A ball head positioning device and method for adjusting and positioning a circular T-shaped piece

Abstract

This invention discloses a ball-end positioning device for adjusting the posture of a circular T-shaped component, comprising a positioning fixture for clamping the circular T-shaped component, a sliding assembly for adjusting the posture of the circular T-shaped component, and an positioning assembly for fixing the positioning fixture and the sliding assembly together. The positioning fixture includes a first mounting groove with a web clamping assembly and a second mounting groove with a panel clamping assembly. The positioning assembly includes a ball-end positioned on the outer wall of the second mounting groove, a ball socket on the sliding assembly that engages with the ball-end positioned, and a locking mechanism for locking the ball-end positioned and the ball socket. This invention also provides a ball-end positioning method. The device provided by this invention can improve the working efficiency and posture coordination of circular T-shaped components during the posture adjustment and positioning process.

Description

Technical Field

[0001] This invention belongs to the field of large shipbuilding processing, and in particular relates to a ball head positioning device and method for adjusting and positioning a circular T-shaped part. Background Technology

[0002] In shipbuilding, ribs, together with beams and rib plates in the same rib plane, form a beam frame to ensure the transverse strength of the hull. Based on their location and function, ribs can be classified as main ribs, inter-deck ribs, strong ribs, peak ribs, intermediate ribs, and superstructure ribs. Ribs below the lowest deck are called main ribs and are the main components of the transverse frame side structure. Ribs between two decks are called inter-deck ribs; their span and load-bearing capacity are smaller than main ribs, and their cross-sectional dimensions are also smaller. Both types of ribs are generally made of rolled profiles. Ribs made of T-shaped composite profiles, as well as large ribs that locally reinforce or support side longitudinals or longitudinal girder, are called strong ribs. They often form a transverse strong frame together with strong beams and solid rib plates and are mostly located in areas requiring special reinforcement, such as cargo holds carrying heavy cargo or those with long hatches. Ribs in the bow and stern peaks are called peak ribs. Ribs in the superstructure are called superstructure ribs. The middle rib refers to the rib added at the midpoint of the rib spacing on a ship that requires local reinforcement (such as ice zone reinforcement).

[0003] For circular T-shaped components, maintaining good stability and making flexible attitude adjustments are necessary during the segment docking process. Due to the considerable size of the circular T-shaped components and segments, high demands are placed on the support and attitude adjustment components. Traditional methods often require large and complex equipment to handle the precise positioning of large components on the support components and the overall attitude adjustment of the circular T-shaped components. This results in a large-scale equipment for positioning and adjusting the circular T-shaped components, increasing the difficulty of equipment installation and maintenance.

[0004] Patent document CN116011120A discloses a method for verifying jig positioning data. This method involves translating and aligning the cross-sectional jig layout drawing and the hull rib profile drawing to obtain the coordinates of the cross-sectional jig layout drawing in the hull coordinate system. Three non-collinear feature points are arbitrarily selected on the jig base surface to calculate the plane equation of the jig base surface. The projection line of the stake line passing through all rib lines onto the jig base surface is selected as the X-axis, and the projection point of the intersection of the stake line passing through all rib lines and the middle rib line onto the jig base surface is selected as the origin. The Z-axis is determined based on the origin and the intersection point, and the Y-axis is determined according to the right-hand rule, establishing an observation coordinate system. The transformation matrix between the hull coordinate system and the observation coordinate system is calculated. The coordinates of each outer plate vertex in the observation coordinate system are calculated and used as verification data to determine the correctness of the jig positioning data. This method is only applicable to molded shells and cannot complete the adjustment and positioning tasks of long-sized circular T-shaped parts.

[0005] Patent document CN104848815A discloses a method for inspecting the processing of ship ribs, comprising using a ship rib processing inspection device to inspect the installation of ship ribs. The ship rib processing inspection device includes an elongated slide, with a wedge-shaped protrusion on the upper part of the slide. A slider is installed on the slide, and an inspection instrument is installed on the slider. A set of laser inspection components is provided on each side of the wedge-shaped protrusion on the slide. The installation steps include: placing the slide along the direction of the ship rib, pressing the inspection head of the inspection instrument against one end of the ship rib, activating the control device of the inspection instrument, and using a motor to drive the slider on the slide to move through a power transmission device. The inspection head of the inspection instrument is guided from one end of the ship rib to the other end, maintaining a constant pressure between the inspection head and the ship rib; continuing to inspect the next ship rib using the above method. Summary of the Invention

[0006] The purpose of this invention is to provide a ball-head positioning device and method for adjusting and positioning circular T-shaped parts. This device can improve the working efficiency and coordination of the circular T-shaped parts in the adjustment and positioning process.

[0007] To achieve the first objective of this method, a ball joint positioning device for adjusting the posture of a circular T-shaped component is provided. The circular T-shaped component includes a front panel and a web plate vertically arranged on the front panel. The device includes a positioning fixture for clamping the circular T-shaped component, a sliding assembly for adjusting the posture of the circular T-shaped component, and a positioning assembly for fixing the positioning fixture and the sliding assembly together. The positioning fixture for the circular T-shaped component includes a first mounting groove with a web plate clamping assembly and a second mounting groove with a front panel clamping assembly. The device engages with the front panel on one side via the first mounting groove, centered on the web plate. The web clamping assembly is arranged perpendicular to the web and fits against the web. The panel on the other side of the web is engaged with the second mounting groove. The panel clamping assembly is perpendicular to the panel and fits against the panel. The outer side of the second mounting groove is provided with a mounting plate. The mounting plate is provided with a rotating shaft. The groove opening of the first mounting groove is provided with a hinge hole for assembly with the rotating shaft. The positioning assembly includes a positioning ball head provided on the outer wall of the second mounting groove, a ball socket provided on the sliding assembly to engage with the positioning ball head, and a locking mechanism for locking the positioning ball head and the ball socket.

[0008] This invention uses a ball-head positioning component as the positioning device for adjusting the posture of a circular T-shaped part, which gives the circular T-shaped part more freedom in positioning and adjustment, and can simultaneously adjust the X, Y, and Z directions, thereby improving the working efficiency and posture coordination of the circular T-shaped part in the posture adjustment and positioning process.

[0009] Specifically, the web clamping assembly includes a first clamping bolt that passes through the side wall of the first mounting groove and contacts the web, and a first gap pad that is disposed on the inner side wall of the first mounting groove.

[0010] Specifically, a pressure sensor is provided at the end of the first clamping bolt that contacts the web plate. The pressure sensor is used to obtain the compressive force to avoid excessive torque causing deformation of the web plate.

[0011] Specifically, the panel clamping assembly includes a second clamping bolt that passes through the side wall of the second mounting groove and contacts the panel, and a second gap pad that is disposed on the inner side wall of the second mounting groove.

[0012] Specifically, the end of the second clamping bolt that contacts the panel is provided with a buffer rubber head.

[0013] Specifically, the sliding assembly includes a track located in the processing area and a sliding plate that slides on the track, with the ball socket fixed to the sliding plate.

[0014] Specifically, the locking mechanism includes a limiting pin and a cylinder that drives the limiting pin to fix the insertion ball head in the ball socket, as well as a three-dimensional force sensor installed in the ball socket. The three-dimensional force sensor collects the force on the insertion ball head in the ball socket to generate a drive command to the cylinder to complete the locking operation.

[0015] To achieve the second objective of this invention, a ball joint positioning method for adjusting and positioning a circular T-shaped component is provided. This method is implemented using the aforementioned ball joint positioning device for adjusting and positioning a circular T-shaped component, and includes the following steps:

[0016] Adjust the position of the circular T-shaped component to be parallel to the track to complete the initial positioning;

[0017] The panel of the circular T-shaped piece is clamped by the rib positioning fixture, and then the web is clamped until the pressure on the web reaches the pre-tightening force.

[0018] The ball socket is moved to the position of the ball head by the sliding component, and the force on the ball head in the ball socket is collected by the three-dimensional force sensor to determine whether the positioning is completed.

[0019] When the force conditions meet the preset requirements, the cylinder drives the limit pin to pass through both sides of the ball socket to restrict the movement of the ball head in place, thereby completing the task of ball head placement.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0021] 1. Using a ball-head positioning assembly as the positioning device for the circular T-shaped part's attitude adjustment and positioning allows for more freedom in the positioning adjustment of the circular T-shaped part, enabling simultaneous adjustment in the X, Y, and Z directions, thus improving the working efficiency and attitude adjustment coordination of the circular T-shaped part during the attitude adjustment and positioning process.

[0022] 2. By using a parallel sliding component and a positioning component to adjust the circular T-shaped part to the target position, work efficiency is improved and a flexible adjustment range is provided for rapid positioning;

[0023] 3. The use of a three-dimensional force sensor in conjunction with the positioning component provides directional data reference for the orientation and positioning of the circular T-shaped part, thereby enabling precise orientation adjustment when the circular T-shaped part is positioned, avoiding stress concentration after the circular T-shaped part is positioned, and improving the stability of the overall structure. Attached Figure Description

[0024] Figure 1 This is an assembly diagram of the sliding component and the circular T-shaped positioning fixture provided in this embodiment;

[0025] Figure 2 This is a schematic diagram of the circular T-shaped positioning fixture provided in this embodiment;

[0026] Figure 3 This is an assembly diagram of the ball head insertion device provided in this embodiment;

[0027] Figure 4 This is a flowchart of the ball head insertion method provided in this embodiment;

[0028] In the figure, 1. Circular T-shaped positioning fixture; 2. Ball socket; 3. Three-dimensional force sensor; 4. Cylinder; 5. Ball socket seat; 6. Slide plate; 7. Track base; 8. Web clamping assembly; 9. Panel clamping assembly; 10. Insertion ball head. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0030] The ball joint positioning device provided in this embodiment includes a positioning fixture for clamping a circular T-shaped part, a sliding assembly for adjusting the posture of the circular T-shaped part, and a positioning assembly for fixing the positioning fixture and the sliding assembly to the circular T-shaped part.

[0031] The circular T-shaped positioning fixture 1 includes a first mounting groove with a web clamping assembly and a second mounting groove with a panel clamping assembly. The first mounting groove is used to engage with a panel on one side of the web. The web clamping assembly is arranged perpendicular to the web and fits against the web. The panel on the other side of the web is engaged with the second mounting groove. The panel clamping assembly is perpendicular to the panel and fits against the panel. A mounting plate is provided on the outer side of the second mounting groove. The mounting plate is provided with a rotating shaft. The opening of the first mounting groove is provided with a hinge hole for assembly with the rotating shaft.

[0032] The web clamping assembly 8 includes a first clamping bolt that passes through the side wall of the first mounting groove and contacts the web, and a first gap pad that is disposed on the inner side wall of the first mounting groove. The contact surface between the first clamping bolt and the web is provided with a pressure sensor to avoid excessive torque causing deformation of the web.

[0033] At the same time, the first gap pad is used to avoid wear between the mounting groove wall and the inner side of the panel.

[0034] The panel clamping assembly 9 includes a second clamping bolt that passes through the side wall of the second mounting groove and contacts the panel, and a second gap pad that is provided on the inner side wall of the second mounting groove. The end of the second clamping bolt that contacts the panel is provided with a buffer rubber head to avoid wear on the extrusion surface and to accommodate panels with different curvatures. In addition, the second gap pad is also used to prevent wear between the mounting groove wall and the inner side of the panel.

[0035] More specifically, such as Figure 1 and Figure 2 As shown, the positioning assembly consists of a ball socket 2, a three-dimensional force sensor 3, a cylinder 4, a ball socket seat 5, and a positioning ball head 10, wherein the ball socket 2 and the positioning ball head 10 are fitted together. The cylinder 4 is used to drive the pin to connect the positioning ball head 10 to the ball socket 2, ensuring the stability of the overall structure. There is one ball socket seat 5, which is fixedly connected to the Y-axis slide plate and serves as a support component for the circular T-shaped part positioning fixture and the positioning assembly. One side of the positioning ball head 10 fits with the upper side of the ball socket 2, and the other side serves as a support component for the circular T-shaped part positioning fixture 1.

[0036] The three-dimensional force sensor 3 is installed inside the ball socket 2 to collect the force between the positioning ball head 10 and the inner wall of the ball socket 2. When the force in the three dimensions is the same, it is determined that the positioning ball head 10 has completed the positioning work, that is, the cylinder 4 drives the drive pin to connect the positioning ball head 10 and the ball socket 2.

[0037] The sliding assembly consists of a Y-axis sliding plate 6 and a Y-axis track base 7, wherein the Y-axis sliding plate 6 cooperates with a ball-and-socket seat 5, and the Y-axis track base 7 is fixedly connected to the column structure. The sliding assembly and the positioning assembly work in parallel to adjust the circular T-shaped part to the target position, improving work efficiency and providing a flexible adjustment range for rapid positioning.

[0038] like Figure 3 As shown, the circular T-shaped part positioning fixture 1 consists of a web clamping assembly 8 and a panel clamping assembly 9. The web clamping assembly is fitted with the web, and the panel clamping assembly is fitted with the panel. There are two web clamping assemblies 8, placed on top of the circular T-shaped part positioning fixture 1, to clamp the web. There are four panel clamping assemblies 9, located at the four corners of the circular T-shaped part positioning fixture 1, to clamp the panel. The two work together to clamp the circular T-shaped part.

[0039] This embodiment also provides a ball-end positioning method for adjusting and positioning a circular T-shaped part, which is implemented using the ball-end positioning device for adjusting and positioning a circular T-shaped part provided in the above embodiment, such as... Figure 4 As shown, it includes the following steps:

[0040] When the circular T-shaped part is in place, the positioning fixture 1 opens, receives the circular T-shaped part, and performs initial positioning in parallel with the sliding assembly; after the initial positioning of the circular T-shaped part is completed, the pressure is transmitted to the three-dimensional force sensor, and adjustments are made according to the force measurement value and the position and posture measurement data deviation value to achieve precise posture adjustment of the circular T-shaped part; after the posture adjustment is completed, the cylinder 4 drives the pin to insert into the ball socket 2, and the web clamping assembly and the panel clamping assembly clamp the web and the panel respectively to ensure the stability of the structure and the precise positioning of the circular T-shaped part.

[0041] Furthermore, the terms "upper," "lower," "inner," "outer," "front," and "rear" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Unless otherwise specifically stated, the relative steps, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention.

[0042] Of course, the above description is only a specific embodiment of the present invention and is not intended to limit the scope of the present invention. All equivalent changes or modifications made to the structure, features and principles described in the claims of the present invention should be included in the scope of the claims of the present invention.

[0043] Finally, it should be noted that the above-described embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the technical scope disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A ball-head positioning device for adjusting and positioning a circular T-shaped component, the circular T-shaped component comprising a face plate and a web plate vertically arranged on the face plate, characterized in that, It includes a rib positioning fixture for clamping a circular T-shaped piece, a sliding assembly for adjusting the posture of the circular T-shaped piece, and an insertion assembly for fixing and connecting the rib positioning fixture and the sliding assembly. The rib positioning fixture includes a first mounting groove with a web clamping assembly and a second mounting groove with a panel clamping assembly. The first mounting groove is used to engage with a panel on one side of the web. The web clamping assembly is arranged perpendicular to the web and fits against the web. The panel on the other side of the web is engaged with the second mounting groove. The panel clamping assembly is perpendicular to the panel and fits against the panel. A mounting plate is provided on the outer side of the second mounting groove. The mounting plate is provided with a rotating shaft. The opening of the first mounting groove is provided with a hinge hole for assembly with the rotating shaft. The positioning assembly includes a positioning ball head disposed on the outer wall of the second mounting groove, a ball socket disposed on the sliding assembly that engages with the positioning ball head for positioning, and a locking mechanism for locking the positioning ball head and the ball socket. The locking mechanism includes a limiting pin and a cylinder that drives the limiting pin to fix the insertion ball head in the ball socket, as well as a three-dimensional force sensor installed in the ball socket. The three-dimensional force sensor collects the force on the insertion ball head in the ball socket to generate a drive command to the cylinder to complete the locking operation.

2. The ball-head positioning device for adjusting and positioning a circular T-shaped part according to claim 1, characterized in that, The web clamping assembly includes a first clamping bolt that passes through the side wall of the first mounting groove and contacts the web, and a first gap pad that is disposed on the inner side wall of the first mounting groove.

3. The ball-head positioning device for adjusting and positioning a circular T-shaped part according to claim 2, characterized in that, A pressure sensor is provided at the end of the first clamping bolt that contacts the web plate.

4. The ball-head positioning device for adjusting and positioning a circular T-shaped part according to claim 1, characterized in that, The panel clamping assembly includes a second clamping bolt that passes through the side wall of the second mounting groove and contacts the panel, and a second gap pad that is disposed on the inner side wall of the second mounting groove.

5. The ball-head positioning device for adjusting and positioning a circular T-shaped part according to claim 4, characterized in that, The end of the second clamping bolt that contacts the panel is provided with a buffer rubber head.

6. The ball-head positioning device for adjusting and positioning a circular T-shaped part according to claim 1, characterized in that, The sliding assembly includes a track located in the processing area and a sliding plate that slides on the track, with the ball socket fixed to the sliding plate.

7. A method for ball joint positioning in the orientation adjustment of a circular T-shaped part, characterized in that, This is achieved through the ball-head positioning device for adjusting and positioning a circular T-shaped component as described in any one of claims 1 to 6, comprising the following steps: Adjust the position of the circular T-shaped component to be parallel to the track to complete the initial positioning; The panel of the circular T-shaped piece is clamped by the rib positioning fixture, and then the web is clamped until the pressure on the web reaches the pre-tightening force. The ball socket is moved to the position of the ball head by the sliding component, and the force on the ball head in the ball socket is collected by the three-dimensional force sensor to determine whether the positioning is completed. When the force conditions meet the preset requirements, the cylinder drives the limit pin to pass through both sides of the ball socket to restrict the movement of the ball head in place, thereby completing the task of ball head placement.

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