CN102091933B - Ship block assembly quick alignment device and method - Google Patents
Ship block assembly quick alignment device and method Download PDFInfo
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- CN102091933B CN102091933B CN2010106177524A CN201010617752A CN102091933B CN 102091933 B CN102091933 B CN 102091933B CN 2010106177524 A CN2010106177524 A CN 2010106177524A CN 201010617752 A CN201010617752 A CN 201010617752A CN 102091933 B CN102091933 B CN 102091933B
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- body section
- block assembly
- contraposition
- ship
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Abstract
The invention discloses a ship block assembly quick alignment device and a ship block assembly quick alignment method, can be used for adjusting ship block positions and postures in states such as shipway block assembly, general block assembly, shipway assembly and the like, and belongs to the technical field of ship block assembly devices. Aiming at the characteristics of large scale, large tonnage, complicated appearance, low possibility of being moved and accurately aligned and the like of the shipway block assembly, the ship block assembly quick alignment device is designed and developed, and can realize six degree-of-freedom axial shifting and rotating motion of the ship blocks on a universal adjustable platform. The automatic alignment system with accurate alignment function can quickly free cranes, save manpower, improve the quality and efficiency of block folding, and facilitate improving ship building accuracy and shortening construction period.
Description
Technical field
[0001] the present invention relates to a kind of body section and assemble quick alignment device and method thereof, can be used for carrying out under the states such as building berth segmentation assembling, segmentation general assembly, building berth assembling the adjustment of body section position and attitude, belong to body section assembling device technical field.
Background technology
Along with building berth does not have the application of surplus mounting technology, building berth efficiency of assembling and quality have been improved to a great extent.At present; Segment folding method mainly is to continue to use work in coordination handling location and installation and close up two kinds of conventional methods with berth bogie of assembler and hoistman, exists problems such as the crane utilization rate is low, complicated operation, aligning accuracy is poor, the time is long, dangerous height.
The segmentation assembling of body section, segmentation general assembly, building berth assembling and positioning still are in state hand-manipulated, and a kind of mode commonly used is by assembler and hoistman work in coordination handling, location and installation, and the support pier below the segmentation is can not the common pier peculiar to vessel of mode; Moving of segmentation position; Crane and manpower are leaned in the adjustment of attitude entirely, and crane can not be used for other purposes during this period; And it is wayward to use crane to carry out in the hoisting and locating process precision; There is very big stress in the segmentation weld seam, influences build guality, exist problems such as the crane utilization rate is low, aligning accuracy is poor, long construction period, dangerous height.At present, vertical adjustable pier has also appearred in shipyard, and this pier has a jacking cylinder, can adjust segmentation in short transverse, can not realize the adjustment of horizontal direction and left and right directions, in order to shelve segmentation, must often carry and stack heavy block.These manual equipment quantity are many, weight is big, and the 1.2m-1.8m only of the distance between hull bottom and the building berth surface, operation often the people can not be upright condition under carry out, work efficiency is low, man-hour is many, work is heavy.Therefore; Design a kind of adjustable alignment device, can in segmentation assembling, segmentation general assembly, building berth assembling process, carry out the adjustment of six degree of freedom easily to segmentation, realize accurate measurement and positioning; Automatically contraposition; Network control is emitted crane, saving manpower thereby separate, and further improves the shipbuilding precision, shortens construction period.
Summary of the invention
For realizing the contraposition accurately and fast of body section; The present invention provides a kind of body section to assemble quick alignment device and method thereof; The universal adjustable platform of quick contraposition, location survey subsystem and contraposition motion control subsystem three parts that this device is made up of the adjustable pier of a plurality of Three Degree Of Freedoms peculiar to vessel are formed, and the body section that is positioned at during work on the universal adjustable platform is adjustable at certain space scope six degree of freedom, realize the accurate measurement and positioning of segmentation assembling; Automatically contraposition, network control.This device has automation accurately to bit function, can liberate crane fast, practice thrift manpower, improves the quality and the efficient of segment folding, helps to improve the shipbuilding precision, shortens construction period.
The technical solution adopted for the present invention to solve the technical problems is: a kind of body section assembles quick alignment device and adopts universal adjustable platform, location survey subsystem and contraposition motion control subsystem; Adopt between universal adjustable platform and the contraposition motion control subsystem to be electrically connected, adopt wireless telecommunications between location survey subsystem and the contraposition motion control subsystem; Said universal adjustable platform adopts the adjustable pier of a plurality of Three Degree Of Freedoms peculiar to vessel to be arranged at the below of butt joint body section, supports body section and the locus of adjusting body section; Said location survey subsystem comprises that embedded location survey of total powerstation and universal adjustable platform movement locus calculate; Said contraposition motion control subsystem comprises control performance element and control strategy unit, control dock body section with respect to the benchmark body section in the locus, the butt joint setting movement of attitude.
Said following to the step of method for position fast:
1. the benchmark body section is placed on the pier common peculiar to vessel on the building berth;
2. will dock body section and place on the building berth on the adjustable pier of a plurality of Three Degree Of Freedoms peculiar to vessel, a plurality of Three Degree Of Freedoms peculiar to vessel are adjustable, and pier constitutes a universal adjustable platform;
3. through positioning measurement based on the embedded location survey subsystem of total powerstation and the Surveying Control Point on butt joint body section and the benchmark body section;
4. the wireless contraposition motion control subsystem that sends to of the measurement data of location survey subsystem is carried out universal adjustable platform movement locus by the contraposition motion control subsystem and is calculated;
5. last, control the adjustable pier action of Three Degree Of Freedom peculiar to vessel by the contraposition motion control subsystem, accomplish universal adjustable platform and dock the position of body section and the adjustment of attitude, the accurate contraposition of achieve a butt joint body section and benchmark body section.
Above-mentioned technical scheme is used for the accurate measurement and positioning of segmentation assembling, contraposition automatically.The universal adjustable platform of quick contraposition, location survey subsystem and contraposition motion control subsystem three parts that this device is made up of the adjustable pier of a plurality of Three Degree Of Freedoms peculiar to vessel are formed: 1. universal adjustable platform; The universal adjustable platform of being made up of the adjustable pier of a plurality of Three Degree Of Freedoms peculiar to vessel is positioned at the below of body section, as supporting the locus of segmentation with the adjustment segmentation.The adjustable pier of Three Degree Of Freedom peculiar to vessel has three electronic cylinders to do dynamical system; Be connected with rotatable adpting flange pin formula on the cup dolly through U type fork below each electronic cylinder; Realize universal adjustable; Be connected with rotatable flange pin formula on the mounting plate through U type fork above; Bracket realizes top to bottom, left and right, front and rear three-dimensional motion under the promotion of three electronic cylinders, have channel-section steel to be connected between the cup dolly of pier bottom, and the channel-section steel middle part is provided with the liftable trailer system of being made up of universal wheel and small-sized hydraulic cylinder.2. building berth assembles quick location survey subsystem, comprises that embedded location survey of total powerstation and universal adjustable platform movement locus calculate two parts.Wherein the former sets up the measurement coordinate system system through exploitation total powerstation embedded measurement unit, the accurately quick location survey of achieve a butt joint segmentation and basic section, and measurement data is sent to on-the-spot industrial computer analytic unit through wireless transmission unit; The latter sets up the coordinate system of docking segmentation and basic section according to measuring coordinate data through coordinate transform and matrix differential, calculates the movement locus that building berth assembles the universal adjustable platform of quick contraposition.3. building berth assembles quick contraposition motion control subsystem, and this subsystem is made up of control performance element and control strategy unit two parts, be used to accomplish dock segmentation with respect to basic section in the locus, the butt joint setting movement of attitude controls.Select the number of pier for use according to real system, set the relevant parameter of Non-Model Controller in the control strategy unit, with the action of drive controlling performance element.Through to single pier crawl of forming universal adjustable platform and crowd's pier interlock decoupling zero motion control, achieve a butt joint segmentation spatially translational motion and rotatablely move.
The invention has the beneficial effects as follows: to large scale, large-tonnage, the complex contour of building berth segmentation assembling, move difficulty, be difficult to characteristics such as accurate contraposition; Design and develop body section and assemble quick alignment device, the axial translation that can realize the six degree of freedom of body section on universal adjustable platform with rotatablely move.This has accurate automation alignment system to bit function, can liberate crane fast, practice thrift manpower, improves the quality and the efficient of segment folding, helps to improve the shipbuilding precision, shortens construction period.
Description of drawings
Below in conjunction with accompanying drawing and implementation method the present invention is described further.
Fig. 1 is that a kind of body section assembles quick alignment device working state figure.
Among the figure: 1, benchmark body section; 2, butt joint body section; 3, Surveying Control Point; 4, the adjustable pier of Three Degree Of Freedom peculiar to vessel; 5, universal adjustable platform; 6, location survey subsystem; 7, contraposition motion control subsystem; 8, control line, 9, common pier peculiar to vessel, 10, building berth.
The specific embodiment
Fig. 1 shows a kind of body section and assembles quick alignment device working state figure.Among the figure; The quick alignment device of assembling this body section adopts universal adjustable platform 5, location survey subsystem 6 and contraposition motion control subsystem 7; Adopt control line 8 to be connected between universal adjustable platform 5 and the contraposition motion control subsystem 7, adopt wireless telecommunications between location survey subsystem 6 and the contraposition motion control subsystem 7; Universal adjustable platform 5 adopts 4 adjustable piers 4 of Three Degree Of Freedom peculiar to vessel to be arranged at the below of butt joint body section 2, supports body section and the locus of adjusting body section; Location survey subsystem 6 comprises that embedded location survey of total powerstation and universal adjustable platform movement locus calculate; Contraposition motion control subsystem 7 comprises control performance element and control strategy unit, control dock body section 2 with respect to benchmark body section 1 in the locus, the butt joint setting movement of attitude.
After above-mentioned quick alignment device is ready to, be placed on butt joint body section 2 on the universal adjustable platform of forming by 4 adjustable piers 4 of Three Degree Of Freedom peculiar to vessel 5.The adjustable pier 4 of each Three Degree Of Freedom peculiar to vessel has independently control module, and modularized design can be controlled use separately, also can parallel control.Be arranged to a universal adjustable platform 5 that supports body section by the adjustable pier 4 of Three Degree Of Freedom peculiar to vessel, through the synchronous adjustment to the adjustable pier of Three Degree Of Freedom of forming universal adjustable platform 5, the position that can convenient realization segmentation and the six degree of freedom of attitude are adjusted.Step is: at first, and through positioning measurement based on the embedded location survey subsystem of total powerstation and the Surveying Control Point 3 on butt joint body section 2 and the basic section 1; Then, on the basis of measurement data, carrying out universal adjustable platform movement locus calculates; At last, carry out the position of segmentation and the adjustment of attitude by the universal adjustable platform 5 of contraposition motion control subsystem 7 controls, the accurate contraposition of achieve a butt joint body section 2 and basic section 1.Improve the body section assembly precision, shorten construction period.
Claims (1)
1. a body section assembles quick alignment device; It is characterized in that: said quick alignment device adopts universal adjustable platform (5), location survey subsystem (6) and contraposition motion control subsystem (7); Adopt between universal adjustable platform (5) and the contraposition motion control subsystem (7) to be electrically connected, adopt wireless telecommunications between location survey subsystem (6) and the contraposition motion control subsystem (7); Said universal adjustable platform (5) adopts the adjustable piers of a plurality of Three Degree Of Freedoms peculiar to vessel (4) to be arranged at the below of butt joint body section (2), supports body section and the locus of adjusting body section; Said location survey subsystem (6) comprises that embedded location survey of total powerstation and universal adjustable platform movement locus calculate; Said contraposition motion control subsystem (7) comprises control performance element and control strategy unit, control dock body section (2) with respect to benchmark body section (1) in the locus, the butt joint setting movement of attitude.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010106177524A CN102091933B (en) | 2010-12-31 | 2010-12-31 | Ship block assembly quick alignment device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010106177524A CN102091933B (en) | 2010-12-31 | 2010-12-31 | Ship block assembly quick alignment device and method |
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| Publication Number | Publication Date |
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| CN102091933A CN102091933A (en) | 2011-06-15 |
| CN102091933B true CN102091933B (en) | 2012-07-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010106177524A Expired - Fee Related CN102091933B (en) | 2010-12-31 | 2010-12-31 | Ship block assembly quick alignment device and method |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102530200B (en) * | 2012-03-26 | 2014-04-16 | 大连理工大学 | Hydraulic location device for guiding ship in floating dock and working method thereof |
| CN105215669A (en) * | 2015-09-17 | 2016-01-06 | 中国商用飞机有限责任公司 | Attitude-adjusting method is measured in docking based on iGPS |
| CN106624726B (en) * | 2016-12-19 | 2019-10-08 | 深圳市联合东创科技有限公司 | Machinery contraposition assembling device and its contraposition assemble method |
| CN107363520B (en) * | 2017-07-27 | 2019-01-01 | 浙江中烟工业有限责任公司 | A kind of positioning auxiliary device and method for heavy equipment installation |
| CN108942152B (en) * | 2018-08-24 | 2020-08-07 | 北京航天发射技术研究所 | Assembly system and assembly method for segmented products |
| CN109693085A (en) * | 2018-10-23 | 2019-04-30 | 北京国华恒源科技开发有限公司 | Eight degrees of freedom heavy duty module docking facilities and algorithm |
| CN111268057A (en) * | 2020-03-30 | 2020-06-12 | 李令强 | Method for assembling and welding main sections and closing main sections of ships or marine equipment |
| CN111745369B (en) * | 2020-07-07 | 2021-02-09 | 上海交通大学 | Large cabin segment butt joint method for real-time monitoring |
| CN112157383A (en) * | 2020-09-03 | 2021-01-01 | 上海交通大学 | Flexible compliant six-degree-of-freedom positioning device for ship block docking |
| CN115675784B (en) * | 2022-10-28 | 2023-05-26 | 天津大学 | Ship block docking system and docking method based on digital measuring field |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4259776A (en) * | 1978-08-09 | 1981-04-07 | Airships International Inc. | Method of assembly of airship hull |
| CN1701910A (en) * | 2005-06-21 | 2005-11-30 | 渤海船舶重工有限责任公司 | Integral welding method for ensuring axiality of two side gudgeons in large sized structural member |
| CN101643109A (en) * | 2008-08-07 | 2010-02-10 | 江南造船(集团)有限责任公司 | Method for centering centerline of subsection hull constructed in two-island mode |
| CN201669548U (en) * | 2010-01-26 | 2010-12-15 | 浙江海洋学院 | Ship body section butting error verifier |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8733707B2 (en) * | 2008-04-17 | 2014-05-27 | The Boeing Company | Line transfer system for airplane |
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2010
- 2010-12-31 CN CN2010106177524A patent/CN102091933B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4259776A (en) * | 1978-08-09 | 1981-04-07 | Airships International Inc. | Method of assembly of airship hull |
| CN1701910A (en) * | 2005-06-21 | 2005-11-30 | 渤海船舶重工有限责任公司 | Integral welding method for ensuring axiality of two side gudgeons in large sized structural member |
| CN101643109A (en) * | 2008-08-07 | 2010-02-10 | 江南造船(集团)有限责任公司 | Method for centering centerline of subsection hull constructed in two-island mode |
| CN201669548U (en) * | 2010-01-26 | 2010-12-15 | 浙江海洋学院 | Ship body section butting error verifier |
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| CN102091933A (en) | 2011-06-15 |
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