CN114889770B - Universal posture-adjusting flexible support tool and posture-adjusting method thereof - Google Patents
Universal posture-adjusting flexible support tool and posture-adjusting method thereof Download PDFInfo
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- CN114889770B CN114889770B CN202210578935.2A CN202210578935A CN114889770B CN 114889770 B CN114889770 B CN 114889770B CN 202210578935 A CN202210578935 A CN 202210578935A CN 114889770 B CN114889770 B CN 114889770B
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- motor
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- supporting
- bevel gear
- chassis
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C5/00—Equipment usable both on slipways and in dry docks
- B63C5/02—Stagings; Scaffolding; Shores or struts
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
The invention discloses a flexible support tool capable of adjusting the pose in a universal way, which comprises a flexible support device and a movable chassis for moving and bearing the flexible support device, wherein the flexible support device comprises a horizontal rotating device, a vertical rotating device and a lifting device. The support tool can freely change the direction, and when the target position changes, the target position can be repositioned through the flexible support tool capable of adjusting the pose in a universal way, so that the dismantling and building times of the support tool are reduced. Through removing the chassis, can realize the free movement of flexible support frock to reduce artifical intensity of labour. The rollers can be retracted through lifting of the movable chassis, and the chassis is attached to the plane so as to fix the position of the flexible support tool. The support tool can be suitable for most support tools, the repeated use rate of the support tools is increased, the manufacturing cost of the support tools is reduced, and the production period of the ship is reduced to a certain extent.
Description
Technical Field
The invention relates to a flexible support tool capable of adjusting the pose in a universal way and a pose adjusting method thereof, and belongs to the technical field of ship construction.
Background
The patent name is a movable supporting tool and a using method thereof, and the invention patent with the patent number of CN201710758405.5 starts from a supporting tool structure and adds casters for the tool, so that the defects that a fixed tool cannot move freely and the recycling rate is low are overcome. However, the supporting device is still in a fixed structure, the ship body is easy to overturn due to horizontal component force disturbance during supporting, and the supporting direction can not be changed due to the fact that the supporting height can be adjusted only, so that the working radius of the ship body is greatly limited. When the position of the required support target is changed and the supporting device cannot meet the current condition only through the lifting height, the support tool needs to be moved again, a large amount of labor and time are consumed, and the efficiency is low. Therefore, a flexible supporting tool with a supporting device capable of adjusting the pose universally needs to be studied, the working radius of the supporting tool is increased, and unnecessary tool disassembly and assembly are reduced; the horizontal component force of the ship body can be borne more when the ship body is supported, and the working capacity and the safety of the supporting tool are improved.
Disclosure of Invention
The invention aims to provide a flexible supporting tool capable of adjusting the pose in a universal way, so that the problems that a supporting device in a supporting tool structure cannot adjust angles and directions in the current ship building process and the supporting tool is easily disturbed by horizontal component force during working are solved, the working radius and safety of the supporting tool are improved, and the adaptability to different ship curved surfaces is effectively improved. Under the condition that the target supporting point is changed, the angle and the direction of the universal attitude-adjusting flexible supporting device can be adjusted to meet a new target point position, and the ship construction efficiency is effectively improved.
To achieve the above object, the present invention is realized by the following techniques:
the utility model provides a flexible support frock of flexible accent appearance, includes flexible strutting arrangement and is used for removing and bear flexible strutting arrangement's removal chassis, flexible strutting arrangement includes horizontal rotating device, vertical rotating device and elevating gear.
The movable chassis comprises a chassis, a screw rod sliding block, rollers, a motor and conical bearings, wherein a plurality of screw rods are vertically arranged on the chassis downwards, the conical bearings are arranged between one end of the screw rod and the chassis, the screw rod is driven by the motor, the screw rod is provided with the screw rod sliding block, and the bottom of the screw rod sliding block is provided with the rollers.
The horizontal rotating device comprises a rotary conical bearing, a supporting plate, a large gear ring, a pinion and a horizontal rotary motor, wherein the outer ring of the rotary conical bearing is connected with the chassis, the large gear ring is installed on the inner ring of the rotary conical bearing, the supporting plate is installed on the inner ring of the rotary conical bearing, the horizontal rotary motor is installed on the supporting plate, the pinion is connected with the horizontal rotary motor in a transmission mode, and the pinion is meshed with the large gear ring.
The vertical rotating device comprises a vertical plate, a supporting rod, a driving turbine, a driving worm and a vertical rotating motor, wherein the vertical plate is installed on the supporting plate, a driving shaft is arranged at one end of the supporting rod along the radial direction, the supporting rod is hinged to the vertical plate through the driving shaft, the driving turbine is installed on the driving shaft and meshed with the driving worm, and the driving worm is driven by the vertical rotating motor.
The lifting device comprises a driving nut block, a bevel gear, a lifting motor and a supporting inner tube, wherein the driving nut block is rotatably arranged on the supporting rod, threads matched with the driving nut block are arranged on the outer side of the supporting inner tube, the supporting inner tube is arranged on the driving nut block through the threads, the bevel gear is arranged on the driving nut block, the output end of the lifting motor is in driving connection with the bevel gear, and the bevel gear is meshed with the bevel gear.
Further, the chassis is annular, the number of the lead screws is three, and the lead screws are uniformly arranged along the outer circumference of the chassis.
Further, the horizontal rotation device further comprises a large bevel gear, a transmission shaft and a small bevel gear, the small bevel gear is arranged at the output end of the transmission shaft, the transmission shaft is arranged on the support plate through a bearing, the large bevel gear is arranged at the input end of the transmission shaft, the small bevel gear is arranged on the output shaft of the horizontal rotation motor, and the small bevel gear and the large bevel gear are meshed for transmission.
Further, the vertical rotating device further comprises a bearing with a seat, and two ends of the driving worm are installed on the vertical plate through the bearing with the seat.
Further, the lifting device comprises a thrust bearing and an equipment box, the driving nut block is nested in the supporting rod, the thrust bearing is arranged between the driving nut block and the supporting rod, the equipment box is fixed on the supporting rod, and the lifting motor is fixed in the equipment box.
Further, the motor, the horizontal rotary motor, the vertical rotary motor and the lifting motor are stepping motors.
The invention discloses a gesture adjusting method of a flexible support tool capable of adjusting gesture in a universal way, which comprises the following steps:
the method comprises the following steps that firstly, a motor is controlled to rotate positively to drive a screw rod to rotate, the screw rod slide block is further driven to move, the screw rod slide block contacts the ground through a roller below the screw rod slide block, so that the rolling support of a flexible support tool capable of realizing universal posture adjustment is realized, the movement is convenient, and after the movement is finished, the screw rod slide block is retracted by controlling the motor to rotate reversely;
secondly, driving the inner ring of the rotary conical bearing to rotate by controlling the rotation of the horizontal rotary motor, so as to drive the supporting plate and the flexible supporting device to rotate;
thirdly, driving the supporting rod to pitch by controlling the rotation of the vertical rotating motor, so as to drive the lifting device to pitch;
and fourthly, driving the lifting of the supporting inner tube by controlling the rotation of the lifting motor.
The invention has the following technical effects:
1. the support tool can freely change the direction, and when the target position changes, the target position can be repositioned through the flexible support tool with the universal posture adjustment, so that the dismantling and building times of the support tool are reduced.
2. Through removing the chassis, can realize the free movement of flexible support frock to reduce artifical intensity of labour.
3. The rollers can be retracted through lifting of the movable chassis, and the chassis is attached to the plane so as to fix the position of the flexible support tool.
4. The invention is applicable to most supporting tools, enhances the repeated use rate of the supporting tools, is beneficial to reducing the manufacturing cost of the supporting tools and reduces the production cycle of ships to a certain extent.
Drawings
FIG. 1 is a schematic diagram of a first embodiment of the present invention;
FIG. 2 is a second schematic diagram of an embodiment of the present invention;
in the figure: 1 is a flexible supporting device, 2 is a movable chassis, 3 is a horizontal rotating device, 4 is a vertical rotating device, 5 is a lifting device, 21 is a chassis, 22 is a screw, 23 is a screw slider, 24 is a roller, 25 is a motor, 26 is a conical bearing, 31 is a rotary conical bearing, 32 is a supporting plate, 33 is a large gear ring, 34 is a small gear, 35 is a horizontal rotary motor, 36 is a large bevel gear, 37 is a transmission shaft, 38 is a small bevel gear, 41 is a vertical plate, 42 is a supporting rod, 43 is a driving turbine, 44 is a driving worm, 45 is a vertical rotating motor, 46 is a belt seat bearing, 51 is a driving nut block, 52 is a conical gear ring, 53 is a bevel gear, 54 is a lifting motor, 55 is a supporting inner pipe, 56 is a thrust bearing, and 57 is an equipment box.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings in which embodiments of the invention are shown.
As shown in fig. 1 and 2, the flexible support tool capable of adjusting the pose universally comprises a flexible support device 1 and a movable chassis 2 for moving and carrying the flexible support device 1, wherein the flexible support device 1 comprises a horizontal rotation device 3, a vertical rotation device 4 and a lifting device 5.
The movable chassis 2 comprises a chassis 21, a screw 22, a screw slide block 23, rollers 24, a motor 25 and conical bearings 26, wherein a plurality of screw 22 are vertically arranged on the chassis 21 downwards, the conical bearings 26 are arranged between one end of the screw 22 and the chassis 21, the screw 22 is driven by the motor 25, the screw slide block 23 is arranged on the screw 22, and the rollers 24 are arranged at the bottom of the screw slide block 23.
The horizontal rotation device 3 comprises a rotary conical bearing 31, a support plate 32, a large gear ring 33, a pinion 34 and a horizontal rotation motor 35, wherein an outer ring of the rotary conical bearing 31 is connected with the chassis 21, the large gear ring 33 is installed on an inner ring of the rotary conical bearing 31, the support plate 32 is installed on an inner ring of the rotary conical bearing 31, the horizontal rotation motor 35 is installed on the support plate 32, the pinion 34 is connected with the horizontal rotation motor 35 in a transmission manner, and the pinion 34 is meshed with the large gear ring 33.
Wherein the support plate 32 is hidden in fig. 1.
The vertical rotating device 4 comprises a vertical plate 41, a supporting rod 42, a driving turbine 43, a driving worm 44 and a vertical rotating motor 45, wherein the vertical plate 41 is installed on the supporting plate 32, a driving shaft 421 is radially arranged at one end of the supporting rod 42, the supporting rod 42 is hinged to the vertical plate 41 through the driving shaft 421, the driving turbine 43 is installed on the driving shaft 421, the driving turbine 43 is meshed with the driving worm 44, and the driving worm 44 is driven by the vertical rotating motor 45.
The lifting device 5 comprises a driving nut block 51, a bevel gear ring 52, a bevel gear 53, a lifting motor 54 and a supporting inner tube 55, wherein the driving nut block 51 is rotatably installed on the supporting rod 42, threads matched with the driving nut block 51 are arranged on the outer side of the supporting inner tube 55, the supporting inner tube 55 is installed on the driving nut block 51 through the threads, the bevel gear ring 52 is arranged on the driving nut block 51, the output end of the lifting motor 54 is in driving connection with the bevel gear 53, and the bevel gear 53 is meshed with the bevel gear ring 52.
The chassis 21 is annular, the number of the screw rods 22 is three, and the screw rods are uniformly arranged along the outer circumference of the chassis 21.
The horizontal rotation device 3 further comprises a large bevel gear 36, a transmission shaft 37 and a small bevel gear 38, the small gear 34 is arranged at the output end of the transmission shaft 37, the transmission shaft 37 is arranged on the supporting plate 32 through a bearing, the large bevel gear 36 is arranged at the input end of the transmission shaft 37, the small bevel gear 38 is arranged on the output shaft of the horizontal rotation motor 35, and the small bevel gear 38 and the large bevel gear 36 are in meshed transmission.
The vertical rotation device 4 further comprises a seated bearing 46, and both ends of the driving worm 44 are mounted on the vertical plate 41 through the seated bearing 46.
The lifting device 5 comprises a thrust bearing 56 and a device box 57, the driving nut block 51 is nested in the supporting rod 42, the thrust bearing 56 is arranged between the driving nut block 51 and the supporting rod 42, the device box 57 is fixed on the supporting rod 42, and the lifting motor 54 is fixed in the device box 57.
The motor 25, the horizontal rotary motor 35, the vertical rotary motor 45, and the lifting motor 54 are stepping motors.
Posture adjusting method
The flexible support tool gesture adjustment method capable of realizing universal gesture adjustment comprises the following steps of:
the first step, the motor 25 is controlled to rotate positively to drive the screw 22, and the screw slider 23 is further driven to move, so that the screw slider 23 contacts the ground through the roller 24 below the screw slider, the rolling support of the flexible support tool capable of realizing universal posture adjustment is realized, the movement is convenient, and after the movement is finished, the motor 25 is controlled to rotate reversely, so that the screw slider 23 is retracted;
secondly, driving the inner ring of the rotary conical bearing 31 to rotate by controlling the rotation of the horizontal rotary motor 35, so as to drive the support plate 32 and the flexible support device 1 to rotate;
thirdly, driving the supporting rod 42 to pitch by controlling the rotation of the vertical rotation motor 45, so as to drive the lifting device 5 to pitch;
fourth, the lifting of the support inner tube 55 is driven by controlling the rotation of the lifting motor 54.
The above is only the embodiment described in this patent, and it should be understood by those skilled in the art that changes and modifications can be made to the embodiment without departing from the technical principles of the invention, and such changes and modifications should also be regarded as the protection scope of the invention.
Claims (7)
1. The utility model provides a flexible support frock of universal accent appearance, includes flexible strutting arrangement (1) and is used for removing and bear flexible strutting arrangement (1) remove chassis (2), its characterized in that: the flexible supporting device (1) comprises a horizontal rotating device (3), a vertical rotating device (4) and a lifting device (5);
the movable chassis (2) comprises a chassis (21), a screw rod (22), a screw rod sliding block (23), rollers (24), a motor (25) and conical bearings (26), wherein a plurality of screw rods (22) are vertically downwards arranged on the chassis (21), the conical bearings (26) are arranged between one end of each screw rod (22) and the chassis (21), each screw rod (22) is driven by the corresponding motor (25), each screw rod (22) is provided with the corresponding screw rod sliding block (23), and the bottom of each screw rod sliding block (23) is provided with the corresponding roller (24);
the horizontal rotating device (3) comprises a rotary conical bearing (31), a supporting plate (32), a large gear ring (33), a pinion (34) and a horizontal rotary motor (35), wherein the outer ring of the rotary conical bearing (31) is connected with the chassis (21), the large gear ring (33) is installed on the inner ring of the rotary conical bearing (31), the supporting plate (32) is installed on the inner ring of the rotary conical bearing (31), the horizontal rotary motor (35) is installed on the supporting plate (32), the pinion (34) is in transmission connection with the horizontal rotary motor (35), and the pinion (34) is meshed with the large gear ring (33);
the vertical rotating device (4) comprises a vertical plate (41), a supporting rod (42), a driving turbine (43), a driving worm (44) and a vertical rotating motor (45), wherein the vertical plate (41) is installed on the supporting plate (32), one end of the supporting rod (42) is radially provided with a driving shaft (421), the supporting rod (42) is hinged on the vertical plate (41) through the driving shaft (421), the driving turbine (43) is installed on the driving shaft (421), the driving turbine (43) is meshed with the driving worm (44), and the driving worm (44) is driven by the vertical rotating motor (45);
lifting device (5) are including drive nut piece (51), awl ring (52), bevel gear (53), elevator motor (54) and support inner tube (55), drive nut piece (51) rotatable install on bracing piece (42), support the outside of inner tube (55) be equipped with drive nut piece (51) matched with screw thread, support inner tube (55) are passed through the screw thread is installed on drive nut piece (51), be equipped with on drive nut piece (51) awl ring (52), elevator motor (54) output drive is connected with bevel gear (53), bevel gear (53) with awl ring (52) mesh.
2. The flexible support tool capable of adjusting the pose universally according to claim 1, wherein: the chassis (21) is annular, the number of the screw rods (22) is three, and the screw rods are uniformly arranged along the outer circumference of the chassis (21).
3. The flexible support tool capable of adjusting the pose universally according to claim 1, wherein: the horizontal rotation device (3) further comprises a large bevel gear (36), a transmission shaft (37) and a small bevel gear (38), the small bevel gear (34) is installed at the output end of the transmission shaft (37), the transmission shaft (37) is installed on the supporting plate (32) through a bearing, the large bevel gear (36) is installed at the input end of the transmission shaft (37), the small bevel gear (38) is installed on the output shaft of the horizontal rotation motor (35), and the small bevel gear (38) and the large bevel gear (36) are in meshed transmission.
4. The flexible support tool capable of adjusting the pose universally according to claim 1, wherein: the vertical rotating device (4) further comprises a bearing (46) with a seat, and two ends of the driving worm (44) are arranged on the vertical plate (41) through the bearing (46) with the seat.
5. The flexible support tool capable of adjusting the pose universally according to claim 1, wherein: the lifting device (5) comprises a thrust bearing (56) and an equipment box (57), the driving nut block (51) is nested in the supporting rod (42), the thrust bearing (56) is arranged between the driving nut block (51) and the supporting rod (42), the equipment box (57) is fixed on the supporting rod (42), and the lifting motor (54) is fixed in the equipment box (57).
6. The flexible support tool capable of adjusting the pose universally according to claim 1, wherein: the motor (25), the horizontal rotary motor (35), the vertical rotary motor (45) and the lifting motor (54) are all stepping motors.
7. A method for adjusting the pose by using the flexible support tool capable of adjusting the pose universally according to any one of claims 1 to 6, which is characterized by comprising the following steps:
the first step, the motor (25) is controlled to rotate positively to drive the screw (22) to further drive the screw slider (23) to move, so that the screw slider (23) contacts the ground through the roller (24) below the screw slider, the rolling support of the flexible support tool capable of realizing universal posture adjustment is realized, the movement is convenient, and after the movement is finished, the motor (25) is controlled to rotate reversely, so that the screw slider (23) is retracted;
secondly, driving the inner ring of the rotary conical bearing (31) to rotate by controlling the rotation of the horizontal rotary motor (35), so as to drive the supporting plate (32) and the flexible supporting device (1) to rotate;
thirdly, driving the supporting rod (42) to pitch by controlling the rotation of the vertical rotating motor (45), so as to drive the lifting device (5) to pitch;
and fourthly, driving the supporting inner tube (55) to lift by controlling the rotation of the lifting motor (54).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210578935.2A CN114889770B (en) | 2022-05-25 | 2022-05-25 | Universal posture-adjusting flexible support tool and posture-adjusting method thereof |
| PCT/CN2023/090765 WO2023226669A1 (en) | 2022-05-25 | 2023-04-26 | Flexible supporting tooling capable of achieving universal posture adjustment, and posture adjustment method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210578935.2A CN114889770B (en) | 2022-05-25 | 2022-05-25 | Universal posture-adjusting flexible support tool and posture-adjusting method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114889770A CN114889770A (en) | 2022-08-12 |
| CN114889770B true CN114889770B (en) | 2023-05-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210578935.2A Active CN114889770B (en) | 2022-05-25 | 2022-05-25 | Universal posture-adjusting flexible support tool and posture-adjusting method thereof |
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| Country | Link |
|---|---|
| CN (1) | CN114889770B (en) |
| WO (1) | WO2023226669A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114889770B (en) * | 2022-05-25 | 2023-05-30 | 江苏科技大学 | Universal posture-adjusting flexible support tool and posture-adjusting method thereof |
Family Cites Families (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101110876B1 (en) * | 2009-06-30 | 2012-02-15 | (주)화담알앤알 | industrial robot |
| CN204321907U (en) * | 2014-11-19 | 2015-05-13 | 河海大学常州校区 | A kind of modular flexible multipoint tool system |
| CN108240783A (en) * | 2016-12-23 | 2018-07-03 | 中国科学院沈阳自动化研究所 | A kind of bay section docks adjustment mechanism |
| CN107284621A (en) * | 2017-06-28 | 2017-10-24 | 江苏科技大学 | A kind of flexible bracket system built for boat segmental and method of construction |
| CN107600360B (en) * | 2017-08-29 | 2020-07-31 | 沪东中华造船(集团)有限公司 | Movable supporting tool and using method thereof |
| CN109665274B (en) * | 2019-02-14 | 2020-09-18 | 江苏科技大学 | Universal mobile system for intelligent jig frame |
| CN109760799B (en) * | 2019-02-14 | 2020-11-03 | 江苏科技大学 | Intelligent jig frame system for ship segmented construction |
| CN109955049B (en) * | 2019-03-20 | 2020-02-04 | 燕山大学 | Vertical posture adjusting system for large-scale assembly |
| CN110217549A (en) * | 2019-06-17 | 2019-09-10 | 江苏科技大学 | A kind of moulding bed intelligent mobile system peculiar to vessel |
| CN110449954A (en) * | 2019-09-11 | 2019-11-15 | 上海工具厂有限公司 | Vertical cabin class flexible part frock clamp |
| CN110744087B (en) * | 2019-11-06 | 2020-11-13 | 江苏科技大学 | Flexible machining tool and method for machining radial hole of cylinder cover of marine diesel engine |
| CN111806652A (en) * | 2020-06-30 | 2020-10-23 | 中船黄埔文冲船舶有限公司 | Ship equipment mounting tool |
| CN111876570B (en) * | 2020-07-15 | 2022-05-06 | 华东理工大学 | Machining system and control method of ultrasonic rolling strengthening robot for blade of aircraft engine |
| CN114227620B (en) * | 2021-11-26 | 2024-01-23 | 燕山大学 | Six-degree-of-freedom end mounting device for workpiece butt joint |
| CN114889770B (en) * | 2022-05-25 | 2023-05-30 | 江苏科技大学 | Universal posture-adjusting flexible support tool and posture-adjusting method thereof |
-
2022
- 2022-05-25 CN CN202210578935.2A patent/CN114889770B/en active Active
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2023
- 2023-04-26 WO PCT/CN2023/090765 patent/WO2023226669A1/en unknown
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| Publication number | Publication date |
|---|---|
| CN114889770A (en) | 2022-08-12 |
| WO2023226669A1 (en) | 2023-11-30 |
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