CN117961927A - Transfer robot for ship manufacturing - Google Patents
Transfer robot for ship manufacturing Download PDFInfo
- Publication number
- CN117961927A CN117961927A CN202410186438.7A CN202410186438A CN117961927A CN 117961927 A CN117961927 A CN 117961927A CN 202410186438 A CN202410186438 A CN 202410186438A CN 117961927 A CN117961927 A CN 117961927A
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- China
- Prior art keywords
- arm
- transfer robot
- actuating mechanism
- manufacturing
- driving
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 69
- 235000004443 Ricinus communis Nutrition 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 4
- 229910000617 Mangalloy Inorganic materials 0.000 claims description 3
- 230000001681 protective effect Effects 0.000 claims description 2
- 239000000463 material Substances 0.000 abstract description 5
- 229910000831 Steel Inorganic materials 0.000 abstract description 4
- 239000010959 steel Substances 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of ship manufacturing and discloses a transfer robot for ship manufacturing, which comprises a vehicle body, a manipulator and a clamp mechanism for taking a workpiece, wherein the vehicle body is provided with a controller and a bearing plate; the robot can carry, assemble, weld and other works on materials such as steel, pipelines and the like, improves the working efficiency and lightens the labor intensity of workers.
Description
Technical Field
The invention relates to the technical field of ship manufacturing, in particular to a transfer robot for ship manufacturing.
Background
The ship manufacturing is a complex work, a large amount of materials such as steel, pipelines and the like need to be carried, assembled and welded, and the work needs a large amount of manual operation, so that the efficiency is low, the labor intensity is high, human errors are easy to occur, and the work quality and the safety are influenced. In order to improve the efficiency and safety of the ship manufacturing process, more and more researchers are beginning to explore the application of robotics in ship manufacturing. The existing robot systems mainly comprise cantilever robots, mobile robots and the like, but the existing robot systems have some defects, such as complex structure, inflexible operation and the like, and cannot meet diversified carrying and assembling requirements in ship manufacturing.
Disclosure of Invention
The invention aims to provide a transfer robot for ship manufacturing, which can meet the diversified conveying and assembling requirements in ship manufacturing, so as to improve the working efficiency and safety in the ship manufacturing process.
In order to solve the technical problems, the invention provides a transfer robot for ship manufacturing, which comprises a vehicle body, a manipulator and a clamp mechanism for taking a workpiece, wherein the vehicle body is provided with a controller and a bearing plate, the manipulator comprises a fixed plate, a first mechanical arm, a first driving mechanism, a second mechanical arm, a second driving mechanism, a third mechanical arm, a third driving mechanism, a fourth driving mechanism and a mounting plate, one end of the first mechanical arm is rotatably connected with the fixed plate, the first driving mechanism is arranged on the fixed plate and can drive the first mechanical arm to rotate, the other end of the first mechanical arm is rotatably connected with one end of the second mechanical arm, the second driving mechanism is arranged on the second mechanical arm and can drive the second mechanical arm to rotate, the other end of the second mechanical arm is rotatably connected with one end of the third mechanical arm, the third driving mechanism is arranged on the third mechanical arm and can drive the third mechanical arm to rotate, the first axis of the first mechanical arm, the second axis of the second mechanical arm is rotatably connected with the fourth driving mechanism, the fourth driving mechanism is arranged on the fourth driving mechanism and can drive the mounting plate, and the fourth driving mechanism is electrically connected with the other end of the mounting plate, and the fourth driving mechanism is mutually perpendicular to the first driving mechanism and the fourth driving mechanism.
As a preferable scheme of the invention, the clamp mechanism comprises a driving motor, a driving wheel, a driven wheel, a first clamping arm, a first connecting rod, a second clamping arm and a second connecting rod, wherein the driving motor is arranged on the mounting plate and is electrically connected with the controller, the driving wheel and the driven wheel are symmetrically arranged on the mounting plate, the driving motor is connected with the driving wheel and can drive the driving wheel to rotate, one side of the driving wheel, which is close to the driven wheel, is provided with a driving tooth meshed with the driving tooth, one side of the driving wheel, which is far away from the driven wheel, is provided with a first connecting arm, the driven wheel is provided with a second connecting arm which is symmetrically arranged with the first connecting arm, the first connecting arm is hinged with one end of the first clamping arm, the middle part of the first clamping arm is hinged with one end of the first connecting rod, the other end of the first connecting rod is hinged with the mounting plate, the second connecting arm is hinged with one end of the second clamping arm, the middle part of the second clamping arm is hinged with one end of the second connecting arm, the other end of the second clamping arm is hinged with the other end of the first connecting rod, and the other end of the clamping arm is opposite to the first clamping port.
As a preferable scheme of the invention, a main rotating wheel and an auxiliary rotating wheel are arranged on the vehicle body, the axis of the main rotating wheel is arranged vertically, the bearing plate is arranged at the top of the main rotating wheel, the auxiliary rotating wheel is connected with the main rotating wheel in a meshed manner, and the auxiliary rotating wheel is connected with a driving assembly which can drive the auxiliary rotating wheel to rotate.
As a preferable scheme of the invention, a laser radar sensor is arranged at the front end of the vehicle body, and the laser radar sensor is electrically connected with the controller.
As a preferred embodiment of the present invention, the controller is provided with a wireless connection module for communication connection with the terminal device.
As a preferable scheme of the invention, the front end of the vehicle body is provided with a traction plate, and the traction plate is provided with a traction groove hole.
As a preferable scheme of the invention, the periphery of the vehicle body is provided with a protective pad.
As a preferable mode of the invention, the vehicle body is provided with a travelling mechanism, the travelling mechanism comprises a pair of main wheels and two pairs of universal casters, one pair of the universal casters is arranged at the front end of the vehicle body, and the other pair of the universal casters is arranged at the rear end of the vehicle body.
As a preferable scheme of the invention, the shells of the universal wheels and the driving wheels are made of high manganese steel.
As a preferable mode of the present invention, the vehicle body is provided with a battery electrically connected to the controller.
Compared with the prior art, the transfer robot for manufacturing the ship has the beneficial effects that: the first mechanical arm, the second mechanical arm, the third mechanical arm and the mounting plate in the mechanical arm can rotate respectively, and the controller can control the mechanical arm to act so as to drive the clamp mechanism to move flexibly, so that the clamp mechanism clamps articles to be carried; the robot can carry, assemble, weld and other works on materials such as steel, pipelines and the like, improves the working efficiency, lightens the labor intensity of workers, and can change different clamp mechanisms to meet the carrying requirements of different workpieces by being detachably arranged on the mounting plate.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
Fig. 2 is a structural view of a vehicle body of the present invention;
FIG. 3 is a block diagram of a robot of the present invention;
In the figure, 1, a vehicle body; 11. a controller; 12. a carrying plate; 13. a main rotating wheel; 14. a sub-wheel; 15. a lidar sensor; 16. a traction plate; 17. a walking mechanism; 171. a main wheel; 172. universal castor; 2. a manipulator; 21. a fixing plate; 22. a first mechanical arm; 23. a first driving mechanism; 24. a second mechanical arm; 25. a second driving mechanism; 26. a third mechanical arm; 27. a third driving mechanism; 28. a fourth driving mechanism; 29. a mounting plate; 3. a clamp mechanism; 31. a driving motor; 32. a driving wheel; 321. a driving tooth; 322. a first connecting arm; 33. driven wheel; 331. driven teeth; 332. a second connecting arm; 34. a first clamping arm; 35. a first link; 36. a second clamping arm; 37. and a second link.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1 to 3, a transfer robot for manufacturing a ship according to a preferred embodiment of the present invention includes a vehicle body 1, a robot arm 2, and a gripper mechanism 3 for picking up a workpiece, wherein the vehicle body 1 is provided with a controller 11 and a carrier plate 12, it is understood that the vehicle body 1 is provided with a traveling mechanism, the traveling mechanism can be manipulated by the controller 11 to achieve linear movement and steering of the vehicle body 1, the robot arm 2 includes a fixed plate 21, a first robot arm 22, a first driving mechanism 23, a second robot arm 24, a second driving mechanism 25, a third robot arm 26, a third driving mechanism 27, a fourth driving mechanism 28, and a mounting plate 29, one end of the first robot arm 22 is rotatably connected to the fixed plate 21, the first driving mechanism 23 is mounted on the fixed plate 21 and can drive the first robot arm 22 to rotate, the other end of the first robot arm 22 is rotatably connected to one end of the second robot arm 24, the second driving mechanism 25 is installed on the second mechanical arm 24 and can drive the second mechanical arm 24 to rotate, the other end of the second mechanical arm 24 is rotationally connected with one end of the third mechanical arm 26, the third driving mechanism 27 is installed on the second mechanical arm 24 and can drive the third mechanical arm 26 to rotate, the rotation axis of the first mechanical arm 22, the rotation axis of the second mechanical arm 24 and the rotation axis of the third mechanical arm 26 are parallel to each other, the fourth driving mechanism 28 is installed on the other end of the third mechanical arm 26, the fourth driving mechanism 28 is connected with the mounting plate 29 and can drive the mounting plate 29 to rotate, the rotation axis of the mounting plate 29 is orthogonal to the rotation axis of the third mechanical arm 26, the clamp mechanism 3 is installed on the mounting plate 29, and the controller 11 is respectively connected with the first driving mechanism 23, the second driving mechanism 25 and the third driving mechanism 27, the fourth driving mechanism 28 is electrically connected to the clamp mechanism 3.
The working principle of the embodiment is as follows: the first mechanical arm 22, the second mechanical arm 24, the third mechanical arm 26 and the mounting plate 29 in the mechanical arm 2 can rotate respectively, and the controller 11 can control the mechanical arm 2 to act so as to drive the clamp mechanism 3 to move flexibly, so that the clamp mechanism 3 clamps articles to be carried, and the device can adapt to diversified carrying and assembling requirements in ship manufacturing; the robot can carry, assemble, weld and other works on materials such as steel, pipelines and the like, improves the working efficiency, lightens the labor intensity of workers, and can change different clamp mechanisms 3 to meet the carrying requirements of different workpieces by being detachably mounted on the mounting plate 29.
When the robot is used, the robot is placed in a ship production manufacturing workshop, the robot is started, the working track and other operations of the device are set through the adjusting controller 11, the robot moves to a position to be operated, then the controller 11 controls the manipulator 2 to act so as to adjust the relative positions of the clamp mechanism 3 and parts to be carried, and finally the adjusting controller 11 controls the clamp mechanism 3 to clamp the articles to be carried.
The clamp mechanism 3 includes a driving motor 31, a driving wheel 32, a driven wheel 33, a first clamping arm 34, a first connecting rod 35, a second clamping arm 36 and a second connecting rod 37, the driving motor 31 is installed on the mounting plate 29 and is electrically connected with the controller 11, the driving wheel 32 and the driven wheel 33 are symmetrically arranged on the mounting plate 29, the driving motor 31 is connected with the driving wheel 32 and can drive the driving wheel 32 to rotate, one side of the driving wheel 32, which is close to the driven wheel 33, is provided with a driving tooth 321, the driven wheel 33 is provided with a driven tooth 331 meshed with the driving tooth 321, one side, which is far away from the driven wheel 33, of the driving wheel 32 is provided with a first connecting arm 322, the driven wheel 33 is provided with a second connecting arm 332 which is symmetrically arranged with the first connecting arm 322, the first connecting arm 322 is hinged with one end of the first clamping arm 34, the middle part of the first clamping arm 34 is hinged with one end of the first connecting rod 35, the other end of the first connecting rod 35 is hinged with the mounting plate 29, the middle part of the second clamping arm 36 is hinged with one end of the second connecting rod 37, the other end of the second connecting rod 37 is hinged with the mounting plate 29, the other end of the first connecting rod 34 is meshed with the second connecting arm 34, when the other end of the first clamping arm 34 and the second connecting arm 36 are in the opposite direction to the driving tooth 33 or the driving tooth 33 are meshed with the driving wheel 33, so that the driving wheel 33 and the driving wheel 32 is meshed with the driving tooth or the driving wheel 33 is formed, when the driving wheel 32 is in a relative rotation, or the opposite, or the driving joint is formed, or the driving joint, or the clamping and the driving wheel is driven, and the driving joint is moved, and the driving joint and the driving wheel 33 and has.
The car body 1 is provided with a main rotating wheel 13 and an auxiliary rotating wheel 14, the axis of the main rotating wheel 13 is arranged vertically, the bearing plate 12 is arranged at the top of the main rotating wheel 13, the auxiliary rotating wheel 14 is connected with the main rotating wheel 13 in a meshed mode, the auxiliary rotating wheel 14 is connected with a driving assembly, the driving assembly can drive the auxiliary rotating wheel 14 to rotate, the auxiliary rotating wheel 14 drives the main rotating wheel 13 to rotate, accordingly, the bearing plate is driven to rotate, the manipulator 2 rotates around the axis of the main rotating wheel 13, namely, the manipulator 2 can rotate 360 degrees around the axis of the main rotating wheel 13, and the operation is more flexible.
The front end of the vehicle body 1 is provided with a laser radar sensor 15, the laser radar sensor 15 is electrically connected with the controller 11, the laser radar sensor 15 can acquire environmental information around the vehicle body 1 in real time, measure the position of the robot, record the movement route and track of the robot, simultaneously, can transmit the position of the robot to the controller 11 in real time, the controller 11 is in communication connection with an external control center, can receive a set instruction input by a user and an instruction of a remote controller, and when the robot senses that a static or dynamic obstacle exists on a planned route of the robot in the running process, the robot updates the route in real time according to a certain algorithm, bypasses the obstacle and finally reaches a target point.
The controller 11 is provided with a wireless connection module for communication connection with the terminal device, for example, the controller can realize remote control through wifi or bluetooth wireless connection, the controller 11 can not only perform manual slotted holes, but also receive instructions of a remote controller, and simultaneously can run a pre-programmed program.
The front end of the vehicle body 1 is provided with a traction plate 16, the traction plate 16 is provided with a traction slot, a traction rope is used for penetrating through the traction slot and is fixed with the traction plate 16, connection between two or more transfer robots can be achieved, collaborative operation among a plurality of transfer robots is facilitated, practicality of the transfer robots is improved, and in addition, the transfer robots can be connected with other devices (such as a trailer) through the traction plate 16.
The protection pad is arranged around the car body 1, so that the protection buffer effect can be achieved, the transportation work of the transfer robot can be effectively guaranteed, the damage degree of the transfer robot when the transfer robot collides with other objects in the operation process is reduced, and the service life of the transfer robot is prolonged.
The vehicle body 1 is provided with the travelling mechanism 17, the travelling mechanism 17 comprises a pair of main wheels 171 and two pairs of universal casters 172, the pair of universal casters 172 are arranged at the front end of the vehicle body 1, the other pair of universal casters 172 are arranged at the rear end of the vehicle body 1, the universal casters 172 can share the weight of the vehicle body 1 borne by the main wheels 171, the unstable gravity center of the robot during steering is prevented, the main wheels 171 and the shells of the universal casters 172 are made of reliable and wear-resistant high manganese steel materials, and the wear resistance is good, so that the wear of the climbing robot due to friction force in the operation process is reduced.
The vehicle body 1 is provided with a storage battery electrically connected with the controller 11 for providing power for the controller, and the storage battery can also provide power for the operation of the vehicle body 1 and the operation of the manipulator 2.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and substitutions can be made by those skilled in the art without departing from the technical principles of the present invention, and these modifications and substitutions should also be considered as being within the scope of the present invention.
Claims (11)
1. Transfer robot that boats and ships were made usefulness, its characterized in that: including automobile body, manipulator and be used for taking the anchor clamps mechanism of work piece, be equipped with controller and loading board on the automobile body, the manipulator includes fixed plate, first arm, first actuating mechanism, second arm, second actuating mechanism, third arm, third actuating mechanism, fourth actuating mechanism and mounting panel, the one end of first arm with the fixed plate rotates to be connected, first actuating mechanism installs on the fixed plate and can drive first arm rotates, the other end of first arm with the one end rotation of second arm is connected, the second actuating mechanism installs on the second arm and can drive the second arm rotates, the other end of second arm with the one end rotation of third arm is connected, the third actuating mechanism installs on the second arm and can drive the third arm rotates, the axis of rotation of first arm with the axis of rotation of third arm is parallel to each other, the second actuating mechanism installs the other end with the fourth actuating mechanism, the fourth actuating mechanism is installed with the fourth actuating mechanism is installed to the other end the axis of rotation of third arm, the fourth actuating mechanism is connected with the mounting panel.
2. The transfer robot for manufacturing a ship according to claim 1, wherein: the clamp mechanism comprises a driving motor, a driving wheel, a driven wheel, a first clamping arm, a first connecting rod, a second clamping arm and a second connecting rod, wherein the driving motor is installed on the mounting plate and is electrically connected with the controller, the driving wheel and the driven wheel are symmetrically arranged on the mounting plate, the driving motor is connected with the driving wheel and can drive the driving wheel to rotate, one side of the driving wheel, which is close to the driven wheel, is provided with driving teeth, the driven wheel is provided with driven teeth meshed with the driving teeth, one side of the driving wheel, which is far away from the driven wheel, is provided with a first connecting arm, which is provided with a second connecting arm symmetrically arranged with the first connecting arm, the first connecting arm is hinged with one end of the first clamping arm, the middle part of the first connecting arm is hinged with one end of the first connecting rod, the other end of the first connecting rod is hinged with the mounting plate, the second connecting arm is hinged with one end of the second clamping arm, the middle part of the second clamping arm is hinged with one end of the second connecting rod, the other end of the second connecting arm is hinged with the other end of the first connecting rod, and the other end of the first connecting arm is opposite to the clamping port.
3. The transfer robot for manufacturing a ship according to claim 1, wherein: the automobile body is last to be equipped with main runner and auxiliary runner, the axis of main runner is along vertical setting, the loading board is installed the top of main runner, auxiliary runner with main runner meshing is connected, auxiliary runner is connected with drive assembly, drive assembly can drive auxiliary runner rotates.
4. The transfer robot for manufacturing a ship according to claim 1, wherein: the front end of the vehicle body is provided with a laser radar sensor, and the laser radar sensor is electrically connected with the controller.
5. The transfer robot for manufacturing a ship according to claim 1, wherein: the controller is provided with a wireless connection module for communication connection with the terminal equipment.
6. The transfer robot for manufacturing a ship according to claim 1, wherein: the front end of the car body is provided with a traction plate, and the traction plate is provided with a traction slot hole.
7. The transfer robot for manufacturing a ship according to claim 1, wherein: and protective pads are arranged around the vehicle body.
8. The transfer robot for manufacturing a ship according to claim 1, wherein: the automobile body is equipped with running gear, running gear includes a pair of main wheel and two pairs of universal castor, wherein a pair of the universal castor is located the front end of automobile body, and another pair of the universal castor is located the rear end of automobile body.
9. The transfer robot for manufacturing a ship according to claim 9, wherein: the universal wheels and the outer shell of the driving wheel are made of high manganese steel.
10. The transfer robot for manufacturing a ship according to claim 1, wherein: and a storage battery electrically connected with the controller is arranged on the vehicle body.
11. The transfer robot for manufacturing a ship according to claim 1, wherein: the clamp mechanism is a sucker device capable of sucking a workpiece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410186438.7A CN117961927A (en) | 2024-02-20 | 2024-02-20 | Transfer robot for ship manufacturing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410186438.7A CN117961927A (en) | 2024-02-20 | 2024-02-20 | Transfer robot for ship manufacturing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117961927A true CN117961927A (en) | 2024-05-03 |
Family
ID=90857394
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410186438.7A Pending CN117961927A (en) | 2024-02-20 | 2024-02-20 | Transfer robot for ship manufacturing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117961927A (en) |
-
2024
- 2024-02-20 CN CN202410186438.7A patent/CN117961927A/en active Pending
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