A plane thin plate segment turnover device and a turnover method

Abstract

The application discloses a kind of plane sheet segment turnover device and the method of turning over, to provide a kind of safe and reliable, the operation requirement low no lifting plane sheet segment turnover device and the method of turning over.The turnover device includes for providing turnover power rotating mechanism, lifting mechanism, sheet segment support mechanism, for clamping sheet segment longitudinal girder sheet segment clamping mechanism;The sheet segment clamping mechanism includes intelligent visual identification control module and at least one group of sliding clamping unit;Each group of the sliding clamping unit includes sliding drive module, slide rail and at least one pair of clamp assembly;The intelligent visual identification control module includes corresponding to each pair of the clamping assembly visual probe and intelligent visual identification controller.The device is high in integration, easy to install and transfer, the operation requirement of low technical personnel, does not need hoisting in the process of turning over, while being able to ensure that sheet segment does not occur deformation in the process of turning over, safe and reliable in use.

Description

Technical Field

[0001] This invention relates to the field of flat thin plate segmentation and flipping technology, and more specifically, to a flat thin plate segmentation and flipping device and a flat thin plate segmentation and flipping method. Background Technology

[0002] In the construction of marine equipment, there are numerous thin-plate segmented structures with one side being a flat plate and the other side being a transverse and longitudinal frame. Examples include double-bottom sections of ships, sections with the deck as the base surface, and various decks of offshore platforms. These are often constructed using a reverse-build method, where the transverse and longitudinal frames are welded onto one side. Because the reverse-build section is positioned vertically opposite to its actual installation location, it needs to be flipped over before the plate seams can be welded to form a complete hull. The same situation exists for other thin-plate sections with similar characteristics that require flipping over.

[0003] The flipping design for thin plate sections mostly employs the method of installing cable positioning rings and coordinating with crane lifting. Thin plate sections are transported via SPMT (Self-Propelled Modular Transporter) and then flipped by hoisting. This method places high demands on crane control and the operational skills of technicians, and the installation of lifting lugs is cumbersome. Regardless of the size of the section, it suffers from drawbacks such as long equipment occupation time, difficulty in controlling installation accuracy, and high risk during the flipping process. Furthermore, the thin plate sections themselves have weak rigidity, and using traditional flipping methods may cause section deformation, affecting the construction progress and quality of marine equipment.

[0004] Currently, there are also designs for non-lifting flipping methods for segmented thin plates. Most of these designs use an adsorption structure to fix the thin plate segments to the flipping platform, and a flipping mechanism rotates the thin plate segments and platform together. The adsorption method requires high-quality local surface treatment of the thin plate, may cause deformation due to adsorption pressure during operation, and has lower reliability compared to methods using mechanical structures. The suction cup adsorption method also requires further airtight processing at the adsorption location of the thin plate, adding a flipping step. Summary of the Invention

[0005] The purpose of this invention is to address the technical deficiencies in the existing technology by providing a safe, reliable, and easy-to-operate flat thin plate segment turning device without hoisting.

[0006] Another objective of this invention is to provide a safe, reliable, and easy-to-operate method for segmented flipping of thin, flat plates without hoisting.

[0007] The technical solution adopted to achieve the purpose of this invention is:

[0008] A planar thin plate segment flipping device includes a rotating wheel mechanism for providing flipping power, a lifting mechanism, a thin plate segment support mechanism, and a thin plate segment clamping mechanism for clamping the longitudinal girder of the thin plate segment.

[0009] The lifting mechanism is mounted on the rotary wheel mechanism and is used to realize the separate lifting of the thin plate segment support mechanism or the thin plate segment clamping mechanism, as well as the overall lifting of the thin plate segment support mechanism and the thin plate segment clamping mechanism, and to lock them.

[0010] The thin plate segment clamping mechanism includes an intelligent visual recognition control module and at least one set of sliding clamping units; each set of sliding clamping units includes a sliding drive module, a slide rail, and at least one clamping assembly; the sliding drive module is mounted on the lifting mechanism and slides along the axis of the rotating wheel mechanism, and the slide rail is slidably connected to the sliding drive module perpendicular to the axis of the rotating wheel mechanism; each clamping assembly includes a support shell, the top of which is movably connected to the slide rail via a positioning roller; a vertical telescopic top head module is mounted on the lower part of the support shell, the vertical telescopic top head module includes a vertical telescopic actuator and a top head mounted at the end of the vertical telescopic actuator; horizontal telescopic gripper modules are symmetrically arranged on both sides of the vertical telescopic top head module, each horizontal telescopic gripper module includes a limiting shaft mounted on the support shell and an L-shaped gripper, the gripper is slidably connected to the limiting shaft and connected to the gripper horizontal telescopic drive mechanism; the top head and the two sets of grippers cooperate to clamp or release the longitudinal girder of the thin plate segment;

[0011] The intelligent visual recognition control module includes a visual probe and an intelligent visual recognition controller corresponding to each clamping assembly. The signal output terminal of the visual probe corresponding to each clamping assembly is connected to the control signal input terminal of the intelligent visual recognition controller. The control signal output terminal of the intelligent visual recognition controller is connected to the control signal terminals of the vertical telescopic motion device, the horizontal telescopic drive mechanism of the gripper, the positioning roller, and the sliding drive module of each clamping assembly. The position of the longitudinal girder of the thin plate segment is identified by the output signal of the visual probe; and the position is automatically positioned to the required clamping position by the motion synthesis of the sliding drive module and the positioning roller, and the top head and the gripper are controlled to clamp or release the longitudinal girder.

[0012] The lifting mechanism includes two sets of lifting modules symmetrically installed inside the rotary wheel mechanism; each set of lifting modules includes a rack fixedly connected to the rotary wheel mechanism, a first lifting unit that moves along the rack to realize the lifting of the thin plate segment clamping mechanism, and a second lifting unit that moves along the rack to realize the lifting of the thin plate segment support mechanism; the first lifting units between the two sets of lifting modules are connected by a support clamping tube shaft to achieve synchronous operation, and the two sets of first lifting units, racks, and support clamping tube shafts form a thin plate clamping lifting drive mechanism; the second lifting units between the two sets of lifting modules are connected by a support tube shaft to achieve synchronous operation, and the two sets of second lifting units, racks, and support tube shafts form a thin plate support lifting drive mechanism.

[0013] The first lifting unit includes a first lifting drive motor and a first transmission mechanism, and at least two pairs of first transmission gears meshing with the rack; the second lifting unit includes a second lifting drive motor and a second transmission mechanism, and at least two pairs of second transmission gears meshing with the rack. In the two sets of lifting modules, the opposing first transmission gears are coaxially connected through the support clamping tube shaft, and the opposing second transmission gears are coaxially connected through the support tube shaft. The sliding drive module is mounted on the support clamping tube shaft.

[0014] The thin plate segment support mechanism includes a support unit and two sets of limiting units; the support unit is detachably connected to the support tube shaft of the thin plate support lifting drive mechanism through the two sets of limiting units.

[0015] The limiting unit includes a pair of sliding joint structures, a telescopic plate, and a pair of bolt limiters. The sliding joint is inserted into the support tube shaft of the thin plate support lifting drive mechanism and can slide freely along the axial direction of the tube shaft. The telescopic plate is inserted into the sliding joint and slides freely along the axial direction of the tube shaft along with the sliding joint, and can extend and retract in the direction perpendicular to the tube shaft. The bolt limiter includes a baffle, a nut, and a bolt. The baffle is fixed to the end of the telescopic plate by the self-locking action of the nut and bolt. By moving the bolt limiters of the same group to both sides of the thin plate segment support unit through the limiting unit and self-locking by the nut and bolt, the connection between the thin plate segment support unit and the thin plate support lifting drive mechanism can be completed. A cable positioning ring is welded on the support unit.

[0016] The vision probe of each clamping assembly is respectively mounted on the support shell of the corresponding clamping assembly.

[0017] The rotating mechanism includes two identical rotating units arranged opposite each other. Each rotating unit includes a wheel unit, a tilting drive, and a support. The tilting drive is arranged outside the two wheel units and mounted on the support. It is connected to the axis of the rotating unit through a transmission mechanism to provide rotational power around the axis of the wheel unit.

[0018] The lifting mechanism also includes a safety control module corresponding to each lifting module. Each safety control module includes a safety control unit, a safety controller, and a power controller. The safety control unit includes multiple locking modules symmetrically arranged at positions corresponding to the first and second transmission gears. Each locking module includes an anti-rotation block, a spring, and an axial actuator. The axial actuator consists of a drive cylinder and a telescopic rod, with one end of the telescopic rod serving as the drive cylinder. The first transmission motor and first transmission mechanism, and the second transmission motor and second transmission mechanism are respectively installed inside the dustproof box. One end of the drive cylinder is fixed to the welding station of the dustproof box. The control signal output terminal of the safety controller is connected to the control signal terminal of the axial motion device in each locking module. By controlling the action of the axial motion device in each safety control unit, the function of popping out and locking is realized when the first transmission gear and the second transmission gear are stationary or moving abnormally. The control signal output terminal of the power controller is connected to the control signal input terminal of the first lifting drive motor and the second lifting drive motor in each module. The rotation direction and speed of each motor are coordinated and controlled to realize the separate lifting or overall lifting of the thin plate segment support mechanism or the thin plate segment clamping mechanism or the thin plate segment support mechanism and the thin plate segment clamping mechanism.

[0019] A method for segmenting and flipping a thin flat plate using the aforementioned thin flat plate segmenting and flipping device includes the following steps:

[0020] (1) Transport of thin plate segments: The thin plate segments that need to be flipped are fixed on the support unit of the thin plate support mechanism and transported to the lifting height range of the thin plate segment support mechanism using SPMT.

[0021] (2) Thin plate segment fixing: The lifting mechanism drives the thin plate support mechanism to adjust the other parts of the thin plate support mechanism except the support unit to the same horizontal height as the SPMT bearing surface, and moves the support unit and thin plate segment as a whole to the top of the support tube shaft, and uses the limiting unit to fix it;

[0022] (3) Thin plate segment clamping mechanism and thin plate segment support mechanism are engaged: The lifting mechanism drives the thin plate clamping mechanism to adjust to the appropriate height of the thin plate segment. The intelligent vision recognition controller identifies the position of the thin plate segment longitudinal girder. Through the motion synthesis of the sliding drive module and the positioning roller, it automatically positions the thin plate segment clamping mechanism to the position to be clamped. It controls the top head and the gripper to cooperate in clamping the longitudinal girder, and completes the engagement of the thin plate segment clamping mechanism and the thin plate segment support mechanism.

[0023] (4) Flipping: The lifting mechanism drives the thin plate support mechanism, thin plate clamping mechanism and thin plate segment to rise to the rotatable height and locks them; the rotating wheel mechanism drives the thin plate support mechanism, thin plate clamping mechanism and thin plate segment to rotate 180° and releases the limiting unit of the thin plate support mechanism.

[0024] (5) Unloading: The lifting mechanism is unlocked and the thin plate clamping mechanism, thin plate segment and support unit are lowered as a whole until the slide rail and the SPMT bearing surface are at the same level; the support unit and the thin plate segment are moved together along the slide rail to the SPMT bearing plane, the support unit and the thin plate segment are separated, and the thin plate segment is flipped and transferred.

[0025] When the flipping scheme is adopted, the thin plate segment is brought close to the bolt limiter on the side where the height is first reduced; in step (4), the lifting mechanism is raised to the same height as the center of gravity of the thin plate support mechanism, the thin plate clamping mechanism and the thin plate segment as the axis of the rotating wheel mechanism.

[0026] Compared with the prior art, the beneficial effects of the present invention are:

[0027] 1. The thin plate segment flipping device of the present invention has a high degree of integration, is easy to install and transfer. During the transfer of the thin plate, the SPMT only needs to drive in a straight line and stop. The clamping and flipping schemes during the flipping process can be determined and implemented by a minimum of one technician, which has low requirements for technician operation. At the same time, it can ensure that the thin plate segments will not be deformed during the flipping process, and is safe and reliable to use.

[0028] 2. The thin plate segment turning device of the present invention can intelligently identify the reasonable stress position of the thin plate segment, arrange the clamping equipment, and formulate different turning schemes for planar thin plate segments with different structural characteristics, which is conducive to improving the construction efficiency of offshore platforms.

[0029] 3. The thin plate support unit and its lifting mechanism of the thin plate segmented turning device of the present invention are detachably connected, which can avoid direct contact between the thin plate and the tube shaft of the friction device and other units used for fixing.

[0030] 4. The thin plate segmentation and turning device of the present invention does not require welding of lifting lugs or the use of a crane during the thin plate segmentation and turning process. It can complete the operation by simply using the commonly used segmentation transport tool SPMT. The operation is simple and convenient.

[0031] 5. The thin plate segment turning device of the present invention can be integrated into the segmented production line of marine equipment to turn thin plate segments that need to be turned over; segments that do not need to be turned over can pass directly.

[0032] 6. The thin plate segment turning device of the present invention alleviates the problems of secondary transfer and equipment scheduling in actual production sites.

[0033] 7. The thin plate segment turning method of the present invention can intelligently identify the reasonable stress position of the segment, arrange clamping equipment, and formulate different turning schemes for different deck prefabricated structures to improve the efficiency of offshore platform construction.

[0034] 8. The thin plate segment flipping method of the present invention is simple to operate and safe and reliable. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the overall structure of the marine platform planar thin plate segmental turning device of the present invention;

[0036] Figure 2 This is a partial schematic diagram of the lifting mechanism;

[0037] Figure 3 This is a schematic diagram of the clamping assembly;

[0038] Figure 4 Schematic diagram showing preparation for SPMT to be flipped in conjunction with flat thin plate segments;

[0039] Figure 5 This is a diagram illustrating the SPMT transfer procedure after the patient has been turned over. Detailed Implementation

[0040] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0041] In this embodiment, the thin plate segment that needs to be flipped consists of a flat plate 15-1, a transverse rib 15-2, and a longitudinal rib 15-3. It should be noted that other thin plate segments that need to be flipped and have similar characteristics are also within the scope of this invention.

[0042] A schematic diagram of the planar thin plate segmented flipping device of the present invention is shown below. Figures 1-3 As shown, it includes a wheel mechanism for providing the power to tilt, a lifting mechanism, a thin plate segment support mechanism, and a thin plate segment clamping mechanism for clamping the thin plate segment longitudinal girder.

[0043] The rotating mechanism can adopt existing technical solutions. In this embodiment, the preferred solution is as follows: the rotating mechanism includes two identical rotating units arranged opposite each other. Each rotating unit includes a wheel unit, a tilting actuator 1-3, and a support 2. The tilting actuator 1-3 is arranged outside the two wheel units and mounted on the support 2, and is connected to the axis of the rotating unit through a transmission mechanism, providing rotational power around the axis of the wheel unit. The wheel unit is a steel structure composed of multiple steel frame spokes 1-2 connected to a steel ring frame 1-1 via connectors. The tilting actuator 1-3 can be hydraulically driven, pneumatically driven, or electrically driven.

[0044] The lifting mechanism is installed on the rotating wheel mechanism and is used to realize the separate lifting of the thin plate segment support mechanism or the thin plate segment clamping mechanism, as well as the overall lifting of the thin plate segment support mechanism and the thin plate segment clamping mechanism, and to lock them.

[0045] The lifting mechanism can employ existing technology. In this embodiment, the lifting mechanism includes two sets of lifting modules symmetrically installed inside the rotary wheel mechanism. Each set of lifting modules... Figure 1 The components are arranged at the same horizontal height to form a transverse frame structure. Each lifting module includes a rack 3-2 fixedly connected to the rotating wheel mechanism, a first lifting unit 4A that moves along the rack to realize the lifting of the thin plate segment clamping mechanism, and a second lifting unit 4B that moves along the rack to realize the lifting of the thin plate segment support mechanism. The first lifting unit and the second lifting unit have the same structure. The first lifting unit 4A between the two groups of lifting modules is connected by a clamping support tube shaft 6 to achieve synchronous operation. The two groups of first lifting units 4A, rack 3-2, and support clamping tube shaft 6 form a thin plate clamping lifting drive mechanism. The second lifting unit 4B between the two groups of lifting modules is connected by a support tube shaft 18 to achieve synchronous operation. The two groups of second lifting units 4B, rack 3-2, and support tube shaft 18 form a thin plate support lifting drive mechanism.

[0046] In this embodiment, the first lifting unit 4A includes a first lifting drive motor 4-4 and a first transmission mechanism composed of a first driving wheel 4-3, a first transmission belt 4-5, and a first driven wheel 4-2, and at least two pairs of first transmission gears 4-1 meshing with the rack 3-2. The second lifting unit 4B includes a second lifting drive motor and a second transmission mechanism composed of a second driving wheel, a second transmission belt, and a second driven wheel, and at least two pairs of second transmission gears meshing with the rack 3-2. The rack 3-2 is fixedly connected to the rotating wheel mechanism via a fixing component 3-1, and the fixing component 3-1 is fixedly connected to the annular frame 1-1, thereby driving the other mechanisms to rotate around the axis of the wheel unit. The opposing first transmission gears 4-1 in the two lifting modules are coaxially connected via a support clamping tube shaft 6. The coaxial connection includes, but is not limited to, the bearing and pin connection shown in the example. The corresponding second transmission gear is coaxially connected via the support tube shaft 18. The first lifting drive motor and the first transmission mechanism, the first transmission gear 4-1, the support clamping tube shaft 6, and the rack 3-2 form a thin plate clamping lifting drive mechanism. The second lifting drive motor and the second transmission mechanism, the second transmission gear, the support tube shaft 18, and the rack form a thin plate supporting lifting drive mechanism. Preferably, the first transmission motor and the first transmission mechanism, and the second transmission motor and the second transmission mechanism are respectively installed inside the dustproof box 5. In the vertical plane of the rack, two sets of square frame structures of dustproof box-tube shaft-dustproof box-tube shaft are formed.

[0047] In this embodiment, the lifting mechanism further includes a safety control module corresponding to each group of lifting modules. Each safety control module includes a safety control unit, a safety controller, and a power controller. The safety control unit includes multiple locking modules symmetrically arranged at the positions corresponding to the first and second transmission gears. Each locking module includes an anti-rotation block 5-5, a spring 5-4, and an axial motion device 5-3. The axial motion device 5-3 consists of a drive cylinder and a telescopic rod. One end of the telescopic rod is the drive cylinder, and the other end is fitted with the spring 5-4. One end of the drive cylinder is fixed at the dustproof box welding station 5-6, and the exterior is distributed as a dustproof box body 5-1 and a cover plate 5-2. The control signal output terminal of the safety controller is connected to the control signal terminal of the axial motion device 5-3 in each locking module. By controlling the movement of the axial motion device 5-3 in each safety control unit, the function of popping out and locking is realized when the first and second transmission gears are stationary or in abnormal movement. The control signal output terminal of the power controller is connected to the control signal input terminal of the first lifting drive motor and the second lifting drive motor in each lifting module, respectively, to coordinate and control the rotation direction and speed of each motor, so as to realize the separate lifting or overall lifting of the thin plate segment support mechanism or the thin plate segment clamping mechanism or the thin plate segment support mechanism and the thin plate segment clamping mechanism.

[0048] The thin plate segmented support mechanism includes a support unit 11 and two sets of limiting units. The support unit 11 is detachably connected to the support tube shaft of the thin plate support lifting drive mechanism through the two sets of limiting units. Depending on the application, the thin plate segmented support unit is horizontally positioned above the support tube shaft of the thin plate support lifting drive mechanism. In this case, the four sets of support tube shafts serve as the thin plate support structure, and the support unit is temporarily connected to the thin plate support structure through the limiting units.

[0049] The limiting unit includes a pair of sliding joint structures 12, a telescopic plate 13, and a pair of bolt limiters. The sliding joint is inserted into the support clamping tube shaft and the support tube shaft of the thin plate clamping and lifting drive mechanism, and can slide freely along the axial direction of the tube shaft. The telescopic plate is inserted into the sliding joint, and can slide freely along the axial direction of the tube shaft simultaneously with the sliding joint, and can itself complete the extension and retraction actions in the direction perpendicular to the tube shaft. The bolt limiter includes a baffle 14-1, a nut 14-2, and a bolt 14-3. The baffle is fixed to the end of the telescopic plate by the self-locking action of the nut and bolt. By moving the bolt limiters of the same group to both sides of the thin plate segment support unit through the limiting unit and self-locking them by the nut and bolt, the connection between the thin plate segment support unit and the thin plate clamping and lifting drive mechanism can be completed. A cable positioning ring 10 is welded on the support unit 11.

[0050] The thin plate segment clamping mechanism includes an intelligent visual recognition control module and at least one set of sliding clamping units. Each set of sliding clamping units includes a sliding drive module 7, a slide rail 8, and at least one clamping assembly 9. The sliding drive module 7 is mounted on the lifting mechanism and slides along the axial direction of the rotary wheel mechanism. In this embodiment, the sliding drive module 7 is mounted on the support clamping tube shaft 6. The slide rail 8 is slidably connected to the sliding drive module 7 perpendicular to the axial plane of the rotary wheel mechanism. Each clamping assembly 9 includes a support housing 9-1, the top of which is movably connected to the slide rail 8 via a positioning roller 9-2; a vertical telescopic top head module is mounted on the lower part of the support housing 9-1. The vertical telescopic top head module includes a vertical telescopic actuator 9-11 and a top head 9-12 mounted on the end of the vertical telescopic actuator. The vertical telescopic top module is symmetrically equipped with horizontal telescopic gripper modules on both sides. Each horizontal telescopic gripper module includes an L-shaped gripper 9-7 and a limiting shaft 9-6 mounted on the supporting shell 9-1 via a support plate 9-8 and reinforcing bolts 9-9. The gripper 9-7 is slidably connected to the limiting shaft 9-6 and is connected to the gripper horizontal telescopic drive mechanism mounted on the supporting shell 9-1. The top module 9-12 and the two sets of grippers 9-7 cooperate to clamp or release the longitudinal girder of the thin plate segment.

[0051] In this embodiment, the horizontal telescopic drive mechanism of the gripper includes a worm gear driver 9-3 mounted on the support housing 9-1 and a first worm 9-4 and a second worm 9-5 respectively mounted on the support housing and the gripper, which mesh with each other. The worm gear driver 9-3 drives the gripper 9-7 to move horizontally along the limiting shaft 9-6 through the first worm 9-4 and the second worm 9-5. The vertical telescopic actuator 9-11 and the worm gear driver 9-3 are any one of hydraulic, pneumatic, or electric drives. The sliding drive module 7 includes an axial motion driver and a sliding pair, carrying the slide rail 8 to translate along the support clamping tube shaft 6. The axial motion driver is any one of hydraulic, pneumatic, or electric drives.

[0052] The intelligent visual recognition control module includes a visual probe 9-10 corresponding to each clamping assembly and an intelligent visual recognition controller. The signal output terminal of the visual probe 9-10 of each clamping assembly is connected to the control signal input terminal of the intelligent visual recognition controller. The control signal output terminal of the intelligent visual recognition controller is connected to the control signal terminals of the vertical telescopic motion device 9-11, the horizontal telescopic drive mechanism of the gripper (corresponding to the worm gear actuator 9-3 in this embodiment), the positioning roller 9-2, and the sliding drive module 7 (corresponding to the axial motion actuator in this embodiment) of each clamping assembly. The position of the longitudinal girder of the thin plate segment is identified by the output signal of the visual probe 9-10, and the position is automatically positioned to the required clamping position by the motion synthesis of the sliding drive module and the positioning roller, controlling the top head and the gripper to cooperate in clamping or releasing the longitudinal girder. When a clamping scheme needs to be generated automatically, the track and position are arranged according to the recognition results to generate the clamping scheme.

[0053] The specific method for segmenting and flipping a thin flat plate using the above-mentioned thin flat plate segmenting and flipping device includes the following steps:

[0054] (1) Transport of thin plates in sections: Figure 4 The diagram illustrates the preparation for the SPMT to be used in conjunction with the segmented flipping process. The thin plate segments that need to be flipped are fixed to the support unit 11 of the thin plate support mechanism and transported to the lifting height range of the thin plate segment support mechanism using the SPMT 16. Preferably, for segments with larger weight, partial welding can be used to fix the thin plate segments to the support unit, further improving safety.

[0055] (2) Thin plate segment fixing: The lifting mechanism drives the other parts of the thin plate support mechanism to adjust to the same horizontal height as the SPMT bearing surface, and moves the support unit 11 and the thin plate segment as a whole to above the support tube shaft, and fixes them using the limiting unit. Specifically: the cable 17 is passed through the cable positioning ring 10 to drag the support unit 11 and the thin plate segment as a whole to above the support tube shaft, and then the limiting unit is used to fix them and the cable is removed. Preferably, the thin plate segment is placed close to the bolt limiter on the side where the height is first lowered. When turning over using the counterclockwise rotation scheme, the thin plate segment should be placed against the left bolt limiter, and when turning over using the clockwise rotation scheme, the thin plate segment should be placed against the right bolt limiter.

[0056] (3) The thin plate segment clamping mechanism and the thin plate segment support mechanism are engaged: The lifting mechanism drives the thin plate clamping mechanism to adjust to the appropriate height of the thin plate segment. The intelligent vision recognition controller identifies the position of the longitudinal girder of the thin plate segment and arranges the slide rail and clamping position according to the recognition result to generate a clamping scheme. According to the clamping scheme, the sliding drive module and the positioning roller are automatically positioned to the position to be clamped through the motion synthesis. The top head and the gripper are controlled to cooperate in clamping the longitudinal girder to complete the engagement of the thin plate segment clamping mechanism and the thin plate segment support mechanism.

[0057] The method for determining the clamping and flipping schemes includes the following steps: estimating the total weight and center of gravity of the segments and support units, determining whether the device can be used for flipping, and using this as the basis for the initial design of the clamping scheme. The clamping scheme includes the number of clamps, the model of the clamps, the clamp track matching method, the clamping position, and the pressure during clamping. Under this scheme, a strength check is performed. If clamp or segment strength failure occurs, the number of clamps is increased, and the clamping positions and supporting methods are redistributed. After meeting the strength requirements, the lifting height is determined according to the center of gravity of the segments and clamping units. When initially formulating the flipping scheme, the flipping speed and accessories such as limiters are set to default values. Preset dangerous positions requiring attention during the flipping process every 15°, and perform strength and slippage checks at each dangerous position. If clamp or segment strength failure occurs, the number of clamps is increased, and the clamping positions and supporting methods are redistributed. If clamping position slippage occurs, the clamping pressure is increased. If the maximum clamping pressure is exceeded, the number of clamps is further increased. If none of these methods improve the check results, the flipping speed is reduced. This process is repeated until the check is passed. The clamping scheme and flipping scheme are output. Key positions and the number of grippers can be determined using conventional finite element methods.

[0058] The clamping and flipping schemes can also be determined before the operation.

[0059] (4) Tilting: The lifting mechanism raises the thin plate support mechanism, thin plate clamping mechanism, and thin plate segment as a whole to a rotatable height, and then the safety control unit locks the gear. Preferably, the lifting mechanism raises the support mechanism, thin plate clamping mechanism, and thin plate segment to the same height as the axis of the wheel unit. The rotating wheel mechanism rotates the thin plate support mechanism, thin plate clamping mechanism, and thin plate segment as a whole by 180°, and then releases the limiting unit of the thin plate support mechanism.

[0060] (5) Transfer: The lifting mechanism is unlocked, and the thin plate clamping mechanism, thin plate segment, and support unit are lowered as a whole until the slide rail 8 and the SPMT bearing surface are at the same horizontal level. Figure 5 As shown, the support unit 11 is separated from the limiting unit, i.e., the bolt limiter. The support unit 11 and the thin plate segment are moved together along the slide rail 8 to the SPMT bearing plane using a cable. The support unit 11 is then separated from the thin plate segment 15, completing the flipping and transfer of the thin plate segment.

[0061] The thin-plate segment turning device of this invention has a high degree of integration, requires minimal operator skill, and is easy to install and move. It also ensures that the thin-plate segments do not deform during the turning process, making it safe and reliable. During the transfer process, the SPMT only needs to travel in a straight line and park, making operation simple and convenient. It can be integrated into the marine equipment segment production line, alleviating the problems of secondary transfer and equipment scheduling in the actual production site. No additional lifting lugs or cranes are needed during the thin-plate segment turning process. The clamping and turning schemes during the turning process can be automatically determined by the device's built-in system. The device can intelligently identify the reasonable stress positions of the thin-plate segments, arrange the clamping equipment, and formulate different turning schemes for planar thin-plate segments with different structural characteristics. Only one technician is needed to complete the entire turning process, which helps improve the construction efficiency of marine platforms.

[0062] The above description is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A planar thin plate segmented turning device, characterized in that, This includes a wheel mechanism for providing the power to tilt, a lifting mechanism, a thin plate segment support mechanism, and a thin plate segment clamping mechanism for clamping the thin plate segment longitudinal girder; The lifting mechanism is mounted on the rotary wheel mechanism and is used to realize the separate lifting of the thin plate segment support mechanism or the thin plate segment clamping mechanism, as well as the overall lifting of the thin plate segment support mechanism and the thin plate segment clamping mechanism, and to lock them. The thin plate segment clamping mechanism includes an intelligent visual recognition control module and at least one set of sliding clamping units; each set of sliding clamping units includes a sliding drive module, a slide rail, and at least one clamping assembly; the sliding drive module is mounted on the lifting mechanism and slides along the axis of the rotating wheel mechanism, and the slide rail is slidably connected to the sliding drive module perpendicular to the axis of the rotating wheel mechanism; each clamping assembly includes a support shell, the top of which is movably connected to the slide rail via a positioning roller; a vertical telescopic top head module is mounted on the lower part of the support shell, the vertical telescopic top head module includes a vertical telescopic actuator and a top head mounted at the end of the vertical telescopic actuator; horizontal telescopic gripper modules are symmetrically arranged on both sides of the vertical telescopic top head module, each horizontal telescopic gripper module includes a limiting shaft mounted on the support shell and an L-shaped gripper, the gripper is slidably connected to the limiting shaft and connected to the gripper horizontal telescopic drive mechanism; the top head and the two sets of grippers cooperate to clamp or release the longitudinal girder of the thin plate segment; The intelligent visual recognition control module includes a visual probe and an intelligent visual recognition controller corresponding to each of the clamping assemblies. The signal output terminal of the visual probe corresponding to each of the clamping assemblies is connected to the control signal input terminal of the intelligent visual recognition controller. The control signal output terminal of the intelligent visual recognition controller is connected to the control signal terminals of the vertical telescopic motion device, the horizontal telescopic drive mechanism of the gripper, the positioning roller, and the sliding drive module of each of the clamping assemblies. The position of the longitudinal girder of the thin plate segment is identified by the output signal of the visual probe, and the position is automatically positioned to the required clamping position by the motion synthesis of the sliding drive module and the positioning roller, and the top head and the gripper are controlled to cooperate to clamp or release the longitudinal girder.

2. The planar thin plate segmented turning device according to claim 1, characterized in that, The lifting mechanism includes two sets of lifting modules symmetrically installed inside the rotary wheel mechanism; each set of lifting modules includes a rack fixedly connected to the rotary wheel mechanism, a first lifting unit that moves along the rack to realize the lifting of the thin plate segment clamping mechanism, and a second lifting unit that moves along the rack to realize the lifting of the thin plate segment support mechanism; the first lifting units between the two sets of lifting modules are connected by a support clamping tube shaft to achieve synchronous operation, and the two sets of first lifting units, racks, and support clamping tube shafts form a thin plate clamping lifting drive mechanism; the second lifting units between the two sets of lifting modules are connected by a support tube shaft to achieve synchronous operation, and the two sets of second lifting units, racks, and support tube shafts form a thin plate support lifting drive mechanism.

3. The planar thin plate segmented turning device according to claim 2, characterized in that, The first lifting unit includes a first lifting drive motor and a first transmission mechanism, and at least two pairs of first transmission gears meshing with the rack; the second lifting unit includes a second lifting drive motor and a second transmission mechanism, and at least two pairs of second transmission gears meshing with the rack. In the two sets of lifting modules, the opposing first transmission gears are coaxially connected through the support clamping tube shaft, and the opposing second transmission gears are coaxially connected through the support tube shaft. The sliding drive module is mounted on the support clamping tube shaft.

4. The planar thin plate segmented turning device according to claim 2 or 3, characterized in that, The thin plate segment support mechanism includes a support unit and two sets of limiting units; the support unit is detachably connected to the support tube shaft of the thin plate support lifting drive mechanism through the two sets of limiting units.

5. The planar thin plate segmented turning device according to claim 4, characterized in that, The limiting unit includes a pair of sliding joint structures, a telescopic plate, and a pair of bolt limiters. The sliding joint is inserted into the support tube shaft of the thin plate support lifting drive mechanism and can slide freely along the axial direction of the tube shaft. The telescopic plate is inserted into the sliding joint and slides freely along the axial direction of the tube shaft along with the sliding joint, and can extend and retract in the direction perpendicular to the tube shaft. The bolt limiter includes a baffle, a nut, and a bolt. The baffle is fixed to the end of the telescopic plate by the self-locking action of the nut and bolt. By moving the bolt limiters of the same group to both sides of the thin plate segment support unit through the limiting unit and self-locking by the nut and bolt, the connection between the thin plate segment support unit and the thin plate support lifting drive mechanism can be completed. A cable positioning ring is welded on the support unit.

6. The planar thin plate segmented turning device according to claim 1, characterized in that, The vision probe of each clamping assembly is respectively mounted on the support shell of the corresponding clamping assembly.

7. The planar thin plate segmented turning device according to claim 1, characterized in that, The rotating mechanism includes two identical rotating units arranged opposite each other. Each rotating unit includes a wheel unit, a tilting drive, and a support. The tilting drive is arranged outside the two wheel units and mounted on the support. It is connected to the axis of the rotating unit through a transmission mechanism to provide rotational power around the axis of the wheel unit.

8. The planar thin plate segmented turning device according to claim 3, characterized in that, The lifting mechanism also includes a safety control module corresponding to each lifting module. Each safety control module includes a safety control unit, a safety controller, and a power controller. The safety control unit includes multiple locking modules symmetrically arranged at positions corresponding to the first and second transmission gears. Each locking module includes an anti-rotation block, a spring, and an axial actuator. The axial actuator consists of a drive cylinder and a telescopic rod, with one end of the telescopic rod serving as the drive cylinder. The first lifting drive motor and the first transmission mechanism, as well as the second lifting drive motor and the second transmission mechanism, are respectively installed inside a dustproof box. One end of the drive cylinder is fixed to the welding station of the dustproof box. The control signal output terminal of the safety controller is connected to the control signal terminal of the axial motion device in each locking module. By controlling the action of the axial motion device in each safety control unit, the function of popping out and locking is realized when the first transmission gear and the second transmission gear are stationary or moving abnormally is achieved. The control signal output terminal of the power controller is connected to the control signal input terminal of the first lifting drive motor and the second lifting drive motor of each module. The rotation direction and speed of each motor are coordinated and controlled to realize the separate lifting or overall lifting of the thin plate segment support mechanism or the thin plate segment clamping mechanism or the thin plate segment support mechanism and the thin plate segment clamping mechanism.

9. A method for segmenting and flipping a thin planar plate using the planar thin plate segmenting and flipping device according to claim 4, characterized in that, Includes the following steps: (1) Transport of thin plate segments: The thin plate segments that need to be flipped are fixed on the support unit of the thin plate support mechanism and transported to the lifting height range of the thin plate segment support mechanism using SPMT; (2) Thin plate segment fixing: The lifting mechanism drives the thin plate support mechanism to adjust the other parts except the support unit to the same horizontal height as the SPMT bearing surface, and moves the support unit and thin plate segment as a whole to the top of the support tube shaft, and uses the limiting unit to fix it; (3) The thin plate segment clamping mechanism and the thin plate segment support mechanism are engaged: The lifting mechanism drives the thin plate clamping mechanism to adjust to the appropriate height of the thin plate segment. The intelligent vision recognition controller identifies the position of the longitudinal girder of the thin plate segment. Through the motion synthesis of the sliding drive module and the positioning roller, it automatically positions itself to the position to be clamped. The top head and the gripper are controlled to cooperate in clamping the longitudinal girder, and the thin plate segment clamping mechanism and the thin plate segment support mechanism are engaged. (4) Flipping: The lifting mechanism drives the thin plate support mechanism, the thin plate clamping mechanism and the thin plate segment to rise to the rotatable height and locks them; the rotating wheel mechanism drives the thin plate support mechanism, the thin plate clamping mechanism and the thin plate segment to rotate 180° and releases the limiting unit of the thin plate support mechanism. (5) Unloading: The lifting mechanism is unlocked and the thin plate clamping mechanism, thin plate segment and support unit are lowered as a whole until the slide rail and the SPMT bearing surface are at the same level; the support unit and the thin plate segment are moved together along the slide rail to the SPMT bearing plane, the support unit and the thin plate segment are separated, and the thin plate segment is flipped and transferred.

10. The method according to claim 9, characterized in that, When the flipping scheme is adopted, the thin plate segment is brought close to the bolt limiter on the side where the height is first reduced; in step (4), the lifting mechanism is raised to the same height as the center of gravity of the thin plate support mechanism, the thin plate clamping mechanism and the thin plate segment as the axis of the rotating wheel mechanism.

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