A Ship Erection Hoisting and Splicing System and Method Driven by a Deformable Rope Parallel Connection

Abstract

The present invention discloses a ship assembly, hoisting, and splicing system and method driven in parallel by deformable ropes. The system comprises a fixed frame, a grabbing unit, a rope driving unit, a shifting pulley guide unit, and a material adjustment unit. The fixed frame provides connection points and support. The grabbing unit grabs the incoming assembly material on the material adjustment unit. The shifting pulley guide unit is mounted on the lower surface of the fixed frame and guides the movement of the rope. The rope driving unit is provided with a rope, one end of which is mounted on the rope driving unit, and the other end of which passes through the grabbing unit and the shifting pulley guide unit. The material adjustment unit transports the assembled parts to be assembled. The present invention introduces a deformable rope parallel drive system into ship assembly, hoisting, and splicing, solving the problems of low assembly efficiency, poor precision, and serious impact on docking time and shipbuilding efficiency in the modular construction of large ships caused by existing hoisting and splicing methods.

Description

Technical Field

[0001] The present invention relates to the field of ship assembly and hoisting, and in particular to a ship assembly and hoisting splicing system and method driven in parallel by deformable ropes. Background Art

[0002] Ship assembly and hoisting is the most core and basic link in the ship manufacturing process. The efficiency and quality of assembly and hoisting directly affect the cycle and quality of ship construction.

[0003] An assembly is a basic unit or structure within a ship's hull. The shipbuilding industry is large and rapidly developing. Compared to conventional manufacturing, shipbuilding orders are smaller, and ship components are larger, heavier, and more diverse. Therefore, modular shipbuilding is widely used. Modular shipbuilding technology decomposes ship structures, equipment, and systems into several relatively independent units with interfacing relationships based on function or hierarchy. These units are then combined into a complete ship according to modular design and production principles, incorporating practical production processes. Breaking down a ship's structure into its most basic units or structures is assembly. Assembly is the process of assembling different units according to a pre-planned sequence, adjusting their positions and orientations through hoisting and other methods, and then welding, riveting, and other methods to create a complete structure.

[0004] In the prior art, the Chinese invention patent document with application number: CN202010799998.1 discloses a method for constructing a segmented pier under an FLNG ship, which comprises: dividing the segmented pier under an FLNG ship into five segments: a left inner bottom plate middle assembly, a right inner bottom plate middle assembly, an outer plate middle assembly, a left oblique side plate middle assembly, and a right oblique side plate middle assembly according to the structural characteristics of the segmented pier under an FLNG ship; constructing the left pier; and Construct the middle assembly of the inner bottom plate and the right middle assembly of the inner bottom plate; construct the middle assembly of the outer plate; construct the middle assembly of the left oblique side plate and the right oblique side plate; divide the sections with the middle assembly of the outer plate as the reference, and carry out the large assembly stage closing with the outer plate as the base surface. First, turn the middle assembly of the left inner bottom plate and the right inner bottom plate 180 degrees and close them with the middle assembly of the outer plate, then turn the middle assembly of the left oblique side plate and the right oblique side plate 135 degrees and close them with the middle assembly of the outer plate, and finally weld to form the lower pier section.

[0005] As can be seen from the above, the conventional method for adjusting the posture of an assembly involves using a crane or overhead crane for lifting, followed by adjustments using hoists, pullers, crowbars, and other means. The precision of the assembly depends on the workers' practical experience, and the efficiency of the assembly depends on the speed of manual adjustments. However, with the rapid growth of shipbuilding orders, the accuracy and efficiency of the traditional crane-based assembly and lifting method are unable to meet the requirements of automated production. This traditional assembly and lifting method has hindered further improvements in shipbuilding efficiency and quality.

[0006] Therefore, it is necessary for us to improve such a structure to overcome the above-mentioned defects. Summary of the Invention

[0007] The purpose of the present invention is to provide a ship assembly, lifting and splicing system and method driven in parallel by deformable ropes, which is used to solve the problem that the accuracy and efficiency of the crane-based assembly and lifting method are difficult to meet the needs of automated production, and the traditional assembly and lifting method has restricted the further improvement of ship construction efficiency and quality.

[0008] The above technical objectives of the present invention are achieved by the following technical solutions:

[0009] A ship assembly, lifting and splicing system driven in parallel by deformable ropes, comprising a fixed frame, a grabbing unit, a rope driving unit, a position-changing pulley guide unit and a material adjustment unit;

[0010] The fixed frame is arranged in the assembly and splicing working area. The fixed frame is located at the top of the entire assembly, hoisting and splicing system and is effectively fixed to the wall. The fixed frame is used to provide connection points and support.

[0011] The grabbing unit is located below the fixed frame and is used to grab the assembled incoming materials on the incoming material adjustment unit;

[0012] The shift pulley guide unit is installed on the lower surface of the fixed frame and can move along the fixed frame, and the shift pulley guide unit is used to guide the moving direction of the rope;

[0013] The rope drive unit is located below the fixed frame. A rope is provided on the rope drive unit. One end of the rope is provided on the rope drive unit, and the other end of the rope passes through the grabbing unit and the displacement pulley guide unit. The rope drive unit is used to provide driving capability for the spatial motion positioning of the grabbing unit and the active motion of the displacement pulley guide unit.

[0014] The incoming material adjustment unit is located below the fixed frame and is used for conveying assembled parts to be assembled.

[0015] The present invention is further configured as follows: the grabbing unit includes a plurality of grabbing mechanisms, each of which has the same structure and includes: an electromagnetic adsorption module, a driving motor, a connecting base plate, an electromagnetic fixing plate, a rope ring 1, a visual measurement module and a hinge;

[0016] The two electromagnetic fixing plates are respectively mounted on the left and right sides of the connecting base plate through hinges, and an electromagnetic adsorption module is installed under each electromagnetic fixing plate, and the electromagnetic adsorption module is used to grab the assembled sheet material;

[0017] One end of the pushing motor is hinged to the connecting substrate, and the output end of the pushing motor is hinged to the electromagnetic fixing plate, so that the pushing motor can drive the electromagnetic fixing plate to rotate relative to the connecting substrate;

[0018] The electromagnetic fixing plate is further provided with a visual measurement module, which is electrically connected to an external controller. The input end of the visual measurement module is downwardly disposed. The visual measurement module is used to collect visual images of the environment and the assembly in real time and transmit them to the external controller for analysis to obtain an accurate positional relationship of the gripping mechanism relative to the assembly to be spliced.

[0019] A plurality of rope hanging rings 1 are installed above each electromagnetic fixing plate, and the rope hanging rings 1 can provide attachment points for the ropes.

[0020] The present invention is further configured as follows: the rope drive unit includes a servo motor, a reducer, a gear train, a winding drum, an axial guide feed mechanism, a winding pulley, a guide pulley, a pulley mounting seat, a pressure sensor, and a drive bracket, and the above components are all located on the drive bracket;

[0021] The output shaft of the servo motor is transmission-connected to the reducer, and a gear train is provided on the output end of the reducer, wherein the gear train includes a driving gear, a driven gear 1 and a driven gear 2, the driving gear is sleeved on the output shaft of the reducer, the driven gear is sleeved on the end of the winding drum and meshes with the driving gear, and the end of the winding drum away from the driven gear is rotatably connected to the driving bracket, the axial guide feeding mechanism is located on one side of the winding drum, a plurality of winding pulleys are provided on the axial guide feeding mechanism, the guide pulley is located on the outer wall of the driving bracket, the pulley mounting seat is located below the guide pulley, a pulley is mounted on the pulley mounting seat, and the pulley mounting seat is fixedly mounted on the driving bracket through a pressure sensor, and the length of the rope wound on the winding drum is controlled by the servo motor to control the length of the rope output.

[0022] The present invention is further configured as follows: the axial guide feed mechanism includes a screw, a slide rail, a guide slider and a guide block, the screw is located on one side of the winding drum, one end of the screw is connected to the driven gear 2, and the other end of the screw is rotatably connected to the driving bracket, the two slide rails are respectively located on the left and right sides of the screw, the guide slider is slidably set on the slide rail, the bottom of the slide rail is sleeved on the screw, and the bottom of the guide block is installed on the guide slider, and the driven gear 2 is driven to rotate by the servo motor, driving the screw to rotate, and then driving the guide slider to move along the length direction of the slide rail, driving the guide block set on the guide slider to move.

[0023] The present invention is further configured as follows: the shift pulley guide unit includes a fixed slide, a fixed frame, a rope, a shift pulley, a pulley fixing plate, a slider, and a guide rotation connecting plate;

[0024] The fixed frame is installed on the fixed frame, and a fixed slide groove is provided on the fixed frame. The slider is slidably set on the fixed slide groove and can move along the fixed slide groove. The top surface of the guide rotating connecting plate is fixedly installed on the bottom surface of the slider. The bottom end of the guide rotating connecting plate is fixedly connected to the pulley fixing plate. The shifting pulley is installed on the pulley fixing plate. The rope passes through the shifting pulley and is guided by the shifting pulley guide unit.

[0025] The present invention is further configured as follows: the incoming material adjustment unit includes a conveyor roller and multiple attitude adjustment trolleys, each of the attitude adjustment trolleys can realize movement in three spatial directions and wheel rotation in the forward direction, the upper surfaces of the lifting cylinders of multiple attitude adjustment trolleys are provided with flat flanges or ball heads and other connectors, the coordinated movement of multiple attitude adjustment trolleys can control the spatial posture of the assembly base plate, the assembly incoming material is placed on the conveyor roller, the attitude adjustment trolley is provided with an assembly base plate, and the assembly parts to be assembled are transported to the working area one by one through the conveyor roller.

[0026] The present invention is further configured as follows: the posture adjustment trolley includes a body, and a forward module, a lateral displacement module, a longitudinal displacement module and a trolley lifting module arranged on the body;

[0027] The forward module, the lateral displacement module and the longitudinal displacement module are used to control the movement of the posture adjustment trolley in three directions, and the trolley lifting module is used to lift the assembled incoming materials on the posture adjustment trolley.

[0028] A method for using a ship assembly, lifting and splicing system driven in parallel by deformable ropes comprises the following steps:

[0029] Step 1: Assembled parts conveying: Determine the model of the assembly base plate and obtain the corresponding process parameters from the external controller. The posture adjustment trolley adjusts the position of the assembly base plate to a state suitable for splicing and sends the position of the assembly base plate to the external controller. The assembly parts to be assembled are transported to the target area via the conveyor roller.

[0030] Step 2: The grabbing mechanism moves; the rope drive unit works, and through the movement of the rope, the grabbing unit is moved to the top of the material adjustment unit. The visual measurement module on the grabbing unit works and sends image information to the external controller. The external controller coordinates the image information of each visual measurement module and performs image processing, decoding and extracting the overall spatial posture and local structural posture of the assembled incoming material to achieve the positioning of the incoming material; the grabbing point is automatically calculated to obtain the relative posture information of each grabbing mechanism relative to the assembled incoming material. After confirmation, the movement of the rope drive unit is controlled to move each grabbing mechanism to the grabbing point position;

[0031] Step 3: Grasping the assembled parts; energize the electromagnetic adsorption module on one side of the grasping mechanism, and the assembled parts will be adsorbed together with the grasping unit, driving the rope unit, first lifting it vertically, and then moving it away from the conveyor roller area. Then the push motor in the grasping unit starts to work, causing the connecting base plate and the electromagnetic fixing plate to rotate until the two electromagnetic fixing plates are positioned opposite each other, clamping the front and back sides of the assembled parts. At this time, energize the electromagnetic adsorption module on the other side, so that a stable grasp can be formed. During the operation of the push motor, the corresponding rope must also move in coordination to ensure that the posture of the assembled parts remains unchanged.

[0032] Step 4: Assemble the parts. According to the planned path and process specifications, the rope drive unit coordinates the movement to achieve the assembly of the parts; then enter the assembly link of the next assembly part.

[0033] In summary, the present invention has the following beneficial effects:

[0034] The present invention provides an assembly and splicing system that can adapt to different sizes, different weights, different shapes, and different posture adjustment targets, including a fixed frame, a grabbing unit, a rope driving unit, a displacement pulley guide unit, and an incoming material adjustment unit. The grabbing unit is used to grab the incoming assembly material on the incoming material adjustment unit; the displacement pulley guide unit is used to guide the moving direction of the rope; the rope driving unit is provided with a rope, one end of the rope is set on the rope driving unit, and the other end of the rope passes through the grabbing unit and the displacement pulley guide unit. The rope driving unit is used to provide driving capacity for the spatial movement positioning of the grabbing unit and the active movement of the displacement pulley guide unit; the incoming material adjustment unit is used to convey the assembly parts to be assembled;

[0035] The above solution introduces a deformable rope parallel drive system in the ship assembly, lifting and splicing process, solving the problems of low assembly efficiency, poor precision and serious impact on docking time and shipbuilding efficiency of existing lifting and splicing methods in the modular construction process of large ships.

[0036] The present invention is characterized in that it utilizes the characteristics of the rope parallel mechanism, such as large working space, simple structure, flexible movement and strong load capacity, and can realize the adjustment of the hoisted assembly to any position and any angle in the working area;

[0037] The present invention has a simple and compact structure and also utilizes rope hoisting. Compared with other methods such as overhead cranes, it adopts a precise rope servo drive system and visual feedback positioning to ensure the positioning accuracy of assembly and splicing.

[0038] The flexibility of this system is achieved through the coordinated cooperation of multiple ropes. Each rope drive unit can drive the corresponding grasping mechanism. It can work independently or form a whole after being stably connected with parts. When working independently, the control is simple and easy. When working as a whole, the load capacity and movement space of the entire system are greatly improved. At the same time, the displacement of the ropes can effectively avoid interference between ropes, ensuring the stability and reliability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0040] Figure 2 It is a three-dimensional structural diagram of the grabbing unit of the present invention;

[0041] Figure 3 is a three-dimensional structural diagram of the rope drive unit of the present invention;

[0042] Figure 4 is a three-dimensional structural diagram of the rope drive unit of the present invention;

[0043] Figure 5 It is a three-dimensional structural diagram of the incoming material adjustment unit of the present invention;

[0044] Figure 6 It is a schematic diagram of the posture adjustment trolley of the present invention;

[0045] Figure 7 It is a schematic diagram of initialization of the present invention;

[0046] Figure 8 It is a schematic diagram of incoming material positioning of the present invention;

[0047] Figure 9 It is a schematic diagram of incoming material adsorption of the present invention;

[0048] Figure 10 It is a schematic diagram of the lifting transfer adjustment of the present invention;

[0049] Figure 11 This is a schematic diagram of the posture flip preparation stage of the present invention;

[0050] Figure 12 This is a schematic diagram of the posture flip grasping closing stage of the present invention;

[0051] Figure 13 This is a schematic diagram of the posture flip adjustment stage of the present invention;

[0052] Figure 14 It is a schematic diagram of the assembly posture adjustment stage of the present invention;

[0053] Figure 15 It is a schematic diagram of the assembly and splicing completion stage of the present invention.

[0054] Numbers: fixed frame 101, grabbing unit 102, rope driving unit 103, displacement pulley guide unit 104, incoming material adjustment unit 105, assembly parts 106, electromagnetic adsorption module 201, pushing motor 202, connecting base plate 203, electromagnetic fixing plate 204, rope lifting ring 205, visual measurement module 206, hinge 207, servo motor 301, reducer 302, gear train 303, winding drum 304, axial guide feeding mechanism 305, winding slide Wheel 306, guide pulley 307, pulley mounting seat 308, pressure sensor 309, rope ring 2 310, fixed slide 401, fixed frame 402, rope 403, displacement pulley 404, pulley fixing plate 405, slider 406, guide rotary connecting plate 407, assembly incoming material 501, conveyor roller 502, assembly bottom plate 503, posture adjustment trolley 504, forward module 601, lateral displacement module 602, longitudinal displacement module 603, trolley lifting module 604 DETAILED DESCRIPTION

[0055] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below with reference to diagrams and specific embodiments.

[0056] like Figures 1 to 6 As shown, the present invention proposes a ship assembly hoisting and splicing system driven in parallel by deformable ropes, comprising a fixed frame 101, a grabbing unit 102, a rope driving unit 103, a position-changing pulley guide unit 104, and an incoming material adjustment unit 105;

[0057] The fixed frame 101 is located in the assembly and splicing work area. The fixed frame 101 is located at the top of the entire assembly, hoisting and splicing system and is effectively fixed to the wall to provide a stable and reliable connection point and support for the above functional units.

[0058] In this embodiment, the grasping unit 102 includes multiple grasping mechanisms, each of which has the same structure and includes: an electromagnetic adsorption module 201, a driving motor 202, a connecting base plate 203, an electromagnetic fixing plate 204, a rope ring 205, a visual measurement module 206 and a hinge 207;

[0059] Two electromagnetic fixing plates 204 are respectively mounted on the left and right sides of the connecting base plate 203 via hinges 207. An electromagnetic adsorption module 201 is mounted under each electromagnetic fixing plate 204. The electromagnetic adsorption module 201 is used to grab the assembled sheet materials and achieve the adsorption and release of the assembled sheet materials by switching the current on and off.

[0060] One end of the push motor 202 is hinged to the connecting substrate 203, and the output end of the push motor 202 is hinged to the electromagnetic fixing plate 204. The push motor 202 can drive the electromagnetic fixing plate 204 to rotate relative to the connecting substrate 203.

[0061] A visual measurement module 206 is also mounted on the electromagnetic fixing plate 204. The visual measurement module 206 is electrically connected to an external controller that stores the assembly process parameters. The input end of the visual measurement module 206 is positioned downward and is used to capture real-time visual images of the environment and the assembly, and transmit these images to the external controller for analysis to obtain the accurate positional relationship of the gripping mechanism relative to the assembly to be spliced. The module also coordinates and controls the deformation movement of the gripping mechanism itself and the stretching of the rope 403 attached thereto to change the gripping mechanism's posture in the workspace.

[0062] A plurality of rope eyelets 205 are mounted above each electromagnetic fixing plate 204 to provide attachment points for the rope 403. The plurality of gripping mechanisms work together to form the gripping unit 102.

[0063] In this embodiment, the rope driving unit 103 is used to position the grabbing unit 102 in space and provide driving force for the displacement pulley guide unit 104;

[0064] The rope drive unit 103 is located below the fixed frame 101 and includes a servo motor 301, a reducer 302, a gear train 303, a winding drum 304, an axial guide feed mechanism 305, a winding pulley 306, a guide pulley 307, a pulley mounting seat 308, and a pressure sensor 309. It also includes a drive bracket, and all of the above functional components are located on the drive bracket.

[0065] The output shaft of the servo motor 301 is transmission-connected to the reducer 302. A gear train 303 is provided on the output end of the reducer 302. The gear train 303 includes a driving gear, a driven gear 1 and a driven gear 2. The driving gear is sleeved on the output shaft of the reducer 302. The driven gear is sleeved on the end of the winding drum 304 and meshes with the driving gear. The end of the winding drum 304 away from the driven gear is rotatably connected to the driving bracket. The axial guide feeding mechanism 305 is located on one side of the winding drum 304. A plurality of winding pulleys 306 are provided on the axial guide feeding mechanism 305. The guide pulley 307 is located on the outer wall of the driving bracket. The pulley mounting seat 308 is located below the guide pulley 307. A pulley is mounted on the pulley mounting seat 308. The pulley mounting seat 308 is fixedly mounted on the driving bracket through a pressure sensor 309.

[0066] Each rope drive unit 103 is powered by a servo motor 301. When the servo motor 301 is working, the torque is decelerated and amplified by the reducer 302 and then transmitted to the gear train 303. The driving gear drives the winding drum 304 to rotate, and the rope 403 set on the winding drum 304 is unwound. The servo motor 301 controls the length of the rope 403 wound on the winding drum 304 to control the length of the rope output.

[0067] The axial guide feed mechanism 305 includes a screw, a slide rail, a guide slider and a guide block. The screw is located on one side of the winding drum 304. One end of the screw is connected to the driven gear 2, and the other end of the screw is rotatably connected to the driving bracket. The two slide rails are respectively located on the left and right sides of the screw. The guide slider is slidably set on the slide rail, and the bottom of the slide rail is sleeved on the screw. The bottom of the guide block is installed on the guide slider. When the servo motor 301 is working, it can drive the driven gear 2 to rotate, drive the screw to rotate, and then drive the guide slider to move along the length direction of the slide rail, driving the guide block set on the guide slider to move.

[0068] The axially guided feed mechanism 305 is used to prevent deviations in the output length caused by the varying distribution of the rope 403's winding positions, while also ensuring a smooth and even winding of the rope 403 without tangling. The axially guided feed mechanism 305 is connected to driven gear 2, ensuring the synchronous movement of the servo motor 301, the bobbin 304, and the guide device. By properly setting the reduction ratio and the winding density of the bobbin 304, the winding pulley 306 of the axially guided feed mechanism 305 is consistently aligned with the rope output point on the bobbin 304.

[0069] After the rope 403 passes through the winding pulley 306, it is sent out through two guide pulleys 307, and then passes out through the sliding mounting seat. A pressure sensor 309 is provided on the sliding mounting seat.

[0070] The pressure sensor 309 is used to measure the pressure and bending moment of the guide pulley 307 seat, thereby calculating the tension of the rope 403, thereby performing accurate force and position control of the rope 403.

[0071] A second rope hoist ring 310 is fixed on the driving bracket of the rope driving unit 103 to facilitate transportation and hoisting.

[0072] In this embodiment, the shift pulley guide unit includes a fixed slide 401, a fixed frame 402, a rope 403, a shift pulley 404, a pulley fixing plate 405, a slider 406, and a guide rotation connecting plate 407;

[0073] The fixed frame 402 is installed on the fixed frame 101, and a fixed slide groove 401 is provided on the fixed frame 402. The slider 406 is slidably set on the fixed slide groove 401. The top surface of the guide rotating connecting plate 407 is fixedly installed on the bottom surface of the slider 406. The bottom end of the guide rotating connecting plate 407 is fixedly connected to the pulley fixing plate 405. The shifting pulley 404 is installed on the pulley fixing plate 405, and the rope 403 passes through the shifting pulley 404.

[0074] The variable pulley guide unit 104 can adaptively guide the rope 403 to the appropriate orientation. By providing multiple variable pulleys 404, each variable pulley 404 can rotate about its axis to ensure the free retraction and extension of the rope 403. It can also rotate about its vertical axis to passively adjust the rope output direction based on the orientation of the rope 403. The variable pulley 404 is installed in a fixed chute 401 on the top floor of the fixed frame 101. Pulled by the rope drive unit 103, it can actively adjust the position of the rope output point, avoiding conflict and interference between different ropes 403.

[0075] In this embodiment, the incoming material adjustment unit 105 includes a conveyor roller 502 and multiple attitude adjustment trolleys 504. Each attitude adjustment trolley 504 can realize movement in three directions in space and wheel rotation in the forward direction. The upper surfaces of the lifting cylinders of the multiple attitude adjustment trolleys 504 are provided with flat flanges or ball heads and other connectors, which are jointly supported on the lower surface of the assembly base plate 503 to be assembled. The coordinated movement of the multiple attitude adjustment trolleys 504 can control the spatial posture of the assembly base plate. The assembly incoming material 501 is placed on the conveyor roller 502, and the attitude adjustment trolley 504 is provided with an assembly base plate 503. The assembly parts 106 to be assembled are transported to the working area one by one through the conveyor roller 502, and then grabbed and transferred by the grabbing unit 102 to execute the subsequent process.

[0076] The posture adjustment vehicle 504 includes a vehicle body, and a forward module 601, a lateral displacement module 602, a longitudinal displacement module 603 and a vehicle lifting module 604 arranged on the vehicle body;

[0077] The forward module 601, the lateral displacement module 602, and the longitudinal displacement module 603 are used to control the posture adjustment trolley to move in three directions, and the trolley lifting module 604 is used to lift the assembled incoming materials on the posture adjustment trolley.

[0078] The use process and principle of the present invention are as follows: Figure 7 As shown, the ship assembly hoisting and splicing system is in the initial state.

[0079] The rope drive unit 103 and the gripping unit 102 are in their preset initial positions, and the visual measurement module 206 restores its default parameters. The model of the assembly base plate 503 is determined, and the corresponding process parameters are obtained from the external controller. The posture adjustment trolley 504 adjusts the position of the assembly base plate 503 to a suitable state for assembly and transmits the position of the assembly base plate 503 to the external controller. The assembly parts 106 to be assembled are transported to the target area via the conveyor roller 502.

[0080] like Figure 8 As shown, the rope drive unit 103 works, and through the movement of the rope 403, all the grabbing units 102 are moved to the top of the incoming material adjustment unit 105. The visual measurement module 206 on the grabbing unit 102 works and sends the image information to the external controller. The external controller coordinates the image information of each visual measurement module 206 and performs image processing, decoding and extracting the overall spatial posture and local structural posture of the assembled incoming material to achieve the positioning of the incoming material; automatically calculate the grabbing point, obtain the relative posture information of each grabbing mechanism relative to the assembled incoming material, and accurately control the rope drive unit 103 to move each grabbing mechanism to the top of the corresponding grabbing point calculated in the previous step. After confirming that everything is correct, the rope drive unit 103 is controlled to move to each grabbing mechanism.

[0081] like Figure 9 As shown, at this time, the electromagnetic adsorption module 201 on one side of the grabbing mechanism is energized, and the assembled parts 106 will be adsorbed together with the grabbing unit 102; as shown in the figure, the rope driving unit 103 is driven to first lift vertically and then move away from the conveyor roller 502 area.

[0082] like Figure 11 As shown, the driving motor 202 in the grabbing unit 102 is working, causing the connecting base plate 203 and the electromagnetic fixing plate 204 to rotate until the two electromagnetic fixing plates 204 are positioned opposite each other and clamp the front and back sides of the sheet. At this time, the electromagnetic adsorption module 201 on the other side is energized, so that a stable grasping can be achieved. During the operation of the driving motor 202, the corresponding rope 403 also moves in coordination to ensure that the posture of the assembled incoming material remains unchanged.

[0083] like Figure 12As shown; after forming a stable grasping, the multiple relatively discrete grasping mechanisms in the grasping unit 102 are integrated with the assembled incoming material to form a redundant rope parallel mechanism. The assembled incoming material is equivalent to a moving platform, and the original rope connection positions of each grasping mechanism are also transformed into equivalent connection positions of the equivalent moving platform; further controlling the length of each rope 403;

[0084] like Figure 13 As shown, the assembly part 106 is adjusted to a vertical posture, and then according to the base plate posture measured in the first step and the splicing area required by the process, the external controller calculates the target posture of the assembly part 106 and drives the rope driving unit 103 to move toward the splicing target area;

[0085] Depending on the location and function, the assembly may contain local features such as puncture structures. If the assembly is moved directly to the splicing position using the shortest motion path, interference will occur and the splicing assembly cannot be completed. Therefore, after the assembly part 106 is moved to the splicing target area driven by the rope 403, more detailed path planning and posture adjustment must be performed first, dividing the splicing process into different stages.

[0086] like Figure 14 As shown, a significant advantage of the rope parallel mechanism is its large working space and flexible movement, so it can fully realize any planned path. According to the planned path and process specifications, the drive unit is controlled to coordinate the movement to achieve assembly;

[0087] like Figure 15 As shown, the assembly of the next assembly part 106 can then begin.

[0088] In the description of the present invention, it should be noted that the terms "upper," "lower," "inner," "outer," "left," "right," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the inventive product is typically placed when in use, or are the orientations or positional relationships commonly understood by those skilled in the art. These terms are intended solely to facilitate the description of the present invention and simplify the description, and are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting the present invention. Furthermore, the terms "first," "second," etc., are used solely to distinguish descriptions and should not be construed as indicating or implying relative importance. In the description of the present invention, it should also be noted that, unless otherwise expressly specified or limited, terms such as "disposed" and "connected" should be understood broadly. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; a mechanical connection or an electrical connection; a direct connection, an indirect connection through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances. As used herein, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion of elements other than the listed elements and may also include additional elements not specifically listed.

[0089] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A ship assembly hoisting and splicing system driven in parallel by deformable ropes, characterized in that: It includes a fixed frame, a grabbing unit, a rope driving unit, a position-changing pulley guide unit and an incoming material adjustment unit; The fixed frame is arranged in the assembly and splicing working area. The fixed frame is located at the top of the entire assembly, hoisting and splicing system and is effectively fixed to the wall. The fixed frame is used to provide connection points and support. The grabbing unit is located below the fixed frame and is used to grab the assembled incoming materials on the incoming material adjustment unit; The shift pulley guide unit is installed on the lower surface of the fixed frame and can move along the fixed frame, and the shift pulley guide unit is used to guide the moving direction of the rope; The rope drive unit is located below the fixed frame. A rope is provided on the rope drive unit. One end of the rope is provided on the rope drive unit, and the other end of the rope passes through the grabbing unit and the displacement pulley guide unit. The rope drive unit is used to provide driving capability for the spatial motion positioning of the grabbing unit and the active motion of the displacement pulley guide unit. The incoming material adjustment unit is located below the fixed frame and is used to convey the assembled parts to be assembled; The grabbing unit includes a plurality of grabbing mechanisms, each of which has the same structure and includes: an electromagnetic adsorption module, a driving motor, a connecting base plate, an electromagnetic fixing plate, a rope ring, a visual measurement module and a hinge; The two electromagnetic fixing plates are respectively mounted on the left and right sides of the connecting base plate through hinges, and an electromagnetic adsorption module is installed under each electromagnetic fixing plate, and the electromagnetic adsorption module is used to grab the assembled sheet material; One end of the pushing motor is hinged to the connecting substrate, and the output end of the pushing motor is hinged to the electromagnetic fixing plate, so that the pushing motor can drive the electromagnetic fixing plate to rotate relative to the connecting substrate; A visual measurement module is also installed on the connection substrate. The visual measurement module is electrically connected to the external controller. The input end of the visual measurement module is set downward. The visual measurement module is used to collect visual images of the environment and the assembly in real time and transmit them to the external controller for analysis to obtain the accurate position relationship of the gripping mechanism relative to the assembly to be spliced; A plurality of rope hanging rings 1 are installed above each electromagnetic fixing plate, and the rope hanging rings 1 can provide attachment points for the ropes.

2. A ship assembly hoisting and splicing system driven in parallel by deformable ropes according to claim 1, characterized in that: The rope drive unit includes a servo motor, a reducer, a gear train, a winding drum, an axial guide feed mechanism, a winding pulley, a guide pulley, a pulley mounting seat, and a pressure sensor, all of which are located on the drive bracket; The output shaft of the servo motor is transmission-connected to the reducer, and a gear train is provided on the output end of the reducer, wherein the gear train includes a driving gear, a driven gear 1 and a driven gear 2, the driving gear is sleeved on the output shaft of the reducer, and the driven gear is set on the end of the winding drum and meshes with the driving gear, and the end of the winding drum away from the driven gear 1 is rotatably connected to the driving bracket, the axial guide feeding mechanism is located on one side of the winding drum, and a plurality of winding pulleys are provided on the axial guide feeding mechanism, the guide pulley is located on the outer wall of the driving bracket, the pulley mounting seat is located below the guide pulley, and a pulley is installed on the pulley mounting seat, and the pulley mounting seat is fixedly mounted on the driving bracket through a pressure sensor, and the length of the rope wound on the winding drum is controlled by the servo motor to control the length of the rope output.

3. A ship assembly, hoisting and splicing system driven in parallel by deformable ropes according to claim 2, characterized in that: The axial guide feed mechanism includes a screw, a slide rail, a guide slider and a guide block. The screw is located on one side of the winding drum, one end of the screw is connected to the driven gear 2, and the other end of the screw is rotatably connected to the driving bracket. The two slide rails are respectively located on the left and right sides of the screw. The guide slider is slidably set on the slide rail, and the bottom of the guide slider is sleeved on the screw. The bottom of the guide block is installed on the guide slider. The driven gear 2 is driven to rotate by the servo motor, which drives the screw to rotate, and then drives the guide slider to move along the length direction of the slide rail, driving the guide block set on the guide slider to move.

4. The ship assembly, hoisting and splicing system driven in parallel by deformable ropes according to claim 1, characterized in that: The shift pulley guide unit includes a fixed slide, a fixed frame, a rope, a shift pulley, a pulley fixing plate, a slider, and a guide rotation connecting plate; The fixed frame is installed on the fixed frame, and a fixed slide groove is provided on the fixed frame. The slider is slidably set on the fixed slide groove and can move along the fixed slide groove. The top surface of the guide rotating connecting plate is fixedly installed on the bottom surface of the slider. The bottom end of the guide rotating connecting plate is fixedly connected to the pulley fixing plate. The shifting pulley is installed on the pulley fixing plate. The rope passes through the shifting pulley and is guided by the shifting pulley guide unit.

5. The ship assembly, hoisting and splicing system driven in parallel by deformable ropes according to claim 1, characterized in that: The incoming material adjustment unit includes a conveyor roller and multiple attitude adjustment trolleys. Each of the attitude adjustment trolleys can realize movement in three spatial directions and wheel rotation in the forward direction. The upper surfaces of the lifting cylinders of multiple attitude adjustment trolleys are provided with flat flanges or ball head connectors. The coordinated movement of multiple attitude adjustment trolleys can control the spatial posture of the assembly base plate. The assembly incoming material is placed on the conveyor roller, and the attitude adjustment trolley is provided with an assembly base plate. The assembly parts to be assembled are transported to the working area one by one through the conveyor roller.

6. A ship assembly hoisting and splicing system driven in parallel by deformable ropes according to claim 5, characterized in that: The posture adjustment trolley includes a body, and a forward module, a lateral displacement module, a longitudinal displacement module and a trolley lifting module arranged on the body; The forward module, the lateral displacement module and the longitudinal displacement module are used to control the movement of the posture adjustment trolley in three directions, and the trolley lifting module is used to lift the assembled incoming materials on the posture adjustment trolley.

7. The method for using the ship assembly hoisting and splicing system driven in parallel by deformable ropes according to claim 5, characterized in that: The following steps are involved: Step 1: Assembled parts conveying: Determine the model of the assembly base plate and obtain the corresponding process parameters from the external controller. The posture adjustment trolley adjusts the position of the assembly base plate to a state suitable for splicing and sends the position of the assembly base plate to the external controller. The assembly parts to be assembled are transported to the target area via the conveyor roller. Step 2: The grabbing mechanism moves; the rope drive unit works, and through the movement of the rope, the grabbing unit is moved to the top of the material adjustment unit. The visual measurement module on the grabbing unit works and sends image information to the external controller. The external controller coordinates the image information of each visual measurement module and performs image processing, decoding and extracting the overall spatial posture and local structural posture of the assembled incoming material to achieve the positioning of the incoming material; the grabbing point is automatically calculated to obtain the relative posture information of each grabbing mechanism relative to the assembled incoming material. After confirmation, the movement of the rope drive unit is controlled to move each grabbing mechanism to the grabbing point position; Step 3: Grasping the assembled parts; energize the electromagnetic adsorption module on one side of the grasping mechanism, and the assembled parts will be adsorbed together with the grasping unit, driving the rope drive unit, first lifting it vertically, and then moving it away from the conveyor roller area. Then the push motor in the grasping unit starts to work, causing the connecting base plate and the electromagnetic fixing plate to rotate until the two electromagnetic fixing plates are positioned opposite each other, clamping the front and back sides of the assembled parts. At this time, energize the electromagnetic adsorption module on the other side, so that a stable grasp can be formed. During the operation of the push motor, the corresponding rope must also move in coordination to ensure that the posture of the assembled parts remains unchanged. Step 4: Assemble the parts. According to the planned path and process specifications, the rope drive unit coordinates the movement to achieve the assembly of the parts; then enter the assembly link of the next assembly part.

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