CN112157383A - Flexible compliant six-degree-of-freedom positioning device for ship block docking - Google Patents
Flexible compliant six-degree-of-freedom positioning device for ship block docking Download PDFInfo
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- CN112157383A CN112157383A CN202010913625.2A CN202010913625A CN112157383A CN 112157383 A CN112157383 A CN 112157383A CN 202010913625 A CN202010913625 A CN 202010913625A CN 112157383 A CN112157383 A CN 112157383A
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- degree
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- trolley
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/0426—Fixtures for other work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/047—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work moving work to adjust its position between soldering, welding or cutting steps
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Abstract
The invention discloses a flexible compliance six-degree-of-freedom positioning device for ship block docking, which relates to the technical field of ship block assembly docking and comprises a four-degree-of-freedom motion trolley and a three-degree-of-freedom motion trolley; the four-degree-of-freedom motion trolley comprises a chassis, a driving wheel, a guide rail sliding block, a horizontal motion platform, a vertical supporting column, a rotary supporting roller, a molded surface adapting plate and a rotary bracket; the three-degree-of-freedom moving trolley comprises a chassis, a driving wheel, a guide rail sliding block, a horizontal moving platform, a vertical supporting column, a rotating supporting roller, a molded surface adapting plate and a rotating bracket; the profile adapting plate is supported by the vertical supporting column and is supported by the rotating bracket; when the ship block is pressed on the profile adaptation plate, the rotating bracket can keep the supporting rigidity for the profile adaptation plate. By implementing the invention, the positioning precision and the automation degree of the ship block assembly can be improved, and the assembly efficiency is improved while the butt joint quality of the ship block is ensured.
Description
Technical Field
The invention relates to the technical field of assembly and butt joint of ship blocks in the ship manufacturing industry, in particular to a flexible compliance six-degree-of-freedom positioning device for butt joint of ship blocks.
Background
In the ship manufacturing industry, the quality of the folding welding assembly of the ship block is directly related to the overall manufacturing level of the ship, and the quality of the welding quality depends on the butt joint precision of the ship block. However, in the existing docking process links of domestic ship manufacturing, particularly in the assembly docking of large ship blocks, most of the conventional tower cranes or hydraulically driven trolleys are still used in a visual mode in cooperation with workers, and the mode has poor precision quality control and is easy to damage assembly parts due to poor flexibility of assembly equipment.
In recent years, with the application of an intelligent control device based on an electrical control system in the ship block folding operation, the accuracy of ship block butt joint is improved to a certain extent, but the device still does not solve the problems of assembly part damage and excessive welding local stress caused by single degree of freedom control capability of the position and the posture of the ship block and poor compliance.
Therefore, those skilled in the art are devoted to developing a flexible compliant six-degree-of-freedom positioning device for docking of vessel segments.
Disclosure of Invention
In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is how to improve and expand the positioning accuracy, the compliance performance, the automation degree and the motion range of the ship block docking operation.
In order to achieve the aim, the invention provides a flexible compliance six-degree-of-freedom positioning device for ship block docking, which comprises a four-degree-of-freedom motion trolley and a three-degree-of-freedom motion trolley; the four-degree-of-freedom motion trolley comprises a chassis, a driving wheel, a guide rail sliding block, a horizontal motion platform, a vertical supporting column, a rotary supporting roller, a molded surface adapting plate and a rotary bracket; the three-degree-of-freedom moving trolley comprises a chassis, a driving wheel, a guide rail sliding block, a horizontal moving platform, a vertical supporting column, a rotating supporting roller, a molded surface adapting plate and a rotating bracket; the driving wheels of the four-degree-of-freedom motion trolley and the three-degree-of-freedom motion trolley are respectively fixed on respective chassis; the four-degree-of-freedom moving trolley and the guide rail sliding block of the three-degree-of-freedom moving trolley are respectively arranged on the respective chassis; the four-degree-of-freedom moving trolley and the horizontal moving platform of the three-degree-of-freedom moving trolley are respectively and movably connected with the guide rail sliding blocks; the vertical support columns of the four-degree-of-freedom motion trolley and the three-degree-of-freedom motion trolley are respectively and fixedly connected to the respective horizontal motion platforms; the four-degree-of-freedom motion trolley and the three-degree-of-freedom motion trolley are respectively provided with a rotary bracket on a horizontal motion platform; the profile adaptation plates of the four-degree-of-freedom motion trolley and the three-degree-of-freedom motion trolley are respectively supported by respective vertical support columns and are simultaneously supported by respective rotating brackets; when the ship block is pressed on the profile adaptation plate, the rotating bracket can keep the supporting rigidity for the profile adaptation plate.
Furthermore, the four-degree-of-freedom moving trolley and the three-degree-of-freedom moving trolley are respectively provided with 4 driving wheels, and each driving wheel is provided with a respective driving motor.
Furthermore, the driving wheel of the three-degree-of-freedom motion trolley is driven by the transmission device to rotate, so that the three-degree-of-freedom motion trolley moves in the x direction.
Furthermore, the horizontal motion platforms of the four-degree-of-freedom motion trolley and the three-degree-of-freedom motion trolley respectively slide on the guide rail sliding blocks to realize y-direction movement.
Furthermore, the vertical support columns of the four-degree-of-freedom motion trolley and the three-degree-of-freedom motion trolley respectively realize the movement in the z direction through respective guide rail sliders.
Further, the four-degree-of-freedom moving trolley and the rotating bracket of the three-degree-of-freedom moving trolley can rotate on the horizontal plane.
Furthermore, the profile adaptation plates of the four-degree-of-freedom motion trolley and the three-degree-of-freedom motion trolley are pre-installed with respective rotary supporting rollers in the placing process.
Furthermore, the outer surfaces of the rotating supporting rollers of the four-degree-of-freedom motion trolley and the three-degree-of-freedom motion trolley are wrapped by elastic rubber layers.
Furthermore, the four-degree-of-freedom moving trolley and the three-degree-of-freedom moving trolley are respectively provided with a plurality of rotary supporting rollers.
Further, 1 four-degree-of-freedom motion trolley and 1 three-degree-of-freedom motion trolley form 1 positioning unit, more than 2 positioning units are needed for supporting 1 ship block, and the number and the arrangement form of the positioning units are determined according to the load and the size of the ship block.
Compared with the prior art, the flexible compliance six-degree-of-freedom positioning device for ship block docking provided by the invention at least has the following beneficial technical effects:
1. the rotary supporting rollers wrapped by the elastic rubber layers are adopted, so that the flexibility of the profile adapting plate is greatly improved, and sufficient friction force is ensured, so that the ship block does not slip off to cause safety accidents;
2. the ship docking mechanism has higher self-movement flexibility and expansion capability, can reduce the use of hoisting equipment, and improves the efficiency and safety of ship docking operation;
3. the automatic six-degree-of-freedom posture adjustment function of the component can be realized, and the movement range is large;
4. the laser tracker can be used for measurement, the existing visual hand-operated posture adjustment is replaced, the automation degree is high, and the posture adjustment precision is high.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.
Drawings
FIG. 1 is a schematic structural diagram of a flexible compliant six-degree-of-freedom positioning device for docking of a ship block according to a preferred embodiment of the invention;
FIG. 2 is a working perspective view of a flexible compliant six-degree-of-freedom positioning device for docking of a vessel block according to an embodiment of the invention;
FIG. 3 is a schematic cross-sectional view of a flexible compliant six-degree-of-freedom positioning device for docking of a vessel block according to an embodiment of the present invention;
the ship comprises a 1-four-degree-of-freedom motion trolley, a 2-three-degree-of-freedom motion trolley, a 3-chassis, 4-driving wheels, 5-guide rail sliders, 6-horizontal motion platforms, 7-vertical supporting columns, 8-rotary supporting rollers, 9-molded surface adapting plates, 10-rotary brackets and 11-ship block sections.
Detailed Description
The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.
As shown in fig. 1, 2 and 3, a flexible compliant six-degree-of-freedom positioning device for ship block docking comprises a four-degree-of-freedom moving trolley 1 and a three-degree-of-freedom moving trolley 2; the four-degree-of-freedom motion trolley 1 comprises a chassis 3, a driving wheel 4, a guide rail sliding block 5, a horizontal motion platform 6, a vertical supporting column 7, a rotary supporting roller 8, a molded surface adapting plate 9 and a rotary bracket 10; the three-degree-of-freedom moving trolley 2 comprises a chassis 3, a driving wheel 4, a guide rail sliding block 5, a horizontal moving platform 6, a vertical supporting column 7, a rotating supporting roller 8, a molded surface adapting plate 9 and a rotating bracket 10; the driving wheel 4 is fixed on the chassis 3; the guide rail sliding block 5 is arranged on the chassis 3; the horizontal moving platform 6 is movably connected with the guide rail sliding block 5; the vertical supporting column 7 is fixedly connected on the horizontal moving platform 6; the rotating bracket 10 is arranged on the horizontal moving platform 6; the profile adaptation plate 9 is supported by the vertical support column 7 and is supported by the rotary bracket 10; the swivel bracket 10 can maintain the support rigidity for the profile adapter plate 9 when the ship block 11 is pressed against the profile adapter plate 9.
The four-degree-of-freedom moving trolley 1 and the three-degree-of-freedom moving trolley 2 are respectively provided with 4 driving wheels 4, and each driving wheel 4 is provided with a respective driving motor. The driving wheel 4 of the three-degree-of-freedom moving trolley 2 is driven by the transmission device to rotate, so that the three-degree-of-freedom moving trolley 2 moves in the x direction.
The vertical support columns 7 of the four-degree-of-freedom moving trolley 1 and the three-degree-of-freedom moving trolley 2 respectively realize the movement in the z direction through the guide rail sliding blocks 5.
The rotating brackets 10 of the four-degree-of-freedom moving trolley 1 and the three-degree-of-freedom moving trolley 2 can rotate on the horizontal plane.
The profile adaptation plates 9 of the four-degree-of-freedom motion trolley 1 and the three-degree-of-freedom motion trolley 2 are pre-installed with respective rotary supporting rollers 8 in the placing process respectively; the outer surfaces of the rotary supporting rollers 8 are all wrapped by elastic rubber layers; the four-degree-of-freedom moving trolley 1 and the three-degree-of-freedom moving trolley 2 are respectively provided with a plurality of rotary supporting rollers 8.
1 four-degree-of-freedom moving trolley 1 and 1 three-degree-of-freedom moving trolley 2 form 1 positioning unit, and the positioning unit has six degrees of freedom of movement. More than 2 positioning units are needed for supporting 1 ship block 11, and the number and the arrangement form of the positioning units are determined according to the load and the size of the ship block 11. Along the axial direction of the vessel block 11, 2 columns of positioning units may be arranged, and a plurality of positioning units may be arranged in each column.
In the using process, the number and the arrangement form of the positioning units are determined according to the load and the size of the ship block 11, and the positioning units are arranged; the ship block 11 is hung on the device, each profile adapting plate 9 is adjusted to adapt to the curved surface of the ship block 11 at the position, the crane rope is loosened, and the weight of the ship block 11 is pressed on the device. The plurality of rotation support rollers 8 are in contact with the held ship block 11, and the rotation support rollers 8 are covered with an elastic rubber layer on the surface, so that the rotation support rollers 8 and the held ship block 11 do not slip. And checking the butt joint surfaces of the ship block 11 and the butt joint block, and detecting related data. If the ship block 11 is too far away from the butt joint block, the driving wheel 4 of the three-degree-of-freedom motion trolley 2 is started to rotate and move in the X direction, and the ship block 11 approaches the butt joint block, so that the gap between the ship block and the butt joint block meets the requirement. If the ship block 11 is staggered with the butt joint block, the horizontal motion platforms 6 of the four-degree-of-freedom motion trolley 1 and the three-degree-of-freedom motion trolley 2 are started to respectively slide on the guide rail slide blocks 5, so that the movement in the y direction is realized, and the ship block 11 is aligned with the butt joint block. If the axes of the ship block 11 and the butt joint block are not aligned, the rotating bracket 10 is started to rotate, and the axes are adjusted to be aligned. After all the ship sections are adjusted, the butt joint parts of the ship sections 11 and the butt joint sections are welded, and the butt joint work of the ship sections 11 is completed.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (10)
1. A flexible compliance six-freedom-degree positioning device for ship block docking is characterized by comprising a four-freedom-degree motion trolley and a three-freedom-degree motion trolley; the four-degree-of-freedom motion trolley comprises a chassis, a driving wheel, a guide rail sliding block, a horizontal motion platform, a vertical supporting column, a rotary supporting roller, a molded surface adapting plate and a rotary bracket; the three-degree-of-freedom moving trolley comprises a chassis, a driving wheel, a guide rail sliding block, a horizontal moving platform, a vertical supporting column, a rotating supporting roller, a molded surface adapting plate and a rotating bracket; the driving wheels of the four-degree-of-freedom motion trolley and the three-degree-of-freedom motion trolley are respectively fixed on respective chassis; the four-degree-of-freedom moving trolley and the guide rail sliding block of the three-degree-of-freedom moving trolley are respectively arranged on the respective chassis; the four-degree-of-freedom moving trolley and the horizontal moving platform of the three-degree-of-freedom moving trolley are respectively and movably connected with the guide rail sliding blocks; the vertical support columns of the four-degree-of-freedom motion trolley and the three-degree-of-freedom motion trolley are respectively and fixedly connected to the respective horizontal motion platforms; the four-degree-of-freedom motion trolley and the three-degree-of-freedom motion trolley are respectively provided with a rotary bracket on a horizontal motion platform; the profile adaptation plates of the four-degree-of-freedom motion trolley and the three-degree-of-freedom motion trolley are respectively supported by respective vertical support columns and are simultaneously supported by respective rotating brackets; when the ship block is pressed on the profile adaptation plate, the rotating bracket can keep the supporting rigidity for the profile adaptation plate.
2. The compliant six-dof positioning apparatus for docking a vessel block as recited in claim 1 wherein said four-dof motion trolley and said three-dof motion trolley each have 4 drive wheels, each drive wheel having its own drive motor.
3. The flexible compliant six-DOF positioning device for docking of ship block as claimed in claim 1 wherein the driving wheel of the three-DOF motion trolley is driven by a transmission device to rotate to realize the x-direction motion of the three-DOF motion trolley.
4. The flexible compliant six-degree-of-freedom positioning device for docking of ship block as claimed in claim 1 wherein the horizontal motion platforms of said four-degree-of-freedom motion trolley and said three-degree-of-freedom motion trolley slide on their respective rail blocks to effect y-direction motion.
5. The flexible compliant six-DOF positioning device for docking of marine vessel segments as recited in claim 1, wherein the vertical support columns of said four-DOF motion trolley and said three-DOF motion trolley respectively realize z-direction movement by means of respective guide rail sliders.
6. The flexible compliant six degree of freedom positioning apparatus for docking of a vessel block of claim 1 wherein the rotating carriages of both the four degree of freedom motion trolley and the three degree of freedom motion trolley are rotatable in a horizontal plane.
7. The flexible compliant six-degree-of-freedom positioning apparatus for docking of a ship block according to claim 1, wherein the profile adapter plates of the four-degree-of-freedom motion trolley and the three-degree-of-freedom motion trolley are pre-loaded with respective rotating support rollers during the placing process.
8. The flexible compliant six-DOF positioning device for docking of marine vessel segments as recited in claim 1, wherein the outer surfaces of the rotating support rollers of said four-DOF motion trolley and said three-DOF motion trolley are covered with an elastic rubber layer.
9. The flexible compliant six-degree-of-freedom positioning apparatus for docking of a vessel block of claim 1 wherein there are a plurality of rotary support rollers for said four-degree-of-freedom motion trolley and said three-degree-of-freedom motion trolley, respectively.
10. The flexible compliant six-degree-of-freedom positioning device for docking of ship block sections as claimed in claim 1, wherein 1 positioning unit is composed of 1 four-degree-of-freedom motion trolley and 1 three-degree-of-freedom motion trolley, more than 2 positioning units are required for supporting 1 ship block section, and the number and arrangement form of the positioning units are determined according to the load and size of the ship block section.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010913625.2A CN112157383A (en) | 2020-09-03 | 2020-09-03 | Flexible compliant six-degree-of-freedom positioning device for ship block docking |
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| CN202010913625.2A CN112157383A (en) | 2020-09-03 | 2020-09-03 | Flexible compliant six-degree-of-freedom positioning device for ship block docking |
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| CN202010913625.2A Pending CN112157383A (en) | 2020-09-03 | 2020-09-03 | Flexible compliant six-degree-of-freedom positioning device for ship block docking |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114434404A (en) * | 2021-12-03 | 2022-05-06 | 浙江省送变电工程有限公司 | GIS pipeline butt joint device and using method thereof |
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| CN102091933A (en) * | 2010-12-31 | 2011-06-15 | 大连理工大学 | Ship block assembly quick alignment device and method |
| CN204035935U (en) * | 2014-08-07 | 2014-12-24 | 天津航天长征火箭制造有限公司 | A kind of posture adjustment assembly system for rocket part docking |
| CN104308767A (en) * | 2014-09-03 | 2015-01-28 | 上海交通大学 | Co-location device for automatically butting and assembling large-sized thin-wall barrel-shaped members |
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| CN204295122U (en) * | 2014-11-24 | 2015-04-29 | 首都航天机械公司 | The horizontal type device of carrier rocket tank general assembly circumferential weld agitating friction welding |
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