed on the hull 100 through the magnetic attraction module 2; the mobile base 1 itself can move relative to the hull 100 while remaining adsorbed on the hull 100; the fixed module 3 is matched with the operation module 4 to realize processing of a part to be processed, a scaffold does not need to be built, the risk of manual operation is reduced, and the ship building period is shortened.

The mobile base 1 comprises a machine body 11 and two traveling mechanisms, wherein the two traveling mechanisms are symmetrically arranged on two sides of the machine body 11, and the traveling mechanisms are used for driving the machine body 11 to move relative to the ship body 100. The design ensures that the movable base 1 can stably move relative to the ship body 100 by driving the machine body 11 to move relative to the ship body 100 through the two travelling mechanisms.

In one embodiment, the traveling mechanism includes a gear set 12 and a track 13, the gear set 12 is rotatably disposed on the body 11, and the track 13 is wound around the gear set 12. The traveling mechanism is designed to be crawler-driven, and the operations such as turning and advancing of the traveling base 1 can be realized by differential traveling of the two crawler belts 13 on the left and right sides of the body 11.

In order to facilitate the installation of the magnetic module 2, the bottom of the movable base 1 is provided with a holding groove 111, the magnetic module 2 is arranged in the holding groove 111, and the absorption surface of the magnetic module 2 protrudes out of the bottom surface of the movable base 1. In this embodiment, the attracting surface of the magnetic module 2 slightly protrudes from the bottom surface of the movable base 1. This design can guarantee to remove the whole and hull 100's of base 1 distance, guarantees that the focus of removing base 1 presses close to hull 100, guarantees to remove the holistic stability of base 1.

The number of the magnetic suction modules 2 is multiple, and the magnetic suction modules 2 are installed at the bottom of the movable base 1. Specifically, in fig. 2, the number of the magnetic modules 2 is four, and the four magnetic modules 2 are disposed at the bottom of the body 11 of the mobile base 1. Of course, the number of the magnetic attraction modules 2 may be any number between two and twenty, and is not limited herein.

The fixing module 3 is an electromagnetic absorption fixing device. The fixed module 3 is provided with a telescopic magnet sucker and is used for carrying out magnetic attraction and fixation on the cut object to prevent the cut object from falling; or the magnetic absorption set is carried out on the scrap iron generated by cutting and polishing, so that the environmental pollution is avoided.

In order to ensure the safety of the hull processing robot, the hull processing robot further includes a safety rope, one end of which is fixed on the mobile base 1, and the other end of which is used for being fixed on the deck of the hull 100. Like this when hull processing robot operation, even if magnetism module 2 became invalid suddenly, also had the safety rope to guarantee that hull processing robot can not drop.

In order to facilitate the control of the hull processing robot, the hull processing robot further comprises a camera module, and the camera module is arranged on the movable base 1. The position of the hull machining robot on the hull 100 can be judged through the camera module, so that the hull machining robot can be conveniently controlled to move to a designated operation place.

In one embodiment, the plurality of work connections 42 includes one or more of a welding torch, a plasma cutting torch, and a grinding wheel. The design can enable the ship body processing robot to carry out welding, cutting and grinding operations. Of course, the work attachment 42 is not limited to the above example, but may be a laser cutting gun or other work attachment.

In the above embodiment, the hull processing robot has a multi-core cable on the body 11, and the cable can be used for providing power and transmitting control information. The connection of the cables of the body 11 with the control system and the power system can refer to the connection in the prior art, and will not be described herein.

The robot avoids unnecessary scaffold erection when a ship carries out planking operation at a dock wharf stage, and saves the scaffold erection labor cost and material cost; the risk of high-altitude operation of personnel is avoided; the scaffold erecting time and the high-altitude operation time are saved, the ship outer plate operation efficiency is improved, the dock period is shortened, and the guarantee is provided for an enterprise to hand over ships according to nodes; the cutting, polishing and welding are integrated, the functions are complete, and the structure modification at the port stage of the ship wharf is adapted.

The embodiment also provides a working method of the hull processing robot, and based on the hull processing robot, the working method of the hull processing robot comprises the following steps: 1) Starting the adsorption mode of the magnetic adsorption module 2 to adsorb the movable base 1 on the ship body 100; 2) Starting a walking mode of the mobile base 1, moving the mobile base 1 relative to the ship body 100, and moving the mobile base 1 to a designated operation place; 3) Starting a fixing mode of the magnetic suction module 2, increasing the suction force of the magnetic suction module 2, and fixing the movable base 1 on the ship body 100; 4) Starting the fixing module 3 to fix the part to be processed; 5) The operation module 4 is started to process the part to be processed.

Preferably, before step 1), one end of the safety rope on the mobile base 1 is fixed on the deck of the hull 100, so that the hull processing robot can be prevented from falling and being damaged.

Fig. 4 shows a single-point operation range 101 of the hull processing robot, and after the robot moves to a designated operation point, the operation range is as shown in the single-point operation range 101, and after the robot completes the single-point operation, the robot moves to another place to perform the operation. The size of the single-point working range 101 is determined by the movable range of the robot arm 41. Illustratively, the robotic arm 41 may be a multi-axis robotic arm, such as a six-axis robotic arm.

In order to better understand the operation method of the hull processing robot, the hull plate cutting operation is taken as an example: 1) The safety rope is tied at the deck of the ship body 100, and then the robot is connected with a power supply and a control device; 2) Starting the robot magnetic suction module 2, and then adsorbing the robot magnetic suction module on an outer plate of the ship body 100; (3) The camera module is opened, the robot is remotely controlled to a specified operation place on the operation device, and the operations such as turning, advancing and the like can be performed through the differential driving of the left and right crawler belts 13; (4) The suction force of the magnetic suction module 2 is increased to fix the device so as to facilitate the operation; (5) fixing the object to be cut by the fixing module 3; (6) Controlling the mechanical arm 41 to move to a designated working area according to the video transmission interface; (7) Cutting the object, and transporting the object back to the deck under the adsorption action of the fixing module 3; and (8) finishing the cutting operation.

When welding and polishing are carried out, the corresponding steps are carried out only by replacing the working joint 42 for cutting.

The robot is controlled in a mode that signal transmission is carried out between the control device and the robot body 11, the robot body 11 is connected with a camera module of the robot, image signal transmission is carried out through a data signal line, an operator can check the construction site environment through a control panel, then the robot is controlled, a motor in the robot body 11 is driven by the robot, the motor of the control mechanical arm 41 controls the mechanical arm 41 to make relevant actions, and the operation joint 42 is controlled to carry out welding, cutting and polishing operations.

It is noted that throughout the description herein, references to the description of "some embodiments," "other embodiments," or the like, are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing is considered as illustrative of the preferred embodiments of the invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in some detail by the above embodiments, the invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the invention, and the scope of the invention is determined by the scope of the appended claims.

Claims (10)

1. A hull processing robot, comprising:

a mobile base (1);

the magnetic suction module (2) is arranged at the bottom of the movable base (1), and the magnetic suction module (2) is used for adsorbing the movable base (1) on a ship body (100);

the fixed module (3) is arranged on the movable base (1), and the fixed module (3) is used for fixing a part to be processed;

the operation module (4) comprises a mechanical arm (41) and a plurality of different operation joints (42), wherein the mechanical arm (41) is installed on the movable base (1), the operation joints (42) are detachably installed on the mechanical arm (41) in a selectable mode, and the operation joints (42) are used for processing the part to be processed.

2. The hull machining robot according to claim 1, characterized in that a containing groove (111) is formed in the bottom of the movable base (1), the magnetic module (2) is arranged in the containing groove (111), and an adsorption surface of the magnetic module (2) protrudes out of the bottom surface of the movable base (1).

3. The hull processing robot according to claim 2, characterized in that the number of the magnetic modules (2) is multiple, and the multiple magnetic modules (2) are installed at the bottom of the movable base (1).

4. The hull working robot according to claim 1, characterized in that said plurality of working joints (42) comprises one or more of a welding gun, a plasma cutting gun and a sanding wheel.

5. The hull processing robot according to claim 1, characterized in that it further comprises a safety line, one end of which is fixed to the mobile base (1) and the other end of which is intended to be fixed to the deck of the hull (100).

6. The hull machining robot according to claim 1, characterized in that it further comprises a camera module, which is provided on the mobile base (1).

7. The hull processing robot according to any one of claims 1-6, characterized in that the mobile base (1) comprises a body (11) and running gears, which are symmetrically arranged on both sides of the body (11), for driving the body (11) to move relative to the hull (100).

8. The hull processing robot according to claim 7, characterized in that said travelling mechanism comprises a gear unit (12) and a crawler belt (13), said gear unit (12) being rotatably arranged on said hull (11), said crawler belt (13) being wound around said gear unit (12).

9. A hull processing robot working method, based on the hull processing robot according to any one of claims 1 to 8, characterized by comprising the steps of:

starting an adsorption mode of the magnetic suction module (2) to enable the movable base (1) to be adsorbed on the ship body (100);

starting a walking mode of the mobile base (1), enabling the mobile base (1) to move relative to the ship body (100), and enabling the mobile base (1) to move to a designated operation place;

starting a fixing mode of the magnetic suction module (2), increasing the adsorption force of the magnetic suction module (2), and fixing the movable base (1) on the ship body (100);

starting the fixing module (3) to fix the part to be processed;

and starting the operation module (4) to process the part to be processed.

10. The working method of a hull working robot according to claim 9, characterized in that one end of the safety line on the mobile base (1) is fixed on the deck of the hull (100) before the suction mode of the magnetic suction module (2) is started.

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