CN115959263A - Paddle tool turnover mechanism, size setting method and device thereof, and use method thereof - Google Patents

Paddle tool turnover mechanism, size setting method and device thereof, and use method thereof Download PDF

Info

Publication number
CN115959263A
CN115959263A CN202310038677.3A CN202310038677A CN115959263A CN 115959263 A CN115959263 A CN 115959263A CN 202310038677 A CN202310038677 A CN 202310038677A CN 115959263 A CN115959263 A CN 115959263A
Authority
CN
China
Prior art keywords
bracket
paddle
point
oar
rotating shaft
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202310038677.3A
Other languages
Chinese (zh)
Inventor
王旭
顾胜
巫江祥
缪逢吉
宋旭
李肖艳
岑标
沈鹏
李波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Lingang Shipbuilding Equipment Ltd Corp Cssc
Shanghai Shipbuilding Technology Research Institute
Original Assignee
Shanghai Lingang Shipbuilding Equipment Ltd Corp Cssc
Shanghai Shipbuilding Technology Research Institute
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Lingang Shipbuilding Equipment Ltd Corp Cssc, Shanghai Shipbuilding Technology Research Institute filed Critical Shanghai Lingang Shipbuilding Equipment Ltd Corp Cssc
Priority to CN202310038677.3A priority Critical patent/CN115959263A/en
Publication of CN115959263A publication Critical patent/CN115959263A/en
Priority to PCT/CN2023/116172 priority patent/WO2024148835A1/en
Pending legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B73/00—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms
    • B63B73/20—Building or assembling prefabricated vessel modules or parts other than hull blocks, e.g. engine rooms, rudders, propellers, superstructures, berths, holds or tanks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B73/00—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms
    • B63B73/30—Moving or transporting modules or hull blocks to assembly sites, e.g. by rolling, lifting or floating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B73/00—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms
    • B63B73/60—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms characterised by the use of specific tools or equipment; characterised by automation, e.g. use of robots
    • 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
    • Y02E10/70—Wind energy
    • Y02E10/72—Wind turbines with rotation axis in wind direction

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Robotics (AREA)
  • Transportation (AREA)
  • Machine Tool Units (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)

Abstract

The application discloses a paddle tool turnover mechanism, a size setting method and device thereof, and a use method of the device. This oar frock tilting mechanism includes: the device comprises a horizontal support, a telescopic driving device, a first rotating shaft, a second rotating shaft, a third rotating shaft, a paddle front bracket, a fourth rotating shaft and a triangular hinged connecting piece; the front oar bracket can be controlled to be perpendicular to the horizontal bracket to be overturned to the state that the front oar bracket is parallel to the horizontal bracket through the extension of the telescopic driving device. This application embodiment makes the bracket horizontal state that can overturn to lying completely before the oar, and guarantees that the bracket turnover in-process is steady before the oar, can make the oar frock withdraw from fast.

Description

Paddle tool turnover mechanism, size setting method and device thereof, and use method thereof
Technical Field
The application relates to the technical field of ship building tools, in particular to a propeller tool turnover mechanism and a size setting method thereof, a marine propeller mounting device and a using method thereof.
Background
In the process of mounting the propeller, the traditional process method of tools such as a hoisting block, a rigging, a clamp and the like is gradually abandoned in the tooling industry of ship construction, and the propeller is mounted at high precision by adopting a uniform platform, so that novel stern operating platforms are derived. After the propeller is installed, the platform needs to be withdrawn, but due to the fact that the diameter of the propeller is large, if the platform returns to be withdrawn directly in the original way, the bracket in front of the propeller interferes with the propeller blades of the propeller. In order to solve the problem, the traditional method adopts a method of're-laying a track', as shown in fig. 1, firstly removing the track which is originally used for feeding the paddle tool into the track, then rotating the track by 90 degrees, then laying the track on the ground, then rotating the universal rollers of the base by 90 degrees to match with the track, and finally withdrawing the whole tool along the direction of the new track. This way needs to spend more manpower, influences the installation effectiveness.
Therefore, how to design a mechanism for facilitating direct way withdrawal of the paddle tool is an urgent problem to be solved by those skilled in the art.
Disclosure of Invention
The embodiment of the application provides a paddle tool turnover mechanism and a size setting method thereof, a marine propeller installation device and a using method thereof, and aims to solve the technical problem that when a traditional paddle tool is withdrawn, a track needs to be laid again, and installation efficiency is low.
The embodiment of the application provides a oar frock tilting mechanism includes:
a horizontal support;
the telescopic driving device is fixedly arranged on the horizontal bracket;
the first rotating shaft is arranged at the first end of the telescopic driving device;
the second rotating shaft is arranged at the second end of the telescopic driving device;
the third rotating shaft is arranged at the second end, adjacent to the telescopic driving device, of the horizontal support;
the end part of the front oar bracket is rotatably connected with the third rotating shaft; the paddle front bracket is used for fixing a paddle tool;
the fourth rotating shaft is arranged at the end part of the front bracket of the paddle and is adjacent to the third rotating shaft;
a triangular hinge connection member, a first angle of which is rotatably connected to the third rotation axis, a second angle of which is rotatably connected to the second rotation axis, and a third angle of which is rotatably connected to the fourth rotation axis; the front oar bracket can be controlled to be perpendicular to the horizontal bracket to be overturned to the state that the front oar bracket is parallel to the horizontal bracket through the extension of the telescopic driving device.
Furthermore, the triangular hinged connecting piece can be stretched to rotate along the third rotating shaft through the extending length of the telescopic driving device, and the triangular hinged connecting piece drives the turning angle of the front oar bracket relative to the horizontal bracket to be between 0 degree and 90 degrees.
Furthermore, the triangular hinged connecting piece is of a right-angled triangular structure, and a first angle of the triangular hinged connecting piece is a right angle.
The application further provides a size setting method of the paddle tooling turnover mechanism, which comprises the following steps:
defining parameters of the turnover mechanism, namely defining the first rotating shaft as a point A, defining the second rotating shaft as a point B, defining the third rotating shaft as a point C and defining the fourth rotating shaft as a point D; the connecting point A and the point C form an x axis, the point A is taken as an original point, and a y axis is formed by being perpendicular to the x axis; defining the distance between point A and point B as l 1 Defining the distance between point B and point C as l 2 Defining the distance between point A and point C as l 3 Defining angle BAC as theta 1 Defining angle BCx as theta 2 And the residual angle of the included angle between the AB line segment and the BC line segment is defined as a transmission angle theta 3 ；
Step of constructing a parameter relation, θ 2 Represents the angle of the front bracket of the paddle, when 1 Produce a change, theta 1 And theta 3 Is an intermediate variable, θ 2 Corresponding changes are generated, and the one-to-one correspondence relationship is specifically as follows:
Figure BDA0004050409750000021
set up rotation angle scope step, according to oar frock work needs, the angle that the bracket needs the upset before the oar is 90, needs satisfy:
Figure BDA0004050409750000022
θ 2,min and theta 2,max Each represents theta 2 During the movement of the mechanism, the following l 1 From l 1,min Change to 1,max The minimum value and the maximum value of time are expressed as follows:
Figure BDA0004050409750000023
setting a transmission angle expression step, transmission angle theta 3 The smaller the transmission performance, the better, the theta needs to be minimized 3,max It represents θ 3 During the movement of the mechanism, the following l 1 From l 1,min Change to 1,max The maximum value of time; theta.theta. 3,max The expression of (a) is:
Figure BDA0004050409750000031
defining the normalization parameters to include x 1 、x 2 、x 3 、x 4 (ii) a The normalization parameters are respectively as follows:
Figure BDA0004050409750000032
introducing an average transmission ratio step, wherein the average transmission ratio eta represents the ratio of the output displacement of the mechanism relative to the input displacement, and the smaller eta is, the lower the sensitivity of the output displacement to the input displacement is; the expression for the average transmission ratio η is:
Figure BDA0004050409750000033
constructing an optimization model of the turnover mechanism of the propeller feeding tool under the normalized parameters, wherein the optimization model of the turnover mechanism of the propeller feeding tool under the normalized parameters is as follows:
Figure BDA0004050409750000034
the constraint condition (b) is to ensure that the stroke of the telescopic driving device is positive, and the constraint condition (e) is to form a triangle;
calculating the length of the part according to an optimized model of the turnover mechanism of the propeller tool and the distance l between the point A and the point C 3 Calculating the distance l between the point A and the point B 1 And the distance l between points B and C 2 The optimal solution range of.
The method of claim 4, wherein the step of calculating the length of the component based on the optimized model of the blade tool turnover mechanism comprises:
calculating the obtained optimized parameters to obtain
Figure BDA0004050409750000035
And a step of obtaining a scale factor, namely, specifying a dimensional value of a certain parameter to obtain the scale factor, and multiplying the scale factor by other dimensionless parameters to obtain a final dimensional parameter.
Further, the step of obtaining the scale factor includes:
according to installation environment or processing condition factors, appointing
Figure BDA0004050409750000041
Obtaining a scale factor Δ:
Figure BDA0004050409750000042
dimensional values for other parameters were calculated as:
Figure BDA0004050409750000043
further, in the step of obtaining the scale factor, the specification is carried out
Figure BDA0004050409750000044
The obtained scale factor Δ:
Figure BDA0004050409750000045
dimensional values of other parameters are:
Figure BDA0004050409750000046
the application also provides a marine propeller installation device, and the marine propeller installation device comprises the propeller tool turnover mechanism.
Further, the marine propeller mounting device further comprises a horizontal rail, and a horizontal support of the propeller tool turnover mechanism is movably arranged on the horizontal rail.
The application also provides a use method of the marine propeller installation device, which comprises the following steps:
the paddle tooling turnover mechanism is arranged on the horizontal rail and can be movably arranged on the horizontal rail;
the front bracket of the paddle is arranged to be perpendicular to the horizontal bracket, a paddle tool is fixed on the front bracket of the paddle, and a paddle is installed on the paddle tool;
controlling the front oar bracket to be turned over from a state of being vertical to the horizontal support to a state of being parallel to the horizontal support, so that the front oar bracket is horizontally arranged;
turning the front paddle bracket to be parallel to the horizontal bracket;
and driving the paddle tooling turnover mechanism to move along the horizontal rail so as to transfer the paddle tooling with the mounted paddle.
The oar frock tilting mechanism that this application embodiment provided and size setting method, marine screw installation device and application method thereof for the bracket can overturn to the horizontal state of lying flat completely before the oar, and guarantees that the bracket is steady in the overturning process before the oar, can make the oar frock withdraw from fast.
Drawings
The technical solution and other advantages of the present application will become apparent from the detailed description of the embodiments of the present application with reference to the accompanying drawings.
Fig. 1 is a schematic structural view of a conventional paddle tool withdrawal mode.
Fig. 2 is a schematic structural diagram of a marine propeller mounting device provided in an embodiment of the present application in a use state.
Fig. 3 is a schematic structural diagram of a paddle tooling turnover mechanism provided in the embodiment of the present application.
Fig. 4 is a schematic diagram of three positions and corresponding mechanisms of a paddle tool turnover mechanism provided in an embodiment of the present application.
Fig. 5 is a flowchart of a size setting method of a paddle tooling turnover mechanism provided in an embodiment of the present application.
Fig. 6 is a parameter diagram illustrating a step of defining parameters of the tilting mechanism according to the embodiment of the present application.
Fig. 7 is a flowchart of a method for using the marine propeller installation apparatus according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically, electrically or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
The following disclosure provides many different embodiments or examples for implementing different features of the application. To simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Further, the present application may repeat reference numerals and/or reference letters in the various examples for simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or arrangements discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.
As described in the background of the invention with reference to fig. 1, the track that was originally used to feed the paddle tooling into the machine is first removed, the track is then rotated 90 ° and laid on the ground, the universal rollers of the base are then rotated 90 ° to match the track, and finally the entire tooling is withdrawn in the direction of the new track. This kind of mode needs to spend more manpower, influences the installation effectiveness.
In order to enable the paddle tool to be quickly withdrawn, the front paddle bracket 6 is designed to be turnable, as shown in fig. 2, when the tool needs to be withdrawn, the turning mechanism is driven, so that the front paddle bracket 6 rotates around the S-axis, the front paddle bracket 6 is completely laid down, the paddle tool can be directly withdrawn in the original way, and the front paddle bracket 6 cannot interfere with the paddles.
As shown in fig. 3, an embodiment of the present application provides a paddle tool turnover mechanism, including: horizontal bracket 1, flexible drive arrangement 2, first axis of rotation 3, second axis of rotation 4, third axis of rotation 5, oar front bracket 6, fourth axis of rotation 7 and triangle-shaped articulated connecting piece 8. The telescopic driving device 2 is fixedly arranged on the horizontal bracket 1; the telescopic driving device 2 is fixed along the extending direction of the horizontal bracket 1; the first rotating shaft 3 is arranged at a first end of the telescopic driving device 2; the second rotating shaft 4 is arranged at the second end of the telescopic driving device 2; a third rotating shaft 5 is arranged at a second end of the horizontal bracket 1 adjacent to the telescopic driving device 2; the end part of the front oar bracket 6 is rotatably connected with the third rotating shaft 5; the paddle front bracket 6 is used for fixing a paddle tool; the fourth rotating shaft 7 is arranged at the end part of the front oar bracket 6 and is adjacent to the third rotating shaft 5; a first angle of the triangular hinge connector 8 is rotatably connected with the third rotating shaft 5, a second angle thereof is rotatably connected with the second rotating shaft 4, and a third angle thereof is rotatably connected with the fourth rotating shaft 7; the front oar bracket 6 can be controlled to be perpendicular to the horizontal bracket 1 to be overturned until the front oar bracket 6 is parallel to the horizontal bracket 1 by the extension of the telescopic driving device 2.
Furthermore, the triangular hinged connecting piece 8 can be stretched to rotate along the third rotating shaft 5 through the extending length of the telescopic driving device 2, and the triangular hinged connecting piece 8 drives the front oar bracket 6 to rotate by 0-90 degrees relative to the horizontal bracket 1.
Further, the triangular hinge connecting piece 8 is a right-angled triangular structure, and the first corner of the triangular hinge connecting piece 8 is a right angle.
Understandably, the same is true for the otherThe paddle tooling turnover mechanism is RPRR mechanism, in which "R" represents a revolute pair "P"denotes a kinematic pair, and the underline" _ "denotes that the kinematic pair is actuated. By means of the planar RPRR mechanism, the front paddle bracket 6 can be turned to a completely flat lying horizontal state.
After the propeller is installed in place by the propeller tool, the front propeller bracket 6 is turned from a vertical position (namely 0 degrees, see fig. 4 a) to a horizontal position (namely 90 degrees, see fig. 4 c) through the turning mechanism, and after the propeller tool is turned in place, the whole propeller tool can be directly withdrawn, and the front propeller bracket 6 cannot interfere with the propeller blades. The schematic view of the three positions and corresponding mechanisms of the tilting mechanism is shown in fig. 4, and it can be seen that the essence of the tilting mechanism is a plane RPRR mechanism with a degree of freedom of 1, where "R" denotes a revolute pair, "P" denotes a revolute pair, and an underline "_" denotes that the revolute pair is driven. In FIG. 4, R 1 、R 2 And R 3 Representing revolute pairs having center points A, B and C, respectively, at R 1 And R 2 Is a moving pairP。
As shown in fig. 5, the present application further provides a size setting method for the turnover mechanism of the paddle tool, which includes:
s1, defining parameters of the turnover mechanism, as shown in fig. 6, defining the first rotation axis 3 as a point a, defining the second rotation axis 4 as a point B, defining the third rotation axis 5 as a point C, and defining the fourth rotation axis 7 as a point D; the connecting point A and the point C form an x axis, the point A is taken as an original point, and a y axis is formed by being vertical to the x axis; defining the distance between the point A and the point B as l 1 Defining the distance between point B and point C as l 2 Defining the distance between point A and point C as l 3 Defining angle & lt BAC as theta 1 Defining angle BCx as theta 2 And the residual angle of the included angle between the AB line segment and the BC line segment is defined as a transmission angle theta 3 ；
S2, a parameter relation formula construction step of theta 2 Represents the angle of the front bracket 6 of the paddle, when 1 Produce a change, theta 1 And theta 3 Is an intermediate variable, θ 2 Corresponding changes are generated, and the one-to-one correspondence relationship is specifically as follows:
Figure BDA0004050409750000071
s3, set up rotation angle scope step, according to oar frock work needs, the angle that bracket 6 needs the upset before the oar is 90, needs satisfy:
Figure BDA0004050409750000072
θ 2,min and theta 2,max Each represents theta 2 During the movement of the mechanism, the following l 1 From l 1,min Change to 1,max The minimum value and the maximum value of time are expressed as follows:
Figure BDA0004050409750000073
s4, setting a transmission angle expression step, namely a transmission angle theta 3 The smaller the transmission performance, the better, the minimum theta is required 3,max It represents θ 3 During the movement of the mechanism, the following l 1 From l 1,min Change to 1,max The maximum value of time; theta 3,max The expression of (a) is:
Figure BDA0004050409750000074
s5, defining a normalization parameter comprising x 1 、x 2 、x 3 、x 4 (ii) a The normalization parameters are respectively as follows:
Figure BDA0004050409750000081
s6, introducing an average transmission ratio step, wherein the average transmission ratio eta represents the ratio of the output displacement of the mechanism relative to the input displacement, and the smaller eta is, the lower the sensitivity of the output displacement to the input displacement is; the expression for the average transmission ratio η is:
Figure BDA0004050409750000082
the method comprises the following steps of constructing an optimization model of the normalization parameter propeller lowering tooling turnover mechanism, wherein the optimization model of the normalization parameter propeller lowering tooling turnover mechanism is as follows:
Figure BDA0004050409750000083
wherein the constraint condition (b) is to ensure that the stroke of the telescopic driving device 2 is positive, and the constraint condition (e) is to form a triangle;
s7, calculating the length of the part according to an optimization model of the paddle tooling turnover mechanism and according to the distance l between the point A and the point C 3 Calculating the distance l between the point A and the point B 1 And the distance l between points B and C 2 The optimal solution range of (2).
Further, the step of calculating the length of the component according to the optimization model of the paddle tool turnover mechanism comprises:
calculating the obtained optimized parameters to obtain
Figure BDA0004050409750000084
And a step of obtaining a scale factor, namely, specifying a dimensional value of a certain parameter to obtain the scale factor, and multiplying the scale factor by other dimensionless parameters to obtain a final dimensional parameter.
Further, the step of obtaining the scale factor includes:
according to installation environment or processing condition factors, appointing
Figure BDA0004050409750000085
Obtaining a scale factor Δ:
Figure BDA0004050409750000091
dimensional values for other parameters were calculated as:
Figure BDA0004050409750000092
if a dimensionless parameter of the formula is to be converted into a dimensionless parameter, a certain parameter needs to be specified firstAnd multiplying the scale factor by other dimensionless parameters to obtain the final dimensionless parameters. For example, in the obtaining of the scale factor, the scale factor is specified according to factors such as installation environment or processing conditions
Figure BDA0004050409750000093
The obtained scale factor Δ:
Figure BDA0004050409750000094
Dimensional values of other parameters are:
Figure BDA0004050409750000095
The size setting method of the paddle tooling turnover mechanism is realized by optimizing the plane RPRR mechanistic parameters can obtain the sizes of the turnover mechanism with the minimum transmission angle and the minimum average transmission ratio, and the turnover process of the front bracket 6 of the paddle is stable.
Referring to fig. 2, the present application further provides a marine propeller mounting apparatus, which includes the above-mentioned propeller tooling turnover mechanism.
Further, marine propeller installation device still includes the horizontal track, the horizontal stand 1 movable setting of oar frock tilting mechanism is in on the horizontal track.
As shown in fig. 7, the present application also provides a method of using a marine propeller mounting apparatus, comprising:
s10, arranging a horizontal rail, and movably arranging the paddle tool turnover mechanism on the horizontal rail;
s20, arranging the paddle front bracket 6 to be perpendicular to the horizontal support 1, fixing a paddle tool on the paddle front bracket 6, and mounting a paddle on the paddle tool;
s30, controlling the front oar bracket 6 to be turned over from a state of being vertical to the horizontal bracket 1 to a state of being parallel to the horizontal bracket 1, so that the front oar bracket 6 is horizontally arranged;
s40, turning to a state that the front oar bracket 6 is parallel to the horizontal bracket 1;
and S50, driving the paddle tooling turnover mechanism to move along the horizontal rail so as to transfer the paddle tooling with the mounted paddle.
The oar frock tilting mechanism that this application embodiment provided and size setting method, marine screw installation device and application method thereof for the bracket can overturn to the horizontal state of lying flat completely before the oar, and guarantees that the bracket is steady in the overturning process before the oar, can make the oar frock withdraw from fast.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
The paddle tooling turnover mechanism and the size setting method thereof, the marine propeller mounting device and the using method thereof provided by the embodiment of the application are described in detail, the principle and the implementation mode of the application are explained by applying specific examples, and the description of the embodiment is only used for helping to understand the technical scheme and the core thought of the application; those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the present disclosure as defined by the appended claims.

Claims (10)

1. The utility model provides a oar frock tilting mechanism which characterized in that includes:
a horizontal support;
the telescopic driving device is fixedly arranged on the horizontal bracket;
the first rotating shaft is arranged at the first end of the telescopic driving device;
the second rotating shaft is arranged at the second end of the telescopic driving device;
the third rotating shaft is arranged at the second end, adjacent to the telescopic driving device, of the horizontal bracket;
the end part of the front oar bracket is rotatably connected with the third rotating shaft; the paddle front bracket is used for fixing a paddle tool;
the fourth rotating shaft is arranged at the end part of the front bracket of the paddle and is adjacent to the third rotating shaft;
a triangular hinge connection, a first corner of which is rotatably connected to the third rotating shaft, a second corner of which is rotatably connected to the second rotating shaft, and a third corner of which is rotatably connected to the fourth rotating shaft; the front oar bracket can be controlled to be perpendicular to the horizontal bracket through the extension of the telescopic driving device, and the front oar bracket is overturned to be parallel to the horizontal bracket.
2. The paddle tooling flipping mechanism of claim 1, wherein the triangular hinge connector can be stretched to rotate along the third rotation axis by the extended length of the telescopic driving device, and the triangular hinge connector drives the paddle front bracket to flip between 0 degree and 90 degrees relative to the horizontal bracket.
3. The oar frock tilting mechanism of claim 1, characterized in that triangle-shaped hinged connector is right triangle-shaped structure, the first angle of triangle-shaped hinged connector is the right angle.
4. A method of sizing a blade tool turning mechanism according to any one of claims 1 to 3, comprising:
defining parameters of the turnover mechanism, namely defining the first rotating shaft as a point A, defining the second rotating shaft as a point B, defining the third rotating shaft as a point C and defining the fourth rotating shaft as a point D; the connecting point A and the point C form an x axis, the point A is taken as an original point, and a y axis is formed by being perpendicular to the x axis; defining the distance between the point A and the point B as l 1 Defining the distance between point B and point C as l 2 Defining the distance between point A and point C as l 3 Defining angle & lt BAC as theta 1 Defining angle BCx as theta 2 And the residual angle of the included angle between the AB line segment and the BC line segment is defined as a transmission angle theta 3 ；
Constructing parameter relationshipsFormula (II) The 2 Represents the angle of the front bracket of the paddle, when 1 Produce a change, θ 1 And theta 3 Is an intermediate variable, θ 2 Corresponding changes are generated, and the one-to-one correspondence relationship is specifically as follows:
Figure FDA0004050409740000021
set up rotation angle scope step, according to oar frock work needs, the angle that the bracket needs the upset before the oar is 90, needs satisfy:
Figure FDA0004050409740000022
θ 2,min and theta 2,max Respectively represent theta 2 During the movement of the mechanism, the following l 1 From l 1,min Change to 1,max The minimum value and the maximum value of time are expressed as follows:
Figure FDA0004050409740000023
Figure FDA0004050409740000024
step of setting transmission angle expression, transmission angle theta 3 The smaller the transmission performance, the better, the minimum theta is required 3,max It represents θ 3 During the movement of the mechanism, the following l 1 From l 1,min Change to 1,max The maximum value of time; theta 3,max The expression of (a) is:
Figure FDA0004050409740000025
a step of defining normalization parameters, wherein the definition of the normalization parameters comprises x 1 、x 2 、x 3 、x 4 (ii) a The normalization parameters are respectively as follows:
Figure FDA0004050409740000026
Figure FDA0004050409740000027
Figure FDA0004050409740000028
Figure FDA0004050409740000029
introducing an average transmission ratio step, wherein the average transmission ratio eta represents the ratio of the output displacement of the mechanism relative to the input displacement, and the smaller eta is, the lower the sensitivity of the output displacement to the input displacement is; the expression for the average transmission ratio η is:
Figure FDA00040504097400000210
constructing an optimization model of the turnover mechanism of the propeller feeding tool under the normalized parameters, wherein the optimization model of the turnover mechanism of the propeller feeding tool under the normalized parameters is as follows:
Figure FDA0004050409740000031
the constraint condition (b) ensures that the stroke of the telescopic driving device is positive, and the constraint condition (e) is used for forming a triangle;
calculating the length of the part according to the optimized model of the oar tooling turnover mechanism and the distance l between the point A and the point C 3 Calculating the distance l between the point A and the point B 1 And the distance l between points B and C 2 The optimal solution range of (2).
5. The method for setting the size of the paddle tool overturning mechanism according to claim 4, wherein the step of calculating the length of the component according to the optimized model of the paddle tool overturning mechanism comprises the following steps:
calculating the obtained optimized parameters to obtain
Figure FDA0004050409740000032
And a step of obtaining a scale factor, namely, specifying a dimensional value of a certain parameter to obtain the scale factor, and multiplying the scale factor by other dimensionless parameters to obtain the final dimensional parameter.
6. The method of claim 5 for setting the size of the paddle tooling flipping mechanism, wherein the step of obtaining the scale factor comprises:
according to installation environment or processing condition factors, appointing
Figure FDA0004050409740000033
Obtaining a scale factor Δ:
Figure FDA0004050409740000034
dimensional values for other parameters were calculated as:
Figure FDA0004050409740000035
7. the method of claim 6, wherein in the step of obtaining the scale factor, the step of specifying the scale factor is performed by specifying a size of the blade tool turnover mechanism
Figure FDA0004050409740000036
The obtained scaling factor Δ:
Figure FDA0004050409740000037
Dimensional values for other parameters are:
Figure FDA0004050409740000038
8. a marine propeller mounting arrangement comprising a paddle tooling flipping mechanism according to any of claims 1 to 3.
9. The marine propeller mounting device of claim 8, further comprising a horizontal rail, wherein the horizontal support of the propeller mounting mechanism is movably disposed on the horizontal rail.
10. A method of using a marine propeller mounting apparatus, comprising:
a horizontal rail is arranged, and the paddle tooling turnover mechanism of any one of claims 1 to 3 is movably arranged on the horizontal rail;
arranging the front paddle bracket to be perpendicular to the horizontal bracket, fixing a paddle tool on the front paddle bracket, and mounting a paddle on the paddle tool;
controlling the front oar bracket to be turned over from a state of being vertical to the horizontal support to a state of being parallel to the horizontal support, so that the front oar bracket is horizontally arranged;
turning the front oar bracket to be parallel to the horizontal support;
and driving the paddle tooling turnover mechanism to move along the horizontal rail so as to transfer the paddle tooling with the mounted paddle.
CN202310038677.3A 2023-01-12 2023-01-12 Paddle tool turnover mechanism, size setting method and device thereof, and use method thereof Pending CN115959263A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202310038677.3A CN115959263A (en) 2023-01-12 2023-01-12 Paddle tool turnover mechanism, size setting method and device thereof, and use method thereof
PCT/CN2023/116172 WO2024148835A1 (en) 2023-01-12 2023-08-31 Paddle tool turnover mechanism, size setting method and device thereof, and usage method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310038677.3A CN115959263A (en) 2023-01-12 2023-01-12 Paddle tool turnover mechanism, size setting method and device thereof, and use method thereof

Publications (1)

Publication Number Publication Date
CN115959263A true CN115959263A (en) 2023-04-14

Family

ID=87359889

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310038677.3A Pending CN115959263A (en) 2023-01-12 2023-01-12 Paddle tool turnover mechanism, size setting method and device thereof, and use method thereof

Country Status (2)

Country Link
CN (1) CN115959263A (en)
WO (1) WO2024148835A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024148835A1 (en) * 2023-01-12 2024-07-18 上海中船临港船舶装备有限公司 Paddle tool turnover mechanism, size setting method and device thereof, and usage method thereof

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8322686B2 (en) * 2009-01-23 2012-12-04 Nordco Inc. Apparatus for applying and removing rail clips onto rail ties
CN202152044U (en) * 2011-07-12 2012-02-29 浙江增洲造船有限公司 Special quick mounting device for ship propeller rudder
KR20190085628A (en) * 2018-01-11 2019-07-19 삼성중공업 주식회사 Propeller installation method
CN112265616A (en) * 2020-09-27 2021-01-26 广州文冲船舶修造有限公司 Propeller disassembling method, propeller installing method and propeller disassembling tool
CN115959263A (en) * 2023-01-12 2023-04-14 上海中船临港船舶装备有限公司 Paddle tool turnover mechanism, size setting method and device thereof, and use method thereof
CN116101450A (en) * 2023-03-16 2023-05-12 江南造船(集团)有限责任公司 Propeller installation method and construction system
CN116424513A (en) * 2023-03-16 2023-07-14 江南造船(集团)有限责任公司 Installation frock of boats and ships screw

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024148835A1 (en) * 2023-01-12 2024-07-18 上海中船临港船舶装备有限公司 Paddle tool turnover mechanism, size setting method and device thereof, and usage method thereof

Also Published As

Publication number Publication date
WO2024148835A1 (en) 2024-07-18

Similar Documents

Publication Publication Date Title
CN115959263A (en) Paddle tool turnover mechanism, size setting method and device thereof, and use method thereof
CN105977759A (en) Slide rail-type sheave rotating wire repairing machine
TWM465404U (en) Special shape multi-blade cutting machine
CN215508464U (en) Steel pipe bending device
CN206998363U (en) Clamping device for machine tooling
CN110239968B (en) Real-time flow control method and system for scraper reclaimer
CN213563502U (en) Cement paste mixer for experiment
CN212240221U (en) Main shaft fastening and overturning device
CN114872837A (en) Wave compensation gangway ladder system and control method thereof
CN112388542A (en) Industrial robot production is with location auxiliary assembly
CN213054832U (en) Multi-angle rotating mechanism of clamping hand of assembly robot
CN207222646U (en) Bender
CN206356602U (en) A kind of inclined surface drilling tooling
CN205087586U (en) Automatic posture adjustment device is put to setting machine layer brick
CN215316724U (en) Lifting type welding working platform
CN214733885U (en) Hoist device for engineering construction
CN111421023A (en) Two-degree-of-freedom metal plate bending follow-up supporting device and kinematics inverse solution method thereof
CN211805495U (en) Pipeline burnishing device for small train
CN219327933U (en) Multi-angle lifting shooting device
CN217544015U (en) Real rack of instructing of little plastic of car panel
CN217149724U (en) Coating device for special paper processing
CN214937043U (en) Rotary film tearing device
CN219217253U (en) Hoisting equipment for container production and processing
CN212007618U (en) Double-rotating-shaft torsion adjusting equipment for electronic product
CN216939566U (en) Metal circular plate manufacturing device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination